+ python -m lidar_slam --no-model /working/19263b82-d54e-4276-9d33-1c75c134a9bd Lidar SLAM 0.0.6 ===================================================== The recording path: /working/19263b82-d54e-4276-9d33-1c75c134a9bd The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.06 Using the pointcloud ICP: False The Lidar frames will be flattened: False The centerline will be flattened: False The Lidar 2D slices will be flipped: True Correction angle of Lidar frames: 0.0 Show the detected centerline?: False Display the final 3D model?: False Making 2D slices out of SLAM model?: False Drop angle of 2D slices: 45.0 The number of points in 2D slices: 360 ===================================================== Adjusted start_distance from 0.0 to 0.019254154 Adjusted end_distance from 9.223372036854776e+18 to 1110.039254154 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.019254154 meters 0.02573825920659677 Centerline is valid? [0, True] SLAMing on 0.079254154 meters 0.023647121264988927 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.01, Z:-0.00 [[ 9.99997860e-01 -2.02181806e-03 -4.38654335e-04 6.07496776e-02] [ 2.02180747e-03 9.99997956e-01 -2.46000628e-05 -5.30548834e-03] [ 4.38703176e-04 2.37131355e-05 9.99999903e-01 -6.25473521e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.139254154 meters 0.02462571012056032 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.00, Z:0.00 [[ 9.99979224e-01 -6.35889782e-03 -1.05653150e-03 1.20814223e-01] [ 6.35883876e-03 9.99979781e-01 -5.92510756e-05 -3.30174988e-03] [ 1.05688691e-03 5.25315311e-05 9.99999440e-01 1.78535413e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.199254154 meters 0.020288109081035104 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.01, Z:0.00 [[ 9.99858082e-01 -1.68055646e-02 -1.17823238e-03 1.82628729e-01] [ 1.68054983e-02 9.99858775e-01 -6.61663557e-05 -1.24726931e-02] [ 1.17917795e-03 4.63561832e-05 9.99999304e-01 4.66772473e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.259254154 meters 0.018265589107488732 Centerline is valid? [True, True] Translation: X:0.24, Y:-0.02, Z:-0.00 [[ 9.99558174e-01 -2.97003298e-02 -1.16040832e-03 2.44101533e-01] [ 2.97002742e-02 9.99558847e-01 -6.51463294e-05 -2.35910040e-02] [ 1.16183127e-03 3.06531009e-05 9.99999325e-01 -1.35139235e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.319254154 meters 0.016136964787756464 Centerline is valid? [True, True] Translation: X:0.30, Y:-0.03, Z:0.00 [[ 9.99245247e-01 -3.88274385e-02 -1.16859049e-03 3.04106969e-01] [ 3.88273884e-02 9.99245930e-01 -6.54957627e-05 -2.69574120e-02] [ 1.17025232e-03 2.00730129e-05 9.99999315e-01 4.26232367e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.379254154 meters 0.014689095667924644 Centerline is valid? [True, True] Translation: X:0.37, Y:-0.03, Z:0.00 [[ 9.98739848e-01 -5.01770809e-02 -9.87757919e-04 3.66298174e-01] [ 5.01770504e-02 9.98740337e-01 -5.56544574e-05 -3.47199941e-02] [ 9.89306254e-04 6.02154550e-06 9.99999511e-01 4.15762272e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.439254154 meters 0.014786732764277392 Centerline is valid? [True, True] Translation: X:0.43, Y:-0.04, Z:0.00 [[ 9.98262904e-01 -5.89073860e-02 -1.04619885e-03 4.28922747e-01] [ 5.89073555e-02 9.98263452e-01 -5.99773155e-05 -3.95228488e-02] [ 1.04791518e-03 -1.75567853e-06 9.99999451e-01 2.28607999e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.499254154 meters 0.0152311531067511 Centerline is valid? [True, True] Translation: X:0.49, Y:-0.04, Z:0.00 [[ 9.98043009e-01 -6.25104614e-02 -1.61053490e-03 4.90312930e-01] [ 6.25103961e-02 9.98044309e-01 -9.09090531e-05 -3.97564132e-02] [ 1.61306796e-03 -9.94402978e-06 9.99998699e-01 4.71427404e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.559254154 meters 0.015493251304740528 Centerline is valid? [True, True] Translation: X:0.55, Y:-0.04, Z:0.00 [[ 9.98002569e-01 -6.31484150e-02 -1.77496084e-03 5.53531102e-01] [ 6.31483373e-02 9.98004147e-01 -9.98404733e-05 -3.53944947e-02] [ 1.77772304e-03 -1.24447768e-05 9.99998420e-01 1.29510957e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.619254154 meters 0.0148595043504741 Centerline is valid? [True, True] Translation: X:0.62, Y:-0.02, Z:0.00 [[ 9.98338093e-01 -5.75868969e-02 -2.19131827e-03 6.15718470e-01] [ 5.75867677e-02 9.98340498e-01 -1.22083141e-04 -2.48564449e-02] [ 2.19471217e-03 -4.31068634e-06 9.99997592e-01 2.10255897e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6792541539999999 meters 0.015124818174797728 Centerline is valid? [True, True] Translation: X:0.68, Y:-0.01, Z:0.00 [[ 9.98680819e-01 -5.13479919e-02 -7.69222916e-05 6.77161032e-01] [ 5.13479916e-02 9.98680822e-01 -5.82992450e-06 -1.34539660e-02] [ 7.71201723e-05 1.87242858e-06 9.99999997e-01 3.63883339e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7392541539999999 meters 0.015373932293010102 Centerline is valid? [True, True] Translation: X:0.74, Y:-0.01, Z:0.00 [[ 9.98825282e-01 -4.84563262e-02 2.02794611e-04 7.39278921e-01] [ 4.84563251e-02 9.98825302e-01 1.06074007e-05 -5.87525592e-03] [-2.03070384e-04 -7.68258366e-07 9.99999979e-01 3.47237005e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.799254154 meters 0.015470457471328329 Centerline is valid? [True, True] Translation: X:0.80, Y:-0.00, Z:0.00 [[ 9.98879429e-01 -4.73272689e-02 -1.27048727e-04 8.02544940e-01] [ 4.73272683e-02 9.98879437e-01 -7.63920334e-06 -5.72274676e-04] [ 1.27267903e-04 1.61777390e-06 9.99999992e-01 3.25673953e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8592541539999999 meters 0.016202761289652253 Centerline is valid? [True, True] Translation: X:0.86, Y:0.01, Z:0.00 [[ 9.99053790e-01 -4.34723369e-02 -1.29652554e-03 8.62831719e-01] [ 4.34722804e-02 9.99054631e-01 -7.17249120e-05 1.02680349e-02] [ 1.29841790e-03 1.52941232e-05 9.99999157e-01 2.30292541e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9192541539999999 meters 0.017125857177647523 Centerline is valid? [True, True] Translation: X:0.92, Y:0.02, Z:0.00 [[ 9.99212705e-01 -3.96364608e-02 -1.70923545e-03 9.24865288e-01] [ 3.96363594e-02 9.99214166e-01 -9.32031679e-05 1.99728413e-02] [ 1.71158652e-03 2.53819190e-05 9.99998535e-01 7.01245572e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9792541539999999 meters 0.018628899014996782 Centerline is valid? [True, True] Translation: X:0.99, Y:0.03, Z:0.00 [[ 9.99303674e-01 -3.72574740e-02 -2.01215384e-03 9.86603323e-01] [ 3.72573290e-02 9.99305699e-01 -1.09482648e-04 3.05462229e-02] [ 2.01483584e-03 3.44389344e-05 9.99997970e-01 2.28686617e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.039254154 meters 0.02002251515594669 Centerline is valid? [True, True] Translation: X:1.05, Y:0.04, Z:-0.00 [[ 9.99403336e-01 -3.44709246e-02 -2.17404439e-03 1.04889439e+00] [ 3.44707490e-02 9.99405700e-01 -1.18196186e-04 3.78683582e-02] [ 2.17682669e-03 4.31847242e-05 9.99997630e-01 -1.74038424e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.099254154 meters 0.02333010883224845 Centerline is valid? [True, True] Translation: X:1.11, Y:0.05, Z:0.00 [[ 9.99605945e-01 -2.80549472e-02 -9.35652365e-04 1.10924985e+00] [ 2.80549119e-02 9.99606382e-01 -5.08186447e-05 4.91745614e-02] [ 9.36709790e-04 2.45489747e-05 9.99999561e-01 4.16967499e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1592541539999999 meters 0.027633648979118925 Centerline is valid? [True, True] Translation: X:1.17, Y:0.06, Z:0.00 [[ 9.99719007e-01 -2.36986346e-02 5.30906817e-04 1.17002273e+00] [ 2.36986228e-02 9.99719148e-01 2.84094121e-05 5.98167924e-02] [-5.31430975e-04 -1.58196688e-05 9.99999859e-01 7.74250273e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.219254154 meters 0.030019856268555172 Centerline is valid? [True, True] Translation: X:1.23, Y:0.06, Z:0.00 [[ 9.99735185e-01 -2.29293562e-02 1.95049271e-03 1.23156128e+00] [ 2.29291956e-02 9.99737086e-01 1.04690704e-04 6.49616081e-02] [-1.95238039e-03 -5.99397513e-05 9.99998092e-01 9.21619758e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.279254154 meters 0.03502708333320347 Centerline is valid? [True, True] Translation: X:1.29, Y:0.07, Z:0.00 [[ 9.99661662e-01 -2.58464224e-02 2.91962183e-03 1.29259317e+00] [ 2.58460742e-02 9.99665922e-01 1.56909342e-04 6.95197733e-02] [-2.92270200e-03 -8.13954909e-05 9.99995726e-01 2.36036162e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3392541539999998 meters 0.03926969342919798 Centerline is valid? [True, True] Translation: X:1.35, Y:0.06, Z:-0.00 [[ 9.99361241e-01 -3.55948910e-02 3.18024231e-03 1.35360170e+00] [ 3.55945259e-02 9.99366299e-01 1.71339861e-04 5.96142894e-02] [-3.18432581e-03 -5.80311987e-05 9.99994928e-01 -8.65102562e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3992541539999999 meters 0.04637663955412626 Centerline is valid? [True, True] Translation: X:1.41, Y:0.06, Z:-0.00 [[ 9.99071403e-01 -4.28516099e-02 4.48013820e-03 1.41433302e+00] [ 4.28509592e-02 9.99081447e-01 2.41184993e-04 5.67319770e-02] [-4.48635812e-03 -4.89828104e-05 9.99989935e-01 -4.58076537e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.459254154 meters 0.055816160235927594 Centerline is valid? [True, True] Translation: X:1.48, Y:0.05, Z:-0.00 [[ 9.98704271e-01 -5.04973831e-02 6.30818585e-03 1.47661188e+00] [ 5.04962645e-02 9.98724193e-01 3.36587126e-04 5.07259439e-02] [-6.31713459e-03 -1.76111792e-05 9.99980047e-01 -9.91764858e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.519254154 meters 0.06096557571381213 Centerline is valid? [True, True] Translation: X:1.54, Y:0.05, Z:-0.00 [[ 9.98554031e-01 -5.31255759e-02 8.21703374e-03 1.53755062e+00] [ 5.31237643e-02 9.98587839e-01 4.38726754e-04 4.77871878e-02] [-8.22873758e-03 -1.57260562e-06 9.99966143e-01 -7.83816447e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.579254154 meters 0.0800253267219001 Centerline is valid? [True, True] Translation: X:1.60, Y:0.04, Z:-0.00 [[ 9.98522643e-01 -5.38578238e-02 7.20178166e-03 1.60006973e+00] [ 5.38564707e-02 9.98548614e-01 3.81834244e-04 4.36049027e-02] [-7.21189386e-03 6.59240462e-06 9.99973994e-01 -4.81098071e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6392541539999999 meters 0.08814314288995086 Centerline is valid? [True, True] Translation: X:1.66, Y:0.04, Z:-0.01 [[ 9.98408987e-01 -5.59237792e-02 7.21292444e-03 1.66351337e+00] [ 5.59224916e-02 9.98435041e-01 3.80234674e-04 4.05226978e-02] [-7.22290067e-03 2.37349915e-05 9.99973914e-01 -7.20396709e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.699254154 meters 0.10540894136765021 Centerline is valid? [True, False] Translation: X:1.66, Y:0.03, Z:-0.01 [[ 0.99878125 -0.04836962 0.00981811 1.66438299] [ 0.04841741 0.99881619 -0.0046886 0.03048892] [-0.0095797 0.00515825 0.99994081 -0.01324492] [ 0. 0. 0. 1. ]] SLAMing on 1.759254154 meters 0.11884573717594511 Centerline is valid? [False, False] Translation: X:1.67, Y:0.02, Z:-0.02 [[ 0.99873654 -0.04948944 0.00872497 1.66912705] [ 0.04952528 0.9987651 -0.00394066 0.01975901] [-0.00851917 0.00436779 0.99995417 -0.01722716] [ 0. 0. 0. 1. ]] SLAMing on 1.8192541539999998 meters 0.12847146835489598 Centerline is valid? [False, False] Translation: X:1.67, Y:0.01, Z:-0.02 [[ 9.98844330e-01 -4.73350168e-02 8.33074209e-03 1.67169922e+00] [ 4.73334308e-02 9.98879070e-01 3.87543084e-04 8.57001900e-03] [-8.33974827e-03 7.22739201e-06 9.99965224e-01 -2.04750376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8792541539999998 meters 0.13951710036006593 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.00, Z:-0.02 [[ 9.98944898e-01 -4.51704225e-02 8.28996021e-03 1.67292382e+00] [ 4.51390469e-02 9.98972969e-01 3.93372595e-03 -1.26949484e-03] [-8.45913422e-03 -3.55537457e-03 9.99957900e-01 -2.19459373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.939254154 meters 0.1459878359827693 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.01, Z:-0.02 [[ 0.99934256 -0.03570127 0.00631334 1.67392177] [ 0.03573474 0.99934741 -0.00527181 -0.00624032] [-0.00612101 0.00549395 0.99996617 -0.01999654] [ 0. 0. 0. 1. ]] SLAMing on 1.999254154 meters 0.1571790556611972 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.01, Z:-0.02 [[ 0.99939744 -0.03411452 0.00640032 1.6741896 ] [ 0.03413183 0.99941392 -0.00261477 -0.01441428] [-0.00630736 0.00283165 0.9999761 -0.02044336] [ 0. 0. 0. 1. ]] SLAMing on 2.059254154 meters 0.16559579929930027 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.02, Z:-0.02 [[ 9.99457828e-01 -3.23115991e-02 6.32535239e-03 1.67527241e+00] [ 3.23120200e-02 9.99477830e-01 3.56805043e-05 -2.25974530e-02] [-6.32320237e-03 1.68723753e-04 9.99979994e-01 -2.15299093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.119254154 meters 0.17375808616785582 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.03, Z:-0.02 [[ 0.99960469 -0.02732461 0.00661986 1.67466785] [ 0.02728984 0.99961359 0.00528613 -0.02944296] [-0.00676174 -0.00510339 0.99996412 -0.02143739] [ 0. 0. 0. 1. ]] SLAMing on 2.179254154 meters 0.17660826425768889 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.03, Z:-0.02 [[ 0.99983802 -0.01745455 0.00438902 1.67409774] [ 0.01747591 0.99983539 -0.00487641 -0.02804372] [-0.00430318 0.00495232 0.99997848 -0.01771645] [ 0. 0. 0. 1. ]] SLAMing on 2.2392541539999997 meters 0.18284164538381006 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.03, Z:-0.02 [[ 0.99993658 -0.01016769 0.00484203 1.67421784] [ 0.01015769 0.99994623 0.00208611 -0.03299442] [-0.00486298 -0.00203679 0.9999861 -0.01872535] [ 0. 0. 0. 1. ]] SLAMing on 2.2992541539999998 meters 0.1834611782174228 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.04, Z:-0.02 [[ 0.99997162 -0.00532649 0.00532844 1.67382271] [ 0.00528877 0.99996103 0.00706885 -0.035901 ] [-0.00536589 -0.00704046 0.99996082 -0.01943564] [ 0. 0. 0. 1. ]] SLAMing on 2.359254154 meters 0.18718088965391344 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.04, Z:-0.02 [[ 0.99998139 -0.00267413 0.00548373 1.67543665] [ 0.00262402 0.99995493 0.00912469 -0.0387869 ] [-0.00550788 -0.00911013 0.99994333 -0.02155912] [ 0. 0. 0. 1. ]] SLAMing on 2.419254154 meters 0.18825358456201713 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.04, Z:-0.02 [[ 0.99997376 -0.00494599 0.00529249 1.67699864] [ 0.00491166 0.99996694 0.00648021 -0.04071604] [-0.00532436 -0.00645404 0.999965 -0.02288643] [ 0. 0. 0. 1. ]] SLAMing on 2.479254154 meters 0.17847769477453568 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.05, Z:-0.02 [[ 0.99994913 -0.00864785 0.00519071 1.67832313] [ 0.00862704 0.99995471 0.00401775 -0.04568626] [-0.00522522 -0.00397277 0.99997846 -0.02466129] [ 0. 0. 0. 1. ]] SLAMing on 2.539254154 meters 0.17672200469606425 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.05, Z:-0.03 [[ 9.99907981e-01 -1.25819603e-02 5.07192951e-03 1.67911946e+00] [ 1.25781304e-02 9.99920583e-01 7.86300524e-04 -4.80691423e-02] [-5.08141992e-03 -7.22432778e-04 9.99986829e-01 -2.54960718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.599254154 meters 0.16889658168278315 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.05, Z:-0.03 [[ 0.99982915 -0.01792806 0.00450125 1.68081477] [ 0.01794213 0.99983421 -0.00310423 -0.05070008] [-0.00444485 0.00318446 0.99998505 -0.0266849 ] [ 0. 0. 0. 1. ]] SLAMing on 2.6592541539999996 meters 0.14706934964823595 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.05, Z:-0.03 [[ 0.99972995 -0.02289516 0.0039787 1.68266261] [ 0.02292369 0.99971073 -0.0072781 -0.05167646] [-0.00381092 0.00736734 0.9999656 -0.02805286] [ 0. 0. 0. 1. ]] SLAMing on 2.7192541539999997 meters 0.14729997402845518 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.05, Z:-0.03 [[ 0.99981495 -0.01897093 0.00319043 1.68483643] [ 0.01897763 0.99981774 -0.00208074 -0.05492488] [-0.00315038 0.0021409 0.99999275 -0.02994967] [ 0. 0. 0. 1. ]] SLAMing on 2.7792541539999998 meters 0.12741492223151046 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.05, Z:-0.03 [[ 0.99982243 -0.01865075 0.00269226 1.68706438] [ 0.0186555 0.99982444 -0.00175027 -0.05408507] [-0.00265915 0.00180018 0.99999484 -0.03206673] [ 0. 0. 0. 1. ]] SLAMing on 2.839254154 meters 0.11950076788324307 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.05, Z:-0.03 [[ 9.99860219e-01 -1.65102235e-02 2.63741435e-03 1.68834358e+00] [ 1.65105634e-02 9.99863686e-01 -1.07159348e-04 -5.12676356e-02] [-2.63528561e-03 1.50689565e-04 9.99996516e-01 -3.35938741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.899254154 meters 0.0985572947426194 Centerline is valid? [False, True] Translation: X:1.69, Y:-0.04, Z:-0.04 [[ 0.99996262 -0.00788946 0.00353883 1.68502022] [ 0.00791143 0.99994926 -0.006236 -0.03942584] [-0.00348946 0.00626376 0.99997429 -0.03721248] [ 0. 0. 0. 1. ]] SLAMing on 2.959254154 meters 0.09025344739079552 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.04, Z:-0.04 [[ 9.99987538e-01 -4.91413598e-03 8.80020455e-04 1.74770111e+00] [ 4.91413545e-03 9.99987926e-01 2.76787177e-06 -3.58051934e-02] [-8.80023431e-04 1.55670243e-06 9.99999613e-01 -4.04969077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.019254154 meters 0.08110740835502955 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.02, Z:-0.04 [[ 9.99996350e-01 1.21104771e-03 -2.41540676e-03 1.80879691e+00] [-1.21107227e-03 9.99999267e-01 -8.70377434e-06 -2.42436035e-02] [ 2.41539445e-03 1.16289747e-05 9.99997083e-01 -4.14884953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.079254154 meters 0.07811349039386847 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.02, Z:-0.04 [[ 9.99977562e-01 5.66315173e-03 -3.57820131e-03 1.86723718e+00] [-5.66323230e-03 9.99983964e-01 -1.23849506e-05 -1.53433855e-02] [ 3.57807379e-03 3.26488579e-05 9.99993598e-01 -4.14773984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.139254154 meters 0.06570695186110712 Centerline is valid? [True, True] Translation: X:1.93, Y:-0.00, Z:-0.04 [[ 9.99882413e-01 1.38317984e-02 -6.62123631e-03 1.92667615e+00] [-1.38322660e-02 9.99904329e-01 -2.48317391e-05 -2.60193421e-03] [ 6.62025938e-03 1.16415521e-04 9.99978079e-01 -4.18014337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1992541539999997 meters 0.06349998188255324 Centerline is valid? [True, True] Translation: X:1.99, Y:0.01, Z:-0.04 [[ 9.99730501e-01 2.15480141e-02 -8.63761048e-03 1.98720624e+00] [-2.15490993e-02 9.99767791e-01 -3.25770602e-05 8.42173515e-03] [ 8.63490278e-03 2.18701007e-04 9.99962695e-01 -4.15052587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2592541539999997 meters 0.060362002417492434 Centerline is valid? [True, True] Translation: X:2.05, Y:0.01, Z:-0.04 [[ 9.99642575e-01 2.48349377e-02 -9.89684806e-03 2.04698107e+00] [-2.48365253e-02 9.99691525e-01 -3.75194806e-05 7.21300988e-03] [ 9.89286334e-03 2.83309387e-04 9.99951024e-01 -3.87632970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.319254154 meters 0.05473708360584478 Centerline is valid? [True, True] Translation: X:2.10, Y:0.01, Z:-0.04 [[ 9.99652834e-01 2.36761639e-02 -1.15607712e-02 2.10479349e+00] [-2.36782620e-02 9.99719630e-01 -4.46271887e-05 7.75991741e-03] [ 1.15564733e-02 3.18350664e-04 9.99933171e-01 -3.88271945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.379254154 meters 0.05293348839006819 Centerline is valid? [True, True] Translation: X:2.16, Y:0.01, Z:-0.04 [[ 9.99693787e-01 2.03328113e-02 -1.41035286e-02 2.16253719e+00] [-2.03356197e-02 9.99793208e-01 -5.57320107e-05 5.49477582e-03] [ 1.40994789e-02 3.42518938e-04 9.99900539e-01 -3.91678047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.439254154 meters 0.04905201701319719 Centerline is valid? [True, True] Translation: X:2.22, Y:0.00, Z:-0.04 [[ 9.99780148e-01 1.44593479e-02 -1.51849613e-02 2.22280019e+00] [-1.44619353e-02 9.99895419e-01 -6.05889780e-05 4.66323387e-04] [ 1.51824972e-02 2.80179585e-04 9.99884700e-01 -3.75606793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.499254154 meters 0.04570002743145229 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.01, Z:-0.04 [[ 9.99844341e-01 9.49217738e-03 -1.48725569e-02 2.28110459e+00] [-9.49412134e-03 9.99954928e-01 -6.01068415e-05 -5.26013765e-03] [ 1.48713160e-02 2.01299345e-04 9.99889396e-01 -3.60425198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.559254154 meters 0.0431417285038858 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.01, Z:-0.04 [[ 9.99839204e-01 7.85845619e-03 -1.61186662e-02 2.33990917e+00] [-7.86054477e-03 9.99969103e-01 -6.62230941e-05 -8.61835472e-03] [ 1.61176477e-02 1.92913943e-04 9.99870084e-01 -3.59576072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6192541539999996 meters 0.04189933631565041 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.01, Z:-0.03 [[ 9.99812933e-01 7.66773526e-03 -1.77568477e-02 2.39914889e+00] [-7.67026135e-03 9.99970580e-01 -7.41580331e-05 -1.30594683e-02] [ 1.77557567e-02 2.10343823e-04 9.99842332e-01 -3.49526078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6792541539999997 meters 0.03879420399264175 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.02, Z:-0.03 [[ 9.99753006e-01 9.03704084e-03 -2.03041680e-02 2.45770743e+00] [-9.04071357e-03 9.99959128e-01 -8.90994385e-05 -1.87611463e-02] [ 2.03025329e-02 2.72641599e-04 9.99793845e-01 -3.37838585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7392541539999997 meters 0.037369800997127625 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.02, Z:-0.03 [[ 9.99712749e-01 1.02370514e-02 -2.16707845e-02 2.51649867e+00] [-1.02416355e-02 9.99947548e-01 -1.00558581e-04 -2.14318625e-02] [ 2.16686184e-02 3.22473972e-04 9.99765156e-01 -3.37739121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7992541539999998 meters 0.03503607253545619 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.02, Z:-0.03 [[ 9.99668864e-01 1.49253974e-02 -2.09617331e-02 2.57504604e+00] [-1.49308246e-02 9.99888524e-01 -1.02418413e-04 -2.44697993e-02] [ 2.09578677e-02 4.15360459e-04 9.99780273e-01 -3.23042295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.859254154 meters 0.034180801644875865 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.03, Z:-0.03 [[ 9.99609746e-01 1.85531809e-02 -2.08838659e-02 2.63408738e+00] [-1.85594660e-02 9.99827753e-01 -1.07161531e-04 -2.54445661e-02] [ 2.08782805e-02 4.94713110e-04 9.99781903e-01 -3.13103422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.919254154 meters 0.03387658539595392 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.03, Z:-0.03 [[ 9.99526976e-01 2.19553370e-02 -2.15357035e-02 2.69291099e+00] [-2.19628608e-02 9.99758781e-01 -1.12877430e-04 -3.09077835e-02] [ 2.15280305e-02 5.85809696e-04 9.99768073e-01 -3.26520178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.979254154 meters 0.03305472926900964 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.04, Z:-0.03 [[ 9.99480584e-01 2.23040213e-02 -2.32614073e-02 2.75052624e+00] [-2.23129393e-02 9.99751028e-01 -1.23866573e-04 -4.00992015e-02] [ 2.32528531e-02 6.42832603e-04 9.99729409e-01 -3.47764756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.039254154 meters 0.0322160729083676 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.05, Z:-0.04 [[ 9.99485317e-01 1.91492059e-02 -2.57373022e-02 2.80986856e+00] [-1.91592084e-02 9.99816435e-01 -1.42081061e-04 -5.10116680e-02] [ 2.57298570e-02 6.35114273e-04 9.99668731e-01 -3.65626501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0992541540000005 meters 0.0294381934525107 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.07, Z:-0.04 [[ 9.99599518e-01 1.32437040e-02 -2.50081401e-02 2.86935531e+00] [-1.32513411e-02 9.99912187e-01 -1.39679738e-04 -6.62424286e-02] [ 2.50040942e-02 4.71015194e-04 9.99687238e-01 -3.51583151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.159254154 meters 0.027427023878623294 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.08, Z:-0.03 [[ 9.99671528e-01 7.67201322e-03 -2.44535475e-02 2.92822149e+00] [-7.67768554e-03 9.99970517e-01 -1.38082624e-04 -7.65159828e-02] [ 2.44517672e-02 3.25783916e-04 9.99700958e-01 -3.44566679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.219254154000001 meters 0.025211399935760468 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.09, Z:-0.04 [[ 9.99717466e-01 4.66631699e-04 -2.37649041e-02 2.98714021e+00] [-4.69991137e-04 9.99999880e-01 -1.35776071e-04 -9.31891619e-02] [ 2.37648379e-02 1.46907004e-04 9.99717566e-01 -3.52094405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.279254154 meters 0.024683247766403852 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.10, Z:-0.04 [[ 9.99678606e-01 -3.36306878e-03 -2.51271511e-02 3.04647066e+00] [ 3.36048026e-03 9.99994343e-01 -1.45242642e-04 -1.02609853e-01] [ 2.51274974e-02 6.07566666e-05 9.99684253e-01 -3.57187434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.339254154000001 meters 0.02373056140867195 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.11, Z:-0.04 [[ 9.99600229e-01 -8.08575375e-03 -2.70924996e-02 3.10398206e+00] [ 8.08439484e-03 9.99967308e-01 -1.59692778e-04 -1.14874253e-01] [ 2.70929051e-02 -5.93975267e-05 9.99632918e-01 -3.66986849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.399254154 meters 0.022848322657078972 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.13, Z:-0.04 [[ 9.99576175e-01 -1.15215431e-02 -2.67343136e-02 3.16196593e+00] [ 1.15213863e-02 9.99933614e-01 -1.59904603e-04 -1.26083765e-01] [ 2.67343811e-02 -1.48179522e-04 9.99642562e-01 -3.58692051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.459254154 meters 0.022310638760351907 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.13, Z:-0.03 [[ 9.99587018e-01 -1.31981969e-02 -2.55264780e-02 3.22081215e+00] [ 1.31984718e-02 9.99912884e-01 -1.57724056e-04 -1.32533928e-01] [ 2.55263359e-02 -1.79251580e-04 9.99674134e-01 -3.45248076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.519254154 meters 0.022007889694432008 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.14, Z:-0.03 [[ 9.99567766e-01 -1.43319683e-02 -2.56685691e-02 3.27969541e+00] [ 1.43324744e-02 9.99897271e-01 -1.64268399e-04 -1.38506238e-01] [ 2.56682865e-02 -2.03696714e-04 9.99670495e-01 -3.44722841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.579254154 meters 0.02097725969189176 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.14, Z:-0.03 [[ 9.99563658e-01 -1.41908336e-02 -2.59058725e-02 3.33775841e+00] [ 1.41911380e-02 9.99899286e-01 -1.72106474e-04 -1.40999025e-01] [ 2.59057058e-02 -1.95602436e-04 9.99664372e-01 -3.47723482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6392541540000005 meters 0.020857882839712467 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.14, Z:-0.03 [[ 9.99568687e-01 -1.42160723e-02 -2.56971595e-02 3.39603971e+00] [ 1.42162168e-02 9.99898929e-01 -1.77075632e-04 -1.41103791e-01] [ 2.56970796e-02 -1.88317133e-04 9.99669758e-01 -3.41628072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.699254154 meters 0.020235892674233032 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.14, Z:-0.03 [[ 9.99609403e-01 -1.53533691e-02 -2.33520113e-02 3.45509646e+00] [ 1.53536809e-02 9.99882112e-01 -1.65954508e-04 -1.43606547e-01] [ 2.33518064e-02 -1.92649644e-04 9.99727291e-01 -3.10313181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.759254154000001 meters 0.020320795129723145 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.15, Z:-0.03 [[ 9.99599447e-01 -1.76309993e-02 -2.21380385e-02 3.51348670e+00] [ 1.76317228e-02 9.99844536e-01 -1.62524401e-04 -1.46823853e-01] [ 2.21374622e-02 -2.27872454e-04 9.99754910e-01 -2.91417708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.819254154 meters 0.019937564015071543 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.15, Z:-0.03 [[ 9.99570739e-01 -2.06096213e-02 -2.08226229e-02 3.57179633e+00] [ 2.06108119e-02 9.99787562e-01 -1.57451880e-04 -1.48658196e-01] [ 2.08214445e-02 -2.71786872e-04 9.99783173e-01 -2.64369091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.879254154 meters 0.01993046231862254 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.15, Z:-0.03 [[ 9.99573106e-01 -2.04222387e-02 -2.08934792e-02 3.62896749e+00] [ 2.04233394e-02 9.99791409e-01 -1.60720511e-04 -1.46417257e-01] [ 2.08924033e-02 -2.66062718e-04 9.99781695e-01 -2.70180137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.939254154 meters 0.01888131330146089 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.14, Z:-0.03 [[ 9.99613411e-01 -1.85821031e-02 -2.06817442e-02 3.68749923e+00] [ 1.85827068e-02 9.99827313e-01 -1.63005826e-04 -1.41544657e-01] [ 2.06812018e-02 -2.21379980e-04 9.99786097e-01 -2.58515479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.999254154 meters 0.017976175163706875 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.13, Z:-0.02 [[ 9.99700922e-01 -1.54103774e-02 -1.89891479e-02 3.74554594e+00] [ 1.54102688e-02 9.99881243e-01 -1.52055785e-04 -1.32997127e-01] [ 1.89892360e-02 -1.40617564e-04 9.99819678e-01 -2.36779134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0592541540000004 meters 0.017161215790613464 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.12, Z:-0.02 [[ 9.99741296e-01 -1.47589144e-02 -1.73065360e-02 3.80451451e+00] [ 1.47586733e-02 9.99891075e-01 -1.41657089e-04 -1.24650338e-01] [ 1.73067416e-02 -1.13801069e-04 9.99850221e-01 -2.12631270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.119254154 meters 0.017053136437429093 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.12, Z:-0.02 [[ 9.99734954e-01 -1.59779194e-02 -1.65749021e-02 3.86254505e+00] [ 1.59778043e-02 9.99872337e-01 -1.39373872e-04 -1.20514242e-01] [ 1.65750130e-02 -1.25493611e-04 9.99862617e-01 -2.09093037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1792541540000006 meters 0.018061126069871446 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.12, Z:-0.02 [[ 9.99664917e-01 -1.85523487e-02 -1.80517163e-02 3.92037421e+00] [ 1.85525941e-02 9.99827874e-01 -1.53890104e-04 -1.17056858e-01] [ 1.80514641e-02 -1.81067626e-04 9.99837043e-01 -2.33238109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.239254154 meters 0.018792600390200226 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.11, Z:-0.02 [[ 9.99625642e-01 -2.12950047e-02 -1.71784194e-02 3.97939845e+00] [ 2.12955829e-02 9.99773212e-01 -1.49285656e-04 -1.11986617e-01] [ 1.71777026e-02 -2.16594686e-04 9.99852429e-01 -2.21091397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.299254154 meters 0.019048834657197065 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.11, Z:-0.02 [[ 9.99621181e-01 -2.24885317e-02 -1.58669524e-02 4.03779849e+00] [ 2.24891241e-02 9.99747078e-01 -1.41116937e-04 -1.07611117e-01] [ 1.58661128e-02 -2.15770383e-04 9.99874102e-01 -2.02057226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.359254154 meters 0.016855286354748727 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.10, Z:-0.01 [[ 9.99680022e-01 -2.17530396e-02 -1.29096336e-02 4.09623965e+00] [ 2.17533371e-02 9.99763361e-01 -1.17391216e-04 -9.52183657e-02] [ 1.29091323e-02 -1.63473957e-04 9.99916660e-01 -1.41064450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.419254154 meters 0.015329722611119437 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.08, Z:-0.01 [[ 9.99802264e-01 -1.59736685e-02 -1.18437474e-02 4.15437292e+00] [ 1.59734992e-02 9.99872410e-01 -1.08898463e-04 -7.87864618e-02] [ 1.18439758e-02 -8.03091593e-05 9.99929854e-01 -1.30969278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.479254154 meters 0.014551416993381368 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.06, Z:-0.01 [[ 9.99879872e-01 -9.82168463e-03 -1.19906470e-02 4.21337663e+00] [ 9.82104742e-03 9.99951766e-01 -1.12024745e-04 -6.46152630e-02] [ 1.19911690e-02 -5.74942518e-06 9.99928103e-01 -1.31011613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.539254154 meters 0.01608295445231739 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.04, Z:-0.01 [[ 9.99929945e-01 -1.32094633e-04 -1.18358985e-02 4.27153756e+00] [ 1.30777850e-04 9.99999985e-01 -1.12027224e-04 -4.38151732e-02] [ 1.18359131e-02 1.10471503e-04 9.99929947e-01 -1.23332647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5992541540000005 meters 0.01902102120883532 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.03, Z:-0.01 [[ 9.99915066e-01 5.81194170e-03 -1.16653922e-02 4.32949036e+00] [-5.81363364e-03 9.99983095e-01 -1.11133917e-04 -2.69878394e-02] [ 1.16645491e-02 1.78942795e-04 9.99931951e-01 -1.11022340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.659254154 meters 0.020061722446890105 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.02, Z:-0.01 [[ 9.99903432e-01 7.52701785e-03 -1.16820913e-02 4.38819497e+00] [-7.52883937e-03 9.99971652e-01 -1.11953022e-04 -1.86796100e-02] [ 1.16809175e-02 1.99894799e-04 9.99931756e-01 -1.06306892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.719254154000001 meters 0.020378441273338252 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.01, Z:-0.01 [[ 9.99883921e-01 7.46177143e-03 -1.32840523e-02 4.44717348e+00] [-7.46413157e-03 9.99972135e-01 -1.28096310e-04 -1.12249638e-02] [ 1.32827263e-02 2.27235355e-04 9.99911755e-01 -1.25759068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.779254154 meters 0.015382685692303773 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.01, Z:-0.01 [[ 9.99874886e-01 5.91298133e-03 -1.46713923e-02 4.50596339e+00] [-5.91570852e-03 9.99982492e-01 -1.42493272e-04 -1.36359300e-02] [ 1.46702929e-02 2.29267125e-04 9.99892359e-01 -9.01324636e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.839254154 meters 0.0153559975987584 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.01, Z:-0.01 [[ 9.99877923e-01 3.74396164e-03 -1.51697380e-02 4.56362973e+00] [-3.74664724e-03 9.99992970e-01 -1.48620506e-04 -9.45601771e-03] [ 1.51690750e-02 2.05438020e-04 9.99884922e-01 -8.84963874e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.899254154 meters 0.014348883987914549 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.01, Z:-0.01 [[ 9.99901866e-01 -1.34156214e-03 -1.39448457e-02 4.62205269e+00] [ 1.33977240e-03 9.99999093e-01 -1.37685427e-04 -6.87040561e-03] [ 1.39450177e-02 1.18988996e-04 9.99902756e-01 -7.04227538e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.959254154 meters 0.01395813972790356 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.01, Z:-0.01 [[ 9.99892346e-01 -6.91752239e-03 -1.29400036e-02 4.68124985e+00] [ 6.91643015e-03 9.99976073e-01 -1.29157493e-04 -5.11097298e-03] [ 1.29405875e-02 3.96449573e-05 9.99916266e-01 -6.75321427e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.019254154 meters 0.013919785583162106 Centerline is valid? [True, True] Translation: X:4.74, Y:-0.00, Z:-0.01 [[ 9.99891079e-01 -8.37848198e-03 -1.21503279e-02 4.73874090e+00] [ 8.37759321e-03 9.99964900e-01 -1.24043251e-04 -2.18853595e-03] [ 1.21509407e-02 2.22392361e-05 9.99926174e-01 -6.64870707e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.079254154 meters 0.01396551733083629 Centerline is valid? [True, True] Translation: X:4.80, Y:0.00, Z:-0.00 [[ 9.99932174e-01 -5.26555852e-03 -1.03885396e-02 4.79624866e+00] [ 5.26471163e-03 9.99986135e-01 -1.08866843e-04 4.90789234e-03] [ 1.03889688e-02 5.41667941e-05 9.99946032e-01 -4.99282684e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1392541540000005 meters 0.014461189292115885 Centerline is valid? [True, True] Translation: X:4.85, Y:0.01, Z:-0.00 [[ 9.99956486e-01 2.91916409e-04 -9.32418107e-03 4.85451391e+00] [-2.92862397e-04 9.99999952e-01 -1.00090178e-04 1.22023909e-02] [ 9.32415140e-03 1.02816524e-04 9.99956524e-01 -4.78966533e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.199254154 meters 0.014744374337043684 Centerline is valid? [True, True] Translation: X:4.91, Y:0.02, Z:-0.01 [[ 9.99938827e-01 4.87688158e-03 -9.92767669e-03 4.91275702e+00] [-4.87819672e-03 9.99988096e-01 -1.08261740e-04 1.74046208e-02] [ 9.92703053e-03 1.56684277e-04 9.99950714e-01 -5.07526238e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.259254154000001 meters 0.015949639286513072 Centerline is valid? [True, True] Translation: X:4.97, Y:0.02, Z:-0.01 [[ 9.99919791e-01 6.21999573e-03 -1.10327907e-02 4.97042030e+00] [-6.22171665e-03 9.99980638e-01 -1.21666419e-04 2.23162837e-02] [ 1.10318203e-02 1.90299558e-04 9.99939130e-01 -6.91036130e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.319254154 meters 0.015262169935429535 Centerline is valid? [True, True] Translation: X:5.03, Y:0.02, Z:-0.01 [[ 9.99896563e-01 6.20759891e-03 -1.29741698e-02 5.02957660e+00] [-6.20999495e-03 9.99980707e-01 -1.44398501e-04 2.29266862e-02] [ 1.29730232e-02 2.24953094e-04 9.99915821e-01 -8.59327119e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.379254154 meters 0.015288938379448848 Centerline is valid? [True, True] Translation: X:5.09, Y:0.03, Z:-0.01 [[ 9.99897187e-01 4.44585466e-03 -1.36327026e-02 5.08751832e+00] [-4.44835220e-03 9.99990094e-01 -1.52884633e-04 2.51041552e-02] [ 1.36318879e-02 2.13511978e-04 9.99907059e-01 -9.81690570e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.439254154 meters 0.014739432270705144 Centerline is valid? [True, True] Translation: X:5.15, Y:0.03, Z:-0.01 [[ 9.99913792e-01 1.66073637e-03 -1.30249647e-02 5.14629755e+00] [-1.66279272e-03 9.99998607e-01 -1.47050434e-04 2.60164972e-02] [ 1.30247023e-02 1.68695573e-04 9.99915161e-01 -9.42594487e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.499254154 meters 0.013984279289430437 Centerline is valid? [True, True] Translation: X:5.21, Y:0.02, Z:-0.01 [[ 9.99930334e-01 -2.11863798e-03 -1.16119653e-02 5.20549773e+00] [ 2.11724921e-03 9.99997750e-01 -1.31890636e-04 2.49404841e-02] [ 1.16122186e-02 1.07296023e-04 9.99932570e-01 -8.08486355e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5592541540000004 meters 0.013364156415282297 Centerline is valid? [True, True] Translation: X:5.26, Y:0.02, Z:-0.01 [[ 9.99908619e-01 -1.01299606e-02 -8.95194164e-03 5.26455783e+00] [ 1.01294511e-02 9.99948691e-01 -1.02254455e-04 2.17122064e-02] [ 8.95251815e-03 1.15668565e-05 9.99959925e-01 -5.82252376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.619254154 meters 0.013375118290303528 Centerline is valid? [True, True] Translation: X:5.32, Y:0.02, Z:-0.00 [[ 9.99851165e-01 -1.53077513e-02 -7.95741568e-03 5.32412076e+00] [ 1.53075093e-02 9.99882829e-01 -9.13102471e-05 1.98252583e-02] [ 7.95788106e-03 -3.05115578e-05 9.99968335e-01 -4.73736225e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6792541540000006 meters 0.013848632687531403 Centerline is valid? [True, True] Translation: X:5.39, Y:0.02, Z:-0.00 [[ 9.99730299e-01 -2.21576373e-02 -6.95475175e-03 5.38511500e+00] [ 2.21576179e-02 9.99754487e-01 -7.98492582e-05 1.77368552e-02] [ 6.95481353e-03 -7.42730087e-05 9.99975812e-01 -4.28768983e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.739254154 meters 0.014529795117801779 Centerline is valid? [True, True] Translation: X:5.45, Y:0.02, Z:-0.01 [[ 9.99629858e-01 -2.60274714e-02 -7.91948663e-03 5.44681846e+00] [ 2.60275707e-02 9.99661221e-01 -9.05443285e-05 1.64019732e-02] [ 7.91916032e-03 -1.15614184e-04 9.99968636e-01 -5.11096652e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.799254154 meters 0.015544224240321852 Centerline is valid? [True, True] Translation: X:5.51, Y:0.02, Z:-0.01 [[ 9.99527864e-01 -2.91987288e-02 -9.56470777e-03 5.50796919e+00] [ 2.91990243e-02 9.99573612e-01 -1.08778939e-04 1.62269736e-02] [ 9.56380570e-03 -1.70552554e-04 9.99954251e-01 -6.43561016e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.859254154 meters 0.015329126433418149 Centerline is valid? [True, True] Translation: X:5.57, Y:0.02, Z:-0.01 [[ 9.99525961e-01 -2.88432260e-02 -1.07666829e-02 5.57055030e+00] [ 2.88435876e-02 9.99583930e-01 -1.21723198e-04 2.09135132e-02] [ 1.07657141e-02 -1.88884265e-04 9.99942030e-01 -6.83642867e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.919254154 meters 0.014003138431717988 Centerline is valid? [True, True] Translation: X:5.63, Y:0.03, Z:-0.01 [[ 9.99636791e-01 -2.48188666e-02 -1.05028481e-02 5.63256851e+00] [ 2.48189966e-02 9.99691954e-01 -1.17980122e-04 2.99540900e-02] [ 1.05025409e-02 -1.42732881e-04 9.99944837e-01 -5.77080770e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.979254154 meters 0.013799712916317614 Centerline is valid? [True, True] Translation: X:5.69, Y:0.04, Z:-0.01 [[ 9.99735696e-01 -2.05984603e-02 -1.02098955e-02 5.69359683e+00] [ 2.05983743e-02 9.99787825e-01 -1.13590617e-04 3.59695991e-02] [ 1.02100690e-02 -9.67466541e-05 9.99947871e-01 -5.72959991e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.039254154 meters 0.013333797790014722 Centerline is valid? [True, True] Translation: X:5.76, Y:0.05, Z:-0.00 [[ 9.99829460e-01 -1.59339119e-02 -9.33604453e-03 5.75509084e+00] [ 1.59336433e-02 9.99873046e-01 -1.03145938e-04 4.66516813e-02] [ 9.33650280e-03 -4.56288559e-05 9.99956413e-01 -3.82557219e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0992541540000005 meters 0.013381558335018754 Centerline is valid? [True, True] Translation: X:5.82, Y:0.05, Z:-0.00 [[ 9.99838548e-01 -1.52059800e-02 -9.57375816e-03 5.81591269e+00] [ 1.52056676e-02 9.99884382e-01 -1.05419426e-04 5.35657521e-02] [ 9.57425426e-03 -4.01729780e-05 9.99954165e-01 -3.60519994e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.159254154 meters 0.013701819770257858 Centerline is valid? [True, True] Translation: X:5.88, Y:0.06, Z:-0.00 [[ 9.99827104e-01 -1.58947982e-02 -9.64977809e-03 5.87603524e+00] [ 1.58945153e-02 9.99873669e-01 -1.06002850e-04 5.76843539e-02] [ 9.65024391e-03 -4.73940230e-05 9.99953434e-01 -3.38451918e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.219254154 meters 0.01361100818148104 Centerline is valid? [True, True] Translation: X:5.94, Y:0.07, Z:-0.00 [[ 9.99844813e-01 -1.50263657e-02 -9.19554464e-03 5.93767208e+00] [ 1.50260744e-02 9.99887097e-01 -1.00760737e-04 6.58060466e-02] [ 9.19602051e-03 -3.74278378e-05 9.99957715e-01 -3.00555170e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.279254154 meters 0.0134730094884026 Centerline is valid? [True, True] Translation: X:6.00, Y:0.07, Z:-0.00 [[ 9.99884123e-01 -1.28616816e-02 -8.14358263e-03 5.99873325e+00] [ 1.28613837e-02 9.99917285e-01 -8.89509418e-05 7.36067986e-02] [ 8.14405309e-03 -1.57971067e-05 9.99966837e-01 -2.65950224e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.339254154 meters 0.013577354797534002 Centerline is valid? [True, True] Translation: X:6.06, Y:0.08, Z:-0.00 [[ 9.99902034e-01 -1.17706331e-02 -7.57455046e-03 6.06029744e+00] [ 1.17703461e-02 9.99930724e-01 -8.24671205e-05 7.87665264e-02] [ 7.57499642e-03 -6.69603902e-06 9.99971309e-01 -2.21043330e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.399254154 meters 0.013598473468783692 Centerline is valid? [True, True] Translation: X:6.12, Y:0.08, Z:-0.00 [[ 9.99885485e-01 -1.30529266e-02 -7.65758544e-03 6.12036471e+00] [ 1.30526726e-02 9.99914807e-01 -8.31478369e-05 8.31333161e-02] [ 7.65801839e-03 -1.68136401e-05 9.99970677e-01 -3.15803918e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.459254154 meters 0.01382912021569666 Centerline is valid? [True, True] Translation: X:6.18, Y:0.09, Z:-0.00 [[ 9.99859184e-01 -1.50939915e-02 -7.33371834e-03 6.18135380e+00] [ 1.50938148e-02 9.99886079e-01 -7.94485498e-05 8.70325886e-02] [ 7.33408207e-03 -3.12564242e-05 9.99973105e-01 -3.83317606e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.519254154 meters 0.014107394831261246 Centerline is valid? [True, True] Translation: X:6.24, Y:0.09, Z:-0.00 [[ 9.99811906e-01 -1.83901359e-02 -6.16079909e-03 6.24261168e+00] [ 1.83900758e-02 9.99830886e-01 -6.64126182e-05 8.62064414e-02] [ 6.16097855e-03 -4.68974360e-05 9.99981020e-01 -3.93602254e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.579254154 meters 0.014976430754257454 Centerline is valid? [True, True] Translation: X:6.30, Y:0.08, Z:-0.00 [[ 9.99674113e-01 -2.47392995e-02 -6.29561647e-03 6.30455464e+00] [ 2.47393685e-02 9.99693933e-01 -6.69236471e-05 8.40542348e-02] [ 6.29534524e-03 -8.88477385e-05 9.99980180e-01 -3.08379389e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6392541540000005 meters 0.016298584728500112 Centerline is valid? [True, True] Translation: X:6.37, Y:0.08, Z:-0.01 [[ 9.99508823e-01 -3.05187535e-02 -7.12169658e-03 6.36637841e+00] [ 3.05189978e-02 9.99534184e-01 -7.43940346e-05 7.93068338e-02] [ 7.12064959e-03 -1.42989548e-04 9.99974638e-01 -5.64645080e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.699254154 meters 0.017870648798031855 Centerline is valid? [True, True] Translation: X:6.43, Y:0.08, Z:-0.01 [[ 9.99341789e-01 -3.52626209e-02 -8.51683257e-03 6.42820753e+00] [ 3.52631468e-02 9.99378058e-01 -8.84587997e-05 7.50010854e-02] [ 8.51465488e-03 -2.11929742e-04 9.99963727e-01 -7.71233772e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.759254154 meters 0.01792903031764764 Centerline is valid? [True, True] Translation: X:6.49, Y:0.08, Z:-0.01 [[ 9.99323255e-01 -3.56789255e-02 -8.94690811e-03 6.49021418e+00] [ 3.56795277e-02 9.99363279e-01 -9.23479898e-05 7.53456052e-02] [ 8.94450630e-03 -2.26935962e-04 9.99959971e-01 -7.16506221e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.819254154 meters 0.018035381124472838 Centerline is valid? [True, True] Translation: X:6.55, Y:0.08, Z:-0.01 [[ 9.99363062e-01 -3.46571078e-02 -8.50614363e-03 6.55097093e+00] [ 3.46576195e-02 9.99399240e-01 -8.72773294e-05 7.57950902e-02] [ 8.50405826e-03 -2.07580950e-04 9.99963818e-01 -6.52223488e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.879254154 meters 0.01730564300080229 Centerline is valid? [True, True] Translation: X:6.61, Y:0.08, Z:-0.01 [[ 9.99385436e-01 -3.41942178e-02 -7.71399545e-03 6.61350549e+00] [ 3.41946284e-02 9.99415190e-01 -7.86942956e-05 7.66373630e-02] [ 7.71217512e-03 -1.85131275e-04 9.99970244e-01 -5.47784681e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.939254154 meters 0.017672944236441473 Centerline is valid? [True, True] Translation: X:6.68, Y:0.08, Z:-0.01 [[ 9.99368638e-01 -3.46447611e-02 -7.87820048e-03 6.67617499e+00] [ 3.46452080e-02 9.99399671e-01 -7.97883873e-05 7.62182092e-02] [ 7.87623522e-03 -1.93203882e-04 9.99968963e-01 -5.55288494e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.999254154 meters 0.017982910581407073 Centerline is valid? [True, True] Translation: X:6.74, Y:0.08, Z:-0.01 [[ 9.99331152e-01 -3.55605204e-02 -8.52630196e-03 6.73809143e+00] [ 3.55610826e-02 9.99367501e-01 -8.57092406e-05 7.60648514e-02] [ 8.52395695e-03 -2.17552614e-04 9.99963647e-01 -5.96316237e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.059254154 meters 0.017895673403363038 Centerline is valid? [True, True] Translation: X:6.80, Y:0.08, Z:-0.01 [[ 9.99249582e-01 -3.72127240e-02 -1.07464350e-02 6.80052132e+00] [ 3.72137220e-02 9.99307324e-01 -1.07157400e-04 7.71976726e-02] [ 1.07429788e-02 -2.92837856e-04 9.99942250e-01 -7.37264252e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.119254154 meters 0.018715128259078756 Centerline is valid? [True, True] Translation: X:6.86, Y:0.08, Z:-0.01 [[ 9.99233427e-01 -3.72685993e-02 -1.19837606e-02 6.86138721e+00] [ 3.72698536e-02 9.99305231e-01 -1.18717934e-04 7.63672449e-02] [ 1.19798591e-02 -3.28006076e-04 9.99928185e-01 -8.41173902e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.179254154 meters 0.018297992985527645 Centerline is valid? [True, True] Translation: X:6.92, Y:0.08, Z:-0.01 [[ 9.99276280e-01 -3.60942441e-02 -1.20050961e-02 6.92370822e+00] [ 3.60954276e-02 9.99348341e-01 -1.18143113e-04 7.87374434e-02] [ 1.20015372e-02 -3.15271466e-04 9.99927929e-01 -7.55604135e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.239254154 meters 0.018240456819130158 Centerline is valid? [True, True] Translation: X:6.99, Y:0.08, Z:-0.01 [[ 9.99370618e-01 -3.39681927e-02 -1.02239770e-02 6.98614268e+00] [ 3.39689468e-02 9.99422884e-01 -9.99344264e-05 8.06895353e-02] [ 1.02214712e-02 -2.47426203e-04 9.99947729e-01 -5.84527059e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.299254154 meters 0.01723345852054258 Centerline is valid? [True, True] Translation: X:7.05, Y:0.08, Z:-0.00 [[ 9.99471493e-01 -3.13071412e-02 -8.75206040e-03 7.04890466e+00] [ 3.13075976e-02 9.99509793e-01 -8.48883153e-05 8.35573581e-02] [ 8.75042769e-03 -1.89162534e-04 9.99961696e-01 -4.60380517e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.359254154 meters 0.01623451223793158 Centerline is valid? [True, True] Translation: X:7.11, Y:0.09, Z:-0.00 [[ 9.99582245e-01 -2.76352516e-02 -8.46335265e-03 7.11072089e+00] [ 2.76355525e-02 9.99618062e-01 -8.14107352e-05 8.67055678e-02] [ 8.46236998e-03 -1.52512701e-04 9.99964182e-01 -4.25844662e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.419254154 meters 0.015593117173404966 Centerline is valid? [True, True] Translation: X:7.17, Y:0.09, Z:-0.00 [[ 9.99661652e-01 -2.46066681e-02 -8.43170028e-03 7.17273984e+00] [ 2.46068642e-02 9.99697202e-01 -8.04989561e-05 8.95208297e-02] [ 8.43112799e-03 -1.27005984e-04 9.99964449e-01 -3.86568433e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.479254154 meters 0.015295130014797756 Centerline is valid? [True, True] Translation: X:7.23, Y:0.09, Z:-0.00 [[ 9.99730519e-01 -2.16076357e-02 -8.48519486e-03 7.23349543e+00] [ 2.16077308e-02 9.99766522e-01 -8.04729855e-05 9.12070825e-02] [ 8.48495259e-03 -1.02894507e-04 9.99963997e-01 -4.28739740e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.539254154 meters 0.014979291055992468 Centerline is valid? [True, True] Translation: X:7.30, Y:0.09, Z:-0.00 [[ 9.99770643e-01 -1.96906085e-02 -8.42264958e-03 7.29590345e+00] [ 1.96906386e-02 9.99806117e-01 -7.93639597e-05 9.20722208e-02] [ 8.42257930e-03 -8.65015914e-05 9.99964526e-01 -4.36865250e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.599254154 meters 0.01467759674309235 Centerline is valid? [True, True] Translation: X:7.36, Y:0.09, Z:-0.00 [[ 9.99788918e-01 -1.85924343e-02 -8.74308689e-03 7.35840984e+00] [ 1.85924303e-02 9.99827142e-01 -8.17482955e-05 9.22254782e-02] [ 8.74309548e-03 -8.08241935e-05 9.99961775e-01 -4.04405608e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.659254154000001 meters 0.014731155571104266 Centerline is valid? [True, True] Translation: X:7.42, Y:0.09, Z:-0.01 [[ 9.99795117e-01 -1.79063305e-02 -9.43865735e-03 7.42093993e+00] [ 1.79063019e-02 9.99839665e-01 -8.75455379e-05 9.22897029e-02] [ 9.43871162e-03 -8.14838465e-05 9.99955451e-01 -5.04122392e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.719254154 meters 0.014464103599163725 Centerline is valid? [True, True] Translation: X:7.48, Y:0.09, Z:-0.01 [[ 9.99826843e-01 -1.50086811e-02 -1.10010944e-02 7.48258224e+00] [ 1.50084736e-02 9.99887361e-01 -1.01424898e-04 9.44886180e-02] [ 1.10013775e-02 -6.37022983e-05 9.99939481e-01 -5.02210289e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.779254154 meters 0.014267448911844513 Centerline is valid? [True, True] Translation: X:7.54, Y:0.10, Z:-0.00 [[ 9.99879856e-01 -1.19403048e-02 -9.88450808e-03 7.54283117e+00] [ 1.19399898e-02 9.99928712e-01 -9.08863815e-05 9.71336266e-02] [ 9.88488864e-03 -2.71454635e-05 9.99951143e-01 -3.11308768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.839254154 meters 0.014403147973105223 Centerline is valid? [True, True] Translation: X:7.60, Y:0.10, Z:-0.00 [[ 9.99892900e-01 -1.14410126e-02 -9.12640683e-03 7.60355212e+00] [ 1.14407239e-02 9.99934549e-01 -8.38424104e-05 9.73316722e-02] [ 9.12676874e-03 -2.05792699e-05 9.99958350e-01 -2.24073160e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.899254154 meters 0.014363146975595514 Centerline is valid? [True, True] Translation: X:7.66, Y:0.10, Z:-0.00 [[ 9.99874407e-01 -1.33551878e-02 -8.53286248e-03 7.66437880e+00] [ 1.33550052e-02 9.99910815e-01 -7.83896414e-05 9.52991598e-02] [ 8.53314839e-03 -3.55766264e-05 9.99963591e-01 -8.49860965e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.959254154 meters 0.014725315450364504 Centerline is valid? [True, True] Translation: X:7.73, Y:0.09, Z:-0.00 [[ 9.99807588e-01 -1.74187354e-02 -9.02074247e-03 7.72597145e+00] [ 1.74186981e-02 9.99848280e-01 -8.27009609e-05 9.14302901e-02] [ 9.02081438e-03 -7.44445417e-05 9.99959309e-01 -1.18809587e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.019254154 meters 0.015367920532123179 Centerline is valid? [True, True] Translation: X:7.79, Y:0.09, Z:-0.00 [[ 9.99690326e-01 -2.28163215e-02 -9.93315573e-03 7.78835569e+00] [ 2.28165486e-02 9.99739665e-01 -9.04804091e-05 8.54423269e-02] [ 9.93263421e-03 -1.36187941e-04 9.99950661e-01 -1.92182946e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.079254154000001 meters 0.016088632112480135 Centerline is valid? [True, True] Translation: X:7.85, Y:0.08, Z:-0.00 [[ 9.99596946e-01 -2.64704627e-02 -1.02596718e-02 7.85034805e+00] [ 2.64709052e-02 9.99649580e-01 -9.26900617e-05 8.15373943e-02] [ 1.02585302e-02 -1.78930098e-04 9.99947364e-01 -2.00660057e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.139254154 meters 0.01720608605114694 Centerline is valid? [True, True] Translation: X:7.91, Y:0.08, Z:-0.00 [[ 9.99449290e-01 -3.08332533e-02 -1.22648570e-02 7.91244845e+00] [ 3.08342258e-02 9.99524506e-01 -1.09848628e-04 7.65663488e-02] [ 1.22624121e-02 -2.68389237e-04 9.99924778e-01 -2.67103629e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.199254154 meters 0.018230549909643533 Centerline is valid? [True, True] Translation: X:7.97, Y:0.07, Z:-0.00 [[ 9.99314284e-01 -3.40212067e-02 -1.46122806e-02 7.97464825e+00] [ 3.40229439e-02 9.99421044e-01 -1.29759203e-04 7.29021363e-02] [ 1.46082353e-02 -3.67482578e-04 9.99893227e-01 -4.40134477e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.259254154 meters 0.018595232523998778 Centerline is valid? [True, True] Translation: X:8.04, Y:0.07, Z:-0.01 [[ 9.99228438e-01 -3.57722270e-02 -1.62134558e-02 8.03702622e+00] [ 3.57746158e-02 9.99359873e-01 -1.42767168e-04 7.15122270e-02] [ 1.62081843e-02 -4.37373139e-04 9.99868543e-01 -5.14384786e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.319254154 meters 0.01950028597508382 Centerline is valid? [True, True] Translation: X:8.10, Y:0.07, Z:-0.00 [[ 9.99161760e-01 -3.74539182e-02 -1.65221704e-02 8.09961720e+00] [ 3.74566483e-02 9.99298243e-01 -1.44288695e-04 6.92435925e-02] [ 1.65159800e-02 -4.74697381e-04 9.99863489e-01 -3.85470403e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.379254154 meters 0.019149840171586316 Centerline is valid? [True, True] Translation: X:8.16, Y:0.07, Z:-0.00 [[ 9.99170954e-01 -3.75719888e-02 -1.56764128e-02 8.16215627e+00] [ 3.75744786e-02 9.99293821e-01 -1.35784294e-04 7.03254674e-02] [ 1.56704441e-02 -4.53361315e-04 9.99877108e-01 -4.53810894e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.439254154 meters 0.01911699951739806 Centerline is valid? [True, True] Translation: X:8.22, Y:0.07, Z:0.00 [[ 9.99152117e-01 -3.84459386e-02 -1.47294413e-02 8.22394655e+00] [ 3.84482472e-02 9.99260585e-01 -1.26518930e-04 7.08053323e-02] [ 1.47234142e-02 -4.39909542e-04 9.99891508e-01 2.21899030e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.499254154 meters 0.019274202201724187 Centerline is valid? [True, True] Translation: X:8.29, Y:0.07, Z:0.00 [[ 9.99093494e-01 -3.97414358e-02 -1.52580687e-02 8.28598266e+00] [ 3.97440814e-02 9.99209883e-01 -1.29917899e-04 6.91273197e-02] [ 1.52511762e-02 -4.76617797e-04 9.99883580e-01 2.12491999e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.559254154 meters 0.02002590045183323 Centerline is valid? [True, True] Translation: X:8.35, Y:0.07, Z:0.00 [[ 9.99000354e-01 -4.09945694e-02 -1.78252228e-02 8.34782573e+00] [ 4.09983996e-02 9.99159201e-01 -1.50656719e-04 6.65772714e-02] [ 1.78164115e-02 -5.80299492e-04 9.99841107e-01 7.55844735e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.619254154 meters 0.020755673171047165 Centerline is valid? [True, True] Translation: X:8.41, Y:0.07, Z:0.00 [[ 9.98968531e-01 -4.12333395e-02 -1.90180335e-02 8.40917924e+00] [ 4.12377796e-02 9.99149348e-01 -1.58805861e-04 6.54614280e-02] [ 1.90084039e-02 -6.25619417e-04 9.99819128e-01 6.02789629e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.679254154 meters 0.02160635753075761 Centerline is valid? [True, True] Translation: X:8.47, Y:0.06, Z:0.00 [[ 9.98966690e-01 -4.13906864e-02 -1.87713530e-02 8.47009737e+00] [ 4.13950807e-02 9.99142844e-01 -1.54563032e-04 6.36350100e-02] [ 1.87616605e-02 -6.22638355e-04 9.99823791e-01 1.15855985e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.739254154 meters 0.021274838900391124 Centerline is valid? [True, True] Translation: X:8.53, Y:0.06, Z:0.00 [[ 9.99051005e-01 -3.95325806e-02 -1.82829117e-02 8.53188799e+00] [ 3.95364608e-02 9.99218117e-01 -1.49311095e-04 6.37254420e-02] [ 1.82745193e-02 -5.73672222e-04 9.99832842e-01 2.08550252e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.799254154 meters 0.020265109762819252 Centerline is valid? [True, True] Translation: X:8.59, Y:0.07, Z:0.00 [[ 9.99210149e-01 -3.51221176e-02 -1.85880286e-02 8.59210979e+00] [ 3.51253748e-02 9.99382902e-01 -1.51322573e-04 6.54516241e-02] [ 1.85818727e-02 -5.01708422e-04 9.99827216e-01 1.45980361e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.859254154 meters 0.018727181590545025 Centerline is valid? [True, True] Translation: X:8.65, Y:0.07, Z:0.00 [[ 9.99374390e-01 -3.06155192e-02 -1.77064314e-02 8.65321132e+00] [ 3.06177770e-02 9.99531156e-01 -1.43620909e-04 6.78361544e-02] [ 1.77025269e-02 -3.98600511e-04 9.99843219e-01 2.12901880e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.919254154 meters 0.01771770248532375 Centerline is valid? [True, True] Translation: X:8.71, Y:0.07, Z:0.00 [[ 9.99486028e-01 -2.69707929e-02 -1.73278920e-02 8.71478258e+00] [ 2.69724178e-02 9.99636168e-01 -1.39968712e-04 6.99802053e-02] [ 1.73253626e-02 -3.27478371e-04 9.99849851e-01 2.81636697e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.979254154 meters 0.01565745089660619 Centerline is valid? [True, True] Translation: X:8.78, Y:0.07, Z:0.01 [[ 9.99583704e-01 -2.36825622e-02 -1.64789398e-02 8.77536888e+00] [ 2.36835873e-02 9.99719496e-01 -1.32970180e-04 7.47441610e-02] [ 1.64774664e-02 -2.57365585e-04 9.99864204e-01 5.57423208e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.039254154 meters 0.015127595946626745 Centerline is valid? [True, True] Translation: X:8.84, Y:0.08, Z:0.00 [[ 9.99705833e-01 -1.83265982e-02 -1.58866027e-02 8.83585824e+00] [ 1.83268748e-02 9.99832041e-01 -1.28190554e-04 7.55835846e-02] [ 1.58862837e-02 -1.62998934e-04 9.99873792e-01 4.93463095e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.099254154 meters 0.014787883387132906 Centerline is valid? [True, True] Translation: X:8.90, Y:0.08, Z:0.00 [[ 9.99809331e-01 -1.12053139e-02 -1.59919787e-02 8.89582870e+00] [ 1.12046765e-02 9.99937217e-01 -1.29460501e-04 7.81471368e-02] [ 1.59924253e-02 -4.97491307e-05 9.99872112e-01 4.39680998e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.159254154 meters 0.015070195372078782 Centerline is valid? [True, True] Translation: X:8.95, Y:0.08, Z:0.00 [[ 9.99869128e-01 -5.17534172e-03 -1.53278285e-02 8.95330528e+00] [ 5.17399676e-03 9.99986607e-01 -1.27400636e-04 8.14453331e-02] [ 1.53282825e-02 4.80778278e-05 9.99882514e-01 4.72094514e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.219254154 meters 0.015803783463603362 Centerline is valid? [True, True] Translation: X:9.01, Y:0.09, Z:0.01 [[ 9.99883650e-01 4.22071744e-03 -1.46585124e-02 9.01154038e+00] [-4.22298874e-03 9.99991075e-01 -1.23997806e-04 8.50792081e-02] [ 1.46578582e-02 1.85886112e-04 9.99892551e-01 6.00237178e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.279254154 meters 0.016767564308080986 Centerline is valid? [True, True] Translation: X:9.07, Y:0.09, Z:0.01 [[ 9.99855269e-01 9.46920636e-03 -1.41342145e-02 9.07025406e+00] [-9.47188262e-03 9.99955133e-01 -1.22414670e-04 8.61318825e-02] [ 1.41324212e-02 2.56274573e-04 9.99900100e-01 6.03999452e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.339254154 meters 0.016665727417542818 Centerline is valid? [True, True] Translation: X:9.13, Y:0.09, Z:0.01 [[ 9.99850862e-01 9.90930530e-03 -1.41442349e-02 9.12899696e+00] [-9.91205516e-03 9.99950867e-01 -1.24324215e-04 8.53294702e-02] [ 1.41423080e-02 2.64504110e-04 9.99899958e-01 6.35025537e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.399254154 meters 0.016578223640812163 Centerline is valid? [True, True] Translation: X:9.19, Y:0.08, Z:0.01 [[ 9.99876084e-01 7.73657249e-03 -1.37099549e-02 9.18650048e+00] [-7.73896754e-03 9.99970046e-01 -1.21649120e-04 8.06732107e-02] [ 1.37086031e-02 2.27734942e-04 9.99906007e-01 5.45537797e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.459254154 meters 0.01590690406816773 Centerline is valid? [True, True] Translation: X:9.25, Y:0.08, Z:0.01 [[ 9.99901533e-01 4.72748257e-03 -1.32126803e-02 9.24524121e+00] [-4.72945762e-03 9.99988809e-01 -1.18239530e-04 7.66331955e-02] [ 1.32119734e-02 1.80716698e-04 9.99912702e-01 5.77902911e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.519254154 meters 0.015008471092456257 Centerline is valid? [True, True] Translation: X:9.30, Y:0.07, Z:0.01 [[ 9.99916223e-01 -1.33451714e-03 -1.28750351e-02 9.30455299e+00] [ 1.33313423e-03 9.99999105e-01 -1.15991446e-04 6.80754945e-02] [ 1.28751784e-02 9.88175788e-05 9.99917107e-01 6.64874342e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.579254154 meters 0.014644914966215186 Centerline is valid? [True, True] Translation: X:9.36, Y:0.06, Z:0.01 [[ 9.99885503e-01 -9.51863058e-03 -1.17633867e-02 9.36255251e+00] [ 9.51803200e-03 9.99954697e-01 -1.06869763e-04 5.92635000e-02] [ 1.17638711e-02 -5.10676450e-06 9.99930803e-01 6.86812058e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.639254154 meters 0.014825023094716816 Centerline is valid? [True, True] Translation: X:9.42, Y:0.05, Z:0.01 [[ 9.99823096e-01 -1.58082198e-02 -1.01919893e-02 9.42150191e+00] [ 1.58080893e-02 9.99875040e-01 -9.33630472e-05 5.26697164e-02] [ 1.01921916e-02 -6.77693470e-05 9.99948056e-01 8.00538138e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.699254154 meters 0.01622653391540269 Centerline is valid? [True, True] Translation: X:9.48, Y:0.04, Z:0.01 [[ 9.99611672e-01 -2.63211999e-02 -9.14876543e-03 9.48161853e+00] [ 2.63215322e-02 9.99653525e-01 -8.40987874e-05 4.19823417e-02] [ 9.14780920e-03 -1.56743395e-04 9.99958146e-01 7.93608458e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.759254154 meters 0.01870587392152225 Centerline is valid? [True, True] Translation: X:9.54, Y:0.03, Z:0.01 [[ 9.99287579e-01 -3.64439887e-02 -9.80664429e-03 9.54265010e+00] [ 3.64448585e-02 9.99335661e-01 -9.00554051e-05 3.29801551e-02] [ 9.80341133e-03 -2.67410515e-04 9.99951910e-01 7.24638907e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.819254154 meters 0.020746457381504654 Centerline is valid? [True, True] Translation: X:9.60, Y:0.03, Z:0.01 [[ 9.99087284e-01 -4.15205878e-02 -1.00318963e-02 9.60370101e+00] [ 4.15217570e-02 9.99137596e-01 -9.17883652e-05 2.83069402e-02] [ 1.00270559e-02 -3.24837373e-04 9.99949675e-01 6.78078944e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.879254154 meters 0.022858579448951297 Centerline is valid? [True, True] Translation: X:9.66, Y:0.02, Z:0.01 [[ 9.98903030e-01 -4.54657199e-02 -1.12073934e-02 9.66392646e+00] [ 4.54674310e-02 9.98965816e-01 -1.02200075e-04 2.38132430e-02] [ 1.12004495e-02 -4.07483420e-04 9.99937190e-01 6.24268672e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.939254154 meters 0.021014989953116917 Centerline is valid? [True, True] Translation: X:9.73, Y:0.03, Z:0.01 [[ 9.98869444e-01 -4.61388908e-02 -1.14471103e-02 9.72621887e+00] [ 4.61407269e-02 9.98934944e-01 -1.03784145e-04 2.73167229e-02] [ 1.14397070e-02 -4.24511179e-04 9.99934474e-01 6.65221050e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.999254154 meters 0.021441056285633326 Centerline is valid? [True, True] Translation: X:9.79, Y:0.03, Z:0.01 [[ 9.98961721e-01 -4.41254783e-02 -1.13323311e-02 9.78795688e+00] [ 4.41271578e-02 9.99025917e-01 -1.01913988e-04 2.89024344e-02] [ 1.13257894e-02 -3.98255388e-04 9.99935782e-01 6.28250141e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.059254154 meters 0.020443750560848965 Centerline is valid? [True, True] Translation: X:9.85, Y:0.03, Z:0.01 [[ 9.99023893e-01 -4.27781635e-02 -1.10131437e-02 9.84976440e+00] [ 4.27796767e-02 9.99084526e-01 -9.82459333e-05 3.29706076e-02] [ 1.10072642e-02 -3.72988692e-04 9.99939349e-01 6.76110190e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.119254154 meters 0.02161147843177538 Centerline is valid? [True, True] Translation: X:9.91, Y:0.03, Z:0.01 [[ 9.99060650e-01 -4.18457521e-02 -1.12583271e-02 9.91063888e+00] [ 4.18472822e-02 9.99124014e-01 -9.97313558e-05 3.42348427e-02] [ 1.12526383e-02 -3.71492719e-04 9.99936618e-01 6.39572441e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.179254154 meters 0.020336083205841907 Centerline is valid? [True, True] Translation: X:9.97, Y:0.04, Z:0.01 [[ 9.99022567e-01 -4.26703131e-02 -1.15392889e-02 9.97277282e+00] [ 4.26719844e-02 9.99089131e-01 -1.01451004e-04 4.01508414e-02] [ 1.15331070e-02 -3.91052511e-04 9.99933415e-01 7.53290330e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.239254154 meters 0.02114622976452485 Centerline is valid? [True, True] Translation: X:10.03, Y:0.04, Z:0.01 [[ 9.99011967e-01 -4.32373376e-02 -1.02772593e-02 1.00344165e+01] [ 4.32386994e-02 9.99064766e-01 -8.97482857e-05 4.19063325e-02] [ 1.02715282e-02 -3.54715715e-04 9.99947184e-01 8.89801530e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.299254154 meters 0.021510667656191643 Centerline is valid? [True, True] Translation: X:10.10, Y:0.04, Z:0.01 [[ 9.99001435e-01 -4.35846474e-02 -9.82406562e-03 1.00967930e+01] [ 4.35859147e-02 9.99049679e-01 -8.51726807e-05 4.39610394e-02] [ 9.81844183e-03 -3.43103255e-04 9.99951739e-01 9.69421918e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.359254154 meters 0.020932896262655144 Centerline is valid? [True, True] Translation: X:10.16, Y:0.05, Z:0.01 [[ 9.99027763e-01 -4.29023694e-02 -1.01446867e-02 1.01593804e+01] [ 4.29036931e-02 9.99079209e-01 -8.72083931e-05 4.81593195e-02] [ 1.01390870e-02 -3.48120917e-04 9.99948538e-01 9.87446806e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.419254154 meters 0.020694805777910566 Centerline is valid? [True, True] Translation: X:10.22, Y:0.05, Z:0.01 [[ 9.99074459e-01 -4.19916209e-02 -9.32362984e-03 1.02212358e+01] [ 4.19927055e-02 9.99117914e-01 -7.94987829e-05 5.11295024e-02] [ 9.31874388e-03 -3.12099238e-04 9.99956531e-01 1.08317261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.479254154 meters 0.019776874190935042 Centerline is valid? [True, True] Translation: X:10.28, Y:0.06, Z:0.01 [[ 9.99081892e-01 -4.17332552e-02 -9.68035419e-03 1.02841031e+01] [ 4.17344212e-02 9.99128736e-01 -8.16176416e-05 5.67696514e-02] [ 9.67532621e-03 -3.22461271e-04 9.99953141e-01 1.20405556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.539254154 meters 0.021174281568394154 Centerline is valid? [True, True] Translation: X:10.35, Y:0.06, Z:0.01 [[ 9.99001187e-01 -4.35951919e-02 -9.80242600e-03 1.03450313e+01] [ 4.35964848e-02 9.99049218e-01 -8.18511810e-05 5.70342821e-02] [ 9.79667435e-03 -3.45581889e-04 9.99951952e-01 1.16524961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.599254154 meters 0.02153773734814051 Centerline is valid? [True, True] Translation: X:10.41, Y:0.06, Z:0.01 [[ 9.98901733e-01 -4.59666652e-02 -9.07704030e-03 1.04069397e+01] [ 4.59678767e-02 9.98942916e-01 -7.52253729e-05 5.76709229e-02] [ 9.07090296e-03 -3.42109514e-04 9.99958800e-01 1.25080635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.659254154 meters 0.022981072650144933 Centerline is valid? [True, True] Translation: X:10.47, Y:0.06, Z:0.01 [[ 9.98671326e-01 -5.07393797e-02 -9.00543860e-03 1.04675053e+01] [ 5.07407695e-02 9.98711855e-01 -7.42248418e-05 5.72386931e-02] [ 8.99760441e-03 -3.82816663e-04 9.99959447e-01 1.33491755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.719254154 meters 0.024207433857380074 Centerline is valid? [True, True] Translation: X:10.53, Y:0.06, Z:0.01 [[ 9.98444515e-01 -5.49705443e-02 -9.31612207e-03 1.05289722e+01] [ 5.49722179e-02 9.98487881e-01 -7.65184267e-05 5.83842867e-02] [ 9.30624125e-03 -4.35728490e-04 9.99956601e-01 1.38891900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.779254154 meters 0.026937200691280395 Centerline is valid? [True, True] Translation: X:10.59, Y:0.06, Z:0.02 [[ 9.98336632e-01 -5.71136883e-02 -7.87371981e-03 1.05901523e+01] [ 5.71149547e-02 9.98367607e-01 -6.41056758e-05 5.70828260e-02] [ 7.86452811e-03 -3.85708106e-04 9.99969000e-01 1.52873302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.839254154 meters 0.02802023474642093 Centerline is valid? [True, True] Translation: X:10.65, Y:0.06, Z:0.02 [[ 9.98298605e-01 -5.78238315e-02 -7.50325755e-03 1.06521993e+01] [ 5.78250071e-02 9.98326733e-01 -6.03519129e-05 5.81612527e-02] [ 7.49419237e-03 -3.73626691e-04 9.99971848e-01 1.60299260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.899254154 meters 0.02824181159623417 Centerline is valid? [True, True] Translation: X:10.71, Y:0.06, Z:0.02 [[ 9.98354374e-01 -5.67573627e-02 -8.19419747e-03 1.07144859e+01] [ 5.67587339e-02 9.98387922e-01 -6.52973656e-05 6.04496888e-02] [ 8.18469388e-03 -3.99902363e-04 9.99966425e-01 1.61561382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.959254154 meters 0.023669461441680202 Centerline is valid? [True, True] Translation: X:10.77, Y:0.07, Z:0.02 [[ 9.98572204e-01 -5.26993292e-02 -8.73688376e-03 1.07748455e+01] [ 5.27007360e-02 9.98610348e-01 -6.92898184e-05 7.11542891e-02] [ 8.72839406e-03 -3.91249318e-04 9.99961830e-01 1.65687538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.019254154 meters 0.023837876140492445 Centerline is valid? [True, True] Translation: X:10.84, Y:0.07, Z:0.02 [[ 9.98769314e-01 -4.87302279e-02 -9.23154700e-03 1.08353063e+01] [ 4.87316341e-02 9.98811905e-01 -7.26844073e-05 7.32453966e-02] [ 9.22412098e-03 -3.77273415e-04 9.99957386e-01 1.63355941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.079254154 meters 0.020509515298164843 Centerline is valid? [True, True] Translation: X:10.90, Y:0.08, Z:0.02 [[ 9.99044809e-01 -4.24116585e-02 -1.05224262e-02 1.08964997e+01] [ 4.24131424e-02 9.99100154e-01 -8.21864098e-05 8.32738970e-02] [ 1.05164433e-02 -3.64181256e-04 9.99944634e-01 1.61673859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.139254154 meters 0.019373858700913803 Centerline is valid? [True, True] Translation: X:10.96, Y:0.09, Z:0.02 [[ 9.99209998e-01 -3.73925350e-02 -1.34602744e-02 1.09583526e+01] [ 3.73945164e-02 9.99300575e-01 -1.04534040e-04 8.98397513e-02] [ 1.34547687e-02 -3.98888992e-04 9.99909401e-01 1.53549788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.199254154 meters 0.018999792007406237 Centerline is valid? [True, True] Translation: X:11.02, Y:0.09, Z:0.01 [[ 9.99246211e-01 -3.57260430e-02 -1.51874778e-02 1.10202504e+01] [ 3.57283893e-02 9.99361530e-01 -1.16898683e-04 9.25016060e-02] [ 1.51819574e-02 -4.25813552e-04 9.99884657e-01 1.44066242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.259254154 meters 0.01932691132851546 Centerline is valid? [True, True] Translation: X:11.08, Y:0.09, Z:0.01 [[ 9.99238909e-01 -3.54673790e-02 -1.62378338e-02 1.10828298e+01] [ 3.54700461e-02 9.99370732e-01 -1.23802633e-04 9.36132130e-02] [ 1.62320068e-02 -4.52248304e-04 9.99868150e-01 1.34939679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.319254154 meters 0.019451244943446574 Centerline is valid? [True, True] Translation: X:11.14, Y:0.10, Z:0.01 [[ 9.99186386e-01 -3.65359698e-02 -1.70788873e-02 1.11446084e+01] [ 3.65391040e-02 9.99332216e-01 -1.28601294e-04 9.56678818e-02] [ 1.70721808e-02 -4.95550575e-04 9.99854137e-01 1.40825023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.379254154 meters 0.02018269571879744 Centerline is valid? [True, True] Translation: X:11.21, Y:0.10, Z:0.02 [[ 9.99086751e-01 -3.92890242e-02 -1.67939599e-02 1.12066640e+01] [ 3.92924655e-02 9.99227745e-01 -1.25122505e-04 9.70050158e-02] [ 1.67859066e-02 -5.34867853e-04 9.99858964e-01 1.54991060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.439254154 meters 0.021286369725875616 Centerline is valid? [True, True] Translation: X:11.27, Y:0.10, Z:0.02 [[ 9.98956782e-01 -4.26327384e-02 -1.63645179e-02 1.12690961e+01] [ 4.26364732e-02 9.99090645e-01 -1.20753586e-04 9.64338349e-02] [ 1.63547848e-02 -5.77097715e-04 9.99866085e-01 1.62998678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.499254154 meters 0.021722970317498386 Centerline is valid? [True, True] Translation: X:11.33, Y:0.10, Z:0.02 [[ 9.98838559e-01 -4.56044939e-02 -1.55487199e-02 1.13308116e+01] [ 4.56082392e-02 9.98959396e-01 -1.13819263e-04 9.80598218e-02] [ 1.55377305e-02 -5.95462669e-04 9.99879105e-01 1.82186326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.559254154 meters 0.022229941511678605 Centerline is valid? [True, True] Translation: X:11.39, Y:0.10, Z:0.02 [[ 9.98804237e-01 -4.67883311e-02 -1.41756521e-02 1.13926109e+01] [ 4.67915763e-02 9.98904669e-01 -1.02832647e-04 9.85710159e-02] [ 1.41649364e-02 -5.60591422e-04 9.99899515e-01 1.98958856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.619254154 meters 0.02293257847043583 Centerline is valid? [True, True] Translation: X:11.45, Y:0.10, Z:0.02 [[ 9.98733612e-01 -4.82822055e-02 -1.41421692e-02 1.14544168e+01] [ 4.82855970e-02 9.98833565e-01 -1.01735451e-04 9.85332632e-02] [ 1.41305853e-02 -5.81256468e-04 9.99899989e-01 2.03358339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.679254154 meters 0.02283661699341359 Centerline is valid? [True, True] Translation: X:11.52, Y:0.10, Z:0.02 [[ 9.98703442e-01 -4.86930175e-02 -1.48467009e-02 1.15161860e+01] [ 4.86968158e-02 9.98813601e-01 -1.05786079e-04 1.00424430e-01] [ 1.48342379e-02 -6.17338139e-04 9.99889776e-01 1.98436288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.739254154 meters 0.025043833519548708 Centerline is valid? [True, True] Translation: X:11.58, Y:0.10, Z:0.02 [[ 9.98761979e-01 -4.72404075e-02 -1.55837215e-02 1.15776332e+01] [ 4.72444305e-02 9.98883352e-01 -1.10094345e-04 9.95777925e-02] [ 1.55715209e-02 -6.26286003e-04 9.99878560e-01 1.83551154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.799254154 meters 0.021585203304262453 Centerline is valid? [True, True] Translation: X:11.64, Y:0.11, Z:0.02 [[ 9.98815793e-01 -4.58899138e-02 -1.61594380e-02 1.16401274e+01] [ 4.58940811e-02 9.98946305e-01 -1.13049881e-04 1.06933925e-01] [ 1.61475987e-02 -6.28706551e-04 9.99869421e-01 1.98337815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.859254154 meters 0.021436700317711055 Centerline is valid? [True, True] Translation: X:11.70, Y:0.11, Z:0.02 [[ 9.98962157e-01 -4.21129980e-02 -1.73523586e-02 1.17002726e+01] [ 4.21172445e-02 9.99112668e-01 -1.20811035e-04 1.10582416e-01] [ 1.73420490e-02 -6.10147878e-04 9.99849429e-01 1.84602778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.919254154 meters 0.01994680990692443 Centerline is valid? [True, True] Translation: X:11.76, Y:0.12, Z:0.02 [[ 9.99181912e-01 -3.58195268e-02 -1.87741310e-02 1.17604906e+01] [ 3.58233896e-02 9.99358128e-01 -1.30622671e-04 1.18550446e-01] [ 1.87667593e-02 -5.42037200e-04 9.99823742e-01 1.81870613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.979254154 meters 0.017303338782181175 Centerline is valid? [True, True] Translation: X:11.82, Y:0.13, Z:0.02 [[ 9.99427662e-01 -2.88505809e-02 -1.76633300e-02 1.18213492e+01] [ 2.88529164e-02 9.99583660e-01 -1.22655974e-04 1.28954746e-01] [ 1.76595147e-02 -3.87052810e-04 9.99843984e-01 2.02619240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.039254154 meters 0.016322867196371896 Centerline is valid? [True, True] Translation: X:11.88, Y:0.13, Z:0.02 [[ 9.99570243e-01 -2.45468762e-02 -1.60243889e-02 1.18828126e+01] [ 2.45482532e-02 9.99698640e-01 -1.10789219e-04 1.33859254e-01] [ 1.60222794e-02 -2.82629152e-04 9.99871595e-01 2.20536096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.099254154 meters 0.015532262690500086 Centerline is valid? [True, True] Translation: X:11.94, Y:0.14, Z:0.02 [[ 9.99721377e-01 -1.84541899e-02 -1.47177355e-02 1.19433198e+01] [ 1.84546961e-02 9.99829692e-01 -1.01429368e-04 1.40070241e-01] [ 1.47171007e-02 -1.70210228e-04 9.99891683e-01 2.28343220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.159254154 meters 0.014962202960603839 Centerline is valid? [True, True] Translation: X:12.00, Y:0.15, Z:0.02 [[ 9.99768955e-01 -1.53299580e-02 -1.50674627e-02 1.20038093e+01] [ 1.53301350e-02 9.99882481e-01 -1.03760107e-04 1.45358129e-01] [ 1.50672826e-02 -1.27250104e-04 9.99886474e-01 2.44077517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.219254154 meters 0.015051760701894863 Centerline is valid? [True, True] Translation: X:12.06, Y:0.14, Z:0.02 [[ 9.99741044e-01 -1.68806028e-02 -1.52607286e-02 1.20634251e+01] [ 1.68809589e-02 9.99857501e-01 -1.05487429e-04 1.44620577e-01] [ 1.52603347e-02 -1.52155622e-04 9.99883543e-01 2.45073689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.279254154 meters 0.015897839118316107 Centerline is valid? [True, True] Translation: X:12.12, Y:0.14, Z:0.02 [[ 9.99614915e-01 -2.31027086e-02 -1.53716046e-02 1.21232723e+01] [ 2.31037967e-02 9.99733066e-01 -1.06814133e-04 1.38150611e-01] [ 1.53699691e-02 -2.48369428e-04 9.99881844e-01 2.40425697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.339254154 meters 0.01751368658120445 Centerline is valid? [True, True] Translation: X:12.18, Y:0.13, Z:0.02 [[ 9.99470405e-01 -2.85827110e-02 -1.55543682e-02 1.21833577e+01] [ 2.85844990e-02 9.99591374e-01 -1.07399783e-04 1.31531674e-01] [ 1.55510820e-02 -3.37270918e-04 9.99879018e-01 2.35481193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.399254154 meters 0.018554402198021513 Centerline is valid? [True, True] Translation: X:12.25, Y:0.13, Z:0.02 [[ 9.99334332e-01 -3.34688169e-02 -1.45165494e-02 1.22456267e+01] [ 3.34709044e-02 9.99439687e-01 -9.91967176e-05 1.27971662e-01] [ 1.45117356e-02 -3.86751350e-04 9.99894624e-01 2.46954727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.459254154 meters 0.01861807664352737 Centerline is valid? [True, True] Translation: X:12.31, Y:0.13, Z:0.03 [[ 9.99265006e-01 -3.56492514e-02 -1.40917930e-02 1.23081991e+01] [ 3.56514495e-02 9.99364280e-01 -9.52720915e-05 1.26186011e-01] [ 1.40862310e-02 -4.07190781e-04 9.99900701e-01 2.57743490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.519254154 meters 0.019156546977826688 Centerline is valid? [True, True] Translation: X:12.37, Y:0.12, Z:0.03 [[ 9.99275868e-01 -3.58331709e-02 -1.27954221e-02 1.23696644e+01] [ 3.58350078e-02 9.99357716e-01 -8.57549350e-05 1.24188012e-01] [ 1.27902767e-02 -3.72831215e-04 9.99918132e-01 2.71249965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.579254154 meters 0.01808684816380319 Centerline is valid? [True, True] Translation: X:12.43, Y:0.13, Z:0.03 [[ 9.99390684e-01 -3.26954025e-02 -1.22176741e-02 1.24313929e+01] [ 3.26968510e-02 9.99465312e-01 -8.12225977e-05 1.27694243e-01] [ 1.22137970e-02 -3.18306362e-04 9.99925358e-01 2.91748924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.639254154 meters 0.01628114841489668 Centerline is valid? [True, True] Translation: X:12.49, Y:0.13, Z:0.03 [[ 9.99613636e-01 -2.46895376e-02 -1.27673557e-02 1.24925096e+01] [ 2.46904719e-02 9.99695140e-01 -8.44696780e-05 1.32813610e-01] [ 1.27655489e-02 -2.30794993e-04 9.99918490e-01 2.90319334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.699254154 meters 0.015275079499115633 Centerline is valid? [True, True] Translation: X:12.55, Y:0.14, Z:0.03 [[ 9.99773995e-01 -1.67358809e-02 -1.31099182e-02 1.25541938e+01] [ 1.67361897e-02 9.99859936e-01 -8.61679844e-05 1.38418832e-01] [ 1.31095240e-02 -1.33261567e-04 9.99914058e-01 2.95182356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.759254154 meters 0.015382954566927847 Centerline is valid? [True, True] Translation: X:12.61, Y:0.15, Z:0.03 [[ 9.99912993e-01 -2.56280708e-03 -1.29398246e-02 1.26134577e+01] [ 2.56192215e-03 9.99996715e-01 -8.49633821e-05 1.48101595e-01] [ 1.29399999e-02 5.18051663e-05 9.99916273e-01 3.03417456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.819254154 meters 0.01645257077930711 Centerline is valid? [True, True] Translation: X:12.67, Y:0.15, Z:0.03 [[ 9.99903400e-01 6.16374262e-03 -1.24579266e-02 1.26719527e+01] [-6.16526624e-03 9.99980991e-01 -8.39001292e-05 1.53691956e-01] [ 1.24571727e-02 1.60698459e-04 9.99922394e-01 3.15655440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.879254154 meters 0.017884017931414167 Centerline is valid? [True, True] Translation: X:12.73, Y:0.16, Z:0.03 [[ 9.99815227e-01 1.49952767e-02 -1.20271592e-02 1.27313158e+01] [-1.49973532e-02 9.99887530e-01 -8.24756747e-05 1.57738895e-01] [ 1.20245698e-02 2.62835990e-04 9.99927668e-01 3.21949379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.939254154 meters 0.017995826638655187 Centerline is valid? [True, True] Translation: X:12.79, Y:0.15, Z:0.03 [[ 9.99797832e-01 1.54179162e-02 -1.29067393e-02 1.27905749e+01] [-1.54203539e-02 9.99881095e-01 -8.93730378e-05 1.54904332e-01] [ 1.29038267e-02 2.88381458e-04 9.99916701e-01 3.10817815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.999254153999999 meters 0.016296049535450677 Centerline is valid? [True, True] Translation: X:12.85, Y:0.15, Z:0.03 [[ 9.99888254e-01 8.33287508e-03 -1.24114035e-02 1.28507968e+01] [-8.33458927e-03 9.99965263e-01 -8.63955367e-05 1.47179039e-01] [ 1.24102525e-02 1.89829833e-04 9.99922972e-01 3.16512125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.059254154 meters 0.015250714092508411 Centerline is valid? [True, True] Translation: X:12.91, Y:0.14, Z:0.03 [[ 9.99934300e-01 5.05888631e-04 -1.14515959e-02 1.29100963e+01] [-5.06840054e-04 9.99999868e-01 -8.01800690e-05 1.41180687e-01] [ 1.14515539e-02 8.59789287e-05 9.99934425e-01 3.25330793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.119254154 meters 0.014923920577415295 Centerline is valid? [True, True] Translation: X:12.97, Y:0.13, Z:0.03 [[ 9.99907659e-01 -8.67132600e-03 -1.04633304e-02 1.29677316e+01] [ 8.67102602e-03 9.99962403e-01 -7.40352975e-05 1.33710524e-01] [ 1.04635790e-02 -1.66993496e-05 9.99945255e-01 3.25485257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.179254154 meters 0.015489462740497402 Centerline is valid? [True, True] Translation: X:13.03, Y:0.12, Z:0.03 [[ 9.99786938e-01 -1.82039144e-02 -9.73122163e-03 1.30277220e+01] [ 1.82041009e-02 9.99834289e-01 -6.94169629e-05 1.24372089e-01] [ 9.73087273e-03 -1.07745968e-04 9.99952648e-01 3.23405067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.239254154 meters 0.01773139305146385 Centerline is valid? [True, True] Translation: X:13.09, Y:0.11, Z:0.03 [[ 9.99454737e-01 -3.19579109e-02 -8.30185731e-03 1.30887530e+01] [ 3.19585200e-02 9.99489194e-01 -5.93182920e-05 1.13047739e-01] [ 8.29951237e-03 -2.06029125e-04 9.99965537e-01 3.26090251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.299254154 meters 0.020627869692093796 Centerline is valid? [True, True] Translation: X:13.15, Y:0.10, Z:0.03 [[ 9.99091508e-01 -4.16987724e-02 -8.79613392e-03 1.31491434e+01] [ 4.16998337e-02 9.99130182e-01 -6.27914172e-05 1.03905396e-01] [ 8.79110120e-03 -3.04062950e-04 9.99961311e-01 3.23409696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.359254154 meters 0.021927169616070875 Centerline is valid? [True, True] Translation: X:13.21, Y:0.10, Z:0.03 [[ 9.98962986e-01 -4.46048508e-02 -9.13014078e-03 1.32108846e+01] [ 4.46061179e-02 9.99004650e-01 -6.49019828e-05 1.00695153e-01] [ 9.12394804e-03 -3.42425458e-04 9.99958317e-01 3.22896133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.419254153999999 meters 0.022383990371646914 Centerline is valid? [True, True] Translation: X:13.27, Y:0.10, Z:0.03 [[ 9.98926622e-01 -4.54818164e-02 -8.77545077e-03 1.32728788e+01] [ 4.54830256e-02 9.98965110e-01 -6.18341343e-05 1.00380132e-01] [ 8.76918148e-03 -3.37366290e-04 9.99961493e-01 3.30708681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.479254154 meters 0.02246272786561014 Centerline is valid? [True, True] Translation: X:13.34, Y:0.10, Z:0.03 [[ 9.98952617e-01 -4.46665626e-02 -9.92813164e-03 1.33355431e+01] [ 4.46680786e-02 9.99001881e-01 -6.91007462e-05 1.00907560e-01] [ 9.92130867e-03 -3.74442194e-04 9.99950712e-01 3.17573592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.539254154 meters 0.020634185601774768 Centerline is valid? [True, True] Translation: X:13.40, Y:0.11, Z:0.03 [[ 9.99002342e-01 -4.27239839e-02 -1.29992655e-02 1.33977515e+01] [ 4.27264338e-02 9.99086805e-01 -8.93240558e-05 1.05848653e-01] [ 1.29912109e-02 -4.66177315e-04 9.99915502e-01 2.98287500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.599254154 meters 0.0202771003274719 Centerline is valid? [True, True] Translation: X:13.46, Y:0.11, Z:0.03 [[ 9.99104144e-01 -3.93916589e-02 -1.54663289e-02 1.34586897e+01] [ 3.93947592e-02 9.99223720e-01 -1.04281190e-04 1.09918474e-01] [ 1.54584305e-02 -5.05104532e-04 9.99880384e-01 2.80852651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.659254154 meters 0.019736196447396367 Centerline is valid? [True, True] Translation: X:13.52, Y:0.11, Z:0.03 [[ 9.99182637e-01 -3.73129170e-02 -1.55500793e-02 1.35210233e+01] [ 3.73158218e-02 9.99303517e-01 -1.03400136e-04 1.13498038e-01] [ 1.55431071e-02 -4.76948370e-04 9.99879085e-01 2.91020119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.719254154 meters 0.01922841514997312 Centerline is valid? [True, True] Translation: X:13.58, Y:0.12, Z:0.03 [[ 9.99325075e-01 -3.37735733e-02 -1.44478394e-02 1.35820468e+01] [ 3.37757207e-02 9.99429433e-01 -9.54187990e-05 1.18631151e-01] [ 1.44428186e-02 -3.92631789e-04 9.99895620e-01 3.10585130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.779254154 meters 0.017184737480172307 Centerline is valid? [True, True] Translation: X:13.64, Y:0.13, Z:0.03 [[ 9.99445861e-01 -3.00115942e-02 -1.43970338e-02 1.36430348e+01] [ 3.00133440e-02 9.99549494e-01 -9.45577984e-05 1.25941476e-01] [ 1.43933857e-02 -3.37597729e-04 9.99896353e-01 3.29716251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.839254154 meters 0.016376863407046617 Centerline is valid? [True, True] Translation: X:13.70, Y:0.13, Z:0.03 [[ 9.99573939e-01 -2.58502627e-02 -1.35537424e-02 1.37048594e+01] [ 2.58514400e-02 9.99665792e-01 -8.83616220e-05 1.30382096e-01] [ 1.35514968e-02 -2.62059784e-04 9.99908140e-01 3.29706974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.899254154 meters 0.015797628547055336 Centerline is valid? [True, True] Translation: X:13.77, Y:0.13, Z:0.03 [[ 9.99643493e-01 -2.30263262e-02 -1.35157536e-02 1.37665252e+01] [ 2.30272467e-02 9.99734834e-01 -8.75336204e-05 1.33872883e-01] [ 1.35141853e-02 -2.23728179e-04 9.99908654e-01 3.37633425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.959254154 meters 0.01531558401995231 Centerline is valid? [True, True] Translation: X:13.83, Y:0.14, Z:0.03 [[ 9.99732405e-01 -1.92659307e-02 -1.28039655e-02 1.38283576e+01] [ 1.92664564e-02 9.99814381e-01 -8.23018573e-05 1.37203689e-01] [ 1.28031744e-02 -1.64407208e-04 9.99918022e-01 3.46583506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.019254154 meters 0.015025897680323084 Centerline is valid? [True, True] Translation: X:13.89, Y:0.14, Z:0.03 [[ 9.99786380e-01 -1.70015807e-02 -1.17532940e-02 1.38886307e+01] [ 1.70018714e-02 9.99855455e-01 -7.51904526e-05 1.38392239e-01] [ 1.17528735e-02 -1.24653603e-04 9.99930925e-01 3.48675460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.079254154 meters 0.015134023418920561 Centerline is valid? [True, True] Translation: X:13.95, Y:0.14, Z:0.03 [[ 9.99810965e-01 -1.58055532e-02 -1.13233525e-02 1.39502925e+01] [ 1.58057500e-02 9.99875079e-01 -7.21147325e-05 1.38386639e-01] [ 1.13230778e-02 -1.06872978e-04 9.99935886e-01 3.39140017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.139254154 meters 0.01502939000533038 Centerline is valid? [True, True] Translation: X:14.01, Y:0.14, Z:0.03 [[ 9.99816564e-01 -1.56567033e-02 -1.10320000e-02 1.40103874e+01] [ 1.56568827e-02 9.99877421e-01 -7.01053494e-05 1.37680740e-01] [ 1.10317453e-02 -1.02634241e-04 9.99939143e-01 3.30700813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.199254154 meters 0.015262126777861854 Centerline is valid? [True, True] Translation: X:14.07, Y:0.14, Z:0.03 [[ 9.99777457e-01 -1.74723989e-02 -1.18216304e-02 1.40705867e+01] [ 1.74727318e-02 9.99847337e-01 -7.51232352e-05 1.36333265e-01] [ 1.18211383e-02 -1.31449662e-04 9.99930119e-01 3.22302427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.259254154 meters 0.01551338162352366 Centerline is valid? [True, True] Translation: X:14.13, Y:0.13, Z:0.03 [[ 9.99717605e-01 -2.06589524e-02 -1.17438367e-02 1.41315321e+01] [ 2.06595054e-02 9.99786567e-01 -7.42356760e-05 1.33151704e-01] [ 1.17428638e-02 -1.68407146e-04 9.99931036e-01 3.20463605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.319254154 meters 0.016107562837830252 Centerline is valid? [True, True] Translation: X:14.19, Y:0.13, Z:0.03 [[ 9.99658428e-01 -2.38518588e-02 -1.06824789e-02 1.41938924e+01] [ 2.38525058e-02 9.99715486e-01 -6.68560245e-05 1.29215165e-01] [ 1.06810342e-02 -1.87970701e-04 9.99942938e-01 3.27420128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.379254154 meters 0.01644680582590147 Centerline is valid? [True, True] Translation: X:14.26, Y:0.13, Z:0.03 [[ 9.99638222e-01 -2.51343161e-02 -9.57556508e-03 1.42559452e+01] [ 2.51349010e-02 9.99684067e-01 -5.92677096e-05 1.27141083e-01] [ 9.57402949e-03 -1.81434613e-04 9.99954151e-01 3.30768337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.439254154 meters 0.01634416195463033 Centerline is valid? [True, True] Translation: X:14.32, Y:0.13, Z:0.03 [[ 9.99639758e-01 -2.55884637e-02 -8.09845651e-03 1.43185199e+01] [ 2.55889014e-02 9.99672549e-01 -4.95818675e-05 1.25329543e-01] [ 8.09707339e-03 -1.57666599e-04 9.99967206e-01 3.37072764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.499254153999999 meters 0.016084197154807252 Centerline is valid? [True, True] Translation: X:14.38, Y:0.12, Z:0.03 [[ 9.99678472e-01 -2.43623137e-02 -7.03071034e-03 1.43804573e+01] [ 2.43626166e-02 9.99703187e-01 -4.25669389e-05 1.23231594e-01] [ 7.02966056e-03 -1.28733248e-04 9.99975283e-01 3.40830933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.559254154 meters 0.016014740204473275 Centerline is valid? [True, True] Translation: X:14.44, Y:0.12, Z:0.03 [[ 9.99706709e-01 -2.29863970e-02 -7.62381208e-03 1.44416339e+01] [ 2.29867172e-02 9.99735769e-01 -4.56285591e-05 1.21995603e-01] [ 7.62284647e-03 -1.29631236e-04 9.99970937e-01 3.35088545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.619254154 meters 0.016226674820314 Centerline is valid? [True, True] Translation: X:14.50, Y:0.12, Z:0.03 [[ 9.99684929e-01 -2.31384716e-02 -9.72898097e-03 1.45036948e+01] [ 2.31390070e-02 9.99732256e-01 -5.75444336e-05 1.20376427e-01] [ 9.72770758e-03 -1.67592656e-04 9.99952671e-01 3.14149389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.679254154 meters 0.015972079933876455 Centerline is valid? [True, True] Translation: X:14.57, Y:0.12, Z:0.03 [[ 9.99629020e-01 -2.42693324e-02 -1.23620763e-02 1.45658579e+01] [ 2.42702955e-02 9.99705430e-01 -7.21322036e-05 1.19487647e-01] [ 1.23601854e-02 -2.27925801e-04 9.99923584e-01 2.94265839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.739254154 meters 0.016043386192051128 Centerline is valid? [True, True] Translation: X:14.63, Y:0.12, Z:0.03 [[ 9.99631518e-01 -2.40286764e-02 -1.26274252e-02 1.46285271e+01] [ 2.40296739e-02 9.99711243e-01 -7.27427558e-05 1.19115075e-01] [ 1.26255268e-02 -2.30716959e-04 9.99920268e-01 2.90700568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.799254154 meters 0.01572568699786504 Centerline is valid? [True, True] Translation: X:14.69, Y:0.12, Z:0.03 [[ 9.99663916e-01 -2.30355052e-02 -1.18920781e-02 1.46903197e+01] [ 2.30363282e-02 9.99734626e-01 -6.77895578e-05 1.21324043e-01] [ 1.18904839e-02 -2.06183040e-04 9.99929284e-01 3.05326637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.859254154 meters 0.01572611853418116 Centerline is valid? [True, True] Translation: X:14.75, Y:0.12, Z:0.03 [[ 9.99715002e-01 -2.19339373e-02 -9.42424491e-03 1.47516416e+01] [ 2.19344087e-02 9.99759410e-01 -5.33481711e-05 1.23675334e-01] [ 9.42314767e-03 -1.53382273e-04 9.99955589e-01 3.25638252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.919254153999999 meters 0.0161591788239221 Centerline is valid? [True, True] Translation: X:14.81, Y:0.12, Z:0.03 [[ 9.99683831e-01 -2.40923174e-02 -7.19710085e-03 1.48136924e+01] [ 2.40926505e-02 9.99709729e-01 -4.04184034e-05 1.22857672e-01] [ 7.19598551e-03 -1.32991611e-04 9.99974100e-01 3.42643864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.979254154 meters 0.018227521968832868 Centerline is valid? [True, True] Translation: X:14.87, Y:0.12, Z:0.03 [[ 9.99519556e-01 -2.99581568e-02 -7.94773808e-03 1.48737272e+01] [ 2.99587512e-02 9.99551135e-01 -4.42844476e-05 1.18424186e-01] [ 7.94549730e-03 -1.93841136e-04 9.99968415e-01 3.27304354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.039254153999998 meters 0.018464743894715408 Centerline is valid? [True, True] Translation: X:14.94, Y:0.12, Z:0.03 [[ 9.99453017e-01 -3.20105239e-02 -8.30619871e-03 1.49362875e+01] [ 3.20112462e-02 9.99487508e-01 -4.60027011e-05 1.18073359e-01] [ 8.30341442e-03 -2.19914234e-04 9.99965502e-01 3.24026371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.099254153999997 meters 0.01982727649069105 Centerline is valid? [True, True] Translation: X:15.00, Y:0.12, Z:0.03 [[ 9.99251074e-01 -3.76108767e-02 -9.09470908e-03 1.49970580e+01] [ 3.76119783e-02 9.99292418e-01 -4.99401718e-05 1.16953537e-01] [ 9.09015212e-03 -2.92167230e-04 9.99958641e-01 3.18319437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.159254154 meters 0.020209917521340357 Centerline is valid? [True, True] Translation: X:15.06, Y:0.12, Z:0.03 [[ 9.99153446e-01 -4.01046924e-02 -9.16542953e-03 1.50595453e+01] [ 4.01059200e-02 9.99195433e-01 -4.98962129e-05 1.18193080e-01] [ 9.16005639e-03 -3.17734010e-04 9.99957995e-01 3.23357753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.219254153999998 meters 0.02061357214159767 Centerline is valid? [True, True] Translation: X:15.12, Y:0.12, Z:0.03 [[ 9.99125341e-01 -4.09559082e-02 -8.43596860e-03 1.51215079e+01] [ 4.09569835e-02 9.99160910e-01 -4.53278904e-05 1.20032058e-01] [ 8.43074651e-03 -3.00223583e-04 9.99964416e-01 3.31518286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.279254153999997 meters 0.023577681361234667 Centerline is valid? [True, True] Translation: X:15.18, Y:0.12, Z:0.03 [[ 9.99136248e-01 -4.08301948e-02 -7.72350700e-03 1.51839155e+01] [ 4.08310993e-02 9.99166062e-01 -4.05995639e-05 1.17698534e-01] [ 7.71872376e-03 -2.74794785e-04 9.99970172e-01 3.37571383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.339254154 meters 0.020823046082695744 Centerline is valid? [True, True] Translation: X:15.25, Y:0.13, Z:0.03 [[ 9.99198283e-01 -3.93956393e-02 -7.12570817e-03 1.52465580e+01] [ 3.93963798e-02 9.99223661e-01 -3.64724323e-05 1.25303729e-01] [ 7.12161306e-03 -2.44283914e-04 9.99974611e-01 3.49903567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.399254153999998 meters 0.021338236041912734 Centerline is valid? [True, True] Translation: X:15.31, Y:0.13, Z:0.04 [[ 9.99260468e-01 -3.78509576e-02 -6.76925676e-03 1.53079681e+01] [ 3.78515939e-02 9.99283371e-01 -3.41394076e-05 1.26741841e-01] [ 6.76569792e-03 -2.22112998e-04 9.99977088e-01 3.59199802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.459254153999996 meters 0.020070732022215095 Centerline is valid? [True, True] Translation: X:15.37, Y:0.13, Z:0.04 [[ 9.99287972e-01 -3.71427080e-02 -6.63084402e-03 1.53703102e+01] [ 3.71433056e-02 9.99309949e-01 -3.30451796e-05 1.31115373e-01] [ 6.62749578e-03 -2.13269815e-04 9.99978015e-01 3.69948937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.519254154 meters 0.020171712511823238 Centerline is valid? [True, True] Translation: X:15.43, Y:0.13, Z:0.04 [[ 9.99357340e-01 -3.51261912e-02 -7.14546409e-03 1.54313758e+01] [ 3.51268390e-02 9.99382862e-01 -3.48636429e-05 1.31348421e-01] [ 7.14227898e-03 -2.16156329e-04 9.99974470e-01 3.60857182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.579254153999997 meters 0.019355586065351364 Centerline is valid? [True, True] Translation: X:15.49, Y:0.13, Z:0.04 [[ 9.99459507e-01 -3.20440966e-02 -7.33954013e-03 1.54932162e+01] [ 3.20447030e-02 9.99486436e-01 -3.49980719e-05 1.33115367e-01] [ 7.33689229e-03 -2.00214228e-04 9.99973065e-01 3.59962608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.639254154 meters 0.016539585676137322 Centerline is valid? [True, True] Translation: X:15.55, Y:0.14, Z:0.04 [[ 9.99701091e-01 -2.32732682e-02 -7.48884040e-03 1.55538065e+01] [ 2.32736557e-02 9.99729131e-01 -3.54121873e-05 1.42153638e-01] [ 7.48763607e-03 -1.38891091e-04 9.99971958e-01 3.70675117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.699254154 meters 0.014882231308293694 Centerline is valid? [True, True] Translation: X:15.62, Y:0.15, Z:0.04 [[ 9.99914775e-01 -1.08515424e-02 -7.25850541e-03 1.56155404e+01] [ 1.08515809e-02 9.99941119e-01 -3.40839707e-05 1.51337238e-01] [ 7.25844789e-03 -4.46851924e-05 9.99973656e-01 3.75758841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.759254153999997 meters 0.014542157469886496 Centerline is valid? [True, True] Translation: X:15.68, Y:0.16, Z:0.04 [[ 9.99974228e-01 -2.74274248e-03 -6.63487572e-03 1.56766403e+01] [ 2.74259818e-03 9.99996239e-01 -3.08469781e-05 1.56110010e-01] [ 6.63493536e-03 1.26493850e-05 9.99977988e-01 3.81468075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.819254154 meters 0.015242382953327426 Centerline is valid? [True, True] Translation: X:15.73, Y:0.16, Z:0.04 [[ 9.99968995e-01 5.49964909e-03 -5.63579238e-03 1.57343419e+01] [-5.49988395e-03 9.99984875e-01 -2.61758617e-05 1.60702311e-01] [ 5.63556319e-03 5.71712543e-05 9.99984118e-01 3.84230876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.879254153999998 meters 0.01534513799069452 Centerline is valid? [True, True] Translation: X:15.79, Y:0.16, Z:0.04 [[ 9.99963779e-01 7.32055273e-03 -4.34178964e-03 1.57928878e+01] [-7.32071056e-03 9.99973203e-01 -2.04601028e-05 1.59536471e-01] [ 4.34152351e-03 5.22443470e-05 9.99990574e-01 3.96062866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.939254153999997 meters 0.01499597423362158 Centerline is valid? [True, True] Translation: X:15.85, Y:0.16, Z:0.04 [[ 9.99978577e-01 5.25582576e-03 -3.90145906e-03 1.58512848e+01] [-5.25594127e-03 9.99986187e-01 -1.93543348e-05 1.56309447e-01] [ 3.90130345e-03 3.98597599e-05 9.99992389e-01 3.93508826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.999254154 meters 0.01441425718514256 Centerline is valid? [True, True] Translation: X:15.91, Y:0.15, Z:0.04 [[ 9.99987735e-01 -1.59441901e-03 -4.68900331e-03 1.59101090e+01] [ 1.59432557e-03 9.99998729e-01 -2.36646982e-05 1.48588540e-01] [ 4.68903508e-03 1.61886101e-05 9.99989006e-01 3.87577035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.059254153999998 meters 0.014450202056736297 Centerline is valid? [True, True] Translation: X:15.97, Y:0.14, Z:0.04 [[ 9.99933535e-01 -9.70420252e-03 -6.22530303e-03 1.59691635e+01] [ 9.70419156e-03 9.99952913e-01 -3.19663131e-05 1.38187939e-01] [ 6.22532011e-03 -2.84473447e-05 9.99980622e-01 3.67306506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.119254153999997 meters 0.01566382087417939 Centerline is valid? [True, True] Translation: X:16.03, Y:0.13, Z:0.04 [[ 9.99819063e-01 -1.75237173e-02 -7.40007803e-03 1.60300383e+01] [ 1.75239135e-02 9.99846444e-01 -3.83221765e-05 1.27395008e-01] [ 7.39961325e-03 -9.13630849e-05 9.99972618e-01 3.51765186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.179254154 meters 0.016562917820320554 Centerline is valid? [True, True] Translation: X:16.09, Y:0.12, Z:0.04 [[ 9.99704464e-01 -2.32779746e-02 -7.00864211e-03 1.60921223e+01] [ 2.32782938e-02 9.99729023e-01 -3.60321161e-05 1.18474506e-01] [ 7.00758169e-03 -1.27127763e-04 9.99975439e-01 3.53102226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.239254153999997 meters 0.016789454683019886 Centerline is valid? [True, True] Translation: X:16.15, Y:0.11, Z:0.04 [[ 9.99654571e-01 -2.54413629e-02 -6.59364509e-03 1.61540250e+01] [ 2.54416955e-02 9.99676307e-01 -3.34401753e-05 1.14150037e-01] [ 6.59236154e-03 -1.34324887e-04 9.99978261e-01 3.62199006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.299254154 meters 0.01787300138935773 Centerline is valid? [True, True] Translation: X:16.21, Y:0.11, Z:0.04 [[ 9.99592997e-01 -2.78079132e-02 -6.36863587e-03 1.62149931e+01] [ 2.78082741e-02 9.99613275e-01 -3.18840396e-05 1.08079465e-01] [ 6.36705958e-03 -1.45229709e-04 9.99979720e-01 3.66261671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.359254154 meters 0.01842210875417573 Centerline is valid? [True, True] Translation: X:16.28, Y:0.10, Z:0.04 [[ 9.99494308e-01 -3.08838961e-02 -7.57056702e-03 1.62771336e+01] [ 3.08844982e-02 9.99522959e-01 -3.73906064e-05 1.02711424e-01] [ 7.56811032e-03 -1.96441465e-04 9.99971342e-01 3.58587849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.419254153999997 meters 0.01823802191763369 Centerline is valid? [True, True] Translation: X:16.34, Y:0.10, Z:0.03 [[ 9.99416079e-01 -3.28146405e-02 -9.52371070e-03 1.63393461e+01] [ 3.28156884e-02 9.99461419e-01 -4.62571797e-05 1.00188347e-01] [ 9.52009933e-03 -2.66296953e-04 9.99954647e-01 3.49705807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.479254154 meters 0.019130661420804468 Centerline is valid? [True, True] Translation: X:16.40, Y:0.10, Z:0.03 [[ 9.99307284e-01 -3.52230440e-02 -1.20120228e-02 1.64012055e+01] [ 3.52248949e-02 9.99379409e-01 -5.75124722e-05 9.59599389e-02] [ 1.20065941e-02 -3.65649610e-04 9.99927851e-01 3.38012971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.539254153999998 meters 0.01908168590274275 Centerline is valid? [True, True] Translation: X:16.46, Y:0.09, Z:0.03 [[ 9.99223437e-01 -3.71574678e-02 -1.31089889e-02 1.64630384e+01] [ 3.71598484e-02 9.99309332e-01 -6.20092774e-05 9.39572181e-02] [ 1.31022390e-02 -4.25166916e-04 9.99914072e-01 3.36726757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.599254153999997 meters 0.02197776059601077 Centerline is valid? [True, True] Translation: X:16.52, Y:0.09, Z:0.03 [[ 9.99202581e-01 -3.75339669e-02 -1.36162902e-02 1.65238445e+01] [ 3.75365807e-02 9.99295252e-01 -6.36414825e-05 8.85437960e-02] [ 1.36090829e-02 -4.47518243e-04 9.99907292e-01 3.29313962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.659254154 meters 0.020696067555393678 Centerline is valid? [True, True] Translation: X:16.59, Y:0.09, Z:0.04 [[ 9.99218812e-01 -3.77600989e-02 -1.16593803e-02 1.65859529e+01] [ 3.77620392e-02 9.99286758e-01 -5.37630036e-05 9.15486107e-02] [ 1.16530944e-02 -3.86560972e-04 9.99932026e-01 3.55089743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.719254153999998 meters 0.020877323173446746 Centerline is valid? [True, True] Translation: X:16.65, Y:0.09, Z:0.04 [[ 9.99187324e-01 -3.89086515e-02 -1.05266000e-02 1.66484156e+01] [ 3.89103045e-02 9.99242706e-01 -4.78083272e-05 9.17269416e-02] [ 1.05204885e-02 -3.61823739e-04 9.99944593e-01 3.68096897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.779254153999997 meters 0.02083131216977317 Centerline is valid? [True, True] Translation: X:16.71, Y:0.09, Z:0.04 [[ 9.99151926e-01 -4.00219122e-02 -9.67861505e-03 1.67106616e+01] [ 4.00233683e-02 9.99198743e-01 -4.32774762e-05 9.22976983e-02] [ 9.67259204e-03 -3.44130001e-04 9.99953160e-01 3.78140522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.839254154 meters 0.021308516310196646 Centerline is valid? [True, True] Translation: X:16.77, Y:0.09, Z:0.04 [[ 9.99070190e-01 -4.19751322e-02 -9.84090895e-03 1.67727076e+01] [ 4.19767393e-02 9.99118587e-01 -4.32766758e-05 9.10953869e-02] [ 9.83405159e-03 -3.69852833e-04 9.99951576e-01 3.77825661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.899254153999998 meters 0.022902611110243914 Centerline is valid? [True, True] Translation: X:16.83, Y:0.09, Z:0.04 [[ 9.98997277e-01 -4.32437227e-02 -1.15939850e-02 1.68341059e+01] [ 4.32460521e-02 9.99064451e-01 -4.98272492e-05 8.87822379e-02] [ 1.15852930e-02 -4.51616793e-04 9.99932786e-01 3.58452651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.959254153999996 meters 0.023107090290412954 Centerline is valid? [True, True] Translation: X:16.90, Y:0.09, Z:0.04 [[ 9.98992733e-01 -4.33087651e-02 -1.17418236e-02 1.68959524e+01] [ 4.33111707e-02 9.99061630e-01 -4.94552617e-05 8.90891462e-02] [ 1.17329472e-02 -4.59146677e-04 9.99931061e-01 3.58739446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.019254154 meters 0.022551326872033053 Centerline is valid? [True, True] Translation: X:16.96, Y:0.09, Z:0.04 [[ 9.99045344e-01 -4.20817523e-02 -1.17271394e-02 1.69583574e+01] [ 4.20840773e-02 9.99114072e-01 -4.85536618e-05 9.13423103e-02] [ 1.17187932e-02 -4.45018533e-04 9.99931234e-01 3.66732244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.079254153999997 meters 0.0214939169221414 Centerline is valid? [True, True] Translation: X:17.02, Y:0.10, Z:0.04 [[ 9.99127589e-01 -4.03363256e-02 -1.08185602e-02 1.70210641e+01] [ 4.03382115e-02 9.99186082e-01 -4.39187304e-05 9.50307349e-02] [ 1.08115263e-02 -3.92520953e-04 9.99941477e-01 3.76870843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.139254154 meters 0.021513397221868808 Centerline is valid? [True, True] Translation: X:17.08, Y:0.10, Z:0.04 [[ 9.99167927e-01 -3.94115371e-02 -1.04968758e-02 1.70829688e+01] [ 3.94132703e-02 9.99222994e-01 -4.17852886e-05 9.69122988e-02] [ 1.04903665e-02 -3.71965683e-04 9.99944905e-01 3.73007796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.199254154 meters 0.022787335690109458 Centerline is valid? [True, True] Translation: X:17.14, Y:0.10, Z:0.04 [[ 9.99148647e-01 -3.97624050e-02 -1.09969350e-02 1.71436910e+01] [ 3.97643411e-02 9.99209085e-01 -4.26240619e-05 9.70709834e-02] [ 1.09899322e-02 -3.94698100e-04 9.99939531e-01 3.72757335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.259254153999997 meters 0.02182605067176304 Centerline is valid? [True, True] Translation: X:17.21, Y:0.10, Z:0.04 [[ 9.99085250e-01 -4.16526165e-02 -9.68101096e-03 1.72057380e+01] [ 4.16542139e-02 9.99132086e-01 -3.66553433e-05 1.01022697e-01] [ 9.67413547e-03 -3.66633089e-04 9.99953137e-01 3.92513145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.319254154 meters 0.02307059555171604 Centerline is valid? [True, True] Translation: X:17.27, Y:0.10, Z:0.04 [[ 9.98943683e-01 -4.51934775e-02 -8.31067947e-03 1.72672753e+01] [ 4.51947804e-02 9.98978193e-01 -3.10467557e-05 1.01401623e-01] [ 8.30359067e-03 -3.44585373e-04 9.99965465e-01 4.07480286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.379254153999998 meters 0.025208065305794985 Centerline is valid? [True, True] Translation: X:17.33, Y:0.10, Z:0.04 [[ 9.98811271e-01 -4.79367709e-02 -8.83806619e-03 1.73273226e+01] [ 4.79383532e-02 9.98850296e-01 -3.28457243e-05 1.00370065e-01] [ 8.82947954e-03 -3.90875659e-04 9.99960943e-01 4.11663987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.439254153999997 meters 0.024493742333905458 Centerline is valid? [True, True] Translation: X:17.39, Y:0.10, Z:0.04 [[ 9.98762083e-01 -4.87695196e-02 -9.78952815e-03 1.73893507e+01] [ 4.87715048e-02 9.98809961e-01 -3.59863963e-05 1.03167953e-01] [ 9.77963328e-03 -4.41508171e-04 9.99952081e-01 4.13071508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.499254154 meters 0.023468845333440447 Centerline is valid? [True, True] Translation: X:17.45, Y:0.11, Z:0.04 [[ 9.98762400e-01 -4.84783190e-02 -1.11139837e-02 1.74524941e+01] [ 4.84808722e-02 9.98824110e-01 -3.97348611e-05 1.06997700e-01] [ 1.11028412e-02 -4.99129938e-04 9.99938237e-01 4.13395460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.559254153999998 meters 0.025836000779376908 Centerline is valid? [True, True] Translation: X:17.51, Y:0.10, Z:0.04 [[ 9.98786348e-01 -4.79460462e-02 -1.12697554e-02 1.75137450e+01] [ 4.79486475e-02 9.98849801e-01 -3.94132509e-05 1.04889045e-01] [ 1.12586826e-02 -5.01004111e-04 9.99936494e-01 4.10847359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.619254153999997 meters 0.02269814411469129 Centerline is valid? [True, True] Translation: X:17.58, Y:0.11, Z:0.04 [[ 9.98827247e-01 -4.68891266e-02 -1.20640433e-02 1.75764310e+01] [ 4.68920424e-02 9.98899962e-01 -4.12153190e-05 1.11446280e-01] [ 1.20527049e-02 -5.24540646e-04 9.99927226e-01 4.20663128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.679254154 meters 0.023424288039672548 Centerline is valid? [True, True] Translation: X:17.64, Y:0.11, Z:0.04 [[ 9.98962909e-01 -4.36741716e-02 -1.28714196e-02 1.76371857e+01] [ 4.36772340e-02 9.99045693e-01 -4.32209485e-05 1.12994514e-01] [ 1.28610239e-02 -5.19011880e-04 9.99917159e-01 4.13633364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.739254153999997 meters 0.021100183453608038 Centerline is valid? [True, True] Translation: X:17.70, Y:0.12, Z:0.04 [[ 9.99180002e-01 -3.81542373e-02 -1.35490512e-02 1.76980681e+01] [ 3.81571284e-02 9.99271751e-01 -4.51593671e-05 1.19992718e-01] [ 1.35409071e-02 -4.71870548e-04 9.99908206e-01 4.11627518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.799254153999996 meters 0.01874120239412519 Centerline is valid? [True, True] Translation: X:17.76, Y:0.13, Z:0.04 [[ 9.99388292e-01 -3.16145572e-02 -1.49519631e-02 1.77592124e+01] [ 3.16173509e-02 9.99500045e-01 -4.95545405e-05 1.28466471e-01] [ 1.49460544e-02 -4.23217236e-04 9.99888212e-01 4.13302575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.859254154 meters 0.017699367618202764 Centerline is valid? [True, True] Translation: X:17.82, Y:0.13, Z:0.04 [[ 9.99540930e-01 -2.57232986e-02 -1.60075110e-02 1.78198246e+01] [ 2.57257539e-02 9.99669037e-01 -5.25468047e-05 1.34771323e-01] [ 1.60035648e-02 -3.59282605e-04 9.99871870e-01 4.07974667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.919254153999997 meters 0.01631355419291847 Centerline is valid? [True, True] Translation: X:17.88, Y:0.14, Z:0.04 [[ 9.99616723e-01 -2.21925267e-02 -1.65499184e-02 1.78807863e+01] [ 2.21946740e-02 9.99753666e-01 -5.39406203e-05 1.40730687e-01] [ 1.65470387e-02 -3.13400098e-04 9.99863039e-01 4.18259243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.979254154 meters 0.015757784801759354 Centerline is valid? [True, True] Translation: X:17.94, Y:0.15, Z:0.04 [[ 9.99660634e-01 -1.94403139e-02 -1.73404611e-02 1.79409006e+01] [ 1.94422588e-02 9.99810980e-01 -5.64329201e-05 1.45714344e-01] [ 1.73382805e-02 -2.80723963e-04 9.99849641e-01 4.24175285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.039254153999998 meters 0.01576824618148971 Centerline is valid? [True, True] Translation: X:18.00, Y:0.15, Z:0.04 [[ 9.99663968e-01 -1.93437164e-02 -1.72560660e-02 1.80003323e+01] [ 1.93456197e-02 9.99812854e-01 -5.66375320e-05 1.47732730e-01] [ 1.72539322e-02 -2.77210791e-04 9.99851101e-01 4.31139668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.099254153999997 meters 0.016196587932383957 Centerline is valid? [True, True] Translation: X:18.06, Y:0.15, Z:0.04 [[ 9.99634862e-01 -2.14953368e-02 -1.63735391e-02 1.80600064e+01] [ 2.14973292e-02 9.99768904e-01 -5.43371852e-05 1.48493384e-01] [ 1.63709232e-02 -2.97670015e-04 9.99865943e-01 4.41465810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.159254154 meters 0.01729644885656402 Centerline is valid? [True, True] Translation: X:18.12, Y:0.15, Z:0.05 [[ 9.99548020e-01 -2.62000565e-02 -1.47415410e-02 1.81203677e+01] [ 2.62021806e-02 9.99656663e-01 -4.90670587e-05 1.46938022e-01] [ 1.47377652e-02 -3.37215639e-04 9.99891336e-01 4.50878878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.219254153999998 meters 0.019090600021377784 Centerline is valid? [True, True] Translation: X:18.18, Y:0.14, Z:0.05 [[ 9.99357499e-01 -3.26617236e-02 -1.47580887e-02 1.81812195e+01] [ 3.26645627e-02 9.99466370e-01 -4.86874240e-05 1.44071275e-01] [ 1.47518036e-02 -4.33410373e-04 9.99891092e-01 4.54349418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.279254153999997 meters 0.020525912185434324 Centerline is valid? [True, True] Translation: X:18.24, Y:0.14, Z:0.05 [[ 9.99102882e-01 -3.95751590e-02 -1.50744389e-02 1.82417909e+01] [ 3.95789129e-02 9.99216447e-01 -4.93478586e-05 1.41517368e-01] [ 1.50645802e-02 -5.47326314e-04 9.99886373e-01 4.51135801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.339254154 meters 0.021225572090192546 Centerline is valid? [True, True] Translation: X:18.30, Y:0.14, Z:0.04 [[ 9.99067925e-01 -4.00229240e-02 -1.61693134e-02 1.83032240e+01] [ 4.00273134e-02 9.99198585e-01 -5.21978230e-05 1.39602294e-01] [ 1.61584442e-02 -5.95065005e-04 9.99869267e-01 4.30520990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.399254153999998 meters 0.02030761065685334 Centerline is valid? [True, True] Translation: X:18.36, Y:0.14, Z:0.04 [[ 9.99214711e-01 -3.64378912e-02 -1.55640840e-02 1.83642736e+01] [ 3.64415337e-02 9.99335785e-01 -4.96056402e-05 1.42950300e-01] [ 1.55555537e-02 -5.17612407e-04 9.99878871e-01 4.40800235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.459254153999996 meters 0.018304708901018093 Centerline is valid? [True, True] Translation: X:18.43, Y:0.15, Z:0.05 [[ 9.99500304e-01 -2.83094036e-02 -1.40612724e-02 1.84252754e+01] [ 2.83115758e-02 9.99599146e-01 -4.45921166e-05 1.52720907e-01] [ 1.40568983e-02 -3.53526947e-04 9.99901134e-01 4.63175376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.519254154 meters 0.016683012190313467 Centerline is valid? [True, True] Translation: X:18.49, Y:0.16, Z:0.05 [[ 9.99686904e-01 -2.13638409e-02 -1.30261688e-02 1.84858855e+01] [ 2.13651199e-02 9.99771739e-01 -4.09774402e-05 1.58935549e-01] [ 1.30240709e-02 -2.37341048e-04 9.99915155e-01 4.62577745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.579254153999997 meters 0.015265709047833035 Centerline is valid? [True, True] Translation: X:18.55, Y:0.16, Z:0.05 [[ 9.99755401e-01 -1.75812174e-02 -1.34178761e-02 1.85474926e+01] [ 1.75822405e-02 9.99845420e-01 -4.17199863e-05 1.63699677e-01] [ 1.34165355e-02 -1.94206544e-04 9.99909975e-01 4.62126050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.639254154 meters 0.01509646857335739 Centerline is valid? [True, True] Translation: X:18.61, Y:0.16, Z:0.05 [[ 9.99767997e-01 -1.62220081e-02 -1.41703291e-02 1.86082333e+01] [ 1.62230152e-02 9.99868397e-01 -4.38880334e-05 1.64538956e-01] [ 1.41691762e-02 -1.86007613e-04 9.99899595e-01 4.55267703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.699254154 meters 0.015367037564629307 Centerline is valid? [True, True] Translation: X:18.67, Y:0.16, Z:0.04 [[ 9.99732918e-01 -1.73806892e-02 -1.52316581e-02 1.86679909e+01] [ 1.73819812e-02 9.99848921e-01 -4.75694008e-05 1.63685800e-01] [ 1.52301837e-02 -2.17199698e-04 9.99883990e-01 4.48112800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.759254153999997 meters 0.0160614722898597 Centerline is valid? [True, True] Translation: X:18.73, Y:0.16, Z:0.04 [[ 9.99656313e-01 -2.02042393e-02 -1.67046514e-02 1.87266151e+01] [ 2.02061695e-02 9.99795833e-01 -5.32405910e-05 1.59604607e-01] [ 1.67023165e-02 -2.84314725e-04 9.99860466e-01 4.31576282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.819254154 meters 0.01656809269811671 Centerline is valid? [True, True] Translation: X:18.79, Y:0.16, Z:0.04 [[ 9.99615833e-01 -2.29226630e-02 -1.55800348e-02 1.87861031e+01] [ 2.29246612e-02 9.99737194e-01 -5.03574204e-05 1.57155062e-01] [ 1.55770946e-02 -3.06828945e-04 9.99878623e-01 4.39092222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.879254153999998 meters 0.016527156883175464 Centerline is valid? [True, True] Translation: X:18.85, Y:0.16, Z:0.05 [[ 9.99623225e-01 -2.31188828e-02 -1.47960994e-02 1.88473867e+01] [ 2.31207097e-02 9.99732680e-01 -4.75987778e-05 1.57191147e-01] [ 1.47932446e-02 -2.94515476e-04 9.99890531e-01 4.50945699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.939254153999997 meters 0.016785666328027214 Centerline is valid? [True, True] Translation: X:18.91, Y:0.16, Z:0.05 [[ 9.99664480e-01 -2.31804127e-02 -1.15583338e-02 1.89074830e+01] [ 2.31815385e-02 9.99731271e-01 -3.65839177e-05 1.56514099e-01] [ 1.15560758e-02 -2.31368317e-04 9.99933200e-01 4.78781518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.999254154 meters 0.01744522012935011 Centerline is valid? [True, True] Translation: X:18.97, Y:0.15, Z:0.05 [[ 9.99658190e-01 -2.45357766e-02 -9.02761930e-03 1.89681497e+01] [ 2.45365221e-02 9.99698934e-01 -2.81829344e-05 1.53707961e-01] [ 9.02559288e-03 -1.93333079e-04 9.99959250e-01 4.94313756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.059254153999998 meters 0.018579608825535422 Centerline is valid? [True, True] Translation: X:19.03, Y:0.15, Z:0.05 [[ 9.99610415e-01 -2.66504776e-02 -8.29281878e-03 1.90295339e+01] [ 2.66511837e-02 9.99644794e-01 -2.53720092e-05 1.50832911e-01] [ 8.29054930e-03 -1.95651312e-04 9.99965614e-01 4.99780624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.119254153999997 meters 0.01795780029898938 Centerline is valid? [True, True] Translation: X:19.09, Y:0.15, Z:0.05 [[ 9.99581283e-01 -2.78775101e-02 -7.75261344e-03 1.90916911e+01] [ 2.78781690e-02 9.99611328e-01 -2.30808567e-05 1.51951349e-01] [ 7.75024366e-03 -1.93057476e-04 9.99969948e-01 5.04774655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.179254154 meters 0.018198400190089354 Centerline is valid? [True, True] Translation: X:19.15, Y:0.15, Z:0.05 [[ 9.99499513e-01 -3.04139407e-02 -8.70143152e-03 1.91533985e+01] [ 3.04148720e-02 9.99537360e-01 -2.53108360e-05 1.49214184e-01] [ 8.69817570e-03 -2.39354757e-04 9.99962142e-01 4.92367282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.239254153999997 meters 0.019214697194570807 Centerline is valid? [True, True] Translation: X:19.22, Y:0.15, Z:0.05 [[ 9.99419496e-01 -3.22570631e-02 -1.09614702e-02 1.92155051e+01] [ 3.22586604e-02 9.99479553e-01 -3.11015228e-05 1.45711639e-01] [ 1.09567686e-02 -3.22518877e-04 9.99939921e-01 4.70644989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.299254153999996 meters 0.018841373789918472 Centerline is valid? [True, True] Translation: X:19.28, Y:0.15, Z:0.05 [[ 9.99456780e-01 -3.08062961e-02 -1.17097113e-02 1.92777269e+01] [ 3.08080296e-02 9.99525319e-01 -3.23513809e-05 1.47101355e-01] [ 1.17051496e-02 -3.28419327e-04 9.99931438e-01 4.75833790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.359254154 meters 0.01759394489104504 Centerline is valid? [True, True] Translation: X:19.34, Y:0.15, Z:0.05 [[ 9.99605514e-01 -2.59166397e-02 -1.08232714e-02 1.93397209e+01] [ 2.59178412e-02 9.99664076e-01 -2.92567553e-05 1.50202126e-01] [ 1.08203939e-02 -2.51270617e-04 9.99941426e-01 4.94411299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.419254153999997 meters 0.01604451998772444 Centerline is valid? [True, True] Translation: X:19.40, Y:0.15, Z:0.05 [[ 9.99766609e-01 -1.84820350e-02 -1.11866871e-02 1.94004245e+01] [ 1.84828588e-02 9.99829177e-01 -2.97488860e-05 1.54502837e-01] [ 1.11853260e-02 -1.77020016e-04 9.99937427e-01 4.93368058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.479254154 meters 0.014994860100571914 Centerline is valid? [True, True] Translation: X:19.46, Y:0.16, Z:0.05 [[ 9.99858976e-01 -1.20286280e-02 -1.17192056e-02 1.94613721e+01] [ 1.20290924e-02 9.99927647e-01 -3.08667847e-05 1.60292717e-01] [ 1.17187290e-02 -1.10108975e-04 9.99931327e-01 5.01437263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.539254153999998 meters 0.014606387974370838 Centerline is valid? [True, True] Translation: X:19.52, Y:0.17, Z:0.05 [[ 9.99923804e-01 5.22089988e-04 -1.23334354e-02 1.95213995e+01] [-5.22532858e-04 9.99999863e-01 -3.26856738e-05 1.70194366e-01] [ 1.23334167e-02 3.91278085e-05 9.99923940e-01 5.20018609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.599254153999997 meters 0.01535246173886215 Centerline is valid? [True, True] Translation: X:19.58, Y:0.18, Z:0.05 [[ 9.99874435e-01 9.17635712e-03 -1.29193156e-02 1.95804082e+01] [-9.17759533e-03 9.99957884e-01 -3.65572038e-05 1.76342878e-01] [ 1.29184360e-02 1.55120864e-04 9.99916541e-01 5.33486208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.659254154 meters 0.01771095292700402 Centerline is valid? [True, True] Translation: X:19.64, Y:0.18, Z:0.05 [[ 9.99689907e-01 2.09205962e-02 -1.35062552e-02 1.96406047e+01] [-2.09230386e-02 9.99781088e-01 -3.95427165e-05 1.83317026e-01] [ 1.35024713e-02 3.22122353e-04 9.99908786e-01 5.41492986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.719254153999998 meters 0.018821356388369938 Centerline is valid? [True, True] Translation: X:19.70, Y:0.19, Z:0.06 [[ 9.99567109e-01 2.60051096e-02 -1.37596930e-02 1.97000355e+01] [-2.60081316e-02 9.99661731e-01 -4.06993082e-05 1.85450738e-01] [ 1.37539801e-02 3.98545597e-04 9.99905330e-01 5.60370996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.779254153999997 meters 0.01865053207032472 Centerline is valid? [True, True] Translation: X:19.76, Y:0.18, Z:0.06 [[ 9.99617695e-01 2.36903346e-02 -1.42559396e-02 1.97585873e+01] [-2.36933804e-02 9.99719271e-01 -4.47694710e-05 1.83666223e-01] [ 1.42508769e-02 3.82523755e-04 9.99898378e-01 5.68622086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.839254154 meters 0.015352953036329688 Centerline is valid? [True, True] Translation: X:19.82, Y:0.17, Z:0.06 [[ 9.99848007e-01 8.52081010e-03 -1.52104800e-02 1.98185974e+01] [-8.52254076e-03 9.99963681e-01 -4.89636389e-05 1.68157094e-01] [ 1.52095104e-02 1.78588133e-04 9.99884313e-01 5.69186578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.899254153999998 meters 0.014256453157478517 Centerline is valid? [True, True] Translation: X:19.88, Y:0.16, Z:0.06 [[ 9.99862992e-01 -3.11657757e-03 -1.62568210e-02 1.98773775e+01] [ 3.11612475e-03 9.99995143e-01 -5.31847424e-05 1.57824610e-01] [ 1.62569078e-02 2.51917324e-06 9.99867848e-01 5.68878677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.959254153999996 meters 0.016359718217719154 Centerline is valid? [True, True] Translation: X:19.94, Y:0.14, Z:0.06 [[ 9.99644004e-01 -2.08005643e-02 -1.67093131e-02 1.99355607e+01] [ 2.08025357e-02 9.99783602e-01 -5.58368867e-05 1.39824226e-01] [ 1.67068587e-02 -2.91779074e-04 9.99860388e-01 5.63272869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.019254154 meters 0.01877244746786636 Centerline is valid? [True, True] Translation: X:20.00, Y:0.13, Z:0.06 [[ 9.99237411e-01 -3.50397065e-02 -1.72283357e-02 1.99959854e+01] [ 3.50439111e-02 9.99385772e-01 -5.78730256e-05 1.27053585e-01] [ 1.72197814e-02 -5.45919374e-04 9.99851580e-01 5.82104720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.079254153999997 meters 0.023687870562131882 Centerline is valid? [True, True] Translation: X:20.06, Y:0.11, Z:0.06 [[ 9.99005438e-01 -4.10539729e-02 -1.73984304e-02 2.00560354e+01] [ 4.10591856e-02 9.99156714e-01 -5.76453700e-05 1.14976553e-01] [ 1.73861252e-02 -6.56777347e-04 9.99848634e-01 5.68974177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.139254153999996 meters 0.027530976380678182 Centerline is valid? [True, True] Translation: X:20.12, Y:0.11, Z:0.06 [[ 9.98752751e-01 -4.70270079e-02 -1.67750530e-02 2.01158753e+01] [ 4.70326961e-02 9.98893349e-01 -5.54858623e-05 1.05748213e-01] [ 1.67590982e-02 -7.33559315e-04 9.99859287e-01 5.78582178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.199254154 meters 0.023799102652445166 Centerline is valid? [True, True] Translation: X:20.18, Y:0.11, Z:0.06 [[ 9.98600005e-01 -5.01686528e-02 -1.67671201e-02 2.01774049e+01] [ 5.01747841e-02 9.98740451e-01 -5.50614534e-05 1.08965441e-01] [ 1.67487635e-02 -7.86302265e-04 9.99859420e-01 6.11075256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.259254153999997 meters 0.025066604106977954 Centerline is valid? [True, True] Translation: X:20.24, Y:0.10, Z:0.06 [[ 9.98475765e-01 -5.23041053e-02 -1.76189696e-02 2.02392284e+01] [ 5.23112231e-02 9.98630829e-01 -5.69590010e-05 1.04377165e-01] [ 1.75978255e-02 -8.64797670e-04 9.99844772e-01 6.03176168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.319254154 meters 0.026713656877837805 Centerline is valid? [True, True] Translation: X:20.30, Y:0.10, Z:0.06 [[ 9.98397215e-01 -5.34194956e-02 -1.86911624e-02 2.03005377e+01] [ 5.34277335e-02 9.98571717e-01 -5.86972488e-05 1.01034013e-01] [ 1.86676017e-02 -9.40023275e-04 9.99825303e-01 5.92738773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.379254153999998 meters 0.026820307704240025 Centerline is valid? [True, True] Translation: X:20.36, Y:0.10, Z:0.06 [[ 9.98310790e-01 -5.44805565e-02 -2.01850385e-02 2.03631141e+01] [ 5.44904136e-02 9.98514292e-01 -6.17520257e-05 1.00377843e-01] [ 2.01584138e-02 -1.03824339e-03 9.99796259e-01 5.80617497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.439254153999997 meters 0.025666475707331826 Centerline is valid? [True, True] Translation: X:20.43, Y:0.10, Z:0.06 [[ 9.98281267e-01 -5.45427167e-02 -2.14383693e-02 2.04251938e+01] [ 5.45538851e-02 9.98510826e-01 -6.39793775e-05 1.01914778e-01] [ 2.14099334e-02 -1.10567692e-03 9.99770170e-01 5.79938151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.499254154 meters 0.02568063386321154 Centerline is valid? [True, True] Translation: X:20.49, Y:0.10, Z:0.06 [[ 9.98307516e-01 -5.41559938e-02 -2.11951093e-02 2.04873195e+01] [ 5.41668564e-02 9.98531896e-01 -6.16807541e-05 1.04088715e-01] [ 2.11673331e-02 -1.08649608e-03 9.99775357e-01 5.95610246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.559254153999998 meters 0.027711133608488446 Centerline is valid? [True, True] Translation: X:20.55, Y:0.10, Z:0.06 [[ 9.98344214e-01 -5.40171030e-02 -1.97732682e-02 2.05489173e+01] [ 5.40265522e-02 9.98539498e-01 -5.63924770e-05 1.01946027e-01] [ 1.97474355e-02 -1.01198241e-03 9.99804488e-01 5.99078672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.619254153999997 meters 0.027732675592097612 Centerline is valid? [True, True] Translation: X:20.61, Y:0.10, Z:0.06 [[ 9.98345464e-01 -5.41955798e-02 -1.92139130e-02 2.06106559e+01] [ 5.42045598e-02 9.98529851e-01 -5.34941268e-05 1.02213716e-01] [ 1.91885648e-02 -9.88076076e-04 9.99815394e-01 6.04238328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.679254154 meters 0.02906538633464062 Centerline is valid? [True, True] Translation: X:20.67, Y:0.10, Z:0.06 [[ 9.98390177e-01 -5.43910761e-02 -1.60830451e-02 2.06719693e+01] [ 5.43974070e-02 9.98519364e-01 -4.38884369e-05 1.01027193e-01] [ 1.60616191e-02 -8.31058168e-04 9.99870659e-01 6.24463260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.739254153999997 meters 0.028843134736017358 Centerline is valid? [True, True] Translation: X:20.73, Y:0.10, Z:0.06 [[ 9.98379235e-01 -5.47791025e-02 -1.54321866e-02 2.07338827e+01] [ 5.47849931e-02 9.98498174e-01 -4.10986213e-05 1.01323969e-01] [ 1.54112615e-02 -8.04420227e-04 9.99880916e-01 6.34721121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.799254153999996 meters 0.029845354077157802 Centerline is valid? [True, True] Translation: X:20.80, Y:0.10, Z:0.06 [[ 9.98364052e-01 -5.53682861e-02 -1.42678973e-02 2.07961664e+01] [ 5.53733953e-02 9.98465716e-01 -3.70099169e-05 9.89379547e-02] [ 1.42480555e-02 -7.53112548e-04 9.99898208e-01 6.39927918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.859254154 meters 0.03150238499299229 Centerline is valid? [True, True] Translation: X:20.86, Y:0.10, Z:0.06 [[ 9.98294308e-01 -5.66940211e-02 -1.39378458e-02 2.08577867e+01] [ 5.66990367e-02 9.98391315e-01 -3.53510306e-05 9.52374454e-02] [ 1.39174284e-02 -7.54971696e-04 9.99902863e-01 6.37274786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.919254153999997 meters 0.03325794335847208 Centerline is valid? [True, True] Translation: X:20.92, Y:0.09, Z:0.06 [[ 9.98238434e-01 -5.77923747e-02 -1.34190060e-02 2.09198761e+01] [ 5.77971340e-02 9.98328348e-01 -3.31944938e-05 9.04743046e-02] [ 1.33984924e-02 -7.42444066e-04 9.99909961e-01 6.30338546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.979254154 meters 0.027958881056397416 Centerline is valid? [True, True] Translation: X:20.98, Y:0.10, Z:0.06 [[ 9.98330339e-01 -5.62402529e-02 -1.31745165e-02 2.09817225e+01] [ 5.62447179e-02 9.98417012e-01 -3.16527368e-05 9.59200991e-02] [ 1.31554416e-02 -7.09397078e-04 9.99913212e-01 6.41923176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.039254153999998 meters 0.025760849006540232 Centerline is valid? [True, True] Translation: X:21.04, Y:0.10, Z:0.07 [[ 9.98545245e-01 -5.23502781e-02 -1.29167372e-02 2.10425270e+01] [ 5.23542514e-02 9.98628575e-01 -3.05615799e-05 9.89506152e-02] [ 1.29006228e-02 -6.45728987e-04 9.99916575e-01 6.52704792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.099254153999997 meters 0.025548743893483303 Centerline is valid? [True, True] Translation: X:21.10, Y:0.10, Z:0.06 [[ 9.98686125e-01 -4.95975176e-02 -1.28883665e-02 2.11036938e+01] [ 4.96012498e-02 9.98769100e-01 -3.01042522e-05 9.81629209e-02] [ 1.28739953e-02 -6.09214386e-04 9.99916941e-01 6.49762940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.159254154 meters 0.02445581031866556 Centerline is valid? [True, True] Translation: X:21.16, Y:0.10, Z:0.06 [[ 9.98898983e-01 -4.51094535e-02 -1.28824957e-02 2.11648157e+01] [ 4.51128138e-02 9.98981898e-01 -2.97787071e-05 9.78341931e-02] [ 1.28707233e-02 -5.51419709e-04 9.99917017e-01 6.39992248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.219254153999998 meters 0.028193107100503476 Centerline is valid? [True, True] Translation: X:21.23, Y:0.09, Z:0.06 [[ 9.99135976e-01 -3.97910810e-02 -1.19988115e-02 2.12251204e+01] [ 3.97936140e-02 9.99207920e-01 -2.76627897e-05 9.15657563e-02] [ 1.19904083e-02 -4.49837186e-04 9.99928011e-01 6.17224623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.279254153999997 meters 0.019346673483108544 Centerline is valid? [True, True] Translation: X:21.29, Y:0.11, Z:0.06 [[ 9.99408723e-01 -3.30444163e-02 -9.50112848e-03 2.12859488e+01] [ 3.30457011e-02 9.99453841e-01 -2.17671378e-05 1.06032559e-01] [ 9.49665864e-03 -2.92217185e-04 9.99954863e-01 6.47542718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.339254154 meters 0.018237946858348425 Centerline is valid? [True, True] Translation: X:21.35, Y:0.11, Z:0.06 [[ 9.99589428e-01 -2.74096796e-02 -8.34778960e-03 2.13478161e+01] [ 2.74104781e-02 9.99624262e-01 -1.87547304e-05 1.08320578e-01] [ 8.34516708e-03 -2.10069874e-04 9.99965156e-01 6.44155362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.399254153999998 meters 0.017995929663789795 Centerline is valid? [True, True] Translation: X:21.41, Y:0.11, Z:0.06 [[ 9.99640237e-01 -2.53883662e-02 -8.65025193e-03 2.14102887e+01] [ 2.53891533e-02 9.99677643e-01 -1.88234845e-05 1.08539939e-01] [ 8.64794136e-03 -2.00805860e-04 9.99962586e-01 6.33935781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.459254153999996 meters 0.018120380421436412 Centerline is valid? [True, True] Translation: X:21.47, Y:0.11, Z:0.06 [[ 9.99665833e-01 -2.43523132e-02 -8.67110375e-03 2.14718586e+01] [ 2.43530699e-02 9.99703420e-01 -1.83286081e-05 1.07185553e-01] [ 8.66897842e-03 -1.92845513e-04 9.99962405e-01 6.20430329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.519254154 meters 0.017395845715899177 Centerline is valid? [True, True] Translation: X:21.53, Y:0.11, Z:0.06 [[ 9.99656539e-01 -2.48176378e-02 -8.41959870e-03 2.15343764e+01] [ 2.48183721e-02 9.99691977e-01 -1.72768910e-05 1.08055981e-01] [ 8.41743404e-03 -1.91689777e-04 9.99964554e-01 6.15377416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.579254153999997 meters 0.018686975984432024 Centerline is valid? [True, True] Translation: X:21.60, Y:0.11, Z:0.06 [[ 9.99635404e-01 -2.56050875e-02 -8.56958580e-03 2.15952475e+01] [ 2.56058819e-02 9.99672116e-01 -1.70303248e-05 1.05121227e-01] [ 8.56721203e-03 -2.02407686e-04 9.99963280e-01 6.05224449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.639254153999996 meters 0.017769280073174173 Centerline is valid? [True, True] Translation: X:21.66, Y:0.11, Z:0.06 [[ 9.99599689e-01 -2.70396895e-02 -8.32573756e-03 2.16572000e+01] [ 2.70404933e-02 9.99634339e-01 -1.60255996e-05 1.07086660e-01] [ 8.32312649e-03 -2.09112867e-04 9.99965340e-01 6.12115388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.699254154 meters 0.018433930245583534 Centerline is valid? [True, True] Translation: X:21.72, Y:0.11, Z:0.06 [[ 9.99549358e-01 -2.89834408e-02 -7.81290335e-03 2.17188975e+01] [ 2.89842118e-02 9.99579869e-01 -1.45474641e-05 1.06191129e-01] [ 7.81004254e-03 -2.11909937e-04 9.99969479e-01 6.15480964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.759254153999997 meters 0.01870546288056462 Centerline is valid? [True, True] Translation: X:21.78, Y:0.11, Z:0.06 [[ 9.99471385e-01 -3.17933931e-02 -6.79201578e-03 2.17814218e+01] [ 3.17940432e-02 9.99494442e-01 -1.22584604e-05 1.06043240e-01] [ 6.78897176e-03 -2.03693663e-04 9.99976934e-01 6.19448194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.819254154 meters 0.020423475895877324 Centerline is valid? [True, True] Translation: X:21.84, Y:0.10, Z:0.06 [[ 9.99369878e-01 -3.50033999e-02 -5.88290722e-03 2.18423889e+01] [ 3.50039458e-02 9.99387174e-01 -1.01620998e-05 1.04364453e-01] [ 5.87965773e-03 -1.95769269e-04 9.99982695e-01 6.22645541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.879254153999998 meters 0.02183083659763042 Centerline is valid? [True, True] Translation: X:21.90, Y:0.10, Z:0.06 [[ 9.99215034e-01 -3.90374638e-02 -6.73739837e-03 2.19032080e+01] [ 3.90382757e-02 9.99237716e-01 -1.10112458e-05 1.02804185e-01] [ 6.73269241e-03 -2.52013813e-04 9.99977303e-01 6.14976158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.939254153999997 meters 0.024953578392651967 Centerline is valid? [True, True] Translation: X:21.96, Y:0.10, Z:0.06 [[ 9.98980765e-01 -4.43206566e-02 -8.55049663e-03 2.19628607e+01] [ 4.43221583e-02 9.99017290e-01 -1.38729574e-05 9.91263250e-02] [ 8.54270883e-03 -3.65117648e-04 9.99963444e-01 6.03864709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.999254154 meters 0.026353627194797294 Centerline is valid? [True, True] Translation: X:22.03, Y:0.10, Z:0.06 [[ 9.98868120e-01 -4.67361711e-02 -8.84363011e-03 2.20250614e+01] [ 4.67378748e-02 9.98907188e-01 -1.40344702e-05 9.82878980e-02] [ 8.83462161e-03 -3.99313892e-04 9.99960894e-01 6.02192861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.059254153999998 meters 0.027182004202434787 Centerline is valid? [True, True] Translation: X:22.09, Y:0.10, Z:0.06 [[ 9.98804758e-01 -4.82322156e-02 -7.91888838e-03 2.20876034e+01] [ 4.82336327e-02 9.98836081e-01 -1.20397050e-05 1.00524676e-01] [ 7.91025214e-03 -3.69931439e-04 9.99968645e-01 6.14716757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.119254153999997 meters 0.02703323913617278 Centerline is valid? [True, True] Translation: X:22.15, Y:0.11, Z:0.06 [[ 9.98857318e-01 -4.72928596e-02 -6.88795300e-03 2.21496641e+01] [ 4.72939126e-02 9.98881017e-01 -1.00263436e-05 1.05485907e-01] [ 6.88071967e-03 -3.15743360e-04 9.99976278e-01 6.29229779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.179254154 meters 0.02749447440044925 Centerline is valid? [True, True] Translation: X:22.21, Y:0.11, Z:0.06 [[ 9.98868435e-01 -4.70544638e-02 -6.90847475e-03 2.22115140e+01] [ 4.70555206e-02 9.98892275e-01 -9.56959833e-06 1.09195526e-01] [ 6.90127235e-03 -3.15523106e-04 9.99976136e-01 6.39210688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.239254153999997 meters 0.027043911120144273 Centerline is valid? [True, True] Translation: X:22.27, Y:0.11, Z:0.06 [[ 9.98788288e-01 -4.85959615e-02 -7.77097565e-03 2.22732825e+01] [ 4.85973511e-02 9.98818451e-01 -1.00141841e-05 1.12356535e-01] [ 7.76228051e-03 -3.67646782e-04 9.99969805e-01 6.44512279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.299254153999996 meters 0.02932647843377623 Centerline is valid? [True, True] Translation: X:22.33, Y:0.11, Z:0.06 [[ 9.98597492e-01 -5.19619997e-02 -1.01488774e-02 2.23345713e+01] [ 5.19645524e-02 9.98648930e-01 -1.21874994e-05 1.12371736e-01] [ 1.01357988e-02 -5.15211464e-04 9.99948499e-01 6.37551376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.359254154 meters 0.034098598099673465 Centerline is valid? [True, True] Translation: X:22.39, Y:0.11, Z:0.06 [[ 9.98445294e-01 -5.45670927e-02 -1.13766259e-02 2.23949979e+01] [ 5.45704724e-02 9.98509922e-01 -1.33681369e-05 1.08701609e-01] [ 1.13604033e-02 -6.07480498e-04 9.99935284e-01 6.26347353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.419254153999997 meters 0.0353053874550317 Centerline is valid? [True, True] Translation: X:22.46, Y:0.11, Z:0.06 [[ 9.98435794e-01 -5.46976994e-02 -1.15813446e-02 2.24560494e+01] [ 5.47012156e-02 9.98502768e-01 -1.31749380e-05 1.10696704e-01] [ 1.15647252e-02 -6.20359296e-04 9.99932934e-01 6.39385129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.479254154 meters 0.027820764558691483 Centerline is valid? [True, True] Translation: X:22.52, Y:0.12, Z:0.07 [[ 9.98510484e-01 -5.34807875e-02 -1.07989923e-02 2.25182962e+01] [ 5.34837809e-02 9.98568718e-01 -1.16158473e-05 1.24659425e-01] [ 1.07841571e-02 -5.65972393e-04 9.99941689e-01 6.66264006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.539254153999998 meters 0.028632221556489316 Centerline is valid? [True, True] Translation: X:22.58, Y:0.12, Z:0.07 [[ 9.98501870e-01 -5.37028122e-02 -1.04891670e-02 2.25803467e+01] [ 5.37056564e-02 9.98556810e-01 -1.05332701e-05 1.24559277e-01] [ 1.04745948e-02 -5.52810108e-04 9.99944987e-01 6.73352641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.599254153999997 meters 0.029649213020492095 Centerline is valid? [True, True] Translation: X:22.64, Y:0.13, Z:0.07 [[ 9.98441792e-01 -5.47554858e-02 -1.07621690e-02 2.26420493e+01] [ 5.47585481e-02 9.98499625e-01 -1.01410184e-05 1.25066660e-01] [ 1.07465770e-02 -5.79195533e-04 9.99942086e-01 6.82334467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.659254154 meters 0.030220446021574435 Centerline is valid? [True, True] Translation: X:22.71, Y:0.12, Z:0.07 [[ 9.98446440e-01 -5.45632083e-02 -1.12943889e-02 2.27050673e+01] [ 5.45665799e-02 9.98510134e-01 -9.65961454e-06 1.24522766e-01] [ 1.12780888e-02 -6.06651567e-04 9.99936216e-01 6.80813317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.719254153999998 meters 0.03044119871993573 Centerline is valid? [True, True] Translation: X:22.77, Y:0.12, Z:0.07 [[ 9.98519211e-01 -5.29977369e-02 -1.22729646e-02 2.27672174e+01] [ 5.30016131e-02 9.98594427e-01 -9.43596527e-06 1.23723995e-01] [ 1.22562141e-02 -6.41064926e-04 9.99924684e-01 6.73460639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.779254153999997 meters 0.030366715792856 Centerline is valid? [True, True] Translation: X:22.83, Y:0.12, Z:0.07 [[ 9.98588027e-01 -5.15764872e-02 -1.27207835e-02 2.28295446e+01] [ 5.15805478e-02 9.98668838e-01 -8.88571327e-06 1.24065048e-01] [ 1.27043084e-02 -6.47271816e-04 9.99919088e-01 6.70864605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.839254154 meters 0.029804263610654413 Centerline is valid? [True, True] Translation: X:22.89, Y:0.12, Z:0.07 [[ 9.98682044e-01 -4.95851210e-02 -1.32472649e-02 2.28909213e+01] [ 4.95893582e-02 9.98769691e-01 -8.63126076e-06 1.24836248e-01] [ 1.32313946e-02 -6.48303480e-04 9.99912251e-01 6.63080411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.899254153999998 meters 0.029147328391246802 Centerline is valid? [True, True] Translation: X:22.95, Y:0.12, Z:0.07 [[ 9.98838993e-01 -4.63014136e-02 -1.32982964e-02 2.29521148e+01] [ 4.63053991e-02 9.98927330e-01 -8.21530288e-06 1.24637552e-01] [ 1.32844121e-02 -6.07577158e-04 9.99911574e-01 6.59134185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.959254153999996 meters 0.025702133854329897 Centerline is valid? [True, True] Translation: X:23.01, Y:0.13, Z:0.07 [[ 9.98911202e-01 -4.47231503e-02 -1.32759660e-02 2.30144419e+01] [ 4.47269936e-02 9.98999247e-01 -7.42497433e-06 1.30025613e-01] [ 1.32630121e-02 -5.86377156e-04 9.99911870e-01 6.70801117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.019254154 meters 0.026424901588013482 Centerline is valid? [True, True] Translation: X:23.08, Y:0.13, Z:0.07 [[ 9.98989017e-01 -4.28990989e-02 -1.34391809e-02 2.30755742e+01] [ 4.29028937e-02 9.99079247e-01 -5.93785312e-06 1.28246018e-01] [ 1.34270615e-02 -5.70647900e-04 9.99909690e-01 6.65642129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.079254153999997 meters 0.023740209127299104 Centerline is valid? [True, True] Translation: X:23.14, Y:0.13, Z:0.07 [[ 9.98941311e-01 -4.38829539e-02 -1.38037854e-02 2.31374116e+01] [ 4.38870694e-02 9.99036498e-01 -4.78026154e-06 1.29231086e-01] [ 1.37906952e-02 -6.01032486e-04 9.99904723e-01 6.73213962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.139254153999996 meters 0.029785799148203458 Centerline is valid? [True, True] Translation: X:23.20, Y:0.12, Z:0.07 [[ 9.98828791e-01 -4.59411002e-02 -1.51809604e-02 2.31988609e+01] [ 4.59463380e-02 9.98943909e-01 -3.75463991e-06 1.19173136e-01] [ 1.51651005e-02 -6.93759298e-04 9.99884763e-01 6.52483894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.199254154 meters 0.031224656531859674 Centerline is valid? [True, True] Translation: X:23.26, Y:0.12, Z:0.06 [[ 9.98788488e-01 -4.67988501e-02 -1.52126393e-02 2.32600439e+01] [ 4.68042243e-02 9.98904082e-01 -2.75635152e-06 1.16369040e-01] [ 1.51960965e-02 -7.09262769e-04 9.99884281e-01 6.49204415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.259254153999997 meters 0.03175875438182356 Centerline is valid? [True, True] Translation: X:23.32, Y:0.12, Z:0.07 [[ 9.98751047e-01 -4.74108068e-02 -1.57658250e-02 2.33223119e+01] [ 4.74166705e-02 9.98875197e-01 -1.88248974e-06 1.15032893e-01] [ 1.57481809e-02 -7.45682793e-04 9.99875712e-01 6.53351651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.319254154 meters 0.027120224095823535 Centerline is valid? [True, True] Translation: X:23.38, Y:0.12, Z:0.07 [[ 9.98785328e-01 -4.66919101e-02 -1.57395511e-02 2.33847962e+01] [ 4.66976823e-02 9.98909068e-01 -7.91517063e-07 1.21897973e-01] [ 1.57224173e-02 -7.34210001e-04 9.99876126e-01 6.78413133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.379254153999998 meters 0.027119505294006807 Centerline is valid? [True, True] Translation: X:23.45, Y:0.12, Z:0.07 [[ 9.98899437e-01 -4.45698558e-02 -1.46096701e-02 2.34462350e+01] [ 4.45746118e-02 9.99006058e-01 -9.04060535e-08 1.21855842e-01] [ 1.45951530e-02 -6.51130066e-04 9.99893273e-01 6.84138198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.439254153999997 meters 0.026747711697655538 Centerline is valid? [True, True] Translation: X:23.51, Y:0.12, Z:0.07 [[ 9.98965482e-01 -4.32336442e-02 -1.41003026e-02 2.35088630e+01] [ 4.32379553e-02 9.99064802e-01 9.01850686e-07 1.22775100e-01] [ 1.40870770e-02 -6.10569172e-04 9.99900586e-01 6.93135507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.499254154 meters 0.02769842466556537 Centerline is valid? [True, True] Translation: X:23.57, Y:0.12, Z:0.07 [[ 9.98974439e-01 -4.29971467e-02 -1.41885946e-02 2.35701055e+01] [ 4.30015007e-02 9.99075008e-01 1.79189063e-06 1.21386174e-01] [ 1.41753932e-02 -6.11920913e-04 9.99899337e-01 6.96673221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.559254153999998 meters 0.030379118654188023 Centerline is valid? [True, True] Translation: X:23.63, Y:0.12, Z:0.07 [[ 9.98803281e-01 -4.66210958e-02 -1.47810416e-02 2.36311783e+01] [ 4.66262231e-02 9.98912406e-01 2.27465431e-06 1.16884325e-01] [ 1.47648598e-02 -6.91456078e-04 9.99890754e-01 6.99766629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.619254153999997 meters 0.033557097677241354 Centerline is valid? [True, True] Translation: X:23.69, Y:0.11, Z:0.07 [[ 9.98546569e-01 -5.11259020e-02 -1.70555242e-02 2.36914655e+01] [ 5.11333866e-02 9.98691833e-01 2.75310750e-06 1.10795478e-01] [ 1.70330719e-02 -8.74855816e-04 9.99854544e-01 6.82931975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.679254154 meters 0.03249175702975007 Centerline is valid? [True, True] Translation: X:23.75, Y:0.11, Z:0.07 [[ 9.98387912e-01 -5.36651914e-02 -1.84831078e-02 2.37529135e+01] [ 5.36744247e-02 9.98558489e-01 3.48095557e-06 1.11039462e-01] [ 1.84562774e-02 -9.95545522e-04 9.99829173e-01 6.85803938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.739254153999997 meters 0.037749614342588104 Centerline is valid? [True, True] Translation: X:23.81, Y:0.10, Z:0.07 [[ 9.98411771e-01 -5.34840256e-02 -1.77029710e-02 2.38137277e+01] [ 5.34924818e-02 9.98568252e-01 4.15179221e-06 1.03162934e-01] [ 1.76774027e-02 -9.51121050e-04 9.99843290e-01 6.81345113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.799254153999996 meters 0.025515390035893433 Centerline is valid? [True, True] Translation: X:23.87, Y:0.12, Z:0.07 [[ 9.98529223e-01 -5.14184009e-02 -1.71912673e-02 2.38748506e+01] [ 5.14260819e-02 9.98676804e-01 4.73038472e-06 1.20320965e-01] [ 1.71682766e-02 -8.88802948e-04 9.99852219e-01 7.39412673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.859254154 meters 0.026820202221499754 Centerline is valid? [True, True] Translation: X:23.93, Y:0.12, Z:0.08 [[ 9.98835536e-01 -4.58231082e-02 -1.50935574e-02 2.39343315e+01] [ 4.58283907e-02 9.98949327e-01 4.11391386e-06 1.18704129e-01] [ 1.50775105e-02 -6.95822569e-04 9.99886086e-01 7.57437179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.919254153999997 meters 0.02296088337946536 Centerline is valid? [True, True] Translation: X:24.00, Y:0.12, Z:0.08 [[ 9.99025179e-01 -4.17819802e-02 -1.42463056e-02 2.39951398e+01] [ 4.17862777e-02 9.99126572e-01 3.99227537e-06 1.23752388e-01] [ 1.42336957e-02 -5.99288466e-04 9.99898516e-01 7.77965085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.979254154 meters 0.02085095581508755 Centerline is valid? [True, True] Translation: X:24.06, Y:0.12, Z:0.08 [[ 9.99247550e-01 -3.51999803e-02 -1.62879043e-02 2.40564617e+01] [ 3.52047299e-02 9.99380121e-01 4.87629915e-06 1.24693083e-01] [ 1.62776361e-02 -5.78283901e-04 9.99867343e-01 7.66302113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.039254153999998 meters 0.020487263630488636 Centerline is valid? [True, True] Translation: X:24.12, Y:0.13, Z:0.08 [[ 9.99355547e-01 -3.14689999e-02 -1.72682697e-02 2.41174741e+01] [ 3.14737917e-02 9.99504577e-01 5.72601722e-06 1.25043290e-01] [ 1.72595344e-02 -5.49220252e-04 9.99850892e-01 7.62782001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.099254153999997 meters 0.018817193032083238 Centerline is valid? [True, True] Translation: X:24.18, Y:0.13, Z:0.08 [[ 9.99498691e-01 -2.61294399e-02 -1.78778791e-02 2.41777572e+01] [ 2.61337255e-02 9.99658456e-01 6.09464166e-06 1.27135831e-01] [ 1.78716138e-02 -4.73307172e-04 9.99840178e-01 7.70156363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.159254154 meters 0.018131719676659563 Centerline is valid? [True, True] Translation: X:24.24, Y:0.13, Z:0.08 [[ 9.99587036e-01 -2.26003591e-02 -1.77476867e-02 2.42382414e+01] [ 2.26040267e-02 9.99744496e-01 6.05025854e-06 1.26866532e-01] [ 1.77430154e-02 -4.07216943e-04 9.99842497e-01 7.70380183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.219254153999998 meters 0.017918373655457436 Centerline is valid? [True, True] Translation: X:24.30, Y:0.13, Z:0.08 [[ 9.99615434e-01 -2.23162177e-02 -1.64611734e-02 2.42974630e+01] [ 2.23192876e-02 9.99750894e-01 2.78429358e-06 1.25470890e-01] [ 1.64570107e-02 -3.70184886e-04 9.99864506e-01 7.80546625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.279254153999997 meters 0.017698364899625278 Centerline is valid? [True, True] Translation: X:24.36, Y:0.12, Z:0.08 [[ 9.99573849e-01 -2.41706477e-02 -1.63676304e-02 2.43575323e+01] [ 2.41739131e-02 9.99707768e-01 1.65549454e-06 1.22727123e-01] [ 1.63628072e-02 -3.97324464e-04 9.99866041e-01 7.83312875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.339254154 meters 0.01970216040030948 Centerline is valid? [True, True] Translation: X:24.42, Y:0.11, Z:0.08 [[ 9.99373789e-01 -3.09000639e-02 -1.72399374e-02 2.44174238e+01] [ 3.09046824e-02 9.99522336e-01 1.47633041e-06 1.13837830e-01] [ 1.72316569e-02 -5.34270196e-04 9.99851381e-01 7.79109631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.399254153999998 meters 0.022430350143104752 Centerline is valid? [True, True] Translation: X:24.48, Y:0.11, Z:0.08 [[ 9.99223651e-01 -3.51208893e-02 -1.78498829e-02 2.44771227e+01] [ 3.51265115e-02 9.99382874e-01 1.44561613e-06 1.07704610e-01] [ 1.78388165e-02 -6.28448611e-04 9.99840678e-01 7.73573509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.459254153999996 meters 0.023019930815891616 Centerline is valid? [True, True] Translation: X:24.54, Y:0.10, Z:0.08 [[ 9.99085014e-01 -3.91687596e-02 -1.71739161e-02 2.45386192e+01] [ 3.91745689e-02 9.99232382e-01 1.85014345e-06 1.04648113e-01] [ 1.71606606e-02 -6.74629209e-04 9.99852517e-01 7.85113710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.519254154 meters 0.02396962672739487 Centerline is valid? [True, True] Translation: X:24.60, Y:0.10, Z:0.08 [[ 9.98935332e-01 -4.32290093e-02 -1.61075959e-02 2.45996417e+01] [ 4.32346521e-02 9.99064945e-01 2.09685553e-06 9.99028433e-02] [ 1.60924438e-02 -6.98500928e-04 9.99870264e-01 7.91036034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.579254153999997 meters 0.02399806149184848 Centerline is valid? [True, True] Translation: X:24.66, Y:0.10, Z:0.08 [[ 9.98878172e-01 -4.45274379e-02 -1.61153690e-02 2.46620470e+01] [ 4.45332700e-02 9.99007902e-01 3.03994414e-06 9.88545257e-02] [ 1.60992456e-02 -7.20706614e-04 9.99870139e-01 7.96856851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.639254153999996 meters 0.023747077635610812 Centerline is valid? [True, True] Translation: X:24.72, Y:0.10, Z:0.08 [[ 9.98842050e-01 -4.51187652e-02 -1.66990000e-02 2.47244563e+01] [ 4.51251307e-02 9.98981342e-01 4.40033275e-06 9.96450950e-02] [ 1.66817909e-02 -7.57939794e-04 9.99860562e-01 7.98744211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.699254154 meters 0.024155727310911184 Centerline is valid? [True, True] Translation: X:24.79, Y:0.10, Z:0.08 [[ 9.98845049e-01 -4.46232086e-02 -1.78139823e-02 2.47869038e+01] [ 4.46303979e-02 9.99003567e-01 6.02972033e-06 9.93527778e-02] [ 1.77959628e-02 -8.01067874e-04 9.99841318e-01 7.92007084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.759254153999997 meters 0.02528736583288302 Centerline is valid? [True, True] Translation: X:24.85, Y:0.10, Z:0.08 [[ 9.98852797e-01 -4.43350437e-02 -1.80967899e-02 2.48477868e+01] [ 4.43424354e-02 9.99016390e-01 7.19721360e-06 9.78687684e-02] [ 1.80786706e-02 -8.09644694e-04 9.99836240e-01 7.88811460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.819254154 meters 0.02617875466623038 Centerline is valid? [True, True] Translation: X:24.91, Y:0.10, Z:0.08 [[ 9.98755809e-01 -4.65697274e-02 -1.78351974e-02 2.49096180e+01] [ 4.65772794e-02 9.98914690e-01 8.05326384e-06 9.63807299e-02] [ 1.78154657e-02 -8.38758218e-04 9.99840940e-01 7.93876283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.879254153999998 meters 0.028399877514349466 Centerline is valid? [True, True] Translation: X:24.97, Y:0.09, Z:0.08 [[ 9.98624235e-01 -4.90002768e-02 -1.86711160e-02 2.49694796e+01] [ 4.90089819e-02 9.98798338e-01 8.67928990e-06 9.27371433e-02] [ 1.86482543e-02 -9.23719736e-04 9.99825679e-01 7.83309208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.939254153999997 meters 0.027856750642530754 Centerline is valid? [True, True] Translation: X:25.03, Y:0.09, Z:0.08 [[ 9.98594254e-01 -4.97055189e-02 -1.84086435e-02 2.50319487e+01] [ 4.97141188e-02 9.98763489e-01 9.55753778e-06 9.37788833e-02] [ 1.83854059e-02 -9.24713592e-04 9.99830547e-01 7.94450428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.999254154 meters 0.026261008633446922 Centerline is valid? [True, True] Translation: X:25.09, Y:0.10, Z:0.08 [[ 9.98648706e-01 -4.93272435e-02 -1.63580445e-02 2.50940555e+01] [ 4.93340021e-02 9.98782337e-01 9.64503150e-06 9.68495029e-02] [ 1.63376501e-02 -8.16639800e-04 9.99866198e-01 8.26715591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.059254153999998 meters 0.02512445795504462 Centerline is valid? [True, True] Translation: X:25.16, Y:0.10, Z:0.08 [[ 9.98696651e-01 -4.88135709e-02 -1.49075182e-02 2.51563644e+01] [ 4.88191427e-02 9.98807635e-01 9.86371131e-06 9.88068555e-02] [ 1.48892615e-02 -7.37623113e-04 9.99888877e-01 8.46312813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.119254153999997 meters 0.02692038891313201 Centerline is valid? [True, True] Translation: X:25.22, Y:0.10, Z:0.09 [[ 9.98751128e-01 -4.79271353e-02 -1.41129106e-02 2.52173989e+01] [ 4.79320623e-02 9.98850598e-01 1.08783158e-05 9.66400593e-02] [ 1.40961679e-02 -6.87325642e-04 9.99900408e-01 8.50401397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.179254154 meters 0.02604140036412474 Centerline is valid? [True, True] Translation: X:25.28, Y:0.10, Z:0.08 [[ 9.98729629e-01 -4.82013464e-02 -1.46887385e-02 2.52793014e+01] [ 4.82067328e-02 9.98837380e-01 1.26560525e-05 9.76950050e-02] [ 1.46710510e-02 -7.20736067e-04 9.99892115e-01 8.45420303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.239254153999997 meters 0.02715180038154051 Centerline is valid? [True, True] Translation: X:25.34, Y:0.09, Z:0.08 [[ 9.98669185e-01 -4.92362730e-02 -1.53508414e-02 2.53417072e+01] [ 4.92422954e-02 9.98786862e-01 1.43549278e-05 9.49658867e-02] [ 1.53315120e-02 -7.70246492e-04 9.99882169e-01 8.33850851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.299254153999996 meters 0.027120067938835812 Centerline is valid? [True, True] Translation: X:25.40, Y:0.09, Z:0.08 [[ 9.98601906e-01 -5.04267934e-02 -1.58546850e-02 2.54038679e+01] [ 5.04333856e-02 9.98727427e-01 1.59868810e-05 9.45602480e-02] [ 1.58337026e-02 -8.15569973e-04 9.99874306e-01 8.34004968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.359254154 meters 0.030528733200111603 Centerline is valid? [True, True] Translation: X:25.47, Y:0.09, Z:0.08 [[ 9.98574473e-01 -5.12970001e-02 -1.47526394e-02 2.54650350e+01] [ 5.13028150e-02 9.98683143e-01 1.57293821e-05 8.96628635e-02] [ 1.47324055e-02 -7.72558891e-04 9.99891174e-01 8.36293205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.419254153999997 meters 0.026364311222431748 Centerline is valid? [True, True] Translation: X:25.53, Y:0.10, Z:0.09 [[ 9.98504795e-01 -5.30162319e-02 -1.33211766e-02 2.55274756e+01] [ 5.30211371e-02 9.98593390e-01 1.50864449e-05 9.51005069e-02] [ 1.33016391e-02 -7.21367818e-04 9.99911269e-01 8.59879510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.479254153999996 meters 0.027197789592625712 Centerline is valid? [True, True] Translation: X:25.59, Y:0.09, Z:0.09 [[ 9.98430663e-01 -5.45161400e-02 -1.28141171e-02 2.55897015e+01] [ 5.45208142e-02 9.98512634e-01 1.54585341e-05 9.37788525e-02] [ 1.27942150e-02 -7.14070370e-04 9.99917896e-01 8.72671853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.539254153999998 meters 0.03675140539216561 Centerline is valid? [True, True] Translation: X:25.65, Y:0.08, Z:0.09 [[ 9.98350107e-01 -5.60727781e-02 -1.23655750e-02 2.56505714e+01] [ 5.60772663e-02 9.98426432e-01 1.62566518e-05 8.04491897e-02] [ 1.23452053e-02 -7.09657470e-04 9.99923543e-01 8.63816382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.599254153999997 meters 0.03867169542189237 Centerline is valid? [True, True] Translation: X:25.71, Y:0.08, Z:0.09 [[ 9.98284865e-01 -5.73186174e-02 -1.19123785e-02 2.57122405e+01] [ 5.73228864e-02 9.98355691e-01 1.69586464e-05 7.72543485e-02] [ 1.18918189e-02 -6.99781482e-04 9.99929045e-01 8.68515025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.659254154 meters 0.030817968230331807 Centerline is valid? [True, True] Translation: X:25.77, Y:0.09, Z:0.09 [[ 9.98294858e-01 -5.71913311e-02 -1.16845447e-02 2.57746777e+01] [ 5.71954409e-02 9.98363001e-01 1.75959796e-05 8.79037117e-02] [ 1.16644108e-02 -6.85868662e-04 9.99931733e-01 8.82725482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.719254153999998 meters 0.0288337394686632 Centerline is valid? [True, True] Translation: X:25.84, Y:0.09, Z:0.09 [[ 9.98430410e-01 -5.47965558e-02 -1.15781893e-02 2.58362916e+01] [ 5.48004389e-02 9.98497327e-01 1.81478541e-05 9.22362398e-02] [ 1.15597966e-02 -6.52609225e-04 9.99932970e-01 8.91059350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.779254153999997 meters 0.02615994563149912 Centerline is valid? [True, True] Translation: X:25.90, Y:0.10, Z:0.09 [[ 9.98651129e-01 -5.08033944e-02 -1.07209012e-02 2.58970450e+01] [ 5.08064978e-02 9.98708516e-01 1.71461330e-05 9.77399947e-02] [ 1.07061842e-02 -5.61814448e-04 9.99942529e-01 9.02210860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.839254154 meters 0.02521845035914726 Centerline is valid? [True, True] Translation: X:25.96, Y:0.10, Z:0.09 [[ 9.98791099e-01 -4.78149432e-02 -1.14049112e-02 2.59589152e+01] [ 4.78182664e-02 9.98856052e-01 1.87174106e-05 9.99618215e-02] [ 1.13909696e-02 -5.64057866e-04 9.99934962e-01 8.99756369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.899254153999998 meters 0.02563996882334389 Centerline is valid? [True, True] Translation: X:26.02, Y:0.10, Z:0.09 [[ 9.98921246e-01 -4.45071988e-02 -1.32458773e-02 2.60196285e+01] [ 4.45113995e-02 9.99008876e-01 2.23471139e-05 1.00658143e-01] [ 1.32317544e-02 -6.11915543e-04 9.99912269e-01 8.84473185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.959254153999996 meters 0.024160731912387455 Centerline is valid? [True, True] Translation: X:26.08, Y:0.10, Z:0.09 [[ 9.98929008e-01 -4.41581900e-02 -1.38163111e-02 2.60821246e+01] [ 4.41627390e-02 9.99024350e-01 2.41730388e-05 1.02686404e-01] [ 1.38017637e-02 -6.34313288e-04 9.99904550e-01 8.83331014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.019254154 meters 0.02398272128236148 Centerline is valid? [True, True] Translation: X:26.14, Y:0.10, Z:0.09 [[ 9.98915728e-01 -4.42579949e-02 -1.44429556e-02 2.61447509e+01] [ 4.42629920e-02 9.99019913e-01 2.63531294e-05 1.02843540e-01] [ 1.44276340e-02 -6.65612986e-04 9.99895695e-01 8.83384074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.079254153999997 meters 0.024820788839696465 Centerline is valid? [True, True] Translation: X:26.21, Y:0.10, Z:0.09 [[ 9.98938051e-01 -4.34189692e-02 -1.54130871e-02 2.62063525e+01] [ 4.34245752e-02 9.99056708e-01 2.90729486e-05 1.03039106e-01] [ 1.53972857e-02 -6.98348832e-04 9.99881211e-01 8.83174694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.139254153999996 meters 0.02386134868611445 Centerline is valid? [True, True] Translation: X:26.27, Y:0.11, Z:0.09 [[ 9.99000111e-01 -4.23152168e-02 -1.44291516e-02 2.62683211e+01] [ 4.23200288e-02 9.99104106e-01 2.81772199e-05 1.06087977e-01] [ 1.44150323e-02 -6.38791158e-04 9.99895894e-01 9.01744032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.199254154 meters 0.02406182472905713 Centerline is valid? [True, True] Translation: X:26.33, Y:0.11, Z:0.09 [[ 9.98999418e-01 -4.25371026e-02 -1.38114909e-02 2.63308132e+01] [ 4.25415463e-02 9.99094698e-01 2.79668229e-05 1.06553881e-01] [ 1.37977977e-02 -6.15501018e-04 9.99904616e-01 9.12796769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.259254153999997 meters 0.023770975564924926 Centerline is valid? [True, True] Translation: X:26.39, Y:0.11, Z:0.09 [[ 9.98950815e-01 -4.38649851e-02 -1.31579788e-02 2.63933238e+01] [ 4.38691456e-02 9.99037285e-01 2.75981328e-05 1.09137736e-01] [ 1.31441009e-02 -6.04798467e-04 9.99913430e-01 9.33309550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.319254154 meters 0.02561817926588583 Centerline is valid? [True, True] Translation: X:26.45, Y:0.11, Z:0.09 [[ 9.98876234e-01 -4.57862302e-02 -1.22429508e-02 2.64545901e+01] [ 4.57899850e-02 9.98951088e-01 2.64107435e-05 1.07844689e-01] [ 1.22288998e-02 -5.86985599e-04 9.99925052e-01 9.41594272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.379254153999998 meters 0.02651494077052588 Centerline is valid? [True, True] Translation: X:26.52, Y:0.11, Z:0.09 [[ 9.98772680e-01 -4.77755777e-02 -1.30624907e-02 2.65162456e+01] [ 4.77800383e-02 9.98857881e-01 2.94353520e-05 1.07640145e-01] [ 1.30461655e-02 -6.53525530e-04 9.99914682e-01 9.33882414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.439254153999997 meters 0.026988641321477925 Centerline is valid? [True, True] Translation: X:26.58, Y:0.11, Z:0.09 [[ 9.98726249e-01 -4.85743884e-02 -1.36531133e-02 2.65780984e+01] [ 4.85793523e-02 9.98819326e-01 3.19691081e-05 1.08756252e-01] [ 1.36354406e-02 -6.95187790e-04 9.99906791e-01 9.27044534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.499254154 meters 0.0269794899686682 Centerline is valid? [True, True] Translation: X:26.64, Y:0.11, Z:0.09 [[ 9.98740506e-01 -4.82267731e-02 -1.38412408e-02 2.66405234e+01] [ 4.82318554e-02 9.98836166e-01 3.34181962e-05 1.09569325e-01] [ 1.38235202e-02 -7.00964829e-04 9.99904205e-01 9.28493718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.559254153999998 meters 0.027466532274706187 Centerline is valid? [True, True] Translation: X:26.70, Y:0.11, Z:0.09 [[ 9.98790948e-01 -4.71887746e-02 -1.37790139e-02 2.67026477e+01] [ 4.71937264e-02 9.98885755e-01 3.42553199e-05 1.10534069e-01] [ 1.37620442e-02 -6.84496913e-04 9.99905064e-01 9.28135571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.619254153999997 meters 0.024148260735596516 Centerline is valid? [True, True] Translation: X:26.76, Y:0.12, Z:0.09 [[ 9.98905327e-01 -4.45071919e-02 -1.43964738e-02 2.67642043e+01] [ 4.45123297e-02 9.99008834e-01 3.64911732e-05 1.18029533e-01] [ 1.43805804e-02 -6.77271816e-04 9.99896365e-01 9.30839178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.679254154 meters 0.026426239857924427 Centerline is valid? [True, True] Translation: X:26.82, Y:0.12, Z:0.09 [[ 9.98996602e-01 -4.22870746e-02 -1.47509919e-02 2.68248568e+01] [ 4.22922351e-02 9.99105282e-01 3.79372023e-05 1.16629514e-01] [ 1.47361897e-02 -6.61751554e-04 9.99891197e-01 9.17588503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.739254153999997 meters 0.022509309387775355 Centerline is valid? [True, True] Translation: X:26.89, Y:0.13, Z:0.09 [[ 9.99079243e-01 -4.01172727e-02 -1.52076039e-02 2.68865583e+01] [ 4.01225185e-02 9.99194767e-01 3.98805333e-05 1.25266938e-01] [ 1.51937583e-02 -6.50011182e-04 9.99884357e-01 9.27943489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.799254153999996 meters 0.02417786090754104 Centerline is valid? [True, True] Translation: X:26.95, Y:0.12, Z:0.09 [[ 9.99101072e-01 -3.95236940e-02 -1.53272659e-02 2.69474340e+01] [ 3.95289660e-02 9.99218424e-01 4.10413399e-05 1.24245115e-01] [ 1.53136644e-02 -6.46875419e-04 9.99882530e-01 9.23643698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.859254154 meters 0.023330669096536007 Centerline is valid? [True, True] Translation: X:27.01, Y:0.13, Z:0.09 [[ 9.99064811e-01 -4.07461657e-02 -1.44655649e-02 2.70099009e+01] [ 4.07510034e-02 9.99169332e-01 3.97017390e-05 1.26532067e-01] [ 1.44519311e-02 -6.29150895e-04 9.99895367e-01 9.36978474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.919254153999997 meters 0.02619927076843993 Centerline is valid? [True, True] Translation: X:27.07, Y:0.12, Z:0.09 [[ 9.98978985e-01 -4.30277912e-02 -1.37694370e-02 2.70706303e+01] [ 4.30323996e-02 9.99073677e-01 3.84394453e-05 1.22372868e-01] [ 1.37550281e-02 -6.30932115e-04 9.99905196e-01 9.37713433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.979254153999996 meters 0.02621750452133644 Centerline is valid? [True, True] Translation: X:27.13, Y:0.12, Z:0.09 [[ 9.98861925e-01 -4.55903857e-02 -1.40132961e-02 2.71317182e+01] [ 4.55954151e-02 9.98959987e-01 3.94561058e-05 1.23079982e-01] [ 1.39969233e-02 -6.78353254e-04 9.99901808e-01 9.44094464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.039254153999998 meters 0.027471113299433574 Centerline is valid? [True, True] Translation: X:27.19, Y:0.12, Z:0.10 [[ 9.98800295e-01 -4.72829946e-02 -1.27392753e-02 2.71935129e+01] [ 4.72872949e-02 9.98881329e-01 3.63908744e-05 1.21527253e-01] [ 1.27233036e-02 -6.38753084e-04 9.99918851e-01 9.56364490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.099254153999997 meters 0.02586294345896601 Centerline is valid? [True, True] Translation: X:27.26, Y:0.12, Z:0.10 [[ 9.98795502e-01 -4.77647690e-02 -1.12281834e-02 2.72555231e+01] [ 4.77681480e-02 9.98858450e-01 3.27892355e-05 1.23720596e-01] [ 1.12137997e-02 -5.69099268e-04 9.99936961e-01 9.74070676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.159254154 meters 0.02679270418246864 Centerline is valid? [True, True] Translation: X:27.32, Y:0.12, Z:0.10 [[ 9.98806283e-01 -4.76928287e-02 -1.05547397e-02 2.73179841e+01] [ 4.76958184e-02 9.98861906e-01 3.15798995e-05 1.23656258e-01] [ 1.05412213e-02 -5.34959152e-04 9.99944297e-01 9.84956531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.219254153999998 meters 0.027159907185342006 Centerline is valid? [True, True] Translation: X:27.38, Y:0.12, Z:0.10 [[ 9.98741467e-01 -4.88806435e-02 -1.12322862e-02 2.73799820e+01] [ 4.88841138e-02 9.98804456e-01 3.44505993e-05 1.23119553e-01] [ 1.12171736e-02 -5.83487600e-04 9.99936915e-01 9.81795784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.279254153999997 meters 0.02774792565772494 Centerline is valid? [True, True] Translation: X:27.44, Y:0.12, Z:0.10 [[ 9.98648354e-01 -5.07101174e-02 -1.13995295e-02 2.74419454e+01] [ 5.07138202e-02 9.98713226e-01 3.58051131e-05 1.20885349e-01] [ 1.13830452e-02 -6.13870409e-04 9.99935023e-01 9.79228487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.339254154 meters 0.03294979321672613 Centerline is valid? [True, True] Translation: X:27.50, Y:0.11, Z:0.10 [[ 9.98602322e-01 -5.16529550e-02 -1.11970799e-02 2.75031042e+01] [ 5.16565943e-02 9.98664906e-01 3.58572191e-05 1.12253946e-01] [ 1.11802786e-02 -6.14210114e-04 9.99937310e-01 9.75603169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.399254153999998 meters 0.026188292413087753 Centerline is valid? [True, True] Translation: X:27.57, Y:0.12, Z:0.10 [[ 9.98634385e-01 -5.10540253e-02 -1.10838032e-02 2.75655564e+01] [ 5.10575627e-02 9.98695711e-01 3.62355217e-05 1.20669505e-01] [ 1.10674968e-02 -6.02098017e-04 9.99938572e-01 9.87198979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.459254153999996 meters 0.02665049653656508 Centerline is valid? [True, True] Translation: X:27.63, Y:0.12, Z:0.10 [[ 9.98713590e-01 -4.94042740e-02 -1.14184941e-02 2.76268260e+01] [ 4.94079290e-02 9.98778682e-01 3.80603080e-05 1.17308852e-01] [ 1.14026681e-02 -6.02175492e-04 9.99934806e-01 9.79769726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.519254154 meters 0.02718682075121911 Centerline is valid? [True, True] Translation: X:27.69, Y:0.12, Z:0.10 [[ 9.98888003e-01 -4.56850373e-02 -1.16461950e-02 2.76863406e+01] [ 4.56885888e-02 9.98955730e-01 3.89366888e-05 1.15724595e-01] [ 1.16322544e-02 -5.70991607e-04 9.99932180e-01 9.82378827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.579254153999997 meters 0.023973847385110145 Centerline is valid? [True, True] Translation: X:27.75, Y:0.12, Z:0.10 [[ 9.99118208e-01 -4.02662025e-02 -1.18928617e-02 2.77474445e+01] [ 4.02695233e-02 9.99188853e-01 3.97909446e-05 1.19378504e-01] [ 1.18816126e-02 -5.18675728e-04 9.99929277e-01 9.87153280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.639254153999996 meters 0.021852909630294463 Centerline is valid? [True, True] Translation: X:27.81, Y:0.12, Z:0.10 [[ 9.99282127e-01 -3.60929041e-02 -1.15122750e-02 2.78078757e+01] [ 3.60957400e-02 9.99348336e-01 3.85807456e-05 1.21282557e-01] [ 1.15033803e-02 -4.54097134e-04 9.99933731e-01 9.91121117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.699254154 meters 0.02010567908544367 Centerline is valid? [True, True] Translation: X:27.87, Y:0.12, Z:0.10 [[ 9.99500792e-01 -2.94387316e-02 -1.14685632e-02 2.78687717e+01] [ 2.94411098e-02 9.99566516e-01 3.85596482e-05 1.23929778e-01] [ 1.14624567e-02 -3.76187629e-04 9.99934233e-01 9.97589977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.759254153999997 meters 0.017691860997866533 Centerline is valid? [True, True] Translation: X:27.93, Y:0.13, Z:0.10 [[ 9.99655472e-01 -2.34358692e-02 -1.18193341e-02 2.79297418e+01] [ 2.34379785e-02 9.99725292e-01 3.99560366e-05 1.27845690e-01] [ 1.18151508e-02 -3.16963569e-04 9.99930148e-01 1.00464288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.819254153999996 meters 0.017181649236783062 Centerline is valid? [True, True] Translation: X:27.99, Y:0.13, Z:0.10 [[ 9.99707255e-01 -2.13380508e-02 -1.14057595e-02 2.79907148e+01] [ 2.13398824e-02 9.99772278e-01 3.88936216e-05 1.27299103e-01] [ 1.14023322e-02 -2.82279801e-04 9.99934951e-01 1.00863631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.879254153999998 meters 0.01785010310784217 Centerline is valid? [True, True] Translation: X:28.05, Y:0.12, Z:0.10 [[ 9.99696893e-01 -2.22591103e-02 -1.05192560e-02 2.80515418e+01] [ 2.22607242e-02 9.99752199e-01 3.63531611e-05 1.22849600e-01] [ 1.05158402e-02 -2.70508400e-04 9.99944670e-01 1.00572910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.939254153999997 meters 0.018122318243252628 Centerline is valid? [True, True] Translation: X:28.11, Y:0.12, Z:0.10 [[ 9.99634369e-01 -2.48159662e-02 -1.07376255e-02 2.81139730e+01] [ 2.48178028e-02 9.99691990e-01 3.78174669e-05 1.19503246e-01] [ 1.07333797e-02 -3.04287911e-04 9.99942349e-01 1.00379703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.999254154 meters 0.020187922228851057 Centerline is valid? [True, True] Translation: X:28.17, Y:0.11, Z:0.10 [[ 9.99504715e-01 -2.92725902e-02 -1.15516469e-02 2.81737630e+01] [ 2.92750245e-02 9.99571394e-01 4.16556930e-05 1.12156782e-01] [ 1.15454764e-02 -3.79809808e-04 9.99933277e-01 9.91381231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.059254153999998 meters 0.020846672769955218 Centerline is valid? [True, True] Translation: X:28.24, Y:0.11, Z:0.10 [[ 9.99396323e-01 -3.22508242e-02 -1.29179798e-02 2.82355946e+01] [ 3.22541285e-02 9.99479699e-01 4.74752263e-05 1.08275248e-01] [ 1.29097275e-02 -4.64104747e-04 9.99916558e-01 9.83411797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.119254153999997 meters 0.021315049518179193 Centerline is valid? [True, True] Translation: X:28.30, Y:0.11, Z:0.10 [[ 9.99407209e-01 -3.22923531e-02 -1.19345576e-02 2.82979363e+01] [ 3.22951855e-02 9.99478373e-01 4.46259801e-05 1.05589493e-01] [ 1.19268911e-02 -4.30028276e-04 9.99928780e-01 9.89121386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.179254154 meters 0.02046007517853586 Centerline is valid? [True, True] Translation: X:28.36, Y:0.11, Z:0.10 [[ 9.99472412e-01 -3.02529392e-02 -1.18176399e-02 2.83602589e+01] [ 3.02555840e-02 9.99542194e-01 4.50396295e-05 1.05891110e-01] [ 1.18108671e-02 -4.02565462e-04 9.99930168e-01 9.95450782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.239254153999997 meters 0.018049510829232167 Centerline is valid? [True, True] Translation: X:28.42, Y:0.11, Z:0.10 [[ 9.99603408e-01 -2.55373355e-02 -1.18688785e-02 2.84222430e+01] [ 2.55396799e-02 9.99673808e-01 4.59697902e-05 1.09630919e-01] [ 1.18638331e-02 -3.49078917e-04 9.99929561e-01 1.00221988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.299254153999996 meters 0.016703326146598804 Centerline is valid? [True, True] Translation: X:28.48, Y:0.11, Z:0.10 [[ 9.99735243e-01 -1.97386103e-02 -1.18250552e-02 2.84835676e+01] [ 1.97405382e-02 9.99805136e-01 4.63199081e-05 1.12455621e-01] [ 1.18218366e-02 -2.79740597e-04 9.99930081e-01 1.00411319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.359254154 meters 0.01581598613991534 Centerline is valid? [True, True] Translation: X:28.54, Y:0.11, Z:0.10 [[ 9.99806070e-01 -1.55410334e-02 -1.20953754e-02 2.85438542e+01] [ 1.55427454e-02 9.99879203e-01 4.75461458e-05 1.14632879e-01] [ 1.20931754e-02 -2.35532265e-04 9.99926847e-01 1.00242396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.419254153999997 meters 0.01522085541884899 Centerline is valid? [True, True] Translation: X:28.60, Y:0.12, Z:0.10 [[ 9.99855169e-01 -1.17047893e-02 -1.23546867e-02 2.86031784e+01] [ 1.17062792e-02 9.99931478e-01 4.82743185e-05 1.16946139e-01] [ 1.23532751e-02 -1.92894738e-04 9.99923677e-01 1.00234606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.479254153999996 meters 0.014391536101324976 Centerline is valid? [True, True] Translation: X:28.66, Y:0.12, Z:0.10 [[ 9.99895198e-01 -7.43302559e-03 -1.24235033e-02 2.86618665e+01] [ 7.43417510e-03 9.99972365e-01 4.63480075e-05 1.19009359e-01] [ 1.24228154e-02 -1.38701649e-04 9.99922824e-01 9.96203204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.539254153999998 meters 0.014158884630142293 Centerline is valid? [True, True] Translation: X:28.72, Y:0.12, Z:0.10 [[ 9.99912281e-01 -5.28494540e-03 -1.21449068e-02 2.87197419e+01] [ 5.28586389e-03 9.99986029e-01 4.35295815e-05 1.20449160e-01] [ 1.21445071e-02 -1.07722088e-04 9.99926247e-01 9.97612214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.599254153999997 meters 0.01425185108233226 Centerline is valid? [True, True] Translation: X:28.78, Y:0.12, Z:0.10 [[ 9.99917974e-01 -6.46396001e-03 -1.10572625e-02 2.87770400e+01] [ 6.46478049e-03 9.99979102e-01 3.84614428e-05 1.18792507e-01] [ 1.10567828e-02 -1.09941063e-04 9.99938866e-01 1.00378127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.659254154 meters 0.014722361074225898 Centerline is valid? [True, True] Translation: X:28.84, Y:0.12, Z:0.10 [[ 9.99896555e-01 -1.02576674e-02 -1.00826354e-02 2.88353047e+01] [ 1.02585322e-02 9.99947379e-01 3.40622599e-05 1.15493950e-01] [ 1.00817554e-02 -1.37491777e-04 9.99949168e-01 1.01036866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.719254153999998 meters 0.016252973693924082 Centerline is valid? [True, True] Translation: X:28.89, Y:0.11, Z:0.10 [[ 9.99813796e-01 -1.62359546e-02 -1.04291684e-02 2.88944773e+01] [ 1.62371985e-02 9.99868167e-01 3.46007967e-05 1.09416908e-01] [ 1.04272317e-02 -2.03934831e-04 9.99945614e-01 1.00744194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.779254153999997 meters 0.01883796512148926 Centerline is valid? [True, True] Translation: X:28.95, Y:0.10, Z:0.10 [[ 9.99733385e-01 -2.05625699e-02 -1.05042283e-02 2.89546651e+01] [ 2.05640714e-02 9.99788537e-01 3.49428773e-05 1.01922116e-01] [ 1.05012885e-02 -2.50943262e-04 9.99944828e-01 9.99805581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.839254154 meters 0.018547346357367017 Centerline is valid? [True, True] Translation: X:29.02, Y:0.10, Z:0.10 [[ 9.99568244e-01 -2.75820566e-02 -1.01269746e-02 2.90159504e+01] [ 2.75838160e-02 9.99619494e-01 3.40745037e-05 1.00285469e-01] [ 1.01221814e-02 -3.13400395e-04 9.99948720e-01 1.00576305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.899254153999998 meters 0.02227498517623025 Centerline is valid? [True, True] Translation: X:29.08, Y:0.09, Z:0.10 [[ 9.99411964e-01 -3.28436443e-02 -9.84994362e-03 2.90759349e+01] [ 3.28455697e-02 9.99460438e-01 3.37306275e-05 9.24410420e-02] [ 9.84352113e-03 -3.57237802e-04 9.99951488e-01 9.99898696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.959254153999996 meters 0.02374105725309644 Centerline is valid? [True, True] Translation: X:29.14, Y:0.09, Z:0.10 [[ 9.99150375e-01 -4.02572324e-02 -8.82510534e-03 2.91367184e+01] [ 4.02590695e-02 9.99189275e-01 3.05470285e-05 8.89629920e-02] [ 8.81672086e-03 -3.85811604e-04 9.99961058e-01 1.02314705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.019254154 meters 0.02590620736410647 Centerline is valid? [True, True] Translation: X:29.20, Y:0.09, Z:0.10 [[ 9.98904860e-01 -4.59500497e-02 -8.81330392e-03 2.91974670e+01] [ 4.59521033e-02 9.98943644e-01 3.05536534e-05 8.50292064e-02] [ 8.80258999e-03 -4.35510045e-04 9.99961162e-01 1.02906894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.079254153999997 meters 0.027592281004722777 Centerline is valid? [True, True] Translation: X:29.26, Y:0.08, Z:0.10 [[ 9.98672843e-01 -5.05310487e-02 -9.95821112e-03 2.92584985e+01] [ 5.05338983e-02 9.98722346e-01 3.45924547e-05 8.23220130e-02] [ 9.94373997e-03 -5.37773773e-04 9.99950415e-01 1.01702621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.139254153999996 meters 0.028849364835420308 Centerline is valid? [True, True] Translation: X:29.32, Y:0.08, Z:0.10 [[ 9.98483972e-01 -5.37615418e-02 -1.18090654e-02 2.93193440e+01] [ 5.37657765e-02 9.98553574e-01 4.11873186e-05 7.97540878e-02] [ 1.17897702e-02 -6.76048449e-04 9.99930270e-01 1.00722259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.199254154 meters 0.03189395286118897 Centerline is valid? [True, True] Translation: X:29.38, Y:0.08, Z:0.10 [[ 9.98404694e-01 -5.49638082e-02 -1.29246829e-02 2.93807484e+01] [ 5.49689884e-02 9.98488061e-01 4.56268863e-05 7.60804829e-02] [ 1.29026337e-02 -7.56010839e-04 9.99916472e-01 9.96076838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.259254153999997 meters 0.02665386200028003 Centerline is valid? [True, True] Translation: X:29.44, Y:0.08, Z:0.10 [[ 9.98475622e-01 -5.36812675e-02 -1.28356813e-02 2.94435150e+01] [ 5.36862842e-02 9.98557850e-01 4.63462869e-05 8.41873820e-02] [ 1.28146824e-02 -7.35375669e-04 9.99917618e-01 1.01117981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.319254153999996 meters 0.02586845822951129 Centerline is valid? [True, True] Translation: X:29.50, Y:0.09, Z:0.10 [[ 9.98783587e-01 -4.77540391e-02 -1.22840223e-02 2.95033367e+01] [ 4.77581898e-02 9.98858926e-01 4.46076282e-05 8.84630793e-02] [ 1.22678752e-02 -6.31216037e-04 9.99924548e-01 1.02470618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.379254153999998 meters 0.022452192930976632 Centerline is valid? [True, True] Translation: X:29.56, Y:0.10, Z:0.10 [[ 9.99267423e-01 -3.63902299e-02 -1.18477579e-02 2.95626881e+01] [ 3.63932918e-02 9.99337544e-01 4.28651912e-05 9.87547510e-02] [ 1.18383494e-02 -4.74012699e-04 9.99929812e-01 1.03966020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.439254153999997 meters 0.018676058941594707 Centerline is valid? [True, True] Translation: X:29.62, Y:0.11, Z:0.11 [[ 9.99578875e-01 -2.67925125e-02 -1.11460692e-02 2.96231999e+01] [ 2.67946257e-02 9.99640959e-01 4.02806395e-05 1.09037114e-01] [ 1.11409881e-02 -3.38918429e-04 9.99937880e-01 1.05329155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.499254154 meters 0.014905597281553105 Centerline is valid? [True, True] Translation: X:29.68, Y:0.12, Z:0.11 [[ 9.99868112e-01 -1.09726579e-02 -1.19733115e-02 2.96841244e+01] [ 1.09739629e-02 9.99939783e-01 4.32941559e-05 1.22683415e-01] [ 1.19721154e-02 -1.74683122e-04 9.99928316e-01 1.05186690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.559254153999998 meters 0.01362278037231118 Centerline is valid? [True, True] Translation: X:29.74, Y:0.14, Z:0.11 [[ 9.99921802e-01 3.02259178e-03 -1.21348093e-02 2.97429552e+01] [-3.02228841e-03 9.99995432e-01 4.33381406e-05 1.35175077e-01] [ 1.21348849e-02 -6.65985802e-06 9.99926370e-01 1.05407166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.619254153999997 meters 0.014326122998483007 Centerline is valid? [True, True] Translation: X:29.80, Y:0.14, Z:0.11 [[ 9.99871402e-01 1.26793325e-02 -9.81910804e-03 2.98016735e+01] [-1.26796155e-02 9.99919610e-01 3.34342991e-05 1.42832969e-01] [ 9.81874260e-03 9.10725150e-05 9.99951791e-01 1.06598081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.679254154 meters 0.015082948441864067 Centerline is valid? [True, True] Translation: X:29.86, Y:0.15, Z:0.11 [[ 9.99827958e-01 1.64872069e-02 -8.49866715e-03 2.98597615e+01] [-1.64875677e-02 9.99864070e-01 2.76037895e-05 1.46370977e-01] [ 8.49796704e-03 1.12523310e-04 9.99963885e-01 1.07576771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.739254153999997 meters 0.013943116316387148 Centerline is valid? [True, True] Translation: X:29.92, Y:0.14, Z:0.11 [[ 9.99910181e-01 1.12300817e-02 -7.31542228e-03 2.99190092e+01] [-1.12302120e-02 9.99936939e-01 2.32622251e-05 1.40729775e-01] [ 7.31522220e-03 5.88936074e-05 9.99973242e-01 1.08419159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.799254153999996 meters 0.01373000346400944 Centerline is valid? [True, True] Translation: X:29.98, Y:0.13, Z:0.11 [[ 9.99970463e-01 2.70760632e-03 -7.19314120e-03 2.99767704e+01] [-2.70751536e-03 9.99996334e-01 2.23821976e-05 1.33526325e-01] [ 7.19317544e-03 -2.90599613e-06 9.99974129e-01 1.07728221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.859254154 meters 0.0156710936880819 Centerline is valid? [True, True] Translation: X:30.04, Y:0.12, Z:0.11 [[ 9.99871555e-01 -1.44765607e-02 -6.87775982e-03 3.00366172e+01] [ 1.44770470e-02 9.99895202e-01 2.09305404e-05 1.18110583e-01] [ 6.87673604e-03 -1.20497504e-04 9.99976348e-01 1.06641800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.919254153999997 meters 0.020710687327176354 Centerline is valid? [True, True] Translation: X:30.10, Y:0.10, Z:0.11 [[ 9.99439583e-01 -3.28382047e-02 -6.49407066e-03 3.00966516e+01] [ 3.28390244e-02 9.99460654e-01 1.96081322e-05 1.01445491e-01] [ 6.48992421e-03 -2.32856089e-04 9.99978913e-01 1.06511511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.979254153999996 meters 0.025105518453919524 Centerline is valid? [True, True] Translation: X:30.16, Y:0.09, Z:0.11 [[ 9.98877192e-01 -4.70333105e-02 -5.67650834e-03 3.01574816e+01] [ 4.70341655e-02 9.98893281e-01 1.71367049e-05 8.94380292e-02] [ 5.66942005e-03 -2.84107297e-04 9.99983888e-01 1.07097819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.039254153999998 meters 0.02815159805184318 Centerline is valid? [True, True] Translation: X:30.22, Y:0.08, Z:0.11 [[ 9.98523386e-01 -5.41564098e-02 -4.25795005e-03 3.02186236e+01] [ 5.41569554e-02 9.98532435e-01 1.28651220e-05 8.05680523e-02] [ 4.25100451e-03 -2.43443736e-04 9.99990935e-01 1.08199573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.099254153999997 meters 0.03030658165666026 Centerline is valid? [True, True] Translation: X:30.28, Y:0.07, Z:0.11 [[ 9.98472980e-01 -5.51578459e-02 -3.05293574e-03 3.02801404e+01] [ 5.51581311e-02 9.98477631e-01 9.24093458e-06 7.48670683e-02] [ 3.04777833e-03 -1.77621053e-04 9.99995340e-01 1.09692586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.159254154 meters 0.028528302516101434 Centerline is valid? [True, True] Translation: X:30.34, Y:0.08, Z:0.11 [[ 9.98574027e-01 -5.33176534e-02 -2.67225024e-03 3.03416463e+01] [ 5.33178657e-02 9.98577591e-01 8.23656615e-06 7.56169920e-02] [ 2.66801006e-03 -1.50703501e-04 9.99996429e-01 1.09525202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.219254153999998 meters 0.025179320437173403 Centerline is valid? [True, True] Translation: X:30.40, Y:0.08, Z:0.11 [[ 9.98805386e-01 -4.85565286e-02 -5.48312172e-03 3.04028589e+01] [ 4.85573530e-02 9.98820396e-01 1.72588596e-05 7.86892790e-02] [ 5.47581577e-03 -2.83484119e-04 9.99984967e-01 1.06936063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.279254153999997 meters 0.024473800403819208 Centerline is valid? [True, True] Translation: X:30.46, Y:0.08, Z:0.10 [[ 9.98996772e-01 -4.40704267e-02 -7.95283961e-03 3.04639701e+01] [ 4.40720209e-02 9.99028356e-01 2.52325194e-05 8.04058439e-02] [ 7.94400027e-03 -3.75704919e-04 9.99968375e-01 1.04918958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.339254154 meters 0.02151996585278214 Centerline is valid? [True, True] Translation: X:30.52, Y:0.09, Z:0.10 [[ 9.99326560e-01 -3.51892485e-02 -1.03991788e-02 3.05249680e+01] [ 3.51914965e-02 9.99380587e-01 3.32053202e-05 8.72310793e-02] [ 1.03915689e-02 -3.99145621e-04 9.99945927e-01 1.03397065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.399254153999998 meters 0.019484186659897814 Centerline is valid? [True, True] Translation: X:30.59, Y:0.09, Z:0.10 [[ 9.99562917e-01 -2.76741912e-02 -1.03977840e-02 3.05859780e+01] [ 2.76760337e-02 9.99616945e-01 3.33228810e-05 9.33123825e-02] [ 1.03928789e-02 -3.21077737e-04 9.99945941e-01 1.04154671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.459254153999996 meters 0.017063759918233407 Centerline is valid? [True, True] Translation: X:30.65, Y:0.10, Z:0.11 [[ 9.99767837e-01 -1.88326174e-02 -1.04692174e-02 3.06473117e+01] [ 1.88340023e-02 9.99822624e-01 3.36936210e-05 1.00555283e-01] [ 1.04667259e-02 -2.30863063e-04 9.99945196e-01 1.05338052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.519254154 meters 0.01424074381014913 Centerline is valid? [True, True] Translation: X:30.71, Y:0.12, Z:0.11 [[ 9.99966075e-01 1.36668560e-03 -8.12286081e-03 3.07084281e+01] [-1.36651768e-03 9.99999066e-01 2.62230273e-05 1.18488318e-01] [ 8.12288906e-03 -1.51221048e-05 9.99967009e-01 1.08390828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.579254153999997 meters 0.014491611815407366 Centerline is valid? [True, True] Translation: X:30.77, Y:0.13, Z:0.11 [[ 9.99919234e-01 1.06209108e-02 -6.98006969e-03 3.07662233e+01] [-1.06210138e-02 9.99943595e-01 2.23191428e-05 1.25890113e-01] [ 6.97991303e-03 5.18180762e-05 9.99975639e-01 1.09472496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.639254153999996 meters 0.015001041854940257 Centerline is valid? [True, True] Translation: X:30.83, Y:0.13, Z:0.11 [[ 9.99820749e-01 1.73480761e-02 -7.58386491e-03 3.08252843e+01] [-1.73484006e-02 9.99849505e-01 2.29997413e-05 1.30576467e-01] [ 7.58312257e-03 1.08572308e-04 9.99971242e-01 1.10326102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.699254154 meters 0.014859598423209918 Centerline is valid? [True, True] Translation: X:30.88, Y:0.13, Z:0.11 [[ 9.99847480e-01 1.53667909e-02 -8.29928699e-03 3.08840911e+01] [-1.53671239e-02 9.99881919e-01 2.36550825e-05 1.27722411e-01] [ 8.29867050e-03 1.03884697e-04 9.99965560e-01 1.09286553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.759254153999997 meters 0.014358511128775163 Centerline is valid? [True, True] Translation: X:30.94, Y:0.12, Z:0.11 [[ 9.99904090e-01 1.03227929e-02 -9.23315204e-03 3.09426636e+01] [-1.03229964e-02 9.99946716e-01 2.56185184e-05 1.22800471e-01] [ 9.23292451e-03 6.96977337e-05 9.99957373e-01 1.08779581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.819254153999996 meters 0.013861018713128155 Centerline is valid? [True, True] Translation: X:31.00, Y:0.11, Z:0.11 [[ 9.99949540e-01 1.71735065e-03 -9.89793639e-03 3.10004472e+01] [-1.71717106e-03 9.99998525e-01 2.66424004e-05 1.14897441e-01] [ 9.89796755e-03 -9.64460605e-06 9.99951014e-01 1.08673006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.879254153999998 meters 0.014188146520316145 Centerline is valid? [True, True] Translation: X:31.06, Y:0.11, Z:0.11 [[ 9.99935338e-01 -5.94668748e-03 -9.69316759e-03 3.10589717e+01] [ 5.94721231e-03 9.99982315e-01 2.53214815e-05 1.06708559e-01] [ 9.69284558e-03 -8.29671698e-05 9.99953020e-01 1.09386908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.939254153999997 meters 0.015021241453040998 Centerline is valid? [True, True] Translation: X:31.12, Y:0.10, Z:0.11 [[ 9.99890587e-01 -1.16967845e-02 -9.05531488e-03 3.11178783e+01] [ 1.16974724e-02 9.99931582e-01 2.30108244e-05 9.90239494e-02] [ 9.05442618e-03 -1.28932603e-04 9.99959000e-01 1.10830233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.999254154 meters 0.016146270201427487 Centerline is valid? [True, True] Translation: X:31.18, Y:0.09, Z:0.11 [[ 9.99840037e-01 -1.55799695e-02 -8.78438597e-03 3.11773515e+01] [ 1.55807633e-02 9.99878612e-01 2.19305290e-05 9.01400108e-02] [ 8.78297798e-03 -1.58794459e-04 9.99961416e-01 1.11084830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.059254154 meters 0.016656404160443443 Centerline is valid? [True, True] Translation: X:31.24, Y:0.08, Z:0.11 [[ 9.99815810e-01 -1.69544823e-02 -8.99394138e-03 3.12387233e+01] [ 1.69553707e-02 9.99856247e-01 2.25341253e-05 8.49721972e-02] [ 8.99226642e-03 -1.75025585e-04 9.99959553e-01 1.10142992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.119254154000004 meters 0.015913019616728252 Centerline is valid? [True, True] Translation: X:31.30, Y:0.08, Z:0.11 [[ 9.99812808e-01 -1.60660081e-02 -1.07811550e-02 3.13001375e+01] [ 1.60672376e-02 9.99870913e-01 2.74283093e-05 8.20393370e-02] [ 1.07793226e-02 -2.00646554e-04 9.99941881e-01 1.08780070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.179254154 meters 0.015728532404567733 Centerline is valid? [True, True] Translation: X:31.36, Y:0.08, Z:0.11 [[ 9.99835163e-01 -1.32813905e-02 -1.23794483e-02 3.13597688e+01] [ 1.32827987e-02 9.99911779e-01 3.15350462e-05 8.11309418e-02] [ 1.23779373e-02 -1.95963568e-04 9.99923371e-01 1.07503110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.239254154 meters 0.015333503729093683 Centerline is valid? [True, True] Translation: X:31.42, Y:0.08, Z:0.11 [[ 9.99836170e-01 -1.17667706e-02 -1.37541612e-02 3.14181720e+01] [ 1.17683327e-02 9.99930750e-01 3.26401111e-05 8.20711296e-02] [ 1.37528246e-02 -1.94498308e-04 9.99905407e-01 1.07231354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.299254154 meters 0.015453523620493986 Centerline is valid? [True, True] Translation: X:31.48, Y:0.08, Z:0.11 [[ 9.99790822e-01 -1.44850176e-02 -1.44394332e-02 3.14768771e+01] [ 1.44869689e-02 9.99895058e-01 3.05472850e-05 8.11148811e-02] [ 1.44374754e-02 -2.39724515e-04 9.99895745e-01 1.07761658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.359254154 meters 0.01649304857637554 Centerline is valid? [True, True] Translation: X:31.54, Y:0.08, Z:0.11 [[ 9.99714166e-01 -1.82882321e-02 -1.53989258e-02 3.15351517e+01] [ 1.82908716e-02 9.99832708e-01 3.05793159e-05 7.77874166e-02] [ 1.53957905e-02 -3.12230351e-04 9.99881429e-01 1.06689732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.419254154 meters 0.018753199678063513 Centerline is valid? [True, True] Translation: X:31.59, Y:0.07, Z:0.10 [[ 9.99570452e-01 -2.37256403e-02 -1.72048368e-02 3.15933302e+01] [ 2.37297154e-02 9.99718410e-01 3.27179911e-05 7.36939600e-02] [ 1.71992158e-02 -4.40969817e-04 9.99851985e-01 1.04733991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.479254154 meters 0.019492224286129 Centerline is valid? [True, True] Translation: X:31.65, Y:0.07, Z:0.11 [[ 9.99470292e-01 -2.79151244e-02 -1.67296518e-02 3.16523813e+01] [ 2.79195418e-02 9.99610173e-01 3.04996458e-05 7.37722613e-02] [ 1.67222788e-02 -4.97567703e-04 9.99860049e-01 1.06273160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.539254154 meters 0.02025117793410037 Centerline is valid? [True, True] Translation: X:31.71, Y:0.07, Z:0.11 [[ 9.99377875e-01 -3.22595242e-02 -1.42543606e-02 3.17134117e+01] [ 3.22631707e-02 9.99479408e-01 2.58762184e-05 7.29774311e-02] [ 1.42461052e-02 -4.85750991e-04 9.99898401e-01 1.08719165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.599254154 meters 0.021867682619116164 Centerline is valid? [True, True] Translation: X:31.77, Y:0.07, Z:0.11 [[ 9.99308470e-01 -3.46307879e-02 -1.35384766e-02 3.17736711e+01] [ 3.46342978e-02 9.99400052e-01 2.48146270e-05 7.09736869e-02] [ 1.35294949e-02 -4.93693098e-04 9.99908350e-01 1.09032603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.659254154 meters 0.020697937910178182 Centerline is valid? [True, True] Translation: X:31.84, Y:0.07, Z:0.11 [[ 9.99283153e-01 -3.56170439e-02 -1.28298977e-02 3.18353261e+01] [ 3.56202841e-02 9.99365396e-01 2.40562885e-05 7.45325872e-02] [ 1.28208990e-02 -4.81043645e-04 9.99917693e-01 1.09878415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.719254154 meters 0.020205735321485698 Centerline is valid? [True, True] Translation: X:31.90, Y:0.08, Z:0.11 [[ 9.99374624e-01 -3.31634034e-02 -1.22698500e-02 3.18963786e+01] [ 3.31661886e-02 9.99449850e-01 2.35270556e-05 7.87049363e-02] [ 1.22623195e-02 -4.30456502e-04 9.99924722e-01 1.10144850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.779254154 meters 0.01885574594965871 Centerline is valid? [True, True] Translation: X:31.96, Y:0.09, Z:0.11 [[ 9.99524453e-01 -2.80204086e-02 -1.28734028e-02 3.19582381e+01] [ 2.80230564e-02 9.99607277e-01 2.53098988e-05 8.63295537e-02] [ 1.28676379e-02 -3.86049956e-04 9.99917134e-01 1.10101420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.839254154 meters 0.017223272343230248 Centerline is valid? [True, True] Translation: X:32.02, Y:0.10, Z:0.11 [[ 9.99684866e-01 -2.10470069e-02 -1.36818092e-02 3.20187253e+01] [ 2.10493485e-02 9.99778438e-01 2.71513408e-05 9.57017169e-02] [ 1.36782064e-02 -3.15135955e-04 9.99906399e-01 1.09352263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.899254154 meters 0.015878094981348775 Centerline is valid? [True, True] Translation: X:32.08, Y:0.10, Z:0.11 [[ 9.99778372e-01 -1.60234299e-02 -1.36549449e-02 3.20789446e+01] [ 1.60252940e-02 9.99871586e-01 2.70980290e-05 1.03434313e-01] [ 1.36527573e-02 -2.45916530e-04 9.99906767e-01 1.09806280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.959254154 meters 0.014504332268265736 Centerline is valid? [True, True] Translation: X:32.14, Y:0.12, Z:0.11 [[ 9.99870254e-01 -8.91537417e-03 -1.34160888e-02 3.21387903e+01] [ 8.91652939e-03 9.99960247e-01 2.62927930e-05 1.15183199e-01] [ 1.34153210e-02 -1.45914331e-04 9.99910000e-01 1.11361064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.019254154 meters 0.014200463670124147 Centerline is valid? [True, True] Translation: X:32.20, Y:0.12, Z:0.11 [[ 9.99907033e-01 -5.50460291e-03 -1.24749438e-02 3.21977054e+01] [ 5.50530879e-03 9.99984845e-01 2.22442187e-05 1.20664127e-01] [ 1.24746323e-02 -9.09205684e-05 9.99922185e-01 1.11832158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.079254154000004 meters 0.014099063880191913 Centerline is valid? [True, True] Translation: X:32.26, Y:0.13, Z:0.11 [[ 9.99949948e-01 -2.47672243e-03 -9.69370942e-03 3.22565497e+01] [ 2.47698505e-03 9.99996932e-01 1.50865350e-05 1.27216079e-01] [ 9.69364232e-03 -3.90969532e-05 9.99953015e-01 1.14340813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.139254154 meters 0.014044761128752055 Centerline is valid? [True, True] Translation: X:32.31, Y:0.13, Z:0.12 [[ 9.99960519e-01 -2.74156952e-03 -8.45245916e-03 3.23140626e+01] [ 2.74176065e-03 9.99996241e-01 1.10249245e-05 1.31022135e-01] [ 8.45239716e-03 -3.41991091e-05 9.99964277e-01 1.16867405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.199254154 meters 0.014150780453469841 Centerline is valid? [True, True] Translation: X:32.37, Y:0.13, Z:0.12 [[ 9.99952191e-01 -4.62937357e-03 -8.61305287e-03 3.23727234e+01] [ 4.62962836e-03 9.99989283e-01 9.64304255e-06 1.31319850e-01] [ 8.61291592e-03 -4.95178153e-05 9.99962907e-01 1.16949014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.259254154000004 meters 0.014764831001847542 Centerline is valid? [True, True] Translation: X:32.43, Y:0.13, Z:0.12 [[ 9.99915321e-01 -9.33197413e-03 -9.06996485e-03 3.24305802e+01] [ 9.33244339e-03 9.99956452e-01 9.41506926e-06 1.28385326e-01] [ 9.06948201e-03 -9.40592055e-05 9.99958867e-01 1.15679894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.319254154 meters 0.015410427246047041 Centerline is valid? [True, True] Translation: X:32.49, Y:0.13, Z:0.12 [[ 9.99871854e-01 -1.28139444e-02 -9.59570465e-03 3.24902580e+01] [ 1.28146243e-02 9.99917889e-01 9.36892326e-06 1.25984453e-01] [ 9.59479669e-03 -1.32333072e-04 9.99953960e-01 1.15360435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.379254154 meters 0.01577395777222194 Centerline is valid? [True, True] Translation: X:32.55, Y:0.12, Z:0.12 [[ 9.99831512e-01 -1.58722371e-02 -9.22059092e-03 3.25509653e+01] [ 1.58729935e-02 9.99874016e-01 8.85333449e-06 1.23798661e-01] [ 9.21928875e-03 -1.55210223e-04 9.99957489e-01 1.16397647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.439254154000004 meters 0.015455139502480782 Centerline is valid? [True, True] Translation: X:32.61, Y:0.12, Z:0.12 [[ 9.99838657e-01 -1.53185528e-02 -9.38097372e-03 3.26118476e+01] [ 1.53193131e-02 9.99882652e-01 9.19238023e-06 1.24382311e-01] [ 9.37973207e-03 -1.52900970e-04 9.99955998e-01 1.17523545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.499254154 meters 0.014665043384878815 Centerline is valid? [True, True] Translation: X:32.67, Y:0.13, Z:0.12 [[ 9.99906079e-01 -1.06297346e-02 -8.65108431e-03 3.26729536e+01] [ 1.06302084e-02 9.99943498e-01 8.78300822e-06 1.25871952e-01] [ 8.65050214e-03 -1.00745012e-04 9.99962579e-01 1.19262203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.559254154 meters 0.014569532755403219 Centerline is valid? [True, True] Translation: X:32.73, Y:0.13, Z:0.12 [[ 9.99957283e-01 -5.70506785e-03 -7.27212485e-03 3.27331534e+01] [ 5.70527338e-03 9.99983725e-01 7.51797154e-06 1.26788664e-01] [ 7.27196361e-03 -4.90071107e-05 9.99973558e-01 1.19660206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.619254154000004 meters 0.014017870989369173 Centerline is valid? [True, True] Translation: X:32.79, Y:0.13, Z:0.12 [[ 9.99976659e-01 1.36962738e-03 -6.69365259e-03 3.27925697e+01] [-1.36961231e-03 9.99999062e-01 6.83500026e-06 1.28990031e-01] [ 6.69365567e-03 2.33286828e-06 9.99977597e-01 1.21273641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.679254154 meters 0.01424355781841289 Centerline is valid? [True, True] Translation: X:32.85, Y:0.13, Z:0.12 [[ 9.99953735e-01 4.57607872e-03 -8.46098719e-03 3.28499548e+01] [-4.57617580e-03 9.99989529e-01 7.88559905e-06 1.28664212e-01] [ 8.46093469e-03 3.08337306e-05 9.99964205e-01 1.20133265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.739254154 meters 0.014237316454307675 Centerline is valid? [True, True] Translation: X:32.91, Y:0.13, Z:0.12 [[ 9.99944598e-01 3.05405601e-03 -1.00733973e-02 3.29074816e+01] [-3.05412861e-03 9.99995336e-01 8.17612573e-06 1.26020348e-01] [ 1.00733753e-02 2.25897782e-05 9.99949262e-01 1.18834534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.799254154 meters 0.014441777803054666 Centerline is valid? [True, True] Translation: X:32.97, Y:0.12, Z:0.12 [[ 9.99926769e-01 -3.65529187e-03 -1.15367188e-02 3.29663424e+01] [ 3.65563217e-03 9.99993318e-01 8.40907677e-06 1.19079108e-01] [ 1.15366110e-02 -5.05824613e-05 9.99933450e-01 1.18245605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.859254154 meters 0.014709085876148453 Centerline is valid? [True, True] Translation: X:33.03, Y:0.11, Z:0.12 [[ 9.99892028e-01 -9.53486902e-03 -1.11812133e-02 3.30251565e+01] [ 9.53554718e-03 9.99954536e-01 7.34063445e-06 1.14281741e-01] [ 1.11806350e-02 -1.13958829e-04 9.99937488e-01 1.19551532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.919254154 meters 0.016265014852170613 Centerline is valid? [True, True] Translation: X:33.08, Y:0.11, Z:0.12 [[ 9.99749597e-01 -1.95636937e-02 -1.08630602e-02 3.30844265e+01] [ 1.95649178e-02 9.99808589e-01 6.41744259e-06 1.05149388e-01] [ 1.08608553e-02 -2.18950716e-04 9.99940995e-01 1.19880055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.979254154 meters 0.019904458541298273 Centerline is valid? [True, True] Translation: X:33.14, Y:0.09, Z:0.12 [[ 9.99462041e-01 -3.12569628e-02 -9.93128055e-03 3.31435647e+01] [ 3.12585609e-02 9.99511332e-01 5.69361396e-06 9.32760241e-02] [ 9.92624948e-03 -3.16128088e-04 9.99950684e-01 1.20962465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.039254154 meters 0.025007525668699522 Centerline is valid? [True, True] Translation: X:33.20, Y:0.08, Z:0.12 [[ 9.98997342e-01 -4.38072830e-02 -9.23217480e-03 3.32045501e+01] [ 4.38092000e-02 9.99039916e-01 5.41847781e-06 8.03156305e-02] [ 9.22307377e-03 -4.09867237e-04 9.99957383e-01 1.21819872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.099254154 meters 0.02879447409865824 Centerline is valid? [True, True] Translation: X:33.27, Y:0.07, Z:0.12 [[ 9.98644634e-01 -5.11855111e-02 -9.43073354e-03 3.32653737e+01] [ 5.11878422e-02 9.98689043e-01 5.80649132e-06 7.18513414e-02] [ 9.41807304e-03 -4.88537521e-04 9.99955530e-01 1.22247063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.159254154 meters 0.03375497534389224 Centerline is valid? [True, True] Translation: X:33.33, Y:0.06, Z:0.12 [[ 9.98198449e-01 -5.91055354e-02 -1.03146191e-02 3.33251789e+01] [ 5.91087472e-02 9.98251549e-01 6.54316474e-06 6.07010815e-02] [ 1.02961978e-02 -6.16215590e-04 9.99946803e-01 1.21589595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.219254154 meters 0.03554566085304215 Centerline is valid? [True, True] Translation: X:33.39, Y:0.06, Z:0.12 [[ 9.97998203e-01 -6.19182308e-02 -1.28731893e-02 3.33858129e+01] [ 6.19234687e-02 9.98080901e-01 8.31063052e-06 5.55420359e-02] [ 1.28479697e-02 -8.05446527e-04 9.99917137e-01 1.19120820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.279254154 meters 0.029982386400014466 Centerline is valid? [True, True] Translation: X:33.45, Y:0.06, Z:0.12 [[ 9.98124694e-01 -5.93318553e-02 -1.50607776e-02 3.34475695e+01] [ 5.93387456e-02 9.98237904e-01 1.06495135e-05 6.39989797e-02] [ 1.50336072e-02 -9.04317194e-04 9.99886580e-01 1.18895600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.339254154 meters 0.02956181002766583 Centerline is valid? [True, True] Translation: X:33.51, Y:0.07, Z:0.12 [[ 9.98396558e-01 -5.45767665e-02 -1.50229590e-02 3.35070414e+01] [ 5.45830884e-02 9.98509232e-01 1.08090401e-05 6.67488799e-02] [ 1.49999734e-02 -8.30791209e-04 9.99887149e-01 1.19303842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.399254154 meters 0.025739610090556583 Centerline is valid? [True, True] Translation: X:33.57, Y:0.08, Z:0.12 [[ 9.98871222e-01 -4.56802806e-02 -1.30228084e-02 3.35677625e+01] [ 4.56842776e-02 9.98955928e-01 9.45135183e-06 7.83003783e-02] [ 1.30087800e-02 -6.04378279e-04 9.99915200e-01 1.22784620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.459254154 meters 0.021021399280569016 Centerline is valid? [True, True] Translation: X:33.63, Y:0.09, Z:0.13 [[ 9.99218401e-01 -3.81006438e-02 -1.05322482e-02 3.36280529e+01] [ 3.81028387e-02 9.99273823e-01 7.73637536e-06 9.03253769e-02] [ 1.05243051e-02 -4.09038881e-04 9.99944534e-01 1.26296340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.519254154 meters 0.019535778163247086 Centerline is valid? [True, True] Translation: X:33.69, Y:0.09, Z:0.13 [[ 9.99421827e-01 -3.24616598e-02 -1.01119554e-02 3.36891855e+01] [ 3.24633959e-02 9.99472925e-01 7.55748390e-06 9.44147636e-02] [ 1.01063803e-02 -3.35821525e-04 9.99948873e-01 1.25738337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.579254154000004 meters 0.018375852852252426 Centerline is valid? [True, True] Translation: X:33.75, Y:0.10, Z:0.12 [[ 9.99510759e-01 -2.90516657e-02 -1.15863522e-02 3.37506720e+01] [ 2.90537203e-02 9.99577852e-01 9.02148971e-06 9.72497806e-02] [ 1.15811990e-02 -3.45643714e-04 9.99932876e-01 1.24913225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.639254154 meters 0.017017234898568816 Centerline is valid? [True, True] Translation: X:33.81, Y:0.10, Z:0.12 [[ 9.99683779e-01 -2.12953768e-02 -1.33734338e-02 3.38100845e+01] [ 2.12974210e-02 9.99773184e-01 1.04393020e-05 1.01668362e-01] [ 1.33701782e-02 -2.95255650e-04 9.99910572e-01 1.23904568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.699254154 meters 0.01484336683221496 Centerline is valid? [True, True] Translation: X:33.87, Y:0.11, Z:0.13 [[ 9.99861792e-01 -9.73869441e-03 -1.34742122e-02 3.38706389e+01] [ 9.73971922e-03 9.99952568e-01 1.04369819e-05 1.08866336e-01] [ 1.34734714e-02 -1.41670583e-04 9.99909219e-01 1.25074000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.759254154000004 meters 0.014391947031261468 Centerline is valid? [True, True] Translation: X:33.93, Y:0.12, Z:0.13 [[ 9.99915763e-01 3.01260445e-03 -1.26250018e-02 3.39295440e+01] [-3.01274807e-03 9.99995462e-01 7.64279634e-06 1.15416472e-01] [ 1.26249676e-02 3.03937974e-05 9.99920301e-01 1.26366279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.819254154 meters 0.014969032608282707 Centerline is valid? [True, True] Translation: X:33.99, Y:0.12, Z:0.13 [[ 9.99876730e-01 1.04729787e-02 -1.16979057e-02 3.39880906e+01] [-1.04736468e-02 9.99945150e-01 4.14823787e-06 1.19039050e-01] [ 1.16973075e-02 1.18372006e-04 9.99931577e-01 1.27042424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.879254154 meters 0.01607084920829064 Centerline is valid? [True, True] Translation: X:34.05, Y:0.12, Z:0.13 [[ 9.99753411e-01 1.86815226e-02 -1.20049164e-02 3.40470815e+01] [-1.86828389e-02 9.99825461e-01 2.50094250e-06 1.20822241e-01] [ 1.20028678e-02 2.21785593e-04 9.99927938e-01 1.27503451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.939254154000004 meters 0.016769149947811358 Centerline is valid? [True, True] Translation: X:34.10, Y:0.12, Z:0.13 [[ 9.99712594e-01 2.05757121e-02 -1.23032408e-02 3.41045151e+01] [-2.05772554e-02 9.99788266e-01 1.14482390e-06 1.18604669e-01] [ 1.23006593e-02 2.52022434e-04 9.99924312e-01 1.27049905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.999254154 meters 0.015906295707860795 Centerline is valid? [True, True] Translation: X:34.16, Y:0.11, Z:0.13 [[ 9.99752202e-01 1.80254191e-02 -1.30621292e-02 3.41637292e+01] [-1.80269764e-02 9.99837501e-01 -1.48454133e-06 1.12979725e-01] [ 1.30599799e-02 2.36954869e-04 9.99914687e-01 1.27678448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.059254154 meters 0.014994104418419146 Centerline is valid? [True, True] Translation: X:34.22, Y:0.10, Z:0.13 [[ 9.99859319e-01 1.11527325e-02 -1.25282830e-02 3.42227504e+01] [-1.11536457e-02 9.99937796e-01 -3.02064664e-06 1.03784473e-01] [ 1.25274700e-02 1.42756252e-04 9.99921518e-01 1.28082225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.119254154000004 meters 0.01436042744975778 Centerline is valid? [True, True] Translation: X:34.28, Y:0.10, Z:0.13 [[ 9.99913219e-01 5.01856518e-03 -1.21806605e-02 3.42820111e+01] [-5.01898218e-03 9.99987405e-01 -3.66611035e-06 9.55867294e-02] [ 1.21804886e-02 6.48003100e-05 9.99925813e-01 1.28162809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.179254154 meters 0.014179452191803383 Centerline is valid? [True, True] Translation: X:34.34, Y:0.09, Z:0.13 [[ 9.99929003e-01 -1.82682911e-03 -1.17750196e-02 3.43412517e+01] [ 1.82690493e-03 9.99998331e-01 -4.31707618e-06 8.65406617e-02] [ 1.17750078e-02 -1.71950717e-05 9.99930672e-01 1.28494485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.239254154 meters 0.015079078444955834 Centerline is valid? [True, True] Translation: X:34.40, Y:0.07, Z:0.13 [[ 9.99862785e-01 -1.12087609e-02 -1.21973535e-02 3.43986144e+01] [ 1.12095258e-02 9.99937171e-01 -5.65705008e-06 7.36920831e-02] [ 1.21966506e-02 -1.31070275e-04 9.99925610e-01 1.27351304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.299254154 meters 0.01689792110891165 Centerline is valid? [True, True] Translation: X:34.46, Y:0.06, Z:0.13 [[ 9.99682512e-01 -2.15235539e-02 -1.31000940e-02 3.44586745e+01] [ 2.15253126e-02 9.99768304e-01 -6.74594779e-06 6.16534494e-02] [ 1.30972039e-02 -2.75239811e-04 9.99914190e-01 1.27004272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.359254154 meters 0.021767480194786328 Centerline is valid? [True, True] Translation: X:34.52, Y:0.05, Z:0.13 [[ 9.99303207e-01 -3.45077804e-02 -1.42236675e-02 3.45185621e+01] [ 3.45111641e-02 9.99404312e-01 -7.55827435e-06 4.58827799e-02] [ 1.42154554e-02 -4.83322314e-04 9.99898838e-01 1.25167069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.419254154 meters 0.02449424572691228 Centerline is valid? [True, True] Translation: X:34.58, Y:0.04, Z:0.12 [[ 9.98970055e-01 -4.30120888e-02 -1.44495258e-02 3.45790577e+01] [ 4.30164680e-02 9.99074363e-01 -7.74132522e-06 3.76292680e-02] [ 1.44364837e-02 -6.13834210e-04 9.99895600e-01 1.24767752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.479254154 meters 0.027394249126278296 Centerline is valid? [True, True] Translation: X:34.64, Y:0.03, Z:0.13 [[ 9.98511978e-01 -5.24341193e-02 -1.49830637e-02 3.46398552e+01] [ 5.24398873e-02 9.98624083e-01 -7.91894809e-06 3.09457334e-02] [ 1.49628634e-02 -7.77803006e-04 9.99887748e-01 1.25125990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.539254154 meters 0.03135555341593146 Centerline is valid? [True, True] Translation: X:34.70, Y:0.03, Z:0.12 [[ 9.98268676e-01 -5.66747166e-02 -1.57361833e-02 3.46995123e+01] [ 5.66816028e-02 9.98392306e-01 -8.41206370e-06 2.50045178e-02] [ 1.57113611e-02 -8.83554593e-04 9.99876179e-01 1.24680863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.599254154 meters 0.0315491089455017 Centerline is valid? [True, True] Translation: X:34.76, Y:0.02, Z:0.13 [[ 9.98228974e-01 -5.74326183e-02 -1.55051384e-02 3.47614012e+01] [ 5.74394062e-02 9.98348994e-01 -7.55480373e-06 2.48436381e-02] [ 1.54799732e-02 -8.83064518e-04 9.99879788e-01 1.25351608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.659254154 meters 0.03309981827655115 Centerline is valid? [True, True] Translation: X:34.82, Y:0.02, Z:0.13 [[ 9.98316767e-01 -5.65577112e-02 -1.28397283e-02 3.48223515e+01] [ 5.65623026e-02 9.98399071e-01 -5.55481725e-06 2.43969497e-02] [ 1.28194869e-02 -7.20699128e-04 9.99917567e-01 1.27510668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.719254154 meters 0.029866996216025617 Centerline is valid? [True, True] Translation: X:34.88, Y:0.03, Z:0.13 [[ 9.98518425e-01 -5.30789438e-02 -1.19824767e-02 3.48828125e+01] [ 5.30826953e-02 9.98590120e-01 -4.96846616e-06 3.26567421e-02] [ 1.19658465e-02 -6.31101053e-04 9.99928208e-01 1.29697974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.779254154 meters 0.027073630059491528 Centerline is valid? [True, True] Translation: X:34.94, Y:0.04, Z:0.13 [[ 9.98703014e-01 -4.92749172e-02 -1.28168856e-02 3.49438767e+01] [ 4.92788991e-02 9.98785057e-01 -5.14173088e-06 3.97151617e-02] [ 1.28015671e-02 -6.26466948e-04 9.99917860e-01 1.29739336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.839254154 meters 0.023013478981622423 Centerline is valid? [True, True] Translation: X:35.00, Y:0.05, Z:0.13 [[ 9.99023504e-01 -4.18900096e-02 -1.40451291e-02 3.50048250e+01] [ 4.18940668e-02 9.99122058e-01 -5.35513836e-06 5.12614035e-02] [ 1.40330226e-02 -5.83057666e-04 9.99901362e-01 1.29850920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.899254154 meters 0.020308410832471632 Centerline is valid? [True, True] Translation: X:35.07, Y:0.06, Z:0.13 [[ 9.99376042e-01 -3.25800035e-02 -1.36407420e-02 3.50657270e+01] [ 3.25829674e-02 9.99469034e-01 -4.95956124e-06 6.26573099e-02] [ 1.36336608e-02 -4.39499386e-04 9.99906961e-01 1.30717858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.959254154 meters 0.017141507472397087 Centerline is valid? [True, True] Translation: X:35.13, Y:0.07, Z:0.13 [[ 9.99622046e-01 -2.35945680e-02 -1.41089455e-02 3.51270232e+01] [ 2.35968480e-02 9.99721556e-01 -4.87424037e-06 7.48787557e-02] [ 1.41051320e-02 -3.28054245e-04 9.99900464e-01 1.30842840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.019254154 meters 0.016301287230394566 Centerline is valid? [True, True] Translation: X:35.19, Y:0.08, Z:0.13 [[ 9.99735891e-01 -1.77807645e-02 -1.45599651e-02 3.51869399e+01] [ 1.77825774e-02 9.99841877e-01 -4.94770734e-06 7.98047402e-02] [ 1.45577508e-02 -2.53967306e-04 9.99893998e-01 1.30255994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.079254154 meters 0.014656579427738375 Centerline is valid? [True, True] Translation: X:35.25, Y:0.09, Z:0.13 [[ 9.99863583e-01 -9.52926255e-03 -1.34910565e-02 3.52462719e+01] [ 9.53003880e-03 9.99954588e-01 -6.75050052e-06 8.91741741e-02] [ 1.34905082e-02 -1.21820712e-04 9.99908992e-01 1.32146939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.139254154 meters 0.014114823486967668 Centerline is valid? [True, True] Translation: X:35.30, Y:0.10, Z:0.13 [[ 9.99938702e-01 -1.35975090e-03 -1.09883123e-02 3.53048277e+01] [ 1.35974468e-03 9.99999076e-01 -8.03738109e-06 9.55231454e-02] [ 1.09883131e-02 -6.90441076e-06 9.99939627e-01 1.34499400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.199254154 meters 0.014103584493723354 Centerline is valid? [True, True] Translation: X:35.36, Y:0.10, Z:0.14 [[ 9.99949201e-01 4.71565705e-03 -8.90827692e-03 3.53625037e+01] [-4.71591395e-03 9.99988880e-01 -7.83271345e-06 9.90716915e-02] [ 8.90814093e-03 4.98429830e-05 9.99960320e-01 1.36611518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.259254154000004 meters 0.014010435089423746 Centerline is valid? [True, True] Translation: X:35.42, Y:0.10, Z:0.14 [[ 9.99946710e-01 5.61434167e-03 -8.66346572e-03 3.54212031e+01] [-5.61462437e-03 9.99984238e-01 -8.31008691e-06 9.80272482e-02] [ 8.66328251e-03 5.69517499e-05 9.99962471e-01 1.36448856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.319254154 meters 0.013725862690140119 Centerline is valid? [True, True] Translation: X:35.48, Y:0.09, Z:0.13 [[ 9.99943415e-01 2.02542956e-03 -1.04434018e-02 3.54800627e+01] [-2.02565328e-03 9.99997948e-01 -1.08451895e-05 9.31188607e-02] [ 1.04433584e-02 3.19992868e-05 9.99945466e-01 1.34167702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.379254154 meters 0.013791187090067908 Centerline is valid? [True, True] Translation: X:35.54, Y:0.09, Z:0.13 [[ 9.99904027e-01 -5.46635266e-03 -1.27301131e-02 3.55382512e+01] [ 5.46661276e-03 9.99985058e-01 -1.43652022e-05 8.70580351e-02] [ 1.27300014e-02 -5.52267749e-05 9.99918969e-01 1.32273125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.439254154000004 meters 0.015015206918265056 Centerline is valid? [True, True] Translation: X:35.60, Y:0.08, Z:0.13 [[ 9.99829006e-01 -1.39162852e-02 -1.21777050e-02 3.55959325e+01] [ 1.39171368e-02 9.99903152e-01 -1.48104788e-05 7.86421727e-02] [ 1.21767317e-02 -1.54670840e-04 9.99925849e-01 1.32144001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.499254154 meters 0.015935100256712978 Centerline is valid? [True, True] Translation: X:35.66, Y:0.08, Z:0.13 [[ 9.99757718e-01 -1.93436350e-02 -1.05037474e-02 3.56551480e+01] [ 1.93445610e-02 9.99812876e-01 -1.34351713e-05 7.50824367e-02] [ 1.05020417e-02 -1.89758466e-04 9.99944834e-01 1.34378863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.559254154 meters 0.018164212296860313 Centerline is valid? [True, True] Translation: X:35.72, Y:0.07, Z:0.14 [[ 9.99566280e-01 -2.78734527e-02 -9.50382036e-03 3.57161299e+01] [ 2.78745950e-02 9.99611428e-01 -1.22768308e-05 6.78367546e-02] [ 9.50046964e-03 -2.52643637e-04 9.99954838e-01 1.35699853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.619254154000004 meters 0.01980854483077747 Centerline is valid? [True, True] Translation: X:35.78, Y:0.06, Z:0.14 [[ 9.99293098e-01 -3.64183554e-02 -9.32782081e-03 3.57770778e+01] [ 3.64198284e-02 9.99336578e-01 -1.19520269e-05 6.24262876e-02] [ 9.32206780e-03 -3.27774055e-04 9.99956495e-01 1.35962547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.679254154 meters 0.023207813436952805 Centerline is valid? [True, True] Translation: X:35.84, Y:0.06, Z:0.13 [[ 9.98918076e-01 -4.52191667e-02 -1.08583639e-02 3.58379811e+01] [ 4.52216843e-02 9.98976976e-01 -1.36841721e-05 5.60118048e-02] [ 1.08478743e-02 -4.77364136e-04 9.99941046e-01 1.34995016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.739254154 meters 0.026653839357945314 Centerline is valid? [True, True] Translation: X:35.90, Y:0.05, Z:0.13 [[ 9.98605722e-01 -5.14003958e-02 -1.20254578e-02 3.58977834e+01] [ 5.14039312e-02 9.98677944e-01 -1.51137307e-05 5.05039596e-02] [ 1.20103363e-02 -6.03063147e-04 9.99927691e-01 1.33774251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.799254154 meters 0.029004694592619853 Centerline is valid? [True, True] Translation: X:35.96, Y:0.05, Z:0.13 [[ 9.98082174e-01 -6.02996129e-02 -1.39975454e-02 3.59587178e+01] [ 6.03052767e-02 9.98179980e-01 -1.74922415e-05 4.68224239e-02] [ 1.39731244e-02 -8.26667153e-04 9.99902029e-01 1.32443648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.859254154 meters 0.03381501001053121 Centerline is valid? [True, True] Translation: X:36.02, Y:0.04, Z:0.13 [[ 9.97748411e-01 -6.53885426e-02 -1.49146742e-02 3.60183936e+01] [ 6.53955418e-02 9.97859420e-01 -1.84644743e-05 4.25302850e-02] [ 1.48839555e-02 -9.56930299e-04 9.99888770e-01 1.31570501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.919254154 meters 0.03242710407964667 Centerline is valid? [True, True] Translation: X:36.08, Y:0.05, Z:0.13 [[ 9.97757691e-01 -6.52731732e-02 -1.47987714e-02 3.60812239e+01] [ 6.52800687e-02 9.97866981e-01 -1.71440021e-05 4.71499892e-02] [ 1.47683244e-02 -9.48959252e-04 9.99890492e-01 1.32824886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.979254154 meters 0.029002624355810674 Centerline is valid? [True, True] Translation: X:36.14, Y:0.06, Z:0.14 [[ 9.97966281e-01 -6.20375210e-02 -1.46508480e-02 3.61419404e+01] [ 6.20439417e-02 9.98073419e-01 -1.63031836e-05 5.90880704e-02] [ 1.46236333e-02 -8.92726331e-04 9.99892670e-01 1.35272268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.039254154 meters 0.031628292067952576 Centerline is valid? [True, True] Translation: X:36.20, Y:0.06, Z:0.14 [[ 9.98076957e-01 -6.02812557e-02 -1.44415679e-02 3.62029435e+01] [ 6.02873176e-02 9.98181065e-01 -1.56188919e-05 5.76580958e-02] [ 1.44162412e-02 -8.55054536e-04 9.99895715e-01 1.35068460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.099254154 meters 0.027188764761245304 Centerline is valid? [True, True] Translation: X:36.26, Y:0.07, Z:0.14 [[ 9.98324904e-01 -5.59857457e-02 -1.45939035e-02 3.62638586e+01] [ 5.59914838e-02 9.98431246e-01 -1.54327420e-05 6.96622997e-02] [ 1.45718733e-02 -8.01727420e-04 9.99893503e-01 1.35935656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.159254154 meters 0.026185081351827604 Centerline is valid? [True, True] Translation: X:36.32, Y:0.08, Z:0.14 [[ 9.98527717e-01 -5.25618945e-02 -1.34031930e-02 3.63244016e+01] [ 5.25664277e-02 9.98617429e-01 -1.40995032e-05 7.74679606e-02] [ 1.33854032e-02 -6.90479228e-04 9.99910173e-01 1.37961099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.219254154 meters 0.024594729543240042 Centerline is valid? [True, True] Translation: X:36.39, Y:0.09, Z:0.14 [[ 9.98856791e-01 -4.62089243e-02 -1.22411387e-02 3.63852158e+01] [ 4.62122293e-02 9.98931644e-01 -1.28766470e-05 8.62703580e-02] [ 1.22286558e-02 -5.52828382e-04 9.99925074e-01 1.39438635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.279254154 meters 0.02285287844578041 Centerline is valid? [True, True] Translation: X:36.45, Y:0.09, Z:0.14 [[ 9.99125394e-01 -4.00792003e-02 -1.19207909e-02 3.64453393e+01] [ 4.00818979e-02 9.99196398e-01 -1.26352713e-05 9.35766625e-02] [ 1.19117177e-02 -4.65183702e-04 9.99928945e-01 1.39390362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.339254154 meters 0.018669536433787787 Centerline is valid? [True, True] Translation: X:36.51, Y:0.11, Z:0.14 [[ 9.99494074e-01 -2.93477857e-02 -1.22598473e-02 3.65062739e+01] [ 2.93498332e-02 9.99569201e-01 -1.29147731e-05 1.08619552e-01] [ 1.22549448e-02 -3.46916234e-04 9.99924845e-01 1.40066989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.399254154 meters 0.016178208613936623 Centerline is valid? [True, True] Translation: X:36.57, Y:0.12, Z:0.14 [[ 9.99746715e-01 -1.92324718e-02 -1.16883690e-02 3.65666421e+01] [ 1.92336426e-02 9.99815016e-01 -1.22428624e-05 1.20238941e-01] [ 1.16864423e-02 -2.12570151e-04 9.99931689e-01 1.41637519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.459254154 meters 0.015264355309139365 Centerline is valid? [True, True] Translation: X:36.63, Y:0.13, Z:0.14 [[ 9.99843783e-01 -1.33775700e-02 -1.15520222e-02 3.66278634e+01] [ 1.33783259e-02 9.99910506e-01 -1.18457048e-05 1.26812340e-01] [ 1.15511468e-02 -1.42702863e-04 9.99933273e-01 1.41935209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.519254154 meters 0.014171276575717236 Centerline is valid? [True, True] Translation: X:36.69, Y:0.14, Z:0.14 [[ 9.99921393e-01 -2.78495393e-03 -1.22250144e-02 3.66871444e+01] [ 2.78500732e-03 9.99996122e-01 -1.26568911e-05 1.37296949e-01] [ 1.22250022e-02 -2.13908583e-05 9.99925272e-01 1.42222181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.579254154 meters 0.01454740556732033 Centerline is valid? [True, True] Translation: X:36.75, Y:0.15, Z:0.14 [[ 9.99898317e-01 9.08563033e-03 -1.09912485e-02 3.67455288e+01] [-9.08632454e-03 9.99958718e-01 -1.32240024e-05 1.46357247e-01] [ 1.09906746e-02 1.13092709e-04 9.99939594e-01 1.43690768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.639254154 meters 0.015851201132313666 Centerline is valid? [True, True] Translation: X:36.81, Y:0.15, Z:0.15 [[ 9.99791876e-01 1.86105428e-02 -8.35772539e-03 3.68050317e+01] [-1.86112852e-02 9.99826795e-01 -1.10641816e-05 1.51529751e-01] [ 8.35607188e-03 1.66609890e-04 9.99965074e-01 1.45163358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.699254154 meters 0.016998857865728724 Centerline is valid? [True, True] Translation: X:36.86, Y:0.15, Z:0.14 [[ 9.99753866e-01 2.06272811e-02 -8.16838539e-03 3.68631854e+01] [-2.06280617e-02 9.99787219e-01 -1.13131658e-05 1.52641317e-01] [ 8.16641395e-03 1.79808339e-04 9.99966638e-01 1.44670635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.759254154000004 meters 0.015847282506157134 Centerline is valid? [True, True] Translation: X:36.92, Y:0.15, Z:0.14 [[ 9.99825723e-01 1.60181582e-02 -9.58861532e-03 3.69217580e+01] [-1.60190300e-02 9.99871687e-01 -1.41148515e-05 1.46920090e-01] [ 9.58715888e-03 1.67712708e-04 9.99954028e-01 1.44034868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.819254154 meters 0.014114682206234599 Centerline is valid? [True, True] Translation: X:36.98, Y:0.13, Z:0.14 [[ 9.99933038e-01 4.13365555e-03 -1.08089304e-02 3.69817131e+01] [-4.13407407e-03 9.99991455e-01 -1.63772823e-05 1.34683696e-01] [ 1.08087704e-02 6.10611047e-05 9.99941582e-01 1.42955396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.879254154 meters 0.014165189802140696 Centerline is valid? [True, True] Translation: X:37.04, Y:0.12, Z:0.14 [[ 9.99892616e-01 -1.13193392e-02 -9.30748627e-03 3.70404492e+01] [ 1.13196943e-02 9.99935930e-01 -1.45284665e-05 1.19472694e-01] [ 9.30705439e-03 -9.08309924e-05 9.99956684e-01 1.43876228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.939254154000004 meters 0.015871232325468998 Centerline is valid? [True, True] Translation: X:37.10, Y:0.11, Z:0.15 [[ 9.99750721e-01 -2.09491541e-02 -7.72197020e-03 3.71008687e+01] [ 2.09496836e-02 9.99780531e-01 -1.23200858e-05 1.09672634e-01] [ 7.72053356e-03 -1.49455817e-04 9.99970185e-01 1.45335070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.999254154 meters 0.018707191832699664 Centerline is valid? [True, True] Translation: X:37.16, Y:0.10, Z:0.15 [[ 9.99458482e-01 -3.22007940e-02 -6.77137320e-03 3.71618072e+01] [ 3.22014592e-02 9.99481398e-01 -1.07885033e-05 9.69533982e-02] [ 6.76820896e-03 -2.07265437e-04 9.99977074e-01 1.46134835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.059254154 meters 0.02208983815271583 Centerline is valid? [True, True] Translation: X:37.22, Y:0.09, Z:0.14 [[ 9.99298556e-01 -3.67822113e-02 -7.03315803e-03 3.72229902e+01] [ 3.67830434e-02 9.99323275e-01 -1.10518239e-05 8.89039515e-02] [ 7.02880503e-03 -2.47656885e-04 9.99975267e-01 1.44217307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.119254154000004 meters 0.021200795885763093 Centerline is valid? [True, True] Translation: X:37.28, Y:0.08, Z:0.15 [[ 9.99118945e-01 -4.13746922e-02 -7.03341443e-03 3.72839014e+01] [ 4.13756397e-02 9.99143662e-01 -1.07942353e-05 8.22871071e-02] [ 7.02783806e-03 -2.80227297e-04 9.99975265e-01 1.45489627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.179254154 meters 0.02226435620012444 Centerline is valid? [True, True] Translation: X:37.35, Y:0.08, Z:0.14 [[ 9.99046879e-01 -4.25282459e-02 -9.83274177e-03 3.73456639e+01] [ 4.25301577e-02 9.99095183e-01 -1.46753369e-05 7.72241581e-02] [ 9.82446906e-03 -4.03526709e-04 9.99951657e-01 1.42894316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.239254154 meters 0.023626736598809157 Centerline is valid? [True, True] Translation: X:37.41, Y:0.07, Z:0.14 [[ 9.99021210e-01 -4.23010161e-02 -1.29323712e-02 3.74070714e+01] [ 4.23043146e-02 9.99104772e-01 -1.85171999e-05 7.42305370e-02] [ 1.29215770e-02 -5.28596024e-04 9.99916373e-01 1.40489210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.299254154 meters 0.023878022968063746 Centerline is valid? [True, True] Translation: X:37.47, Y:0.07, Z:0.14 [[ 9.99014807e-01 -4.23072652e-02 -1.33981405e-02 3.74695096e+01] [ 4.23108181e-02 9.99104496e-01 -1.82916469e-05 7.40795134e-02] [ 1.33869163e-02 -5.48612661e-04 9.99910241e-01 1.40626947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.359254154 meters 0.02451825614649846 Centerline is valid? [True, True] Translation: X:37.53, Y:0.07, Z:0.14 [[ 9.99019465e-01 -4.23838135e-02 -1.27953248e-02 3.75317995e+01] [ 4.23870716e-02 9.99101264e-01 -1.65733634e-05 7.39880616e-02] [ 1.27845276e-02 -5.25799235e-04 9.99918136e-01 1.41508622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.419254154 meters 0.022929141612354185 Centerline is valid? [True, True] Translation: X:37.59, Y:0.08, Z:0.14 [[ 9.99084411e-01 -4.12602376e-02 -1.13107230e-02 3.75942674e+01] [ 4.12627203e-02 9.99148331e-01 -1.38745564e-05 7.89528120e-02] [ 1.13016624e-02 -4.52849346e-04 9.99936032e-01 1.43707094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.479254154 meters 0.023269655843083954 Centerline is valid? [True, True] Translation: X:37.66, Y:0.08, Z:0.15 [[ 9.99174219e-01 -3.94569039e-02 -9.69708319e-03 3.76560079e+01] [ 3.94586502e-02 9.99221204e-01 -1.12449182e-05 8.14163388e-02] [ 9.68997483e-03 -3.71398181e-04 9.99952982e-01 1.45273533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.539254154 meters 0.02342500536244855 Centerline is valid? [True, True] Translation: X:37.72, Y:0.08, Z:0.15 [[ 9.99164040e-01 -3.98672582e-02 -9.04555055e-03 3.77180854e+01] [ 3.98688002e-02 9.99204923e-01 -9.86777221e-06 8.32127734e-02] [ 9.03875204e-03 -3.50775724e-04 9.99959088e-01 1.46580019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.599254154 meters 0.023890214717766246 Centerline is valid? [True, True] Translation: X:37.78, Y:0.08, Z:0.15 [[ 9.99028228e-01 -4.30581857e-02 -9.41231705e-03 3.77795767e+01] [ 4.30600013e-02 9.99072488e-01 -9.76269363e-06 8.40339541e-02] [ 9.40400738e-03 -3.95541178e-04 9.99955703e-01 1.46168472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.659254154 meters 0.024390702912795967 Centerline is valid? [True, True] Translation: X:37.84, Y:0.09, Z:0.15 [[ 9.98873505e-01 -4.61819031e-02 -1.09065767e-02 3.78404478e+01] [ 4.61845301e-02 9.98932925e-01 -1.10101795e-05 8.58316645e-02] [ 1.08954470e-02 -4.92717343e-04 9.99940521e-01 1.45757376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.719254154 meters 0.023849993357395582 Centerline is valid? [True, True] Translation: X:37.90, Y:0.09, Z:0.15 [[ 9.98861604e-01 -4.63062570e-02 -1.14554011e-02 3.79024816e+01] [ 4.63091702e-02 9.98927155e-01 -1.09568548e-05 8.94711179e-02] [ 1.14436186e-02 -5.19545735e-04 9.99934385e-01 1.45896860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.779254154 meters 0.023317953471574917 Centerline is valid? [True, True] Translation: X:37.96, Y:0.09, Z:0.15 [[ 9.98992979e-01 -4.35656986e-02 -1.07264762e-02 3.79644402e+01] [ 4.35681022e-02 9.99050459e-01 -9.60549827e-06 9.44512855e-02] [ 1.07167095e-02 -4.57736387e-04 9.99942470e-01 1.46361941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.839254154 meters 0.021380705278498557 Centerline is valid? [True, True] Translation: X:38.02, Y:0.10, Z:0.15 [[ 9.99303523e-01 -3.59612528e-02 -9.96274284e-03 3.80241273e+01] [ 3.59629501e-02 9.99353124e-01 -8.79177796e-06 1.02671032e-01] [ 9.95661434e-03 -3.49503969e-04 9.99950371e-01 1.47336159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.899254154 meters 0.020798640214424333 Centerline is valid? [True, True] Translation: X:38.09, Y:0.11, Z:0.15 [[ 9.99425111e-01 -3.25392723e-02 -9.52063869e-03 3.80860449e+01] [ 3.25406691e-02 9.99470412e-01 -8.20203035e-06 1.05620624e-01] [ 9.51586357e-03 -3.01610638e-04 9.99954678e-01 1.47255666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.959254154 meters 0.01709970275225832 Centerline is valid? [True, True] Translation: X:38.15, Y:0.12, Z:0.15 [[ 9.99709457e-01 -2.24269449e-02 -8.83363989e-03 3.81470859e+01] [ 2.24277548e-02 9.99748466e-01 -7.37773827e-06 1.18019275e-01] [ 8.83158339e-03 -1.90743115e-04 9.99960983e-01 1.48243812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.019254154 meters 0.015280260005797307 Centerline is valid? [True, True] Translation: X:38.21, Y:0.13, Z:0.15 [[ 9.99872460e-01 -1.34446780e-02 -8.62000508e-03 3.82086791e+01] [ 1.34451179e-02 9.99909610e-01 -6.92657703e-06 1.27281034e-01] [ 8.61931904e-03 -1.08971291e-04 9.99962847e-01 1.48630413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.079254154 meters 0.014700801019776595 Centerline is valid? [True, True] Translation: X:38.27, Y:0.13, Z:0.15 [[ 9.99922465e-01 -8.30583145e-03 -9.27777867e-03 3.82701746e+01] [ 8.30612406e-03 9.99965504e-01 -6.99374359e-06 1.32812672e-01] [ 9.27751671e-03 -7.00691792e-05 9.99956960e-01 1.47123885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.139254154 meters 0.014585097029061165 Centerline is valid? [True, True] Translation: X:38.33, Y:0.13, Z:0.15 [[ 9.99924343e-01 -7.36084951e-03 -9.85525697e-03 3.83295468e+01] [ 7.36113354e-03 9.99972906e-01 -7.45351619e-06 1.34423445e-01] [ 9.85504482e-03 -6.50929103e-05 9.99951436e-01 1.46437929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.199254154 meters 0.014264547551813663 Centerline is valid? [True, True] Translation: X:38.39, Y:0.14, Z:0.15 [[ 9.99920420e-01 -8.57008088e-03 -9.25785490e-03 3.83883770e+01] [ 8.57037032e-03 9.99963274e-01 -8.40871260e-06 1.36022971e-01] [ 9.25758696e-03 -7.09352015e-05 9.99957145e-01 1.47792820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.259254154000004 meters 0.015091475556075151 Centerline is valid? [True, True] Translation: X:38.45, Y:0.13, Z:0.15 [[ 9.99881823e-01 -1.25566548e-02 -8.86961000e-03 3.84474041e+01] [ 1.25570661e-02 9.99921157e-01 -9.31619025e-06 1.34222493e-01] [ 8.86902767e-03 -1.02061189e-04 9.99960664e-01 1.47713466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.319254154 meters 0.015937201661636088 Centerline is valid? [True, True] Translation: X:38.51, Y:0.13, Z:0.15 [[ 9.99776858e-01 -1.90501224e-02 -9.12832306e-03 3.85082415e+01] [ 1.90508271e-02 9.99818516e-01 -9.75322716e-06 1.31482437e-01] [ 9.12685222e-03 -1.64151053e-04 9.99958336e-01 1.47620347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.379254154 meters 0.01826597872247128 Centerline is valid? [True, True] Translation: X:38.57, Y:0.13, Z:0.15 [[ 9.99621997e-01 -2.62068381e-02 -8.31055519e-03 3.85683962e+01] [ 2.62076694e-02 9.99656520e-01 -8.87947678e-06 1.25657039e-01] [ 8.30793339e-03 -2.08924162e-04 9.99965467e-01 1.47197506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.439254154000004 meters 0.01895548671339239 Centerline is valid? [True, True] Translation: X:38.63, Y:0.12, Z:0.15 [[ 9.99503595e-01 -3.04605140e-02 -8.04486672e-03 3.86303455e+01] [ 3.04614327e-02 9.99535943e-01 -8.33036152e-06 1.23820090e-01] [ 8.04138718e-03 -2.36731940e-04 9.99967640e-01 1.47724869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.499254154 meters 0.020436072105240188 Centerline is valid? [True, True] Translation: X:38.69, Y:0.12, Z:0.15 [[ 9.99345090e-01 -3.52950065e-02 -7.97831556e-03 3.86914232e+01] [ 3.52960670e-02 9.99376900e-01 -7.87841445e-06 1.20170700e-01] [ 7.97362234e-03 -2.73729906e-04 9.99968173e-01 1.47496073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.559254154 meters 0.021693855080096677 Centerline is valid? [True, True] Translation: X:38.75, Y:0.12, Z:0.15 [[ 9.99253886e-01 -3.78446682e-02 -7.71048206e-03 3.87536999e+01] [ 3.78457370e-02 9.99283593e-01 -7.29724155e-06 1.17785614e-01] [ 7.70523438e-03 -2.84517080e-04 9.99970274e-01 1.48054328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.619254154000004 meters 0.023497383598602387 Centerline is valid? [True, True] Translation: X:38.81, Y:0.11, Z:0.15 [[ 9.99104762e-01 -4.16290792e-02 -7.52960172e-03 3.88145679e+01] [ 4.16302085e-02 9.99133087e-01 -6.75955367e-06 1.14993600e-01] [ 7.52335561e-03 -3.06705387e-04 9.99971652e-01 1.48129154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.679254154 meters 0.024214764387727943 Centerline is valid? [True, True] Translation: X:38.88, Y:0.11, Z:0.15 [[ 9.98967061e-01 -4.46551654e-02 -8.40994131e-03 3.88760048e+01] [ 4.46566832e-02 9.99002393e-01 -7.31719096e-06 1.14831710e-01] [ 8.40187824e-03 -3.68250451e-04 9.99964636e-01 1.47594935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.739254154 meters 0.025890896039978618 Centerline is valid? [True, True] Translation: X:38.94, Y:0.11, Z:0.15 [[ 9.98807491e-01 -4.76276393e-02 -1.07333430e-02 3.89374460e+01] [ 4.76302874e-02 9.98865034e-01 -8.90923462e-06 1.14016090e-01] [ 1.07215853e-02 -5.02333600e-04 9.99942396e-01 1.46085709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.799254154 meters 0.029547583017344847 Centerline is valid? [True, True] Translation: X:39.00, Y:0.11, Z:0.14 [[ 9.98722993e-01 -4.91423183e-02 -1.17224497e-02 3.89987852e+01] [ 4.91455878e-02 9.98791625e-01 -9.16967994e-06 1.09536839e-01] [ 1.17087352e-02 -5.66948712e-04 9.99931290e-01 1.44929186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.859254154 meters 0.030884671901469398 Centerline is valid? [True, True] Translation: X:39.06, Y:0.11, Z:0.14 [[ 9.98691618e-01 -4.97404052e-02 -1.18720162e-02 3.90612862e+01] [ 4.97438095e-02 9.98762010e-01 -8.54532185e-06 1.09739018e-01] [ 1.18577438e-02 -5.82025170e-04 9.99929525e-01 1.44999344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.919254154 meters 0.023782846660143596 Centerline is valid? [True, True] Translation: X:39.12, Y:0.12, Z:0.15 [[ 9.98802678e-01 -4.76169619e-02 -1.12176337e-02 3.91225195e+01] [ 4.76198736e-02 9.98865530e-01 -7.53748233e-06 1.23765860e-01] [ 1.12052665e-02 -5.26653841e-04 9.99937080e-01 1.47437460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.979254154 meters 0.022189256797890928 Centerline is valid? [True, True] Translation: X:39.18, Y:0.13, Z:0.15 [[ 9.99055377e-01 -4.23168929e-02 -9.88104242e-03 3.91838703e+01] [ 4.23188958e-02 9.99104154e-01 -6.39229662e-06 1.29921225e-01] [ 9.87246103e-03 -4.11768546e-04 9.99951181e-01 1.49756536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.039254154 meters 0.021035463779529348 Centerline is valid? [True, True] Translation: X:39.24, Y:0.13, Z:0.15 [[ 9.99272923e-01 -3.72268087e-02 -8.23344997e-03 3.92444046e+01] [ 3.72280273e-02 9.99306797e-01 -5.25844060e-06 1.34799125e-01] [ 8.22793827e-03 -3.01260483e-04 9.99966105e-01 1.52090587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.099254154 meters 0.018547994174168077 Centerline is valid? [True, True] Translation: X:39.30, Y:0.14, Z:0.15 [[ 9.99522981e-01 -2.98927968e-02 -7.76086153e-03 3.93049178e+01] [ 2.98936591e-02 9.99553085e-01 -4.89524949e-06 1.43752004e-01] [ 7.75753941e-03 -2.27107634e-04 9.99969884e-01 1.53807080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.159254154 meters 0.01712050489406388 Centerline is valid? [True, True] Translation: X:39.36, Y:0.15, Z:0.15 [[ 9.99694646e-01 -2.26304617e-02 -9.92354043e-03 3.93643170e+01] [ 2.26315140e-02 9.99743874e-01 -6.25630995e-06 1.49709189e-01] [ 9.92114034e-03 -2.18330344e-04 9.99950760e-01 1.51490199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.219254154 meters 0.01610582516606483 Centerline is valid? [True, True] Translation: X:39.43, Y:0.15, Z:0.15 [[ 9.99778086e-01 -1.78037206e-02 -1.12608528e-02 3.94259840e+01] [ 1.78047714e-02 9.99841482e-01 -6.94414946e-06 1.53850141e-01] [ 1.12591914e-02 -1.93554301e-04 9.99936595e-01 1.50650551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.279254154 meters 0.01455935168030662 Centerline is valid? [True, True] Translation: X:39.49, Y:0.16, Z:0.15 [[ 9.99898296e-01 -9.34471308e-03 -1.07737278e-02 3.94869343e+01] [ 9.34518544e-03 9.99956333e-01 -6.49976658e-06 1.61650987e-01] [ 1.07733181e-02 -9.41833789e-05 9.99941962e-01 1.51989286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.339254154 meters 0.014104100332057416 Centerline is valid? [True, True] Translation: X:39.55, Y:0.17, Z:0.15 [[ 9.99949582e-01 -2.23615332e-03 -9.78947638e-03 3.95462806e+01] [ 2.23620069e-03 9.99997500e-01 -6.10740887e-06 1.66034847e-01] [ 9.78946556e-03 -1.57841329e-05 9.99952082e-01 1.53172417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.399254154 meters 0.014318377371840307 Centerline is valid? [True, True] Translation: X:39.60, Y:0.17, Z:0.15 [[ 9.99958775e-01 1.34436801e-03 -8.98000062e-03 3.96038101e+01] [-1.34448580e-03 9.99999096e-01 -7.07985984e-06 1.66778343e-01] [ 8.97998298e-03 1.91530513e-05 9.99959679e-01 1.53426313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.459254154 meters 0.014309544072766987 Centerline is valid? [True, True] Translation: X:39.66, Y:0.17, Z:0.15 [[ 9.99962641e-01 1.52971950e-03 -8.50741444e-03 3.96602694e+01] [-1.52984753e-03 9.99998830e-01 -8.54116390e-06 1.65798622e-01] [ 8.50739142e-03 2.15558918e-05 9.99963811e-01 1.53854653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.519254154 meters 0.01411057266393031 Centerline is valid? [True, True] Translation: X:39.72, Y:0.16, Z:0.15 [[ 9.99948871e-01 -1.90364716e-03 -9.93130261e-03 3.97187280e+01] [ 1.90363042e-03 9.99998188e-01 -1.11385878e-05 1.60067657e-01] [ 9.93130582e-03 -7.76751148e-06 9.99950683e-01 1.53319052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.579254154 meters 0.01442472903512711 Centerline is valid? [True, True] Translation: X:39.78, Y:0.15, Z:0.15 [[ 9.99907847e-01 -8.86568877e-03 -1.02808886e-02 3.97775875e+01] [ 8.86603117e-03 9.99960696e-01 -1.22721246e-05 1.51047625e-01] [ 1.02805933e-02 -7.88796849e-05 9.99947150e-01 1.52735468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.639254154 meters 0.015497828820079535 Centerline is valid? [True, True] Translation: X:39.84, Y:0.14, Z:0.15 [[ 9.99789671e-01 -1.75074717e-02 -1.06818257e-02 3.98371792e+01] [ 1.75083285e-02 9.99846717e-01 -1.33041093e-05 1.41273847e-01] [ 1.06804213e-02 -1.73719603e-04 9.99942948e-01 1.53223683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.699254154 meters 0.017206572546430824 Centerline is valid? [True, True] Translation: X:39.90, Y:0.13, Z:0.15 [[ 9.99670078e-01 -2.38794671e-02 -9.46077076e-03 3.98986131e+01] [ 2.38804248e-02 9.99714822e-01 -1.17408333e-05 1.34522276e-01] [ 9.45835312e-03 -2.14190265e-04 9.99955246e-01 1.54015174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.759254154000004 meters 0.01946455869765112 Centerline is valid? [True, True] Translation: X:39.96, Y:0.13, Z:0.16 [[ 9.99436661e-01 -3.26008423e-02 -7.97150077e-03 3.99597699e+01] [ 3.26018009e-02 9.99468420e-01 -9.69564981e-06 1.25050137e-01] [ 7.96757936e-03 -2.50195093e-04 9.99968227e-01 1.55734324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.819254154 meters 0.0204359220628417 Centerline is valid? [True, True] Translation: X:40.02, Y:0.12, Z:0.16 [[ 9.99348464e-01 -3.53116937e-02 -7.46533969e-03 4.00217421e+01] [ 3.53126122e-02 9.99376315e-01 -8.78243838e-06 1.22558596e-01] [ 7.46099380e-03 -2.54843929e-04 9.99972134e-01 1.56240083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.879254154 meters 0.023356678600983505 Centerline is valid? [True, True] Translation: X:40.08, Y:0.11, Z:0.16 [[ 9.99045714e-01 -4.31631402e-02 -6.67873483e-03 4.00818615e+01] [ 4.31640526e-02 9.99067998e-01 -7.53896380e-06 1.14255984e-01] [ 6.67283565e-03 -2.80749492e-04 9.99977697e-01 1.57379632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.939254154000004 meters 0.026477773152687765 Centerline is valid? [True, True] Translation: X:40.14, Y:0.11, Z:0.16 [[ 9.98744224e-01 -4.94006103e-02 -8.33999652e-03 4.01424404e+01] [ 4.94022507e-02 9.98778963e-01 -9.33072458e-06 1.05531415e-01] [ 8.33027402e-03 -4.02695592e-04 9.99965222e-01 1.56095162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.999254154 meters 0.027640998869899975 Centerline is valid? [True, True] Translation: X:40.20, Y:0.10, Z:0.15 [[ 9.98536323e-01 -5.30829655e-02 -1.03638871e-02 4.02035058e+01] [ 5.30856978e-02 9.98589960e-01 -1.14700128e-05 1.00612521e-01] [ 1.03498825e-02 -5.38720956e-04 9.99946293e-01 1.54929425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.059254154 meters 0.025674100103796216 Centerline is valid? [True, True] Translation: X:40.27, Y:0.10, Z:0.16 [[ 9.98506980e-01 -5.35326627e-02 -1.08657894e-02 4.02653266e+01] [ 5.35356988e-02 9.98565936e-01 -1.14586722e-05 1.01973552e-01] [ 1.08508206e-02 -5.70266067e-04 9.99940966e-01 1.55905616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.119254154000004 meters 0.028149775833910227 Centerline is valid? [True, True] Translation: X:40.33, Y:0.10, Z:0.16 [[ 9.98639734e-01 -5.09658678e-02 -1.10073827e-02 4.03254322e+01] [ 5.09688331e-02 9.98700244e-01 -1.11516957e-05 9.76026083e-02] [ 1.09936441e-02 -5.49896924e-04 9.99939417e-01 1.55524869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.179254154 meters 0.024041431603966715 Centerline is valid? [True, True] Translation: X:40.39, Y:0.10, Z:0.16 [[ 9.98991956e-01 -4.34399683e-02 -1.13154853e-02 4.03863528e+01] [ 4.34426223e-02 9.99055924e-01 -1.12575526e-05 1.04747260e-01] [ 1.13052917e-02 -4.80328151e-04 9.99935978e-01 1.55502922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.239254154 meters 0.020969281428889867 Centerline is valid? [True, True] Translation: X:40.45, Y:0.11, Z:0.16 [[ 9.99281091e-01 -3.62926254e-02 -1.09611326e-02 4.04470360e+01] [ 3.62946873e-02 9.99341131e-01 -1.08115349e-05 1.11936832e-01] [ 1.09543031e-02 -3.87027119e-04 9.99939925e-01 1.56474916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.299254154 meters 0.01769110380569892 Centerline is valid? [True, True] Translation: X:40.51, Y:0.12, Z:0.16 [[ 9.99627976e-01 -2.51298312e-02 -1.06019539e-02 4.05078212e+01] [ 2.51311329e-02 9.99684163e-01 -1.04473522e-05 1.20723389e-01] [ 1.05988679e-02 -2.55995646e-04 9.99943798e-01 1.57509698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.359254154 meters 0.01502220418313436 Centerline is valid? [True, True] Translation: X:40.57, Y:0.13, Z:0.16 [[ 9.99859064e-01 -1.27593161e-02 -1.09110905e-02 4.05683057e+01] [ 1.27599583e-02 9.99918588e-01 -1.07533622e-05 1.29373191e-01] [ 1.09103394e-02 -1.28473213e-04 9.99940472e-01 1.58023208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.419254154 meters 0.01450174385408883 Centerline is valid? [True, True] Translation: X:40.63, Y:0.13, Z:0.16 [[ 9.99923298e-01 -4.44779600e-03 -1.15591700e-02 4.06278675e+01] [ 4.44795844e-03 9.99990108e-01 -1.16548425e-05 1.34480148e-01] [ 1.15591075e-02 -3.97607594e-05 9.99933190e-01 1.57454320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.479254154 meters 0.014631201706423935 Centerline is valid? [True, True] Translation: X:40.69, Y:0.14, Z:0.16 [[ 9.99908543e-01 6.47498277e-03 -1.18734865e-02 4.06864533e+01] [-6.47560585e-03 9.99979033e-01 -1.40319092e-05 1.41047271e-01] [ 1.18731467e-02 9.09186448e-05 9.99929508e-01 1.57292775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.539254154 meters 0.01559876023545687 Centerline is valid? [True, True] Translation: X:40.74, Y:0.14, Z:0.16 [[ 9.99854366e-01 1.26273781e-02 -1.14802812e-02 4.07444468e+01] [-1.26283856e-02 9.99920259e-01 -1.52743262e-05 1.43601261e-01] [ 1.14791729e-02 1.60249520e-04 9.99934099e-01 1.57711550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.599254154 meters 0.015469648575881848 Centerline is valid? [True, True] Translation: X:40.80, Y:0.14, Z:0.16 [[ 9.99868195e-01 1.24051157e-02 -1.04740033e-02 4.08031434e+01] [-1.24059504e-02 9.99923043e-01 -1.47195565e-05 1.41504761e-01] [ 1.04730147e-02 1.44657582e-04 9.99945146e-01 1.58854873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.659254154 meters 0.014747116956303664 Centerline is valid? [True, True] Translation: X:40.86, Y:0.13, Z:0.16 [[ 9.99923524e-01 7.20595722e-03 -1.00508778e-02 4.08620723e+01] [-7.20647024e-03 9.99974033e-01 -1.48262083e-05 1.34427223e-01] [ 1.00505100e-02 8.72564263e-05 9.99949489e-01 1.58631115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.719254154 meters 0.01438887919867136 Centerline is valid? [True, True] Translation: X:40.92, Y:0.13, Z:0.16 [[ 9.99949537e-01 2.83013882e-03 -9.63917757e-03 4.09208974e+01] [-2.83041399e-03 9.99995994e-01 -1.49051884e-05 1.28413337e-01] [ 9.63909677e-03 4.21872993e-05 9.99953542e-01 1.58993105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.779254154 meters 0.014175072960339334 Centerline is valid? [True, True] Translation: X:40.98, Y:0.12, Z:0.16 [[ 9.99939686e-01 -3.87977069e-03 -1.02748574e-02 4.09790825e+01] [ 3.87980326e-03 9.99992473e-01 -1.67635356e-05 1.20449093e-01] [ 1.02748451e-02 -2.31019006e-05 9.99947212e-01 1.59102789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.839254154 meters 0.01441061604748699 Centerline is valid? [True, True] Translation: X:41.04, Y:0.11, Z:0.16 [[ 9.99915275e-01 -7.99217064e-03 -1.02746759e-02 4.10374353e+01] [ 7.99241187e-03 9.99968060e-01 -1.75832447e-05 1.14771665e-01] [ 1.02744883e-02 -6.45376870e-05 9.99947214e-01 1.59301789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.899254154 meters 0.01568715515893775 Centerline is valid? [True, True] Translation: X:41.10, Y:0.10, Z:0.16 [[ 9.99840308e-01 -1.39306549e-02 -1.11935779e-02 4.10960264e+01] [ 1.39313054e-02 9.99902954e-01 -1.98605030e-05 1.03708645e-01] [ 1.11927683e-02 -1.36083821e-04 9.99937350e-01 1.57156845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.959254154 meters 0.015480600789684513 Centerline is valid? [True, True] Translation: X:41.16, Y:0.10, Z:0.16 [[ 9.99784124e-01 -1.67475828e-02 -1.22973443e-02 4.11554316e+01] [ 1.67485742e-02 9.99859733e-01 -2.23638604e-05 9.94360320e-02] [ 1.22959939e-02 -1.83603951e-04 9.99924385e-01 1.57720393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.019254154 meters 0.015172396274474198 Centerline is valid? [True, True] Translation: X:41.22, Y:0.10, Z:0.16 [[ 9.99833828e-01 -1.30466346e-02 -1.27319243e-02 4.12150528e+01] [ 1.30473966e-02 9.99914879e-01 -2.32174513e-05 9.79195972e-02] [ 1.27311435e-02 -1.42904873e-04 9.99918945e-01 1.58297505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.079254154 meters 0.014649280452880161 Centerline is valid? [True, True] Translation: X:41.27, Y:0.10, Z:0.16 [[ 9.99886708e-01 -7.90868550e-03 -1.28072071e-02 4.12743426e+01] [ 7.90901043e-03 9.99968723e-01 -2.52782889e-05 1.00090463e-01] [ 1.28070065e-02 -7.60169095e-05 9.99917984e-01 1.59577580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.139254154 meters 0.014470119548576221 Centerline is valid? [True, True] Translation: X:41.33, Y:0.10, Z:0.16 [[ 9.99914514e-01 -1.74755497e-04 -1.30741472e-02 4.13333558e+01] [ 1.74390477e-04 9.99999984e-01 -2.90592389e-05 1.02623412e-01] [ 1.30741520e-02 2.67767480e-05 9.99914529e-01 1.59245280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.199254154 meters 0.014806515896963413 Centerline is valid? [True, True] Translation: X:41.39, Y:0.10, Z:0.16 [[ 9.99887587e-01 4.32102253e-03 -1.43576269e-02 4.13919992e+01] [-4.32197966e-03 9.99990660e-01 -3.56358663e-05 1.02052125e-01] [ 1.43573388e-02 9.76852319e-05 9.99896923e-01 1.58286587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.259254154 meters 0.015010245293233467 Centerline is valid? [True, True] Translation: X:41.45, Y:0.10, Z:0.16 [[ 9.99877693e-01 4.65479347e-03 -1.49308889e-02 4.14498879e+01] [-4.65589680e-03 9.99989160e-01 -3.91357574e-05 9.87753540e-02] [ 1.49305449e-02 1.08647649e-04 9.99888527e-01 1.57094647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.319254154 meters 0.014824697215399002 Centerline is valid? [True, True] Translation: X:41.51, Y:0.10, Z:0.16 [[ 9.99888853e-01 2.66304151e-03 -1.46693819e-02 4.15090802e+01] [-2.66390826e-03 9.99996451e-01 -3.95461457e-05 9.55849338e-02] [ 1.46692245e-02 7.86196378e-05 9.99892398e-01 1.57986935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.379254154 meters 0.014508563899099018 Centerline is valid? [True, True] Translation: X:41.57, Y:0.09, Z:0.16 [[ 9.99906261e-01 -2.74049241e-03 -1.34148462e-02 4.15674678e+01] [ 2.74024138e-03 9.99996245e-01 -3.70939484e-05 8.77528078e-02] [ 1.34148975e-02 3.30554676e-07 9.99910016e-01 1.59751230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.439254154000004 meters 0.014613840118742526 Centerline is valid? [True, True] Translation: X:41.63, Y:0.08, Z:0.16 [[ 9.99885075e-01 -9.59306531e-03 -1.17392841e-02 4.16266635e+01] [ 9.59333576e-03 9.99953982e-01 -3.32738841e-05 7.98493489e-02] [ 1.17390630e-02 -7.93488335e-05 9.99931092e-01 1.61448200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.499254154 meters 0.015063939054693627 Centerline is valid? [True, True] Translation: X:41.69, Y:0.07, Z:0.16 [[ 9.99837751e-01 -1.46135374e-02 -1.05316555e-02 4.16850654e+01] [ 1.46140259e-02 9.99893209e-01 -3.05840740e-05 7.43304123e-02] [ 1.05309778e-02 -1.23330774e-04 9.99944540e-01 1.62499243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.559254154 meters 0.017048838700417315 Centerline is valid? [True, True] Translation: X:41.75, Y:0.06, Z:0.16 [[ 9.99685330e-01 -2.36487178e-02 -8.36535182e-03 4.17450190e+01] [ 2.36493395e-02 9.99720315e-01 -2.46177858e-05 6.40199674e-02] [ 8.36359433e-03 -1.73225005e-04 9.99965010e-01 1.63142935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.619254154000004 meters 0.01955020510885695 Centerline is valid? [True, True] Translation: X:41.81, Y:0.05, Z:0.16 [[ 9.99389687e-01 -3.41041461e-02 -7.56043805e-03 4.18060376e+01] [ 3.41049522e-02 9.99418257e-01 -2.23089494e-05 5.34964789e-02] [ 7.55680064e-03 -2.35553045e-04 9.99971419e-01 1.63536182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.679254154 meters 0.02305980318222308 Centerline is valid? [True, True] Translation: X:41.87, Y:0.04, Z:0.16 [[ 9.98940393e-01 -4.52198479e-02 -8.55896495e-03 4.18673747e+01] [ 4.52212896e-02 9.98976994e-01 -2.51115551e-05 4.39061206e-02] [ 8.55134461e-03 -3.61962486e-04 9.99963371e-01 1.61932887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.739254154 meters 0.02450840077851003 Centerline is valid? [True, True] Translation: X:41.93, Y:0.04, Z:0.16 [[ 9.98788028e-01 -4.84282956e-02 -8.78499063e-03 4.19283728e+01] [ 4.84299414e-02 9.98826582e-01 -2.54198369e-05 4.07955545e-02] [ 8.77591320e-03 -4.00067553e-04 9.99961411e-01 1.61657859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.799254154 meters 0.027303769627762212 Centerline is valid? [True, True] Translation: X:41.99, Y:0.04, Z:0.16 [[ 9.98495060e-01 -5.41778255e-02 -8.50756590e-03 4.19894234e+01] [ 5.41795790e-02 9.98531208e-01 -2.43910675e-05 3.51846670e-02] [ 8.49639151e-03 -4.36581979e-04 9.99963810e-01 1.61703581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.859254154 meters 0.026635384093614958 Centerline is valid? [True, True] Translation: X:42.05, Y:0.04, Z:0.16 [[ 9.98467267e-01 -5.47291407e-02 -8.23640742e-03 4.20511249e+01] [ 5.47308048e-02 9.98501146e-01 -2.33858442e-05 3.51175613e-02] [ 8.22534214e-03 -4.27435207e-04 9.99966080e-01 1.61613613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.919254154 meters 0.02746727444524271 Centerline is valid? [True, True] Translation: X:42.11, Y:0.04, Z:0.16 [[ 9.98651156e-01 -5.10163238e-02 -9.65416137e-03 4.21103935e+01] [ 5.10184390e-02 9.98697711e-01 -2.72197114e-05 3.57322508e-02] [ 9.64297751e-03 -4.65357246e-04 9.99953397e-01 1.60941147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.979254154 meters 0.02302020161980652 Centerline is valid? [True, True] Translation: X:42.17, Y:0.04, Z:0.16 [[ 9.98838974e-01 -4.72578141e-02 -9.34891426e-03 4.21712493e+01] [ 4.72596334e-02 9.98882639e-01 -2.63437468e-05 4.42730640e-02] [ 9.33971310e-03 -4.15513100e-04 9.99956298e-01 1.62009956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.039254154 meters 0.022290355130757302 Centerline is valid? [True, True] Translation: X:42.23, Y:0.05, Z:0.16 [[ 9.99126022e-01 -4.11445978e-02 -7.36986783e-03 4.22309696e+01] [ 4.11455625e-02 9.99153163e-01 -2.07331355e-05 4.94735680e-02] [ 7.36447981e-03 -2.82522342e-04 9.99972842e-01 1.63641273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.099254154 meters 0.019734398436720736 Centerline is valid? [True, True] Translation: X:42.29, Y:0.06, Z:0.16 [[ 9.99400113e-01 -3.40171872e-02 -6.49955460e-03 4.22914859e+01] [ 3.40177868e-02 9.99421227e-01 -1.82953825e-05 5.70757740e-02] [ 6.49641519e-03 -2.02816056e-04 9.99978878e-01 1.64475411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.159254154 meters 0.018030841884401242 Centerline is valid? [True, True] Translation: X:42.35, Y:0.06, Z:0.16 [[ 9.99581174e-01 -2.81462995e-02 -6.72779073e-03 4.23525627e+01] [ 2.81468102e-02 9.99603800e-01 -1.87881000e-05 6.45517655e-02] [ 6.72565399e-03 -1.70585617e-04 9.99977368e-01 1.64333555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.219254154 meters 0.016291680994293255 Centerline is valid? [True, True] Translation: X:42.41, Y:0.07, Z:0.16 [[ 9.99788637e-01 -1.86931938e-02 -8.55833812e-03 4.24128296e+01] [ 1.86936757e-02 9.99825258e-01 -2.36959171e-05 7.40549182e-02] [ 8.55728556e-03 -1.36295888e-04 9.99963376e-01 1.62931475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.279254154 meters 0.015092358565788205 Centerline is valid? [True, True] Translation: X:42.47, Y:0.08, Z:0.16 [[ 9.99891129e-01 -1.11574825e-02 -9.65616186e-03 4.24739154e+01] [ 1.11577464e-02 9.99937750e-01 -2.65465332e-05 8.30050177e-02] [ 9.65585695e-03 -8.11973619e-05 9.99953378e-01 1.62797007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.339254154 meters 0.014741134108703854 Centerline is valid? [True, True] Translation: X:42.53, Y:0.09, Z:0.16 [[ 9.99935231e-01 -5.15951947e-03 -1.01446519e-02 4.25322480e+01] [ 5.15950066e-03 9.99986689e-01 -2.80257196e-05 9.07172336e-02] [ 1.01446615e-02 -2.43174338e-05 9.99948541e-01 1.63688396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.399254154 meters 0.014702309364329159 Centerline is valid? [True, True] Translation: X:42.59, Y:0.09, Z:0.17 [[ 9.99953041e-01 -2.42436899e-03 -9.38287569e-03 4.25905667e+01] [ 2.42421699e-03 9.99997061e-01 -2.75736688e-05 9.48593107e-02] [ 9.38291496e-03 4.82624729e-06 9.99955979e-01 1.65335362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.459254154 meters 0.014657452841449986 Centerline is valid? [True, True] Translation: X:42.65, Y:0.10, Z:0.17 [[ 9.99954164e-01 3.03254146e-04 -9.56964717e-03 4.26484758e+01] [-3.03563714e-04 9.99999953e-01 -3.08964359e-05 9.84052818e-02] [ 9.56963736e-03 3.38000174e-05 9.99954209e-01 1.66273113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.519254154 meters 0.014698309654128392 Centerline is valid? [True, True] Translation: X:42.71, Y:0.10, Z:0.17 [[ 9.99962109e-01 -6.47866804e-04 -8.68103487e-03 4.27063591e+01] [ 6.47634728e-04 9.99999790e-01 -2.95447579e-05 9.85312214e-02] [ 8.68105218e-03 2.39214987e-05 9.99962319e-01 1.67268234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.579254154 meters 0.014672443015450143 Centerline is valid? [True, True] Translation: X:42.77, Y:0.09, Z:0.17 [[ 9.99928271e-01 -8.22497437e-03 -8.70645276e-03 4.27654566e+01] [ 8.22502208e-03 9.99966173e-01 -3.03271088e-05 9.28133731e-02] [ 8.70640769e-03 -4.12858327e-05 9.99962098e-01 1.68217220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.639254154 meters 0.01623522028594688 Centerline is valid? [True, True] Translation: X:42.83, Y:0.08, Z:0.17 [[ 9.99723698e-01 -2.12784382e-02 -9.98779552e-03 4.28254052e+01] [ 2.12791481e-02 9.99773573e-01 -3.51989932e-05 8.16391817e-02] [ 9.98628299e-03 -1.77342512e-04 9.99950120e-01 1.66407430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.699254154 meters 0.02040417685154609 Centerline is valid? [True, True] Translation: X:42.89, Y:0.07, Z:0.16 [[ 9.99294014e-01 -3.57331165e-02 -1.16024906e-02 4.28863776e+01] [ 3.57350495e-02 9.99361298e-01 -4.07327528e-05 6.77154962e-02] [ 1.15965356e-02 -3.73911581e-04 9.99932688e-01 1.63915532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.759254154 meters 0.025143636513338022 Centerline is valid? [True, True] Translation: X:42.95, Y:0.06, Z:0.16 [[ 9.98895668e-01 -4.56370357e-02 -1.11671181e-02 4.29461582e+01] [ 4.56394515e-02 9.98957977e-01 -3.85396402e-05 5.62953441e-02] [ 1.11572405e-02 -4.71164065e-04 9.99937645e-01 1.64580801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.819254154 meters 0.026516839169848556 Centerline is valid? [True, True] Translation: X:43.01, Y:0.05, Z:0.17 [[ 9.98737273e-01 -4.90842320e-02 -1.07050455e-02 4.30070313e+01] [ 4.90866545e-02 9.98794523e-01 -3.64923416e-05 5.31284303e-02] [ 1.06939320e-02 -4.89028606e-04 9.99942699e-01 1.65108039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.879254154 meters 0.025135020775530047 Centerline is valid? [True, True] Translation: X:43.07, Y:0.05, Z:0.17 [[ 9.98709048e-01 -4.98721941e-02 -9.64377677e-03 4.30689679e+01] [ 4.98742010e-02 9.98755507e-01 -3.24208720e-05 5.49760116e-02] [ 9.63339206e-03 -4.48596643e-04 9.99953497e-01 1.66451727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.939254154000004 meters 0.023683175652814276 Centerline is valid? [True, True] Translation: X:43.13, Y:0.06, Z:0.17 [[ 9.98786034e-01 -4.84548315e-02 -8.86496247e-03 4.31316308e+01] [ 4.84564779e-02 9.98825294e-01 -2.90899142e-05 5.89985661e-02] [ 8.85595829e-03 -4.00510258e-04 9.99960705e-01 1.67237771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.999254154 meters 0.02411936565281385 Centerline is valid? [True, True] Translation: X:43.19, Y:0.06, Z:0.17 [[ 9.98800925e-01 -4.81412291e-02 -8.89575009e-03 4.31939786e+01] [ 4.81428812e-02 9.98840459e-01 -2.84473243e-05 5.94171937e-02] [ 8.88680459e-03 -3.99853826e-04 9.99960432e-01 1.66297772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.059254154 meters 0.028215470413996132 Centerline is valid? [True, True] Translation: X:43.26, Y:0.05, Z:0.16 [[ 9.98735024e-01 -4.91892067e-02 -1.04294331e-02 4.32555153e+01] [ 4.91915420e-02 9.98789363e-01 -3.26433460e-05 5.49472374e-02] [ 1.04184126e-02 -4.80437845e-04 9.99945611e-01 1.64604427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.119254154000004 meters 0.025277118917303568 Centerline is valid? [True, True] Translation: X:43.32, Y:0.06, Z:0.16 [[ 9.98669045e-01 -4.99229261e-02 -1.29553060e-02 4.33173883e+01] [ 4.99266033e-02 9.98752889e-01 -3.96281220e-05 6.25534653e-02] [ 1.29411276e-02 -6.07239043e-04 9.99916076e-01 1.64087556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.179254154 meters 0.024956644733296344 Centerline is valid? [True, True] Translation: X:43.38, Y:0.07, Z:0.16 [[ 9.98778514e-01 -4.75665471e-02 -1.33754969e-02 4.33787087e+01] [ 4.75702647e-02 9.98867893e-01 -4.02568792e-05 6.66367270e-02] [ 1.33622693e-02 -5.96068224e-04 9.99910543e-01 1.63387193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.239254154 meters 0.020974656680226803 Centerline is valid? [True, True] Translation: X:43.44, Y:0.08, Z:0.17 [[ 9.99162189e-01 -3.94698628e-02 -1.08189907e-02 4.34395996e+01] [ 3.94718236e-02 9.99220683e-01 -3.23187316e-05 7.89200640e-02] [ 1.08118349e-02 -3.94753637e-04 9.99941472e-01 1.66865338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.299254154 meters 0.01715487246108414 Centerline is valid? [True, True] Translation: X:43.50, Y:0.09, Z:0.17 [[ 9.99666493e-01 -2.42354261e-02 -8.91888832e-03 4.35001274e+01] [ 2.42361531e-02 9.99706261e-01 -2.65854877e-05 9.29394261e-02] [ 8.91691281e-03 -1.89582921e-04 9.99960226e-01 1.68843931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.359254154 meters 0.01533186249968484 Centerline is valid? [True, True] Translation: X:43.56, Y:0.10, Z:0.17 [[ 9.99878948e-01 -1.32732902e-02 -8.11843268e-03 4.35605403e+01] [ 1.32735312e-02 9.99911903e-01 -2.42062412e-05 1.03042669e-01] [ 8.11803876e-03 -8.35569580e-05 9.99967045e-01 1.70365466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.419254154 meters 0.014702038020275143 Centerline is valid? [True, True] Translation: X:43.62, Y:0.11, Z:0.17 [[ 9.99972745e-01 1.95673991e-04 -7.38047173e-03 4.36211289e+01] [-1.95841739e-04 9.99999981e-01 -2.20059076e-05 1.13417520e-01] [ 7.38046728e-03 2.34507122e-05 9.99972764e-01 1.70911771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.479254154 meters 0.01536305760080766 Centerline is valid? [True, True] Translation: X:43.68, Y:0.12, Z:0.17 [[ 9.99933403e-01 6.81747092e-03 -9.31188966e-03 4.36792048e+01] [-6.81802916e-03 9.99976757e-01 -2.82055340e-05 1.17514857e-01] [ 9.31148093e-03 9.16923908e-05 9.99956643e-01 1.68787988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.539254154 meters 0.01547497677078277 Centerline is valid? [True, True] Translation: X:43.74, Y:0.12, Z:0.17 [[ 9.99921434e-01 6.95701553e-03 -1.04271729e-02 4.37384184e+01] [-6.95773216e-03 9.99975794e-01 -3.24524850e-05 1.18197396e-01] [ 1.04266947e-02 1.04999411e-04 9.99945635e-01 1.67943180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.599254154 meters 0.015058903293537387 Centerline is valid? [True, True] Translation: X:43.80, Y:0.11, Z:0.17 [[ 9.99937615e-01 2.93295451e-03 -1.07779568e-02 4.37971284e+01] [-2.93349470e-03 9.99995697e-01 -3.43113907e-05 1.13795865e-01] [ 1.07778098e-02 6.59263295e-05 9.99941916e-01 1.67281064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.659254154 meters 0.01482650489571062 Centerline is valid? [True, True] Translation: X:43.86, Y:0.11, Z:0.17 [[ 9.99945003e-01 5.33826899e-04 -1.04740367e-02 4.38559635e+01] [-5.34213026e-04 9.99999857e-01 -3.40673772e-05 1.11725173e-01] [ 1.04740170e-02 3.96608705e-05 9.99945145e-01 1.67516685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.719254154 meters 0.01456517169364011 Centerline is valid? [True, True] Translation: X:43.91, Y:0.11, Z:0.17 [[ 9.99933188e-01 -7.33125518e-03 -8.93711438e-03 4.39144101e+01] [ 7.33128284e-03 9.99973125e-01 -2.96663841e-05 1.05440508e-01] [ 8.93709169e-03 -3.58561112e-05 9.99960063e-01 1.69693163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.779254154 meters 0.015282558122893595 Centerline is valid? [True, True] Translation: X:43.97, Y:0.10, Z:0.17 [[ 9.99831482e-01 -1.65041112e-02 -8.03872467e-03 4.39742739e+01] [ 1.65044265e-02 9.99863792e-01 -2.71122978e-05 9.76534520e-02] [ 8.03807719e-03 -1.05566812e-04 9.99967689e-01 1.70654062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.839254154 meters 0.01758433812547271 Centerline is valid? [True, True] Translation: X:44.03, Y:0.09, Z:0.17 [[ 9.99615687e-01 -2.65284456e-02 -8.04482892e-03 4.40346254e+01] [ 2.65290851e-02 9.99648042e-01 -2.72301917e-05 8.67364370e-02] [ 8.04271985e-03 -1.86202224e-04 9.99967639e-01 1.70260668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.899254154 meters 0.01905417125657307 Centerline is valid? [True, True] Translation: X:44.10, Y:0.08, Z:0.17 [[ 9.99414122e-01 -3.30322728e-02 -8.95999843e-03 4.40959390e+01] [ 3.30333295e-02 9.99454250e-01 -3.00717457e-05 8.16925389e-02] [ 8.95610185e-03 -2.65924454e-04 9.99959858e-01 1.69887545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.959254154 meters 0.021680163348383737 Centerline is valid? [True, True] Translation: X:44.16, Y:0.07, Z:0.17 [[ 9.99112628e-01 -4.11922801e-02 -8.78366819e-03 4.41569550e+01] [ 4.11936122e-02 9.99151182e-01 -2.92934950e-05 7.44180585e-02] [ 8.77741912e-03 -3.32563520e-04 9.99961422e-01 1.70028534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.019254154 meters 0.025214033975467554 Centerline is valid? [True, True] Translation: X:44.22, Y:0.07, Z:0.17 [[ 9.98948973e-01 -4.49359145e-02 -9.03956552e-03 4.42172026e+01] [ 4.49374793e-02 9.98989801e-01 -3.00336160e-05 6.59166303e-02] [ 9.03178334e-03 -3.76213239e-04 9.99959142e-01 1.68697850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.079254154 meters 0.02365117571339255 Centerline is valid? [True, True] Translation: X:44.28, Y:0.07, Z:0.17 [[ 9.98958812e-01 -4.46066858e-02 -9.56738364e-03 4.42792469e+01] [ 4.46084280e-02 9.99004548e-01 -3.13305729e-05 6.97596441e-02] [ 9.55925732e-03 -3.95487992e-04 9.99954231e-01 1.68721996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.139254154 meters 0.02376699461130252 Centerline is valid? [True, True] Translation: X:44.34, Y:0.07, Z:0.17 [[ 9.99030759e-01 -4.28978423e-02 -9.86492573e-03 4.43412471e+01] [ 4.28996184e-02 9.99079387e-01 -3.15886289e-05 7.15777217e-02] [ 9.85719904e-03 -3.91643538e-04 9.99951340e-01 1.68155086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.199254154 meters 0.023582155978174126 Centerline is valid? [True, True] Translation: X:44.40, Y:0.07, Z:0.17 [[ 9.99090706e-01 -4.11633940e-02 -1.11057151e-02 4.44036179e+01] [ 4.11655472e-02 9.99152339e-01 -3.47390228e-05 7.40145941e-02] [ 1.10977312e-02 -4.22465406e-04 9.99938329e-01 1.66843395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.259254154 meters 0.02500830156792285 Centerline is valid? [True, True] Translation: X:44.47, Y:0.07, Z:0.17 [[ 9.99060868e-01 -4.16098683e-02 -1.20830890e-02 4.44651652e+01] [ 4.16124587e-02 9.99133826e-01 -3.70614247e-05 7.49461485e-02] [ 1.20741651e-02 -4.65780424e-04 9.99926996e-01 1.65724589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.319254154 meters 0.023587322889992036 Centerline is valid? [True, True] Translation: X:44.53, Y:0.08, Z:0.17 [[ 9.99038020e-01 -4.19719439e-02 -1.27039880e-02 4.45274883e+01] [ 4.19748471e-02 9.99118667e-01 -3.81375533e-05 8.11920042e-02] [ 1.26943923e-02 -4.95147089e-04 9.99919300e-01 1.66190006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.379254154 meters 0.023936656293975456 Centerline is valid? [True, True] Translation: X:44.59, Y:0.08, Z:0.17 [[ 9.99052377e-01 -4.16489336e-02 -1.26378310e-02 4.45898796e+01] [ 4.16517920e-02 9.99132187e-01 -3.70510047e-05 8.37390986e-02] [ 1.26284069e-02 -4.89372415e-04 9.99920139e-01 1.66273921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.439254154000004 meters 0.023218002638330654 Centerline is valid? [True, True] Translation: X:44.65, Y:0.09, Z:0.17 [[ 9.99054292e-01 -4.21166097e-02 -1.08033289e-02 4.46518971e+01] [ 4.21187336e-02 9.99112612e-01 -3.09501813e-05 9.02216256e-02] [ 1.07950457e-02 -4.24101620e-04 9.99941642e-01 1.69117924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.499254154 meters 0.024155420378113135 Centerline is valid? [True, True] Translation: X:44.71, Y:0.09, Z:0.17 [[ 9.98996383e-01 -4.40123442e-02 -8.31502380e-03 4.47139623e+01] [ 4.40136722e-02 9.99030929e-01 -2.32986248e-05 9.36702240e-02] [ 8.30799137e-03 -3.42699490e-04 9.99965429e-01 1.71133270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.559254154 meters 0.027158453082408524 Centerline is valid? [True, True] Translation: X:44.78, Y:0.09, Z:0.17 [[ 9.98724745e-01 -4.99052552e-02 -7.63861391e-03 4.47750693e+01] [ 4.99065507e-02 9.98753891e-01 -2.10441201e-05 9.30274684e-02] [ 7.63014558e-03 -3.60199589e-04 9.99970825e-01 1.71288277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.619254154000004 meters 0.028579107538824363 Centerline is valid? [True, True] Translation: X:44.84, Y:0.09, Z:0.17 [[ 9.98438386e-01 -5.52989827e-02 -7.92542100e-03 4.48359707e+01] [ 5.53005476e-02 9.98469754e-01 -2.17228289e-05 9.31786190e-02] [ 7.91449441e-03 -4.16591215e-04 9.99968593e-01 1.71092371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.679254154 meters 0.03189343433392758 Centerline is valid? [True, True] Translation: X:44.90, Y:0.09, Z:0.17 [[ 9.98030258e-01 -6.21309247e-02 -8.68056996e-03 4.48974016e+01] [ 6.21330607e-02 9.98067875e-01 -2.36519272e-05 9.13884981e-02] [ 8.66526752e-03 -5.15745041e-04 9.99962323e-01 1.70077873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.739254154 meters 0.03284939012483843 Centerline is valid? [True, True] Translation: X:44.96, Y:0.09, Z:0.17 [[ 9.97874184e-01 -6.44805714e-02 -9.45346365e-03 4.49583935e+01] [ 6.44832119e-02 9.97918792e-01 -2.55294593e-05 9.26826090e-02] [ 9.43543518e-03 -5.84114512e-04 9.99955315e-01 1.69885680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.799254154 meters 0.032598205123690986 Centerline is valid? [True, True] Translation: X:45.02, Y:0.10, Z:0.17 [[ 9.97934348e-01 -6.34621764e-02 -9.97940092e-03 4.50209080e+01] [ 6.34650731e-02 9.97984060e-01 -2.64644092e-05 9.73318930e-02] [ 9.96096253e-03 -6.06933666e-04 9.99950204e-01 1.69268685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.859254154 meters 0.02941743994637897 Centerline is valid? [True, True] Translation: X:45.08, Y:0.11, Z:0.17 [[ 9.98260793e-01 -5.79832335e-02 -1.06458797e-02 4.50812297e+01] [ 5.79862234e-02 9.98317383e-01 -2.78606045e-05 1.07019863e-01] [ 1.06295822e-02 -5.89502208e-04 9.99943331e-01 1.68765073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.919254154 meters 0.02676838590805487 Centerline is valid? [True, True] Translation: X:45.14, Y:0.11, Z:0.17 [[ 9.98552272e-01 -5.28244377e-02 -1.01458929e-02 4.51422153e+01] [ 5.28268882e-02 9.98603685e-01 -2.65070953e-05 1.14617340e-01] [ 1.01331263e-02 -5.09507231e-04 9.99948529e-01 1.69813997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.979254154 meters 0.02508911957975329 Centerline is valid? [True, True] Translation: X:45.20, Y:0.12, Z:0.17 [[ 9.98892834e-01 -4.62952464e-02 -8.35801243e-03 4.52016306e+01] [ 4.62966807e-02 9.98927734e-01 -2.18916865e-05 1.23121827e-01] [ 8.35006389e-03 -3.65080784e-04 9.99965071e-01 1.71188862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.039254154 meters 0.024201819489255157 Centerline is valid? [True, True] Translation: X:45.26, Y:0.13, Z:0.17 [[ 9.99069423e-01 -4.24122898e-02 -7.84125247e-03 4.52615603e+01] [ 4.24134323e-02 9.99100145e-01 -2.06112358e-05 1.29060959e-01] [ 7.83507065e-03 -3.11982375e-04 9.99969257e-01 1.71444928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.099254154 meters 0.022554602363494422 Centerline is valid? [True, True] Translation: X:45.32, Y:0.14, Z:0.17 [[ 9.99119312e-01 -4.13143263e-02 -7.32981144e-03 4.53242675e+01] [ 4.13152970e-02 9.99146158e-01 -1.90008159e-05 1.35326860e-01] [ 7.32433794e-03 -2.83849255e-04 9.99973136e-01 1.70860498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.159254154 meters 0.02437227545059387 Centerline is valid? [True, True] Translation: X:45.39, Y:0.13, Z:0.17 [[ 9.99050986e-01 -4.23886440e-02 -1.00164550e-02 4.53857956e+01] [ 4.23905234e-02 9.99101117e-01 -2.46946729e-05 1.34873296e-01] [ 1.00084981e-02 -3.99931532e-04 9.99949834e-01 1.68816821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.219254154 meters 0.02341162565965845 Centerline is valid? [True, True] Translation: X:45.45, Y:0.14, Z:0.17 [[ 9.99004790e-01 -4.27548279e-02 -1.27064665e-02 4.54475227e+01] [ 4.27578969e-02 9.99085462e-01 -3.01573316e-05 1.37552323e-01] [ 1.26961353e-02 -5.13174466e-04 9.99919269e-01 1.66027247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.279254154 meters 0.02361168531577712 Centerline is valid? [True, True] Translation: X:45.51, Y:0.14, Z:0.17 [[ 9.99029847e-01 -4.18090253e-02 -1.38336672e-02 4.55093627e+01] [ 4.18125854e-02 9.99125471e-01 -3.19016811e-05 1.39688655e-01] [ 1.38229030e-02 -5.46550659e-04 9.99904310e-01 1.65457241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.339254154 meters 0.021791711875538106 Centerline is valid? [True, True] Translation: X:45.57, Y:0.15, Z:0.17 [[ 9.99170464e-01 -3.91182281e-02 -1.13202556e-02 4.55711696e+01] [ 3.91204466e-02 9.99234502e-01 -2.54694726e-05 1.45611606e-01] [ 1.13125863e-02 -4.17405109e-04 9.99935924e-01 1.69156606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.399254154 meters 0.02234459861050326 Centerline is valid? [True, True] Translation: X:45.63, Y:0.15, Z:0.17 [[ 9.99267791e-01 -3.69141615e-02 -1.00611895e-02 4.56320306e+01] [ 3.69158066e-02 9.99318379e-01 -2.22173278e-05 1.45657645e-01] [ 1.00551517e-02 -3.49215866e-04 9.99949385e-01 1.70709779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.459254154 meters 0.01985554677573911 Centerline is valid? [True, True] Translation: X:45.69, Y:0.15, Z:0.17 [[ 9.99351893e-01 -3.47911985e-02 -9.23940217e-03 4.56939479e+01] [ 3.47924998e-02 9.99394557e-01 -1.98992836e-05 1.51859333e-01] [ 9.23450057e-03 -3.01575512e-04 9.99957316e-01 1.72720645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.519254154 meters 0.019949733250099144 Centerline is valid? [True, True] Translation: X:45.76, Y:0.15, Z:0.17 [[ 9.99364234e-01 -3.44410060e-02 -9.21659738e-03 4.57564973e+01] [ 3.44422923e-02 9.99406688e-01 -1.91717771e-05 1.51722939e-01] [ 9.21178936e-03 -2.98281153e-04 9.99957526e-01 1.72695011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.579254154 meters 0.020366534413718638 Centerline is valid? [True, True] Translation: X:45.82, Y:0.15, Z:0.17 [[ 9.99351384e-01 -3.46870586e-02 -9.67566629e-03 4.58187972e+01] [ 3.46884948e-02 9.99398173e-01 -1.94021062e-05 1.50229829e-01] [ 9.67051621e-03 -3.16244778e-04 9.99953189e-01 1.72655297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.639254154 meters 0.02040607412833613 Centerline is valid? [True, True] Translation: X:45.88, Y:0.15, Z:0.17 [[ 9.99348154e-01 -3.44375478e-02 -1.08315031e-02 4.58816742e+01] [ 3.44393445e-02 9.99406790e-01 -2.06569704e-05 1.49089435e-01] [ 1.08257891e-02 -3.52386361e-04 9.99941337e-01 1.72155628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.699254154 meters 0.020327204135677852 Centerline is valid? [True, True] Translation: X:45.94, Y:0.15, Z:0.17 [[ 9.99380914e-01 -3.31041517e-02 -1.19123360e-02 4.59435601e+01] [ 3.31062429e-02 9.99451838e-01 -2.16512887e-05 1.48262933e-01] [ 1.19065229e-02 -3.72734805e-04 9.99929045e-01 1.71984850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.759254154 meters 0.018786836913212156 Centerline is valid? [True, True] Translation: X:46.00, Y:0.15, Z:0.17 [[ 9.99473580e-01 -2.98540313e-02 -1.27003496e-02 4.60047677e+01] [ 2.98561544e-02 9.99554205e-01 -2.24446348e-05 1.51207895e-01] [ 1.26953579e-02 -3.56750779e-04 9.99919347e-01 1.71973052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.819254154 meters 0.017878758587821827 Centerline is valid? [True, True] Translation: X:46.07, Y:0.15, Z:0.17 [[ 9.99603296e-01 -2.51910519e-02 -1.25961183e-02 4.60662249e+01] [ 2.51927760e-02 9.99682611e-01 -2.18051538e-05 1.53486664e-01] [ 1.25926697e-02 -2.95534682e-04 9.99920666e-01 1.72061518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.879254154 meters 0.016955598639309954 Centerline is valid? [True, True] Translation: X:46.13, Y:0.16, Z:0.17 [[ 9.99707962e-01 -2.06413130e-02 -1.25668916e-02 4.61279955e+01] [ 2.06426772e-02 9.99786917e-01 -2.11618265e-05 1.55993251e-01] [ 1.25646506e-02 -2.38258639e-04 9.99921033e-01 1.72605739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.939254154000004 meters 0.015711596336900873 Centerline is valid? [True, True] Translation: X:46.19, Y:0.16, Z:0.17 [[ 9.99838374e-01 -1.38113406e-02 -1.15096984e-02 4.61890607e+01] [ 1.38120377e-02 9.99904609e-01 -1.89170578e-05 1.60440649e-01] [ 1.15088618e-02 -1.40058389e-04 9.99933761e-01 1.73494941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.999254154 meters 0.015028094366339628 Centerline is valid? [True, True] Translation: X:46.25, Y:0.16, Z:0.17 [[ 9.99869344e-01 -1.06637396e-02 -1.21481933e-02 4.62498033e+01] [ 1.06642860e-02 9.99943135e-01 -1.98029851e-05 1.63310862e-01] [ 1.21477137e-02 -1.09751410e-04 9.99926208e-01 1.73439150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.059254154 meters 0.014983148380390157 Centerline is valid? [True, True] Translation: X:46.31, Y:0.16, Z:0.17 [[ 9.99820679e-01 -1.20715791e-02 -1.45906273e-02 4.63085836e+01] [ 1.20724785e-02 9.99927125e-01 -2.64415675e-05 1.62106109e-01] [ 1.45898832e-02 -1.49708208e-04 9.99893551e-01 1.71272094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.119254154000004 meters 0.015699758412504327 Centerline is valid? [True, True] Translation: X:46.37, Y:0.16, Z:0.17 [[ 9.99767483e-01 -1.43207763e-02 -1.61212681e-02 4.63660730e+01] [ 1.43221289e-02 9.99897433e-01 -3.15553469e-05 1.59161334e-01] [ 1.61200665e-02 -1.99342869e-04 9.99870043e-01 1.68837702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.179254154 meters 0.015940661736887695 Centerline is valid? [True, True] Translation: X:46.42, Y:0.16, Z:0.17 [[ 9.99721319e-01 -1.71658768e-02 -1.62054470e-02 4.64249111e+01] [ 1.71675623e-02 9.99852626e-01 -3.51081396e-05 1.58197065e-01] [ 1.62036614e-02 -2.43109664e-04 9.99868683e-01 1.70104529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.239254154 meters 0.016819017009452014 Centerline is valid? [True, True] Translation: X:46.48, Y:0.16, Z:0.17 [[ 9.99682902e-01 -2.12260547e-02 -1.35480382e-02 4.64839358e+01] [ 2.12275619e-02 9.99774669e-01 -3.25618413e-05 1.55155082e-01] [ 1.35456766e-02 -2.55040303e-04 9.99908221e-01 1.72531409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.299254154 meters 0.018338344469027212 Centerline is valid? [True, True] Translation: X:46.54, Y:0.15, Z:0.18 [[ 9.99613636e-01 -2.57987927e-02 -1.03441291e-02 4.65442955e+01] [ 2.57999083e-02 9.99667127e-01 -2.55953315e-05 1.51083138e-01] [ 1.03413462e-02 -2.41292141e-04 9.99946498e-01 1.75302873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.359254154 meters 0.01897189257406925 Centerline is valid? [True, True] Translation: X:46.61, Y:0.15, Z:0.18 [[ 9.99471566e-01 -3.15218322e-02 -7.93490143e-03 4.66058924e+01] [ 3.15226703e-02 9.99503037e-01 -1.94451071e-05 1.48748280e-01] [ 7.93157103e-03 -2.30694450e-04 9.99968518e-01 1.77203038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.419254154 meters 0.02078679765888156 Centerline is valid? [True, True] Translation: X:46.67, Y:0.14, Z:0.18 [[ 9.99310291e-01 -3.64309718e-02 -7.19205838e-03 4.66667283e+01] [ 3.64317888e-02 9.99336142e-01 -1.74273099e-05 1.44134057e-01] [ 7.18791876e-03 -2.44604262e-04 9.99974137e-01 1.77195434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.479254154 meters 0.02367277394166049 Centerline is valid? [True, True] Translation: X:46.73, Y:0.14, Z:0.17 [[ 9.98961187e-01 -4.47747101e-02 -8.47179699e-03 4.67270739e+01] [ 4.47761440e-02 9.98997045e-01 -2.04276318e-05 1.36433572e-01] [ 8.46421480e-03 -3.58927991e-04 9.99964113e-01 1.74656631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.539254154 meters 0.026457877335150523 Centerline is valid? [True, True] Translation: X:46.79, Y:0.13, Z:0.17 [[ 9.98684567e-01 -5.01575990e-02 -1.06466502e-02 4.67866741e+01] [ 5.01601706e-02 9.98741186e-01 -2.55169154e-05 1.30578041e-01] [ 1.06345279e-02 -5.08554439e-04 9.99943322e-01 1.72837368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.599254154 meters 0.028683333613300294 Centerline is valid? [True, True] Translation: X:46.85, Y:0.13, Z:0.17 [[ 9.98369486e-01 -5.55710198e-02 -1.30472764e-02 4.68473404e+01] [ 5.55753449e-02 9.98454496e-01 -3.11161981e-05 1.25572076e-01] [ 1.30288409e-02 -6.94041424e-04 9.99914880e-01 1.70736590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.659254154 meters 0.028334418775695352 Centerline is valid? [True, True] Translation: X:46.91, Y:0.13, Z:0.17 [[ 9.98441158e-01 -5.42101900e-02 -1.32856702e-02 4.69095809e+01] [ 5.42145632e-02 9.98529309e-01 -3.10307473e-05 1.25859063e-01] [ 1.32678133e-02 -6.89294434e-04 9.99911741e-01 1.70128688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.719254154 meters 0.02779767261564165 Centerline is valid? [True, True] Translation: X:46.97, Y:0.13, Z:0.17 [[ 9.98720231e-01 -4.90246005e-02 -1.24293427e-02 4.69689928e+01] [ 4.90280297e-02 9.98797403e-01 -2.88422540e-05 1.28665407e-01] [ 1.24158092e-02 -5.80580842e-04 9.99922752e-01 1.70447703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.779254154 meters 0.02082738087890831 Centerline is valid? [True, True] Translation: X:47.03, Y:0.15, Z:0.17 [[ 9.99288453e-01 -3.62989512e-02 -1.02456891e-02 4.70300207e+01] [ 3.63006131e-02 9.99340915e-01 -2.37854245e-05 1.45064185e-01] [ 1.02397997e-02 -3.48156297e-04 9.99947511e-01 1.73482744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.839254154 meters 0.016573200946715282 Centerline is valid? [True, True] Translation: X:47.09, Y:0.16, Z:0.18 [[ 9.99728149e-01 -2.21842173e-02 -7.17553422e-03 4.70910729e+01] [ 2.21846693e-02 9.99753890e-01 -1.66136961e-05 1.58798985e-01] [ 7.17413681e-03 -1.42577674e-04 9.99974255e-01 1.76857225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.899254154 meters 0.01489297038241226 Centerline is valid? [True, True] Translation: X:47.15, Y:0.17, Z:0.18 [[ 9.99924833e-01 -1.06966381e-02 -5.99252662e-03 4.71518510e+01] [ 1.06967474e-02 9.99942788e-01 -1.38107313e-05 1.67626705e-01] [ 5.99233150e-03 -5.02908503e-05 9.99982045e-01 1.77502781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.959254154 meters 0.014643396062767777 Centerline is valid? [True, True] Translation: X:47.21, Y:0.17, Z:0.18 [[ 9.99966607e-01 -5.17548807e-03 -6.32449170e-03 4.72133723e+01] [ 5.17550042e-03 9.99986607e-01 -1.44128014e-05 1.71975458e-01] [ 6.32448159e-03 -1.83200894e-05 9.99980000e-01 1.76902354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.019254154 meters 0.014738245047406139 Centerline is valid? [True, True] Translation: X:47.27, Y:0.18, Z:0.17 [[ 9.99970011e-01 6.71559248e-04 -7.71534274e-03 4.72734680e+01] [-6.71714309e-04 9.99999774e-01 -1.75064773e-05 1.75385410e-01] [ 7.71532925e-03 2.26884584e-05 9.99970236e-01 1.74236154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.079254154 meters 0.014569903459058774 Centerline is valid? [True, True] Translation: X:47.33, Y:0.18, Z:0.17 [[ 9.99955330e-01 3.54989787e-03 -8.75996785e-03 4.73325126e+01] [-3.55021947e-03 9.99993698e-01 -2.11628735e-05 1.76668407e-01] [ 8.75983752e-03 5.22617366e-05 9.99961631e-01 1.73863326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.139254154 meters 0.015194766602194407 Centerline is valid? [True, True] Translation: X:47.39, Y:0.18, Z:0.17 [[ 9.99938069e-01 6.67175991e-03 -8.90767732e-03 4.73898688e+01] [-6.67223204e-03 9.99977740e-01 -2.32852974e-05 1.78129456e-01] [ 8.90732369e-03 8.27179453e-05 9.99960326e-01 1.73661296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.199254154 meters 0.014826428205973626 Centerline is valid? [True, True] Translation: X:47.45, Y:0.18, Z:0.17 [[ 9.99948683e-01 6.10026860e-03 -8.08812128e-03 4.74484146e+01] [-6.10064583e-03 9.99981391e-01 -2.19687170e-05 1.75062539e-01] [ 8.08783675e-03 7.13103530e-05 9.99967290e-01 1.74614835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.259254154 meters 0.014447083161249855 Centerline is valid? [True, True] Translation: X:47.51, Y:0.17, Z:0.17 [[ 9.99962912e-01 1.49001919e-03 -8.48259775e-03 4.75076083e+01] [-1.49027365e-03 9.99998889e-01 -2.36775177e-05 1.69216019e-01] [ 8.48255305e-03 3.63180314e-05 9.99964022e-01 1.74252973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.319254154 meters 0.014278401788956816 Centerline is valid? [True, True] Translation: X:47.57, Y:0.16, Z:0.17 [[ 9.99945488e-01 -6.67866612e-03 -8.02596459e-03 4.75664536e+01] [ 6.67869685e-03 9.99977697e-01 -2.29739895e-05 1.59953595e-01] [ 8.02593902e-03 -3.06302473e-05 9.99967791e-01 1.74643439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.379254154 meters 0.015161818443062886 Centerline is valid? [True, True] Translation: X:47.63, Y:0.15, Z:0.18 [[ 9.99867054e-01 -1.43814308e-02 -7.68426037e-03 4.76254679e+01] [ 1.43816854e-02 9.99896578e-01 -2.21332333e-05 1.51863897e-01] [ 7.68378396e-03 -8.83823242e-05 9.99970475e-01 1.75034808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.439254154000004 meters 0.01583121661306799 Centerline is valid? [True, True] Translation: X:47.69, Y:0.15, Z:0.18 [[ 9.99790693e-01 -1.88606047e-02 -7.92760495e-03 4.76870079e+01] [ 1.88610193e-02 9.99822115e-01 -2.24701874e-05 1.47522774e-01] [ 7.92661855e-03 -1.27057226e-04 9.99968576e-01 1.75278985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.499254154 meters 0.018847352369378748 Centerline is valid? [True, True] Translation: X:47.75, Y:0.13, Z:0.17 [[ 9.99423757e-01 -3.27055435e-02 -9.08297609e-03 4.77478258e+01] [ 3.27066608e-02 9.99464994e-01 -2.55482829e-05 1.32996098e-01] [ 9.07895221e-03 -2.71540257e-04 9.99958749e-01 1.74089892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.559254154 meters 0.024105731731876433 Centerline is valid? [True, True] Translation: X:47.81, Y:0.12, Z:0.17 [[ 9.98973811e-01 -4.41570761e-02 -1.00735937e-02 4.78079651e+01] [ 4.41590324e-02 9.99024514e-01 -2.82502334e-05 1.17687378e-01] [ 1.00650145e-02 -4.16618905e-04 9.99949260e-01 1.73507257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.619254154000004 meters 0.02763965353048829 Centerline is valid? [True, True] Translation: X:47.87, Y:0.11, Z:0.17 [[ 9.98781776e-01 -4.83339425e-02 -9.93950410e-03 4.78677675e+01] [ 4.83360578e-02 9.98831129e-01 -2.74291536e-05 1.09466014e-01] [ 9.92921187e-03 -4.53040706e-04 9.99950602e-01 1.74018477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.679254154 meters 0.024445194227325644 Centerline is valid? [True, True] Translation: X:47.93, Y:0.11, Z:0.18 [[ 9.98763066e-01 -4.87462842e-02 -9.80494261e-03 4.79303295e+01] [ 4.87483694e-02 9.98811091e-01 -2.63519611e-05 1.11371461e-01] [ 9.79456999e-03 -4.51655599e-04 9.99951930e-01 1.75365210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.739254154 meters 0.025028705232998914 Centerline is valid? [True, True] Translation: X:47.99, Y:0.11, Z:0.18 [[ 9.98887233e-01 -4.60967819e-02 -9.96910975e-03 4.79909592e+01] [ 4.60988112e-02 9.98936884e-01 -2.62602801e-05 1.10106479e-01] [ 9.95972195e-03 -4.33333049e-04 9.99950307e-01 1.75510676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.799254154 meters 0.021654780407516505 Centerline is valid? [True, True] Translation: X:48.05, Y:0.12, Z:0.18 [[ 9.99169373e-01 -3.91233176e-02 -1.13987223e-02 4.80513462e+01] [ 3.91255199e-02 9.99234303e-01 -2.98115321e-05 1.16507262e-01] [ 1.13911607e-02 -4.16194167e-04 9.99935032e-01 1.75704200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.859254154 meters 0.019062401531586823 Centerline is valid? [True, True] Translation: X:48.11, Y:0.12, Z:0.18 [[ 9.99447403e-01 -3.05890691e-02 -1.30075716e-02 4.81116100e+01] [ 3.05912157e-02 9.99531979e-01 -3.39525156e-05 1.21527949e-01] [ 1.30025224e-02 -3.63983676e-04 9.99915397e-01 1.75481002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.919254154 meters 0.017520445276219845 Centerline is valid? [True, True] Translation: X:48.17, Y:0.13, Z:0.18 [[ 9.99613330e-01 -2.47071916e-02 -1.27571608e-02 4.81731928e+01] [ 2.47087843e-02 9.99694691e-01 -3.27801113e-05 1.25408697e-01] [ 1.27540758e-02 -2.82446497e-04 9.99918624e-01 1.75881526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.979254154 meters 0.014524097006975328 Centerline is valid? [True, True] Translation: X:48.23, Y:0.14, Z:0.18 [[ 9.99880056e-01 -1.04726485e-02 -1.14103797e-02 4.82336226e+01] [ 1.04729984e-02 9.99945156e-01 -2.90854979e-05 1.35566753e-01] [ 1.14100585e-02 -9.04188790e-05 9.99934899e-01 1.78550188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.039254154 meters 0.014268190533845246 Centerline is valid? [True, True] Translation: X:48.29, Y:0.14, Z:0.18 [[ 9.99936330e-01 -2.34719312e-03 -1.10375411e-02 4.82919224e+01] [ 2.34700647e-03 9.99997245e-01 -2.98636066e-05 1.41190359e-01] [ 1.10375808e-02 3.95652485e-06 9.99939084e-01 1.79689782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.099254154 meters 0.014557661368734091 Centerline is valid? [True, True] Translation: X:48.35, Y:0.15, Z:0.18 [[ 9.99931625e-01 5.31457358e-03 -1.04163409e-02 4.83492106e+01] [-5.31517364e-03 9.99985874e-01 -2.99242148e-05 1.45951959e-01] [ 1.04160347e-02 8.52868291e-05 9.99945748e-01 1.80258732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.159254154 meters 0.01576680283376593 Centerline is valid? [True, True] Translation: X:48.41, Y:0.15, Z:0.18 [[ 9.99851728e-01 1.39141161e-02 -1.01449607e-02 4.84089347e+01] [-1.39151346e-02 9.99903179e-01 -2.98211648e-05 1.48511116e-01] [ 1.01435635e-02 1.70985237e-04 9.99948538e-01 1.80809500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.219254154 meters 0.016407338111084035 Centerline is valid? [True, True] Translation: X:48.47, Y:0.15, Z:0.18 [[ 9.99779093e-01 1.83200212e-02 -1.03025707e-02 4.84677089e+01] [-1.83213227e-02 9.99832150e-01 -3.19551765e-05 1.47346400e-01] [ 1.03002560e-02 2.20704841e-04 9.99946927e-01 1.80883313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.279254154 meters 0.01657675140968916 Centerline is valid? [True, True] Translation: X:48.53, Y:0.15, Z:0.18 [[ 9.99764814e-01 1.90211831e-02 -1.04168387e-02 4.85264592e+01] [-1.90225681e-02 9.99819054e-01 -3.38885274e-05 1.45811070e-01] [ 1.04143092e-02 2.32035581e-04 9.99945743e-01 1.81307873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.339254154 meters 0.01670319741875702 Centerline is valid? [True, True] Translation: X:48.58, Y:0.14, Z:0.18 [[ 9.99817167e-01 1.62106518e-02 -1.01413722e-02 4.85838788e+01] [-1.62118306e-02 9.99868579e-01 -3.40338924e-05 1.38064920e-01] [ 1.01394877e-02 1.98437879e-04 9.99948574e-01 1.81179802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.399254154 meters 0.015522952860335637 Centerline is valid? [True, True] Translation: X:48.64, Y:0.13, Z:0.18 [[ 9.99873551e-01 1.24180533e-02 -9.93347650e-03 4.86427137e+01] [-1.24190066e-02 9.99922881e-01 -3.42884106e-05 1.30461518e-01] [ 9.93228464e-03 1.57647985e-04 9.99950661e-01 1.81922049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.459254154 meters 0.014838456643820351 Centerline is valid? [True, True] Translation: X:48.70, Y:0.12, Z:0.18 [[ 9.99945849e-01 5.00527998e-03 -9.12392090e-03 4.87008151e+01] [-5.00578227e-03 9.99987470e-01 -3.22165871e-05 1.19338922e-01] [ 9.12364533e-03 7.78872040e-05 9.99958376e-01 1.82202708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.519254154 meters 0.014459186242428207 Centerline is valid? [True, True] Translation: X:48.76, Y:0.11, Z:0.18 [[ 9.99955866e-01 6.17142031e-06 -9.39495144e-03 4.87600599e+01] [-6.49067748e-06 9.99999999e-01 -3.39512909e-05 1.10663346e-01] [ 9.39495122e-03 3.40107721e-05 9.99955866e-01 1.82604036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.579254154 meters 0.014478040257056693 Centerline is valid? [True, True] Translation: X:48.82, Y:0.10, Z:0.18 [[ 9.99929779e-01 -6.44234805e-03 -9.94647360e-03 4.88191052e+01] [ 6.44230173e-03 9.99979247e-01 -3.66966082e-05 9.77223168e-02] [ 9.94650360e-03 -2.73841527e-05 9.99950532e-01 1.82120879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.639254154 meters 0.014683111813561708 Centerline is valid? [True, True] Translation: X:48.88, Y:0.09, Z:0.18 [[ 9.99896639e-01 -1.01048023e-02 -1.02276084e-02 4.88771869e+01] [ 1.01049361e-02 9.99948943e-01 -3.85956577e-05 8.57701142e-02] [ 1.02274762e-02 -6.47576605e-05 9.99947696e-01 1.81983193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.699254154 meters 0.014479297117928312 Centerline is valid? [True, True] Translation: X:48.94, Y:0.08, Z:0.18 [[ 9.99874753e-01 -1.11085175e-02 -1.12729735e-02 4.89358570e+01] [ 1.11087195e-02 9.99938295e-01 -4.46972922e-05 8.04420118e-02] [ 1.12727744e-02 -8.05366061e-05 9.99936457e-01 1.82378331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.759254154 meters 0.01459017001204214 Centerline is valid? [True, True] Translation: X:48.99, Y:0.08, Z:0.18 [[ 9.99868187e-01 -8.48247864e-03 -1.38440051e-02 4.89942879e+01] [ 8.48248064e-03 9.99964021e-01 -5.85747379e-05 7.56594147e-02] [ 1.38440038e-02 -5.88644881e-05 9.99904165e-01 1.80841670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.819254154 meters 0.014371751254236727 Centerline is valid? [True, True] Translation: X:49.05, Y:0.07, Z:0.18 [[ 9.99890280e-01 -4.59893214e-03 -1.40811337e-02 4.90524755e+01] [ 4.59849513e-03 9.99989425e-01 -6.34127867e-05 7.43724004e-02] [ 1.40812765e-02 -1.34619589e-06 9.99900854e-01 1.81223771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.879254154 meters 0.015066258370057468 Centerline is valid? [True, True] Translation: X:49.11, Y:0.07, Z:0.18 [[ 9.99892547e-01 2.96413757e-03 -1.43565026e-02 4.91101590e+01] [-2.96540188e-03 9.99995601e-01 -6.67784575e-05 7.49743579e-02] [ 1.43562415e-02 1.09344082e-04 9.99896938e-01 1.82256971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.939254154000004 meters 0.01655555337973545 Centerline is valid? [True, True] Translation: X:49.17, Y:0.08, Z:0.18 [[ 9.99838755e-01 9.67674436e-03 -1.51269308e-02 4.91691344e+01] [-9.67893039e-03 9.99953156e-01 -7.13070528e-05 7.51784209e-02] [ 1.51255321e-02 2.17708065e-04 9.99885579e-01 1.82117155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.999254154 meters 0.016915735382504755 Centerline is valid? [True, True] Translation: X:49.23, Y:0.07, Z:0.18 [[ 9.99816056e-01 1.19165423e-02 -1.50282912e-02 4.92278325e+01] [-1.19189671e-02 9.99928964e-01 -7.17902151e-05 7.03879506e-02] [ 1.50263682e-02 2.50898718e-04 9.99887066e-01 1.82905651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.059254154 meters 0.016585699007195105 Centerline is valid? [True, True] Translation: X:49.29, Y:0.06, Z:0.18 [[ 9.99853305e-01 8.17758100e-03 -1.50497930e-02 4.92856511e+01] [-8.17960730e-03 9.99966544e-01 -7.30898727e-05 6.28779704e-02] [ 1.50486918e-02 1.96180548e-04 9.99886743e-01 1.82410595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.119254154000004 meters 0.014750506725471364 Centerline is valid? [True, True] Translation: X:49.34, Y:0.05, Z:0.19 [[ 9.99891693e-01 2.98236207e-03 -1.44120457e-02 4.93446373e+01] [-2.98369619e-03 9.99995546e-01 -7.10683707e-05 5.34742513e-02] [ 1.44117696e-02 1.14061839e-04 9.99896139e-01 1.85564818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.179254154 meters 0.01432118161548915 Centerline is valid? [True, True] Translation: X:49.40, Y:0.04, Z:0.19 [[ 9.99887895e-01 -4.83203653e-03 -1.41721485e-02 4.94039155e+01] [ 4.83151004e-03 9.99988326e-01 -7.13881751e-05 4.26935534e-02] [ 1.41723280e-02 2.90729432e-06 9.99899568e-01 1.86151736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.239254154 meters 0.01445912987031449 Centerline is valid? [True, True] Translation: X:49.46, Y:0.04, Z:0.19 [[ 9.99860541e-01 -8.85176131e-03 -1.41614172e-02 4.94630704e+01] [ 8.85162120e-03 9.99960821e-01 -7.25739491e-05 3.64798861e-02] [ 1.41615048e-02 -5.27876726e-05 9.99899719e-01 1.86531981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.299254154 meters 0.01459956754960242 Centerline is valid? [True, True] Translation: X:49.52, Y:0.03, Z:0.19 [[ 9.99833401e-01 -1.39560052e-02 -1.17643257e-02 4.95222190e+01] [ 1.39562524e-02 9.99902605e-01 -6.10816116e-05 2.82190374e-02] [ 1.17640324e-02 -1.03114464e-04 9.99930796e-01 1.88263591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.359254154 meters 0.01545938604455101 Centerline is valid? [True, True] Translation: X:49.58, Y:0.02, Z:0.19 [[ 9.99819361e-01 -1.49070962e-02 -1.17908119e-02 4.95804696e+01] [ 1.49073993e-02 9.99888877e-01 -6.21884606e-05 2.49197230e-02] [ 1.17904287e-02 -1.13593114e-04 9.99930484e-01 1.86700396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.419254154 meters 0.015349411678124744 Centerline is valid? [True, True] Translation: X:49.64, Y:0.02, Z:0.19 [[ 9.99753569e-01 -1.89445417e-02 -1.15717480e-02 4.96392594e+01] [ 1.89450791e-02 9.99820524e-01 -6.31841685e-05 2.25160327e-02] [ 1.15708682e-02 -1.56059084e-04 9.99933043e-01 1.88029825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.479254154 meters 0.016335487279328337 Centerline is valid? [True, True] Translation: X:49.70, Y:0.02, Z:0.19 [[ 9.99636469e-01 -2.43486575e-02 -1.15790107e-02 4.96985940e+01] [ 2.43495409e-02 9.99703504e-01 -6.46946914e-05 1.83754507e-02] [ 1.15771528e-02 -2.17272423e-04 9.99932959e-01 1.87923339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.539254154 meters 0.017903486229372507 Centerline is valid? [True, True] Translation: X:49.76, Y:0.01, Z:0.19 [[ 9.99389452e-01 -3.30518007e-02 -1.13270181e-02 4.97592585e+01] [ 3.30532020e-02 9.99453592e-01 -6.35170663e-05 1.46973761e-02] [ 1.13229283e-02 -3.10915931e-04 9.99935845e-01 1.88481437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.599254154 meters 0.019490222246002307 Centerline is valid? [True, True] Translation: X:49.82, Y:0.01, Z:0.19 [[ 9.99251249e-01 -3.69085145e-02 -1.16061957e-02 4.98203757e+01] [ 3.69102487e-02 9.99318583e-01 -6.48207345e-05 1.18393214e-02] [ 1.16006794e-02 -3.63615368e-04 9.99932644e-01 1.87595940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.659254154 meters 0.020253558469303327 Centerline is valid? [True, True] Translation: X:49.88, Y:0.01, Z:0.19 [[ 9.99192947e-01 -3.85513654e-02 -1.12804127e-02 4.98816294e+01] [ 3.85531127e-02 9.99256550e-01 -6.25964584e-05 1.11094097e-02] [ 1.12744395e-02 -3.72349082e-04 9.99936372e-01 1.87479575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.719254154 meters 0.022495179002744645 Centerline is valid? [True, True] Translation: X:49.94, Y:0.01, Z:0.19 [[ 9.99085986e-01 -4.13168821e-02 -1.09594076e-02 4.99417519e+01] [ 4.13187005e-02 9.99146016e-01 -6.05432093e-05 1.06179947e-02] [ 1.09525499e-02 -3.92340607e-04 9.99939942e-01 1.87836550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.779254154 meters 0.02256988580744668 Centerline is valid? [True, True] Translation: X:50.00, Y:0.01, Z:0.19 [[ 9.99092902e-01 -4.12463952e-02 -1.05880635e-02 5.00040373e+01] [ 4.12480940e-02 9.99148934e-01 -5.79799568e-05 1.29639297e-02] [ 1.05814438e-02 -3.78810073e-04 9.99943943e-01 1.88637922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.839254154 meters 0.02037183026293782 Centerline is valid? [True, True] Translation: X:50.07, Y:0.02, Z:0.19 [[ 9.99185503e-01 -3.90688685e-02 -1.00972063e-02 5.00656816e+01] [ 3.90703084e-02 9.99236463e-01 -5.46831590e-05 2.19657471e-02] [ 1.00916331e-02 -3.39862344e-04 9.99949020e-01 1.89951154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.899254154 meters 0.0197283401576835 Centerline is valid? [True, True] Translation: X:50.13, Y:0.03, Z:0.19 [[ 9.99301111e-01 -3.61787103e-02 -9.40157838e-03 5.01274974e+01] [ 3.61798356e-02 9.99345294e-01 -5.04166716e-05 2.86330144e-02] [ 9.39724712e-03 -2.89766124e-04 9.99955803e-01 1.90777799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.959254154 meters 0.01895603032239875 Centerline is valid? [True, True] Translation: X:50.19, Y:0.04, Z:0.19 [[ 9.99428834e-01 -3.23992266e-02 -9.60703831e-03 5.01888114e+01] [ 3.24002312e-02 9.99474973e-01 -5.10839658e-05 3.51190010e-02] [ 9.60364944e-03 -2.60215474e-04 9.99953850e-01 1.90731297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.019254154 meters 0.017437898264534513 Centerline is valid? [True, True] Translation: X:50.25, Y:0.04, Z:0.19 [[ 9.99567798e-01 -2.72394323e-02 -1.10558143e-02 5.02503163e+01] [ 2.72404522e-02 9.99628908e-01 -5.83620209e-05 4.38102270e-02] [ 1.10533013e-02 -2.42828584e-04 9.99938881e-01 1.90458493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.079254154 meters 0.016403473851730133 Centerline is valid? [True, True] Translation: X:50.31, Y:0.05, Z:0.19 [[ 9.99679678e-01 -2.23289077e-02 -1.19147440e-02 5.03106552e+01] [ 2.23297456e-02 9.99750658e-01 -6.27232817e-05 5.01930350e-02] [ 1.19131737e-02 -2.03350012e-04 9.99929015e-01 1.90313099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.139254154 meters 0.01570930235785432 Centerline is valid? [True, True] Translation: X:50.37, Y:0.06, Z:0.19 [[ 9.99789714e-01 -1.64328324e-02 -1.22674560e-02 5.03713505e+01] [ 1.64332768e-02 9.99864963e-01 -6.45800785e-05 5.70156922e-02] [ 1.22668607e-02 -1.37028003e-04 9.99924750e-01 1.91016551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.199254154 meters 0.01492947467214057 Centerline is valid? [True, True] Translation: X:50.43, Y:0.07, Z:0.19 [[ 9.99880691e-01 -9.71397666e-03 -1.20101043e-02 5.04305337e+01] [ 9.71389655e-03 9.99952817e-01 -6.50059569e-05 6.50485871e-02] [ 1.20101690e-02 -5.16667091e-05 9.99927874e-01 1.92267808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.259254154 meters 0.014970961639960418 Centerline is valid? [True, True] Translation: X:50.49, Y:0.07, Z:0.19 [[ 9.99895169e-01 -8.35269132e-03 -1.18272738e-02 5.04887645e+01] [ 8.35248088e-03 9.99965115e-01 -6.71893134e-05 6.76384150e-02] [ 1.18274224e-02 -3.16048080e-05 9.99930053e-01 1.92256685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.319254154 meters 0.015060382063534545 Centerline is valid? [True, True] Translation: X:50.55, Y:0.07, Z:0.19 [[ 9.99881463e-01 -1.05326698e-02 -1.12304380e-02 5.05467919e+01] [ 1.05325817e-02 9.99944529e-01 -6.69924622e-05 6.77644920e-02] [ 1.12305206e-02 -5.13009842e-05 9.99936934e-01 1.92756495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.379254154 meters 0.01571564874898332 Centerline is valid? [True, True] Translation: X:50.61, Y:0.06, Z:0.19 [[ 9.99778666e-01 -1.75580329e-02 -1.15902575e-02 5.06053450e+01] [ 1.75583898e-02 9.99845837e-01 -7.09714246e-05 6.40744555e-02] [ 1.15897168e-02 -1.32550543e-04 9.99932828e-01 1.92863191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.439254154 meters 0.017397351452841832 Centerline is valid? [True, True] Translation: X:50.67, Y:0.06, Z:0.19 [[ 9.99560794e-01 -2.69693698e-02 -1.22830153e-02 5.06654378e+01] [ 2.69704750e-02 9.99636228e-01 -7.56905104e-05 5.71759693e-02] [ 1.22805884e-02 -2.55621490e-04 9.99924558e-01 1.92280782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.499254154 meters 0.01970518449990079 Centerline is valid? [True, True] Translation: X:50.73, Y:0.05, Z:0.19 [[ 9.99357213e-01 -3.41069371e-02 -1.10398422e-02 5.07260558e+01] [ 3.41082655e-02 9.99418142e-01 -6.79829439e-05 5.20076331e-02] [ 1.10357372e-02 -3.08610623e-04 9.99939057e-01 1.93472525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.559254154 meters 0.021233053362413806 Centerline is valid? [True, True] Translation: X:50.79, Y:0.05, Z:0.19 [[ 9.99274892e-01 -3.65895283e-02 -1.05307192e-02 5.07861769e+01] [ 3.65908766e-02 9.99330328e-01 -6.46654659e-05 4.92470528e-02] [ 1.05260332e-02 -3.20709671e-04 9.99944548e-01 1.93751061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.619254154000004 meters 0.020750486521539317 Centerline is valid? [True, True] Translation: X:50.85, Y:0.05, Z:0.19 [[ 9.99246905e-01 -3.74396861e-02 -1.01927326e-02 5.08479724e+01] [ 3.74409985e-02 9.99298838e-01 -6.20996270e-05 5.01400627e-02] [ 1.01879108e-02 -3.19573224e-04 9.99948051e-01 1.94151921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.679254154 meters 0.0191974678185933 Centerline is valid? [True, True] Translation: X:50.91, Y:0.05, Z:0.19 [[ 9.99330309e-01 -3.53637895e-02 -9.39868802e-03 5.09097603e+01] [ 3.53648190e-02 9.99374468e-01 -5.66928518e-05 5.36914718e-02] [ 9.39481371e-03 -2.75728015e-04 9.99955830e-01 1.94978596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.739254154 meters 0.018487515632785466 Centerline is valid? [True, True] Translation: X:50.97, Y:0.06, Z:0.20 [[ 9.99424712e-01 -3.25580455e-02 -9.49833291e-03 5.09716980e+01] [ 3.25589753e-02 9.99469814e-01 -5.67645285e-05 5.71932297e-02] [ 9.49514517e-03 -2.52524114e-04 9.99954888e-01 1.95634315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.799254154 meters 0.017579101428355625 Centerline is valid? [True, True] Translation: X:51.03, Y:0.06, Z:0.20 [[ 9.99559484e-01 -2.78804472e-02 -1.01744522e-02 5.10327468e+01] [ 2.78812767e-02 9.99611240e-01 -6.03338617e-05 6.16696523e-02] [ 1.01721789e-02 -2.23369432e-04 9.99948237e-01 1.95590146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.859254154 meters 0.017218626517740865 Centerline is valid? [True, True] Translation: X:51.09, Y:0.06, Z:0.20 [[ 9.99604267e-01 -2.58377084e-02 -1.11230170e-02 5.10945523e+01] [ 2.58385794e-02 9.99666126e-01 -6.54223141e-05 6.44945811e-02] [ 1.11209937e-02 -2.22006533e-04 9.99938135e-01 1.95016743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.919254154 meters 0.01746022508478167 Centerline is valid? [True, True] Translation: X:51.16, Y:0.07, Z:0.19 [[ 9.99565514e-01 -2.63988149e-02 -1.31105347e-02 5.11558585e+01] [ 2.64000809e-02 9.99651454e-01 -7.65251829e-05 6.58934406e-02] [ 1.31079852e-02 -2.69627242e-04 9.99914050e-01 1.93580570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.979254154 meters 0.01812900801097773 Centerline is valid? [True, True] Translation: X:51.22, Y:0.07, Z:0.19 [[ 9.99502425e-01 -2.80437493e-02 -1.44378073e-02 5.12162895e+01] [ 2.80454587e-02 9.99606645e-01 -8.41007492e-05 6.62328567e-02] [ 1.44344866e-02 -3.20856025e-04 9.99895766e-01 1.92793104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.039254154 meters 0.019428238276785578 Centerline is valid? [True, True] Translation: X:51.28, Y:0.07, Z:0.19 [[ 9.99388071e-01 -3.13760678e-02 -1.54604423e-02 5.12770615e+01] [ 3.13784264e-02 9.99507572e-01 -9.00576348e-05 6.52438835e-02] [ 1.54556548e-02 -3.95121823e-04 9.99880476e-01 1.92324336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.099254154 meters 0.021090899140006752 Centerline is valid? [True, True] Translation: X:51.34, Y:0.06, Z:0.19 [[ 9.99299629e-01 -3.45884435e-02 -1.42790320e-02 5.13373195e+01] [ 3.45907853e-02 9.99401556e-01 -8.30077076e-05 6.38509956e-02] [ 1.42733579e-02 -4.10973358e-04 9.99898046e-01 1.94359866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.159254154 meters 0.020573547404553524 Centerline is valid? [True, True] Translation: X:51.40, Y:0.07, Z:0.20 [[ 9.99123690e-01 -4.01031601e-02 -1.19828706e-02 5.13982033e+01] [ 4.01052078e-02 9.99195460e-01 -6.94584728e-05 6.67711629e-02] [ 1.19760154e-02 -4.11177911e-04 9.99928200e-01 1.98549147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.219254154 meters 0.022340434892026924 Centerline is valid? [True, True] Translation: X:51.46, Y:0.06, Z:0.20 [[ 9.99015494e-01 -4.31216372e-02 -1.04195330e-02 5.14587937e+01] [ 4.31233523e-02 9.99069754e-01 -6.01093542e-05 6.48729698e-02] [ 1.04124323e-02 -3.89275016e-04 9.99945713e-01 1.99411457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.279254154 meters 0.022848929198558292 Centerline is valid? [True, True] Translation: X:51.52, Y:0.07, Z:0.20 [[ 9.98875729e-01 -4.62799273e-02 -1.02687365e-02 5.15198182e+01] [ 4.62817645e-02 9.98928423e-01 -5.87742841e-05 6.57103493e-02] [ 1.02604528e-02 -4.16547037e-04 9.99947273e-01 1.99873058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.339254154 meters 0.026077978302836032 Centerline is valid? [True, True] Translation: X:51.58, Y:0.06, Z:0.20 [[ 9.98659204e-01 -5.06427041e-02 -1.07290078e-02 5.15802559e+01] [ 5.06449663e-02 9.98716718e-01 -6.09081892e-05 6.48426859e-02] [ 1.07183241e-02 -4.82543717e-04 9.99942441e-01 2.00084463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.399254154 meters 0.0256488704982041 Centerline is valid? [True, True] Translation: X:51.64, Y:0.07, Z:0.20 [[ 9.98554152e-01 -5.24736065e-02 -1.16673365e-02 5.16423598e+01] [ 5.24764149e-02 9.98622162e-01 -6.55122710e-05 6.94625392e-02] [ 1.16546985e-02 -5.46842443e-04 9.99931932e-01 1.99328222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.459254154 meters 0.024422086650158978 Centerline is valid? [True, True] Translation: X:51.70, Y:0.08, Z:0.20 [[ 9.98660088e-01 -5.05314801e-02 -1.11623370e-02 5.17040813e+01] [ 5.05339383e-02 9.98722342e-01 -6.18973288e-05 7.62337626e-02] [ 1.11512031e-02 -5.02262456e-04 9.99937697e-01 1.99920781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.519254154 meters 0.023170436388236636 Centerline is valid? [True, True] Translation: X:51.77, Y:0.08, Z:0.20 [[ 9.98818311e-01 -4.70643112e-02 -1.21215252e-02 5.17655849e+01] [ 4.70669626e-02 9.98891734e-01 -6.65978059e-05 8.25552642e-02] [ 1.21112257e-02 -5.04004263e-04 9.99926529e-01 1.99399509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.579254154 meters 0.02152884447684512 Centerline is valid? [True, True] Translation: X:51.82, Y:0.09, Z:0.20 [[ 9.99137473e-01 -3.92176126e-02 -1.36487768e-02 5.18246026e+01] [ 3.92202436e-02 9.99230587e-01 -7.49539210e-05 9.21756562e-02] [ 1.36412148e-02 -4.60419080e-04 9.99906848e-01 1.97333662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.639254154 meters 0.017624054309888497 Centerline is valid? [True, True] Translation: X:51.89, Y:0.11, Z:0.20 [[ 9.99471914e-01 -3.01573519e-02 -1.21007432e-02 5.18855857e+01] [ 3.01587557e-02 9.99545119e-01 -6.64886978e-05 1.05531853e-01] [ 1.20972440e-02 -2.98489773e-04 9.99926781e-01 1.99192926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.699254154 meters 0.016336510458746796 Centerline is valid? [True, True] Translation: X:51.95, Y:0.11, Z:0.20 [[ 9.99674876e-01 -2.37603550e-02 -9.25140605e-03 5.19469559e+01] [ 2.37609033e-02 9.99717669e-01 -5.06617361e-05 1.14664879e-01] [ 9.24999783e-03 -1.69176500e-04 9.99957204e-01 2.01539337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.759254154 meters 0.015656321376030773 Centerline is valid? [True, True] Translation: X:52.01, Y:0.12, Z:0.20 [[ 9.99762738e-01 -2.05007308e-02 -7.36127194e-03 5.20083493e+01] [ 2.05009912e-02 9.99789832e-01 -4.00908548e-05 1.20866094e-01] [ 7.36054673e-03 -1.10832028e-04 9.99972905e-01 2.02115019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.819254154 meters 0.014987418200556485 Centerline is valid? [True, True] Translation: X:52.07, Y:0.13, Z:0.20 [[ 9.99798463e-01 -1.87649370e-02 -7.13513068e-03 5.20701826e+01] [ 1.87651400e-02 9.99823919e-01 -3.85052902e-05 1.25314135e-01] [ 7.13459686e-03 -9.53941961e-05 9.99974544e-01 2.01516926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.879254154 meters 0.014794314905547052 Centerline is valid? [True, True] Translation: X:52.13, Y:0.13, Z:0.20 [[ 9.99840896e-01 -1.61883747e-02 -7.49126918e-03 5.21316571e+01] [ 1.61885300e-02 9.99868956e-01 -3.99156911e-05 1.30761869e-01] [ 7.49093367e-03 -8.13632955e-05 9.99971939e-01 2.00400509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.939254154 meters 0.014569373065909883 Centerline is valid? [True, True] Translation: X:52.19, Y:0.14, Z:0.20 [[ 9.99846830e-01 -1.53739589e-02 -8.36404210e-03 5.21936991e+01] [ 1.53741286e-02 9.99881810e-01 -4.40121032e-05 1.35061509e-01] [ 8.36373020e-03 -8.45844968e-05 9.99965020e-01 1.99293435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.999254154 meters 0.014865087893825301 Centerline is valid? [True, True] Translation: X:52.25, Y:0.14, Z:0.20 [[ 9.99832302e-01 -1.64305859e-02 -8.08726720e-03 5.22546411e+01] [ 1.64307826e-02 9.99865005e-01 -4.21182282e-05 1.37719587e-01] [ 8.08686749e-03 -9.07689642e-05 9.99967297e-01 1.98565513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.059254154 meters 0.015263306437242025 Centerline is valid? [True, True] Translation: X:52.32, Y:0.14, Z:0.20 [[ 9.99822277e-01 -1.74546647e-02 -7.12385600e-03 5.23157362e+01] [ 1.74548454e-02 9.99847652e-01 -3.68186227e-05 1.37964722e-01] [ 7.12341335e-03 -8.75337256e-05 9.99974624e-01 1.98669521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.119254154000004 meters 0.015750872815257288 Centerline is valid? [True, True] Translation: X:52.38, Y:0.14, Z:0.20 [[ 9.99777885e-01 -2.02894900e-02 -5.70235270e-03 5.23778931e+01] [ 2.02896535e-02 9.99794143e-01 -2.91927062e-05 1.40128074e-01] [ 5.70177114e-03 -8.65125381e-05 9.99983741e-01 1.99759540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.179254154 meters 0.016939892978931243 Centerline is valid? [True, True] Translation: X:52.44, Y:0.14, Z:0.20 [[ 9.99677925e-01 -2.46771904e-02 -5.92297859e-03 5.24403820e+01] [ 2.46774462e-02 9.99695465e-01 -2.98885117e-05 1.38845466e-01] [ 5.92191240e-03 -1.16285100e-04 9.99982459e-01 1.99400885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.239254154 meters 0.01738672568092507 Centerline is valid? [True, True] Translation: X:52.50, Y:0.14, Z:0.20 [[ 9.99618645e-01 -2.69698034e-02 -5.93250612e-03 5.25028031e+01] [ 2.69701030e-02 9.99636240e-01 -2.95135395e-05 1.38391550e-01] [ 5.93114409e-03 -1.30498017e-04 9.99982402e-01 1.99227070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.299254154 meters 0.02097046430909618 Centerline is valid? [True, True] Translation: X:52.56, Y:0.13, Z:0.20 [[ 9.99335899e-01 -3.58841103e-02 -6.33184522e-03 5.25620012e+01] [ 3.58846323e-02 9.99355939e-01 -3.11866583e-05 1.32428403e-01] [ 6.32888623e-03 -1.96049990e-04 9.99979953e-01 1.98386225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.359254154 meters 0.022593795592162166 Centerline is valid? [True, True] Translation: X:52.62, Y:0.13, Z:0.20 [[ 9.98954371e-01 -4.52045701e-02 -6.83462827e-03 5.26228428e+01] [ 4.52053957e-02 9.98977713e-01 -3.37162917e-05 1.31781508e-01] [ 6.82916544e-03 -2.75281038e-04 9.99976643e-01 1.97909371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.419254154 meters 0.02477056141258872 Centerline is valid? [True, True] Translation: X:52.68, Y:0.13, Z:0.20 [[ 9.98759903e-01 -4.92956500e-02 -6.97107936e-03 5.26840590e+01] [ 4.92966087e-02 9.98784182e-01 -3.43286915e-05 1.30350402e-01] [ 6.96429605e-03 -3.09364451e-04 9.99975701e-01 1.98203707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.479254154 meters 0.025774284235284453 Centerline is valid? [True, True] Translation: X:52.75, Y:0.13, Z:0.20 [[ 9.98693581e-01 -5.06959071e-02 -6.40753004e-03 5.27460941e+01] [ 5.06967472e-02 9.98714093e-01 -3.13365750e-05 1.32855051e-01] [ 6.40087918e-03 -2.93545294e-04 9.99979471e-01 1.99953307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.539254154 meters 0.02537341150037805 Centerline is valid? [True, True] Translation: X:52.81, Y:0.14, Z:0.20 [[ 9.98780902e-01 -4.90890604e-02 -5.19363437e-03 5.28083640e+01] [ 4.90895923e-02 9.98794379e-01 -2.50871706e-05 1.38433625e-01] [ 5.18860432e-03 -2.29896807e-04 9.99986513e-01 2.01689698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.599254154 meters 0.02562858051469342 Centerline is valid? [True, True] Translation: X:52.87, Y:0.14, Z:0.20 [[ 9.98822829e-01 -4.80730058e-02 -6.47626823e-03 5.28703106e+01] [ 4.80738151e-02 9.98843785e-01 -3.07433745e-05 1.42385633e-01] [ 6.47025820e-03 -2.80631737e-04 9.99979028e-01 2.00355305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.659254154 meters 0.02304279603284398 Centerline is valid? [True, True] Translation: X:52.93, Y:0.15, Z:0.20 [[ 9.98789077e-01 -4.86084901e-02 -7.58908579e-03 5.29322912e+01] [ 4.86096214e-02 9.98817853e-01 -3.54240164e-05 1.49306385e-01] [ 7.58183628e-03 -3.33521467e-04 9.99971202e-01 1.99890081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.719254154 meters 0.024982314080189486 Centerline is valid? [True, True] Translation: X:52.99, Y:0.15, Z:0.20 [[ 9.98744508e-01 -4.93411657e-02 -8.65205360e-03 5.29934041e+01] [ 4.93426688e-02 9.98781908e-01 -3.97765635e-05 1.53315641e-01] [ 8.64347722e-03 -3.87188791e-04 9.99962569e-01 2.00189404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.779254154 meters 0.025423491506736146 Centerline is valid? [True, True] Translation: X:53.06, Y:0.16, Z:0.20 [[ 9.98756593e-01 -4.92302128e-02 -7.85203446e-03 5.30569431e+01] [ 4.92314525e-02 9.98787396e-01 -3.54437627e-05 1.56516755e-01] [ 7.84425796e-03 -3.51167370e-04 9.99969172e-01 2.01229043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.839254154 meters 0.022218320319502816 Centerline is valid? [True, True] Translation: X:53.12, Y:0.17, Z:0.20 [[ 9.98989409e-01 -4.43217661e-02 -7.46602602e-03 5.31174801e+01] [ 4.43227544e-02 9.99017263e-01 -3.31180627e-05 1.65442831e-01] [ 7.46015674e-03 -2.97830244e-04 9.99972128e-01 2.01858245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.899254154 meters 0.022046939557339926 Centerline is valid? [True, True] Translation: X:53.18, Y:0.17, Z:0.20 [[ 9.99151819e-01 -4.06520222e-02 -6.56161798e-03 5.31778856e+01] [ 4.06527086e-02 9.99173337e-01 -2.88005021e-05 1.68823648e-01] [ 6.55736453e-03 -2.37971469e-04 9.99978472e-01 2.02747340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.959254154 meters 0.020991862439750125 Centerline is valid? [True, True] Translation: X:53.24, Y:0.17, Z:0.20 [[ 9.99264372e-01 -3.76759641e-02 -7.15790522e-03 5.32390462e+01] [ 3.76767090e-02 9.99289980e-01 -3.07963578e-05 1.73811643e-01] [ 7.15398324e-03 -2.38912609e-04 9.99974381e-01 2.02867206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.019254154 meters 0.02068001203815995 Centerline is valid? [True, True] Translation: X:53.30, Y:0.18, Z:0.20 [[ 9.99248244e-01 -3.76288718e-02 -9.32822940e-03 5.33009278e+01] [ 3.76301402e-02 9.99291735e-01 -3.95682930e-05 1.76182030e-01] [ 9.32311145e-03 -3.11484033e-04 9.99956490e-01 2.01050533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.079254154 meters 0.02097218602336962 Centerline is valid? [True, True] Translation: X:53.36, Y:0.18, Z:0.20 [[ 9.99238069e-01 -3.75739308e-02 -1.05584565e-02 5.33635578e+01] [ 3.75755613e-02 9.99293788e-01 -4.39806001e-05 1.77560847e-01] [ 1.05526526e-02 -3.52792841e-04 9.99944257e-01 2.00608694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.139254154 meters 0.020289107156212398 Centerline is valid? [True, True] Translation: X:53.43, Y:0.18, Z:0.20 [[ 9.99292903e-01 -3.63804932e-02 -9.49498093e-03 5.34262690e+01] [ 3.63817651e-02 9.99337964e-01 -3.88004768e-05 1.80479593e-01] [ 9.49010649e-03 -3.06671125e-04 9.99954921e-01 2.02008158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.199254154 meters 0.020059546160670995 Centerline is valid? [True, True] Translation: X:53.49, Y:0.18, Z:0.20 [[ 9.99375115e-01 -3.43708859e-02 -8.24748575e-03 5.34886320e+01] [ 3.43717823e-02 9.99409115e-01 -3.30762989e-05 1.81310878e-01] [ 8.24374930e-03 -2.50425154e-04 9.99965988e-01 2.03436754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.259254154 meters 0.01877779754260752 Centerline is valid? [True, True] Translation: X:53.55, Y:0.18, Z:0.21 [[ 9.99459678e-01 -3.22522345e-02 -6.33601401e-03 5.35505419e+01] [ 3.22527234e-02 9.99479745e-01 -2.50223415e-05 1.84329753e-01] [ 6.33352470e-03 -1.79344886e-04 9.99979927e-01 2.05632407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.319254154 meters 0.018821323821769573 Centerline is valid? [True, True] Translation: X:53.61, Y:0.18, Z:0.21 [[ 9.99480944e-01 -3.16061856e-02 -6.23635367e-03 5.36132387e+01] [ 3.16066498e-02 9.99500385e-01 -2.41369231e-05 1.84106577e-01] [ 6.23400077e-03 -1.72985852e-04 9.99980553e-01 2.05948522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.379254154 meters 0.018545469873855944 Centerline is valid? [True, True] Translation: X:53.68, Y:0.18, Z:0.21 [[ 9.99465930e-01 -3.16785099e-02 -8.02043538e-03 5.36750987e+01] [ 3.16792864e-02 9.99498085e-01 -3.02533455e-05 1.82281723e-01] [ 8.01736819e-03 -2.23844481e-04 9.99967835e-01 2.05237163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.439254154 meters 0.021483369272195945 Centerline is valid? [True, True] Translation: X:53.74, Y:0.18, Z:0.20 [[ 9.99433526e-01 -3.23263679e-02 -9.36124828e-03 5.37365177e+01] [ 3.23274601e-02 9.99477330e-01 -3.46607515e-05 1.75495984e-01] [ 9.35747590e-03 -2.67984263e-04 9.99956182e-01 2.03628215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.499254154 meters 0.01914854227780986 Centerline is valid? [True, True] Translation: X:53.80, Y:0.18, Z:0.20 [[ 9.99442586e-01 -3.18671181e-02 -9.95003359e-03 5.37982354e+01] [ 3.18683358e-02 9.99492075e-01 -3.61814148e-05 1.78825989e-01] [ 9.94613271e-03 -2.80929765e-04 9.99950497e-01 2.03651264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.559254154 meters 0.018129191849489953 Centerline is valid? [True, True] Translation: X:53.86, Y:0.18, Z:0.20 [[ 9.99511753e-01 -2.94418135e-02 -1.04611695e-02 5.38607460e+01] [ 2.94430350e-02 9.99566459e-01 -3.72539614e-05 1.80802714e-01] [ 1.04577309e-02 -2.70772807e-04 9.99945280e-01 2.03201944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.619254154000004 meters 0.017825922933075906 Centerline is valid? [True, True] Translation: X:53.92, Y:0.18, Z:0.20 [[ 9.99577624e-01 -2.70564886e-02 -1.06075442e-02 5.39221142e+01] [ 2.70576174e-02 9.99633875e-01 -3.71048804e-05 1.81581803e-01] [ 1.06046644e-02 -2.49925664e-04 9.99943738e-01 2.03070289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.679254154 meters 0.017576580081010786 Centerline is valid? [True, True] Translation: X:53.98, Y:0.18, Z:0.20 [[ 9.99627458e-01 -2.55696838e-02 -9.54651762e-03 5.39841355e+01] [ 2.55705359e-02 9.99673020e-01 -3.28081854e-05 1.83108482e-01] [ 9.54423499e-03 -2.11313608e-04 9.99954430e-01 2.04440218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.739254154 meters 0.01797339625251463 Centerline is valid? [True, True] Translation: X:54.05, Y:0.18, Z:0.21 [[ 9.99584622e-01 -2.74345671e-02 -8.82771366e-03 5.40465641e+01] [ 2.74353738e-02 9.99623579e-01 -2.97267760e-05 1.82088876e-01] [ 8.82520626e-03 -2.12477195e-04 9.99961035e-01 2.05475493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.799254154 meters 0.01966809659211645 Centerline is valid? [True, True] Translation: X:54.11, Y:0.18, Z:0.20 [[ 9.99421910e-01 -3.23915368e-02 -1.03263553e-02 5.41074733e+01] [ 3.23929100e-02 9.99475211e-01 -3.42963401e-05 1.77166954e-01] [ 1.03220471e-02 -3.00224185e-04 9.99946681e-01 2.04231213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.859254154 meters 0.022210396474706098 Centerline is valid? [True, True] Translation: X:54.17, Y:0.17, Z:0.20 [[ 9.99200332e-01 -3.82355404e-02 -1.16936250e-02 5.41690287e+01] [ 3.82377050e-02 9.99268671e-01 -3.84930196e-05 1.70934293e-01] [ 1.16865449e-02 -4.08675146e-04 9.99931626e-01 2.02676832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.919254154 meters 0.022532081040923854 Centerline is valid? [True, True] Translation: X:54.23, Y:0.17, Z:0.20 [[ 9.99123472e-01 -4.04702970e-02 -1.06978295e-02 5.42313473e+01] [ 4.04722428e-02 9.99180663e-01 -3.46234535e-05 1.69365604e-01] [ 1.06904656e-02 -3.98372049e-04 9.99942776e-01 2.03705912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.979254154 meters 0.021830517185691633 Centerline is valid? [True, True] Translation: X:54.29, Y:0.17, Z:0.21 [[ 9.99183261e-01 -3.92704082e-02 -9.52083661e-03 5.42933102e+01] [ 3.92719011e-02 9.99228561e-01 -3.01653427e-05 1.70021652e-01] [ 9.51467647e-03 -3.43760649e-04 9.99954675e-01 2.06050825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.039254154 meters 0.022728543469875292 Centerline is valid? [True, True] Translation: X:54.35, Y:0.17, Z:0.21 [[ 9.99329284e-01 -3.58962455e-02 -7.24169506e-03 5.43539688e+01] [ 3.58970232e-02 9.99355494e-01 -2.26022006e-05 1.69737140e-01] [ 7.23783908e-03 -2.37368255e-04 9.99973778e-01 2.07926191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.099254154 meters 0.01951008058561884 Centerline is valid? [True, True] Translation: X:54.42, Y:0.18, Z:0.21 [[ 9.99437875e-01 -3.28779084e-02 -6.55570826e-03 5.44154990e+01] [ 3.28784823e-02 9.99459356e-01 -2.02411424e-05 1.75279251e-01] [ 6.55282945e-03 -1.95311973e-04 9.99978511e-01 2.08505143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.159254154 meters 0.01851745448550163 Centerline is valid? [True, True] Translation: X:54.48, Y:0.18, Z:0.21 [[ 9.99589677e-01 -2.78585081e-02 -6.66196862e-03 5.44761784e+01] [ 2.78589909e-02 9.99611863e-01 -2.03258619e-05 1.77447088e-01] [ 6.65994911e-03 -1.65278202e-04 9.99977809e-01 2.06926127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.219254154 meters 0.017749159688594956 Centerline is valid? [True, True] Translation: X:54.54, Y:0.18, Z:0.21 [[ 9.99685432e-01 -2.36637301e-02 -8.31051415e-03 5.45368438e+01] [ 2.36643394e-02 9.99719960e-01 -2.50226748e-05 1.80452758e-01] [ 8.30877900e-03 -1.71648024e-04 9.99965467e-01 2.06110608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.279254154 meters 0.01675342663206561 Centerline is valid? [True, True] Translation: X:54.60, Y:0.18, Z:0.21 [[ 9.99770202e-01 -1.94853083e-02 -8.93676739e-03 5.45982107e+01] [ 1.94858529e-02 9.99810132e-01 -2.61312998e-05 1.82618336e-01] [ 8.93557976e-03 -1.48015240e-04 9.99960066e-01 2.05242873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.339254154 meters 0.01611116021194322 Centerline is valid? [True, True] Translation: X:54.66, Y:0.19, Z:0.20 [[ 9.99829778e-01 -1.55315144e-02 -9.95923497e-03 5.46598334e+01] [ 1.55320032e-02 9.99879371e-01 -2.82733419e-05 1.85115432e-01] [ 9.95847272e-03 -1.26418340e-04 9.99950405e-01 2.03998285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.399254154 meters 0.015113941877202126 Centerline is valid? [True, True] Translation: X:54.72, Y:0.19, Z:0.20 [[ 9.99854317e-01 -1.26967704e-02 -1.14077442e-02 5.47215817e+01] [ 1.26972321e-02 9.99919386e-01 -3.19585544e-05 1.89161315e-01] [ 1.14072303e-02 -1.12892877e-04 9.99934929e-01 2.04442972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.459254154 meters 0.014785030894008802 Centerline is valid? [True, True] Translation: X:54.78, Y:0.19, Z:0.20 [[ 9.99888360e-01 -9.69253725e-03 -1.13719747e-02 5.47817509e+01] [ 9.69280212e-03 9.99953023e-01 -3.18248770e-05 1.90433226e-01] [ 1.13717489e-02 -7.84049761e-05 9.99935336e-01 2.04413203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.519254154 meters 0.01466972746738905 Centerline is valid? [True, True] Translation: X:54.84, Y:0.19, Z:0.21 [[ 9.99912867e-01 -9.06025003e-03 -9.60051691e-03 5.48404024e+01] [ 9.06039634e-03 9.99958953e-01 -2.82541503e-05 1.90163456e-01] [ 9.60037883e-03 -5.87327998e-05 9.99953914e-01 2.06050489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.579254154 meters 0.015166425525164656 Centerline is valid? [True, True] Translation: X:54.90, Y:0.19, Z:0.21 [[ 9.99885531e-01 -1.34066716e-02 -7.01334220e-03 5.48996757e+01] [ 1.34068502e-02 9.99910124e-01 -2.15512366e-05 1.87071175e-01] [ 7.01300080e-03 -7.24780584e-05 9.99975406e-01 2.07483298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.639254154 meters 0.016964447419845315 Centerline is valid? [True, True] Translation: X:54.96, Y:0.18, Z:0.21 [[ 9.99718531e-01 -2.30275085e-02 -5.70899907e-03 5.49604888e+01] [ 2.30277833e-02 9.99734825e-01 -1.76042592e-05 1.77700698e-01] [ 5.70789057e-03 -1.13866289e-04 9.99983703e-01 2.07970654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.699254154 meters 0.018379137965805804 Centerline is valid? [True, True] Translation: X:55.02, Y:0.17, Z:0.21 [[ 9.99527857e-01 -3.03533359e-02 -4.76852488e-03 5.50212176e+01] [ 3.03536119e-02 9.99539223e-01 -1.45005015e-05 1.71455551e-01] [ 4.76676780e-03 -1.30248298e-04 9.99988630e-01 2.08122671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.759254154 meters 0.020806796194235776 Centerline is valid? [True, True] Translation: X:55.08, Y:0.16, Z:0.21 [[ 9.99287078e-01 -3.75230575e-02 -4.16612680e-03 5.50823341e+01] [ 3.75233307e-02 9.99295752e-01 -1.26063801e-05 1.63551697e-01] [ 4.16366584e-03 -1.43729561e-04 9.99991322e-01 2.08270692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.819254154 meters 0.022161144380554602 Centerline is valid? [True, True] Translation: X:55.14, Y:0.16, Z:0.21 [[ 9.99216010e-01 -3.93957078e-02 -3.91719188e-03 5.51436339e+01] [ 3.93959640e-02 9.99223678e-01 -1.17644678e-05 1.57227139e-01] [ 3.91461435e-03 -1.42566306e-04 9.99992328e-01 2.07483559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.879254154 meters 0.022422291637340358 Centerline is valid? [True, True] Translation: X:55.21, Y:0.15, Z:0.21 [[ 9.99156992e-01 -4.07974531e-02 -4.56879500e-03 5.52058644e+01] [ 4.07978193e-02 9.99167422e-01 -1.30508477e-05 1.54678303e-01] [ 4.56552357e-03 -1.73357027e-04 9.99989563e-01 2.07248990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.939254154 meters 0.022860594723688746 Centerline is valid? [True, True] Translation: X:55.27, Y:0.15, Z:0.21 [[ 9.99125536e-01 -4.13234993e-02 -6.36648029e-03 5.52677161e+01] [ 4.13242248e-02 9.99145789e-01 -1.75974495e-05 1.51968595e-01] [ 6.36176917e-03 -2.45507802e-04 9.99979734e-01 2.05368087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.999254154 meters 0.02185287523186833 Centerline is valid? [True, True] Translation: X:55.33, Y:0.15, Z:0.21 [[ 9.99180810e-01 -4.01299126e-02 -5.22486270e-03 5.53298681e+01] [ 4.01303866e-02 9.99194451e-01 -1.41203395e-05 1.52587163e-01] [ 5.22122047e-03 -1.95566988e-04 9.99986350e-01 2.05917770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.059254154 meters 0.021348394076947594 Centerline is valid? [True, True] Translation: X:55.39, Y:0.15, Z:0.21 [[ 9.99225303e-01 -3.89320097e-02 -5.75256053e-03 5.53919180e+01] [ 3.89325671e-02 9.99241840e-01 -1.50912777e-05 1.53849157e-01] [ 5.74878670e-03 -2.08882362e-04 9.99983454e-01 2.05707473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.119254154000004 meters 0.02031212229194417 Centerline is valid? [True, True] Translation: X:55.45, Y:0.16, Z:0.20 [[ 9.99340486e-01 -3.54499125e-02 -7.86748562e-03 5.54536266e+01] [ 3.54508524e-02 9.99371421e-01 -2.00053879e-05 1.57104414e-01] [ 7.86324947e-03 -2.58916878e-04 9.99969051e-01 2.04298534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.179254154 meters 0.020057574833413822 Centerline is valid? [True, True] Translation: X:55.52, Y:0.16, Z:0.20 [[ 9.99375974e-01 -3.41074985e-02 -9.18371463e-03 5.55155736e+01] [ 3.41087283e-02 9.99418128e-01 -2.27222726e-05 1.57602810e-01] [ 9.17914588e-03 -2.90536734e-04 9.99957829e-01 2.03318254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.239254154 meters 0.020198277629686325 Centerline is valid? [True, True] Translation: X:55.58, Y:0.16, Z:0.20 [[ 9.99346746e-01 -3.46038789e-02 -1.04236401e-02 5.55773692e+01] [ 3.46054985e-02 9.99401050e-01 -2.49914000e-05 1.57505677e-01] [ 1.04182616e-02 -3.35740187e-04 9.99945672e-01 2.02580020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.299254154 meters 0.021353697526606256 Centerline is valid? [True, True] Translation: X:55.64, Y:0.16, Z:0.20 [[ 9.99306475e-01 -3.54801509e-02 -1.13016632e-02 5.56387548e+01] [ 3.54821190e-02 9.99370311e-01 -2.63813486e-05 1.56311808e-01] [ 1.12954827e-02 -3.74643907e-04 9.99936134e-01 2.02017228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.359254154 meters 0.021505793135808193 Centerline is valid? [True, True] Translation: X:55.70, Y:0.16, Z:0.20 [[ 9.99321706e-01 -3.53799259e-02 -1.02171171e-02 5.57010371e+01] [ 3.53815356e-02 9.99373877e-01 -2.32214050e-05 1.58732852e-01] [ 1.02115415e-02 -3.38291639e-04 9.99947804e-01 2.03814788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.419254154 meters 0.020107873023442028 Centerline is valid? [True, True] Translation: X:55.76, Y:0.16, Z:0.21 [[ 9.99334293e-01 -3.52906330e-02 -9.24887249e-03 5.57636075e+01] [ 3.52919542e-02 9.99377045e-01 -2.03757465e-05 1.62536440e-01] [ 9.24382993e-03 -3.06048602e-04 9.99957228e-01 2.05132317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.479254154 meters 0.020988439238024778 Centerline is valid? [True, True] Translation: X:55.83, Y:0.16, Z:0.21 [[ 9.99292270e-01 -3.67945049e-02 -7.81820854e-03 5.58260149e+01] [ 3.67954990e-02 9.99322816e-01 -1.66953166e-05 1.63784145e-01] [ 7.81352847e-03 -2.70991384e-04 9.99969437e-01 2.06610861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.539254154 meters 0.02278667210200017 Centerline is valid? [True, True] Translation: X:55.89, Y:0.16, Z:0.21 [[ 9.99222588e-01 -3.88647901e-02 -6.61414192e-03 5.58867697e+01] [ 3.88655505e-02 9.99244449e-01 -1.35688185e-05 1.63138121e-01] [ 6.60967195e-03 -2.43503997e-04 9.99978126e-01 2.08003931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.599254154 meters 0.02184718926418002 Centerline is valid? [True, True] Translation: X:55.95, Y:0.17, Z:0.21 [[ 9.99340811e-01 -3.55829042e-02 -7.19719809e-03 5.59480232e+01] [ 3.55837247e-02 9.99366699e-01 -1.40574035e-05 1.65850196e-01] [ 7.19314030e-03 -2.42054979e-04 9.99974100e-01 2.06825583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.659254154 meters 0.02020646637138528 Centerline is valid? [True, True] Translation: X:56.01, Y:0.17, Z:0.21 [[ 9.99392832e-01 -3.41164552e-02 -7.07349230e-03 5.60099989e+01] [ 3.41172135e-02 9.99417838e-01 -1.34649833e-05 1.68187298e-01] [ 7.06983376e-03 -2.27871039e-04 9.99974982e-01 2.06966275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.719254154 meters 0.020803385553672376 Centerline is valid? [True, True] Translation: X:56.07, Y:0.17, Z:0.21 [[ 9.99318131e-01 -3.61949421e-02 -7.29373760e-03 5.60724000e+01] [ 3.61958077e-02 9.99344717e-01 -1.33378992e-05 1.65461972e-01] [ 7.28944090e-03 -2.50673919e-04 9.99973400e-01 2.05329769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.779254154 meters 0.0215740560016265 Centerline is valid? [True, True] Translation: X:56.13, Y:0.16, Z:0.21 [[ 9.99273225e-01 -3.74983484e-02 -6.84809101e-03 5.61344348e+01] [ 3.74991452e-02 9.99296660e-01 -1.20418742e-05 1.63266362e-01] [ 6.84372602e-03 -2.44764437e-04 9.99976551e-01 2.05733476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.839254154 meters 0.02119714471468038 Centerline is valid? [True, True] Translation: X:56.20, Y:0.16, Z:0.21 [[ 9.99279709e-01 -3.73085843e-02 -6.93770304e-03 5.61964754e+01] [ 3.73094011e-02 9.99303762e-01 -1.16915570e-05 1.63041818e-01] [ 6.93330895e-03 -2.47158410e-04 9.99975934e-01 2.06115749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.899254154 meters 0.021576151227146317 Centerline is valid? [True, True] Translation: X:56.26, Y:0.16, Z:0.21 [[ 9.99294600e-01 -3.67945989e-02 -7.51392428e-03 5.62587548e+01] [ 3.67955469e-02 9.99322815e-01 -1.20895218e-05 1.62567407e-01] [ 7.50928079e-03 -2.64397960e-04 9.99971770e-01 2.05433637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.959254154 meters 0.02192891094783989 Centerline is valid? [True, True] Translation: X:56.32, Y:0.16, Z:0.20 [[ 9.99340642e-01 -3.54108338e-02 -8.02204111e-03 5.63198655e+01] [ 3.54118740e-02 9.99372803e-01 -1.23729951e-05 1.61823194e-01] [ 8.01744784e-03 -2.71710672e-04 9.99967823e-01 2.04407518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.019254154 meters 0.021286856198854738 Centerline is valid? [True, True] Translation: X:56.38, Y:0.16, Z:0.20 [[ 9.99398311e-01 -3.36756391e-02 -8.30469623e-03 5.63818896e+01] [ 3.36766985e-02 9.99432779e-01 -1.22882089e-05 1.63168135e-01] [ 8.30039945e-03 -2.67393936e-04 9.99965515e-01 2.03790658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.079254154 meters 0.019356158760665747 Centerline is valid? [True, True] Translation: X:56.44, Y:0.17, Z:0.20 [[ 9.99471091e-01 -3.11251874e-02 -9.42132517e-03 5.64440019e+01] [ 3.11264444e-02 9.99515455e-01 -1.32171609e-05 1.67951822e-01] [ 9.41717150e-03 -2.80042184e-04 9.99955618e-01 2.03351448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.139254154 meters 0.018989272232194057 Centerline is valid? [True, True] Translation: X:56.50, Y:0.17, Z:0.20 [[ 9.99567882e-01 -2.73415719e-02 -1.07929368e-02 5.65048757e+01] [ 2.73430077e-02 9.99626110e-01 -1.45387746e-05 1.70663015e-01] [ 1.07892989e-02 -2.80578861e-04 9.99941754e-01 2.02046914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.199254154 meters 0.017739264674944997 Centerline is valid? [True, True] Translation: X:56.57, Y:0.18, Z:0.20 [[ 9.99658153e-01 -2.37779457e-02 -1.08713431e-02 5.65665886e+01] [ 2.37791974e-02 9.99717235e-01 -1.41318384e-05 1.75722133e-01] [ 1.08686051e-02 -2.44384805e-04 9.99940905e-01 2.02965868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.259254154 meters 0.01749366776030145 Centerline is valid? [True, True] Translation: X:56.63, Y:0.18, Z:0.20 [[ 9.99695932e-01 -2.28160484e-02 -9.35262249e-03 5.66284148e+01] [ 2.28169379e-02 9.99739660e-01 -1.15934209e-05 1.76671749e-01] [ 9.35045214e-03 -2.01808311e-04 9.99956263e-01 2.04424297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.319254154 meters 0.01831787282940494 Centerline is valid? [True, True] Translation: X:56.69, Y:0.17, Z:0.21 [[ 9.99675102e-01 -2.43402567e-02 -7.56588107e-03 5.66894024e+01] [ 2.43408857e-02 9.99703717e-01 -8.95168078e-06 1.74031887e-01] [ 7.56385731e-03 -1.75211474e-04 9.99971378e-01 2.05288278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.379254154 meters 0.018733975821617205 Centerline is valid? [True, True] Translation: X:56.75, Y:0.17, Z:0.21 [[ 9.99612502e-01 -2.71004369e-02 -6.35711489e-03 5.67518969e+01] [ 2.71009389e-02 9.99632702e-01 -7.18353948e-06 1.72186537e-01] [ 6.35497461e-03 -1.65103026e-04 9.99979793e-01 2.06160409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.439254154 meters 0.020209852430600906 Centerline is valid? [True, True] Translation: X:56.81, Y:0.17, Z:0.21 [[ 9.99405870e-01 -3.39400928e-02 -5.99812525e-03 5.68126562e+01] [ 3.39406647e-02 9.99423850e-01 -6.45081559e-06 1.67417178e-01] [ 5.99488837e-03 -1.97133375e-04 9.99982011e-01 2.05951504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.499254154 meters 0.022935644916778068 Centerline is valid? [True, True] Translation: X:56.87, Y:0.16, Z:0.21 [[ 9.99210896e-01 -3.93192022e-02 -5.62016236e-03 5.68723752e+01] [ 3.93197897e-02 9.99226678e-01 -5.96891601e-06 1.59395183e-01] [ 5.61605086e-03 -2.15019396e-04 9.99984207e-01 2.06037026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.559254154 meters 0.023353993682350655 Centerline is valid? [True, True] Translation: X:56.93, Y:0.15, Z:0.21 [[ 9.99018447e-01 -4.39504556e-02 -5.52261874e-03 5.69334604e+01] [ 4.39510936e-02 9.99033684e-01 -5.84460952e-06 1.53864674e-01] [ 5.51753901e-03 -2.36886260e-04 9.99984750e-01 2.05794542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.619254154 meters 0.02404755707630568 Centerline is valid? [True, True] Translation: X:57.00, Y:0.15, Z:0.21 [[ 9.98912421e-01 -4.62506407e-02 -5.90374146e-03 5.69954042e+01] [ 4.62514115e-02 9.98929831e-01 -5.97644070e-06 1.48682318e-01] [ 5.89769987e-03 -2.67086435e-04 9.99982573e-01 2.05636982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.679254154 meters 0.02492048060692301 Centerline is valid? [True, True] Translation: X:57.06, Y:0.14, Z:0.20 [[ 9.98833733e-01 -4.79606443e-02 -5.56339264e-03 5.70576133e+01] [ 4.79613586e-02 9.98849192e-01 -5.03617299e-06 1.42704944e-01] [ 5.55723178e-03 -2.61797570e-04 9.99984524e-01 2.04218430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.739254154 meters 0.0239773511318701 Centerline is valid? [True, True] Translation: X:57.12, Y:0.14, Z:0.20 [[ 9.98882934e-01 -4.66813568e-02 -7.33046349e-03 5.71194314e+01] [ 4.66825673e-02 9.98909775e-01 -5.98727100e-06 1.41795448e-01] [ 7.32275113e-03 -3.36224272e-04 9.99973132e-01 2.02665696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.799254154 meters 0.023671798649501922 Centerline is valid? [True, True] Translation: X:57.18, Y:0.14, Z:0.20 [[ 9.98927527e-01 -4.54392154e-02 -8.89228767e-03 5.71814102e+01] [ 4.54409540e-02 9.98967026e-01 -6.52853996e-06 1.41596809e-01] [ 8.88339882e-03 -3.97552497e-04 9.99960463e-01 2.02095144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.859254154 meters 0.0255596930691347 Centerline is valid? [True, True] Translation: X:57.24, Y:0.14, Z:0.20 [[ 9.98953644e-01 -4.47504967e-02 -9.43452437e-03 5.72426093e+01] [ 4.47524291e-02 9.98998108e-01 -6.30049985e-06 1.36909599e-01] [ 9.42535395e-03 -4.15923976e-04 9.99955494e-01 2.00836649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.919254154 meters 0.023231202310485085 Centerline is valid? [True, True] Translation: X:57.31, Y:0.14, Z:0.20 [[ 9.98956386e-01 -4.46017878e-02 -9.83966507e-03 5.73056426e+01] [ 4.46038910e-02 9.99004751e-01 -5.70730191e-06 1.39565609e-01] [ 9.83012671e-03 -4.33186003e-04 9.99951589e-01 2.01043057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.979254154 meters 0.024478366530315845 Centerline is valid? [True, True] Translation: X:57.37, Y:0.14, Z:0.20 [[ 9.98960554e-01 -4.43448736e-02 -1.05519732e-02 5.73677258e+01] [ 4.43472896e-02 9.99016175e-01 -5.02307083e-06 1.37036685e-01] [ 1.05418147e-02 -4.62933563e-04 9.99944326e-01 2.00157512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.039254154 meters 0.024960244751899525 Centerline is valid? [True, True] Translation: X:57.43, Y:0.14, Z:0.20 [[ 9.98931995e-01 -4.48129558e-02 -1.12546911e-02 5.74297068e+01] [ 4.48157444e-02 9.98995270e-01 -4.42902974e-06 1.36285284e-01] [ 1.12435816e-02 -4.99963058e-04 9.99936664e-01 1.99362916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.099254154 meters 0.026554624611739894 Centerline is valid? [True, True] Translation: X:57.49, Y:0.13, Z:0.20 [[ 9.98806822e-01 -4.69027048e-02 -1.36040185e-02 5.74919854e+01] [ 4.69069868e-02 9.98899261e-01 -4.32060447e-06 1.34562437e-01] [ 1.35892467e-02 -6.33808069e-04 9.99907461e-01 1.97894894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.159254154 meters 0.02674483410196651 Centerline is valid? [True, True] Translation: X:57.55, Y:0.13, Z:0.20 [[ 9.98702129e-01 -4.89510793e-02 -1.40658765e-02 5.75543254e+01] [ 4.89558740e-02 9.98800942e-01 -3.45084307e-06 1.34470039e-01] [ 1.40491796e-02 -6.85160911e-04 9.99901071e-01 1.98245211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.219254154 meters 0.02762867254397157 Centerline is valid? [True, True] Translation: X:57.62, Y:0.13, Z:0.20 [[ 9.98748862e-01 -4.82606549e-02 -1.31003558e-02 5.76152124e+01] [ 4.82647645e-02 9.98834577e-01 -2.45568136e-06 1.34801831e-01] [ 1.30852069e-02 -6.29832980e-04 9.99914187e-01 1.99735460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.279254154 meters 0.024338502957518632 Centerline is valid? [True, True] Translation: X:57.68, Y:0.14, Z:0.20 [[ 9.98910493e-01 -4.50849943e-02 -1.20486267e-02 5.76763324e+01] [ 4.50882459e-02 9.98983008e-01 -1.76203539e-06 1.42814377e-01] [ 1.20364528e-02 -5.41491328e-04 9.99927413e-01 2.01974368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.339254154 meters 0.02363947545725467 Centerline is valid? [True, True] Translation: X:57.74, Y:0.15, Z:0.20 [[ 9.99023386e-01 -4.28364059e-02 -1.08312346e-02 5.77374565e+01] [ 4.28389058e-02 9.99081993e-01 -1.20339932e-06 1.45058142e-01] [ 1.08213430e-02 -4.62796012e-04 9.99941340e-01 2.02737191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.399254154 meters 0.022665268047577503 Centerline is valid? [True, True] Translation: X:57.80, Y:0.15, Z:0.20 [[ 9.99142993e-01 -4.02879995e-02 -9.49503519e-03 5.77988581e+01] [ 4.02898088e-02 9.99188036e-01 -7.27445666e-07 1.49031707e-01] [ 9.48735487e-03 -3.81826330e-04 9.99954921e-01 2.03711849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.459254154 meters 0.023652887232135444 Centerline is valid? [True, True] Translation: X:57.86, Y:0.15, Z:0.20 [[ 9.99116752e-01 -4.10971153e-02 -8.76035356e-03 5.78609572e+01] [ 4.10986906e-02 9.99155092e-01 -2.09498172e-07 1.49015085e-01] [ 8.75296048e-03 -3.59829747e-04 9.99961627e-01 2.04326078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.519254154 meters 0.024117607174319936 Centerline is valid? [True, True] Translation: X:57.92, Y:0.15, Z:0.20 [[ 9.98999223e-01 -4.36463953e-02 -9.77469884e-03 5.79229147e+01] [ 4.36484855e-02 9.99046951e-01 5.07856812e-07 1.48387356e-01] [ 9.76536090e-03 -4.27158150e-04 9.99952226e-01 2.02893165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.579254154 meters 0.023042641974423246 Centerline is valid? [True, True] Translation: X:57.98, Y:0.15, Z:0.20 [[ 9.98903314e-01 -4.52254012e-02 -1.21174151e-02 5.79848448e+01] [ 4.52287412e-02 9.98976657e-01 1.60330109e-06 1.49278424e-01] [ 1.21049423e-02 -5.49656972e-04 9.99926581e-01 2.01616256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.639254154 meters 0.026140762711689743 Centerline is valid? [True, True] Translation: X:58.05, Y:0.15, Z:0.20 [[ 9.98799871e-01 -4.67601745e-02 -1.45706163e-02 5.80458687e+01] [ 4.67651810e-02 9.98905910e-01 2.88902530e-06 1.45051577e-01] [ 1.45545396e-02 -6.84283066e-04 9.99893843e-01 1.99176278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.699254154 meters 0.02664024745430723 Centerline is valid? [True, True] Translation: X:58.11, Y:0.14, Z:0.20 [[ 9.98818484e-01 -4.66083805e-02 -1.37584491e-02 5.81085123e+01] [ 4.66128423e-02 9.98913031e-01 3.62578775e-06 1.44540539e-01] [ 1.37433251e-02 -6.44941923e-04 9.99905348e-01 2.00473861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.759254154 meters 0.026620832596787436 Centerline is valid? [True, True] Translation: X:58.17, Y:0.15, Z:0.20 [[ 9.98894636e-01 -4.56200101e-02 -1.13278545e-02 5.81709888e+01] [ 4.56229797e-02 9.98958730e-01 3.73579564e-06 1.45308696e-01] [ 1.13158887e-02 -5.20542139e-04 9.99935838e-01 2.03177170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.819254154 meters 0.024206063008659177 Centerline is valid? [True, True] Translation: X:58.23, Y:0.15, Z:0.20 [[ 9.98994886e-01 -4.38203972e-02 -9.43343389e-03 5.82325342e+01] [ 4.38223806e-02 9.99039338e-01 3.55642783e-06 1.48733718e-01] [ 9.42421570e-03 -4.16948383e-04 9.99955504e-01 2.04787253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.879254154 meters 0.02674480608081262 Centerline is valid? [True, True] Translation: X:58.29, Y:0.14, Z:0.20 [[ 9.99026266e-01 -4.30900578e-02 -9.47454089e-03 5.82937730e+01] [ 4.30920300e-02 9.99071107e-01 4.00898450e-06 1.44624196e-01] [ 9.46556731e-03 -4.12282281e-04 9.99955116e-01 2.04554069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.939254154 meters 0.023467999067982293 Centerline is valid? [True, True] Translation: X:58.36, Y:0.15, Z:0.20 [[ 9.98969599e-01 -4.42269097e-02 -1.01843002e-02 5.83559815e+01] [ 4.42292543e-02 9.99021408e-01 4.99429073e-06 1.47940209e-01] [ 1.01741130e-02 -4.55433148e-04 9.99948139e-01 2.04853695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.999254154 meters 0.025803693406041956 Centerline is valid? [True, True] Translation: X:58.42, Y:0.14, Z:0.20 [[ 9.98861183e-01 -4.62829956e-02 -1.15853941e-02 5.84172426e+01] [ 4.62861766e-02 9.98928221e-01 6.44678527e-06 1.42052105e-01] [ 1.15726788e-02 -5.42683043e-04 9.99932887e-01 2.03602864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.059254154 meters 0.025767542553259516 Centerline is valid? [True, True] Translation: X:58.48, Y:0.14, Z:0.20 [[ 9.98854114e-01 -4.59503511e-02 -1.33799856e-02 5.84793137e+01] [ 4.59545767e-02 9.98943530e-01 8.37174601e-06 1.41405645e-01] [ 1.33654654e-02 -6.23233728e-04 9.99910484e-01 2.02194694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.119254154 meters 0.02444560234982014 Centerline is valid? [True, True] Translation: X:58.54, Y:0.14, Z:0.20 [[ 9.99074292e-01 -4.12275187e-02 -1.22820998e-02 5.85399885e+01] [ 4.12307283e-02 9.99149652e-01 8.11594081e-06 1.43143007e-01] [ 1.22713211e-02 -5.14508347e-04 9.99924572e-01 2.04197177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.179254154 meters 0.02137687916561356 Centerline is valid? [True, True] Translation: X:58.60, Y:0.15, Z:0.21 [[ 9.99324121e-01 -3.52438848e-02 -1.04484336e-02 5.86010715e+01] [ 3.52458832e-02 9.99378671e-01 7.12439651e-06 1.48146162e-01] [ 1.04416906e-02 -3.75383853e-04 9.99945414e-01 2.06423567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.239254154 meters 0.019150455928557464 Centerline is valid? [True, True] Translation: X:58.66, Y:0.15, Z:0.21 [[ 9.99657812e-01 -2.42740327e-02 -9.74835445e-03 5.86605482e+01] [ 2.42752510e-02 9.99705313e-01 6.65390698e-06 1.52532375e-01] [ 9.74532022e-03 -2.43295381e-04 9.99952484e-01 2.07305365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.299254154 meters 0.016023037730425373 Centerline is valid? [True, True] Translation: X:58.72, Y:0.16, Z:0.21 [[ 9.99863384e-01 -1.26210879e-02 -1.06733861e-02 5.87204534e+01] [ 1.26218837e-02 9.99920341e-01 7.19739532e-06 1.60258667e-01] [ 1.06724450e-02 -1.41914650e-04 9.99943038e-01 2.06661446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.359254154 meters 0.014442270369890518 Centerline is valid? [True, True] Translation: X:58.78, Y:0.17, Z:0.21 [[ 9.99915472e-01 -3.98892536e-03 -1.23748641e-02 5.87803249e+01] [ 3.98933046e-03 9.99992043e-01 8.05134329e-06 1.65325648e-01] [ 1.23747335e-02 -5.74180850e-05 9.99923428e-01 2.06525513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.419254154 meters 0.014306425898086823 Centerline is valid? [True, True] Translation: X:58.84, Y:0.17, Z:0.21 [[ 9.99894376e-01 1.03758160e-03 -1.44968803e-02 5.88394101e+01] [-1.03759414e-03 9.99999462e-01 6.65678038e-06 1.66521757e-01] [ 1.44968794e-02 8.38580076e-06 9.99894915e-01 2.05575941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.479254154 meters 0.014226971629379307 Centerline is valid? [True, True] Translation: X:58.90, Y:0.17, Z:0.21 [[ 9.99866012e-01 3.02144569e-03 -1.60881840e-02 5.88985823e+01] [-3.02178618e-03 9.99995434e-01 3.14496537e-06 1.67538979e-01] [ 1.60881200e-02 4.54705081e-05 9.99870577e-01 2.05041358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.539254154 meters 0.014297892063621124 Centerline is valid? [True, True] Translation: X:58.96, Y:0.17, Z:0.21 [[ 9.99862183e-01 4.40484856e-03 -1.60066040e-02 5.89563046e+01] [-4.40543508e-03 9.99990296e-01 -1.38196052e-06 1.67939525e-01] [ 1.60064426e-02 7.18978247e-05 9.99871886e-01 2.05507873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.599254154 meters 0.014162867368818178 Centerline is valid? [True, True] Translation: X:59.01, Y:0.17, Z:0.21 [[ 9.99900244e-01 2.32213596e-03 -1.39323076e-02 5.90141441e+01] [-2.32240560e-03 9.99997303e-01 -3.17442011e-06 1.65050853e-01] [ 1.39322627e-02 3.55305726e-05 9.99902941e-01 2.06980987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.659254154 meters 0.014079255780533862 Centerline is valid? [True, True] Translation: X:59.07, Y:0.16, Z:0.21 [[ 9.99934621e-01 -4.57916484e-03 -1.04778349e-02 5.90731229e+01] [ 4.57938354e-03 9.99989515e-01 -3.11853202e-06 1.59532962e-01] [ 1.04777393e-02 -4.48636967e-05 9.99945106e-01 2.11110440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.719254154 meters 0.015663475925522592 Centerline is valid? [True, True] Translation: X:59.13, Y:0.15, Z:0.21 [[ 9.99849394e-01 -1.55479292e-02 -7.71051651e-03 5.91316380e+01] [ 1.55483705e-02 9.99879117e-01 -2.70193048e-06 1.47946144e-01] [ 7.70962644e-03 -1.17184444e-04 9.99970274e-01 2.13592707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.779254154 meters 0.018055423302076684 Centerline is valid? [True, True] Translation: X:59.19, Y:0.14, Z:0.21 [[ 9.99585407e-01 -2.78238575e-02 -7.40592274e-03 5.91919166e+01] [ 2.78245998e-02 9.99612821e-01 -2.80600750e-06 1.36783186e-01] [ 7.40313339e-03 -2.03261992e-04 9.99972576e-01 2.14502335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.839254154 meters 0.0203668858796926 Centerline is valid? [True, True] Translation: X:59.25, Y:0.13, Z:0.21 [[ 9.99369683e-01 -3.45830877e-02 -8.01536273e-03 5.92532181e+01] [ 3.45841756e-02 9.99401788e-01 -2.88534147e-06 1.28410105e-01] [ 8.01066763e-03 -2.74321189e-04 9.99967876e-01 2.14053772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.899254154 meters 0.02173484231388272 Centerline is valid? [True, True] Translation: X:59.32, Y:0.12, Z:0.21 [[ 9.99263085e-01 -3.74016000e-02 -8.62593027e-03 5.93150435e+01] [ 3.74029704e-02 9.99300264e-01 -2.45645765e-06 1.24631272e-01] [ 8.61998627e-03 -3.20180767e-04 9.99962796e-01 2.13701755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.959254154 meters 0.02317851988126853 Centerline is valid? [True, True] Translation: X:59.38, Y:0.12, Z:0.21 [[ 9.99072607e-01 -4.17352751e-02 -1.05873823e-02 5.93758682e+01] [ 4.17375901e-02 9.99128607e-01 -2.29322804e-06 1.17182698e-01] [ 1.05782523e-02 -4.39600723e-04 9.99943952e-01 2.12320500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.019254154 meters 0.0244964219604851 Centerline is valid? [True, True] Translation: X:59.44, Y:0.11, Z:0.21 [[ 9.99133049e-01 -3.96987969e-02 -1.25361491e-02 5.94374980e+01] [ 3.97018911e-02 9.99211569e-01 -2.03899064e-06 1.13141154e-01] [ 1.25263462e-02 -4.95671605e-04 9.99921419e-01 2.11098496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.079254154 meters 0.020576857177829866 Centerline is valid? [True, True] Translation: X:59.50, Y:0.12, Z:0.21 [[ 9.99425436e-01 -3.09084920e-02 -1.39091004e-02 5.94981260e+01] [ 3.09114557e-02 9.99522127e-01 -1.90600504e-06 1.19956610e-01] [ 1.39025125e-02 -4.28045630e-04 9.99903264e-01 2.11216574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.139254154 meters 0.016874850864299098 Centerline is valid? [True, True] Translation: X:59.56, Y:0.13, Z:0.21 [[ 9.99731574e-01 -1.88530843e-02 -1.34662869e-02 5.95586074e+01] [ 1.88547692e-02 9.99822233e-01 -1.83955182e-06 1.29250172e-01] [ 1.34639277e-02 -2.52064673e-04 9.99909325e-01 2.13061551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.199254154 meters 0.015215598837812818 Centerline is valid? [True, True] Translation: X:59.62, Y:0.13, Z:0.21 [[ 9.99844224e-01 -1.19373416e-02 -1.30010639e-02 5.96184835e+01] [ 1.19383236e-02 9.99928736e-01 -2.07513320e-06 1.34161280e-01] [ 1.30001621e-02 -1.53136098e-04 9.99915483e-01 2.13945536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.259254154 meters 0.01446061245195688 Centerline is valid? [True, True] Translation: X:59.68, Y:0.14, Z:0.22 [[ 9.99886960e-01 -7.56868630e-03 -1.29916437e-02 5.96769855e+01] [ 7.56926879e-03 9.99971353e-01 -4.33538108e-06 1.37283393e-01] [ 1.29913044e-02 -9.40023522e-05 9.99915605e-01 2.15156693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.319254154 meters 0.014866668161089225 Centerline is valid? [True, True] Translation: X:59.74, Y:0.13, Z:0.22 [[ 9.99853688e-01 -1.09847366e-02 -1.31124857e-02 5.97352682e+01] [ 1.09855974e-02 9.99939656e-01 -6.38173415e-06 1.33290762e-01] [ 1.31117646e-02 -1.37667689e-04 9.99914028e-01 2.15551028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.379254154 meters 0.016856556299419508 Centerline is valid? [True, True] Translation: X:59.79, Y:0.12, Z:0.21 [[ 9.99700405e-01 -2.01101729e-02 -1.39528201e-02 5.97948356e+01] [ 2.01120244e-02 9.99797733e-01 -7.61632402e-06 1.24216193e-01] [ 1.39501511e-02 -2.73005417e-04 9.99902655e-01 2.14793925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.439254154 meters 0.020654307694412843 Centerline is valid? [True, True] Translation: X:59.86, Y:0.11, Z:0.22 [[ 9.99333528e-01 -3.39461958e-02 -1.34222292e-02 5.98556042e+01] [ 3.39491539e-02 9.99423561e-01 -7.46486907e-06 1.12687510e-01] [ 1.34147455e-02 -4.48213430e-04 9.99909918e-01 2.16311891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.499254154 meters 0.021229670720144804 Centerline is valid? [True, True] Translation: X:59.92, Y:0.11, Z:0.22 [[ 9.99160553e-01 -3.90173583e-02 -1.24833892e-02 5.99166876e+01] [ 3.90203141e-02 9.99238418e-01 -6.78909771e-06 1.10248357e-01] [ 1.24741469e-02 -4.80322367e-04 9.99922079e-01 2.17549853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.559254154 meters 0.022479219652407425 Centerline is valid? [True, True] Translation: X:59.98, Y:0.11, Z:0.22 [[ 9.99075726e-01 -4.13931275e-02 -1.15889301e-02 5.99784951e+01] [ 4.13958399e-02 9.99142825e-01 -5.82955702e-06 1.07863711e-01] [ 1.15792376e-02 -4.73909325e-04 9.99932846e-01 2.19007949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.619254154 meters 0.0230765688265443 Centerline is valid? [True, True] Translation: X:60.04, Y:0.11, Z:0.22 [[ 9.99148484e-01 -4.00331546e-02 -9.98269236e-03 6.00402524e+01] [ 4.00351055e-02 9.99198274e-01 -4.40670402e-06 1.07607962e-01] [ 9.97486539e-03 -3.95255190e-04 9.99950172e-01 2.20368534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.679254154 meters 0.019397956126560572 Centerline is valid? [True, True] Translation: X:60.10, Y:0.12, Z:0.22 [[ 9.99356053e-01 -3.46655664e-02 -9.26158509e-03 6.01007456e+01] [ 3.46670181e-02 9.99398918e-01 -3.79196128e-06 1.15043019e-01] [ 9.25614957e-03 -3.17282019e-04 9.99957111e-01 2.21342943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.739254154 meters 0.01827812341920083 Centerline is valid? [True, True] Translation: X:60.16, Y:0.12, Z:0.22 [[ 9.99607980e-01 -2.65699898e-02 -8.82732170e-03 6.01602732e+01] [ 2.65709931e-02 9.99646929e-01 -3.61609846e-06 1.19166033e-01] [ 8.82430111e-03 -2.30936023e-04 9.99961038e-01 2.21497573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.799254154 meters 0.01603548561885098 Centerline is valid? [True, True] Translation: X:60.22, Y:0.13, Z:0.22 [[ 9.99761194e-01 -1.94962682e-02 -9.87174173e-03 6.02223328e+01] [ 1.94971813e-02 9.99809912e-01 -3.74145438e-06 1.25957270e-01] [ 9.86993817e-03 -1.88730577e-04 9.99951273e-01 2.21103797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.859254154 meters 0.015404158382812212 Centerline is valid? [True, True] Translation: X:60.28, Y:0.13, Z:0.22 [[ 9.99813918e-01 -1.50798664e-02 -1.20302185e-02 6.02838850e+01] [ 1.50809098e-02 9.99886277e-01 -3.98097063e-06 1.28932083e-01] [ 1.20289104e-02 -1.77446410e-04 9.99927634e-01 2.19226862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.919254154 meters 0.015345591475898578 Centerline is valid? [True, True] Translation: X:60.34, Y:0.13, Z:0.22 [[ 9.99815724e-01 -1.41652652e-02 -1.29561820e-02 6.03434033e+01] [ 1.41663970e-02 9.99899652e-01 -4.42480737e-06 1.30193231e-01] [ 1.29549445e-02 -1.79118425e-04 9.99916065e-01 2.18428383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.979254154 meters 0.015382418141215647 Centerline is valid? [True, True] Translation: X:60.40, Y:0.13, Z:0.22 [[ 9.99778810e-01 -1.55021635e-02 -1.42131486e-02 6.04020609e+01] [ 1.55036223e-02 9.99879812e-01 -7.54844880e-06 1.30586150e-01] [ 1.42115573e-02 -2.12808508e-04 9.99898988e-01 2.18061287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.039254154 meters 0.015952939120853937 Centerline is valid? [True, True] Translation: X:60.46, Y:0.13, Z:0.22 [[ 9.99720072e-01 -1.86018140e-02 -1.46201681e-02 6.04603051e+01] [ 1.86036623e-02 9.99826937e-01 -9.57631682e-06 1.29217431e-01] [ 1.46178160e-02 -2.62415034e-04 9.99893120e-01 2.17805691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.099254154 meters 0.018630886437122463 Centerline is valid? [True, True] Translation: X:60.52, Y:0.12, Z:0.22 [[ 9.99552822e-01 -2.61978469e-02 -1.44163033e-02 6.05197934e+01] [ 2.62004268e-02 9.99656710e-01 -9.90738230e-06 1.24751577e-01] [ 1.44116138e-02 -3.67810347e-04 9.99896080e-01 2.17945448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.159254154 meters 0.022242024311856096 Centerline is valid? [True, True] Translation: X:60.58, Y:0.12, Z:0.22 [[ 9.99258934e-01 -3.62778731e-02 -1.28646340e-02 6.05806438e+01] [ 3.62807612e-02 9.99341636e-01 -8.88869904e-06 1.19397756e-01] [ 1.28564868e-02 -4.57856602e-04 9.99917247e-01 2.19700594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.219254154 meters 0.025465573990857044 Centerline is valid? [True, True] Translation: X:60.64, Y:0.12, Z:0.22 [[ 9.98991993e-01 -4.32542114e-02 -1.20029346e-02 6.06415993e+01] [ 4.32572286e-02 9.99063968e-01 -8.25569386e-06 1.15098964e-01] [ 1.19920566e-02 -5.10966316e-04 9.99927962e-01 2.20780533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.279254154 meters 0.0280026149641906 Centerline is valid? [True, True] Translation: X:60.70, Y:0.11, Z:0.22 [[ 9.98551398e-01 -5.24900875e-02 -1.18277509e-02 6.07023318e+01] [ 5.24936647e-02 9.98621257e-01 -8.02401749e-06 1.12381687e-01] [ 1.18118647e-02 -6.12869598e-04 9.99930050e-01 2.21653957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.339254154 meters 0.030803368413052402 Centerline is valid? [True, True] Translation: X:60.76, Y:0.11, Z:0.22 [[ 9.98220396e-01 -5.86434160e-02 -1.08162624e-02 6.07627815e+01] [ 5.86467683e-02 9.98278797e-01 -7.26422672e-06 1.09794856e-01] [ 1.07980715e-02 -6.27087538e-04 9.99941502e-01 2.22385519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.399254154 meters 0.03674690310175833 Centerline is valid? [True, True] Translation: X:60.82, Y:0.10, Z:0.22 [[ 9.98109911e-01 -6.05058463e-02 -1.07539629e-02 6.08240822e+01] [ 6.05092716e-02 9.98167635e-01 -6.87133676e-06 1.02508630e-01] [ 1.07346735e-02 -6.43856112e-04 9.99942174e-01 2.22345024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.459254154 meters 0.031058451025292123 Centerline is valid? [True, True] Translation: X:60.89, Y:0.11, Z:0.22 [[ 9.98144217e-01 -5.97730139e-02 -1.16322341e-02 6.08868062e+01] [ 5.97769824e-02 9.98211757e-01 -6.52735355e-06 1.13212064e-01] [ 1.16118230e-02 -6.88824615e-04 9.99932343e-01 2.22662085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.519254154 meters 0.028967327336737975 Centerline is valid? [True, True] Translation: X:60.95, Y:0.12, Z:0.22 [[ 9.98497592e-01 -5.30468060e-02 -1.37329874e-02 6.09472972e+01] [ 5.30517095e-02 9.98591766e-01 -7.24641250e-06 1.20690147e-01] [ 1.37140325e-02 -7.21322933e-04 9.99905698e-01 2.20916189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.579254154 meters 0.02266407921838434 Centerline is valid? [True, True] Translation: X:61.01, Y:0.14, Z:0.22 [[ 9.99034451e-01 -4.12577691e-02 -1.50984177e-02 6.10082773e+01] [ 4.12623534e-02 9.99148346e-01 -7.90093156e-06 1.37930261e-01] [ 1.50858851e-02 -6.15102944e-04 9.99886012e-01 2.21126943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.639254154 meters 0.019101026483295706 Centerline is valid? [True, True] Translation: X:61.07, Y:0.15, Z:0.22 [[ 9.99509214e-01 -2.76449780e-02 -1.47338477e-02 6.10676715e+01] [ 2.76478630e-02 9.99617725e-01 -7.88657642e-06 1.53495039e-01] [ 1.47284333e-02 -3.99476695e-04 9.99891451e-01 2.21459578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.699254154 meters 0.016318715032891527 Centerline is valid? [True, True] Translation: X:61.13, Y:0.17, Z:0.22 [[ 9.99738753e-01 -1.82997250e-02 -1.36947526e-02 6.11283061e+01] [ 1.83013421e-02 9.99832516e-01 -7.24066984e-06 1.66167652e-01] [ 1.36925914e-02 -2.43393573e-04 9.99906222e-01 2.23536031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.759254154 meters 0.014946997621213383 Centerline is valid? [True, True] Translation: X:61.19, Y:0.18, Z:0.22 [[ 9.99875070e-01 -8.84532502e-03 -1.30998177e-02 6.11877838e+01] [ 8.84599022e-03 9.99960873e-01 -7.16421491e-06 1.76185999e-01] [ 1.30993685e-02 -1.08717539e-04 9.99914194e-01 2.24340844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.819254154 meters 0.014646295971269525 Centerline is valid? [True, True] Translation: X:61.25, Y:0.19, Z:0.23 [[ 9.99912079e-01 2.51146741e-03 -1.30202261e-02 6.12466681e+01] [-2.51180441e-03 9.99996845e-01 -9.53013615e-06 1.89496532e-01] [ 1.30201611e-02 4.22335595e-05 9.99915233e-01 2.25274284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.879254154 meters 0.014729845494557367 Centerline is valid? [True, True] Translation: X:61.30, Y:0.20, Z:0.23 [[ 9.99896988e-01 6.06710021e-03 -1.30078524e-02 6.13047421e+01] [-6.06776260e-03 9.99981591e-01 -1.14567549e-05 1.95398812e-01] [ 1.30075434e-02 9.03841348e-05 9.99915394e-01 2.25360597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.939254154 meters 0.014577513400656711 Centerline is valid? [True, True] Translation: X:61.36, Y:0.19, Z:0.22 [[ 9.99906910e-01 3.49096005e-03 -1.31903007e-02 6.13637275e+01] [-3.49143065e-03 9.99993905e-01 -1.26500731e-05 1.93119190e-01] [ 1.31901761e-02 5.87019157e-05 9.99913004e-01 2.24512558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.999254154 meters 0.014380225709241485 Centerline is valid? [True, True] Translation: X:61.42, Y:0.19, Z:0.22 [[ 9.99897265e-01 -1.98361622e-03 -1.41959238e-02 6.14220102e+01] [ 1.98360343e-03 9.99998033e-01 -1.49816626e-05 1.89626260e-01] [ 1.41959256e-02 -1.31789596e-05 9.99899233e-01 2.24196629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.059254154 meters 0.014975478684822711 Centerline is valid? [True, True] Translation: X:61.48, Y:0.18, Z:0.23 [[ 9.99838779e-01 -1.22139543e-02 -1.31618754e-02 6.14809452e+01] [ 1.22148154e-02 9.99925396e-01 -1.49694139e-05 1.83229332e-01] [ 1.31610763e-02 -1.45802877e-04 9.99913379e-01 2.26314356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.119254154 meters 0.01679656154670579 Centerline is valid? [True, True] Translation: X:61.54, Y:0.17, Z:0.23 [[ 9.99674510e-01 -2.27505609e-02 -1.15449664e-02 6.15397061e+01] [ 2.27519180e-02 9.99741142e-01 -1.37913568e-05 1.72279713e-01] [ 1.15422916e-02 -2.48883261e-04 9.99933355e-01 2.27186626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.179254154 meters 0.02022027371195053 Centerline is valid? [True, True] Translation: X:61.60, Y:0.16, Z:0.23 [[ 9.99408546e-01 -3.29382264e-02 -9.88083885e-03 6.15995843e+01] [ 3.29397171e-02 9.99457340e-01 -1.18862927e-05 1.60891558e-01] [ 9.87586843e-03 -3.13592774e-04 9.99951183e-01 2.27841613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.239254154 meters 0.022286037361177836 Centerline is valid? [True, True] Translation: X:61.66, Y:0.16, Z:0.23 [[ 9.99215361e-01 -3.85113112e-02 -9.24886886e-03 6.16607680e+01] [ 3.85128572e-02 9.99258105e-01 -1.09529265e-05 1.55643761e-01] [ 9.24242898e-03 -3.45256033e-04 9.99957228e-01 2.28878055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.299254154 meters 0.025324630324269685 Centerline is valid? [True, True] Translation: X:61.72, Y:0.15, Z:0.23 [[ 9.98979456e-01 -4.44297962e-02 -8.12650746e-03 6.17210264e+01] [ 4.44311860e-02 9.99012447e-01 -9.52888803e-06 1.47717845e-01] [ 8.11890547e-03 -3.51551201e-04 9.99966979e-01 2.29344387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.359254154 meters 0.0263746577003886 Centerline is valid? [True, True] Translation: X:61.78, Y:0.14, Z:0.23 [[ 9.98875006e-01 -4.68036626e-02 -7.62497905e-03 6.17832463e+01] [ 4.68049571e-02 9.98904047e-01 -8.68366180e-06 1.41179345e-01] [ 7.61702886e-03 -3.48212924e-04 9.99970929e-01 2.29226169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.419254154 meters 0.02533148064188962 Centerline is valid? [True, True] Translation: X:61.85, Y:0.14, Z:0.23 [[ 9.98897281e-01 -4.63047750e-02 -7.75175666e-03 6.18450695e+01] [ 4.63061023e-02 9.98927297e-01 -8.26889186e-06 1.40645326e-01] [ 7.74382422e-03 -3.50693863e-04 9.99969955e-01 2.29644198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.479254154 meters 0.022934456547866713 Centerline is valid? [True, True] Translation: X:61.91, Y:0.14, Z:0.23 [[ 9.99113848e-01 -4.12369136e-02 -8.42830771e-03 6.19063762e+01] [ 4.12383061e-02 9.99149339e-01 -8.57285924e-06 1.43782587e-01] [ 8.42149160e-03 -3.39003871e-04 9.99964481e-01 2.30135249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.539254154 meters 0.019231285509134076 Centerline is valid? [True, True] Translation: X:61.97, Y:0.15, Z:0.23 [[ 9.99415320e-01 -3.25519435e-02 -1.04589683e-02 6.19669520e+01] [ 3.25536140e-02 9.99469991e-01 -1.05309736e-05 1.50503896e-01] [ 1.04537677e-02 -3.29952400e-04 9.99945303e-01 2.28308463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.599254154 meters 0.01612388114604885 Centerline is valid? [True, True] Translation: X:62.03, Y:0.16, Z:0.23 [[ 9.99699687e-01 -1.95548154e-02 -1.47697172e-02 6.20277166e+01] [ 1.95567294e-02 9.99808749e-01 -1.48416216e-05 1.59047561e-01] [ 1.47671827e-02 -2.74010198e-04 9.99890922e-01 2.25818153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.659254154 meters 0.015027918099545469 Centerline is valid? [True, True] Translation: X:62.09, Y:0.17, Z:0.23 [[ 9.99818408e-01 -1.04404975e-02 -1.59420133e-02 6.20879026e+01] [ 1.04415659e-02 9.99945485e-01 -1.62211838e-05 1.65787071e-01] [ 1.59413136e-02 -1.50241345e-04 9.99872918e-01 2.26506399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.719254154 meters 0.014431254042334994 Centerline is valid? [True, True] Translation: X:62.15, Y:0.17, Z:0.23 [[ 9.99904887e-01 -3.59219963e-04 -1.37872400e-02 6.21463837e+01] [ 3.59026454e-04 9.99999935e-01 -1.65104474e-05 1.71541386e-01] [ 1.37872451e-02 1.15588931e-05 9.99904951e-01 2.29142616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.779254154 meters 0.014275843850046082 Centerline is valid? [True, True] Translation: X:62.20, Y:0.17, Z:0.23 [[ 9.99913017e-01 3.27217468e-04 -1.31852818e-02 6.22046554e+01] [-3.27501895e-04 9.99999946e-01 -1.94124217e-05 1.71960622e-01] [ 1.31852748e-02 2.37289380e-05 9.99913070e-01 2.30056062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.839254154 meters 0.014275843850046082 Centerline is valid? [True, True] Translation: X:62.26, Y:0.17, Z:0.23 [[ 9.99913046e-01 2.18939439e-04 -1.31852783e-02 6.22621133e+01] [-2.19243785e-04 9.99999976e-01 -2.16367606e-05 1.72143527e-01] [ 1.31852732e-02 2.45256695e-05 9.99913070e-01 2.30309417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.899254154 meters 0.014378960259451509 Centerline is valid? [True, True] Translation: X:62.32, Y:0.17, Z:0.23 [[ 9.99931461e-01 1.31492218e-03 -1.16337420e-02 6.23201605e+01] [-1.31526328e-03 9.99999135e-01 -2.16684336e-05 1.71426829e-01] [ 1.16337035e-02 3.69683821e-05 9.99932325e-01 2.31975008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.959254154 meters 0.01428405475820842 Centerline is valid? [True, True] Translation: X:62.38, Y:0.17, Z:0.23 [[ 9.99943814e-01 1.31189291e-03 -1.05189068e-02 6.23776180e+01] [-1.31218996e-03 9.99999139e-01 -2.13382064e-05 1.68954325e-01] [ 1.05188698e-02 3.51398115e-05 9.99944675e-01 2.32966022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.019254154 meters 0.014179014271809376 Centerline is valid? [True, True] Translation: X:62.44, Y:0.16, Z:0.23 [[ 9.99941789e-01 -1.61310635e-03 -1.06684923e-02 6.24362376e+01] [ 1.61295814e-03 9.99998699e-01 -2.24964551e-05 1.63123489e-01] [ 1.06685147e-02 5.28731411e-06 9.99943090e-01 2.32904941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.079254154 meters 0.01408789138369731 Centerline is valid? [True, True] Translation: X:62.50, Y:0.16, Z:0.23 [[ 9.99919648e-01 -5.05111863e-03 -1.16268816e-02 6.24951726e+01] [ 5.05116484e-03 9.99987242e-01 -2.53908668e-05 1.58041899e-01] [ 1.16268615e-02 -3.33404688e-05 9.99932405e-01 2.32973087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.139254154 meters 0.014460664693788655 Centerline is valid? [True, True] Translation: X:62.55, Y:0.15, Z:0.23 [[ 9.99852924e-01 -1.10901171e-02 -1.30820679e-02 6.25540883e+01] [ 1.10906793e-02 9.99938496e-01 -2.95686181e-05 1.49162662e-01] [ 1.30815912e-02 -1.15524750e-04 9.99914426e-01 2.31758512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.199254154 meters 0.014844980206714988 Centerline is valid? [True, True] Translation: X:62.61, Y:0.14, Z:0.23 [[ 9.99813502e-01 -1.45053855e-02 -1.27496753e-02 6.26124753e+01] [ 1.45061854e-02 9.99894779e-01 -2.97407171e-05 1.43930313e-01] [ 1.27487652e-02 -1.55213984e-04 9.99918719e-01 2.31858391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.259254154 meters 0.015607592699544433 Centerline is valid? [True, True] Translation: X:62.67, Y:0.14, Z:0.23 [[ 9.99775876e-01 -1.72539387e-02 -1.22678428e-02 6.26713303e+01] [ 1.72548772e-02 9.99851123e-01 -2.93507394e-05 1.36614695e-01] [ 1.22665228e-02 -1.82335960e-04 9.99924747e-01 2.32330799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.319254154 meters 0.01575972022287908 Centerline is valid? [True, True] Translation: X:62.73, Y:0.13, Z:0.23 [[ 9.99780257e-01 -1.82798726e-02 -1.02608411e-02 6.27311336e+01] [ 1.82805790e-02 9.99832896e-01 -2.49549876e-05 1.31146404e-01] [ 1.02595826e-02 -1.62624612e-04 9.99947356e-01 2.34267500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.379254154 meters 0.015463599141409125 Centerline is valid? [True, True] Translation: X:62.79, Y:0.13, Z:0.23 [[ 9.99784457e-01 -1.76299785e-02 -1.09646825e-02 6.27915570e+01] [ 1.76307442e-02 9.99844566e-01 -2.68330562e-05 1.27229261e-01] [ 1.09634512e-02 -1.66488239e-04 9.99939886e-01 2.34427191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.439254154 meters 0.014873585061933325 Centerline is valid? [True, True] Translation: X:62.85, Y:0.12, Z:0.23 [[ 9.99843581e-01 -1.39927226e-02 -1.08174563e-02 6.28517597e+01] [ 1.39932551e-02 9.99902089e-01 -2.64727606e-05 1.24560771e-01] [ 1.08167676e-02 -1.24902806e-04 9.99941489e-01 2.34911442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.499254154 meters 0.014530609696218754 Centerline is valid? [True, True] Translation: X:62.91, Y:0.12, Z:0.23 [[ 9.99892763e-01 -9.61836580e-03 -1.10431046e-02 6.29117177e+01] [ 9.61865118e-03 9.99953739e-01 -2.72707342e-05 1.23839064e-01] [ 1.10428561e-02 -7.89519618e-05 9.99939023e-01 2.34983444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.559254154 meters 0.014331236796169237 Centerline is valid? [True, True] Translation: X:62.97, Y:0.12, Z:0.23 [[ 9.99921145e-01 -2.16011554e-03 -1.23708276e-02 6.29696924e+01] [ 2.15989167e-03 9.99997667e-01 -3.14566819e-05 1.24646294e-01] [ 1.23708667e-02 4.73455400e-06 9.99923478e-01 2.34642048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.619254154 meters 0.014404852618329661 Centerline is valid? [True, True] Translation: X:63.03, Y:0.12, Z:0.23 [[ 9.99916259e-01 1.20995250e-03 -1.28845628e-02 6.30287092e+01] [-1.21050802e-03 9.99999267e-01 -3.53165931e-05 1.22516402e-01] [ 1.28845107e-02 5.09105023e-05 9.99916990e-01 2.33702822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.679254154 meters 0.014283119932759896 Centerline is valid? [True, True] Translation: X:63.09, Y:0.12, Z:0.23 [[ 9.99912036e-01 -1.15036997e-04 -1.32630143e-02 6.30864919e+01] [ 1.14537136e-04 9.99999993e-01 -3.84479299e-05 1.17728360e-01] [ 1.32630186e-02 3.69254402e-05 9.99912042e-01 2.33224880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.739254154 meters 0.014061299615996722 Centerline is valid? [True, True] Translation: X:63.14, Y:0.11, Z:0.23 [[ 9.99909669e-01 -4.25918777e-03 -1.27480620e-02 6.31449545e+01] [ 4.25904918e-03 9.99990929e-01 -3.80199925e-05 1.11680500e-01] [ 1.27481083e-02 -1.62780649e-05 9.99918739e-01 2.33877832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.799254154 meters 0.014555711355256372 Centerline is valid? [True, True] Translation: X:63.20, Y:0.11, Z:0.23 [[ 9.99858288e-01 -1.01113193e-02 -1.34597770e-02 6.32039930e+01] [ 1.01116817e-02 9.99948875e-01 -4.11351064e-05 1.05428612e-01] [ 1.34595048e-02 -9.49717030e-05 9.99909412e-01 2.33270053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.859254154 meters 0.016465840228956013 Centerline is valid? [True, True] Translation: X:63.26, Y:0.09, Z:0.23 [[ 9.99663466e-01 -2.14926666e-02 -1.45264993e-02 6.32636406e+01] [ 2.14942795e-02 9.99768970e-01 -4.50974817e-05 9.34629452e-02] [ 1.45241126e-02 -2.67154333e-04 9.99894484e-01 2.33115514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.919254154 meters 0.020942400102506566 Centerline is valid? [True, True] Translation: X:63.32, Y:0.08, Z:0.23 [[ 9.99297989e-01 -3.49009641e-02 -1.36180797e-02 6.33228769e+01] [ 3.49036232e-02 9.99390682e-01 -4.24378125e-05 7.88015841e-02] [ 1.36112630e-02 -4.32912300e-04 9.99907269e-01 2.34382828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.979254154 meters 0.026957579905453583 Centerline is valid? [True, True] Translation: X:63.38, Y:0.07, Z:0.24 [[ 9.98813688e-01 -4.70782275e-02 -1.24441581e-02 6.33818063e+01] [ 4.70813883e-02 9.98891056e-01 -3.90010647e-05 6.59050766e-02] [ 1.24321944e-02 -5.46933444e-04 9.99922568e-01 2.35694638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.03925415399999 meters 0.026021536972750888 Centerline is valid? [True, True] Translation: X:63.44, Y:0.07, Z:0.24 [[ 9.98543666e-01 -5.27623603e-02 -1.12552672e-02 6.34425949e+01] [ 5.27653052e-02 9.98606940e-01 -3.53518422e-05 6.65886411e-02] [ 1.12414532e-02 -5.58587250e-04 9.99936657e-01 2.36974818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.099254154 meters 0.02767865278360253 Centerline is valid? [True, True] Translation: X:63.50, Y:0.06, Z:0.24 [[ 9.98351366e-01 -5.65259251e-02 -9.96846933e-03 6.35036613e+01] [ 5.65284247e-02 9.98400990e-01 -3.10560385e-05 6.43113942e-02] [ 9.95428512e-03 -5.32497030e-04 9.99950313e-01 2.38228386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.159254154 meters 0.027716894002620965 Centerline is valid? [True, True] Translation: X:63.57, Y:0.07, Z:0.24 [[ 9.98429037e-01 -5.53399270e-02 -8.77213205e-03 6.35658194e+01] [ 5.53418212e-02 9.98467467e-01 -2.68450555e-05 6.64555848e-02] [ 8.76017407e-03 -4.58662880e-04 9.99961524e-01 2.39446841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.219254154 meters 0.027254037539219317 Centerline is valid? [True, True] Translation: X:63.63, Y:0.07, Z:0.24 [[ 9.98546985e-01 -5.29017246e-02 -1.02628715e-02 6.36272266e+01] [ 5.29041949e-02 9.98599592e-01 -3.08186509e-05 7.04396308e-02] [ 1.02501297e-02 -5.12175084e-04 9.99947335e-01 2.37942321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27925415399999 meters 0.025974917263664816 Centerline is valid? [True, True] Translation: X:63.69, Y:0.08, Z:0.24 [[ 9.98584794e-01 -5.15791421e-02 -1.29615554e-02 6.36891457e+01] [ 5.15829822e-02 9.98668711e-01 -3.80953930e-05 7.63000715e-02] [ 1.29462647e-02 -6.30554200e-04 9.99915995e-01 2.35801088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33925415399999 meters 0.025210784852671638 Centerline is valid? [True, True] Translation: X:63.75, Y:0.08, Z:0.23 [[ 9.98648687e-01 -5.00728831e-02 -1.39106731e-02 6.37516801e+01] [ 5.00771749e-02 9.98745350e-01 -3.98405144e-05 8.06033810e-02] [ 1.38952150e-02 -6.56820531e-04 9.99903241e-01 2.34682077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.39925415399999 meters 0.022695151416208835 Centerline is valid? [True, True] Translation: X:63.81, Y:0.09, Z:0.24 [[ 9.98927806e-01 -4.43230475e-02 -1.33681074e-02 6.38127685e+01] [ 4.43265024e-02 9.99017097e-01 -3.78901471e-05 9.08810658e-02] [ 1.33566473e-02 -5.54711925e-04 9.99910642e-01 2.36782285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.45925415399999 meters 0.021301741521018224 Centerline is valid? [True, True] Translation: X:63.87, Y:0.10, Z:0.24 [[ 9.99191667e-01 -3.83239372e-02 -1.21362849e-02 6.38729133e+01] [ 3.83263431e-02 9.99265275e-01 -3.43640448e-05 9.79800180e-02] [ 1.21286850e-02 -4.30803151e-04 9.99926352e-01 2.38063008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.519254154 meters 0.018604457379851065 Centerline is valid? [True, True] Translation: X:63.93, Y:0.11, Z:0.24 [[ 9.99544090e-01 -2.78554421e-02 -1.16484748e-02 6.39328909e+01] [ 2.78569480e-02 9.99611919e-01 -3.29853204e-05 1.10293621e-01] [ 1.16448730e-02 -2.91520674e-04 9.99932154e-01 2.39171721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.579254154 meters 0.015717395653740935 Centerline is valid? [True, True] Translation: X:63.99, Y:0.12, Z:0.24 [[ 9.99785588e-01 -1.78784578e-02 -1.04469777e-02 6.39937327e+01] [ 1.78791256e-02 9.99840155e-01 -2.94749272e-05 1.21796653e-01] [ 1.04458348e-02 -1.57314220e-04 9.99945428e-01 2.40713950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.639254154 meters 0.014627108711295989 Centerline is valid? [True, True] Translation: X:64.05, Y:0.13, Z:0.24 [[ 9.99903254e-01 -1.00554546e-02 -9.61091677e-03 6.40538821e+01] [ 1.00556591e-02 9.99949440e-01 -2.70434465e-05 1.29400788e-01] [ 9.61070277e-03 -6.96032729e-05 9.99953814e-01 2.41664294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69925415399999 meters 0.01424637528314838 Centerline is valid? [True, True] Translation: X:64.11, Y:0.13, Z:0.24 [[ 9.99931893e-01 -5.70886011e-03 -1.01793408e-02 6.41130328e+01] [ 5.70884920e-03 9.99983704e-01 -3.01288367e-05 1.34369993e-01] [ 1.01793469e-02 -2.79855368e-05 9.99948189e-01 2.42031575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.75925415399999 meters 0.014161437979763127 Centerline is valid? [True, True] Translation: X:64.17, Y:0.14, Z:0.24 [[ 9.99939014e-01 -4.54886751e-03 -1.00635642e-02 6.41713850e+01] [ 4.54877033e-03 9.99989654e-01 -3.25459221e-05 1.35632725e-01] [ 1.00636081e-02 -1.32329049e-05 9.99949361e-01 2.41943752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.81925415399999 meters 0.014210153420598734 Centerline is valid? [True, True] Translation: X:64.23, Y:0.13, Z:0.24 [[ 9.99936549e-01 -5.30417758e-03 -9.93794394e-03 6.42285375e+01] [ 5.30410075e-03 9.99985933e-01 -3.40880406e-05 1.34260851e-01] [ 9.93798495e-03 -1.86259782e-05 9.99950617e-01 2.42025512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.879254154 meters 0.014377664471190958 Centerline is valid? [True, True] Translation: X:64.29, Y:0.13, Z:0.24 [[ 9.99925261e-01 -8.70262663e-03 -8.58700586e-03 6.42872440e+01] [ 8.70268795e-03 9.99962130e-01 -3.02252818e-05 1.30944116e-01] [ 8.58694371e-03 -4.45070096e-05 9.99963131e-01 2.43531091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.939254154 meters 0.014629964003691228 Centerline is valid? [True, True] Translation: X:64.35, Y:0.13, Z:0.24 [[ 9.99896387e-01 -1.14343621e-02 -8.74475838e-03 6.43456421e+01] [ 1.14345245e-02 9.99934623e-01 -3.14166603e-05 1.27700779e-01] [ 8.74454591e-03 -6.85787492e-05 9.99961763e-01 2.43750956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.999254154 meters 0.015088393500256387 Centerline is valid? [True, True] Translation: X:64.40, Y:0.12, Z:0.24 [[ 9.99834549e-01 -1.46719938e-02 -1.07521190e-02 6.44041642e+01] [ 1.46724187e-02 9.99892353e-01 -3.93658804e-05 1.23068488e-01] [ 1.07515391e-02 -1.18400225e-04 9.99942194e-01 2.42053070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05925415399999 meters 0.015245663130529327 Centerline is valid? [True, True] Translation: X:64.46, Y:0.12, Z:0.24 [[ 9.99807134e-01 -1.55884303e-02 -1.19455523e-02 6.44633343e+01] [ 1.55890108e-02 9.99878483e-01 -4.45257237e-05 1.21778882e-01] [ 1.19447948e-02 -1.41702208e-04 9.99928648e-01 2.41602275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.11925415399999 meters 0.015100810306792603 Centerline is valid? [True, True] Translation: X:64.52, Y:0.12, Z:0.24 [[ 9.99812925e-01 -1.52457139e-02 -1.19030927e-02 6.45222570e+01] [ 1.52462576e-02 9.99883768e-01 -4.50698041e-05 1.19559992e-01] [ 1.19023963e-02 -1.36416244e-04 9.99929155e-01 2.42174408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.17925415399999 meters 0.014530158108145714 Centerline is valid? [True, True] Translation: X:64.58, Y:0.12, Z:0.24 [[ 9.99856986e-01 -1.28634718e-02 -1.09789963e-02 6.45822955e+01] [ 1.28637858e-02 9.99917257e-01 -4.20241874e-05 1.19361109e-01] [ 1.09786284e-02 -9.92132785e-05 9.99939728e-01 2.43564353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.239254154 meters 0.014378017736587926 Centerline is valid? [True, True] Translation: X:64.64, Y:0.12, Z:0.24 [[ 9.99902449e-01 -9.45965174e-03 -1.02765188e-02 6.46413564e+01] [ 9.45974227e-03 9.99955255e-01 -3.98000262e-05 1.20766177e-01] [ 1.02764355e-02 -5.74170754e-05 9.99947194e-01 2.43820178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.299254154 meters 0.013940769112711316 Centerline is valid? [True, True] Translation: X:64.70, Y:0.13, Z:0.25 [[ 9.99945128e-01 -2.52406050e-03 -1.01671278e-02 6.47005773e+01] [ 2.52377436e-03 9.99996814e-01 -4.09741689e-05 1.25126371e-01] [ 1.01671989e-02 1.53123840e-05 9.99948313e-01 2.45081729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.359254154 meters 0.01391888786624368 Centerline is valid? [True, True] Translation: X:64.76, Y:0.13, Z:0.24 [[ 9.99942530e-01 2.00822158e-03 -1.05310617e-02 6.47595870e+01] [-2.00880777e-03 9.99997981e-01 -4.50861808e-05 1.25820202e-01] [ 1.05309499e-02 6.62384684e-05 9.99944546e-01 2.44674821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41925415399999 meters 0.013886353477034102 Centerline is valid? [True, True] Translation: X:64.82, Y:0.12, Z:0.24 [[ 9.99934105e-01 -4.49070429e-05 -1.14797408e-02 6.48182694e+01] [ 4.43257369e-05 9.99999998e-01 -5.08919881e-05 1.22267805e-01] [ 1.14797430e-02 5.03797866e-05 9.99934104e-01 2.44039267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47925415399999 meters 0.01386734846082814 Centerline is valid? [True, True] Translation: X:64.88, Y:0.12, Z:0.24 [[ 9.99898361e-01 -5.11905690e-03 -1.33065249e-02 6.48766980e+01] [ 5.11871158e-03 9.99986898e-01 -6.00090071e-05 1.17965462e-01] [ 1.33066578e-02 -8.10935533e-06 9.99911462e-01 2.42785933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.53925415399999 meters 0.014469434267095176 Centerline is valid? [True, True] Translation: X:64.94, Y:0.11, Z:0.24 [[ 9.99786151e-01 -1.40350674e-02 -1.51877962e-02 6.49359293e+01] [ 1.40356287e-02 9.99901493e-01 -6.96423185e-05 1.09513023e-01] [ 1.51872776e-02 -1.43542842e-04 9.99884656e-01 2.41959448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.599254154 meters 0.015260228966422467 Centerline is valid? [True, True] Translation: X:64.99, Y:0.10, Z:0.24 [[ 9.99714623e-01 -1.87316987e-02 -1.48255190e-02 6.49949921e+01] [ 1.87327340e-02 9.99824525e-01 -6.90463647e-05 1.04449471e-01] [ 1.48242108e-02 -2.08695843e-04 9.99890094e-01 2.42542414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.659254154 meters 0.015939351196410413 Centerline is valid? [True, True] Translation: X:65.05, Y:0.10, Z:0.24 [[ 9.99657957e-01 -2.19870370e-02 -1.41612219e-02 6.50539275e+01] [ 2.19882692e-02 9.99758226e-01 -6.86997923e-05 1.01360270e-01] [ 1.41593086e-02 -2.42704466e-04 9.99899723e-01 2.44206926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.719254154 meters 0.016324079731133912 Centerline is valid? [True, True] Translation: X:65.11, Y:0.10, Z:0.25 [[ 9.99664633e-01 -2.30671367e-02 -1.17698416e-02 6.51122606e+01] [ 2.30680473e-02 9.99733895e-01 -5.84032186e-05 9.89016062e-02] [ 1.17680568e-02 -2.13123630e-04 9.99930731e-01 2.46475197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77925415399999 meters 0.016023530659910072 Centerline is valid? [True, True] Translation: X:65.17, Y:0.10, Z:0.25 [[ 9.99687355e-01 -2.22896744e-02 -1.13297209e-02 6.51728583e+01] [ 2.22904657e-02 9.99751535e-01 -5.64427905e-05 9.90819369e-02] [ 1.13281640e-02 -1.96119612e-04 9.99935815e-01 2.47292496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83925415399999 meters 0.014547836019727416 Centerline is valid? [True, True] Translation: X:65.23, Y:0.10, Z:0.25 [[ 9.99780600e-01 -1.80695821e-02 -1.05944375e-02 6.52333626e+01] [ 1.80700371e-02 9.99836722e-01 -5.27797302e-05 1.01862005e-01] [ 1.05936613e-02 -1.38673728e-04 9.99943876e-01 2.48555173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.89925415399999 meters 0.013946968435647437 Centerline is valid? [True, True] Translation: X:65.29, Y:0.11, Z:0.25 [[ 9.99887388e-01 -1.02245358e-02 -1.09850376e-02 6.52924688e+01] [ 1.02245503e-02 9.99947726e-01 -5.48452573e-05 1.05661167e-01] [ 1.09850241e-02 -5.74779878e-05 9.99939661e-01 2.48366049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.95925415399999 meters 0.01360187018679115 Centerline is valid? [True, True] Translation: X:65.35, Y:0.11, Z:0.25 [[ 9.99921149e-01 -5.45992172e-03 -1.13085926e-02 6.53511202e+01] [ 5.45961152e-03 9.99985095e-01 -5.83021372e-05 1.08235947e-01] [ 1.13087424e-02 -3.44298227e-06 9.99936054e-01 2.48639631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.019254154 meters 0.013696477601027386 Centerline is valid? [True, True] Translation: X:65.41, Y:0.11, Z:0.25 [[ 9.99923738e-01 -2.60688076e-04 -1.23470596e-02 6.54085344e+01] [ 2.59898056e-04 9.99999964e-01 -6.55889928e-05 1.09957116e-01] [ 1.23470763e-02 6.23750141e-05 9.99923770e-01 2.47762735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.079254154 meters 0.013737737983151527 Centerline is valid? [True, True] Translation: X:65.47, Y:0.11, Z:0.25 [[ 9.99916477e-01 5.59628770e-04 -1.29122292e-02 6.54677147e+01] [-5.60594611e-04 9.99999840e-01 -7.11811837e-05 1.07389303e-01] [ 1.29121873e-02 7.84137645e-05 9.99916631e-01 2.47466450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.139254154 meters 0.013716555514583402 Centerline is valid? [True, True] Translation: X:65.53, Y:0.11, Z:0.25 [[ 9.99913233e-01 -1.34045157e-03 -1.31045811e-02 6.55267053e+01] [ 1.33959665e-03 9.99999100e-01 -7.40157941e-05 1.05047450e-01] [ 1.31046685e-02 5.64545191e-05 9.99914129e-01 2.47398595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19925415399999 meters 0.013600888405760065 Centerline is valid? [True, True] Translation: X:65.59, Y:0.10, Z:0.25 [[ 9.99889349e-01 -7.27794296e-03 -1.29738878e-02 6.55858073e+01] [ 7.27759264e-03 9.99973515e-01 -7.42134648e-05 9.81211363e-02] [ 1.29740843e-02 -2.02134174e-05 9.99915833e-01 2.47941541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.25925415399999 meters 0.013972950614265683 Centerline is valid? [True, True] Translation: X:65.64, Y:0.09, Z:0.25 [[ 9.99835672e-01 -1.29619548e-02 -1.26734963e-02 6.56442881e+01] [ 1.29620656e-02 9.99915986e-01 -7.33983408e-05 9.26504183e-02] [ 1.26733830e-02 -9.08884118e-05 9.99919685e-01 2.48772086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.31925415399999 meters 0.015113156684310602 Centerline is valid? [True, True] Translation: X:65.70, Y:0.08, Z:0.25 [[ 9.99689337e-01 -2.22042880e-02 -1.13224642e-02 6.57033430e+01] [ 2.22049616e-02 9.99753437e-01 -6.62334870e-05 8.34335777e-02] [ 1.13211432e-02 -1.85201973e-04 9.99935897e-01 2.50317941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.379254154 meters 0.01706749317096454 Centerline is valid? [True, True] Translation: X:65.76, Y:0.07, Z:0.25 [[ 9.99529462e-01 -2.94131252e-02 -8.70184664e-03 6.57635227e+01] [ 2.94137938e-02 9.99567319e-01 -5.11664024e-05 7.48972239e-02] [ 8.69958649e-03 -2.04811996e-04 9.99962137e-01 2.51780860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.439254154 meters 0.01910153929004925 Centerline is valid? [True, True] Translation: X:65.82, Y:0.07, Z:0.25 [[ 9.99379760e-01 -3.42591875e-02 -8.14883062e-03 6.58241408e+01] [ 3.42599356e-02 9.99412955e-01 -4.78124545e-05 6.67217965e-02] [ 8.14568491e-03 -2.31395613e-04 9.99966797e-01 2.51816543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.499254154 meters 0.019689509217151586 Centerline is valid? [True, True] Translation: X:65.89, Y:0.06, Z:0.25 [[ 9.99342784e-01 -3.50643500e-02 -9.19191202e-03 6.58858664e+01] [ 3.50653404e-02 9.99385020e-01 -5.34448445e-05 6.45524841e-02] [ 9.18813319e-03 -2.68907805e-04 9.99957752e-01 2.51092962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55925415399999 meters 0.01865657061742223 Centerline is valid? [True, True] Translation: X:65.95, Y:0.07, Z:0.25 [[ 9.99372287e-01 -3.40400700e-02 -9.81350681e-03 6.59476653e+01] [ 3.40411558e-02 9.99420430e-01 -5.64205936e-05 6.54024262e-02] [ 9.80973976e-03 -2.77677936e-04 9.99951845e-01 2.51409677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.61925415399999 meters 0.018043877229605654 Centerline is valid? [True, True] Translation: X:66.01, Y:0.07, Z:0.25 [[ 9.99453627e-01 -3.16745923e-02 -9.44291605e-03 6.60089440e+01] [ 3.16754967e-02 9.99498204e-01 -5.38049668e-05 6.63266238e-02] [ 9.43988188e-03 -2.45333487e-04 9.99955413e-01 2.52667136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.67925415399999 meters 0.017486457625153395 Centerline is valid? [True, True] Translation: X:66.07, Y:0.07, Z:0.25 [[ 9.99560449e-01 -2.81896027e-02 -9.17900870e-03 6.60698918e+01] [ 2.81903134e-02 9.99602573e-01 -5.19799094e-05 6.91530365e-02] [ 9.17682600e-03 -2.06802070e-04 9.99957871e-01 2.53095314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.739254154 meters 0.016581386717786764 Centerline is valid? [True, True] Translation: X:66.13, Y:0.07, Z:0.25 [[ 9.99586528e-01 -2.70394787e-02 -9.77959543e-03 6.61316127e+01] [ 2.70402339e-02 9.99634345e-01 -5.50214216e-05 7.22211861e-02] [ 9.77750722e-03 -2.09443876e-04 9.99952177e-01 2.53264177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.799254154 meters 0.016908778544526815 Centerline is valid? [True, True] Translation: X:66.19, Y:0.07, Z:0.25 [[ 9.99557832e-01 -2.70688381e-02 -1.23051959e-02 6.61922418e+01] [ 2.70700402e-02 9.99633537e-01 -6.88909673e-05 7.25441273e-02] [ 1.23025513e-02 -2.64241642e-04 9.99924286e-01 2.51436094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.859254154 meters 0.018459820186682227 Centerline is valid? [True, True] Translation: X:66.25, Y:0.07, Z:0.25 [[ 9.99502472e-01 -2.83456898e-02 -1.38322344e-02 6.62514071e+01] [ 2.83473314e-02 9.99598131e-01 -7.74131172e-05 7.08546990e-02] [ 1.38288700e-02 -3.14732329e-04 9.99904327e-01 2.50329027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91925415399999 meters 0.01795951028306196 Centerline is valid? [True, True] Translation: X:66.31, Y:0.07, Z:0.25 [[ 9.99431329e-01 -3.09856757e-02 -1.33006521e-02 6.63113749e+01] [ 3.09874247e-02 9.99519772e-01 -7.46232310e-05 7.20672907e-02] [ 1.32965770e-02 -3.37572161e-04 9.99911540e-01 2.52722996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97925415399999 meters 0.019118540062034832 Centerline is valid? [True, True] Translation: X:66.37, Y:0.07, Z:0.25 [[ 9.99343329e-01 -3.41003896e-02 -1.22504738e-02 6.63717084e+01] [ 3.41021062e-02 9.99418352e-01 -6.88031401e-05 7.07614150e-02] [ 1.22456945e-02 -3.49008999e-04 9.99924958e-01 2.54005332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.03925415399999 meters 0.01905434708127615 Centerline is valid? [True, True] Translation: X:66.43, Y:0.07, Z:0.26 [[ 9.99277166e-01 -3.62071171e-02 -1.15840569e-02 6.64331114e+01] [ 3.62087964e-02 9.99344244e-01 -6.47981720e-05 7.32437772e-02] [ 1.15788067e-02 -3.54693423e-04 9.99932900e-01 2.55449721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.099254154 meters 0.0188499748168065 Centerline is valid? [True, True] Translation: X:66.50, Y:0.08, Z:0.26 [[ 9.99305562e-01 -3.53936554e-02 -1.16482849e-02 6.64955015e+01] [ 3.53953062e-02 9.99373388e-01 -6.44651697e-05 7.54719674e-02] [ 1.16432676e-02 -3.47874209e-04 9.99932154e-01 2.55902344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.159254154 meters 0.018960058410699226 Centerline is valid? [True, True] Translation: X:66.56, Y:0.08, Z:0.26 [[ 9.99367994e-01 -3.35583299e-02 -1.17239906e-02 6.65555468e+01] [ 3.35598815e-02 9.99436706e-01 -6.44282564e-05 7.84450344e-02] [ 1.17195486e-02 -3.29068196e-04 9.99931270e-01 2.55872264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.219254154 meters 0.018955055329797854 Centerline is valid? [True, True] Translation: X:66.62, Y:0.08, Z:0.26 [[ 9.99349925e-01 -3.39232719e-02 -1.22040774e-02 6.66164282e+01] [ 3.39249847e-02 9.99424380e-01 -6.67046377e-05 8.12509425e-02] [ 1.21993153e-02 -3.47361863e-04 9.99925525e-01 2.56176216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27925415399999 meters 0.01978533420044427 Centerline is valid? [True, True] Translation: X:66.68, Y:0.08, Z:0.26 [[ 9.99229488e-01 -3.67289466e-02 -1.38352492e-02 6.66773214e+01] [ 3.67314239e-02 9.99325171e-01 -7.50860176e-05 8.33727969e-02] [ 1.38286706e-02 -4.33160240e-04 9.99904286e-01 2.55058435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33925415399999 meters 0.022532248358587147 Centerline is valid? [True, True] Translation: X:66.74, Y:0.08, Z:0.25 [[ 9.99051700e-01 -4.09326262e-02 -1.48398061e-02 6.67375918e+01] [ 4.09359450e-02 9.99161770e-01 -8.01746253e-05 8.17774930e-02] [ 1.48306486e-02 -5.27382889e-04 9.99889881e-01 2.53196361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.39925415399999 meters 0.02286646811329373 Centerline is valid? [True, True] Translation: X:66.80, Y:0.09, Z:0.25 [[ 9.98917823e-01 -4.38984109e-02 -1.53659572e-02 6.67991411e+01] [ 4.39023268e-02 9.99035825e-01 -8.25463023e-05 8.51720808e-02] [ 1.53547654e-02 -5.92144303e-04 9.99881933e-01 2.53905856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.45925415399999 meters 0.02289660030652654 Centerline is valid? [True, True] Translation: X:66.86, Y:0.09, Z:0.25 [[ 9.98881539e-01 -4.48347760e-02 -1.50171226e-02 6.68604722e+01] [ 4.48386298e-02 9.98994240e-01 -8.01379609e-05 8.67485785e-02] [ 1.50056119e-02 -5.93298871e-04 9.99887233e-01 2.54228072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.519254154 meters 0.023935129710082586 Centerline is valid? [True, True] Translation: X:66.92, Y:0.09, Z:0.25 [[ 9.98792964e-01 -4.67190244e-02 -1.51640597e-02 6.69216908e+01] [ 4.67231790e-02 9.98907873e-01 -8.03792789e-05 8.90745773e-02] [ 1.51512539e-02 -6.28230818e-04 9.99885016e-01 2.54971133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.579254154 meters 0.024008185823737347 Centerline is valid? [True, True] Translation: X:66.98, Y:0.09, Z:0.26 [[ 9.98754962e-01 -4.79690177e-02 -1.36930460e-02 6.69835167e+01] [ 4.79725336e-02 9.98848653e-01 -7.17709150e-05 9.33528248e-02] [ 1.36807233e-02 -5.85208550e-04 9.99906243e-01 2.56457318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.639254154 meters 0.023294785231811093 Centerline is valid? [True, True] Translation: X:67.04, Y:0.10, Z:0.26 [[ 9.98859211e-01 -4.62857787e-02 -1.17432310e-02 6.70448486e+01] [ 4.62882546e-02 9.98928122e-01 -6.10126206e-05 1.01538317e-01] [ 1.17334677e-02 -4.82630650e-04 9.99931044e-01 2.57991945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69925415399999 meters 0.02244536103331716 Centerline is valid? [True, True] Translation: X:67.11, Y:0.11, Z:0.26 [[ 9.98950593e-01 -4.41950859e-02 -1.20211084e-02 6.71075090e+01] [ 4.41975394e-02 9.99022809e-01 -6.16100890e-05 1.05272260e-01] [ 1.20120844e-02 -4.69757979e-04 9.99927742e-01 2.58073260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.75925415399999 meters 0.019554614147796377 Centerline is valid? [True, True] Translation: X:67.17, Y:0.12, Z:0.26 [[ 9.99225769e-01 -3.72711343e-02 -1.25985819e-02 6.71682962e+01] [ 3.72732874e-02 9.99305108e-01 -6.39375967e-05 1.16429520e-01] [ 1.25922102e-02 -4.05702468e-04 9.99920633e-01 2.58005864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.81925415399999 meters 0.01847823119434074 Centerline is valid? [True, True] Translation: X:67.23, Y:0.12, Z:0.26 [[ 9.99389011e-01 -3.27023054e-02 -1.23354670e-02 6.72298543e+01] [ 3.27040286e-02 9.99465078e-01 -6.20535598e-05 1.24164611e-01] [ 1.23308978e-02 -3.41403818e-04 9.99923913e-01 2.57716583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.879254154 meters 0.01855143948942682 Centerline is valid? [True, True] Translation: X:67.29, Y:0.13, Z:0.26 [[ 9.99424209e-01 -3.13618114e-02 -1.29494367e-02 6.72903020e+01] [ 3.13636032e-02 9.99508039e-01 -6.47372481e-05 1.26882636e-01] [ 1.29450963e-02 -3.41441019e-04 9.99916150e-01 2.56609605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.939254154 meters 0.018149395706161222 Centerline is valid? [True, True] Translation: X:67.35, Y:0.13, Z:0.26 [[ 9.99410534e-01 -3.15041924e-02 -1.36407879e-02 6.73519697e+01] [ 3.15061996e-02 9.99503554e-01 -6.77769599e-05 1.29764681e-01] [ 1.36361512e-02 -3.62032377e-04 9.99906958e-01 2.55775556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.999254154 meters 0.019008617033866786 Centerline is valid? [True, True] Translation: X:67.41, Y:0.13, Z:0.25 [[ 9.99362756e-01 -3.27648816e-02 -1.41613983e-02 6.74130556e+01] [ 3.27671787e-02 9.99463009e-01 -6.98500297e-05 1.31237744e-01] [ 1.41560824e-02 -3.94223549e-04 9.99899720e-01 2.54781765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05925415399999 meters 0.0190238513689555 Centerline is valid? [True, True] Translation: X:67.47, Y:0.14, Z:0.26 [[ 9.99312280e-01 -3.40047278e-02 -1.47866850e-02 6.74741809e+01] [ 3.40073758e-02 9.99421579e-01 -7.23945817e-05 1.35065304e-01] [ 1.47805938e-02 -4.30511559e-04 9.99890668e-01 2.55498043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.11925415399999 meters 0.020476964802087532 Centerline is valid? [True, True] Translation: X:67.54, Y:0.13, Z:0.26 [[ 9.99301495e-01 -3.45068977e-02 -1.43455834e-02 6.75351450e+01] [ 3.45094517e-02 9.99404369e-01 -6.95477923e-05 1.34778005e-01] [ 1.43394386e-02 -4.25559004e-04 9.99897094e-01 2.55829892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.17925415399999 meters 0.019423979584216735 Centerline is valid? [True, True] Translation: X:67.60, Y:0.14, Z:0.26 [[ 9.99317285e-01 -3.43344112e-02 -1.36422555e-02 6.75973367e+01] [ 3.43367169e-02 9.99410319e-01 -6.52481618e-05 1.37856416e-01] [ 1.36364511e-02 -4.03226648e-04 9.99906938e-01 2.57681653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.239254154 meters 0.01861666461257138 Centerline is valid? [True, True] Translation: X:67.66, Y:0.14, Z:0.26 [[ 9.99441538e-01 -3.12039847e-02 -1.19550720e-02 6.76589752e+01] [ 3.12055396e-02 9.99512987e-01 -5.64931014e-05 1.40742702e-01] [ 1.19510126e-02 -3.16602922e-04 9.99928534e-01 2.59515541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.299254154 meters 0.01685875919781628 Centerline is valid? [True, True] Translation: X:67.72, Y:0.15, Z:0.26 [[ 9.99587980e-01 -2.63095188e-02 -1.14751709e-02 6.77206143e+01] [ 2.63106361e-02 9.99653814e-01 -5.36075811e-05 1.46398237e-01] [ 1.14726087e-02 -2.48333552e-04 9.99934157e-01 2.60743478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.359254154 meters 0.015384850146800126 Centerline is valid? [True, True] Translation: X:67.78, Y:0.15, Z:0.26 [[ 9.99784473e-01 -1.72013061e-02 -1.16242670e-02 6.77810031e+01] [ 1.72018400e-02 9.99852036e-01 -5.40584713e-05 1.53203989e-01] [ 1.16234769e-02 -1.45911961e-04 9.99932434e-01 2.60368999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41925415399999 meters 0.01466111933727058 Centerline is valid? [True, True] Translation: X:67.84, Y:0.16, Z:0.26 [[ 9.99864437e-01 -1.07407438e-02 -1.24797346e-02 6.78415906e+01] [ 1.07408560e-02 9.99942314e-01 -5.80368098e-05 1.57149222e-01] [ 1.24796380e-02 -7.60140895e-05 9.99922123e-01 2.59209472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47925415399999 meters 0.01465273196760845 Centerline is valid? [True, True] Translation: X:67.90, Y:0.16, Z:0.26 [[ 9.99879492e-01 -9.21156606e-03 -1.24959600e-02 6.78994245e+01] [ 9.21153023e-03 9.99957571e-01 -6.04240705e-05 1.58403922e-01] [ 1.24959864e-02 -5.46901248e-05 9.99921921e-01 2.59386465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53925415399999 meters 0.014513621366192261 Centerline is valid? [True, True] Translation: X:67.96, Y:0.16, Z:0.26 [[ 9.99872897e-01 -9.66024206e-03 -1.26834597e-02 6.79573459e+01] [ 9.66019418e-03 9.99953337e-01 -6.50410852e-05 1.58116267e-01] [ 1.26834961e-02 -5.74918651e-05 9.99919560e-01 2.60134405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.599254154 meters 0.01484445397610761 Centerline is valid? [True, True] Translation: X:68.02, Y:0.16, Z:0.26 [[ 9.99816373e-01 -1.30322472e-02 -1.40492067e-02 6.80164225e+01] [ 1.30324914e-02 9.99915071e-01 -7.41782992e-05 1.55077828e-01] [ 1.40489802e-02 -1.08931487e-04 9.99901302e-01 2.59023411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.659254154 meters 0.015205410974099812 Centerline is valid? [True, True] Translation: X:68.08, Y:0.15, Z:0.26 [[ 9.99747606e-01 -1.67418416e-02 -1.49811777e-02 6.80751773e+01] [ 1.67424902e-02 9.99859831e-01 -8.21293397e-05 1.51846886e-01] [ 1.49804528e-02 -1.68713610e-04 9.99887772e-01 2.58258525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.719254154 meters 0.016290007254930412 Centerline is valid? [True, True] Translation: X:68.13, Y:0.15, Z:0.26 [[ 9.99581867e-01 -2.41509654e-02 -1.59003511e-02 6.81342805e+01] [ 2.41526040e-02 9.99708279e-01 -8.89927078e-05 1.46118405e-01] [ 1.58978619e-02 -2.95079386e-04 9.99873577e-01 2.58528088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77925415399999 meters 0.017912209203112282 Centerline is valid? [True, True] Translation: X:68.19, Y:0.14, Z:0.26 [[ 9.99416374e-01 -2.98000320e-02 -1.66993846e-02 6.81939215e+01] [ 2.98026196e-02 9.99555799e-01 -9.39435430e-05 1.40951697e-01] [ 1.66947662e-02 -4.03796692e-04 9.99860551e-01 2.58706627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83925415399999 meters 0.020831567613792516 Centerline is valid? [True, True] Translation: X:68.25, Y:0.13, Z:0.26 [[ 9.99153702e-01 -3.80876067e-02 -1.55310929e-02 6.82537572e+01] [ 3.80908427e-02 9.99274277e-01 -8.75134386e-05 1.32141020e-01] [ 1.55231548e-02 -5.04153041e-04 9.99879381e-01 2.59321276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.89925415399999 meters 0.023380170386143026 Centerline is valid? [True, True] Translation: X:68.31, Y:0.13, Z:0.26 [[ 9.98765054e-01 -4.71601608e-02 -1.56296861e-02 6.83147145e+01] [ 4.71645464e-02 9.98887130e-01 -8.80972255e-05 1.25760678e-01] [ 1.56164470e-02 -6.49178625e-04 9.99877845e-01 2.60468847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.95925415399999 meters 0.02735896772590013 Centerline is valid? [True, True] Translation: X:68.38, Y:0.12, Z:0.26 [[ 9.98287972e-01 -5.60673183e-02 -1.66607256e-02 6.83755806e+01] [ 5.60735414e-02 9.98426637e-01 -9.37592798e-05 1.18611258e-01] [ 1.66397690e-02 -8.40627125e-04 9.99861196e-01 2.59947371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.019254154 meters 0.02799239738510243 Centerline is valid? [True, True] Translation: X:68.44, Y:0.12, Z:0.26 [[ 9.97987693e-01 -6.08527700e-02 -1.78186447e-02 6.84359313e+01] [ 6.08606506e-02 9.98146267e-01 -1.00170057e-04 1.17964722e-01] [ 1.77917093e-02 -9.84485826e-04 9.99841230e-01 2.60370761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.079254154 meters 0.030403518955050043 Centerline is valid? [True, True] Translation: X:68.50, Y:0.12, Z:0.26 [[ 9.97734919e-01 -6.49115743e-02 -1.76499108e-02 6.84973239e+01] [ 6.49199477e-02 9.97890470e-01 -9.87329930e-05 1.15388851e-01] [ 1.76190867e-02 -1.04732193e-03 9.99844223e-01 2.61342844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.139254154 meters 0.03186788574559931 Centerline is valid? [True, True] Translation: X:68.56, Y:0.12, Z:0.26 [[ 9.97669400e-01 -6.58901890e-02 -1.77271395e-02 6.85592090e+01] [ 6.58988096e-02 9.97826306e-01 -9.80469300e-05 1.15957380e-01] [ 1.76950665e-02 -1.07037897e-03 9.99842857e-01 2.61690536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19925415399999 meters 0.031840391740902634 Centerline is valid? [True, True] Translation: X:68.62, Y:0.12, Z:0.26 [[ 9.97693368e-01 -6.51476380e-02 -1.90716731e-02 6.86210614e+01] [ 6.51575076e-02 9.97874986e-01 -1.04088365e-04 1.18288882e-01] [ 1.90379266e-02 -1.13881441e-03 9.99818114e-01 2.60956858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.25925415399999 meters 0.031355595080513096 Centerline is valid? [True, True] Translation: X:68.68, Y:0.12, Z:0.26 [[ 9.97800550e-01 -6.28866730e-02 -2.09601635e-02 6.86825263e+01] [ 6.28981173e-02 9.98019947e-01 -1.13454201e-04 1.23763555e-01] [ 2.09257960e-02 -1.20515016e-03 9.99780305e-01 2.60149092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.31925415399999 meters 0.028822750022993275 Centerline is valid? [True, True] Translation: X:68.74, Y:0.13, Z:0.26 [[ 9.98048654e-01 -5.85788346e-02 -2.16195583e-02 6.87435299e+01] [ 5.85900130e-02 9.98282123e-01 -1.16552105e-04 1.33425873e-01] [ 2.15892460e-02 -1.15036553e-03 9.99766263e-01 2.61616505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.379254154 meters 0.028670852968924528 Centerline is valid? [True, True] Translation: X:68.80, Y:0.14, Z:0.26 [[ 9.98163109e-01 -5.66493894e-02 -2.14768438e-02 6.88045584e+01] [ 5.66599900e-02 9.98393526e-01 -1.15095565e-04 1.35957020e-01] [ 2.14488619e-02 -1.10199361e-03 9.99769339e-01 2.62125735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.439254154 meters 0.024726671027212876 Centerline is valid? [True, True] Translation: X:68.87, Y:0.15, Z:0.27 [[ 9.98559388e-01 -4.94321295e-02 -2.08713443e-02 6.88655115e+01] [ 4.94405763e-02 9.98777061e-01 -1.11412877e-04 1.48462156e-01] [ 2.08513273e-02 -9.20638917e-04 9.99782164e-01 2.65026973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.499254154 meters 0.020310600374042784 Centerline is valid? [True, True] Translation: X:68.93, Y:0.16, Z:0.27 [[ 9.99032246e-01 -3.94177074e-02 -1.95145276e-02 6.89263965e+01] [ 3.94231880e-02 9.99222599e-01 -1.03921383e-04 1.63168492e-01] [ 1.95034533e-02 -6.65504076e-04 9.99809568e-01 2.68249845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55925415399999 meters 0.01918609829141046 Centerline is valid? [True, True] Translation: X:68.99, Y:0.17, Z:0.27 [[ 9.99317581e-01 -3.13441192e-02 -1.95427204e-02 6.89863721e+01] [ 3.13480738e-02 9.99508523e-01 -1.04029346e-04 1.70403629e-01] [ 1.95363763e-02 -5.08668287e-04 9.99809017e-01 2.67500106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.61925415399999 meters 0.015900188714726482 Centerline is valid? [True, True] Translation: X:69.05, Y:0.18, Z:0.27 [[ 9.99637008e-01 -1.85139682e-02 -1.95725411e-02 6.90463009e+01] [ 1.85154750e-02 9.99828568e-01 -1.04242362e-04 1.84892314e-01] [ 1.95711157e-02 -2.58190373e-04 9.99808434e-01 2.67676233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.67925415399999 meters 0.014628949728079073 Centerline is valid? [True, True] Translation: X:69.11, Y:0.20, Z:0.27 [[ 9.99768352e-01 -9.50901012e-03 -1.93085847e-02 6.91053572e+01] [ 9.50877629e-03 9.99954785e-01 -1.03921326e-04 1.96224340e-01] [ 1.93086998e-02 -7.97037591e-05 9.99813567e-01 2.70356145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.739254154 meters 0.014669292714306184 Centerline is valid? [True, True] Translation: X:69.16, Y:0.20, Z:0.27 [[ 9.99828830e-01 -4.84524390e-03 -1.78559103e-02 6.91643313e+01] [ 4.84423268e-03 9.99988262e-01 -9.98847286e-05 2.01623100e-01] [ 1.78561847e-02 1.33694472e-05 9.99840566e-01 2.72016745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.799254154 meters 0.014684742924481999 Centerline is valid? [True, True] Translation: X:69.22, Y:0.20, Z:0.27 [[ 9.99825910e-01 -4.73794476e-03 -1.80472174e-02 6.92210126e+01] [ 4.73684213e-03 9.99988776e-01 -1.03843638e-04 2.02980634e-01] [ 1.80475068e-02 1.83387399e-05 9.99837130e-01 2.71316322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.859254154 meters 0.014926493728730015 Centerline is valid? [True, True] Translation: X:69.28, Y:0.20, Z:0.27 [[ 9.99797815e-01 -7.88462393e-03 -1.84975994e-02 6.92793373e+01] [ 7.88396977e-03 9.99968915e-01 -1.08289366e-04 2.01182881e-01] [ 1.84978782e-02 -3.75670427e-05 9.99828899e-01 2.70572510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91925415399999 meters 0.015432987979782238 Centerline is valid? [True, True] Translation: X:69.34, Y:0.20, Z:0.27 [[ 9.99701993e-01 -1.59187371e-02 -1.85072514e-02 6.93378568e+01] [ 1.59194322e-02 9.99873272e-01 -1.09779270e-04 1.95621448e-01] [ 1.85066536e-02 -1.84878378e-04 9.99828720e-01 2.70411600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97925415399999 meters 0.016712143703130258 Centerline is valid? [True, True] Translation: X:69.40, Y:0.19, Z:0.27 [[ 9.99566577e-01 -2.32602157e-02 -1.80449435e-02 6.93963920e+01] [ 2.32620532e-02 9.99729396e-01 -1.08089626e-04 1.88577667e-01] [ 1.80425746e-02 -3.11719659e-04 9.99837171e-01 2.69319358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.03925415399999 meters 0.018849880721752137 Centerline is valid? [True, True] Translation: X:69.46, Y:0.18, Z:0.27 [[ 9.99276002e-01 -3.44456659e-02 -1.61545170e-02 6.94569314e+01] [ 3.44485953e-02 9.99406466e-01 -9.69791251e-05 1.80533867e-01] [ 1.61482693e-02 -4.59591508e-04 9.99869503e-01 2.70784363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.099254154 meters 0.020809019096235087 Centerline is valid? [True, True] Translation: X:69.52, Y:0.17, Z:0.27 [[ 9.99005101e-01 -4.24601531e-02 -1.36360875e-02 6.95177262e+01] [ 4.24629881e-02 9.99098037e-01 -8.16902422e-05 1.73043241e-01] [ 1.36272568e-02 -4.97420052e-04 9.99907021e-01 2.71554410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.159254154 meters 0.02415039093683202 Centerline is valid? [True, True] Translation: X:69.58, Y:0.17, Z:0.27 [[ 9.98816949e-01 -4.70593039e-02 -1.22525099e-02 6.95779194e+01] [ 4.70619470e-02 9.98891970e-01 -7.26768085e-05 1.65702649e-01] [ 1.22423539e-02 -5.04036143e-04 9.99924933e-01 2.71411973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.219254154 meters 0.024404284508133707 Centerline is valid? [True, True] Translation: X:69.64, Y:0.16, Z:0.27 [[ 9.98744150e-01 -4.87180350e-02 -1.16908125e-02 6.96402628e+01] [ 4.87205650e-02 9.98812446e-01 -6.84706227e-05 1.64538826e-01] [ 1.16802647e-02 -5.01198354e-04 9.99931658e-01 2.71477286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27925415399999 meters 0.025213287176546625 Centerline is valid? [True, True] Translation: X:69.70, Y:0.16, Z:0.27 [[ 9.98599663e-01 -5.15752295e-02 -1.17775097e-02 6.97018163e+01] [ 5.15780022e-02 9.98668967e-01 -6.83922666e-05 1.62567434e-01] [ 1.17653608e-02 -5.39163926e-04 9.99930640e-01 2.70927741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33925415399999 meters 0.025668145680067388 Centerline is valid? [True, True] Translation: X:69.76, Y:0.16, Z:0.27 [[ 9.98316680e-01 -5.64981882e-02 -1.31057517e-02 6.97620417e+01] [ 5.65020477e-02 9.98402480e-01 -7.58838312e-05 1.61813515e-01] [ 1.30891023e-02 -6.64745713e-04 9.99914113e-01 2.69624234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.39925415399999 meters 0.028145568554258857 Centerline is valid? [True, True] Translation: X:69.82, Y:0.16, Z:0.27 [[ 9.98077256e-01 -6.02172624e-02 -1.46857962e-02 6.98234050e+01] [ 6.02225160e-02 9.98184974e-01 -8.46318435e-05 1.58653381e-01] [ 1.46642374e-02 -7.99946477e-04 9.99892154e-01 2.68159618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.45925415399999 meters 0.030419261043300182 Centerline is valid? [True, True] Translation: X:69.88, Y:0.16, Z:0.27 [[ 9.97848377e-01 -6.37456432e-02 -1.53332941e-02 6.98846565e+01] [ 6.37517912e-02 9.97965782e-01 -8.79982493e-05 1.56502249e-01] [ 1.53077124e-02 -8.89716056e-04 9.99882434e-01 2.66265297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.519254154 meters 0.030080458773524974 Centerline is valid? [True, True] Translation: X:69.95, Y:0.16, Z:0.27 [[ 9.97953937e-01 -6.21837678e-02 -1.48700818e-02 6.99458553e+01] [ 6.21893838e-02 9.98064363e-01 -8.48845713e-05 1.61128767e-01] [ 1.48465771e-02 -8.40050330e-04 9.99889431e-01 2.67414405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.579254154 meters 0.0256311062917037 Centerline is valid? [True, True] Translation: X:70.01, Y:0.17, Z:0.27 [[ 9.98298236e-01 -5.67864187e-02 -1.32640233e-02 7.00067201e+01] [ 5.67904138e-02 9.98386119e-01 -7.55629797e-05 1.74413983e-01] [ 1.32469077e-02 -6.77834982e-04 9.99912026e-01 2.70434110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63925415399999 meters 0.02616480882110047 Centerline is valid? [True, True] Translation: X:70.07, Y:0.18, Z:0.27 [[ 9.98573369e-01 -5.19258443e-02 -1.24471896e-02 7.00661925e+01] [ 5.19289930e-02 9.98650777e-01 -7.03170756e-05 1.78258887e-01] [ 1.24340468e-02 -5.76153260e-04 9.99922528e-01 2.70205108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69925415399999 meters 0.02280741836909201 Centerline is valid? [True, True] Translation: X:70.13, Y:0.19, Z:0.27 [[ 9.98701536e-01 -4.92844356e-02 -1.28952367e-02 7.01275842e+01] [ 4.92876037e-02 9.98784625e-01 -7.21973153e-05 1.85907557e-01] [ 1.28831224e-02 -5.63471747e-04 9.99916850e-01 2.71058764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.75925415399999 meters 0.021317439683125973 Centerline is valid? [True, True] Translation: X:70.19, Y:0.19, Z:0.27 [[ 9.98967900e-01 -4.36316051e-02 -1.26260406e-02 7.01884119e+01] [ 4.36341954e-02 9.99047572e-01 -7.03774772e-05 1.92729741e-01] [ 1.26170859e-02 -4.80622281e-04 9.99920286e-01 2.71446447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.81925415399999 meters 0.019423550566021488 Centerline is valid? [True, True] Translation: X:70.25, Y:0.20, Z:0.27 [[ 9.99196188e-01 -3.82555770e-02 -1.19787180e-02 7.02487732e+01] [ 3.82575235e-02 9.99267911e-01 -6.66925160e-05 1.99562554e-01] [ 1.19724999e-02 -3.91637178e-04 9.99928250e-01 2.72057778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.879254154 meters 0.01668936318310563 Centerline is valid? [True, True] Translation: X:70.31, Y:0.21, Z:0.27 [[ 9.99588509e-01 -2.66406229e-02 -1.06344076e-02 7.03078311e+01] [ 2.66414987e-02 9.99645051e-01 -5.93205441e-05 2.11120128e-01] [ 1.06322133e-02 -2.24020423e-04 9.99943451e-01 2.72890834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.939254154 meters 0.014175861639215099 Centerline is valid? [True, True] Translation: X:70.37, Y:0.23, Z:0.27 [[ 9.99880360e-01 -1.16644213e-02 -1.01590914e-02 7.03688974e+01] [ 1.16644478e-02 9.99931966e-01 -5.66411074e-05 2.26875331e-01] [ 1.01590609e-02 -6.18658609e-05 9.99948393e-01 2.74479235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.999254154 meters 0.01413218698253732 Centerline is valid? [True, True] Translation: X:70.43, Y:0.24, Z:0.28 [[ 9.99948773e-01 -1.77915389e-03 -9.96422096e-03 7.04281281e+01] [ 1.77868736e-03 9.99998417e-01 -5.56826998e-05 2.36534888e-01] [ 9.96430425e-03 3.79566135e-05 9.99950354e-01 2.75452119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05925415399999 meters 0.015372724600319332 Centerline is valid? [True, True] Translation: X:70.49, Y:0.25, Z:0.27 [[ 9.99909711e-01 8.05570129e-03 -1.07552115e-02 7.04869079e+01] [-8.05681929e-03 9.99967541e-01 -6.06257578e-05 2.46776878e-01] [ 1.07543740e-02 1.47273079e-04 9.99942159e-01 2.73265386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.11925415399999 meters 0.015344816219101538 Centerline is valid? [True, True] Translation: X:70.55, Y:0.25, Z:0.27 [[ 9.99906274e-01 8.25498748e-03 -1.09223638e-02 7.05456351e+01] [-8.25616018e-03 9.99965915e-01 -6.22800750e-05 2.48750902e-01] [ 1.09214774e-02 1.52451023e-04 9.99940347e-01 2.72522532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.17925415399999 meters 0.014436138818606442 Centerline is valid? [True, True] Translation: X:70.60, Y:0.24, Z:0.27 [[ 9.99946072e-01 -2.05230924e-03 -1.01803871e-02 7.06041099e+01] [ 2.05181745e-03 9.99997893e-01 -5.87516951e-05 2.43642740e-01] [ 1.01804862e-02 3.78602309e-05 9.99948177e-01 2.72102166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.239254154 meters 0.015228503628568792 Centerline is valid? [True, True] Translation: X:70.66, Y:0.23, Z:0.27 [[ 9.99817149e-01 -1.69399379e-02 -8.87165433e-03 7.06633554e+01] [ 1.69401452e-02 9.99856504e-01 -5.17812599e-05 2.32865550e-01] [ 8.87125845e-03 -9.85153208e-05 9.99960645e-01 2.73184375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.299254154 meters 0.01614343429886966 Centerline is valid? [True, True] Translation: X:70.73, Y:0.23, Z:0.27 [[ 9.99742714e-01 -2.13730448e-02 -7.59593235e-03 7.07256511e+01] [ 2.13733244e-02 9.99771563e-01 -4.43736946e-05 2.29644405e-01] [ 7.59514557e-03 -1.17988048e-04 9.99971150e-01 2.74156724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.359254154 meters 0.018853577130939218 Centerline is valid? [True, True] Translation: X:70.79, Y:0.22, Z:0.28 [[ 9.99451019e-01 -3.27160327e-02 -5.22710335e-03 7.07860434e+01] [ 3.27163213e-02 9.99464677e-01 -3.03074954e-05 2.20880066e-01] [ 5.22529671e-03 -1.40720736e-04 9.99986338e-01 2.75764059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41925415399999 meters 0.020263506438867068 Centerline is valid? [True, True] Translation: X:70.85, Y:0.21, Z:0.28 [[ 9.99244196e-01 -3.85483349e-02 -5.00616039e-03 7.08474379e+01] [ 3.85486733e-02 9.99256723e-01 -2.89256362e-05 2.14853654e-01] [ 5.00355446e-03 -1.64077067e-04 9.99987469e-01 2.76189091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47925415399999 meters 0.024467493207593356 Centerline is valid? [True, True] Translation: X:70.91, Y:0.21, Z:0.28 [[ 9.99192502e-01 -3.97827734e-02 -5.62800854e-03 7.09085375e+01] [ 3.97832225e-02 9.99208334e-01 -3.21753603e-05 2.06549414e-01] [ 5.62483306e-03 -1.91750937e-04 9.99984162e-01 2.75410791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.53925415399999 meters 0.020298382657640925 Centerline is valid? [True, True] Translation: X:70.97, Y:0.21, Z:0.27 [[ 9.99246681e-01 -3.81681189e-02 -7.01889697e-03 7.09706281e+01] [ 3.81687841e-02 9.99271306e-01 -3.92069311e-05 2.10299630e-01] [ 7.01527879e-03 -2.28725367e-04 9.99975366e-01 2.74338891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.599254154 meters 0.018363355585661968 Centerline is valid? [True, True] Translation: X:71.03, Y:0.21, Z:0.27 [[ 9.99477681e-01 -3.12162530e-02 -8.36123054e-03 7.10313313e+01] [ 3.12169576e-02 9.99512631e-01 -4.62540957e-05 2.13035962e-01] [ 8.35859941e-03 -2.14782243e-04 9.99965043e-01 2.73746310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.659254154 meters 0.01572320531431747 Centerline is valid? [True, True] Translation: X:71.09, Y:0.22, Z:0.27 [[ 9.99706786e-01 -2.20991458e-02 -9.89794276e-03 7.10920958e+01] [ 2.20996885e-02 9.99755771e-01 -5.45619441e-05 2.19601554e-01] [ 9.89673117e-03 -1.64195506e-04 9.99951013e-01 2.72437799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.719254154 meters 0.015040707276675747 Centerline is valid? [True, True] Translation: X:71.15, Y:0.22, Z:0.27 [[ 9.99793807e-01 -1.71381052e-02 -1.08916754e-02 7.11522828e+01] [ 1.71384702e-02 9.99853124e-01 -5.98348823e-05 2.22234197e-01] [ 1.08911011e-02 -1.26844109e-04 9.99940682e-01 2.71660095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77925415399999 meters 0.014829353436352414 Centerline is valid? [True, True] Translation: X:71.21, Y:0.22, Z:0.27 [[ 9.99818251e-01 -1.45112723e-02 -1.23647847e-02 7.12135703e+01] [ 1.45115465e-02 9.99894700e-01 -6.75493283e-05 2.24645540e-01] [ 1.23644630e-02 -1.11895098e-04 9.99923551e-01 2.71157249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83925415399999 meters 0.01546028033914048 Centerline is valid? [True, True] Translation: X:71.27, Y:0.22, Z:0.27 [[ 9.99752732e-01 -1.76937332e-02 -1.34687570e-02 7.12724815e+01] [ 1.76943431e-02 9.99843440e-01 -7.38916768e-05 2.21847209e-01] [ 1.34679557e-02 -1.64447401e-04 9.99909289e-01 2.70840077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.89925415399999 meters 0.015877508281381122 Centerline is valid? [True, True] Translation: X:71.33, Y:0.22, Z:0.27 [[ 9.99652846e-01 -2.26516710e-02 -1.34569232e-02 7.13321195e+01] [ 2.26527212e-02 9.99743391e-01 -7.43951947e-05 2.18978519e-01] [ 1.34551552e-02 -2.30466561e-04 9.99909449e-01 2.72355171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.95925415399999 meters 0.01852201617210332 Centerline is valid? [True, True] Translation: X:71.39, Y:0.21, Z:0.27 [[ 9.99410983e-01 -3.18597030e-02 -1.27532622e-02 7.13919094e+01] [ 3.18614014e-02 9.99492294e-01 -7.00282257e-05 2.10155415e-01] [ 1.27490183e-02 -3.36349827e-04 9.99918671e-01 2.72841608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.019254154 meters 0.022457204966890913 Centerline is valid? [True, True] Translation: X:71.45, Y:0.20, Z:0.28 [[ 9.99086711e-01 -4.12667776e-02 -1.10813960e-02 7.14515925e+01] [ 4.12686399e-02 9.99148085e-01 -6.06564653e-05 2.00944509e-01] [ 1.10744587e-02 -3.96713074e-04 9.99938598e-01 2.75190231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.079254154 meters 0.024086287281983573 Centerline is valid? [True, True] Translation: X:71.51, Y:0.20, Z:0.28 [[ 9.98763496e-01 -4.88967463e-02 -8.97705594e-03 7.15118391e+01] [ 4.88982756e-02 9.98803763e-01 -4.91751285e-05 1.95650313e-01] [ 8.96872175e-03 -3.89848232e-04 9.99959704e-01 2.78053317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13925415399999 meters 0.027201265104361046 Centerline is valid? [True, True] Translation: X:71.57, Y:0.19, Z:0.28 [[ 9.98588648e-01 -5.24810640e-02 -8.15166556e-03 7.15724656e+01] [ 5.24824449e-02 9.98621846e-01 -4.45739541e-05 1.89163738e-01] [ 8.14277060e-03 -3.83308294e-04 9.99966774e-01 2.79312439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19925415399999 meters 0.027397047140023067 Centerline is valid? [True, True] Translation: X:71.63, Y:0.19, Z:0.28 [[ 9.98478756e-01 -5.44101520e-02 -8.92803166e-03 7.16340836e+01] [ 5.44118883e-02 9.98518575e-01 -4.84894493e-05 1.85839384e-01] [ 8.91744377e-03 -4.37375377e-04 9.99960143e-01 2.79651245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.25925415399999 meters 0.026013822183081972 Centerline is valid? [True, True] Translation: X:71.70, Y:0.19, Z:0.28 [[ 9.98538453e-01 -5.31019705e-02 -1.00567426e-02 7.16964178e+01] [ 5.31041142e-02 9.98588980e-01 -5.39415695e-05 1.86607975e-01] [ 1.00454167e-02 -4.80191676e-04 9.99949428e-01 2.78587861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.31925415399999 meters 0.023774268978336434 Centerline is valid? [True, True] Translation: X:71.76, Y:0.19, Z:0.28 [[ 9.98779440e-01 -4.76002387e-02 -1.31851604e-02 7.17577171e+01] [ 4.76034529e-02 9.98866311e-01 -7.01426747e-05 1.89860985e-01] [ 1.31735513e-02 -5.57602099e-04 9.99913070e-01 2.77090072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.379254154 meters 0.02193686033443488 Centerline is valid? [True, True] Translation: X:71.82, Y:0.19, Z:0.28 [[ 9.99157399e-01 -3.84415030e-02 -1.43785271e-02 7.18174097e+01] [ 3.84443768e-02 9.99260739e-01 -7.65863255e-05 1.93971863e-01] [ 1.43708417e-02 -4.76251718e-04 9.99896621e-01 2.75734647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.439254154 meters 0.018646718789170725 Centerline is valid? [True, True] Translation: X:71.88, Y:0.20, Z:0.28 [[ 9.99395760e-01 -3.14546459e-02 -1.47892217e-02 7.18782696e+01] [ 3.14569233e-02 9.99505105e-01 -7.86694925e-05 2.01915584e-01] [ 1.47843771e-02 -3.86601455e-04 9.99890630e-01 2.77420543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.499254154 meters 0.016229565853950686 Centerline is valid? [True, True] Translation: X:71.94, Y:0.21, Z:0.28 [[ 9.99664575e-01 -2.18345786e-02 -1.39280070e-02 7.19387750e+01] [ 2.18356660e-02 9.99761571e-01 -7.40137454e-05 2.09546900e-01] [ 1.39263022e-02 -2.30138390e-04 9.99902998e-01 2.79529327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55925415399999 meters 0.015239451569635609 Centerline is valid? [True, True] Translation: X:72.00, Y:0.21, Z:0.28 [[ 9.99819628e-01 -1.43985280e-02 -1.23852229e-02 7.19991912e+01] [ 1.43988173e-02 9.99896329e-01 -6.58153553e-05 2.13219947e-01] [ 1.23848865e-02 -1.12529077e-04 9.99923298e-01 2.81068821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.61925415399999 meters 0.014774762346694878 Centerline is valid? [True, True] Translation: X:72.06, Y:0.22, Z:0.28 [[ 9.99877551e-01 -9.91948234e-03 -1.21031900e-02 7.20578352e+01] [ 9.91942549e-03 9.99950799e-01 -6.47291772e-05 2.15176394e-01] [ 1.21032366e-02 -5.53354407e-05 9.99926752e-01 2.81797971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.67925415399999 meters 0.014534189435282811 Centerline is valid? [True, True] Translation: X:72.12, Y:0.22, Z:0.28 [[ 9.99877279e-01 -9.08157296e-03 -1.27652923e-02 7.21159447e+01] [ 9.08140803e-03 9.99958761e-01 -7.08876079e-05 2.15038951e-01] [ 1.27654097e-02 -4.50479199e-05 9.99918518e-01 2.81850959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.739254154 meters 0.014492310195081628 Centerline is valid? [True, True] Translation: X:72.17, Y:0.21, Z:0.28 [[ 9.99865111e-01 -9.32584969e-03 -1.35199244e-02 7.21742278e+01] [ 9.32563286e-03 9.99956512e-01 -7.90832432e-05 2.13393507e-01] [ 1.35200739e-02 -4.70092751e-05 9.99908599e-01 2.82251598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.799254154 meters 0.01480943697690951 Centerline is valid? [True, True] Translation: X:72.23, Y:0.21, Z:0.28 [[ 9.99844220e-01 -9.96325263e-03 -1.45694987e-02 7.22325419e+01] [ 9.96301061e-03 9.99950364e-01 -8.91950737e-05 2.11998702e-01] [ 1.45696642e-02 -5.59748914e-05 9.99893855e-01 2.81904875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.859254154 meters 0.01458682163997683 Centerline is valid? [True, True] Translation: X:72.29, Y:0.21, Z:0.28 [[ 9.99855748e-01 -8.97036768e-03 -1.44227267e-02 7.22904099e+01] [ 8.96996995e-03 9.99959765e-01 -9.22670814e-05 2.10150685e-01] [ 1.44229741e-02 -3.71176532e-05 9.99895983e-01 2.82353816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91925415399999 meters 0.014538516720312405 Centerline is valid? [True, True] Translation: X:72.35, Y:0.21, Z:0.28 [[ 9.99868270e-01 -8.19031273e-03 -1.40129136e-02 7.23484848e+01] [ 8.18980464e-03 9.99966459e-01 -9.36433509e-05 2.08795369e-01] [ 1.40132106e-02 -2.11320098e-05 9.99901810e-01 2.83116283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97925415399999 meters 0.014554952070563159 Centerline is valid? [True, True] Translation: X:72.41, Y:0.21, Z:0.28 [[ 9.99902227e-01 -6.82606429e-03 -1.22041712e-02 7.24058446e+01] [ 6.82555533e-03 9.99976702e-01 -8.33555897e-05 2.05381657e-01] [ 1.22044558e-02 4.71943257e-08 9.99925523e-01 2.84216001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03925415399999 meters 0.014481871739345334 Centerline is valid? [True, True] Translation: X:72.46, Y:0.20, Z:0.29 [[ 9.99899041e-01 -7.71384852e-03 -1.19333710e-02 7.24641731e+01] [ 7.71339519e-03 9.99970248e-01 -8.40132625e-05 2.02375555e-01] [ 1.19336640e-02 -8.04202599e-06 9.99928791e-01 2.85298695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.099254154 meters 0.014641148098493033 Centerline is valid? [True, True] Translation: X:72.52, Y:0.20, Z:0.29 [[ 9.99860015e-01 -1.13249165e-02 -1.23165425e-02 7.25230331e+01] [ 1.13246847e-02 9.99935870e-01 -8.85723845e-05 1.95022447e-01] [ 1.23167557e-02 -5.09209745e-05 9.99924145e-01 2.85646654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.159254154 meters 0.01502679573882758 Centerline is valid? [True, True] Translation: X:72.58, Y:0.19, Z:0.29 [[ 9.99799670e-01 -1.57762324e-02 -1.23178571e-02 7.25812284e+01] [ 1.57763255e-02 9.99875542e-01 -8.96176008e-05 1.88842028e-01] [ 1.23177378e-02 -1.04730875e-04 9.99924128e-01 2.85459552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.219254154 meters 0.015304315450831526 Centerline is valid? [True, True] Translation: X:72.64, Y:0.19, Z:0.29 [[ 9.99753760e-01 -1.83754395e-02 -1.24403261e-02 7.26411347e+01] [ 1.83757271e-02 9.99831148e-01 -9.11929997e-05 1.85579291e-01] [ 1.24399012e-02 -1.37429493e-04 9.99922612e-01 2.85565591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27925415399999 meters 0.018583777990027733 Centerline is valid? [True, True] Translation: X:72.70, Y:0.17, Z:0.28 [[ 9.99394800e-01 -3.22953778e-02 -1.29244934e-02 7.27018576e+01] [ 3.22968487e-02 9.99478316e-01 -9.49544287e-05 1.69439623e-01] [ 1.29208175e-02 -3.22523445e-04 9.99916471e-01 2.84661926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33925415399999 meters 0.020287190739889792 Centerline is valid? [True, True] Translation: X:72.76, Y:0.16, Z:0.28 [[ 9.99111082e-01 -3.98092394e-02 -1.38661474e-02 7.27630740e+01] [ 3.98116572e-02 9.99207197e-01 -1.01732065e-04 1.63556879e-01] [ 1.38592041e-02 -4.50392672e-04 9.99903855e-01 2.84842869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.39925415399999 meters 0.02502766084708278 Centerline is valid? [True, True] Translation: X:72.82, Y:0.15, Z:0.29 [[ 9.98570241e-01 -5.18599600e-02 -1.29621514e-02 7.28238306e+01] [ 5.18630880e-02 9.98654200e-01 -9.49322250e-05 1.52075585e-01] [ 1.29496301e-02 -5.77460705e-04 9.99915983e-01 2.85550519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.45925415399999 meters 0.031194005581693253 Centerline is valid? [True, True] Translation: X:72.88, Y:0.14, Z:0.29 [[ 9.98010117e-01 -6.21074789e-02 -1.08842992e-02 7.28830860e+01] [ 6.21102941e-02 9.98069289e-01 -7.95119504e-05 1.39274868e-01] [ 1.08682230e-02 -5.96673292e-04 9.99940761e-01 2.86980082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.519254154 meters 0.030810974085088698 Centerline is valid? [True, True] Translation: X:72.94, Y:0.14, Z:0.29 [[ 9.97650149e-01 -6.76388543e-02 -1.09162948e-02 7.29435841e+01] [ 6.76420174e-02 9.97709653e-01 -7.96148526e-05 1.36674953e-01] [ 1.08966777e-02 -6.58972431e-04 9.99940412e-01 2.87615899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.579254154 meters 0.03069863434348398 Centerline is valid? [True, True] Translation: X:73.01, Y:0.14, Z:0.29 [[ 9.97602363e-01 -6.82651438e-02 -1.13751874e-02 7.30055117e+01] [ 6.82686250e-02 9.97666973e-01 -8.24325437e-05 1.36734207e-01] [ 1.13542761e-02 -6.94333504e-04 9.99935297e-01 2.87928196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63925415399999 meters 0.03038312325976367 Centerline is valid? [True, True] Translation: X:73.07, Y:0.14, Z:0.29 [[ 9.97748322e-01 -6.59330692e-02 -1.22929372e-02 7.30667640e+01] [ 6.59369663e-02 9.97823786e-01 -8.84425748e-05 1.37368797e-01] [ 1.22720165e-02 -7.22315558e-04 9.99924435e-01 2.87001711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69925415399999 meters 0.02979376665059422 Centerline is valid? [True, True] Translation: X:73.13, Y:0.14, Z:0.29 [[ 9.98085534e-01 -6.02707213e-02 -1.38818732e-02 7.31266128e+01] [ 6.02751453e-02 9.98181796e-01 -9.98565654e-05 1.39059989e-01] [ 1.38626516e-02 -7.37066533e-04 9.99903637e-01 2.85843579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.75925415399999 meters 0.02549250352507714 Centerline is valid? [True, True] Translation: X:73.19, Y:0.15, Z:0.29 [[ 9.98407135e-01 -5.46443401e-02 -1.40423872e-02 7.31872549e+01] [ 5.46483115e-02 9.98505659e-01 -1.01035822e-04 1.48210278e-01] [ 1.40269241e-02 -6.66517862e-04 9.99901396e-01 2.86811853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.81925415399999 meters 0.021952456656441726 Centerline is valid? [True, True] Translation: X:73.25, Y:0.16, Z:0.29 [[ 9.99014999e-01 -4.21508146e-02 -1.38686763e-02 7.32467015e+01] [ 4.21534848e-02 9.99111142e-01 -9.98573456e-05 1.60061643e-01] [ 1.38605581e-02 -4.84854050e-04 9.99903820e-01 2.87894277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.879254154 meters 0.017113165064447905 Centerline is valid? [True, True] Translation: X:73.31, Y:0.17, Z:0.29 [[ 9.99549446e-01 -2.74520454e-02 -1.21363315e-02 7.33069801e+01] [ 2.74530064e-02 9.99623091e-01 -8.74351846e-05 1.74896652e-01] [ 1.21341575e-02 -2.45782996e-04 9.99926348e-01 2.89531228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.939254154 meters 0.014761084961894195 Centerline is valid? [True, True] Translation: X:73.37, Y:0.19, Z:0.29 [[ 9.99840592e-01 -1.35060802e-02 -1.16780162e-02 7.33677473e+01] [ 1.35060202e-02 9.99908786e-01 -8.40110178e-05 1.88576731e-01] [ 1.16780857e-02 -7.37258968e-05 9.99931806e-01 2.90808611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.999254154 meters 0.014482031490598441 Centerline is valid? [True, True] Translation: X:73.43, Y:0.20, Z:0.29 [[ 9.99934430e-01 -3.70997196e-03 -1.08337977e-02 7.34262123e+01] [ 3.70934243e-03 9.99993117e-01 -7.82012352e-05 1.98128171e-01] [ 1.08340132e-02 3.80098422e-05 9.99941310e-01 2.91625746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05925415399999 meters 0.014769269739762224 Centerline is valid? [True, True] Translation: X:73.49, Y:0.20, Z:0.29 [[ 9.99941243e-01 -1.09276582e-03 -1.07850262e-02 7.34851106e+01] [ 1.09197065e-03 9.99999401e-01 -7.96178753e-05 2.00314782e-01] [ 1.07851067e-02 6.78362651e-05 9.99941837e-01 2.91477836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.11925415399999 meters 0.014700878832414449 Centerline is valid? [True, True] Translation: X:73.54, Y:0.20, Z:0.29 [[ 9.99915258e-01 -3.28350086e-03 -1.25974657e-02 7.35427919e+01] [ 3.28256543e-03 9.99994608e-01 -9.49315320e-05 1.98393549e-01] [ 1.25977095e-02 5.35714818e-05 9.99920644e-01 2.89314117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.17925415399999 meters 0.014490508348701988 Centerline is valid? [True, True] Translation: X:73.60, Y:0.20, Z:0.29 [[ 9.99890941e-01 -6.61971090e-03 -1.32017383e-02 7.36017483e+01] [ 6.61896147e-03 9.99978089e-01 -1.00459732e-04 1.95217607e-01] [ 1.32021141e-02 1.30669785e-05 9.99912848e-01 2.88664754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.239254154 meters 0.01464932915180994 Centerline is valid? [True, True] Translation: X:73.66, Y:0.19, Z:0.29 [[ 9.99863730e-01 -1.02747535e-02 -1.29209594e-02 7.36605378e+01] [ 1.02743299e-02 9.99947213e-01 -9.91686977e-05 1.91383845e-01] [ 1.29212963e-02 -3.35990156e-05 9.99916516e-01 2.89176419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.299254154 meters 0.015143286836728415 Centerline is valid? [True, True] Translation: X:73.72, Y:0.19, Z:0.29 [[ 9.99811685e-01 -1.55555758e-02 -1.16025071e-02 7.37184188e+01] [ 1.55555800e-02 9.99879001e-01 -8.98921787e-05 1.85349085e-01] [ 1.16025015e-02 -9.06084771e-05 9.99932685e-01 2.90512820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.359254154 meters 0.016331295952679376 Centerline is valid? [True, True] Translation: X:73.78, Y:0.18, Z:0.29 [[ 9.99729094e-01 -2.04167856e-02 -1.11755414e-02 7.37774679e+01] [ 2.04170915e-02 9.99791546e-01 -8.67217719e-05 1.78905256e-01] [ 1.11749824e-02 -1.41473773e-04 9.99937548e-01 2.91068401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41925415399999 meters 0.018553741018197883 Centerline is valid? [True, True] Translation: X:73.84, Y:0.17, Z:0.29 [[ 9.99608666e-01 -2.57383784e-02 -1.09567435e-02 7.38378996e+01] [ 2.57389947e-02 9.99668694e-01 -8.47900791e-05 1.70038663e-01] [ 1.09552958e-02 -1.97258663e-04 9.99939969e-01 2.90593278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47925415399999 meters 0.017847443357960707 Centerline is valid? [True, True] Translation: X:73.90, Y:0.17, Z:0.29 [[ 9.99452285e-01 -3.11278997e-02 -1.12331956e-02 7.38992319e+01] [ 3.11288912e-02 9.99515375e-01 -8.66147670e-05 1.67557998e-01] [ 1.12304478e-02 -2.63109596e-04 9.99936902e-01 2.91820794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53925415399999 meters 0.01876659145632022 Centerline is valid? [True, True] Translation: X:73.96, Y:0.16, Z:0.29 [[ 9.99355286e-01 -3.40239707e-02 -1.14622258e-02 7.39615776e+01] [ 3.40252010e-02 9.99420971e-01 -8.77143580e-05 1.64299862e-01] [ 1.14585733e-02 -3.02346731e-04 9.99934303e-01 2.92399842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.599254154 meters 0.01847265894206567 Centerline is valid? [True, True] Translation: X:74.02, Y:0.16, Z:0.29 [[ 9.99290975e-01 -3.58678190e-02 -1.14475954e-02 7.40235931e+01] [ 3.58691766e-02 9.99356490e-01 -8.67640227e-05 1.62802441e-01] [ 1.14433408e-02 -3.23913315e-04 9.99934470e-01 2.93111989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.659254154 meters 0.01887127585516653 Centerline is valid? [True, True] Translation: X:74.09, Y:0.16, Z:0.29 [[ 9.99297019e-01 -3.58058605e-02 -1.11089290e-02 7.40860144e+01] [ 3.58071441e-02 9.99358715e-01 -8.33873670e-05 1.60685671e-01] [ 1.11047908e-02 -3.14450274e-04 9.99938290e-01 2.93467895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.719254154 meters 0.019955383771775966 Centerline is valid? [True, True] Translation: X:74.15, Y:0.16, Z:0.29 [[ 9.99283407e-01 -3.62411026e-02 -1.09203815e-02 7.41475732e+01] [ 3.62423763e-02 9.99343026e-01 -8.13009895e-05 1.58375369e-01] [ 1.09161535e-02 -3.14537846e-04 9.99940368e-01 2.92721119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77925415399999 meters 0.021681658842557905 Centerline is valid? [True, True] Translation: X:74.21, Y:0.16, Z:0.29 [[ 9.99150388e-01 -3.94126740e-02 -1.20475162e-02 7.42090376e+01] [ 3.94144626e-02 9.99222944e-01 -8.90273631e-05 1.55301185e-01] [ 1.20416635e-02 -3.85894654e-04 9.99927422e-01 2.92201509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83925415399999 meters 0.021580287800865003 Centerline is valid? [True, True] Translation: X:74.27, Y:0.16, Z:0.29 [[ 9.98962127e-01 -4.37141445e-02 -1.27961621e-02 7.42696794e+01] [ 4.37165198e-02 9.99043972e-01 -9.41607935e-05 1.55471103e-01] [ 1.27880448e-02 -4.65340608e-04 9.99918121e-01 2.92665472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.89925415399999 meters 0.024587835436026217 Centerline is valid? [True, True] Translation: X:74.33, Y:0.15, Z:0.29 [[ 9.98518322e-01 -5.29181435e-02 -1.26819247e-02 7.43311101e+01] [ 5.29212213e-02 9.98598686e-01 -9.30050323e-05 1.50486059e-01] [ 1.26690750e-02 -5.78275717e-04 9.99919577e-01 2.94103205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.95925415399999 meters 0.026205438888362572 Centerline is valid? [True, True] Translation: X:74.39, Y:0.15, Z:0.30 [[ 9.98372035e-01 -5.58450723e-02 -1.16020864e-02 7.43918438e+01] [ 5.58478482e-02 9.98439287e-01 -8.48401856e-05 1.47999587e-01] [ 1.15887168e-02 -5.63249491e-04 9.99932690e-01 2.95229946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.019254154 meters 0.02754169612893743 Centerline is valid? [True, True] Translation: X:74.45, Y:0.15, Z:0.30 [[ 9.98377390e-01 -5.59586390e-02 -1.05459457e-02 7.44530724e+01] [ 5.59609430e-02 9.98432956e-01 -7.67123693e-05 1.46665489e-01] [ 1.05337125e-02 -5.13573173e-04 9.99944387e-01 2.96408391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.079254154 meters 0.027278699466660512 Centerline is valid? [True, True] Translation: X:74.52, Y:0.15, Z:0.30 [[ 9.98452773e-01 -5.46410011e-02 -1.03161058e-02 7.45153661e+01] [ 5.46431424e-02 9.98505945e-01 -7.43848052e-05 1.48120968e-01] [ 1.03047574e-02 -4.89434723e-04 9.99946785e-01 2.97056079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13925415399999 meters 0.02378993177899433 Centerline is valid? [True, True] Translation: X:74.58, Y:0.16, Z:0.30 [[ 9.98758384e-01 -4.88198345e-02 -9.91537662e-03 7.45763569e+01] [ 4.88215298e-02 9.98807516e-01 -7.11392791e-05 1.57388368e-01] [ 9.90702570e-03 -4.13032904e-04 9.99950839e-01 2.98665067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19925415399999 meters 0.020772106429818697 Centerline is valid? [True, True] Translation: X:74.64, Y:0.17, Z:0.30 [[ 9.99146930e-01 -3.99865401e-02 -1.03193505e-02 7.46364323e+01] [ 3.99879062e-02 9.99200161e-01 -7.39933727e-05 1.65964738e-01] [ 1.03140554e-02 -3.38718969e-04 9.99946751e-01 2.98748380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.25925415399999 meters 0.0176594565683066 Centerline is valid? [True, True] Translation: X:74.70, Y:0.18, Z:0.30 [[ 9.99494150e-01 -2.97006732e-02 -1.13716693e-02 7.46965901e+01] [ 2.97016671e-02 9.99558805e-01 -8.15180273e-05 1.75414060e-01] [ 1.13690733e-02 -2.56280744e-04 9.99935337e-01 2.99036172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.31925415399999 meters 0.015996698937662045 Centerline is valid? [True, True] Translation: X:74.76, Y:0.18, Z:0.30 [[ 9.99674747e-01 -2.21568496e-02 -1.26283355e-02 7.47577821e+01] [ 2.21574774e-02 9.99754489e-01 -9.02120129e-05 1.81896498e-01] [ 1.26272339e-02 -1.89629388e-04 9.99920255e-01 2.98650493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.379254154 meters 0.014867701507818272 Centerline is valid? [True, True] Translation: X:74.82, Y:0.19, Z:0.30 [[ 9.99828413e-01 -1.11749185e-02 -1.47737991e-02 7.48177335e+01] [ 1.11745789e-02 9.99937557e-01 -1.05539174e-04 1.91011120e-01] [ 1.47740559e-02 -5.95699183e-05 9.99890856e-01 2.97526149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.439254154 meters 0.01473658734763601 Centerline is valid? [True, True] Translation: X:74.88, Y:0.20, Z:0.30 [[ 9.99880572e-01 -4.36039068e-03 -1.48266201e-02 7.48753227e+01] [ 4.35925386e-03 9.99990492e-01 -1.08991396e-04 1.96941549e-01] [ 1.48269544e-02 4.43453780e-05 9.99890074e-01 2.98391945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.499254154 meters 0.014795835743118269 Centerline is valid? [True, True] Translation: X:74.93, Y:0.20, Z:0.30 [[ 9.99905430e-01 -3.15583667e-03 -1.33855080e-02 7.49335597e+01] [ 3.15475220e-03 9.99995019e-01 -1.02132669e-04 1.97642537e-01] [ 1.33857637e-02 5.98950490e-05 9.99910405e-01 3.00163516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55925415399999 meters 0.01437875375744336 Centerline is valid? [True, True] Translation: X:74.99, Y:0.19, Z:0.30 [[ 9.99908522e-01 -5.97084510e-03 -1.21366080e-02 7.49926265e+01] [ 5.97014017e-03 9.99982174e-01 -9.43124920e-05 1.94887692e-01] [ 1.21369547e-02 2.18466138e-05 9.99926344e-01 3.01570697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.61925415399999 meters 0.014627662597827155 Centerline is valid? [True, True] Translation: X:75.05, Y:0.19, Z:0.30 [[ 9.99804238e-01 -1.53740500e-02 -1.24548719e-02 7.50514500e+01] [ 1.53740257e-02 9.99881808e-01 -9.76951935e-05 1.87095837e-01] [ 1.24549018e-02 -9.38054531e-05 9.99922430e-01 3.01096650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.67925415399999 meters 0.017383722464272545 Centerline is valid? [True, True] Translation: X:75.11, Y:0.17, Z:0.30 [[ 9.99493943e-01 -2.85666602e-02 -1.39930024e-02 7.51111346e+01] [ 2.85679144e-02 9.99591848e-01 -1.10290653e-04 1.74295478e-01] [ 1.39904417e-02 -2.89516054e-04 9.99902087e-01 2.99298985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.739254154 meters 0.019736665480576496 Centerline is valid? [True, True] Translation: X:75.17, Y:0.17, Z:0.30 [[ 9.99197493e-01 -3.74569577e-02 -1.41896529e-02 7.51722127e+01] [ 3.74591442e-02 9.99298154e-01 -1.11752359e-04 1.67243057e-01] [ 1.41838798e-02 -4.19869576e-04 9.99899316e-01 3.00088260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.799254154 meters 0.022773827663320857 Centerline is valid? [True, True] Translation: X:75.23, Y:0.16, Z:0.30 [[ 9.98738106e-01 -4.82611569e-02 -1.38944740e-02 7.52329731e+01] [ 4.82643034e-02 9.98834593e-01 -1.08969383e-04 1.59565467e-01] [ 1.38835403e-02 -5.61775235e-04 9.99903461e-01 3.00849979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.859254154 meters 0.02495345073762564 Centerline is valid? [True, True] Translation: X:75.29, Y:0.16, Z:0.30 [[ 9.98365950e-01 -5.54538633e-02 -1.37948535e-02 7.52933068e+01] [ 5.54576527e-02 9.98461034e-01 -1.07981278e-04 1.55525522e-01] [ 1.37796116e-02 -6.57225360e-04 9.99904841e-01 3.00794272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91925415399999 meters 0.02666207293426658 Centerline is valid? [True, True] Translation: X:75.35, Y:0.15, Z:0.30 [[ 9.98116646e-01 -6.00860362e-02 -1.23624325e-02 7.53543410e+01] [ 6.00894357e-02 9.98192993e-01 -9.66096692e-05 1.53355672e-01] [ 1.23458984e-02 -6.46423875e-04 9.99923578e-01 3.02289065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97925415399999 meters 0.030611459550223208 Centerline is valid? [True, True] Translation: X:75.41, Y:0.15, Z:0.30 [[ 9.97884869e-01 -6.39644500e-02 -1.15903827e-02 7.54144753e+01] [ 6.39676997e-02 9.97951965e-01 -9.05003170e-05 1.49953163e-01] [ 1.15724340e-02 -6.51101223e-04 9.99932825e-01 3.01995818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03925415399999 meters 0.03077020518893356 Centerline is valid? [True, True] Translation: X:75.48, Y:0.15, Z:0.30 [[ 9.97762171e-01 -6.57866914e-02 -1.19483101e-02 7.54762587e+01] [ 6.57902856e-02 9.97833468e-01 -9.24225017e-05 1.51970251e-01] [ 1.19285039e-02 -6.93867059e-04 9.99928612e-01 3.02074845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.099254154 meters 0.031038278413877126 Centerline is valid? [True, True] Translation: X:75.54, Y:0.15, Z:0.30 [[ 9.97671022e-01 -6.70753371e-02 -1.23866890e-02 7.55383152e+01] [ 6.70793125e-02 9.97747642e-01 -9.47061435e-05 1.54612714e-01] [ 1.23651422e-02 -7.36405006e-04 9.99923278e-01 3.02125708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.159254154 meters 0.03208745626983324 Centerline is valid? [True, True] Translation: X:75.60, Y:0.16, Z:0.30 [[ 9.97769000e-01 -6.54327544e-02 -1.32505915e-02 7.55992278e+01] [ 6.54371681e-02 9.97856687e-01 -1.00652300e-04 1.57567716e-01] [ 1.32287773e-02 -7.66653440e-04 9.99912202e-01 3.01465375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.219254154 meters 0.026313966614698092 Centerline is valid? [True, True] Translation: X:75.66, Y:0.17, Z:0.30 [[ 9.98166284e-01 -5.89924605e-02 -1.35631874e-02 7.56598789e+01] [ 5.89964941e-02 9.98258185e-01 -1.02869594e-04 1.72270728e-01] [ 1.35456314e-02 -6.97499547e-04 9.99908010e-01 3.02867941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27925415399999 meters 0.023376947372239266 Centerline is valid? [True, True] Translation: X:75.72, Y:0.18, Z:0.30 [[ 9.98526160e-01 -5.23142023e-02 -1.44475498e-02 7.57206394e+01] [ 5.23180817e-02 9.98630465e-01 -1.09570764e-04 1.81916577e-01] [ 1.44334955e-02 -6.46458817e-04 9.99895623e-01 3.03575017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33925415399999 meters 0.019773760041394386 Centerline is valid? [True, True] Translation: X:75.78, Y:0.20, Z:0.31 [[ 9.99082239e-01 -4.04985189e-02 -1.39480969e-02 7.57808117e+01] [ 4.05009842e-02 9.99179493e-01 -1.05795947e-04 1.96100988e-01] [ 1.39409369e-02 -4.59212799e-04 9.99902715e-01 3.05169725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39925415399999 meters 0.017006572375741734 Centerline is valid? [True, True] Translation: X:75.84, Y:0.21, Z:0.31 [[ 9.99512608e-01 -2.87116089e-02 -1.22552096e-02 7.58410458e+01] [ 2.87126262e-02 9.99587703e-01 -9.29621766e-05 2.08541035e-01] [ 1.22528259e-02 -2.58962383e-04 9.99924898e-01 3.07304307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.45925415399999 meters 0.015475988366924143 Centerline is valid? [True, True] Translation: X:75.90, Y:0.22, Z:0.31 [[ 9.99722386e-01 -2.08462746e-02 -1.09810502e-02 7.59010618e+01] [ 2.08466183e-02 9.99782682e-01 -8.31777055e-05 2.16182799e-01] [ 1.09803978e-02 -1.45763148e-04 9.99939703e-01 3.08557671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.519254154 meters 0.014442397151192308 Centerline is valid? [True, True] Translation: X:75.96, Y:0.23, Z:0.31 [[ 9.99873024e-01 -1.14371596e-02 -1.10962948e-02 7.59620435e+01] [ 1.14369334e-02 9.99934593e-01 -8.38498524e-05 2.26394214e-01] [ 1.10965280e-02 -4.30683783e-05 9.99938431e-01 3.08249976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.579254154 meters 0.014322903098817704 Centerline is valid? [True, True] Translation: X:76.02, Y:0.23, Z:0.31 [[ 9.99901988e-01 -7.47789267e-03 -1.18362200e-02 7.60202449e+01] [ 7.47735416e-03 9.99972040e-01 -8.97499995e-05 2.30519007e-01] [ 1.18365602e-02 1.23759390e-06 9.99929945e-01 3.07271646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63925415399999 meters 0.014299931561526919 Centerline is valid? [True, True] Translation: X:76.08, Y:0.23, Z:0.31 [[ 9.99873652e-01 -9.70937819e-03 -1.25860420e-02 7.60787262e+01] [ 9.70893559e-03 9.99952863e-01 -9.62674027e-05 2.30158257e-01] [ 1.25863835e-02 -2.59418321e-05 9.99920788e-01 3.07240677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69925415399999 meters 0.014601904931688036 Centerline is valid? [True, True] Translation: X:76.14, Y:0.23, Z:0.31 [[ 9.99814162e-01 -1.56356784e-02 -1.12768595e-02 7.61371771e+01] [ 1.56356913e-02 9.99877751e-01 -8.70237069e-05 2.26358195e-01] [ 1.12768416e-02 -8.93139587e-05 9.99936410e-01 3.07905144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.75925415399999 meters 0.014894237712874743 Centerline is valid? [True, True] Translation: X:76.20, Y:0.22, Z:0.31 [[ 9.99752701e-01 -1.97924424e-02 -1.01388235e-02 7.61976831e+01] [ 1.97926637e-02 9.99804103e-01 -7.85225499e-05 2.24387796e-01] [ 1.01383915e-02 -1.22171192e-04 9.99948598e-01 3.09382105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.81925415399999 meters 0.01597923716953608 Centerline is valid? [True, True] Translation: X:76.26, Y:0.22, Z:0.31 [[ 9.99611177e-01 -2.63767174e-02 -9.04226734e-03 7.62593082e+01] [ 2.63771642e-02 9.99652060e-01 -6.98589679e-05 2.20039958e-01] [ 9.04096382e-03 -1.68677565e-04 9.99959115e-01 3.10665132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.879254154 meters 0.017892166328617783 Centerline is valid? [True, True] Translation: X:76.32, Y:0.21, Z:0.31 [[ 9.99422111e-01 -3.29208349e-02 -8.46542251e-03 7.63202479e+01] [ 3.29214630e-02 9.99457940e-01 -6.51765673e-05 2.14136726e-01] [ 8.46297941e-03 -2.13555192e-04 9.99964166e-01 3.10485624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.939254154 meters 0.01843385739344427 Centerline is valid? [True, True] Translation: X:76.38, Y:0.21, Z:0.31 [[ 9.99267428e-01 -3.71839337e-02 -9.05327893e-03 7.63823134e+01] [ 3.71848308e-02 9.99308403e-01 -6.92716335e-05 2.10728349e-01] [ 9.04959350e-03 -2.67423758e-04 9.99959016e-01 3.10392476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.999254154 meters 0.019357585344811946 Centerline is valid? [True, True] Translation: X:76.44, Y:0.21, Z:0.31 [[ 9.99244328e-01 -3.78100036e-02 -9.00976946e-03 7.64433125e+01] [ 3.78109228e-02 9.99284909e-01 -6.83583090e-05 2.08658441e-01] [ 9.00591128e-03 -2.72361045e-04 9.99959409e-01 3.10131744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05925415399999 meters 0.019763452870619588 Centerline is valid? [True, True] Translation: X:76.50, Y:0.21, Z:0.31 [[ 9.99293318e-01 -3.62453499e-02 -9.95684148e-03 7.65041238e+01] [ 3.62464005e-02 9.99342881e-01 -7.49749756e-05 2.07055262e-01] [ 9.95301614e-03 -2.85977672e-04 9.99950427e-01 3.09199947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.11925415399999 meters 0.016519727344953477 Centerline is valid? [True, True] Translation: X:76.57, Y:0.21, Z:0.31 [[ 9.99541305e-01 -2.81325168e-02 -1.12134559e-02 7.65653627e+01] [ 2.81333437e-02 9.99604176e-01 -8.40266857e-05 2.14070585e-01] [ 1.12113812e-02 -2.31483864e-04 9.99937124e-01 3.08765869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17925415399999 meters 0.014735236215104317 Centerline is valid? [True, True] Translation: X:76.63, Y:0.22, Z:0.31 [[ 9.99808833e-01 -1.57491539e-02 -1.15871490e-02 7.66256986e+01] [ 1.57492063e-02 9.99875970e-01 -8.67311692e-05 2.22606833e-01] [ 1.15870778e-02 -9.57738113e-05 9.99932863e-01 3.09631758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.239254154 meters 0.014609712246235968 Centerline is valid? [True, True] Translation: X:76.69, Y:0.23, Z:0.31 [[ 9.99916459e-01 -5.06021723e-03 -1.18940510e-02 7.66853738e+01] [ 5.05951461e-03 9.99987197e-01 -8.91632719e-05 2.29305416e-01] [ 1.18943499e-02 2.89776985e-05 9.99929259e-01 3.09804046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.299254154 meters 0.014799253597199902 Centerline is valid? [True, True] Translation: X:76.74, Y:0.23, Z:0.31 [[ 9.99926362e-01 -1.82905117e-03 -1.19969091e-02 7.67438451e+01] [ 1.82807962e-03 9.99998325e-01 -9.19487923e-05 2.31339487e-01] [ 1.19970572e-02 7.00107164e-05 9.99928030e-01 3.10324397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.359254154 meters 0.014741074177500505 Centerline is valid? [True, True] Translation: X:76.80, Y:0.23, Z:0.31 [[ 9.99921327e-01 -1.66764423e-03 -1.24321865e-02 7.68016462e+01] [ 1.66656505e-03 9.99998607e-01 -9.71645511e-05 2.30161796e-01] [ 1.24323312e-02 7.64378593e-05 9.99922713e-01 3.10722727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41925415399999 meters 0.014722156837753743 Centerline is valid? [True, True] Translation: X:76.86, Y:0.22, Z:0.31 [[ 9.99880837e-01 -7.49759123e-03 -1.34944026e-02 7.68601867e+01] [ 7.49683599e-03 9.99971893e-01 -1.06551678e-04 2.24548278e-01] [ 1.34948222e-02 5.37365826e-06 9.99908941e-01 3.10342197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47925415399999 meters 0.014752943227669263 Centerline is valid? [True, True] Translation: X:76.92, Y:0.22, Z:0.31 [[ 9.99803070e-01 -1.40362854e-02 -1.40287090e-02 7.69188805e+01] [ 1.40360982e-02 9.99901483e-01 -1.11803779e-04 2.19156700e-01] [ 1.40288963e-02 -8.51265761e-05 9.99901587e-01 3.10202153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53925415399999 meters 0.01607061430068812 Centerline is valid? [True, True] Translation: X:76.98, Y:0.21, Z:0.31 [[ 9.99593416e-01 -2.52922238e-02 -1.31646152e-02 7.69788060e+01] [ 2.52930265e-02 9.99680075e-01 -1.05541522e-04 2.09925878e-01] [ 1.31630729e-02 -2.27474351e-04 9.99913337e-01 3.10729685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.599254154 meters 0.018979163204637644 Centerline is valid? [True, True] Translation: X:77.04, Y:0.20, Z:0.31 [[ 9.99290260e-01 -3.57109556e-02 -1.19876364e-02 7.70390540e+01] [ 3.57123684e-02 9.99362105e-01 -9.62533723e-05 2.00525900e-01] [ 1.19834268e-02 -3.31921829e-04 9.99928141e-01 3.12474479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.659254154 meters 0.020282337984869787 Centerline is valid? [True, True] Translation: X:77.10, Y:0.20, Z:0.31 [[ 9.99048756e-01 -4.22104448e-02 -1.09481544e-02 7.71006385e+01] [ 4.22120156e-02 9.99108672e-01 -8.76661535e-05 1.96666351e-01] [ 1.09420965e-02 -3.74560904e-04 9.99940063e-01 3.13520546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.719254154 meters 0.02416423831493509 Centerline is valid? [True, True] Translation: X:77.16, Y:0.19, Z:0.31 [[ 9.98606325e-01 -5.17621910e-02 -1.02996359e-02 7.71619611e+01] [ 5.17640914e-02 9.98659337e-01 -8.21588048e-05 1.87021040e-01] [ 1.02900803e-02 -4.51106993e-04 9.99946954e-01 3.13214874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77925415399999 meters 0.028986419655029738 Centerline is valid? [True, True] Translation: X:77.22, Y:0.18, Z:0.31 [[ 9.98166120e-01 -5.97791331e-02 -9.53167149e-03 7.72216122e+01] [ 5.97811259e-02 9.98211506e-01 -7.59605837e-05 1.79565550e-01] [ 9.51916502e-03 -4.93992772e-04 9.99954570e-01 3.14009073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83925415399999 meters 0.029933504156309666 Centerline is valid? [True, True] Translation: X:77.28, Y:0.18, Z:0.31 [[ 9.97842676e-01 -6.48060013e-02 -1.04964350e-02 7.72825210e+01] [ 6.48086950e-02 9.97897703e-01 -8.36671939e-05 1.78958581e-01] [ 1.04797905e-02 -5.96773560e-04 9.99944907e-01 3.13517936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89925415399999 meters 0.03202795735520982 Centerline is valid? [True, True] Translation: X:77.34, Y:0.18, Z:0.31 [[ 9.97666541e-01 -6.74089240e-02 -1.08402251e-02 7.73435935e+01] [ 6.74119515e-02 9.97725223e-01 -8.62775921e-05 1.76594122e-01] [ 1.08213819e-02 -6.44684461e-04 9.99941239e-01 3.13296377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.95925415399999 meters 0.03224228083799995 Centerline is valid? [True, True] Translation: X:77.41, Y:0.18, Z:0.31 [[ 9.97533759e-01 -6.91249387e-02 -1.21713496e-02 7.74058148e+01] [ 6.91288906e-02 9.97607732e-01 -9.62245932e-05 1.78133023e-01] [ 1.21488840e-02 -7.45404615e-04 9.99925922e-01 3.12287952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.019254154 meters 0.03149838697701467 Centerline is valid? [True, True] Translation: X:77.47, Y:0.18, Z:0.31 [[ 9.97661886e-01 -6.71217839e-02 -1.28618404e-02 7.74670504e+01] [ 6.71260394e-02 9.97744499e-01 -1.01042189e-04 1.82567980e-01] [ 1.28396126e-02 -7.62558463e-04 9.99917278e-01 3.12458749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.079254154 meters 0.028431056221814348 Centerline is valid? [True, True] Translation: X:77.53, Y:0.19, Z:0.31 [[ 9.98042427e-01 -6.15025785e-02 -1.13466738e-02 7.75280022e+01] [ 6.15055312e-02 9.98106739e-01 -8.88719276e-05 1.91004061e-01] [ 1.13306574e-02 -6.09185244e-04 9.99935620e-01 3.14482389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13925415399999 meters 0.02491984302329673 Centerline is valid? [True, True] Translation: X:77.59, Y:0.20, Z:0.32 [[ 9.98636724e-01 -5.13336352e-02 -9.46319767e-03 7.75884446e+01] [ 5.13352346e-02 9.98681475e-01 -7.39767503e-05 2.01457445e-01] [ 9.45451770e-03 -4.11919573e-04 9.99955220e-01 3.16777488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19925415399999 meters 0.02124567645003375 Centerline is valid? [True, True] Translation: X:77.65, Y:0.21, Z:0.32 [[ 9.99028693e-01 -4.32104892e-02 -8.63272507e-03 7.76490157e+01] [ 4.32115178e-02 9.99065944e-01 -6.74228557e-05 2.11023244e-01] [ 8.62757499e-03 -3.05675786e-04 9.99962735e-01 3.18225880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25925415399999 meters 0.01784675149654507 Centerline is valid? [True, True] Translation: X:77.71, Y:0.22, Z:0.32 [[ 9.99499638e-01 -3.04954930e-02 -8.39635155e-03 7.77093341e+01] [ 3.04960176e-02 9.99534886e-01 -6.55799257e-05 2.22067895e-01] [ 8.39444618e-03 -1.90508172e-04 9.99964748e-01 3.18491431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.31925415399999 meters 0.015353848347975168 Centerline is valid? [True, True] Translation: X:77.77, Y:0.23, Z:0.32 [[ 9.99764473e-01 -1.93055464e-02 -9.91431614e-03 7.77697183e+01] [ 1.93057276e-02 9.99813624e-01 -7.74419743e-05 2.32600676e-01] [ 9.91396341e-03 -1.13979352e-04 9.99950849e-01 3.17865527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.379254154 meters 0.014692495111152806 Centerline is valid? [True, True] Translation: X:77.83, Y:0.24, Z:0.32 [[ 9.99883409e-01 -1.13625572e-02 -1.02010257e-02 7.78299761e+01] [ 1.13623366e-02 9.99935443e-01 -7.95782416e-05 2.39018701e-01] [ 1.02012714e-02 -3.63385247e-05 9.99947965e-01 3.17645722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.439254154 meters 0.014603445254849927 Centerline is valid? [True, True] Translation: X:77.89, Y:0.24, Z:0.32 [[ 9.99918358e-01 -8.00193459e-03 -9.96220469e-03 7.78893558e+01] [ 8.00155625e-03 9.99967984e-01 -7.78342422e-05 2.41755964e-01] [ 9.96250856e-03 -1.88525354e-06 9.99950373e-01 3.18378416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.499254154 meters 0.014538893230109276 Centerline is valid? [True, True] Translation: X:77.95, Y:0.24, Z:0.32 [[ 9.99944677e-01 -5.06243408e-03 -9.22033538e-03 7.79475128e+01] [ 5.06197987e-03 9.99987185e-01 -7.25983037e-05 2.43677420e-01] [ 9.22058475e-03 2.59211353e-05 9.99957489e-01 3.19340217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55925415399999 meters 0.014549298052108096 Centerline is valid? [True, True] Translation: X:78.00, Y:0.24, Z:0.32 [[ 9.99945809e-01 -4.56899036e-03 -9.35437178e-03 7.80049952e+01] [ 4.56848497e-03 9.99989562e-01 -7.53947409e-05 2.42265441e-01] [ 9.35461861e-03 3.26553483e-05 9.99956244e-01 3.19462239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.61925415399999 meters 0.01458575147597159 Centerline is valid? [True, True] Translation: X:78.06, Y:0.24, Z:0.32 [[ 9.99916401e-01 -8.68970990e-03 -9.57496328e-03 7.80624840e+01] [ 8.68935335e-03 9.99962244e-01 -7.88393354e-05 2.35965617e-01] [ 9.57528686e-03 -4.36749476e-06 9.99954156e-01 3.18231613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67925415399999 meters 0.01471052973731616 Centerline is valid? [True, True] Translation: X:78.12, Y:0.23, Z:0.32 [[ 9.99849842e-01 -1.42608712e-02 -9.84486350e-03 7.81213430e+01] [ 1.42607567e-02 9.99898307e-01 -8.18319500e-05 2.29958935e-01] [ 9.84502934e-03 -5.85755411e-05 9.99951535e-01 3.18889702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.739254154 meters 0.01643512722249252 Centerline is valid? [True, True] Translation: X:78.18, Y:0.22, Z:0.32 [[ 9.99656711e-01 -2.40847596e-02 -1.03142439e-02 7.81804394e+01] [ 2.40851511e-02 9.99709907e-01 -8.62731639e-05 2.18406088e-01] [ 1.03133297e-02 -1.62176575e-04 9.99946803e-01 3.18124104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.799254154 meters 0.018382595541090032 Centerline is valid? [True, True] Translation: X:78.24, Y:0.21, Z:0.32 [[ 9.99399136e-01 -3.31228179e-02 -1.02100548e-02 7.82419858e+01] [ 3.31236734e-02 9.99451257e-01 -8.53489494e-05 2.09492596e-01] [ 1.02072791e-02 -2.52896855e-04 9.99947872e-01 3.18367989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.859254154 meters 0.020809001981891156 Centerline is valid? [True, True] Translation: X:78.30, Y:0.20, Z:0.32 [[ 9.99200936e-01 -3.87001078e-02 -9.98951010e-03 7.83020219e+01] [ 3.87012067e-02 9.99250824e-01 -8.33520511e-05 2.02865974e-01] [ 9.98525193e-03 -3.03320647e-04 9.99950100e-01 3.18527785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91925415399999 meters 0.023642131008057125 Centerline is valid? [True, True] Translation: X:78.36, Y:0.20, Z:0.32 [[ 9.98976978e-01 -4.42160639e-02 -9.48354647e-03 7.83631022e+01] [ 4.42173033e-02 9.99021934e-01 -7.90428033e-05 1.96403590e-01] [ 9.47776589e-03 -3.40374910e-04 9.99955027e-01 3.18556588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97925415399999 meters 0.022724154296650406 Centerline is valid? [True, True] Translation: X:78.42, Y:0.20, Z:0.32 [[ 9.98713491e-01 -4.96786862e-02 -1.01681137e-02 7.84240617e+01] [ 4.96803956e-02 9.98765163e-01 -8.45610822e-05 1.96163953e-01] [ 1.01597586e-02 -4.20703617e-04 9.99948300e-01 3.19186411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03925415399999 meters 0.031259152556567145 Centerline is valid? [True, True] Translation: X:78.48, Y:0.18, Z:0.32 [[ 9.98282647e-01 -5.75889890e-02 -1.07361237e-02 7.84845223e+01] [ 5.75913547e-02 9.98340237e-01 -8.89341756e-05 1.82409917e-01] [ 1.07234259e-02 -5.29526464e-04 9.99942362e-01 3.18414884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.099254154 meters 0.02836481500144781 Centerline is valid? [True, True] Translation: X:78.54, Y:0.19, Z:0.32 [[ 9.97910998e-01 -6.36608768e-02 -1.09969194e-02 7.85448467e+01] [ 6.36637287e-02 9.97971403e-01 -9.08866450e-05 1.86403281e-01] [ 1.09803970e-02 -6.09408110e-04 9.99939528e-01 3.20114211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.159254154 meters 0.029323952817920964 Centerline is valid? [True, True] Translation: X:78.61, Y:0.19, Z:0.32 [[ 9.97782017e-01 -6.55463915e-02 -1.16067697e-02 7.86066239e+01] [ 6.55497004e-02 9.97849301e-01 -9.55149642e-05 1.86841000e-01] [ 1.15880677e-02 -6.65517162e-04 9.99932635e-01 3.20167788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.219254154 meters 0.03308832405614424 Centerline is valid? [True, True] Translation: X:78.67, Y:0.18, Z:0.32 [[ 9.97822974e-01 -6.48829204e-02 -1.18118037e-02 7.86683853e+01] [ 6.48863102e-02 9.97892658e-01 -9.64180530e-05 1.83585902e-01] [ 1.17931681e-02 -6.70216212e-04 9.99930234e-01 3.19263105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27925415399999 meters 0.03358249465257075 Centerline is valid? [True, True] Translation: X:78.73, Y:0.19, Z:0.32 [[ 9.97971923e-01 -6.23657695e-02 -1.27495434e-02 7.87292177e+01] [ 6.23695222e-02 9.98053121e-01 -1.03441486e-04 1.88112833e-01] [ 1.27311728e-02 -6.91951232e-04 9.99918716e-01 3.19224140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33925415399999 meters 0.02774068029556565 Centerline is valid? [True, True] Translation: X:78.79, Y:0.20, Z:0.32 [[ 9.98283691e-01 -5.71439433e-02 -1.28156696e-02 7.87896599e+01] [ 5.71473084e-02 9.98365752e-01 -1.03772591e-04 2.02091578e-01] [ 1.28006556e-02 -6.28786540e-04 9.99917871e-01 3.20718615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39925415399999 meters 0.025658661715505102 Centerline is valid? [True, True] Translation: X:78.85, Y:0.21, Z:0.32 [[ 9.98523765e-01 -5.30635718e-02 -1.15994801e-02 7.88501310e+01] [ 5.30660540e-02 9.98591000e-01 -9.38995378e-05 2.09660893e-01] [ 1.15881190e-02 -5.21777714e-04 9.99932719e-01 3.22624884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.45925415399999 meters 0.022079823004021726 Centerline is valid? [True, True] Translation: X:78.91, Y:0.22, Z:0.32 [[ 9.98864091e-01 -4.62637881e-02 -1.14100696e-02 7.89104444e+01] [ 4.62657471e-02 9.98929163e-01 -9.23491083e-05 2.22830557e-01] [ 1.14021237e-02 -4.35651188e-04 9.99934899e-01 3.23837890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.519254154 meters 0.019885001518822897 Centerline is valid? [True, True] Translation: X:78.97, Y:0.23, Z:0.32 [[ 9.99142681e-01 -3.94609618e-02 -1.25193880e-02 7.89708610e+01] [ 3.94627869e-02 9.99221036e-01 -1.01315744e-04 2.34152449e-01] [ 1.25136339e-02 -3.92821057e-04 9.99921624e-01 3.23273176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.579254154 meters 0.01733446134237351 Centerline is valid? [True, True] Translation: X:79.03, Y:0.25, Z:0.32 [[ 9.99431571e-01 -3.11743302e-02 -1.28333725e-02 7.90314187e+01] [ 3.11755672e-02 9.99513918e-01 -1.03703090e-04 2.46538497e-01] [ 1.28303673e-02 -2.96443525e-04 9.99917644e-01 3.24101812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63925415399999 meters 0.015712774795009862 Centerline is valid? [True, True] Translation: X:79.09, Y:0.26, Z:0.33 [[ 9.99682307e-01 -2.19631295e-02 -1.23655168e-02 7.90921778e+01] [ 2.19635761e-02 9.99758767e-01 -9.96996183e-05 2.58326892e-01] [ 1.23647235e-02 -1.71923025e-04 9.99923539e-01 3.25534878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69925415399999 meters 0.01500110220692855 Centerline is valid? [True, True] Translation: X:79.15, Y:0.26, Z:0.33 [[ 9.99783280e-01 -1.68483220e-02 -1.22281536e-02 7.91532709e+01] [ 1.68483806e-02 9.99858051e-01 -9.82277158e-05 2.64952799e-01] [ 1.22280728e-02 -1.07818158e-04 9.99925229e-01 3.26549861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75925415399999 meters 0.014702009311476813 Centerline is valid? [True, True] Translation: X:79.21, Y:0.27, Z:0.33 [[ 9.99846957e-01 -1.29256411e-02 -1.17894352e-02 7.92137792e+01] [ 1.29254247e-02 9.99916459e-01 -9.45491103e-05 2.70801969e-01] [ 1.17896724e-02 -5.78488171e-05 9.99930498e-01 3.26919487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.81925415399999 meters 0.01499107398759412 Centerline is valid? [True, True] Translation: X:79.27, Y:0.27, Z:0.33 [[ 9.99822075e-01 -1.43409649e-02 -1.22537550e-02 7.92731885e+01] [ 1.43408340e-02 9.99897160e-01 -9.85567547e-05 2.71462814e-01] [ 1.22539082e-02 -7.71898472e-05 9.99924915e-01 3.26312360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.879254154 meters 0.01539767344254595 Centerline is valid? [True, True] Translation: X:79.33, Y:0.27, Z:0.33 [[ 9.99765321e-01 -1.84528173e-02 -1.13488184e-02 7.93327379e+01] [ 1.84529680e-02 9.99829725e-01 -9.14387958e-05 2.69500258e-01] [ 1.13485733e-02 -1.18002046e-04 9.99935596e-01 3.26938010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.939254154 meters 0.016826778491158025 Centerline is valid? [True, True] Translation: X:79.39, Y:0.26, Z:0.33 [[ 9.99575786e-01 -2.70074622e-02 -1.09015643e-02 7.93942373e+01] [ 2.70081123e-02 9.99635211e-01 -8.76092219e-05 2.64414427e-01] [ 1.08999536e-02 -2.06858615e-04 9.99940572e-01 3.27746787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.999254154 meters 0.018453691889077403 Centerline is valid? [True, True] Translation: X:79.46, Y:0.26, Z:0.33 [[ 9.99397896e-01 -3.28090256e-02 -1.12877442e-02 7.94552059e+01] [ 3.28100956e-02 9.99461600e-01 -9.04259250e-05 2.59823647e-01] [ 1.12846336e-02 -2.79980486e-04 9.99936287e-01 3.27243284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05925415399999 meters 0.02082627945242336 Centerline is valid? [True, True] Translation: X:79.52, Y:0.25, Z:0.33 [[ 9.99179816e-01 -3.87332718e-02 -1.18080382e-02 7.95152314e+01] [ 3.87348570e-02 9.99249519e-01 -9.45119066e-05 2.53338302e-01] [ 1.18028373e-02 -3.62948282e-04 9.99930278e-01 3.26308634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.11925415399999 meters 0.020901399748855746 Centerline is valid? [True, True] Translation: X:79.58, Y:0.25, Z:0.33 [[ 9.99211461e-01 -3.78200493e-02 -1.20871900e-02 7.95777654e+01] [ 3.78216501e-02 9.99284501e-01 -9.62098650e-05 2.52531332e-01] [ 1.20821803e-02 -3.61023470e-04 9.99926943e-01 3.26196108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.17925415399999 meters 0.018410385489065137 Centerline is valid? [True, True] Translation: X:79.64, Y:0.26, Z:0.33 [[ 9.99412132e-01 -3.22532822e-02 -1.16239242e-02 7.96393339e+01] [ 3.22543942e-02 9.99479687e-01 -9.18376988e-05 2.57377848e-01] [ 1.16208382e-02 -2.83138924e-04 9.99932436e-01 3.27674895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.239254154 meters 0.016308980804502212 Centerline is valid? [True, True] Translation: X:79.70, Y:0.26, Z:0.33 [[ 9.99668639e-01 -2.31825604e-02 -1.11884715e-02 7.96989303e+01] [ 2.31830251e-02 9.99731234e-01 -8.81689252e-05 2.61995325e-01] [ 1.11875084e-02 -1.71242907e-04 9.99937403e-01 3.28491017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.299254154 meters 0.015094930089655215 Centerline is valid? [True, True] Translation: X:79.76, Y:0.27, Z:0.33 [[ 9.99815956e-01 -1.48879575e-02 -1.20997216e-02 7.97601820e+01] [ 1.48878971e-02 9.99889165e-01 -9.50687427e-05 2.66269211e-01] [ 1.20997959e-02 -8.50881645e-05 9.99926791e-01 3.28567056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.359254154 meters 0.01480830518049183 Centerline is valid? [True, True] Translation: X:79.82, Y:0.27, Z:0.33 [[ 9.99846221e-01 -1.15276889e-02 -1.32153614e-02 7.98196723e+01] [ 1.15273215e-02 9.99933553e-01 -1.03977128e-04 2.66692458e-01] [ 1.32156819e-02 -4.83765803e-05 9.99912668e-01 3.28293824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41925415399999 meters 0.014825976812878576 Centerline is valid? [True, True] Translation: X:79.88, Y:0.26, Z:0.33 [[ 9.99835486e-01 -1.06462232e-02 -1.46853559e-02 7.98788372e+01] [ 1.06456335e-02 9.99943327e-01 -1.18328491e-04 2.64228436e-01] [ 1.46857834e-02 -3.80258923e-05 9.99892157e-01 3.27583228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47925415399999 meters 0.015058990168906874 Centerline is valid? [True, True] Translation: X:79.94, Y:0.26, Z:0.33 [[ 9.99746676e-01 -1.45313286e-02 -1.71878831e-02 7.99377071e+01] [ 1.45310563e-02 9.99894409e-01 -1.40739897e-04 2.57829323e-01] [ 1.71881134e-02 -1.09053853e-04 9.99852268e-01 3.26387582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53925415399999 meters 0.015666746549533508 Centerline is valid? [True, True] Translation: X:80.00, Y:0.25, Z:0.33 [[ 9.99633344e-01 -2.09644856e-02 -1.71367259e-02 7.99967700e+01] [ 2.09651383e-02 9.99780197e-01 -1.41582713e-04 2.50206107e-01] [ 1.71359274e-02 -2.17743028e-04 9.99853146e-01 3.26834803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.599254154 meters 0.016156621215603448 Centerline is valid? [True, True] Translation: X:80.06, Y:0.25, Z:0.33 [[ 9.99576872e-01 -2.41266521e-02 -1.62475272e-02 8.00554298e+01] [ 2.41276023e-02 9.99708878e-01 -1.37563176e-04 2.45644436e-01] [ 1.62461161e-02 -2.54508905e-04 9.99867991e-01 3.27870120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.659254154 meters 0.016459788811311122 Centerline is valid? [True, True] Translation: X:80.12, Y:0.24, Z:0.33 [[ 9.99555133e-01 -2.59603888e-02 -1.46831027e-02 8.01158109e+01] [ 2.59613476e-02 9.99662940e-01 -1.25331348e-04 2.41181520e-01] [ 1.46814073e-02 -2.55917542e-04 9.99892190e-01 3.30426718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.719254154 meters 0.016113168487379405 Centerline is valid? [True, True] Translation: X:80.18, Y:0.24, Z:0.33 [[ 9.99610611e-01 -2.44139663e-02 -1.35124042e-02 8.01774810e+01] [ 2.44146416e-02 9.99701912e-01 -1.15005425e-04 2.37457593e-01] [ 1.35111841e-02 -2.14939863e-04 9.99908697e-01 3.31204737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77925415399999 meters 0.015918337509771216 Centerline is valid? [True, True] Translation: X:80.24, Y:0.24, Z:0.33 [[ 9.99641281e-01 -2.31551779e-02 -1.34590892e-02 8.02390071e+01] [ 2.31557404e-02 9.99731863e-01 -1.14060654e-04 2.35558190e-01] [ 1.34581214e-02 -1.97635438e-04 9.99909416e-01 3.31308286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83925415399999 meters 0.015850351485011602 Centerline is valid? [True, True] Translation: X:80.30, Y:0.23, Z:0.33 [[ 9.99667865e-01 -2.21859492e-02 -1.31127146e-02 8.02998247e+01] [ 2.21864039e-02 9.99753845e-01 -1.10812109e-04 2.32650012e-01] [ 1.31119453e-02 -1.80148677e-04 9.99914019e-01 3.30926876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.89925415399999 meters 0.015697834015461702 Centerline is valid? [True, True] Translation: X:80.36, Y:0.23, Z:0.33 [[ 9.99687711e-01 -2.10147681e-02 -1.35225615e-02 8.03601448e+01] [ 2.10151456e-02 9.99779151e-01 -1.14194031e-04 2.31018410e-01] [ 1.35219748e-02 -1.70020229e-04 9.99908559e-01 3.30916111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.95925415399999 meters 0.015392964324930678 Centerline is valid? [True, True] Translation: X:80.42, Y:0.23, Z:0.33 [[ 9.99755656e-01 -1.74656447e-02 -1.35491229e-02 8.04194173e+01] [ 1.74656956e-02 9.99847457e-01 -1.14581902e-04 2.28964069e-01] [ 1.35490573e-02 -1.22090952e-04 9.99908200e-01 3.30588269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.019254154 meters 0.015041348434711556 Centerline is valid? [True, True] Translation: X:80.48, Y:0.23, Z:0.33 [[ 9.99821835e-01 -1.23330499e-02 -1.42896716e-02 8.04789253e+01] [ 1.23325758e-02 9.99923944e-01 -1.21295039e-04 2.29419759e-01] [ 1.42900807e-02 -5.49550300e-05 9.99897890e-01 3.31157667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.079254154 meters 0.0152214250313039 Centerline is valid? [True, True] Translation: X:80.54, Y:0.23, Z:0.33 [[ 9.99845274e-01 -8.61749675e-03 -1.53351213e-02 8.05371017e+01] [ 8.61646167e-03 9.99962869e-01 -1.33568674e-04 2.28183466e-01] [ 1.53357029e-02 1.41352242e-06 9.99882401e-01 3.30601208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13925415399999 meters 0.015217658954002717 Centerline is valid? [True, True] Translation: X:80.60, Y:0.23, Z:0.33 [[ 9.99851301e-01 -7.57357029e-03 -1.54924500e-02 8.05954836e+01] [ 7.57231755e-03 9.99971320e-01 -1.39521319e-04 2.26705637e-01] [ 1.54930624e-02 2.21868209e-05 9.99879975e-01 3.30626685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19925415399999 meters 0.01550870713590448 Centerline is valid? [True, True] Translation: X:80.65, Y:0.22, Z:0.33 [[ 9.99861704e-01 -7.39856394e-03 -1.48940873e-02 8.06535046e+01] [ 7.39735396e-03 9.99972630e-01 -1.36329530e-04 2.23572598e-01] [ 1.48946883e-02 2.61338408e-05 9.99889068e-01 3.31190544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25925415399999 meters 0.015205959630565525 Centerline is valid? [True, True] Translation: X:80.71, Y:0.22, Z:0.33 [[ 9.99866223e-01 -9.37777635e-03 -1.34012378e-02 8.07116165e+01] [ 9.37695904e-03 9.99956028e-01 -1.23821758e-04 2.18406497e-01] [ 1.34018097e-02 -1.85766512e-06 9.99910192e-01 3.32635961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.31925415399999 meters 0.0151618547502147 Centerline is valid? [True, True] Translation: X:80.77, Y:0.21, Z:0.33 [[ 9.99850846e-01 -1.25163216e-02 -1.19007169e-02 8.07707172e+01] [ 1.25158887e-02 9.99921667e-01 -1.10858104e-04 2.11738757e-01] [ 1.19011722e-02 -3.81064788e-05 9.99929178e-01 3.34420734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.379254154 meters 0.015418040987850752 Centerline is valid? [True, True] Translation: X:80.83, Y:0.21, Z:0.33 [[ 9.99807619e-01 -1.55774981e-02 -1.19191702e-02 8.08281879e+01] [ 1.55772693e-02 9.99878661e-01 -1.12037958e-04 2.06938617e-01] [ 1.19194692e-02 -7.36517195e-05 9.99928958e-01 3.33973282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.439254154 meters 0.01586534233107983 Centerline is valid? [True, True] Translation: X:80.89, Y:0.20, Z:0.33 [[ 9.99682964e-01 -2.17231348e-02 -1.27309442e-02 8.08869342e+01] [ 2.17233589e-02 9.99764013e-01 -1.20698385e-04 1.99101411e-01] [ 1.27305618e-02 -1.55898752e-04 9.99918951e-01 3.33697141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.499254154 meters 0.016361137058631618 Centerline is valid? [True, True] Translation: X:80.95, Y:0.19, Z:0.33 [[ 9.99529049e-01 -2.75982434e-02 -1.34170218e-02 8.09468792e+01] [ 2.75990124e-02 9.99619067e-01 -1.27873046e-04 1.91958651e-01] [ 1.34154398e-02 -2.42483725e-04 9.99909980e-01 3.33907084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55925415399999 meters 0.017822963239461385 Centerline is valid? [True, True] Translation: X:81.01, Y:0.19, Z:0.33 [[ 9.99442762e-01 -3.05904992e-02 -1.33561682e-02 8.10069151e+01] [ 3.05915283e-02 9.99531962e-01 -1.27291993e-04 1.86307647e-01] [ 1.33538109e-02 -2.81364536e-04 9.99910794e-01 3.33818525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.61925415399999 meters 0.018018866032779052 Centerline is valid? [True, True] Translation: X:81.07, Y:0.18, Z:0.34 [[ 9.99353649e-01 -3.35400768e-02 -1.29362869e-02 8.10681706e+01] [ 3.35412941e-02 9.99437325e-01 -1.22904666e-04 1.83242698e-01] [ 1.29331302e-02 -3.11074578e-04 9.99916315e-01 3.35433774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67925415399999 meters 0.018147646842529216 Centerline is valid? [True, True] Translation: X:81.13, Y:0.18, Z:0.34 [[ 9.99212141e-01 -3.71038122e-02 -1.40856155e-02 8.11295485e+01] [ 3.71056168e-02 9.99311341e-01 -1.33291903e-04 1.78362541e-01] [ 1.40808610e-02 -3.89468564e-04 9.99900784e-01 3.35277321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.739254154 meters 0.021241453721756596 Centerline is valid? [True, True] Translation: X:81.19, Y:0.17, Z:0.33 [[ 9.99126934e-01 -3.93274488e-02 -1.40968566e-02 8.11895568e+01] [ 3.93294923e-02 9.99226287e-01 -1.32347653e-04 1.71137921e-01] [ 1.40911546e-02 -4.22190107e-04 9.99900626e-01 3.33799618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.799254154 meters 0.021312240396288006 Centerline is valid? [True, True] Translation: X:81.25, Y:0.17, Z:0.34 [[ 9.98930570e-01 -4.43455119e-02 -1.30839984e-02 8.12507643e+01] [ 4.43477110e-02 9.99016149e-01 -1.22152218e-04 1.67998147e-01] [ 1.30765426e-02 -4.58223795e-04 9.99914393e-01 3.35206976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.859254154 meters 0.022931618748927567 Centerline is valid? [True, True] Translation: X:81.31, Y:0.16, Z:0.34 [[ 9.98759828e-01 -4.81439385e-02 -1.26872736e-02 8.13119445e+01] [ 4.81463160e-02 9.98840287e-01 -1.18146662e-04 1.63067092e-01] [ 1.26782481e-02 -4.92845345e-04 9.99919506e-01 3.35484887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91925415399999 meters 0.026058953845615532 Centerline is valid? [True, True] Translation: X:81.37, Y:0.16, Z:0.33 [[ 9.98537450e-01 -5.24488963e-02 -1.31177319e-02 8.13720383e+01] [ 5.24518098e-02 9.98623449e-01 -1.22073832e-04 1.55791919e-01] [ 1.31060773e-02 -5.66153487e-04 9.99913951e-01 3.34375237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97925415399999 meters 0.02425236603262897 Centerline is valid? [True, True] Translation: X:81.43, Y:0.16, Z:0.34 [[ 9.98505507e-01 -5.31154106e-02 -1.28649093e-02 8.14340225e+01] [ 5.31182760e-02 9.98588221e-01 -1.19105715e-04 1.58142765e-01] [ 1.28530732e-02 -5.64434089e-04 9.99917237e-01 3.35017220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03925415399999 meters 0.023262457714884957 Centerline is valid? [True, True] Translation: X:81.50, Y:0.16, Z:0.34 [[ 9.98679709e-01 -4.99964151e-02 -1.17982160e-02 8.14952771e+01] [ 4.99986143e-02 9.98749281e-01 -1.08667086e-04 1.60588619e-01] [ 1.17888927e-02 -4.81370840e-04 9.99930393e-01 3.35215211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.099254154 meters 0.02076222857939291 Centerline is valid? [True, True] Translation: X:81.56, Y:0.17, Z:0.34 [[ 9.98873681e-01 -4.59651667e-02 -1.17717288e-02 8.15566231e+01] [ 4.59670816e-02 9.98942949e-01 -1.07985266e-04 1.66666310e-01] [ 1.17642490e-02 -4.33248379e-04 9.99930705e-01 3.35870492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.159254154 meters 0.019993038984017948 Centerline is valid? [True, True] Translation: X:81.62, Y:0.17, Z:0.34 [[ 9.99206571e-01 -3.81860154e-02 -1.13162221e-02 8.16163622e+01] [ 3.81872875e-02 9.99270594e-01 -1.03715501e-04 1.70008449e-01] [ 1.13119285e-02 -3.28502618e-04 9.99935964e-01 3.35836731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.219254154 meters 0.016309422432385506 Centerline is valid? [True, True] Translation: X:81.68, Y:0.18, Z:0.34 [[ 9.99475204e-01 -3.06950717e-02 -1.03503001e-02 8.16769846e+01] [ 3.06957352e-02 9.99528770e-01 -9.47907278e-05 1.78721240e-01] [ 1.03483323e-02 -2.22969089e-04 9.99946430e-01 3.37221780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27925415399999 meters 0.01584518445356614 Centerline is valid? [True, True] Translation: X:81.74, Y:0.18, Z:0.34 [[ 9.99602263e-01 -2.60068064e-02 -1.09069808e-02 8.17377129e+01] [ 2.60072678e-02 9.99661749e-01 -9.95604397e-05 1.79945615e-01] [ 1.09058808e-02 -1.84139930e-04 9.99940512e-01 3.36215780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33925415399999 meters 0.015556094318619342 Centerline is valid? [True, True] Translation: X:81.80, Y:0.18, Z:0.34 [[ 9.99620791e-01 -2.49186926e-02 -1.17189300e-02 8.17987923e+01] [ 2.49191556e-02 9.99689464e-01 -1.06532499e-04 1.80980971e-01] [ 1.17179455e-02 -1.85533739e-04 9.99931325e-01 3.35777921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39925415399999 meters 0.015816455816587582 Centerline is valid? [True, True] Translation: X:81.86, Y:0.18, Z:0.34 [[ 9.99600547e-01 -2.55237017e-02 -1.21362049e-02 8.18583569e+01] [ 2.55242432e-02 9.99674197e-01 -1.10298546e-04 1.79305158e-01] [ 1.21350662e-02 -1.99512959e-04 9.99926347e-01 3.35521489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.45925415399999 meters 0.016193611718688435 Centerline is valid? [True, True] Translation: X:81.92, Y:0.18, Z:0.34 [[ 9.99532047e-01 -2.87684680e-02 -1.03952654e-02 8.19190918e+01] [ 2.87690399e-02 9.99586081e-01 -9.45430702e-05 1.76741392e-01] [ 1.03936824e-02 -2.04562976e-04 9.99945963e-01 3.37475262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.519254154 meters 0.01706753535254778 Centerline is valid? [True, True] Translation: X:81.98, Y:0.17, Z:0.34 [[ 9.99438861e-01 -3.24744909e-02 -8.20791713e-03 8.19807164e+01] [ 3.24749735e-02 9.99472546e-01 -7.45120793e-05 1.72364471e-01] [ 8.20600757e-03 -1.92081623e-04 9.99966312e-01 3.38830715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.579254154 meters 0.017672964637299657 Centerline is valid? [True, True] Translation: X:82.04, Y:0.17, Z:0.34 [[ 9.99381178e-01 -3.43117368e-02 -7.74371011e-03 8.20427759e+01] [ 3.43122245e-02 9.99411160e-01 -6.99056285e-05 1.70031045e-01] [ 7.74154888e-03 -1.95841550e-04 9.99970015e-01 3.39120651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63925415399999 meters 0.017916002646538674 Centerline is valid? [True, True] Translation: X:82.10, Y:0.17, Z:0.34 [[ 9.99304807e-01 -3.65692924e-02 -7.25186918e-03 8.21049566e+01] [ 3.65697832e-02 9.99331100e-01 -6.49560068e-05 1.67903730e-01] [ 7.24939379e-03 -2.00288434e-04 9.99973703e-01 3.38987432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69925415399999 meters 0.019137502174385115 Centerline is valid? [True, True] Translation: X:82.17, Y:0.16, Z:0.34 [[ 9.99256305e-01 -3.79565486e-02 -6.79244570e-03 8.21662280e+01] [ 3.79570141e-02 9.99279371e-01 -6.04056399e-05 1.64303363e-01] [ 6.78984365e-03 -1.97460241e-04 9.99976929e-01 3.38648232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75925415399999 meters 0.019123820547728657 Centerline is valid? [True, True] Translation: X:82.23, Y:0.16, Z:0.34 [[ 9.99249688e-01 -3.82478540e-02 -6.09616943e-03 8.22283346e+01] [ 3.82482364e-02 9.99268267e-01 -5.38746306e-05 1.63615593e-01] [ 6.09376925e-03 -1.79333522e-04 9.99981417e-01 3.38884799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.81925415399999 meters 0.018969258623505222 Centerline is valid? [True, True] Translation: X:82.29, Y:0.16, Z:0.34 [[ 9.99346780e-01 -3.56987850e-02 -5.62231983e-03 8.22898154e+01] [ 3.56990721e-02 9.99362584e-01 -4.93263102e-05 1.63896133e-01] [ 5.62049696e-03 -1.51417511e-04 9.99984193e-01 3.39164889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.879254154 meters 0.01771304717918086 Centerline is valid? [True, True] Translation: X:82.35, Y:0.17, Z:0.34 [[ 9.99492259e-01 -3.13715028e-02 -5.57244356e-03 8.23516260e+01] [ 3.13717193e-02 9.99507785e-01 -4.85921366e-05 1.66274569e-01] [ 5.57122513e-03 -1.26249671e-04 9.99984473e-01 3.38930312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.939254154 meters 0.01657676382092431 Centerline is valid? [True, True] Translation: X:82.41, Y:0.17, Z:0.34 [[ 9.99565737e-01 -2.90026195e-02 -5.21399301e-03 8.24133881e+01] [ 2.90027781e-02 9.99579330e-01 -4.52035339e-05 1.69099271e-01] [ 5.21311066e-03 -1.06036379e-04 9.99986406e-01 3.38923202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.999254154 meters 0.016140857893170102 Centerline is valid? [True, True] Translation: X:82.48, Y:0.17, Z:0.34 [[ 9.99603515e-01 -2.76318424e-02 -5.41248523e-03 8.24756208e+01] [ 2.76319950e-02 9.99618162e-01 -4.66016686e-05 1.70392704e-01] [ 5.41170623e-03 -1.02974573e-04 9.99985351e-01 3.38518225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05925415399999 meters 0.016772269351227477 Centerline is valid? [True, True] Translation: X:82.54, Y:0.17, Z:0.34 [[ 9.99589815e-01 -2.82111165e-02 -4.93310272e-03 8.25372341e+01] [ 2.82112520e-02 9.99601983e-01 -4.21199581e-05 1.69427760e-01] [ 4.93232751e-03 -9.70663231e-05 9.99987831e-01 3.38712639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.11925415399999 meters 0.01723077914136483 Centerline is valid? [True, True] Translation: X:82.60, Y:0.17, Z:0.34 [[ 9.99548553e-01 -2.96328177e-02 -4.95855592e-03 8.25998283e+01] [ 2.96329748e-02 9.99560846e-01 -4.18030236e-05 1.68503048e-01] [ 4.95761709e-03 -1.05152611e-04 9.99987705e-01 3.38888626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17925415399999 meters 0.017308765024320397 Centerline is valid? [True, True] Translation: X:82.66, Y:0.17, Z:0.34 [[ 9.99518293e-01 -3.06096347e-02 -5.12171512e-03 8.26619547e+01] [ 3.06098170e-02 9.99531409e-01 -4.28027005e-05 1.68828963e-01] [ 5.12062530e-03 -1.13992680e-04 9.99986883e-01 3.38988597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.239254154 meters 0.01890182527006975 Centerline is valid? [True, True] Translation: X:82.72, Y:0.17, Z:0.34 [[ 9.99463370e-01 -3.25381930e-02 -3.77320806e-03 8.27229699e+01] [ 3.25383065e-02 9.99470489e-01 -3.13316616e-05 1.65266389e-01] [ 3.77222957e-03 -9.14589520e-05 9.99992881e-01 3.39353988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.299254154 meters 0.018844529806873178 Centerline is valid? [True, True] Translation: X:82.79, Y:0.16, Z:0.34 [[ 9.99345693e-01 -3.60073389e-02 -3.41440872e-03 8.27854498e+01] [ 3.60074525e-02 9.99351521e-01 -2.82104533e-05 1.64527379e-01] [ 3.41321033e-03 -9.47521649e-05 9.99994170e-01 3.39406236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.359254154 meters 0.020655849744634885 Centerline is valid? [True, True] Translation: X:82.85, Y:0.16, Z:0.34 [[ 9.99178135e-01 -4.04327377e-02 -2.87202997e-03 8.28461916e+01] [ 4.04328371e-02 9.99182258e-01 -2.34879978e-05 1.61523355e-01] [ 2.87063108e-03 -9.26556262e-05 9.99995875e-01 3.39977039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41925415399999 meters 0.021181213473671554 Centerline is valid? [True, True] Translation: X:82.91, Y:0.16, Z:0.34 [[ 9.99060663e-01 -4.32402266e-02 -2.84160551e-03 8.29082409e+01] [ 4.32403351e-02 9.99064699e-01 -2.32754510e-05 1.61702476e-01] [ 2.83995419e-03 -9.96183870e-05 9.99995962e-01 3.40089982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47925415399999 meters 0.022856545664584848 Centerline is valid? [True, True] Translation: X:82.97, Y:0.16, Z:0.34 [[ 9.98960315e-01 -4.54637896e-02 -3.36645931e-03 8.29695428e+01] [ 4.54639555e-02 9.98965979e-01 -2.72492946e-05 1.60006705e-01] [ 3.36421718e-03 -1.25831592e-04 9.99994333e-01 3.40498800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53925415399999 meters 0.022948692335314082 Centerline is valid? [True, True] Translation: X:83.03, Y:0.16, Z:0.34 [[ 9.98902002e-01 -4.66881788e-02 -3.87364519e-03 8.30316308e+01] [ 4.66884087e-02 9.98909501e-01 -3.11188788e-05 1.61411770e-01] [ 3.87087387e-03 -1.49769619e-04 9.99992497e-01 3.40003593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.599254154 meters 0.024357523524364884 Centerline is valid? [True, True] Translation: X:83.09, Y:0.16, Z:0.34 [[ 9.98840508e-01 -4.79044849e-02 -4.77488334e-03 8.30931032e+01] [ 4.79048501e-02 9.98851903e-01 -3.79281184e-05 1.61584522e-01] [ 4.77121824e-03 -1.90855929e-04 9.99988599e-01 3.39655155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.659254154 meters 0.0245588842647891 Centerline is valid? [True, True] Translation: X:83.15, Y:0.16, Z:0.34 [[ 9.98791594e-01 -4.89368405e-02 -4.53181105e-03 8.31548710e+01] [ 4.89371820e-02 9.98801858e-01 -3.55504558e-05 1.64112858e-01] [ 4.52812102e-03 -1.86266566e-04 9.99989731e-01 3.40481643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.719254154 meters 0.024836743023901438 Centerline is valid? [True, True] Translation: X:83.22, Y:0.17, Z:0.34 [[ 9.98732715e-01 -5.00491722e-02 -5.29573774e-03 8.32172286e+01] [ 5.00496565e-02 9.98746730e-01 -4.11133381e-05 1.66753834e-01] [ 5.29115844e-03 -2.23988619e-04 9.99985977e-01 3.41370525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77925415399999 meters 0.026639170036736444 Centerline is valid? [True, True] Translation: X:83.28, Y:0.17, Z:0.34 [[ 9.98598549e-01 -5.26237974e-02 -5.62789176e-03 8.32796337e+01] [ 5.26243875e-02 9.98614376e-01 -4.32722706e-05 1.67573314e-01] [ 5.62237077e-03 -2.52952730e-04 9.99984162e-01 3.41726969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83925415399999 meters 0.027255198272951822 Centerline is valid? [True, True] Translation: X:83.34, Y:0.17, Z:0.34 [[ 9.98427126e-01 -5.58719347e-02 -4.64771620e-03 8.33404871e+01] [ 5.58723735e-02 9.98437918e-01 -3.54778279e-05 1.69468707e-01] [ 4.64243830e-03 -2.24256909e-04 9.99989199e-01 3.42741629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89925415399999 meters 0.03011791917537846 Centerline is valid? [True, True] Translation: X:83.40, Y:0.17, Z:0.34 [[ 9.98302301e-01 -5.80331533e-02 -4.96670817e-03 8.34013253e+01] [ 5.80336816e-02 9.98314625e-01 -3.78089810e-05 1.71066507e-01] [ 4.96053157e-03 -2.50491568e-04 9.99987665e-01 3.42837027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.95925415399999 meters 0.026211063527668166 Centerline is valid? [True, True] Translation: X:83.46, Y:0.18, Z:0.34 [[ 9.98237856e-01 -5.90592751e-02 -5.76057685e-03 8.34635199e+01] [ 5.90600044e-02 9.98254433e-01 -4.35705960e-05 1.82357205e-01] [ 5.75309462e-03 -2.96725876e-04 9.99983407e-01 3.42398492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.019254154 meters 0.026789948403595703 Centerline is valid? [True, True] Translation: X:83.52, Y:0.19, Z:0.34 [[ 9.98315919e-01 -5.77199088e-02 -5.80838688e-03 8.35244461e+01] [ 5.77206301e-02 9.98332774e-01 -4.35242941e-05 1.85648660e-01] [ 5.80121520e-03 -2.91812755e-04 9.99983130e-01 3.42662312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.079254154 meters 0.02726422556999244 Centerline is valid? [True, True] Translation: X:83.58, Y:0.19, Z:0.34 [[ 9.98605494e-01 -5.23919893e-02 -6.49213103e-03 8.35845154e+01] [ 5.23927796e-02 9.98626554e-01 -4.83976871e-05 1.93444156e-01] [ 6.48575009e-03 -2.91810594e-04 9.99978925e-01 3.43347662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13925415399999 meters 0.023931781719379302 Centerline is valid? [True, True] Translation: X:83.64, Y:0.21, Z:0.34 [[ 9.98952670e-01 -4.53458927e-02 -6.10849947e-03 8.36449067e+01] [ 4.53464605e-02 9.98971319e-01 -4.55758889e-05 2.06946050e-01] [ 6.10428245e-03 -2.31470674e-04 9.99981342e-01 3.43946863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19925415399999 meters 0.019660514759839647 Centerline is valid? [True, True] Translation: X:83.71, Y:0.22, Z:0.34 [[ 9.99157987e-01 -4.06047958e-02 -5.87947993e-03 8.37063428e+01] [ 4.06052404e-02 9.99175266e-01 -4.37793292e-05 2.19137315e-01] [ 5.87640857e-03 -1.94995229e-04 9.99982715e-01 3.44478562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25925415399999 meters 0.018161427975752317 Centerline is valid? [True, True] Translation: X:83.77, Y:0.23, Z:0.34 [[ 9.99411403e-01 -3.37885189e-02 -5.93163097e-03 8.37674584e+01] [ 3.37888532e-02 9.99428993e-01 -4.38827012e-05 2.29307156e-01] [ 5.92972670e-03 -1.56566136e-04 9.99982407e-01 3.44912703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.31925415399999 meters 0.017010344574007644 Centerline is valid? [True, True] Translation: X:83.83, Y:0.24, Z:0.34 [[ 9.99606773e-01 -2.71818212e-02 -6.88827820e-03 8.38279014e+01] [ 2.71821163e-02 9.99630497e-01 -5.07950666e-05 2.38985174e-01] [ 6.88711366e-03 -1.36462886e-04 9.99976274e-01 3.44854633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.379254154 meters 0.01575366748712154 Centerline is valid? [True, True] Translation: X:83.89, Y:0.25, Z:0.35 [[ 9.99745040e-01 -2.16945073e-02 -6.26128400e-03 8.38888833e+01] [ 2.16946444e-02 9.99764642e-01 -4.60296161e-05 2.47764172e-01] [ 6.26080895e-03 -8.98184496e-05 9.99980397e-01 3.45429462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.439254154 meters 0.015202593925423965 Centerline is valid? [True, True] Translation: X:83.95, Y:0.25, Z:0.35 [[ 9.99819196e-01 -1.80424752e-02 -6.00365206e-03 8.39500400e+01] [ 1.80425367e-02 9.99837219e-01 -4.39222751e-05 2.53885603e-01] [ 6.00346725e-03 -6.44067790e-05 9.99981977e-01 3.46009128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49925415399998 meters 0.014965927278385853 Centerline is valid? [True, True] Translation: X:84.01, Y:0.26, Z:0.35 [[ 9.99848799e-01 -1.64089371e-02 -5.75555903e-03 8.40109634e+01] [ 1.64089677e-02 9.99865363e-01 -4.19050447e-05 2.56779181e-01] [ 5.75547173e-03 -5.25440735e-05 9.99983436e-01 3.45452243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55925415399999 meters 0.014674110561463094 Centerline is valid? [True, True] Translation: X:84.07, Y:0.26, Z:0.34 [[ 9.99879477e-01 -1.42017840e-02 -6.27227624e-03 8.40723240e+01] [ 1.42017786e-02 9.99899149e-01 -4.53908986e-05 2.60470173e-01] [ 6.27228830e-03 -4.36920506e-05 9.99980328e-01 3.44810208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61925415399999 meters 0.014779792138241692 Centerline is valid? [True, True] Translation: X:84.13, Y:0.26, Z:0.34 [[ 9.99881839e-01 -1.38732738e-02 -6.62116702e-03 8.41339027e+01] [ 1.38732628e-02 9.99903761e-01 -4.75851871e-05 2.61423016e-01] [ 6.62118997e-03 -4.42776258e-05 9.99978079e-01 3.44511443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.67925415399999 meters 0.014829436819348667 Centerline is valid? [True, True] Translation: X:84.19, Y:0.26, Z:0.34 [[ 9.99889055e-01 -1.32807079e-02 -6.74540394e-03 8.41944728e+01] [ 1.32806844e-02 9.99911807e-01 -4.82769448e-05 2.62101081e-01] [ 6.74545020e-03 -4.13119923e-05 9.99977248e-01 3.44568612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.739254154 meters 0.014625179540359239 Centerline is valid? [True, True] Translation: X:84.26, Y:0.26, Z:0.35 [[ 9.99907840e-01 -1.22917887e-02 -5.76401132e-03 8.42558040e+01] [ 1.22917558e-02 9.99924453e-01 -4.11369557e-05 2.63132236e-01] [ 5.76408151e-03 -2.97166550e-05 9.99983387e-01 3.45774490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.799254154 meters 0.014683937466027659 Centerline is valid? [True, True] Translation: X:84.32, Y:0.26, Z:0.35 [[ 9.99910311e-01 -1.22860745e-02 -5.33119267e-03 8.43174186e+01] [ 1.22860473e-02 9.99924523e-01 -3.78634452e-05 2.62734307e-01] [ 5.33125548e-03 -2.76392358e-05 9.99985788e-01 3.45953498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.859254154 meters 0.014764010067143018 Centerline is valid? [True, True] Translation: X:84.38, Y:0.26, Z:0.35 [[ 9.99878491e-01 -1.44541938e-02 -5.83770945e-03 8.43776018e+01] [ 1.44541993e-02 9.99895532e-01 -4.12548660e-05 2.59290039e-01] [ 5.83769590e-03 -4.31295627e-05 9.99982960e-01 3.45441317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91925415399999 meters 0.015403663185115976 Centerline is valid? [True, True] Translation: X:84.44, Y:0.25, Z:0.34 [[ 9.99784301e-01 -1.95066656e-02 -7.13031104e-03 8.44383804e+01] [ 1.95068036e-02 9.99809723e-01 -5.01938023e-05 2.53107266e-01] [ 7.12993342e-03 -8.89066015e-05 9.99974578e-01 3.44000428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97925415399999 meters 0.01696452897043177 Centerline is valid? [True, True] Translation: X:84.50, Y:0.25, Z:0.34 [[ 9.99651937e-01 -2.51783125e-02 -7.87768083e-03 8.44992449e+01] [ 2.51786617e-02 9.99682966e-01 -5.48586311e-05 2.47024735e-01] [ 7.87656458e-03 -1.43509924e-04 9.99968969e-01 3.44184929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03925415399999 meters 0.018361399661203776 Centerline is valid? [True, True] Translation: X:84.56, Y:0.24, Z:0.34 [[ 9.99561994e-01 -2.84326540e-02 -8.20996760e-03 8.45602000e+01] [ 2.84331492e-02 9.99595695e-01 -5.64191733e-05 2.43638891e-01] [ 8.20825242e-03 -1.77040772e-04 9.99966296e-01 3.44391834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.099254154 meters 0.019009683251267753 Centerline is valid? [True, True] Translation: X:84.62, Y:0.24, Z:0.35 [[ 9.99339140e-01 -3.55780819e-02 -7.44877134e-03 8.46213155e+01] [ 3.55786903e-02 9.99366877e-01 -5.08557713e-05 2.39982988e-01] [ 7.44586470e-03 -2.14195366e-04 9.99972256e-01 3.45309626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.159254154 meters 0.021150362971307707 Centerline is valid? [True, True] Translation: X:84.68, Y:0.24, Z:0.35 [[ 9.99162235e-01 -4.02769599e-02 -7.25220039e-03 8.46821698e+01] [ 4.02776619e-02 9.99188525e-01 -4.92832731e-05 2.36016454e-01] [ 7.24830039e-03 -2.42859690e-04 9.99973701e-01 3.45044422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.219254154 meters 0.022947185836914356 Centerline is valid? [True, True] Translation: X:84.74, Y:0.23, Z:0.35 [[ 9.98778413e-01 -4.89611504e-02 -6.66989919e-03 8.47426307e+01] [ 4.89619381e-02 9.98800644e-01 -4.52461438e-05 2.33333041e-01] [ 6.66411491e-03 -2.81380319e-04 9.99977755e-01 3.46075480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27925415399999 meters 0.026875221840482254 Centerline is valid? [True, True] Translation: X:84.80, Y:0.23, Z:0.35 [[ 9.98237571e-01 -5.89094908e-02 -7.17099925e-03 8.48037882e+01] [ 5.89106575e-02 9.98263258e-01 -4.86018266e-05 2.27216533e-01] [ 7.16140818e-03 -3.73932112e-04 9.99974287e-01 3.45607048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33925415399999 meters 0.03161073954555272 Centerline is valid? [True, True] Translation: X:84.86, Y:0.22, Z:0.35 [[ 9.97902279e-01 -6.42046910e-02 -8.29451772e-03 8.48630227e+01] [ 6.42064342e-02 9.97936637e-01 -5.62257298e-05 2.21462871e-01] [ 8.28101307e-03 -4.76453622e-04 9.99965598e-01 3.45090374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39925415399999 meters 0.03486144771825858 Centerline is valid? [True, True] Translation: X:84.92, Y:0.22, Z:0.34 [[ 9.97598625e-01 -6.86466534e-02 -9.19893701e-03 8.49235371e+01] [ 6.86489852e-02 9.97640874e-01 -6.24068255e-05 2.20215109e-01] [ 9.18151957e-03 -5.69240727e-04 9.99957687e-01 3.43804100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.45925415399999 meters 0.0322363981271852 Centerline is valid? [True, True] Translation: X:84.99, Y:0.23, Z:0.34 [[ 9.97615810e-01 -6.82584686e-02 -1.01723473e-02 8.49854731e+01] [ 6.82613044e-02 9.97667474e-01 -6.85671034e-05 2.28326570e-01] [ 1.01533004e-02 -6.25974072e-04 9.99948258e-01 3.44162035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.519254154 meters 0.03512438687061594 Centerline is valid? [True, True] Translation: X:85.05, Y:0.23, Z:0.34 [[ 9.97826936e-01 -6.50701206e-02 -1.03578581e-02 8.50456386e+01] [ 6.50728929e-02 9.97880511e-01 -6.94923507e-05 2.28481865e-01] [ 1.03404266e-02 -6.04674451e-04 9.99946354e-01 3.43976485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.579254154 meters 0.028212802438586294 Centerline is valid? [True, True] Translation: X:85.11, Y:0.25, Z:0.35 [[ 9.98355125e-01 -5.65594758e-02 -9.38455109e-03 8.51067611e+01] [ 5.65613772e-02 9.98399122e-01 -6.28832434e-05 2.45516090e-01] [ 9.37308421e-03 -4.68023326e-04 9.99955962e-01 3.46109999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63925415399999 meters 0.02357634008778717 Centerline is valid? [True, True] Translation: X:85.17, Y:0.26, Z:0.35 [[ 9.99011861e-01 -4.38098461e-02 -7.48321717e-03 8.51670593e+01] [ 4.38106984e-02 9.99039849e-01 -5.00729248e-05 2.60562896e-01] [ 7.47822584e-03 -2.77821525e-04 9.99971999e-01 3.48124001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69925415399999 meters 0.01716110078477358 Centerline is valid? [True, True] Translation: X:85.23, Y:0.28, Z:0.35 [[ 9.99536530e-01 -2.96818663e-02 -6.76099992e-03 8.52272345e+01] [ 2.96822391e-02 9.99559384e-01 -4.52253590e-05 2.79920653e-01] [ 6.75936329e-03 -1.55477218e-04 9.99977143e-01 3.49162980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75925415399999 meters 0.015565961378431813 Centerline is valid? [True, True] Translation: X:85.29, Y:0.29, Z:0.35 [[ 9.99731267e-01 -2.20606819e-02 -7.12183328e-03 8.52888118e+01] [ 2.20609032e-02 9.99756628e-01 -4.74958432e-05 2.88655006e-01] [ 7.12114781e-03 -1.09630995e-04 9.99974638e-01 3.48803987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.81925415399999 meters 0.014529753455500765 Centerline is valid? [True, True] Translation: X:85.35, Y:0.30, Z:0.35 [[ 9.99862013e-01 -1.42578092e-02 -8.52470857e-03 8.53504004e+01] [ 1.42578464e-02 9.99898350e-01 -5.64100805e-05 2.98578712e-01] [ 8.52464632e-03 -6.51416887e-05 9.99963662e-01 3.47670850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.879254154 meters 0.014447347206893594 Centerline is valid? [True, True] Translation: X:85.41, Y:0.30, Z:0.35 [[ 9.99876762e-01 -1.17197244e-02 -1.04455152e-02 8.54117635e+01] [ 1.17196462e-02 9.99931320e-01 -6.87029347e-05 3.03780513e-01] [ 1.04456029e-02 -5.37232738e-05 9.99945442e-01 3.46294284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.939254154 meters 0.014590548431329313 Centerline is valid? [True, True] Translation: X:85.47, Y:0.31, Z:0.35 [[ 9.99865130e-01 -1.30298355e-02 -9.99727344e-03 8.54706295e+01] [ 1.30298278e-02 9.99915106e-01 -6.59018697e-05 3.05974070e-01] [ 9.99728343e-03 -6.43697699e-05 9.99950024e-01 3.47227960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99925415399998 meters 0.014774582798266265 Centerline is valid? [True, True] Translation: X:85.53, Y:0.31, Z:0.35 [[ 9.99832852e-01 -1.59545535e-02 -8.92861250e-03 8.55301089e+01] [ 1.59546606e-02 9.99872715e-01 -5.92382839e-05 3.06553697e-01] [ 8.92842114e-03 -8.32245997e-05 9.99960137e-01 3.49074860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05925415399999 meters 0.015076680224941 Centerline is valid? [True, True] Translation: X:85.59, Y:0.30, Z:0.35 [[ 9.99799141e-01 -1.84384718e-02 -7.85497779e-03 8.55908073e+01] [ 1.84386337e-02 9.99829993e-01 -5.18139872e-05 3.04843641e-01] [ 7.85459775e-03 -9.30314784e-05 9.99969148e-01 3.49826384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11925415399999 meters 0.015816830999902137 Centerline is valid? [True, True] Translation: X:85.65, Y:0.30, Z:0.35 [[ 9.99722657e-01 -2.23727277e-02 -7.35320420e-03 8.56531921e+01] [ 2.23729814e-02 9.99749692e-01 -4.77565909e-05 3.02766025e-01] [ 7.35243209e-03 -1.16769755e-04 9.99972964e-01 3.49815336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.17925415399999 meters 0.016447053645156185 Centerline is valid? [True, True] Translation: X:85.72, Y:0.30, Z:0.35 [[ 9.99661977e-01 -2.46365271e-02 -8.30506066e-03 8.57150487e+01] [ 2.46369343e-02 9.99696463e-01 -5.32955899e-05 3.00915293e-01] [ 8.30385279e-03 -1.51333659e-04 9.99965511e-01 3.48891763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.239254154 meters 0.01735855441991126 Centerline is valid? [True, True] Translation: X:85.78, Y:0.30, Z:0.35 [[ 9.99579854e-01 -2.77147979e-02 -8.48560112e-03 8.57775672e+01] [ 2.77153391e-02 9.99615855e-01 -5.38378851e-05 2.98271625e-01] [ 8.48383352e-03 -1.81366047e-04 9.99963995e-01 3.48477983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.299254154 meters 0.016697817733226983 Centerline is valid? [True, True] Translation: X:85.84, Y:0.30, Z:0.35 [[ 9.99605858e-01 -2.68695981e-02 -8.13352204e-03 8.58393045e+01] [ 2.68700720e-02 9.99638933e-01 -5.10236273e-05 3.00338151e-01] [ 8.13195628e-03 -1.67544806e-04 9.99966921e-01 3.48639439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.359254154 meters 0.016124407428815043 Centerline is valid? [True, True] Translation: X:85.90, Y:0.30, Z:0.35 [[ 9.99688703e-01 -2.33305450e-02 -8.84206138e-03 8.59013139e+01] [ 2.33309728e-02 9.99727794e-01 -5.47851999e-05 3.02127528e-01] [ 8.84093268e-03 -1.51525748e-04 9.99960907e-01 3.47381083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41925415399999 meters 0.015597625631577612 Centerline is valid? [True, True] Translation: X:85.96, Y:0.30, Z:0.35 [[ 9.99773689e-01 -1.92651313e-02 -9.02363488e-03 8.59627474e+01] [ 1.92654157e-02 9.99814403e-01 -5.54087429e-05 3.04904529e-01] [ 9.02302757e-03 -1.18447874e-04 9.99959285e-01 3.46886407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47925415399999 meters 0.015033872887172941 Centerline is valid? [True, True] Translation: X:86.02, Y:0.31, Z:0.35 [[ 9.99877862e-01 -1.27094910e-02 -9.09556277e-03 8.60232022e+01] [ 1.27095134e-02 9.99919229e-01 -5.53382481e-05 3.08367808e-01] [ 9.09553144e-03 -6.02686877e-05 9.99958633e-01 3.47845053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53925415399999 meters 0.014937654961233051 Centerline is valid? [True, True] Translation: X:86.08, Y:0.31, Z:0.35 [[ 9.99910228e-01 -1.02925361e-02 -8.57896578e-03 8.60837020e+01] [ 1.02924698e-02 9.99947030e-01 -5.18872838e-05 3.08985528e-01] [ 8.57904541e-03 -3.64161201e-05 9.99963199e-01 3.48679244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.599254154 meters 0.014779874138954477 Centerline is valid? [True, True] Translation: X:86.14, Y:0.31, Z:0.35 [[ 9.99910697e-01 -9.59879880e-03 -9.29843610e-03 8.61431596e+01] [ 9.59868916e-03 9.99953930e-01 -5.64194816e-05 3.07708535e-01] [ 9.29854928e-03 -3.28383545e-05 9.99956767e-01 3.48426240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.659254154 meters 0.014800738895095276 Centerline is valid? [True, True] Translation: X:86.20, Y:0.30, Z:0.35 [[ 9.99864282e-01 -1.11025609e-02 -1.21717177e-02 8.62030604e+01] [ 1.11024784e-02 9.99938363e-01 -7.43481998e-05 3.03350520e-01] [ 1.21717929e-02 -6.07981233e-05 9.99925919e-01 3.46037618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.719254154 meters 0.01501362606439772 Centerline is valid? [True, True] Translation: X:86.26, Y:0.30, Z:0.35 [[ 9.99780000e-01 -1.55931028e-02 -1.40287652e-02 8.62613552e+01] [ 1.55934315e-02 9.99878411e-01 -8.59566577e-05 2.97932788e-01] [ 1.40283998e-02 -1.32818842e-04 9.99901588e-01 3.45011419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77925415399999 meters 0.01640439801821565 Centerline is valid? [True, True] Translation: X:86.32, Y:0.29, Z:0.35 [[ 9.99623318e-01 -2.31479527e-02 -1.47442892e-02 8.63209431e+01] [ 2.31491314e-02 9.99732019e-01 -9.07432438e-05 2.90337453e-01] [ 1.47424385e-02 -2.50608425e-04 9.99891293e-01 3.45175301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83925415399999 meters 0.017501319549183027 Centerline is valid? [True, True] Translation: X:86.38, Y:0.29, Z:0.35 [[ 9.99502324e-01 -2.82106465e-02 -1.41160743e-02 8.63813866e+01] [ 2.82122294e-02 9.99601952e-01 -8.70250304e-05 2.85748702e-01] [ 1.41129104e-02 -3.11264206e-04 9.99900359e-01 3.46153290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89925415399999 meters 0.018786457043988226 Centerline is valid? [True, True] Translation: X:86.44, Y:0.28, Z:0.35 [[ 9.99324881e-01 -3.47440229e-02 -1.19430303e-02 8.64424820e+01] [ 3.47456237e-02 9.99396186e-01 -7.34910459e-05 2.82133437e-01] [ 1.19383723e-02 -3.41526607e-04 9.99928677e-01 3.48238805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.95925415399999 meters 0.022290639904494557 Centerline is valid? [True, True] Translation: X:86.50, Y:0.27, Z:0.35 [[ 9.99147752e-01 -3.98680177e-02 -1.06915946e-02 8.65022768e+01] [ 3.98696000e-02 9.99204889e-01 -6.51904510e-05 2.73791119e-01] [ 1.06856926e-02 -3.61134707e-04 9.99942841e-01 3.47632360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.019254154 meters 0.023161480259170003 Centerline is valid? [True, True] Translation: X:86.56, Y:0.27, Z:0.35 [[ 9.98961245e-01 -4.45943737e-02 -9.36870526e-03 8.65634348e+01] [ 4.45958000e-02 9.99005111e-01 -5.67120165e-05 2.71403891e-01] [ 9.36191348e-03 -3.61151800e-04 9.99956111e-01 3.48802896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.079254154 meters 0.02247852181623312 Centerline is valid? [True, True] Translation: X:86.63, Y:0.27, Z:0.35 [[ 9.98826891e-01 -4.74701662e-02 -9.56163824e-03 8.66252618e+01] [ 4.74717870e-02 9.98872578e-01 -5.75134945e-05 2.72102758e-01] [ 9.55358841e-03 -3.96462029e-04 9.99954285e-01 3.48673671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13925415399999 meters 0.023261712034522607 Centerline is valid? [True, True] Translation: X:86.69, Y:0.27, Z:0.35 [[ 9.98635501e-01 -5.09135801e-02 -1.16165348e-02 8.66866268e+01] [ 5.09162114e-02 9.98702926e-01 -6.93073666e-05 2.70443470e-01] [ 1.16049960e-02 -5.22257147e-04 9.99932523e-01 3.47262600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19925415399999 meters 0.023489908584282054 Centerline is valid? [True, True] Translation: X:86.75, Y:0.27, Z:0.35 [[ 9.98653324e-01 -5.04523427e-02 -1.20871322e-02 8.67487308e+01] [ 5.04551668e-02 9.98726324e-01 -7.13730885e-05 2.71505512e-01] [ 1.20753381e-02 -5.38581300e-04 9.99926945e-01 3.47310607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25925415399999 meters 0.02157725799705223 Centerline is valid? [True, True] Translation: X:86.81, Y:0.28, Z:0.35 [[ 9.98857384e-01 -4.61698525e-02 -1.23397982e-02 8.68094015e+01] [ 4.61724758e-02 9.98933480e-01 -7.23694429e-05 2.78444266e-01] [ 1.23299789e-02 -4.97472283e-04 9.99923859e-01 3.47806791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.31925415399999 meters 0.020430770786950353 Centerline is valid? [True, True] Translation: X:86.87, Y:0.29, Z:0.35 [[ 9.99076832e-01 -4.08518467e-02 -1.32894491e-02 8.68697144e+01] [ 4.08544208e-02 9.99165107e-01 -7.78422391e-05 2.85346423e-01] [ 1.32815338e-02 -4.65162368e-04 9.99911688e-01 3.46479086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.379254154 meters 0.019206523209696114 Centerline is valid? [True, True] Translation: X:86.93, Y:0.29, Z:0.35 [[ 9.99208263e-01 -3.73378391e-02 -1.37380110e-02 8.69316718e+01] [ 3.73402664e-02 9.99302606e-01 -7.98617014e-05 2.90819870e-01] [ 1.37314121e-02 -4.33182520e-04 9.99905626e-01 3.46776143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.439254154 meters 0.018011556619848962 Centerline is valid? [True, True] Translation: X:86.99, Y:0.30, Z:0.35 [[ 9.99392941e-01 -3.21854712e-02 -1.33358339e-02 8.69930593e+01] [ 3.21873082e-02 9.99481851e-01 -7.69191161e-05 2.98126078e-01] [ 1.33313996e-02 -3.52372172e-04 9.99911071e-01 3.48256089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49925415399998 meters 0.016983646752888725 Centerline is valid? [True, True] Translation: X:87.05, Y:0.31, Z:0.35 [[ 9.99559257e-01 -2.72456648e-02 -1.17883838e-02 8.70541477e+01] [ 2.72467617e-02 9.99628736e-01 -6.75817390e-05 3.05486703e-01] [ 1.17858485e-02 -2.53643331e-04 9.99930512e-01 3.49788344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55925415399999 meters 0.016534166284550598 Centerline is valid? [True, True] Translation: X:87.12, Y:0.31, Z:0.35 [[ 9.99642473e-01 -2.45071237e-02 -1.06923895e-02 8.71155171e+01] [ 2.45078801e-02 9.99699635e-01 -6.03006486e-05 3.09144578e-01] [ 1.06906557e-02 -2.01768710e-04 9.99942833e-01 3.50404865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61925415399999 meters 0.0157665897934431 Centerline is valid? [True, True] Translation: X:87.18, Y:0.32, Z:0.35 [[ 9.99729723e-01 -2.09178994e-02 -1.01450552e-02 8.71771532e+01] [ 2.09184034e-02 9.99781185e-01 -5.64436367e-05 3.15950643e-01] [ 1.01440160e-02 -1.55789976e-04 9.99948536e-01 3.50896004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.67925415399999 meters 0.014833094807090315 Centerline is valid? [True, True] Translation: X:87.24, Y:0.32, Z:0.35 [[ 9.99808436e-01 -1.68466042e-02 -9.96404746e-03 8.72386452e+01] [ 1.68468918e-02 9.99858080e-01 -5.50772700e-05 3.23498874e-01] [ 9.96356122e-03 -1.12796510e-04 9.99950356e-01 3.51907387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.739254154 meters 0.01474824127072736 Centerline is valid? [True, True] Translation: X:87.30, Y:0.33, Z:0.35 [[ 9.99852941e-01 -1.40143929e-02 -9.88395685e-03 8.72995075e+01] [ 1.40145410e-02 9.99901790e-01 -5.42745582e-05 3.28142841e-01] [ 9.88374678e-03 -8.42525421e-05 9.99951151e-01 3.52304745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.799254154 meters 0.014365002940449956 Centerline is valid? [True, True] Translation: X:87.36, Y:0.33, Z:0.35 [[ 9.99857484e-01 -1.36739508e-02 -9.90123190e-03 8.73596634e+01] [ 1.36740844e-02 9.99906504e-01 -5.42094712e-05 3.30639090e-01] [ 9.90104743e-03 -8.11885351e-05 9.99950980e-01 3.52413900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.859254154 meters 0.014539933739830325 Centerline is valid? [True, True] Translation: X:87.42, Y:0.33, Z:0.35 [[ 9.99837393e-01 -1.50888550e-02 -9.87494806e-03 8.74205343e+01] [ 1.50890569e-02 9.99886152e-01 -5.40655666e-05 3.31631610e-01] [ 9.87463960e-03 -9.49468780e-05 9.99951240e-01 3.51909569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91925415399999 meters 0.014883773011118371 Centerline is valid? [True, True] Translation: X:87.48, Y:0.33, Z:0.35 [[ 9.99788196e-01 -1.80275026e-02 -9.92835039e-03 8.74813527e+01] [ 1.80278515e-02 9.99837484e-01 -5.43579456e-05 3.30986226e-01] [ 9.92771681e-03 -1.24640394e-04 9.99950711e-01 3.51883193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97925415399999 meters 0.016031118485716384 Centerline is valid? [True, True] Translation: X:87.54, Y:0.33, Z:0.35 [[ 9.99687682e-01 -2.29915396e-02 -9.79428892e-03 8.75427830e+01] [ 2.29921192e-02 9.99735645e-01 -5.34287798e-05 3.28471437e-01] [ 9.79292816e-03 -1.71779366e-04 9.99952033e-01 3.52112118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03925415399999 meters 0.017007241888628174 Centerline is valid? [True, True] Translation: X:87.60, Y:0.33, Z:0.35 [[ 9.99554797e-01 -2.77598961e-02 -1.09359681e-02 8.76048169e+01] [ 2.77609112e-02 9.99614590e-01 -5.90040777e-05 3.25328011e-01] [ 1.09333912e-02 -2.44614630e-04 9.99940199e-01 3.51648060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.099254154 meters 0.019096839702865177 Centerline is valid? [True, True] Translation: X:87.67, Y:0.32, Z:0.35 [[ 9.99298223e-01 -3.52320918e-02 -1.27185621e-02 8.76663060e+01] [ 3.52340780e-02 9.99379085e-01 -6.79478334e-05 3.20181001e-01] [ 1.27130589e-02 -3.80226659e-04 9.99919114e-01 3.49304329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.159254154 meters 0.021917541676141038 Centerline is valid? [True, True] Translation: X:87.73, Y:0.31, Z:0.35 [[ 9.99072390e-01 -4.08461567e-02 -1.36363768e-02 8.77267167e+01] [ 4.08489696e-02 9.99165330e-01 -7.23068433e-05 3.14793869e-01] [ 1.36279484e-02 -4.84792172e-04 9.99907018e-01 3.48253041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.219254154 meters 0.022622928639618536 Centerline is valid? [True, True] Translation: X:87.79, Y:0.32, Z:0.35 [[ 9.98914003e-01 -4.44539459e-02 -1.39520847e-02 8.77875608e+01] [ 4.44572468e-02 9.99011285e-01 -7.36272815e-05 3.15986890e-01] [ 1.39415631e-02 -5.46723948e-04 9.99902662e-01 3.48997451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27925415399999 meters 0.024495704377169608 Centerline is valid? [True, True] Translation: X:87.85, Y:0.31, Z:0.35 [[ 9.98813108e-01 -4.69399543e-02 -1.30006435e-02 8.78484811e+01] [ 4.69430374e-02 9.98897566e-01 -6.80739572e-05 3.14594630e-01] [ 1.29895065e-02 -5.42296533e-04 9.99915486e-01 3.49556478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33925415399999 meters 0.02420671121154279 Centerline is valid? [True, True] Translation: X:87.91, Y:0.32, Z:0.35 [[ 9.98637565e-01 -5.08540009e-02 -1.16997379e-02 8.79099333e+01] [ 5.08567715e-02 9.98705955e-01 -6.07831918e-05 3.17416794e-01] [ 1.16876890e-02 -5.34310518e-04 9.99931554e-01 3.51605973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39925415399999 meters 0.027541737717741915 Centerline is valid? [True, True] Translation: X:87.97, Y:0.32, Z:0.35 [[ 9.98467977e-01 -5.40462580e-02 -1.18617741e-02 8.79703005e+01] [ 5.40493341e-02 9.98538265e-01 -6.13266714e-05 3.15198025e-01] [ 1.18477498e-02 -5.79888274e-04 9.99929645e-01 3.51396130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.45925415399999 meters 0.02634694115046443 Centerline is valid? [True, True] Translation: X:88.03, Y:0.32, Z:0.35 [[ 9.98420970e-01 -5.48581554e-02 -1.20892057e-02 8.80323800e+01] [ 5.48614177e-02 9.98493976e-01 -6.18593433e-05 3.18303883e-01] [ 1.20743926e-02 -6.01469298e-04 9.99926921e-01 3.51612956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.519254154 meters 0.028433043684530538 Centerline is valid? [True, True] Translation: X:88.09, Y:0.32, Z:0.35 [[ 9.98351132e-01 -5.56272646e-02 -1.41641825e-02 8.80932699e+01] [ 5.56318331e-02 9.98451348e-01 -7.15722385e-05 3.17433905e-01] [ 1.41462285e-02 -7.16525214e-04 9.99899680e-01 3.49285465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.579254154 meters 0.027235278876131516 Centerline is valid? [True, True] Translation: X:88.16, Y:0.32, Z:0.35 [[ 9.98388587e-01 -5.43394665e-02 -1.63539751e-02 8.81558381e+01] [ 5.43454032e-02 9.98522193e-01 -8.15077283e-05 3.22591618e-01] [ 1.63342362e-02 -8.07386985e-04 9.99866261e-01 3.48183927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63925415399999 meters 0.023632658679812582 Centerline is valid? [True, True] Translation: X:88.22, Y:0.33, Z:0.35 [[ 9.98675459e-01 -4.85193155e-02 -1.71232127e-02 8.82167315e+01] [ 4.85249774e-02 9.98821966e-01 -8.49140207e-05 3.33302531e-01] [ 1.71071610e-02 -7.46101961e-04 9.99853383e-01 3.49140062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69925415399999 meters 0.02138399624834044 Centerline is valid? [True, True] Translation: X:88.28, Y:0.34, Z:0.35 [[ 9.99007235e-01 -4.16510732e-02 -1.58029121e-02 8.82776992e+01] [ 4.16550375e-02 9.99132049e-01 -7.83601199e-05 3.41222208e-01] [ 1.57924597e-02 -5.79988569e-04 9.99875123e-01 3.50991615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75925415399999 meters 0.01741010720674569 Centerline is valid? [True, True] Translation: X:88.34, Y:0.36, Z:0.35 [[ 9.99521220e-01 -2.81600064e-02 -1.28197195e-02 8.83379198e+01] [ 2.81615056e-02 9.99603384e-01 -6.35909750e-05 3.55425737e-01] [ 1.28164257e-02 -2.97462074e-04 9.99917822e-01 3.54108539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.81925415399999 meters 0.014727722973599353 Centerline is valid? [True, True] Translation: X:88.40, Y:0.37, Z:0.36 [[ 9.99817819e-01 -1.53262893e-02 -1.13768607e-02 8.83991786e+01] [ 1.53266410e-02 9.99882539e-01 -5.62733055e-05 3.69905723e-01] [ 1.13763868e-02 -1.18106006e-04 9.99935280e-01 3.56452552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.879254154 meters 0.014175131700445572 Centerline is valid? [True, True] Translation: X:88.46, Y:0.38, Z:0.36 [[ 9.99895829e-01 -8.76444004e-03 -1.14679954e-02 8.84599231e+01] [ 8.76436710e-03 9.99961591e-01 -5.66174110e-05 3.76427056e-01] [ 1.14680511e-02 -4.38982081e-05 9.99934239e-01 3.56648944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.939254154 meters 0.014027442064213455 Centerline is valid? [True, True] Translation: X:88.52, Y:0.38, Z:0.36 [[ 9.99910546e-01 -2.71060701e-03 -1.30977999e-02 8.85178184e+01] [ 2.70998232e-03 9.99996326e-01 -6.54416164e-05 3.82118864e-01] [ 1.30979292e-02 2.99409562e-05 9.99914218e-01 3.55424455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99925415399998 meters 0.014200306410575339 Centerline is valid? [True, True] Translation: X:88.58, Y:0.38, Z:0.35 [[ 9.99903168e-01 -9.35342247e-04 -1.38844838e-02 8.85767574e+01] [ 9.34430832e-04 9.99999561e-01 -7.21299013e-05 3.83657774e-01] [ 1.38845452e-02 5.91488271e-05 9.99903603e-01 3.54938120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05925415399999 meters 0.014352837165524155 Centerline is valid? [True, True] Translation: X:88.64, Y:0.38, Z:0.36 [[ 9.99921197e-01 -1.21329042e-03 -1.24951192e-02 8.86354647e+01] [ 1.21255476e-03 9.99999263e-01 -6.64514341e-05 3.81954326e-01] [ 1.24951907e-02 5.12951812e-05 9.99921931e-01 3.55408803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11925415399999 meters 0.014155866537918763 Centerline is valid? [True, True] Translation: X:88.69, Y:0.38, Z:0.36 [[ 9.99932551e-01 -2.83385270e-03 -1.12633148e-02 8.86946762e+01] [ 2.83334924e-03 9.99995984e-01 -6.06559161e-05 3.78710310e-01] [ 1.12634414e-02 2.87389206e-05 9.99936565e-01 3.56316562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17925415399999 meters 0.014223689003328762 Centerline is valid? [True, True] Translation: X:88.75, Y:0.37, Z:0.36 [[ 9.99921407e-01 -7.20431340e-03 -1.02604520e-02 8.87536387e+01] [ 7.20411859e-03 9.99974048e-01 -5.59472834e-05 3.72519936e-01] [ 1.02605888e-02 -1.79746269e-05 9.99947359e-01 3.57220255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.239254154 meters 0.014417906259450703 Centerline is valid? [True, True] Translation: X:88.81, Y:0.37, Z:0.36 [[ 9.99869231e-01 -1.33947816e-02 -9.06089407e-03 8.88127999e+01] [ 1.33948782e-02 9.99910283e-01 -5.00215797e-05 3.65069422e-01] [ 9.06075118e-03 -7.13545340e-05 9.99958948e-01 3.58745139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.299254154 meters 0.015273944091151024 Centerline is valid? [True, True] Translation: X:88.87, Y:0.35, Z:0.36 [[ 9.99748673e-01 -2.03461809e-02 -9.41398030e-03 8.88734730e+01] [ 2.03465902e-02 9.99792985e-01 -5.23066121e-05 3.54894366e-01] [ 9.41309571e-03 -1.39248933e-04 9.99955686e-01 3.57896311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.359254154 meters 0.017013103143083054 Centerline is valid? [True, True] Translation: X:88.93, Y:0.34, Z:0.36 [[ 9.99582333e-01 -2.71483812e-02 -9.90585114e-03 8.89348623e+01] [ 2.71491702e-02 9.99631392e-01 -5.48384390e-05 3.44821778e-01] [ 9.90368854e-03 -2.14120104e-04 9.99950934e-01 3.56232058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41925415399999 meters 0.017870774579286017 Centerline is valid? [True, True] Translation: X:89.00, Y:0.34, Z:0.36 [[ 9.99445823e-01 -3.18462221e-02 -9.68842056e-03 8.89973587e+01] [ 3.18472027e-02 9.99492748e-01 -5.30920550e-05 3.36369303e-01] [ 9.68519687e-03 -2.55486461e-04 9.99953065e-01 3.57137205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47925415399999 meters 0.017915370806517696 Centerline is valid? [True, True] Translation: X:89.06, Y:0.33, Z:0.36 [[ 9.99410841e-01 -3.31956089e-02 -8.71911260e-03 8.90592768e+01] [ 3.31964597e-02 9.99448845e-01 -4.71702511e-05 3.33336493e-01] [ 8.71587286e-03 -2.42301210e-04 9.99961987e-01 3.58096563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53925415399999 meters 0.019804127166944723 Centerline is valid? [True, True] Translation: X:89.12, Y:0.33, Z:0.36 [[ 9.99343123e-01 -3.55253709e-02 -7.16034019e-03 8.91206003e+01] [ 3.55260075e-02 9.99368751e-01 -3.83165026e-05 3.25464331e-01] [ 7.15718144e-03 -2.16086966e-04 9.99974364e-01 3.58811717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.599254154 meters 0.02045022840565942 Centerline is valid? [True, True] Translation: X:89.18, Y:0.32, Z:0.36 [[ 9.99158690e-01 -4.02867544e-02 -7.67394847e-03 8.91816233e+01] [ 4.02876282e-02 9.99188123e-01 -4.07458474e-05 3.18980962e-01] [ 7.66935969e-03 -2.68453616e-04 9.99970554e-01 3.58863750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.659254154 meters 0.022543544929142685 Centerline is valid? [True, True] Translation: X:89.24, Y:0.31, Z:0.36 [[ 9.98877586e-01 -4.62757197e-02 -1.01057871e-02 8.92423073e+01] [ 4.62775426e-02 9.98928619e-01 -5.35104674e-05 3.11545153e-01] [ 1.00974362e-02 -4.14220588e-04 9.99948934e-01 3.56702759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.719254154 meters 0.023196546751000455 Centerline is valid? [True, True] Translation: X:89.30, Y:0.31, Z:0.36 [[ 9.98708036e-01 -4.95815162e-02 -1.11324715e-02 8.93034579e+01] [ 4.95839351e-02 9.98769958e-01 -5.87867438e-05 3.09012375e-01] [ 1.11216929e-02 -4.93280953e-04 9.99938030e-01 3.56427519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77925415399999 meters 0.02501241713665903 Centerline is valid? [True, True] Translation: X:89.36, Y:0.31, Z:0.36 [[ 9.98645543e-01 -5.09054396e-02 -1.07571676e-02 8.93641246e+01] [ 5.09077781e-02 9.98703357e-01 -5.64939269e-05 3.06012329e-01] [ 1.07460952e-02 -4.91206093e-04 9.99942138e-01 3.56962981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83925415399999 meters 0.025018149142635372 Centerline is valid? [True, True] Translation: X:89.43, Y:0.31, Z:0.36 [[ 9.98605410e-01 -5.14875288e-02 -1.16734325e-02 8.94265278e+01] [ 5.14903306e-02 9.98673491e-01 -6.06016130e-05 3.05227494e-01] [ 1.16610678e-02 -5.40551799e-04 9.99931861e-01 3.56671869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89925415399999 meters 0.024800487214869875 Centerline is valid? [True, True] Translation: X:89.49, Y:0.31, Z:0.36 [[ 9.98650105e-01 -5.04600996e-02 -1.23185641e-02 8.94888683e+01] [ 5.04631529e-02 9.98725921e-01 -6.30398769e-05 3.06347184e-01] [ 1.23060503e-02 -5.58678803e-04 9.99924122e-01 3.56625547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.95925415399999 meters 0.023964584568774764 Centerline is valid? [True, True] Translation: X:89.55, Y:0.31, Z:0.36 [[ 9.98765050e-01 -4.82993342e-02 -1.16425980e-02 8.95501911e+01] [ 4.83019216e-02 9.98832779e-01 -5.90163216e-05 3.08834385e-01] [ 1.16318590e-02 -5.03416418e-04 9.99932221e-01 3.57781984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.019254154 meters 0.020426919569465008 Centerline is valid? [True, True] Translation: X:89.61, Y:0.32, Z:0.36 [[ 9.99088031e-01 -4.15391369e-02 -9.87960641e-03 8.96105761e+01] [ 4.15406716e-02 9.99136813e-01 -4.99083691e-05 3.17566423e-01] [ 9.87315161e-03 -3.60542631e-04 9.99951194e-01 3.61229100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.079254154 meters 0.01774763961507057 Centerline is valid? [True, True] Translation: X:89.67, Y:0.33, Z:0.36 [[ 9.99487072e-01 -3.10292270e-02 -7.92333423e-03 8.96706470e+01] [ 3.10298842e-02 9.99518456e-01 -4.00032638e-05 3.26727959e-01] [ 7.92076007e-03 -2.05877399e-04 9.99968609e-01 3.62873119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13925415399999 meters 0.015967778615789144 Centerline is valid? [True, True] Translation: X:89.73, Y:0.34, Z:0.36 [[ 9.99795114e-01 -1.79606150e-02 -9.33522568e-03 8.97310270e+01] [ 1.79609576e-02 9.99838688e-01 -4.71347744e-05 3.37156621e-01] [ 9.33456637e-03 -1.20544476e-04 9.99956425e-01 3.61640915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19925415399999 meters 0.014380691496053677 Centerline is valid? [True, True] Translation: X:89.79, Y:0.34, Z:0.36 [[ 9.99893001e-01 -9.24692622e-03 -1.13349317e-02 8.97920118e+01] [ 9.24687437e-03 9.99957245e-01 -5.69837850e-05 3.43630644e-01] [ 1.13349740e-02 -4.78350019e-05 9.99935756e-01 3.61148987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25925415399999 meters 0.014648937578611241 Centerline is valid? [True, True] Translation: X:89.85, Y:0.35, Z:0.36 [[ 9.99912811e-01 2.05076986e-03 -1.30447284e-02 8.98503240e+01] [-2.05182653e-03 9.99997893e-01 -6.76205825e-05 3.52321290e-01] [ 1.30445622e-02 9.43802065e-05 9.99914912e-01 3.61070951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.31925415399999 meters 0.015385135816462997 Centerline is valid? [True, True] Translation: X:89.91, Y:0.36, Z:0.36 [[ 9.99875003e-01 8.26630662e-03 -1.34775986e-02 8.99080663e+01] [-8.26803212e-03 9.99965817e-01 -7.23115440e-05 3.56951618e-01] [ 1.34765401e-02 1.83735723e-04 9.99909170e-01 3.61523789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.379254154 meters 0.01591783963622802 Centerline is valid? [True, True] Translation: X:89.97, Y:0.36, Z:0.36 [[ 9.99830592e-01 1.25918419e-02 -1.34251158e-02 8.99668584e+01] [-1.25939828e-02 9.99920690e-01 -7.49390250e-05 3.59519569e-01] [ 1.34231074e-02 2.44002007e-04 9.99909876e-01 3.62761631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.439254154 meters 0.015881849990174248 Centerline is valid? [True, True] Translation: X:90.03, Y:0.36, Z:0.36 [[ 9.99817771e-01 1.37843976e-02 -1.32066564e-02 9.00256306e+01] [-1.37865966e-02 9.99904958e-01 -7.54720958e-05 3.57881620e-01] [ 1.32043609e-02 2.57533187e-04 9.99912785e-01 3.64491380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49925415399998 meters 0.015111047901094582 Centerline is valid? [True, True] Translation: X:90.08, Y:0.35, Z:0.37 [[ 9.99886392e-01 6.01615066e-03 -1.38206374e-02 9.00838390e+01] [-6.01783113e-03 9.99981889e-01 -8.00071275e-05 3.51181075e-01] [ 1.38199058e-02 1.63168300e-04 9.99904487e-01 3.65295104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55925415399999 meters 0.01427239767132164 Centerline is valid? [True, True] Translation: X:90.14, Y:0.34, Z:0.37 [[ 9.99839372e-01 -9.58805950e-03 -1.51426177e-02 9.01428295e+01] [ 9.58781427e-03 9.99954032e-01 -8.87928192e-05 3.37434353e-01] [ 1.51427729e-02 -5.64060490e-05 9.99885340e-01 3.65441174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61925415399999 meters 0.015459484790806138 Centerline is valid? [True, True] Translation: X:90.20, Y:0.33, Z:0.37 [[ 9.99636932e-01 -2.15146635e-02 -1.62210692e-02 9.02024826e+01] [ 2.15159392e-02 9.99768501e-01 -9.58898184e-05 3.26904017e-01] [ 1.62193770e-02 -2.53156533e-04 9.99868425e-01 3.65739798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67925415399999 meters 0.019267541762451143 Centerline is valid? [True, True] Translation: X:90.26, Y:0.31, Z:0.37 [[ 9.99165738e-01 -3.71602739e-02 -1.69393399e-02 9.02626706e+01] [ 3.71639085e-02 9.99309178e-01 -1.00283687e-04 3.12497272e-01] [ 1.69313644e-02 -5.29332053e-04 9.99856514e-01 3.66593735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.739254154 meters 0.023303719350149858 Centerline is valid? [True, True] Translation: X:90.32, Y:0.30, Z:0.37 [[ 9.98686549e-01 -4.81606344e-02 -1.74851399e-02 9.03236604e+01] [ 4.81661986e-02 9.98839330e-01 -1.03004747e-04 3.01236329e-01] [ 1.74698062e-02 -7.39323267e-04 9.99847118e-01 3.68103671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.799254154 meters 0.027576198439788605 Centerline is valid? [True, True] Translation: X:90.38, Y:0.29, Z:0.37 [[ 9.98349662e-01 -5.47909953e-02 -1.72017251e-02 9.03835021e+01] [ 5.47973677e-02 9.98497490e-01 -1.01024018e-04 2.90772646e-01] [ 1.71814145e-02 -8.41751959e-04 9.99852034e-01 3.68852323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.859254154 meters 0.02953457893887079 Centerline is valid? [True, True] Translation: X:90.44, Y:0.29, Z:0.37 [[ 9.98119633e-01 -5.85034382e-02 -1.82905851e-02 9.04443387e+01] [ 5.85112748e-02 9.98286742e-01 -1.06861161e-04 2.86452645e-01] [ 1.82655004e-02 -9.63545230e-04 9.99832708e-01 3.69329915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91925415399999 meters 0.02871116238508525 Centerline is valid? [True, True] Translation: X:90.51, Y:0.29, Z:0.37 [[ 9.98048157e-01 -5.89284982e-02 -2.06714242e-02 9.05066101e+01] [ 5.89386273e-02 9.98261601e-01 -1.19424198e-04 2.87896805e-01] [ 2.06425265e-02 -1.09915426e-03 9.99786316e-01 3.69011180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97925415399999 meters 0.025913718612906013 Centerline is valid? [True, True] Translation: X:90.57, Y:0.29, Z:0.37 [[ 9.98106528e-01 -5.70782291e-02 -2.29223708e-02 9.05687156e+01] [ 5.70902380e-02 9.98369014e-01 -1.30707041e-04 2.92653192e-01] [ 2.28924452e-02 -1.17818405e-03 9.99737239e-01 3.69164605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03925415399999 meters 0.02587860931264643 Centerline is valid? [True, True] Translation: X:90.63, Y:0.30, Z:0.37 [[ 9.98325379e-01 -5.19900437e-02 -2.53667565e-02 9.06285446e+01] [ 5.20031220e-02 9.98646912e-01 -1.44284646e-04 2.95071907e-01] [ 2.53399344e-02 -1.17510751e-03 9.99678202e-01 3.67897963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.099254154 meters 0.021685203238722698 Centerline is valid? [True, True] Translation: X:90.69, Y:0.31, Z:0.37 [[ 9.98713166e-01 -4.35155593e-02 -2.60462752e-02 9.06885878e+01] [ 4.35264738e-02 9.99052263e-01 -1.48023285e-04 3.05807350e-01] [ 2.60280315e-02 -9.85869715e-04 9.99660727e-01 3.70281612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.159254154 meters 0.01838322967493343 Centerline is valid? [True, True] Translation: X:90.75, Y:0.32, Z:0.37 [[ 9.99176381e-01 -3.26595534e-02 -2.40814045e-02 9.07486747e+01] [ 3.26657313e-02 9.99466323e-01 -1.36891702e-04 3.17346932e-01] [ 2.40730237e-02 -6.49857736e-04 9.99709992e-01 3.72949817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.219254154 meters 0.01614110719290697 Centerline is valid? [True, True] Translation: X:90.81, Y:0.33, Z:0.38 [[ 9.99518129e-01 -2.14691318e-02 -2.24184328e-02 9.08075670e+01] [ 2.14716629e-02 9.99769449e-01 -1.27828428e-04 3.29196458e-01] [ 2.24160086e-02 -3.53594201e-04 9.99748667e-01 3.75053159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27925415399999 meters 0.015120195323212036 Centerline is valid? [True, True] Translation: X:90.87, Y:0.34, Z:0.38 [[ 9.99647079e-01 -1.50323799e-02 -2.19030793e-02 9.08662865e+01] [ 1.50332223e-02 9.99886987e-01 -1.26202323e-04 3.36760311e-01] [ 2.19025010e-02 -2.03116077e-04 9.99760091e-01 3.75561870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33925415399999 meters 0.014735226975315749 Centerline is valid? [True, True] Translation: X:90.92, Y:0.35, Z:0.38 [[ 9.99709189e-01 -9.01672597e-03 -2.23659683e-02 9.09247383e+01] [ 9.01599381e-03 9.99959346e-01 -1.33575555e-04 3.45337925e-01] [ 2.23662634e-02 -6.81147215e-05 9.99749842e-01 3.75899753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39925415399999 meters 0.014695409844442271 Centerline is valid? [True, True] Translation: X:90.98, Y:0.35, Z:0.38 [[ 9.99729017e-01 -8.06241518e-03 -2.18378215e-02 9.09838397e+01] [ 8.06137046e-03 9.99967497e-01 -1.35873053e-04 3.48720682e-01] [ 2.18382072e-02 -4.02065355e-05 9.99761517e-01 3.77939197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.45925415399999 meters 0.014541321481752164 Centerline is valid? [True, True] Translation: X:91.04, Y:0.35, Z:0.38 [[ 9.99738548e-01 -8.80462835e-03 -2.11024627e-02 9.10422138e+01] [ 8.80370621e-03 9.99961237e-01 -1.36600263e-04 3.49854810e-01] [ 2.11028474e-02 -4.92153336e-05 9.99777309e-01 3.79397825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.519254154 meters 0.014982571654448575 Centerline is valid? [True, True] Translation: X:91.10, Y:0.35, Z:0.38 [[ 9.99725523e-01 -9.51330590e-03 -2.14097006e-02 9.10998844e+01] [ 9.51244560e-03 9.99954746e-01 -1.42025470e-04 3.50348060e-01] [ 2.14100828e-02 -6.16721251e-05 9.99770776e-01 3.78461364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.579254154 meters 0.014404640822985697 Centerline is valid? [True, True] Translation: X:91.16, Y:0.35, Z:0.38 [[ 9.99716045e-01 -1.07811382e-02 -2.12507896e-02 9.11579398e+01] [ 1.07804612e-02 9.99941878e-01 -1.46419280e-04 3.49599543e-01] [ 2.12511330e-02 -8.27156087e-05 9.99774166e-01 3.82025425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63925415399999 meters 0.014599765570136444 Centerline is valid? [True, True] Translation: X:91.22, Y:0.35, Z:0.38 [[ 9.99656531e-01 -1.42735531e-02 -2.19792053e-02 9.12166243e+01] [ 1.42736161e-02 9.99898115e-01 -1.54024499e-04 3.45706138e-01] [ 2.19791644e-02 -1.59751142e-04 9.99758416e-01 3.82174434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69925415399999 meters 0.014787333064669093 Centerline is valid? [True, True] Translation: X:91.28, Y:0.34, Z:0.38 [[ 9.99597982e-01 -1.76063152e-02 -2.22236892e-02 9.12757392e+01] [ 1.76070945e-02 9.99844970e-01 -1.60618733e-04 3.42559531e-01] [ 2.22230717e-02 -2.30740434e-04 9.99753010e-01 3.82772981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75925415399999 meters 0.015456795114699825 Centerline is valid? [True, True] Translation: X:91.33, Y:0.34, Z:0.38 [[ 9.99514968e-01 -2.22199012e-02 -2.18198326e-02 9.13342117e+01] [ 2.22216314e-02 9.99753056e-01 -1.63198663e-04 3.36465998e-01] [ 2.18180706e-02 -3.21752769e-04 9.99761906e-01 3.83462770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.81925415399999 meters 0.015861880110137092 Centerline is valid? [True, True] Translation: X:91.39, Y:0.33, Z:0.39 [[ 9.99447111e-01 -2.68619141e-02 -1.95936021e-02 9.13929947e+01] [ 2.68641046e-02 9.99639083e-01 -1.51450244e-04 3.30362614e-01] [ 1.95905986e-02 -3.74998067e-04 9.99808015e-01 3.85017858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.879254154 meters 0.016617911242197744 Centerline is valid? [True, True] Translation: X:91.45, Y:0.32, Z:0.38 [[ 9.99319457e-01 -3.19442070e-02 -1.84442692e-02 9.14532335e+01] [ 3.19469886e-02 9.99489554e-01 -1.43891749e-04 3.23678922e-01] [ 1.84394509e-02 -4.45445032e-04 9.99829880e-01 3.84821613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.939254154 meters 0.018830170852436323 Centerline is valid? [True, True] Translation: X:91.51, Y:0.31, Z:0.38 [[ 9.99051634e-01 -3.91567291e-02 -1.90416340e-02 9.15145699e+01] [ 3.91610059e-02 9.99232903e-01 -1.48368079e-04 3.14973942e-01] [ 1.90328368e-02 -5.97462167e-04 9.99818681e-01 3.82680059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99925415399998 meters 0.020920674293976357 Centerline is valid? [True, True] Translation: X:91.58, Y:0.31, Z:0.38 [[ 9.98826463e-01 -4.46464442e-02 -1.87721112e-02 9.15755204e+01] [ 4.46515752e-02 9.99002610e-01 -1.45927818e-04 3.08937417e-01] [ 1.87599033e-02 -6.92447769e-04 9.99823778e-01 3.81629617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05925415399999 meters 0.024550362813833423 Centerline is valid? [True, True] Translation: X:91.64, Y:0.30, Z:0.38 [[ 9.98450166e-01 -5.25673168e-02 -1.82741219e-02 9.16356755e+01] [ 5.25735065e-02 9.98617047e-01 -1.41860364e-04 3.00566554e-01] [ 1.82563069e-02 -8.19094163e-04 9.99833004e-01 3.81065994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11925415399999 meters 0.026885174341727616 Centerline is valid? [True, True] Translation: X:91.70, Y:0.30, Z:0.38 [[ 9.98194145e-01 -5.76269788e-02 -1.69582172e-02 9.16968331e+01] [ 5.76330415e-02 9.98337826e-01 -1.31389871e-04 2.95751610e-01] [ 1.69376013e-02 -8.46201038e-04 9.99856190e-01 3.80998638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.17925415399999 meters 0.027247446376903666 Centerline is valid? [True, True] Translation: X:91.76, Y:0.30, Z:0.38 [[ 9.98221745e-01 -5.75470766e-02 -1.55460894e-02 9.17591369e+01] [ 5.75521753e-02 9.98342493e-01 -1.19582965e-04 2.95836912e-01] [ 1.55272033e-02 -7.75340945e-04 9.99879145e-01 3.81848776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.239254154 meters 0.02472138818853907 Centerline is valid? [True, True] Translation: X:91.82, Y:0.30, Z:0.38 [[ 9.98341339e-01 -5.55191296e-02 -1.52380431e-02 9.18205561e+01] [ 5.55238032e-02 9.98457357e-01 -1.16507112e-04 3.00656163e-01] [ 1.52210046e-02 -7.29760240e-04 9.99883887e-01 3.82500899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.299254154 meters 0.024400854918809875 Centerline is valid? [True, True] Translation: X:91.88, Y:0.30, Z:0.38 [[ 9.98452228e-01 -5.35305378e-02 -1.50873927e-02 9.18822971e+01] [ 5.35349042e-02 9.98565972e-01 -1.14612001e-04 3.03347133e-01] [ 1.50718922e-02 -6.93267514e-04 9.99886172e-01 3.82500626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.359254154 meters 0.023875844403837183 Centerline is valid? [True, True] Translation: X:91.94, Y:0.31, Z:0.38 [[ 9.98556371e-01 -5.15869929e-02 -1.49651675e-02 9.19437581e+01] [ 5.15910802e-02 9.98668287e-01 -1.13057556e-04 3.07272993e-01] [ 1.49510705e-02 -6.59174813e-04 9.99888009e-01 3.82263288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41925415399999 meters 0.022672029556936944 Centerline is valid? [True, True] Translation: X:92.00, Y:0.31, Z:0.38 [[ 9.98665288e-01 -4.94882048e-02 -1.47837837e-02 9.20048302e+01] [ 4.94919721e-02 9.98774515e-01 -1.11148330e-04 3.11399273e-01] [ 1.47711670e-02 -6.20678634e-04 9.99890708e-01 3.81978124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47925415399999 meters 0.019455189346621722 Centerline is valid? [True, True] Translation: X:92.07, Y:0.32, Z:0.38 [[ 9.98961272e-01 -4.34875755e-02 -1.36090825e-02 9.20657237e+01] [ 4.34902160e-02 9.99053848e-01 -1.01998071e-04 3.22002644e-01] [ 1.36006418e-02 -4.89969813e-04 9.99907387e-01 3.83445544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53925415399999 meters 0.017417000064997974 Centerline is valid? [True, True] Translation: X:92.13, Y:0.33, Z:0.38 [[ 9.99251122e-01 -3.68127377e-02 -1.19171072e-02 9.21267191e+01] [ 3.68142907e-02 9.99322120e-01 -8.91054038e-05 3.30403957e-01] [ 1.19123091e-02 -3.49681175e-04 9.99928985e-01 3.84837761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.599254154 meters 0.015360138325016428 Centerline is valid? [True, True] Translation: X:92.19, Y:0.34, Z:0.39 [[ 9.99612479e-01 -2.59846628e-02 -9.98447447e-03 9.21871894e+01] [ 2.59852138e-02 9.99662325e-01 -7.45559712e-05 3.40980119e-01] [ 9.98304027e-03 -1.84921625e-04 9.99950151e-01 3.85800135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.659254154 meters 0.013516536606982316 Centerline is valid? [True, True] Translation: X:92.25, Y:0.35, Z:0.39 [[ 9.99762862e-01 -1.94971844e-02 -9.69941285e-03 9.22485214e+01] [ 1.94974013e-02 9.99809905e-01 -7.22070150e-05 3.49373601e-01] [ 9.69897687e-03 -1.16923453e-04 9.99952957e-01 3.85286664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.719254154 meters 0.015774596650786028 Centerline is valid? [True, True] Translation: X:92.31, Y:0.35, Z:0.38 [[ 9.99774509e-01 -1.74802823e-02 -1.20569568e-02 9.23098850e+01] [ 1.74804767e-02 9.99847201e-01 -8.92718760e-05 3.51815625e-01] [ 1.20566750e-02 -1.21509607e-04 9.99927308e-01 3.83034356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77925415399999 meters 0.013910070905902816 Centerline is valid? [True, True] Translation: X:92.37, Y:0.35, Z:0.38 [[ 9.99750577e-01 -2.03882148e-02 -9.11617881e-03 9.23698097e+01] [ 2.03884487e-02 9.99792132e-01 -6.72898596e-05 3.51502784e-01] [ 9.11565577e-03 -1.18591668e-04 9.99958445e-01 3.83847612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83925415399999 meters 0.014127257998788324 Centerline is valid? [True, True] Translation: X:92.43, Y:0.35, Z:0.39 [[ 9.99731774e-01 -2.19127345e-02 -7.49745053e-03 9.24318210e+01] [ 2.19129377e-02 9.99759881e-01 -5.50537247e-05 3.52274970e-01] [ 7.49685663e-03 -1.09252209e-04 9.99971892e-01 3.85161744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89925415399999 meters 0.01530098058461895 Centerline is valid? [True, True] Translation: X:92.49, Y:0.35, Z:0.39 [[ 9.99733359e-01 -2.21938594e-02 -6.37523409e-03 9.24941203e+01] [ 2.21940147e-02 9.99753681e-01 -4.64051552e-05 3.54099687e-01] [ 6.37469366e-03 -9.50992572e-05 9.99979677e-01 3.85471158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.95925415399999 meters 0.015340279900859123 Centerline is valid? [True, True] Translation: X:92.56, Y:0.36, Z:0.39 [[ 9.99681839e-01 -2.44503581e-02 -6.19689706e-03 9.25564035e+01] [ 2.44505508e-02 9.99701040e-01 -4.46749483e-05 3.56048384e-01] [ 6.19613675e-03 -1.06856812e-04 9.99980798e-01 3.85495087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.019254154 meters 0.015455352339979632 Centerline is valid? [True, True] Translation: X:92.62, Y:0.36, Z:0.39 [[ 9.99553965e-01 -2.91597837e-02 -6.44812629e-03 9.26186200e+01] [ 2.91600934e-02 9.99574753e-01 -4.60015800e-05 3.57541731e-01] [ 6.44672564e-03 -1.42046903e-04 9.99979210e-01 3.85896383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.079254154 meters 0.01823609981987605 Centerline is valid? [True, True] Translation: X:92.68, Y:0.35, Z:0.38 [[ 9.99440682e-01 -3.25735004e-02 -7.56909624e-03 9.26802074e+01] [ 3.25740292e-02 9.99469324e-01 -5.34344522e-05 3.54232192e-01] [ 7.56682005e-03 -1.93151397e-04 9.99971353e-01 3.84908434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13925415399999 meters 0.01760863861026523 Centerline is valid? [True, True] Translation: X:92.74, Y:0.36, Z:0.39 [[ 9.99409296e-01 -3.33052246e-02 -8.47479058e-03 9.27427939e+01] [ 3.33059187e-02 9.99445202e-01 -5.92610965e-05 3.58392840e-01] [ 8.47206249e-03 -2.23034595e-04 9.99964087e-01 3.85083320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19925415399999 meters 0.01675803962241048 Centerline is valid? [True, True] Translation: X:92.80, Y:0.36, Z:0.39 [[ 9.99486070e-01 -3.11838653e-02 -7.42718952e-03 9.28047925e+01] [ 3.11843435e-02 9.99513649e-01 -5.14374273e-05 3.62605727e-01] [ 7.42518132e-03 -1.80201037e-04 9.99972417e-01 3.86609701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25925415399999 meters 0.0161235559812415 Centerline is valid? [True, True] Translation: X:92.87, Y:0.37, Z:0.39 [[ 9.99547836e-01 -2.92339662e-02 -7.03550021e-03 9.28665814e+01] [ 2.92343506e-02 9.99572584e-01 -4.82277237e-05 3.66049071e-01] [ 7.03390301e-03 -1.57472363e-04 9.99975249e-01 3.87114673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.31925415399999 meters 0.015455802893386477 Centerline is valid? [True, True] Translation: X:92.93, Y:0.37, Z:0.39 [[ 9.99614783e-01 -2.66613013e-02 -7.71107281e-03 9.29285426e+01] [ 2.66616911e-02 9.99644513e-01 -5.22628419e-05 3.69644232e-01] [ 7.70972501e-03 -1.53347532e-04 9.99970268e-01 3.86618634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.379254154 meters 0.015869225092737072 Centerline is valid? [True, True] Translation: X:92.99, Y:0.37, Z:0.38 [[ 9.99604581e-01 -2.58867554e-02 -1.09798249e-02 9.29892849e+01] [ 2.58875079e-02 9.99664860e-01 -7.36081385e-05 3.71366476e-01] [ 1.09780506e-02 -2.10661272e-04 9.99939717e-01 3.84002742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.439254154 meters 0.016043061359448645 Centerline is valid? [True, True] Translation: X:93.05, Y:0.37, Z:0.38 [[ 9.99574665e-01 -2.58296665e-02 -1.35394810e-02 9.30513267e+01] [ 2.58308184e-02 9.99666325e-01 -8.98209254e-05 3.73257740e-01] [ 1.35372832e-02 -2.59953153e-04 9.99908333e-01 3.82357753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49925415399998 meters 0.01634426789280414 Centerline is valid? [True, True] Translation: X:93.11, Y:0.38, Z:0.38 [[ 9.99547532e-01 -2.57128551e-02 -1.56070521e-02 9.31139182e+01] [ 2.57143898e-02 9.99669325e-01 -1.02371591e-04 3.76716630e-01] [ 1.56045236e-02 -2.99000550e-04 9.99878197e-01 3.81651655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55925415399999 meters 0.015663888047714264 Centerline is valid? [True, True] Translation: X:93.18, Y:0.38, Z:0.38 [[ 9.99579619e-01 -2.52577322e-02 -1.42349020e-02 9.31750610e+01] [ 2.52589719e-02 9.99680937e-01 -9.27206496e-05 3.80388457e-01] [ 1.42327021e-02 -2.66877319e-04 9.99898674e-01 3.83891712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61925415399999 meters 0.01677189240856314 Centerline is valid? [True, True] Translation: X:93.24, Y:0.38, Z:0.39 [[ 9.99648039e-01 -2.34982267e-02 -1.23138682e-02 9.32361557e+01] [ 2.34990358e-02 9.99723856e-01 -7.89990260e-05 3.83151290e-01] [ 1.23123242e-02 -2.10392809e-04 9.99924178e-01 3.85561386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.67925415399999 meters 0.016032620315078794 Centerline is valid? [True, True] Translation: X:93.30, Y:0.39, Z:0.39 [[ 9.99665028e-01 -2.41383282e-02 -9.33667998e-03 9.32979321e+01] [ 2.41388287e-02 9.99708614e-01 -5.90961580e-05 3.86169063e-01] [ 9.33538588e-03 -1.66300156e-04 9.99956411e-01 3.87409269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.739254154 meters 0.017538125591436873 Centerline is valid? [True, True] Translation: X:93.36, Y:0.38, Z:0.39 [[ 9.99610350e-01 -2.65151067e-02 -8.72338036e-03 9.33601916e+01] [ 2.65156394e-02 9.99648397e-01 -5.46102062e-05 3.84927287e-01] [ 8.72176119e-03 -1.76717080e-04 9.99961949e-01 3.87684862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.799254154 meters 0.018114789445670777 Centerline is valid? [True, True] Translation: X:93.42, Y:0.38, Z:0.39 [[ 9.99366439e-01 -3.41815963e-02 -9.91660257e-03 9.34212047e+01] [ 3.41826663e-02 9.99415600e-01 -6.16209301e-05 3.80860573e-01] [ 9.91291361e-03 -2.77394027e-04 9.99950827e-01 3.86765654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.859254154 meters 0.02038498865606971 Centerline is valid? [True, True] Translation: X:93.48, Y:0.38, Z:0.38 [[ 9.99040448e-01 -4.19655313e-02 -1.25330818e-02 9.34814475e+01] [ 4.19678542e-02 9.99118958e-01 -7.77170568e-05 3.75831684e-01] [ 1.25253011e-02 -4.48344066e-04 9.99921455e-01 3.84632185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91925415399999 meters 0.023239714739932176 Centerline is valid? [True, True] Translation: X:93.54, Y:0.37, Z:0.38 [[ 9.98842687e-01 -4.58365553e-02 -1.45704166e-02 9.35418604e+01] [ 4.58401134e-02 9.98948785e-01 -8.98558986e-05 3.70852147e-01] [ 1.45592187e-02 -5.78157644e-04 9.99893842e-01 3.82264573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97925415399999 meters 0.021224163286525804 Centerline is valid? [True, True] Translation: X:93.60, Y:0.38, Z:0.38 [[ 9.98999136e-01 -4.23364847e-02 -1.44342751e-02 9.36031542e+01] [ 4.23396198e-02 9.99103272e-01 -8.84584639e-05 3.75449843e-01] [ 1.44250765e-02 -5.22771791e-04 9.99895817e-01 3.82986886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03925415399999 meters 0.018585268804983384 Centerline is valid? [True, True] Translation: X:93.66, Y:0.38, Z:0.39 [[ 9.99332021e-01 -3.46016688e-02 -1.17574316e-02 9.36638423e+01] [ 3.46032157e-02 9.99401127e-01 -7.19019084e-05 3.83515400e-01] [ 1.17528783e-02 -3.34991062e-04 9.99930876e-01 3.85872238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.099254154 meters 0.016645372173099294 Centerline is valid? [True, True] Translation: X:93.72, Y:0.39, Z:0.39 [[ 9.99503743e-01 -2.98742295e-02 -9.98990474e-03 9.37249893e+01] [ 2.98751124e-02 9.99553637e-01 -6.08743613e-05 3.89527566e-01] [ 9.98726419e-03 -2.37605375e-04 9.99950098e-01 3.87758093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.159254154 meters 0.016289027371060784 Centerline is valid? [True, True] Translation: X:93.79, Y:0.39, Z:0.39 [[ 9.99634213e-01 -2.57562954e-02 -8.24939998e-03 9.37859052e+01] [ 2.57567595e-02 9.99668238e-01 -4.99939615e-05 3.91936202e-01] [ 8.24795080e-03 -1.62502137e-04 9.99965972e-01 3.88529845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.219254154 meters 0.014942755048109088 Centerline is valid? [True, True] Translation: X:93.85, Y:0.40, Z:0.39 [[ 9.99775882e-01 -1.94736276e-02 -8.30443920e-03 9.38475100e+01] [ 1.94738837e-02 9.99810365e-01 -5.00240613e-05 3.96163104e-01] [ 8.30383854e-03 -1.11706833e-04 9.99965516e-01 3.88002185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27925415399999 meters 0.01426291355088358 Centerline is valid? [True, True] Translation: X:93.91, Y:0.40, Z:0.39 [[ 9.99864262e-01 -1.33482634e-02 -9.65819366e-03 9.39093938e+01] [ 1.33483287e-02 9.99910905e-01 -5.76999532e-05 4.00265840e-01] [ 9.65810336e-03 -7.12286225e-05 9.99953357e-01 3.86444153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33925415399999 meters 0.013893226451148983 Centerline is valid? [True, True] Translation: X:93.97, Y:0.40, Z:0.39 [[ 9.99904389e-01 -9.37251523e-03 -1.01670278e-02 9.39693025e+01] [ 9.37238579e-03 9.99956076e-01 -6.03779525e-05 4.01946442e-01] [ 1.01671472e-02 -3.49171275e-05 9.99948313e-01 3.85579880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39925415399999 meters 0.013895781156522654 Centerline is valid? [True, True] Translation: X:94.03, Y:0.40, Z:0.38 [[ 9.99931065e-01 -4.56347709e-03 -1.08184875e-02 9.40287901e+01] [ 4.56304741e-03 9.99989587e-01 -6.43999995e-05 4.02941284e-01] [ 1.08186688e-02 1.50302886e-05 9.99941476e-01 3.84863224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.45925415399999 meters 0.014037446920362705 Centerline is valid? [True, True] Translation: X:94.09, Y:0.40, Z:0.38 [[ 9.99945817e-01 -3.00081665e-03 -9.96789009e-03 9.40871131e+01] [ 3.00035647e-03 9.99995497e-01 -6.11195842e-05 4.01885999e-01] [ 9.96802861e-03 3.12090490e-05 9.99950317e-01 3.84822680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.519254154 meters 0.013735812444025788 Centerline is valid? [True, True] Translation: X:94.15, Y:0.40, Z:0.39 [[ 9.99958280e-01 -4.22869946e-03 -8.09666421e-03 9.41457884e+01] [ 4.22842544e-03 9.99991059e-01 -5.09617191e-05 3.98491225e-01] [ 8.09680732e-03 1.67234520e-05 9.99967220e-01 3.86244414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.579254154 meters 0.01395119112714568 Centerline is valid? [True, True] Translation: X:94.20, Y:0.40, Z:0.39 [[ 9.99950502e-01 -6.62574501e-03 -7.42242343e-03 9.42042985e+01] [ 6.62557699e-03 9.99978050e-01 -4.72254117e-05 3.95050762e-01] [ 7.42257341e-03 -1.95476376e-06 9.99972452e-01 3.86845820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63925415399999 meters 0.014170380262106555 Centerline is valid? [True, True] Translation: X:94.26, Y:0.39, Z:0.39 [[ 9.99904768e-01 -1.19419781e-02 -6.91698933e-03 9.42634611e+01] [ 1.19419564e-02 9.99928691e-01 -4.44398982e-05 3.89192679e-01] [ 6.91702679e-03 -3.81667191e-05 9.99976076e-01 3.87969384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69925415399999 meters 0.014989207712915006 Centerline is valid? [True, True] Translation: X:94.32, Y:0.38, Z:0.39 [[ 9.99783874e-01 -1.90462230e-02 -8.33348325e-03 9.43238049e+01] [ 1.90464381e-02 9.99818599e-01 -5.35629671e-05 3.81048389e-01] [ 8.33299172e-03 -1.05171782e-04 9.99965274e-01 3.87203285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75925415399999 meters 0.016910119684980046 Centerline is valid? [True, True] Translation: X:94.38, Y:0.37, Z:0.39 [[ 9.99603748e-01 -2.60572990e-02 -1.06472730e-02 9.43842507e+01] [ 2.60580550e-02 9.99660429e-01 -6.77424819e-05 3.72439358e-01] [ 1.06454226e-02 -2.09731585e-04 9.99943314e-01 3.85610141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.81925415399999 meters 0.016998405211910567 Centerline is valid? [True, True] Translation: X:94.45, Y:0.37, Z:0.39 [[ 9.99498396e-01 -2.94749990e-02 -1.15836029e-02 9.44467173e+01] [ 2.94761321e-02 9.99565482e-01 -7.29324158e-05 3.69290408e-01] [ 1.15807193e-02 -2.68543978e-04 9.99932905e-01 3.86215690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.879254154 meters 0.0171498291566943 Centerline is valid? [True, True] Translation: X:94.51, Y:0.37, Z:0.39 [[ 9.99500980e-01 -2.91817991e-02 -1.20919129e-02 9.45091667e+01] [ 2.91830233e-02 9.99574082e-01 -7.52274754e-05 3.68848632e-01] [ 1.20889580e-02 -2.77688640e-04 9.99926887e-01 3.86785749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.939254154 meters 0.01631120509970185 Centerline is valid? [True, True] Translation: X:94.57, Y:0.37, Z:0.39 [[ 9.99603958e-01 -2.60165281e-02 -1.07269565e-02 9.45705669e+01] [ 2.60173150e-02 9.99661490e-01 -6.62120976e-05 3.70552551e-01] [ 1.07250479e-02 -2.12900731e-04 9.99942462e-01 3.88819511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99925415399998 meters 0.015958726107506437 Centerline is valid? [True, True] Translation: X:94.63, Y:0.37, Z:0.39 [[ 9.99693839e-01 -2.21012012e-02 -1.11249433e-02 9.46311874e+01] [ 2.21018084e-02 9.99755723e-01 -6.83750595e-05 3.70144731e-01] [ 1.11237369e-02 -1.77527241e-04 9.99938114e-01 3.89330514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05925415399999 meters 0.016012699762028612 Centerline is valid? [True, True] Translation: X:94.69, Y:0.37, Z:0.39 [[ 9.99705231e-01 -1.98805284e-02 -1.39361372e-02 9.46929280e+01] [ 1.98812719e-02 9.99802344e-01 -8.52025060e-05 3.71653305e-01] [ 1.39350766e-02 -1.91890743e-04 9.99902884e-01 3.88547922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11925415399999 meters 0.015542568125640924 Centerline is valid? [True, True] Translation: X:94.75, Y:0.37, Z:0.39 [[ 9.99657154e-01 -2.03670988e-02 -1.64546775e-02 9.47529358e+01] [ 2.03682008e-02 9.99792542e-01 -1.00630640e-04 3.70742165e-01] [ 1.64533134e-02 -2.34556037e-04 9.99864608e-01 3.87546004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.17925415399999 meters 0.015835571731813117 Centerline is valid? [True, True] Translation: X:94.81, Y:0.37, Z:0.39 [[ 9.99570970e-01 -2.17759585e-02 -1.95878625e-02 9.48124129e+01] [ 2.17777780e-02 9.99762829e-01 -1.20439581e-04 3.69430879e-01] [ 1.95858395e-02 -3.06192212e-04 9.99808132e-01 3.86942518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.239254154 meters 0.01620847834099925 Centerline is valid? [True, True] Translation: X:94.87, Y:0.37, Z:0.39 [[ 9.99536808e-01 -2.26677697e-02 -2.03061986e-02 9.48712109e+01] [ 2.26698243e-02 9.99742998e-01 -1.29036695e-04 3.70362345e-01] [ 2.03039048e-02 -3.31361028e-04 9.99793800e-01 3.88208536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.299254154 meters 0.016593456348223897 Centerline is valid? [True, True] Translation: X:94.93, Y:0.37, Z:0.39 [[ 9.99503147e-01 -2.51174952e-02 -1.90412902e-02 9.49298024e+01] [ 2.51196567e-02 9.99684444e-01 -1.25688782e-04 3.69257905e-01] [ 1.90384386e-02 -3.52684340e-04 9.99818690e-01 3.89974033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.359254154 meters 0.01713143250045581 Centerline is valid? [True, True] Translation: X:94.99, Y:0.37, Z:0.39 [[ 9.99417057e-01 -2.93255892e-02 -1.74801861e-02 9.49895281e+01] [ 2.93280281e-02 9.99569834e-01 -1.16863206e-04 3.67042626e-01] [ 1.74760938e-02 -3.95864306e-04 9.99847203e-01 3.92432941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41925415399999 meters 0.017436372613984306 Centerline is valid? [True, True] Translation: X:95.05, Y:0.37, Z:0.39 [[ 9.99321944e-01 -3.26701541e-02 -1.69797947e-02 9.50506438e+01] [ 3.26729431e-02 9.99466090e-01 -1.13208678e-04 3.66338319e-01] [ 1.69744275e-02 -4.41647948e-04 9.99855826e-01 3.94231738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47925415399999 meters 0.019424822667232666 Centerline is valid? [True, True] Translation: X:95.11, Y:0.36, Z:0.40 [[ 9.99016757e-01 -4.10295496e-02 -1.67956776e-02 9.51114160e+01] [ 4.10334636e-02 9.99157767e-01 -1.11659549e-04 3.61365616e-01] [ 1.67861131e-02 -5.77635067e-04 9.99858936e-01 3.95916318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53925415399999 meters 0.02163932569449999 Centerline is valid? [True, True] Translation: X:95.17, Y:0.36, Z:0.39 [[ 9.98855262e-01 -4.46956372e-02 -1.70430379e-02 9.51719686e+01] [ 4.47002051e-02 9.99000440e-01 -1.13014472e-04 3.56085520e-01] [ 1.70310536e-02 -6.48942189e-04 9.99854750e-01 3.94675687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.599254154 meters 0.022546155611912373 Centerline is valid? [True, True] Translation: X:95.23, Y:0.35, Z:0.39 [[ 9.98668724e-01 -4.82342623e-02 -1.82821000e-02 9.52335062e+01] [ 4.82401214e-02 9.98835760e-01 -1.20637808e-04 3.53330724e-01] [ 1.82666341e-02 -7.61453517e-04 9.99832861e-01 3.93722652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.659254154 meters 0.02156532401321282 Centerline is valid? [True, True] Translation: X:95.30, Y:0.36, Z:0.39 [[ 9.98754923e-01 -4.64061901e-02 -1.83048823e-02 9.52961885e+01] [ 4.64117838e-02 9.98922385e-01 -1.19343123e-04 3.55830685e-01] [ 1.82906949e-02 -7.30367706e-04 9.99832444e-01 3.94292026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.719254154 meters 0.020954029477944884 Centerline is valid? [True, True] Translation: X:95.36, Y:0.36, Z:0.39 [[ 9.98950150e-01 -4.20271429e-02 -1.82295571e-02 9.53568559e+01] [ 4.20319788e-02 9.99116259e-01 -1.17953282e-04 3.58019979e-01] [ 1.82184041e-02 -6.48394907e-04 9.99833821e-01 3.94089957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77925415399999 meters 0.01773938499505274 Centerline is valid? [True, True] Translation: X:95.42, Y:0.37, Z:0.40 [[ 9.99293944e-01 -3.34817718e-02 -1.70465126e-02 9.54169317e+01] [ 3.34847610e-02 9.99439222e-01 -1.10114501e-04 3.66649804e-01] [ 1.70406401e-02 -4.60761647e-04 9.99854692e-01 3.95393563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83925415399999 meters 0.015603018696448008 Centerline is valid? [True, True] Translation: X:95.48, Y:0.37, Z:0.40 [[ 9.99578335e-01 -2.47469946e-02 -1.51900897e-02 9.54777653e+01] [ 2.47483630e-02 9.99693708e-01 -9.79116685e-05 3.74339061e-01] [ 1.51878602e-02 -2.78059472e-04 9.99884619e-01 3.96508396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89925415399999 meters 0.014546855755585328 Centerline is valid? [True, True] Translation: X:95.54, Y:0.38, Z:0.40 [[ 9.99764973e-01 -1.72714302e-02 -1.31032970e-02 9.55370621e+01] [ 1.72718053e-02 9.99850828e-01 -8.45486740e-05 3.79985537e-01] [ 1.31028026e-02 -1.41788791e-04 9.99914145e-01 3.96807340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.95925415399999 meters 0.01407972446269645 Centerline is valid? [True, True] Translation: X:95.60, Y:0.39, Z:0.40 [[ 9.99873178e-01 -1.06643945e-02 -1.18278536e-02 9.55972305e+01] [ 1.06642370e-02 9.99943132e-01 -7.63911282e-05 3.85880581e-01] [ 1.18279957e-02 -4.97535942e-05 9.99930046e-01 3.97288480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.019254154 meters 0.013939947124602883 Centerline is valid? [True, True] Translation: X:95.66, Y:0.39, Z:0.40 [[ 9.99911807e-01 -6.10449393e-03 -1.17946262e-02 9.56562056e+01] [ 6.10401411e-03 9.99981367e-01 -7.66793461e-05 3.89813202e-01] [ 1.17948746e-02 4.67801850e-06 9.99930438e-01 3.97057088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.079254154 meters 0.014314684207121016 Centerline is valid? [True, True] Translation: X:95.71, Y:0.39, Z:0.40 [[ 9.99927904e-01 -2.28918075e-03 -1.17875314e-02 9.57144607e+01] [ 2.28841056e-03 9.99997378e-01 -7.88271387e-05 3.92665667e-01] [ 1.17876810e-02 5.18467442e-05 9.99930522e-01 3.97314563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13925415399999 meters 0.014688255527462519 Centerline is valid? [True, True] Translation: X:95.77, Y:0.39, Z:0.40 [[ 9.99942864e-01 2.89494966e-03 -1.02901440e-02 9.57728754e+01] [-2.89583658e-03 9.99995805e-01 -7.12928142e-05 3.94802193e-01] [ 1.02898944e-02 1.01087316e-04 9.99947053e-01 3.97708559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19925415399999 meters 0.015348458156589001 Centerline is valid? [True, True] Translation: X:95.83, Y:0.40, Z:0.40 [[ 9.99949982e-01 4.50305372e-03 -8.93063973e-03 9.58303435e+01] [-4.50379998e-03 9.99989856e-01 -6.34511900e-05 3.95018441e-01] [ 8.93026342e-03 1.03669831e-04 9.99960119e-01 3.98232774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25925415399999 meters 0.014692829799075047 Centerline is valid? [True, True] Translation: X:95.89, Y:0.39, Z:0.40 [[ 9.99964741e-01 2.75859691e-03 -7.93144914e-03 9.58891904e+01] [-2.75913687e-03 9.99996192e-01 -5.71370821e-05 3.90309326e-01] [ 7.93126132e-03 7.90190213e-05 9.99968544e-01 3.98553355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.31925415399999 meters 0.014055681235213197 Centerline is valid? [True, True] Translation: X:95.95, Y:0.38, Z:0.40 [[ 9.99961697e-01 -3.36322770e-03 -8.08047149e-03 9.59478704e+01] [ 3.36286224e-03 9.99994344e-01 -5.88131137e-05 3.82131978e-01] [ 8.08062359e-03 3.16373485e-05 9.99967351e-01 3.97942481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.379254154 meters 0.014133407118068257 Centerline is valid? [True, True] Translation: X:96.01, Y:0.37, Z:0.40 [[ 9.99896407e-01 -1.19254281e-02 -8.05979373e-03 9.60064389e+01] [ 1.19253378e-02 9.99928889e-01 -5.92555986e-05 3.72515460e-01] [ 8.05992724e-03 -3.68663031e-05 9.99967518e-01 3.97360289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.439254154 meters 0.01512689307033471 Centerline is valid? [True, True] Translation: X:96.07, Y:0.36, Z:0.40 [[ 9.99742684e-01 -2.13782039e-02 -7.58533076e-03 9.60672912e+01] [ 2.13783937e-02 9.99771454e-01 -5.60706656e-05 3.60861240e-01] [ 7.58479586e-03 -1.06105949e-04 9.99971229e-01 3.97281096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49925415399998 meters 0.016535267295228796 Centerline is valid? [True, True] Translation: X:96.13, Y:0.35, Z:0.40 [[ 9.99612734e-01 -2.69039400e-02 -7.11050849e-03 9.61284948e+01] [ 2.69042475e-02 9.99638014e-01 -5.24147589e-05 3.52962810e-01] [ 7.10934475e-03 -1.38908420e-04 9.99974719e-01 3.96728801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55925415399999 meters 0.0177102638220907 Centerline is valid? [True, True] Translation: X:96.19, Y:0.35, Z:0.40 [[ 9.99442775e-01 -3.25492356e-02 -7.39503968e-03 9.61894609e+01] [ 3.25497249e-02 9.99470116e-01 -5.42111617e-05 3.45690337e-01] [ 7.39288569e-03 -1.86525553e-04 9.99972655e-01 3.96562651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61925415399999 meters 0.019427512391214718 Centerline is valid? [True, True] Translation: X:96.25, Y:0.34, Z:0.40 [[ 9.99314556e-01 -3.64557945e-02 -6.43378750e-03 9.62510323e+01] [ 3.64562469e-02 9.99335249e-01 -4.69857019e-05 3.39241333e-01] [ 6.43122353e-03 -1.87598250e-04 9.99979302e-01 3.96925319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67925415399999 meters 0.02056826337115242 Centerline is valid? [True, True] Translation: X:96.31, Y:0.33, Z:0.40 [[ 9.99176977e-01 -4.02400111e-02 -5.10982248e-03 9.63125901e+01] [ 4.02403471e-02 9.99190029e-01 -3.70908449e-05 3.34211381e-01] [ 5.10717620e-03 -1.68560712e-04 9.99986944e-01 3.96844636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.739254154 meters 0.02239301340318159 Centerline is valid? [True, True] Translation: X:96.37, Y:0.33, Z:0.40 [[ 9.98997382e-01 -4.44182709e-02 -5.59007143e-03 9.63740165e+01] [ 4.44187400e-02 9.99013000e-01 -4.02767370e-05 3.29778758e-01] [ 5.58634305e-03 -2.08067575e-04 9.99984375e-01 3.96279806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.799254154 meters 0.023968362452168785 Centerline is valid? [True, True] Translation: X:96.44, Y:0.33, Z:0.40 [[ 9.98900936e-01 -4.65266042e-02 -5.67405120e-03 9.64355499e+01] [ 4.65271227e-02 9.98917026e-01 -4.06546013e-05 3.26363262e-01] [ 5.66979787e-03 -2.23387357e-04 9.99983902e-01 3.96067050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.859254154 meters 0.023309523859603457 Centerline is valid? [True, True] Translation: X:96.50, Y:0.33, Z:0.40 [[ 9.98770899e-01 -4.91283859e-02 -6.56453331e-03 9.64977490e+01] [ 4.91291389e-02 9.98792434e-01 -4.66061002e-05 3.27498208e-01] [ 6.55889589e-03 -2.75961052e-04 9.99978452e-01 3.95189235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91925415399999 meters 0.024077337412463942 Centerline is valid? [True, True] Translation: X:96.56, Y:0.33, Z:0.39 [[ 9.98666346e-01 -5.11085003e-02 -7.31104060e-03 9.65599304e+01] [ 5.11094913e-02 9.98693055e-01 -5.13343657e-05 3.27403025e-01] [ 7.30410909e-03 -3.22397663e-04 9.99973273e-01 3.94638526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97925415399999 meters 0.025167486129433814 Centerline is valid? [True, True] Translation: X:96.62, Y:0.33, Z:0.39 [[ 9.98677332e-01 -5.07115080e-02 -8.48114789e-03 9.66212125e+01] [ 5.07128325e-02 9.98713275e-01 -5.89567718e-05 3.27845349e-01] [ 8.47322477e-03 -3.71224241e-04 9.99964033e-01 3.93935198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03925415399999 meters 0.02408024210775769 Centerline is valid? [True, True] Translation: X:96.68, Y:0.33, Z:0.39 [[ 9.98757448e-01 -4.91398252e-02 -8.29687632e-03 9.66838546e+01] [ 4.91410434e-02 9.98791847e-01 -5.70928448e-05 3.31238166e-01] [ 8.28965796e-03 -3.50695255e-04 9.99965579e-01 3.94437750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.099254154 meters 0.021186752440133023 Centerline is valid? [True, True] Translation: X:96.75, Y:0.34, Z:0.40 [[ 9.98956348e-01 -4.52681163e-02 -6.08379875e-03 9.67452174e+01] [ 4.52687017e-02 9.98974846e-01 -4.15105440e-05 3.38772529e-01] [ 6.07944103e-03 -2.33938450e-04 9.99981493e-01 3.96151805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.159254154 meters 0.020855657895911085 Centerline is valid? [True, True] Translation: X:96.80, Y:0.34, Z:0.40 [[ 9.99215313e-01 -3.92837457e-02 -5.05423917e-03 9.68047216e+01] [ 3.92840742e-02 9.99228082e-01 -3.43005979e-05 3.42466215e-01] [ 5.05168517e-03 -1.64277424e-04 9.99987227e-01 3.97172361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.219254154 meters 0.017514699604171746 Centerline is valid? [True, True] Translation: X:96.87, Y:0.35, Z:0.40 [[ 9.99484145e-01 -3.17426110e-02 -4.88374400e-03 9.68651710e+01] [ 3.17428292e-02 9.99496069e-01 -3.28314606e-05 3.52013433e-01] [ 4.88232509e-03 -1.22209328e-04 9.99988074e-01 3.97975933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27925415399999 meters 0.015657117648422293 Centerline is valid? [True, True] Translation: X:96.93, Y:0.36, Z:0.40 [[ 9.99693667e-01 -2.38987944e-02 -6.43581641e-03 9.69266748e+01] [ 2.38990117e-02 9.99714377e-01 -4.31531710e-05 3.58921794e-01] [ 6.43500950e-03 -1.10669700e-04 9.99979289e-01 3.97596264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33925415399999 meters 0.014720732338002588 Centerline is valid? [True, True] Translation: X:96.99, Y:0.36, Z:0.40 [[ 9.99793435e-01 -1.91008961e-02 -6.94570646e-03 9.69889860e+01] [ 1.91010366e-02 9.99817557e-01 -4.61237165e-05 3.62595018e-01] [ 6.94532027e-03 -8.65560039e-05 9.99975877e-01 3.97175140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39925415399999 meters 0.014054153754708334 Centerline is valid? [True, True] Translation: X:97.05, Y:0.37, Z:0.40 [[ 9.99879888e-01 -1.36135631e-02 -7.40814395e-03 9.70503547e+01] [ 1.36135756e-02 9.99907330e-01 -4.87395635e-05 3.66698592e-01] [ 7.40812096e-03 -5.21176183e-05 9.99972558e-01 3.97242665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.45925415399999 meters 0.013792909337548048 Centerline is valid? [True, True] Translation: X:97.11, Y:0.37, Z:0.40 [[ 9.99916642e-01 -1.01436474e-02 -7.98850492e-03 9.71109035e+01] [ 1.01435532e-02 9.99948551e-01 -5.23168229e-05 3.68630765e-01] [ 7.98862460e-03 -2.87193627e-05 9.99968090e-01 3.97569481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.519254154 meters 0.015262638657409976 Centerline is valid? [True, True] Translation: X:97.17, Y:0.37, Z:0.40 [[ 9.99940896e-01 -8.16405421e-03 -7.18007095e-03 9.71708631e+01] [ 8.16392682e-03 9.99966673e-01 -4.70510318e-05 3.69099510e-01] [ 7.18021579e-03 -1.15693229e-05 9.99974222e-01 3.97859242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.579254154 meters 0.013756777598826372 Centerline is valid? [True, True] Translation: X:97.23, Y:0.37, Z:0.40 [[ 9.99932183e-01 -9.22754319e-03 -7.10510552e-03 9.72305225e+01] [ 9.22744348e-03 9.99957425e-01 -4.68156062e-05 3.67997924e-01] [ 7.10523502e-03 -1.87495283e-05 9.99974757e-01 3.99733408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63925415399999 meters 0.013901540946801568 Centerline is valid? [True, True] Translation: X:97.29, Y:0.36, Z:0.40 [[ 9.99894396e-01 -1.26921459e-02 -7.07858717e-03 9.72914768e+01] [ 1.26921326e-02 9.99919451e-01 -4.68000611e-05 3.63312648e-01] [ 7.07861099e-03 -4.30472479e-05 9.99974945e-01 4.00031978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69925415399999 meters 0.014607585341573673 Centerline is valid? [True, True] Translation: X:97.35, Y:0.36, Z:0.40 [[ 9.99769642e-01 -1.98452448e-02 -8.17490254e-03 9.73520518e+01] [ 1.98454661e-02 9.99803058e-01 -5.40483474e-05 3.55228627e-01] [ 8.17436516e-03 -1.08198855e-04 9.99966583e-01 3.99271657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75925415399999 meters 0.017598084007289336 Centerline is valid? [True, True] Translation: X:97.41, Y:0.34, Z:0.40 [[ 9.99561645e-01 -2.82243967e-02 -8.93877555e-03 9.74122146e+01] [ 2.82249998e-02 9.99601594e-01 -5.87079973e-05 3.44525420e-01] [ 8.93687128e-03 -1.93614675e-04 9.99960047e-01 3.97401547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.81925415399999 meters 0.018293701798469 Centerline is valid? [True, True] Translation: X:97.47, Y:0.34, Z:0.40 [[ 9.99354541e-01 -3.48031584e-02 -8.90174614e-03 9.74736504e+01] [ 3.48040220e-02 9.99394155e-01 -5.79238222e-05 3.40039897e-01] [ 8.89836900e-03 -2.51930134e-04 9.99960377e-01 3.97640756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.879254154 meters 0.0203981722491922 Centerline is valid? [True, True] Translation: X:97.53, Y:0.33, Z:0.40 [[ 9.99253089e-01 -3.77539621e-02 -8.24023605e-03 9.75343658e+01] [ 3.77548076e-02 9.99287032e-01 -5.29893699e-05 3.34916296e-01] [ 8.23636159e-03 -2.58158735e-04 9.99966047e-01 3.97666952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.939254154 meters 0.02069935532592773 Centerline is valid? [True, True] Translation: X:97.60, Y:0.33, Z:0.40 [[ 9.99165234e-01 -4.01082355e-02 -7.75661921e-03 9.75967438e+01] [ 4.01090614e-02 9.99195307e-01 -4.91175363e-05 3.33940948e-01] [ 7.75234753e-03 -2.62034182e-04 9.99969916e-01 3.98190405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99925415399998 meters 0.020670540911939105 Centerline is valid? [True, True] Translation: X:97.66, Y:0.33, Z:0.40 [[ 9.99084736e-01 -4.21084185e-02 -7.52135340e-03 9.76583385e+01] [ 4.21092553e-02 9.99113011e-01 -4.71477699e-05 3.34279293e-01] [ 7.51666736e-03 -2.69613973e-04 9.99971713e-01 3.98196275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05925415399999 meters 0.02165674292355889 Centerline is valid? [True, True] Translation: X:97.72, Y:0.33, Z:0.40 [[ 9.99027905e-01 -4.34078333e-02 -7.68149932e-03 9.77206125e+01] [ 4.34087481e-02 9.99057395e-01 -4.76636778e-05 3.33148694e-01] [ 7.67632767e-03 -2.85826925e-04 9.99970496e-01 3.97598155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11925415399999 meters 0.02257834375131126 Centerline is valid? [True, True] Translation: X:97.78, Y:0.33, Z:0.40 [[ 9.98903481e-01 -4.60620786e-02 -8.37380143e-03 9.77827586e+01] [ 4.60632643e-02 9.98938523e-01 -5.13186395e-05 3.32490745e-01] [ 8.36727667e-03 -3.34462260e-04 9.99964938e-01 3.96953301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.17925415399999 meters 0.022995431640391032 Centerline is valid? [True, True] Translation: X:97.84, Y:0.33, Z:0.40 [[ 9.98719011e-01 -4.96098890e-02 -9.95970111e-03 9.78443529e+01] [ 4.96117483e-02 9.98768577e-01 -6.04494899e-05 3.34398777e-01] [ 9.95043540e-03 -4.33746130e-04 9.99950399e-01 3.96366678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.239254154 meters 0.024361066858081194 Centerline is valid? [True, True] Translation: X:97.91, Y:0.34, Z:0.40 [[ 9.98604919e-01 -5.17544443e-02 -1.04734710e-02 9.79065356e+01] [ 5.17566245e-02 9.98659726e-01 -6.29516321e-05 3.35701763e-01] [ 1.04626917e-02 -4.79207696e-04 9.99945150e-01 3.97091006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.299254154 meters 0.026710535558743136 Centerline is valid? [True, True] Translation: X:97.97, Y:0.34, Z:0.40 [[ 9.98632913e-01 -5.14373050e-02 -9.30098075e-03 9.79679424e+01] [ 5.14390158e-02 9.98676136e-01 -5.53522281e-05 3.37904268e-01] [ 9.29151468e-03 -4.23156739e-04 9.99956743e-01 3.97929700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.359254154 meters 0.024979172667555373 Centerline is valid? [True, True] Translation: X:98.03, Y:0.35, Z:0.40 [[ 9.98684838e-01 -5.05435928e-02 -8.59884585e-03 9.80303032e+01] [ 5.05450265e-02 9.98721782e-01 -5.06504290e-05 3.45583679e-01] [ 8.59041471e-03 -3.84045076e-04 9.99963028e-01 3.98840363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41925415399999 meters 0.023448665372158513 Centerline is valid? [True, True] Translation: X:98.09, Y:0.35, Z:0.40 [[ 9.98703121e-01 -5.02011099e-02 -8.48089728e-03 9.80921957e+01] [ 5.02024973e-02 9.98739058e-01 -4.93407176e-05 3.52146488e-01] [ 8.47268033e-03 -3.76485495e-04 9.99964035e-01 3.99177231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47925415399999 meters 0.02502631851106055 Centerline is valid? [True, True] Translation: X:98.15, Y:0.36, Z:0.40 [[ 9.98614846e-01 -5.16912033e-02 -9.81883241e-03 9.81530814e+01] [ 5.16931454e-02 9.98663014e-01 -5.60668833e-05 3.55718641e-01] [ 9.80860293e-03 -4.51577109e-04 9.99951793e-01 3.98911479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53925415399999 meters 0.027678148943568397 Centerline is valid? [True, True] Translation: X:98.21, Y:0.36, Z:0.40 [[ 9.98435203e-01 -5.48535988e-02 -1.08732775e-02 9.82143075e+01] [ 5.48561766e-02 9.98494264e-01 -6.12431367e-05 3.58037971e-01] [ 1.08602647e-02 -5.35319130e-04 9.99940882e-01 3.97750117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.599254154 meters 0.029904510529634266 Centerline is valid? [True, True] Translation: X:98.27, Y:0.36, Z:0.40 [[ 9.98191745e-01 -5.91526116e-02 -1.06868486e-02 9.82748772e+01] [ 5.91553503e-02 9.98248787e-01 -5.99286632e-05 3.59109020e-01] [ 1.06716786e-02 -5.72363976e-04 9.99942892e-01 3.99462280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.659254154 meters 0.030979887549879 Centerline is valid? [True, True] Translation: X:98.34, Y:0.36, Z:0.40 [[ 9.98133661e-01 -6.01320181e-02 -1.06459025e-02 9.83373186e+01] [ 6.01347969e-02 9.98190264e-01 -5.91821197e-05 3.63492252e-01] [ 1.06301950e-02 -5.81117518e-04 9.99943329e-01 4.00318363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.719254154 meters 0.032621783219446934 Centerline is valid? [True, True] Translation: X:98.40, Y:0.37, Z:0.40 [[ 9.98190749e-01 -5.91540990e-02 -1.07713350e-02 9.83984318e+01] [ 5.91568939e-02 9.98248696e-01 -5.92321616e-05 3.65778351e-01] [ 1.07559750e-02 -5.78073726e-04 9.99941986e-01 4.00860853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77925415399999 meters 0.03138969289028489 Centerline is valid? [True, True] Translation: X:98.46, Y:0.37, Z:0.40 [[ 9.98337982e-01 -5.67422077e-02 -1.00794326e-02 9.84595414e+01] [ 5.67445366e-02 9.98388729e-01 -5.50167063e-05 3.74546418e-01] [ 1.00663137e-02 -5.17027463e-04 9.99949200e-01 4.02797433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83925415399999 meters 0.03058906590132554 Centerline is valid? [True, True] Translation: X:98.52, Y:0.38, Z:0.40 [[ 9.98583139e-01 -5.24162857e-02 -9.17860180e-03 9.85196606e+01] [ 5.24180357e-02 9.98625229e-01 -4.99617313e-05 3.82116074e-01] [ 9.16860212e-03 -4.31233334e-04 9.99957874e-01 4.04108250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89925415399999 meters 0.023695453788420303 Centerline is valid? [True, True] Translation: X:98.58, Y:0.40, Z:0.40 [[ 9.98809537e-01 -4.78785932e-02 -9.33540043e-03 9.85800277e+01] [ 4.78802058e-02 9.98853084e-01 -5.08152307e-05 3.96748491e-01] [ 9.32712647e-03 -3.96226156e-04 9.99956423e-01 4.04784945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.95925415399999 meters 0.022484671061552698 Centerline is valid? [True, True] Translation: X:98.64, Y:0.40, Z:0.41 [[ 9.99050355e-01 -4.25983221e-02 -9.15263994e-03 9.86396960e+01] [ 4.25996508e-02 9.99092222e-01 -4.98204135e-05 4.04979320e-01] [ 9.14645364e-03 -3.40126164e-04 9.99958112e-01 4.05371563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.019254154 meters 0.021003058005004217 Centerline is valid? [True, True] Translation: X:98.70, Y:0.41, Z:0.40 [[ 9.99217416e-01 -3.83048132e-02 -9.86390328e-03 9.87017410e+01] [ 3.83061504e-02 9.99266049e-01 -5.33960673e-05 4.11655715e-01] [ 9.85870898e-03 -3.24493883e-04 9.99951349e-01 4.04739956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.079254154 meters 0.02042647790077338 Centerline is valid? [True, True] Translation: X:98.76, Y:0.42, Z:0.40 [[ 9.99344387e-01 -3.47713437e-02 -1.00870857e-02 9.87627079e+01] [ 3.47725668e-02 9.99395250e-01 -5.41585269e-05 4.15320925e-01] [ 1.00828687e-02 -2.96630841e-04 9.99949123e-01 4.03235316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13925415399999 meters 0.01858790894383117 Centerline is valid? [True, True] Translation: X:98.82, Y:0.42, Z:0.40 [[ 9.99474220e-01 -3.08317708e-02 -1.00341732e-02 9.88244073e+01] [ 3.08327873e-02 9.99524555e-01 -5.34106934e-05 4.21905323e-01] [ 1.00310493e-02 -2.55998917e-04 9.99949655e-01 4.03350149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19925415399999 meters 0.01823745017010452 Centerline is valid? [True, True] Translation: X:98.89, Y:0.42, Z:0.40 [[ 9.99551490e-01 -2.81393444e-02 -1.02467175e-02 9.88863731e+01] [ 2.81402699e-02 9.99603983e-01 -5.38768835e-05 4.24165744e-01] [ 1.02441757e-02 -2.34492677e-04 9.99947500e-01 4.03281677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25925415399999 meters 0.016954212443680967 Centerline is valid? [True, True] Translation: X:98.95, Y:0.43, Z:0.40 [[ 9.99643412e-01 -2.48488432e-02 -9.77669508e-03 9.89482841e+01] [ 2.48495352e-02 9.99691201e-01 -5.07070417e-05 4.28553237e-01] [ 9.77493607e-03 -1.92257368e-04 9.99952206e-01 4.04186255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.31925415399999 meters 0.015980240112768607 Centerline is valid? [True, True] Translation: X:99.01, Y:0.43, Z:0.40 [[ 9.99712294e-01 -2.20240282e-02 -9.50116899e-03 9.90110083e+01] [ 2.20245617e-02 9.99757429e-01 -4.84840592e-05 4.30394054e-01] [ 9.49993209e-03 -1.60788973e-04 9.99954862e-01 4.04123608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.379254154 meters 0.01595507259565005 Centerline is valid? [True, True] Translation: X:99.07, Y:0.43, Z:0.40 [[ 9.99749939e-01 -2.02855218e-02 -9.41044217e-03 9.90737213e+01] [ 2.02859765e-02 9.99794217e-01 -4.71480723e-05 4.30910494e-01] [ 9.40946209e-03 -1.43763726e-04 9.99955720e-01 4.03587511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.439254154 meters 0.016241539275472453 Centerline is valid? [True, True] Translation: X:99.13, Y:0.43, Z:0.40 [[ 9.99755576e-01 -1.97891138e-02 -9.85796614e-03 9.91346124e+01] [ 1.97895957e-02 9.99804166e-01 -4.86643778e-05 4.29652423e-01] [ 9.85699864e-03 -1.46432682e-04 9.99951408e-01 4.02241894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49925415399998 meters 0.016033409284396106 Centerline is valid? [True, True] Translation: X:99.20, Y:0.43, Z:0.40 [[ 9.99751617e-01 -1.99527746e-02 -9.92928181e-03 9.91963231e+01] [ 1.99532780e-02 9.99800912e-01 -4.83694669e-05 4.30166178e-01] [ 9.92827012e-03 -1.49764268e-04 9.99950702e-01 4.02263917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55925415399999 meters 0.01806611686809881 Centerline is valid? [True, True] Translation: X:99.26, Y:0.42, Z:0.40 [[ 9.99732422e-01 -2.11388638e-02 -9.39328559e-03 9.92578951e+01] [ 2.11393721e-02 9.99776537e-01 -4.51833005e-05 4.24442414e-01] [ 9.39214167e-03 -1.53396949e-04 9.99955881e-01 4.01217456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61925415399999 meters 0.017045401817683225 Centerline is valid? [True, True] Translation: X:99.32, Y:0.42, Z:0.40 [[ 9.99672429e-01 -2.45559852e-02 -7.21380270e-03 9.93196434e+01] [ 2.45563763e-02 9.99698446e-01 -3.43642492e-05 4.24805292e-01] [ 7.21247120e-03 -1.42791861e-04 9.99973980e-01 4.03337042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.67925415399999 meters 0.018034200486653173 Centerline is valid? [True, True] Translation: X:99.38, Y:0.42, Z:0.40 [[ 9.99600980e-01 -2.76304311e-02 -5.86855578e-03 9.93821058e+01] [ 2.76307447e-02 9.99618198e-01 -2.76577214e-05 4.21172889e-01] [ 5.86707935e-03 -1.34505881e-04 9.99982779e-01 4.03963493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.739254154 meters 0.019749402622406403 Centerline is valid? [True, True] Translation: X:99.44, Y:0.42, Z:0.40 [[ 9.99479310e-01 -3.17498829e-02 -5.74917077e-03 9.94439787e+01] [ 3.17502541e-02 9.99495833e-01 -2.67175915e-05 4.16367587e-01] [ 5.74712051e-03 -1.55833953e-04 9.99983473e-01 4.03569932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.799254154 meters 0.021055319153683083 Centerline is valid? [True, True] Translation: X:99.51, Y:0.41, Z:0.40 [[ 9.99402244e-01 -3.41151885e-02 -5.59536081e-03 9.95057574e+01] [ 3.41155788e-02 9.99417894e-01 -2.57145931e-05 4.12908623e-01] [ 5.59298098e-03 -1.65189750e-04 9.99984346e-01 4.03182131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.859254154 meters 0.02023190712436969 Centerline is valid? [True, True] Translation: X:99.57, Y:0.41, Z:0.40 [[ 9.99337435e-01 -3.59035878e-02 -5.96846472e-03 9.95674559e+01] [ 3.59040656e-02 9.99355241e-01 -2.70995978e-05 4.12963184e-01] [ 5.96558947e-03 -1.87210506e-04 9.99982188e-01 4.02637384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91925415399999 meters 0.02282381487765939 Centerline is valid? [True, True] Translation: X:99.63, Y:0.41, Z:0.40 [[ 9.99340834e-01 -3.57120322e-02 -6.52294068e-03 9.96298836e+01] [ 3.57126019e-02 9.99362101e-01 -2.91660768e-05 4.06442254e-01] [ 6.51982129e-03 -2.03804332e-04 9.99978725e-01 4.01010895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97925415399999 meters 0.01970789621518082 Centerline is valid? [True, True] Translation: X:99.69, Y:0.41, Z:0.40 [[ 9.99415639e-01 -3.35885511e-02 -6.33950514e-03 9.96924812e+01] [ 3.35890499e-02 9.99435728e-01 -2.77887499e-05 4.11594622e-01] [ 6.33686132e-03 -1.85165443e-04 9.99979905e-01 4.01714146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03925415399999 meters 0.01823142475859297 Centerline is valid? [True, True] Translation: X:99.75, Y:0.42, Z:0.40 [[ 9.99572196e-01 -2.87605688e-02 -5.31546512e-03 9.97537834e+01] [ 2.87608532e-02 9.99586321e-01 -2.29346682e-05 4.16374577e-01] [ 5.31392584e-03 -1.29952455e-04 9.99985873e-01 4.03146649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.099254154 meters 0.017274726360650534 Centerline is valid? [True, True] Translation: X:99.82, Y:0.42, Z:0.40 [[ 9.99683424e-01 -2.46329862e-02 -5.12528657e-03 9.98156931e+01] [ 2.46331974e-02 9.99696557e-01 -2.19214179e-05 4.20126206e-01] [ 5.12427133e-03 -1.04337718e-04 9.99986865e-01 4.02757902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.159254154 meters 0.01691081476970834 Centerline is valid? [True, True] Translation: X:99.88, Y:0.42, Z:0.40 [[ 9.99716552e-01 -2.32359610e-02 -5.18716604e-03 9.98777353e+01] [ 2.32361601e-02 9.99730004e-01 -2.18881272e-05 4.20079425e-01] [ 5.18627412e-03 -9.86478977e-05 9.99986546e-01 4.01726514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.219254154 meters 0.016826159891252912 Centerline is valid? [True, True] Translation: X:99.94, Y:0.42, Z:0.40 [[ 9.99684326e-01 -2.40667948e-02 -7.21374048e-03 9.99400869e+01] [ 2.40672061e-02 9.99710342e-01 -2.97967340e-05 4.20568082e-01] [ 7.21236808e-03 -1.43827251e-04 9.99973980e-01 3.99985640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27925415399999 meters 0.017013763603471333 Centerline is valid? [True, True] Translation: X:100.00, Y:0.42, Z:0.40 [[ 9.99640708e-01 -2.55536388e-02 -8.09110649e-03 1.00001730e+02] [ 2.55542095e-02 9.99673437e-01 -3.28566346e-05 4.21447823e-01] [ 8.08930384e-03 -1.73917001e-04 9.99967266e-01 3.99297448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33925415399999 meters 0.018349822106735424 Centerline is valid? [True, True] Translation: X:100.06, Y:0.42, Z:0.40 [[ 9.99572181e-01 -2.80760065e-02 -8.19708298e-03 1.00062775e+02] [ 2.80766807e-02 9.99605772e-01 -3.28317070e-05 4.18167100e-01] [ 8.19477324e-03 -1.97329221e-04 9.99966403e-01 3.98785089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39925415399999 meters 0.018333879304251365 Centerline is valid? [True, True] Translation: X:100.13, Y:0.42, Z:0.40 [[ 9.99522691e-01 -3.01165588e-02 -6.88349715e-03 1.00125040e+02] [ 3.01170852e-02 9.99546377e-01 -2.71878649e-05 4.19264513e-01] [ 6.88119345e-03 -1.80135982e-04 9.99976308e-01 4.00473702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.45925415399999 meters 0.018677144400288 Centerline is valid? [True, True] Translation: X:100.19, Y:0.42, Z:0.40 [[ 9.99539176e-01 -2.99988506e-02 -4.63734613e-03 1.00186859e+02] [ 2.99990893e-02 9.99549926e-01 -1.80832417e-05 4.21040799e-01] [ 4.63580146e-03 -1.21041252e-04 9.99989247e-01 4.02400875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.519254154 meters 0.01849057683861297 Centerline is valid? [True, True] Translation: X:100.25, Y:0.42, Z:0.40 [[ 9.99601349e-01 -2.80921106e-02 -2.82434189e-03 1.00248356e+02] [ 2.80921919e-02 9.99605336e-01 -1.09041831e-05 4.22956975e-01] [ 2.82353355e-03 -6.84421181e-05 9.99996011e-01 4.04337568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.579254154 meters 0.017091592620602506 Centerline is valid? [True, True] Translation: X:100.31, Y:0.43, Z:0.41 [[ 9.99623385e-01 -2.73829429e-02 -1.80647115e-03 1.00310308e+02] [ 2.73829749e-02 9.99625016e-01 -7.01898265e-06 4.26500992e-01] [ 1.80598596e-03 -4.24502150e-05 9.99998368e-01 4.05114428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63925415399999 meters 0.017355795768323096 Centerline is valid? [True, True] Translation: X:100.37, Y:0.43, Z:0.40 [[ 9.99607403e-01 -2.79042622e-02 -2.52830060e-03 1.00372326e+02] [ 2.79043274e-02 9.99610598e-01 -9.49954195e-06 4.26368811e-01] [ 2.52758116e-03 -6.10547153e-05 9.99996804e-01 4.04973328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69925415399999 meters 0.01850920315165556 Centerline is valid? [True, True] Translation: X:100.43, Y:0.42, Z:0.40 [[ 9.99518151e-01 -3.06120181e-02 -5.13515295e-03 1.00434653e+02] [ 3.06123263e-02 9.99531333e-01 -1.85788677e-05 4.22555711e-01] [ 5.13331501e-03 -1.38629062e-04 9.99986815e-01 4.03185332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75925415399999 meters 0.019239573392647247 Centerline is valid? [True, True] Translation: X:100.50, Y:0.42, Z:0.40 [[ 9.99443584e-01 -3.24822003e-02 -7.57825828e-03 1.00496793e+02] [ 3.24829307e-02 9.99472290e-01 -2.67140001e-05 4.19931951e-01] [ 7.57512689e-03 -2.19464903e-04 9.99971284e-01 4.01184391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.81925415399999 meters 0.019351146025307603 Centerline is valid? [True, True] Translation: X:100.56, Y:0.42, Z:0.40 [[ 9.99452704e-01 -3.18793427e-02 -8.83180320e-03 1.00557601e+02] [ 3.18803166e-02 9.99491693e-01 -3.05239433e-05 4.19893864e-01] [ 8.82828702e-03 -2.51053445e-04 9.99960998e-01 4.01521988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.879254154 meters 0.017506902314286348 Centerline is valid? [True, True] Translation: X:100.62, Y:0.42, Z:0.40 [[ 9.99508987e-01 -3.01600415e-02 -8.49457241e-03 1.00620248e+02] [ 3.01608856e-02 9.99545057e-01 -2.87502515e-05 4.23728498e-01] [ 8.49157497e-03 -2.27467692e-04 9.99963920e-01 4.02702325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.939254154 meters 0.016954684668652315 Centerline is valid? [True, True] Translation: X:100.68, Y:0.43, Z:0.40 [[ 9.99595219e-01 -2.73317961e-02 -7.89758323e-03 1.00682090e+02] [ 2.73324425e-02 9.99626399e-01 -2.60892433e-05 4.25445625e-01] [ 7.89534575e-03 -1.89781557e-04 9.99968813e-01 4.04034906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99925415399998 meters 0.016553823540731243 Centerline is valid? [True, True] Translation: X:100.74, Y:0.43, Z:0.40 [[ 9.99666057e-01 -2.45863710e-02 -7.95522365e-03 1.00744541e+02] [ 2.45869447e-02 9.99697695e-01 -2.56873761e-05 4.28137206e-01] [ 7.95345031e-03 -1.69915846e-04 9.99968356e-01 4.04652310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05925415399999 meters 0.016348621829903168 Centerline is valid? [True, True] Translation: X:100.81, Y:0.43, Z:0.40 [[ 9.99699640e-01 -2.29219756e-02 -8.67255778e-03 1.00806941e+02] [ 2.29226006e-02 9.99737242e-01 -2.73319575e-05 4.29845992e-01] [ 8.67090550e-03 -1.71473830e-04 9.99962392e-01 4.04832113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11925415399999 meters 0.01683017827689827 Centerline is valid? [True, True] Translation: X:100.87, Y:0.43, Z:0.40 [[ 9.99680907e-01 -2.33187155e-02 -9.71189114e-03 1.00868379e+02] [ 2.33195245e-02 9.99728062e-01 -2.99537640e-05 4.28834670e-01] [ 9.70994859e-03 -1.96532477e-04 9.99952838e-01 4.04843370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.17925415399999 meters 0.01741396587548822 Centerline is valid? [True, True] Translation: X:100.93, Y:0.43, Z:0.40 [[ 9.99647440e-01 -2.45201667e-02 -1.01861615e-02 1.00930128e+02] [ 2.45211247e-02 9.99699312e-01 -3.08542346e-05 4.27076560e-01] [ 1.01838551e-02 -2.18932778e-04 9.99948119e-01 4.04583920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.239254154 meters 0.01811061192725786 Centerline is valid? [True, True] Translation: X:100.99, Y:0.42, Z:0.40 [[ 9.99588473e-01 -2.68864289e-02 -1.00002127e-02 1.00992436e+02] [ 2.68874768e-02 9.99638466e-01 -2.96618982e-05 4.22606018e-01] [ 9.99739475e-03 -2.39230794e-04 9.99949996e-01 4.04962503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.299254154 meters 0.018977048698800385 Centerline is valid? [True, True] Translation: X:101.05, Y:0.42, Z:0.41 [[ 9.99568403e-01 -2.76818903e-02 -9.83467499e-03 1.01054136e+02] [ 2.76829481e-02 9.99616753e-01 -2.85782309e-05 4.19559241e-01] [ 9.83169698e-03 -2.43686901e-04 9.99951638e-01 4.05666330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35925415399998 meters 0.018309732132377313 Centerline is valid? [True, True] Translation: X:101.12, Y:0.42, Z:0.41 [[ 9.99596594e-01 -2.64545195e-02 -1.03348253e-02 1.01115897e+02] [ 2.64556290e-02 9.99649988e-01 -2.93658101e-05 4.20728472e-01] [ 1.03319849e-02 -2.44060341e-04 9.99946594e-01 4.06057630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41925415399999 meters 0.01803411194000386 Centerline is valid? [True, True] Translation: X:101.18, Y:0.42, Z:0.41 [[ 9.99633131e-01 -2.49615812e-02 -1.05129903e-02 1.01178074e+02] [ 2.49626547e-02 9.99688384e-01 -2.91155014e-05 4.20984352e-01] [ 1.05104411e-02 -2.33327328e-04 9.99944737e-01 4.06113250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47925415399999 meters 0.017627668011102514 Centerline is valid? [True, True] Translation: X:101.24, Y:0.42, Z:0.41 [[ 9.99687986e-01 -2.25020947e-02 -1.08437042e-02 1.01239132e+02] [ 2.25030995e-02 9.99746773e-01 -2.93648925e-05 4.20433413e-01] [ 1.08416191e-02 -2.14661225e-04 9.99941205e-01 4.05819642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53925415399999 meters 0.016910456334410337 Centerline is valid? [True, True] Translation: X:101.30, Y:0.42, Z:0.41 [[ 9.99742855e-01 -1.95511453e-02 -1.14880692e-02 1.01301012e+02] [ 1.95520853e-02 9.99808839e-01 -3.04942166e-05 4.21783577e-01] [ 1.14864693e-02 -1.94129334e-04 9.99934009e-01 4.06174421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.599254154 meters 0.01590991575909973 Centerline is valid? [True, True] Translation: X:101.36, Y:0.43, Z:0.41 [[ 9.99837857e-01 -1.36409829e-02 -1.17551578e-02 1.01361952e+02] [ 1.36415644e-02 9.99906949e-01 -3.07164379e-05 4.25327476e-01] [ 1.17544829e-02 -1.29647284e-04 9.99930905e-01 4.05442976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.659254154 meters 0.015032665046329401 Centerline is valid? [True, True] Translation: X:101.42, Y:0.43, Z:0.41 [[ 9.99882313e-01 -8.42632772e-03 -1.28202132e-02 1.01421142e+02] [ 8.42659108e-03 9.99964495e-01 -3.34751839e-05 4.28134344e-01] [ 1.28200401e-02 -7.45594501e-05 9.99917817e-01 4.05312648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.719254154 meters 0.014713007744171138 Centerline is valid? [True, True] Translation: X:101.48, Y:0.43, Z:0.41 [[ 9.99884186e-01 -6.73832054e-03 -1.36458530e-02 1.01478957e+02] [ 6.73842362e-03 9.99977296e-01 -3.84241787e-05 4.29119276e-01] [ 1.36458021e-02 -5.35318098e-05 9.99906890e-01 4.07257924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77925415399999 meters 0.014662864465097129 Centerline is valid? [True, True] Translation: X:101.54, Y:0.43, Z:0.41 [[ 9.99881411e-01 -7.31933893e-03 -1.35495934e-02 1.01536920e+02] [ 7.31944024e-03 9.99973212e-01 -4.21133426e-05 4.28371499e-01] [ 1.35495386e-02 -5.70670905e-05 9.99908199e-01 4.07343998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83925415399999 meters 0.014816941013615467 Centerline is valid? [True, True] Translation: X:101.60, Y:0.42, Z:0.41 [[ 9.99855878e-01 -1.04131307e-02 -1.34085462e-02 1.01595535e+02] [ 1.04134822e-02 9.99945777e-01 -4.36015962e-05 4.24489003e-01] [ 1.34082732e-02 -9.60343454e-05 9.99910100e-01 4.07869572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89925415399999 meters 0.014977186937568573 Centerline is valid? [True, True] Translation: X:101.65, Y:0.42, Z:0.41 [[ 9.99802509e-01 -1.42058109e-02 -1.38974268e-02 1.01654543e+02] [ 1.42065408e-02 9.99899081e-01 -4.62020396e-05 4.19883227e-01] [ 1.38966806e-02 -1.51241445e-04 9.99903425e-01 4.07806641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.95925415399999 meters 0.01725631794118359 Centerline is valid? [True, True] Translation: X:101.71, Y:0.41, Z:0.41 [[ 9.99604248e-01 -2.36902384e-02 -1.51697285e-02 1.01714808e+02] [ 2.36921916e-02 9.99719299e-01 -5.09677787e-05 4.08801430e-01] [ 1.51666778e-02 -3.08456506e-04 9.99884932e-01 4.06636193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.019254154 meters 0.01766359950992018 Centerline is valid? [True, True] Translation: X:101.78, Y:0.41, Z:0.41 [[ 9.99513527e-01 -2.72465162e-02 -1.51768705e-02 1.01775158e+02] [ 2.72488798e-02 9.99628679e-01 -5.10701822e-05 4.05047254e-01] [ 1.51726265e-02 -3.62507384e-04 9.99884823e-01 4.07504812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.079254154 meters 0.018595325422876573 Centerline is valid? [True, True] Translation: X:101.84, Y:0.40, Z:0.41 [[ 9.99481630e-01 -2.90802490e-02 -1.38133915e-02 1.01836947e+02] [ 2.90823865e-02 9.99577017e-01 -4.61470018e-05 4.00798096e-01] [ 1.38088907e-02 -3.55603311e-04 9.99904589e-01 4.09238605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13925415399999 meters 0.01757965667730282 Centerline is valid? [True, True] Translation: X:101.90, Y:0.40, Z:0.41 [[ 9.99549789e-01 -2.72086014e-02 -1.26456081e-02 1.01898499e+02] [ 2.72102487e-02 9.99629732e-01 -4.18015925e-05 4.00612861e-01] [ 1.26420632e-02 -3.02307369e-04 9.99920040e-01 4.10355238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19925415399999 meters 0.01727816929781982 Centerline is valid? [True, True] Translation: X:101.96, Y:0.40, Z:0.41 [[ 9.99650150e-01 -2.36683022e-02 -1.18063061e-02 1.01959077e+02] [ 2.36694999e-02 9.99719837e-01 -3.82967062e-05 3.98858035e-01] [ 1.18039049e-02 -2.41166054e-04 9.99930302e-01 4.10098838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25925415399999 meters 0.016636810577968262 Centerline is valid? [True, True] Translation: X:102.02, Y:0.40, Z:0.41 [[ 9.99686450e-01 -2.20251683e-02 -1.19119134e-02 1.02020965e+02] [ 2.20262798e-02 9.99757391e-01 -3.78906714e-05 3.98945888e-01] [ 1.19098580e-02 -2.24496346e-04 9.99929050e-01 4.10290902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.31925415399999 meters 0.01664176979543055 Centerline is valid? [True, True] Translation: X:102.08, Y:0.40, Z:0.41 [[ 9.99697751e-01 -2.08025981e-02 -1.31018808e-02 1.02081727e+02] [ 2.08038432e-02 9.99783576e-01 -4.12653395e-05 3.97045960e-01] [ 1.30999037e-02 -2.31316607e-04 9.99914166e-01 4.09741224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.379254154 meters 0.018622720659990443 Centerline is valid? [True, True] Translation: X:102.14, Y:0.39, Z:0.41 [[ 9.99673454e-01 -2.06989194e-02 -1.49846654e-02 1.02141863e+02] [ 2.07005378e-02 9.99785720e-01 -4.71071290e-05 3.94695941e-01] [ 1.49824295e-02 -2.63098886e-04 9.99887722e-01 4.06767944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.439254154 meters 0.016801818390117074 Centerline is valid? [True, True] Translation: X:102.20, Y:0.39, Z:0.41 [[ 9.99628914e-01 -2.23832726e-02 -1.55249087e-02 1.02201555e+02] [ 2.23852098e-02 9.99749419e-01 -4.90049131e-05 3.90266927e-01] [ 1.55221153e-02 -2.98541610e-04 9.99879480e-01 4.07608138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49925415399998 meters 0.016503909929684344 Centerline is valid? [True, True] Translation: X:102.26, Y:0.39, Z:0.41 [[ 9.99637553e-01 -2.28353236e-02 -1.42586769e-02 1.02261576e+02] [ 2.28369974e-02 9.99739201e-01 -4.54393035e-05 3.88429560e-01] [ 1.42559959e-02 -2.80202534e-04 9.99898339e-01 4.09254459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55925415399999 meters 0.016322731148056192 Centerline is valid? [True, True] Translation: X:102.32, Y:0.39, Z:0.41 [[ 9.99678658e-01 -2.20769362e-02 -1.24574765e-02 1.02322592e+02] [ 2.20781551e-02 9.99756247e-01 -3.96915804e-05 3.87917824e-01] [ 1.24553162e-02 -2.35359272e-04 9.99922402e-01 4.11110877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61925415399999 meters 0.016249989349134304 Centerline is valid? [True, True] Translation: X:102.38, Y:0.39, Z:0.41 [[ 9.99711491e-01 -2.12864627e-02 -1.11275275e-02 1.02383618e+02] [ 2.12873883e-02 9.99773397e-01 -3.52607662e-05 3.85868838e-01] [ 1.11257565e-02 -2.01625406e-04 9.99938087e-01 4.12561010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.67925415399999 meters 0.016383413092210728 Centerline is valid? [True, True] Translation: X:102.45, Y:0.38, Z:0.41 [[ 9.99682351e-01 -2.28158870e-02 -1.07066250e-02 1.02445351e+02] [ 2.28168350e-02 9.99739662e-01 -3.36204355e-05 3.83281033e-01] [ 1.07046047e-02 -2.10681540e-04 9.99942682e-01 4.13053091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.739254154 meters 0.01691494639147341 Centerline is valid? [True, True] Translation: X:102.51, Y:0.38, Z:0.41 [[ 9.99605004e-01 -2.58951080e-02 -1.09215527e-02 1.02506996e+02] [ 2.58962838e-02 9.99664634e-01 -3.37695559e-05 3.77749807e-01] [ 1.09187644e-02 -2.49071410e-04 9.99940357e-01 4.12441845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.799254154 meters 0.017680994459743773 Centerline is valid? [True, True] Translation: X:102.57, Y:0.37, Z:0.41 [[ 9.99546423e-01 -2.81682156e-02 -1.06536104e-02 1.02569331e+02] [ 2.81694709e-02 9.99603161e-01 -3.22436081e-05 3.74166807e-01] [ 1.06502909e-02 -2.67877586e-04 9.99943248e-01 4.12603666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85925415399998 meters 0.018799584564501405 Centerline is valid? [True, True] Translation: X:102.63, Y:0.37, Z:0.41 [[ 9.99476351e-01 -3.03145340e-02 -1.13160639e-02 1.02630216e+02] [ 3.03160999e-02 9.99540361e-01 -3.31712724e-05 3.69464307e-01] [ 1.13118682e-02 -3.09905022e-04 9.99935971e-01 4.12100016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91925415399999 meters 0.018309226394128818 Centerline is valid? [True, True] Translation: X:102.69, Y:0.37, Z:0.41 [[ 9.99476338e-01 -3.00485324e-02 -1.20056852e-02 1.02692800e+02] [ 3.00502884e-02 9.99548388e-01 -3.41425555e-05 3.68554782e-01] [ 1.20012892e-02 -3.26649627e-04 9.99927929e-01 4.12236241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97925415399999 meters 0.01839084302855731 Centerline is valid? [True, True] Translation: X:102.75, Y:0.37, Z:0.41 [[ 9.99537403e-01 -2.78943050e-02 -1.21197557e-02 1.02754170e+02] [ 2.78959453e-02 9.99610832e-01 -3.37276282e-05 3.67459225e-01] [ 1.21159799e-02 -3.04380015e-04 9.99926552e-01 4.12378184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03925415399999 meters 0.01611178332779622 Centerline is valid? [True, True] Translation: X:102.82, Y:0.37, Z:0.41 [[ 9.99680276e-01 -2.26256609e-02 -1.12882921e-02 1.02815693e+02] [ 2.26267534e-02 9.99743982e-01 -3.09364927e-05 3.72194640e-01] [ 1.12861020e-02 -2.24490800e-04 9.99936285e-01 4.13688282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.099254154 meters 0.015301335453908115 Centerline is valid? [True, True] Translation: X:102.88, Y:0.38, Z:0.41 [[ 9.99796587e-01 -1.67492992e-02 -1.12358955e-02 1.02876138e+02] [ 1.67500139e-02 9.99859708e-01 -3.05051384e-05 3.75552212e-01] [ 1.12348302e-02 -1.57702473e-04 9.99936875e-01 4.14318345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.159254154 meters 0.0156732622671991 Centerline is valid? [True, True] Translation: X:102.94, Y:0.38, Z:0.41 [[ 9.99908030e-01 -7.42267889e-03 -1.13505573e-02 1.02936286e+02] [ 7.42280680e-03 9.99972450e-01 -3.08595748e-05 3.81419139e-01] [ 1.13504737e-02 -5.33962576e-05 9.99935580e-01 4.13873833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.219254154 meters 0.01423331857150892 Centerline is valid? [True, True] Translation: X:102.99, Y:0.38, Z:0.42 [[ 9.99941230e-01 -2.27877677e-03 -1.05992788e-02 1.02994347e+02] [ 2.27859278e-03 9.99997404e-01 -2.94348270e-05 3.84498679e-01] [ 1.05993184e-02 5.28165689e-06 9.99943826e-01 4.15421976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27925415399999 meters 0.01416691742312747 Centerline is valid? [True, True] Translation: X:103.05, Y:0.38, Z:0.42 [[ 9.99945709e-01 -7.85789228e-04 -1.03904697e-02 1.03052375e+02] [ 7.85510116e-04 9.99999691e-01 -3.09433344e-05 3.84240868e-01] [ 1.03904908e-02 2.27798354e-05 9.99946017e-01 4.15851302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33925415399999 meters 0.01441756410765644 Centerline is valid? [True, True] Translation: X:103.11, Y:0.38, Z:0.41 [[ 9.99929146e-01 -1.68452063e-03 -1.17840832e-02 1.03110575e+02] [ 1.68419813e-03 9.99998581e-01 -3.72910907e-05 3.81996800e-01] [ 1.17841293e-02 1.74417175e-05 9.99930565e-01 4.13731154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39925415399999 meters 0.014535664697552101 Centerline is valid? [True, True] Translation: X:103.17, Y:0.38, Z:0.41 [[ 9.99905096e-01 -3.25331735e-03 -1.33871505e-02 1.03169559e+02] [ 3.25302628e-03 9.99994708e-01 -4.35177670e-05 3.80416721e-01] [ 1.33872212e-02 -3.51153124e-08 9.99910387e-01 4.13076261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.45925415399999 meters 0.01464877295529063 Centerline is valid? [True, True] Translation: X:103.23, Y:0.38, Z:0.41 [[ 9.99892524e-01 -4.59758320e-03 -1.39213221e-02 1.03228188e+02] [ 4.59738479e-03 9.99989431e-01 -4.62549423e-05 3.79268611e-01] [ 1.39213877e-02 -1.77517036e-05 9.99903093e-01 4.13212242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.519254154 meters 0.014825100616943799 Centerline is valid? [True, True] Translation: X:103.29, Y:0.38, Z:0.41 [[ 9.99884087e-01 -7.15484375e-03 -1.34395498e-02 1.03286644e+02] [ 7.15487292e-03 9.99974403e-01 -4.59114964e-05 3.76693873e-01] [ 1.34395342e-02 -5.02520959e-05 9.99909684e-01 4.13978463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.579254154 meters 0.014830269417582616 Centerline is valid? [True, True] Translation: X:103.35, Y:0.38, Z:0.42 [[ 9.99905665e-01 -7.26322024e-03 -1.16578699e-02 1.03345285e+02] [ 7.26322415e-03 9.99973622e-01 -4.20036463e-05 3.76250163e-01] [ 1.16578675e-02 -4.26740385e-05 9.99932044e-01 4.16172425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63925415399999 meters 0.014856654352427851 Centerline is valid? [True, True] Translation: X:103.40, Y:0.38, Z:0.42 [[ 9.99942217e-01 -2.07916197e-03 -1.05470283e-02 1.03402988e+02] [ 2.07885851e-03 9.99997838e-01 -3.97357146e-05 3.79897294e-01] [ 1.05470881e-02 1.78076391e-05 9.99944378e-01 4.16983475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69925415399999 meters 0.014982244269543083 Centerline is valid? [True, True] Translation: X:103.46, Y:0.38, Z:0.42 [[ 9.99948046e-01 2.08640277e-04 -1.01913016e-02 1.03460494e+02] [-2.09064574e-04 9.99999977e-01 -4.05679241e-05 3.81766958e-01] [ 1.01912929e-02 4.26964565e-05 9.99948067e-01 4.17973200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75925415399999 meters 0.015589758246175341 Centerline is valid? [True, True] Translation: X:103.52, Y:0.39, Z:0.42 [[ 9.99925242e-01 7.97585150e-03 -9.26806506e-03 1.03519110e+02] [-7.97655807e-03 9.99968186e-01 -3.92748211e-05 3.86144242e-01] [ 9.26745695e-03 1.13199144e-04 9.99957050e-01 4.19862672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.81925415399999 meters 0.016422422405522316 Centerline is valid? [True, True] Translation: X:103.58, Y:0.39, Z:0.42 [[ 9.99895687e-01 1.10056014e-02 -9.35374818e-03 1.03576644e+02] [-1.10064684e-02 9.99939426e-01 -4.12163432e-05 3.88361721e-01] [ 9.35272797e-03 1.44163777e-04 9.99956252e-01 4.19604467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.879254154 meters 0.015618325636305523 Centerline is valid? [True, True] Translation: X:103.64, Y:0.38, Z:0.42 [[ 9.99899281e-01 8.95145820e-03 -1.10135882e-02 1.03635977e+02] [-8.95254472e-03 9.99959924e-01 -4.93538694e-05 3.83357071e-01] [ 1.10127050e-02 1.47948539e-04 9.99939347e-01 4.18673041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.939254154 meters 0.01523511786948439 Centerline is valid? [True, True] Translation: X:103.69, Y:0.38, Z:0.42 [[ 9.99910948e-01 4.16067187e-03 -1.26801023e-02 1.03694971e+02] [-4.16173799e-03 9.99991338e-01 -5.76929060e-05 3.78913312e-01] [ 1.26797524e-02 1.10459032e-04 9.99919603e-01 4.17078569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99925415399998 meters 0.014592904078046809 Centerline is valid? [True, True] Translation: X:103.75, Y:0.37, Z:0.42 [[ 9.99887706e-01 -4.42410110e-03 -1.43179365e-02 1.03753924e+02] [ 4.42360644e-03 9.99990214e-01 -6.62182490e-05 3.71056404e-01] [ 1.43180893e-02 2.87389696e-06 9.99897491e-01 4.15829227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05925415399999 meters 0.0145982176841589 Centerline is valid? [True, True] Translation: X:103.81, Y:0.37, Z:0.42 [[ 9.99810132e-01 -1.17978745e-02 -1.55083984e-02 1.03812643e+02] [ 1.17981631e-02 9.99930397e-01 -7.28822458e-05 3.65180212e-01] [ 1.55081788e-02 -1.10102206e-04 9.99879735e-01 4.16598379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11925415399999 meters 0.015562482233196841 Centerline is valid? [True, True] Translation: X:103.87, Y:0.36, Z:0.42 [[ 9.99741021e-01 -1.82738567e-02 -1.35630713e-02 1.03870077e+02] [ 1.82746582e-02 9.99833002e-01 -6.48496364e-05 3.58565387e-01] [ 1.35619914e-02 -1.83027651e-04 9.99908015e-01 4.18483398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.17925415399999 meters 0.016398826089975855 Centerline is valid? [True, True] Translation: X:103.93, Y:0.36, Z:0.42 [[ 9.99681084e-01 -2.25103569e-02 -1.14461517e-02 1.03929186e+02] [ 2.25111813e-02 9.99746590e-01 -5.68177206e-05 3.55240340e-01] [ 1.14445301e-02 -2.00866796e-04 9.99934489e-01 4.20249638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.239254154 meters 0.01766295269108362 Centerline is valid? [True, True] Translation: X:103.99, Y:0.35, Z:0.42 [[ 9.99577929e-01 -2.74461848e-02 -9.52209950e-03 1.03989968e+02] [ 2.74469706e-02 9.99623260e-01 -4.81787182e-05 3.50531405e-01] [ 9.51983446e-03 -2.13194401e-04 9.99954663e-01 4.21435226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.299254154 meters 0.020517848164090833 Centerline is valid? [True, True] Translation: X:104.05, Y:0.34, Z:0.42 [[ 9.99368321e-01 -3.43094499e-02 -9.26397739e-03 1.04049987e+02] [ 3.43104914e-02 9.99411221e-01 -4.65339144e-05 3.43750253e-01] [ 9.26011950e-03 -2.71347096e-04 9.99957087e-01 4.21643556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35925415399998 meters 0.023398238659131102 Centerline is valid? [True, True] Translation: X:104.11, Y:0.34, Z:0.42 [[ 9.98856480e-01 -4.65836301e-02 -1.07563240e-02 1.04110515e+02] [ 4.65857479e-02 9.98914293e-01 -5.37162746e-05 3.37025098e-01] [ 1.07471480e-02 -4.47436547e-04 9.99942148e-01 4.20798337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41925415399999 meters 0.026193231922958495 Centerline is valid? [True, True] Translation: X:104.17, Y:0.33, Z:0.42 [[ 9.98598209e-01 -5.16500093e-02 -1.15712736e-02 1.04171584e+02] [ 5.16528006e-02 9.98665101e-01 -5.76944725e-05 3.32299460e-01] [ 1.15588070e-02 -5.40075091e-04 9.99933049e-01 4.19474662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47925415399999 meters 0.028161211964758293 Centerline is valid? [True, True] Translation: X:104.23, Y:0.33, Z:0.42 [[ 9.98345030e-01 -5.59729380e-02 -1.31996941e-02 1.04232801e+02] [ 5.59769503e-02 9.98432059e-01 -6.55749528e-05 3.29952193e-01] [ 1.31826682e-02 -6.73412193e-04 9.99912878e-01 4.17844728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53925415399999 meters 0.02942438113998754 Centerline is valid? [True, True] Translation: X:104.29, Y:0.33, Z:0.42 [[ 9.98323019e-01 -5.59658920e-02 -1.47975927e-02 1.04294256e+02] [ 5.59709434e-02 9.98432395e-01 -7.28779795e-05 3.29783790e-01] [ 1.47784747e-02 -7.55479462e-04 9.99890507e-01 4.16314951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.599254154 meters 0.024041908671638308 Centerline is valid? [True, True] Translation: X:104.36, Y:0.34, Z:0.42 [[ 9.98527767e-01 -5.23267241e-02 -1.42903089e-02 1.04355297e+02] [ 5.23310690e-02 9.98629788e-01 -6.99702984e-05 3.43023311e-01] [ 1.42743895e-02 -6.77959856e-04 9.99897886e-01 4.18697907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.659254154 meters 0.024070977140733484 Centerline is valid? [True, True] Translation: X:104.41, Y:0.35, Z:0.42 [[ 9.98826979e-01 -4.69843300e-02 -1.17106533e-02 1.04414885e+02] [ 4.69868810e-02 9.98895505e-01 -5.73516760e-05 3.48374075e-01] [ 1.17004136e-02 -4.92962674e-04 9.99931426e-01 4.21094451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.719254154 meters 0.021913047851862752 Centerline is valid? [True, True] Translation: X:104.48, Y:0.36, Z:0.42 [[ 9.99053937e-01 -4.23721871e-02 -9.78916774e-03 1.04475353e+02] [ 4.23737481e-02 9.99101828e-01 -4.79814737e-05 3.57226965e-01] [ 9.78240847e-03 -3.66867648e-04 9.99952084e-01 4.22963317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77925415399999 meters 0.020852366273157955 Centerline is valid? [True, True] Translation: X:104.53, Y:0.36, Z:0.42 [[ 9.99263118e-01 -3.74123204e-02 -8.57551142e-03 1.04534768e+02] [ 3.74133383e-02 9.99299875e-01 -4.17405300e-05 3.64171946e-01] [ 8.57106910e-03 -2.79128738e-04 9.99963229e-01 4.23832431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83925415399999 meters 0.019865407911548463 Centerline is valid? [True, True] Translation: X:104.60, Y:0.37, Z:0.42 [[ 9.99404832e-01 -3.32135955e-02 -9.31874711e-03 1.04596614e+02] [ 3.32146208e-02 9.99448241e-01 -4.47619443e-05 3.70364393e-01] [ 9.31509212e-03 -2.64783348e-04 9.99956579e-01 4.23320752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89925415399999 meters 0.019005909845781238 Centerline is valid? [True, True] Translation: X:104.66, Y:0.37, Z:0.42 [[ 9.99434970e-01 -3.19024348e-02 -1.05818549e-02 1.04658388e+02] [ 3.19036910e-02 9.99490946e-01 -5.01187824e-05 3.74521347e-01] [ 1.05780671e-02 -2.87509765e-04 9.99944009e-01 4.22555662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.95925415399999 meters 0.01960072357595448 Centerline is valid? [True, True] Translation: X:104.72, Y:0.38, Z:0.42 [[ 9.99403887e-01 -3.21018367e-02 -1.27020534e-02 1.04719229e+02] [ 3.21036733e-02 9.99484542e-01 -5.93389336e-05 3.76195785e-01] [ 1.26974109e-02 -3.48479010e-04 9.99919324e-01 4.21223632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.019254154 meters 0.019950958625460556 Centerline is valid? [True, True] Translation: X:104.78, Y:0.38, Z:0.42 [[ 9.99404865e-01 -3.20257383e-02 -1.28166858e-02 1.04781879e+02] [ 3.20276124e-02 9.99486983e-01 -5.90527541e-05 3.78526665e-01] [ 1.28120018e-02 -3.51470234e-04 9.99917861e-01 4.21703913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.079254154 meters 0.01983258767157227 Centerline is valid? [True, True] Translation: X:104.84, Y:0.38, Z:0.42 [[ 9.99476737e-01 -3.06663639e-02 -1.02872162e-02 1.04842952e+02] [ 3.06675049e-02 9.99529640e-01 -4.68494927e-05 3.80173165e-01] [ 1.02838142e-02 -2.68658274e-04 9.99947084e-01 4.23688750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13925415399999 meters 0.020182639681458416 Centerline is valid? [True, True] Translation: X:104.90, Y:0.38, Z:0.42 [[ 9.99500114e-01 -3.03004548e-02 -9.02240250e-03 1.04904910e+02] [ 3.03013222e-02 9.99540809e-01 -4.05785268e-05 3.81533916e-01] [ 9.01948904e-03 -2.32832483e-04 9.99959296e-01 4.24832089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19925415399999 meters 0.021341282799408213 Centerline is valid? [True, True] Translation: X:104.97, Y:0.38, Z:0.43 [[ 9.99450076e-01 -3.21062989e-02 -8.29038547e-03 1.04966452e+02] [ 3.21070985e-02 9.99484434e-01 -3.66507771e-05 3.81298982e-01] [ 8.28728794e-03 -2.29549601e-04 9.99965633e-01 4.25522327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25925415399999 meters 0.021191186943342873 Centerline is valid? [True, True] Translation: X:105.03, Y:0.38, Z:0.43 [[ 9.99212278e-01 -3.86846459e-02 -8.84996308e-03 1.05027145e+02] [ 3.86858202e-02 9.99251423e-01 -3.85217557e-05 3.82877314e-01] [ 8.84482840e-03 -3.03876669e-04 9.99960838e-01 4.25792755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.31925415399999 meters 0.022831867772759373 Centerline is valid? [True, True] Translation: X:105.09, Y:0.38, Z:0.43 [[ 9.98880987e-01 -4.63215998e-02 -9.54373289e-03 1.05087423e+02] [ 4.63233152e-02 9.98926498e-01 -4.13495833e-05 3.81573868e-01] [ 9.53540305e-03 -4.00794034e-04 9.99954457e-01 4.25427517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.379254154 meters 0.025119009982247698 Centerline is valid? [True, True] Translation: X:105.15, Y:0.38, Z:0.42 [[ 9.98697584e-01 -4.99699253e-02 -1.03025075e-02 1.05147302e+02] [ 4.99721183e-02 9.98750612e-01 -4.46224525e-05 3.79890719e-01] [ 1.02918655e-02 -4.70273787e-04 9.99946927e-01 4.24754488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.439254154 meters 0.024775387531558467 Centerline is valid? [True, True] Translation: X:105.21, Y:0.38, Z:0.42 [[ 9.98606724e-01 -5.16772688e-02 -1.06803876e-02 1.05209235e+02] [ 5.16797280e-02 9.98663709e-01 -4.57936113e-05 3.83636170e-01] [ 1.06684820e-02 -5.06229716e-04 9.99942962e-01 4.24636100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49925415399998 meters 0.02517661209433472 Centerline is valid? [True, True] Translation: X:105.27, Y:0.39, Z:0.42 [[ 9.98779414e-01 -4.82301102e-02 -1.06554113e-02 1.05269495e+02] [ 4.82323729e-02 9.98836141e-01 -4.46767748e-05 3.86492574e-01] [ 1.06451647e-02 -4.69313528e-04 9.99943228e-01 4.24883915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55925415399999 meters 0.024713313501574925 Centerline is valid? [True, True] Translation: X:105.33, Y:0.39, Z:0.43 [[ 9.98884381e-01 -4.60863045e-02 -1.02978894e-02 1.05330889e+02] [ 4.60883110e-02 9.98937368e-01 -4.25011705e-05 3.88957042e-01] [ 1.02889052e-02 -4.32158574e-04 9.99946974e-01 4.25809064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61925415399999 meters 0.02148182959440826 Centerline is valid? [True, True] Translation: X:105.39, Y:0.40, Z:0.43 [[ 9.99248355e-01 -3.77373858e-02 -8.86643997e-03 1.05391551e+02] [ 3.77385461e-02 9.99287647e-01 -3.64580048e-05 3.99001360e-01] [ 8.86149976e-03 -2.98175952e-04 9.99960692e-01 4.27876739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.67925415399999 meters 0.018081295632321016 Centerline is valid? [True, True] Translation: X:105.45, Y:0.41, Z:0.43 [[ 9.99537424e-01 -2.88655103e-02 -9.57711255e-03 1.05452171e+02] [ 2.88664577e-02 9.99583276e-01 -3.93214766e-05 4.09819521e-01] [ 9.57425658e-03 -2.37154027e-04 9.99954138e-01 4.27159768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.739254154 meters 0.016310168786850415 Centerline is valid? [True, True] Translation: X:105.51, Y:0.42, Z:0.43 [[ 9.99747422e-01 -1.96272560e-02 -1.09482420e-02 1.05513154e+02] [ 1.96279425e-02 9.99807352e-01 -4.47587020e-05 4.18185986e-01] [ 1.09470113e-02 -1.70144067e-04 9.99940065e-01 4.25480387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.799254154 meters 0.014987647893907172 Centerline is valid? [True, True] Translation: X:105.57, Y:0.43, Z:0.43 [[ 9.99905867e-01 -8.45278134e-03 -1.08077324e-02 1.05573398e+02] [ 8.45279847e-03 9.99964273e-01 -4.40948170e-05 4.29110681e-01] [ 1.08077190e-02 -4.72649179e-05 9.99941594e-01 4.26240452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85925415399998 meters 0.015051102105276083 Centerline is valid? [True, True] Translation: X:105.63, Y:0.44, Z:0.43 [[ 9.99937512e-01 -1.38158769e-03 -1.10934272e-02 1.05632121e+02] [ 1.38115147e-03 9.99999045e-01 -4.69831069e-05 4.36265541e-01] [ 1.10934816e-02 3.16584676e-05 9.99938465e-01 4.26928197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91925415399999 meters 0.015682029874558634 Centerline is valid? [True, True] Translation: X:105.69, Y:0.44, Z:0.43 [[ 9.99923550e-01 6.92297822e-03 -1.02453068e-02 1.05690650e+02] [-6.92381216e-03 9.99976029e-01 -4.59293075e-05 4.42907820e-01] [ 1.02447432e-02 1.16862376e-04 9.99947514e-01 4.27726187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97925415399999 meters 0.015967112780544315 Centerline is valid? [True, True] Translation: X:105.75, Y:0.45, Z:0.43 [[ 9.99893903e-01 1.05467817e-02 -1.00472583e-02 1.05749279e+02] [-1.05477924e-02 9.99944369e-01 -4.76028275e-05 4.45046797e-01] [ 1.00461973e-02 1.53574171e-04 9.99949524e-01 4.28168899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03925415399999 meters 0.01567576330562715 Centerline is valid? [True, True] Translation: X:105.81, Y:0.44, Z:0.43 [[ 9.99919962e-01 8.36804165e-03 -9.48922971e-03 1.05808136e+02] [-8.36885878e-03 9.99964979e-01 -4.64050836e-05 4.43052866e-01] [ 9.48850907e-03 1.25815393e-04 9.99954975e-01 4.27790278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.099254154 meters 0.014769510984404027 Centerline is valid? [True, True] Translation: X:105.87, Y:0.44, Z:0.43 [[ 9.99944089e-01 -1.53824944e-04 -1.05732913e-02 1.05867321e+02] [ 1.53275969e-04 9.99999987e-01 -5.27312390e-05 4.36019524e-01] [ 1.05732993e-02 5.11076593e-05 9.99944100e-01 4.27337049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.159254154 meters 0.01475522230832723 Centerline is valid? [True, True] Translation: X:105.93, Y:0.43, Z:0.43 [[ 9.99905967e-01 -8.41599045e-03 -1.08272216e-02 1.05926231e+02] [ 8.41588887e-03 9.99964584e-01 -5.49440851e-05 4.29089173e-01] [ 1.08273006e-02 -3.61817757e-05 9.99941382e-01 4.26818446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.219254154 meters 0.017060322967339482 Centerline is valid? [True, True] Translation: X:105.99, Y:0.42, Z:0.43 [[ 9.99707763e-01 -2.11464688e-02 -1.17138938e-02 1.05985287e+02] [ 2.11472150e-02 9.99776371e-01 -6.01716977e-05 4.17458235e-01] [ 1.17125466e-02 -1.87562117e-04 9.99931388e-01 4.25754022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27925415399999 meters 0.01868164042163009 Centerline is valid? [True, True] Translation: X:106.05, Y:0.41, Z:0.43 [[ 9.99419351e-01 -3.20859493e-02 -1.14652920e-02 1.06045915e+02] [ 3.20873817e-02 9.99485066e-01 -5.90439170e-05 4.08260646e-01] [ 1.14612826e-02 -3.08881567e-04 9.99934270e-01 4.26233371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33925415399999 meters 0.02136062293387865 Centerline is valid? [True, True] Translation: X:106.11, Y:0.40, Z:0.43 [[ 9.99265232e-01 -3.68057462e-02 -1.06926665e-02 1.06106507e+02] [ 3.68072636e-02 9.99322382e-01 -5.49078071e-05 4.01879443e-01] [ 1.06874419e-02 -3.38700332e-04 9.99942830e-01 4.26514997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39925415399999 meters 0.019994781968636865 Centerline is valid? [True, True] Translation: X:106.17, Y:0.40, Z:0.43 [[ 9.99167945e-01 -3.94374324e-02 -1.03974168e-02 1.06168500e+02] [ 3.94390149e-02 9.99221978e-01 -5.28689223e-05 4.04072762e-01] [ 1.03914124e-02 -3.57238944e-04 9.99945944e-01 4.28249783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.45925415399999 meters 0.02002400589890354 Centerline is valid? [True, True] Translation: X:106.23, Y:0.41, Z:0.43 [[ 9.99233918e-01 -3.76530080e-02 -1.06690097e-02 1.06229620e+02] [ 3.76545799e-02 9.99290813e-01 -5.35679360e-05 4.05418978e-01] [ 1.06634604e-02 -3.48210181e-04 9.99943083e-01 4.28396325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.519254154 meters 0.022709564565085317 Centerline is valid? [True, True] Translation: X:106.29, Y:0.40, Z:0.43 [[ 9.99331385e-01 -3.47928123e-02 -1.12358374e-02 1.06289949e+02] [ 3.47943794e-02 9.99394491e-01 -5.60357249e-05 4.02190824e-01] [ 1.12309836e-02 -3.34945729e-04 9.99936874e-01 4.26281810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.579254154 meters 0.018624480153761305 Centerline is valid? [True, True] Translation: X:106.35, Y:0.41, Z:0.43 [[ 9.99387306e-01 -3.30768428e-02 -1.14426957e-02 1.06351917e+02] [ 3.30783625e-02 9.99452760e-01 -5.64704414e-05 4.10057970e-01] [ 1.14383016e-02 -3.22069793e-04 9.99934529e-01 4.27854920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63925415399999 meters 0.01845543826789316 Centerline is valid? [True, True] Translation: X:106.41, Y:0.41, Z:0.43 [[ 9.99494483e-01 -2.91796405e-02 -1.26224808e-02 1.06412132e+02] [ 2.91811856e-02 9.99574137e-01 -6.17889378e-05 4.13190667e-01] [ 1.26189084e-02 -3.06581254e-04 9.99920331e-01 4.26214850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69925415399999 meters 0.01651780088567439 Centerline is valid? [True, True] Translation: X:106.47, Y:0.42, Z:0.43 [[ 9.99618330e-01 -2.28786988e-02 -1.54841376e-02 1.06473880e+02] [ 2.28802795e-02 9.99738209e-01 -7.50828957e-05 4.21882464e-01] [ 1.54818018e-02 -2.79227157e-04 9.99880111e-01 4.25367700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75925415399999 meters 0.01573442844985332 Centerline is valid? [True, True] Translation: X:106.53, Y:0.43, Z:0.42 [[ 9.99725886e-01 -1.64449457e-02 -1.66648346e-02 1.06533472e+02] [ 1.64458837e-02 9.99864754e-01 -8.07670445e-05 4.29449234e-01] [ 1.66639090e-02 -1.93323027e-04 9.99861129e-01 4.24859466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.81925415399999 meters 0.015071993060348348 Centerline is valid? [True, True] Translation: X:106.59, Y:0.44, Z:0.43 [[ 9.99809022e-01 -1.18423627e-02 -1.55460189e-02 1.06592338e+02] [ 1.18425783e-02 9.99929871e-01 -7.81876810e-05 4.35082938e-01] [ 1.55458546e-02 -1.05932197e-04 9.99879150e-01 4.26280440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.879254154 meters 0.014823820624535581 Centerline is valid? [True, True] Translation: X:106.65, Y:0.44, Z:0.43 [[ 9.99906402e-01 -4.29229874e-03 -1.29908784e-02 1.06650850e+02] [ 4.29177180e-03 9.99990788e-01 -6.84405202e-05 4.43781054e-01] [ 1.29910525e-02 1.26802287e-05 9.99915613e-01 4.29735156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.939254154 meters 0.015085187976651438 Centerline is valid? [True, True] Translation: X:106.71, Y:0.45, Z:0.43 [[ 9.99941511e-01 3.43056489e-03 -1.02570119e-02 1.06709534e+02] [-3.43132419e-03 9.99994111e-01 -5.64306510e-05 4.52285613e-01] [ 1.02567579e-02 9.16224834e-05 9.99947394e-01 4.32831473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99925415399998 meters 0.015792032011709468 Centerline is valid? [True, True] Translation: X:106.77, Y:0.46, Z:0.43 [[ 9.99938078e-01 7.25172292e-03 -8.44113926e-03 1.06767358e+02] [-7.25238423e-03 9.99973700e-01 -4.77365403e-05 4.56839636e-01] [ 8.44057108e-03 1.08951970e-04 9.99964372e-01 4.34018290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05925415399999 meters 0.01511754002221285 Centerline is valid? [True, True] Translation: X:106.83, Y:0.45, Z:0.43 [[ 9.99952804e-01 2.47370225e-03 -9.39525178e-03 1.06825109e+02] [-2.47431884e-03 9.99996937e-01 -5.40054154e-05 4.53474540e-01] [ 9.39508941e-03 7.72497151e-05 9.99955862e-01 4.32832077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11925415399999 meters 0.014365746986103748 Centerline is valid? [True, True] Translation: X:106.88, Y:0.45, Z:0.43 [[ 9.99936087e-01 -5.39225344e-03 -9.93711080e-03 1.06883979e+02] [ 5.39194400e-03 9.99985462e-01 -5.79303878e-05 4.46390107e-01] [ 9.93727871e-03 4.34634037e-06 9.99950624e-01 4.32609948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.17925415399999 meters 0.01528682525140798 Centerline is valid? [True, True] Translation: X:106.94, Y:0.44, Z:0.43 [[ 9.99758919e-01 -1.90917087e-02 -1.08448119e-02 1.06943544e+02] [ 1.90921395e-02 9.99817726e-01 -6.38132964e-05 4.35557321e-01] [ 1.08440535e-02 -1.43252750e-04 9.99941191e-01 4.31254698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.239254154 meters 0.01743352325221003 Centerline is valid? [True, True] Translation: X:107.00, Y:0.43, Z:0.43 [[ 9.99476269e-01 -3.05285254e-02 -1.07329447e-02 1.07004276e+02] [ 3.05296058e-02 9.99533861e-01 -6.31992394e-05 4.25316205e-01] [ 1.07298710e-02 -2.64506430e-04 9.99942398e-01 4.31170099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.299254154 meters 0.019729748441768034 Centerline is valid? [True, True] Translation: X:107.07, Y:0.42, Z:0.43 [[ 9.99259317e-01 -3.73644140e-02 -9.20427039e-03 1.07065250e+02] [ 3.73654997e-02 9.99301664e-01 -5.40413678e-05 4.18396139e-01] [ 9.19986195e-03 -2.89920822e-04 9.99957638e-01 4.32156897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35925415399998 meters 0.021078602301501943 Centerline is valid? [True, True] Translation: X:107.13, Y:0.42, Z:0.43 [[ 9.99094342e-01 -4.16805357e-02 -8.55739150e-03 1.07126357e+02] [ 4.16816335e-02 9.99130942e-01 -5.00930545e-05 4.15161151e-01] [ 8.55204253e-03 -3.06638369e-04 9.99963384e-01 4.32229588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41925415399999 meters 0.023226111818911214 Centerline is valid? [True, True] Translation: X:107.19, Y:0.41, Z:0.43 [[ 9.98962971e-01 -4.47263430e-02 -8.51686970e-03 1.07187618e+02] [ 4.47275457e-02 9.98999221e-01 -4.93090492e-05 4.10792561e-01] [ 8.51055161e-03 -3.31680764e-04 9.99963730e-01 4.32053776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47925415399999 meters 0.02388022663164858 Centerline is valid? [True, True] Translation: X:107.25, Y:0.41, Z:0.43 [[ 9.98825213e-01 -4.77251283e-02 -8.39682207e-03 1.07248783e+02] [ 4.77264084e-02 9.98860445e-01 -4.79776649e-05 4.08755843e-01] [ 8.38954317e-03 -3.52828858e-04 9.99964745e-01 4.32086587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53925415399999 meters 0.026194265926270076 Centerline is valid? [True, True] Translation: X:107.31, Y:0.41, Z:0.43 [[ 9.98658717e-01 -5.10622183e-02 -8.56840212e-03 1.07308605e+02] [ 5.10636752e-02 9.98695398e-01 -4.87958652e-05 4.05720239e-01] [ 8.55971540e-03 -3.88803687e-04 9.99963289e-01 4.32189292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.599254154 meters 0.02730588404802275 Centerline is valid? [True, True] Translation: X:107.37, Y:0.41, Z:0.43 [[ 9.98614032e-01 -5.19414839e-02 -8.49107130e-03 1.07370828e+02] [ 5.19429488e-02 9.98650053e-01 -4.80682840e-05 4.05029680e-01] [ 8.48210554e-03 -3.93049619e-04 9.99963949e-01 4.32295507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.659254154 meters 0.026844088013994166 Centerline is valid? [True, True] Translation: X:107.43, Y:0.41, Z:0.43 [[ 9.98622407e-01 -5.17515721e-02 -8.66388201e-03 1.07433479e+02] [ 5.17530967e-02 9.98659909e-01 -4.82774873e-05 4.06463486e-01] [ 8.65477006e-03 -4.00171743e-04 9.99962467e-01 4.31800959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.719254154 meters 0.02538876451603033 Centerline is valid? [True, True] Translation: X:107.50, Y:0.41, Z:0.43 [[ 9.98690932e-01 -5.00583261e-02 -1.05159923e-02 1.07495609e+02] [ 5.00604892e-02 9.98746186e-01 -5.75912655e-05 4.09842359e-01] [ 1.05056901e-02 -4.68919844e-04 9.99944704e-01 4.30346004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77925415399999 meters 0.025116568366443232 Centerline is valid? [True, True] Translation: X:107.56, Y:0.41, Z:0.43 [[ 9.98772699e-01 -4.80400032e-02 -1.20521191e-02 1.07558041e+02] [ 4.80427087e-02 9.98845280e-01 -6.50982212e-05 4.12391752e-01] [ 1.20413296e-02 -5.13998122e-04 9.99927368e-01 4.29796456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83925415399999 meters 0.021700679730633735 Centerline is valid? [True, True] Translation: X:107.62, Y:0.42, Z:0.43 [[ 9.99052521e-01 -4.16051226e-02 -1.27700510e-02 1.07618445e+02] [ 4.16076409e-02 9.99134025e-01 -6.85267557e-05 4.21517893e-01] [ 1.27618435e-02 -4.62869869e-04 9.99918457e-01 4.30874055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89925415399999 meters 0.01844195716711478 Centerline is valid? [True, True] Translation: X:107.68, Y:0.43, Z:0.43 [[ 9.99422621e-01 -3.19195142e-02 -1.16433804e-02 1.07678491e+02] [ 3.19209515e-02 9.99490395e-01 -6.24222639e-05 4.31986363e-01] [ 1.16394394e-02 -3.09281559e-04 9.99932212e-01 4.33187827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.95925415399999 meters 0.016910617086495303 Centerline is valid? [True, True] Translation: X:107.74, Y:0.44, Z:0.43 [[ 9.99656186e-01 -2.40585735e-02 -1.04256734e-02 1.07738137e+02] [ 2.40592985e-02 9.99710532e-01 -5.58927171e-05 4.39233300e-01] [ 1.04240002e-02 -1.94960887e-04 9.99945650e-01 4.34816879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.019254154 meters 0.014539020950401186 Centerline is valid? [True, True] Translation: X:107.80, Y:0.46, Z:0.44 [[ 9.99938437e-01 -7.06856248e-03 -8.55327890e-03 1.07799228e+02] [ 7.06842949e-03 9.99975017e-01 -4.57777900e-05 4.55797209e-01] [ 8.55338880e-03 -1.46832772e-05 9.99963419e-01 4.36795419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.079254154 meters 0.014816913157682625 Centerline is valid? [True, True] Translation: X:107.86, Y:0.46, Z:0.44 [[ 9.99960754e-01 6.13935611e-04 -8.83815864e-03 1.07858325e+02] [-6.14386925e-04 9.99999810e-01 -4.83492532e-05 4.62374493e-01] [ 8.83812728e-03 5.37774048e-05 9.99960942e-01 4.36829041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13925415399999 meters 0.016360091002090935 Centerline is valid? [True, True] Translation: X:107.92, Y:0.47, Z:0.44 [[ 9.99890590e-01 1.10680098e-02 -9.81362384e-03 1.07916325e+02] [-1.10690856e-02 9.99938734e-01 -5.53177942e-05 4.71457732e-01] [ 9.81241034e-03 1.63939585e-04 9.99951844e-01 4.37170887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19925415399999 meters 0.01680414330268884 Centerline is valid? [True, True] Translation: X:107.97, Y:0.47, Z:0.44 [[ 9.99834229e-01 1.52684669e-02 -9.91905829e-03 1.07974803e+02] [-1.52697898e-02 9.99883408e-01 -5.76471161e-05 4.73759137e-01] [ 9.91702162e-03 2.09099495e-04 9.99950803e-01 4.37744369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25925415399999 meters 0.01678637186981761 Centerline is valid? [True, True] Translation: X:108.03, Y:0.47, Z:0.44 [[ 9.99818830e-01 1.59387661e-02 -1.04049600e-02 1.08033626e+02] [-1.59402750e-02 9.99872944e-01 -6.21016730e-05 4.72453342e-01] [ 1.04026482e-02 2.27948346e-04 9.99945865e-01 4.37270848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.31925415399999 meters 0.01612573767457953 Centerline is valid? [True, True] Translation: X:108.09, Y:0.47, Z:0.44 [[ 9.99874870e-01 1.09264248e-02 -1.14392570e-02 1.08092749e+02] [-1.09279308e-02 9.99940286e-01 -6.91477347e-05 4.67373666e-01] [ 1.14378183e-02 1.94146491e-04 9.99934567e-01 4.35941589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.379254154 meters 0.01489629844162893 Centerline is valid? [True, True] Translation: X:108.15, Y:0.46, Z:0.44 [[ 9.99923792e-01 1.82245176e-03 -1.22101937e-02 1.08151831e+02] [-1.82350019e-03 9.99998335e-01 -7.47325925e-05 4.59016250e-01] [ 1.22100372e-02 9.69921878e-05 9.99925450e-01 4.36734888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.439254154 meters 0.014883457170913902 Centerline is valid? [True, True] Translation: X:108.21, Y:0.45, Z:0.44 [[ 9.99903522e-01 -5.35967674e-03 -1.28148564e-02 1.08209238e+02] [ 5.35909740e-03 9.99985637e-01 -7.95477389e-05 4.52809227e-01] [ 1.28150986e-02 1.08640009e-05 9.99917883e-01 4.35801585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49925415399998 meters 0.015099954745045722 Centerline is valid? [True, True] Translation: X:108.27, Y:0.44, Z:0.44 [[ 9.99779975e-01 -1.63500189e-02 -1.31407182e-02 1.08268235e+02] [ 1.63503448e-02 9.99866321e-01 -8.26328232e-05 4.42270499e-01] [ 1.31403126e-02 -1.32240631e-04 9.99913654e-01 4.36900868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55925415399999 meters 0.01704039659951364 Centerline is valid? [True, True] Translation: X:108.33, Y:0.43, Z:0.44 [[ 9.99564855e-01 -2.66368954e-02 -1.26718941e-02 1.08328781e+02] [ 2.66380207e-02 9.99645142e-01 -7.99999032e-05 4.32152558e-01] [ 1.26695283e-02 -2.57589085e-04 9.99919705e-01 4.37472280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61925415399999 meters 0.018353110712022964 Centerline is valid? [True, True] Translation: X:108.39, Y:0.43, Z:0.44 [[ 9.99392718e-01 -3.27761251e-02 -1.18287913e-02 1.08389914e+02] [ 3.27775397e-02 9.99462669e-01 -7.43049097e-05 4.26000727e-01] [ 1.18248708e-02 -3.13458892e-04 9.99930035e-01 4.37683429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.67925415399999 meters 0.020762370416811986 Centerline is valid? [True, True] Translation: X:108.45, Y:0.42, Z:0.44 [[ 9.99083440e-01 -4.08704715e-02 -1.27233493e-02 1.08450626e+02] [ 4.08727673e-02 9.99164356e-01 -7.96514306e-05 4.17468131e-01] [ 1.27159725e-02 -4.40460069e-04 9.99919052e-01 4.37941255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.739254154 meters 0.024369594807400672 Centerline is valid? [True, True] Translation: X:108.51, Y:0.41, Z:0.44 [[ 9.98760375e-01 -4.74602913e-02 -1.50077858e-02 1.08509941e+02] [ 4.74642262e-02 9.98872934e-01 -9.40897578e-05 4.11502589e-01] [ 1.49953366e-02 -6.18359818e-04 9.99887372e-01 4.36723445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.799254154 meters 0.02506961113181035 Centerline is valid? [True, True] Translation: X:108.57, Y:0.41, Z:0.44 [[ 9.98594426e-01 -5.03017576e-02 -1.67004889e-02 1.08570823e+02] [ 5.03070357e-02 9.98733794e-01 -1.04177203e-04 4.10087333e-01] [ 1.66845830e-02 -7.36121317e-04 9.99860532e-01 4.36273050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85925415399998 meters 0.02449291920802893 Centerline is valid? [True, True] Translation: X:108.63, Y:0.41, Z:0.44 [[ 9.98433964e-01 -5.30268096e-02 -1.78262777e-02 1.08631948e+02] [ 5.30332653e-02 9.98592740e-01 -1.10721981e-04 4.10675198e-01] [ 1.78070627e-02 -8.34837126e-04 9.99841093e-01 4.36555684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91925415399999 meters 0.026830225891688226 Centerline is valid? [True, True] Translation: X:108.69, Y:0.41, Z:0.43 [[ 9.98402245e-01 -5.25582868e-02 -2.07504997e-02 1.08693388e+02] [ 5.25669547e-02 9.98617394e-01 -1.27890260e-04 4.07577972e-01] [ 2.07285316e-02 -9.63104656e-04 9.99784677e-01 4.33899824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97925415399999 meters 0.023585114087415354 Centerline is valid? [True, True] Translation: X:108.75, Y:0.41, Z:0.43 [[ 9.98526691e-01 -4.95671012e-02 -2.20805482e-02 1.08754899e+02] [ 4.95762067e-02 9.98770335e-01 -1.35171556e-04 4.14968111e-01] [ 2.20600966e-02 -9.59697417e-04 9.99756186e-01 4.34941902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03925415399999 meters 0.021196557706946947 Centerline is valid? [True, True] Translation: X:108.82, Y:0.42, Z:0.44 [[ 9.98918782e-01 -4.08598518e-02 -2.21751910e-02 1.08815156e+02] [ 4.08668988e-02 9.99164590e-01 -1.35479639e-04 4.24017211e-01] [ 2.21622013e-02 -7.70898129e-04 9.99754091e-01 4.36480031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.099254154 meters 0.018459256812044657 Centerline is valid? [True, True] Translation: X:108.87, Y:0.44, Z:0.44 [[ 9.99353554e-01 -2.90274027e-02 -2.12104517e-02 1.08874819e+02] [ 2.90311798e-02 9.99578498e-01 -1.29880953e-04 4.35125477e-01] [ 2.12052816e-02 -4.85967446e-04 9.99775025e-01 4.38830710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.159254154 meters 0.016349302147904168 Centerline is valid? [True, True] Translation: X:108.93, Y:0.45, Z:0.44 [[ 9.99681915e-01 -1.61027548e-02 -1.94105893e-02 1.08933861e+02] [ 1.61034737e-02 9.99870324e-01 -1.19277677e-04 4.46863080e-01] [ 1.94099929e-02 -1.93338178e-04 9.99811590e-01 4.40625025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.219254154 meters 0.015811473805533466 Centerline is valid? [True, True] Translation: X:108.99, Y:0.46, Z:0.44 [[ 9.99801299e-01 -7.61475224e-03 -1.84222227e-02 1.08992728e+02] [ 7.61389167e-03 9.99971007e-01 -1.16852857e-04 4.55365216e-01] [ 1.84225784e-02 -2.34351697e-05 9.99830290e-01 4.42521287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27925415399999 meters 0.016548371188005197 Centerline is valid? [True, True] Translation: X:109.05, Y:0.47, Z:0.44 [[ 9.99826424e-01 4.72915893e-03 -1.80210088e-02 1.09051101e+02] [-4.73206891e-03 9.99988797e-01 -1.18838439e-04 4.65393785e-01] [ 1.80202449e-02 2.04094467e-04 9.99837601e-01 4.42849216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33925415399999 meters 0.018334679281488766 Centerline is valid? [True, True] Translation: X:109.11, Y:0.47, Z:0.44 [[ 9.99759070e-01 1.35048179e-02 -1.73037838e-02 1.09109301e+02] [-1.35088490e-02 9.99908745e-01 -1.16088726e-04 4.73246308e-01] [ 1.73006370e-02 3.49814959e-04 9.99850272e-01 4.43117978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39925415399999 meters 0.018425872539853495 Centerline is valid? [True, True] Translation: X:109.17, Y:0.47, Z:0.44 [[ 9.99746715e-01 1.47495334e-02 -1.69987437e-02 1.09168129e+02] [-1.47536616e-02 9.99891152e-01 -1.17469119e-04 4.74568418e-01] [ 1.69951608e-02 3.68233079e-04 9.99855504e-01 4.43768245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.45925415399999 meters 0.017790884248081246 Centerline is valid? [True, True] Translation: X:109.23, Y:0.47, Z:0.44 [[ 9.99778934e-01 1.33670741e-02 -1.62297135e-02 1.09227085e+02] [-1.33706859e-02 9.99910602e-01 -1.14045649e-04 4.72296280e-01] [ 1.62267382e-02 3.31022839e-04 9.99868283e-01 4.44482954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.519254154 meters 0.01647235371329918 Centerline is valid? [True, True] Translation: X:109.29, Y:0.47, Z:0.44 [[ 9.99845489e-01 8.11492288e-03 -1.55931417e-02 1.09286535e+02] [-8.11763259e-03 9.99967045e-01 -1.10488875e-04 4.66635425e-01] [ 1.55917313e-02 2.37051198e-04 9.99878413e-01 4.44596312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.579254154 meters 0.015145287887061114 Centerline is valid? [True, True] Translation: X:109.35, Y:0.45, Z:0.44 [[ 9.99867711e-01 -4.93954313e-03 -1.54971173e-02 1.09345867e+02] [ 4.93842138e-03 9.99987800e-01 -1.10651328e-04 4.53933024e-01] [ 1.54974748e-02 3.41053949e-05 9.99879906e-01 4.43133490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63925415399999 meters 0.015940417843331514 Centerline is valid? [True, True] Translation: X:109.40, Y:0.44, Z:0.44 [[ 9.99674956e-01 -2.02921365e-02 -1.54341188e-02 1.09404760e+02] [ 2.02928370e-02 9.99794073e-01 -1.11238622e-04 4.39158715e-01] [ 1.54331978e-02 -2.01999593e-04 9.99880881e-01 4.42373667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69925415399999 meters 0.01733105247061954 Centerline is valid? [True, True] Translation: X:109.47, Y:0.43, Z:0.44 [[ 9.99430071e-01 -2.98631112e-02 -1.57393555e-02 1.09465141e+02] [ 2.98650174e-02 9.99553934e-01 -1.13971612e-04 4.30089090e-01] [ 1.57357383e-02 -3.56149470e-04 9.99876122e-01 4.42530686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75925415399999 meters 0.020940528492937722 Centerline is valid? [True, True] Translation: X:109.53, Y:0.42, Z:0.44 [[ 9.98981657e-01 -4.22337646e-02 -1.58731946e-02 1.09526042e+02] [ 4.22372663e-02 9.99107602e-01 -1.14718160e-04 4.16650882e-01] [ 1.58638744e-02 -5.55839011e-04 9.99874006e-01 4.42100661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.81925415399999 meters 0.02488618884665248 Centerline is valid? [True, True] Translation: X:109.59, Y:0.40, Z:0.44 [[ 9.98549856e-01 -5.18193195e-02 -1.45926035e-02 1.09586991e+02] [ 5.18233067e-02 9.98656264e-01 -1.05028179e-04 4.04842954e-01] [ 1.45784374e-02 -6.51361095e-04 9.99893517e-01 4.41965983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.879254154 meters 0.02556502245700906 Centerline is valid? [True, True] Translation: X:109.65, Y:0.40, Z:0.44 [[ 9.98294839e-01 -5.68428808e-02 -1.32778611e-02 1.09647602e+02] [ 5.68466311e-02 9.98382918e-01 -9.51027596e-05 4.00022020e-01] [ 1.32617956e-02 -6.59861079e-04 9.99911841e-01 4.42642527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.939254154 meters 0.02650169568695572 Centerline is valid? [True, True] Translation: X:109.71, Y:0.40, Z:0.44 [[ 9.98244127e-01 -5.77533911e-02 -1.31608584e-02 1.09709656e+02] [ 5.77571651e-02 9.98330657e-01 -9.34581274e-05 3.98240437e-01] [ 1.31442859e-02 -6.66839844e-04 9.99913388e-01 4.42399286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99925415399998 meters 0.03037924536902716 Centerline is valid? [True, True] Translation: X:109.77, Y:0.39, Z:0.44 [[ 9.98236341e-01 -5.76923005e-02 -1.39930965e-02 1.09770429e+02] [ 5.76965731e-02 9.98334160e-01 -9.85056521e-05 3.93137740e-01] [ 1.39754693e-02 -7.09021794e-04 9.99902087e-01 4.40355313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05925415399999 meters 0.027012482391477848 Centerline is valid? [True, True] Translation: X:109.83, Y:0.40, Z:0.44 [[ 9.98243567e-01 -5.74309950e-02 -1.45417125e-02 1.09833679e+02] [ 5.74356014e-02 9.98349208e-01 -1.01008637e-04 3.98798886e-01] [ 1.45235081e-02 -7.34380778e-04 9.99894259e-01 4.40250597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11925415399999 meters 0.025661460777491592 Centerline is valid? [True, True] Translation: X:109.90, Y:0.40, Z:0.44 [[ 9.98262161e-01 -5.69804851e-02 -1.50294037e-02 1.09895843e+02] [ 5.69853740e-02 9.98375008e-01 -1.03109700e-04 4.01459111e-01] [ 1.50108563e-02 -7.53525680e-04 9.99887047e-01 4.39907261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.17925415399999 meters 0.02610380728037827 Centerline is valid? [True, True] Translation: X:109.96, Y:0.40, Z:0.44 [[ 9.98378834e-01 -5.44374956e-02 -1.66211427e-02 1.09956086e+02] [ 5.44431332e-02 9.98516866e-01 -1.13447539e-04 4.03176861e-01] [ 1.66026671e-02 -7.91643463e-04 9.99861853e-01 4.38100637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.239254154 meters 0.023464587778642704 Centerline is valid? [True, True] Translation: X:110.02, Y:0.41, Z:0.44 [[ 9.98703069e-01 -4.79457459e-02 -1.71284846e-02 1.10016732e+02] [ 4.79507819e-02 9.98849693e-01 -1.16792620e-04 4.11500259e-01] [ 1.71143813e-02 -7.04683080e-04 9.99853290e-01 4.37917215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.299254154 meters 0.021288820408949777 Centerline is valid? [True, True] Translation: X:110.08, Y:0.42, Z:0.44 [[ 9.98984442e-01 -4.18193592e-02 -1.67697730e-02 1.10077716e+02] [ 4.18233282e-02 9.99125015e-01 -1.14112334e-04 4.18543684e-01] [ 1.67598718e-02 -5.87371275e-04 9.99859371e-01 4.38889648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35925415399998 meters 0.018381612464214162 Centerline is valid? [True, True] Translation: X:110.14, Y:0.43, Z:0.44 [[ 9.99420050e-01 -3.11987799e-02 -1.36454710e-02 1.10137785e+02] [ 3.12004199e-02 9.99513144e-01 -9.27293027e-05 4.29920050e-01] [ 1.36417206e-02 -3.33068899e-04 9.99906892e-01 4.42291846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41925415399999 meters 0.015546351110306536 Centerline is valid? [True, True] Translation: X:110.20, Y:0.44, Z:0.45 [[ 9.99774277e-01 -1.85664087e-02 -1.03287578e-02 1.10196986e+02] [ 1.85666737e-02 9.99827622e-01 -7.02381400e-05 4.42539771e-01] [ 1.03282814e-02 -1.21548390e-04 9.99946654e-01 4.45529822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47925415399999 meters 0.014526190239077983 Centerline is valid? [True, True] Translation: X:110.26, Y:0.45, Z:0.45 [[ 9.99948555e-01 -5.94846616e-03 -8.21604922e-03 1.10258064e+02] [ 5.94820868e-03 9.99982308e-01 -5.57745351e-05 4.53783914e-01] [ 8.21623563e-03 6.90089048e-06 9.99966246e-01 4.46413268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53925415399999 meters 0.014926094611470968 Centerline is valid? [True, True] Translation: X:110.32, Y:0.46, Z:0.45 [[ 9.99962023e-01 7.45534154e-04 -8.68310457e-03 1.10317084e+02] [-7.46082277e-04 9.99999720e-01 -5.98861843e-05 4.59513296e-01] [ 8.68305749e-03 6.63622205e-05 9.99962299e-01 4.46385329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.599254154 meters 0.015809435997545904 Centerline is valid? [True, True] Translation: X:110.37, Y:0.47, Z:0.45 [[ 9.99938996e-01 6.36638197e-03 -9.02623015e-03 1.10374606e+02] [-6.36721974e-03 9.99979727e-01 -6.40814400e-05 4.65558099e-01] [ 9.02563920e-03 1.21549522e-04 9.99959261e-01 4.46420425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.659254154 meters 0.015523866948476567 Centerline is valid? [True, True] Translation: X:110.43, Y:0.47, Z:0.45 [[ 9.99945525e-01 5.98326318e-03 -8.55264319e-03 1.10433179e+02] [-5.98400886e-03 9.99982094e-01 -6.15998617e-05 4.65305851e-01] [ 8.55212148e-03 1.12775599e-04 9.99963424e-01 4.46900934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.719254154 meters 0.015150557911665578 Centerline is valid? [True, True] Translation: X:110.49, Y:0.46, Z:0.45 [[ 9.99957178e-01 3.80889751e-03 -8.43410385e-03 1.10491847e+02] [-3.80955042e-03 9.99992742e-01 -6.13499281e-05 4.63101290e-01] [ 8.43380896e-03 9.34774449e-05 9.99964430e-01 4.46499769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77925415399999 meters 0.014809589548617977 Centerline is valid? [True, True] Translation: X:110.55, Y:0.46, Z:0.45 [[ 9.99968103e-01 -3.79463738e-04 -7.97804509e-03 1.10550321e+02] [ 3.79008354e-04 9.99999926e-01 -5.85915744e-05 4.58671366e-01] [ 7.97806674e-03 5.55659597e-05 9.99968173e-01 4.46566533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83925415399999 meters 0.014532929971325789 Centerline is valid? [True, True] Translation: X:110.61, Y:0.45, Z:0.45 [[ 9.99952525e-01 -5.94239123e-03 -7.72246430e-03 1.10607800e+02] [ 5.94212581e-03 9.99982344e-01 -5.73142619e-05 4.52792273e-01] [ 7.72266853e-03 1.14236864e-05 9.99970180e-01 4.46884923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89925415399999 meters 0.014257472207670499 Centerline is valid? [True, True] Translation: X:110.67, Y:0.44, Z:0.45 [[ 9.99905237e-01 -1.15617019e-02 -7.47287111e-03 1.10667098e+02] [ 1.15616058e-02 9.99933161e-01 -5.60563226e-05 4.44969573e-01] [ 7.47301974e-03 -3.03473798e-05 9.99972076e-01 4.48027789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.95925415399999 meters 0.014533488527969754 Centerline is valid? [True, True] Translation: X:110.73, Y:0.44, Z:0.45 [[ 9.99861973e-01 -1.52819209e-02 -6.51896621e-03 1.10727339e+02] [ 1.52819250e-02 9.99883223e-01 -4.91777960e-05 4.37918572e-01] [ 6.51895648e-03 -5.04513446e-05 9.99978750e-01 4.48887529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.019254154 meters 0.014366876321072777 Centerline is valid? [True, True] Translation: X:110.79, Y:0.43, Z:0.45 [[ 9.99865363e-01 -1.48198135e-02 -7.04484433e-03 1.10789364e+02] [ 1.48198083e-02 9.99890179e-01 -5.29519307e-05 4.34640401e-01] [ 7.04485540e-03 -5.14584410e-05 9.99975183e-01 4.49004866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.079254154 meters 0.014336704276007788 Centerline is valid? [True, True] Translation: X:110.85, Y:0.43, Z:0.45 [[ 9.99919612e-01 -1.02911021e-02 -7.40695523e-03 1.10849511e+02] [ 1.02909759e-02 9.99947045e-01 -5.51439699e-05 4.32482880e-01] [ 7.40713048e-03 -2.10852611e-05 9.99972567e-01 4.48157176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13925415399999 meters 0.014518675815757623 Centerline is valid? [True, True] Translation: X:110.91, Y:0.43, Z:0.45 [[ 9.99957468e-01 -3.29212507e-03 -8.61536825e-03 1.10910292e+02] [ 3.29169745e-03 9.99994580e-01 -6.38136198e-05 4.32532564e-01] [ 8.61553164e-03 3.54517199e-05 9.99962885e-01 4.47769931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19925415399999 meters 0.014730675770698034 Centerline is valid? [True, True] Translation: X:110.97, Y:0.43, Z:0.45 [[ 9.99959091e-01 4.53566321e-04 -9.03383157e-03 1.10968874e+02] [-4.54200097e-04 9.99999895e-01 -6.81043046e-05 4.32275836e-01] [ 9.03379973e-03 7.22046857e-05 9.99959192e-01 4.47994546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25925415399999 meters 0.015136793754015176 Centerline is valid? [True, True] Translation: X:111.03, Y:0.43, Z:0.45 [[ 9.99943532e-01 2.48348734e-03 -1.03327640e-02 1.11027037e+02] [-2.48444374e-03 9.99996911e-01 -7.97258365e-05 4.29575555e-01] [ 1.03325341e-02 1.05392505e-04 9.99946612e-01 4.47126055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.31925415399999 meters 0.015032393254942544 Centerline is valid? [True, True] Translation: X:111.08, Y:0.43, Z:0.45 [[ 9.99940913e-01 2.05004322e-03 -1.06756167e-02 1.11084617e+02] [-2.05105108e-03 9.99997893e-01 -8.34601690e-05 4.27579163e-01] [ 1.06754231e-02 1.05351473e-04 9.99943010e-01 4.47362854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.379254154 meters 0.014763076407128326 Centerline is valid? [True, True] Translation: X:111.14, Y:0.42, Z:0.45 [[ 9.99928345e-01 -7.69851992e-04 -1.19462010e-02 1.11143296e+02] [ 7.68778137e-04 9.99999700e-01 -9.44827711e-05 4.21625169e-01] [ 1.19462702e-02 8.52920228e-05 9.99928637e-01 4.47513883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.439254154 meters 0.014434121952895248 Centerline is valid? [True, True] Translation: X:111.20, Y:0.41, Z:0.45 [[ 9.99899588e-01 -5.47195539e-03 -1.30717613e-02 1.11201210e+02] [ 5.47105567e-03 9.99985028e-01 -1.04587752e-04 4.14655774e-01] [ 1.30721379e-02 3.30609169e-05 9.99914555e-01 4.47552840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49925415399998 meters 0.014389770130761958 Centerline is valid? [True, True] Translation: X:111.26, Y:0.41, Z:0.45 [[ 9.99865958e-01 -1.12754933e-02 -1.18713514e-02 1.11259992e+02] [ 1.12751492e-02 9.99936429e-01 -9.59114942e-05 4.06532227e-01] [ 1.18716782e-02 -3.79526210e-05 9.99929528e-01 4.48657954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55925415399999 meters 0.01469963480931258 Centerline is valid? [True, True] Translation: X:111.32, Y:0.40, Z:0.45 [[ 9.99830285e-01 -1.57195831e-02 -9.60709067e-03 1.11319143e+02] [ 1.57195568e-02 9.99876437e-01 -7.82570536e-05 3.99578384e-01] [ 9.60713376e-03 -7.27754352e-05 9.99953848e-01 4.51434334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61925415399999 meters 0.014661241648681772 Centerline is valid? [True, True] Translation: X:111.38, Y:0.40, Z:0.45 [[ 9.99836893e-01 -1.58763914e-02 -8.60979206e-03 1.11380021e+02] [ 1.58763736e-02 9.99873960e-01 -7.04233494e-05 3.96774505e-01] [ 8.60982495e-03 -6.62804125e-05 9.99962933e-01 4.52924944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.67925415399999 meters 0.014454139268396917 Centerline is valid? [True, True] Translation: X:111.44, Y:0.39, Z:0.45 [[ 9.99889922e-01 -1.25440880e-02 -7.92405368e-03 1.11440862e+02] [ 1.25439682e-02 9.99921319e-01 -6.48143877e-05 3.94719454e-01] [ 7.92424324e-03 -3.45918245e-05 9.99968602e-01 4.53908362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.739254154 meters 0.014304056406061808 Centerline is valid? [True, True] Translation: X:111.50, Y:0.39, Z:0.45 [[ 9.99920888e-01 -9.33641238e-03 -8.42911492e-03 1.11501305e+02] [ 9.33616290e-03 9.99956415e-01 -6.89455101e-05 3.94293886e-01] [ 8.42939124e-03 -9.75553437e-06 9.99964472e-01 4.53997259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.799254154 meters 0.014399459231817858 Centerline is valid? [True, True] Translation: X:111.56, Y:0.39, Z:0.45 [[ 9.99924917e-01 -5.29350640e-03 -1.10516339e-02 1.11560319e+02] [ 5.29282672e-03 9.99985989e-01 -9.07478967e-05 3.92290481e-01] [ 1.10519594e-02 3.22466999e-05 9.99938925e-01 4.52500078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85925415399998 meters 0.014516817135158814 Centerline is valid? [True, True] Translation: X:111.62, Y:0.39, Z:0.45 [[ 9.99905831e-01 -5.48558174e-03 -1.25792447e-02 1.11618761e+02] [ 5.48468691e-03 9.99984953e-01 -1.05632540e-04 3.89717162e-01] [ 1.25796349e-02 3.66293738e-05 9.99920873e-01 4.52165930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91925415399999 meters 0.01736273603051888 Centerline is valid? [True, True] Translation: X:111.68, Y:0.38, Z:0.45 [[ 9.99880707e-01 -6.79524807e-03 -1.38707379e-02 1.11677395e+02] [ 6.79423495e-03 9.99976912e-01 -1.20161908e-04 3.84522479e-01] [ 1.38712342e-02 2.59065215e-05 9.99903789e-01 4.50064529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97925415399999 meters 0.014555855227920791 Centerline is valid? [True, True] Translation: X:111.74, Y:0.38, Z:0.45 [[ 9.99859065e-01 -1.01448585e-02 -1.33765334e-02 1.11736626e+02] [ 1.01441924e-02 9.99948539e-01 -1.17641865e-04 3.81260812e-01] [ 1.33770385e-02 -1.80688441e-05 9.99910523e-01 4.53164812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03925415399999 meters 0.017165331098845677 Centerline is valid? [True, True] Translation: X:111.79, Y:0.37, Z:0.45 [[ 9.99764900e-01 -1.65207825e-02 -1.40430656e-02 1.11794432e+02] [ 1.65206584e-02 9.99863517e-01 -1.24850424e-04 3.71902671e-01] [ 1.40432116e-02 -1.07179619e-04 9.99901383e-01 4.51014460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.099254154 meters 0.016795532253170764 Centerline is valid? [True, True] Translation: X:111.85, Y:0.36, Z:0.45 [[ 9.99579090e-01 -2.61878738e-02 -1.24835270e-02 1.11853179e+02] [ 2.61885190e-02 9.99657016e-01 -1.11809331e-04 3.60540540e-01] [ 1.24821734e-02 -2.15162814e-04 9.99922071e-01 4.54816007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.159254154 meters 0.018237109426828626 Centerline is valid? [True, True] Translation: X:111.91, Y:0.35, Z:0.46 [[ 9.99357783e-01 -3.36039373e-02 -1.24417541e-02 1.11913896e+02] [ 3.36051498e-02 9.99435181e-01 -1.11660930e-04 3.53843935e-01] [ 1.24384791e-02 -3.06517792e-04 9.99922592e-01 4.56558019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.219254154 meters 0.01962023612826415 Centerline is valid? [True, True] Translation: X:111.98, Y:0.35, Z:0.46 [[ 9.99247910e-01 -3.68205722e-02 -1.21597899e-02 1.11975390e+02] [ 3.68219716e-02 9.99321835e-01 -1.08849219e-04 3.47828145e-01] [ 1.21555515e-02 -3.38980086e-04 9.99926061e-01 4.56702657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27925415399999 meters 0.01904185577067082 Centerline is valid? [True, True] Translation: X:112.04, Y:0.35, Z:0.46 [[ 9.99198486e-01 -3.80606931e-02 -1.24003941e-02 1.12036690e+02] [ 3.80622496e-02 9.99275364e-01 -1.10546488e-04 3.46289780e-01] [ 1.23956158e-02 -3.61529013e-04 9.99923106e-01 4.57899648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33925415399999 meters 0.019565475236841517 Centerline is valid? [True, True] Translation: X:112.10, Y:0.34, Z:0.46 [[ 9.99178432e-01 -3.79656263e-02 -1.41799699e-02 1.12097796e+02] [ 3.79676623e-02 9.99278960e-01 -1.25692661e-04 3.43850855e-01] [ 1.41745175e-02 -4.12790911e-04 9.99899451e-01 4.56450332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39925415399999 meters 0.019456423169183373 Centerline is valid? [True, True] Translation: X:112.16, Y:0.34, Z:0.46 [[ 9.99153393e-01 -3.79163408e-02 -1.59639617e-02 1.12159322e+02] [ 3.79189262e-02 9.99280809e-01 -1.40817937e-04 3.44164942e-01] [ 1.59578198e-02 -4.64637563e-04 9.99872558e-01 4.55526885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.45925415399999 meters 0.019409092066281372 Centerline is valid? [True, True] Translation: X:112.22, Y:0.34, Z:0.46 [[ 9.99125495e-01 -3.86451913e-02 -1.59622868e-02 1.12219528e+02] [ 3.86478716e-02 9.99252882e-01 -1.40644110e-04 3.44319683e-01] [ 1.59557963e-02 -4.76387294e-04 9.99872585e-01 4.56059189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.519254154 meters 0.02179869916608777 Centerline is valid? [True, True] Translation: X:112.28, Y:0.34, Z:0.46 [[ 9.99038283e-01 -4.07129499e-02 -1.62777655e-02 1.12280103e+02] [ 4.07160148e-02 9.99170749e-01 -1.43210312e-04 3.40217478e-01] [ 1.62700977e-02 -5.19693157e-04 9.99867498e-01 4.55417127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.579254154 meters 0.02284454720365786 Centerline is valid? [True, True] Translation: X:112.34, Y:0.34, Z:0.46 [[ 9.98881485e-01 -4.43131735e-02 -1.64960965e-02 1.12340410e+02] [ 4.43168128e-02 9.99017517e-01 -1.45050996e-04 3.39454213e-01] [ 1.64863171e-02 -5.86165668e-04 9.99863920e-01 4.55598894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63925415399999 meters 0.022644676702442242 Centerline is valid? [True, True] Translation: X:112.40, Y:0.34, Z:0.46 [[ 9.98758525e-01 -4.69679767e-02 -1.65957079e-02 1.12400963e+02] [ 4.69720260e-02 9.98896195e-01 -1.45926884e-04 3.40486876e-01] [ 1.65842434e-02 -6.33788305e-04 9.99862271e-01 4.56216845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69925415399999 meters 0.022957845419973723 Centerline is valid? [True, True] Translation: X:112.46, Y:0.34, Z:0.46 [[ 9.98665227e-01 -4.91210677e-02 -1.59651069e-02 1.12462041e+02] [ 4.91250964e-02 9.98792624e-01 -1.39963037e-04 3.41727015e-01] [ 1.59527061e-02 -6.44511197e-04 9.99872540e-01 4.57605269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75925415399999 meters 0.024692324945645123 Centerline is valid? [True, True] Translation: X:112.52, Y:0.34, Z:0.46 [[ 9.98753243e-01 -4.74581498e-02 -1.54817419e-02 1.12522688e+02] [ 4.74617543e-02 9.98873047e-01 -1.34718456e-04 3.44171328e-01] [ 1.54706882e-02 -6.00240136e-04 9.99880142e-01 4.57171103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.81925415399999 meters 0.02317931499748726 Centerline is valid? [True, True] Translation: X:112.58, Y:0.35, Z:0.46 [[ 9.98845148e-01 -4.58354681e-02 -1.44041671e-02 1.12583808e+02] [ 4.58384293e-02 9.98948859e-01 -1.24675481e-04 3.47535364e-01] [ 1.43947408e-02 -5.35732893e-04 9.99896247e-01 4.59645797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.879254154 meters 0.023633156899201247 Centerline is valid? [True, True] Translation: X:112.65, Y:0.35, Z:0.46 [[ 9.98999661e-01 -4.19465311e-02 -1.54973081e-02 1.12645473e+02] [ 4.19495034e-02 9.99119723e-01 -1.33375730e-04 3.54826085e-01] [ 1.54892609e-02 -5.16862071e-04 9.99879901e-01 4.57929488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.939254154 meters 0.020619625850833167 Centerline is valid? [True, True] Translation: X:112.71, Y:0.36, Z:0.46 [[ 9.99045232e-01 -4.06188950e-02 -1.60850593e-02 1.12707154e+02] [ 4.06219357e-02 9.99174579e-01 -1.37771991e-04 3.62189481e-01] [ 1.60773785e-02 -5.15765793e-04 9.99870618e-01 4.59025603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99925415399998 meters 0.020895098907296673 Centerline is valid? [True, True] Translation: X:112.77, Y:0.36, Z:0.46 [[ 9.99042902e-01 -4.05335673e-02 -1.64410820e-02 1.12767226e+02] [ 4.05367353e-02 9.99178039e-01 -1.40660807e-04 3.64421463e-01] [ 1.64332696e-02 -5.25941608e-04 9.99864826e-01 4.58607068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05925415399999 meters 0.020218212720229143 Centerline is valid? [True, True] Translation: X:112.83, Y:0.37, Z:0.46 [[ 9.99026524e-01 -4.10886967e-02 -1.60537669e-02 1.12828708e+02] [ 4.10917955e-02 9.99155366e-01 -1.36924056e-04 3.69429744e-01] [ 1.60458334e-02 -5.22887344e-04 9.99871121e-01 4.59539979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11925415399999 meters 0.020611457068004525 Centerline is valid? [True, True] Translation: X:112.89, Y:0.37, Z:0.46 [[ 9.99075232e-01 -4.03448794e-02 -1.48651289e-02 1.12889770e+02] [ 4.03474617e-02 9.99185702e-01 -1.26264172e-04 3.73508796e-01] [ 1.48581184e-02 -4.73622812e-04 9.99889500e-01 4.60955011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.17925415399999 meters 0.02061385227569527 Centerline is valid? [True, True] Translation: X:112.95, Y:0.38, Z:0.46 [[ 9.99117690e-01 -3.94883436e-02 -1.43008058e-02 1.12951453e+02] [ 3.94906531e-02 9.99219933e-01 -1.20971334e-04 3.75187921e-01] [ 1.42944272e-02 -4.43883563e-04 9.99897731e-01 4.61791288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.239254154 meters 0.019096969663751483 Centerline is valid? [True, True] Translation: X:113.01, Y:0.38, Z:0.46 [[ 9.99254420e-01 -3.66396205e-02 -1.21713660e-02 1.13013020e+02] [ 3.66410888e-02 9.99328485e-01 -1.02409974e-04 3.82150350e-01] [ 1.21669450e-02 -3.43638482e-04 9.99925921e-01 4.64484407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.299254154 meters 0.018766369283449352 Centerline is valid? [True, True] Translation: X:113.07, Y:0.39, Z:0.46 [[ 9.99364194e-01 -3.37562510e-02 -1.14770686e-02 1.13073316e+02] [ 3.37573753e-02 9.99430053e-01 -9.58057355e-05 3.86972604e-01] [ 1.14737613e-02 -2.91690889e-04 9.99934132e-01 4.64774849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35925415399998 meters 0.017402212274633466 Centerline is valid? [True, True] Translation: X:113.13, Y:0.39, Z:0.47 [[ 9.99442427e-01 -3.12022709e-02 -1.18849962e-02 1.13134812e+02] [ 3.12033034e-02 9.99513054e-01 -9.85891587e-05 3.93444833e-01] [ 1.18822851e-02 -2.72316955e-04 9.99929366e-01 4.65384342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41925415399999 meters 0.01652834082456375 Centerline is valid? [True, True] Translation: X:113.20, Y:0.40, Z:0.47 [[ 9.99576057e-01 -2.64253568e-02 -1.22231979e-02 1.13196725e+02] [ 2.64260991e-02 9.99650765e-01 -1.00809959e-04 3.99041045e-01] [ 1.22215931e-02 -2.22244217e-04 9.99925289e-01 4.65394220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47925415399999 meters 0.015669730033403766 Centerline is valid? [True, True] Translation: X:113.26, Y:0.40, Z:0.47 [[ 9.99673994e-01 -2.24900454e-02 -1.20873639e-02 1.13256829e+02] [ 2.24904865e-02 9.99747052e-01 -9.94565671e-05 4.03690379e-01] [ 1.20865432e-02 -1.72426550e-04 9.99926940e-01 4.66386138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53925415399999 meters 0.015613556973278575 Centerline is valid? [True, True] Translation: X:113.32, Y:0.41, Z:0.47 [[ 9.99701131e-01 -2.14430334e-02 -1.17407826e-02 1.13316884e+02] [ 2.14433773e-02 9.99770060e-01 -9.66048469e-05 4.05745581e-01] [ 1.17401544e-02 -1.55186057e-04 9.99931070e-01 4.66633198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.599254154 meters 0.0159454284371241 Centerline is valid? [True, True] Translation: X:113.38, Y:0.40, Z:0.47 [[ 9.99658979e-01 -2.32103029e-02 -1.19669659e-02 1.13377200e+02] [ 2.32107885e-02 9.99730589e-01 -9.83300930e-05 4.04716222e-01] [ 1.19660242e-02 -1.79466154e-04 9.99928388e-01 4.66271697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.659254154 meters 0.016921691412053973 Centerline is valid? [True, True] Translation: X:113.44, Y:0.40, Z:0.47 [[ 9.99499527e-01 -2.90500172e-02 -1.25216544e-02 1.13437647e+02] [ 2.90510078e-02 9.99577925e-01 -1.02805178e-04 4.00020548e-01] [ 1.25193558e-02 -2.61012954e-04 9.99921596e-01 4.65660575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.719254154 meters 0.017901904020439365 Centerline is valid? [True, True] Translation: X:113.50, Y:0.40, Z:0.47 [[ 9.99355697e-01 -3.36116033e-02 -1.25876969e-02 1.13499229e+02] [ 3.36129698e-02 9.99434919e-01 -1.03046663e-04 3.97512815e-01] [ 1.25840474e-02 -3.20129608e-04 9.99920766e-01 4.66177069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77925415399999 meters 0.020017229578381267 Centerline is valid? [True, True] Translation: X:113.56, Y:0.39, Z:0.47 [[ 9.99105939e-01 -4.06105338e-02 -1.17518600e-02 1.13560361e+02] [ 4.06122118e-02 9.99174979e-01 -9.59193921e-05 3.92189808e-01] [ 1.17460598e-02 -3.81435392e-04 9.99930940e-01 4.67167800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83925415399999 meters 0.02236948095686715 Centerline is valid? [True, True] Translation: X:113.62, Y:0.39, Z:0.47 [[ 9.98906051e-01 -4.54277294e-02 -1.10915649e-02 1.13621285e+02] [ 4.54295228e-02 9.98967542e-01 -9.03340762e-05 3.86605699e-01] [ 1.10842170e-02 -4.13649245e-04 9.99938483e-01 4.67416931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89925415399999 meters 0.022337521408715522 Centerline is valid? [True, True] Translation: X:113.68, Y:0.39, Z:0.47 [[ 9.98905113e-01 -4.55210678e-02 -1.07892163e-02 1.13683118e+02] [ 4.55227760e-02 9.98963297e-01 -8.73334501e-05 3.86534840e-01] [ 1.07820066e-02 -4.03917248e-04 9.99941791e-01 4.67776670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.95925415399999 meters 0.021529228507678695 Centerline is valid? [True, True] Translation: X:113.74, Y:0.39, Z:0.47 [[ 9.99009071e-01 -4.31062823e-02 -1.10781145e-02 1.13744827e+02] [ 4.31079425e-02 9.99070417e-01 -8.89845422e-05 3.88761109e-01] [ 1.10716522e-02 -3.88658356e-04 9.99938632e-01 4.67854673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.019254154 meters 0.019231904887691748 Centerline is valid? [True, True] Translation: X:113.81, Y:0.39, Z:0.47 [[ 9.99254399e-01 -3.68819755e-02 -1.14177769e-02 1.13805093e+02] [ 3.68833360e-02 9.99319574e-01 -9.14675291e-05 3.94865538e-01] [ 1.14133814e-02 -3.29726369e-04 9.99934811e-01 4.68247040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.079254154 meters 0.01734395209242815 Centerline is valid? [True, True] Translation: X:113.87, Y:0.40, Z:0.47 [[ 9.99480960e-01 -3.01219861e-02 -1.14226566e-02 1.13865738e+02] [ 3.01229080e-02 9.99546198e-01 -9.13727594e-05 4.02046560e-01] [ 1.14202253e-02 -2.52758301e-04 9.99934755e-01 4.69146315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13925415399999 meters 0.01623280403199254 Centerline is valid? [True, True] Translation: X:113.93, Y:0.41, Z:0.47 [[ 9.99573429e-01 -2.66986099e-02 -1.18382593e-02 1.13926821e+02] [ 2.66993644e-02 9.99643504e-01 -9.43352036e-05 4.06826934e-01] [ 1.18365576e-02 -2.21779036e-04 9.99929921e-01 4.69389287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19925415399999 meters 0.01599937169418692 Centerline is valid? [True, True] Translation: X:113.99, Y:0.41, Z:0.47 [[ 9.99607515e-01 -2.47901849e-02 -1.30484391e-02 1.13987930e+02] [ 2.47909455e-02 9.99692652e-01 -1.03484434e-04 4.10816704e-01] [ 1.30469941e-02 -2.20039324e-04 9.99914860e-01 4.68167915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25925415399999 meters 0.016695846114529574 Centerline is valid? [True, True] Translation: X:114.05, Y:0.41, Z:0.47 [[ 9.99529729e-01 -2.68803921e-02 -1.47568921e-02 1.14048011e+02] [ 2.68815980e-02 9.99638618e-01 -1.16667108e-04 4.11594057e-01] [ 1.47546953e-02 -2.80076599e-04 9.99891104e-01 4.66448733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.31925415399999 meters 0.017835959430959742 Centerline is valid? [True, True] Translation: X:114.11, Y:0.41, Z:0.47 [[ 9.99337780e-01 -3.30418292e-02 -1.52394199e-02 1.14108769e+02] [ 3.30438324e-02 9.99453896e-01 -1.20400537e-04 4.11884783e-01] [ 1.52350758e-02 -3.83248032e-04 9.99883866e-01 4.67325043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.379254154 meters 0.021036061707515562 Centerline is valid? [True, True] Translation: X:114.17, Y:0.41, Z:0.47 [[ 9.99037283e-01 -4.15054273e-02 -1.42058993e-02 1.14168923e+02] [ 4.15080235e-02 9.99138164e-01 -1.12166905e-04 4.08556393e-01] [ 1.41983117e-02 -4.77599883e-04 9.99899085e-01 4.68578357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.439254154 meters 0.022919200616545756 Centerline is valid? [True, True] Translation: X:114.23, Y:0.41, Z:0.47 [[ 9.98752446e-01 -4.82385261e-02 -1.29071883e-02 1.14229548e+02] [ 4.82412317e-02 9.98835709e-01 -1.01819202e-04 4.06899374e-01] [ 1.28970722e-02 -5.20966487e-04 9.99916694e-01 4.69800106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49925415399998 meters 0.026862396459081644 Centerline is valid? [True, True] Translation: X:114.29, Y:0.40, Z:0.47 [[ 9.98273155e-01 -5.74640765e-02 -1.21896804e-02 1.14290439e+02] [ 5.74671772e-02 9.98347392e-01 -9.60315028e-05 4.04093714e-01] [ 1.21750540e-02 -6.04640851e-04 9.99925698e-01 4.70202398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55925415399999 meters 0.028627506219083915 Centerline is valid? [True, True] Translation: X:114.35, Y:0.41, Z:0.47 [[ 9.97866184e-01 -6.40370068e-02 -1.27413216e-02 1.14350631e+02] [ 6.40409297e-02 9.97947268e-01 -1.00296144e-04 4.06514155e-01] [ 1.27215898e-02 -7.15883952e-04 9.99918821e-01 4.70611609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61925415399999 meters 0.02900536780811236 Centerline is valid? [True, True] Translation: X:114.41, Y:0.41, Z:0.47 [[ 9.97729324e-01 -6.62466527e-02 -1.21481248e-02 1.14411829e+02] [ 6.62503856e-02 9.97803025e-01 -9.53274971e-05 4.09673031e-01] [ 1.21277508e-02 -7.09706911e-04 9.99926204e-01 4.71283980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.67925415399999 meters 0.03009666454957853 Centerline is valid? [True, True] Translation: X:114.47, Y:0.41, Z:0.47 [[ 9.97643932e-01 -6.74840943e-02 -1.23483736e-02 1.14473789e+02] [ 6.74880550e-02 9.97720078e-01 -9.61463167e-05 4.13372159e-01] [ 1.23267086e-02 -7.37447927e-04 9.99923751e-01 4.71153791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.739254154 meters 0.031951442545879005 Centerline is valid? [True, True] Translation: X:114.54, Y:0.42, Z:0.47 [[ 9.97645010e-01 -6.70667456e-02 -1.43695873e-02 1.14535521e+02] [ 6.70720846e-02 9.97748126e-01 -1.10595855e-04 4.16397562e-01] [ 1.43446461e-02 -8.53462775e-04 9.99896746e-01 4.69513596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.799254154 meters 0.030750180147477494 Centerline is valid? [True, True] Translation: X:114.60, Y:0.42, Z:0.47 [[ 9.97810961e-01 -6.42281244e-02 -1.57490903e-02 1.14596586e+02] [ 6.42341988e-02 9.97934844e-01 -1.20365289e-04 4.24429368e-01] [ 1.57242968e-02 -8.91528395e-04 9.99875968e-01 4.67668735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85925415399998 meters 0.026811232686345894 Centerline is valid? [True, True] Translation: X:114.66, Y:0.44, Z:0.47 [[ 9.97990993e-01 -6.13897407e-02 -1.56613309e-02 1.14657624e+02] [ 6.13954082e-02 9.98113515e-01 -1.19117126e-04 4.36094003e-01] [ 1.56390986e-02 -8.42655983e-04 9.99877347e-01 4.69294606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91925415399999 meters 0.026122683269699642 Centerline is valid? [True, True] Translation: X:114.72, Y:0.45, Z:0.47 [[ 9.98296397e-01 -5.65732882e-02 -1.42746853e-02 1.14717584e+02] [ 5.65775056e-02 9.98398204e-01 -1.08535990e-04 4.45915810e-01] [ 1.42579604e-02 -6.99274999e-04 9.99898106e-01 4.71192069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97925415399999 meters 0.024967660075634668 Centerline is valid? [True, True] Translation: X:114.78, Y:0.46, Z:0.47 [[ 9.98570557e-01 -5.21224953e-02 -1.18359254e-02 1.14778489e+02] [ 5.21250843e-02 9.98640560e-01 -8.98526284e-05 4.55811078e-01] [ 1.18245185e-02 -5.27224418e-04 9.99929949e-01 4.73868818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.03925415399999 meters 0.022735614216146754 Centerline is valid? [True, True] Translation: X:114.84, Y:0.47, Z:0.48 [[ 9.98751809e-01 -4.88459272e-02 -1.04354421e-02 1.14839730e+02] [ 4.88477644e-02 9.98806232e-01 -7.89027505e-05 4.65280335e-01] [ 1.04268386e-02 -4.30943750e-04 9.99945546e-01 4.75288302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.099254154 meters 0.023427272955706072 Centerline is valid? [True, True] Translation: X:114.90, Y:0.47, Z:0.47 [[ 9.98782940e-01 -4.81728068e-02 -1.05839360e-02 1.14900731e+02] [ 4.81746643e-02 9.98838924e-01 -7.95256509e-05 4.66024729e-01] [ 1.05754782e-02 -4.30448697e-04 9.99943985e-01 4.74753075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.159254154 meters 0.02343150877390913 Centerline is valid? [True, True] Translation: X:114.96, Y:0.47, Z:0.47 [[ 9.98787444e-01 -4.76234326e-02 -1.24759858e-02 1.14962951e+02] [ 4.76259816e-02 9.98865235e-01 -9.28802340e-05 4.70780335e-01] [ 1.24662518e-02 -5.01413460e-04 9.99922168e-01 4.73010074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21925415399998 meters 0.021787575808651632 Centerline is valid? [True, True] Translation: X:115.03, Y:0.48, Z:0.47 [[ 9.98719864e-01 -4.81978568e-02 -1.53492725e-02 1.15025040e+02] [ 4.82018016e-02 9.98837611e-01 -1.13061490e-04 4.78468530e-01] [ 1.53368800e-02 -6.26945832e-04 9.99882187e-01 4.72250568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27925415399999 meters 0.023313896552960435 Centerline is valid? [True, True] Translation: X:115.09, Y:0.48, Z:0.47 [[ 9.98711611e-01 -4.83286887e-02 -1.54743923e-02 1.15086104e+02] [ 4.83327284e-02 9.98831284e-01 -1.13038174e-04 4.79163772e-01] [ 1.54617701e-02 -6.35027064e-04 9.99880258e-01 4.71346575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33925415399999 meters 0.02327941301054735 Centerline is valid? [True, True] Translation: X:115.15, Y:0.48, Z:0.47 [[ 9.98828323e-01 -4.66293628e-02 -1.29493107e-02 1.15146964e+02] [ 4.66320555e-02 9.98912130e-01 -9.40815186e-05 4.83946226e-01] [ 1.29396104e-02 -5.09881688e-04 9.99916150e-01 4.73612941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39925415399999 meters 0.021543688140525784 Centerline is valid? [True, True] Translation: X:115.21, Y:0.49, Z:0.48 [[ 9.98935296e-01 -4.49778853e-02 -1.02598010e-02 1.15209382e+02] [ 4.49794943e-02 9.98987908e-01 -7.39832888e-05 4.90641401e-01] [ 1.02527448e-02 -3.87576142e-04 9.99947364e-01 4.75626821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.45925415399999 meters 0.021661149070170062 Centerline is valid? [True, True] Translation: X:115.27, Y:0.50, Z:0.48 [[ 9.99044676e-01 -4.29843716e-02 -7.87908128e-03 1.15272045e+02] [ 4.29852630e-02 9.99075705e-01 -5.62499956e-05 4.95419068e-01] [ 7.87421656e-03 -2.82488123e-04 9.99968958e-01 4.76824573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.519254154 meters 0.02163050344560392 Centerline is valid? [True, True] Translation: X:115.33, Y:0.50, Z:0.47 [[ 9.99153352e-01 -4.02490942e-02 -8.52000652e-03 1.15332560e+02] [ 4.02500415e-02 9.99189637e-01 -6.03190679e-05 4.98175729e-01] [ 8.51553000e-03 -2.82662617e-04 9.99963702e-01 4.74942836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.579254154 meters 0.02067260148132432 Centerline is valid? [True, True] Translation: X:115.40, Y:0.50, Z:0.47 [[ 9.99151196e-01 -4.01623888e-02 -9.15805001e-03 1.15395199e+02] [ 4.01634852e-02 9.99193120e-01 -6.42315595e-05 5.00570021e-01] [ 9.15324025e-03 -3.03642167e-04 9.99958062e-01 4.74957104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63925415399999 meters 0.020538998861325618 Centerline is valid? [True, True] Translation: X:115.46, Y:0.50, Z:0.48 [[ 9.99146167e-01 -4.03142931e-02 -9.03855427e-03 1.15457011e+02] [ 4.03153747e-02 9.99187003e-01 -6.25774718e-05 5.01256322e-01] [ 9.03372871e-03 -3.01868661e-04 9.99959149e-01 4.75013236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69925415399999 meters 0.021356719069574863 Centerline is valid? [True, True] Translation: X:115.52, Y:0.50, Z:0.47 [[ 9.99165923e-01 -3.98494553e-02 -8.91511568e-03 1.15518150e+02] [ 3.98504940e-02 9.99205652e-01 -6.11587152e-05 4.98993395e-01] [ 8.91047111e-03 -2.94164060e-04 9.99960258e-01 4.74239798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75925415399999 meters 0.019609520329403978 Centerline is valid? [True, True] Translation: X:115.58, Y:0.50, Z:0.48 [[ 9.99189005e-01 -3.94216383e-02 -8.20158441e-03 1.15580843e+02] [ 3.94225078e-02 9.99222629e-01 -5.56907070e-05 5.02891094e-01] [ 8.19740416e-03 -2.67681483e-04 9.99966365e-01 4.75061040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.81925415399999 meters 0.019862582171701212 Centerline is valid? [True, True] Translation: X:115.64, Y:0.50, Z:0.48 [[ 9.99209026e-01 -3.90236819e-02 -7.64684899e-03 1.15642887e+02] [ 3.90244308e-02 9.99238255e-01 -5.13035597e-05 5.02179685e-01] [ 7.64302610e-03 -2.47150949e-04 9.99970761e-01 4.75379876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.879254154 meters 0.020159218759800132 Centerline is valid? [True, True] Translation: X:115.71, Y:0.50, Z:0.48 [[ 9.99189457e-01 -3.94942552e-02 -7.78676053e-03 1.15705283e+02] [ 3.94950506e-02 9.99219765e-01 -5.16630078e-05 5.01698478e-01] [ 7.78272542e-03 -2.55917368e-04 9.99969681e-01 4.75353248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.939254154 meters 0.02085184577482474 Centerline is valid? [True, True] Translation: X:115.77, Y:0.50, Z:0.47 [[ 9.99064774e-01 -4.23665538e-02 -8.64018142e-03 1.15767009e+02] [ 4.23676455e-02 9.99102087e-01 -5.67310920e-05 4.98489037e-01] [ 8.63482678e-03 -3.09386108e-04 9.99962671e-01 4.74963293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99925415399998 meters 0.02123729407321486 Centerline is valid? [True, True] Translation: X:115.83, Y:0.50, Z:0.47 [[ 9.98890759e-01 -4.58553029e-02 -1.07024442e-02 1.15828593e+02] [ 4.58571836e-02 9.98948004e-01 -6.97349739e-05 4.95440919e-01] [ 1.06943829e-02 -4.21126325e-04 9.99942725e-01 4.73189860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05925415399999 meters 0.022360486898323987 Centerline is valid? [True, True] Translation: X:115.89, Y:0.49, Z:0.47 [[ 9.98767575e-01 -4.83065813e-02 -1.13931942e-02 1.15890650e+02] [ 4.83088797e-02 9.98832442e-01 -7.35417772e-05 4.92087062e-01] [ 1.13834446e-02 -4.76941306e-04 9.99935093e-01 4.73530569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11925415399999 meters 0.02321139501845717 Centerline is valid? [True, True] Translation: X:115.95, Y:0.49, Z:0.47 [[ 9.98723628e-01 -4.94028586e-02 -1.05106252e-02 1.15953198e+02] [ 4.94048832e-02 9.98778831e-01 -6.70925506e-05 4.91203454e-01] [ 1.05011045e-02 -4.52269296e-04 9.99944760e-01 4.74864729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.17925415399999 meters 0.023928208812978906 Centerline is valid? [True, True] Translation: X:116.02, Y:0.49, Z:0.48 [[ 9.98741105e-01 -4.94675014e-02 -8.31690885e-03 1.16016740e+02] [ 4.94687770e-02 9.98775669e-01 -5.24022578e-05 4.88865926e-01] [ 8.30931841e-03 -3.59091020e-04 9.99965413e-01 4.76918944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.239254154 meters 0.026321416622602824 Centerline is valid? [True, True] Translation: X:116.08, Y:0.48, Z:0.48 [[ 9.98691032e-01 -5.06988180e-02 -6.77144234e-03 1.16078058e+02] [ 5.06996953e-02 9.98713943e-01 -4.21435265e-05 4.84138738e-01] [ 6.76487050e-03 -3.01221702e-04 9.99977073e-01 4.77942876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.299254154 meters 0.02582565282296235 Centerline is valid? [True, True] Translation: X:116.14, Y:0.48, Z:0.48 [[ 9.98566558e-01 -5.30314290e-02 -7.24540648e-03 1.16140539e+02] [ 5.30324980e-02 9.98592786e-01 -4.46340121e-05 4.82869674e-01] [ 7.23757764e-03 -3.39671972e-04 9.99973751e-01 4.77574411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35925415399998 meters 0.028526238030794626 Centerline is valid? [True, True] Translation: X:116.20, Y:0.48, Z:0.47 [[ 9.98381894e-01 -5.60884016e-02 -9.36407436e-03 1.16200452e+02] [ 5.60903253e-02 9.98425697e-01 -5.72744083e-05 4.76050490e-01] [ 9.35254489e-03 -4.68052244e-04 9.99956154e-01 4.74658291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41925415399999 meters 0.02818931784049712 Centerline is valid? [True, True] Translation: X:116.26, Y:0.48, Z:0.47 [[ 9.98288865e-01 -5.75681740e-02 -1.02589720e-02 1.16262795e+02] [ 5.75705652e-02 9.98341438e-01 -6.23267888e-05 4.75096129e-01] [ 1.02455449e-02 -5.28394677e-04 9.99947373e-01 4.74637955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47925415399999 meters 0.02762832234712059 Centerline is valid? [True, True] Translation: X:116.33, Y:0.48, Z:0.47 [[ 9.98248582e-01 -5.80968208e-02 -1.11591892e-02 1.16325375e+02] [ 5.80996924e-02 9.98310784e-01 -6.69597017e-05 4.75241730e-01] [ 1.11442291e-02 -5.81503033e-04 9.99937732e-01 4.74933062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53925415399999 meters 0.027209217007900972 Centerline is valid? [True, True] Translation: X:116.39, Y:0.47, Z:0.47 [[ 9.98289494e-01 -5.73122100e-02 -1.15497150e-02 1.16387947e+02] [ 5.73152436e-02 9.98356128e-01 -6.84509662e-05 4.74578622e-01] [ 1.15346518e-02 -5.93640848e-04 9.99933297e-01 4.74193824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.599254154 meters 0.025662066933256535 Centerline is valid? [True, True] Translation: X:116.45, Y:0.48, Z:0.47 [[ 9.98392221e-01 -5.54646487e-02 -1.16895271e-02 1.16449726e+02] [ 5.54676398e-02 9.98460483e-01 -6.84145911e-05 4.77285186e-01] [ 1.16753254e-02 -5.80085882e-04 9.99931673e-01 4.74324265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.659254154 meters 0.02437184187712296 Centerline is valid? [True, True] Translation: X:116.51, Y:0.48, Z:0.48 [[ 9.98604134e-01 -5.16983840e-02 -1.08194885e-02 1.16510715e+02] [ 5.17007304e-02 9.98662621e-01 -6.29026410e-05 4.79208371e-01] [ 1.08082707e-02 -4.96560622e-04 9.99941466e-01 4.76424895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71925415399998 meters 0.023685002483948007 Centerline is valid? [True, True] Translation: X:116.57, Y:0.48, Z:0.48 [[ 9.98778558e-01 -4.84932161e-02 -9.47628543e-03 1.16572370e+02] [ 4.84948754e-02 9.98823430e-01 -5.47442590e-05 4.81254804e-01] [ 9.46779064e-03 -4.04873889e-04 9.99955098e-01 4.78741243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77925415399999 meters 0.02437963545854626 Centerline is valid? [True, True] Translation: X:116.63, Y:0.48, Z:0.48 [[ 9.98830806e-01 -4.73349603e-02 -9.81948692e-03 1.16633287e+02] [ 4.73366914e-02 9.98878989e-01 -5.61838845e-05 4.78998951e-01] [ 9.81113863e-03 -4.08703827e-04 9.99951786e-01 4.77653149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83925415399999 meters 0.023105840132912128 Centerline is valid? [True, True] Translation: X:116.69, Y:0.48, Z:0.48 [[ 9.98801266e-01 -4.75817870e-02 -1.14892893e-02 1.16694984e+02] [ 4.75841809e-02 9.98867229e-01 -6.50703912e-05 4.79918304e-01] [ 1.14793708e-02 -4.81716033e-04 9.99933994e-01 4.76536348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89925415399999 meters 0.023914251370450147 Centerline is valid? [True, True] Translation: X:116.76, Y:0.48, Z:0.47 [[ 9.98755387e-01 -4.79114417e-02 -1.38625509e-02 1.16756179e+02] [ 4.79149696e-02 9.98851415e-01 -7.77093671e-05 4.77693495e-01] [ 1.38503517e-02 -5.86611055e-04 9.99903907e-01 4.74506349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.95925415399999 meters 0.02210948211219754 Centerline is valid? [True, True] Translation: X:116.82, Y:0.48, Z:0.48 [[ 9.98822682e-01 -4.65252261e-02 -1.37351364e-02 1.16818036e+02] [ 4.65285714e-02 9.98916957e-01 -7.60678179e-05 4.80203304e-01] [ 1.37237997e-02 -5.63098012e-04 9.99905666e-01 4.75401358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.019254154 meters 0.023775842764912996 Centerline is valid? [True, True] Translation: X:116.88, Y:0.48, Z:0.48 [[ 9.98897157e-01 -4.51171123e-02 -1.29967536e-02 1.16879708e+02] [ 4.51200007e-02 9.98981572e-01 -7.10437146e-05 4.77319161e-01] [ 1.29867227e-02 -5.15448168e-04 9.99915536e-01 4.75326250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.079254154 meters 0.02072912125275462 Centerline is valid? [True, True] Translation: X:116.94, Y:0.48, Z:0.48 [[ 9.99142075e-01 -3.99625284e-02 -1.08678146e-02 1.16940243e+02] [ 3.99642475e-02 9.99201109e-01 -5.90217974e-05 4.83499808e-01] [ 1.08614911e-02 -3.75352872e-04 9.99940942e-01 4.78649792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13925415399999 meters 0.018907620408191626 Centerline is valid? [True, True] Translation: X:117.00, Y:0.49, Z:0.48 [[ 9.99356679e-01 -3.46426533e-02 -9.27983996e-03 1.17001009e+02] [ 3.46436790e-02 9.99399726e-01 -5.02413844e-05 4.88022241e-01] [ 9.27601001e-03 -2.71278734e-04 9.99956940e-01 4.79923010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19925415399999 meters 0.017726027339030982 Centerline is valid? [True, True] Translation: X:117.06, Y:0.49, Z:0.48 [[ 9.99448848e-01 -3.18232338e-02 -9.44890443e-03 1.17062883e+02] [ 3.18241756e-02 9.99493481e-01 -5.07016241e-05 4.89621466e-01] [ 9.44573187e-03 -2.50029914e-04 9.99955357e-01 4.79247549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25925415399999 meters 0.017825355376349286 Centerline is valid? [True, True] Translation: X:117.13, Y:0.49, Z:0.48 [[ 9.99468986e-01 -3.11987049e-02 -9.40147705e-03 1.17125318e+02] [ 3.11996161e-02 9.99513172e-01 -4.97572566e-05 4.89353403e-01] [ 9.39845252e-03 -2.43591640e-04 9.99955804e-01 4.79398345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.31925415399999 meters 0.018666709694849404 Centerline is valid? [True, True] Translation: X:117.19, Y:0.49, Z:0.48 [[ 9.99442275e-01 -3.14455030e-02 -1.12391814e-02 1.17186504e+02] [ 3.14468295e-02 9.99505424e-01 -5.87292790e-05 4.87422585e-01] [ 1.12354695e-02 -2.94740096e-04 9.99936837e-01 4.77937542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.379254154 meters 0.017629656227133413 Centerline is valid? [True, True] Translation: X:117.25, Y:0.49, Z:0.48 [[ 9.99367335e-01 -3.32177476e-02 -1.27086989e-02 1.17248401e+02] [ 3.32195982e-02 9.99448075e-01 -6.55140502e-05 4.88243141e-01] [ 1.27038609e-02 -3.56705271e-04 9.99919239e-01 4.77634744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.439254154 meters 0.018469735133513947 Centerline is valid? [True, True] Translation: X:117.31, Y:0.48, Z:0.48 [[ 9.99336962e-01 -3.45395492e-02 -1.15176511e-02 1.17310828e+02] [ 3.45411663e-02 9.99403274e-01 -5.85475974e-05 4.84831091e-01] [ 1.15128004e-02 -3.39324324e-04 9.99933668e-01 4.78526564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49925415399998 meters 0.018294187995632146 Centerline is valid? [True, True] Translation: X:117.37, Y:0.48, Z:0.48 [[ 9.99373796e-01 -3.38021352e-02 -1.04609563e-02 1.17373550e+02] [ 3.38034377e-02 9.99428499e-01 -5.23226141e-05 4.84553799e-01] [ 1.04567465e-02 -3.01326435e-04 9.99945281e-01 4.79776422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55925415399999 meters 0.01721512827817164 Centerline is valid? [True, True] Translation: X:117.44, Y:0.49, Z:0.48 [[ 9.99486012e-01 -3.04403877e-02 -1.00545605e-02 1.17435423e+02] [ 3.04414281e-02 9.99536551e-01 -4.95842997e-05 4.87125412e-01] [ 1.00514101e-02 -2.56516367e-04 9.99949450e-01 4.80855852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.61925415399999 meters 0.016856439555164277 Centerline is valid? [True, True] Translation: X:117.50, Y:0.49, Z:0.48 [[ 9.99568029e-01 -2.73573662e-02 -1.07391697e-02 1.17497299e+02] [ 2.73583831e-02 9.99625688e-01 -5.22320558e-05 4.87119948e-01] [ 1.07365788e-02 -2.41596824e-04 9.99942332e-01 4.80904789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.67925415399999 meters 0.017214154104990897 Centerline is valid? [True, True] Translation: X:117.56, Y:0.48, Z:0.48 [[ 9.99558641e-01 -2.75297242e-02 -1.11641264e-02 1.17558039e+02] [ 2.75308418e-02 9.99620953e-01 -5.35955177e-05 4.82883033e-01] [ 1.11613701e-02 -2.53785935e-04 9.99937678e-01 4.80047777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.739254154 meters 0.017299503355368583 Centerline is valid? [True, True] Translation: X:117.62, Y:0.48, Z:0.48 [[ 9.99471669e-01 -3.01985832e-02 -1.20178150e-02 1.17619866e+02] [ 3.02000792e-02 9.99543872e-01 -5.70174666e-05 4.80484221e-01] [ 1.20140552e-02 -3.05951622e-04 9.99927782e-01 4.79898071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.799254154 meters 0.018091189797045496 Centerline is valid? [True, True] Translation: X:117.68, Y:0.48, Z:0.48 [[ 9.99393915e-01 -3.22505091e-02 -1.31036940e-02 1.17681661e+02] [ 3.22524736e-02 9.99479752e-01 -6.14293276e-05 4.77226405e-01] [ 1.30988579e-02 -3.61234449e-04 9.99914141e-01 4.79258774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85925415399998 meters 0.020046023863615006 Centerline is valid? [True, True] Translation: X:117.74, Y:0.47, Z:0.48 [[ 9.99263460e-01 -3.58345901e-02 -1.37266149e-02 1.17741383e+02] [ 3.58370872e-02 9.99357643e-01 -6.40973564e-05 4.71487901e-01] [ 1.37200945e-02 -4.27871750e-04 9.99905784e-01 4.78562094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91925415399999 meters 0.02199827166121715 Centerline is valid? [True, True] Translation: X:117.80, Y:0.47, Z:0.48 [[ 9.99149300e-01 -3.89016989e-02 -1.36870114e-02 1.17803911e+02] [ 3.89044779e-02 9.99242932e-01 -6.32574413e-05 4.68041831e-01] [ 1.36791103e-02 -4.69282406e-04 9.99906326e-01 4.78700210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97925415399999 meters 0.02405589359599701 Centerline is valid? [True, True] Translation: X:117.87, Y:0.46, Z:0.48 [[ 9.98948567e-01 -4.40557273e-02 -1.26827995e-02 1.17865069e+02] [ 4.40585337e-02 9.99028950e-01 -5.81819455e-05 4.63667932e-01] [ 1.26730471e-02 -5.00664779e-04 9.99919568e-01 4.80630660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03925415399999 meters 0.024142335083126486 Centerline is valid? [True, True] Translation: X:117.93, Y:0.46, Z:0.48 [[ 9.98771452e-01 -4.80788992e-02 -1.20002929e-02 1.17926211e+02] [ 4.80817039e-02 9.98843405e-01 -5.48403227e-05 4.60323035e-01] [ 1.19890501e-02 -5.22221580e-04 9.99927992e-01 4.82591283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.099254154 meters 0.025680122139762413 Centerline is valid? [True, True] Translation: X:117.99, Y:0.46, Z:0.48 [[ 9.98646997e-01 -5.05456058e-02 -1.22194992e-02 1.17988085e+02] [ 5.05487043e-02 9.98721596e-01 -5.53436317e-05 4.56464460e-01] [ 1.22066751e-02 -5.62411102e-04 9.99925338e-01 4.82482572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.159254154 meters 0.025313760820614498 Centerline is valid? [True, True] Translation: X:118.05, Y:0.46, Z:0.48 [[ 9.98589932e-01 -5.15705325e-02 -1.25947571e-02 1.18049852e+02] [ 5.15739212e-02 9.98669178e-01 -5.58035247e-05 4.56202983e-01] [ 1.25808735e-02 -5.93836173e-04 9.99920681e-01 4.82975689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21925415399998 meters 0.023807740168828705 Centerline is valid? [True, True] Translation: X:118.11, Y:0.46, Z:0.48 [[ 9.98569245e-01 -5.17146888e-02 -1.36034402e-02 1.18112148e+02] [ 5.17186727e-02 9.98661692e-01 -5.90079830e-05 4.58401070e-01] [ 1.35882862e-02 -6.44628316e-04 9.99907467e-01 4.84137932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27925415399999 meters 0.023347848344762435 Centerline is valid? [True, True] Translation: X:118.17, Y:0.46, Z:0.48 [[ 9.98669360e-01 -4.98838961e-02 -1.30807540e-02 1.18173528e+02] [ 4.98874313e-02 9.98754845e-01 -5.61003939e-05 4.60851513e-01] [ 1.30672650e-02 -5.96539473e-04 9.99914442e-01 4.84856388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33925415399999 meters 0.02205405095180904 Centerline is valid? [True, True] Translation: X:118.23, Y:0.46, Z:0.49 [[ 9.98916909e-01 -4.47718168e-02 -1.26686012e-02 1.18234062e+02] [ 4.47747262e-02 9.98997108e-01 -5.40204967e-05 4.64830248e-01] [ 1.26583145e-02 -5.13271161e-04 9.99919749e-01 4.85151741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39925415399999 meters 0.022663392535440075 Centerline is valid? [True, True] Translation: X:118.29, Y:0.47, Z:0.48 [[ 9.99134745e-01 -3.96716769e-02 -1.24867596e-02 1.18293418e+02] [ 3.96741048e-02 9.99212671e-01 -5.33119306e-05 4.68021207e-01] [ 1.24790434e-02 -4.42135208e-04 9.99922036e-01 4.84073828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.45925415399999 meters 0.01859596629792235 Centerline is valid? [True, True] Translation: X:118.35, Y:0.48, Z:0.49 [[ 9.99408213e-01 -3.23061119e-02 -1.18126609e-02 1.18354367e+02] [ 3.23077713e-02 9.99477966e-01 -5.03727107e-05 4.77565830e-01] [ 1.18081216e-02 -3.31297845e-04 9.99930227e-01 4.87037652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.519254154 meters 0.0175248484104275 Centerline is valid? [True, True] Translation: X:118.42, Y:0.48, Z:0.49 [[ 9.99571976e-01 -2.68836639e-02 -1.15383502e-02 1.18415471e+02] [ 2.68848900e-02 9.99638535e-01 -4.88580224e-05 4.82018565e-01] [ 1.15354929e-02 -2.61370165e-04 9.99933430e-01 4.87417533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.579254154 meters 0.017367185301713543 Centerline is valid? [True, True] Translation: X:118.48, Y:0.48, Z:0.49 [[ 9.99612578e-01 -2.52616624e-02 -1.16851238e-02 1.18477345e+02] [ 2.52628173e-02 9.99680843e-01 -4.87805078e-05 4.81598919e-01] [ 1.16826267e-02 -2.46437540e-04 9.99931725e-01 4.87846215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63925415399999 meters 0.018406806096617965 Centerline is valid? [True, True] Translation: X:118.54, Y:0.48, Z:0.49 [[ 9.99589029e-01 -2.57761368e-02 -1.25444588e-02 1.18538425e+02] [ 2.57775164e-02 9.99667703e-01 -5.17242844e-05 4.79936713e-01] [ 1.25416236e-02 -2.71661967e-04 9.99921314e-01 4.86715093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69925415399999 meters 0.018450367356586977 Centerline is valid? [True, True] Translation: X:118.60, Y:0.48, Z:0.49 [[ 9.99506601e-01 -2.84630977e-02 -1.32818469e-02 1.18599228e+02] [ 2.84648858e-02 9.99594792e-01 -5.44337764e-05 4.75890230e-01] [ 1.32780143e-02 -3.23659336e-04 9.99911791e-01 4.86449846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75925415399999 meters 0.01910234593473135 Centerline is valid? [True, True] Translation: X:118.66, Y:0.47, Z:0.49 [[ 9.99417064e-01 -3.12378440e-02 -1.37742386e-02 1.18660905e+02] [ 3.12400363e-02 9.99511909e-01 -5.60332681e-05 4.71305323e-01] [ 1.37692659e-02 -3.74307109e-04 9.99905129e-01 4.86624188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.81925415399999 meters 0.019358268483322432 Centerline is valid? [True, True] Translation: X:118.72, Y:0.47, Z:0.49 [[ 9.99374220e-01 -3.26139393e-02 -1.36930438e-02 1.18722819e+02] [ 3.26162461e-02 9.99467947e-01 -5.48769326e-05 4.69120628e-01] [ 1.36875482e-02 -3.91773097e-04 9.99906244e-01 4.87930999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.879254154 meters 0.018655301554496174 Centerline is valid? [True, True] Translation: X:118.79, Y:0.47, Z:0.49 [[ 9.99335465e-01 -3.42335303e-02 -1.25177275e-02 1.18785028e+02] [ 3.42355962e-02 9.99413789e-01 -4.92697924e-05 4.67716187e-01] [ 1.25120762e-02 -3.79314815e-04 9.99921649e-01 4.90014716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.939254154 meters 0.020624872174115346 Centerline is valid? [True, True] Translation: X:118.85, Y:0.46, Z:0.49 [[ 9.99327643e-01 -3.45157426e-02 -1.23663060e-02 1.18846671e+02] [ 3.45177964e-02 9.99404082e-01 -4.73834545e-05 4.63040480e-01] [ 1.23605722e-02 -3.79506037e-04 9.99923533e-01 4.89522321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99925415399998 meters 0.019485761242442123 Centerline is valid? [True, True] Translation: X:118.91, Y:0.46, Z:0.49 [[ 9.99314048e-01 -3.48055875e-02 -1.26492756e-02 1.18908860e+02] [ 3.48077741e-02 9.99394025e-01 -4.73212229e-05 4.61323474e-01] [ 1.26432575e-02 -3.93004365e-04 9.99919994e-01 4.89307808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05925415399999 meters 0.018847156455498455 Centerline is valid? [True, True] Translation: X:118.97, Y:0.46, Z:0.49 [[ 9.99350524e-01 -3.38528849e-02 -1.23495659e-02 1.18970895e+02] [ 3.38549074e-02 9.99426757e-01 -4.53001227e-05 4.60617052e-01] [ 1.23440202e-02 -3.72822710e-04 9.99923740e-01 4.89865420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11925415399999 meters 0.018583319985655294 Centerline is valid? [True, True] Translation: X:119.03, Y:0.46, Z:0.49 [[ 9.99422261e-01 -3.18773475e-02 -1.17889744e-02 1.19033193e+02] [ 3.18790633e-02 9.99491733e-01 -4.23926048e-05 4.59897243e-01] [ 1.17843338e-02 -3.33453349e-04 9.99930507e-01 4.90500386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.17925415399999 meters 0.017960820354561556 Centerline is valid? [True, True] Translation: X:119.10, Y:0.46, Z:0.49 [[ 9.99418335e-01 -3.15452671e-02 -1.29571758e-02 1.19095830e+02] [ 3.15473249e-02 9.99502258e-01 -4.56015584e-05 4.58984140e-01] [ 1.29521650e-02 -3.63189200e-04 9.99916051e-01 4.89996269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.239254154 meters 0.018320220365664306 Centerline is valid? [True, True] Translation: X:119.16, Y:0.46, Z:0.49 [[ 9.99362788e-01 -3.26871983e-02 -1.43375084e-02 1.19158384e+02] [ 3.26898510e-02 9.99465543e-01 -4.93585387e-05 4.56846326e-01] [ 1.43314590e-02 -4.19363928e-04 9.99897211e-01 4.88876190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.299254154 meters 0.019271617213016616 Centerline is valid? [True, True] Translation: X:119.22, Y:0.45, Z:0.49 [[ 9.99299729e-01 -3.39720675e-02 -1.56828282e-02 1.19219728e+02] [ 3.39754117e-02 9.99422668e-01 -5.32220226e-05 4.53413344e-01] [ 1.56755821e-02 -4.79645793e-04 9.99877015e-01 4.87043815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35925415399998 meters 0.018934227319722698 Centerline is valid? [True, True] Translation: X:119.28, Y:0.45, Z:0.49 [[ 9.99339339e-01 -3.23522123e-02 -1.65595834e-02 1.19281586e+02] [ 3.23557325e-02 9.99476415e-01 -5.53645773e-05 4.54464173e-01] [ 1.65527042e-02 -4.80469452e-04 9.99862879e-01 4.87603135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41925415399999 meters 0.019197575913614606 Centerline is valid? [True, True] Translation: X:119.34, Y:0.45, Z:0.49 [[ 9.99396407e-01 -3.07263452e-02 -1.62084255e-02 1.19341653e+02] [ 3.07295212e-02 9.99527735e-01 -5.31316503e-05 4.54135261e-01] [ 1.62024034e-02 -4.44977574e-04 9.99868633e-01 4.88292017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47925415399999 meters 0.01736235667032715 Centerline is valid? [True, True] Translation: X:119.40, Y:0.46, Z:0.49 [[ 9.99482990e-01 -2.85539130e-02 -1.47792646e-02 1.19401761e+02] [ 2.85563203e-02 9.99592184e-01 -4.81668606e-05 4.57807957e-01] [ 1.47746127e-02 -3.73899455e-04 9.99890780e-01 4.90558777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53925415399999 meters 0.01679856443842845 Centerline is valid? [True, True] Translation: X:119.46, Y:0.46, Z:0.49 [[ 9.99580559e-01 -2.53682202e-02 -1.39699549e-02 1.19462578e+02] [ 2.53700601e-02 9.99678127e-01 -4.55292525e-05 4.58880623e-01] [ 1.39666133e-02 -3.08908439e-04 9.99902414e-01 4.91635118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.599254154 meters 0.015675157911761717 Centerline is valid? [True, True] Translation: X:119.52, Y:0.46, Z:0.49 [[ 9.99719966e-01 -2.00988344e-02 -1.24910322e-02 1.19523260e+02] [ 2.00998941e-02 9.99797976e-01 -4.07093196e-05 4.61850790e-01] [ 1.24893269e-02 -2.10370504e-04 9.99921983e-01 4.93054164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.659254154 meters 0.015110260517611785 Centerline is valid? [True, True] Translation: X:119.58, Y:0.46, Z:0.49 [[ 9.99790140e-01 -1.63660257e-02 -1.23219373e-02 1.19583459e+02] [ 1.63667734e-02 9.99866055e-01 -4.01582253e-05 4.62980588e-01] [ 1.23209441e-02 -1.61520558e-04 9.99924081e-01 4.93011229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71925415399998 meters 0.014598644887078275 Centerline is valid? [True, True] Translation: X:119.64, Y:0.46, Z:0.49 [[ 9.99831491e-01 -1.34795938e-02 -1.24615271e-02 1.19643512e+02] [ 1.34801307e-02 9.99909138e-01 -4.09128124e-05 4.63778574e-01] [ 1.24609463e-02 -1.27077096e-04 9.99922351e-01 4.93152382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77925415399999 meters 0.01463007264940523 Centerline is valid? [True, True] Translation: X:119.70, Y:0.46, Z:0.49 [[ 9.99824622e-01 -1.37662081e-02 -1.26971246e-02 1.19702145e+02] [ 1.37667593e-02 9.99905233e-01 -4.39980741e-05 4.62286955e-01] [ 1.26965270e-02 -1.30807900e-04 9.99919387e-01 4.92538342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83925415399999 meters 0.015001184536615975 Centerline is valid? [True, True] Translation: X:119.76, Y:0.46, Z:0.49 [[ 9.99788740e-01 -1.57693056e-02 -1.31835098e-02 1.19760330e+02] [ 1.57700516e-02 9.99875644e-01 -4.73770523e-05 4.58169771e-01] [ 1.31826174e-02 -1.60537586e-04 9.99913093e-01 4.91725262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89925415399999 meters 0.015625253177242556 Centerline is valid? [True, True] Translation: X:119.82, Y:0.45, Z:0.49 [[ 9.99739078e-01 -1.84343821e-02 -1.34888954e-02 1.19819278e+02] [ 1.84353713e-02 9.99830053e-01 -5.10160286e-05 4.53779403e-01] [ 1.34875435e-02 -1.97670078e-04 9.99909019e-01 4.91077260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.95925415399999 meters 0.01600834078626959 Centerline is valid? [True, True] Translation: X:119.88, Y:0.45, Z:0.49 [[ 9.99725064e-01 -1.94123185e-02 -1.31513391e-02 1.19878324e+02] [ 1.94133232e-02 9.99811542e-01 -5.12779692e-05 4.51697070e-01] [ 1.31498560e-02 -2.04047324e-04 9.99913516e-01 4.91038364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.019254154 meters 0.01566359034195181 Centerline is valid? [True, True] Translation: X:119.94, Y:0.45, Z:0.49 [[ 9.99747516e-01 -1.89863498e-02 -1.20175960e-02 1.19938103e+02] [ 1.89871520e-02 9.99819727e-01 -4.73459568e-05 4.51951071e-01] [ 1.20163285e-02 -1.80845920e-04 9.99927785e-01 4.92776969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.079254154 meters 0.015272539113505769 Centerline is valid? [True, True] Translation: X:120.00, Y:0.45, Z:0.49 [[ 9.99794816e-01 -1.71863408e-02 -1.07217367e-02 1.19998951e+02] [ 1.71868743e-02 9.99852294e-01 -4.23829224e-05 4.51496454e-01] [ 1.07208815e-02 -1.41898916e-04 9.99942520e-01 4.94535629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13925415399999 meters 0.014806593525502261 Centerline is valid? [True, True] Translation: X:120.06, Y:0.45, Z:0.50 [[ 9.99842471e-01 -1.54936266e-02 -8.65914150e-03 1.20059377e+02] [ 1.54939112e-02 9.99879962e-01 -3.42295033e-05 4.51236713e-01] [ 8.65863241e-03 -9.99398580e-05 9.99962508e-01 4.96141073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19925415399999 meters 0.01457758510092754 Centerline is valid? [True, True] Translation: X:120.12, Y:0.45, Z:0.50 [[ 9.99893045e-01 -1.24903462e-02 -7.60854249e-03 1.20119465e+02] [ 1.24904789e-02 9.99921990e-01 -3.00764955e-05 4.50434662e-01] [ 7.60832462e-03 -6.49610607e-05 9.99971054e-01 4.97152310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25925415399999 meters 0.014374579457421818 Centerline is valid? [True, True] Translation: X:120.18, Y:0.45, Z:0.50 [[ 9.99918430e-01 -1.00709183e-02 -7.85554829e-03 1.20179144e+02] [ 1.00709853e-02 9.99949286e-01 -3.10375221e-05 4.49505032e-01] [ 7.85546248e-03 -4.80781207e-05 9.99969144e-01 4.96727558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.31925415399999 meters 0.014276238210222926 Centerline is valid? [True, True] Translation: X:120.24, Y:0.45, Z:0.50 [[ 9.99928493e-01 -8.30074811e-03 -8.60849389e-03 1.20238573e+02] [ 8.30076175e-03 9.99965547e-01 -3.41455476e-05 4.47099340e-01] [ 8.60848074e-03 -3.73139509e-05 9.99962946e-01 4.96058711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.379254154 meters 0.0142011377015199 Centerline is valid? [True, True] Translation: X:120.30, Y:0.44, Z:0.50 [[ 9.99915279e-01 -9.48044749e-03 -8.91937958e-03 1.20297325e+02] [ 9.48049721e-03 9.99955058e-01 -3.67068193e-05 4.43938077e-01] [ 8.91932673e-03 -4.78564439e-05 9.99960221e-01 4.95784401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.439254154 meters 0.014450378328264247 Centerline is valid? [True, True] Translation: X:120.36, Y:0.44, Z:0.50 [[ 9.99857903e-01 -1.40879298e-02 -9.25760217e-03 1.20356345e+02] [ 1.40881666e-02 9.99900756e-01 -3.96286847e-05 4.36850724e-01] [ 9.25724170e-03 -9.07995885e-05 9.99957147e-01 4.95427812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49925415399998 meters 0.015857619955042326 Centerline is valid? [True, True] Translation: X:120.42, Y:0.43, Z:0.49 [[ 9.99757692e-01 -1.95978381e-02 -1.00240726e-02 1.20415671e+02] [ 1.95983893e-02 9.99807932e-01 -4.32482999e-05 4.27573346e-01] [ 1.00229949e-02 -1.53217857e-04 9.99949757e-01 4.94708864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55925415399999 meters 0.015981440675530343 Centerline is valid? [True, True] Translation: X:120.48, Y:0.42, Z:0.50 [[ 9.99681820e-01 -2.32978896e-02 -9.66779125e-03 1.20475896e+02] [ 2.32985754e-02 9.99728550e-01 -4.17027026e-05 4.23746228e-01] [ 9.66613852e-03 -1.83556329e-04 9.99953265e-01 4.95701858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61925415399999 meters 0.01848766027873624 Centerline is valid? [True, True] Translation: X:120.54, Y:0.41, Z:0.50 [[ 9.99553879e-01 -2.86898511e-02 -8.30272148e-03 1.20535930e+02] [ 2.86905453e-02 9.99588341e-01 -3.54974812e-05 4.13437432e-01] [ 8.30032201e-03 -2.02727962e-04 9.99965531e-01 4.95822048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.67925415399999 meters 0.018878740475501712 Centerline is valid? [True, True] Translation: X:120.60, Y:0.41, Z:0.50 [[ 9.99375117e-01 -3.47652662e-02 -6.38374629e-03 1.20596831e+02] [ 3.47658024e-02 9.99395486e-01 -2.69816922e-05 4.07861051e-01] [ 6.38082526e-03 -1.94971231e-04 9.99979623e-01 4.98279896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.739254154 meters 0.020846470450737613 Centerline is valid? [True, True] Translation: X:120.66, Y:0.40, Z:0.50 [[ 9.99245553e-01 -3.84213511e-02 -5.66792996e-03 1.20659163e+02] [ 3.84218335e-02 9.99261608e-01 -2.37894120e-05 4.03926758e-01] [ 5.66465883e-03 -1.94000797e-04 9.99983937e-01 4.96963140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.799254154 meters 0.02415957651052639 Centerline is valid? [True, True] Translation: X:120.72, Y:0.40, Z:0.50 [[ 9.99055707e-01 -4.29640023e-02 -6.46445073e-03 1.20719585e+02] [ 4.29647275e-02 9.99076589e-01 -2.67186247e-05 3.97970991e-01] [ 6.45962933e-03 -2.51049969e-04 9.99979105e-01 4.96111900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85925415399998 meters 0.02397080876465917 Centerline is valid? [True, True] Translation: X:120.78, Y:0.39, Z:0.50 [[ 9.98817568e-01 -4.81584048e-02 -6.65084767e-03 1.20780547e+02] [ 4.81592884e-02 9.98839668e-01 -2.73216751e-05 3.93622112e-01] [ 6.64444624e-03 -2.93010722e-04 9.99977882e-01 4.97818482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91925415399999 meters 0.029197911517021564 Centerline is valid? [True, True] Translation: X:120.84, Y:0.39, Z:0.49 [[ 9.98514097e-01 -5.38317821e-02 -8.46979828e-03 1.20839779e+02] [ 5.38334212e-02 9.98549929e-01 -3.45073632e-05 3.86903953e-01] [ 8.45937406e-03 -4.21502130e-04 9.99964130e-01 4.94411575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97925415399999 meters 0.02921117289348571 Centerline is valid? [True, True] Translation: X:120.90, Y:0.38, Z:0.50 [[ 9.98379259e-01 -5.63055401e-02 -8.27894238e-03 1.20901048e+02] [ 5.63071928e-02 9.98413491e-01 -3.35100416e-05 3.84793535e-01] [ 8.26769456e-03 -4.32708274e-04 9.99965728e-01 4.96124611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03925415399999 meters 0.03043125747328615 Centerline is valid? [True, True] Translation: X:120.96, Y:0.38, Z:0.50 [[ 9.98364271e-01 -5.65405978e-02 -8.48197248e-03 1.20963584e+02] [ 5.65423448e-02 9.98400201e-01 -3.38845442e-05 3.84429476e-01] [ 8.47031889e-03 -4.45761495e-04 9.99964027e-01 4.96969078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.099254154 meters 0.030708369047356632 Centerline is valid? [True, True] Translation: X:121.02, Y:0.39, Z:0.50 [[ 9.98507921e-01 -5.38581295e-02 -9.01302043e-03 1.21024077e+02] [ 5.38599968e-02 9.98548496e-01 -3.55963396e-05 3.85461539e-01] [ 9.00185515e-03 -4.49898025e-04 9.99959381e-01 4.96622353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.159254154 meters 0.029639485018110617 Centerline is valid? [True, True] Translation: X:121.09, Y:0.39, Z:0.50 [[ 9.98656497e-01 -5.09520008e-02 -9.43896994e-03 1.21085531e+02] [ 5.09539217e-02 9.98701005e-01 -3.70251924e-05 3.88760589e-01] [ 9.42859527e-03 -4.43977086e-04 9.99955451e-01 4.96772208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21925415399998 meters 0.027118310455724434 Centerline is valid? [True, True] Translation: X:121.14, Y:0.40, Z:0.50 [[ 9.98980346e-01 -4.41967172e-02 -9.21511756e-03 1.21144788e+02] [ 4.41982616e-02 9.99022779e-01 -3.60811328e-05 3.96027219e-01] [ 9.20770702e-03 -3.71247834e-04 9.99957539e-01 4.97777974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27925415399999 meters 0.023879156169917887 Centerline is valid? [True, True] Translation: X:121.21, Y:0.40, Z:0.50 [[ 9.99292856e-01 -3.62442619e-02 -1.00070838e-02 1.21205267e+02] [ 3.62456842e-02 9.99342909e-01 -3.92598536e-05 4.04411254e-01] [ 1.00019312e-02 -3.23481508e-04 9.99949927e-01 4.97718027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33925415399999 meters 0.021377013055696864 Centerline is valid? [True, True] Translation: X:121.27, Y:0.41, Z:0.50 [[ 9.99493789e-01 -3.02949398e-02 -9.71505597e-03 1.21265811e+02] [ 3.02959995e-02 9.99540970e-01 -3.81118846e-05 4.10324048e-01] [ 9.71175107e-03 -2.56234739e-04 9.99952807e-01 4.98100530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39925415399999 meters 0.01593107813900898 Centerline is valid? [True, True] Translation: X:121.33, Y:0.42, Z:0.50 [[ 9.99749405e-01 -2.08285180e-02 -8.20364806e-03 1.21326933e+02] [ 2.08289555e-02 9.99783053e-01 -3.21144807e-05 4.24498222e-01] [ 8.20253721e-03 -1.38766988e-04 9.99966349e-01 5.00818305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.45925415399999 meters 0.014561042066368038 Centerline is valid? [True, True] Translation: X:121.39, Y:0.43, Z:0.50 [[ 9.99889957e-01 -1.27461353e-02 -7.59016812e-03 1.21387937e+02] [ 1.27462784e-02 9.99918762e-01 -2.95205018e-05 4.33269443e-01] [ 7.58992779e-03 -6.72291428e-05 9.99971194e-01 5.02292507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.519254154 meters 0.014308970119413638 Centerline is valid? [True, True] Translation: X:121.45, Y:0.43, Z:0.50 [[ 9.99916208e-01 -1.02607737e-02 -7.89266119e-03 1.21448152e+02] [ 1.02608523e-02 9.99947356e-01 -3.05256446e-05 4.34959278e-01] [ 7.89255890e-03 -5.04623443e-05 9.99968852e-01 5.01995792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.579254154 meters 0.014322730354725673 Centerline is valid? [True, True] Translation: X:121.51, Y:0.43, Z:0.50 [[ 9.99900095e-01 -1.16173692e-02 -8.05214540e-03 1.21506948e+02] [ 1.16174935e-02 9.99932514e-01 -3.13423952e-05 4.33349986e-01] [ 8.05196611e-03 -6.22064829e-05 9.99967580e-01 5.02209966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63925415399999 meters 0.014899624005821977 Centerline is valid? [True, True] Translation: X:121.57, Y:0.43, Z:0.50 [[ 9.99857365e-01 -1.50240311e-02 -7.71539881e-03 1.21566567e+02] [ 1.50242439e-02 9.99887129e-01 -3.03821854e-05 4.30688004e-01] [ 7.71498443e-03 -8.55401817e-05 9.99970235e-01 5.03092528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69925415399999 meters 0.015812436825764317 Centerline is valid? [True, True] Translation: X:121.63, Y:0.42, Z:0.50 [[ 9.99735637e-01 -2.15324034e-02 -8.06303484e-03 1.21626630e+02] [ 2.15328455e-02 9.99768141e-01 -3.19844259e-05 4.24617295e-01] [ 8.06185405e-03 -1.41644113e-04 9.99967493e-01 5.03008465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75925415399999 meters 0.01653965820285462 Centerline is valid? [True, True] Translation: X:121.69, Y:0.42, Z:0.50 [[ 9.99626879e-01 -2.57466307e-02 -9.12210589e-03 1.21688355e+02] [ 2.57473727e-02 9.99668481e-01 -3.61033796e-05 4.20523075e-01] [ 9.12001127e-03 -1.98780352e-04 9.99958392e-01 5.02987087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.81925415399999 meters 0.018363329440393466 Centerline is valid? [True, True] Translation: X:121.75, Y:0.42, Z:0.50 [[ 9.99502998e-01 -2.97913425e-02 -1.03069722e-02 1.21748914e+02] [ 2.97925077e-02 9.99556104e-01 -4.05029371e-05 4.15017469e-01] [ 1.03036036e-02 -2.66587742e-04 9.99946881e-01 5.02160094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.879254154 meters 0.017523971314417183 Centerline is valid? [True, True] Translation: X:121.81, Y:0.42, Z:0.50 [[ 9.99464240e-01 -3.11115140e-02 -1.01639709e-02 1.21810178e+02] [ 3.11127183e-02 9.99515881e-01 -3.96462182e-05 4.15684479e-01] [ 1.01602838e-02 -2.76603787e-04 9.99948345e-01 5.03636329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.939254154 meters 0.019726198289817972 Centerline is valid? [True, True] Translation: X:121.87, Y:0.41, Z:0.50 [[ 9.99418778e-01 -3.26014419e-02 -9.96252886e-03 1.21871221e+02] [ 3.26026776e-02 9.99468391e-01 -3.83895143e-05 4.08899087e-01] [ 9.95848424e-03 -2.86437915e-04 9.99950372e-01 5.02788956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99925415399998 meters 0.0213689804771346 Centerline is valid? [True, True] Translation: X:121.93, Y:0.41, Z:0.50 [[ 9.99284528e-01 -3.63018846e-02 -1.06115310e-02 1.21932669e+02] [ 3.63035001e-02 9.99340810e-01 -4.04126788e-05 4.05154185e-01] [ 1.06060030e-02 -3.44851951e-04 9.99943695e-01 5.02554693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05925415399999 meters 0.022653103845018004 Centerline is valid? [True, True] Translation: X:121.99, Y:0.40, Z:0.50 [[ 9.99136430e-01 -4.00434706e-02 -1.10866961e-02 1.21993862e+02] [ 4.00454684e-02 9.99197858e-01 -4.18269137e-05 4.02241300e-01] [ 1.10794779e-02 -4.02181145e-04 9.99938540e-01 5.02082285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11925415399999 meters 0.02227239693339449 Centerline is valid? [True, True] Translation: X:122.05, Y:0.40, Z:0.50 [[ 9.98855246e-01 -4.64317361e-02 -1.15017863e-02 1.22054466e+02] [ 4.64343112e-02 9.98921345e-01 -4.31963156e-05 4.01619880e-01] [ 1.14913855e-02 -4.90930660e-04 9.99933851e-01 5.02807409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.17925415399999 meters 0.024441938679732666 Centerline is valid? [True, True] Translation: X:122.12, Y:0.40, Z:0.50 [[ 9.98665302e-01 -5.04518726e-02 -1.10554927e-02 1.22115220e+02] [ 5.04545010e-02 9.98726360e-01 -4.12132727e-05 3.98235405e-01] [ 1.10434912e-02 -5.16641100e-04 9.99938885e-01 5.03421078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.239254154 meters 0.02552313359041972 Centerline is valid? [True, True] Translation: X:122.18, Y:0.40, Z:0.50 [[ 9.98377230e-01 -5.57470604e-02 -1.16263754e-02 1.22175918e+02] [ 5.57503280e-02 9.98444740e-01 -4.31116957e-05 3.98571888e-01] [ 1.16106968e-02 -6.05132509e-04 9.99932410e-01 5.04004523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.299254154 meters 0.026793129025316793 Centerline is valid? [True, True] Translation: X:122.24, Y:0.40, Z:0.50 [[ 9.98196074e-01 -5.88019076e-02 -1.21216149e-02 1.22236745e+02] [ 5.88056860e-02 9.98269447e-01 -4.47836643e-05 3.97258765e-01] [ 1.21032712e-02 -6.68117005e-04 9.99926530e-01 5.04259990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35925415399998 meters 0.02939412098846866 Centerline is valid? [True, True] Translation: X:122.30, Y:0.40, Z:0.50 [[ 9.97937430e-01 -6.28562848e-02 -1.30373900e-02 1.22297506e+02] [ 6.28610043e-02 9.98022290e-01 -4.78838445e-05 3.95461451e-01] [ 1.30146157e-02 -7.71758350e-04 9.99915008e-01 5.02978749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41925415399999 meters 0.034525425098892296 Centerline is valid? [True, True] Translation: X:122.36, Y:0.39, Z:0.50 [[ 9.97795666e-01 -6.46150967e-02 -1.51227734e-02 1.22357417e+02] [ 6.46216647e-02 9.97909834e-01 -5.44539369e-05 3.92679869e-01] [ 1.50946829e-02 -9.22924891e-04 9.99885643e-01 4.99920391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47925415399999 meters 0.02988245296247452 Centerline is valid? [True, True] Translation: X:122.42, Y:0.40, Z:0.50 [[ 9.97592052e-01 -6.77017922e-02 -1.50520728e-02 1.22418172e+02] [ 6.77086615e-02 9.97705134e-01 -5.33532634e-05 4.02876758e-01] [ 1.50211424e-02 -9.65930908e-04 9.99886710e-01 5.03083213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53925415399999 meters 0.03376773561410934 Centerline is valid? [True, True] Translation: X:122.48, Y:0.40, Z:0.50 [[ 9.97582283e-01 -6.81477475e-02 -1.36188499e-02 1.22478906e+02] [ 6.81534307e-02 9.97674851e-01 -4.69090878e-05 4.02590033e-01] [ 1.35903808e-02 -8.81375667e-04 9.99907258e-01 5.03771401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.599254154 meters 0.032967367978224485 Centerline is valid? [True, True] Translation: X:122.54, Y:0.41, Z:0.51 [[ 9.97695388e-01 -6.67504178e-02 -1.21776590e-02 1.22539958e+02] [ 6.67548676e-02 9.97769405e-01 -4.11503147e-05 4.08048950e-01] [ 1.21532424e-02 -7.71862536e-04 9.99925849e-01 5.05627244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.659254154 meters 0.02986639921590204 Centerline is valid? [True, True] Translation: X:122.60, Y:0.42, Z:0.51 [[ 9.98029588e-01 -6.18890369e-02 -1.03290285e-02 1.22600062e+02] [ 6.18919802e-02 9.98082853e-01 -3.47630688e-05 4.19854903e-01] [ 1.03113777e-02 -6.04589456e-04 9.99946654e-01 5.07061845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71925415399998 meters 0.029766529063751844 Centerline is valid? [True, True] Translation: X:122.66, Y:0.42, Z:0.51 [[ 9.98170029e-01 -5.96654035e-02 -9.83021989e-03 1.22661612e+02] [ 5.96679638e-02 9.98218279e-01 -3.28832254e-05 4.22351741e-01] [ 9.81466717e-03 -5.53726155e-04 9.99951682e-01 5.07298752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77925415399999 meters 0.027027407451897544 Centerline is valid? [True, True] Translation: X:122.72, Y:0.43, Z:0.51 [[ 9.98417636e-01 -5.52845510e-02 -1.02879705e-02 1.22722202e+02] [ 5.52871263e-02 9.98470497e-01 -3.41383757e-05 4.30406818e-01] [ 1.02741223e-02 -5.34707967e-04 9.99947077e-01 5.07154807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83925415399999 meters 0.025920524914477102 Centerline is valid? [True, True] Translation: X:122.78, Y:0.44, Z:0.51 [[ 9.98756072e-01 -4.86255276e-02 -1.10393235e-02 1.22781377e+02] [ 4.86280865e-02 9.98816954e-01 -3.66641348e-05 4.38808260e-01] [ 1.10280463e-02 -5.00202650e-04 9.99939064e-01 5.06440913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89925415399999 meters 0.02183072178207406 Centerline is valid? [True, True] Translation: X:122.84, Y:0.45, Z:0.51 [[ 9.98924150e-01 -4.48080426e-02 -1.19491500e-02 1.22843035e+02] [ 4.48107721e-02 9.98995492e-01 -3.93421200e-05 4.49757396e-01] [ 1.19389099e-02 -4.96150846e-04 9.99928606e-01 5.06570682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.95925415399999 meters 0.02079323800189008 Centerline is valid? [True, True] Translation: X:122.90, Y:0.46, Z:0.51 [[ 9.99130868e-01 -3.94099901e-02 -1.35779961e-02 1.22902913e+02] [ 3.94130207e-02 9.99223004e-01 -4.44205703e-05 4.57333856e-01] [ 1.35691967e-02 -4.90767879e-04 9.99907814e-01 5.05059582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.019254154 meters 0.01970574605477918 Centerline is valid? [True, True] Translation: X:122.96, Y:0.46, Z:0.51 [[ 9.99252528e-01 -3.62171541e-02 -1.35167422e-02 1.22964241e+02] [ 3.62198702e-02 9.99343844e-01 -4.38792230e-05 4.63632514e-01] [ 1.35094623e-02 -4.45728222e-04 9.99908644e-01 5.05499814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.079254154 meters 0.01815204489396848 Centerline is valid? [True, True] Translation: X:123.03, Y:0.47, Z:0.51 [[ 9.99403700e-01 -3.23572681e-02 -1.20520424e-02 1.23025899e+02] [ 3.23591540e-02 9.99476305e-01 -3.85431331e-05 4.72619252e-01] [ 1.20469779e-02 -3.51473744e-04 9.99927371e-01 5.07679931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13925415399999 meters 0.019242260234378458 Centerline is valid? [True, True] Translation: X:123.09, Y:0.47, Z:0.51 [[ 9.99436584e-01 -3.16062807e-02 -1.12941040e-02 1.23087000e+02] [ 3.16078959e-02 9.99500345e-01 -3.55002563e-05 4.73967796e-01] [ 1.12895829e-02 -3.21502610e-04 9.99936219e-01 5.08089339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19925415399999 meters 0.020757084259810214 Centerline is valid? [True, True] Translation: X:123.15, Y:0.47, Z:0.51 [[ 9.99359622e-01 -3.41151710e-02 -1.07935871e-02 1.23148080e+02] [ 3.41168017e-02 9.99417852e-01 -3.30614270e-05 4.74000533e-01] [ 1.07884315e-02 -3.35202416e-04 9.99941747e-01 5.08431899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25925415399999 meters 0.021756649934290766 Centerline is valid? [True, True] Translation: X:123.21, Y:0.47, Z:0.51 [[ 9.99199701e-01 -3.82948055e-02 -1.15527055e-02 1.23208726e+02] [ 3.82969595e-02 9.99266402e-01 -3.47943773e-05 4.73858068e-01] [ 1.15455629e-02 -4.07666965e-04 9.99933265e-01 5.08532653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.31925415399999 meters 0.022581237942895176 Centerline is valid? [True, True] Translation: X:123.27, Y:0.47, Z:0.51 [[ 9.98915835e-01 -4.49281922e-02 -1.21906510e-02 1.23268936e+02] [ 4.49310852e-02 9.98990088e-01 -3.66030410e-05 4.73798222e-01] [ 1.21799840e-02 -5.11175821e-04 9.99925691e-01 5.08392632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.379254154 meters 0.023857249317775088 Centerline is valid? [True, True] Translation: X:123.33, Y:0.47, Z:0.51 [[ 9.98825687e-01 -4.69355700e-02 -1.20124918e-02 1.23331218e+02] [ 4.69385308e-02 9.98897779e-01 -3.54925001e-05 4.72892559e-01] [ 1.20009172e-02 -5.28397894e-04 9.99927847e-01 5.08130253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.439254154 meters 0.024569537957204634 Centerline is valid? [True, True] Translation: X:123.39, Y:0.48, Z:0.51 [[ 9.98870489e-01 -4.57186548e-02 -1.29441674e-02 1.23392322e+02] [ 4.57220090e-02 9.98954201e-01 -3.68385593e-05 4.75189255e-01] [ 1.29323146e-02 -5.55036390e-04 9.99916220e-01 5.07755542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49925415399998 meters 0.023534845216992784 Centerline is valid? [True, True] Translation: X:123.45, Y:0.48, Z:0.51 [[ 9.99018695e-01 -4.25747176e-02 -1.22081753e-02 1.23454230e+02] [ 4.25774781e-02 9.99093167e-01 -3.38105184e-05 4.79793017e-01] [ 1.21985440e-02 -4.86015978e-04 9.99925477e-01 5.08662443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55925415399999 meters 0.01999063194519008 Centerline is valid? [True, True] Translation: X:123.51, Y:0.49, Z:0.51 [[ 9.99232265e-01 -3.71975760e-02 -1.22971796e-02 1.23514508e+02] [ 3.71999732e-02 9.99307841e-01 -3.38189881e-05 4.89960289e-01] [ 1.22899260e-02 -4.23661727e-04 9.99924386e-01 5.10102715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61925415399999 meters 0.020218870622127544 Centerline is valid? [True, True] Translation: X:123.58, Y:0.49, Z:0.51 [[ 9.99349730e-01 -3.38291820e-02 -1.24781274e-02 1.23575320e+02] [ 3.38313916e-02 9.99427554e-01 -3.40206945e-05 4.91890113e-01] [ 1.24721352e-02 -3.88153843e-04 9.99922145e-01 5.09040103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67925415399999 meters 0.018345744510995934 Centerline is valid? [True, True] Translation: X:123.64, Y:0.50, Z:0.51 [[ 9.99441245e-01 -3.02881376e-02 -1.41360017e-02 1.23636999e+02] [ 3.02906298e-02 9.99541133e-01 -3.78227708e-05 4.98726208e-01] [ 1.41306608e-02 -3.90386758e-04 9.99900081e-01 5.08580344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.739254154 meters 0.018070967296233607 Centerline is valid? [True, True] Translation: X:123.70, Y:0.50, Z:0.51 [[ 9.99470673e-01 -2.87874184e-02 -1.51545082e-02 1.23698776e+02] [ 2.87901261e-02 9.99585478e-01 -3.95074670e-05 5.01669309e-01] [ 1.51493637e-02 -3.96813648e-04 9.99885163e-01 5.08083162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.799254154 meters 0.01858089127842664 Centerline is valid? [True, True] Translation: X:123.76, Y:0.50, Z:0.51 [[ 9.99492598e-01 -2.79466772e-02 -1.52817013e-02 1.23759503e+02] [ 2.79493402e-02 9.99609340e-01 -3.93229099e-05 5.03761497e-01] [ 1.52768302e-02 -3.87810509e-04 9.99883227e-01 5.07990959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85925415399998 meters 0.017452046347863896 Centerline is valid? [True, True] Translation: X:123.82, Y:0.51, Z:0.51 [[ 9.99500717e-01 -2.83165823e-02 -1.40173928e-02 1.23821258e+02] [ 2.83188651e-02 9.99598940e-01 -3.56426418e-05 5.07854245e-01] [ 1.40127803e-02 -3.61331810e-04 9.99901751e-01 5.10072549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91925415399999 meters 0.01768408936198262 Centerline is valid? [True, True] Translation: X:123.88, Y:0.51, Z:0.51 [[ 9.99467244e-01 -2.96631383e-02 -1.36134988e-02 1.23882669e+02] [ 2.96654231e-02 9.99559884e-01 -3.41151342e-05 5.09155231e-01] [ 1.36085192e-02 -3.69753241e-04 9.99907331e-01 5.10727152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97925415399999 meters 0.019101946304682378 Centerline is valid? [True, True] Translation: X:123.94, Y:0.51, Z:0.51 [[ 9.99384213e-01 -3.26393091e-02 -1.28790418e-02 1.23943864e+02] [ 3.26416088e-02 9.99467120e-01 -3.16527531e-05 5.07673112e-01] [ 1.28732119e-02 -3.88759382e-04 9.99917061e-01 5.10451994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03925415399999 meters 0.0222542363718438 Centerline is valid? [True, True] Translation: X:124.00, Y:0.50, Z:0.51 [[ 9.99073047e-01 -4.11049911e-02 -1.27838062e-02 1.24004558e+02] [ 4.11079524e-02 9.99154710e-01 -3.11490733e-05 5.02295008e-01] [ 1.27742805e-02 -4.94395896e-04 9.99918283e-01 5.09570447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.099254154 meters 0.025737897485912792 Centerline is valid? [True, True] Translation: X:124.06, Y:0.50, Z:0.51 [[ 9.98739487e-01 -4.85141499e-02 -1.28768992e-02 1.24064724e+02] [ 4.85177700e-02 9.98822319e-01 -3.12945722e-05 4.97090662e-01] [ 1.28632526e-02 -5.93503310e-04 9.99917089e-01 5.09484788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.159254154 meters 0.031254065786092584 Centerline is valid? [True, True] Translation: X:124.12, Y:0.49, Z:0.51 [[ 9.98241914e-01 -5.79742176e-02 -1.23316781e-02 1.24124325e+02] [ 5.79782601e-02 9.98317845e-01 -2.97334399e-05 4.89750619e-01] [ 1.23126581e-02 -6.85288076e-04 9.99923962e-01 5.09592051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21925415399998 meters 0.03262473544534449 Centerline is valid? [True, True] Translation: X:124.19, Y:0.49, Z:0.51 [[ 9.98018114e-01 -6.18063816e-02 -1.18243299e-02 1.24185006e+02] [ 6.18103691e-02 9.98087911e-01 -2.82715713e-05 4.88324744e-01] [ 1.18034681e-02 -7.02650655e-04 9.99930090e-01 5.10443907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27925415399999 meters 0.03564427740242027 Centerline is valid? [True, True] Translation: X:124.25, Y:0.49, Z:0.51 [[ 9.97931568e-01 -6.33643299e-02 -1.08419649e-02 1.24245665e+02] [ 6.33677771e-02 9.97990243e-01 -2.56261666e-05 4.85016878e-01] [ 1.08217989e-02 -6.61458051e-04 9.99941224e-01 5.10370744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33925415399999 meters 0.03533538919714259 Centerline is valid? [True, True] Translation: X:124.31, Y:0.49, Z:0.51 [[ 9.98029191e-01 -6.17893197e-02 -1.09459819e-02 1.24307121e+02] [ 6.17927431e-02 9.98089002e-01 -2.54901470e-05 4.86957935e-01] [ 1.09266392e-02 -6.50942340e-04 9.99940091e-01 5.10301597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39925415399999 meters 0.028488081311245653 Centerline is valid? [True, True] Translation: X:124.37, Y:0.50, Z:0.51 [[ 9.98317396e-01 -5.67694755e-02 -1.18153665e-02 1.24367371e+02] [ 5.67731160e-02 9.98387106e-01 -2.73295463e-05 4.99047900e-01] [ 1.17978610e-02 -6.43511611e-04 9.99930196e-01 5.11055483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.45925415399999 meters 0.02549937527462993 Centerline is valid? [True, True] Translation: X:124.43, Y:0.51, Z:0.51 [[ 9.98704512e-01 -4.95126969e-02 -1.17383917e-02 1.24428470e+02] [ 4.95157917e-02 9.98773340e-01 -2.70131780e-05 5.07185739e-01] [ 1.17253302e-02 -5.54257577e-04 9.99931102e-01 5.11811828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.519254154 meters 0.0223718094997797 Centerline is valid? [True, True] Translation: X:124.49, Y:0.51, Z:0.51 [[ 9.99021769e-01 -4.28260834e-02 -1.10195678e-02 1.24488549e+02] [ 4.28284055e-02 9.99082443e-01 -2.52780138e-05 5.14359347e-01] [ 1.10105392e-02 -4.46697230e-04 9.99939282e-01 5.13187029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.579254154 meters 0.018636618697093935 Centerline is valid? [True, True] Translation: X:124.55, Y:0.53, Z:0.51 [[ 9.99483619e-01 -3.04351705e-02 -1.03051199e-02 1.24548736e+02] [ 3.04365439e-02 9.99536701e-01 -2.35711170e-05 5.25273418e-01] [ 1.03010630e-02 -2.90093289e-04 9.99946901e-01 5.13862600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63925415399999 meters 0.017313135291061744 Centerline is valid? [True, True] Translation: X:124.61, Y:0.53, Z:0.51 [[ 9.99621759e-01 -2.56344269e-02 -9.96067770e-03 1.24610641e+02] [ 2.56354752e-02 9.99671357e-01 -2.24342030e-05 5.29093996e-01] [ 9.95797928e-03 -2.32920989e-04 9.99950391e-01 5.14352383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69925415399999 meters 0.015201849941043646 Centerline is valid? [True, True] Translation: X:124.67, Y:0.54, Z:0.52 [[ 9.99825023e-01 -1.61732160e-02 -9.39944008e-03 1.24671075e+02] [ 1.61737337e-02 9.99869196e-01 -2.09426015e-05 5.37134998e-01] [ 9.39854931e-03 -1.31085104e-04 9.99955824e-01 5.15114837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75925415399999 meters 0.01419639655704493 Centerline is valid? [True, True] Translation: X:124.73, Y:0.55, Z:0.52 [[ 9.99948635e-01 -4.04092721e-03 -9.29510153e-03 1.24732007e+02] [ 4.04091012e-03 9.99991835e-01 -2.06198857e-05 5.45453643e-01] [ 9.29510896e-03 -1.69418433e-05 9.99956799e-01 5.15322404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.81925415399999 meters 0.01444842897184504 Centerline is valid? [True, True] Translation: X:124.79, Y:0.55, Z:0.52 [[ 9.99953368e-01 1.48345813e-03 -9.54264912e-03 1.24790249e+02] [-1.48374143e-03 9.99998899e-01 -2.26075705e-05 5.48794679e-01] [ 9.54260507e-03 3.67653401e-05 9.99954468e-01 5.15561340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.879254154 meters 0.014673676989121125 Centerline is valid? [True, True] Translation: X:124.85, Y:0.55, Z:0.52 [[ 9.99952031e-01 4.72636329e-03 -8.57882242e-03 1.24848041e+02] [-4.72672488e-03 9.99988829e-01 -2.18741287e-05 5.49188844e-01] [ 8.57862319e-03 6.24228128e-05 9.99963201e-01 5.15773853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.939254154 meters 0.014537539664243633 Centerline is valid? [True, True] Translation: X:124.91, Y:0.55, Z:0.52 [[ 9.99966304e-01 2.67066036e-03 -7.76259671e-03 1.24906833e+02] [-2.67089914e-03 9.99996433e-01 -2.03937815e-05 5.45603308e-01] [ 7.76251455e-03 4.11262072e-05 9.99969870e-01 5.15995128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99925415399998 meters 0.014238148992892137 Centerline is valid? [True, True] Translation: X:124.97, Y:0.53, Z:0.52 [[ 9.99953064e-01 -6.51357799e-03 -7.17234187e-03 1.24966041e+02] [ 6.51360687e-03 9.99978786e-01 -1.93330527e-05 5.34814763e-01] [ 7.17231565e-03 -2.73856700e-05 9.99974278e-01 5.16202377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05925415399999 meters 0.014960731720841641 Centerline is valid? [True, True] Translation: X:125.03, Y:0.53, Z:0.52 [[ 9.99855893e-01 -1.56596470e-02 -6.55506042e-03 1.25025275e+02] [ 1.56598649e-02 9.99877377e-01 -1.80762345e-05 5.25821700e-01] [ 6.55453968e-03 -8.45777312e-05 9.99978515e-01 5.16309242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11925415399999 meters 0.017874376265405473 Centerline is valid? [True, True] Translation: X:125.09, Y:0.51, Z:0.52 [[ 9.99534603e-01 -2.97490030e-02 -6.75084876e-03 1.25085577e+02] [ 2.97495537e-02 9.99557384e-01 -1.88472853e-05 5.11402156e-01] [ 6.74842141e-03 -1.81996224e-04 9.99977213e-01 5.15912811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.17925415399999 meters 0.02103263539168805 Centerline is valid? [True, True] Translation: X:125.15, Y:0.50, Z:0.52 [[ 9.99260351e-01 -3.78637579e-02 -6.71461390e-03 1.25145533e+02] [ 3.78644857e-02 9.99282883e-01 -1.87503822e-05 5.00643410e-01] [ 6.71050869e-03 -2.35508888e-04 9.99977457e-01 5.15815688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.239254154 meters 0.024620590793383874 Centerline is valid? [True, True] Translation: X:125.21, Y:0.49, Z:0.52 [[ 9.98893610e-01 -4.67017858e-02 -5.52262929e-03 1.25207045e+02] [ 4.67024129e-02 9.98908847e-01 -1.54373383e-05 4.87386866e-01] [ 5.51732421e-03 -2.42499855e-04 9.99984750e-01 5.16396502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.299254154 meters 0.02511171196801597 Centerline is valid? [True, True] Translation: X:125.27, Y:0.48, Z:0.52 [[ 9.98712610e-01 -5.05020296e-02 -4.76115587e-03 1.25268035e+02] [ 5.05025393e-02 9.98723932e-01 -1.31826997e-05 4.81896835e-01] [ 4.75574607e-03 -2.27284733e-04 9.99988666e-01 5.16287176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35925415399998 meters 0.025270017465798177 Centerline is valid? [True, True] Translation: X:125.33, Y:0.47, Z:0.52 [[ 9.98619555e-01 -5.23008868e-02 -4.85810036e-03 1.25329954e+02] [ 5.23014393e-02 9.98631343e-01 -1.33347931e-05 4.74864512e-01] [ 4.85214871e-03 -2.40769256e-04 9.99988199e-01 5.15260977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41925415399999 meters 0.02477850504081406 Centerline is valid? [True, True] Translation: X:125.39, Y:0.47, Z:0.51 [[ 9.98641009e-01 -5.17646524e-02 -6.04608006e-03 1.25392542e+02] [ 5.17655016e-02 9.98659268e-01 -1.60649684e-05 4.72337688e-01] [ 6.03880549e-03 -2.96935231e-04 9.99981722e-01 5.14253097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47925415399999 meters 0.023972053369496343 Centerline is valid? [True, True] Translation: X:125.45, Y:0.47, Z:0.51 [[ 9.98747911e-01 -4.93273624e-02 -8.33200818e-03 1.25454083e+02] [ 4.93288955e-02 9.98782589e-01 -2.15382337e-05 4.70021048e-01] [ 8.32292712e-03 -3.89497494e-04 9.99965288e-01 5.12684891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53925415399999 meters 0.02758441192419428 Centerline is valid? [True, True] Translation: X:125.52, Y:0.46, Z:0.51 [[ 9.98812295e-01 -4.77657088e-02 -9.61436206e-03 1.25515781e+02] [ 4.77676834e-02 9.98858472e-01 -2.42815722e-05 4.63171807e-01] [ 9.60454682e-03 -4.35003070e-04 9.99953781e-01 5.10377114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.599254154 meters 0.022814444017472995 Centerline is valid? [True, True] Translation: X:125.58, Y:0.47, Z:0.51 [[ 9.98857805e-01 -4.60751947e-02 -1.26554825e-02 1.25578294e+02] [ 4.60784939e-02 9.98937822e-01 -3.09221000e-05 4.68716501e-01] [ 1.26434649e-02 -5.52258794e-04 9.99919916e-01 5.09287677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.659254154 meters 0.02508612994313903 Centerline is valid? [True, True] Translation: X:125.64, Y:0.47, Z:0.51 [[ 9.98851092e-01 -4.59902905e-02 -1.34681129e-02 1.25639633e+02] [ 4.59940308e-02 9.98941714e-01 -3.20588044e-05 4.65412632e-01] [ 1.34553342e-02 -5.87430828e-04 9.99909300e-01 5.08430822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71925415399998 meters 0.022779981925712928 Centerline is valid? [True, True] Translation: X:125.70, Y:0.47, Z:0.51 [[ 9.98806826e-01 -4.68078834e-02 -1.39264481e-02 1.25701860e+02] [ 4.68119754e-02 9.98903718e-01 -3.21831639e-05 4.69375165e-01] [ 1.39126872e-02 -6.19779783e-04 9.99903022e-01 5.09560513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77925415399999 meters 0.024214440491440715 Centerline is valid? [True, True] Translation: X:125.76, Y:0.47, Z:0.51 [[ 9.98699203e-01 -4.90486179e-02 -1.39332302e-02 1.25763539e+02] [ 4.90529489e-02 9.98796179e-01 -3.09478949e-05 4.68483649e-01] [ 1.39179750e-02 -6.52558391e-04 9.99902927e-01 5.10818064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83925415399999 meters 0.025033023672802725 Centerline is valid? [True, True] Translation: X:125.82, Y:0.47, Z:0.51 [[ 9.98538967e-01 -5.26775639e-02 -1.20418118e-02 1.25824846e+02] [ 5.26810697e-02 9.98611388e-01 -2.60948503e-05 4.68280901e-01] [ 1.20264650e-02 -6.08318803e-04 9.99927494e-01 5.13683404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89925415399999 meters 0.029259684164966358 Centerline is valid? [True, True] Translation: X:125.89, Y:0.46, Z:0.51 [[ 9.98383125e-01 -5.57499854e-02 -1.10939034e-02 1.25885038e+02] [ 5.57531531e-02 9.98444583e-01 -2.37669253e-05 4.62285116e-01] [ 1.10779727e-02 -5.94791596e-04 9.99938460e-01 5.13892829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.95925415399999 meters 0.031492599531334035 Centerline is valid? [True, True] Translation: X:125.95, Y:0.46, Z:0.51 [[ 9.98187483e-01 -5.93059486e-02 -1.02251731e-02 1.25946348e+02] [ 5.93088284e-02 9.98239682e-01 -2.16250663e-05 4.59507256e-01] [ 1.02084560e-02 -5.84857164e-04 9.99947721e-01 5.14410625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.019254154 meters 0.03166139205365443 Centerline is valid? [True, True] Translation: X:126.01, Y:0.46, Z:0.51 [[ 9.97820933e-01 -6.52280198e-02 -9.93433727e-03 1.26007089e+02] [ 6.52310343e-02 9.97870188e-01 -2.06230519e-05 4.58586121e-01] [ 9.91452420e-03 -6.27448982e-04 9.99950653e-01 5.14725082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.079254154 meters 0.034194588148823105 Centerline is valid? [True, True] Translation: X:126.07, Y:0.46, Z:0.51 [[ 9.97598520e-01 -6.84648103e-02 -1.04767761e-02 1.26068451e+02] [ 6.84683451e-02 9.97653289e-01 -2.13318749e-05 4.55644270e-01] [ 1.04536506e-02 -6.96046874e-04 9.99945117e-01 5.14713833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13925415399999 meters 0.03641555612993878 Centerline is valid? [True, True] Translation: X:126.13, Y:0.45, Z:0.51 [[ 9.97429026e-01 -7.07726892e-02 -1.12501181e-02 1.26129054e+02] [ 7.07769145e-02 9.97492169e-01 -2.26130812e-05 4.53502602e-01] [ 1.12235051e-02 -7.73693705e-04 9.99936715e-01 5.14401451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19925415399999 meters 0.03669420760868512 Centerline is valid? [True, True] Translation: X:126.19, Y:0.46, Z:0.51 [[ 9.97361082e-01 -7.16261904e-02 -1.18558049e-02 1.26191577e+02] [ 7.16309503e-02 9.97431204e-01 -2.32114811e-05 4.55017525e-01] [ 1.18270123e-02 -8.26092344e-04 9.99929717e-01 5.13734230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25925415399999 meters 0.03207722624516674 Centerline is valid? [True, True] Translation: X:126.25, Y:0.46, Z:0.51 [[ 9.97499123e-01 -6.97440945e-02 -1.14569333e-02 1.26252784e+02] [ 6.97484224e-02 9.97564613e-01 -2.18590866e-05 4.64136637e-01] [ 1.14305558e-02 -7.77298606e-04 9.99934367e-01 5.14414602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.31925415399999 meters 0.03587557450515123 Centerline is valid? [True, True] Translation: X:126.31, Y:0.46, Z:0.51 [[ 9.97645101e-01 -6.77028733e-02 -1.09806170e-02 1.26313296e+02] [ 6.77067288e-02 9.97705266e-01 -2.06689045e-05 4.62435192e-01] [ 1.09568187e-02 -7.22841423e-04 9.99939711e-01 5.14757637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.379254154 meters 0.033469710179185944 Centerline is valid? [True, True] Translation: X:126.38, Y:0.47, Z:0.52 [[ 9.97795801e-01 -6.55393164e-02 -1.03988947e-02 1.26375086e+02] [ 6.55426614e-02 9.97849768e-01 -1.91698198e-05 4.70644630e-01] [ 1.03777911e-02 -6.62443670e-04 9.99945930e-01 5.15763589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.439254154 meters 0.03140941523422348 Centerline is valid? [True, True] Translation: X:126.44, Y:0.48, Z:0.52 [[ 9.97811138e-01 -6.53858862e-02 -9.88025840e-03 1.26437429e+02] [ 6.53889045e-02 9.97859855e-01 -1.75793644e-05 4.75241423e-01] [ 9.86026266e-03 -6.28518388e-04 9.99951189e-01 5.16114874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49925415399998 meters 0.03390425240663108 Centerline is valid? [True, True] Translation: X:126.50, Y:0.47, Z:0.52 [[ 9.97771572e-01 -6.61034166e-02 -9.06797217e-03 1.26498908e+02] [ 6.61059935e-02 9.97812606e-01 -1.55785674e-05 4.73064487e-01] [ 9.04916674e-03 -5.83903458e-04 9.99958885e-01 5.16332007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55925415399999 meters 0.034639690217140334 Centerline is valid? [True, True] Translation: X:126.56, Y:0.47, Z:0.52 [[ 9.97665293e-01 -6.76823816e-02 -9.11365351e-03 1.26560628e+02] [ 6.76850547e-02 9.97706737e-01 -1.51587663e-05 4.73788489e-01] [ 9.09377949e-03 -6.01734762e-04 9.99958470e-01 5.16335460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61925415399999 meters 0.0364336396750485 Centerline is valid? [True, True] Translation: X:126.62, Y:0.47, Z:0.52 [[ 9.97550502e-01 -6.92294513e-02 -1.00139461e-02 1.26623079e+02] [ 6.92327629e-02 9.97600533e-01 -1.59945380e-05 4.72177927e-01] [ 9.99102522e-03 -6.77337794e-04 9.99949859e-01 5.15737724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.67925415399999 meters 0.03922941279862125 Centerline is valid? [True, True] Translation: X:126.68, Y:0.47, Z:0.51 [[ 9.97443632e-01 -7.05344303e-02 -1.14496530e-02 1.26684555e+02] [ 7.05388586e-02 9.97509032e-01 -1.71176165e-05 4.68824311e-01] [ 1.14223397e-02 -7.90571599e-04 9.99934450e-01 5.13752370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.739254154 meters 0.03506696201052682 Centerline is valid? [True, True] Translation: X:126.75, Y:0.47, Z:0.51 [[ 9.97383079e-01 -7.12093885e-02 -1.24986323e-02 1.26746841e+02] [ 7.12147325e-02 9.97461008e-01 -1.75391780e-05 4.74883598e-01] [ 1.24681473e-02 -8.72593478e-04 9.99921889e-01 5.13677926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.799254154 meters 0.035934028050236023 Centerline is valid? [True, True] Translation: X:126.81, Y:0.48, Z:0.51 [[ 9.97473616e-01 -6.99138701e-02 -1.25871409e-02 1.26809470e+02] [ 6.99192007e-02 9.97552658e-01 -1.66056854e-05 4.75675138e-01] [ 1.25574968e-02 -8.63519095e-04 9.99920779e-01 5.14243406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85925415399998 meters 0.03117905282116199 Centerline is valid? [True, True] Translation: X:126.87, Y:0.49, Z:0.52 [[ 9.97958004e-01 -6.29748288e-02 -1.06767251e-02 1.26869910e+02] [ 6.29782718e-02 9.98014898e-01 -1.37617602e-05 4.86576588e-01] [ 1.06563973e-02 -6.58668034e-04 9.99943002e-01 5.16860478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91925415399999 meters 0.027541212126111506 Centerline is valid? [True, True] Translation: X:126.93, Y:0.50, Z:0.52 [[ 9.98403554e-01 -5.56437307e-02 -9.70146258e-03 1.26930537e+02] [ 5.56462282e-02 9.98450548e-01 -1.25194059e-05 4.95358621e-01] [ 9.68712725e-03 -5.27350381e-04 9.99952940e-01 5.18253798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97925415399999 meters 0.02705329702731373 Centerline is valid? [True, True] Translation: X:126.99, Y:0.50, Z:0.52 [[ 9.99032659e-01 -4.30484549e-02 -8.97651108e-03 1.26989985e+02] [ 4.30500847e-02 9.99072915e-01 -1.16746865e-05 5.01043238e-01] [ 8.96869167e-03 -3.74776169e-04 9.99959710e-01 5.18215252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03925415399999 meters 0.02052498295772446 Centerline is valid? [True, True] Translation: X:127.05, Y:0.52, Z:0.52 [[ 9.99333357e-01 -3.52133706e-02 -9.63643558e-03 1.27050130e+02] [ 3.52148842e-02 9.99379764e-01 -1.26086102e-05 5.15220486e-01] [ 9.63090270e-03 -3.26745758e-04 9.99953568e-01 5.18881681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.099254154 meters 0.018217216887242333 Centerline is valid? [True, True] Translation: X:127.11, Y:0.52, Z:0.52 [[ 9.99566828e-01 -2.70469744e-02 -1.16024736e-02 1.27110851e+02] [ 2.70486207e-02 9.99634119e-01 -1.50367960e-05 5.22991947e-01] [ 1.15986352e-02 -2.98800626e-04 9.99932689e-01 5.17249130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.159254154 meters 0.01749444574225053 Centerline is valid? [True, True] Translation: X:127.17, Y:0.53, Z:0.52 [[ 9.99643891e-01 -2.38449866e-02 -1.19794951e-02 1.27172460e+02] [ 2.38465161e-02 9.99715631e-01 -1.51637809e-05 5.26148871e-01] [ 1.19764500e-02 -2.70510841e-04 9.99928243e-01 5.17023802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21925415399998 meters 0.01691183331342744 Centerline is valid? [True, True] Translation: X:127.23, Y:0.53, Z:0.52 [[ 9.99706317e-01 -2.12560138e-02 -1.16388201e-02 1.27233817e+02] [ 2.12572872e-02 9.99774038e-01 -1.43080811e-05 5.28817227e-01] [ 1.16364943e-02 -2.33105862e-04 9.99932267e-01 5.17544555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27925415399999 meters 0.017664142948163323 Centerline is valid? [True, True] Translation: X:127.29, Y:0.53, Z:0.52 [[ 9.99725826e-01 -2.06255371e-02 -1.10842085e-02 1.27294423e+02] [ 2.06266563e-02 9.99787248e-01 -1.33501314e-05 5.27236326e-01] [ 1.10821257e-02 -2.15283688e-04 9.99938568e-01 5.16776613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33925415399999 meters 0.01710605976710422 Centerline is valid? [True, True] Translation: X:127.36, Y:0.53, Z:0.52 [[ 9.99707033e-01 -2.14908303e-02 -1.11352165e-02 1.27355624e+02] [ 2.14920171e-02 9.99769020e-01 -1.30857220e-05 5.28496466e-01] [ 1.11329257e-02 -2.26236375e-04 9.99938001e-01 5.17013979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39925415399999 meters 0.017227813341955032 Centerline is valid? [True, True] Translation: X:127.42, Y:0.53, Z:0.52 [[ 9.99679344e-01 -2.30215599e-02 -1.05459755e-02 1.27417646e+02] [ 2.30227160e-02 9.99734942e-01 -1.17837167e-05 5.28487354e-01] [ 1.05434515e-02 -2.31017061e-04 9.99944390e-01 5.17327367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.45925415399999 meters 0.018538947663072198 Centerline is valid? [True, True] Translation: X:127.48, Y:0.53, Z:0.52 [[ 9.99558788e-01 -2.78759034e-02 -1.02549321e-02 1.27478928e+02] [ 2.78772573e-02 9.99611354e-01 -1.09251293e-05 5.25795567e-01] [ 1.02512511e-02 -2.74959071e-04 9.99947417e-01 5.17845792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.519254154 meters 0.019439928966987863 Centerline is valid? [True, True] Translation: X:127.54, Y:0.52, Z:0.52 [[ 9.99418496e-01 -3.25150386e-02 -1.02684762e-02 1.27539642e+02] [ 3.25166434e-02 9.99471194e-01 -1.06693051e-05 5.22217558e-01] [ 1.02633931e-02 -3.23233280e-04 9.99947278e-01 5.17758996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.579254154 meters 0.022930311229032288 Centerline is valid? [True, True] Translation: X:127.60, Y:0.51, Z:0.52 [[ 9.99110782e-01 -4.08632159e-02 -1.03847749e-02 1.27599503e+02] [ 4.08653074e-02 9.99164664e-01 -1.07965504e-05 5.13901366e-01] [ 1.03765413e-02 -4.13590069e-04 9.99946077e-01 5.17057007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63925415399999 meters 0.024572000110927923 Centerline is valid? [True, True] Translation: X:127.66, Y:0.51, Z:0.52 [[ 9.98913269e-01 -4.55081753e-02 -1.00641197e-02 1.27660600e+02] [ 4.55103753e-02 9.98963866e-01 -1.04237123e-05 5.10463744e-01] [ 1.00541663e-02 -4.47609482e-04 9.99949355e-01 5.17816728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69925415399999 meters 0.025667241666205366 Centerline is valid? [True, True] Translation: X:127.72, Y:0.51, Z:0.52 [[ 9.98743463e-01 -4.92646428e-02 -9.19181401e-03 1.27721833e+02] [ 4.92666390e-02 9.98785662e-01 -9.27165781e-06 5.07267501e-01] [ 9.18110880e-03 -4.43589775e-04 9.99957754e-01 5.18642592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75925415399999 meters 0.02621738938800787 Centerline is valid? [True, True] Translation: X:127.78, Y:0.51, Z:0.52 [[ 9.98765779e-01 -4.88355946e-02 -9.05555464e-03 1.27784136e+02] [ 4.88375190e-02 9.98806736e-01 -8.63595591e-06 5.05386748e-01] [ 9.04517072e-03 -4.33625524e-04 9.99958998e-01 5.18808826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.81925415399999 meters 0.02622130160828794 Centerline is valid? [True, True] Translation: X:127.84, Y:0.51, Z:0.52 [[ 9.98882777e-01 -4.62722001e-02 -9.59589615e-03 1.27844601e+02] [ 4.62742471e-02 9.98928773e-01 -8.71711306e-06 5.05795489e-01] [ 9.58602012e-03 -4.35335495e-04 9.99953958e-01 5.19154052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.879254154 meters 0.02269583615429051 Centerline is valid? [True, True] Translation: X:127.91, Y:0.51, Z:0.52 [[ 9.99007996e-01 -4.32934365e-02 -1.04260224e-02 1.27906162e+02] [ 4.32956943e-02 9.99062302e-01 -9.15834328e-06 5.11955949e-01] [ 1.04166425e-02 -4.42252623e-04 9.99945648e-01 5.19079928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.939254154 meters 0.021318040925853064 Centerline is valid? [True, True] Translation: X:127.97, Y:0.51, Z:0.52 [[ 9.99223293e-01 -3.75518971e-02 -1.19443184e-02 1.27967261e+02] [ 3.75544547e-02 9.99294583e-01 -1.01641714e-05 5.14903326e-01] [ 1.19362743e-02 -4.38406086e-04 9.99928664e-01 5.17917997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99925415399998 meters 0.01966247012609208 Centerline is valid? [True, True] Translation: X:128.03, Y:0.52, Z:0.52 [[ 9.99381831e-01 -3.26896259e-02 -1.29361907e-02 1.28028835e+02] [ 3.26922264e-02 9.99465466e-01 -1.04455667e-05 5.18904162e-01] [ 1.29296173e-02 -4.12473767e-04 9.99916324e-01 5.18002641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.059254154 meters 0.01807114160075755 Centerline is valid? [True, True] Translation: X:128.09, Y:0.53, Z:0.52 [[ 9.99594563e-01 -2.48428565e-02 -1.39119328e-02 1.28088793e+02] [ 2.48451083e-02 9.99691313e-01 -1.09699551e-05 5.25079844e-01] [ 1.39079109e-02 -3.34677969e-04 9.99903224e-01 5.18295220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.119254154 meters 0.01666345059988329 Centerline is valid? [True, True] Translation: X:128.15, Y:0.53, Z:0.52 [[ 9.99719102e-01 -1.91068625e-02 -1.40229907e-02 1.28149608e+02] [ 1.91085864e-02 9.99817414e-01 -1.10519050e-05 5.29886674e-01] [ 1.40206414e-02 -2.56910728e-04 9.99901673e-01 5.18872906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.179254154 meters 0.015566586887534085 Centerline is valid? [True, True] Translation: X:128.21, Y:0.54, Z:0.52 [[ 9.99870375e-01 -1.02305153e-02 -1.24326098e-02 1.28208745e+02] [ 1.02311807e-02 9.99947660e-01 -1.00841728e-05 5.35526385e-01] [ 1.24320622e-02 -1.17117411e-04 9.99922712e-01 5.19927955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.239254154 meters 0.014970340242441498 Centerline is valid? [True, True] Translation: X:128.27, Y:0.54, Z:0.52 [[ 9.99927310e-01 -4.73742424e-03 -1.10874568e-02 1.28267440e+02] [ 4.73759516e-03 9.99988777e-01 -1.08489244e-05 5.39683372e-01] [ 1.10873838e-02 -4.16797462e-05 9.99938532e-01 5.22068687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.299254154 meters 0.014879812045559071 Centerline is valid? [True, True] Translation: X:128.33, Y:0.54, Z:0.52 [[ 9.99951090e-01 -6.95094340e-04 -9.86583010e-03 1.28326182e+02] [ 6.95009145e-04 9.99999758e-01 -1.20638559e-05 5.42078988e-01] [ 9.86583610e-03 5.20642369e-06 9.99951331e-01 5.23260967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.359254154 meters 0.015029130351165565 Centerline is valid? [True, True] Translation: X:128.38, Y:0.54, Z:0.52 [[ 9.99948610e-01 9.94023361e-04 -1.00890893e-02 1.28383754e+02] [-9.94226839e-04 9.99999506e-01 -1.51525399e-05 5.40861885e-01] [ 1.00890693e-02 2.51826046e-05 9.99949104e-01 5.23144499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.41925415400001 meters 0.01473765329404761 Centerline is valid? [True, True] Translation: X:128.44, Y:0.54, Z:0.52 [[ 9.99945158e-01 -8.72478470e-04 -1.04364452e-02 1.28441948e+02] [ 8.72341659e-04 9.99999619e-01 -1.76610846e-05 5.37734996e-01] [ 1.04364566e-02 8.55597017e-06 9.99945539e-01 5.22792193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.47925415400002 meters 0.014781872532753688 Centerline is valid? [True, True] Translation: X:128.50, Y:0.53, Z:0.52 [[ 9.99923697e-01 -5.09381919e-03 -1.12540580e-02 1.28500653e+02] [ 5.09391587e-03 9.99987026e-01 -2.00738664e-05 5.32700509e-01] [ 1.12540143e-02 -3.72548902e-05 9.99936671e-01 5.22143875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.539254154 meters 0.015106725318235566 Centerline is valid? [True, True] Translation: X:128.56, Y:0.53, Z:0.52 [[ 9.99874707e-01 -1.06363292e-02 -1.17234313e-02 1.28558698e+02] [ 1.06368032e-02 9.99943427e-01 -2.19233212e-05 5.25963983e-01] [ 1.17230013e-02 -1.02779257e-04 9.99931278e-01 5.21676283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.599254154 meters 0.016143143482716026 Centerline is valid? [True, True] Translation: X:128.62, Y:0.52, Z:0.52 [[ 9.99765499e-01 -1.86061323e-02 -1.10796352e-02 1.28618166e+02] [ 1.86070380e-02 9.99826874e-01 -2.13449565e-05 5.15739624e-01] [ 1.10781141e-02 -1.84819242e-04 9.99938619e-01 5.21831853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.659254154 meters 0.016866143313966235 Centerline is valid? [True, True] Translation: X:128.68, Y:0.51, Z:0.52 [[ 9.99668844e-01 -2.35621909e-02 -1.03452671e-02 1.28679119e+02] [ 2.35632453e-02 9.99722348e-01 -1.99712573e-05 5.09372029e-01] [ 1.03428653e-02 -2.23803423e-04 9.99946486e-01 5.22262412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.719254154 meters 0.01878871545787686 Centerline is valid? [True, True] Translation: X:128.74, Y:0.50, Z:0.52 [[ 9.99508088e-01 -2.97310078e-02 -9.98244406e-03 1.28739752e+02] [ 2.97323003e-02 9.99557897e-01 -1.89356676e-05 5.00609611e-01] [ 9.97859377e-03 -2.77874671e-04 9.99950174e-01 5.22378842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.779254154 meters 0.020108710345756155 Centerline is valid? [True, True] Translation: X:128.80, Y:0.49, Z:0.52 [[ 9.99315597e-01 -3.59134786e-02 -8.86335834e-03 1.28801062e+02] [ 3.59147434e-02 9.99354857e-01 -1.64680124e-05 4.92727940e-01] [ 8.85823163e-03 -3.01868499e-04 9.99960720e-01 5.23190185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.839254154 meters 0.021331557288857564 Centerline is valid? [True, True] Translation: X:128.86, Y:0.49, Z:0.52 [[ 9.99144273e-01 -4.04149437e-02 -8.79512123e-03 1.28862604e+02] [ 4.04163661e-02 9.99182925e-01 -1.60168201e-05 4.86904618e-01] [ 8.78858227e-03 -3.39463726e-04 9.99961322e-01 5.23140234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.899254154 meters 0.02412872222574181 Centerline is valid? [True, True] Translation: X:128.92, Y:0.48, Z:0.52 [[ 9.98886819e-01 -4.60637334e-02 -1.01614363e-02 1.28922142e+02] [ 4.60659278e-02 9.98938401e-01 -1.81094469e-05 4.78552798e-01] [ 1.01514831e-02 -4.50006704e-04 9.99948371e-01 5.22087247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.959254154 meters 0.02518717010740885 Centerline is valid? [True, True] Translation: X:128.98, Y:0.47, Z:0.52 [[ 9.98796823e-01 -4.78963802e-02 -1.05282376e-02 1.28984502e+02] [ 4.78988440e-02 9.98852191e-01 -1.81537803e-05 4.74696469e-01] [ 1.05170227e-02 -4.86158473e-04 9.99944576e-01 5.21478354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.019254154 meters 0.02491770079711568 Centerline is valid? [True, True] Translation: X:129.05, Y:0.47, Z:0.52 [[ 9.98711145e-01 -4.96001384e-02 -1.07645587e-02 1.29046602e+02] [ 4.96028214e-02 9.98769022e-01 -1.77640415e-05 4.72749991e-01] [ 1.07521888e-02 -5.16211335e-04 9.99942060e-01 5.22173051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.079254154 meters 0.026444959122753704 Centerline is valid? [True, True] Translation: X:129.11, Y:0.47, Z:0.52 [[ 9.98733021e-01 -4.89013496e-02 -1.18748251e-02 1.29107663e+02] [ 4.89045820e-02 9.98803455e-01 -1.81959018e-05 4.69580015e-01] [ 1.18615061e-02 -5.62560509e-04 9.99929492e-01 5.21426958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.139254154 meters 0.023561964812093335 Centerline is valid? [True, True] Translation: X:129.17, Y:0.47, Z:0.52 [[ 9.98808876e-01 -4.68778481e-02 -1.35387323e-02 1.29169503e+02] [ 4.68818830e-02 9.98900440e-01 -1.93647383e-05 4.74097781e-01] [ 1.35247534e-02 -6.15379592e-04 9.99908347e-01 5.21106914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.19925415400002 meters 0.02078882636610716 Centerline is valid? [True, True] Translation: X:129.23, Y:0.48, Z:0.52 [[ 9.99080849e-01 -3.98411729e-02 -1.58157336e-02 1.29230594e+02] [ 3.98458065e-02 9.99205840e-01 -2.21593278e-05 4.80282461e-01] [ 1.58040562e-02 -6.08051701e-04 9.99874923e-01 5.20139426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.25925415400002 meters 0.01936829691564279 Centerline is valid? [True, True] Translation: X:129.29, Y:0.49, Z:0.52 [[ 9.99399293e-01 -3.06225295e-02 -1.62269499e-02 1.29289854e+02] [ 3.06261903e-02 9.99530908e-01 -2.29107885e-05 4.85078941e-01] [ 1.62200396e-02 -4.74072630e-04 9.99868334e-01 5.19973825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.319254154 meters 0.017139412497147614 Centerline is valid? [True, True] Translation: X:129.35, Y:0.49, Z:0.52 [[ 9.99603437e-01 -2.34434612e-02 -1.56003938e-02 1.29350229e+02] [ 2.34459698e-02 9.99725105e-01 -2.21000485e-05 4.91996412e-01] [ 1.55966234e-02 -3.43675076e-04 9.99878306e-01 5.21746851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.379254154 meters 0.015162361530089567 Centerline is valid? [True, True] Translation: X:129.41, Y:0.50, Z:0.52 [[ 9.99784356e-01 -1.47995689e-02 -1.45675743e-02 1.29410036e+02] [ 1.48008361e-02 9.99890461e-01 -2.08246943e-05 4.99451229e-01] [ 1.45662868e-02 -1.94792076e-04 9.99893887e-01 5.23624189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.439254154 meters 0.01431462137928184 Centerline is valid? [True, True] Translation: X:129.47, Y:0.51, Z:0.52 [[ 9.99909784e-01 -1.37953472e-03 -1.33611341e-02 1.29467597e+02] [ 1.37939080e-03 9.99999048e-01 -1.99874782e-05 5.09911016e-01] [ 1.33611489e-02 1.55544964e-06 9.99910736e-01 5.24861012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.499254154 meters 0.015620281368856119 Centerline is valid? [True, True] Translation: X:129.53, Y:0.51, Z:0.52 [[ 9.99900147e-01 5.98365110e-03 -1.28020630e-02 1.29526519e+02] [-5.98441863e-03 9.99982093e-01 -2.16467532e-05 5.14692583e-01] [ 1.28017042e-02 9.82574961e-05 9.99918050e-01 5.24749538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.559254154 meters 0.015394625934550899 Centerline is valid? [True, True] Translation: X:129.59, Y:0.52, Z:0.53 [[ 9.99870972e-01 1.07227532e-02 -1.19608160e-02 1.29585244e+02] [-1.07237972e-02 9.99942498e-01 -2.31470867e-05 5.17564812e-01] [ 1.19598801e-02 1.51409465e-04 9.99928467e-01 5.26335743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.619254154 meters 0.015312071987963123 Centerline is valid? [True, True] Translation: X:129.64, Y:0.52, Z:0.53 [[ 9.99878592e-01 1.01927394e-02 -1.17859793e-02 1.29643805e+02] [-1.01937351e-02 9.99948042e-01 -2.44101732e-05 5.16598664e-01] [ 1.17851181e-02 1.44550361e-04 9.99930543e-01 5.26569243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.679254154 meters 0.01426268794127572 Centerline is valid? [True, True] Translation: X:129.70, Y:0.51, Z:0.53 [[ 9.99919700e-01 3.80174049e-03 -1.20888741e-02 1.29702448e+02] [-3.80233160e-03 9.99992771e-01 -2.59136758e-05 5.10020676e-01] [ 1.20886881e-02 7.18775027e-05 9.99926927e-01 5.26640047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.739254154 meters 0.013935381240660905 Centerline is valid? [True, True] Translation: X:129.76, Y:0.50, Z:0.53 [[ 9.99917953e-01 -2.48051912e-03 -1.25672131e-02 1.29761510e+02] [ 2.48036479e-03 9.99996924e-01 -2.78666445e-05 5.03727863e-01] [ 1.25672436e-02 -3.30691482e-06 9.99921029e-01 5.25893971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.799254154 meters 0.014437061972093537 Centerline is valid? [True, True] Translation: X:129.82, Y:0.49, Z:0.53 [[ 9.99845364e-01 -1.27589416e-02 -1.21019828e-02 1.29820094e+02] [ 1.27595407e-02 9.99918593e-01 -2.77064686e-05 4.93557074e-01] [ 1.21013511e-02 -1.26713558e-04 9.99926768e-01 5.26233605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.859254154 meters 0.01565659632558022 Centerline is valid? [True, True] Translation: X:129.88, Y:0.49, Z:0.53 [[ 9.99754438e-01 -1.88561775e-02 -1.16407606e-02 1.29879923e+02] [ 1.88571383e-02 9.99822188e-01 -2.72239958e-05 4.87063922e-01] [ 1.16392041e-02 -1.92294122e-04 9.99932244e-01 5.26780873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.91925415400001 meters 0.01786232097715157 Centerline is valid? [True, True] Translation: X:129.94, Y:0.48, Z:0.53 [[ 9.99560602e-01 -2.69089183e-02 -1.24303193e-02 1.29939959e+02] [ 2.69106322e-02 9.99637843e-01 -2.93872097e-05 4.79066731e-01] [ 1.24266083e-02 -3.05133453e-04 9.99922740e-01 5.26604917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.97925415400002 meters 0.018424850237542357 Centerline is valid? [True, True] Translation: X:130.00, Y:0.48, Z:0.53 [[ 9.99447757e-01 -3.09576952e-02 -1.20748772e-02 1.30001544e+02] [ 3.09596103e-02 9.99520636e-01 -2.83395800e-05 4.75809185e-01] [ 1.20699662e-02 -3.45509562e-04 9.99927096e-01 5.27116802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.039254154 meters 0.01987251432966676 Centerline is valid? [True, True] Translation: X:130.06, Y:0.47, Z:0.53 [[ 9.99294890e-01 -3.56509544e-02 -1.17784798e-02 1.30062910e+02] [ 3.56531072e-02 9.99364225e-01 -2.72124129e-05 4.69154745e-01] [ 1.17719615e-02 -3.92746178e-04 9.99930631e-01 5.27763332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.099254154 meters 0.02087771916290056 Centerline is valid? [True, True] Translation: X:130.12, Y:0.47, Z:0.53 [[ 9.99156567e-01 -3.93269095e-02 -1.18131150e-02 1.30124151e+02] [ 3.93293368e-02 9.99226302e-01 -2.68552468e-05 4.65444441e-01] [ 1.18050313e-02 -4.37769380e-04 9.99930222e-01 5.28239279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.159254154 meters 0.021834568933808786 Centerline is valid? [True, True] Translation: X:130.19, Y:0.46, Z:0.53 [[ 9.99031116e-01 -4.23490407e-02 -1.19744488e-02 1.30186383e+02] [ 4.23517601e-02 9.99102761e-01 -2.64962454e-05 4.63580952e-01] [ 1.19648269e-02 -4.80668409e-04 9.99928303e-01 5.28527348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.219254154 meters 0.0247616683038015 Centerline is valid? [True, True] Translation: X:130.25, Y:0.46, Z:0.53 [[ 9.98727590e-01 -4.88281112e-02 -1.26101495e-02 1.30247038e+02] [ 4.88316471e-02 9.98807023e-01 -2.75297702e-05 4.57598710e-01] [ 1.25964501e-02 -5.88279630e-04 9.99920489e-01 5.27614770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.279254154 meters 0.029960855244371358 Centerline is valid? [True, True] Translation: X:130.31, Y:0.45, Z:0.53 [[ 9.98508958e-01 -5.27960164e-02 -1.38723518e-02 1.30307028e+02] [ 5.28006778e-02 9.98605071e-01 -3.02676709e-05 4.49221386e-01] [ 1.38545989e-02 -7.02247038e-04 9.99903774e-01 5.25964989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.339254154 meters 0.027181024392310696 Centerline is valid? [True, True] Translation: X:130.37, Y:0.45, Z:0.53 [[ 9.98422580e-01 -5.43197725e-02 -1.42026034e-02 1.30369138e+02] [ 5.43248226e-02 9.98523316e-01 -3.02660630e-05 4.52979592e-01] [ 1.41832747e-02 -7.41335588e-04 9.99899137e-01 5.26891417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.399254154 meters 0.0298939700938222 Centerline is valid? [True, True] Translation: X:130.43, Y:0.45, Z:0.53 [[ 9.98254058e-01 -5.72387761e-02 -1.45793610e-02 1.30428744e+02] [ 5.72444129e-02 9.98360194e-01 -3.07360419e-05 4.48467654e-01] [ 1.45572130e-02 -8.03904583e-04 9.99893715e-01 5.27041399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.459254154 meters 0.02796005514816756 Centerline is valid? [True, True] Translation: X:130.49, Y:0.45, Z:0.53 [[ 9.98254860e-01 -5.73172822e-02 -1.42113963e-02 1.30491124e+02] [ 5.73226562e-02 9.98355704e-01 -2.92337867e-05 4.51711094e-01] [ 1.41897042e-02 -7.85452215e-04 9.99899013e-01 5.28106172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.519254154 meters 0.02835044634055228 Centerline is valid? [True, True] Translation: X:130.55, Y:0.45, Z:0.53 [[ 9.98462291e-01 -5.35740347e-02 -1.42434471e-02 1.30550572e+02] [ 5.35790552e-02 9.98563610e-01 -2.91516988e-05 4.53325692e-01] [ 1.42245498e-02 -7.34043568e-04 9.99898557e-01 5.28685374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.579254154 meters 0.02430406233660064 Centerline is valid? [True, True] Translation: X:130.61, Y:0.46, Z:0.53 [[ 9.98706351e-01 -4.89659965e-02 -1.37097268e-02 1.30611021e+02] [ 4.89702135e-02 9.98800239e-01 -2.81362537e-05 4.62145157e-01] [ 1.36946561e-02 -6.43268393e-04 9.99906017e-01 5.31521169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.639254154 meters 0.022092691489220023 Centerline is valid? [True, True] Translation: X:130.67, Y:0.47, Z:0.53 [[ 9.99134908e-01 -3.98063737e-02 -1.20369880e-02 1.30670996e+02] [ 3.98089605e-02 9.99207309e-01 -2.47122884e-05 4.69058779e-01] [ 1.20284301e-02 -4.54489070e-04 9.99927553e-01 5.33243024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.69925415400002 meters 0.020118493733611298 Centerline is valid? [True, True] Translation: X:130.73, Y:0.48, Z:0.53 [[ 9.99395463e-01 -3.29799698e-02 -1.10013547e-02 1.30732093e+02] [ 3.29817187e-02 9.99455955e-01 -2.24736234e-05 4.75573519e-01] [ 1.09961107e-02 -3.40383550e-04 9.99939483e-01 5.34066524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.75925415400002 meters 0.016292665301403574 Centerline is valid? [True, True] Translation: X:130.79, Y:0.49, Z:0.54 [[ 9.99704758e-01 -2.17275882e-02 -1.08770023e-02 1.30792590e+02] [ 2.17286331e-02 9.99763905e-01 -2.21170171e-05 4.87389608e-01] [ 1.08749148e-02 -2.14231904e-04 9.99940843e-01 5.35399321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.819254154 meters 0.015600111729185392 Centerline is valid? [True, True] Translation: X:130.85, Y:0.49, Z:0.53 [[ 9.99817299e-01 -1.56840871e-02 -1.09260310e-02 1.30853017e+02] [ 1.56847868e-02 9.99876986e-01 -2.16529092e-05 4.92693559e-01] [ 1.09250265e-02 -1.49723513e-04 9.99940309e-01 5.34863337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.879254154 meters 0.015272438684447817 Centerline is valid? [True, True] Translation: X:130.91, Y:0.50, Z:0.53 [[ 9.99857101e-01 -1.12859084e-02 -1.25859313e-02 1.30912722e+02] [ 1.12864901e-02 9.99936305e-01 -2.48153030e-05 4.97630323e-01] [ 1.25854097e-02 -1.17239232e-04 9.99920794e-01 5.32847506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.939254154 meters 0.015660737576249473 Centerline is valid? [True, True] Translation: X:130.97, Y:0.50, Z:0.53 [[ 9.99829304e-01 -1.20729294e-02 -1.39860008e-02 1.30971055e+02] [ 1.20737102e-02 9.99927110e-01 -2.86128764e-05 4.98605523e-01] [ 1.39853268e-02 -1.40254928e-04 9.99902191e-01 5.31547510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.999254154 meters 0.016494242744648877 Centerline is valid? [True, True] Translation: X:131.03, Y:0.50, Z:0.53 [[ 9.99750887e-01 -1.73945414e-02 -1.39854616e-02 1.31029550e+02] [ 1.73958275e-02 9.99848681e-01 -2.96933970e-05 4.95635739e-01] [ 1.39838619e-02 -2.13602678e-04 9.99902198e-01 5.31516129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.059254154 meters 0.016906130210474928 Centerline is valid? [True, True] Translation: X:131.09, Y:0.49, Z:0.53 [[ 9.99667227e-01 -2.21342848e-02 -1.32479982e-02 1.31088196e+02] [ 2.21358207e-02 9.99754972e-01 -3.07070189e-05 4.93770707e-01] [ 1.32454318e-02 -2.62558513e-04 9.99912241e-01 5.33308670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.119254154 meters 0.017638361997908365 Centerline is valid? [True, True] Translation: X:131.15, Y:0.49, Z:0.53 [[ 9.99571506e-01 -2.67312793e-02 -1.19265612e-02 1.31148871e+02] [ 2.67328389e-02 9.99642613e-01 -2.86655325e-05 4.91126675e-01] [ 1.19230651e-02 -2.90177590e-04 9.99928876e-01 5.34949007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.179254154 meters 0.019101589665778893 Centerline is valid? [True, True] Translation: X:131.21, Y:0.49, Z:0.54 [[ 9.99442332e-01 -3.16267815e-02 -1.07131621e-02 1.31208849e+02] [ 3.16283208e-02 9.99499699e-01 -2.57491234e-05 4.86309888e-01] [ 1.07086167e-02 -3.13104565e-04 9.99942612e-01 5.36304003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.239254154 meters 0.020272543212634987 Centerline is valid? [True, True] Translation: X:131.27, Y:0.48, Z:0.54 [[ 9.99387475e-01 -3.35935776e-02 -9.80537882e-03 1.31270831e+02] [ 3.35949656e-02 9.99435530e-01 -2.31636334e-05 4.84115587e-01] [ 9.80062212e-03 -3.06261919e-04 9.99951926e-01 5.36835461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.299254154 meters 0.019548986124583216 Centerline is valid? [True, True] Translation: X:131.33, Y:0.48, Z:0.54 [[ 9.99371759e-01 -3.40386490e-02 -9.87203970e-03 1.31333225e+02] [ 3.40400849e-02 9.99420468e-01 -2.25851075e-05 4.82526909e-01] [ 9.86708730e-03 -3.13474151e-04 9.99951270e-01 5.38101887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.359254154 meters 0.019789986795817154 Centerline is valid? [True, True] Translation: X:131.39, Y:0.48, Z:0.54 [[ 9.99503997e-01 -2.96295643e-02 -1.06700406e-02 1.31393993e+02] [ 2.96309969e-02 9.99560905e-01 -2.38292056e-05 4.80617054e-01] [ 1.06660615e-02 -2.92346553e-04 9.99943073e-01 5.37182324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.41925415400001 meters 0.01753918111901014 Centerline is valid? [True, True] Translation: X:131.45, Y:0.48, Z:0.54 [[ 9.99679222e-01 -2.25199203e-02 -1.15890832e-02 1.31454458e+02] [ 2.25211348e-02 9.99746367e-01 -2.57067755e-05 4.84764896e-01] [ 1.15867228e-02 -2.35300777e-04 9.99932844e-01 5.37062216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.47925415400002 meters 0.016685780873022877 Centerline is valid? [True, True] Translation: X:131.51, Y:0.49, Z:0.54 [[ 9.99906377e-01 -7.04892442e-03 -1.17281808e-02 1.31514963e+02] [ 7.04910413e-03 9.99975154e-01 -2.60153201e-05 4.93677246e-01] [ 1.17280728e-02 -5.66602833e-05 9.99931222e-01 5.36867644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.539254154 meters 0.01496791871848752 Centerline is valid? [True, True] Translation: X:131.57, Y:0.50, Z:0.54 [[ 9.99922263e-01 5.49910215e-03 -1.11904907e-02 1.31572899e+02] [-5.49973118e-03 9.99984876e-01 -2.54382846e-05 4.99853419e-01] [ 1.11901816e-02 8.69809977e-05 9.99937384e-01 5.38981964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.599254154 meters 0.015389875477771583 Centerline is valid? [True, True] Translation: X:131.63, Y:0.50, Z:0.54 [[ 9.99886458e-01 1.01799102e-02 -1.11103957e-02 1.31631252e+02] [-1.01808427e-02 9.99948174e-01 -2.73682629e-05 5.00146628e-01] [ 1.11095413e-02 1.40478346e-04 9.99938277e-01 5.39657851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.659254154 meters 0.015686935365337204 Centerline is valid? [True, True] Translation: X:131.69, Y:0.50, Z:0.54 [[ 9.99885063e-01 9.70703279e-03 -1.16462060e-02 1.31688817e+02] [-9.70804822e-03 9.99952875e-01 -3.06582606e-05 4.95289716e-01] [ 1.16453596e-02 1.43716667e-04 9.99932180e-01 5.39296656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.719254154 meters 0.015277133330394311 Centerline is valid? [True, True] Translation: X:131.75, Y:0.49, Z:0.54 [[ 9.99908329e-01 4.71097925e-03 -1.26941183e-02 1.31748140e+02] [-4.71179546e-03 9.99988899e-01 -3.43914905e-05 4.89031251e-01] [ 1.26938154e-02 9.42004269e-05 9.99919426e-01 5.39719161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.779254154 meters 0.01504476544987518 Centerline is valid? [True, True] Translation: X:131.81, Y:0.48, Z:0.54 [[ 9.99869744e-01 -7.75697611e-03 -1.41536206e-02 1.31805998e+02] [ 7.75719180e-03 9.99969912e-01 -3.96603508e-05 4.76039878e-01] [ 1.41535024e-02 -7.01371652e-05 9.99899832e-01 5.39456705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.839254154 meters 0.016483849691680902 Centerline is valid? [True, True] Translation: X:131.86, Y:0.47, Z:0.54 [[ 9.99746319e-01 -1.75549061e-02 -1.41110785e-02 1.31864494e+02] [ 1.75560822e-02 9.99845879e-01 -4.05272655e-05 4.65346265e-01] [ 1.41096151e-02 -2.07218270e-04 9.99900433e-01 5.39197893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.899254154 meters 0.01908582340895916 Centerline is valid? [True, True] Translation: X:131.93, Y:0.45, Z:0.54 [[ 9.99437115e-01 -3.04554837e-02 -1.40682792e-02 1.31925260e+02] [ 3.04579258e-02 9.99536049e-01 -4.06809230e-05 4.54230077e-01] [ 1.40629912e-02 -3.87832580e-04 9.99901036e-01 5.41042755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.959254154 meters 0.022316905747618652 Centerline is valid? [True, True] Translation: X:131.99, Y:0.45, Z:0.54 [[ 9.99217801e-01 -3.70119517e-02 -1.39248397e-02 1.31985113e+02] [ 3.70149799e-02 9.99314710e-01 -4.02859513e-05 4.47106582e-01] [ 1.39167882e-02 -4.75173222e-04 9.99903044e-01 5.40990132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.019254154 meters 0.026118241042139997 Centerline is valid? [True, True] Translation: X:132.05, Y:0.44, Z:0.54 [[ 9.98859313e-01 -4.56695331e-02 -1.39415245e-02 1.32045010e+02] [ 4.56734083e-02 9.98956425e-01 -4.04735443e-05 4.36951815e-01] [ 1.39288239e-02 -5.96329566e-04 9.99902811e-01 5.42135132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.079254154 meters 0.027128931662723007 Centerline is valid? [True, True] Translation: X:132.11, Y:0.43, Z:0.54 [[ 9.98499274e-01 -5.29874883e-02 -1.38393102e-02 1.32105144e+02] [ 5.29920077e-02 9.98594936e-01 -4.01964847e-05 4.34019489e-01] [ 1.38219950e-02 -6.93236670e-04 9.99904231e-01 5.44616108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.139254154 meters 0.029325613114274594 Centerline is valid? [True, True] Translation: X:132.17, Y:0.43, Z:0.55 [[ 9.98253124e-01 -5.74400438e-02 -1.38326597e-02 1.32165738e+02] [ 5.74449867e-02 9.98348673e-01 -4.00546462e-05 4.30634869e-01] [ 1.38121182e-02 -7.54632274e-04 9.99904323e-01 5.45127021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.19925415400002 meters 0.03234450176037185 Centerline is valid? [True, True] Translation: X:132.23, Y:0.43, Z:0.54 [[ 9.98000629e-01 -6.13922702e-02 -1.50244569e-02 1.32225687e+02] [ 6.13985468e-02 9.98113329e-01 -4.35847970e-05 4.26094816e-01] [ 1.49987865e-02 -8.78982168e-04 9.99887126e-01 5.44945683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.25925415400002 meters 0.034527511695585926 Centerline is valid? [True, True] Translation: X:132.29, Y:0.42, Z:0.54 [[ 9.97823567e-01 -6.40011661e-02 -1.58738891e-02 1.32286592e+02] [ 6.40085038e-02 9.97949352e-01 -4.59046791e-05 4.23083240e-01] [ 1.58442753e-02 -9.70259120e-04 9.99874001e-01 5.44351082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.319254154 meters 0.030939188518120202 Centerline is valid? [True, True] Translation: X:132.35, Y:0.43, Z:0.54 [[ 9.97773271e-01 -6.44246210e-02 -1.72617428e-02 1.32349030e+02] [ 6.44333790e-02 9.97922010e-01 -4.88864694e-05 4.28531077e-01] [ 1.72290225e-02 -1.06345480e-03 9.99851004e-01 5.44631861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.379254154 meters 0.031109202236676195 Centerline is valid? [True, True] Translation: X:132.41, Y:0.43, Z:0.54 [[ 9.97852170e-01 -6.24271955e-02 -1.98467346e-02 1.32410809e+02] [ 6.24384043e-02 9.98048818e-01 -5.49949096e-05 4.31309575e-01] [ 1.98114431e-02 -1.18432165e-03 9.99803033e-01 5.43184282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.439254154 meters 0.030083548081647874 Centerline is valid? [True, True] Translation: X:132.47, Y:0.44, Z:0.54 [[ 9.97970172e-01 -6.00535194e-02 -2.11922128e-02 1.32472751e+02] [ 6.00657914e-02 9.98194419e-01 -5.75533738e-05 4.35459225e-01] [ 2.11574048e-02 -1.21549048e-03 9.99775418e-01 5.42787637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.499254154 meters 0.028072601826451726 Centerline is valid? [True, True] Translation: X:132.53, Y:0.44, Z:0.54 [[ 9.98368553e-01 -5.27280211e-02 -2.19086150e-02 1.32532689e+02] [ 5.27393828e-02 9.98608309e-01 -5.92736490e-05 4.42866786e-01] [ 2.18812503e-02 -1.09626989e-03 9.99759976e-01 5.43095807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.559254154 meters 0.025212037483303248 Centerline is valid? [True, True] Translation: X:132.59, Y:0.45, Z:0.54 [[ 9.98764588e-01 -4.51207742e-02 -2.08185714e-02 1.32592906e+02] [ 4.51293830e-02 9.98981149e-01 -5.63534315e-05 4.51157598e-01] [ 2.07999031e-02 -8.83245471e-04 9.99783268e-01 5.44848756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.619254154 meters 0.020199039320019995 Centerline is valid? [True, True] Translation: X:132.65, Y:0.47, Z:0.55 [[ 9.99324221e-01 -3.08644611e-02 -1.99621017e-02 1.32652911e+02] [ 3.08695293e-02 9.99523421e-01 -5.42730269e-05 4.65961995e-01] [ 1.99542633e-02 -5.61984335e-04 9.99800736e-01 5.46921335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.679254154 meters 0.017426414348979725 Centerline is valid? [True, True] Translation: X:132.71, Y:0.48, Z:0.55 [[ 9.99587755e-01 -2.16959301e-02 -1.88044400e-02 1.32713203e+02] [ 2.16988033e-02 9.99764552e-01 -5.12519801e-05 4.75219309e-01] [ 1.88011245e-02 -3.56802994e-04 9.99823180e-01 5.47849098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.739254154 meters 0.014715549431574038 Centerline is valid? [True, True] Translation: X:132.77, Y:0.49, Z:0.55 [[ 9.99771334e-01 -1.21113245e-02 -1.76237099e-02 1.32773036e+02] [ 1.21123546e-02 9.99926642e-01 -4.82887243e-05 4.86336276e-01] [ 1.76230019e-02 -1.65186942e-04 9.99844689e-01 5.50696712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.799254154 meters 0.01451253968035143 Centerline is valid? [True, True] Translation: X:132.83, Y:0.49, Z:0.55 [[ 9.99798621e-01 -9.06170513e-03 -1.79053681e-02 1.32831820e+02] [ 9.06221804e-03 9.99958936e-01 -5.24934104e-05 4.90437910e-01] [ 1.79051085e-02 -1.09779510e-04 9.99839685e-01 5.50227172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.859254154 meters 0.014790099690212265 Centerline is valid? [True, True] Translation: X:132.89, Y:0.49, Z:0.55 [[ 9.99767970e-01 -1.00587660e-02 -1.90480457e-02 1.32890123e+02] [ 1.00594368e-02 9.99949401e-01 -6.05996738e-05 4.90795754e-01] [ 1.90476915e-02 -1.31027000e-04 9.99818568e-01 5.49284243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.91925415400001 meters 0.015107048209543705 Centerline is valid? [True, True] Translation: X:132.95, Y:0.49, Z:0.55 [[ 9.99720246e-01 -1.33754611e-02 -1.95071188e-02 1.32948842e+02] [ 1.33767534e-02 9.99910525e-01 -6.42415716e-05 4.89270690e-01] [ 1.95062326e-02 -1.96718317e-04 9.99809716e-01 5.49338275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.97925415400002 meters 0.015914252430294245 Centerline is valid? [True, True] Translation: X:133.01, Y:0.49, Z:0.55 [[ 9.99690219e-01 -1.60420547e-02 -1.90294008e-02 1.33006366e+02] [ 1.60437372e-02 9.99871289e-01 -6.42561673e-05 4.86078746e-01] [ 1.90279823e-02 -2.41066444e-04 9.99818922e-01 5.48390270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.039254154 meters 0.01734626135678453 Centerline is valid? [True, True] Translation: X:133.06, Y:0.48, Z:0.55 [[ 9.99641511e-01 -2.06984503e-02 -1.69830639e-02 1.33064109e+02] [ 2.07004384e-02 9.99785721e-01 -5.87404098e-05 4.80272467e-01] [ 1.69806406e-02 -2.92837516e-04 9.99855776e-01 5.49278512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.099254154 meters 0.017266997229812148 Centerline is valid? [True, True] Translation: X:133.12, Y:0.48, Z:0.55 [[ 9.99580416e-01 -2.41496895e-02 -1.59932373e-02 1.33122552e+02] [ 2.41518430e-02 9.99708300e-01 -5.85062162e-05 4.78261355e-01] [ 1.59899850e-02 -3.27784488e-04 9.99872098e-01 5.51430065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.159254154 meters 0.01894251925599304 Centerline is valid? [True, True] Translation: X:133.18, Y:0.47, Z:0.55 [[ 9.99448739e-01 -2.93229692e-02 -1.55686224e-02 1.33182496e+02] [ 2.93256147e-02 9.99569910e-01 -5.83937828e-05 4.71601463e-01] [ 1.55636388e-02 -3.98197828e-04 9.99878800e-01 5.51557731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.219254154 meters 0.020481339373125268 Centerline is valid? [True, True] Translation: X:133.24, Y:0.47, Z:0.55 [[ 9.99334732e-01 -3.32249712e-02 -1.50397848e-02 1.33242909e+02] [ 3.32278792e-02 9.99447800e-01 -5.65587040e-05 4.65940735e-01] [ 1.50333590e-02 -4.43219076e-04 9.99886894e-01 5.51370499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.279254154 meters 0.023147504767155266 Centerline is valid? [True, True] Translation: X:133.30, Y:0.46, Z:0.55 [[ 9.99161687e-01 -3.82766968e-02 -1.45195670e-02 1.33302829e+02] [ 3.82799398e-02 9.99267053e-01 -5.46023699e-05 4.57910069e-01] [ 1.45110150e-02 -5.01251557e-04 9.99894584e-01 5.50273641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.339254154 meters 0.02572681635130098 Centerline is valid? [True, True] Translation: X:133.36, Y:0.45, Z:0.55 [[ 9.98981045e-01 -4.21685219e-02 -1.60837906e-02 1.33362749e+02] [ 4.21730050e-02 9.99110321e-01 -6.04847983e-05 4.51561858e-01] [ 1.60720318e-02 -6.17878615e-04 9.99870646e-01 5.47370162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.399254154 meters 0.023066753169585324 Centerline is valid? [True, True] Translation: X:133.42, Y:0.45, Z:0.55 [[ 9.98913482e-01 -4.35090285e-02 -1.66978744e-02 1.33424223e+02] [ 4.35140549e-02 9.99052813e-01 -6.23511667e-05 4.54494390e-01] [ 1.66847712e-02 -6.64308801e-04 9.99860579e-01 5.47670876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.459254154 meters 0.024131592372778926 Centerline is valid? [True, True] Translation: X:133.49, Y:0.45, Z:0.55 [[ 9.98912226e-01 -4.35132462e-02 -1.67618977e-02 1.33485164e+02] [ 4.35183256e-02 9.99052627e-01 -6.17697282e-05 4.53091229e-01] [ 1.67487058e-02 -6.67747187e-04 9.99859508e-01 5.47116193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.519254154 meters 0.024009787411947203 Centerline is valid? [True, True] Translation: X:133.55, Y:0.45, Z:0.55 [[ 9.98953822e-01 -4.27649341e-02 -1.61994198e-02 1.33546084e+02] [ 4.27695905e-02 9.99084961e-01 -5.90544420e-05 4.53876104e-01] [ 1.61871222e-02 -6.33849891e-04 9.99868779e-01 5.47539788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.579254154 meters 0.024886020289448016 Centerline is valid? [True, True] Translation: X:133.61, Y:0.45, Z:0.55 [[ 9.98969504e-01 -4.27477045e-02 -1.52500155e-02 1.33607554e+02] [ 4.27518398e-02 9.99085721e-01 -5.48819041e-05 4.53479727e-01] [ 1.52384188e-02 -5.97140870e-04 9.99883710e-01 5.47710628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.639254154 meters 0.02594024920862269 Centerline is valid? [True, True] Translation: X:133.67, Y:0.45, Z:0.55 [[ 9.98947171e-01 -4.36561234e-02 -1.40958300e-02 1.33668629e+02] [ 4.36597543e-02 9.99046457e-01 -5.01857319e-05 4.52452691e-01] [ 1.40845800e-02 -5.65287581e-04 9.99900648e-01 5.47914259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.69925415400002 meters 0.023115883780991112 Centerline is valid? [True, True] Translation: X:133.73, Y:0.46, Z:0.55 [[ 9.98873092e-01 -4.54555565e-02 -1.36505796e-02 1.33730663e+02] [ 4.54591406e-02 9.98966198e-01 -4.77759741e-05 4.57282152e-01] [ 1.36386393e-02 -5.72821483e-04 9.99906825e-01 5.49750660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.75925415400002 meters 0.025845104653021197 Centerline is valid? [True, True] Translation: X:133.79, Y:0.45, Z:0.55 [[ 9.98799233e-01 -4.69943607e-02 -1.38427473e-02 1.33791683e+02] [ 4.69982109e-02 9.98894972e-01 -4.72145754e-05 4.53791386e-01] [ 1.38296695e-02 -6.03426478e-04 9.99904183e-01 5.48476341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.819254154 meters 0.025939904636220725 Centerline is valid? [True, True] Translation: X:133.85, Y:0.46, Z:0.55 [[ 9.98824889e-01 -4.63698448e-02 -1.40953344e-02 1.33853897e+02] [ 4.63737904e-02 9.98924156e-01 -4.69675876e-05 4.55112324e-01] [ 1.40823479e-02 -6.06741686e-04 9.99900655e-01 5.48611774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.879254154 meters 0.02214174111930758 Centerline is valid? [True, True] Translation: X:133.91, Y:0.46, Z:0.55 [[ 9.99015254e-01 -4.24494071e-02 -1.29062246e-02 1.33914752e+02] [ 4.24523939e-02 9.99098490e-01 -4.25682087e-05 4.64057881e-01] [ 1.28963965e-02 -5.05373841e-04 9.99916710e-01 5.51016660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.939254154 meters 0.020855495702013345 Centerline is valid? [True, True] Translation: X:133.98, Y:0.47, Z:0.55 [[ 9.99228894e-01 -3.75208330e-02 -1.15673644e-02 1.33975898e+02] [ 3.75229047e-02 9.99295767e-01 -3.79509399e-05 4.68866349e-01] [ 1.15606422e-02 -3.96119436e-04 9.99933095e-01 5.52274343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.999254154 meters 0.0175121358503728 Centerline is valid? [True, True] Translation: X:134.04, Y:0.48, Z:0.55 [[ 9.99528054e-01 -2.88091843e-02 -1.06629842e-02 1.34036680e+02] [ 2.88104506e-02 9.99584892e-01 -3.48640789e-05 4.79427039e-01] [ 1.06595623e-02 -2.72357753e-04 9.99943148e-01 5.53101429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.059254154 meters 0.016462165612275186 Centerline is valid? [True, True] Translation: X:134.10, Y:0.48, Z:0.55 [[ 9.99657153e-01 -2.38600468e-02 -1.07830369e-02 1.34097864e+02] [ 2.38610569e-02 9.99715284e-01 -3.49870273e-05 4.84589425e-01] [ 1.07808016e-02 -2.22319624e-04 9.99941861e-01 5.53206108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.119254154 meters 0.015885652540861554 Centerline is valid? [True, True] Translation: X:134.16, Y:0.49, Z:0.55 [[ 9.99718321e-01 -2.07712347e-02 -1.14819458e-02 1.34159193e+02] [ 2.07721813e-02 9.99784234e-01 -3.68210388e-05 4.89159130e-01] [ 1.14802333e-02 -2.01694393e-04 9.99934080e-01 5.52480647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.179254154 meters 0.01588007436827675 Centerline is valid? [True, True] Translation: X:134.22, Y:0.49, Z:0.55 [[ 9.99705922e-01 -2.12588200e-02 -1.16675498e-02 1.34220138e+02] [ 2.12598326e-02 9.99773984e-01 -3.72520391e-05 4.89719347e-01] [ 1.16657047e-02 -2.10809071e-04 9.99931931e-01 5.52607507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.239254154 meters 0.017203226082771635 Centerline is valid? [True, True] Translation: X:134.28, Y:0.49, Z:0.55 [[ 9.99580072e-01 -2.65714124e-02 -1.15602371e-02 1.34281202e+02] [ 2.65727630e-02 9.99646881e-01 -3.67783854e-05 4.86193527e-01] [ 1.15571322e-02 -2.70424500e-04 9.99933178e-01 5.51833229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.299254154 meters 0.019318312117383853 Centerline is valid? [True, True] Translation: X:134.34, Y:0.48, Z:0.55 [[ 9.99419292e-01 -3.18978444e-02 -1.19836097e-02 1.34341259e+02] [ 3.18996850e-02 9.99491075e-01 -3.75706553e-05 4.81345148e-01] [ 1.19787094e-02 -3.44724538e-04 9.99928193e-01 5.51206640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.359254154 meters 0.021528596839124326 Centerline is valid? [True, True] Translation: X:134.40, Y:0.48, Z:0.55 [[ 9.99214885e-01 -3.78738038e-02 -1.16270567e-02 1.34402123e+02] [ 3.78759451e-02 9.99282448e-01 -3.60591967e-05 4.77145078e-01] [ 1.16200793e-02 -4.04354874e-04 9.99932403e-01 5.51470002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.41925415400001 meters 0.026412470296073368 Centerline is valid? [True, True] Translation: X:134.46, Y:0.47, Z:0.55 [[ 9.98842778e-01 -4.69589206e-02 -1.03905628e-02 1.34462586e+02] [ 4.69611225e-02 9.98896717e-01 -3.21031446e-05 4.69992043e-01] [ 1.03806066e-02 -4.55886498e-04 9.99946016e-01 5.52340925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.47925415400002 meters 0.0320259826054551 Centerline is valid? [True, True] Translation: X:134.52, Y:0.46, Z:0.55 [[ 9.98440682e-01 -5.49449051e-02 -9.86218387e-03 1.34523070e+02] [ 5.49472782e-02 9.98489257e-01 -3.03741740e-05 4.62690029e-01] [ 9.84895355e-03 -5.11573350e-04 9.99951367e-01 5.53879591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.539254154 meters 0.03479519194892801 Centerline is valid? [True, True] Translation: X:134.58, Y:0.46, Z:0.56 [[ 9.98232327e-01 -5.86337862e-02 -9.71081989e-03 1.34584337e+02] [ 5.86362624e-02 9.98279414e-01 -2.97706343e-05 4.60503784e-01] [ 9.69585715e-03 -5.39688174e-04 9.99952848e-01 5.55088626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.599254154 meters 0.03400207827700794 Centerline is valid? [True, True] Translation: X:134.65, Y:0.46, Z:0.56 [[ 9.98113172e-01 -6.06890920e-02 -9.32358601e-03 1.34645554e+02] [ 6.06914662e-02 9.98156573e-01 -2.83425091e-05 4.63078959e-01] [ 9.30811875e-03 -5.37573074e-04 9.99956534e-01 5.55655295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.659254154 meters 0.032589290879046794 Centerline is valid? [True, True] Translation: X:134.71, Y:0.47, Z:0.56 [[ 9.98081231e-01 -6.11302043e-02 -9.84657422e-03 1.34707806e+02] [ 6.11328791e-02 9.98129636e-01 -2.93866042e-05 4.66585049e-01] [ 9.82995395e-03 -5.72619213e-04 9.99951521e-01 5.55726145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.719254154 meters 0.028659543446705224 Centerline is valid? [True, True] Translation: X:134.77, Y:0.47, Z:0.55 [[ 9.98137377e-01 -5.98407221e-02 -1.18686659e-02 1.34770403e+02] [ 5.98445327e-02 9.98207709e-01 -3.41442868e-05 4.74416714e-01] [ 1.18494371e-02 -6.76194079e-04 9.99929564e-01 5.54970612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.779254154 meters 0.028504519043154892 Centerline is valid? [True, True] Translation: X:134.83, Y:0.48, Z:0.55 [[ 9.98230919e-01 -5.80940476e-02 -1.26535843e-02 1.34831772e+02] [ 5.80982500e-02 9.98310869e-01 -3.55324941e-05 4.77391263e-01] [ 1.26342750e-02 -6.99681471e-04 9.99919940e-01 5.54454518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.839254154 meters 0.02642689927599566 Centerline is valid? [True, True] Translation: X:134.89, Y:0.48, Z:0.56 [[ 9.98386516e-01 -5.53346550e-02 -1.27452133e-02 1.34893362e+02] [ 5.53387023e-02 9.98467639e-01 -3.51624310e-05 4.83218372e-01] [ 1.27276288e-02 -6.70197870e-04 9.99918776e-01 5.55276756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.899254154 meters 0.02391626618889438 Centerline is valid? [True, True] Translation: X:134.95, Y:0.49, Z:0.56 [[ 9.98760616e-01 -4.83544600e-02 -1.17931093e-02 1.34953485e+02] [ 4.83574421e-02 9.98830094e-01 -3.23147234e-05 4.91867196e-01] [ 1.17808750e-02 -5.38009928e-04 9.99930458e-01 5.57008303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.959254154 meters 0.02058773772466854 Centerline is valid? [True, True] Translation: X:135.01, Y:0.50, Z:0.56 [[ 9.99207895e-01 -3.84084865e-02 -1.04100874e-02 1.35013947e+02] [ 3.84102717e-02 9.99262053e-01 -2.84709415e-05 5.02760232e-01] [ 1.04034988e-02 -3.71405895e-04 9.99945813e-01 5.58299221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.019254154 meters 0.01871667697114551 Centerline is valid? [True, True] Translation: X:135.08, Y:0.51, Z:0.56 [[ 9.99452923e-01 -3.14693391e-02 -1.01752515e-02 1.35075046e+02] [ 3.14706868e-02 9.99504675e-01 -2.76819441e-05 5.09161755e-01] [ 1.01710826e-02 -2.92555352e-04 9.99948230e-01 5.58582311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.079254154 meters 0.01675529792510958 Centerline is valid? [True, True] Translation: X:135.14, Y:0.52, Z:0.56 [[ 9.99685693e-01 -2.27992918e-02 -1.04263248e-02 1.35135468e+02] [ 2.28002363e-02 9.99740040e-01 -2.82823254e-05 5.16237439e-01] [ 1.04242592e-02 -2.09449232e-04 9.99945644e-01 5.57916400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.139254154 meters 0.015944696933983524 Centerline is valid? [True, True] Translation: X:135.20, Y:0.52, Z:0.56 [[ 9.99748487e-01 -1.91212138e-02 -1.17192664e-02 1.35196698e+02] [ 1.91221576e-02 9.99817154e-01 -3.15236292e-05 5.20382178e-01] [ 1.17177264e-02 -1.92581959e-04 9.99931327e-01 5.57451325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.19925415400002 meters 0.015356197472911271 Centerline is valid? [True, True] Translation: X:135.26, Y:0.52, Z:0.56 [[ 9.99770918e-01 -1.66001389e-02 -1.35109883e-02 1.35257592e+02] [ 1.66011658e-02 9.99862190e-01 -3.61587878e-05 5.23329225e-01] [ 1.35097266e-02 -1.88147652e-04 9.99908722e-01 5.56512824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.25925415400002 meters 0.015775898239408007 Centerline is valid? [True, True] Translation: X:135.32, Y:0.52, Z:0.56 [[ 9.99764724e-01 -1.65887514e-02 -1.39753252e-02 1.35316362e+02] [ 1.65898401e-02 9.99862378e-01 -3.80271227e-05 5.22256093e-01] [ 1.39740327e-02 -1.93830235e-04 9.99902340e-01 5.55914621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.319254154 meters 0.016296221473437553 Centerline is valid? [True, True] Translation: X:135.37, Y:0.52, Z:0.56 [[ 9.99744263e-01 -1.82768031e-02 -1.33179007e-02 1.35374635e+02] [ 1.82779089e-02 9.99832944e-01 -3.86913355e-05 5.20950118e-01] [ 1.33163830e-02 -2.04741935e-04 9.99911312e-01 5.57072848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.379254154 meters 0.01705152500727987 Centerline is valid? [True, True] Translation: X:135.43, Y:0.52, Z:0.56 [[ 9.99711173e-01 -2.01279137e-02 -1.31315344e-02 1.35433899e+02] [ 2.01291303e-02 9.99797388e-01 -3.95295578e-05 5.20108406e-01] [ 1.31296694e-02 -2.24808227e-04 9.99913777e-01 5.58256218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.439254154 meters 0.017526809676799274 Centerline is valid? [True, True] Translation: X:135.49, Y:0.52, Z:0.56 [[ 9.99587334e-01 -2.55690480e-02 -1.30914103e-02 1.35494175e+02] [ 2.55707215e-02 9.99673015e-01 -3.95691695e-05 5.15005039e-01] [ 1.30881414e-02 -2.95203967e-04 9.99914303e-01 5.58860731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.499254154 meters 0.019381400725115922 Centerline is valid? [True, True] Translation: X:135.55, Y:0.51, Z:0.56 [[ 9.99439857e-01 -3.03924677e-02 -1.40096631e-02 1.35554732e+02] [ 3.03948622e-02 9.99537969e-01 -4.20228861e-05 5.10532453e-01] [ 1.40044674e-02 -3.83822431e-04 9.99901859e-01 5.58703172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.559254154 meters 0.02132234209131686 Centerline is valid? [True, True] Translation: X:135.61, Y:0.50, Z:0.56 [[ 9.99158805e-01 -3.86341298e-02 -1.37508937e-02 1.35614960e+02] [ 3.86372186e-02 9.99253303e-01 -4.10677622e-05 5.03652125e-01] [ 1.37422126e-02 -4.90263070e-04 9.99905451e-01 5.59470796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.619254154 meters 0.02465319410829327 Centerline is valid? [True, True] Translation: X:135.68, Y:0.50, Z:0.56 [[ 9.98934055e-01 -4.39140730e-02 -1.42235084e-02 1.35675007e+02] [ 4.39179122e-02 9.99035142e-01 -4.24625609e-05 4.96331754e-01] [ 1.42116494e-02 -5.82249495e-04 9.99898840e-01 5.58582064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.679254154 meters 0.024984273428222774 Centerline is valid? [True, True] Translation: X:135.74, Y:0.50, Z:0.56 [[ 9.98649779e-01 -4.94586804e-02 -1.58888994e-02 1.35735538e+02] [ 4.94641724e-02 9.98775897e-01 -4.73915337e-05 4.95598853e-01] [ 1.58717937e-02 -7.38603714e-04 9.99873762e-01 5.57982118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.739254154 meters 0.02501492214667394 Centerline is valid? [True, True] Translation: X:135.80, Y:0.50, Z:0.56 [[ 9.98545154e-01 -5.12561905e-02 -1.67445232e-02 1.35797884e+02] [ 5.12625578e-02 9.98685210e-01 -4.90155240e-05 4.96127507e-01] [ 1.67250200e-02 -8.09422873e-04 9.99859799e-01 5.58057859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.799254154 meters 0.026707932718544037 Centerline is valid? [True, True] Translation: X:135.86, Y:0.49, Z:0.56 [[ 9.98583123e-01 -5.05548579e-02 -1.66118247e-02 1.35858723e+02] [ 5.05610442e-02 9.98720971e-01 -4.76397312e-05 4.94078630e-01] [ 1.65929861e-02 -7.92338972e-04 9.99862013e-01 5.58168661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.859254154 meters 0.02466020379214333 Centerline is valid? [True, True] Translation: X:135.92, Y:0.50, Z:0.56 [[ 9.98770587e-01 -4.69067547e-02 -1.60334538e-02 1.35919542e+02] [ 4.69120555e-02 9.98899022e-01 -4.55399668e-05 4.99754722e-01] [ 1.60179374e-02 -7.06678294e-04 9.99871455e-01 5.60006393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.91925415400001 meters 0.022493457755476575 Centerline is valid? [True, True] Translation: X:135.98, Y:0.51, Z:0.56 [[ 9.98929769e-01 -4.31825399e-02 -1.65705723e-02 1.35981592e+02] [ 4.31877029e-02 9.99066975e-01 -4.63115395e-05 5.05634833e-01] [ 1.65571114e-02 -6.69382978e-04 9.99862698e-01 5.60415922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.97925415400002 meters 0.020645811664273754 Centerline is valid? [True, True] Translation: X:136.04, Y:0.51, Z:0.56 [[ 9.99093792e-01 -3.86452394e-02 -1.78364822e-02 1.36042736e+02] [ 3.86505131e-02 9.99252789e-01 -4.90882218e-05 5.11016155e-01] [ 1.78250516e-02 -6.40345452e-04 9.99840916e-01 5.60390260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.039254154 meters 0.02065175122146579 Centerline is valid? [True, True] Translation: X:136.10, Y:0.51, Z:0.56 [[ 9.99183870e-01 -3.60077960e-02 -1.83039161e-02 1.36102799e+02] [ 3.60129154e-02 9.99351323e-01 -4.99544743e-05 5.12183606e-01] [ 1.82938416e-02 -6.09263679e-04 9.99832468e-01 5.59748329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.099254154 meters 0.01784694810599076 Centerline is valid? [True, True] Translation: X:136.16, Y:0.52, Z:0.56 [[ 9.99452910e-01 -2.70699138e-02 -1.90026511e-02 1.36163606e+02] [ 2.70738228e-02 9.99633436e-01 -5.15694028e-05 5.21437631e-01] [ 1.89970814e-02 -4.62933219e-04 9.99819432e-01 5.60683739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.159254154 meters 0.01575960788197642 Centerline is valid? [True, True] Translation: X:136.22, Y:0.53, Z:0.56 [[ 9.99661921e-01 -1.83875876e-02 -1.83831448e-02 1.36223850e+02] [ 1.83897746e-02 9.99830893e-01 -5.00802355e-05 5.31319975e-01] [ 1.83809570e-02 -2.87998586e-04 9.99831014e-01 5.62418998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.219254154 meters 0.014922908574271171 Centerline is valid? [True, True] Translation: X:136.28, Y:0.54, Z:0.56 [[ 9.99739933e-01 -1.40935068e-02 -1.79287219e-02 1.36282844e+02] [ 1.40948325e-02 9.99900662e-01 -5.24243669e-05 5.36318273e-01] [ 1.79276798e-02 -2.00291599e-04 9.99839266e-01 5.63723012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.279254154 meters 0.014467499813280901 Centerline is valid? [True, True] Translation: X:136.34, Y:0.54, Z:0.56 [[ 9.99820671e-01 -9.70746374e-03 -1.62601090e-02 1.36340982e+02] [ 9.70793979e-03 9.99952876e-01 -4.96557547e-05 5.40034122e-01] [ 1.62598248e-02 -1.08205309e-04 9.99867794e-01 5.64228599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.339254154 meters 0.01434220088162628 Centerline is valid? [True, True] Translation: X:136.40, Y:0.54, Z:0.57 [[ 9.99864903e-01 -7.79338605e-03 -1.44719865e-02 1.36399887e+02] [ 7.79352090e-03 9.99969629e-01 -4.70797335e-05 5.41530529e-01] [ 1.44719139e-02 -6.57143559e-05 9.99895274e-01 5.65497085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.399254154 meters 0.014186168985164846 Centerline is valid? [True, True] Translation: X:136.46, Y:0.54, Z:0.57 [[ 9.99887389e-01 -7.42529564e-03 -1.30412559e-02 1.36457429e+02] [ 7.42535094e-03 9.99972431e-01 -4.41806702e-05 5.41698722e-01] [ 1.30412244e-02 -5.26602070e-05 9.99914958e-01 5.66906845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.459254154 meters 0.014500616160953335 Centerline is valid? [True, True] Translation: X:136.52, Y:0.54, Z:0.57 [[ 9.99873963e-01 -9.94454539e-03 -1.23759167e-02 1.36516125e+02] [ 9.94477675e-03 9.99950549e-01 -4.28469349e-05 5.37971186e-01] [ 1.23757308e-02 -8.02341941e-05 9.99923414e-01 5.66647867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.519254154 meters 0.014968168717629788 Centerline is valid? [True, True] Translation: X:136.57, Y:0.53, Z:0.57 [[ 9.99780466e-01 -1.62210806e-02 -1.32626170e-02 1.36574957e+02] [ 1.62218855e-02 9.99868415e-01 -4.68922105e-05 5.31253259e-01] [ 1.32616325e-02 -1.68262739e-04 9.99912047e-01 5.65523528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.579254154 meters 0.016544517503408726 Centerline is valid? [True, True] Translation: X:136.63, Y:0.53, Z:0.56 [[ 9.99696584e-01 -2.05181593e-02 -1.36288577e-02 1.36633368e+02] [ 2.05193972e-02 9.99789454e-01 -4.90163660e-05 5.25585350e-01] [ 1.36269939e-02 -2.30654450e-04 9.99907122e-01 5.63998568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.639254154 meters 0.01854044586903478 Centerline is valid? [True, True] Translation: X:136.69, Y:0.52, Z:0.56 [[ 9.99588293e-01 -2.50323856e-02 -1.40222584e-02 1.36692911e+02] [ 2.50341341e-02 9.99686596e-01 -5.08445422e-05 5.18218901e-01] [ 1.40191365e-02 -3.00211489e-04 9.99901682e-01 5.63060023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.69925415400002 meters 0.018364751314213848 Centerline is valid? [True, True] Translation: X:136.75, Y:0.52, Z:0.57 [[ 9.99425008e-01 -3.13089056e-02 -1.30155793e-02 1.36753597e+02] [ 3.13109450e-02 9.99509691e-01 -4.71092063e-05 5.15393659e-01] [ 1.30106726e-02 -3.60447968e-04 9.99915293e-01 5.65428140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.75925415400002 meters 0.021032895895059918 Centerline is valid? [True, True] Translation: X:136.81, Y:0.51, Z:0.57 [[ 9.99227083e-01 -3.73954832e-02 -1.21167248e-02 1.36813793e+02] [ 3.73976984e-02 9.99300460e-01 -4.37812802e-05 5.08987220e-01] [ 1.21098859e-02 -4.09390179e-04 9.99926589e-01 5.66259003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.819254154 meters 0.021303582129400925 Centerline is valid? [True, True] Translation: X:136.88, Y:0.51, Z:0.57 [[ 9.99092733e-01 -4.09997097e-02 -1.15210316e-02 1.36875001e+02] [ 4.10019547e-02 9.99159065e-01 -4.13685695e-05 5.07824016e-01] [ 1.15130392e-02 -4.31053777e-04 9.99933630e-01 5.67214108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.879254154 meters 0.02755502946905276 Centerline is valid? [True, True] Translation: X:136.93, Y:0.50, Z:0.57 [[ 9.98826235e-01 -4.72998391e-02 -1.04344498e-02 1.36934417e+02] [ 4.73020244e-02 9.98880632e-01 -3.74051047e-05 4.96456504e-01] [ 1.04245391e-02 -4.56209399e-04 9.99945559e-01 5.66976613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.939254154 meters 0.024754343773960377 Centerline is valid? [True, True] Translation: X:137.00, Y:0.50, Z:0.57 [[ 9.98614528e-01 -5.15019426e-02 -1.07969899e-02 1.36995796e+02] [ 5.15045292e-02 9.98672760e-01 -3.85326961e-05 4.99284413e-01] [ 1.07846442e-02 -5.17614569e-04 9.99941710e-01 5.67374456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.999254154 meters 0.027369865522592157 Centerline is valid? [True, True] Translation: X:137.06, Y:0.50, Z:0.57 [[ 9.98347107e-01 -5.63133478e-02 -1.14830490e-02 1.37056279e+02] [ 5.63165934e-02 9.98412960e-01 -4.07723661e-05 4.95736163e-01] [ 1.14671210e-02 -6.05981227e-04 9.99934067e-01 5.66978434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.059254154 meters 0.029568073357037757 Centerline is valid? [True, True] Translation: X:137.12, Y:0.49, Z:0.57 [[ 9.98247515e-01 -5.78660551e-02 -1.23862023e-02 1.37117407e+02] [ 5.78699561e-02 9.98324129e-01 -4.35242931e-05 4.93766569e-01] [ 1.23679632e-02 -6.73340968e-04 9.99923287e-01 5.66370840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.119254154 meters 0.029640803025148814 Centerline is valid? [True, True] Translation: X:137.18, Y:0.50, Z:0.57 [[ 9.98292724e-01 -5.68641619e-02 -1.33455739e-02 1.37180094e+02] [ 5.68686154e-02 9.98381670e-01 -4.58466516e-05 4.95548066e-01] [ 1.33265834e-02 -7.13175930e-04 9.99910943e-01 5.66581426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.179254154 meters 0.028900018989215733 Centerline is valid? [True, True] Translation: X:137.24, Y:0.50, Z:0.57 [[ 9.98448158e-01 -5.40493601e-02 -1.34142771e-02 1.37241335e+02] [ 5.40536158e-02 9.98538034e-01 -4.53716086e-05 4.99352209e-01] [ 1.33971182e-02 -6.79788984e-04 9.99910024e-01 5.66933177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.239254154 meters 0.026912122179335026 Centerline is valid? [True, True] Translation: X:137.30, Y:0.51, Z:0.57 [[ 9.98782651e-01 -4.73542568e-02 -1.38126697e-02 1.37301234e+02] [ 4.73581329e-02 9.98877973e-01 -4.65090465e-05 5.07262107e-01] [ 1.37993739e-02 -6.07689819e-04 9.99904599e-01 5.66810700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.299254154 meters 0.021935751919669226 Centerline is valid? [True, True] Translation: X:137.36, Y:0.52, Z:0.57 [[ 9.99026020e-01 -4.18142993e-02 -1.40916660e-02 1.37362323e+02] [ 4.18177862e-02 9.99125253e-01 -4.72487178e-05 5.18919716e-01] [ 1.40813151e-02 -5.42079579e-04 9.99900706e-01 5.68514207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.359254154 meters 0.01961445387441058 Centerline is valid? [True, True] Translation: X:137.42, Y:0.53, Z:0.57 [[ 9.99356878e-01 -3.33044594e-02 -1.32907028e-02 1.37422017e+02] [ 3.33068083e-02 9.99445173e-01 -4.46415093e-05 5.27906981e-01] [ 1.32848155e-02 -3.98058090e-04 9.99911674e-01 5.70179992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.41925415400001 meters 0.018425113900148966 Centerline is valid? [True, True] Translation: X:137.48, Y:0.53, Z:0.57 [[ 9.99520475e-01 -2.85495418e-02 -1.19893261e-02 1.37484057e+02] [ 2.85511152e-02 9.99592333e-01 -3.99379196e-05 5.33550922e-01] [ 1.19855787e-02 -3.02389863e-04 9.99928125e-01 5.72010128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.47925415400002 meters 0.015992140213431535 Centerline is valid? [True, True] Translation: X:137.55, Y:0.54, Z:0.57 [[ 9.99686896e-01 -2.24174681e-02 -1.11161052e-02 1.37545829e+02] [ 2.24184482e-02 9.99748674e-01 -3.64441386e-05 5.42423315e-01] [ 1.11141284e-02 -2.12773101e-04 9.99938214e-01 5.74263813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.539254154 meters 0.01561235254781239 Centerline is valid? [True, True] Translation: X:137.61, Y:0.55, Z:0.57 [[ 9.99743639e-01 -1.98373137e-02 -1.09150014e-02 1.37607364e+02] [ 1.98381102e-02 9.99803205e-01 -3.53063362e-05 5.45723935e-01] [ 1.09135538e-02 -1.81235715e-04 9.99940429e-01 5.74321082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.599254154 meters 0.014989033715755226 Centerline is valid? [True, True] Translation: X:137.67, Y:0.55, Z:0.57 [[ 9.99819460e-01 -1.43367864e-02 -1.24701541e-02 1.37668049e+02] [ 1.43374024e-02 9.99897213e-01 -4.00041656e-05 5.49488361e-01] [ 1.24694459e-02 -1.38792673e-04 9.99922244e-01 5.73358373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.659254154 meters 0.014601777066487801 Centerline is valid? [True, True] Translation: X:137.73, Y:0.55, Z:0.57 [[ 9.99860283e-01 -1.01939762e-02 -1.32475143e-02 1.37728059e+02] [ 1.01943046e-02 9.99948036e-01 -4.27426211e-05 5.53749452e-01] [ 1.32472616e-02 -9.23125464e-05 9.99912247e-01 5.74008425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.719254154 meters 0.014451076765599825 Centerline is valid? [True, True] Translation: X:137.79, Y:0.56, Z:0.57 [[ 9.99894506e-01 -5.00191363e-03 -1.36366549e-02 1.37785839e+02] [ 5.00176488e-03 9.99987490e-01 -4.50135386e-05 5.58062038e-01] [ 1.36367095e-02 -2.31985519e-05 9.99907015e-01 5.74080617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.779254154 meters 0.01437623767185417 Centerline is valid? [True, True] Translation: X:137.84, Y:0.56, Z:0.57 [[ 9.99895556e-01 -3.31180250e-03 -1.40680422e-02 1.37843273e+02] [ 3.31143042e-03 9.99994516e-01 -4.97419681e-05 5.59134108e-01] [ 1.40681297e-02 3.15142998e-06 9.99901039e-01 5.74762691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.839254154 meters 0.0144037035896945 Centerline is valid? [True, True] Translation: X:137.90, Y:0.56, Z:0.57 [[ 9.99889657e-01 -3.96257524e-03 -1.43168074e-02 1.37899865e+02] [ 3.96221924e-03 9.99992149e-01 -5.32305501e-05 5.58424852e-01] [ 1.43169059e-02 -3.50165325e-06 9.99897508e-01 5.74409960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.899254154 meters 0.014275227383408817 Centerline is valid? [True, True] Translation: X:137.96, Y:0.56, Z:0.58 [[ 9.99881307e-01 -7.13373328e-03 -1.36558289e-02 1.37957521e+02] [ 7.13368398e-03 9.99974554e-01 -5.23213997e-05 5.55988196e-01] [ 1.36558547e-02 -4.51011783e-05 9.99906753e-01 5.75721500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.959254154 meters 0.01511317227804661 Centerline is valid? [True, True] Translation: X:138.02, Y:0.55, Z:0.58 [[ 9.99771866e-01 -1.69602014e-02 -1.29833234e-02 1.38015991e+02] [ 1.69609692e-02 9.99856151e-01 -5.09805354e-05 5.47312397e-01] [ 1.29823204e-02 -1.69240843e-04 9.99915712e-01 5.76358968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.019254154 meters 0.015775225535575574 Centerline is valid? [True, True] Translation: X:138.08, Y:0.54, Z:0.58 [[ 9.99690712e-01 -2.12349349e-02 -1.29444337e-02 1.38076115e+02] [ 2.12360491e-02 9.99774488e-01 -5.13838141e-05 5.44087324e-01] [ 1.29426058e-02 -2.23520709e-04 9.99916216e-01 5.76728786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.079254154 meters 0.01729416613624794 Centerline is valid? [True, True] Translation: X:138.14, Y:0.54, Z:0.58 [[ 9.99465161e-01 -2.98401840e-02 -1.33774339e-02 1.38136916e+02] [ 2.98421487e-02 9.99554623e-01 -5.27742970e-05 5.36197314e-01] [ 1.33730507e-02 -3.46465300e-04 9.99910517e-01 5.76596674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.139254154 meters 0.02124802189393956 Centerline is valid? [True, True] Translation: X:138.20, Y:0.52, Z:0.58 [[ 9.99040312e-01 -4.17900622e-02 -1.31166300e-02 1.38197856e+02] [ 4.17929852e-02 9.99126290e-01 -5.12998789e-05 5.23670995e-01] [ 1.31073137e-02 -4.96932477e-04 9.99913972e-01 5.75916572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.19925415400002 meters 0.024444534721889837 Centerline is valid? [True, True] Translation: X:138.26, Y:0.51, Z:0.58 [[ 9.98718931e-01 -4.91048876e-02 -1.22149995e-02 1.38258478e+02] [ 4.91079703e-02 9.98793475e-01 -4.76257846e-05 5.13977618e-01] [ 1.22026004e-02 -5.52289058e-04 9.99925393e-01 5.76061837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.25925415400002 meters 0.02440961218077038 Centerline is valid? [True, True] Translation: X:138.32, Y:0.51, Z:0.58 [[ 9.98656107e-01 -5.03815380e-02 -1.21524073e-02 1.38320489e+02] [ 5.03846906e-02 9.98729884e-01 -4.67925048e-05 5.12570576e-01] [ 1.21393298e-02 -5.65565659e-04 9.99926156e-01 5.76261087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.319254154 meters 0.02668657373611905 Centerline is valid? [True, True] Translation: X:138.38, Y:0.51, Z:0.58 [[ 9.98672555e-01 -4.98465928e-02 -1.29786518e-02 1.38381747e+02] [ 4.98501543e-02 9.98756707e-01 -4.91593793e-05 5.08280625e-01] [ 1.29649659e-02 -5.97893670e-04 9.99915773e-01 5.75383231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.379254154 meters 0.023618011297649386 Centerline is valid? [True, True] Translation: X:138.44, Y:0.51, Z:0.58 [[ 9.98735613e-01 -4.84739495e-02 -1.33211103e-02 1.38444375e+02] [ 4.84775937e-02 9.98824269e-01 -4.93866005e-05 5.12436070e-01] [ 1.33078422e-02 -5.96451215e-04 9.99911269e-01 5.75939920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.439254154 meters 0.025481658964109664 Centerline is valid? [True, True] Translation: X:138.51, Y:0.51, Z:0.58 [[ 9.98798140e-01 -4.71173368e-02 -1.34993197e-02 1.38505758e+02] [ 4.71209678e-02 9.98889189e-01 -4.91378892e-05 5.08840760e-01] [ 1.34866397e-02 -5.87022174e-04 9.99908879e-01 5.75487828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.499254154 meters 0.02313713911136579 Centerline is valid? [True, True] Translation: X:138.57, Y:0.51, Z:0.58 [[ 9.98825025e-01 -4.65836737e-02 -1.33615567e-02 1.38567998e+02] [ 4.65871952e-02 9.98914226e-01 -4.77395052e-05 5.12364909e-01] [ 1.33492729e-02 -5.74794036e-04 9.99910729e-01 5.76316830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.559254154 meters 0.023068367900388954 Centerline is valid? [True, True] Translation: X:138.63, Y:0.51, Z:0.58 [[ 9.98760134e-01 -4.71676810e-02 -1.59186718e-02 1.38630553e+02] [ 4.71727734e-02 9.98886744e-01 -5.56412828e-05 5.12716598e-01] [ 1.59035747e-02 -6.95355601e-04 9.99873288e-01 5.75512835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.619254154 meters 0.02453053143106977 Centerline is valid? [True, True] Translation: X:138.69, Y:0.51, Z:0.57 [[ 9.98695387e-01 -4.82951830e-02 -1.65861170e-02 1.38691463e+02] [ 4.83008833e-02 9.98832830e-01 -5.69720999e-05 5.10361406e-01] [ 1.65695097e-02 -7.44226330e-04 9.99862439e-01 5.74808843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.679254154 meters 0.024766101569052342 Centerline is valid? [True, True] Translation: X:138.75, Y:0.51, Z:0.58 [[ 9.98637199e-01 -4.94907647e-02 -1.65652689e-02 1.38753705e+02] [ 4.94966335e-02 9.98774289e-01 -5.57738755e-05 5.10732081e-01] [ 1.65477249e-02 -7.64227176e-04 9.99862785e-01 5.75948795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.739254154 meters 0.02585292081953064 Centerline is valid? [True, True] Translation: X:138.81, Y:0.51, Z:0.58 [[ 9.98713421e-01 -4.84296977e-02 -1.50355347e-02 1.38814954e+02] [ 4.84344382e-02 9.98826363e-01 -4.89046947e-05 5.10665006e-01] [ 1.50202568e-02 -6.79395899e-04 9.99886959e-01 5.77875935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.799254154 meters 0.020777083175008933 Centerline is valid? [True, True] Translation: X:138.88, Y:0.52, Z:0.58 [[ 9.99033456e-01 -4.19851266e-02 -1.30155013e-02 1.38875803e+02] [ 4.19881396e-02 9.99118108e-01 -4.17976232e-05 5.21037708e-01] [ 1.30057779e-02 -5.04739461e-04 9.99915294e-01 5.81299231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.859254154 meters 0.022222564944836407 Centerline is valid? [True, True] Translation: X:138.94, Y:0.52, Z:0.58 [[ 9.99261590e-01 -3.63535990e-02 -1.24374768e-02 1.38935870e+02] [ 3.63559147e-02 9.99338904e-01 -3.99290158e-05 5.20913202e-01] [ 1.24307060e-02 -4.12276312e-04 9.99922651e-01 5.81309359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.91925415400001 meters 0.017615917509968944 Centerline is valid? [True, True] Translation: X:139.00, Y:0.53, Z:0.58 [[ 9.99453311e-01 -3.05870325e-02 -1.25503635e-02 1.38996113e+02] [ 3.05889362e-02 9.99532048e-01 -4.02914250e-05 5.31596607e-01] [ 1.25457229e-02 -3.43632870e-04 9.99921240e-01 5.82806595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.97925415400002 meters 0.017582314652206197 Centerline is valid? [True, True] Translation: X:139.06, Y:0.53, Z:0.58 [[ 9.99492596e-01 -2.90301243e-02 -1.31073482e-02 1.39058838e+02] [ 2.90320774e-02 9.99578480e-01 -4.12844472e-05 5.32216333e-01] [ 1.31030217e-02 -3.39270048e-04 9.99914094e-01 5.81630014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.039254154 meters 0.018334395840169347 Centerline is valid? [True, True] Translation: X:139.12, Y:0.53, Z:0.58 [[ 9.99417595e-01 -3.03467679e-02 -1.56058809e-02 1.39120753e+02] [ 3.03497172e-02 9.99539340e-01 -4.78670109e-05 5.30746497e-01] [ 1.56001445e-02 -4.25794939e-04 9.99878220e-01 5.79800525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.099254154 meters 0.01990130600880142 Centerline is valid? [True, True] Translation: X:139.18, Y:0.53, Z:0.58 [[ 9.99301468e-01 -3.33747230e-02 -1.68137901e-02 1.39181212e+02] [ 3.33785842e-02 9.99442779e-01 -5.10105959e-05 5.28369978e-01] [ 1.68061235e-02 -5.10245544e-04 9.99858637e-01 5.78681660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.159254154 meters 0.02104578976415009 Centerline is valid? [True, True] Translation: X:139.24, Y:0.53, Z:0.58 [[ 9.99226369e-01 -3.56694299e-02 -1.65636775e-02 1.39242207e+02] [ 3.56734967e-02 9.99363497e-01 -4.99632004e-05 5.26670327e-01] [ 1.65549169e-02 -5.40959749e-04 9.99862812e-01 5.78913228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.219254154 meters 0.021576997557281503 Centerline is valid? [True, True] Translation: X:139.30, Y:0.53, Z:0.58 [[ 9.99142670e-01 -3.83360926e-02 -1.56291094e-02 1.39303191e+02] [ 3.83400434e-02 9.99264749e-01 -4.68734510e-05 5.27378200e-01] [ 1.56194150e-02 -5.52387468e-04 9.99877857e-01 5.80205518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.279254154 meters 0.022652482989627652 Centerline is valid? [True, True] Translation: X:139.37, Y:0.53, Z:0.58 [[ 9.99065751e-01 -4.06396973e-02 -1.46983176e-02 1.39365193e+02] [ 4.06434522e-02 9.99173713e-01 -4.32792411e-05 5.27502616e-01] [ 1.46879314e-02 -5.54151561e-04 9.99891973e-01 5.80803313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.339254154 meters 0.024459635089126214 Centerline is valid? [True, True] Translation: X:139.43, Y:0.53, Z:0.58 [[ 9.98909668e-01 -4.44202567e-02 -1.43637289e-02 1.39426507e+02] [ 4.44242421e-02 9.99012755e-01 -4.16383099e-05 5.26198290e-01] [ 1.43513980e-02 -5.96504860e-04 9.99896835e-01 5.81070669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.399254154 meters 0.02601182767893318 Centerline is valid? [True, True] Translation: X:139.49, Y:0.53, Z:0.58 [[ 9.98549301e-01 -5.19794779e-02 -1.40508859e-02 1.39487120e+02] [ 5.19840406e-02 9.98647915e-01 -4.05494079e-05 5.25649202e-01] [ 1.40339956e-02 -6.89931240e-04 9.99901281e-01 5.81711670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.459254154 meters 0.029734646745202407 Centerline is valid? [True, True] Translation: X:139.55, Y:0.52, Z:0.58 [[ 9.98169033e-01 -5.89704875e-02 -1.34559742e-02 1.39548593e+02] [ 5.89753093e-02 9.98259441e-01 -3.85318394e-05 5.22519565e-01] [ 1.34348255e-02 -7.55108950e-04 9.99909464e-01 5.81735192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.519254154 meters 0.03654295155247568 Centerline is valid? [True, True] Translation: X:139.61, Y:0.51, Z:0.58 [[ 9.97999406e-01 -6.18824560e-02 -1.29517099e-02 1.39608662e+02] [ 6.18871692e-02 9.98083151e-01 -3.69533560e-05 5.14626795e-01] [ 1.29291702e-02 -7.64665234e-04 9.99916122e-01 5.81090534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.579254154 meters 0.03218902419839526 Centerline is valid? [True, True] Translation: X:139.67, Y:0.52, Z:0.58 [[ 9.97953410e-01 -6.27523231e-02 -1.22937558e-02 1.39671056e+02] [ 6.27566422e-02 9.98028859e-01 -3.45115099e-05 5.22104915e-01] [ 1.22716887e-02 -7.37073954e-04 9.99924428e-01 5.82633905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.639254154 meters 0.032835510084054435 Centerline is valid? [True, True] Translation: X:139.73, Y:0.52, Z:0.58 [[ 9.97982582e-01 -6.22391593e-02 -1.25320647e-02 1.39733358e+02] [ 6.22436184e-02 9.98060986e-01 -3.42837027e-05 5.22590392e-01] [ 1.25098987e-02 -7.45826516e-04 9.99921470e-01 5.82096411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.69925415400002 meters 0.03305463234019617 Centerline is valid? [True, True] Translation: X:139.79, Y:0.52, Z:0.58 [[ 9.98095756e-01 -6.01589723e-02 -1.36293985e-02 1.39794836e+02] [ 6.01640623e-02 9.98188501e-01 -3.66228967e-05 5.23722249e-01] [ 1.36069121e-02 -7.83446824e-04 9.99907115e-01 5.80818073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.759254154 meters 0.02723191143437664 Centerline is valid? [True, True] Translation: X:139.86, Y:0.53, Z:0.58 [[ 9.98295405e-01 -5.66995648e-02 -1.38363078e-02 1.39855405e+02] [ 5.67044815e-02 9.98391006e-01 -3.70221157e-05 5.33716225e-01] [ 1.38161444e-02 -7.47621651e-04 9.99904273e-01 5.82067911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.819254154 meters 0.02316467012007085 Centerline is valid? [True, True] Translation: X:139.92, Y:0.54, Z:0.58 [[ 9.98738449e-01 -4.83113117e-02 -1.36941073e-02 1.39916331e+02] [ 4.83153431e-02 9.98832131e-01 -3.64840718e-05 5.44961477e-01] [ 1.36798770e-02 -6.25197447e-04 9.99906231e-01 5.83742209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.879254154 meters 0.024526424949943393 Centerline is valid? [True, True] Translation: X:139.98, Y:0.54, Z:0.58 [[ 9.98905587e-01 -4.47004294e-02 -1.37659043e-02 1.39977189e+02] [ 4.47041667e-02 9.99000268e-01 -3.62557832e-05 5.44937667e-01] [ 1.37537628e-02 -5.79177179e-04 9.99905245e-01 5.83615915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.939254154 meters 0.01917786111787418 Centerline is valid? [True, True] Translation: X:140.04, Y:0.56, Z:0.59 [[ 9.99235409e-01 -3.69495959e-02 -1.27798961e-02 1.40038065e+02] [ 3.69521859e-02 9.99317034e-01 -3.34933709e-05 5.56695725e-01] [ 1.27724055e-02 -4.38777336e-04 9.99918333e-01 5.85730557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.999254154 meters 0.016696108946229766 Centerline is valid? [True, True] Translation: X:140.10, Y:0.56, Z:0.59 [[ 9.99590149e-01 -2.55474291e-02 -1.29175776e-02 1.40098952e+02] [ 2.55491238e-02 9.99673567e-01 -3.38438837e-05 5.64471331e-01] [ 1.29142255e-02 -2.96202775e-04 9.99916564e-01 5.85674226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.059254154 meters 0.014979025543477083 Centerline is valid? [True, True] Translation: X:140.16, Y:0.57, Z:0.59 [[ 9.99802451e-01 -1.51741233e-02 -1.28376015e-02 1.40159309e+02] [ 1.51749421e-02 9.99884853e-01 -3.36331871e-05 5.71391167e-01] [ 1.28366336e-02 -1.61183316e-04 9.99917594e-01 5.86188710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.119254154 meters 0.014251424079700667 Centerline is valid? [True, True] Translation: X:140.22, Y:0.57, Z:0.59 [[ 9.99887747e-01 -8.75605365e-03 -1.21583528e-02 1.40218975e+02] [ 8.75631011e-03 9.99961662e-01 -3.21403767e-05 5.74853579e-01] [ 1.21581681e-02 -7.43255389e-05 9.99926084e-01 5.87107667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.179254154 meters 0.014086541099942913 Centerline is valid? [True, True] Translation: X:140.28, Y:0.58, Z:0.59 [[ 9.99928422e-01 -4.29736871e-04 -1.19568514e-02 1.40278137e+02] [ 4.29364402e-04 9.99999907e-01 -3.37181245e-05 5.77010353e-01] [ 1.19568647e-02 2.85818647e-05 9.99928514e-01 5.87899530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.239254154 meters 0.014348315304606668 Centerline is valid? [True, True] Translation: X:140.34, Y:0.58, Z:0.59 [[ 9.99929390e-01 3.13314421e-03 -1.14629330e-02 1.40336232e+02] [-3.13374044e-03 9.99995089e-01 -3.40528171e-05 5.76554033e-01] [ 1.14627700e-02 6.99722693e-05 9.99934298e-01 5.87949831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.299254154 meters 0.014492431871571275 Centerline is valid? [True, True] Translation: X:140.39, Y:0.57, Z:0.59 [[ 9.99915053e-01 4.74409128e-03 -1.21400305e-02 1.40393851e+02] [-4.74489221e-03 9.99988742e-01 -3.71727931e-05 5.72926048e-01] [ 1.21397175e-02 9.47727717e-05 9.99926306e-01 5.87157898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.359254154 meters 0.014639659441887774 Centerline is valid? [True, True] Translation: X:140.45, Y:0.57, Z:0.59 [[ 9.99902989e-01 4.46444989e-03 -1.31939487e-02 1.40452776e+02] [-4.46538536e-03 9.99990029e-01 -4.14431278e-05 5.69173485e-01] [ 1.31936321e-02 1.00355173e-04 9.99912955e-01 5.86225606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.41925415400001 meters 0.014351243475112237 Centerline is valid? [True, True] Translation: X:140.51, Y:0.56, Z:0.59 [[ 9.99895183e-01 2.65192539e-03 -1.42334446e-02 1.40510942e+02] [-2.65284997e-03 9.99996480e-01 -4.60777147e-05 5.62358725e-01] [ 1.42332723e-02 8.38320780e-05 9.99898698e-01 5.85163242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.47925415400002 meters 0.014164171250497255 Centerline is valid? [True, True] Translation: X:140.57, Y:0.55, Z:0.59 [[ 9.99912302e-01 -9.89045650e-04 -1.32064762e-02 1.40569319e+02] [ 9.88553044e-04 9.99999510e-01 -4.38282114e-05 5.52807014e-01] [ 1.32065131e-02 3.07690655e-05 9.99912790e-01 5.86461214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.539254154 meters 0.013981569493327928 Centerline is valid? [True, True] Translation: X:140.63, Y:0.55, Z:0.59 [[ 9.99910950e-01 -4.93434849e-03 -1.23993796e-02 1.40628137e+02] [ 4.93420656e-03 9.99987826e-01 -4.20385455e-05 5.45068675e-01] [ 1.23994360e-02 -1.91462980e-05 9.99923124e-01 5.87228336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.599254154 meters 0.014217591859876401 Centerline is valid? [True, True] Translation: X:140.69, Y:0.54, Z:0.59 [[ 9.99895226e-01 -8.96768532e-03 -1.13629641e-02 1.40685830e+02] [ 8.96781605e-03 9.99959788e-01 -3.94475336e-05 5.36313743e-01] [ 1.13628609e-02 -6.24575714e-05 9.99935439e-01 5.87101711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.659254154 meters 0.014202998857450397 Centerline is valid? [True, True] Translation: X:140.74, Y:0.53, Z:0.59 [[ 9.99859544e-01 -1.27453299e-02 -1.08833793e-02 1.40744552e+02] [ 1.27456642e-02 9.99918770e-01 -3.86435794e-05 5.27436722e-01] [ 1.08829878e-02 -1.00077747e-04 9.99940774e-01 5.88834216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.719254154 meters 0.014492260736834331 Centerline is valid? [True, True] Translation: X:140.80, Y:0.52, Z:0.59 [[ 9.99842272e-01 -1.26092131e-02 -1.25075685e-02 1.40803054e+02] [ 1.26096320e-02 9.99920494e-01 -4.53719071e-05 5.18783001e-01] [ 1.25071462e-02 -1.12351085e-04 9.99921776e-01 5.86783827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.779254154 meters 0.014203478938286105 Centerline is valid? [True, True] Translation: X:140.86, Y:0.52, Z:0.59 [[ 9.99842070e-01 -1.12245447e-02 -1.37784134e-02 1.40861888e+02] [ 1.12248829e-02 9.99936998e-01 -5.27870662e-05 5.16168828e-01] [ 1.37781378e-02 -1.01882348e-04 9.99905072e-01 5.86730423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.839254154 meters 0.01407332018211315 Centerline is valid? [True, True] Translation: X:140.92, Y:0.51, Z:0.59 [[ 9.99860256e-01 -8.73175882e-03 -1.42556665e-02 1.40919858e+02] [ 8.73183769e-03 9.99961875e-01 -5.67108256e-05 5.11821401e-01] [ 1.42556182e-02 -6.77752655e-05 9.99898381e-01 5.86722671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.899254154 meters 0.014077513024192401 Centerline is valid? [True, True] Translation: X:140.98, Y:0.51, Z:0.59 [[ 9.99866055e-01 -8.38333595e-03 -1.40567220e-02 1.40977502e+02] [ 8.38333332e-03 9.99964857e-01 -5.91121794e-05 5.08266084e-01] [ 1.40567236e-02 -5.87379247e-05 9.99901198e-01 5.86915328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.959254154 meters 0.014116158942000844 Centerline is valid? [True, True] Translation: X:141.04, Y:0.50, Z:0.59 [[ 9.99850400e-01 -9.90116649e-03 -1.41825217e-02 1.41035346e+02] [ 9.90125784e-03 9.99950979e-01 -6.37759791e-05 5.01981853e-01] [ 1.41824580e-02 -7.66583664e-05 9.99899421e-01 5.86933635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.019254154 meters 0.014289104934316761 Centerline is valid? [True, True] Translation: X:141.09, Y:0.50, Z:0.59 [[ 9.99831630e-01 -1.13154606e-02 -1.44455022e-02 1.41094074e+02] [ 1.13156467e-02 9.99935974e-01 -6.88555152e-05 4.98497156e-01] [ 1.44453564e-02 -9.46162767e-05 9.99895656e-01 5.87412783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.079254154 meters 0.014608314132805658 Centerline is valid? [True, True] Translation: X:141.15, Y:0.49, Z:0.59 [[ 9.99798822e-01 -1.49002927e-02 -1.34274718e-02 1.41152576e+02] [ 1.49007537e-02 9.99888975e-01 -6.57192151e-05 4.91151833e-01] [ 1.34269603e-02 -1.34373456e-04 9.99909845e-01 5.88343955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.139254154 meters 0.015142955421782903 Centerline is valid? [True, True] Translation: X:141.21, Y:0.49, Z:0.59 [[ 9.99747835e-01 -1.89667114e-02 -1.20220771e-02 1.41211619e+02] [ 1.89673478e-02 9.99820102e-01 -6.10932474e-05 4.85526132e-01] [ 1.20210731e-02 -1.66949075e-04 9.99927730e-01 5.89744543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.19925415400002 meters 0.017344508582963776 Centerline is valid? [True, True] Translation: X:141.27, Y:0.47, Z:0.59 [[ 9.99553384e-01 -2.78187402e-02 -1.09156383e-02 1.41270604e+02] [ 2.78197785e-02 9.99612953e-01 -5.67361888e-05 4.73367171e-01] [ 1.09129918e-02 -2.46959791e-04 9.99940421e-01 5.90326639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.259254154 meters 0.019712253006118292 Centerline is valid? [True, True] Translation: X:141.33, Y:0.47, Z:0.59 [[ 9.99351452e-01 -3.43685049e-02 -1.07461783e-02 1.41331542e+02] [ 3.43698891e-02 9.99409179e-01 -5.58998734e-05 4.65154412e-01] [ 1.07417504e-02 -3.13481336e-04 9.99942257e-01 5.90292519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.319254154 meters 0.021418811944539956 Centerline is valid? [True, True] Translation: X:141.39, Y:0.46, Z:0.59 [[ 9.98967362e-01 -4.42930336e-02 -1.01161633e-02 1.41392425e+02] [ 4.42947692e-02 9.99018504e-01 -5.25303768e-05 4.56398684e-01] [ 1.01085611e-02 -3.95616987e-04 9.99948829e-01 5.90856889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.379254154 meters 0.02452030821581501 Centerline is valid? [True, True] Translation: X:141.45, Y:0.45, Z:0.59 [[ 9.98675501e-01 -5.03800744e-02 -1.04446670e-02 1.41451846e+02] [ 5.03822560e-02 9.98730006e-01 -5.43085470e-05 4.49268462e-01] [ 1.04341384e-02 -4.71989271e-04 9.99945452e-01 5.90850807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.439254154 meters 0.027093791949015587 Centerline is valid? [True, True] Translation: X:141.51, Y:0.44, Z:0.59 [[ 9.98243549e-01 -5.82591207e-02 -1.07560328e-02 1.41513226e+02] [ 5.82618916e-02 9.98301332e-01 -5.58092928e-05 4.42547619e-01] [ 1.07410133e-02 -5.70955550e-04 9.99942151e-01 5.90802180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.499254154 meters 0.029855576476413428 Centerline is valid? [True, True] Translation: X:141.57, Y:0.44, Z:0.59 [[ 9.97985246e-01 -6.24549887e-02 -1.11724358e-02 1.41574140e+02] [ 6.24582429e-02 9.98047576e-01 -5.77523386e-05 4.38035883e-01] [ 1.11542294e-02 -6.40174726e-04 9.99937585e-01 5.90379578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.559254154 meters 0.033842325468009735 Centerline is valid? [True, True] Translation: X:141.63, Y:0.43, Z:0.59 [[ 9.97784494e-01 -6.55014275e-02 -1.16475623e-02 1.41633834e+02] [ 6.55051718e-02 9.97852228e-01 -6.01505597e-05 4.31963120e-01] [ 1.16264860e-02 -7.02958275e-04 9.99932163e-01 5.89636726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.619254154 meters 0.030722575992318545 Centerline is valid? [True, True] Translation: X:141.70, Y:0.44, Z:0.59 [[ 9.97786192e-01 -6.55799034e-02 -1.10450067e-02 1.41696191e+02] [ 6.55832805e-02 9.97847098e-01 -5.65502060e-05 4.36772068e-01] [ 1.10249364e-02 -6.67942755e-04 9.99939000e-01 5.90457305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.679254154 meters 0.03224623688873165 Centerline is valid? [True, True] Translation: X:141.76, Y:0.44, Z:0.59 [[ 9.97956717e-01 -6.30591125e-02 -1.02927264e-02 1.41756665e+02] [ 6.30619158e-02 9.98009615e-01 -5.22890295e-05 4.37518198e-01] [ 1.02755372e-02 -5.96896856e-04 9.99947027e-01 5.91563072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.739254154 meters 0.028041821398347905 Centerline is valid? [True, True] Translation: X:141.82, Y:0.45, Z:0.59 [[ 9.98159572e-01 -5.96412186e-02 -1.09724064e-02 1.41817466e+02] [ 5.96442007e-02 9.98219698e-01 -5.55353699e-05 4.46570515e-01] [ 1.09561844e-02 -5.99007247e-04 9.99939800e-01 5.92288618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.799254154 meters 0.02580278428914088 Centerline is valid? [True, True] Translation: X:141.88, Y:0.45, Z:0.59 [[ 9.98393455e-01 -5.55561009e-02 -1.11367831e-02 1.41877936e+02] [ 5.55589204e-02 9.98455409e-01 -5.62853045e-05 4.53433547e-01] [ 1.11227083e-02 -5.62552768e-04 9.99937983e-01 5.92902114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.859254154 meters 0.027212709095228656 Centerline is valid? [True, True] Translation: X:141.94, Y:0.46, Z:0.59 [[ 9.98655362e-01 -5.07112370e-02 -1.07628445e-02 1.41938281e+02] [ 5.07135896e-02 9.98713237e-01 -5.43954185e-05 4.55066945e-01] [ 1.07517537e-02 -4.91500202e-04 9.99942077e-01 5.92381229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.91925415400001 meters 0.02300777185299132 Centerline is valid? [True, True] Translation: X:142.00, Y:0.46, Z:0.59 [[ 9.98904093e-01 -4.56168238e-02 -1.04746662e-02 1.41999315e+02] [ 4.56187736e-02 9.98958920e-01 -5.28288178e-05 4.64087315e-01] [ 1.04661711e-02 -4.25070503e-04 9.99945138e-01 5.93523929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.97925415400002 meters 0.020307811744255277 Centerline is valid? [True, True] Translation: X:142.06, Y:0.48, Z:0.59 [[ 9.99314126e-01 -3.54543058e-02 -1.06897329e-02 1.42058571e+02] [ 3.54557552e-02 9.99371246e-01 -5.39494042e-05 4.75443943e-01] [ 1.06849244e-02 -3.25100152e-04 9.99942862e-01 5.93519621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.039254154 meters 0.01687099448593202 Centerline is valid? [True, True] Translation: X:142.12, Y:0.49, Z:0.59 [[ 9.99659439e-01 -2.33047700e-02 -1.17428117e-02 1.42117924e+02] [ 2.33056787e-02 9.99728384e-01 -5.94742382e-05 4.89024434e-01] [ 1.17410082e-02 -2.14220212e-04 9.99931049e-01 5.93329081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.099254154 meters 0.015022822781722137 Centerline is valid? [True, True] Translation: X:142.18, Y:0.50, Z:0.59 [[ 9.99804872e-01 -1.53247770e-02 -1.24646882e-02 1.42178187e+02] [ 1.53251798e-02 9.99882561e-01 -6.32066349e-05 4.98835992e-01] [ 1.24641930e-02 -1.27829286e-04 9.99922311e-01 5.93803472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.159254154 meters 0.014488281988902887 Centerline is valid? [True, True] Translation: X:142.24, Y:0.51, Z:0.59 [[ 9.99914946e-01 -4.63869979e-03 -1.21895081e-02 1.42236508e+02] [ 4.63828580e-03 9.99989241e-01 -6.22330562e-05 5.08692246e-01] [ 1.21896656e-02 5.68934077e-06 9.99925703e-01 5.94482097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.219254154 meters 0.014490487292149962 Centerline is valid? [True, True] Translation: X:142.29, Y:0.51, Z:0.60 [[ 9.99937510e-01 -1.17582200e-05 -1.11793038e-02 1.42294283e+02] [ 1.10957267e-05 9.99999998e-01 -5.93227112e-05 5.13784583e-01] [ 1.11793045e-02 5.91949616e-05 9.99937508e-01 5.96029473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.279254154 meters 0.01472070658959309 Centerline is valid? [True, True] Translation: X:142.35, Y:0.52, Z:0.60 [[ 9.99942076e-01 1.74622539e-03 -1.06205096e-02 1.42353315e+02] [-1.74695275e-03 9.99998472e-01 -5.92095337e-05 5.16600844e-01] [ 1.06203900e-02 7.77596326e-05 9.99943599e-01 5.96421466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.339254154 meters 0.014520588653527525 Centerline is valid? [True, True] Translation: X:142.41, Y:0.52, Z:0.60 [[ 9.99935932e-01 -5.74316838e-04 -1.13049366e-02 1.42411837e+02] [ 5.73621722e-04 9.99999833e-01 -6.47302137e-05 5.15885691e-01] [ 1.13049719e-02 5.82413093e-05 9.99936095e-01 5.96203684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.399254154 meters 0.014630435511503864 Centerline is valid? [True, True] Translation: X:142.47, Y:0.51, Z:0.60 [[ 9.99895465e-01 -8.09450506e-03 -1.19807605e-02 1.42470270e+02] [ 8.09425362e-03 9.99967239e-01 -6.94770047e-05 5.10927964e-01] [ 1.19809304e-02 -2.75055725e-05 9.99928226e-01 5.95605279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.459254154 meters 0.015612324126759097 Centerline is valid? [True, True] Translation: X:142.53, Y:0.50, Z:0.60 [[ 9.99769037e-01 -1.83440148e-02 -1.11968828e-02 1.42529191e+02] [ 1.83444291e-02 9.99831725e-01 -6.57052083e-05 5.01909684e-01] [ 1.11962039e-02 -1.39710390e-04 9.99937311e-01 5.96022644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.519254154 meters 0.016386666775940573 Centerline is valid? [True, True] Translation: X:142.59, Y:0.50, Z:0.60 [[ 9.99621078e-01 -2.53177440e-02 -1.08033002e-02 1.42588718e+02] [ 2.53185310e-02 9.99679433e-01 -6.39315098e-05 4.96766346e-01] [ 1.08014556e-02 -2.09616407e-04 9.99941641e-01 5.97042769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.579254154 meters 0.01846509703016673 Centerline is valid? [True, True] Translation: X:142.65, Y:0.49, Z:0.60 [[ 9.99344430e-01 -3.45821511e-02 -1.07138161e-02 1.42649694e+02] [ 3.45834566e-02 9.99401811e-01 -6.34452545e-05 4.89557308e-01] [ 1.07096013e-02 -3.07117132e-04 9.99942603e-01 5.97235151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.639254154 meters 0.020770871615569387 Centerline is valid? [True, True] Translation: X:142.71, Y:0.48, Z:0.60 [[ 9.99161275e-01 -3.93912006e-02 -1.11839069e-02 1.42710224e+02] [ 3.93929285e-02 9.99223795e-01 -6.58377546e-05 4.83920128e-01] [ 1.11778194e-02 -3.74784311e-04 9.99937456e-01 5.96380573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.69925415400002 meters 0.023119445235721636 Centerline is valid? [True, True] Translation: X:142.77, Y:0.48, Z:0.60 [[ 9.98876647e-01 -4.58844925e-02 -1.18345816e-02 1.42770609e+02] [ 4.58868852e-02 9.98946640e-01 -6.94218295e-05 4.78162776e-01] [ 1.18253009e-02 -4.73708242e-04 9.99929966e-01 5.96015290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.759254154 meters 0.024353215298521202 Centerline is valid? [True, True] Translation: X:142.83, Y:0.48, Z:0.60 [[ 9.98665303e-01 -5.03996082e-02 -1.12912263e-02 1.42831814e+02] [ 5.04020759e-02 9.98729005e-01 -6.60881166e-05 4.76094723e-01] [ 1.12802060e-02 -5.03101337e-04 9.99936250e-01 5.96947743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.819254154 meters 0.031070729367249198 Centerline is valid? [True, True] Translation: X:142.89, Y:0.47, Z:0.60 [[ 9.98243265e-01 -5.82272242e-02 -1.09532755e-02 1.42892245e+02] [ 5.82300199e-02 9.98303191e-01 -6.37756377e-05 4.65933971e-01] [ 1.09384033e-02 -5.74145847e-04 9.99940009e-01 5.97140504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.879254154 meters 0.028747745685517242 Centerline is valid? [True, True] Translation: X:142.95, Y:0.47, Z:0.60 [[ 9.97950627e-01 -6.29219513e-02 -1.16350362e-02 1.42952965e+02] [ 6.29254264e-02 9.98018229e-01 -6.75335560e-05 4.69822563e-01] [ 1.16162276e-02 -6.64744461e-04 9.99932308e-01 5.97955597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.939254154 meters 0.032796439849599894 Centerline is valid? [True, True] Translation: X:143.01, Y:0.47, Z:0.60 [[ 9.97696379e-01 -6.65097959e-02 -1.33559854e-02 1.43012551e+02] [ 6.65146957e-02 9.97785442e-01 -7.75050909e-05 4.66844164e-01] [ 1.33315627e-02 -8.11042756e-04 9.99910802e-01 5.97051893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.999254154 meters 0.028543009005888933 Centerline is valid? [True, True] Translation: X:143.07, Y:0.48, Z:0.60 [[ 9.97755301e-01 -6.54384444e-02 -1.42186538e-02 1.43074668e+02] [ 6.54438997e-02 9.97856247e-01 -8.17731537e-05 4.77547030e-01] [ 1.41935237e-02 -8.48934559e-04 9.99898906e-01 5.98924645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.059254154 meters 0.029999595654953387 Centerline is valid? [True, True] Translation: X:143.13, Y:0.48, Z:0.60 [[ 9.97991336e-01 -6.17639594e-02 -1.40892239e-02 1.43134167e+02] [ 6.17689529e-02 9.98090472e-01 -8.08791608e-05 4.79801314e-01] [ 1.40673155e-02 -7.89559904e-04 9.99900739e-01 5.99433955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.119254154 meters 0.026243218375031015 Centerline is valid? [True, True] Translation: X:143.20, Y:0.49, Z:0.60 [[ 9.98536127e-01 -5.25613158e-02 -1.27636809e-02 1.43195341e+02] [ 5.25646648e-02 9.98617520e-01 -7.31771647e-05 4.92027385e-01] [ 1.27498816e-02 -5.97848566e-04 9.99918538e-01 6.01664251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.179254154 meters 0.02246885780880858 Centerline is valid? [True, True] Translation: X:143.26, Y:0.50, Z:0.60 [[ 9.98909975e-01 -4.50614289e-02 -1.21790262e-02 1.43256197e+02] [ 4.50639226e-02 9.98984103e-01 -6.97339818e-05 5.03163935e-01] [ 1.21697959e-02 -4.79176725e-04 9.99925830e-01 6.03583150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.239254154 meters 0.01831720953308653 Centerline is valid? [True, True] Translation: X:143.32, Y:0.52, Z:0.61 [[ 9.99363896e-01 -3.38257054e-02 -1.12971022e-02 1.43316806e+02] [ 3.38271336e-02 9.99427697e-01 -6.46867084e-05 5.17421353e-01] [ 1.12928249e-02 -3.17503025e-04 9.99936184e-01 6.05251344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.299254154 meters 0.017540311015112258 Centerline is valid? [True, True] Translation: X:143.38, Y:0.52, Z:0.61 [[ 9.99561901e-01 -2.73765477e-02 -1.12485702e-02 1.43377664e+02] [ 2.73775583e-02 9.99625162e-01 -6.41612408e-05 5.23210257e-01] [ 1.12461103e-02 -2.43825253e-04 9.99936731e-01 6.05086345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.359254154 meters 0.016157576014962212 Centerline is valid? [True, True] Translation: X:143.44, Y:0.53, Z:0.60 [[ 9.99678851e-01 -2.21274985e-02 -1.23518794e-02 1.43439584e+02] [ 2.21283240e-02 9.99755136e-01 -6.98438564e-05 5.29968443e-01] [ 1.23504003e-02 -2.03504964e-04 9.99923710e-01 6.04821867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.41925415400001 meters 0.016461959885946675 Centerline is valid? [True, True] Translation: X:143.50, Y:0.54, Z:0.60 [[ 9.99767715e-01 -1.64023280e-02 -1.39814070e-02 1.43500453e+02] [ 1.64028322e-02 9.99865461e-01 -7.86151420e-05 5.35696789e-01] [ 1.39808154e-02 -1.50737792e-04 9.99902252e-01 6.03163294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.47925415400002 meters 0.015152078371253371 Centerline is valid? [True, True] Translation: X:143.56, Y:0.54, Z:0.60 [[ 9.99787958e-01 -1.53216540e-02 -1.37581234e-02 1.43558878e+02] [ 1.53220342e-02 9.99882608e-01 -7.77767954e-05 5.37111717e-01] [ 1.37577000e-02 -1.33042134e-04 9.99905350e-01 6.03639541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.539254154 meters 0.01501249886537395 Centerline is valid? [True, True] Translation: X:143.62, Y:0.54, Z:0.60 [[ 9.99763133e-01 -1.67049159e-02 -1.39507346e-02 1.43617181e+02] [ 1.67054044e-02 9.99860452e-01 -8.15191534e-05 5.36809554e-01] [ 1.39501496e-02 -1.51552820e-04 9.99902680e-01 6.03865178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.599254154 meters 0.015774139329902823 Centerline is valid? [True, True] Translation: X:143.68, Y:0.53, Z:0.60 [[ 9.99691511e-01 -2.07348401e-02 -1.36729515e-02 1.43676224e+02] [ 2.07356395e-02 9.99784990e-01 -8.33074453e-05 5.33309313e-01] [ 1.36717390e-02 -2.00235647e-04 9.99906517e-01 6.03897847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.659254154 meters 0.016231231505647488 Centerline is valid? [True, True] Translation: X:143.74, Y:0.53, Z:0.60 [[ 9.99666554e-01 -2.22712912e-02 -1.30679212e-02 1.43735662e+02] [ 2.22721350e-02 9.99751942e-01 -8.09795227e-05 5.31924086e-01] [ 1.30664831e-02 -2.10097984e-04 9.99914608e-01 6.04409493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.719254154 meters 0.016136235293663023 Centerline is valid? [True, True] Translation: X:143.80, Y:0.53, Z:0.61 [[ 9.99624590e-01 -2.45847095e-02 -1.20942648e-02 1.43795912e+02] [ 2.45855997e-02 9.99697726e-01 -7.50898315e-05 5.30810955e-01] [ 1.20924550e-02 -2.22283109e-04 9.99926859e-01 6.06450456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.779254154 meters 0.016900915461033197 Centerline is valid? [True, True] Translation: X:143.86, Y:0.53, Z:0.61 [[ 9.99581968e-01 -2.65647786e-02 -1.14106031e-02 1.43856812e+02] [ 2.65657042e-02 9.99647067e-01 -7.04665232e-05 5.26939763e-01] [ 1.14084479e-02 -2.32693641e-04 9.99934894e-01 6.06918588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.839254154 meters 0.016187863417362103 Centerline is valid? [True, True] Translation: X:143.92, Y:0.53, Z:0.61 [[ 9.99617705e-01 -2.52078859e-02 -1.13580644e-02 1.43918364e+02] [ 2.52087211e-02 9.99682207e-01 -6.96516239e-05 5.27144185e-01] [ 1.13562107e-02 -2.16697282e-04 9.99935493e-01 6.07362542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.899254154 meters 0.015642677259798655 Centerline is valid? [True, True] Translation: X:143.98, Y:0.53, Z:0.61 [[ 9.99669254e-01 -2.30714149e-02 -1.13619053e-02 1.43979594e+02] [ 2.30721175e-02 9.99733801e-01 -6.92584281e-05 5.27303571e-01] [ 1.13604787e-02 -1.92907693e-04 9.99935449e-01 6.07208515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.959254154 meters 0.016938518317169228 Centerline is valid? [True, True] Translation: X:144.04, Y:0.53, Z:0.60 [[ 9.99753419e-01 -1.88696607e-02 -1.17062435e-02 1.44039737e+02] [ 1.88701220e-02 9.99821941e-01 -7.10583163e-05 5.25806131e-01] [ 1.17054999e-02 -1.49857448e-04 9.99931477e-01 6.03910311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.019254154 meters 0.014677726440698735 Centerline is valid? [True, True] Translation: X:144.10, Y:0.53, Z:0.60 [[ 9.99807391e-01 -1.55157545e-02 -1.20183814e-02 1.44100493e+02] [ 1.55159994e-02 9.99879617e-01 -7.28712475e-05 5.27507444e-01] [ 1.20180653e-02 -1.13619987e-04 9.99927774e-01 6.04844269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.079254154 meters 0.014319023144152903 Centerline is valid? [True, True] Translation: X:144.16, Y:0.53, Z:0.61 [[ 9.99852154e-01 -1.23754831e-02 -1.19380960e-02 1.44159684e+02] [ 1.23754977e-02 9.99923418e-01 -7.26553035e-05 5.28840522e-01] [ 1.19380809e-02 -7.50953183e-05 9.99928736e-01 6.05333058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.139254154 meters 0.014145207176907372 Centerline is valid? [True, True] Translation: X:144.22, Y:0.53, Z:0.61 [[ 9.99908514e-01 -7.80506034e-03 -1.10473721e-02 1.44218442e+02] [ 7.80477297e-03 9.99969540e-01 -6.91259159e-05 5.29579726e-01] [ 1.10475752e-02 -1.71026395e-05 9.99938974e-01 6.06680061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.19925415400002 meters 0.014080645779645665 Centerline is valid? [True, True] Translation: X:144.28, Y:0.53, Z:0.61 [[ 9.99923802e-01 -6.47414387e-03 -1.05107325e-02 1.44275449e+02] [ 6.47379038e-03 9.99979043e-01 -6.76549393e-05 5.28283128e-01] [ 1.05109503e-02 -3.94494971e-07 9.99944758e-01 6.06432450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.259254154 meters 0.014119573419272205 Centerline is valid? [True, True] Translation: X:144.33, Y:0.53, Z:0.61 [[ 9.99916149e-01 -6.96249026e-03 -1.09187247e-02 1.44332778e+02] [ 6.96212246e-03 9.99975762e-01 -7.16947009e-05 5.25847588e-01] [ 1.09189592e-02 -4.32880915e-06 9.99940386e-01 6.05587494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.319254154 meters 0.014100944580372355 Centerline is valid? [True, True] Translation: X:144.39, Y:0.52, Z:0.61 [[ 9.99880975e-01 -1.09169271e-02 -1.09020953e-02 1.44390428e+02] [ 1.09167831e-02 9.99940408e-01 -7.27176313e-05 5.19913149e-01] [ 1.09022395e-02 -4.63068338e-05 9.99940568e-01 6.05300955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.379254154 meters 0.014743816862299294 Centerline is valid? [True, True] Translation: X:144.45, Y:0.51, Z:0.61 [[ 9.99783554e-01 -1.77763609e-02 -1.08094973e-02 1.44449004e+02] [ 1.77766109e-02 9.99841981e-01 -7.29624871e-05 5.13563699e-01] [ 1.08090862e-02 -1.19209533e-04 9.99941573e-01 6.06119985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.439254154 meters 0.015549045152911514 Centerline is valid? [True, True] Translation: X:144.51, Y:0.51, Z:0.61 [[ 9.99682514e-01 -2.28856072e-02 -1.05413770e-02 1.44508233e+02] [ 2.28861244e-02 9.99738076e-01 -7.15835706e-05 5.08338441e-01] [ 1.05402542e-02 -1.69690421e-04 9.99944436e-01 6.06336809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.499254154 meters 0.018341287493125916 Centerline is valid? [True, True] Translation: X:144.57, Y:0.50, Z:0.61 [[ 9.99537759e-01 -2.91563981e-02 -8.61235933e-03 1.44569405e+02] [ 2.91569767e-02 9.99574843e-01 -5.83928550e-05 5.01977875e-01] [ 8.61040025e-03 -1.92744496e-04 9.99962911e-01 6.06329021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.559254154 meters 0.01726829324822047 Centerline is valid? [True, True] Translation: X:144.63, Y:0.50, Z:0.61 [[ 9.99450831e-01 -3.23775708e-02 -7.05187819e-03 1.44631808e+02] [ 3.23780412e-02 9.99475693e-01 -4.74805790e-05 4.98778318e-01] [ 7.04971815e-03 -1.80871498e-04 9.99975134e-01 6.09146817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.619254154 meters 0.01874347591486465 Centerline is valid? [True, True] Translation: X:144.69, Y:0.49, Z:0.61 [[ 9.99408621e-01 -3.40690574e-02 -4.65912609e-03 1.44693218e+02] [ 3.40692822e-02 9.99419473e-01 -3.11390544e-05 4.94437626e-01] [ 4.65748222e-03 -1.27612442e-04 9.99989146e-01 6.10352455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.679254154 meters 0.01772727092112141 Centerline is valid? [True, True] Translation: X:144.76, Y:0.50, Z:0.61 [[ 9.99462280e-01 -3.25344779e-02 -4.08160712e-03 1.44755003e+02] [ 3.25346384e-02 9.99470608e-01 -2.70905629e-05 4.96324959e-01] [ 4.08032773e-03 -1.05717616e-04 9.99991670e-01 6.10428241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.739254154 meters 0.01682940344185644 Centerline is valid? [True, True] Translation: X:144.82, Y:0.50, Z:0.61 [[ 9.99605156e-01 -2.78757973e-02 -3.53147368e-03 1.44816797e+02] [ 2.78758891e-02 9.99611392e-01 -2.32192390e-05 4.97885678e-01] [ 3.53074857e-03 -7.52328976e-05 9.99993764e-01 6.10148815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.799254154 meters 0.015721970387790368 Centerline is valid? [True, True] Translation: X:144.88, Y:0.50, Z:0.61 [[ 9.99752659e-01 -2.20271174e-02 -3.07046599e-03 1.44877855e+02] [ 2.20271600e-02 9.99757372e-01 -1.99609479e-05 4.99762069e-01] [ 3.07016070e-03 -4.76776349e-05 9.99995286e-01 6.09185133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.859254154 meters 0.01541434801180933 Centerline is valid? [True, True] Translation: X:144.94, Y:0.50, Z:0.61 [[ 9.99827235e-01 -1.80825390e-02 -4.30371050e-03 1.44938728e+02] [ 1.80825869e-02 9.99836496e-01 -2.77648488e-05 5.00525288e-01] [ 4.30350889e-03 -5.00621673e-05 9.99990739e-01 6.08270954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.91925415400001 meters 0.014870317631744366 Centerline is valid? [True, True] Translation: X:145.00, Y:0.50, Z:0.61 [[ 9.99882761e-01 -1.36912439e-02 -6.85674599e-03 1.45000851e+02] [ 1.36912701e-02 9.99906269e-01 -4.31162000e-05 5.03224090e-01] [ 6.85669361e-03 -5.07664161e-05 9.99976491e-01 6.05932431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.97925415400002 meters 0.014671473798074786 Centerline is valid? [True, True] Translation: X:145.06, Y:0.50, Z:0.61 [[ 9.99889343e-01 -1.25662699e-02 -7.96187325e-03 1.45061023e+02] [ 1.25662726e-02 9.99921040e-01 -4.96917617e-05 5.02735602e-01] [ 7.96186902e-03 -5.03648065e-05 9.99968303e-01 6.05134881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.039254154 meters 0.014884010278948841 Centerline is valid? [True, True] Translation: X:145.12, Y:0.50, Z:0.61 [[ 9.99875633e-01 -1.35285699e-02 -8.10530403e-03 1.45120777e+02] [ 1.35286031e-02 9.99908483e-01 -5.07236763e-05 5.02388996e-01] [ 8.10524848e-03 -5.89360736e-05 9.99967150e-01 6.06214419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.099254154 meters 0.015054316204068378 Centerline is valid? [True, True] Translation: X:145.18, Y:0.50, Z:0.61 [[ 9.99851098e-01 -1.57933613e-02 -6.95356818e-03 1.45181573e+02] [ 1.57934395e-02 9.99875275e-01 -4.36554111e-05 5.00705225e-01] [ 6.95339036e-03 -6.61718479e-05 9.99975823e-01 6.07698519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.159254154 meters 0.015811648449052324 Centerline is valid? [True, True] Translation: X:145.24, Y:0.50, Z:0.61 [[ 9.99749782e-01 -2.19059029e-02 -4.52814543e-03 1.45242670e+02] [ 2.19059988e-02 9.99760034e-01 -2.84236733e-05 4.95453871e-01] [ 4.52768148e-03 -7.07769872e-05 9.99989747e-01 6.09408724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.219254154 meters 0.018364558582959673 Centerline is valid? [True, True] Translation: X:145.30, Y:0.49, Z:0.61 [[ 9.99527564e-01 -3.05891472e-02 -2.99212323e-03 1.45303213e+02] [ 3.05892282e-02 9.99532040e-01 -1.87011949e-05 4.87729368e-01] [ 2.99129509e-03 -7.28343802e-05 9.99995523e-01 6.10541035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.279254154 meters 0.020036882471745503 Centerline is valid? [True, True] Translation: X:145.36, Y:0.48, Z:0.61 [[ 9.99299905e-01 -3.72799769e-02 -3.14695158e-03 1.45364525e+02] [ 3.72800997e-02 9.99304855e-01 -1.96311508e-05 4.83045341e-01] [ 3.14549585e-03 -9.77012617e-05 9.99995048e-01 6.10749888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.339254154 meters 0.023557434838088653 Centerline is valid? [True, True] Translation: X:145.42, Y:0.48, Z:0.61 [[ 9.98955894e-01 -4.55048766e-02 -4.05316538e-03 1.45424810e+02] [ 4.55051488e-02 9.98964104e-01 -2.50809159e-05 4.75716688e-01] [ 4.05010802e-03 -1.59385165e-04 9.99991786e-01 6.10011284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.399254154 meters 0.027284906253986718 Centerline is valid? [True, True] Translation: X:145.49, Y:0.47, Z:0.61 [[ 9.98262320e-01 -5.85818298e-02 -6.36479395e-03 1.45485473e+02] [ 5.85827664e-02 9.98282554e-01 -3.93476578e-05 4.68042046e-01] [ 6.35616782e-03 -3.33587953e-04 9.99979744e-01 6.07522276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.459254154 meters 0.030529493478453733 Centerline is valid? [True, True] Translation: X:145.55, Y:0.46, Z:0.61 [[ 9.97840365e-01 -6.52643835e-02 -7.42745817e-03 1.45546623e+02] [ 6.52658442e-02 9.97867911e-01 -4.58090449e-05 4.63959341e-01] [ 7.41461187e-03 -4.39049214e-04 9.99972415e-01 6.07117732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.519254154 meters 0.03456572676561855 Centerline is valid? [True, True] Translation: X:145.61, Y:0.46, Z:0.61 [[ 9.97582841e-01 -6.89773703e-02 -8.40221671e-03 1.45606413e+02] [ 6.89793719e-02 9.97618085e-01 -5.16842172e-05 4.61749917e-01] [ 8.38576839e-03 -5.28020343e-04 9.99964699e-01 6.06226369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.579254154 meters 0.032031665541109026 Centerline is valid? [True, True] Translation: X:145.67, Y:0.47, Z:0.61 [[ 9.97712405e-01 -6.71019935e-02 -8.20234079e-03 1.45667703e+02] [ 6.71038390e-02 9.97745996e-01 -5.03196411e-05 4.69098048e-01] [ 8.18722922e-03 -5.00204025e-04 9.99966359e-01 6.06465249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.639254154 meters 0.03238681534685706 Centerline is valid? [True, True] Translation: X:145.73, Y:0.47, Z:0.61 [[ 9.97842390e-01 -6.51409847e-02 -8.19859031e-03 1.45729591e+02] [ 6.51427655e-02 9.97875953e-01 -4.99330235e-05 4.71005486e-01] [ 8.18442880e-03 -4.84253558e-04 9.99966390e-01 6.06623206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.69925415400002 meters 0.02667838504180725 Centerline is valid? [True, True] Translation: X:145.79, Y:0.49, Z:0.61 [[ 9.98243860e-01 -5.86643336e-02 -8.22752455e-03 1.45789825e+02] [ 5.86659095e-02 9.98277671e-01 -4.98759051e-05 4.86834524e-01] [ 8.21627998e-03 -4.32886894e-04 9.99966152e-01 6.07537483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.759254154 meters 0.025085664322876008 Centerline is valid? [True, True] Translation: X:145.85, Y:0.50, Z:0.61 [[ 9.98510501e-01 -5.38954070e-02 -8.48912919e-03 1.45850591e+02] [ 5.38969133e-02 9.98546504e-01 -5.13904817e-05 4.96974357e-01] [ 8.47955998e-03 -4.06223925e-04 9.99963965e-01 6.07016209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.819254154 meters 0.025847777602650508 Centerline is valid? [True, True] Translation: X:145.91, Y:0.50, Z:0.61 [[ 9.98589152e-01 -5.23641772e-02 -8.81470388e-03 1.45911882e+02] [ 5.23657447e-02 9.98627972e-01 -5.30366177e-05 5.00363122e-01] [ 8.80538708e-03 -4.08626742e-04 9.99961148e-01 6.06827559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.879254154 meters 0.024329908454181728 Centerline is valid? [True, True] Translation: X:145.97, Y:0.51, Z:0.61 [[ 9.98746020e-01 -4.90758154e-02 -9.89709860e-03 1.45973834e+02] [ 4.90776361e-02 9.98794965e-01 -5.89761395e-05 5.10340275e-01] [ 9.88806655e-03 -4.26824019e-04 9.99951021e-01 6.05677454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.939254154 meters 0.02323721841594463 Centerline is valid? [True, True] Translation: X:146.03, Y:0.52, Z:0.61 [[ 9.98935321e-01 -4.51422207e-02 -9.50813367e-03 1.46034706e+02] [ 4.51437270e-02 9.98980501e-01 -5.62422770e-05 5.16337347e-01] [ 9.50097904e-03 -3.73050194e-04 9.99954795e-01 6.07394427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.999254154 meters 0.01922987747480911 Centerline is valid? [True, True] Translation: X:146.09, Y:0.53, Z:0.61 [[ 9.99400124e-01 -3.36911948e-02 -8.01845969e-03 1.46094801e+02] [ 3.36918988e-02 9.99432266e-01 -4.73022225e-05 5.30798819e-01] [ 8.01550100e-03 -2.22883285e-04 9.99967851e-01 6.09065737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.059254154 meters 0.01473876345313009 Centerline is valid? [True, True] Translation: X:146.15, Y:0.55, Z:0.61 [[ 9.99800505e-01 -1.86251892e-02 -7.21470476e-03 1.46154780e+02] [ 1.86253670e-02 9.99826532e-01 -4.25505113e-05 5.47919446e-01] [ 7.21424575e-03 -9.18345012e-05 9.99973973e-01 6.10442061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.119254154 meters 0.01374302039793403 Centerline is valid? [True, True] Translation: X:146.22, Y:0.56, Z:0.61 [[ 9.99928466e-01 -9.81545682e-03 -6.83519327e-03 1.46216128e+02] [ 9.81541133e-03 9.99951827e-01 -4.02016540e-05 5.57174441e-01] [ 6.83525859e-03 -2.68914552e-05 9.99976639e-01 6.11161666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.179254154 meters 0.013655132759826615 Centerline is valid? [True, True] Translation: X:146.28, Y:0.56, Z:0.61 [[ 9.99966686e-01 -4.33325716e-03 -6.91742111e-03 1.46277029e+02] [ 4.33308051e-03 9.99990611e-01 -4.05231899e-05 5.63678923e-01] [ 6.91753176e-03 1.05480973e-05 9.99976074e-01 6.11261587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.239254154 meters 0.0137850280124363 Centerline is valid? [True, True] Translation: X:146.34, Y:0.57, Z:0.61 [[ 9.99964485e-01 -3.24246842e-03 -7.77918765e-03 1.46335979e+02] [ 3.24221061e-03 9.99994743e-01 -4.57515778e-05 5.66922681e-01] [ 7.77929511e-03 2.05281882e-05 9.99969741e-01 6.09908770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.299254154 meters 0.01381658377162769 Centerline is valid? [True, True] Translation: X:146.40, Y:0.57, Z:0.61 [[ 9.99939412e-01 -6.64007019e-03 -8.77957805e-03 1.46395185e+02] [ 6.63986767e-03 9.99977954e-01 -5.22155233e-05 5.66208197e-01] [ 8.77973121e-03 -6.08287674e-06 9.99961457e-01 6.09617119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.359254154 meters 0.014313191702005358 Centerline is valid? [True, True] Translation: X:146.45, Y:0.56, Z:0.61 [[ 9.99838585e-01 -1.54284823e-02 -9.20679343e-03 1.46454540e+02] [ 1.54286274e-02 9.99880970e-01 -5.52659584e-05 5.62633225e-01] [ 9.20655022e-03 -8.67911481e-05 9.99957615e-01 6.09819810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.41925415400001 meters 0.015368671125079818 Centerline is valid? [True, True] Translation: X:146.52, Y:0.56, Z:0.61 [[ 9.99710417e-01 -2.22033755e-02 -9.27861764e-03 1.46515548e+02] [ 2.22038163e-02 9.99753463e-01 -5.55170588e-05 5.59308750e-01] [ 9.27756278e-03 -1.50519740e-04 9.99956951e-01 6.09560709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.47925415400002 meters 0.018023814181244616 Centerline is valid? [True, True] Translation: X:146.58, Y:0.55, Z:0.61 [[ 9.99444527e-01 -3.19001757e-02 -9.64449708e-03 1.46575506e+02] [ 3.19011097e-02 9.99491028e-01 -5.70180084e-05 5.52704918e-01] [ 9.64140719e-03 -2.50683823e-04 9.99953489e-01 6.09507343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.539254154 meters 0.019230337886038472 Centerline is valid? [True, True] Translation: X:146.64, Y:0.55, Z:0.61 [[ 9.99258426e-01 -3.73951749e-02 -9.17598805e-03 1.46637022e+02] [ 3.73962561e-02 9.99300514e-01 -5.37803752e-05 5.50867031e-01] [ 9.17158070e-03 -2.89407106e-04 9.99957898e-01 6.10320584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.599254154 meters 0.02146932168364705 Centerline is valid? [True, True] Translation: X:146.70, Y:0.55, Z:0.61 [[ 9.98898164e-01 -4.60337128e-02 -9.12990499e-03 1.46697768e+02] [ 4.60351450e-02 9.98939819e-01 -5.33343806e-05 5.46934840e-01] [ 9.12268082e-03 -3.67020885e-04 9.99958320e-01 6.10233760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.659254154 meters 0.025712721440343887 Centerline is valid? [True, True] Translation: X:146.76, Y:0.54, Z:0.61 [[ 9.98444607e-01 -5.49268175e-02 -9.56094522e-03 1.46757530e+02] [ 5.49287990e-02 9.98490272e-01 -5.54088994e-05 5.40649327e-01] [ 9.54955423e-03 -4.69848522e-04 9.99954292e-01 6.09175836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.719254154 meters 0.02804588306064782 Centerline is valid? [True, True] Translation: X:146.82, Y:0.54, Z:0.61 [[ 9.98175863e-01 -5.95895345e-02 -9.69708630e-03 1.46817791e+02] [ 5.95917962e-02 9.98222828e-01 -5.57960651e-05 5.38490602e-01] [ 9.68317777e-03 -5.22172505e-04 9.99952981e-01 6.09212143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.779254154 meters 0.03074213214527233 Centerline is valid? [True, True] Translation: X:146.88, Y:0.54, Z:0.61 [[ 9.97955010e-01 -6.31155755e-02 -1.01105456e-02 1.46878588e+02] [ 6.31182158e-02 9.98006056e-01 -5.80460942e-05 5.37633157e-01] [ 1.00940494e-02 -5.80232209e-04 9.99948885e-01 6.09024838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.839254154 meters 0.031264135660353035 Centerline is valid? [True, True] Translation: X:146.94, Y:0.54, Z:0.61 [[ 9.97930052e-01 -6.34051057e-02 -1.07425955e-02 1.46940756e+02] [ 6.34081090e-02 9.97987679e-01 -6.11375386e-05 5.39614929e-01] [ 1.07248544e-02 -6.20156681e-04 9.99942295e-01 6.08745042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.899254154 meters 0.0315323381598655 Centerline is valid? [True, True] Translation: X:147.00, Y:0.54, Z:0.61 [[ 9.98007095e-01 -6.18725208e-02 -1.23947742e-02 1.47003216e+02] [ 6.18764127e-02 9.98083816e-01 -6.96140247e-05 5.42925570e-01] [ 1.23753307e-02 -6.97468871e-04 9.99923179e-01 6.07654226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.959254154 meters 0.027468676537888738 Centerline is valid? [True, True] Translation: X:147.06, Y:0.55, Z:0.61 [[ 9.98120870e-01 -5.97229680e-02 -1.37075206e-02 1.47064822e+02] [ 5.97275377e-02 9.98214714e-01 -7.61308242e-05 5.51457590e-01] [ 1.36875955e-02 -7.42728688e-04 9.99906045e-01 6.07175851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.019254154 meters 0.026462837251716484 Centerline is valid? [True, True] Translation: X:147.12, Y:0.56, Z:0.61 [[ 9.98426001e-01 -5.37885821e-02 -1.58842447e-02 1.47124557e+02] [ 5.37939710e-02 9.98552052e-01 -8.81174742e-05 5.58135556e-01] [ 1.58659848e-02 -7.66497819e-04 9.99873834e-01 6.05466594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.079254154 meters 0.02412544478811805 Centerline is valid? [True, True] Translation: X:147.19, Y:0.57, Z:0.61 [[ 9.98751775e-01 -4.74549790e-02 -1.55858049e-02 1.47185291e+02] [ 4.74593967e-02 9.98873164e-01 -8.65113536e-05 5.66741130e-01] [ 1.55723476e-02 -6.53289529e-04 9.99878530e-01 6.06680438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.139254154 meters 0.019914694937968967 Centerline is valid? [True, True] Translation: X:147.25, Y:0.58, Z:0.61 [[ 9.99298998e-01 -3.48411649e-02 -1.36969371e-02 1.47246216e+02] [ 3.48433948e-02 9.99392782e-01 -7.58738040e-05 5.81525287e-01] [ 1.36912636e-02 -4.01427171e-04 9.99906190e-01 6.09651084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.19925415400002 meters 0.01615772377470437 Centerline is valid? [True, True] Translation: X:147.31, Y:0.59, Z:0.61 [[ 9.99607841e-01 -2.56348292e-02 -1.12702877e-02 1.47306656e+02] [ 2.56357559e-02 9.99671348e-01 -6.22535718e-05 5.93754931e-01] [ 1.12681795e-02 -2.26693185e-04 9.99936486e-01 6.12936411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.259254154 meters 0.014144358821594571 Centerline is valid? [True, True] Translation: X:147.37, Y:0.61, Z:0.62 [[ 9.99888546e-01 -1.22202636e-02 -8.57671228e-03 1.47367201e+02] [ 1.22203079e-02 9.99925328e-01 -4.72402863e-05 6.07961097e-01] [ 8.57664913e-03 -5.75750435e-05 9.99963218e-01 6.15659082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.319254154 meters 0.014111338235968994 Centerline is valid? [True, True] Translation: X:147.43, Y:0.62, Z:0.62 [[ 9.99968188e-01 -2.75031527e-03 -7.48720845e-03 1.47426309e+02] [ 2.75008370e-03 9.99996218e-01 -4.12245388e-05 6.16906957e-01] [ 7.48729352e-03 2.06327774e-05 9.99971970e-01 6.16029019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.379254154 meters 0.014399381912615698 Centerline is valid? [True, True] Translation: X:147.49, Y:0.62, Z:0.62 [[ 9.99962271e-01 -2.93813896e-04 -8.68155172e-03 1.47485423e+02] [ 2.93399672e-04 9.99999956e-01 -4.89866871e-05 6.19416041e-01] [ 8.68156573e-03 4.64376745e-05 9.99962313e-01 6.15288110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.439254154 meters 0.014388792669710805 Centerline is valid? [True, True] Translation: X:147.54, Y:0.62, Z:0.61 [[ 9.99933155e-01 -2.84865800e-03 -1.12058748e-02 1.47544693e+02] [ 2.84810643e-03 9.99995942e-01 -6.51796883e-05 6.18511753e-01] [ 1.12060151e-02 3.32598072e-05 9.99937210e-01 6.13458935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.499254154 meters 0.014379593680574058 Centerline is valid? [True, True] Translation: X:147.60, Y:0.62, Z:0.61 [[ 9.99917393e-01 -5.16901682e-03 -1.17681127e-02 1.47603611e+02] [ 5.16855880e-03 9.99986641e-01 -6.93336665e-05 6.17269140e-01] [ 1.17683139e-02 8.50375664e-06 9.99930751e-01 6.13095571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.559254154 meters 0.014414384959763759 Centerline is valid? [True, True] Translation: X:147.66, Y:0.61, Z:0.61 [[ 9.99865663e-01 -1.06464978e-02 -1.24622373e-02 1.47662854e+02] [ 1.06463979e-02 9.99943323e-01 -7.43610274e-05 6.13190949e-01] [ 1.24623227e-02 -5.83268995e-05 9.99922341e-01 6.12433591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.619254154 meters 0.015364457129745091 Centerline is valid? [True, True] Translation: X:147.72, Y:0.61, Z:0.61 [[ 9.99743775e-01 -1.94234595e-02 -1.16238387e-02 1.47721771e+02] [ 1.94239576e-02 9.99811335e-01 -7.00507690e-05 6.06006861e-01] [ 1.16230063e-02 -1.55748130e-04 9.99932438e-01 6.13582758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.679254154 meters 0.017455928352711633 Centerline is valid? [True, True] Translation: X:147.78, Y:0.60, Z:0.62 [[ 9.99566758e-01 -2.78050531e-02 -9.65274014e-03 1.47782163e+02] [ 2.78057861e-02 9.99613343e-01 -5.82768176e-05 5.97640595e-01] [ 9.65062822e-03 -2.10150458e-04 9.99953410e-01 6.16566673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.739254154 meters 0.018174703560243897 Centerline is valid? [True, True] Translation: X:147.84, Y:0.59, Z:0.62 [[ 9.99429190e-01 -3.26537341e-02 -8.66183857e-03 1.47843714e+02] [ 3.26545090e-02 9.99466698e-01 -5.19890824e-05 5.94780849e-01] [ 8.65891684e-03 -2.30888679e-04 9.99962484e-01 6.19436728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.799254154 meters 0.019047921544161475 Centerline is valid? [True, True] Translation: X:147.91, Y:0.59, Z:0.62 [[ 9.99251205e-01 -3.77026234e-02 -8.69143200e-03 1.47905128e+02] [ 3.77035979e-02 9.99288965e-01 -5.17629766e-05 5.89785559e-01] [ 8.68720369e-03 -2.75974041e-04 9.99962227e-01 6.21206249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.859254154 meters 0.02013495162841908 Centerline is valid? [True, True] Translation: X:147.97, Y:0.59, Z:0.62 [[ 9.99186170e-01 -3.91039467e-02 -9.89342931e-03 1.47966470e+02] [ 3.91052829e-02 9.99235094e-01 -5.84315394e-05 5.86536213e-01] [ 9.88814667e-03 -3.28501365e-04 9.99951057e-01 6.20796488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.91925415400001 meters 0.020002519806458497 Centerline is valid? [True, True] Translation: X:148.03, Y:0.59, Z:0.62 [[ 9.99202709e-01 -3.78605404e-02 -1.26698574e-02 1.48028237e+02] [ 3.78626434e-02 9.99282950e-01 -7.39203860e-05 5.85211318e-01] [ 1.26635711e-02 -4.05852841e-04 9.99919731e-01 6.18619568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.97925415400002 meters 0.019281923556365717 Centerline is valid? [True, True] Translation: X:148.09, Y:0.59, Z:0.62 [[ 9.99285285e-01 -3.48057484e-02 -1.47471409e-02 1.48090827e+02] [ 3.48082845e-02 9.99394004e-01 -8.47446598e-05 5.86152729e-01] [ 1.47411538e-02 -4.28638585e-04 9.99891251e-01 6.17218269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.039254154 meters 0.017488231360475948 Centerline is valid? [True, True] Translation: X:148.15, Y:0.59, Z:0.62 [[ 9.99464359e-01 -2.75821359e-02 -1.76130987e-02 1.48152471e+02] [ 2.75846535e-02 9.99619466e-01 -1.00037427e-04 5.91952422e-01] [ 1.76091556e-02 -3.85867383e-04 9.99844872e-01 6.16047547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.099254154 meters 0.0162031454471607 Centerline is valid? [True, True] Translation: X:148.21, Y:0.60, Z:0.62 [[ 9.99609784e-01 -2.08126107e-02 -1.86310349e-02 1.48212508e+02] [ 2.08142569e-02 9.99783354e-01 -1.05570087e-04 5.97002683e-01] [ 1.86291958e-02 -2.82262255e-04 9.99826422e-01 6.15604278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.159254154 meters 0.014640931173879601 Centerline is valid? [True, True] Translation: X:148.27, Y:0.61, Z:0.62 [[ 9.99759445e-01 -1.10902071e-02 -1.89224339e-02 1.48270995e+02] [ 1.10901441e-02 9.99938497e-01 -1.08267009e-04 6.06131481e-01] [ 1.89224708e-02 -1.01611555e-04 9.99820949e-01 6.18090249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.219254154 meters 0.014639165429610407 Centerline is valid? [True, True] Translation: X:148.33, Y:0.61, Z:0.62 [[ 9.99810864e-01 -5.60415869e-03 -1.86233874e-02 1.48330101e+02] [ 5.60307332e-03 9.99984297e-01 -1.10458510e-04 6.10495993e-01] [ 1.86237140e-02 6.08941327e-06 9.99826564e-01 6.19191720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.279254154 meters 0.014711000380689692 Centerline is valid? [True, True] Translation: X:148.39, Y:0.61, Z:0.62 [[ 9.99813623e-01 -1.69406173e-03 -1.92314573e-02 1.48388364e+02] [ 1.69208576e-03 9.99998561e-01 -1.19018645e-04 6.13619178e-01] [ 1.92316312e-02 8.64551881e-05 9.99815051e-01 6.19938407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.339254154 meters 0.01472819754750075 Centerline is valid? [True, True] Translation: X:148.45, Y:0.61, Z:0.62 [[ 9.99789190e-01 -2.47572173e-03 -2.03824812e-02 1.48447414e+02] [ 2.47361659e-03 9.99996932e-01 -1.28493229e-04 6.12997657e-01] [ 2.03827368e-02 7.80476983e-05 9.99792247e-01 6.19472663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.399254154 meters 0.01452431489846404 Centerline is valid? [True, True] Translation: X:148.51, Y:0.61, Z:0.62 [[ 9.99724761e-01 -9.06131892e-03 -2.16401393e-02 1.48506453e+02] [ 9.06045424e-03 9.99958944e-01 -1.38005022e-04 6.08337217e-01] [ 2.16405013e-02 -5.81024541e-05 9.99765815e-01 6.19914877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.459254154 meters 0.014779804966782056 Centerline is valid? [True, True] Translation: X:148.57, Y:0.60, Z:0.62 [[ 9.99646320e-01 -1.50052097e-02 -2.19562868e-02 1.48565239e+02] [ 1.50057183e-02 9.99887398e-01 -1.41598991e-04 6.04342934e-01] [ 2.19559392e-02 -1.87920945e-04 9.99758922e-01 6.20456353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.519254154 meters 0.01589885474306199 Centerline is valid? [True, True] Translation: X:148.62, Y:0.60, Z:0.62 [[ 9.99519957e-01 -2.32428910e-02 -2.04847054e-02 1.48623299e+02] [ 2.32450279e-02 9.99729789e-01 -1.33818742e-04 5.98489601e-01] [ 2.04822806e-02 -3.42413047e-04 9.99790157e-01 6.22401284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.579254154 meters 0.016932710758576774 Centerline is valid? [True, True] Translation: X:148.68, Y:0.59, Z:0.63 [[ 9.99367933e-01 -3.02993492e-02 -1.85925724e-02 1.48682958e+02] [ 3.03023136e-02 9.99540772e-01 -1.22327090e-04 5.94730446e-01] [ 1.85877406e-02 -4.41148190e-04 9.99827136e-01 6.25075412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.639254154 meters 0.01838965309716603 Centerline is valid? [True, True] Translation: X:148.74, Y:0.59, Z:0.63 [[ 9.99241274e-01 -3.48195880e-02 -1.74491244e-02 1.48744330e+02] [ 3.48228930e-02 9.99393493e-01 -1.14483758e-04 5.91458594e-01] [ 1.74425277e-02 -4.93232098e-04 9.99847746e-01 6.25899708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.69925415400002 meters 0.021192774369973598 Centerline is valid? [True, True] Translation: X:148.81, Y:0.58, Z:0.63 [[ 9.98878618e-01 -4.40871787e-02 -1.72576524e-02 1.48805205e+02] [ 4.40917961e-02 9.99027477e-01 -1.13025449e-04 5.84814576e-01] [ 1.72458519e-02 -6.48022187e-04 9.99851069e-01 6.26311517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.759254154 meters 0.024368663681947202 Centerline is valid? [True, True] Translation: X:148.87, Y:0.58, Z:0.63 [[ 9.98555452e-01 -5.09149840e-02 -1.71660818e-02 1.48865558e+02] [ 5.09205604e-02 9.98702700e-01 -1.12367161e-04 5.78144133e-01] [ 1.71495334e-02 -7.61901663e-04 9.99852646e-01 6.25260286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.819254154 meters 0.0293156092581103 Centerline is valid? [True, True] Translation: X:148.93, Y:0.57, Z:0.62 [[ 9.98062570e-01 -5.93092600e-02 -1.88020919e-02 1.48925608e+02] [ 5.93174344e-02 9.98239163e-01 -1.23129269e-04 5.69938952e-01] [ 1.87762872e-02 -9.92401137e-04 9.99823217e-01 6.23116242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.879254154 meters 0.02988415617571646 Centerline is valid? [True, True] Translation: X:148.99, Y:0.57, Z:0.62 [[ 9.97910119e-01 -6.14943026e-02 -1.98455206e-02 1.48987103e+02] [ 6.15038509e-02 9.98106838e-01 -1.29438132e-04 5.69103436e-01] [ 1.98159095e-02 -1.09140832e-03 9.99803050e-01 6.22027243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.939254154 meters 0.030585472870872307 Centerline is valid? [True, True] Translation: X:149.05, Y:0.57, Z:0.62 [[ 9.98043278e-01 -5.93447893e-02 -1.96929371e-02 1.49047230e+02] [ 5.93537824e-02 9.98237002e-01 -1.28018362e-04 5.69230310e-01] [ 1.96658157e-02 -1.04108244e-03 9.99806067e-01 6.21326775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.999254154 meters 0.024077328801246314 Centerline is valid? [True, True] Translation: X:149.11, Y:0.58, Z:0.62 [[ 9.98502241e-01 -5.15772048e-02 -1.82501329e-02 1.49107446e+02] [ 5.15836342e-02 9.98668671e-01 -1.18588359e-04 5.82987306e-01] [ 1.82319524e-02 -8.22997438e-04 9.99833445e-01 6.23595346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.059254154 meters 0.020926583339519397 Centerline is valid? [True, True] Translation: X:149.17, Y:0.59, Z:0.63 [[ 9.98893205e-01 -4.38159625e-02 -1.71033878e-02 1.49167885e+02] [ 4.38204729e-02 9.99039416e-01 -1.11144844e-04 5.92526044e-01] [ 1.70918284e-02 -6.38456710e-04 9.99853720e-01 6.25237787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.119254154 meters 0.01730795573471267 Centerline is valid? [True, True] Translation: X:149.23, Y:0.60, Z:0.63 [[ 9.99441355e-01 -3.02466846e-02 -1.42167650e-02 1.49228729e+02] [ 3.02484310e-02 9.99542407e-01 -9.22252658e-05 6.04497274e-01] [ 1.42130490e-02 -3.37861090e-04 9.99898932e-01 6.26841393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.179254154 meters 0.015708391665273158 Centerline is valid? [True, True] Translation: X:149.29, Y:0.61, Z:0.63 [[ 9.99701603e-01 -2.13817295e-02 -1.18121390e-02 1.49288702e+02] [ 2.13823170e-02 9.99771369e-01 -7.65660691e-05 6.11523717e-01] [ 1.18110755e-02 -1.76027678e-04 9.99930231e-01 6.27398866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.239254154 meters 0.014435024300470767 Centerline is valid? [True, True] Translation: X:149.35, Y:0.62, Z:0.63 [[ 9.99879803e-01 -1.05316659e-02 -1.13782090e-02 1.49349551e+02] [ 1.05315100e-02 9.99944539e-01 -7.36271673e-05 6.21861239e-01] [ 1.13783534e-02 -4.62114037e-05 9.99935263e-01 6.26864690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.299254154 meters 0.014834770955166866 Centerline is valid? [True, True] Translation: X:149.41, Y:0.63, Z:0.62 [[ 9.99927016e-01 -1.06404670e-03 -1.20345622e-02 1.49407748e+02] [ 1.06318130e-03 9.99999432e-01 -7.83067934e-05 6.29488709e-01] [ 1.20346387e-02 6.55061567e-05 9.99927579e-01 6.24541914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.359254154 meters 0.015000296458543887 Centerline is valid? [True, True] Translation: X:149.47, Y:0.63, Z:0.63 [[ 9.99921609e-01 3.91843745e-03 -1.18920706e-02 1.49466890e+02] [-3.91966143e-03 9.99992315e-01 -7.96187140e-05 6.32134283e-01] [ 1.18916672e-02 1.26225363e-04 9.99929284e-01 6.25423260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.41925415400001 meters 0.01531277838560743 Centerline is valid? [True, True] Translation: X:149.53, Y:0.63, Z:0.63 [[ 9.99914355e-01 6.16899133e-03 -1.15423822e-02 1.49525093e+02] [-6.17031835e-03 9.99980960e-01 -7.93612166e-05 6.34460462e-01] [ 1.15416728e-02 1.50574592e-04 9.99933381e-01 6.25570267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.47925415400002 meters 0.01581333313628766 Centerline is valid? [True, True] Translation: X:149.58, Y:0.64, Z:0.63 [[ 9.99882635e-01 1.03779685e-02 -1.12700474e-02 1.49583805e+02] [-1.03795275e-02 9.99946128e-01 -7.98480689e-05 6.36787683e-01] [ 1.12686116e-02 1.96816464e-04 9.99936488e-01 6.25874138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.539254154 meters 0.016081648372460892 Centerline is valid? [True, True] Translation: X:149.64, Y:0.64, Z:0.63 [[ 9.99878383e-01 1.14149328e-02 -1.06263237e-02 1.49642489e+02] [-1.14163935e-02 9.99934828e-01 -7.68091586e-05 6.37725986e-01] [ 1.06247544e-02 1.98114110e-04 9.99943536e-01 6.25919880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.599254154 meters 0.01582693612276578 Centerline is valid? [True, True] Translation: X:149.70, Y:0.63, Z:0.63 [[ 9.99931006e-01 8.14242060e-03 -8.46662093e-03 1.49700011e+02] [-8.14323580e-03 9.99966841e-01 -6.18146452e-05 6.34411503e-01] [ 8.46583687e-03 1.30756071e-04 9.99964156e-01 6.26065564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.659254154 meters 0.016288167818965672 Centerline is valid? [True, True] Translation: X:149.76, Y:0.62, Z:0.63 [[ 9.99981127e-01 -5.97892029e-04 -6.11453571e-03 1.49759327e+02] [ 5.97627346e-04 9.99999820e-01 -4.51146174e-05 6.23311693e-01] [ 6.11456158e-03 4.14595522e-05 9.99981305e-01 6.27444312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.719254154 meters 0.013854252936858245 Centerline is valid? [True, True] Translation: X:149.82, Y:0.62, Z:0.63 [[ 9.99955751e-01 -7.61534395e-03 -5.52283240e-03 1.49818186e+02] [ 7.61523216e-03 9.99971003e-01 -4.12696360e-05 6.15867506e-01] [ 5.52298654e-03 -7.89841088e-07 9.99984748e-01 6.28215386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.779254154 meters 0.014346662010415893 Centerline is valid? [True, True] Translation: X:149.88, Y:0.60, Z:0.63 [[ 9.99845918e-01 -1.62549014e-02 -6.62710233e-03 1.49877543e+02] [ 1.62549274e-02 9.99867879e-01 -4.99458717e-05 6.03320300e-01] [ 6.62703862e-03 -5.77848913e-05 9.99978039e-01 6.27686482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.839254154 meters 0.014519244554799412 Centerline is valid? [True, True] Translation: X:149.94, Y:0.60, Z:0.63 [[ 9.99788559e-01 -1.90700540e-02 -7.69218201e-03 1.49940050e+02] [ 1.90701735e-02 9.99818146e-01 -5.78228397e-05 5.97295961e-01] [ 7.69188584e-03 -8.88806319e-05 9.99970413e-01 6.27399427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.899254154 meters 0.014568556031384712 Centerline is valid? [True, True] Translation: X:150.00, Y:0.59, Z:0.63 [[ 9.99790348e-01 -1.86826961e-02 -8.37953061e-03 1.50002645e+02] [ 1.86828297e-02 9.99825459e-01 -6.23467182e-05 5.89778922e-01] [ 8.37923284e-03 -9.42196959e-05 9.99964889e-01 6.27252665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.959254154 meters 0.014272395522567533 Centerline is valid? [True, True] Translation: X:150.06, Y:0.59, Z:0.63 [[ 9.99845255e-01 -1.56125345e-02 -8.10647176e-03 1.50064105e+02] [ 1.56125622e-02 9.99878115e-01 -5.98674489e-05 5.87532705e-01] [ 8.10641839e-03 -6.67046100e-05 9.99967140e-01 6.27764071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.019254154 meters 0.01390269622449341 Centerline is valid? [True, True] Translation: X:150.13, Y:0.59, Z:0.63 [[ 9.99925514e-01 -8.71613354e-03 -8.54376749e-03 1.50125286e+02] [ 8.71591532e-03 9.99962014e-01 -6.27758564e-05 5.87026810e-01] [ 8.54399011e-03 -1.16955735e-05 9.99963499e-01 6.27909603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.079254154 meters 0.013879658498085746 Centerline is valid? [True, True] Translation: X:150.18, Y:0.59, Z:0.63 [[ 9.99947671e-01 -3.35075762e-03 -9.66576701e-03 1.50184882e+02] [ 3.35022752e-03 9.99994385e-01 -7.10345484e-05 5.87073403e-01] [ 9.66595076e-03 3.86483126e-05 9.99953283e-01 6.27676392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.139254154 meters 0.014311186556165497 Centerline is valid? [True, True] Translation: X:150.24, Y:0.58, Z:0.63 [[ 9.99947834e-01 1.63818190e-03 -1.00819622e-02 1.50243231e+02] [-1.63902886e-03 9.99998654e-01 -7.57452918e-05 5.84593065e-01] [ 1.00818246e-02 9.22659675e-05 9.99949173e-01 6.27413013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.19925415400002 meters 0.014463282879730609 Centerline is valid? [True, True] Translation: X:150.30, Y:0.58, Z:0.63 [[ 9.99952467e-01 1.79346485e-03 -9.58366058e-03 1.50299906e+02] [-1.79425410e-03 9.99998388e-01 -7.37560934e-05 5.81466046e-01] [ 9.58351285e-03 9.09481098e-05 9.99954073e-01 6.27586922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.259254154 meters 0.014102529965278762 Centerline is valid? [True, True] Translation: X:150.36, Y:0.57, Z:0.63 [[ 9.99932161e-01 -1.96014147e-03 -1.14817478e-02 1.50359264e+02] [ 1.95923821e-03 9.99998077e-01 -8.99166944e-05 5.73110050e-01] [ 1.14819019e-02 6.74151156e-05 9.99934079e-01 6.26817226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.319254154 meters 0.01404156924918382 Centerline is valid? [True, True] Translation: X:150.42, Y:0.56, Z:0.62 [[ 9.99872245e-01 -7.37524793e-03 -1.41809176e-02 1.50418282e+02] [ 7.37439503e-03 9.99972802e-01 -1.12434656e-04 5.62397263e-01] [ 1.41813611e-02 7.84460376e-06 9.99899439e-01 6.24633651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.379254154 meters 0.014060059115889038 Centerline is valid? [True, True] Translation: X:150.48, Y:0.55, Z:0.63 [[ 9.99810791e-01 -1.25494752e-02 -1.48624643e-02 1.50476738e+02] [ 1.25490937e-02 9.99921250e-01 -1.18934857e-04 5.51827833e-01] [ 1.48627864e-02 -6.75981028e-05 9.99889540e-01 6.25615852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.439254154 meters 0.014312725912614446 Centerline is valid? [True, True] Translation: X:150.53, Y:0.55, Z:0.63 [[ 9.99793465e-01 -1.48445739e-02 -1.38804054e-02 1.50534794e+02] [ 1.48444199e-02 9.99889809e-01 -1.14132306e-04 5.46085537e-01] [ 1.38805702e-02 -9.19378324e-05 9.99903656e-01 6.26669533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.499254154 meters 0.014359425782758681 Centerline is valid? [True, True] Translation: X:150.59, Y:0.54, Z:0.63 [[ 9.99768965e-01 -1.68286953e-02 -1.33720733e-02 1.50592699e+02] [ 1.68286788e-02 9.99858381e-01 -1.13764419e-04 5.41217422e-01] [ 1.33720941e-02 -1.11296191e-04 9.99910583e-01 6.28119342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.559254154 meters 0.014613880508003104 Centerline is valid? [True, True] Translation: X:150.65, Y:0.53, Z:0.63 [[ 9.99741564e-01 -1.83429532e-02 -1.34290941e-02 1.50650795e+02] [ 1.83430403e-02 9.99831745e-01 -1.16690151e-04 5.34739056e-01] [ 1.34289750e-02 -1.29670419e-04 9.99909819e-01 6.28760337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.619254154 meters 0.015021376568104374 Centerline is valid? [True, True] Translation: X:150.71, Y:0.53, Z:0.63 [[ 9.99674724e-01 -2.13415626e-02 -1.39636878e-02 1.50709577e+02] [ 2.13419080e-02 9.99772228e-01 -1.24292270e-04 5.28068855e-01] [ 1.39631598e-02 -1.73759900e-04 9.99902495e-01 6.28411679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.679254154 meters 0.01662381561203013 Centerline is valid? [True, True] Translation: X:150.77, Y:0.52, Z:0.63 [[ 9.99622210e-01 -2.36891979e-02 -1.39377021e-02 1.50768577e+02] [ 2.36897481e-02 9.99719351e-01 -1.25643564e-04 5.22214860e-01] [ 1.39367669e-02 -2.04584556e-04 9.99902858e-01 6.27927247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.739254154 meters 0.016729748097547705 Centerline is valid? [True, True] Translation: X:150.83, Y:0.52, Z:0.63 [[ 9.99501457e-01 -2.80114618e-02 -1.45669585e-02 1.50827842e+02] [ 2.80125102e-02 9.99607564e-01 -1.32107521e-04 5.17959170e-01] [ 1.45649424e-02 -2.76015413e-04 9.99893888e-01 6.29054310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.799254154 meters 0.01664729449189016 Centerline is valid? [True, True] Translation: X:150.89, Y:0.51, Z:0.63 [[ 9.99406420e-01 -3.11521483e-02 -1.47088679e-02 1.50887222e+02] [ 3.11535480e-02 9.99514601e-01 -1.34011511e-04 5.14560246e-01] [ 1.47059030e-02 -3.24301458e-04 9.99891810e-01 6.29075205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.859254154 meters 0.01789427986934953 Centerline is valid? [True, True] Translation: X:150.95, Y:0.51, Z:0.63 [[ 9.99239358e-01 -3.56998223e-02 -1.56916681e-02 1.50947645e+02] [ 3.57019730e-02 9.99362471e-01 -1.43136902e-04 5.09323974e-01] [ 1.56867742e-02 -4.17195487e-04 9.99876868e-01 6.27969643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.91925415400001 meters 0.019078593463258554 Centerline is valid? [True, True] Translation: X:151.01, Y:0.51, Z:0.63 [[ 9.99152696e-01 -3.79526029e-02 -1.59213973e-02 1.51008569e+02] [ 3.79551028e-02 9.99279435e-01 -1.45232454e-04 5.06781175e-01] [ 1.59154368e-02 -4.59188871e-04 9.99873236e-01 6.27601335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.97925415400002 meters 0.0196899659989644 Centerline is valid? [True, True] Translation: X:151.07, Y:0.51, Z:0.63 [[ 9.99073327e-01 -4.03774026e-02 -1.49048154e-02 1.51069536e+02] [ 4.03798658e-02 9.99184391e-01 -1.35769485e-04 5.06137101e-01] [ 1.48981410e-02 -4.66210777e-04 9.99888908e-01 6.28229458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.039254154 meters 0.0206201218048906 Centerline is valid? [True, True] Translation: X:151.13, Y:0.51, Z:0.63 [[ 9.99033402e-01 -4.16588578e-02 -1.40285868e-02 1.51130478e+02] [ 4.16611719e-02 9.99131788e-01 -1.27369573e-04 5.06114956e-01] [ 1.40217131e-02 -4.57200909e-04 9.99901586e-01 6.29347896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.099254154 meters 0.02059242811574163 Centerline is valid? [True, True] Translation: X:151.19, Y:0.51, Z:0.63 [[ 9.98995345e-01 -4.33233693e-02 -1.14623664e-02 1.51191454e+02] [ 4.33250280e-02 9.99061025e-01 -1.03685231e-04 5.08686047e-01] [ 1.14560955e-02 -3.93026283e-04 9.99934300e-01 6.31534651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.159254154 meters 0.02324223696910862 Centerline is valid? [True, True] Translation: X:151.25, Y:0.51, Z:0.63 [[ 9.98990711e-01 -4.38132936e-02 -9.89716780e-03 1.51252389e+02] [ 4.38145619e-02 9.99039677e-01 -8.87438688e-05 5.06425857e-01] [ 9.89155148e-03 -3.44985770e-04 9.99951018e-01 6.31899828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.219254154 meters 0.021880700026438864 Centerline is valid? [True, True] Translation: X:151.31, Y:0.51, Z:0.63 [[ 9.99023018e-01 -4.33892148e-02 -8.38955643e-03 1.51314658e+02] [ 4.33901173e-02 9.99058203e-01 -7.45049596e-05 5.12462118e-01] [ 8.38488788e-03 -2.89591668e-04 9.99964804e-01 6.32731027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.279254154 meters 0.021706095913520785 Centerline is valid? [True, True] Translation: X:151.38, Y:0.51, Z:0.63 [[ 9.99074380e-01 -4.22135040e-02 -8.27065316e-03 1.51377226e+02] [ 4.22143456e-02 9.99108575e-01 -7.28682129e-05 5.14559794e-01] [ 8.26635651e-03 -2.76339446e-04 9.99965795e-01 6.32688370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.339254154 meters 0.019042371555951104 Centerline is valid? [True, True] Translation: X:151.44, Y:0.52, Z:0.63 [[ 9.99251449e-01 -3.76369608e-02 -8.94430205e-03 1.51439079e+02] [ 3.76377676e-02 9.99291445e-01 -7.81731558e-05 5.24332041e-01] [ 8.94090672e-03 -2.58528922e-04 9.99959996e-01 6.32309744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.399254154 meters 0.019172104591566746 Centerline is valid? [True, True] Translation: X:151.50, Y:0.53, Z:0.63 [[ 9.99375786e-01 -3.40572672e-02 -9.38833994e-03 1.51499347e+02] [ 3.40580018e-02 9.99419855e-01 -8.16653397e-05 5.27661846e-01] [ 9.38567464e-03 -2.38133735e-04 9.99955925e-01 6.31375003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.459254154 meters 0.018449790335344957 Centerline is valid? [True, True] Translation: X:151.56, Y:0.53, Z:0.63 [[ 9.99522395e-01 -2.92987446e-02 -9.82673448e-03 1.51559728e+02] [ 2.92993212e-02 9.99570679e-01 -8.53024177e-05 5.33678096e-01] [ 9.82501491e-03 -2.02654973e-04 9.99951713e-01 6.30204373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.519254154 meters 0.016320343738051923 Centerline is valid? [True, True] Translation: X:151.62, Y:0.54, Z:0.63 [[ 9.99604580e-01 -2.63259132e-02 -9.88074632e-03 1.51621318e+02] [ 2.63263537e-02 9.99653398e-01 -8.54979380e-05 5.41833262e-01] [ 9.87957244e-03 -1.74659892e-04 9.99951181e-01 6.31170637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.579254154 meters 0.015621933012639056 Centerline is valid? [True, True] Translation: X:151.68, Y:0.55, Z:0.63 [[ 9.99664643e-01 -2.38516753e-02 -1.00845902e-02 1.51682767e+02] [ 2.38520121e-02 9.99715497e-01 -8.68923045e-05 5.48265817e-01] [ 1.00837936e-02 -1.53674603e-04 9.99949145e-01 6.31546523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.639254154 meters 0.01564776312228424 Centerline is valid? [True, True] Translation: X:151.74, Y:0.55, Z:0.63 [[ 9.99671076e-01 -2.35563065e-02 -1.01409971e-02 1.51743779e+02] [ 2.35566356e-02 9.99722500e-01 -8.70068418e-05 5.51160083e-01] [ 1.01402325e-02 -1.51909549e-04 9.99948575e-01 6.31887190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.69925415400002 meters 0.016816229491618397 Centerline is valid? [True, True] Translation: X:151.80, Y:0.55, Z:0.63 [[ 9.99576398e-01 -2.72676607e-02 -1.01734665e-02 1.51804488e+02] [ 2.72681868e-02 9.99628150e-01 -8.70207368e-05 5.50871245e-01] [ 1.01720563e-02 -1.90428109e-04 9.99948245e-01 6.32080889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.759254154 meters 0.017078186171531565 Centerline is valid? [True, True] Translation: X:151.87, Y:0.55, Z:0.63 [[ 9.99437791e-01 -3.22614078e-02 -9.12709561e-03 1.51866231e+02] [ 3.22620423e-02 9.99479442e-01 -7.77358387e-05 5.50539997e-01] [ 9.12485230e-03 -2.16766610e-04 9.99958344e-01 6.33291934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.819254154 meters 0.02020031539395118 Centerline is valid? [True, True] Translation: X:151.93, Y:0.54, Z:0.63 [[ 9.99158602e-01 -4.01681087e-02 -8.28320056e-03 1.51926127e+02] [ 4.01689067e-02 9.99192901e-01 -7.00731711e-05 5.44973299e-01] [ 8.27932991e-03 -2.62712899e-04 9.99965691e-01 6.33999495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.879254154 meters 0.02140898746419575 Centerline is valid? [True, True] Translation: X:151.99, Y:0.54, Z:0.63 [[ 9.99031104e-01 -4.30919117e-02 -8.94096657e-03 1.51988438e+02] [ 4.30929641e-02 9.99071064e-01 -7.50032325e-05 5.43823205e-01] [ 8.93589302e-03 -3.10362189e-04 9.99960026e-01 6.33583360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.939254154 meters 0.020333311775294564 Centerline is valid? [True, True] Translation: X:152.05, Y:0.55, Z:0.63 [[ 9.99075239e-01 -4.19382407e-02 -9.47894356e-03 1.52050452e+02] [ 4.19393784e-02 9.99120154e-01 -7.88101303e-05 5.48446722e-01] [ 9.47390871e-03 -3.18803751e-04 9.99955071e-01 6.33478382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.999254154 meters 0.018754672818563554 Centerline is valid? [True, True] Translation: X:152.11, Y:0.55, Z:0.63 [[ 9.99339868e-01 -3.53012166e-02 -8.58210118e-03 1.52111614e+02] [ 3.53019080e-02 9.99376691e-01 -7.09660629e-05 5.54040421e-01] [ 8.57925707e-03 -2.32045330e-04 9.99963171e-01 6.34753880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.059254154 meters 0.017214562426818344 Centerline is valid? [True, True] Translation: X:152.17, Y:0.56, Z:0.64 [[ 9.99517254e-01 -3.00453479e-02 -7.90799385e-03 1.52172806e+02] [ 3.00457722e-02 9.99548522e-01 -6.51720259e-05 5.59518417e-01] [ 7.90638168e-03 -1.72461217e-04 9.99968729e-01 6.35773241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.119254154 meters 0.016236376977265262 Centerline is valid? [True, True] Translation: X:152.23, Y:0.56, Z:0.64 [[ 9.99679694e-01 -2.41358544e-02 -7.61373913e-03 1.52233225e+02] [ 2.41360780e-02 9.99708680e-01 -6.25366503e-05 5.64537024e-01] [ 7.61303047e-03 -1.21249182e-04 9.99971013e-01 6.35437596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.179254154 meters 0.016001737715163496 Centerline is valid? [True, True] Translation: X:152.30, Y:0.57, Z:0.63 [[ 9.99700662e-01 -2.29041529e-02 -8.60148606e-03 1.52295872e+02] [ 2.29043959e-02 9.99737657e-01 -7.02685178e-05 5.65127603e-01] [ 8.60083896e-03 -1.26764358e-04 9.99963004e-01 6.34195726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.239254154 meters 0.01648161711086107 Centerline is valid? [True, True] Translation: X:152.36, Y:0.56, Z:0.63 [[ 9.99610269e-01 -2.58548994e-02 -1.05277928e-02 1.52358478e+02] [ 2.58554355e-02 9.99665689e-01 -8.51957302e-05 5.64077404e-01] [ 1.05264760e-02 -1.87038141e-04 9.99944578e-01 6.33146027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.299254154 meters 0.018008753457110192 Centerline is valid? [True, True] Translation: X:152.42, Y:0.56, Z:0.63 [[ 9.99487191e-01 -2.98062315e-02 -1.17022616e-02 1.52418721e+02] [ 2.98071702e-02 9.99555663e-01 -9.42259820e-05 5.61164350e-01] [ 1.16998703e-02 -2.54633640e-04 9.99931522e-01 6.32682210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.359254154 meters 0.01983806528551447 Centerline is valid? [True, True] Translation: X:152.48, Y:0.56, Z:0.63 [[ 9.99255551e-01 -3.66083298e-02 -1.21726905e-02 1.52480205e+02] [ 3.66098540e-02 9.99329630e-01 -9.76627423e-05 5.57113856e-01] [ 1.21681056e-02 -3.48050385e-04 9.99925905e-01 6.33468791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.41925415400001 meters 0.021236390423300364 Centerline is valid? [True, True] Translation: X:152.54, Y:0.55, Z:0.63 [[ 9.99126920e-01 -4.01698023e-02 -1.14797532e-02 1.52541831e+02] [ 4.01713987e-02 9.99192799e-01 -9.15887449e-05 5.54711261e-01] [ 1.14741658e-02 -3.69648962e-04 9.99934101e-01 6.34497922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.47925415400002 meters 0.0217618358233341 Centerline is valid? [True, True] Translation: X:152.60, Y:0.55, Z:0.64 [[ 9.99023824e-01 -4.31222104e-02 -9.58504953e-03 1.52603738e+02] [ 4.31234643e-02 9.99069748e-01 -7.59122328e-05 5.54550247e-01] [ 9.57940652e-03 -3.37502412e-04 9.99954059e-01 6.36659534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.539254154 meters 0.02138352458058828 Centerline is valid? [True, True] Translation: X:152.67, Y:0.56, Z:0.64 [[ 9.99102238e-01 -4.14562473e-02 -8.72341454e-03 1.52665613e+02] [ 4.14572276e-02 9.99140277e-01 -6.84975525e-05 5.57653647e-01] [ 8.71875448e-03 -2.93212524e-04 9.99961948e-01 6.37247506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.599254154 meters 0.02041986138419828 Centerline is valid? [True, True] Translation: X:152.73, Y:0.56, Z:0.64 [[ 9.99226903e-01 -3.84044698e-02 -8.40789044e-03 1.52727163e+02] [ 3.84052762e-02 9.99262243e-01 -6.55784603e-05 5.60747658e-01] [ 8.40420597e-03 -2.57379593e-04 9.99964651e-01 6.37904923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.659254154 meters 0.01882847784477506 Centerline is valid? [True, True] Translation: X:152.79, Y:0.57, Z:0.64 [[ 9.99398716e-01 -3.35241610e-02 -8.85085812e-03 1.52789027e+02] [ 3.35248669e-02 9.99437881e-01 -6.86374670e-05 5.66666158e-01] [ 8.84818390e-03 -2.28127644e-04 9.99960828e-01 6.38308014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.719254154 meters 0.018097426176965768 Centerline is valid? [True, True] Translation: X:152.85, Y:0.57, Z:0.64 [[ 9.99486654e-01 -3.05440758e-02 -9.66893304e-03 1.52850845e+02] [ 3.05447839e-02 9.99533396e-01 -7.44583883e-05 5.69970952e-01] [ 9.66669574e-03 -2.20915305e-04 9.99953252e-01 6.37989255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.779254154 meters 0.017412217119212522 Centerline is valid? [True, True] Translation: X:152.91, Y:0.57, Z:0.64 [[ 9.99562393e-01 -2.71141031e-02 -1.18257541e-02 1.52911740e+02] [ 2.71149288e-02 9.99632319e-01 -9.05397651e-05 5.74567750e-01] [ 1.18238609e-02 -2.30154337e-04 9.99930069e-01 6.35211115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.839254154 meters 0.016767567341834266 Centerline is valid? [True, True] Translation: X:152.97, Y:0.58, Z:0.63 [[ 9.99596910e-01 -2.52125757e-02 -1.30515832e-02 1.52973330e+02] [ 2.52134253e-02 9.99682086e-01 -9.94709270e-05 5.77883944e-01] [ 1.30499419e-02 -2.29644288e-04 9.99914820e-01 6.34137710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.899254154 meters 0.015285547745217213 Centerline is valid? [True, True] Translation: X:153.03, Y:0.58, Z:0.63 [[ 9.99625752e-01 -2.27667931e-02 -1.51666895e-02 1.53034622e+02] [ 2.27676675e-02 9.99740776e-01 -1.15032934e-04 5.84757217e-01] [ 1.51653768e-02 -2.30320260e-04 9.99884973e-01 6.34046736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.959254154 meters 0.014863085030659149 Centerline is valid? [True, True] Translation: X:153.09, Y:0.59, Z:0.64 [[ 9.99642121e-01 -2.17641196e-02 -1.55548579e-02 1.53094533e+02] [ 2.17649141e-02 9.99763109e-01 -1.18225427e-04 5.88565161e-01] [ 1.55537462e-02 -2.20367030e-04 9.99879009e-01 6.35341385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.019254154 meters 0.014811804315881635 Centerline is valid? [True, True] Translation: X:153.15, Y:0.59, Z:0.64 [[ 9.99681682e-01 -2.10757322e-02 -1.38689392e-02 1.53154395e+02] [ 2.10762907e-02 9.99777865e-01 -1.05899620e-04 5.91794215e-01] [ 1.38680904e-02 -1.86439885e-04 9.99903816e-01 6.37989401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.079254154 meters 0.014886586485375667 Centerline is valid? [True, True] Translation: X:153.21, Y:0.59, Z:0.64 [[ 9.99680169e-01 -2.19649362e-02 -1.25340366e-02 1.53213749e+02] [ 2.19654568e-02 9.99758726e-01 -9.61442532e-05 5.92578326e-01] [ 1.25331243e-02 -1.79202337e-04 9.99921441e-01 6.39080638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.139254154 meters 0.01574120279435525 Centerline is valid? [True, True] Translation: X:153.27, Y:0.59, Z:0.64 [[ 9.99592255e-01 -2.57120928e-02 -1.24181973e-02 1.53274382e+02] [ 2.57128909e-02 9.99669364e-01 -9.54129002e-05 5.91547790e-01] [ 1.24165447e-02 -2.23933757e-04 9.99922887e-01 6.38899488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.19925415400002 meters 0.01720781535343213 Centerline is valid? [True, True] Translation: X:153.33, Y:0.59, Z:0.64 [[ 9.99480879e-01 -2.95696209e-02 -1.27910075e-02 1.53334315e+02] [ 2.95707926e-02 9.99562684e-01 -9.75574299e-05 5.88995127e-01] [ 1.27882985e-02 -2.80733444e-04 9.99918187e-01 6.38321057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.259254154 meters 0.018837917912795647 Centerline is valid? [True, True] Translation: X:153.40, Y:0.59, Z:0.64 [[ 9.99358993e-01 -3.32049655e-02 -1.33803185e-02 1.53395219e+02] [ 3.32065827e-02 9.99448504e-01 -1.01344068e-04 5.86449050e-01] [ 1.33763045e-02 -3.43035549e-04 9.99910474e-01 6.38108942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.319254154 meters 0.019617606654476205 Centerline is valid? [True, True] Translation: X:153.46, Y:0.59, Z:0.64 [[ 9.99259441e-01 -3.58318401e-02 -1.40231485e-02 1.53456180e+02] [ 3.58338795e-02 9.99357755e-01 -1.05885657e-04 5.85936693e-01] [ 1.40179363e-02 -3.96696572e-04 9.99901665e-01 6.38423847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.379254154 meters 0.021452418457197597 Centerline is valid? [True, True] Translation: X:153.52, Y:0.58, Z:0.64 [[ 9.99187659e-01 -3.73325673e-02 -1.51757147e-02 1.53516936e+02] [ 3.73351356e-02 9.99302794e-01 -1.14136329e-04 5.84923623e-01] [ 1.51693951e-02 -4.52543755e-04 9.99884836e-01 6.37398348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.439254154 meters 0.01853307793515323 Centerline is valid? [True, True] Translation: X:153.58, Y:0.59, Z:0.64 [[ 9.99192589e-01 -3.66685402e-02 -1.64191547e-02 1.53579484e+02] [ 3.66714742e-02 9.99327368e-01 -1.22447452e-04 5.91797766e-01] [ 1.64126006e-02 -4.79766020e-04 9.99865189e-01 6.38768265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.499254154 meters 0.01842174369802591 Centerline is valid? [True, True] Translation: X:153.64, Y:0.60, Z:0.64 [[ 9.99254384e-01 -3.40292455e-02 -1.82397027e-02 1.53639815e+02] [ 3.40324382e-02 9.99420720e-01 -1.35419679e-04 5.95172647e-01] [ 1.82337451e-02 -4.85422849e-04 9.99833634e-01 6.37379709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.559254154 meters 0.017884813252883075 Centerline is valid? [True, True] Translation: X:153.70, Y:0.60, Z:0.64 [[ 9.99349312e-01 -3.09497403e-02 -1.85220275e-02 1.53699046e+02] [ 3.09525008e-02 9.99520847e-01 -1.37683085e-04 5.98756787e-01] [ 1.85174139e-02 -4.35709574e-04 9.99828443e-01 6.37554225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.619254154 meters 0.016992837731646126 Centerline is valid? [True, True] Translation: X:153.76, Y:0.60, Z:0.64 [[ 9.99440275e-01 -2.74894269e-02 -1.90648397e-02 1.53759657e+02] [ 2.74917209e-02 9.99622021e-01 -1.41797405e-04 6.04116938e-01] [ 1.90615315e-02 -3.82407214e-04 9.99818239e-01 6.38902727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.679254154 meters 0.016900496780673412 Centerline is valid? [True, True] Translation: X:153.82, Y:0.61, Z:0.64 [[ 9.99461204e-01 -2.63114788e-02 -1.96215904e-02 1.53818825e+02] [ 2.63136717e-02 9.99653725e-01 -1.46460716e-04 6.05862643e-01] [ 1.96186496e-02 -3.69934285e-04 9.99807467e-01 6.38933575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.739254154 meters 0.016383935860636765 Centerline is valid? [True, True] Translation: X:153.88, Y:0.61, Z:0.64 [[ 9.99428199e-01 -2.76673083e-02 -1.94369491e-02 1.53877700e+02] [ 2.76696393e-02 9.99617111e-01 -1.49046620e-04 6.08288824e-01] [ 1.94336307e-02 -3.88851976e-04 9.99811074e-01 6.41344092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.799254154 meters 0.018740814120973382 Centerline is valid? [True, True] Translation: X:153.94, Y:0.60, Z:0.64 [[ 9.99360956e-01 -3.01060685e-02 -1.92692736e-02 1.53936074e+02] [ 3.01087707e-02 9.99546617e-01 -1.49931415e-04 6.04644946e-01] [ 1.92650510e-02 -4.30338537e-04 9.99814319e-01 6.39899003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.859254154 meters 0.019990866124910838 Centerline is valid? [True, True] Translation: X:154.00, Y:0.60, Z:0.64 [[ 9.99298135e-01 -3.23227683e-02 -1.89334709e-02 1.53996019e+02] [ 3.23257598e-02 9.99477375e-01 -1.48105451e-04 6.03382027e-01] [ 1.89283630e-02 -4.64037331e-04 9.99820735e-01 6.39894799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.91925415400001 meters 0.017674810471852286 Centerline is valid? [True, True] Translation: X:154.06, Y:0.61, Z:0.64 [[ 9.99235019e-01 -3.42744851e-02 -1.88318124e-02 1.54056715e+02] [ 3.42777881e-02 9.99412333e-01 -1.47454063e-04 6.09586179e-01] [ 1.88257995e-02 -4.98171613e-04 9.99822655e-01 6.43579918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.97925415400002 meters 0.017410482392702688 Centerline is valid? [True, True] Translation: X:154.12, Y:0.61, Z:0.64 [[ 9.99263841e-01 -3.38001235e-02 -1.81474106e-02 1.54117826e+02] [ 3.38031218e-02 9.99428501e-01 -1.41586662e-04 6.12695237e-01] [ 1.81418250e-02 -4.71956698e-04 9.99835312e-01 6.44321952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.039254154 meters 0.017907678091559857 Centerline is valid? [True, True] Translation: X:154.18, Y:0.61, Z:0.64 [[ 9.99306455e-01 -3.30267360e-02 -1.72000882e-02 1.54178567e+02] [ 3.30293215e-02 9.99454374e-01 -1.33808703e-04 6.13429375e-01] [ 1.71951227e-02 -4.34391343e-04 9.99852059e-01 6.44389249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.099254154 meters 0.017462779657466676 Centerline is valid? [True, True] Translation: X:154.24, Y:0.62, Z:0.64 [[ 9.99371338e-01 -3.18743513e-02 -1.55226791e-02 1.54240269e+02] [ 3.18763255e-02 9.99491814e-01 -1.20285129e-04 6.15513072e-01] [ 1.55186246e-02 -3.74596459e-04 9.99879509e-01 6.44304066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.159254154 meters 0.017293511388745436 Centerline is valid? [True, True] Translation: X:154.30, Y:0.62, Z:0.64 [[ 9.99381740e-01 -3.15149631e-02 -1.55866860e-02 1.54301275e+02] [ 3.15169188e-02 9.99503211e-01 -1.20213756e-04 6.17191455e-01] [ 1.55827313e-02 -3.71104885e-04 9.99878513e-01 6.44207850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.219254154 meters 0.017728916918320427 Centerline is valid? [True, True] Translation: X:154.36, Y:0.62, Z:0.64 [[ 9.99388359e-01 -3.15791197e-02 -1.50221904e-02 1.54361301e+02] [ 3.15809487e-02 9.99501191e-01 -1.15514952e-04 6.17158314e-01] [ 1.50183450e-02 -3.58970725e-04 9.99887154e-01 6.43776820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.279254154 meters 0.017657235000096982 Centerline is valid? [True, True] Translation: X:154.42, Y:0.62, Z:0.64 [[ 9.99349794e-01 -3.28277658e-02 -1.49106453e-02 1.54422471e+02] [ 3.28297135e-02 9.99460953e-01 -1.14195315e-04 6.17550549e-01] [ 1.49063566e-02 -3.75391150e-04 9.99888824e-01 6.44352567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.339254154 meters 0.019698239220384793 Centerline is valid? [True, True] Translation: X:154.48, Y:0.61, Z:0.64 [[ 9.99275930e-01 -3.50083690e-02 -1.49006505e-02 1.54483885e+02] [ 3.50105746e-02 9.99386936e-01 -1.12886506e-04 6.13882736e-01] [ 1.48954674e-02 -4.08875567e-04 9.99888973e-01 6.43498599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.399254154 meters 0.019227484642464324 Centerline is valid? [True, True] Translation: X:154.55, Y:0.61, Z:0.64 [[ 9.99126047e-01 -3.88640153e-02 -1.53860522e-02 1.54545004e+02] [ 3.88668370e-02 9.99244392e-01 -1.15698189e-04 6.14303233e-01] [ 1.53789228e-02 -4.82410107e-04 9.99881621e-01 6.44315312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.459254154 meters 0.020530381771360004 Centerline is valid? [True, True] Translation: X:154.61, Y:0.61, Z:0.64 [[ 9.98991819e-01 -4.23286339e-02 -1.49543149e-02 1.54606553e+02] [ 4.23316979e-02 9.99103606e-01 -1.11730755e-04 6.12714803e-01] [ 1.49456394e-02 -5.21423430e-04 9.99888172e-01 6.44663307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.519254154 meters 0.02091588013151463 Centerline is valid? [True, True] Translation: X:154.67, Y:0.61, Z:0.65 [[ 9.98981658e-01 -4.29383086e-02 -1.38545646e-02 1.54668824e+02] [ 4.29410096e-02 9.99077604e-01 -1.02606506e-04 6.13002908e-01] [ 1.38461910e-02 -4.92426974e-04 9.99904016e-01 6.45701576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.579254154 meters 0.019592037324088006 Centerline is valid? [True, True] Translation: X:154.73, Y:0.62, Z:0.65 [[ 9.99134090e-01 -3.95576711e-02 -1.28942193e-02 1.54730166e+02] [ 3.95597372e-02 9.99217203e-01 -9.48821119e-05 6.17679948e-01] [ 1.28878790e-02 -4.15291973e-04 9.99916862e-01 6.48130452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.639254154 meters 0.01853347351154738 Centerline is valid? [True, True] Translation: X:154.79, Y:0.62, Z:0.65 [[ 9.99288086e-01 -3.57049504e-02 -1.21851307e-02 1.54791598e+02] [ 3.57065147e-02 9.99362315e-01 -8.92244016e-05 6.21227876e-01] [ 1.21805462e-02 -3.45927667e-04 9.99925755e-01 6.49605763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.69925415400002 meters 0.017716494819449348 Centerline is valid? [True, True] Translation: X:154.85, Y:0.62, Z:0.65 [[ 9.99399431e-01 -3.24637574e-02 -1.21194747e-02 1.54853515e+02] [ 3.24650738e-02 9.99472867e-01 -8.81559207e-05 6.24079477e-01] [ 1.21159480e-02 -3.05356662e-04 9.99926553e-01 6.49912460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.759254154 meters 0.017562564044244756 Centerline is valid? [True, True] Translation: X:154.91, Y:0.62, Z:0.65 [[ 9.99462061e-01 -2.97559847e-02 -1.37902427e-02 1.54914455e+02] [ 2.97574423e-02 9.99557144e-01 -9.95218018e-05 6.24945478e-01] [ 1.37870969e-02 -3.10894086e-04 9.99904905e-01 6.48319001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.819254154 meters 0.017697001329192146 Centerline is valid? [True, True] Translation: X:154.98, Y:0.62, Z:0.65 [[ 9.99468908e-01 -2.89426424e-02 -1.49741441e-02 1.54975791e+02] [ 2.89442795e-02 9.99581021e-01 -1.07429300e-04 6.24826039e-01] [ 1.49709795e-02 -3.26043566e-04 9.99887875e-01 6.47152575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.879254154 meters 0.0170346764086055 Centerline is valid? [True, True] Translation: X:155.04, Y:0.63, Z:0.65 [[ 9.99471202e-01 -2.82428290e-02 -1.61139197e-02 1.55036780e+02] [ 2.82446435e-02 9.99601034e-01 -1.15008385e-04 6.26206404e-01] [ 1.61107389e-02 -3.40184349e-04 9.99870156e-01 6.47625312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.939254154 meters 0.017837904286555902 Centerline is valid? [True, True] Translation: X:155.10, Y:0.62, Z:0.65 [[ 9.99454643e-01 -2.86707210e-02 -1.63830926e-02 1.55096838e+02] [ 2.86726682e-02 9.99588848e-01 -1.16070026e-04 6.24803211e-01] [ 1.63796844e-02 -3.53740251e-04 9.99865781e-01 6.47111284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.999254154 meters 0.01786859700665472 Centerline is valid? [True, True] Translation: X:155.16, Y:0.63, Z:0.65 [[ 9.99463921e-01 -2.79783269e-02 -1.70024689e-02 1.55158506e+02] [ 2.79803360e-02 9.99608467e-01 -1.19751819e-04 6.25192416e-01] [ 1.69991623e-02 -3.56047171e-04 9.99855440e-01 6.47237959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.059254154 meters 0.018074934436687572 Centerline is valid? [True, True] Translation: X:155.22, Y:0.63, Z:0.65 [[ 9.99481709e-01 -2.70053365e-02 -1.75221280e-02 1.55219458e+02] [ 2.70073237e-02 9.99635228e-01 -1.23253082e-04 6.26955939e-01] [ 1.75190649e-02 -3.50036582e-04 9.99846468e-01 6.47829671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.119254154 meters 0.016944557828744374 Centerline is valid? [True, True] Translation: X:155.28, Y:0.63, Z:0.65 [[ 9.99516089e-01 -2.58404856e-02 -1.73164011e-02 1.55279529e+02] [ 2.58422517e-02 9.99666026e-01 -1.21805970e-04 6.29334314e-01] [ 1.73137654e-02 -3.25747768e-04 9.99850052e-01 6.49214345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.179254154 meters 0.01643236210727441 Centerline is valid? [True, True] Translation: X:155.34, Y:0.63, Z:0.65 [[ 9.99544331e-01 -2.51524643e-02 -1.66878584e-02 1.55339653e+02] [ 2.51540048e-02 9.99683581e-01 -1.17609467e-04 6.30927727e-01] [ 1.66855362e-02 -3.02210595e-04 9.99860741e-01 6.50589056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.239254154 meters 0.017843329448550615 Centerline is valid? [True, True] Translation: X:155.40, Y:0.63, Z:0.65 [[ 9.99552251e-01 -2.44446164e-02 -1.72556474e-02 1.55400388e+02] [ 2.44461567e-02 9.99701141e-01 -1.21694266e-04 6.31503072e-01] [ 1.72534652e-02 -3.00194484e-04 9.99851103e-01 6.50805536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.299254154 meters 0.016211809115351788 Centerline is valid? [True, True] Translation: X:155.46, Y:0.63, Z:0.65 [[ 9.99558969e-01 -2.39515333e-02 -1.75553997e-02 1.55460347e+02] [ 2.39530431e-02 9.99713077e-01 -1.24286951e-04 6.32963173e-01] [ 1.75533395e-02 -2.96273110e-04 9.99845884e-01 6.51310359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.359254154 meters 0.015822686224541874 Centerline is valid? [True, True] Translation: X:155.52, Y:0.63, Z:0.65 [[ 9.99628492e-01 -2.11100764e-02 -1.72407112e-02 1.55519950e+02] [ 2.11110994e-02 9.99777128e-01 -1.22679041e-04 6.34810016e-01] [ 1.72394585e-02 -2.41336905e-04 9.99851360e-01 6.51853442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.41925415400001 meters 0.01541716124838668 Centerline is valid? [True, True] Translation: X:155.58, Y:0.64, Z:0.65 [[ 9.99688518e-01 -1.84238596e-02 -1.68353369e-02 1.55578665e+02] [ 1.84243976e-02 9.99830249e-01 -1.23156373e-04 6.36942914e-01] [ 1.68347481e-02 -1.87062929e-04 9.99858268e-01 6.53658222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.47925415400002 meters 0.015269796052175068 Centerline is valid? [True, True] Translation: X:155.64, Y:0.64, Z:0.65 [[ 9.99743274e-01 -1.53513219e-02 -1.66650489e-02 1.55636720e+02] [ 1.53513851e-02 9.99882153e-01 -1.24142940e-04 6.38694976e-01] [ 1.66649907e-02 -1.31720514e-04 9.99861121e-01 6.54048587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.539254154 meters 0.015000149535967029 Centerline is valid? [True, True] Translation: X:155.69, Y:0.64, Z:0.65 [[ 9.99755797e-01 -1.27273826e-02 -1.80654398e-02 1.55694784e+02] [ 1.27269496e-02 9.99918999e-01 -1.38942032e-04 6.40977139e-01] [ 1.80657448e-02 -9.10098389e-05 9.99836797e-01 6.53261281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.599254154 meters 0.015131071840510768 Centerline is valid? [True, True] Translation: X:155.75, Y:0.64, Z:0.65 [[ 9.99734603e-01 -1.30017055e-02 -1.90178820e-02 1.55753680e+02] [ 1.30011799e-02 9.99915470e-01 -1.51278601e-04 6.40025960e-01] [ 1.90182413e-02 -9.60164543e-05 9.99819132e-01 6.52882294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.659254154 meters 0.015534344685292677 Centerline is valid? [True, True] Translation: X:155.81, Y:0.63, Z:0.65 [[ 9.99685878e-01 -1.66590402e-02 -1.87248746e-02 1.55811416e+02] [ 1.66591280e-02 9.99861216e-01 -1.51302897e-04 6.34900162e-01] [ 1.87247965e-02 -1.60684714e-04 9.99824663e-01 6.52086387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.719254154 meters 0.015873677574362005 Centerline is valid? [True, True] Translation: X:155.87, Y:0.63, Z:0.65 [[ 9.99630301e-01 -2.01834193e-02 -1.82178772e-02 1.55869938e+02] [ 2.01840181e-02 9.99796271e-01 -1.51017525e-04 6.31274901e-01] [ 1.82172137e-02 -2.16748269e-04 9.99834029e-01 6.52818976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.779254154 meters 0.016505274435918992 Centerline is valid? [True, True] Translation: X:155.93, Y:0.63, Z:0.65 [[ 9.99524017e-01 -2.58151528e-02 -1.68913668e-02 1.55928927e+02] [ 2.58163991e-02 9.99666691e-01 -1.44303549e-04 6.27476233e-01] [ 1.68894619e-02 -2.91839404e-04 9.99857320e-01 6.54604016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.839254154 meters 0.017417279941041884 Centerline is valid? [True, True] Translation: X:155.99, Y:0.62, Z:0.65 [[ 9.99456428e-01 -2.86948450e-02 -1.62312861e-02 1.55988897e+02] [ 2.86963539e-02 9.99588165e-01 -1.39988231e-04 6.22174837e-01] [ 1.62286185e-02 -3.25866593e-04 9.99868254e-01 6.53352233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.899254154 meters 0.017918889138763355 Centerline is valid? [True, True] Translation: X:156.05, Y:0.62, Z:0.65 [[ 9.99336642e-01 -3.30307481e-02 -1.53377517e-02 1.56049456e+02] [ 3.30326044e-02 9.99454266e-01 -1.32358211e-04 6.18124631e-01] [ 1.53337533e-02 -3.74375475e-04 9.99882361e-01 6.54242236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.959254154 meters 0.019193432366722052 Centerline is valid? [True, True] Translation: X:156.11, Y:0.61, Z:0.65 [[ 9.99247025e-01 -3.62722636e-02 -1.37733975e-02 1.56110526e+02] [ 3.62740752e-02 9.99341872e-01 -1.18350305e-04 6.14387105e-01] [ 1.37686256e-02 -3.81356065e-04 9.99905135e-01 6.54855219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.019254154 meters 0.022875637112810196 Centerline is valid? [True, True] Translation: X:156.17, Y:0.61, Z:0.65 [[ 9.99006135e-01 -4.22814800e-02 -1.41073717e-02 1.56171896e+02] [ 4.22839873e-02 9.99105625e-01 -1.20628946e-04 6.07790718e-01] [ 1.40998548e-02 -4.76006869e-04 9.99900479e-01 6.54798149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.079254154 meters 0.02397294754498453 Centerline is valid? [True, True] Translation: X:156.23, Y:0.60, Z:0.65 [[ 9.98809522e-01 -4.70113017e-02 -1.30183406e-02 1.56231934e+02] [ 4.70138398e-02 9.98894232e-01 -1.11171835e-04 6.02625309e-01] [ 1.30091717e-02 -5.01002693e-04 9.99915252e-01 6.54339858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.139254154 meters 0.026915885176235856 Centerline is valid? [True, True] Translation: X:156.29, Y:0.60, Z:0.65 [[ 9.98613096e-01 -5.11074698e-02 -1.26456056e-02 1.56292188e+02] [ 5.11102005e-02 9.98693014e-01 -1.07352013e-04 5.98286442e-01] [ 1.26345644e-02 -5.39116310e-04 9.99920035e-01 6.54431253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.19925415400002 meters 0.02790102197018904 Centerline is valid? [True, True] Translation: X:156.35, Y:0.60, Z:0.65 [[ 9.98567180e-01 -5.17758617e-02 -1.35220864e-02 1.56353953e+02] [ 5.17790565e-02 9.98658558e-01 -1.13959455e-04 5.97483856e-01] [ 1.35098476e-02 -5.86364702e-04 9.99908566e-01 6.53598440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.259254154 meters 0.028571542400762057 Centerline is valid? [True, True] Translation: X:156.42, Y:0.60, Z:0.65 [[ 9.98579376e-01 -5.12861828e-02 -1.44553756e-02 1.56415589e+02] [ 5.12897935e-02 9.98683805e-01 -1.21073474e-04 5.98569024e-01] [ 1.44425590e-02 -6.20511758e-04 9.99895508e-01 6.52487308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.319254154 meters 0.028935826882085836 Centerline is valid? [True, True] Translation: X:156.48, Y:0.60, Z:0.65 [[ 9.98611886e-01 -5.06633433e-02 -1.44057701e-02 1.56478102e+02] [ 5.06668774e-02 9.98715602e-01 -1.19770183e-04 6.00209069e-01] [ 1.43933353e-02 -6.10291458e-04 9.99896224e-01 6.52296987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.379254154 meters 0.02317416541484629 Centerline is valid? [True, True] Translation: X:156.54, Y:0.61, Z:0.65 [[ 9.98744088e-01 -4.79038560e-02 -1.46787796e-02 1.56539012e+02] [ 4.79072377e-02 9.98851782e-01 -1.21364884e-04 6.12770377e-01] [ 1.46677390e-02 -5.82007322e-04 9.99892254e-01 6.54204160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.439254154 meters 0.022167153516747185 Centerline is valid? [True, True] Translation: X:156.60, Y:0.62, Z:0.65 [[ 9.98896624e-01 -4.49084893e-02 -1.37390419e-02 1.56601006e+02] [ 4.49111800e-02 9.98990978e-01 -1.12786809e-04 6.16507626e-01] [ 1.37302440e-02 -5.04374222e-04 9.99905609e-01 6.54542715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.499254154 meters 0.020662849029860052 Centerline is valid? [True, True] Translation: X:156.66, Y:0.62, Z:0.66 [[ 9.99114425e-01 -4.02053382e-02 -1.24055302e-02 1.56661340e+02] [ 4.02071731e-02 9.99191360e-01 -1.01559987e-04 6.24203598e-01] [ 1.23995819e-02 -3.97321252e-04 9.99923043e-01 6.55920554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.559254154 meters 0.019555416146947675 Centerline is valid? [True, True] Translation: X:156.72, Y:0.63, Z:0.66 [[ 9.99235730e-01 -3.72856355e-02 -1.17361537e-02 1.56722402e+02] [ 3.72870797e-02 9.99304590e-01 -9.58120438e-05 6.28905345e-01] [ 1.17315647e-02 -3.41868081e-04 9.99931124e-01 6.56407735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.619254154 meters 0.01803432754444489 Centerline is valid? [True, True] Translation: X:156.78, Y:0.64, Z:0.66 [[ 9.99398655e-01 -3.26536207e-02 -1.16648451e-02 1.56784223e+02] [ 3.26547386e-02 9.99466687e-01 -9.46683744e-05 6.36503598e-01] [ 1.16617153e-02 -2.86301021e-04 9.99931959e-01 6.56475172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.679254154 meters 0.016941637638778442 Centerline is valid? [True, True] Translation: X:156.85, Y:0.64, Z:0.66 [[ 9.99515593e-01 -2.88219322e-02 -1.17420298e-02 1.56845712e+02] [ 2.88228067e-02 9.99584532e-01 -9.47754518e-05 6.41530619e-01] [ 1.17398830e-02 -2.43708713e-04 9.99931055e-01 6.56618434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.739254154 meters 0.015861406789845198 Centerline is valid? [True, True] Translation: X:156.91, Y:0.65, Z:0.66 [[ 9.99682783e-01 -2.24946845e-02 -1.13279819e-02 1.56906571e+02] [ 2.24950970e-02 9.99746949e-01 -9.10207832e-05 6.48117221e-01] [ 1.13271628e-02 -1.63832141e-04 9.99935832e-01 6.56701578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.799254154 meters 0.015358833243008772 Centerline is valid? [True, True] Translation: X:156.97, Y:0.65, Z:0.66 [[ 9.99777739e-01 -1.79579874e-02 -1.10446109e-02 1.56966603e+02] [ 1.79581057e-02 9.99838736e-01 -8.84674786e-05 6.51826586e-01] [ 1.10444185e-02 -1.09892474e-04 9.99939003e-01 6.56502294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.859254154 meters 0.014733124102261254 Centerline is valid? [True, True] Translation: X:157.03, Y:0.66, Z:0.66 [[ 9.99843799e-01 -1.36187989e-02 -1.12652541e-02 1.57027105e+02] [ 1.36186475e-02 9.99907258e-01 -9.01543937e-05 6.56704862e-01] [ 1.12654371e-02 -6.32772128e-05 9.99936541e-01 6.56944495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.91925415400001 meters 0.014534628435263994 Centerline is valid? [True, True] Translation: X:157.09, Y:0.66, Z:0.66 [[ 9.99904579e-01 -9.66623118e-03 -9.86898933e-03 1.57086425e+02] [ 9.66592051e-03 9.99953281e-01 -7.91778687e-05 6.59317856e-01] [ 9.86929361e-03 -1.62225529e-05 9.99951297e-01 6.57810790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.97925415400002 meters 0.014581217904803382 Centerline is valid? [True, True] Translation: X:157.15, Y:0.66, Z:0.66 [[ 9.99910681e-01 -1.03698811e-02 -8.43185251e-03 1.57145110e+02] [ 1.03696696e-02 9.99946231e-01 -6.88069897e-05 6.57896504e-01] [ 8.43211266e-03 -1.86346804e-05 9.99964449e-01 6.59374939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.039254154 meters 0.014535807126477514 Centerline is valid? [True, True] Translation: X:157.20, Y:0.66, Z:0.66 [[ 9.99902210e-01 -1.12221716e-02 -8.34466741e-03 1.57204605e+02] [ 1.12219836e-02 9.99937029e-01 -6.93463852e-05 6.57013058e-01] [ 8.34492015e-03 -2.43041172e-05 9.99965180e-01 6.59809946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.099254154 meters 0.014837782534195296 Centerline is valid? [True, True] Translation: X:157.27, Y:0.65, Z:0.66 [[ 9.99838439e-01 -1.54329904e-02 -9.21515398e-03 1.57265004e+02] [ 1.54329384e-02 9.99880902e-01 -7.67591336e-05 6.51429931e-01] [ 9.21524110e-03 -6.54701713e-05 9.99957537e-01 6.58792878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.159254154 meters 0.015046545397316506 Centerline is valid? [True, True] Translation: X:157.33, Y:0.65, Z:0.66 [[ 9.99768179e-01 -1.87590291e-02 -1.05682321e-02 1.57325319e+02] [ 1.87591465e-02 9.99824028e-01 -8.80298189e-05 6.47375376e-01] [ 1.05680237e-02 -1.10241601e-04 9.99944151e-01 6.58075644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.219254154 meters 0.015682941914254216 Centerline is valid? [True, True] Translation: X:157.39, Y:0.64, Z:0.66 [[ 9.99709422e-01 -2.14573153e-02 -1.09842920e-02 1.57385482e+02] [ 2.14576062e-02 9.99769755e-01 -9.13767384e-05 6.42840284e-01] [ 1.09837236e-02 -1.44346426e-04 9.99939667e-01 6.57471333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.279254154 meters 0.01576742474230486 Centerline is valid? [True, True] Translation: X:157.45, Y:0.64, Z:0.66 [[ 9.99683723e-01 -2.24554055e-02 -1.13229018e-02 1.57446927e+02] [ 2.24557824e-02 9.99747833e-01 -9.38671281e-05 6.39755172e-01] [ 1.13221544e-02 -1.60427180e-04 9.99935889e-01 6.57206494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.339254154 meters 0.015247628921203588 Centerline is valid? [True, True] Translation: X:157.51, Y:0.64, Z:0.66 [[ 9.99707535e-01 -2.12719824e-02 -1.15041835e-02 1.57508398e+02] [ 2.12722979e-02 9.99773715e-01 -9.49505242e-05 6.40161341e-01] [ 1.15036000e-02 -1.49797663e-04 9.99933820e-01 6.57813786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.399254154 meters 0.014723493944567356 Centerline is valid? [True, True] Translation: X:157.57, Y:0.64, Z:0.66 [[ 9.99807191e-01 -1.71215654e-02 -9.61423585e-03 1.57569454e+02] [ 1.71215961e-02 9.99853412e-01 -7.91197646e-05 6.39460966e-01] [ 9.61418117e-03 -8.55065533e-05 9.99953779e-01 6.59194860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.459254154 meters 0.014487986339066472 Centerline is valid? [True, True] Translation: X:157.63, Y:0.64, Z:0.66 [[ 9.99872566e-01 -1.31018383e-02 -9.12107017e-03 1.57630203e+02] [ 1.31017002e-02 9.99914166e-01 -7.48977738e-05 6.39533493e-01] [ 9.12126858e-03 -4.46132973e-05 9.99958399e-01 6.60018916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.519254154 meters 0.01438119235063882 Centerline is valid? [True, True] Translation: X:157.69, Y:0.64, Z:0.66 [[ 9.99929993e-01 -7.52361686e-03 -9.13260703e-03 1.57690973e+02] [ 7.52324646e-03 9.99971697e-01 -7.49120785e-05 6.39389534e-01] [ 9.13291216e-03 6.19998065e-06 9.99958294e-01 6.60626526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.579254154 meters 0.014414605289416542 Centerline is valid? [True, True] Translation: X:157.75, Y:0.64, Z:0.66 [[ 9.99939412e-01 -5.01961182e-03 -9.79674056e-03 1.57749004e+02] [ 5.01905827e-03 9.99987401e-01 -8.10886938e-05 6.37724607e-01] [ 9.79702417e-03 3.19133691e-05 9.99952007e-01 6.60025902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.639254154 meters 0.014281373533154323 Centerline is valid? [True, True] Translation: X:157.81, Y:0.63, Z:0.66 [[ 9.99927850e-01 -4.52383161e-03 -1.11279203e-02 1.57807870e+02] [ 4.52306018e-03 9.99989766e-01 -9.44901269e-05 6.32344402e-01] [ 1.11282339e-02 4.41510563e-05 9.99938078e-01 6.59043984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.69925415400002 meters 0.014213616375968434 Centerline is valid? [True, True] Translation: X:157.87, Y:0.63, Z:0.66 [[ 9.99903964e-01 -6.55491271e-03 -1.22104524e-02 1.57865572e+02] [ 6.55411011e-03 9.99978516e-01 -1.05746121e-04 6.27503690e-01] [ 1.22108832e-02 2.57073162e-05 9.99925444e-01 6.57967913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.759254154 meters 0.014008974717155417 Centerline is valid? [True, True] Translation: X:157.92, Y:0.62, Z:0.66 [[ 9.99851280e-01 -1.12142828e-02 -1.31018446e-02 1.57924513e+02] [ 1.12137436e-02 9.99937117e-01 -1.14612612e-04 6.19243195e-01] [ 1.31023061e-02 -3.23251604e-05 9.99914161e-01 6.58391613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.819254154 meters 0.01406659597869631 Centerline is valid? [True, True] Translation: X:157.98, Y:0.61, Z:0.66 [[ 9.99828408e-01 -1.39373467e-02 -1.22026537e-02 1.57981411e+02] [ 1.39370661e-02 9.99902869e-01 -1.08036983e-04 6.13392616e-01] [ 1.22029742e-02 -6.20507467e-05 9.99925539e-01 6.58391230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.879254154 meters 0.014111896747945668 Centerline is valid? [True, True] Translation: X:158.04, Y:0.61, Z:0.66 [[ 9.99804352e-01 -1.65111981e-02 -1.08921491e-02 1.58039716e+02] [ 1.65111041e-02 9.99863678e-01 -9.85583410e-05 6.08777575e-01] [ 1.08922915e-02 -8.13023486e-05 9.99940674e-01 6.60389061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.939254154 meters 0.014747841131192927 Centerline is valid? [True, True] Translation: X:158.10, Y:0.60, Z:0.66 [[ 9.99734369e-01 -2.08746862e-02 -9.76932790e-03 1.58099447e+02] [ 2.08748074e-02 9.99782093e-01 -8.95782601e-05 6.00903960e-01] [ 9.76906901e-03 -1.14378372e-04 9.99952275e-01 6.61437307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.999254154 meters 0.01585071858830446 Centerline is valid? [True, True] Translation: X:158.16, Y:0.59, Z:0.66 [[ 9.99570051e-01 -2.77348719e-02 -9.51262180e-03 1.58160225e+02] [ 2.77352967e-02 9.99615299e-01 -8.72846288e-05 5.91515353e-01] [ 9.51138311e-03 -1.76588287e-04 9.99954750e-01 6.61482751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.059254154 meters 0.01808557861921637 Centerline is valid? [True, True] Translation: X:158.22, Y:0.58, Z:0.66 [[ 9.99395105e-01 -3.34028117e-02 -9.67868434e-03 1.58220339e+02] [ 3.34035224e-02 9.99441943e-01 -8.82591085e-05 5.82537778e-01] [ 9.67623118e-03 -2.35096428e-04 9.99953157e-01 6.60955725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.119254154 meters 0.0195618689121821 Centerline is valid? [True, True] Translation: X:158.28, Y:0.58, Z:0.66 [[ 9.99003816e-01 -4.35170361e-02 -9.88144335e-03 1.58281224e+02] [ 4.35182752e-02 9.99052627e-01 -8.96895818e-05 5.75049869e-01] [ 9.87598496e-03 -3.40423137e-04 9.99951173e-01 6.61075114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.179254154 meters 0.02308532726627956 Centerline is valid? [True, True] Translation: X:158.34, Y:0.57, Z:0.66 [[ 9.98685024e-01 -5.01701577e-02 -1.05440803e-02 1.58340497e+02] [ 5.01719380e-02 9.98740591e-01 -9.57751170e-05 5.66700845e-01] [ 1.05356061e-02 -4.33367770e-04 9.99944405e-01 6.60327772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.239254154 meters 0.02721704848512349 Centerline is valid? [True, True] Translation: X:158.40, Y:0.56, Z:0.66 [[ 9.98141650e-01 -5.98016038e-02 -1.17053008e-02 1.58400672e+02] [ 5.98044578e-02 9.98210106e-01 -1.06363151e-04 5.57747353e-01] [ 1.16907103e-02 -5.93863680e-04 9.99931485e-01 6.58714625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.299254154 meters 0.029093600896683555 Centerline is valid? [True, True] Translation: X:158.46, Y:0.56, Z:0.66 [[ 9.97822481e-01 -6.47126893e-02 -1.27500903e-02 1.58461108e+02] [ 6.47164760e-02 9.97903685e-01 -1.15805856e-04 5.55122375e-01] [ 1.27308562e-02 -7.09587229e-04 9.99918708e-01 6.58579765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.359254154 meters 0.03233890967701969 Centerline is valid? [True, True] Translation: X:158.52, Y:0.55, Z:0.66 [[ 9.97492773e-01 -6.94871730e-02 -1.34052136e-02 1.58521456e+02] [ 6.94917890e-02 9.97582516e-01 -1.21710102e-04 5.53115743e-01] [ 1.33812640e-02 -8.10147327e-04 9.99910139e-01 6.58589996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.41925415400001 meters 0.03388945417163348 Centerline is valid? [True, True] Translation: X:158.58, Y:0.55, Z:0.66 [[ 9.97412718e-01 -7.05806624e-02 -1.36469845e-02 1.58583384e+02] [ 7.05855575e-02 9.97505721e-01 -1.23236428e-04 5.53933257e-01] [ 1.36216433e-02 -8.40362430e-04 9.99906868e-01 6.59071795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.47925415400002 meters 0.03415814990179391 Centerline is valid? [True, True] Translation: X:158.65, Y:0.56, Z:0.66 [[ 9.97474322e-01 -6.97461692e-02 -1.34331580e-02 1.58646126e+02] [ 6.97508514e-02 9.97564436e-01 -1.20208389e-04 5.56390042e-01] [ 1.34088248e-02 -8.17069428e-04 9.99909764e-01 6.59983984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.539254154 meters 0.03408700792036543 Centerline is valid? [True, True] Translation: X:158.71, Y:0.56, Z:0.66 [[ 9.97656253e-01 -6.72050533e-02 -1.28639762e-02 1.58708007e+02] [ 6.72091469e-02 9.97738902e-01 -1.14309084e-04 5.61164482e-01] [ 1.28425716e-02 -7.50535694e-04 9.99917249e-01 6.60959280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.599254154 meters 0.03325571614658173 Centerline is valid? [True, True] Translation: X:158.77, Y:0.57, Z:0.66 [[ 9.97917738e-01 -6.31465220e-02 -1.31417248e-02 1.58767321e+02] [ 6.31504445e-02 9.98004012e-01 -1.16698245e-04 5.67388363e-01] [ 1.31228632e-02 -7.13450515e-04 9.99913637e-01 6.60650349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.659254154 meters 0.029432511159200335 Centerline is valid? [True, True] Translation: X:158.83, Y:0.58, Z:0.66 [[ 9.98117554e-01 -5.97818393e-02 -1.36923709e-02 1.58827705e+02] [ 5.97857805e-02 9.98211223e-01 -1.21668399e-04 5.76202267e-01] [ 1.36751518e-02 -6.97169715e-04 9.99906248e-01 6.60846201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.719254154 meters 0.024792620460655636 Centerline is valid? [True, True] Translation: X:158.89, Y:0.59, Z:0.66 [[ 9.98540450e-01 -5.20947903e-02 -1.42514026e-02 1.58888327e+02] [ 5.20982784e-02 9.98641955e-01 -1.26640482e-04 5.92251981e-01] [ 1.42386459e-02 -6.16017897e-04 9.99898436e-01 6.61882103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.779254154 meters 0.021649212627192684 Centerline is valid? [True, True] Translation: X:158.95, Y:0.60, Z:0.66 [[ 9.98851024e-01 -4.58356088e-02 -1.39903161e-02 1.58949166e+02] [ 4.58383587e-02 9.98948862e-01 -1.24208793e-04 6.01148620e-01] [ 1.39813035e-02 -5.17227047e-04 9.99902123e-01 6.63496191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.839254154 meters 0.016925134856976668 Centerline is valid? [True, True] Translation: X:159.01, Y:0.62, Z:0.66 [[ 9.99340188e-01 -3.37055680e-02 -1.35323055e-02 1.59010110e+02] [ 3.37070309e-02 9.99431749e-01 -1.20024761e-04 6.15925670e-01] [ 1.35286613e-02 -3.36188273e-04 9.99908427e-01 6.63911640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.899254154 meters 0.014637859266092007 Centerline is valid? [True, True] Translation: X:159.07, Y:0.63, Z:0.66 [[ 9.99589889e-01 -2.55694913e-02 -1.28939721e-02 1.59070329e+02] [ 2.55701431e-02 9.99673024e-01 -1.14332170e-04 6.25718391e-01] [ 1.28926795e-02 -2.15415432e-04 9.99916863e-01 6.64617982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.959254154 meters 0.013906402302961486 Centerline is valid? [True, True] Translation: X:159.13, Y:0.63, Z:0.67 [[ 9.99694294e-01 -2.14786361e-02 -1.22468859e-02 1.59130402e+02] [ 2.14789172e-02 9.99769296e-01 -1.08594390e-04 6.30441907e-01] [ 1.22463930e-02 -1.54488656e-04 9.99924998e-01 6.65353749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.019254154 meters 0.013057513000021628 Centerline is valid? [True, True] Translation: X:159.19, Y:0.64, Z:0.67 [[ 9.99867087e-01 -1.27838228e-02 -1.01184350e-02 1.59191018e+02] [ 1.27835694e-02 9.99918283e-01 -8.97211982e-05 6.41487609e-01] [ 1.01187551e-02 -3.96404430e-05 9.99948803e-01 6.66816028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.079254154 meters 0.013199287031995794 Centerline is valid? [True, True] Translation: X:159.25, Y:0.65, Z:0.67 [[ 9.99891761e-01 -1.12479922e-02 -9.48417705e-03 1.59251067e+02] [ 1.12476988e-02 9.99936739e-01 -8.42843064e-05 6.46257539e-01] [ 9.48452510e-03 -2.23999828e-05 9.99955021e-01 6.67417671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.139254154 meters 0.014035032414739333 Centerline is valid? [True, True] Translation: X:159.31, Y:0.65, Z:0.67 [[ 9.99849118e-01 -1.53836224e-02 -8.06751377e-03 1.59310882e+02] [ 1.53835424e-02 9.99881664e-01 -7.19690708e-05 6.46282832e-01] [ 8.06766623e-03 -5.21487285e-05 9.99967454e-01 6.67839594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.19925415400002 meters 0.01421165096488883 Centerline is valid? [True, True] Translation: X:159.37, Y:0.64, Z:0.67 [[ 9.99738088e-01 -2.15555027e-02 -7.68865229e-03 1.59371643e+02] [ 2.15556118e-02 9.99767648e-01 -6.86852856e-05 6.43357131e-01] [ 7.68834637e-03 -9.70663079e-05 9.99970440e-01 6.68108048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.259254154 meters 0.016987541478476538 Centerline is valid? [True, True] Translation: X:159.43, Y:0.64, Z:0.67 [[ 9.99460109e-01 -3.19627547e-02 -7.60744208e-03 1.59432714e+02] [ 3.19631639e-02 9.99489045e-01 -6.78232474e-05 6.36993472e-01] [ 7.60572284e-03 -1.75371288e-04 9.99971061e-01 6.67353804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.319254154 meters 0.018035266213888287 Centerline is valid? [True, True] Translation: X:159.49, Y:0.64, Z:0.67 [[ 9.99270066e-01 -3.75483632e-02 -7.03248300e-03 1.59494187e+02] [ 3.75488522e-02 9.99294791e-01 -6.25293758e-05 6.35143458e-01] [ 7.02987150e-03 -2.01577931e-04 9.99975270e-01 6.67782363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.379254154 meters 0.02045635639479129 Centerline is valid? [True, True] Translation: X:159.55, Y:0.63, Z:0.67 [[ 9.99125117e-01 -4.09922687e-02 -8.28459518e-03 1.59554984e+02] [ 4.09930712e-02 9.99159428e-01 -7.29847421e-05 6.33779201e-01] [ 8.28062320e-03 -2.66690111e-04 9.99965679e-01 6.67042809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.439254154 meters 0.019274247769284946 Centerline is valid? [True, True] Translation: X:159.62, Y:0.64, Z:0.67 [[ 9.99255821e-01 -3.77248728e-02 -8.03973331e-03 1.59616636e+02] [ 3.77255288e-02 9.99288136e-01 -7.00903035e-05 6.39936045e-01] [ 8.03665426e-03 -2.33265047e-04 9.99967678e-01 6.67173598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.499254154 meters 0.01857299357449739 Centerline is valid? [True, True] Translation: X:159.68, Y:0.64, Z:0.67 [[ 9.99426726e-01 -3.30669947e-02 -7.26595468e-03 1.59676742e+02] [ 3.30674095e-02 9.99453122e-01 -6.30741698e-05 6.43022290e-01] [ 7.26406676e-03 -1.77228288e-04 9.99973601e-01 6.67506936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.559254154 meters 0.016748618221732643 Centerline is valid? [True, True] Translation: X:159.74, Y:0.65, Z:0.67 [[ 9.99659460e-01 -2.51141583e-02 -7.08824751e-03 1.59738405e+02] [ 2.51143547e-02 9.99684583e-01 -6.13114423e-05 6.49906985e-01] [ 7.08755154e-03 -1.16726199e-04 9.99974876e-01 6.67368046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.619254154 meters 0.016173313717099503 Centerline is valid? [True, True] Translation: X:159.80, Y:0.66, Z:0.67 [[ 9.99763899e-01 -2.03951747e-02 -7.49559280e-03 1.59800031e+02] [ 2.03952644e-02 9.99791993e-01 -6.44753240e-05 6.55189056e-01] [ 7.49534865e-03 -8.84144957e-05 9.99971906e-01 6.66926784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.679254154 meters 0.015573635543904014 Centerline is valid? [True, True] Translation: X:159.86, Y:0.66, Z:0.67 [[ 9.99851895e-01 -1.46766555e-02 -8.98794450e-03 1.59861752e+02] [ 1.46765567e-02 9.99892291e-01 -7.69532265e-05 6.59028988e-01] [ 8.98810583e-03 -5.49702473e-05 9.99959605e-01 6.66757367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.739254154 meters 0.015527615490950256 Centerline is valid? [True, True] Translation: X:159.92, Y:0.66, Z:0.67 [[ 9.99884404e-01 -1.19410202e-02 -9.41230925e-03 1.59921886e+02] [ 1.19407923e-02 9.99928703e-01 -8.04201337e-05 6.61012884e-01] [ 9.41259848e-03 -3.19795920e-05 9.99955700e-01 6.66750908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.799254154 meters 0.01509761001357411 Centerline is valid? [True, True] Translation: X:159.98, Y:0.66, Z:0.67 [[ 9.99905280e-01 -9.82085078e-03 -9.64268158e-03 1.59981441e+02] [ 9.82051201e-03 9.99951774e-01 -8.24821856e-05 6.61935138e-01] [ 9.64302660e-03 -1.22216973e-05 9.99953505e-01 6.67273903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.859254154 meters 0.014889489187056877 Centerline is valid? [True, True] Translation: X:160.04, Y:0.66, Z:0.67 [[ 9.99904762e-01 -9.29530525e-03 -1.02012123e-02 1.60040540e+02] [ 9.29488273e-03 9.99956798e-01 -8.88302294e-05 6.61683918e-01] [ 1.02015973e-02 -5.99730266e-06 9.99947962e-01 6.67485241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.91925415400001 meters 0.01557616384274117 Centerline is valid? [True, True] Translation: X:160.10, Y:0.66, Z:0.67 [[ 9.99900755e-01 -9.83555832e-03 -1.00867060e-02 1.60099540e+02] [ 9.83514691e-03 9.99951630e-01 -9.03913938e-05 6.59058727e-01] [ 1.00871071e-02 -8.82181222e-06 9.99949124e-01 6.67657299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.97925415400002 meters 0.014699226785556208 Centerline is valid? [True, True] Translation: X:160.16, Y:0.66, Z:0.67 [[ 9.99859153e-01 -1.37721866e-02 -9.59166485e-03 1.60158277e+02] [ 1.37719819e-02 9.99905158e-01 -8.73968121e-05 6.55376508e-01] [ 9.59195881e-03 -4.47117321e-05 9.99953995e-01 6.69541412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.039254154 meters 0.014751058175340701 Centerline is valid? [True, True] Translation: X:160.22, Y:0.65, Z:0.67 [[ 9.99792881e-01 -1.80983194e-02 -9.30839455e-03 1.60218330e+02] [ 1.80983104e-02 9.99836209e-01 -8.52173679e-05 6.50753768e-01] [ 9.30841220e-03 -8.32664956e-05 9.99956672e-01 6.70259163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.099254154 meters 0.016418224056969216 Centerline is valid? [True, True] Translation: X:160.28, Y:0.64, Z:0.67 [[ 9.99543249e-01 -2.87423319e-02 -9.33662837e-03 1.60279065e+02] [ 2.87427862e-02 9.99586837e-01 -8.55559177e-05 6.40617172e-01] [ 9.33522990e-03 -1.82843873e-04 9.99956409e-01 6.70343985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.159254154 meters 0.01950850111218612 Centerline is valid? [True, True] Translation: X:160.34, Y:0.63, Z:0.67 [[ 9.99298898e-01 -3.60526987e-02 -1.00953207e-02 1.60340060e+02] [ 3.60536050e-02 9.99349853e-01 -9.22598069e-05 6.32665513e-01] [ 1.00920835e-02 -2.71777582e-04 9.99949037e-01 6.69375641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.219254154 meters 0.021023049530190317 Centerline is valid? [True, True] Translation: X:160.40, Y:0.62, Z:0.67 [[ 9.98959114e-01 -4.45137656e-02 -9.96054682e-03 1.60400436e+02] [ 4.45150700e-02 9.99008709e-01 -9.08190378e-05 6.24733821e-01] [ 9.95471572e-03 -3.52669933e-04 9.99950388e-01 6.70624988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.279254154 meters 0.02498931824612859 Centerline is valid? [True, True] Translation: X:160.46, Y:0.61, Z:0.67 [[ 9.98361063e-01 -5.64088876e-02 -9.65533414e-03 1.60460926e+02] [ 5.64106686e-02 9.98407647e-01 -8.79951684e-05 6.14322375e-01] [ 9.64492315e-03 -4.56812904e-04 9.99953382e-01 6.70874429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.339254154 meters 0.02867348448956764 Centerline is valid? [True, True] Translation: X:160.52, Y:0.61, Z:0.67 [[ 9.97785110e-01 -6.58203260e-02 -9.62071154e-03 1.60521565e+02] [ 6.58225305e-02 9.97831342e-01 -8.76626362e-05 6.07035838e-01] [ 9.60561748e-03 -5.45791105e-04 9.99953716e-01 6.71401633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.399254154 meters 0.0332563159574513 Centerline is valid? [True, True] Translation: X:160.58, Y:0.60, Z:0.67 [[ 9.97538464e-01 -6.94759902e-02 -9.49207278e-03 1.60581185e+02] [ 6.94783009e-02 9.97583459e-01 -8.64943300e-05 6.00768845e-01] [ 9.47514408e-03 -5.73211668e-04 9.99954946e-01 6.71540693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.459254154 meters 0.03468743802425018 Centerline is valid? [True, True] Translation: X:160.64, Y:0.60, Z:0.67 [[ 9.97437641e-01 -7.09092619e-02 -9.48839865e-03 1.60643722e+02] [ 7.09116388e-02 9.97482597e-01 -8.61022972e-05 5.99685546e-01] [ 9.47061798e-03 -5.86956226e-04 9.99954980e-01 6.72313084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.519254154 meters 0.03446648641022257 Centerline is valid? [True, True] Translation: X:160.71, Y:0.60, Z:0.67 [[ 9.97504248e-01 -6.99637121e-02 -9.50553328e-03 1.60705761e+02] [ 6.99660613e-02 9.97549369e-01 -8.55882140e-05 6.01065295e-01] [ 9.48822679e-03 -5.79690117e-04 9.99954818e-01 6.72680952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.579254154 meters 0.03425459949377872 Centerline is valid? [True, True] Translation: X:160.77, Y:0.60, Z:0.67 [[ 9.97661398e-01 -6.74418051e-02 -1.11057464e-02 1.60767662e+02] [ 6.74448640e-02 9.97722998e-01 -9.92853797e-05 6.03339799e-01] [ 1.10871546e-02 -6.49972365e-04 9.99938324e-01 6.71291277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.639254154 meters 0.03487045281170933 Centerline is valid? [True, True] Translation: X:160.83, Y:0.60, Z:0.67 [[ 9.97769716e-01 -6.56319346e-02 -1.21672752e-02 1.60827692e+02] [ 6.56354768e-02 9.97843661e-01 -1.08391559e-04 6.04386926e-01] [ 1.21481524e-02 -6.90455096e-04 9.99925970e-01 6.70915779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.69925415400002 meters 0.03356200160806555 Centerline is valid? [True, True] Translation: X:160.89, Y:0.61, Z:0.67 [[ 9.98051538e-01 -6.10627019e-02 -1.28247393e-02 1.60887480e+02] [ 6.10662609e-02 9.98133708e-01 -1.14271307e-04 6.09424063e-01] [ 1.28077823e-02 -6.69110222e-04 9.99917753e-01 6.71287599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.759254154 meters 0.03167960215451005 Centerline is valid? [True, True] Translation: X:160.95, Y:0.62, Z:0.67 [[ 9.98351171e-01 -5.61260211e-02 -1.20336304e-02 1.60948347e+02] [ 5.61287966e-02 9.98423531e-01 -1.07229348e-04 6.15508941e-01] [ 1.20206781e-02 -5.68380646e-04 9.99927587e-01 6.72504411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.819254154 meters 0.02261441761513378 Centerline is valid? [True, True] Translation: X:161.01, Y:0.63, Z:0.68 [[ 9.98701852e-01 -4.98296096e-02 -1.05650413e-02 1.61008258e+02] [ 4.98313975e-02 9.98757640e-01 -9.41065856e-05 6.32062617e-01] [ 1.05566050e-02 -4.32486354e-04 9.99944184e-01 6.75550162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.879254154 meters 0.020783283027850763 Centerline is valid? [True, True] Translation: X:161.07, Y:0.64, Z:0.68 [[ 9.99042164e-01 -4.25813482e-02 -1.00788447e-02 1.61068752e+02] [ 4.25826072e-02 9.99092945e-01 -8.97456920e-05 6.38785232e-01] [ 1.00735242e-02 -3.39523756e-04 9.99949203e-01 6.76287179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.939254154 meters 0.016296636560448566 Centerline is valid? [True, True] Translation: X:161.13, Y:0.65, Z:0.68 [[ 9.99483612e-01 -3.04113799e-02 -1.03758231e-02 1.61129014e+02] [ 3.04120588e-02 9.99537442e-01 -9.23726039e-05 6.52160075e-01] [ 1.03738328e-02 -2.23225238e-04 9.99946165e-01 6.77065635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.999254154 meters 0.015231869880149046 Centerline is valid? [True, True] Translation: X:161.19, Y:0.66, Z:0.68 [[ 9.99693352e-01 -2.23136398e-02 -1.07379773e-02 1.61190947e+02] [ 2.23139037e-02 9.99751009e-01 -9.52425849e-05 6.58534787e-01] [ 1.07374288e-02 -1.44392812e-04 9.99942342e-01 6.76638179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.059254154 meters 0.01419070907237301 Centerline is valid? [True, True] Translation: X:161.25, Y:0.67, Z:0.68 [[ 9.99896749e-01 -1.01532548e-02 -1.01687375e-02 1.61250141e+02] [ 1.01528639e-02 9.99948454e-01 -9.00662069e-05 6.68003754e-01] [ 1.01691278e-02 -1.31848996e-05 9.99948293e-01 6.77140378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.119254154 meters 0.01454346783532122 Centerline is valid? [True, True] Translation: X:161.31, Y:0.67, Z:0.68 [[ 9.99950138e-01 -2.77332500e-03 -9.59327700e-03 1.61309228e+02] [ 2.77262411e-03 9.99996153e-01 -8.63594962e-05 6.73709835e-01] [ 9.59347959e-03 5.97566390e-05 9.99953980e-01 6.77976404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.179254154 meters 0.015341392704537814 Centerline is valid? [True, True] Translation: X:161.37, Y:0.68, Z:0.68 [[ 9.99951334e-01 5.32301661e-03 -8.30631256e-03 1.61367908e+02] [-5.32383757e-03 9.99985825e-01 -7.67280160e-05 6.78370274e-01] [ 8.30578640e-03 1.20945741e-04 9.99965499e-01 6.78966585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.239254154 meters 0.01586006160810006 Centerline is valid? [True, True] Translation: X:161.43, Y:0.68, Z:0.68 [[ 9.99943696e-01 7.06668816e-03 -7.91621884e-03 1.61426263e+02] [-7.06749938e-03 9.99975022e-01 -7.45050010e-05 6.77771954e-01] [ 7.91549461e-03 1.30448678e-04 9.99968663e-01 6.78523812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.299254154 meters 0.015183813361173838 Centerline is valid? [True, True] Translation: X:161.49, Y:0.67, Z:0.68 [[ 9.99962803e-01 4.37951385e-03 -7.43048786e-03 1.61485210e+02] [-4.38015883e-03 9.99990405e-01 -7.05311403e-05 6.72310118e-01] [ 7.43010767e-03 1.03075234e-04 9.99972391e-01 6.78536835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.359254154 meters 0.014610522555901465 Centerline is valid? [True, True] Translation: X:161.54, Y:0.67, Z:0.68 [[ 9.99974065e-01 -3.83119802e-04 -7.19183131e-03 1.61543846e+02] [ 3.82635013e-04 9.99999924e-01 -6.87841160e-05 6.67743554e-01] [ 7.19185711e-03 6.60304857e-05 9.99974136e-01 6.78592213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.41925415400001 meters 0.014357744915589304 Centerline is valid? [True, True] Translation: X:161.60, Y:0.66, Z:0.68 [[ 9.99911429e-01 -1.08942700e-02 -7.64516620e-03 1.61602128e+02] [ 1.08940246e-02 9.99940656e-01 -7.37528907e-05 6.56714308e-01] [ 7.64551598e-03 -9.54027000e-06 9.99970773e-01 6.77187104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.47925415400002 meters 0.015251123171520744 Centerline is valid? [True, True] Translation: X:161.66, Y:0.65, Z:0.68 [[ 9.99788925e-01 -1.89982400e-02 -7.82130845e-03 1.61661225e+02] [ 1.89982269e-02 9.99819515e-01 -7.59751533e-05 6.47234808e-01] [ 7.82134021e-03 -7.26318758e-05 9.99969410e-01 6.76608669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.539254154 meters 0.017527302601434782 Centerline is valid? [True, True] Translation: X:161.72, Y:0.64, Z:0.68 [[ 9.99510268e-01 -3.03195295e-02 -7.74269617e-03 1.61722231e+02] [ 3.03198555e-02 9.99540245e-01 -7.53031754e-05 6.35428454e-01] [ 7.74141958e-03 -1.59491132e-04 9.99970022e-01 6.76390585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.599254154 meters 0.019084658522768222 Centerline is valid? [True, True] Translation: X:161.78, Y:0.63, Z:0.68 [[ 9.99331350e-01 -3.57327594e-02 -7.74746291e-03 1.61783297e+02] [ 3.57332494e-02 9.99361361e-01 -7.52123900e-05 6.28510274e-01] [ 7.74520262e-03 -2.01679925e-04 9.99969985e-01 6.76910547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.659254154 meters 0.021399067000199303 Centerline is valid? [True, True] Translation: X:161.84, Y:0.62, Z:0.68 [[ 9.99105284e-01 -4.16174592e-02 -7.52457255e-03 1.61844100e+02] [ 4.16180897e-02 9.99133589e-01 -7.28472996e-05 6.20022134e-01] [ 7.52108490e-03 -2.40376213e-04 9.99971687e-01 6.76691805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.719254154 meters 0.0245668595189821 Centerline is valid? [True, True] Translation: X:161.90, Y:0.61, Z:0.68 [[ 9.98853688e-01 -4.72736140e-02 -7.51764797e-03 1.61903966e+02] [ 4.72744046e-02 9.98881938e-01 -7.26027058e-05 6.13426234e-01] [ 7.51267496e-03 -2.82872851e-04 9.99971739e-01 6.77008706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.779254154 meters 0.02729658089170535 Centerline is valid? [True, True] Translation: X:161.96, Y:0.61, Z:0.68 [[ 9.98650879e-01 -5.13591862e-02 -7.65864994e-03 1.61963949e+02] [ 5.13601267e-02 9.98680195e-01 -7.39644515e-05 6.09104994e-01] [ 7.65234077e-03 -3.19484566e-04 9.99970669e-01 6.76551617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.839254154 meters 0.028145349857966084 Centerline is valid? [True, True] Translation: X:162.02, Y:0.61, Z:0.67 [[ 9.98304751e-01 -5.75186764e-02 -8.90094367e-03 1.62024845e+02] [ 5.75201910e-02 9.98344340e-01 -8.59478891e-05 6.09611116e-01] [ 8.89115033e-03 -4.26181794e-04 9.99960382e-01 6.73811079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.899254154 meters 0.025685640721485024 Centerline is valid? [True, True] Translation: X:162.09, Y:0.61, Z:0.68 [[ 9.98080169e-01 -6.12595105e-02 -9.12408185e-03 1.62085497e+02] [ 6.12612589e-02 9.98121761e-01 -8.79998838e-05 6.12274126e-01] [ 9.11233548e-03 -4.71121802e-04 9.99958371e-01 6.75872603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.959254154 meters 0.02680502497981858 Centerline is valid? [True, True] Translation: X:162.15, Y:0.62, Z:0.68 [[ 9.97950533e-01 -6.30860875e-02 -1.07182025e-02 1.62147845e+02] [ 6.30886114e-02 9.98007924e-01 -1.02806805e-04 6.15006305e-01] [ 1.07033367e-02 -5.73600407e-04 9.99942553e-01 6.75449652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.019254154 meters 0.031432260293520316 Centerline is valid? [True, True] Translation: X:162.21, Y:0.61, Z:0.67 [[ 9.98014447e-01 -6.20641367e-02 -1.07334410e-02 1.62208896e+02] [ 6.20666160e-02 9.98072004e-01 -1.02275846e-04 6.12532207e-01] [ 1.07190946e-02 -5.64115587e-04 9.99942390e-01 6.73918264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.079254154 meters 0.027068593344731395 Centerline is valid? [True, True] Translation: X:162.27, Y:0.62, Z:0.68 [[ 9.98171287e-01 -5.95876350e-02 -1.01683451e-02 1.62270794e+02] [ 5.95897375e-02 9.98222948e-01 -9.63470379e-05 6.21991096e-01] [ 1.01560165e-02 -5.09758168e-04 9.99948296e-01 6.76029994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.139254154 meters 0.027108307177051354 Centerline is valid? [True, True] Translation: X:162.33, Y:0.63, Z:0.68 [[ 9.98559642e-01 -5.28553246e-02 -9.21720319e-03 1.62329999e+02] [ 5.28567671e-02 9.98602100e-01 -8.72032655e-05 6.31602940e-01] [ 9.20892762e-03 -4.00113900e-04 9.99957517e-01 6.75376427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.19925415400002 meters 0.023684210781214562 Centerline is valid? [True, True] Translation: X:162.39, Y:0.64, Z:0.68 [[ 9.98856802e-01 -4.71920865e-02 -7.61552073e-03 1.62390722e+02] [ 4.71929068e-02 9.98885791e-01 -7.20599442e-05 6.41186076e-01] [ 7.61043611e-03 -2.87420994e-04 9.99970999e-01 6.79160318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.259254154 meters 0.020476825793543076 Centerline is valid? [True, True] Translation: X:162.45, Y:0.65, Z:0.68 [[ 9.99289584e-01 -3.70718053e-02 -6.78297027e-03 1.62450681e+02] [ 3.70722235e-02 9.99312587e-01 -6.41169728e-05 6.53691215e-01] [ 6.78068450e-03 -1.87388366e-04 9.99976993e-01 6.79798330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.319254154 meters 0.01802309898400829 Centerline is valid? [True, True] Translation: X:162.51, Y:0.66, Z:0.68 [[ 9.99577709e-01 -2.85418479e-02 -5.45583972e-03 1.62511592e+02] [ 2.85419915e-02 9.99592593e-01 -5.15572050e-05 6.64579341e-01] [ 5.45508851e-03 -1.04185098e-04 9.99985115e-01 6.80592450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.379254154 meters 0.017021512229900383 Centerline is valid? [True, True] Translation: X:162.57, Y:0.67, Z:0.68 [[ 9.99679226e-01 -2.46126008e-02 -5.97204865e-03 1.62573535e+02] [ 2.46127039e-02 9.99697060e-01 -5.62484180e-05 6.70486842e-01] [ 5.97162389e-03 -9.07578900e-05 9.99982166e-01 6.80689430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.439254154 meters 0.016221147095996025 Centerline is valid? [True, True] Translation: X:162.63, Y:0.68, Z:0.68 [[ 9.99756783e-01 -2.08377284e-02 -7.22247253e-03 1.62634952e+02] [ 2.08377842e-02 9.99782868e-01 -6.75286141e-05 6.76444375e-01] [ 7.22231144e-03 -8.29881339e-05 9.99973915e-01 6.79368628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.499254154 meters 0.015740493006850313 Centerline is valid? [True, True] Translation: X:162.70, Y:0.68, Z:0.68 [[ 9.99795265e-01 -1.86087713e-02 -7.94615455e-03 1.62697289e+02] [ 1.86087722e-02 9.99826839e-01 -7.38251387e-05 6.79587527e-01] [ 7.94615238e-03 -7.40581559e-05 9.99968426e-01 6.78518257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.559254154 meters 0.015473932316070707 Centerline is valid? [True, True] Translation: X:162.76, Y:0.68, Z:0.68 [[ 9.99834352e-01 -1.64716745e-02 -7.74289395e-03 1.62757744e+02] [ 1.64716149e-02 9.99864331e-01 -7.14692804e-05 6.84464993e-01] [ 7.74302070e-03 -5.60805259e-05 9.99970021e-01 6.79388817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.619254154 meters 0.015175306481755267 Centerline is valid? [True, True] Translation: X:162.82, Y:0.69, Z:0.68 [[ 9.99855916e-01 -1.54871231e-02 -6.94959035e-03 1.62818667e+02] [ 1.54870535e-02 9.99880066e-01 -6.38427703e-05 6.86693110e-01] [ 6.94974560e-03 -4.37951058e-05 9.99975849e-01 6.80667941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.679254154 meters 0.015147604214800329 Centerline is valid? [True, True] Translation: X:162.88, Y:0.69, Z:0.68 [[ 9.99838981e-01 -1.70145520e-02 -5.70244305e-03 1.62880088e+02] [ 1.70145308e-02 9.99855241e-01 -5.22259424e-05 6.87507953e-01] [ 5.70250617e-03 -4.48068601e-05 9.99983740e-01 6.82209456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.739254154 meters 0.015329973681304957 Centerline is valid? [True, True] Translation: X:162.94, Y:0.69, Z:0.68 [[ 9.99824195e-01 -1.80204243e-02 -5.18100645e-03 1.62941863e+02] [ 1.80204213e-02 9.99837618e-01 -4.72529387e-05 6.87158017e-01] [ 5.18101667e-03 -4.61192877e-05 9.99986577e-01 6.82632962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.799254154 meters 0.01584439118404517 Centerline is valid? [True, True] Translation: X:163.00, Y:0.69, Z:0.68 [[ 9.99760146e-01 -2.14203276e-02 -4.56288918e-03 1.63003756e+02] [ 2.14203620e-02 9.99770557e-01 -4.13249484e-05 6.85296693e-01] [ 4.56272745e-03 -5.64237018e-05 9.99989589e-01 6.83201980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.859254154 meters 0.0166965624550205 Centerline is valid? [True, True] Translation: X:163.07, Y:0.68, Z:0.68 [[ 9.99625356e-01 -2.67985508e-02 -5.56642018e-03 1.63065800e+02] [ 2.67986880e-02 9.99640849e-01 -4.99403087e-05 6.81655000e-01] [ 5.56575932e-03 -9.92511589e-05 9.99984506e-01 6.83109890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.91925415400001 meters 0.01788736880715359 Centerline is valid? [True, True] Translation: X:163.13, Y:0.68, Z:0.68 [[ 9.99544911e-01 -2.94021676e-02 -6.74416805e-03 1.63127569e+02] [ 2.94024326e-02 9.99567653e-01 -5.98686616e-05 6.78717931e-01] [ 6.74301250e-03 -1.38453530e-04 9.99977256e-01 6.81044045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.97925415400002 meters 0.017487197464127475 Centerline is valid? [True, True] Translation: X:163.19, Y:0.68, Z:0.68 [[ 9.99471864e-01 -3.12041114e-02 -9.07176930e-03 1.63189217e+02] [ 3.12046732e-02 9.99513012e-01 -7.96385905e-05 6.77831214e-01] [ 9.06983651e-03 -2.03485066e-04 9.99958847e-01 6.80201466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.039254154 meters 0.017239353654514237 Centerline is valid? [True, True] Translation: X:163.25, Y:0.68, Z:0.68 [[ 9.99504806e-01 -2.98671120e-02 -9.90444829e-03 1.63250961e+02] [ 2.98677228e-02 9.99553856e-01 -8.62733570e-05 6.79211830e-01] [ 9.90260622e-03 -2.09592681e-04 9.99950946e-01 6.80113861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.099254154 meters 0.016326151057851037 Centerline is valid? [True, True] Translation: X:163.31, Y:0.68, Z:0.68 [[ 9.99673830e-01 -2.34102836e-02 -1.02074278e-02 1.63311034e+02] [ 2.34106003e-02 9.99725930e-01 -8.84691269e-05 6.82361550e-01] [ 1.02067014e-02 -1.50521742e-04 9.99947899e-01 6.79700983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.159254154 meters 0.015229584056056334 Centerline is valid? [True, True] Translation: X:163.37, Y:0.69, Z:0.68 [[ 9.99866197e-01 -1.29007122e-02 -1.00578646e-02 1.63372123e+02] [ 1.29004909e-02 9.99916781e-01 -8.68828117e-05 6.90334076e-01] [ 1.00581485e-02 -4.28802046e-05 9.99949415e-01 6.81178710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.219254154 meters 0.015079345602515809 Centerline is valid? [True, True] Translation: X:163.43, Y:0.70, Z:0.68 [[ 9.99927197e-01 -6.39430525e-03 -1.02330002e-02 1.63431883e+02] [ 6.39373499e-03 9.99979556e-01 -8.84411151e-05 6.95283257e-01] [ 1.02333565e-02 2.30075849e-05 9.99947638e-01 6.81943703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.279254154 meters 0.015340102500782759 Centerline is valid? [True, True] Translation: X:163.49, Y:0.70, Z:0.68 [[ 9.99936417e-01 -2.24705714e-03 -1.10504730e-02 1.63490338e+02] [ 2.24611848e-03 9.99997473e-01 -9.73527738e-05 6.97166773e-01] [ 1.10506638e-02 7.25259121e-05 9.99938937e-01 6.81517178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.339254154 meters 0.015136836947244004 Centerline is valid? [True, True] Translation: X:163.55, Y:0.69, Z:0.68 [[ 9.99918157e-01 -3.86201933e-03 -1.21969003e-02 1.63548813e+02] [ 3.86097076e-03 9.99992540e-01 -1.09516458e-04 6.94491372e-01] [ 1.21972323e-02 6.24156193e-05 9.99925609e-01 6.81076160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.399254154 meters 0.015072799024086612 Centerline is valid? [True, True] Translation: X:163.61, Y:0.69, Z:0.68 [[ 9.99855780e-01 -1.11989866e-02 -1.27672012e-02 1.63607950e+02] [ 1.11984218e-02 9.99937289e-01 -1.15734765e-04 6.88077140e-01] [ 1.27676967e-02 -2.72544300e-05 9.99918489e-01 6.81421545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.459254154 meters 0.015926197882240388 Centerline is valid? [True, True] Translation: X:163.67, Y:0.68, Z:0.68 [[ 9.99722131e-01 -1.96353877e-02 -1.30427100e-02 1.63666265e+02] [ 1.96355106e-02 9.99807198e-01 -1.18645638e-04 6.79760187e-01] [ 1.30425250e-02 -1.37487601e-04 9.99914933e-01 6.81060848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.519254154 meters 0.016231901988426615 Centerline is valid? [True, True] Translation: X:163.73, Y:0.68, Z:0.68 [[ 9.99617660e-01 -2.47643978e-02 -1.22987334e-02 1.63725983e+02] [ 2.47648732e-02 9.99693297e-01 -1.13667205e-04 6.76159692e-01] [ 1.22977763e-02 -1.90952828e-04 9.99924361e-01 6.82371467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.579254154 meters 0.016937398007990035 Centerline is valid? [True, True] Translation: X:163.79, Y:0.67, Z:0.68 [[ 9.99517624e-01 -2.88162005e-02 -1.15821449e-02 1.63787687e+02] [ 2.88168864e-02 9.99584701e-01 -1.07698274e-04 6.72157787e-01] [ 1.15804383e-02 -2.26115031e-04 9.99932919e-01 6.83446148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.639254154 meters 0.018190953317107194 Centerline is valid? [True, True] Translation: X:163.85, Y:0.67, Z:0.68 [[ 9.99358622e-01 -3.44270142e-02 -9.85523545e-03 1.63849113e+02] [ 3.44277868e-02 9.99407184e-01 -9.13034113e-05 6.66854602e-01] [ 9.85253641e-03 -2.48049093e-04 9.99951432e-01 6.84473878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.69925415400002 meters 0.01995601819571365 Centerline is valid? [True, True] Translation: X:163.91, Y:0.66, Z:0.68 [[ 9.99219137e-01 -3.82929395e-02 -9.73488175e-03 1.63909937e+02] [ 3.82938800e-02 9.99266516e-01 -8.98344643e-05 6.61593234e-01] [ 9.73118140e-03 -2.83022078e-04 9.99952611e-01 6.84084074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.759254154 meters 0.022834038994763793 Centerline is valid? [True, True] Translation: X:163.97, Y:0.65, Z:0.68 [[ 9.98890878e-01 -4.60281999e-02 -9.92060581e-03 1.63971104e+02] [ 4.60295605e-02 9.98940074e-01 -9.12631027e-05 6.53921089e-01] [ 9.91429137e-03 -3.65479244e-04 9.99950785e-01 6.83178687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.819254154 meters 0.024345426768871182 Centerline is valid? [True, True] Translation: X:164.03, Y:0.65, Z:0.68 [[ 9.98577338e-01 -5.24029980e-02 -9.86030228e-03 1.64032238e+02] [ 5.24046544e-02 9.98625928e-01 -9.04893926e-05 6.50036412e-01] [ 9.85149543e-03 -4.26365076e-04 9.99951382e-01 6.83585359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.879254154 meters 0.027423534287329368 Centerline is valid? [True, True] Translation: X:164.09, Y:0.64, Z:0.68 [[ 9.98098876e-01 -6.07936993e-02 -1.01370994e-02 1.64093651e+02] [ 6.07958842e-02 9.98150215e-01 -9.27583629e-05 6.44884215e-01] [ 1.01239871e-02 -5.23711906e-04 9.99948614e-01 6.83711678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.939254154 meters 0.02922515152989711 Centerline is valid? [True, True] Translation: X:164.15, Y:0.64, Z:0.68 [[ 9.97873341e-01 -6.42013223e-02 -1.12687911e-02 1.64154591e+02] [ 6.42042421e-02 9.97936774e-01 -1.02844618e-04 6.42642213e-01] [ 1.12521437e-02 -6.20878286e-04 9.99936500e-01 6.83037694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.999254154 meters 0.03103341714845199 Centerline is valid? [True, True] Translation: X:164.22, Y:0.64, Z:0.68 [[ 9.97757003e-01 -6.58115125e-02 -1.22396292e-02 1.64216145e+02] [ 6.58150841e-02 9.97831831e-01 -1.11196635e-04 6.42039407e-01] [ 1.22204097e-02 -6.94605005e-04 9.99925087e-01 6.81596619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.059254154 meters 0.03133656815847532 Centerline is valid? [True, True] Translation: X:164.28, Y:0.64, Z:0.68 [[ 9.97762896e-01 -6.55559045e-02 -1.31006053e-02 1.64279590e+02] [ 6.55599899e-02 9.97848623e-01 -1.17825950e-04 6.44367204e-01] [ 1.30801452e-02 -7.41313192e-04 9.99914176e-01 6.80916203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.119254154 meters 0.03194276637954964 Centerline is valid? [True, True] Translation: X:164.34, Y:0.65, Z:0.68 [[ 9.97784525e-01 -6.52046570e-02 -1.32058221e-02 1.64340909e+02] [ 6.52087987e-02 9.97871634e-01 -1.17177660e-04 6.47568215e-01] [ 1.31853558e-02 -7.44217741e-04 9.99912792e-01 6.81542538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.179254154 meters 0.032098153443900254 Centerline is valid? [True, True] Translation: X:164.40, Y:0.65, Z:0.68 [[ 9.97819900e-01 -6.48071169e-02 -1.24693314e-02 1.64403342e+02] [ 6.48107921e-02 9.97897564e-01 -1.09549455e-04 6.50763563e-01] [ 1.24502150e-02 -6.98836616e-04 9.99922249e-01 6.82945755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.239254154 meters 0.029789182720209355 Centerline is valid? [True, True] Translation: X:164.46, Y:0.66, Z:0.69 [[ 9.97931064e-01 -6.35007946e-02 -1.00618422e-02 1.64464517e+02] [ 6.35031259e-02 9.97981636e-01 -8.79446882e-05 6.58797964e-01] [ 1.00471183e-02 -5.51195696e-04 9.99949375e-01 6.85914306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.299254154 meters 0.02794212198648801 Centerline is valid? [True, True] Translation: X:164.53, Y:0.67, Z:0.69 [[ 9.98076289e-01 -6.15400313e-02 -7.51971711e-03 1.64526142e+02] [ 6.15412800e-02 9.98104537e-01 -6.54357114e-05 6.65746679e-01] [ 7.50949068e-03 -3.97463184e-04 9.99971724e-01 6.88302703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.359254154 meters 0.02805146731199887 Centerline is valid? [True, True] Translation: X:164.59, Y:0.67, Z:0.69 [[ 9.98153131e-01 -6.03243973e-02 -7.16195069e-03 1.64588672e+02] [ 6.03255019e-02 9.98178757e-01 -6.18926495e-05 6.68616418e-01] [ 7.15264067e-03 -3.70269928e-04 9.99974351e-01 6.88324097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.41925415400001 meters 0.027391802770089468 Centerline is valid? [True, True] Translation: X:164.65, Y:0.67, Z:0.69 [[ 9.98164282e-01 -5.98473710e-02 -9.29296940e-03 1.64651237e+02] [ 5.98492173e-02 9.98207426e-01 -7.95382431e-05 6.72922819e-01] [ 9.28107122e-03 -4.76784712e-04 9.99956816e-01 6.86012589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.47925415400002 meters 0.02649867418616929 Centerline is valid? [True, True] Translation: X:164.71, Y:0.68, Z:0.68 [[ 9.98135389e-01 -5.99154968e-02 -1.16566947e-02 1.64713833e+02] [ 5.99184175e-02 9.98203273e-01 -9.88310120e-05 6.76861285e-01] [ 1.16416723e-02 -5.99803970e-04 9.99932054e-01 6.84610710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.539254154 meters 0.025237050463160986 Centerline is valid? [True, True] Translation: X:164.78, Y:0.68, Z:0.68 [[ 9.98064591e-01 -6.05226580e-02 -1.42856271e-02 1.64776175e+02] [ 6.05271232e-02 9.98166546e-01 -1.19975961e-04 6.82691797e-01] [ 1.42666963e-02 -7.44924152e-04 9.99897948e-01 6.83537814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.599254154 meters 0.029044271606094522 Centerline is valid? [True, True] Translation: X:164.84, Y:0.68, Z:0.68 [[ 9.98103799e-01 -5.98272781e-02 -1.44742155e-02 1.64837357e+02] [ 5.98318022e-02 9.98208466e-01 -1.20661198e-04 6.80018656e-01] [ 1.44555033e-02 -7.45585998e-04 9.99895236e-01 6.82530773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.659254154 meters 0.026799992131037006 Centerline is valid? [True, True] Translation: X:164.90, Y:0.69, Z:0.68 [[ 9.98170926e-01 -5.87663684e-02 -1.41886338e-02 1.64899715e+02] [ 5.87706222e-02 9.98271506e-01 -1.17325652e-04 6.85179262e-01] [ 1.41710036e-02 -7.16763779e-04 9.99899329e-01 6.83523011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.719254154 meters 0.023449281159196526 Centerline is valid? [True, True] Translation: X:164.96, Y:0.70, Z:0.68 [[ 9.98451730e-01 -5.40453691e-02 -1.31620783e-02 1.64960273e+02] [ 5.40486263e-02 9.98538299e-01 -1.08375364e-04 6.95200514e-01] [ 1.31486965e-02 -6.03184682e-04 9.99913370e-01 6.84991906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.779254154 meters 0.023968387050256074 Centerline is valid? [True, True] Translation: X:165.02, Y:0.70, Z:0.69 [[ 9.98686777e-01 -4.98335879e-02 -1.18884235e-02 1.65020337e+02] [ 4.98359481e-02 9.98757412e-01 -9.78138777e-05 6.98148078e-01] [ 1.18785256e-02 -4.94785433e-04 9.99929325e-01 6.85609103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.839254154 meters 0.02130856043356416 Centerline is valid? [True, True] Translation: X:165.08, Y:0.71, Z:0.69 [[ 9.98942805e-01 -4.46674496e-02 -1.08670124e-02 1.65080952e+02] [ 4.46691176e-02 9.99001833e-01 -8.92918034e-05 7.07003500e-01] [ 1.08601538e-02 -3.96222452e-04 9.99940948e-01 6.87035641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.899254154 meters 0.0214445038861124 Centerline is valid? [True, True] Translation: X:165.14, Y:0.71, Z:0.69 [[ 9.99017595e-01 -4.29211396e-02 -1.10282097e-02 1.65141730e+02] [ 4.29227561e-02 9.99078390e-01 -9.01749534e-05 7.09422793e-01] [ 1.10219164e-02 -3.83274788e-04 9.99939183e-01 6.86955604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.959254154 meters 0.021359241121785097 Centerline is valid? [True, True] Translation: X:165.20, Y:0.71, Z:0.69 [[ 9.99103599e-01 -4.05285838e-02 -1.22242237e-02 1.65203059e+02] [ 4.05303994e-02 9.99178301e-01 -9.92727914e-05 7.12658656e-01] [ 1.22182025e-02 -3.96268866e-04 9.99925276e-01 6.85559218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.019254154 meters 0.0186271239190311 Centerline is valid? [True, True] Translation: X:165.26, Y:0.72, Z:0.69 [[ 9.99228578e-01 -3.72582235e-02 -1.24126461e-02 1.65264406e+02] [ 3.72598501e-02 9.99305606e-01 -1.00268102e-04 7.20100993e-01] [ 1.24077627e-02 -3.62302581e-04 9.99922955e-01 6.86389024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.079254154 meters 0.01683331009475114 Centerline is valid? [True, True] Translation: X:165.32, Y:0.73, Z:0.69 [[ 9.99516066e-01 -2.86164747e-02 -1.21955571e-02 1.65323910e+02] [ 2.86174038e-02 9.99590433e-01 -9.83543252e-05 7.27989918e-01] [ 1.21933768e-02 -2.50698454e-04 9.99925627e-01 6.86320321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.139254154 meters 0.016319237750990288 Centerline is valid? [True, True] Translation: X:165.39, Y:0.73, Z:0.69 [[ 9.99697207e-01 -2.15076025e-02 -1.19548233e-02 1.65385546e+02] [ 2.15079922e-02 9.99768672e-01 -9.59864271e-05 7.34220910e-01] [ 1.19541223e-02 -1.61166883e-04 9.99928534e-01 6.85951401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.19925415400002 meters 0.01449035603742415 Centerline is valid? [True, True] Translation: X:165.45, Y:0.74, Z:0.69 [[ 9.99833641e-01 -1.45858040e-02 -1.09519188e-02 1.65446574e+02] [ 1.45857195e-02 9.99893619e-01 -8.75910975e-05 7.40877367e-01] [ 1.09520313e-02 -7.21650900e-05 9.99940022e-01 6.87491788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.259254154 meters 0.014442065634929531 Centerline is valid? [True, True] Translation: X:165.51, Y:0.74, Z:0.69 [[ 9.99861887e-01 -1.28523099e-02 -1.05368057e-02 1.65506661e+02] [ 1.28521362e-02 9.99917404e-01 -8.41965897e-05 7.42955264e-01] [ 1.05370176e-02 -5.12355014e-05 9.99944483e-01 6.87544209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.319254154 meters 0.014584714597006563 Centerline is valid? [True, True] Translation: X:165.57, Y:0.74, Z:0.69 [[ 9.99789229e-01 -1.63415231e-02 -1.24279134e-02 1.65566291e+02] [ 1.63415474e-02 9.99866463e-01 -9.96013112e-05 7.40839216e-01] [ 1.24278815e-02 -1.03511018e-04 9.99922766e-01 6.86568112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.379254154 meters 0.015263076666041868 Centerline is valid? [True, True] Translation: X:165.63, Y:0.74, Z:0.69 [[ 9.99674115e-01 -2.19199408e-02 -1.30836137e-02 1.65625766e+02] [ 2.19204390e-02 9.99759713e-01 -1.05343865e-04 7.36796681e-01] [ 1.30827790e-02 -1.81489022e-04 9.99914400e-01 6.85732344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.439254154 meters 0.01743526854341727 Centerline is valid? [True, True] Translation: X:165.69, Y:0.73, Z:0.69 [[ 9.99400372e-01 -3.18292796e-02 -1.36306229e-02 1.65686448e+02] [ 3.18307391e-02 9.99493268e-01 -1.09916191e-04 7.29658881e-01] [ 1.36272144e-02 -3.24022520e-04 9.99907093e-01 6.85264742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.499254154 meters 0.019298521607542946 Centerline is valid? [True, True] Translation: X:165.75, Y:0.73, Z:0.69 [[ 9.99190929e-01 -3.77389902e-02 -1.39016467e-02 1.65747204e+02] [ 3.77410821e-02 9.99287545e-01 -1.11929421e-04 7.25171762e-01] [ 1.38959665e-02 -4.12824328e-04 9.99903361e-01 6.85662015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.559254154 meters 0.02064907338462724 Centerline is valid? [True, True] Translation: X:165.81, Y:0.72, Z:0.69 [[ 9.98921800e-01 -4.47628825e-02 -1.23093831e-02 1.65808048e+02] [ 4.47650577e-02 9.98997537e-01 -9.88915295e-05 7.22476723e-01] [ 1.23014701e-02 -4.52245340e-04 9.99924232e-01 6.87967849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.619254154 meters 0.022383196585717056 Centerline is valid? [True, True] Translation: X:165.87, Y:0.72, Z:0.69 [[ 9.98817382e-01 -4.75887650e-02 -9.95726212e-03 1.65869620e+02] [ 4.75903353e-02 9.98866935e-01 -7.93101995e-05 7.19931957e-01] [ 9.94975417e-03 -3.94653037e-04 9.99950422e-01 6.90038804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.679254154 meters 0.02395684425333967 Centerline is valid? [True, True] Translation: X:165.93, Y:0.72, Z:0.69 [[ 9.98756332e-01 -4.92494795e-02 -7.76387957e-03 1.65930484e+02] [ 4.92504906e-02 9.98786456e-01 -6.10274679e-05 7.18783050e-01] [ 7.75746334e-03 -3.21423308e-04 9.99969859e-01 6.92497337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.739254154 meters 0.02490016415522203 Centerline is valid? [True, True] Translation: X:165.99, Y:0.72, Z:0.69 [[ 9.98730447e-01 -4.97365679e-02 -7.98549580e-03 1.65992628e+02] [ 4.97376597e-02 9.98762315e-01 -6.19350156e-05 7.18844730e-01] [ 7.97869271e-03 -3.35323487e-04 9.99968114e-01 6.92889982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.799254154 meters 0.026784901796799643 Centerline is valid? [True, True] Translation: X:166.05, Y:0.72, Z:0.69 [[ 9.98627352e-01 -5.15977304e-02 -9.00476176e-03 1.66054181e+02] [ 5.15992022e-02 9.98667872e-01 -6.89499833e-05 7.16598776e-01] [ 8.99632393e-03 -3.95783184e-04 9.99959454e-01 6.92039114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.859254154 meters 0.028422322092485616 Centerline is valid? [True, True] Translation: X:166.12, Y:0.71, Z:0.69 [[ 9.98543087e-01 -5.30877296e-02 -9.66413596e-03 1.66115931e+02] [ 5.30895058e-02 9.98589755e-01 -7.28295632e-05 7.14536139e-01] [ 9.65437352e-03 -4.40340745e-04 9.99953298e-01 6.90850225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.91925415400001 meters 0.02611663970347016 Centerline is valid? [True, True] Translation: X:166.18, Y:0.72, Z:0.69 [[ 9.98424816e-01 -5.47199970e-02 -1.23938820e-02 1.66177960e+02] [ 5.47230594e-02 9.98501566e-01 -9.21596020e-05 7.19389133e-01] [ 1.23803536e-02 -5.86216708e-04 9.99923189e-01 6.89999001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.97925415400002 meters 0.029958134921150768 Centerline is valid? [True, True] Translation: X:166.24, Y:0.72, Z:0.69 [[ 9.98447765e-01 -5.37618854e-02 -1.45506266e-02 1.66239564e+02] [ 5.37660304e-02 9.98553555e-01 -1.06449834e-04 7.15211516e-01] [ 1.45353029e-02 -6.76044835e-04 9.99894128e-01 6.87435857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.039254154 meters 0.02405772920650669 Centerline is valid? [True, True] Translation: X:166.30, Y:0.73, Z:0.69 [[ 9.98719186e-01 -4.81498372e-02 -1.55428825e-02 1.66300759e+02] [ 4.81539015e-02 9.98839922e-01 -1.12873885e-04 7.26825356e-01] [ 1.55302864e-02 -6.35721118e-04 9.99879196e-01 6.88643039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.099254154 meters 0.020589111851315862 Centerline is valid? [True, True] Translation: X:166.36, Y:0.74, Z:0.69 [[ 9.99047902e-01 -4.12472713e-02 -1.42109833e-02 1.66361450e+02] [ 4.12499729e-02 9.99148852e-01 -1.03081535e-04 7.35578484e-01] [ 1.42031395e-02 -4.83219287e-04 9.99899014e-01 6.91751351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.159254154 meters 0.016709377932061682 Centerline is valid? [True, True] Translation: X:166.42, Y:0.75, Z:0.70 [[ 9.99529042e-01 -2.87488342e-02 -1.07330973e-02 1.66421450e+02] [ 2.87496550e-02 9.99586640e-01 -7.78440124e-05 7.49177095e-01] [ 1.07308986e-02 -2.30765493e-04 9.99942396e-01 6.96776583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.219254154 meters 0.015410702006693306 Centerline is valid? [True, True] Translation: X:166.48, Y:0.76, Z:0.70 [[ 9.99754380e-01 -2.01710135e-02 -9.18206230e-03 1.66483029e+02] [ 2.01712549e-02 9.99796537e-01 -6.63327023e-05 7.56106093e-01] [ 9.18153209e-03 -1.18897309e-04 9.99957842e-01 6.98325833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.279254154 meters 0.01477977671625433 Centerline is valid? [True, True] Translation: X:166.54, Y:0.76, Z:0.70 [[ 9.99889474e-01 -1.25489528e-02 -7.97267811e-03 1.66544910e+02] [ 1.25488958e-02 9.99921258e-01 -5.71840878e-05 7.61897904e-01] [ 7.97276793e-03 -4.28705393e-05 9.99968216e-01 6.98794878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.339254154 meters 0.014350176950395801 Centerline is valid? [True, True] Translation: X:166.61, Y:0.77, Z:0.70 [[ 9.99943172e-01 -4.52291552e-03 -9.65375942e-03 1.66605197e+02] [ 4.52246161e-03 9.99989771e-01 -6.88484776e-05 7.67726345e-01] [ 9.65397207e-03 2.51858088e-05 9.99953399e-01 6.98684781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.399254154 meters 0.014560462361748091 Centerline is valid? [True, True] Translation: X:166.66, Y:0.77, Z:0.70 [[ 9.99939769e-01 -3.35482083e-03 -1.04500188e-02 1.66663832e+02] [ 3.35420979e-03 9.99994372e-01 -7.59979471e-05 7.68717049e-01] [ 1.04502149e-02 4.09418145e-05 9.99945394e-01 6.97863166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.459254154 meters 0.014450884326382432 Centerline is valid? [True, True] Translation: X:166.72, Y:0.76, Z:0.70 [[ 9.99896807e-01 -6.93575424e-03 -1.25805781e-02 1.66722534e+02] [ 6.93512728e-03 9.99975947e-01 -9.34607799e-05 7.64547012e-01] [ 1.25809238e-02 6.20322474e-06 9.99920857e-01 6.96309051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.519254154 meters 0.014668562911114794 Centerline is valid? [True, True] Translation: X:166.78, Y:0.76, Z:0.70 [[ 9.99791652e-01 -1.50305889e-02 -1.38106362e-02 1.66781595e+02] [ 1.50305911e-02 9.99887029e-01 -1.03640401e-04 7.57444125e-01] [ 1.38106338e-02 -1.03963218e-04 9.99904623e-01 6.95359196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.579254154 meters 0.01542650790207676 Centerline is valid? [True, True] Translation: X:166.84, Y:0.76, Z:0.70 [[ 9.99745026e-01 -1.76044755e-02 -1.41408887e-02 1.66840510e+02] [ 1.76046957e-02 9.99845019e-01 -1.08915316e-04 7.55487785e-01] [ 1.41406145e-02 -1.40058496e-04 9.99900007e-01 6.95104707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.639254154 meters 0.016357680675704585 Centerline is valid? [True, True] Translation: X:166.90, Y:0.75, Z:0.70 [[ 9.99669931e-01 -2.18337587e-02 -1.35393945e-02 1.66900053e+02] [ 2.18343295e-02 9.99761597e-01 -1.05679135e-04 7.51376189e-01] [ 1.35384740e-02 -1.89979346e-04 9.99908333e-01 6.95604636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.69925415400002 meters 0.0160143780913397 Centerline is valid? [True, True] Translation: X:166.96, Y:0.75, Z:0.70 [[ 9.99596360e-01 -2.55997911e-02 -1.23193993e-02 1.66961752e+02] [ 2.56005513e-02 9.99672248e-01 -9.60137328e-05 7.46975797e-01] [ 1.23178195e-02 -2.19408436e-04 9.99924109e-01 6.98428846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.759254154 meters 0.016059672929563014 Centerline is valid? [True, True] Translation: X:167.02, Y:0.75, Z:0.70 [[ 9.99562038e-01 -2.70096513e-02 -1.20918063e-02 1.67023909e+02] [ 2.70104956e-02 9.99635146e-01 -9.35108196e-05 7.46337013e-01] [ 1.20899203e-02 -2.33135816e-04 9.99926887e-01 7.00094767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.819254154 meters 0.017152840882270568 Centerline is valid? [True, True] Translation: X:167.09, Y:0.74, Z:0.70 [[ 9.99521494e-01 -2.85374987e-02 -1.19328681e-02 1.67085191e+02] [ 2.85384386e-02 9.99592692e-01 -9.15438046e-05 7.42065899e-01] [ 1.19306202e-02 -2.49045423e-04 9.99928797e-01 6.99811797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.879254154 meters 0.017213501635137247 Centerline is valid? [True, True] Translation: X:167.15, Y:0.74, Z:0.70 [[ 9.99508725e-01 -2.92429722e-02 -1.12764307e-02 1.67147681e+02] [ 2.92438645e-02 9.99572303e-01 -8.57823978e-05 7.39641847e-01] [ 1.12741163e-02 -2.44026156e-04 9.99936415e-01 7.00251465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.939254154 meters 0.01834876469605076 Centerline is valid? [True, True] Translation: X:167.21, Y:0.74, Z:0.70 [[ 9.99564900e-01 -2.70910878e-02 -1.16654962e-02 1.67209688e+02] [ 2.70919063e-02 9.99632943e-01 -8.78802122e-05 7.39786496e-01] [ 1.16635951e-02 -2.28198556e-04 9.99931952e-01 6.99101200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.999254154 meters 0.015902548501634927 Centerline is valid? [True, True] Translation: X:167.27, Y:0.74, Z:0.70 [[ 9.99633309e-01 -2.43346682e-02 -1.18773583e-02 1.67271342e+02] [ 2.43353294e-02 9.99703848e-01 -8.88707590e-05 7.42604620e-01] [ 1.18760034e-02 -2.00201255e-04 9.99929458e-01 7.00891857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.059254154 meters 0.01504254683811871 Centerline is valid? [True, True] Translation: X:167.33, Y:0.74, Z:0.70 [[ 9.99749741e-01 -1.88869634e-02 -1.19890502e-02 1.67332548e+02] [ 1.88872508e-02 9.99821616e-01 -8.92629354e-05 7.44578506e-01] [ 1.19885975e-02 -1.37199602e-04 9.99928125e-01 7.00819882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.119254154 meters 0.015027705417841816 Centerline is valid? [True, True] Translation: X:167.39, Y:0.74, Z:0.70 [[ 9.99784397e-01 -1.68724135e-02 -1.21029400e-02 1.67393023e+02] [ 1.68725624e-02 9.99857644e-01 -8.98082216e-05 7.44969459e-01] [ 1.21027323e-02 -1.14418752e-04 9.99926753e-01 7.00182499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.179254154 meters 0.01506759658557397 Centerline is valid? [True, True] Translation: X:167.45, Y:0.74, Z:0.70 [[ 9.99770166e-01 -1.64749802e-02 -1.37182469e-02 1.67453891e+02] [ 1.64751354e-02 9.99864271e-01 -1.01704210e-04 7.44781211e-01] [ 1.37180605e-02 -1.24329139e-04 9.99905895e-01 6.99077028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.239254154 meters 0.015402095869351925 Centerline is valid? [True, True] Translation: X:167.51, Y:0.74, Z:0.70 [[ 9.99736569e-01 -1.82224969e-02 -1.39546731e-02 1.67513169e+02] [ 1.82228230e-02 9.99833945e-01 -1.03790770e-04 7.42481363e-01] [ 1.39542471e-02 -1.50530109e-04 9.99902623e-01 6.98928084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.299254154 meters 0.015931520055019653 Centerline is valid? [True, True] Translation: X:167.57, Y:0.74, Z:0.70 [[ 9.99659775e-01 -2.19692603e-02 -1.40600781e-02 1.67572485e+02] [ 2.19699547e-02 9.99758626e-01 -1.05089786e-04 7.39378354e-01] [ 1.40589931e-02 -2.03845248e-04 9.99901147e-01 6.99720003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.359254154 meters 0.01600274592083149 Centerline is valid? [True, True] Translation: X:167.63, Y:0.74, Z:0.70 [[ 9.99612441e-01 -2.43482183e-02 -1.34955979e-02 1.67633046e+02] [ 2.43490749e-02 9.99703512e-01 -1.00861413e-04 7.37944029e-01] [ 1.34940524e-02 -2.27783000e-04 9.99908925e-01 7.01403322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.41925415400001 meters 0.0176000603466997 Centerline is valid? [True, True] Translation: X:167.69, Y:0.74, Z:0.70 [[ 9.99556329e-01 -2.64146534e-02 -1.37627028e-02 1.67693867e+02] [ 2.64157435e-02 9.99651038e-01 -1.02605053e-04 7.36680189e-01] [ 1.37606104e-02 -2.60992496e-04 9.99905284e-01 7.01057515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.47925415400002 meters 0.017775753046255026 Centerline is valid? [True, True] Translation: X:167.76, Y:0.73, Z:0.70 [[ 9.99457398e-01 -3.06662995e-02 -1.20202935e-02 1.67755367e+02] [ 3.06674425e-02 9.99529639e-01 -8.92711110e-05 7.32392539e-01] [ 1.20173772e-02 -2.79408987e-04 9.99927750e-01 7.02817942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.539254154 meters 0.01830525780079466 Centerline is valid? [True, True] Translation: X:167.82, Y:0.73, Z:0.70 [[ 9.99335198e-01 -3.48604360e-02 -1.06729546e-02 1.67817016e+02] [ 3.48615812e-02 9.99392147e-01 -7.87812830e-05 7.29117828e-01] [ 1.06692133e-02 -2.93347163e-04 9.99943039e-01 7.04072609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.599254154 meters 0.01955834273134804 Centerline is valid? [True, True] Translation: X:167.88, Y:0.73, Z:0.70 [[ 9.99254994e-01 -3.70842576e-02 -1.06871398e-02 1.67877691e+02] [ 3.70855439e-02 9.99312092e-01 -7.78570242e-05 7.26950333e-01] [ 1.06826753e-02 -3.18539372e-04 9.99942888e-01 7.04633770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.659254154 meters 0.020036943818867843 Centerline is valid? [True, True] Translation: X:167.94, Y:0.73, Z:0.71 [[ 9.99151161e-01 -3.95592471e-02 -1.14901369e-02 1.67939975e+02] [ 3.95609102e-02 9.99217157e-01 -8.26013099e-05 7.25601079e-01] [ 1.14844096e-02 -3.72029079e-04 9.99933983e-01 7.05009302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.719254154 meters 0.02046472028180113 Centerline is valid? [True, True] Translation: X:168.00, Y:0.72, Z:0.71 [[ 9.99116461e-01 -4.03819458e-02 -1.16445235e-02 1.68001855e+02] [ 4.03837196e-02 9.99184241e-01 -8.28655049e-05 7.24074758e-01] [ 1.16383707e-02 -3.87456883e-04 9.99932197e-01 7.05057957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.779254154 meters 0.02000377282009194 Centerline is valid? [True, True] Translation: X:168.06, Y:0.72, Z:0.70 [[ 9.99055915e-01 -4.13808055e-02 -1.32252914e-02 1.68064125e+02] [ 4.13831943e-02 9.99143344e-01 -9.31000773e-05 7.24111764e-01] [ 1.32178144e-02 -4.54292621e-04 9.99912538e-01 7.03983662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.839254154 meters 0.020634033658122802 Centerline is valid? [True, True] Translation: X:168.13, Y:0.72, Z:0.70 [[ 9.99034921e-01 -4.17165822e-02 -1.37460586e-02 1.68126745e+02] [ 4.17192088e-02 9.99129370e-01 -9.57453886e-05 7.22148828e-01] [ 1.37380850e-02 -4.77821702e-04 9.99905514e-01 7.03102549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.899254154 meters 0.0224287378342592 Centerline is valid? [True, True] Translation: X:168.19, Y:0.72, Z:0.70 [[ 9.99026455e-01 -4.14782300e-02 -1.50232621e-02 1.68187967e+02] [ 4.14813544e-02 9.99139273e-01 -1.03717717e-04 7.20498022e-01] [ 1.50146332e-02 -5.19568516e-04 9.99887139e-01 7.01082317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.959254154 meters 0.020430611435229677 Centerline is valid? [True, True] Translation: X:168.25, Y:0.72, Z:0.70 [[ 9.99083699e-01 -4.03593366e-02 -1.42437875e-02 1.68250610e+02] [ 4.03620475e-02 9.99185116e-01 -9.72182571e-05 7.23241615e-01] [ 1.42361041e-02 -4.77779252e-04 9.99898547e-01 7.03524836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.019254154 meters 0.019000360331331644 Centerline is valid? [True, True] Translation: X:168.31, Y:0.73, Z:0.70 [[ 9.99207176e-01 -3.71810781e-02 -1.42332884e-02 1.68312333e+02] [ 3.71834763e-02 9.99308451e-01 -9.62032730e-05 7.27843547e-01] [ 1.42270223e-02 -4.33116141e-04 9.99898697e-01 7.04772648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.079254154 meters 0.01844655108073508 Centerline is valid? [True, True] Translation: X:168.37, Y:0.73, Z:0.71 [[ 9.99262976e-01 -3.55970674e-02 -1.43650311e-02 1.68374742e+02] [ 3.55993607e-02 9.99366137e-01 -9.61105466e-05 7.29455785e-01] [ 1.43593469e-02 -4.15346213e-04 9.99896813e-01 7.05048384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.139254154 meters 0.01850503136723497 Centerline is valid? [True, True] Translation: X:168.44, Y:0.73, Z:0.70 [[ 9.99328146e-01 -3.39237379e-02 -1.38721651e-02 1.68435852e+02] [ 3.39257374e-02 9.99424352e-01 -9.12304526e-05 7.29768356e-01] [ 1.38672745e-02 -3.79454272e-04 9.99903773e-01 7.04654916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.19925415400002 meters 0.018337375730510263 Centerline is valid? [True, True] Translation: X:168.50, Y:0.73, Z:0.71 [[ 9.99394879e-01 -3.22784967e-02 -1.29604647e-02 1.68497658e+02] [ 3.22801168e-02 9.99478858e-01 -8.42244555e-05 7.31362286e-01] [ 1.29564291e-02 -3.34191824e-04 9.99916006e-01 7.05457213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.259254154 meters 0.01670307862408383 Centerline is valid? [True, True] Translation: X:168.56, Y:0.74, Z:0.71 [[ 9.99535647e-01 -2.80847969e-02 -1.18209011e-02 1.68559119e+02] [ 2.80858573e-02 9.99605512e-01 -7.63282926e-05 7.37554498e-01] [ 1.18183816e-02 -2.55707293e-04 9.99930128e-01 7.07283467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.319254154 meters 0.015978183589605816 Centerline is valid? [True, True] Translation: X:168.62, Y:0.74, Z:0.71 [[ 9.99610395e-01 -2.52691828e-02 -1.18543938e-02 1.68620364e+02] [ 2.52700565e-02 9.99680658e-01 -7.61063720e-05 7.40381168e-01] [ 1.18525313e-02 -2.23484480e-04 9.99929731e-01 7.08039468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.379254154 meters 0.01577714377655884 Centerline is valid? [True, True] Translation: X:168.68, Y:0.74, Z:0.71 [[ 9.99678386e-01 -2.26118273e-02 -1.14816801e-02 1.68681726e+02] [ 2.26124764e-02 9.99744303e-01 -7.32991808e-05 7.41025452e-01] [ 1.14804017e-02 -1.86353612e-04 9.99934081e-01 7.07658045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.439254154 meters 0.015613047731953756 Centerline is valid? [True, True] Translation: X:168.74, Y:0.74, Z:0.71 [[ 9.99698657e-01 -2.16678133e-02 -1.15369660e-02 1.68743281e+02] [ 2.16684107e-02 9.99765210e-01 -7.32356652e-05 7.41295315e-01] [ 1.15358441e-02 -1.76774122e-04 9.99933444e-01 7.07731688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.499254154 meters 0.015421921180918728 Centerline is valid? [True, True] Translation: X:168.80, Y:0.74, Z:0.71 [[ 9.99751452e-01 -1.90551179e-02 -1.15730854e-02 1.68804668e+02] [ 1.90555487e-02 9.99818424e-01 -7.30522041e-05 7.42960747e-01] [ 1.15723760e-02 -1.47497446e-04 9.99933027e-01 7.07236554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.559254154 meters 0.014772398517770378 Centerline is valid? [True, True] Translation: X:168.87, Y:0.74, Z:0.71 [[ 9.99786715e-01 -1.68788483e-02 -1.19007736e-02 1.68865604e+02] [ 1.68791517e-02 9.99857534e-01 -7.49600438e-05 7.44624191e-01] [ 1.19003434e-02 -1.25930907e-04 9.99929180e-01 7.07408048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.619254154 meters 0.014792490222399549 Centerline is valid? [True, True] Translation: X:168.93, Y:0.75, Z:0.71 [[ 9.99815714e-01 -1.44526730e-02 -1.26356331e-02 1.68926441e+02] [ 1.44528212e-02 9.99895549e-01 -7.95887424e-05 7.45535369e-01] [ 1.26354635e-02 -1.03046470e-04 9.99920164e-01 7.06394487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.679254154 meters 0.014634292423274223 Centerline is valid? [True, True] Translation: X:168.99, Y:0.75, Z:0.71 [[ 9.99831046e-01 -1.28283861e-02 -1.31647926e-02 1.68985585e+02] [ 1.28283766e-02 9.99917709e-01 -8.51740801e-05 7.47003071e-01] [ 1.31648020e-02 -8.37232281e-05 9.99913337e-01 7.06768793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.739254154 meters 0.01462280098907962 Centerline is valid? [True, True] Translation: X:169.04, Y:0.75, Z:0.71 [[ 9.99863151e-01 -1.08343147e-02 -1.25019099e-02 1.69043022e+02] [ 1.08341277e-02 9.99941306e-01 -8.26894282e-05 7.46807796e-01] [ 1.25020720e-02 -5.27691758e-05 9.99921845e-01 7.07001080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.799254154 meters 0.014535764443346623 Centerline is valid? [True, True] Translation: X:169.10, Y:0.75, Z:0.71 [[ 9.99891215e-01 -9.95913517e-03 -1.08799649e-02 1.69101703e+02] [ 9.95891972e-03 9.99950406e-01 -7.39816173e-05 7.45568421e-01] [ 1.08801621e-02 -3.43791274e-05 9.99940809e-01 7.08435793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.859254154 meters 0.014424105462511048 Centerline is valid? [True, True] Translation: X:169.16, Y:0.74, Z:0.71 [[ 9.99895976e-01 -1.00136774e-02 -1.03809476e-02 1.69160786e+02] [ 1.00134570e-02 9.99949861e-01 -7.32012164e-05 7.44595546e-01] [ 1.03811602e-02 -3.07555716e-05 9.99946114e-01 7.08723729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.91925415400001 meters 0.01699541214919579 Centerline is valid? [True, True] Translation: X:169.22, Y:0.74, Z:0.71 [[ 9.99901384e-01 -8.97138794e-03 -1.08044795e-02 1.69219256e+02] [ 8.97105818e-03 9.99959756e-01 -7.89873852e-05 7.42017834e-01] [ 1.08047533e-02 -1.79480186e-05 9.99941627e-01 7.06853188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.979254154 meters 0.01433303187220231 Centerline is valid? [True, True] Translation: X:169.28, Y:0.74, Z:0.71 [[ 9.99906305e-01 -9.59204615e-03 -9.76595143e-03 1.69277795e+02] [ 9.59178316e-03 9.99953995e-01 -7.37682598e-05 7.40323016e-01] [ 9.76620974e-03 -1.99115404e-05 9.99952309e-01 7.09482840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.039254154 meters 0.014466368736479785 Centerline is valid? [True, True] Translation: X:169.34, Y:0.73, Z:0.71 [[ 9.99898809e-01 -1.03572382e-02 -9.75190063e-03 1.69336311e+02] [ 1.03569882e-02 9.99946362e-01 -7.61389487e-05 7.34889510e-01] [ 9.75216615e-03 -2.48690754e-05 9.99952446e-01 7.09651531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.099254154 meters 0.014578558528420233 Centerline is valid? [True, True] Translation: X:169.39, Y:0.73, Z:0.71 [[ 9.99883736e-01 -1.15478077e-02 -9.95803900e-03 1.69394597e+02] [ 1.15475917e-02 9.99933321e-01 -7.91903563e-05 7.28873541e-01] [ 9.95828948e-03 -3.58102190e-05 9.99950414e-01 7.09310325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.159254154 meters 0.014445452606389552 Centerline is valid? [True, True] Translation: X:169.45, Y:0.72, Z:0.71 [[ 9.99853641e-01 -1.25284343e-02 -1.16505746e-02 1.69452968e+02] [ 1.25281813e-02 9.99921515e-01 -9.47020632e-05 7.24221025e-01] [ 1.16508467e-02 -5.12723088e-05 9.99932125e-01 7.08392221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.219254154 meters 0.014297064752162168 Centerline is valid? [True, True] Translation: X:169.51, Y:0.72, Z:0.71 [[ 9.99836441e-01 -1.33776453e-02 -1.21708372e-02 1.69511760e+02] [ 1.33773941e-02 9.99910513e-01 -1.02052479e-04 7.19035428e-01] [ 1.21711133e-02 -6.07782980e-05 9.99925927e-01 7.08904236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.279254154 meters 0.014443160037703488 Centerline is valid? [True, True] Translation: X:169.57, Y:0.72, Z:0.71 [[ 9.99826742e-01 -1.41567970e-02 -1.20859515e-02 1.69570690e+02] [ 1.41565690e-02 9.99899785e-01 -1.04416590e-04 7.15414810e-01] [ 1.20862185e-02 -6.66971073e-05 9.99926957e-01 7.09514528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.339254154 meters 0.014862104758586516 Centerline is valid? [True, True] Translation: X:169.63, Y:0.71, Z:0.71 [[ 9.99787454e-01 -1.74117486e-02 -1.10398399e-02 1.69628436e+02] [ 1.74117390e-02 9.99848399e-01 -9.69932220e-05 7.06352346e-01] [ 1.10398551e-02 -9.52502050e-05 9.99939054e-01 7.10088594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.399254154 meters 0.015224777182291758 Centerline is valid? [True, True] Translation: X:169.69, Y:0.70, Z:0.71 [[ 9.99710529e-01 -2.16033246e-02 -1.05903123e-02 1.69688412e+02] [ 2.16035445e-02 9.99766612e-01 -9.36439325e-05 7.00095350e-01] [ 1.05898636e-02 -1.35171457e-04 9.99943917e-01 7.11518561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.459254154 meters 0.016491132861686967 Centerline is valid? [True, True] Translation: X:169.75, Y:0.69, Z:0.71 [[ 9.99527977e-01 -2.91057206e-02 -9.83259922e-03 1.69749364e+02] [ 2.91062725e-02 9.99576319e-01 -8.69917469e-05 6.89086180e-01] [ 9.83096529e-03 -1.99239628e-04 9.99951655e-01 7.11476341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.519254154 meters 0.017795721861270354 Centerline is valid? [True, True] Translation: X:169.81, Y:0.68, Z:0.71 [[ 9.99366045e-01 -3.41541446e-02 -1.00499947e-02 1.69810480e+02] [ 3.41549781e-02 9.99416545e-01 -8.87290925e-05 6.81846918e-01] [ 1.00471615e-02 -2.54584509e-04 9.99949494e-01 7.10629533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.579254154 meters 0.021028305976696648 Centerline is valid? [True, True] Translation: X:169.87, Y:0.67, Z:0.71 [[ 9.99010974e-01 -4.31143218e-02 -1.08733022e-02 1.69869717e+02] [ 4.31158274e-02 9.99070076e-01 -9.60079426e-05 6.69945328e-01] [ 1.08673302e-02 -3.72898435e-04 9.99940879e-01 7.09539103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.639254154 meters 0.023726537134992457 Centerline is valid? [True, True] Translation: X:169.93, Y:0.66, Z:0.71 [[ 9.98496259e-01 -5.37337024e-02 -1.08586732e-02 1.69930475e+02] [ 5.37358308e-02 9.98555182e-01 -9.58630728e-05 6.60663258e-01] [ 1.08481354e-02 -4.87780904e-04 9.99941038e-01 7.09910516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.69925415400002 meters 0.02816315858331561 Centerline is valid? [True, True] Translation: X:169.99, Y:0.65, Z:0.71 [[ 9.98116917e-01 -6.03998923e-02 -1.06992047e-02 1.69989740e+02] [ 6.04023451e-02 9.98174107e-01 -9.40335428e-05 6.52390091e-01] [ 1.06853487e-02 -5.52400584e-04 9.99942757e-01 7.10527350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.759254154 meters 0.03047394057638101 Centerline is valid? [True, True] Translation: X:170.05, Y:0.65, Z:0.71 [[ 9.97749724e-01 -6.61372861e-02 -1.10157617e-02 1.70050638e+02] [ 6.61402378e-02 9.97810332e-01 -9.65307002e-05 6.48325699e-01] [ 1.09980251e-02 -6.32271619e-04 9.99939320e-01 7.10631279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.819254154 meters 0.03217374240649029 Centerline is valid? [True, True] Translation: X:170.11, Y:0.65, Z:0.71 [[ 9.97778309e-01 -6.53575213e-02 -1.29166811e-02 1.70112655e+02] [ 6.53615228e-02 9.97861643e-01 -1.12554863e-04 6.49059950e-01] [ 1.28964169e-02 -7.31949143e-04 9.99916570e-01 7.08446091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.879254154 meters 0.02764536342748274 Centerline is valid? [True, True] Translation: X:170.17, Y:0.66, Z:0.71 [[ 9.97899113e-01 -6.34434059e-02 -1.31260984e-02 1.70174182e+02] [ 6.34473817e-02 9.97985179e-01 -1.13730455e-04 6.56704702e-01] [ 1.31068671e-02 -7.19325055e-04 9.99913843e-01 7.11428399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.939254154 meters 0.02731308520195353 Centerline is valid? [True, True] Translation: X:170.24, Y:0.66, Z:0.71 [[ 9.98058343e-01 -6.07500450e-02 -1.37468806e-02 1.70236192e+02] [ 6.07541605e-02 9.98152753e-01 -1.18422520e-04 6.60225351e-01] [ 1.37286809e-02 -7.16987604e-04 9.99905500e-01 7.11368603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.999254154 meters 0.026483814363604162 Centerline is valid? [True, True] Translation: X:170.30, Y:0.67, Z:0.71 [[ 9.98313064e-01 -5.65027663e-02 -1.33590623e-02 1.70296585e+02] [ 5.65062765e-02 9.98402237e-01 -1.14846021e-04 6.65397452e-01] [ 1.33442069e-02 -6.40218588e-04 9.99910757e-01 7.12193602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.059254154 meters 0.02264342284605296 Centerline is valid? [True, True] Translation: X:170.36, Y:0.68, Z:0.71 [[ 9.98594381e-01 -5.15193217e-02 -1.24507552e-02 1.70357597e+02] [ 5.15219860e-02 9.98671855e-01 -1.06887073e-04 6.76353356e-01] [ 1.24397256e-02 -5.34750805e-04 9.99922481e-01 7.14312857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.119254154 meters 0.021648412935524195 Centerline is valid? [True, True] Translation: X:170.42, Y:0.68, Z:0.71 [[ 9.98818543e-01 -4.68311624e-02 -1.29754030e-02 1.70418799e+02] [ 4.68336642e-02 9.98902696e-01 -1.11147774e-04 6.81648268e-01] [ 1.29663702e-02 -4.96669207e-04 9.99915810e-01 7.14441000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.179254154 meters 0.018820031309779724 Centerline is valid? [True, True] Translation: X:170.48, Y:0.69, Z:0.71 [[ 9.99120681e-01 -3.93738219e-02 -1.44071825e-02 1.70479879e+02] [ 3.93761357e-02 9.99224452e-01 -1.23135716e-04 6.91478504e-01] [ 1.44008574e-02 -4.44271735e-04 9.99896204e-01 7.14337554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.239254154 meters 0.0173439097947394 Centerline is valid? [True, True] Translation: X:170.54, Y:0.70, Z:0.72 [[ 9.99415652e-01 -3.10106666e-02 -1.43767940e-02 1.70540127e+02] [ 3.10121070e-02 9.99519001e-01 -1.22793955e-04 6.99685544e-01] [ 1.43736867e-02 -3.23132474e-04 9.99896641e-01 7.15184688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.299254154 meters 0.015975710710757603 Centerline is valid? [True, True] Translation: X:170.60, Y:0.71, Z:0.72 [[ 9.99590105e-01 -2.49961047e-02 -1.39577118e-02 1.70600990e+02] [ 2.49968785e-02 9.99687522e-01 -1.19040561e-04 7.06511019e-01] [ 1.39563258e-02 -2.29907459e-04 9.99902579e-01 7.16551152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.359254154 meters 0.015360858837811775 Centerline is valid? [True, True] Translation: X:170.66, Y:0.71, Z:0.72 [[ 9.99667708e-01 -2.20029763e-02 -1.34291802e-02 1.70661630e+02] [ 2.20034236e-02 9.99757889e-01 -1.14455812e-04 7.10446191e-01] [ 1.34284472e-02 -1.81070160e-04 9.99909818e-01 7.17700714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.41925415400001 meters 0.01536338017896942 Centerline is valid? [True, True] Translation: X:170.72, Y:0.72, Z:0.72 [[ 9.99824250e-01 -1.35065344e-02 -1.30016322e-02 1.70721209e+02] [ 1.35062333e-02 9.99908781e-01 -1.10967780e-04 7.17254058e-01] [ 1.30019450e-02 -6.46548005e-05 9.99915469e-01 7.17657389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.479254154 meters 0.014392478918036834 Centerline is valid? [True, True] Translation: X:170.78, Y:0.72, Z:0.72 [[ 9.99872515e-01 -9.83467869e-03 -1.25790937e-02 1.70779658e+02] [ 9.83407909e-03 9.99951638e-01 -1.09521503e-04 7.21262715e-01] [ 1.25795625e-02 -1.41962624e-05 9.99920874e-01 7.19088913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.539254154 meters 0.014406048038646164 Centerline is valid? [True, True] Translation: X:170.84, Y:0.72, Z:0.72 [[ 9.99853079e-01 -1.16454615e-02 -1.25778708e-02 1.70837921e+02] [ 1.16449615e-02 9.99932189e-01 -1.12988134e-04 7.20809741e-01] [ 1.25783336e-02 -3.34972873e-05 9.99920889e-01 7.18990239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.599254154 meters 0.015050759538397719 Centerline is valid? [True, True] Translation: X:170.90, Y:0.71, Z:0.72 [[ 9.99724536e-01 -1.94826479e-02 -1.30873743e-02 1.70895476e+02] [ 1.94827492e-02 9.99810186e-01 -1.19771953e-04 7.14641924e-01] [ 1.30872236e-02 -1.35239071e-04 9.99914349e-01 7.18944885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.659254154 meters 0.017399108183840727 Centerline is valid? [True, True] Translation: X:170.96, Y:0.71, Z:0.72 [[ 9.99464541e-01 -3.01614481e-02 -1.26853785e-02 1.70955892e+02] [ 3.01623966e-02 9.99545005e-01 -1.16586530e-04 7.05295260e-01] [ 1.26831231e-02 -2.66097315e-04 9.99919531e-01 7.19203623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.719254154 meters 0.019226798194958032 Centerline is valid? [True, True] Translation: X:171.02, Y:0.70, Z:0.72 [[ 9.99230365e-01 -3.72220727e-02 -1.23772264e-02 1.71017028e+02] [ 3.72235195e-02 9.99306958e-01 -1.13531534e-04 6.99873299e-01] [ 1.23728743e-02 -3.47279771e-04 9.99923393e-01 7.19203759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.779254154 meters 0.022557533426614016 Centerline is valid? [True, True] Translation: X:171.08, Y:0.69, Z:0.72 [[ 9.98917753e-01 -4.48020642e-02 -1.24939282e-02 1.71077102e+02] [ 4.48041350e-02 9.98995784e-01 -1.14250097e-04 6.91995760e-01] [ 1.24865003e-02 -4.45653196e-04 9.99921941e-01 7.18627175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.839254154 meters 0.02212417776193661 Centerline is valid? [True, True] Translation: X:171.14, Y:0.69, Z:0.72 [[ 9.98783771e-01 -4.78224754e-02 -1.19995359e-02 1.71139610e+02] [ 4.78246111e-02 9.98855743e-01 -1.09063165e-04 6.92251519e-01] [ 1.19910210e-02 -4.64942617e-04 9.99927997e-01 7.19310103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.899254154 meters 0.022453237873809744 Centerline is valid? [True, True] Translation: X:171.20, Y:0.69, Z:0.72 [[ 9.98636221e-01 -5.08825113e-02 -1.16905184e-02 1.71201122e+02] [ 5.08847546e-02 9.98704526e-01 -1.05671225e-04 6.91400084e-01] [ 1.16807504e-02 -4.89342045e-04 9.99931658e-01 7.20651850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.959254154 meters 0.023229273565609422 Centerline is valid? [True, True] Translation: X:171.26, Y:0.69, Z:0.72 [[ 9.98540954e-01 -5.27768632e-02 -1.14265191e-02 1.71263703e+02] [ 5.27791378e-02 9.98606205e-01 -1.02604715e-04 6.90143018e-01] [ 1.14160081e-02 -5.00626819e-04 9.99934710e-01 7.20393072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.019254154 meters 0.027064569453082096 Centerline is valid? [True, True] Translation: X:171.32, Y:0.69, Z:0.72 [[ 9.98473596e-01 -5.37454754e-02 -1.27240783e-02 1.71324554e+02] [ 5.37483926e-02 9.98554504e-01 -1.12832043e-04 6.85085464e-01] [ 1.27117499e-02 -5.71238942e-04 9.99919039e-01 7.18976448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.079254154 meters 0.023613308648094078 Centerline is valid? [True, True] Translation: X:171.39, Y:0.69, Z:0.72 [[ 9.98520226e-01 -5.25919116e-02 -1.38365385e-02 1.71386289e+02] [ 5.25952689e-02 9.98615904e-01 -1.21391044e-04 6.93229470e-01] [ 1.38237716e-02 -6.06525052e-04 9.99904263e-01 7.19074901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.139254154 meters 0.024913331006871372 Centerline is valid? [True, True] Translation: X:171.45, Y:0.69, Z:0.72 [[ 9.98622693e-01 -5.03586360e-02 -1.47216047e-02 1.71446305e+02] [ 5.03622153e-02 9.98731010e-01 -1.27725221e-04 6.94281963e-01] [ 1.47093552e-02 -6.13863323e-04 9.99891623e-01 7.18483943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.19925415400002 meters 0.021129525906068057 Centerline is valid? [True, True] Translation: X:171.51, Y:0.70, Z:0.72 [[ 9.98862438e-01 -4.53871312e-02 -1.46232190e-02 1.71507483e+02] [ 4.53901403e-02 9.98969328e-01 -1.26223716e-04 7.04577582e-01] [ 1.46138762e-02 -5.37669834e-04 9.99893067e-01 7.19991107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.259254154 meters 0.019560807713811763 Centerline is valid? [True, True] Translation: X:171.57, Y:0.71, Z:0.72 [[ 9.99063810e-01 -4.10978014e-02 -1.35083276e-02 1.71568721e+02] [ 4.10999830e-02 9.99155032e-01 -1.16185061e-04 7.11010643e-01] [ 1.35016885e-02 -4.39115746e-04 9.99908752e-01 7.21729654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.319254154 meters 0.019872809596155398 Centerline is valid? [True, True] Translation: X:171.63, Y:0.72, Z:0.72 [[ 9.99332491e-01 -3.42740133e-02 -1.26437289e-02 1.71628074e+02] [ 3.42753788e-02 9.99412421e-01 -1.08744749e-04 7.16539859e-01] [ 1.26400268e-02 -3.24696437e-04 9.99920059e-01 7.21574506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.379254154 meters 0.018015991116314984 Centerline is valid? [True, True] Translation: X:171.69, Y:0.72, Z:0.72 [[ 9.99424617e-01 -3.15326914e-02 -1.24949718e-02 1.71689904e+02] [ 3.15338152e-02 9.99502680e-01 -1.07114295e-04 7.21878529e-01] [ 1.24921354e-02 -2.86961469e-04 9.99921929e-01 7.23070678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.439254154 meters 0.017837969223417405 Centerline is valid? [True, True] Translation: X:171.75, Y:0.73, Z:0.72 [[ 9.99495878e-01 -2.91136071e-02 -1.26644020e-02 1.71749874e+02] [ 2.91145775e-02 9.99576075e-01 -1.07771377e-04 7.25486491e-01] [ 1.26621709e-02 -2.61001667e-04 9.99919797e-01 7.22971270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.499254154 meters 0.018345049144828582 Centerline is valid? [True, True] Translation: X:171.81, Y:0.73, Z:0.72 [[ 9.99455481e-01 -3.07127849e-02 -1.20609708e-02 1.71811488e+02] [ 3.07137880e-02 9.99528215e-01 -1.02089069e-04 7.27061526e-01] [ 1.20584161e-02 -2.68404622e-04 9.99927259e-01 7.23920088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.559254154 meters 0.01772382442873767 Centerline is valid? [True, True] Translation: X:171.87, Y:0.73, Z:0.73 [[ 9.99360448e-01 -3.37996516e-02 -1.16738357e-02 1.71873305e+02] [ 3.38008098e-02 9.99428585e-01 -9.81243522e-05 7.29744545e-01] [ 1.16704816e-02 -2.96523503e-04 9.99931854e-01 7.25597573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.619254154 meters 0.021490675190218623 Centerline is valid? [True, True] Translation: X:171.93, Y:0.73, Z:0.72 [[ 9.99172089e-01 -3.89433085e-02 -1.17709740e-02 1.71933470e+02] [ 3.89448465e-02 9.99241357e-01 -9.86107256e-05 7.25584097e-01] [ 1.17658842e-02 -3.59889690e-04 9.99930715e-01 7.22921662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.679254154 meters 0.023431750027487 Centerline is valid? [True, True] Translation: X:171.99, Y:0.72, Z:0.72 [[ 9.98937087e-01 -4.45774440e-02 -1.17280783e-02 1.71994935e+02] [ 4.45793617e-02 9.99005841e-01 -9.79887308e-05 7.24324116e-01] [ 1.17207868e-02 -4.24945666e-04 9.99931219e-01 7.23495069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.739254154 meters 0.024358446929297128 Centerline is valid? [True, True] Translation: X:172.06, Y:0.73, Z:0.72 [[ 9.98780380e-01 -4.79205479e-02 -1.18900681e-02 1.72056168e+02] [ 4.79227606e-02 9.98851040e-01 -9.89066307e-05 7.25317579e-01] [ 1.18811466e-02 -4.71018886e-04 9.99929306e-01 7.23380915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.799254154 meters 0.023943038015497846 Centerline is valid? [True, True] Translation: X:172.12, Y:0.73, Z:0.73 [[ 9.98559395e-01 -5.24391076e-02 -1.13699064e-02 1.72117089e+02] [ 5.24414265e-02 9.98623997e-01 -9.42969826e-05 7.25479123e-01] [ 1.13592062e-02 -5.02092972e-04 9.99935356e-01 7.27065672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.859254154 meters 0.02379306204524292 Centerline is valid? [True, True] Translation: X:172.18, Y:0.73, Z:0.73 [[ 9.98494208e-01 -5.38382601e-02 -1.05241813e-02 1.72179557e+02] [ 5.38403300e-02 9.98549554e-01 -8.67503106e-05 7.27481550e-01] [ 1.05135870e-02 -4.80005712e-04 9.99944616e-01 7.28120371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.91925415400001 meters 0.025502600338722585 Centerline is valid? [True, True] Translation: X:172.24, Y:0.73, Z:0.73 [[ 9.98455704e-01 -5.46145110e-02 -1.01716400e-02 1.72240850e+02] [ 5.46164912e-02 9.98507402e-01 -8.32074839e-05 7.26343042e-01] [ 1.01610022e-02 -4.72460301e-04 9.99948264e-01 7.28235298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.979254154 meters 0.026393102346034508 Centerline is valid? [True, True] Translation: X:172.30, Y:0.73, Z:0.73 [[ 9.98479061e-01 -5.40405603e-02 -1.09170400e-02 1.72302617e+02] [ 5.40428151e-02 9.98538615e-01 -8.85748726e-05 7.27004649e-01] [ 1.09058726e-02 -5.01547419e-04 9.99940403e-01 7.26954853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.039254154 meters 0.0248540454435307 Centerline is valid? [True, True] Translation: X:172.37, Y:0.73, Z:0.73 [[ 9.98519776e-01 -5.30906532e-02 -1.18169300e-02 1.72365274e+02] [ 5.30932408e-02 9.98589555e-01 -9.48575340e-05 7.31969328e-01] [ 1.18052989e-02 -5.32681988e-04 9.99930173e-01 7.28063684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.099254154 meters 0.022529234204869922 Centerline is valid? [True, True] Translation: X:172.43, Y:0.74, Z:0.73 [[ 9.98592357e-01 -5.15659713e-02 -1.24199555e-02 1.72427605e+02] [ 5.15687248e-02 9.98669443e-01 -9.86686029e-05 7.39021250e-01] [ 1.24085180e-02 -5.41951555e-04 9.99922865e-01 7.28643580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.159254154 meters 0.024997213335243507 Centerline is valid? [True, True] Translation: X:172.49, Y:0.74, Z:0.73 [[ 9.98675520e-01 -4.98545179e-02 -1.27173949e-02 1.72488538e+02] [ 4.98572765e-02 9.98756348e-01 -1.00223798e-04 7.37738742e-01] [ 1.27065755e-02 -5.33963622e-04 9.99919126e-01 7.28243424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.219254154 meters 0.021987902468628875 Centerline is valid? [True, True] Translation: X:172.55, Y:0.75, Z:0.73 [[ 9.98987152e-01 -4.31824325e-02 -1.26470696e-02 1.72549051e+02] [ 4.31846308e-02 9.99067104e-01 -9.93471198e-05 7.48231656e-01] [ 1.26395613e-02 -4.46912537e-04 9.99920018e-01 7.28337676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.279254154 meters 0.020385879701115037 Centerline is valid? [True, True] Translation: X:172.61, Y:0.75, Z:0.73 [[ 9.99093829e-01 -4.07046514e-02 -1.24359052e-02 1.72610868e+02] [ 4.07065929e-02 9.99171138e-01 -9.70649655e-05 7.51829252e-01] [ 1.24295486e-02 -4.09246322e-04 9.99922666e-01 7.30235803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.339254154 meters 0.01887051975756447 Centerline is valid? [True, True] Translation: X:172.67, Y:0.76, Z:0.73 [[ 9.99321898e-01 -3.49294196e-02 -1.16481769e-02 1.72671821e+02] [ 3.49307358e-02 9.99389732e-01 -9.04867523e-05 7.58866977e-01] [ 1.16442290e-02 -3.16453997e-04 9.99932154e-01 7.31571150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.399254154 meters 0.018847067385666404 Centerline is valid? [True, True] Translation: X:172.73, Y:0.77, Z:0.73 [[ 9.99521347e-01 -2.86323245e-02 -1.17160778e-02 1.72733822e+02] [ 2.86332294e-02 9.99589981e-01 -9.05363741e-05 7.66633885e-01] [ 1.17138663e-02 -2.44976106e-04 9.99931360e-01 7.30415734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.459254154 meters 0.017145246175484147 Centerline is valid? [True, True] Translation: X:172.80, Y:0.77, Z:0.73 [[ 9.99518067e-01 -2.85899258e-02 -1.20934107e-02 1.72795961e+02] [ 2.85908965e-02 9.99591192e-01 -9.26479052e-05 7.68883837e-01] [ 1.20911156e-02 -2.53158197e-04 9.99926868e-01 7.31819124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.519254154 meters 0.01816048804680432 Centerline is valid? [True, True] Translation: X:172.86, Y:0.77, Z:0.73 [[ 9.99437556e-01 -3.09224788e-02 -1.29758139e-02 1.72857287e+02] [ 3.09238032e-02 9.99521740e-01 -9.86069240e-05 7.67853375e-01] [ 1.29726572e-02 -3.02710052e-04 9.99915806e-01 7.31662658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.579254154 meters 0.018956704993753657 Centerline is valid? [True, True] Translation: X:172.92, Y:0.77, Z:0.73 [[ 9.99290960e-01 -3.52508659e-02 -1.32270217e-02 1.72918260e+02] [ 3.52526262e-02 9.99378428e-01 -1.00116424e-04 7.67673000e-01] [ 1.32223294e-02 -3.66241816e-04 9.99912514e-01 7.32041447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.639254154 meters 0.020614295286582863 Centerline is valid? [True, True] Translation: X:172.98, Y:0.77, Z:0.73 [[ 9.99191825e-01 -3.77010323e-02 -1.39402230e-02 1.72979632e+02] [ 3.77032341e-02 9.99288975e-01 -1.04920297e-04 7.65058749e-01] [ 1.39342667e-02 -4.20755987e-04 9.99902825e-01 7.30920095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.69925415400002 meters 0.019523667913789303 Centerline is valid? [True, True] Translation: X:173.04, Y:0.77, Z:0.73 [[ 9.99091531e-01 -4.01154203e-02 -1.43828496e-02 1.73041232e+02] [ 4.01180256e-02 9.99194942e-01 -1.07449057e-04 7.68200756e-01] [ 1.43755809e-02 -4.69660085e-04 9.99896556e-01 7.32184577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.759254154 meters 0.019759117653185505 Centerline is valid? [True, True] Translation: X:173.10, Y:0.77, Z:0.73 [[ 9.99096190e-01 -4.01972042e-02 -1.38198511e-02 1.73103139e+02] [ 4.01996302e-02 9.99191663e-01 -1.02306723e-04 7.69446065e-01] [ 1.38127925e-02 -4.53338647e-04 9.99904496e-01 7.33621791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.819254154 meters 0.01919548342166654 Centerline is valid? [True, True] Translation: X:173.17, Y:0.77, Z:0.73 [[ 9.99172866e-01 -3.80137921e-02 -1.44407778e-02 1.73165404e+02] [ 3.80162290e-02 9.99277116e-01 -1.05816894e-04 7.71388604e-01] [ 1.44343613e-02 -4.43254548e-04 9.99895721e-01 7.33914424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.879254154 meters 0.017649377551490347 Centerline is valid? [True, True] Translation: X:173.23, Y:0.78, Z:0.74 [[ 9.99375343e-01 -3.23494276e-02 -1.42280698e-02 1.73226812e+02] [ 3.23512293e-02 9.99476557e-01 -1.03569760e-04 7.76821734e-01] [ 1.42239726e-02 -3.56790483e-04 9.99898771e-01 7.35228842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.939254154 meters 0.016838985117911473 Centerline is valid? [True, True] Translation: X:173.29, Y:0.78, Z:0.74 [[ 9.99506214e-01 -2.81666920e-02 -1.39271800e-02 1.73288611e+02] [ 2.81680220e-02 9.99603197e-01 -1.00690744e-04 7.80357847e-01] [ 1.39244898e-02 -2.91660089e-04 9.99903007e-01 7.36004015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.999254154 meters 0.017106517084629857 Centerline is valid? [True, True] Translation: X:173.35, Y:0.78, Z:0.73 [[ 9.99623225e-01 -2.30598959e-02 -1.48879165e-02 1.73350549e+02] [ 2.30608621e-02 9.99734057e-01 -1.06795147e-04 7.83451613e-01] [ 1.48864199e-02 -2.36573281e-04 9.99889163e-01 7.34746607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.059254154 meters 0.015485150146004278 Centerline is valid? [True, True] Translation: X:173.41, Y:0.79, Z:0.74 [[ 9.99664274e-01 -2.11746815e-02 -1.49322396e-02 1.73411081e+02] [ 2.11754469e-02 9.99775769e-01 -1.06868627e-04 7.85812319e-01] [ 1.49311543e-02 -2.09364099e-04 9.99888502e-01 7.35830937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.119254154 meters 0.015719214201872205 Centerline is valid? [True, True] Translation: X:173.47, Y:0.78, Z:0.74 [[ 9.99656694e-01 -2.12824840e-02 -1.52823412e-02 1.73470241e+02] [ 2.12832952e-02 9.99773479e-01 -1.09572363e-04 7.84920679e-01] [ 1.52812114e-02 -2.15723833e-04 9.99883212e-01 7.35240212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.179254154 meters 0.016981733602688294 Centerline is valid? [True, True] Translation: X:173.53, Y:0.78, Z:0.73 [[ 9.99611368e-01 -2.23572647e-02 -1.66513152e-02 1.73530300e+02] [ 2.23583680e-02 9.99750013e-01 -1.19922841e-04 7.83699116e-01] [ 1.66498337e-02 -2.52419997e-04 9.99861350e-01 7.33390470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.239254154 meters 0.017868052486938995 Centerline is valid? [True, True] Translation: X:173.59, Y:0.78, Z:0.73 [[ 9.99572337e-01 -2.38602719e-02 -1.69065332e-02 1.73588867e+02] [ 2.38616100e-02 9.99715264e-01 -1.22600032e-04 7.80836164e-01] [ 1.69046446e-02 -2.80869502e-04 9.99857067e-01 7.31969473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.299254154 meters 0.016555554429991445 Centerline is valid? [True, True] Translation: X:173.65, Y:0.78, Z:0.74 [[ 9.99533255e-01 -2.63673674e-02 -1.54283850e-02 1.73648643e+02] [ 2.63687707e-02 9.99652277e-01 -1.12495077e-04 7.80716242e-01] [ 1.54259864e-02 -2.94384975e-04 9.99880969e-01 7.35454858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.359254154 meters 0.01650944011183898 Centerline is valid? [True, True] Translation: X:173.71, Y:0.78, Z:0.74 [[ 9.99525237e-01 -2.72956482e-02 -1.42915404e-02 1.73710237e+02] [ 2.72969502e-02 9.99627363e-01 -1.03989181e-04 7.80106629e-01] [ 1.42890533e-02 -2.86175656e-04 9.99897865e-01 7.36467894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.41925415400001 meters 0.016797348618943542 Centerline is valid? [True, True] Translation: X:173.77, Y:0.78, Z:0.74 [[ 9.99514534e-01 -2.85890088e-02 -1.23840757e-02 1.73771934e+02] [ 2.85900929e-02 9.99591216e-01 -8.95300301e-05 7.77364333e-01] [ 1.23815729e-02 -2.64575308e-04 9.99923310e-01 7.37745185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.479254154 meters 0.018490450072786203 Centerline is valid? [True, True] Translation: X:173.83, Y:0.77, Z:0.74 [[ 9.99512415e-01 -2.91755918e-02 -1.11227776e-02 1.73834240e+02] [ 2.91765104e-02 9.99574272e-01 -7.97084820e-05 7.73783473e-01] [ 1.11203678e-02 -2.44854218e-04 9.99938137e-01 7.37019823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.539254154 meters 0.016853045220777626 Centerline is valid? [True, True] Translation: X:173.90, Y:0.77, Z:0.74 [[ 9.99459279e-01 -3.09970858e-02 -1.09695569e-02 1.73896624e+02] [ 3.09980977e-02 9.99519440e-01 -7.78019385e-05 7.72118566e-01] [ 1.09666970e-02 -2.62275527e-04 9.99939830e-01 7.38271370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.599254154 meters 0.01751751786323132 Centerline is valid? [True, True] Translation: X:173.96, Y:0.77, Z:0.74 [[ 9.99441598e-01 -3.14966315e-02 -1.11559276e-02 1.73957477e+02] [ 3.14977172e-02 9.99503821e-01 -7.84100753e-05 7.69185120e-01] [ 1.11528619e-02 -2.73019962e-04 9.99937768e-01 7.38167022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.659254154 meters 0.017731420989036392 Centerline is valid? [True, True] Translation: X:174.02, Y:0.77, Z:0.74 [[ 9.99426154e-01 -3.22104643e-02 -1.04808432e-02 1.74019712e+02] [ 3.22114688e-02 9.99481073e-01 -7.29875174e-05 7.67461254e-01] [ 1.04777554e-02 -2.64657720e-04 9.99945072e-01 7.38334647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.719254154 meters 0.020811100759041697 Centerline is valid? [True, True] Translation: X:174.08, Y:0.76, Z:0.74 [[ 9.99435427e-01 -3.18178666e-02 -1.07912521e-02 1.74080994e+02] [ 3.18189160e-02 9.99493647e-01 -7.44685815e-05 7.63098205e-01] [ 1.07881574e-02 -2.68939407e-04 9.99941770e-01 7.35333746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.779254154 meters 0.017885434266654766 Centerline is valid? [True, True] Translation: X:174.14, Y:0.76, Z:0.74 [[ 9.99426993e-01 -3.19221086e-02 -1.12545511e-02 1.74143183e+02] [ 3.19232651e-02 9.99490320e-01 -7.69139844e-05 7.64401657e-01] [ 1.12512701e-02 -2.82412105e-04 9.99936663e-01 7.37010864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.839254154 meters 0.017369050213403937 Centerline is valid? [True, True] Translation: X:174.21, Y:0.77, Z:0.74 [[ 9.99462470e-01 -3.12075202e-02 -1.00429717e-02 1.74205150e+02] [ 3.12084123e-02 9.99512897e-01 -6.79222888e-05 7.65656878e-01] [ 1.00401994e-02 -2.45539423e-04 9.99949566e-01 7.38299038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.899254154 meters 0.017153306730926923 Centerline is valid? [True, True] Translation: X:174.27, Y:0.77, Z:0.74 [[ 9.99523224e-01 -2.98058588e-02 -8.05825122e-03 1.74267340e+02] [ 2.98063918e-02 9.99555689e-01 -5.39628630e-05 7.65155932e-01] [ 8.05627926e-03 -1.86250259e-04 9.99967530e-01 7.40073248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.959254154 meters 0.017598227211648595 Centerline is valid? [True, True] Translation: X:174.33, Y:0.76, Z:0.74 [[ 9.99536124e-01 -2.97709629e-02 -6.42076297e-03 1.74329005e+02] [ 2.97713030e-02 9.99556736e-01 -4.26266367e-05 7.62346494e-01] [ 6.41918591e-03 -1.48547617e-04 9.99979386e-01 7.40675668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.019254154 meters 0.018418368368949056 Centerline is valid? [True, True] Translation: X:174.39, Y:0.76, Z:0.74 [[ 9.99467929e-01 -3.21573961e-02 -5.45530573e-03 1.74391165e+02] [ 3.21576786e-02 9.99482807e-01 -3.59355266e-05 7.58357097e-01] [ 5.45363988e-03 -1.39513562e-04 9.99985119e-01 7.40093176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.079254154 meters 0.020131521492771767 Centerline is valid? [True, True] Translation: X:174.45, Y:0.75, Z:0.74 [[ 9.99356605e-01 -3.53824583e-02 -5.87007816e-03 1.74452243e+02] [ 3.53828436e-02 9.99373830e-01 -3.82438156e-05 7.51698881e-01] [ 5.86775565e-03 -1.69480847e-04 9.99982770e-01 7.39167587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.139254154 meters 0.020509626987879618 Centerline is valid? [True, True] Translation: X:174.51, Y:0.75, Z:0.74 [[ 9.99318336e-01 -3.63712785e-02 -6.32406103e-03 1.74514045e+02] [ 3.63717479e-02 9.99338328e-01 -4.08103016e-05 7.50410062e-01] [ 6.32136090e-03 -1.89234671e-04 9.99980002e-01 7.38842030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.19925415400002 meters 0.019635145746245593 Centerline is valid? [True, True] Translation: X:174.58, Y:0.75, Z:0.74 [[ 9.99232970e-01 -3.85236159e-02 -7.02869847e-03 1.74576316e+02] [ 3.85242527e-02 9.99257664e-01 -4.48174904e-05 7.50078308e-01] [ 7.02520735e-03 -2.25992242e-04 9.99975297e-01 7.38569318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.259254154 meters 0.020574693700961995 Centerline is valid? [True, True] Translation: X:174.64, Y:0.75, Z:0.74 [[ 9.99173116e-01 -4.00278760e-02 -7.13116205e-03 1.74638013e+02] [ 4.00285744e-02 9.99198534e-01 -4.48246281e-05 7.47442176e-01] [ 7.12724091e-03 -2.40662687e-04 9.99974572e-01 7.38043965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.319254154 meters 0.021258342929394342 Centerline is valid? [True, True] Translation: X:174.70, Y:0.75, Z:0.74 [[ 9.99081482e-01 -4.20371949e-02 -8.31057522e-03 1.74699949e+02] [ 4.20382201e-02 9.99116002e-01 -5.13603096e-05 7.45469777e-01] [ 8.30538773e-03 -2.98048656e-04 9.99965465e-01 7.38003925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.379254154 meters 0.0211527756272755 Centerline is valid? [True, True] Translation: X:174.76, Y:0.75, Z:0.74 [[ 9.99043104e-01 -4.29872176e-02 -8.06069867e-03 1.74761934e+02] [ 4.29882177e-02 9.99075578e-01 -4.92344240e-05 7.45266063e-01] [ 8.05536363e-03 -2.97327757e-04 9.99967511e-01 7.37887003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.439254154 meters 0.02145045140599177 Centerline is valid? [True, True] Translation: X:174.82, Y:0.74, Z:0.74 [[ 9.99008357e-01 -4.38091803e-02 -7.94088008e-03 1.74823796e+02] [ 4.38101814e-02 9.99039872e-01 -4.79218880e-05 7.44260431e-01] [ 7.93535524e-03 -3.00017030e-04 9.99968470e-01 7.38196367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.499254154 meters 0.021489677799684297 Centerline is valid? [True, True] Translation: X:174.89, Y:0.75, Z:0.74 [[ 9.98997523e-01 -4.40225850e-02 -8.12168292e-03 1.74886030e+02] [ 4.40236441e-02 9.99030488e-01 -4.84068149e-05 7.45178311e-01] [ 8.11593985e-03 -3.09187791e-04 9.99967017e-01 7.37978341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.559254154 meters 0.02304986218862314 Centerline is valid? [True, True] Translation: X:174.95, Y:0.74, Z:0.74 [[ 9.98981232e-01 -4.42091210e-02 -9.05821116e-03 1.74947597e+02] [ 4.42104517e-02 9.99022239e-01 -5.33714024e-05 7.44955633e-01] [ 9.05171389e-03 -3.47150578e-04 9.99958972e-01 7.37307141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.619254154 meters 0.02194886624896578 Centerline is valid? [True, True] Translation: X:175.01, Y:0.75, Z:0.74 [[ 9.98972471e-01 -4.44424258e-02 -8.88109050e-03 1.75010179e+02] [ 4.44437192e-02 9.99011888e-01 -5.17636353e-05 7.49037506e-01] [ 8.87461549e-03 -3.42998246e-04 9.99960561e-01 7.38068007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.679254154 meters 0.022116214109191578 Centerline is valid? [True, True] Translation: X:175.07, Y:0.75, Z:0.74 [[ 9.99017983e-01 -4.36585580e-02 -7.54980550e-03 1.75072473e+02] [ 4.36594741e-02 9.99046470e-01 -4.35009283e-05 7.50657949e-01] [ 7.54450572e-03 -2.86162328e-04 9.99971499e-01 7.38936912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.739254154 meters 0.02030636718771003 Centerline is valid? [True, True] Translation: X:175.13, Y:0.76, Z:0.74 [[ 9.99220530e-01 -3.87104422e-02 -7.73527386e-03 1.75133664e+02] [ 3.87112588e-02 9.99250437e-01 -4.41813284e-05 7.58410141e-01] [ 7.73118606e-03 -2.55295298e-04 9.99970081e-01 7.39208380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.799254154 meters 0.017520786985541062 Centerline is valid? [True, True] Translation: X:175.19, Y:0.77, Z:0.74 [[ 9.99468188e-01 -3.15281054e-02 -8.32586853e-03 1.75194715e+02] [ 3.15288039e-02 9.99502843e-01 -4.73761268e-05 7.68101549e-01] [ 8.32322294e-03 -2.15153745e-04 9.99965338e-01 7.38957955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.859254154 meters 0.016672178473077132 Centerline is valid? [True, True] Translation: X:175.26, Y:0.77, Z:0.74 [[ 9.99564939e-01 -2.82787846e-02 -8.38110843e-03 1.75257325e+02] [ 2.82793822e-02 9.99600057e-01 -4.72190489e-05 7.72067412e-01] [ 8.37909176e-03 -1.89814063e-04 9.99964877e-01 7.38627215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.91925415400001 meters 0.015941678194775544 Centerline is valid? [True, True] Translation: X:175.32, Y:0.78, Z:0.74 [[ 9.99603463e-01 -2.64475377e-02 -9.66666712e-03 1.75319510e+02] [ 2.64482555e-02 9.99650182e-01 -5.36030196e-05 7.75925150e-01] [ 9.66470322e-03 -2.02084718e-04 9.99953275e-01 7.38190204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.979254154 meters 0.01606428134603783 Centerline is valid? [True, True] Translation: X:175.38, Y:0.78, Z:0.74 [[ 9.99601215e-01 -2.65629659e-02 -9.58228161e-03 1.75381789e+02] [ 2.65636833e-02 9.99647122e-01 -5.24232296e-05 7.77654040e-01] [ 9.58029275e-03 -2.02138370e-04 9.99954088e-01 7.38524337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.039254154 meters 0.01672060456170344 Centerline is valid? [True, True] Translation: X:175.44, Y:0.78, Z:0.74 [[ 9.99606069e-01 -2.67111805e-02 -8.61503842e-03 1.75442601e+02] [ 2.67117704e-02 9.99643176e-01 -4.66021906e-05 7.77735237e-01] [ 8.61320917e-03 -1.83539096e-04 9.99962889e-01 7.38872611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.099254154 meters 0.016356773931781334 Centerline is valid? [True, True] Translation: X:175.50, Y:0.78, Z:0.74 [[ 9.99611975e-01 -2.66292215e-02 -8.17209696e-03 1.75504960e+02] [ 2.66297537e-02 9.99645364e-01 -4.36994230e-05 7.79362323e-01] [ 8.17036253e-03 -1.73938463e-04 9.99966607e-01 7.39905739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.159254154 meters 0.017223183991561416 Centerline is valid? [True, True] Translation: X:175.57, Y:0.78, Z:0.74 [[ 9.99610299e-01 -2.67542875e-02 -7.96610914e-03 1.75565673e+02] [ 2.67548013e-02 9.99642025e-01 -4.20914616e-05 7.78960741e-01] [ 7.96438361e-03 -1.71056609e-04 9.99968269e-01 7.39751327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.219254154 meters 0.016453462427253714 Centerline is valid? [True, True] Translation: X:175.63, Y:0.78, Z:0.74 [[ 9.99603646e-01 -2.68922969e-02 -8.32792141e-03 1.75628091e+02] [ 2.68928676e-02 9.99638320e-01 -4.34639676e-05 7.80676135e-01] [ 8.32607821e-03 -1.80514947e-04 9.99965321e-01 7.39580215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.279254154 meters 0.016668174787679225 Centerline is valid? [True, True] Translation: X:175.69, Y:0.78, Z:0.74 [[ 9.99596693e-01 -2.68826546e-02 -9.15283195e-03 1.75690156e+02] [ 2.68833500e-02 9.99638576e-01 -4.70638162e-05 7.80233119e-01] [ 9.15078910e-03 -1.99013950e-04 9.99958111e-01 7.39269378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.339254154 meters 0.016420089670976655 Centerline is valid? [True, True] Translation: X:175.75, Y:0.78, Z:0.74 [[ 9.99625817e-01 -2.56946083e-02 -9.38157978e-03 1.75751884e+02] [ 2.56952932e-02 9.99669820e-01 -4.75469016e-05 7.81104763e-01] [ 9.37970387e-03 -1.93533333e-04 9.99955991e-01 7.39556699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.399254154 meters 0.015582828551497604 Centerline is valid? [True, True] Translation: X:175.81, Y:0.78, Z:0.74 [[ 9.99724447e-01 -2.17147065e-02 -8.91636528e-03 1.75812974e+02] [ 2.17151710e-02 9.99764197e-01 -4.47190687e-05 7.83817923e-01] [ 8.91523383e-03 -1.48913651e-04 9.99960247e-01 7.40494065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.459254154 meters 0.015440805675713577 Centerline is valid? [True, True] Translation: X:175.87, Y:0.79, Z:0.74 [[ 9.99854829e-01 -1.46362823e-02 -8.72353802e-03 1.75874201e+02] [ 1.46364604e-02 9.99892880e-01 -4.34347683e-05 7.87360092e-01] [ 8.72323928e-03 -8.42532558e-05 9.99961948e-01 7.40103581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.519254154 meters 0.014197384019676778 Centerline is valid? [True, True] Translation: X:175.93, Y:0.79, Z:0.74 [[ 9.99915783e-01 -1.02148535e-02 -8.00520760e-03 1.75934432e+02] [ 1.02148649e-02 9.99947826e-01 -3.94666281e-05 7.89260427e-01] [ 8.00519309e-03 -4.23088098e-05 9.99967957e-01 7.41384751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.579254154 meters 0.01404701964962926 Centerline is valid? [True, True] Translation: X:175.99, Y:0.79, Z:0.74 [[ 9.99945167e-01 -5.74315929e-03 -8.75663199e-03 1.75993643e+02] [ 5.74300288e-03 9.99983508e-01 -4.30061748e-05 7.90439165e-01] [ 8.75673457e-03 -7.28554611e-06 9.99961659e-01 7.40892833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.639254154 meters 0.01412006804457792 Centerline is valid? [True, True] Translation: X:176.05, Y:0.79, Z:0.74 [[ 9.99928620e-01 -4.58551219e-03 -1.10330237e-02 1.76052629e+02] [ 4.58517271e-03 9.99989486e-01 -5.60644855e-05 7.88888818e-01] [ 1.10331648e-02 5.47216436e-06 9.99939133e-01 7.38819904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.69925415400002 meters 0.014132891542295948 Centerline is valid? [True, True] Translation: X:176.11, Y:0.79, Z:0.74 [[ 9.99909864e-01 -5.21305445e-03 -1.23729017e-02 1.76111542e+02] [ 5.21263472e-03 9.99986412e-01 -6.61725388e-05 7.87470333e-01] [ 1.23730785e-02 1.67115723e-06 9.99923451e-01 7.38198328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.759254154 meters 0.014079742781494164 Centerline is valid? [True, True] Translation: X:176.17, Y:0.79, Z:0.74 [[ 9.99892196e-01 -6.64841820e-03 -1.30918006e-02 1.76169233e+02] [ 6.64802221e-03 9.99977899e-01 -7.37668626e-05 7.85505886e-01] [ 1.30920017e-02 -1.32756709e-05 9.99914296e-01 7.38057103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.819254154 meters 0.014142050110952521 Centerline is valid? [True, True] Translation: X:176.23, Y:0.78, Z:0.74 [[ 9.99861447e-01 -1.02637444e-02 -1.31050345e-02 1.76227751e+02] [ 1.02636329e-02 9.99947325e-01 -7.57666776e-05 7.81001878e-01] [ 1.31051219e-02 -5.87490830e-05 9.99914122e-01 7.38546053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.879254154 meters 0.0144199843862399 Centerline is valid? [True, True] Translation: X:176.29, Y:0.78, Z:0.74 [[ 9.99834823e-01 -1.31868840e-02 -1.25073018e-02 1.76286137e+02] [ 1.31869813e-02 9.99913045e-01 -7.46972444e-05 7.78001918e-01] [ 1.25071992e-02 -9.02486486e-05 9.99921778e-01 7.39232818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.939254154 meters 0.014958783384889084 Centerline is valid? [True, True] Translation: X:176.34, Y:0.77, Z:0.74 [[ 9.99780309e-01 -1.83170570e-02 -1.01891521e-02 1.76344212e+02] [ 1.83173732e-02 9.99832221e-01 -6.22947180e-05 7.71944888e-01] [ 1.01885836e-02 -1.24357469e-04 9.99948087e-01 7.40814435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.999254154 meters 0.015653099556658695 Centerline is valid? [True, True] Translation: X:176.41, Y:0.77, Z:0.74 [[ 9.99706367e-01 -2.22310149e-02 -9.64170484e-03 1.76405018e+02] [ 2.22314764e-02 9.99752848e-01 -5.93229853e-05 7.68198397e-01] [ 9.64064068e-03 -1.55043768e-04 9.99953516e-01 7.41722230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.059254154 meters 0.017635913854802114 Centerline is valid? [True, True] Translation: X:176.46, Y:0.76, Z:0.74 [[ 9.99565417e-01 -2.78360388e-02 -9.70218860e-03 1.76464766e+02] [ 2.78367745e-02 9.99612480e-01 -5.92309075e-05 7.61665439e-01] [ 9.70007756e-03 -2.10872470e-04 9.99952931e-01 7.41684882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.119254154 meters 0.021376166715280615 Centerline is valid? [True, True] Translation: X:176.53, Y:0.75, Z:0.74 [[ 9.99199270e-01 -3.86987795e-02 -1.01598690e-02 1.76525608e+02] [ 3.87001514e-02 9.99250867e-01 -6.16046981e-05 7.50551619e-01] [ 1.01546419e-02 -3.31633100e-04 9.99948385e-01 7.41357969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.179254154 meters 0.026265492282484513 Centerline is valid? [True, True] Translation: X:176.59, Y:0.74, Z:0.74 [[ 9.98881079e-01 -4.60005526e-02 -1.09790118e-02 1.76585735e+02] [ 4.60025941e-02 9.98941318e-01 -6.66531036e-05 7.42310655e-01] [ 1.09704546e-02 -4.38484501e-04 9.99939727e-01 7.39595396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.239254154 meters 0.025430151289767396 Centerline is valid? [True, True] Translation: X:176.65, Y:0.74, Z:0.74 [[ 9.98553847e-01 -5.26267354e-02 -1.09836962e-02 1.76645975e+02] [ 5.26291783e-02 9.98614122e-01 -6.67112058e-05 7.41210741e-01] [ 1.09719849e-02 -5.11448174e-04 9.99939675e-01 7.41777696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.299254154 meters 0.028183446085116238 Centerline is valid? [True, True] Translation: X:176.71, Y:0.74, Z:0.74 [[ 9.98301588e-01 -5.72000229e-02 -1.10497679e-02 1.76706551e+02] [ 5.72027762e-02 9.98362578e-01 -6.69737032e-05 7.36659166e-01] [ 1.10355056e-02 -5.65217443e-04 9.99938947e-01 7.42150635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.359254154 meters 0.025562802353233275 Centerline is valid? [True, True] Translation: X:176.77, Y:0.74, Z:0.74 [[ 9.98309534e-01 -5.69674785e-02 -1.15230408e-02 1.76768629e+02] [ 5.69704644e-02 9.98375862e-01 -6.92307889e-05 7.43028010e-01] [ 1.15082697e-02 -5.87359227e-04 9.99933605e-01 7.43102037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.41925415400001 meters 0.026107372606573125 Centerline is valid? [True, True] Translation: X:176.83, Y:0.74, Z:0.74 [[ 9.98432366e-01 -5.48583664e-02 -1.11071693e-02 1.76829415e+02] [ 5.48610166e-02 9.98493998e-01 -6.61687904e-05 7.44475068e-01] [ 1.10940718e-02 -5.43285537e-04 9.99938311e-01 7.43882153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.479254154 meters 0.024840751689664285 Centerline is valid? [True, True] Translation: X:176.89, Y:0.75, Z:0.75 [[ 9.98747001e-01 -4.92586389e-02 -8.83254078e-03 1.76890229e+02] [ 4.92600974e-02 9.98785983e-01 -5.24722170e-05 7.50360879e-01] [ 8.82440264e-03 -3.82685350e-04 9.99960991e-01 7.46233916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.539254154 meters 0.02199274500068199 Centerline is valid? [True, True] Translation: X:176.95, Y:0.76, Z:0.75 [[ 9.99013227e-01 -4.37184324e-02 -7.82760494e-03 1.76950654e+02] [ 4.37194082e-02 9.99043848e-01 -4.64870605e-05 7.58279664e-01] [ 7.82215291e-03 -2.95777067e-04 9.99969363e-01 7.47768150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.599254154 meters 0.018710776189610378 Centerline is valid? [True, True] Translation: X:177.01, Y:0.77, Z:0.75 [[ 9.99383557e-01 -3.41280738e-02 -8.23283527e-03 1.77011304e+02] [ 3.41288281e-02 9.99417441e-01 -4.88928803e-05 7.69535893e-01] [ 8.22970778e-03 -2.32114279e-04 9.99966108e-01 7.48216189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.659254154 meters 0.017200980611223153 Centerline is valid? [True, True] Translation: X:177.07, Y:0.78, Z:0.75 [[ 9.99571565e-01 -2.79836436e-02 -8.57920381e-03 1.77072392e+02] [ 2.79842378e-02 9.99608363e-01 -5.07961618e-05 7.76612318e-01] [ 8.57726534e-03 -1.89308081e-04 9.99963197e-01 7.47791659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.719254154 meters 0.015841913615693374 Centerline is valid? [True, True] Translation: X:177.13, Y:0.78, Z:0.75 [[ 9.99701640e-01 -2.28607803e-02 -8.60321296e-03 1.77133773e+02] [ 2.28611909e-02 9.99738648e-01 -5.06222393e-05 7.83779343e-01] [ 8.60212175e-03 -1.46072558e-04 9.99962990e-01 7.48574814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.779254154 meters 0.015929792960445586 Centerline is valid? [True, True] Translation: X:177.20, Y:0.79, Z:0.75 [[ 9.99683410e-01 -2.29878154e-02 -1.02293338e-02 1.77195879e+02] [ 2.29884089e-02 9.99735730e-01 -5.95734521e-05 7.85271068e-01] [ 1.02280000e-02 -1.75601517e-04 9.99947677e-01 7.47292517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.839254154 meters 0.016009701259517353 Centerline is valid? [True, True] Translation: X:177.26, Y:0.79, Z:0.75 [[ 9.99631728e-01 -2.45692332e-02 -1.15221653e-02 1.77257871e+02] [ 2.45701014e-02 9.99698107e-01 -6.62179216e-05 7.85535625e-01] [ 1.15203138e-02 -2.16907235e-04 9.99933615e-01 7.46420316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.899254154 meters 0.01857522811324549 Centerline is valid? [True, True] Translation: X:177.32, Y:0.78, Z:0.74 [[ 9.99560831e-01 -2.71130891e-02 -1.19593019e-02 1.77319469e+02] [ 2.71142137e-02 9.99632340e-01 -6.81210602e-05 7.84308787e-01] [ 1.19567519e-02 -2.56175923e-04 9.99928483e-01 7.44179439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.959254154 meters 0.017199375641222547 Centerline is valid? [True, True] Translation: X:177.38, Y:0.79, Z:0.75 [[ 9.99502508e-01 -2.96627938e-02 -1.07170311e-02 1.77380900e+02] [ 2.96638474e-02 9.99559929e-01 -6.06711068e-05 7.85179538e-01] [ 1.07141145e-02 -2.57267451e-04 9.99942569e-01 7.47792456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.019254154 meters 0.019283973127946816 Centerline is valid? [True, True] Translation: X:177.44, Y:0.78, Z:0.75 [[ 9.99403292e-01 -3.33278992e-02 -9.07258652e-03 1.77441882e+02] [ 3.33288104e-02 9.99444440e-01 -5.07868769e-05 7.81915339e-01] [ 9.06923877e-03 -2.51621944e-04 9.99958842e-01 7.49313796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.079254154 meters 0.020544694045615614 Centerline is valid? [True, True] Translation: X:177.50, Y:0.78, Z:0.75 [[ 9.99280833e-01 -3.68443051e-02 -8.96181941e-03 1.77503964e+02] [ 3.68453420e-02 9.99320979e-01 -4.94205293e-05 7.81227987e-01] [ 8.95755500e-03 -2.80816314e-04 9.99959841e-01 7.48382504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.139254154 meters 0.02370057333001606 Centerline is valid? [True, True] Translation: X:177.56, Y:0.77, Z:0.75 [[ 9.98917042e-01 -4.55758685e-02 -9.35857487e-03 1.77563064e+02] [ 4.55773836e-02 9.98960810e-01 -5.14338113e-05 7.72609979e-01] [ 9.35119367e-03 -3.75161246e-04 9.99956206e-01 7.48440026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.19925415400002 meters 0.02331046458372644 Centerline is valid? [True, True] Translation: X:177.62, Y:0.77, Z:0.75 [[ 9.98630004e-01 -5.12626200e-02 -1.05004161e-02 1.77623910e+02] [ 5.12648397e-02 9.98685092e-01 -5.78433051e-05 7.72781346e-01] [ 1.04895742e-02 -4.80538088e-04 9.99944867e-01 7.48011279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.259254154 meters 0.026955542210039336 Centerline is valid? [True, True] Translation: X:177.68, Y:0.77, Z:0.75 [[ 9.98214618e-01 -5.85660979e-02 -1.17297835e-02 1.77683450e+02] [ 5.85693699e-02 9.98283339e-01 -6.46604838e-05 7.67368289e-01] [ 1.17134344e-02 -6.22460990e-04 9.99931202e-01 7.46688118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.319254154 meters 0.03119858861185486 Centerline is valid? [True, True] Translation: X:177.74, Y:0.76, Z:0.75 [[ 9.98039221e-01 -6.13476897e-02 -1.24167161e-02 1.77743568e+02] [ 6.13515787e-02 9.98116215e-01 -6.78178981e-05 7.62562746e-01] [ 1.23974861e-02 -6.94100210e-04 9.99922907e-01 7.45977387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.379254154 meters 0.028962698414882613 Centerline is valid? [True, True] Translation: X:177.81, Y:0.77, Z:0.75 [[ 9.98046743e-01 -6.12670852e-02 -1.22082854e-02 1.77806081e+02] [ 6.12708537e-02 9.98121174e-01 -6.54451273e-05 7.69342424e-01] [ 1.21893578e-02 -6.82694771e-04 9.99925474e-01 7.46098261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.439254154 meters 0.02570703591713455 Centerline is valid? [True, True] Translation: X:177.87, Y:0.78, Z:0.75 [[ 9.98185630e-01 -5.91840958e-02 -1.10765582e-02 1.77867840e+02] [ 5.91870792e-02 9.98246906e-01 -5.85544840e-05 7.76367346e-01] [ 1.10606055e-02 -5.97140883e-04 9.99938651e-01 7.48778727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.499254154 meters 0.027104887235604218 Centerline is valid? [True, True] Translation: X:177.93, Y:0.78, Z:0.75 [[ 9.98314954e-01 -5.70063444e-02 -1.08410610e-02 1.77928660e+02] [ 5.70090795e-02 9.98373658e-01 -5.68255110e-05 7.76523775e-01] [ 1.08266692e-02 -5.61309152e-04 9.99941232e-01 7.48645870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.559254154 meters 0.023887642662969246 Centerline is valid? [True, True] Translation: X:177.99, Y:0.79, Z:0.75 [[ 9.98569746e-01 -5.23191748e-02 -1.10075693e-02 1.77989318e+02] [ 5.23217136e-02 9.98630279e-01 -5.74092165e-05 7.85238597e-01] [ 1.09954956e-02 -5.18607781e-04 9.99939413e-01 7.48635710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.619254154 meters 0.023150265340320223 Centerline is valid? [True, True] Translation: X:178.05, Y:0.79, Z:0.75 [[ 9.98768039e-01 -4.81678685e-02 -1.19272923e-02 1.78050238e+02] [ 4.81705565e-02 9.98839123e-01 -6.19802632e-05 7.89932927e-01] [ 1.19164316e-02 -5.12640401e-04 9.99928865e-01 7.48554522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.679254154 meters 0.020301644981612386 Centerline is valid? [True, True] Translation: X:178.11, Y:0.80, Z:0.75 [[ 9.99156173e-01 -3.88084519e-02 -1.34479230e-02 1.78110805e+02] [ 3.88110235e-02 9.99246566e-01 -6.97977882e-05 8.01394939e-01] [ 1.34404996e-02 -4.52188763e-04 9.99909570e-01 7.47763947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.739254154 meters 0.01894229848624171 Centerline is valid? [True, True] Translation: X:178.17, Y:0.81, Z:0.75 [[ 9.99266881e-01 -3.58074329e-02 -1.35472854e-02 1.78172348e+02] [ 3.58097716e-02 9.99358622e-01 -6.99794741e-05 8.05805695e-01] [ 1.35411023e-02 -4.15197027e-04 9.99908229e-01 7.48085548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.799254154 meters 0.015985815044569973 Centerline is valid? [True, True] Translation: X:178.23, Y:0.82, Z:0.75 [[ 9.99606295e-01 -2.49574394e-02 -1.28211315e-02 1.78232488e+02] [ 2.49586443e-02 9.99688482e-01 -6.60461861e-05 8.17445599e-01] [ 1.28187858e-02 -2.53977877e-04 9.99917804e-01 7.49581407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.859254154 meters 0.01592128277365091 Centerline is valid? [True, True] Translation: X:178.29, Y:0.82, Z:0.75 [[ 9.99782753e-01 -1.66392256e-02 -1.25531662e-02 1.78293050e+02] [ 1.66397252e-02 9.99861548e-01 -6.46510480e-05 8.24863455e-01] [ 1.25525039e-02 -1.44244233e-04 9.99921204e-01 7.49533840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.91925415400001 meters 0.013730649818540516 Centerline is valid? [True, True] Translation: X:178.35, Y:0.83, Z:0.75 [[ 9.99904229e-01 -6.24969311e-03 -1.23480559e-02 1.78353731e+02] [ 6.24938429e-03 9.99980470e-01 -6.35946936e-05 8.34729516e-01] [ 1.23482122e-02 -1.35791437e-05 9.99923758e-01 7.51108921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.979254154 meters 0.01389802928292964 Centerline is valid? [True, True] Translation: X:178.41, Y:0.84, Z:0.75 [[ 9.99912816e-01 -3.99697004e-03 -1.25850771e-02 1.78411664e+02] [ 3.99644096e-03 9.99992012e-01 -6.71888716e-05 8.37147744e-01] [ 1.25852451e-02 1.68874964e-05 9.99920803e-01 7.51126878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.039254154 meters 0.014001841337230477 Centerline is valid? [True, True] Translation: X:178.47, Y:0.84, Z:0.75 [[ 9.99909958e-01 -1.02626277e-04 -1.34188780e-02 1.78470822e+02] [ 1.01625642e-04 9.99999992e-01 -7.52511287e-05 8.40125975e-01] [ 1.34188856e-02 7.38806508e-05 9.99909960e-01 7.51003875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.099254154 meters 0.013964193589728007 Centerline is valid? [True, True] Translation: X:178.53, Y:0.84, Z:0.75 [[ 9.99908504e-01 3.11713936e-04 -1.35235823e-02 1.78528441e+02] [-3.12817974e-04 9.99999948e-01 -7.95227738e-05 8.40439614e-01] [ 1.35235568e-02 8.37459174e-05 9.99908549e-01 7.51589468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.159254154 meters 0.014123899828387366 Centerline is valid? [True, True] Translation: X:178.59, Y:0.84, Z:0.75 [[ 9.99918711e-01 4.35855214e-04 -1.27428782e-02 1.78586655e+02] [-4.36869693e-04 9.99999902e-01 -7.68279429e-05 8.38624959e-01] [ 1.27428435e-02 8.23886750e-05 9.99918803e-01 7.51210224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.219254154 meters 0.013878024184232717 Centerline is valid? [True, True] Translation: X:178.65, Y:0.84, Z:0.75 [[ 9.99926038e-01 -6.70253153e-04 -1.21437200e-02 1.78645211e+02] [ 6.69402317e-04 9.99999773e-01 -7.41283483e-05 8.35958785e-01] [ 1.21437670e-02 6.59938312e-05 9.99926260e-01 7.52013902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.279254154 meters 0.013980445745792332 Centerline is valid? [True, True] Translation: X:178.70, Y:0.83, Z:0.75 [[ 9.99930038e-01 -2.68530061e-03 -1.15199405e-02 1.78704383e+02] [ 2.68465931e-03 9.99996394e-01 -7.11325334e-05 8.30908516e-01] [ 1.15200900e-02 4.02004412e-05 9.99933641e-01 7.52613510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.339254154 meters 0.014058348611512487 Centerline is valid? [True, True] Translation: X:178.76, Y:0.83, Z:0.75 [[ 9.99924665e-01 -3.52272695e-03 -1.17582139e-02 1.78762371e+02] [ 3.52210336e-03 9.99993795e-01 -7.37416136e-05 8.28203428e-01] [ 1.17584007e-02 3.23224136e-05 9.99930867e-01 7.53206957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.399254154 meters 0.014460686947516373 Centerline is valid? [True, True] Translation: X:178.82, Y:0.82, Z:0.75 [[ 9.99925343e-01 -3.24576053e-03 -1.17802335e-02 1.78820291e+02] [ 3.24508416e-03 9.99994732e-01 -7.65300219e-05 8.22904643e-01] [ 1.17804198e-02 3.82964593e-05 9.99930608e-01 7.52451288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.459254154 meters 0.01474786544824693 Centerline is valid? [True, True] Translation: X:178.88, Y:0.82, Z:0.75 [[ 9.99929049e-01 -1.82270388e-03 -1.17717827e-02 1.78877788e+02] [ 1.82188931e-03 9.99998337e-01 -7.99202233e-05 8.20552825e-01] [ 1.17719088e-02 5.84676679e-05 9.99930707e-01 7.52816797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.519254154 meters 0.015214375270293689 Centerline is valid? [True, True] Translation: X:178.94, Y:0.82, Z:0.75 [[ 9.99921552e-01 2.55199577e-03 -1.22628628e-02 1.78936414e+02] [-2.55324988e-03 9.99996737e-01 -8.66142109e-05 8.18053011e-01] [ 1.22626017e-02 1.17917569e-04 9.99924805e-01 7.52500379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.579254154 meters 0.01639308359565229 Centerline is valid? [True, True] Translation: X:178.99, Y:0.82, Z:0.75 [[ 9.99885264e-01 8.11162592e-03 -1.27930019e-02 1.78994873e+02] [-8.11347057e-03 9.99967081e-01 -9.22975597e-05 8.16450885e-01] [ 1.27918320e-02 1.96082614e-04 9.99918162e-01 7.51770980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.639254154 meters 0.01696860035905069 Centerline is valid? [True, True] Translation: X:179.05, Y:0.81, Z:0.75 [[ 9.99858105e-01 1.10329438e-02 -1.27296583e-02 1.79053413e+02] [-1.10350388e-02 9.99939108e-01 -9.43449776e-05 8.13953849e-01] [ 1.27278423e-02 2.34803864e-04 9.99918970e-01 7.51481233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.69925415400002 meters 0.017716455229577172 Centerline is valid? [True, True] Translation: X:179.11, Y:0.81, Z:0.75 [[ 9.99829963e-01 1.25945728e-02 -1.34692819e-02 1.79112652e+02] [-1.25970846e-02 9.99920648e-01 -1.01653882e-04 8.10590389e-01] [ 1.34669328e-02 2.71310281e-04 9.99909280e-01 7.51224218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.759254154 meters 0.01727951459457072 Centerline is valid? [True, True] Translation: X:179.17, Y:0.80, Z:0.75 [[ 9.99856369e-01 1.15939755e-02 -1.23620633e-02 1.79171628e+02] [-1.15960256e-02 9.99932759e-01 -9.41742903e-05 8.00226537e-01] [ 1.23601402e-02 2.37511567e-04 9.99923582e-01 7.52723984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.819254154 meters 0.016726923156347436 Centerline is valid? [True, True] Translation: X:179.23, Y:0.79, Z:0.75 [[ 9.99911572e-01 6.27588649e-03 -1.17244043e-02 1.79230410e+02] [-6.27737494e-03 9.99980293e-01 -9.01565284e-05 7.87673077e-01] [ 1.17236074e-02 1.63747038e-04 9.99931263e-01 7.53469447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.879254154 meters 0.015977432404088825 Centerline is valid? [True, True] Translation: X:179.29, Y:0.78, Z:0.75 [[ 9.99928062e-01 1.57332707e-03 -1.18910152e-02 1.79289249e+02] [-1.57453592e-03 9.99998756e-01 -9.22996662e-05 7.77488587e-01] [ 1.18908552e-02 1.11015857e-04 9.99929295e-01 7.53435505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.939254154 meters 0.015351769214724382 Centerline is valid? [True, True] Translation: X:179.35, Y:0.76, Z:0.75 [[ 9.99908669e-01 -7.26742918e-03 -1.13946885e-02 1.79347848e+02] [ 7.26688394e-03 9.99973592e-01 -8.92540491e-05 7.60400884e-01] [ 1.13950363e-02 6.44201827e-06 9.99935074e-01 7.54244916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.999254154 meters 0.015423792425265785 Centerline is valid? [True, True] Translation: X:179.41, Y:0.75, Z:0.76 [[ 9.99861308e-01 -1.32502116e-02 -1.00894494e-02 1.79406755e+02] [ 1.32500816e-02 9.99912211e-01 -7.97314736e-05 7.49451174e-01] [ 1.00896202e-02 -5.39656127e-05 9.99949097e-01 7.55517653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.059254154 meters 0.015873582872070177 Centerline is valid? [True, True] Translation: X:179.47, Y:0.73, Z:0.76 [[ 9.99760458e-01 -2.05975604e-02 -7.40050111e-03 1.79465416e+02] [ 2.05976888e-02 9.99787843e-01 -5.88842537e-05 7.31958280e-01] [ 7.40014391e-03 -9.35630699e-05 9.99972614e-01 7.57196451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.119254154 meters 0.016163334361734588 Centerline is valid? [True, True] Translation: X:179.53, Y:0.72, Z:0.76 [[ 9.99664231e-01 -2.50949628e-02 -6.45508581e-03 1.79527144e+02] [ 2.50951533e-02 9.99685066e-01 -5.14960299e-05 7.18963471e-01] [ 6.45434517e-03 -1.10512629e-04 9.99979164e-01 7.57055506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.179254154 meters 0.015718727450292673 Centerline is valid? [True, True] Translation: X:179.59, Y:0.71, Z:0.76 [[ 9.99641821e-01 -2.60757337e-02 -6.02373324e-03 1.79589283e+02] [ 2.60759190e-02 9.99659964e-01 -4.77838235e-05 7.12204154e-01] [ 6.02293095e-03 -1.09307671e-04 9.99981856e-01 7.56825396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.239254154 meters 0.015973887139589252 Centerline is valid? [True, True] Translation: X:179.65, Y:0.70, Z:0.76 [[ 9.99643571e-01 -2.59520124e-02 -6.26295095e-03 1.79650737e+02] [ 2.59522131e-02 9.99663183e-01 -4.92375058e-05 7.01483135e-01] [ 6.26211930e-03 -1.13317482e-04 9.99980386e-01 7.56446696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.299254154 meters 0.01562967091233474 Centerline is valid? [True, True] Translation: X:179.71, Y:0.70, Z:0.76 [[ 9.99647212e-01 -2.59091163e-02 -5.84550635e-03 1.79712249e+02] [ 2.59092920e-02 9.99664297e-01 -4.56759204e-05 6.96984705e-01] [ 5.84472742e-03 -1.05793124e-04 9.99982914e-01 7.56639041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.359254154 meters 0.018684810197773977 Centerline is valid? [True, True] Translation: X:179.77, Y:0.69, Z:0.75 [[ 9.99617023e-01 -2.67182849e-02 -7.20692939e-03 1.79774950e+02] [ 2.67185760e-02 9.99642994e-01 -5.59059822e-05 6.88433249e-01] [ 7.20585018e-03 -1.36674319e-04 9.99974028e-01 7.54258802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.41925415400001 meters 0.018342746620740317 Centerline is valid? [True, True] Translation: X:179.84, Y:0.68, Z:0.75 [[ 9.99555757e-01 -2.86616915e-02 -8.17294598e-03 1.79836599e+02] [ 2.86621349e-02 9.99589155e-01 -6.28936476e-05 6.82891725e-01] [ 8.17139080e-03 -1.71388373e-04 9.99966599e-01 7.53671976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.479254154 meters 0.017843897692661814 Centerline is valid? [True, True] Translation: X:179.90, Y:0.68, Z:0.75 [[ 9.99407409e-01 -3.31428922e-02 -9.29409524e-03 1.79898014e+02] [ 3.31436627e-02 9.99450595e-01 -7.11600819e-05 6.75924934e-01] [ 9.29134747e-03 -2.36922444e-04 9.99956806e-01 7.53757343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.539254154 meters 0.017768165891683996 Centerline is valid? [True, True] Translation: X:179.96, Y:0.67, Z:0.75 [[ 9.99295895e-01 -3.63797874e-02 -9.17743141e-03 1.79959444e+02] [ 3.63806781e-02 9.99338002e-01 -6.99298311e-05 6.72235162e-01] [ 9.17390000e-03 -2.64000585e-04 9.99957884e-01 7.54848565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.599254154 meters 0.021370404792601903 Centerline is valid? [True, True] Translation: X:180.02, Y:0.66, Z:0.76 [[ 9.99152770e-01 -4.02778307e-02 -8.45212658e-03 1.80019403e+02] [ 4.02787267e-02 9.99188481e-01 -6.42524510e-05 6.63895623e-01] [ 8.44785547e-03 -2.76242882e-04 9.99964278e-01 7.55115961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.659254154 meters 0.022547551610904052 Centerline is valid? [True, True] Translation: X:180.08, Y:0.66, Z:0.76 [[ 9.98987923e-01 -4.45568360e-02 -6.14971971e-03 1.80080421e+02] [ 4.45573915e-02 9.99006825e-01 -4.67176033e-05 6.62037172e-01] [ 6.14569355e-03 -2.27345147e-04 9.99981089e-01 7.56016916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.719254154 meters 0.021196666557707362 Centerline is valid? [True, True] Translation: X:180.14, Y:0.66, Z:0.76 [[ 9.98924571e-01 -4.60712489e-02 -5.20973080e-03 1.80142947e+02] [ 4.60716688e-02 9.98938136e-01 -3.94485051e-05 6.61246663e-01] [ 5.20601622e-03 -2.00614911e-04 9.99986428e-01 7.58943286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.779254154 meters 0.022369038731156143 Centerline is valid? [True, True] Translation: X:180.20, Y:0.66, Z:0.76 [[ 9.98864650e-01 -4.73839593e-02 -4.91648876e-03 1.80204693e+02] [ 4.73843508e-02 9.98876730e-01 -3.68926168e-05 6.59388371e-01] [ 4.91271434e-03 -1.96113898e-04 9.99987913e-01 7.58926019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.839254154 meters 0.02223702837221236 Centerline is valid? [True, True] Translation: X:180.27, Y:0.66, Z:0.76 [[ 9.98833611e-01 -4.79607617e-02 -5.58419589e-03 1.80266376e+02] [ 4.79612777e-02 9.98849195e-01 -4.15635253e-05 6.62036240e-01] [ 5.57976299e-03 -2.26310124e-04 9.99984407e-01 7.58830694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.899254154 meters 0.022730461656344694 Centerline is valid? [True, True] Translation: X:180.33, Y:0.66, Z:0.76 [[ 9.98830483e-01 -4.79804110e-02 -5.96203863e-03 1.80328545e+02] [ 4.79810016e-02 9.98848248e-01 -4.40024490e-05 6.62677731e-01] [ 5.95728309e-03 -2.42113598e-04 9.99982226e-01 7.59023068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.959254154 meters 0.022175137940006088 Centerline is valid? [True, True] Translation: X:180.39, Y:0.67, Z:0.76 [[ 9.98807787e-01 -4.84241183e-02 -6.17320607e-03 1.80390713e+02] [ 4.84247629e-02 9.98826832e-01 -4.50980508e-05 6.66095167e-01] [ 6.16814770e-03 -2.53891756e-04 9.99980945e-01 7.59159235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.019254154 meters 0.02651066541074002 Centerline is valid? [True, True] Translation: X:180.45, Y:0.67, Z:0.76 [[ 9.98746230e-01 -4.96091604e-02 -6.70064230e-03 1.80451537e+02] [ 4.96099508e-02 9.98768667e-01 -4.83054447e-05 6.65544049e-01] [ 6.69478797e-03 -2.84173654e-04 9.99977549e-01 7.56576701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.079254154 meters 0.025262961724442114 Centerline is valid? [True, True] Translation: X:180.51, Y:0.67, Z:0.76 [[ 9.98605977e-01 -5.22712644e-02 -7.33603027e-03 1.80512616e+02] [ 5.22722887e-02 9.98632868e-01 -5.21675972e-05 6.70439528e-01] [ 7.32872782e-03 -3.31376218e-04 9.99973090e-01 7.58186006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.139254154 meters 0.024349058350596187 Centerline is valid? [True, True] Translation: X:180.57, Y:0.67, Z:0.76 [[ 9.98494983e-01 -5.43192598e-02 -7.56224743e-03 1.80574647e+02] [ 5.43204099e-02 9.98523555e-01 -5.33789397e-05 6.74982364e-01] [ 7.55398169e-03 -3.57485776e-04 9.99971404e-01 7.58178361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.19925415400002 meters 0.028091404066185155 Centerline is valid? [True, True] Translation: X:180.63, Y:0.67, Z:0.76 [[ 9.98345104e-01 -5.70440183e-02 -7.28233526e-03 1.80634348e+02] [ 5.70451613e-02 9.98371598e-01 -5.08292420e-05 6.74880200e-01] [ 7.27337619e-03 -3.64676865e-04 9.99973482e-01 7.59095739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.259254154 meters 0.028645163809769728 Centerline is valid? [True, True] Translation: X:180.70, Y:0.68, Z:0.76 [[ 9.98307614e-01 -5.78579251e-02 -5.86244497e-03 1.80696885e+02] [ 5.78586823e-02 9.98324782e-01 -4.04949853e-05 6.80874721e-01] [ 5.85496705e-03 -2.98766889e-04 9.99982815e-01 7.59702087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.319254154 meters 0.026596549788167397 Centerline is valid? [True, True] Translation: X:180.76, Y:0.69, Z:0.76 [[ 9.98401265e-01 -5.62603663e-02 -5.44844173e-03 1.80758979e+02] [ 5.62609986e-02 9.98416095e-01 -3.72654076e-05 6.87872969e-01] [ 5.44190848e-03 -2.69328943e-04 9.99985156e-01 7.61306378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.379254154 meters 0.025701072193171776 Centerline is valid? [True, True] Translation: X:180.82, Y:0.69, Z:0.76 [[ 9.98623827e-01 -5.21512602e-02 -5.54055855e-03 1.80819284e+02] [ 5.21518527e-02 9.98639165e-01 -3.75700550e-05 6.94139732e-01] [ 5.53497809e-03 -2.51432041e-04 9.99984650e-01 7.61585077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.439254154 meters 0.021166496137870645 Centerline is valid? [True, True] Translation: X:180.88, Y:0.71, Z:0.76 [[ 9.99115620e-01 -4.16761143e-02 -5.57482583e-03 1.80879471e+02] [ 4.16765515e-02 9.99131154e-01 -3.77900796e-05 7.09267619e-01] [ 5.57155711e-03 -1.94582857e-04 9.99984460e-01 7.62080349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.499254154 meters 0.018825462115411383 Centerline is valid? [True, True] Translation: X:180.94, Y:0.72, Z:0.76 [[ 9.99553828e-01 -2.91853899e-02 -6.35279898e-03 1.80939939e+02] [ 2.91857058e-02 9.99574006e-01 -4.29979471e-05 7.24969996e-01] [ 6.35134763e-03 -1.42432159e-04 9.99979820e-01 7.60417548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.559254154 meters 0.015878551172615135 Centerline is valid? [True, True] Translation: X:181.00, Y:0.73, Z:0.76 [[ 9.99718265e-01 -2.25994908e-02 -7.25632112e-03 1.81000328e+02] [ 2.25997301e-02 9.99744592e-01 -4.90281360e-05 7.33689261e-01] [ 7.25557581e-03 -1.14976575e-04 9.99973671e-01 7.61712472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.619254154 meters 0.015180228062060786 Centerline is valid? [True, True] Translation: X:181.06, Y:0.74, Z:0.76 [[ 9.99823051e-01 -1.72010498e-02 -7.61515333e-03 1.81061190e+02] [ 1.72011573e-02 9.99852048e-01 -5.13760118e-05 7.42723849e-01] [ 7.61491038e-03 -7.96225297e-05 9.99971003e-01 7.61376266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.679254154 meters 0.015243787862306539 Centerline is valid? [True, True] Translation: X:181.12, Y:0.74, Z:0.76 [[ 9.99824412e-01 -1.72680683e-02 -7.27734703e-03 1.81121975e+02] [ 1.72681682e-02 9.99850893e-01 -4.91059220e-05 7.44510966e-01] [ 7.27710989e-03 -7.65691530e-05 9.99973519e-01 7.61365222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.739254154 meters 0.01599797253181605 Centerline is valid? [True, True] Translation: X:181.18, Y:0.74, Z:0.76 [[ 9.99723866e-01 -2.22765274e-02 -7.47980120e-03 1.81182618e+02] [ 2.22767731e-02 9.99751841e-01 -5.04720378e-05 7.44164947e-01] [ 7.47906936e-03 -1.16167734e-04 9.99972025e-01 7.61520167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.799254154 meters 0.017391336703296477 Centerline is valid? [True, True] Translation: X:181.24, Y:0.74, Z:0.76 [[ 9.99595098e-01 -2.73867747e-02 -7.72041112e-03 1.81242739e+02] [ 2.73871892e-02 9.99624899e-01 -5.20370566e-05 7.41342197e-01] [ 7.71894032e-03 -1.59424374e-04 9.99970196e-01 7.61754739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.859254154 meters 0.020893418926555593 Centerline is valid? [True, True] Translation: X:181.30, Y:0.74, Z:0.76 [[ 9.99269249e-01 -3.72061867e-02 -8.75604178e-03 1.81303496e+02] [ 3.72070976e-02 9.99307574e-01 -5.88983242e-05 7.35165178e-01] [ 8.75217025e-03 -2.66931617e-04 9.99961663e-01 7.60768584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.91925415400001 meters 0.0214421981990373 Centerline is valid? [True, True] Translation: X:181.36, Y:0.73, Z:0.76 [[ 9.99018001e-01 -4.33750655e-02 -9.03537273e-03 1.81364323e+02] [ 4.33762893e-02 9.99058804e-01 -6.05709245e-05 7.34087439e-01] [ 9.02949594e-03 -3.31409497e-04 9.99959178e-01 7.60816799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.979254154 meters 0.024267103286811552 Centerline is valid? [True, True] Translation: X:181.42, Y:0.73, Z:0.76 [[ 9.98730539e-01 -4.96810546e-02 -8.31281364e-03 1.81424984e+02] [ 4.96823099e-02 9.98765070e-01 -5.55574552e-05 7.30960193e-01] [ 8.30530805e-03 -3.57512856e-04 9.99965446e-01 7.61549036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.039254154 meters 0.027008896058656258 Centerline is valid? [True, True] Translation: X:181.49, Y:0.73, Z:0.76 [[ 9.98498692e-01 -5.40872093e-02 -8.65653285e-03 1.81485374e+02] [ 5.40887366e-02 9.98536131e-01 -5.77584236e-05 7.28037100e-01] [ 8.64698481e-03 -4.10549215e-04 9.99962530e-01 7.61424694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.099254154 meters 0.028969286445163205 Centerline is valid? [True, True] Translation: X:181.55, Y:0.73, Z:0.76 [[ 9.98340174e-01 -5.70193665e-02 -8.10487953e-03 1.81546470e+02] [ 5.70208028e-02 9.98372989e-01 -5.39391553e-05 7.26611626e-01] [ 8.09476838e-03 -4.08297112e-04 9.99967153e-01 7.61601150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.159254154 meters 0.028709728248796664 Centerline is valid? [True, True] Translation: X:181.61, Y:0.73, Z:0.76 [[ 9.98091354e-01 -6.12986045e-02 -7.49204043e-03 1.81607314e+02] [ 6.12999529e-02 9.98119388e-01 -4.97329299e-05 7.30168613e-01] [ 7.48099937e-03 -4.09623719e-04 9.99971933e-01 7.62508722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.219254154 meters 0.03028594760314838 Centerline is valid? [True, True] Translation: X:181.67, Y:0.73, Z:0.76 [[ 9.97945863e-01 -6.35765083e-02 -7.87919921e-03 1.81668333e+02] [ 6.35780716e-02 9.97976867e-01 -5.21560973e-05 7.30727638e-01] [ 7.86657444e-03 -4.48895330e-04 9.99968957e-01 7.62219128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.279254154 meters 0.0326785373207141 Centerline is valid? [True, True] Translation: X:181.73, Y:0.73, Z:0.76 [[ 9.97822015e-01 -6.51720377e-02 -1.01897815e-02 1.81730454e+02] [ 6.51747407e-02 9.97873864e-01 -6.69298431e-05 7.33250315e-01] [ 1.01724786e-02 -5.97332298e-04 9.99948081e-01 7.59527703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.339254154 meters 0.03007377800744992 Centerline is valid? [True, True] Translation: X:181.79, Y:0.74, Z:0.76 [[ 9.97815022e-01 -6.50244488e-02 -1.17048424e-02 1.81792887e+02] [ 6.50280159e-02 9.97883436e-01 -7.59728094e-05 7.42017658e-01] [ 1.16850084e-02 -6.85335868e-04 9.99931493e-01 7.59538192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.399254154 meters 0.02934256220962609 Centerline is valid? [True, True] Translation: X:181.85, Y:0.75, Z:0.76 [[ 9.97886025e-01 -6.37341971e-02 -1.27056050e-02 1.81854779e+02] [ 6.37383084e-02 9.97966643e-01 -8.15031726e-05 7.46294473e-01] [ 1.26849645e-02 -7.28502891e-04 9.99919277e-01 7.60386419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.459254154 meters 0.028348779215941245 Centerline is valid? [True, True] Translation: X:181.92, Y:0.75, Z:0.76 [[ 9.98095575e-01 -6.01061782e-02 -1.38733909e-02 1.81915523e+02] [ 6.01107378e-02 9.98191711e-01 -8.84697112e-05 7.53168218e-01] [ 1.38536214e-02 -7.45638539e-04 9.99903756e-01 7.60826885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.519254154 meters 0.02561101803542895 Centerline is valid? [True, True] Translation: X:181.98, Y:0.77, Z:0.76 [[ 9.98620057e-01 -5.10485946e-02 -1.23297816e-02 1.81976577e+02] [ 5.10515094e-02 9.98696018e-01 -7.84292603e-05 7.65542977e-01] [ 1.23177075e-02 -5.51132931e-04 9.99923982e-01 7.62282056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.579254154 meters 0.02133709711549732 Centerline is valid? [True, True] Translation: X:182.04, Y:0.78, Z:0.77 [[ 9.99183980e-01 -3.91502551e-02 -9.93133969e-03 1.82036942e+02] [ 3.91515594e-02 9.99233282e-01 -6.31261383e-05 7.81336634e-01] [ 9.92619656e-03 -3.25752810e-04 9.99950681e-01 7.65056485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.639254154 meters 0.019197806910337675 Centerline is valid? [True, True] Translation: X:182.10, Y:0.79, Z:0.77 [[ 9.99457646e-01 -3.17116425e-02 -8.87614457e-03 1.82097916e+02] [ 3.17123920e-02 9.99497034e-01 -5.63202116e-05 7.91113480e-01] [ 8.87346618e-03 -2.25194110e-04 9.99960605e-01 7.66034614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.69925415400002 meters 0.01576913356855681 Centerline is valid? [True, True] Translation: X:182.16, Y:0.80, Z:0.77 [[ 9.99706506e-01 -2.27980590e-02 -8.19451173e-03 1.82158544e+02] [ 2.27983998e-02 9.99740081e-01 -5.18308888e-05 8.04706853e-01] [ 8.19356347e-03 -1.35006078e-04 9.99966423e-01 7.66200981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.759254154 meters 0.015380715041501472 Centerline is valid? [True, True] Translation: X:182.22, Y:0.81, Z:0.77 [[ 9.99749073e-01 -2.07250223e-02 -8.50088239e-03 1.82220789e+02] [ 2.07253173e-02 9.99785206e-01 -5.33923069e-05 8.07500248e-01] [ 8.50016301e-03 -1.22804576e-04 9.99963865e-01 7.66048755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.819254154 meters 0.014799566635322633 Centerline is valid? [True, True] Translation: X:182.28, Y:0.81, Z:0.77 [[ 9.99793159e-01 -1.79384879e-02 -9.58381445e-03 1.82282093e+02] [ 1.79387401e-02 9.99839086e-01 -5.96482969e-05 8.13724074e-01] [ 9.58334228e-03 -1.12285598e-04 9.99954072e-01 7.65380892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.879254154 meters 0.01466519497877375 Centerline is valid? [True, True] Translation: X:182.34, Y:0.81, Z:0.77 [[ 9.99787912e-01 -1.81447219e-02 -9.74171647e-03 1.82343396e+02] [ 1.81449958e-02 9.99835364e-01 -6.02725238e-05 8.14966850e-01] [ 9.74120627e-03 -1.16503664e-04 9.99952547e-01 7.65294205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.939254154 meters 0.015287796289960947 Centerline is valid? [True, True] Translation: X:182.40, Y:0.81, Z:0.76 [[ 9.99732513e-01 -2.08210614e-02 -1.00690960e-02 1.82404975e+02] [ 2.08214935e-02 9.99783207e-01 -6.19276654e-05 8.14295036e-01] [ 1.00682025e-02 -1.47742516e-04 9.99949303e-01 7.64988666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.999254154 meters 0.015741575602921807 Centerline is valid? [True, True] Translation: X:182.47, Y:0.81, Z:0.77 [[ 9.99678278e-01 -2.34165660e-02 -9.74706153e-03 1.82466617e+02] [ 2.34170986e-02 9.99725780e-01 -5.95011630e-05 8.13076389e-01] [ 9.74578201e-03 -1.68765881e-04 9.99952494e-01 7.65235630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.059254154 meters 0.01742578415566335 Centerline is valid? [True, True] Translation: X:182.53, Y:0.81, Z:0.76 [[ 9.99565889e-01 -2.76528359e-02 -1.01662951e-02 1.82527954e+02] [ 2.76536399e-02 9.99617563e-01 -6.14990746e-05 8.09532414e-01] [ 1.01641078e-02 -2.19662687e-04 9.99948320e-01 7.64656487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.119254154 meters 0.01819539248339239 Centerline is valid? [True, True] Translation: X:182.59, Y:0.81, Z:0.77 [[ 9.99402664e-01 -3.34253909e-02 -8.77832910e-03 1.82588714e+02] [ 3.34262154e-02 9.99441187e-01 -5.28186764e-05 8.07253748e-01] [ 8.77518914e-03 -2.40639194e-04 9.99961468e-01 7.65336558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.179254154 meters 0.01935829503865891 Centerline is valid? [True, True] Translation: X:182.65, Y:0.80, Z:0.77 [[ 9.99269024e-01 -3.72319353e-02 -8.67186234e-03 1.82650620e+02] [ 3.72328858e-02 9.99306614e-01 -5.18648689e-05 8.04563923e-01] [ 8.66778043e-03 -2.71051504e-04 9.99962397e-01 7.65663940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.239254154 meters 0.020282159292681748 Centerline is valid? [True, True] Translation: X:182.71, Y:0.80, Z:0.77 [[ 9.99091143e-01 -4.15596432e-02 -9.47013751e-03 1.82712190e+02] [ 4.15609752e-02 9.99135968e-01 -5.61890546e-05 8.03118063e-01] [ 9.46429021e-03 -3.37450163e-04 9.99955156e-01 7.65498303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.299254154 meters 0.021790134946594802 Centerline is valid? [True, True] Translation: X:182.77, Y:0.80, Z:0.76 [[ 9.98877615e-01 -4.63031554e-02 -9.97634250e-03 1.82773543e+02] [ 4.63048736e-02 9.98927352e-01 -5.88157816e-05 8.00997991e-01] [ 9.96836476e-03 -4.03203511e-04 9.99950233e-01 7.64572468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.359254154 meters 0.023247590152443116 Centerline is valid? [True, True] Translation: X:182.83, Y:0.80, Z:0.76 [[ 9.98788890e-01 -4.81891397e-02 -9.92771436e-03 1.82834612e+02] [ 4.81909387e-02 9.98838140e-01 -5.80639467e-05 7.99049247e-01] [ 9.91897780e-03 -4.20432249e-04 9.99950717e-01 7.63887727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.41925415400001 meters 0.023562646050776136 Centerline is valid? [True, True] Translation: X:182.90, Y:0.80, Z:0.76 [[ 9.98878497e-01 -4.62785637e-02 -1.00021417e-02 1.82895821e+02] [ 4.62802996e-02 9.98928491e-01 -5.79538693e-05 8.01306072e-01] [ 9.99410631e-03 -4.05013240e-04 9.99949976e-01 7.63414457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.479254154 meters 0.020566596769413494 Centerline is valid? [True, True] Translation: X:182.96, Y:0.81, Z:0.76 [[ 9.99169239e-01 -3.94010295e-02 -1.04111055e-02 1.82956206e+02] [ 3.94025406e-02 9.99223417e-01 -6.00155093e-05 8.12241352e-01] [ 1.04053851e-02 -3.50258358e-04 9.99945801e-01 7.63952763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.539254154 meters 0.020211930076286997 Centerline is valid? [True, True] Translation: X:183.02, Y:0.82, Z:0.76 [[ 9.99335894e-01 -3.50283679e-02 -1.00391908e-02 1.83016452e+02] [ 3.50295539e-02 9.99386275e-01 -5.77271970e-05 8.16718481e-01] [ 1.00350516e-02 -2.93979515e-04 9.99949604e-01 7.64096602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.599254154 meters 0.017622823147064665 Centerline is valid? [True, True] Translation: X:183.08, Y:0.83, Z:0.76 [[ 9.99435672e-01 -3.17666304e-02 -1.09187017e-02 1.83077806e+02] [ 3.17678424e-02 9.99495273e-01 -6.24580250e-05 8.26075302e-01] [ 1.09151748e-02 -2.84440816e-04 9.99940387e-01 7.64474424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.659254154 meters 0.017533888872320047 Centerline is valid? [True, True] Translation: X:183.14, Y:0.83, Z:0.76 [[ 9.99413907e-01 -3.19863934e-02 -1.21948350e-02 1.83139567e+02] [ 3.19879309e-02 9.99488253e-01 -6.90028066e-05 8.29114579e-01] [ 1.21908014e-02 -3.21125173e-04 9.99925638e-01 7.63726713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.719254154 meters 0.018311431284364035 Centerline is valid? [True, True] Translation: X:183.20, Y:0.83, Z:0.76 [[ 9.99362346e-01 -3.30215540e-02 -1.35822959e-02 1.83200302e+02] [ 3.30235663e-02 9.99454570e-01 -7.61585762e-05 8.30767789e-01] [ 1.35774025e-02 -3.72425834e-04 9.99907753e-01 7.62955230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.779254154 meters 0.018379286977545765 Centerline is valid? [True, True] Translation: X:183.26, Y:0.84, Z:0.76 [[ 9.99342709e-01 -3.33702620e-02 -1.41624415e-02 1.83262821e+02] [ 3.33724972e-02 9.99442980e-01 -7.85385248e-05 8.35202145e-01] [ 1.41571736e-02 -3.94149138e-04 9.99899705e-01 7.63414297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.839254154 meters 0.018114998236457448 Centerline is valid? [True, True] Translation: X:183.33, Y:0.84, Z:0.77 [[ 9.99386678e-01 -3.23168088e-02 -1.34867514e-02 1.83325124e+02] [ 3.23187529e-02 9.99477610e-01 -7.38312294e-05 8.40831712e-01] [ 1.34820920e-02 -3.62089038e-04 9.99909047e-01 7.65030090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.899254154 meters 0.018012484230826537 Centerline is valid? [True, True] Translation: X:183.39, Y:0.85, Z:0.77 [[ 9.99450545e-01 -3.12144768e-02 -1.11473616e-02 1.83387005e+02] [ 3.12157446e-02 9.99512668e-01 -6.02784372e-05 8.45583343e-01] [ 1.11438107e-02 -2.87727875e-04 9.99937864e-01 7.67344207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.959254154 meters 0.017811944172836294 Centerline is valid? [True, True] Translation: X:183.45, Y:0.85, Z:0.77 [[ 9.99514085e-01 -2.96502230e-02 -9.61553256e-03 1.83449597e+02] [ 2.96511010e-02 9.99560308e-01 -5.12589950e-05 8.48975041e-01] [ 9.61282453e-03 -2.33877040e-04 9.99953768e-01 7.68174362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.019254154 meters 0.018363441502137173 Centerline is valid? [True, True] Translation: X:183.51, Y:0.85, Z:0.77 [[ 9.99591101e-01 -2.69260187e-02 -9.62393269e-03 1.83511851e+02] [ 2.69267794e-02 9.99637407e-01 -5.05413913e-05 8.52522011e-01] [ 9.62180400e-03 -2.08620788e-04 9.99953688e-01 7.67793089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.079254154 meters 0.0162340424427733 Centerline is valid? [True, True] Translation: X:183.57, Y:0.86, Z:0.77 [[ 9.99665278e-01 -2.43802105e-02 -8.65659646e-03 1.83573805e+02] [ 2.43807356e-02 9.99702745e-01 -4.48742886e-05 8.59106464e-01] [ 8.65511729e-03 -1.66194922e-04 9.99962530e-01 7.69578009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.139254154 meters 0.01577723258535189 Centerline is valid? [True, True] Translation: X:183.64, Y:0.86, Z:0.77 [[ 9.99653819e-01 -2.44306255e-02 -9.76662149e-03 1.83636323e+02] [ 2.44313038e-02 9.99701510e-01 -4.98751466e-05 8.61317105e-01] [ 9.76492474e-03 -1.88753416e-04 9.99952304e-01 7.68572389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.19925415400002 meters 0.01594420033927684 Centerline is valid? [True, True] Translation: X:183.70, Y:0.86, Z:0.77 [[ 9.99612300e-01 -2.55294504e-02 -1.11129123e-02 1.83698627e+02] [ 2.55304061e-02 9.99674044e-01 -5.58774437e-05 8.61738493e-01] [ 1.11107165e-02 -2.27861385e-04 9.99938248e-01 7.67520999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.259254154 meters 0.017844223596217974 Centerline is valid? [True, True] Translation: X:183.76, Y:0.86, Z:0.77 [[ 9.99590764e-01 -2.59879282e-02 -1.19554220e-02 1.83759867e+02] [ 2.59890764e-02 9.99662225e-01 -5.93400293e-05 8.58168601e-01] [ 1.19529259e-02 -2.51394631e-04 9.99928530e-01 7.65479188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.319254154 meters 0.015940884387445557 Centerline is valid? [True, True] Translation: X:183.82, Y:0.86, Z:0.77 [[ 9.99630065e-01 -2.44939243e-02 -1.18228518e-02 1.83822056e+02] [ 2.44949521e-02 9.99699952e-01 -5.78938258e-05 8.63294573e-01] [ 1.18207224e-02 -2.31727779e-04 9.99930106e-01 7.67261524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.379254154 meters 0.015332787852218595 Centerline is valid? [True, True] Translation: X:183.88, Y:0.87, Z:0.77 [[ 9.99724013e-01 -2.06221175e-02 -1.12528263e-02 1.83882324e+02] [ 2.06228081e-02 9.99787326e-01 -5.46700111e-05 8.66323887e-01] [ 1.12515606e-02 -1.77409955e-04 9.99936683e-01 7.67925959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.439254154 meters 0.014997499784653465 Centerline is valid? [True, True] Translation: X:183.94, Y:0.87, Z:0.77 [[ 9.99766684e-01 -1.86359847e-02 -1.09214394e-02 1.83943532e+02] [ 1.86365201e-02 9.99826324e-01 -5.27499331e-05 8.68055965e-01] [ 1.09205257e-02 -1.50800000e-04 9.99940358e-01 7.68186020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.499254154 meters 0.01430267440645897 Centerline is valid? [True, True] Translation: X:184.00, Y:0.87, Z:0.77 [[ 9.99814857e-01 -1.62697123e-02 -1.02736322e-02 1.84004835e+02] [ 1.62700650e-02 9.99867633e-01 -4.92528088e-05 8.69987861e-01] [ 1.02730736e-02 -1.17908973e-04 9.99947224e-01 7.68759075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.559254154 meters 0.014277287424193357 Centerline is valid? [True, True] Translation: X:184.06, Y:0.87, Z:0.77 [[ 9.99855315e-01 -1.35266548e-02 -1.03139976e-02 1.84064983e+02] [ 1.35268672e-02 9.99908507e-01 -4.91716597e-05 8.70342869e-01] [ 1.03137190e-02 -9.03515302e-05 9.99946808e-01 7.68767779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.619254154 meters 0.013910762771022206 Centerline is valid? [True, True] Translation: X:184.13, Y:0.87, Z:0.77 [[ 9.99913277e-01 -8.75120572e-03 -9.84150175e-03 1.84125808e+02] [ 8.75116855e-03 9.99961707e-01 -4.68417160e-05 8.71589006e-01] [ 9.84153481e-03 -3.92869868e-05 9.99951570e-01 7.69669619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.679254154 meters 0.014163109540815103 Centerline is valid? [True, True] Translation: X:184.18, Y:0.87, Z:0.77 [[ 9.99930456e-01 -6.62662545e-03 -9.75557443e-03 1.84184899e+02] [ 6.62648407e-03 9.99978044e-01 -4.68155845e-05 8.70590325e-01] [ 9.75567046e-03 -1.78328298e-05 9.99952412e-01 7.68809329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.739254154 meters 0.014132549960990398 Centerline is valid? [True, True] Translation: X:184.24, Y:0.87, Z:0.77 [[ 9.99929381e-01 -6.29609811e-03 -1.00792595e-02 1.84242608e+02] [ 6.29591029e-03 9.99980179e-01 -5.03643245e-05 8.69745799e-01] [ 1.00793768e-02 -1.30973458e-05 9.99949202e-01 7.68640602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.799254154 meters 0.01423821258839537 Centerline is valid? [True, True] Translation: X:184.30, Y:0.86, Z:0.77 [[ 9.99901997e-01 -7.55106345e-03 -1.17888786e-02 1.84300353e+02] [ 7.55086800e-03 9.99971490e-01 -6.10888391e-05 8.64279449e-01] [ 1.17890038e-02 -2.79334144e-05 9.99930507e-01 7.67053616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.859254154 meters 0.014515011695120856 Centerline is valid? [True, True] Translation: X:184.36, Y:0.86, Z:0.77 [[ 9.99873385e-01 -1.03703247e-02 -1.20693729e-02 1.84358396e+02] [ 1.03703121e-02 9.99946225e-01 -6.36221847e-05 8.58672789e-01] [ 1.20693837e-02 -6.15490358e-05 9.99927160e-01 7.65858747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.91925415400001 meters 0.01493414440446312 Centerline is valid? [True, True] Translation: X:184.42, Y:0.85, Z:0.77 [[ 9.99781714e-01 -1.66795698e-02 -1.25823728e-02 1.84416970e+02] [ 1.66800434e-02 9.99860876e-01 -6.73111391e-05 8.48771571e-01] [ 1.25817450e-02 -1.42578078e-04 9.99920837e-01 7.65548863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.979254154 meters 0.015768809668163474 Centerline is valid? [True, True] Translation: X:184.48, Y:0.84, Z:0.77 [[ 9.99668529e-01 -2.20432943e-02 -1.33012931e-02 1.84476385e+02] [ 2.20442895e-02 9.99756993e-01 -7.18108795e-05 8.42366568e-01] [ 1.32996437e-02 -2.21430478e-04 9.99911531e-01 7.65056252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.039254154 meters 0.017503695251843226 Centerline is valid? [True, True] Translation: X:184.54, Y:0.83, Z:0.76 [[ 9.99461491e-01 -2.99454477e-02 -1.34163491e-02 1.84536960e+02] [ 2.99471695e-02 9.99551480e-01 -7.25929911e-05 8.32699469e-01] [ 1.34125054e-02 -3.29227780e-04 9.99909994e-01 7.64706620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.099254154 meters 0.01873244421182915 Centerline is valid? [True, True] Translation: X:184.60, Y:0.83, Z:0.77 [[ 9.99323471e-01 -3.45540145e-02 -1.25944643e-02 1.84598053e+02] [ 3.45558993e-02 9.99402764e-01 -6.79966939e-05 8.26904147e-01] [ 1.25892920e-02 -3.67262347e-04 9.99920684e-01 7.65643258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.159254154 meters 0.02086902276531228 Centerline is valid? [True, True] Translation: X:184.66, Y:0.82, Z:0.77 [[ 9.99068189e-01 -4.16463339e-02 -1.13285338e-02 1.84659427e+02] [ 4.16483178e-02 9.99132331e-01 -6.08360604e-05 8.19830189e-01] [ 1.13212380e-02 -4.11035004e-04 9.99935828e-01 7.67100817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.219254154 meters 0.023472460798128238 Centerline is valid? [True, True] Translation: X:184.72, Y:0.82, Z:0.77 [[ 9.98897767e-01 -4.53448384e-02 -1.21283465e-02 1.84720208e+02] [ 4.53473883e-02 9.98971276e-01 -6.48175554e-05 8.15527555e-01] [ 1.21188089e-02 -4.85242727e-04 9.99926447e-01 7.66485482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.279254154 meters 0.024964912843865275 Centerline is valid? [True, True] Translation: X:184.78, Y:0.81, Z:0.77 [[ 9.98680039e-01 -5.00442015e-02 -1.15653545e-02 1.84781696e+02] [ 5.00468385e-02 9.98746870e-01 -6.14749396e-05 8.09242933e-01] [ 1.15539381e-02 -5.17415634e-04 9.99933117e-01 7.66888230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.339254154 meters 0.026512762282347425 Centerline is valid? [True, True] Translation: X:184.84, Y:0.81, Z:0.77 [[ 9.98585049e-01 -5.18125598e-02 -1.19732171e-02 1.84843282e+02] [ 5.18155197e-02 9.98656672e-01 -6.30741494e-05 8.06833449e-01] [ 1.19604011e-02 -5.57413563e-04 9.99928316e-01 7.67231326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.399254154 meters 0.027112181783037346 Centerline is valid? [True, True] Translation: X:184.91, Y:0.81, Z:0.77 [[ 9.98515135e-01 -5.28000848e-02 -1.34043016e-02 1.84905662e+02] [ 5.28038955e-02 9.98604899e-01 -6.97105460e-05 8.05628861e-01] [ 1.33892819e-02 -6.38192305e-04 9.99910156e-01 7.66770637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.459254154 meters 0.02521755929543271 Centerline is valid? [True, True] Translation: X:184.97, Y:0.81, Z:0.77 [[ 9.98507980e-01 -5.26436814e-02 -1.45071400e-02 1.84968251e+02] [ 5.26481443e-02 9.98613122e-01 -7.43678345e-05 8.08530273e-01] [ 1.44909354e-02 -6.89517123e-04 9.99894763e-01 7.67238020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.519254154 meters 0.025225958014600567 Centerline is valid? [True, True] Translation: X:185.03, Y:0.81, Z:0.77 [[ 9.98600443e-01 -5.02759855e-02 -1.64158536e-02 1.85028415e+02] [ 5.02814075e-02 9.98735087e-01 -8.25398893e-05 8.09697605e-01] [ 1.63992387e-02 -7.42987853e-04 9.99865247e-01 7.66016956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.579254154 meters 0.023492325676607816 Centerline is valid? [True, True] Translation: X:185.09, Y:0.81, Z:0.77 [[ 9.98724130e-01 -4.70886964e-02 -1.82418776e-02 1.85090227e+02] [ 4.70948843e-02 9.98890416e-01 -9.04613492e-05 8.14333221e-01] [ 1.82258964e-02 -7.68753180e-04 9.99833599e-01 7.65672957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.639254154 meters 0.021926754272177672 Centerline is valid? [True, True] Translation: X:185.15, Y:0.82, Z:0.77 [[ 9.98909029e-01 -4.27333399e-02 -1.88311562e-02 1.85151280e+02] [ 4.27391757e-02 9.99086260e-01 -9.26257863e-05 8.20014649e-01] [ 1.88179076e-02 -7.12303360e-04 9.99822674e-01 7.66270633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.69925415400002 meters 0.019001220572586436 Centerline is valid? [True, True] Translation: X:185.21, Y:0.83, Z:0.77 [[ 9.99281135e-01 -3.36060283e-02 -1.75456214e-02 1.85211510e+02] [ 3.36096911e-02 9.99435031e-01 -8.61553852e-05 8.30168830e-01] [ 1.75386040e-02 -5.03609464e-04 9.99846060e-01 7.69006267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.759254154 meters 0.016536431891462172 Centerline is valid? [True, True] Translation: X:185.27, Y:0.84, Z:0.77 [[ 9.99524909e-01 -2.62892379e-02 -1.60882519e-02 1.85271849e+02] [ 2.62913700e-02 9.99654319e-01 -7.89985644e-05 8.38515032e-01] [ 1.60847673e-02 -3.44021151e-04 9.99870573e-01 7.70773851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.819254154 meters 0.014300877321453773 Centerline is valid? [True, True] Translation: X:185.33, Y:0.85, Z:0.77 [[ 9.99775025e-01 -1.46837341e-02 -1.53064559e-02 1.85331298e+02] [ 1.46843011e-02 9.99892177e-01 -7.53524830e-05 8.49744536e-01] [ 1.53059120e-02 -1.49429076e-04 9.99882847e-01 7.71421484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.879254154 meters 0.013746434011614031 Centerline is valid? [True, True] Translation: X:185.39, Y:0.86, Z:0.77 [[ 9.99845690e-01 -8.38641281e-03 -1.54358146e-02 1.85390440e+02] [ 8.38619934e-03 9.99964832e-01 -7.85587480e-05 8.56256050e-01] [ 1.54359306e-02 -5.09011929e-05 9.99880858e-01 7.71737769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.939254154 meters 0.01367155277426776 Centerline is valid? [True, True] Translation: X:185.45, Y:0.86, Z:0.77 [[ 9.99873241e-01 -4.22655628e-03 -1.53504784e-02 1.85448331e+02] [ 4.22579201e-03 9.99991068e-01 -8.22241831e-05 8.60202576e-01] [ 1.53506889e-02 1.73458313e-05 9.99882171e-01 7.72476010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.999254154 meters 0.01385118200133892 Centerline is valid? [True, True] Translation: X:185.51, Y:0.86, Z:0.77 [[ 9.99881381e-01 -2.62501039e-03 -1.51767382e-02 1.85506269e+02] [ 2.62401297e-03 9.99996554e-01 -8.56330754e-05 8.61594668e-01] [ 1.51769106e-02 4.57989598e-05 9.99884823e-01 7.73066418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.059254154 meters 0.013845866647140263 Centerline is valid? [True, True] Translation: X:185.57, Y:0.86, Z:0.77 [[ 9.99861622e-01 -5.09623248e-03 -1.58355414e-02 1.85565003e+02] [ 5.09542271e-03 9.99987014e-01 -9.14834227e-05 8.59807811e-01] [ 1.58358020e-02 1.07819863e-05 9.99874606e-01 7.73304450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.119254154 meters 0.014003614992588122 Centerline is valid? [True, True] Translation: X:185.62, Y:0.86, Z:0.77 [[ 9.99826077e-01 -8.02220452e-03 -1.68362561e-02 1.85622972e+02] [ 8.02168010e-03 9.99967821e-01 -9.86814648e-05 8.57382611e-01] [ 1.68365059e-02 -3.63907583e-05 9.99858255e-01 7.72849507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.179254154 meters 0.014222340029911917 Centerline is valid? [True, True] Translation: X:185.68, Y:0.85, Z:0.77 [[ 9.99769948e-01 -1.43742925e-02 -1.59195178e-02 1.85681806e+02] [ 1.43746097e-02 9.99896675e-01 -9.45088139e-05 8.52475013e-01] [ 1.59192315e-02 -1.34349783e-04 9.99873272e-01 7.74548494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.239254154 meters 0.015815634392006662 Centerline is valid? [True, True] Translation: X:185.74, Y:0.85, Z:0.77 [[ 9.99693104e-01 -1.97568835e-02 -1.49453624e-02 1.85740045e+02] [ 1.97577457e-02 9.99804793e-01 -8.99691493e-05 8.47167280e-01] [ 1.49442225e-02 -2.05345132e-04 9.99888308e-01 7.74289870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.299254154 meters 0.016375320370364814 Centerline is valid? [True, True] Translation: X:185.80, Y:0.84, Z:0.78 [[ 9.99584262e-01 -2.51314797e-02 -1.41319187e-02 1.85799829e+02] [ 2.51327774e-02 9.99684118e-01 -8.57886042e-05 8.43917135e-01] [ 1.41296107e-02 -2.69421428e-04 9.99900136e-01 7.76180627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.359254154 meters 0.015971228369865923 Centerline is valid? [True, True] Translation: X:185.86, Y:0.84, Z:0.78 [[ 9.99540528e-01 -2.67267136e-02 -1.42973936e-02 1.85860838e+02] [ 2.67282079e-02 9.99642734e-01 -8.65858800e-05 8.44322446e-01] [ 1.42945998e-02 -2.95597612e-04 9.99897783e-01 7.77121745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.41925415400001 meters 0.017155057629436702 Centerline is valid? [True, True] Translation: X:185.92, Y:0.84, Z:0.78 [[ 9.99538693e-01 -2.69465866e-02 -1.40101119e-02 1.85921484e+02] [ 2.69480477e-02 9.99636832e-01 -8.45132279e-05 8.40774518e-01] [ 1.40073012e-02 -2.93070923e-04 9.99901850e-01 7.75325853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.479254154 meters 0.016212312572610982 Centerline is valid? [True, True] Translation: X:185.98, Y:0.84, Z:0.78 [[ 9.99553831e-01 -2.65883543e-02 -1.36087329e-02 1.85983329e+02] [ 2.65897077e-02 9.99646428e-01 -8.15093004e-05 8.43131694e-01] [ 1.36060885e-02 -2.80379297e-04 9.99907394e-01 7.75304465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.539254154 meters 0.016310995118409187 Centerline is valid? [True, True] Translation: X:186.04, Y:0.84, Z:0.77 [[ 9.99572777e-01 -2.57719071e-02 -1.37866491e-02 1.86044571e+02] [ 2.57732266e-02 9.99667812e-01 -8.19897922e-05 8.43660288e-01] [ 1.37841824e-02 -2.73371666e-04 9.99904956e-01 7.74151308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.599254154 meters 0.016123173585023062 Centerline is valid? [True, True] Translation: X:186.11, Y:0.84, Z:0.77 [[ 9.99586607e-01 -2.51925029e-02 -1.38546953e-02 1.86105523e+02] [ 2.51937868e-02 9.99682583e-01 -8.18851784e-05 8.44828435e-01] [ 1.38523605e-02 -2.67200913e-04 9.99904016e-01 7.73459086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.659254154 meters 0.01654914335010924 Centerline is valid? [True, True] Translation: X:186.17, Y:0.84, Z:0.77 [[ 9.99567882e-01 -2.60173493e-02 -1.36801434e-02 1.86167125e+02] [ 2.60186851e-02 9.99661453e-01 -8.03551457e-05 8.44739602e-01] [ 1.36776027e-02 -2.75618921e-04 9.99906419e-01 7.73634811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.719254154 meters 0.01794544285055286 Centerline is valid? [True, True] Translation: X:186.23, Y:0.84, Z:0.77 [[ 9.99440693e-01 -3.06195944e-02 -1.34440274e-02 1.86227694e+02] [ 3.06213048e-02 9.99531055e-01 -7.86485775e-05 8.40890533e-01] [ 1.34401311e-02 -3.33069073e-04 9.99909622e-01 7.73729770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.779254154 meters 0.01948516187465151 Centerline is valid? [True, True] Translation: X:186.29, Y:0.84, Z:0.77 [[ 9.99154133e-01 -3.87945446e-02 -1.36382412e-02 1.86288509e+02] [ 3.87970684e-02 9.99247107e-01 -7.95708810e-05 8.36521382e-01] [ 1.36310600e-02 -4.49620201e-04 9.99906992e-01 7.73727297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.839254154 meters 0.021423383573988684 Centerline is valid? [True, True] Translation: X:186.35, Y:0.83, Z:0.77 [[ 9.98936396e-01 -4.39888914e-02 -1.38222331e-02 1.86350032e+02] [ 4.39919859e-02 9.99031881e-01 -8.02349968e-05 8.33037289e-01] [ 1.38123810e-02 -5.27917826e-04 9.99904465e-01 7.73009489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.899254154 meters 0.02348441805323942 Centerline is valid? [True, True] Translation: X:186.41, Y:0.83, Z:0.77 [[ 9.98756684e-01 -4.77757424e-02 -1.42325531e-02 1.86410980e+02] [ 4.77794121e-02 9.98857908e-01 -8.22735146e-05 8.30862581e-01] [ 1.42202289e-02 -5.97851797e-04 9.99898709e-01 7.72248879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.959254154 meters 0.023968135860214984 Centerline is valid? [True, True] Translation: X:186.47, Y:0.83, Z:0.77 [[ 9.98688958e-01 -4.95410617e-02 -1.28859772e-02 1.86473363e+02] [ 4.95442252e-02 9.98771928e-01 -7.38003908e-05 8.32207918e-01] [ 1.28738084e-02 -5.64722121e-04 9.99916970e-01 7.73231023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.019254154 meters 0.021683990661996763 Centerline is valid? [True, True] Translation: X:186.53, Y:0.84, Z:0.78 [[ 9.98820196e-01 -4.74965526e-02 -1.01140349e-02 1.86534770e+02] [ 4.74984015e-02 9.98871312e-01 -5.74574620e-05 8.40007492e-01] [ 1.01053483e-02 -4.23010816e-04 9.99948850e-01 7.75947138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.079254154 meters 0.02203421328016314 Centerline is valid? [True, True] Translation: X:186.59, Y:0.84, Z:0.78 [[ 9.98950799e-01 -4.50110693e-02 -8.44422285e-03 1.86594977e+02] [ 4.50122712e-02 9.98986433e-01 -4.77565444e-05 8.43313393e-01] [ 8.43781364e-03 -3.32387211e-04 9.99964346e-01 7.77025846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.139254154 meters 0.02247091969615264 Centerline is valid? [True, True] Translation: X:186.66, Y:0.85, Z:0.78 [[ 9.99072119e-01 -4.25595535e-02 -6.60186609e-03 1.86655827e+02] [ 4.25602356e-02 9.99093902e-01 -3.71926123e-05 8.46066209e-01] [ 6.59746705e-03 -2.43818875e-04 9.99978207e-01 7.78201503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.19925415400002 meters 0.01939995133342004 Centerline is valid? [True, True] Translation: X:186.72, Y:0.86, Z:0.78 [[ 9.99269478e-01 -3.79092998e-02 -4.83688834e-03 1.86717703e+02] [ 3.79096123e-02 9.99281172e-01 -2.70970008e-05 8.56008902e-01] [ 4.83443868e-03 -1.56287356e-04 9.99988302e-01 7.78957092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.259254154 meters 0.019304040328379644 Centerline is valid? [True, True] Translation: X:186.78, Y:0.86, Z:0.78 [[ 9.99418105e-01 -3.37882990e-02 -4.66932297e-03 1.86778123e+02] [ 3.37885469e-02 9.99429004e-01 -2.58110582e-05 8.59590241e-01] [ 4.66752891e-03 -1.31973599e-04 9.99989098e-01 7.78632655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.319254154 meters 0.017393093502392366 Centerline is valid? [True, True] Translation: X:186.84, Y:0.87, Z:0.78 [[ 9.99616133e-01 -2.73665709e-02 -4.31935883e-03 1.86839977e+02] [ 2.73667234e-02 9.99625461e-01 -2.38072418e-05 8.68448273e-01] [ 4.31839258e-03 -9.44085951e-05 9.99990671e-01 7.78902351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.379254154 meters 0.016592794580712788 Centerline is valid? [True, True] Translation: X:186.90, Y:0.87, Z:0.78 [[ 9.99710054e-01 -2.37069632e-02 -4.21750677e-03 1.86902106e+02] [ 2.37070773e-02 9.99718947e-01 -2.29250014e-05 8.72741422e-01] [ 4.21686491e-03 -7.70664049e-05 9.99991106e-01 7.78947665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.439254154 meters 0.016352926751058774 Centerline is valid? [True, True] Translation: X:186.96, Y:0.88, Z:0.78 [[ 9.99758943e-01 -2.13814813e-02 -4.98880000e-03 1.86963422e+02] [ 2.13816142e-02 9.99771387e-01 -2.67102663e-05 8.75626952e-01] [ 4.98823060e-03 -7.99647692e-05 9.99987556e-01 7.78361556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.499254154 meters 0.016181625108896702 Centerline is valid? [True, True] Translation: X:187.03, Y:0.88, Z:0.78 [[ 9.99774299e-01 -2.04033465e-02 -5.92070836e-03 1.87025652e+02] [ 2.04035187e-02 9.99791826e-01 -3.13142796e-05 8.77767837e-01] [ 5.92011474e-03 -8.94960721e-05 9.99982472e-01 7.77194632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.559254154 meters 0.016157476351891333 Centerline is valid? [True, True] Translation: X:187.09, Y:0.88, Z:0.78 [[ 9.99773353e-01 -2.06600127e-02 -5.13864320e-03 1.87087762e+02] [ 2.06601474e-02 9.99786556e-01 -2.68568791e-05 8.79188905e-01] [ 5.13810125e-03 -7.93143340e-05 9.99986797e-01 7.77777453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.619254154 meters 0.015738226097049807 Centerline is valid? [True, True] Translation: X:187.15, Y:0.88, Z:0.78 [[ 9.99770858e-01 -2.09995198e-02 -4.15344416e-03 1.87149616e+02] [ 2.09996117e-02 9.99779484e-01 -2.14716243e-05 8.80637994e-01] [ 4.15297915e-03 -6.57540105e-05 9.99991374e-01 7.79490018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.679254154 meters 0.016154573984351828 Centerline is valid? [True, True] Translation: X:187.21, Y:0.88, Z:0.78 [[ 9.99723317e-01 -2.32161168e-02 -3.78163815e-03 1.87212137e+02] [ 2.32162098e-02 9.99730467e-01 -1.92994346e-05 8.79906275e-01] [ 3.78106693e-03 -6.85012101e-05 9.99992849e-01 7.79419541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.739254154 meters 0.017007230011116335 Centerline is valid? [True, True] Translation: X:187.27, Y:0.88, Z:0.78 [[ 9.99650525e-01 -2.62186116e-02 -3.37808048e-03 1.87273798e+02] [ 2.62187036e-02 9.99656231e-01 -1.70707361e-05 8.78016798e-01] [ 3.37736677e-03 -7.15041204e-05 9.99994294e-01 7.79439335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.799254154 meters 0.018712121631977618 Centerline is valid? [True, True] Translation: X:187.34, Y:0.87, Z:0.78 [[ 9.99519504e-01 -3.07369187e-02 -4.00038228e-03 1.87335327e+02] [ 3.07370861e-02 9.99527504e-01 -1.96420259e-05 8.72820038e-01] [ 3.99909585e-03 -1.03327507e-04 9.99991998e-01 7.78792586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.859254154 meters 0.018484932668239203 Centerline is valid? [True, True] Translation: X:187.40, Y:0.87, Z:0.78 [[ 9.99478505e-01 -3.20413650e-02 -4.00870208e-03 1.87397846e+02] [ 3.20415456e-02 9.99486538e-01 -1.91904839e-05 8.73360673e-01] [ 4.00725865e-03 -1.09264534e-04 9.99991965e-01 7.78689345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.91925415400001 meters 0.01833913813220403 Centerline is valid? [True, True] Translation: X:187.46, Y:0.87, Z:0.78 [[ 9.99522486e-01 -3.06833922e-02 -3.65082086e-03 1.87460400e+02] [ 3.06835337e-02 9.99529149e-01 -1.72354687e-05 8.73548228e-01] [ 3.64963071e-03 -9.47928464e-05 9.99993336e-01 7.79830871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.979254154 meters 0.018247727735917634 Centerline is valid? [True, True] Translation: X:187.52, Y:0.87, Z:0.78 [[ 9.99582948e-01 -2.87101123e-02 -3.10783863e-03 1.87522490e+02] [ 2.87102059e-02 9.99587777e-01 -1.44909412e-05 8.73863660e-01] [ 3.10697354e-03 -7.47417891e-05 9.99995171e-01 7.80197555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.039254154 meters 0.01750088401382454 Centerline is valid? [True, True] Translation: X:187.58, Y:0.87, Z:0.78 [[ 9.99649156e-01 -2.62426898e-02 -3.58982703e-03 1.87584689e+02] [ 2.62427999e-02 9.99655598e-01 -1.64301040e-05 8.74221947e-01] [ 3.58902185e-03 -7.77827727e-05 9.99993556e-01 7.79275126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.099254154 meters 0.016761319292984807 Centerline is valid? [True, True] Translation: X:187.65, Y:0.87, Z:0.78 [[ 9.99706203e-01 -2.37708555e-02 -4.73864600e-03 1.87647404e+02] [ 2.37710218e-02 9.99717429e-01 -2.12394317e-05 8.73999786e-01] [ 4.73781188e-03 -9.14092657e-05 9.99988772e-01 7.78570471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.159254154 meters 0.01648690948100919 Centerline is valid? [True, True] Translation: X:187.71, Y:0.87, Z:0.78 [[ 9.99722778e-01 -2.27929919e-02 -5.90310928e-03 1.87709492e+02] [ 2.27932364e-02 9.99740200e-01 -2.58606971e-05 8.72915412e-01] [ 5.90216509e-03 -1.08697437e-04 9.99982576e-01 7.78235895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.219254154 meters 0.01683503581998116 Centerline is valid? [True, True] Translation: X:187.77, Y:0.87, Z:0.78 [[ 9.99646918e-01 -2.53316375e-02 -8.02168001e-03 1.87771247e+02] [ 2.53321757e-02 9.99679088e-01 -3.45159609e-05 8.70485487e-01] [ 8.01998010e-03 -1.68702834e-04 9.99967825e-01 7.77436307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.279254154 meters 0.017520706442917353 Centerline is valid? [True, True] Translation: X:187.83, Y:0.87, Z:0.78 [[ 9.99547856e-01 -2.86032766e-02 -9.27019509e-03 1.87833729e+02] [ 2.86041419e-02 9.99590817e-01 -3.92571911e-05 8.68097242e-01] [ 9.26752477e-03 -2.25926535e-04 9.99957030e-01 7.77325536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.339254154 meters 0.019185991755157863 Centerline is valid? [True, True] Translation: X:187.89, Y:0.86, Z:0.78 [[ 9.99327681e-01 -3.52189347e-02 -1.01888435e-02 1.87894398e+02] [ 3.52203297e-02 9.99379571e-01 -4.25449369e-05 8.63322060e-01] [ 1.01840204e-02 -3.16338094e-04 9.99948091e-01 7.77226865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.399254154 meters 0.02074077020164706 Centerline is valid? [True, True] Translation: X:187.96, Y:0.86, Z:0.78 [[ 9.99140902e-01 -4.02219586e-02 -9.98258418e-03 1.87955757e+02] [ 4.02235509e-02 9.99190705e-01 -4.12919408e-05 8.59585005e-01] [ 9.97616617e-03 -3.60278516e-04 9.99950172e-01 7.78066415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.459254154 meters 0.024289121256626058 Centerline is valid? [True, True] Translation: X:188.02, Y:0.85, Z:0.78 [[ 9.98839236e-01 -4.72648691e-02 -9.28505160e-03 1.88015776e+02] [ 4.72665511e-02 9.98882311e-01 -3.83280929e-05 8.53821679e-01] [ 9.27648537e-03 -4.00588763e-04 9.99956892e-01 7.79154128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.519254154 meters 0.026041610494686868 Centerline is valid? [True, True] Translation: X:188.08, Y:0.85, Z:0.78 [[ 9.98701121e-01 -5.01289072e-02 -9.11942932e-03 1.88076671e+02] [ 5.01306505e-02 9.98742668e-01 -3.74599772e-05 8.51253375e-01] [ 9.10984099e-03 -4.19751603e-04 9.99958416e-01 7.80397659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.579254154 meters 0.025871229819239776 Centerline is valid? [True, True] Translation: X:188.14, Y:0.85, Z:0.78 [[ 9.98631301e-01 -5.16888451e-02 -7.98675094e-03 1.88139025e+02] [ 5.16902357e-02 9.98663166e-01 -3.23441969e-05 8.50741110e-01] [ 7.97774581e-03 -3.80537111e-04 9.99968105e-01 7.82159080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.639254154 meters 0.027233443507600943 Centerline is valid? [True, True] Translation: X:188.20, Y:0.85, Z:0.78 [[ 9.98674112e-01 -5.09455869e-02 -7.38682366e-03 1.88201227e+02] [ 5.09467600e-02 9.98701370e-01 -2.94026861e-05 8.49960372e-01] [ 7.37872885e-03 -3.46971031e-04 9.99972717e-01 7.80101408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.69925415400002 meters 0.025173658166466967 Centerline is valid? [True, True] Translation: X:188.26, Y:0.85, Z:0.78 [[ 9.98689985e-01 -5.04917151e-02 -8.30058735e-03 1.88263877e+02] [ 5.04931860e-02 9.98724405e-01 -3.23961161e-05 8.51395662e-01] [ 8.29163490e-03 -3.86769424e-04 9.99965549e-01 7.80926808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.759254154 meters 0.02502537519509004 Centerline is valid? [True, True] Translation: X:188.33, Y:0.85, Z:0.78 [[ 9.98790089e-01 -4.83750843e-02 -8.84365415e-03 1.88325247e+02] [ 4.83766757e-02 9.98829163e-01 -3.40118834e-05 8.51869411e-01] [ 8.83494500e-03 -3.93855857e-04 9.99960894e-01 7.80178576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.819254154 meters 0.02322186934839485 Centerline is valid? [True, True] Translation: X:188.39, Y:0.86, Z:0.78 [[ 9.99053390e-01 -4.24812619e-02 -9.36300399e-03 1.88385599e+02] [ 4.24827886e-02 9.99097198e-01 -3.58607438e-05 8.56449609e-01] [ 9.35607446e-03 -3.61939721e-04 9.99956165e-01 7.79838484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.879254154 meters 0.02009623060115486 Centerline is valid? [True, True] Translation: X:188.45, Y:0.86, Z:0.78 [[ 9.99276067e-01 -3.67453583e-02 -9.85495967e-03 1.88446048e+02] [ 3.67467709e-02 9.99324609e-01 -3.77637756e-05 8.64008303e-01] [ 9.84969136e-03 -3.24401508e-04 9.99951438e-01 7.80379649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.939254154 meters 0.01737152451280733 Centerline is valid? [True, True] Translation: X:188.51, Y:0.87, Z:0.78 [[ 9.99636540e-01 -2.50431738e-02 -9.98132567e-03 1.88505486e+02] [ 2.50440387e-02 9.99686348e-01 -3.83481303e-05 8.73177032e-01] [ 9.97915536e-03 -2.11638514e-04 9.99950185e-01 7.80405836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.999254154 meters 0.015399180156519426 Centerline is valid? [True, True] Translation: X:188.57, Y:0.88, Z:0.78 [[ 9.99829485e-01 -1.60679231e-02 -9.10069901e-03 1.88566709e+02] [ 1.60682712e-02 9.99870896e-01 -3.48696891e-05 8.80223412e-01] [ 9.10008436e-03 -1.11368757e-04 9.99958587e-01 7.81372027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.059254154 meters 0.014306857840708141 Centerline is valid? [True, True] Translation: X:188.63, Y:0.89, Z:0.78 [[ 9.99965662e-01 -3.40839953e-03 -7.55369721e-03 1.88627789e+02] [ 3.40827954e-03 9.99994191e-01 -2.87572797e-05 8.88525882e-01] [ 7.55375135e-03 3.01118057e-06 9.99971470e-01 7.82777516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.119254154 meters 0.015058169110659865 Centerline is valid? [True, True] Translation: X:188.69, Y:0.89, Z:0.78 [[ 9.99969332e-01 3.02510458e-03 -7.22381026e-03 1.88686098e+02] [-3.02538659e-03 9.99995423e-01 -2.81109806e-05 8.92716410e-01] [ 7.22369216e-03 4.99649372e-05 9.99973908e-01 7.82806460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.179254154 meters 0.015686873820124413 Centerline is valid? [True, True] Translation: X:188.74, Y:0.89, Z:0.78 [[ 9.99943875e-01 8.11468974e-03 -6.81163701e-03 1.88743476e+02] [-8.11506707e-03 9.99967072e-01 -2.77573994e-05 8.94898087e-01] [ 6.81118748e-03 8.30327327e-05 9.99976800e-01 7.83817770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.239254154 meters 0.01566614064998928 Centerline is valid? [True, True] Translation: X:188.80, Y:0.89, Z:0.78 [[ 9.99950616e-01 7.38781203e-03 -6.64719009e-03 1.88802735e+02] [-7.38815921e-03 9.99972707e-01 -2.76746255e-05 8.91636263e-01] [ 6.64680422e-03 7.67837575e-05 9.99977907e-01 7.84099655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.299254154 meters 0.01452497606041788 Centerline is valid? [True, True] Translation: X:188.86, Y:0.88, Z:0.78 [[ 9.99980235e-01 -1.27654469e-04 -6.28603409e-03 1.88862142e+02] [ 1.27490152e-04 9.99999992e-01 -2.65406793e-05 8.80873499e-01] [ 6.28603742e-03 2.57387473e-05 9.99980242e-01 7.84398844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.359254154 meters 0.014530369004842612 Centerline is valid? [True, True] Translation: X:188.92, Y:0.87, Z:0.78 [[ 9.99944809e-01 -8.17770048e-03 -6.59578419e-03 1.88920549e+02] [ 8.17769214e-03 9.99966562e-01 -2.82349234e-05 8.71200400e-01] [ 6.59579453e-03 -2.57049275e-05 9.99978247e-01 7.84374332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.41925415400001 meters 0.015934137755528585 Centerline is valid? [True, True] Translation: X:188.98, Y:0.86, Z:0.78 [[ 9.99752898e-01 -2.10263770e-02 -7.21350927e-03 1.88981106e+02] [ 2.10266988e-02 9.99778914e-01 -3.12287513e-05 8.56313919e-01] [ 7.21257109e-03 -1.20455252e-04 9.99973982e-01 7.83850852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.479254154 meters 0.02365353519233823 Centerline is valid? [True, True] Translation: X:189.04, Y:0.84, Z:0.78 [[ 9.99424248e-01 -3.28612424e-02 -8.44459461e-03 1.89040913e+02] [ 3.28621051e-02 9.99459894e-01 -3.66174062e-05 8.35345574e-01] [ 8.44123693e-03 -2.40910832e-04 9.99964343e-01 7.82440938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.539254154 meters 0.022000946456671732 Centerline is valid? [True, True] Translation: X:189.10, Y:0.83, Z:0.78 [[ 9.99190685e-01 -3.91977610e-02 -9.02830519e-03 1.89101971e+02] [ 3.91990055e-02 9.99231423e-01 -3.91356704e-05 8.34180136e-01] [ 9.02290028e-03 -3.14796588e-04 9.99959243e-01 7.83511336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.599254154 meters 0.023295985122987407 Centerline is valid? [True, True] Translation: X:189.16, Y:0.83, Z:0.79 [[ 9.98805399e-01 -4.82296697e-02 -7.85325463e-03 1.89162460e+02] [ 4.82308906e-02 9.98836213e-01 -3.39644195e-05 8.27736839e-01] [ 7.84575320e-03 -3.44845619e-04 9.99969162e-01 7.85130992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.659254154 meters 0.026739750658344094 Centerline is valid? [True, True] Translation: X:189.22, Y:0.82, Z:0.79 [[ 9.98577762e-01 -5.29657547e-02 -6.08945527e-03 1.89223000e+02] [ 5.29665768e-02 9.98596285e-01 -2.62951189e-05 8.19914308e-01] [ 6.08230016e-03 -2.96279880e-04 9.99981459e-01 7.86247397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.719254154 meters 0.027745060634944755 Centerline is valid? [True, True] Translation: X:189.28, Y:0.82, Z:0.79 [[ 9.98355120e-01 -5.70177332e-02 -6.00265029e-03 1.89284380e+02] [ 5.70186059e-02 9.98373116e-01 -2.57821734e-05 8.15497366e-01] [ 5.99435471e-03 -3.16522987e-04 9.99981984e-01 7.86733399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.779254154 meters 0.027448445024666757 Centerline is valid? [True, True] Translation: X:189.35, Y:0.81, Z:0.79 [[ 9.98335638e-01 -5.73364846e-02 -6.20327491e-03 1.89346775e+02] [ 5.73374246e-02 9.98354856e-01 -2.63444929e-05 8.14780304e-01] [ 6.19458013e-03 -3.29379161e-04 9.99980759e-01 7.86485629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.839254154 meters 0.027426545899859225 Centerline is valid? [True, True] Translation: X:189.41, Y:0.81, Z:0.79 [[ 9.98297417e-01 -5.78650105e-02 -7.34219743e-03 1.89409294e+02] [ 5.78663461e-02 9.98324339e-01 -3.05777381e-05 8.13597679e-01] [ 7.33166377e-03 -3.94340461e-04 9.99973045e-01 7.85747643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.899254154 meters 0.031414029745329294 Centerline is valid? [True, True] Translation: X:189.47, Y:0.81, Z:0.78 [[ 9.98197335e-01 -5.88455487e-02 -1.18018007e-02 1.89470670e+02] [ 5.88490790e-02 9.98266890e-01 -4.82188719e-05 8.07642543e-01] [ 1.17841843e-02 -6.46393151e-04 9.99930355e-01 7.82399543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.959254154 meters 0.03158669078892823 Centerline is valid? [True, True] Translation: X:189.53, Y:0.81, Z:0.78 [[ 9.98165486e-01 -5.89927780e-02 -1.36203620e-02 1.89532836e+02] [ 5.89975066e-02 9.98258129e-01 -5.47213209e-05 8.09119199e-01] [ 1.35998653e-02 -7.48946463e-04 9.99907237e-01 7.81437987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.019254154 meters 0.028697726894847612 Centerline is valid? [True, True] Translation: X:189.59, Y:0.82, Z:0.78 [[ 9.98279721e-01 -5.65567355e-02 -1.54574679e-02 1.89594172e+02] [ 5.65625463e-02 9.98399056e-01 -6.13498401e-05 8.16734461e-01] [ 1.54361911e-02 -8.13069443e-04 9.99880524e-01 7.81897884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.079254154 meters 0.027284585344084955 Centerline is valid? [True, True] Translation: X:189.66, Y:0.82, Z:0.78 [[ 9.98516930e-01 -5.21259767e-02 -1.57105754e-02 1.89655354e+02] [ 5.21314380e-02 9.98640230e-01 -6.19908145e-05 8.22816679e-01] [ 1.56924439e-02 -7.57116008e-04 9.99876579e-01 7.83010393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.139254154 meters 0.023951578277578895 Centerline is valid? [True, True] Translation: X:189.72, Y:0.83, Z:0.79 [[ 9.99018868e-01 -4.18937537e-02 -1.43601909e-02 1.89716516e+02] [ 4.18972641e-02 9.99121923e-01 -5.64330978e-05 8.34598921e-01] [ 1.43499458e-02 -5.45274983e-04 9.99896886e-01 7.85798337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.19925415400002 meters 0.021018878331509477 Centerline is valid? [True, True] Translation: X:189.78, Y:0.84, Z:0.79 [[ 9.99344107e-01 -3.36216903e-02 -1.34512948e-02 1.89777049e+02] [ 3.36240227e-02 9.99434551e-01 -5.27863548e-05 8.43706050e-01] [ 1.34454635e-02 -3.99534909e-04 9.99909526e-01 7.88145923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.259254154 meters 0.01682603400604453 Centerline is valid? [True, True] Translation: X:189.84, Y:0.86, Z:0.79 [[ 9.99681757e-01 -2.17732151e-02 -1.27401844e-02 1.89837426e+02] [ 2.17743458e-02 9.99762910e-01 -4.99739027e-05 8.58533423e-01] [ 1.27382520e-02 -2.27451183e-04 9.99918839e-01 7.91037256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.319254154 meters 0.015435110871973192 Centerline is valid? [True, True] Translation: X:189.90, Y:0.87, Z:0.79 [[ 9.99809808e-01 -1.30864717e-02 -1.44599822e-02 1.89897984e+02] [ 1.30870200e-02 9.99914360e-01 -5.67094416e-05 8.66575460e-01] [ 1.44594860e-02 -1.32539420e-04 9.99895447e-01 7.90664896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.379254154 meters 0.015435227531865664 Centerline is valid? [True, True] Translation: X:189.96, Y:0.87, Z:0.79 [[ 9.99822386e-01 -1.13496005e-02 -1.50460541e-02 1.89956249e+02] [ 1.13499830e-02 9.99935585e-01 -5.99732401e-05 8.67887605e-01] [ 1.50457656e-02 -1.10809870e-04 9.99886800e-01 7.89865676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.439254154 meters 0.015226735856106148 Centerline is valid? [True, True] Translation: X:190.01, Y:0.87, Z:0.79 [[ 9.99810905e-01 -1.03976554e-02 -1.64329627e-02 1.90013710e+02] [ 1.03979176e-02 9.99945938e-01 -6.94848589e-05 8.69606983e-01] [ 1.64327968e-02 -1.01396873e-04 9.99864967e-01 7.90122443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.499254154 meters 0.015334663262481583 Centerline is valid? [True, True] Translation: X:190.07, Y:0.87, Z:0.79 [[ 9.99774856e-01 -1.17970986e-02 -1.76370314e-02 1.90071501e+02] [ 1.17975609e-02 9.99930403e-01 -7.78362570e-05 8.69470122e-01] [ 1.76367221e-02 -1.30255219e-04 9.99844452e-01 7.89661244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.559254154 meters 0.015278684223902904 Centerline is valid? [True, True] Translation: X:190.13, Y:0.87, Z:0.79 [[ 9.99739976e-01 -1.42905186e-02 -1.77696995e-02 1.90130695e+02] [ 1.42913094e-02 9.99897871e-01 -8.24887454e-05 8.68671130e-01] [ 1.77690635e-02 -1.71484978e-04 9.99842103e-01 7.90771907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.619254154 meters 0.0178178066121246 Centerline is valid? [True, True] Translation: X:190.19, Y:0.86, Z:0.79 [[ 9.99670927e-01 -1.85367185e-02 -1.77321260e-02 1.90189454e+02] [ 1.85381364e-02 9.99828150e-01 -8.44192194e-05 8.64847279e-01] [ 1.77306436e-02 -2.44329131e-04 9.99842770e-01 7.90527977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.679254154 meters 0.017248582218168367 Centerline is valid? [True, True] Translation: X:190.25, Y:0.86, Z:0.79 [[ 9.99549215e-01 -2.59112132e-02 -1.51649264e-02 1.90247615e+02] [ 2.59130826e-02 9.99664197e-01 -7.32474974e-05 8.59091624e-01] [ 1.51617319e-02 -3.19755511e-04 9.99885003e-01 7.92881139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.739254154 meters 0.01882157510687906 Centerline is valid? [True, True] Translation: X:190.31, Y:0.85, Z:0.79 [[ 9.99397091e-01 -3.18390229e-02 -1.38466804e-02 1.90307444e+02] [ 3.18411435e-02 9.99492940e-01 -6.73391133e-05 8.53981130e-01] [ 1.38418034e-02 -3.73595624e-04 9.99904128e-01 7.93816573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.799254154 meters 0.023975859902552427 Centerline is valid? [True, True] Translation: X:190.37, Y:0.84, Z:0.79 [[ 9.98980161e-01 -4.37055439e-02 -1.13342047e-02 1.90367669e+02] [ 4.37077273e-02 9.99044359e-01 -5.51172902e-05 8.40224575e-01] [ 1.13257822e-02 -4.40331250e-04 9.99935764e-01 7.93784725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.859254154 meters 0.02762225239216603 Centerline is valid? [True, True] Translation: X:190.43, Y:0.83, Z:0.79 [[ 9.98571399e-01 -5.23143699e-02 -1.08796661e-02 1.90428821e+02] [ 5.23168938e-02 9.98630532e-01 -5.26880108e-05 8.32604380e-01] [ 1.08675231e-02 -5.16577596e-04 9.99940813e-01 7.93181227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.91925415400001 meters 0.028075290221347842 Centerline is valid? [True, True] Translation: X:190.49, Y:0.83, Z:0.79 [[ 9.97967234e-01 -6.27814794e-02 -1.09492151e-02 1.90489804e+02] [ 6.27846652e-02 9.98027095e-01 -5.28582755e-05 8.28862443e-01] [ 1.09309318e-02 -6.34691976e-04 9.99940054e-01 7.92964239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.979254154 meters 0.03167873020601718 Centerline is valid? [True, True] Translation: X:190.55, Y:0.82, Z:0.79 [[ 9.97716348e-01 -6.66424887e-02 -1.09939455e-02 1.90549586e+02] [ 6.66459345e-02 9.97776687e-01 -5.30474214e-05 8.22956090e-01] [ 1.09730377e-02 -6.79775491e-04 9.99939563e-01 7.91672523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.039254154 meters 0.03130758628538413 Centerline is valid? [True, True] Translation: X:190.61, Y:0.82, Z:0.79 [[ 9.97761141e-01 -6.59226612e-02 -1.12653177e-02 1.90611434e+02] [ 6.59262391e-02 9.97824498e-01 -5.38580303e-05 8.24554495e-01] [ 1.12443604e-02 -6.88942578e-04 9.99936543e-01 7.91754313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.099254154 meters 0.028705722485425172 Centerline is valid? [True, True] Translation: X:190.67, Y:0.83, Z:0.79 [[ 9.97968257e-01 -6.25757603e-02 -1.19846959e-02 1.90672619e+02] [ 6.25795750e-02 9.98039976e-01 -5.68153215e-05 8.31476854e-01] [ 1.19647608e-02 -6.93297287e-04 9.99928179e-01 7.91326479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.159254154 meters 0.028789985252731833 Centerline is valid? [True, True] Translation: X:190.73, Y:0.83, Z:0.79 [[ 9.98135605e-01 -5.91199902e-02 -1.51704023e-02 1.90733142e+02] [ 5.91257124e-02 9.98250542e-01 -7.14266255e-05 8.33317345e-01] [ 1.51480851e-02 -8.25667386e-04 9.99884920e-01 7.88148450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.219254154 meters 0.0243668024622467 Centerline is valid? [True, True] Translation: X:190.79, Y:0.84, Z:0.79 [[ 9.98484813e-01 -5.21307997e-02 -1.76198401e-02 1.90793854e+02] [ 5.21374369e-02 9.98639915e-01 -8.27753663e-05 8.43746999e-01] [ 1.76001908e-02 -8.36003356e-04 9.99844755e-01 7.86493994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.279254154 meters 0.021293157458413828 Centerline is valid? [True, True] Translation: X:190.85, Y:0.85, Z:0.79 [[ 9.98950793e-01 -4.24539273e-02 -1.71749206e-02 1.90854107e+02] [ 4.24588050e-02 9.99098215e-01 -8.07042764e-05 8.53332344e-01] [ 1.71628588e-02 -6.48607004e-04 9.99852497e-01 7.87999714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.339254154 meters 0.017493171022294456 Centerline is valid? [True, True] Translation: X:190.92, Y:0.86, Z:0.79 [[ 9.99429099e-01 -3.05666774e-02 -1.43928621e-02 1.90915068e+02] [ 3.05688731e-02 9.99532661e-01 -6.74660976e-05 8.64939815e-01] [ 1.43881979e-02 -3.72545993e-04 9.99896415e-01 7.91415352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.399254154 meters 0.015167065867704678 Centerline is valid? [True, True] Translation: X:190.98, Y:0.88, Z:0.79 [[ 9.99773926e-01 -1.69160720e-02 -1.28819380e-02 1.90975501e+02] [ 1.69166993e-02 9.99856901e-01 -6.02771518e-05 8.76449408e-01] [ 1.28811143e-02 -1.57656347e-04 9.99917023e-01 7.92915974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.459254154 meters 0.0143927548975721 Centerline is valid? [True, True] Translation: X:191.04, Y:0.88, Z:0.79 [[ 9.99876216e-01 -9.63972208e-03 -1.24349727e-02 1.91035674e+02] [ 9.63974228e-03 9.99953535e-01 -5.83144102e-05 8.82268829e-01] [ 1.24349570e-02 -6.15627402e-05 9.99922681e-01 7.93883878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.519254154 meters 0.014385758577984763 Centerline is valid? [True, True] Translation: X:191.09, Y:0.89, Z:0.79 [[ 9.99906523e-01 -5.69041357e-03 -1.24323844e-02 1.91094156e+02] [ 5.69010180e-03 9.99983809e-01 -6.04494393e-05 8.85281871e-01] [ 1.24325270e-02 -1.02977439e-05 9.99922713e-01 7.93708427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.579254154 meters 0.014425391402781916 Centerline is valid? [True, True] Translation: X:191.15, Y:0.89, Z:0.79 [[ 9.99906929e-01 -6.33598773e-03 -1.20825701e-02 1.91150842e+02] [ 6.33570810e-03 9.99979927e-01 -6.14207460e-05 8.85661563e-01] [ 1.20827167e-02 -1.51366077e-05 9.99927001e-01 7.93500074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.639254154 meters 0.014566836136540794 Centerline is valid? [True, True] Translation: X:191.21, Y:0.88, Z:0.79 [[ 9.99863973e-01 -1.25895180e-02 -1.06554682e-02 1.91209736e+02] [ 1.25896423e-02 9.99920746e-01 -5.54100493e-05 8.80766018e-01] [ 1.06553213e-02 -7.87460218e-05 9.99943227e-01 7.94420782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.69925415400002 meters 0.015017322071287725 Centerline is valid? [True, True] Translation: X:191.27, Y:0.88, Z:0.80 [[ 9.99793375e-01 -1.80389272e-02 -9.37036116e-03 1.91269047e+02] [ 1.80392583e-02 9.99837278e-01 -4.91901840e-05 8.76597992e-01] [ 9.36972374e-03 -1.19854345e-04 9.99956096e-01 7.95738027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.759254154 meters 0.015967097220850136 Centerline is valid? [True, True] Translation: X:191.33, Y:0.87, Z:0.80 [[ 9.99687308e-01 -2.34393488e-02 -8.71113354e-03 1.91329889e+02] [ 2.34398392e-02 9.99725248e-01 -4.58024204e-05 8.71091335e-01] [ 8.70981371e-03 -1.58399471e-04 9.99962056e-01 7.95511628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.819254154 meters 0.018779201360976445 Centerline is valid? [True, True] Translation: X:191.39, Y:0.86, Z:0.80 [[ 9.99439120e-01 -3.24229279e-02 -8.37847522e-03 1.91389695e+02] [ 3.24236977e-02 9.99474213e-01 -4.39755621e-05 8.61050144e-01] [ 8.37549574e-03 -2.27710250e-04 9.99964899e-01 7.95249984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.879254154 meters 0.021454133307073797 Centerline is valid? [True, True] Translation: X:191.45, Y:0.85, Z:0.80 [[ 9.99124132e-01 -4.13739169e-02 -6.25844997e-03 1.91450783e+02] [ 4.13745219e-02 9.99143707e-01 -3.28421510e-05 8.49840348e-01] [ 6.25444971e-03 -2.26126989e-04 9.99980415e-01 7.96180530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.939254154 meters 0.02156267818012696 Centerline is valid? [True, True] Translation: X:191.51, Y:0.85, Z:0.80 [[ 9.99083487e-01 -4.21670525e-02 -7.35696385e-03 1.91512737e+02] [ 4.21679116e-02 9.99110537e-01 -3.83737397e-05 8.46237955e-01] [ 7.35203821e-03 -2.71889231e-04 9.99972936e-01 7.95534814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.999254154 meters 0.02070241603058586 Centerline is valid? [True, True] Translation: X:191.57, Y:0.85, Z:0.80 [[ 9.99249469e-01 -3.79601641e-02 -7.71521531e-03 1.91574215e+02] [ 3.79609872e-02 9.99279221e-01 -3.97854520e-05 8.46017040e-01] [ 7.71116461e-03 -2.53121598e-04 9.99970236e-01 7.95081957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.059254154 meters 0.019166270739555052 Centerline is valid? [True, True] Translation: X:191.64, Y:0.85, Z:0.80 [[ 9.99331162e-01 -3.57479015e-02 -7.70165783e-03 1.91636879e+02] [ 3.57486596e-02 9.99360812e-01 -3.92539650e-05 8.48268289e-01] [ 7.69813827e-03 -2.36096234e-04 9.99970341e-01 7.95295570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.119254154 meters 0.017537240174547896 Centerline is valid? [True, True] Translation: X:191.70, Y:0.85, Z:0.79 [[ 9.99539797e-01 -2.89337548e-02 -9.11224232e-03 1.91697439e+02] [ 2.89345373e-02 9.99581308e-01 -4.59658487e-05 8.50671943e-01] [ 9.10975705e-03 -2.17713820e-04 9.99958482e-01 7.94401448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.179254154 meters 0.01737272573203407 Centerline is valid? [True, True] Translation: X:191.76, Y:0.85, Z:0.79 [[ 9.99626052e-01 -2.52771870e-02 -1.04316471e-02 1.91758371e+02] [ 2.52780158e-02 9.99680459e-01 -5.24071831e-05 8.51413105e-01] [ 1.04296385e-02 -2.11303756e-04 9.99945588e-01 7.93179386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.239254154 meters 0.016179461849943615 Centerline is valid? [True, True] Translation: X:191.82, Y:0.85, Z:0.79 [[ 9.99650469e-01 -2.33829469e-02 -1.23360481e-02 1.91819622e+02] [ 2.33839677e-02 9.99726556e-01 -6.14986457e-05 8.53043255e-01] [ 1.23341129e-02 -2.26988600e-04 9.99923906e-01 7.92457865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.299254154 meters 0.01639984020802235 Centerline is valid? [True, True] Translation: X:191.88, Y:0.85, Z:0.79 [[ 9.99623997e-01 -2.43374990e-02 -1.26313377e-02 1.91880219e+02] [ 2.43386475e-02 9.99703769e-01 -6.28054455e-05 8.51014841e-01] [ 1.26291245e-02 -2.44647846e-04 9.99920219e-01 7.92416147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.359254154 meters 0.016729179615376528 Centerline is valid? [True, True] Translation: X:191.94, Y:0.85, Z:0.79 [[ 9.99603119e-01 -2.51858270e-02 -1.26205507e-02 1.91940996e+02] [ 2.51870412e-02 9.99682754e-01 -6.27518104e-05 8.48996125e-01] [ 1.26181273e-02 -2.55147425e-04 9.99920356e-01 7.92445721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.41925415400001 meters 0.017044279981801275 Centerline is valid? [True, True] Translation: X:192.00, Y:0.85, Z:0.79 [[ 9.99529821e-01 -2.81571132e-02 -1.21373073e-02 1.92001778e+02] [ 2.81584569e-02 9.99603470e-01 -6.02057122e-05 8.46268905e-01] [ 1.21341897e-02 -2.81590440e-04 9.99926338e-01 7.93548102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.479254154 meters 0.0191130841324444 Centerline is valid? [True, True] Translation: X:192.06, Y:0.84, Z:0.79 [[ 9.99353515e-01 -3.41044603e-02 -1.13771179e-02 1.92061681e+02] [ 3.41060268e-02 9.99418219e-01 -5.63584463e-05 8.38995605e-01] [ 1.13724209e-02 -3.31706276e-04 9.99935277e-01 7.93764554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.539254154 meters 0.020996948486031217 Centerline is valid? [True, True] Translation: X:192.12, Y:0.83, Z:0.79 [[ 9.99069252e-01 -4.17003814e-02 -1.10321095e-02 1.92121917e+02] [ 4.17023172e-02 9.99130078e-01 -5.46118810e-05 8.31883393e-01] [ 1.10247898e-02 -4.05503479e-04 9.99939143e-01 7.94376400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.599254154 meters 0.023872045665577594 Centerline is valid? [True, True] Translation: X:192.18, Y:0.83, Z:0.79 [[ 9.98827218e-01 -4.73134019e-02 -1.02777136e-02 1.92182397e+02] [ 4.73153810e-02 9.98879999e-01 -5.06439708e-05 8.25271362e-01] [ 1.02685986e-02 -4.35709356e-04 9.99947182e-01 7.94919293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.659254154 meters 0.02541118602991221 Centerline is valid? [True, True] Translation: X:192.24, Y:0.82, Z:0.80 [[ 9.98472479e-01 -5.44761789e-02 -9.22247830e-03 1.92242830e+02] [ 5.44780787e-02 9.98514966e-01 -4.52881007e-05 8.21335881e-01] [ 9.21124973e-03 -4.57203976e-04 9.99957471e-01 7.96361924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.719254154 meters 0.029581986730084605 Centerline is valid? [True, True] Translation: X:192.30, Y:0.82, Z:0.80 [[ 9.98319928e-01 -5.73600132e-02 -8.19447912e-03 1.92302795e+02] [ 5.73616127e-02 9.98353466e-01 -3.98906699e-05 8.15920047e-01] [ 8.18327476e-03 -4.30224887e-04 9.99966424e-01 7.97738337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.779254154 meters 0.029013282065831602 Centerline is valid? [True, True] Translation: X:192.36, Y:0.82, Z:0.80 [[ 9.98277372e-01 -5.81373056e-02 -7.89573536e-03 1.92364442e+02] [ 5.81388193e-02 9.98308508e-01 -3.78702456e-05 8.17397683e-01] [ 7.88458145e-03 -4.21243722e-04 9.99968827e-01 7.98054551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.839254154 meters 0.027621271460994693 Centerline is valid? [True, True] Translation: X:192.43, Y:0.82, Z:0.80 [[ 9.98246960e-01 -5.83967872e-02 -9.63441177e-03 1.92426414e+02] [ 5.83990596e-02 9.98293317e-01 -4.55333358e-05 8.20697069e-01] [ 9.62062789e-03 -5.17187073e-04 9.99953587e-01 7.96962022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.899254154 meters 0.028122110068580765 Centerline is valid? [True, True] Translation: X:192.49, Y:0.82, Z:0.80 [[ 9.98274742e-01 -5.78232604e-02 -1.01985129e-02 1.92488509e+02] [ 5.78257847e-02 9.98326688e-01 -4.74336523e-05 8.21443365e-01] [ 1.01841904e-02 -5.42385197e-04 9.99947993e-01 7.96417989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.959254154 meters 0.028085273564634083 Centerline is valid? [True, True] Translation: X:192.55, Y:0.83, Z:0.80 [[ 9.98413488e-01 -5.52228857e-02 -1.09972812e-02 1.92550541e+02] [ 5.52256713e-02 9.98473897e-01 -5.04480255e-05 8.25054662e-01] [ 1.09832841e-02 -5.56964247e-04 9.99939527e-01 7.96288669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.019254154 meters 0.02506434543018838 Centerline is valid? [True, True] Translation: X:192.61, Y:0.83, Z:0.80 [[ 9.98733180e-01 -4.88352506e-02 -1.21306432e-02 1.92610676e+02] [ 4.88381731e-02 9.98806703e-01 -5.53748670e-05 8.33400618e-01] [ 1.21188720e-02 -5.37133737e-04 9.99926420e-01 7.95820138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.079254154 meters 0.02297327094661987 Centerline is valid? [True, True] Translation: X:192.67, Y:0.84, Z:0.80 [[ 9.99045567e-01 -4.19825000e-02 -1.20591993e-02 1.92670809e+02] [ 4.19848899e-02 9.99118244e-01 -5.50249860e-05 8.40384832e-01] [ 1.20508761e-02 -4.51331685e-04 9.99927284e-01 7.96122284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.139254154 meters 0.020325898611036845 Centerline is valid? [True, True] Translation: X:192.73, Y:0.85, Z:0.80 [[ 9.99369359e-01 -3.35763748e-02 -1.15546821e-02 1.92730098e+02] [ 3.35780062e-02 9.99436098e-01 -5.28289009e-05 8.48336260e-01] [ 1.15499402e-02 -3.35187601e-04 9.99933241e-01 7.97041692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.19925415400002 meters 0.016291996693080475 Centerline is valid? [True, True] Translation: X:192.79, Y:0.86, Z:0.80 [[ 9.99707306e-01 -2.19514199e-02 -1.01704288e-02 1.92790757e+02] [ 2.19520820e-02 9.99759023e-01 -4.65491594e-05 8.61050065e-01] [ 1.01689998e-02 -1.76726553e-04 9.99948279e-01 7.98766854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.259254154 meters 0.015077918523448074 Centerline is valid? [True, True] Translation: X:192.85, Y:0.87, Z:0.80 [[ 9.99826060e-01 -1.61588033e-02 -9.31356532e-03 1.92852057e+02] [ 1.61591089e-02 9.99869432e-01 -4.24397622e-05 8.66413277e-01] [ 9.31303505e-03 -1.08066536e-04 9.99956627e-01 7.99335757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.319254154 meters 0.014541667993122455 Centerline is valid? [True, True] Translation: X:192.91, Y:0.87, Z:0.80 [[ 9.99865533e-01 -1.24158333e-02 -1.07127703e-02 1.92912131e+02] [ 1.24160260e-02 9.99922917e-01 -4.85200348e-05 8.70016222e-01] [ 1.07125470e-02 -8.44965249e-05 9.99942615e-01 7.98380793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.379254154 meters 0.01524122053933557 Centerline is valid? [True, True] Translation: X:192.97, Y:0.87, Z:0.80 [[ 9.99812136e-01 -1.59248049e-02 -1.10496018e-02 1.92971024e+02] [ 1.59252212e-02 9.99873184e-01 -5.03125435e-05 8.68280134e-01] [ 1.10490017e-02 -1.25664261e-04 9.99938950e-01 7.97380546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.439254154 meters 0.016563775171664446 Centerline is valid? [True, True] Translation: X:193.03, Y:0.86, Z:0.80 [[ 9.99710352e-01 -2.16488349e-02 -1.05138498e-02 1.93030939e+02] [ 2.16495238e-02 9.99765620e-01 -4.83012863e-05 8.63411153e-01] [ 1.05124312e-02 -1.79332544e-04 9.99944727e-01 7.97431947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.499254154 meters 0.01941101187249324 Centerline is valid? [True, True] Translation: X:193.09, Y:0.86, Z:0.80 [[ 9.99487027e-01 -3.03817531e-02 -1.01307025e-02 1.93091559e+02] [ 3.03828405e-02 9.99538334e-01 -4.65883183e-05 8.56077228e-01] [ 1.01274409e-02 -2.61235098e-04 9.99948682e-01 7.96988930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.559254154 meters 0.02243214326551488 Centerline is valid? [True, True] Translation: X:193.15, Y:0.85, Z:0.80 [[ 9.98908668e-01 -4.58729592e-02 -8.78317858e-03 1.93152671e+02] [ 4.58743756e-02 9.98947216e-01 -4.02377875e-05 8.48660921e-01] [ 8.77577762e-03 -3.62728958e-04 9.99961426e-01 7.98416325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.619254154 meters 0.02692357474847592 Centerline is valid? [True, True] Translation: X:193.21, Y:0.84, Z:0.80 [[ 9.98446833e-01 -5.50960452e-02 -8.26724030e-03 1.93213664e+02] [ 5.50976173e-02 9.98480972e-01 -3.76447359e-05 8.40642602e-01] [ 8.25675621e-03 -4.17918975e-04 9.99965825e-01 7.98354038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.679254154 meters 0.028786499887889335 Centerline is valid? [True, True] Translation: X:193.28, Y:0.84, Z:0.80 [[ 9.97981371e-01 -6.30459563e-02 -7.64137067e-03 1.93275123e+02] [ 6.30475336e-02 9.98010525e-01 -3.45386326e-05 8.36931166e-01] [ 7.62834587e-03 -4.47300662e-04 9.99970804e-01 7.98732991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.739254154 meters 0.03143651151614966 Centerline is valid? [True, True] Translation: X:193.34, Y:0.83, Z:0.80 [[ 9.97853848e-01 -6.50911329e-02 -7.13045114e-03 1.93335445e+02] [ 6.50925596e-02 9.97879230e-01 -3.20492557e-05 8.33603754e-01] [ 7.11741522e-03 -4.32158843e-04 9.99974577e-01 7.98865009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.799254154 meters 0.032778009766255854 Centerline is valid? [True, True] Translation: X:193.40, Y:0.83, Z:0.80 [[ 9.97834926e-01 -6.52669226e-02 -8.10487629e-03 1.93397295e+02] [ 6.52687746e-02 9.97867720e-01 -3.60722061e-05 8.32109290e-01] [ 8.08994874e-03 -4.93001236e-04 9.99967154e-01 7.97883746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.859254154 meters 0.03089678257902134 Centerline is valid? [True, True] Translation: X:193.46, Y:0.84, Z:0.80 [[ 9.97947810e-01 -6.34104132e-02 -8.90441709e-03 1.93458305e+02] [ 6.34125795e-02 9.97987396e-01 -3.91200858e-05 8.35404947e-01] [ 8.88897665e-03 -5.25612253e-04 9.99960354e-01 7.96474894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.91925415400001 meters 0.027218266219249627 Centerline is valid? [True, True] Translation: X:193.52, Y:0.84, Z:0.80 [[ 9.98341888e-01 -5.66568258e-02 -1.01724322e-02 1.93518740e+02] [ 5.66593052e-02 9.98393570e-01 -4.45136354e-05 8.43715419e-01] [ 1.01586129e-02 -5.31923114e-04 9.99948258e-01 7.95265292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.979254154 meters 0.024517994946180007 Centerline is valid? [True, True] Translation: X:193.58, Y:0.85, Z:0.80 [[ 9.98746247e-01 -4.89797871e-02 -1.03399680e-02 1.93578937e+02] [ 4.89819381e-02 9.98799663e-01 -4.52581064e-05 8.51149566e-01] [ 1.03297733e-02 -4.61270309e-04 9.99946540e-01 7.95734876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.039254154 meters 0.019317470039550713 Centerline is valid? [True, True] Translation: X:193.64, Y:0.87, Z:0.80 [[ 9.99350614e-01 -3.45133192e-02 -1.03527947e-02 1.93639094e+02] [ 3.45147002e-02 9.99404189e-01 -4.52921409e-05 8.65464079e-01] [ 1.03481896e-02 -3.12060876e-04 9.99946407e-01 7.95730704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.099254154 meters 0.0167616033160415 Centerline is valid? [True, True] Translation: X:193.70, Y:0.87, Z:0.80 [[ 9.99628998e-01 -2.48370780e-02 -1.11796832e-02 1.93699034e+02] [ 2.48380837e-02 9.99691486e-01 -4.88976483e-05 8.74959364e-01] [ 1.11774486e-02 -2.28802399e-04 9.99937504e-01 7.95595115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.159254154 meters 0.014681493059692364 Centerline is valid? [True, True] Translation: X:193.76, Y:0.89, Z:0.80 [[ 9.99870901e-01 -1.14595744e-02 -1.12632266e-02 1.93759593e+02] [ 1.14597464e-02 9.99934334e-01 -4.92693499e-05 8.89053077e-01] [ 1.12630516e-02 -7.98107314e-05 9.99936567e-01 7.95532600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.219254154 meters 0.013916688435480776 Centerline is valid? [True, True] Translation: X:193.82, Y:0.89, Z:0.80 [[ 9.99900648e-01 -8.29775935e-03 -1.13948156e-02 1.93818030e+02] [ 8.29770956e-03 9.99965572e-01 -5.16477724e-05 8.92425098e-01] [ 1.13948519e-02 -4.29082294e-05 9.99935076e-01 7.95970600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.279254154 meters 0.013932124322149408 Centerline is valid? [True, True] Translation: X:193.88, Y:0.90, Z:0.80 [[ 9.99918031e-01 -3.24946817e-03 -1.23843603e-02 1.93876099e+02] [ 3.24897779e-03 9.99994720e-01 -5.97159456e-05 8.97392315e-01] [ 1.23844890e-02 1.94745392e-05 9.99923309e-01 7.95387915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.339254154 meters 0.014095586752728189 Centerline is valid? [True, True] Translation: X:193.93, Y:0.90, Z:0.80 [[ 9.99921634e-01 1.93210290e-04 -1.25174947e-02 1.93934378e+02] [-1.94011744e-04 9.99999979e-01 -6.28124101e-05 9.00669542e-01] [ 1.25174823e-02 6.52360287e-05 9.99921651e-01 7.95860317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.399254154 meters 0.014113418895946877 Centerline is valid? [True, True] Translation: X:193.99, Y:0.90, Z:0.80 [[ 9.99935271e-01 -1.77350877e-04 -1.13764204e-02 1.93992293e+02] [ 1.76699321e-04 9.99999983e-01 -5.82775959e-05 9.01193952e-01] [ 1.13764306e-02 5.62636179e-05 9.99935285e-01 7.97020950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.459254154 meters 0.01375667376446888 Centerline is valid? [True, True] Translation: X:194.05, Y:0.90, Z:0.80 [[ 9.99947617e-01 -4.17570451e-03 -9.34490327e-03 1.94051521e+02] [ 4.17543305e-03 9.99991282e-01 -4.85593264e-05 8.97717988e-01] [ 9.34502456e-03 9.53776479e-06 9.99956334e-01 7.98603725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.519254154 meters 0.014148111135322185 Centerline is valid? [True, True] Translation: X:194.11, Y:0.89, Z:0.80 [[ 9.99888823e-01 -1.24996446e-02 -8.13027057e-03 1.94110722e+02] [ 1.24997097e-02 9.99921875e-01 -4.28067962e-05 8.90970121e-01] [ 8.13017046e-03 -5.88239845e-05 9.99966948e-01 7.99739699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.579254154 meters 0.015192950856592636 Centerline is valid? [True, True] Translation: X:194.17, Y:0.88, Z:0.80 [[ 9.99764478e-01 -2.00398608e-02 -8.33018939e-03 1.94170506e+02] [ 2.00401874e-02 9.99799174e-01 -4.42667286e-05 8.83962180e-01] [ 8.32940357e-03 -1.22682253e-04 9.99965302e-01 7.99636955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.639254154 meters 0.018886068885312773 Centerline is valid? [True, True] Translation: X:194.23, Y:0.87, Z:0.80 [[ 9.99392991e-01 -3.35959330e-02 -9.21751113e-03 1.94230724e+02] [ 3.35969083e-02 9.99435463e-01 -4.90551522e-05 8.70503803e-01] [ 9.21395556e-03 -2.60654501e-04 9.99957517e-01 7.98182366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.69925415400002 meters 0.02187304237061028 Centerline is valid? [True, True] Translation: X:194.29, Y:0.86, Z:0.80 [[ 9.99053052e-01 -4.23951308e-02 -9.78015303e-03 1.94291294e+02] [ 4.23966501e-02 9.99100856e-01 -5.20155930e-05 8.61802868e-01] [ 9.77356448e-03 -3.62679389e-04 9.99952172e-01 7.97837358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.759254154 meters 0.02710546939506476 Centerline is valid? [True, True] Translation: X:194.35, Y:0.85, Z:0.80 [[ 9.98564201e-01 -5.27061066e-02 -9.57091980e-03 1.94350704e+02] [ 5.27080363e-02 9.98609964e-01 -5.06846121e-05 8.49782412e-01] [ 9.56028726e-03 -4.53852548e-04 9.99954196e-01 7.98080212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.819254154 meters 0.0281898551666227 Centerline is valid? [True, True] Translation: X:194.41, Y:0.85, Z:0.80 [[ 9.98390736e-01 -5.58481705e-02 -9.84479511e-03 1.94412291e+02] [ 5.58503682e-02 9.98439149e-01 -5.17634551e-05 8.45786612e-01] [ 9.83231974e-03 -4.98155278e-04 9.99951537e-01 7.98151828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.879254154 meters 0.028236018422435564 Centerline is valid? [True, True] Translation: X:194.47, Y:0.84, Z:0.80 [[ 9.98383936e-01 -5.58921396e-02 -1.02754482e-02 1.94474897e+02] [ 5.58945421e-02 9.98436677e-01 -5.34450797e-05 8.44460322e-01] [ 1.02623715e-02 -5.20982762e-04 9.99947205e-01 7.98016536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.939254154 meters 0.024221685308775963 Centerline is valid? [True, True] Translation: X:194.54, Y:0.85, Z:0.80 [[ 9.98634527e-01 -5.11014398e-02 -1.08501113e-02 1.94535641e+02] [ 5.11038413e-02 9.98693343e-01 -5.59834007e-05 8.50185091e-01] [ 1.08387947e-02 -4.98575408e-04 9.99941134e-01 7.98553438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.999254154 meters 0.02105322939628615 Centerline is valid? [True, True] Translation: X:194.60, Y:0.86, Z:0.80 [[ 9.99024783e-01 -4.24211754e-02 -1.22444786e-02 1.94595729e+02] [ 4.24235838e-02 9.99099713e-01 -6.30922651e-05 8.57118076e-01] [ 1.22361315e-02 -4.56423930e-04 9.99925032e-01 7.98272743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.059254154 meters 0.0195477176159486 Centerline is valid? [True, True] Translation: X:194.66, Y:0.86, Z:0.80 [[ 9.99212393e-01 -3.68896431e-02 -1.46201116e-02 1.94657446e+02] [ 3.68924934e-02 9.99319237e-01 -7.47832213e-05 8.61177709e-01] [ 1.46129175e-02 -4.64648049e-04 9.99893118e-01 7.97256899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.119254154 meters 0.018092644215768706 Centerline is valid? [True, True] Translation: X:194.72, Y:0.87, Z:0.80 [[ 9.99360051e-01 -3.12639650e-02 -1.73796736e-02 1.94719407e+02] [ 3.12671604e-02 9.99511059e-01 -8.79085794e-05 8.66091469e-01] [ 1.73739243e-02 -4.55560718e-04 9.99848958e-01 7.96229656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.179254154 meters 0.017457549975962237 Centerline is valid? [True, True] Translation: X:194.78, Y:0.87, Z:0.80 [[ 9.99414611e-01 -2.90293478e-02 -1.81033933e-02 1.94779946e+02] [ 2.90324530e-02 9.99578465e-01 -9.13197007e-05 8.69037446e-01] [ 1.80984131e-02 -4.34319673e-04 9.99836116e-01 7.96865395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.239254154 meters 0.017714321201426214 Centerline is valid? [True, True] Translation: X:194.84, Y:0.87, Z:0.80 [[ 9.99431320e-01 -2.83829865e-02 -1.82055641e-02 1.94839197e+02] [ 2.83860213e-02 9.99597031e-01 -9.17470324e-05 8.69813494e-01] [ 1.82008319e-02 -4.25088672e-04 9.99834261e-01 7.96850952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.299254154 meters 0.017157642063151738 Centerline is valid? [True, True] Translation: X:194.90, Y:0.87, Z:0.80 [[ 9.99420743e-01 -2.92420176e-02 -1.74092505e-02 1.94898756e+02] [ 2.92449151e-02 9.99572272e-01 -8.81815987e-05 8.71565374e-01] [ 1.74043826e-02 -4.21001532e-04 9.99848444e-01 7.98855770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.359254154 meters 0.01869016790511081 Centerline is valid? [True, True] Translation: X:194.96, Y:0.87, Z:0.80 [[ 9.99365896e-01 -3.15374164e-02 -1.65286530e-02 1.94958440e+02] [ 3.15403357e-02 9.99502476e-01 -8.40913082e-05 8.70126207e-01] [ 1.65230816e-02 -4.37281278e-04 9.99863389e-01 7.99817627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.41925415400001 meters 0.01785205497500623 Centerline is valid? [True, True] Translation: X:195.02, Y:0.87, Z:0.80 [[ 9.99309831e-01 -3.34653062e-02 -1.61224800e-02 1.95019214e+02] [ 3.34683367e-02 9.99439775e-01 -8.18839485e-05 8.72156553e-01] [ 1.61161881e-02 -4.57765155e-04 9.99870021e-01 8.02045070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.479254154 meters 0.018895643687591095 Centerline is valid? [True, True] Translation: X:195.08, Y:0.87, Z:0.80 [[ 9.99254852e-01 -3.55822744e-02 -1.49546578e-02 1.95080140e+02] [ 3.55851225e-02 9.99366646e-01 -7.56833818e-05 8.69949706e-01] [ 1.49478792e-02 -4.56536345e-04 9.99888170e-01 8.02728567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.539254154 meters 0.02000847232035422 Centerline is valid? [True, True] Translation: X:195.14, Y:0.87, Z:0.81 [[ 9.99105096e-01 -4.03295470e-02 -1.27488762e-02 1.95140813e+02] [ 4.03320056e-02 9.99186332e-01 -6.42971860e-05 8.66867851e-01] [ 1.27410959e-02 -4.49948101e-04 9.99918728e-01 8.05160503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.599254154 meters 0.021115493008197983 Centerline is valid? [True, True] Translation: X:195.20, Y:0.86, Z:0.81 [[ 9.98993977e-01 -4.34058778e-02 -1.12677925e-02 1.95202447e+02] [ 4.34079988e-02 9.99057427e-01 -5.63734784e-05 8.64104769e-01] [ 1.12596187e-02 -4.32795556e-04 9.99936515e-01 8.06463410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.659254154 meters 0.024046522328482665 Centerline is valid? [True, True] Translation: X:195.26, Y:0.86, Z:0.80 [[ 9.98854979e-01 -4.65585059e-02 -1.10016193e-02 1.95263634e+02] [ 4.65607241e-02 9.98915460e-01 -5.45607555e-05 8.59861010e-01] [ 1.09922279e-02 -4.57745078e-04 9.99939479e-01 8.04899588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.719254154 meters 0.0244875155381816 Centerline is valid? [True, True] Translation: X:195.32, Y:0.86, Z:0.81 [[ 9.98770890e-01 -4.84556796e-02 -1.04286161e-02 1.95324718e+02] [ 4.84577840e-02 9.98825230e-01 -5.09499404e-05 8.56548870e-01] [ 1.04188337e-02 -4.54460308e-04 9.99945619e-01 8.05756476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.779254154 meters 0.023307690537331883 Centerline is valid? [True, True] Translation: X:195.39, Y:0.86, Z:0.80 [[ 9.98727112e-01 -4.88393240e-02 -1.26046234e-02 1.95386620e+02] [ 4.88424432e-02 9.98806494e-01 -6.04315065e-05 8.57468446e-01] [ 1.25925312e-02 -5.55286020e-04 9.99920557e-01 8.04282117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.839254154 meters 0.02597364144258216 Centerline is valid? [True, True] Translation: X:195.45, Y:0.85, Z:0.80 [[ 9.98743804e-01 -4.79061843e-02 -1.46905500e-02 1.95448112e+02] [ 4.79103346e-02 9.98851638e-01 -6.94920063e-05 8.53469542e-01] [ 1.46770090e-02 -6.34424454e-04 9.99892086e-01 8.01712334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.899254154 meters 0.021513853108962252 Centerline is valid? [True, True] Translation: X:195.51, Y:0.86, Z:0.80 [[ 9.98855494e-01 -4.50026845e-02 -1.62006257e-02 1.95509346e+02] [ 4.50073623e-02 9.98986652e-01 -7.59281834e-05 8.61192312e-01] [ 1.61876259e-02 -6.53306149e-04 9.99868758e-01 8.02800473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.959254154 meters 0.021844839009470943 Centerline is valid? [True, True] Translation: X:195.57, Y:0.86, Z:0.80 [[ 9.98998429e-01 -4.19176417e-02 -1.56540662e-02 1.95569637e+02] [ 4.19216366e-02 9.99120899e-01 -7.29984839e-05 8.61609269e-01] [ 1.56433646e-02 -5.83318704e-04 9.99877465e-01 8.03206782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.019254154 meters 0.019153009561808057 Centerline is valid? [True, True] Translation: X:195.63, Y:0.87, Z:0.81 [[ 9.99306119e-01 -3.47047470e-02 -1.35226386e-02 1.95630044e+02] [ 3.47070698e-02 9.99397526e-01 -6.29347283e-05 8.68594371e-01] [ 1.35166757e-02 -4.06440102e-04 9.99908563e-01 8.06490057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.079254154 meters 0.017647641851279292 Centerline is valid? [True, True] Translation: X:195.69, Y:0.87, Z:0.81 [[ 9.99506765e-01 -2.87985888e-02 -1.25247121e-02 1.95690458e+02] [ 2.88001182e-02 9.99585189e-01 -5.82662650e-05 8.72742859e-01] [ 1.25211947e-02 -3.02475663e-04 9.99921561e-01 8.08272844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.139254154 meters 0.016247251580672268 Centerline is valid? [True, True] Translation: X:195.75, Y:0.88, Z:0.81 [[ 9.99660159e-01 -2.29684304e-02 -1.23295802e-02 1.95750855e+02] [ 2.29694693e-02 9.99736165e-01 -5.73584911e-05 8.76875643e-01] [ 1.23276446e-02 -2.25864915e-04 9.99923986e-01 8.08930961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.19925415400002 meters 0.015214761907717402 Centerline is valid? [True, True] Translation: X:195.81, Y:0.88, Z:0.81 [[ 9.99753341e-01 -1.79902600e-02 -1.30233581e-02 1.95811293e+02] [ 1.79909968e-02 9.99838147e-01 -6.05860182e-05 8.79779365e-01] [ 1.30223402e-02 -1.73732120e-04 9.99915191e-01 8.08561482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.259254154 meters 0.014283049491466268 Centerline is valid? [True, True] Translation: X:195.87, Y:0.88, Z:0.81 [[ 9.99801287e-01 -1.46894175e-02 -1.34761520e-02 1.95870623e+02] [ 1.46899022e-02 9.99892096e-01 -6.30270273e-05 8.83208629e-01] [ 1.34756237e-02 -1.34948852e-04 9.99909191e-01 8.09320877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.319254154 meters 0.014187184292678953 Centerline is valid? [True, True] Translation: X:195.93, Y:0.88, Z:0.81 [[ 9.99814581e-01 -1.30370368e-02 -1.41718015e-02 1.95928256e+02] [ 1.30373856e-02 9.99915007e-01 -6.77834111e-05 8.82965168e-01] [ 1.41714807e-02 -1.16992398e-04 9.99899573e-01 8.08861353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.379254154 meters 0.014540514842113097 Centerline is valid? [True, True] Translation: X:195.99, Y:0.88, Z:0.81 [[ 9.99774082e-01 -1.46578482e-02 -1.53925828e-02 1.95985711e+02] [ 1.46584265e-02 9.99892557e-01 -7.52520010e-05 8.79771276e-01] [ 1.53920320e-02 -1.50396044e-04 9.99881524e-01 8.07337271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.439254154 meters 0.014644930391463726 Centerline is valid? [True, True] Translation: X:196.04, Y:0.88, Z:0.81 [[ 9.99739268e-01 -1.69301416e-02 -1.53220838e-02 1.96044391e+02] [ 1.69309333e-02 9.99856658e-01 -7.80516253e-05 8.77577557e-01] [ 1.53212090e-02 -1.81385905e-04 9.99882607e-01 8.07521578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.499254154 meters 0.015240179117696916 Centerline is valid? [True, True] Translation: X:196.10, Y:0.87, Z:0.81 [[ 9.99690355e-01 -2.00588418e-02 -1.47253857e-02 1.96103135e+02] [ 2.00598588e-02 9.99798778e-01 -7.86458366e-05 8.74544553e-01] [ 1.47240001e-02 -2.16767674e-04 9.99891573e-01 8.08150091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.559254154 meters 0.017103188932048458 Centerline is valid? [True, True] Translation: X:196.16, Y:0.87, Z:0.81 [[ 9.99587720e-01 -2.52740175e-02 -1.36240497e-02 1.96161836e+02] [ 2.52753519e-02 9.99680525e-01 -7.42590700e-05 8.68045683e-01] [ 1.36215739e-02 -2.70124195e-04 9.99907186e-01 8.08260118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.619254154 meters 0.01831872005222582 Centerline is valid? [True, True] Translation: X:196.22, Y:0.86, Z:0.81 [[ 9.99466412e-01 -2.99151277e-02 -1.31139859e-02 1.96222104e+02] [ 2.99167604e-02 9.99552391e-01 -7.17007099e-05 8.62686620e-01] [ 1.31102609e-02 -3.20665522e-04 9.99914005e-01 8.08720155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.679254154 meters 0.018099345789644734 Centerline is valid? [True, True] Translation: X:196.28, Y:0.86, Z:0.81 [[ 9.99315261e-01 -3.46731889e-02 -1.29142896e-02 1.96283408e+02] [ 3.46751733e-02 9.99398633e-01 -7.02953025e-05 8.61438225e-01] [ 1.29089607e-02 -3.77558061e-04 9.99916605e-01 8.09926303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.739254154 meters 0.019519717263378242 Centerline is valid? [True, True] Translation: X:196.34, Y:0.86, Z:0.81 [[ 9.99135714e-01 -3.94190957e-02 -1.31894149e-02 1.96344556e+02] [ 3.94215828e-02 9.99222665e-01 -7.14649446e-05 8.55343180e-01] [ 1.31819793e-02 -4.48544432e-04 9.99913013e-01 8.10085577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.799254154 meters 0.02147892316755732 Centerline is valid? [True, True] Translation: X:196.41, Y:0.85, Z:0.81 [[ 9.99050948e-01 -4.16742981e-02 -1.26671662e-02 1.96405481e+02] [ 4.16767798e-02 9.99131143e-01 -6.81043179e-05 8.50231770e-01] [ 1.26589985e-02 -4.59887015e-04 9.99919766e-01 8.10206785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.859254154 meters 0.02057158133062232 Centerline is valid? [True, True] Translation: X:196.47, Y:0.85, Z:0.81 [[ 9.99047260e-01 -4.17388912e-02 -1.27450564e-02 1.96467628e+02] [ 4.17414198e-02 9.99128445e-01 -6.76642378e-05 8.51272909e-01] [ 1.27367726e-02 -4.64396978e-04 9.99918776e-01 8.11039451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.91925415400001 meters 0.021364829872073568 Centerline is valid? [True, True] Translation: X:196.53, Y:0.85, Z:0.81 [[ 9.99082759e-01 -4.09452767e-02 -1.25349740e-02 1.96529275e+02] [ 4.09476773e-02 9.99161290e-01 -6.51883257e-05 8.50242047e-01] [ 1.25271300e-02 -4.48149538e-04 9.99921432e-01 8.10445642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.979254154 meters 0.02140725328822318 Centerline is valid? [True, True] Translation: X:196.59, Y:0.85, Z:0.81 [[ 9.99080443e-01 -4.09963693e-02 -1.25525076e-02 1.96591765e+02] [ 4.09987950e-02 9.99159194e-01 -6.41294754e-05 8.50442799e-01] [ 1.25445824e-02 -4.50567181e-04 9.99921212e-01 8.10860655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.039254154 meters 0.021022455386374796 Centerline is valid? [True, True] Translation: X:196.65, Y:0.85, Z:0.81 [[ 9.99039267e-01 -4.17050475e-02 -1.34622326e-02 1.96653938e+02] [ 4.17079153e-02 9.99129844e-01 -6.77741930e-05 8.51505032e-01] [ 1.34533449e-02 -4.93772579e-04 9.99909378e-01 8.10584405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.099254154 meters 0.022008616098371944 Centerline is valid? [True, True] Translation: X:196.71, Y:0.85, Z:0.81 [[ 9.98855918e-01 -4.54043341e-02 -1.50100605e-02 1.96714992e+02] [ 4.54083287e-02 9.98968507e-01 -7.47563537e-05 8.49594205e-01] [ 1.49979720e-02 -6.06910935e-04 9.99887340e-01 8.09224451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.159254154 meters 0.02521543741396437 Centerline is valid? [True, True] Translation: X:196.78, Y:0.84, Z:0.81 [[ 9.98705716e-01 -4.85043236e-02 -1.53043887e-02 1.96775642e+02] [ 4.85088455e-02 9.98822750e-01 -7.58347298e-05 8.44919046e-01] [ 1.52900499e-02 -6.66661647e-04 9.99882878e-01 8.08590307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.219254154 meters 0.02705208162953686 Centerline is valid? [True, True] Translation: X:196.84, Y:0.84, Z:0.81 [[ 9.98537327e-01 -5.20602373e-02 -1.45923823e-02 1.96836851e+02] [ 5.20647334e-02 9.98643709e-01 -7.18726787e-05 8.42598635e-01] [ 1.45763325e-02 -6.87980942e-04 9.99893523e-01 8.10041258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.279254154 meters 0.02461488653746983 Centerline is valid? [True, True] Translation: X:196.90, Y:0.85, Z:0.81 [[ 9.98480559e-01 -5.33896861e-02 -1.36423939e-02 1.96898591e+02] [ 5.33937486e-02 9.98573534e-01 -6.65327526e-05 8.46287273e-01] [ 1.36264857e-02 -6.61986891e-04 9.99906936e-01 8.12320684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.339254154 meters 0.02561838097856661 Centerline is valid? [True, True] Translation: X:196.96, Y:0.84, Z:0.81 [[ 9.98551665e-01 -5.22805447e-02 -1.27010233e-02 1.96960004e+02] [ 5.22839849e-02 9.98632255e-01 -6.12565381e-05 8.44981865e-01] [ 1.26868541e-02 -6.02892293e-04 9.99919337e-01 8.12751640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.399254154 meters 0.026001661497295582 Centerline is valid? [True, True] Translation: X:197.02, Y:0.84, Z:0.81 [[ 9.98662953e-01 -5.01346886e-02 -1.26023846e-02 1.97020767e+02] [ 5.01379118e-02 9.98742302e-01 -6.02468292e-05 8.44416610e-01] [ 1.25895551e-02 -5.71690973e-04 9.99920585e-01 8.12547673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.459254154 meters 0.02299125641795768 Centerline is valid? [True, True] Translation: X:197.08, Y:0.85, Z:0.81 [[ 9.98912942e-01 -4.49913239e-02 -1.21949138e-02 1.97081731e+02] [ 4.49939629e-02 9.98987257e-01 -5.80055015e-05 8.51204827e-01] [ 1.21851733e-02 -4.90755055e-04 9.99925638e-01 8.13705488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.519254154 meters 0.02050589881086818 Centerline is valid? [True, True] Translation: X:197.14, Y:0.86, Z:0.81 [[ 9.99113769e-01 -4.01931543e-02 -1.24974870e-02 1.97142763e+02] [ 4.01955539e-02 9.99191830e-01 -5.92146883e-05 8.56705079e-01] [ 1.24897669e-02 -4.43181202e-04 9.99921902e-01 8.14388304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.579254154 meters 0.01798225745531925 Centerline is valid? [True, True] Translation: X:197.20, Y:0.86, Z:0.81 [[ 9.99413945e-01 -3.17586281e-02 -1.27732660e-02 1.97203590e+02] [ 3.17604484e-02 9.99495508e-01 -6.03743992e-05 8.63776026e-01] [ 1.27687394e-02 -3.45345639e-04 9.99918417e-01 8.14456765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.639254154 meters 0.016746848257800675 Centerline is valid? [True, True] Translation: X:197.26, Y:0.87, Z:0.81 [[ 9.99596214e-01 -2.57197612e-02 -1.20790557e-02 1.97264515e+02] [ 2.57209503e-02 9.99669160e-01 -5.69228829e-05 8.69197389e-01] [ 1.20765235e-02 -2.53784892e-04 9.99927044e-01 8.14584237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.69925415400002 meters 0.015291501640703246 Centerline is valid? [True, True] Translation: X:197.33, Y:0.88, Z:0.81 [[ 9.99720965e-01 -2.03923360e-02 -1.19224701e-02 1.97325069e+02] [ 2.03931166e-02 9.99792037e-01 -5.61067624e-05 8.75056363e-01] [ 1.19211348e-02 -1.87045216e-04 9.99928923e-01 8.14878864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.759254154 meters 0.014797592366021788 Centerline is valid? [True, True] Translation: X:197.38, Y:0.88, Z:0.81 [[ 9.99816452e-01 -1.48442463e-02 -1.21124317e-02 1.97384840e+02] [ 1.48446432e-02 9.99889811e-01 -5.71393570e-05 8.79944545e-01] [ 1.21119452e-02 -1.22675858e-04 9.99926640e-01 8.13750777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.819254154 meters 0.014509057457659763 Centerline is valid? [True, True] Translation: X:197.44, Y:0.88, Z:0.81 [[ 9.99851068e-01 -1.27865320e-02 -1.15908111e-02 1.97443122e+02] [ 1.27867354e-02 9.99918245e-01 -5.65673399e-05 8.83163895e-01] [ 1.15905868e-02 -9.16497188e-05 9.99932823e-01 8.14912519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.879254154 meters 0.01429769098001796 Centerline is valid? [True, True] Translation: X:197.50, Y:0.88, Z:0.82 [[ 9.99846697e-01 -1.30867875e-02 -1.16326788e-02 1.97502317e+02] [ 1.30869782e-02 9.99914360e-01 -5.97319576e-05 8.83681619e-01] [ 1.16324643e-02 -9.25138138e-05 9.99932336e-01 8.15911234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.939254154 meters 0.014486922222905395 Centerline is valid? [True, True] Translation: X:197.56, Y:0.88, Z:0.82 [[ 9.99804494e-01 -1.55123918e-02 -1.22612592e-02 1.97561458e+02] [ 1.55127469e-02 9.99879668e-01 -6.61501250e-05 8.79884320e-01] [ 1.22608099e-02 -1.24068619e-04 9.99924826e-01 8.15336027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.999254154 meters 0.014649024102032745 Centerline is valid? [True, True] Translation: X:197.62, Y:0.88, Z:0.82 [[ 9.99786584e-01 -1.65590251e-02 -1.23525069e-02 1.97619927e+02] [ 1.65594266e-02 9.99862881e-01 -6.97791181e-05 8.78270019e-01] [ 1.23519686e-02 -1.34786205e-04 9.99923702e-01 8.15359641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.059254154 meters 0.014605862698632913 Centerline is valid? [True, True] Translation: X:197.68, Y:0.88, Z:0.82 [[ 9.99769897e-01 -1.76215999e-02 -1.22324628e-02 1.97678367e+02] [ 1.76220354e-02 9.99844717e-01 -7.21858184e-05 8.76934546e-01] [ 1.22318353e-02 -1.43391684e-04 9.99925178e-01 8.15589831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.119254154 meters 0.014913830053677048 Centerline is valid? [True, True] Translation: X:197.74, Y:0.87, Z:0.82 [[ 9.99752547e-01 -1.85771270e-02 -1.22366120e-02 1.97737491e+02] [ 1.85776156e-02 9.99827418e-01 -7.37449275e-05 8.74187548e-01] [ 1.22358701e-02 -1.53600395e-04 9.99925127e-01 8.15682264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.179254154 meters 0.015018255062607623 Centerline is valid? [True, True] Translation: X:197.80, Y:0.87, Z:0.81 [[ 9.99756436e-01 -1.76702267e-02 -1.32223832e-02 1.97796539e+02] [ 1.76707085e-02 9.99843858e-01 -8.04004106e-05 8.73324069e-01] [ 1.32217393e-02 -1.53268051e-04 9.99912577e-01 8.14963045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.239254154 meters 0.014881115203913562 Centerline is valid? [True, True] Translation: X:197.86, Y:0.87, Z:0.81 [[ 9.99760085e-01 -1.66235926e-02 -1.42628515e-02 1.97855196e+02] [ 1.66240093e-02 9.99861808e-01 -8.93528999e-05 8.73820987e-01] [ 1.42623658e-02 -1.47774312e-04 9.99898276e-01 8.14314720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.299254154 meters 0.014739414513752748 Centerline is valid? [True, True] Translation: X:197.91, Y:0.87, Z:0.81 [[ 9.99750372e-01 -1.63787332e-02 -1.51963879e-02 1.97912802e+02] [ 1.63791141e-02 9.99865848e-01 -9.94059150e-05 8.73588298e-01] [ 1.51959774e-02 -1.49522269e-04 9.99884523e-01 8.13985917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.359254154 meters 0.014789322252665096 Centerline is valid? [True, True] Translation: X:197.97, Y:0.87, Z:0.81 [[ 9.99696957e-01 -1.89533553e-02 -1.57087694e-02 1.97971204e+02] [ 1.89540148e-02 9.99820351e-01 -1.06911201e-04 8.71962623e-01] [ 1.57079737e-02 -1.90865446e-04 9.99876604e-01 8.14363965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.41925415400001 meters 0.017124431442836468 Centerline is valid? [True, True] Translation: X:198.03, Y:0.86, Z:0.81 [[ 9.99515112e-01 -2.69713106e-02 -1.55592014e-02 1.98029300e+02] [ 2.69728991e-02 9.99636159e-01 -1.07787394e-04 8.64809193e-01] [ 1.55564475e-02 -3.11941641e-04 9.99878942e-01 8.13953666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.479254154 meters 0.01989192803682791 Centerline is valid? [True, True] Translation: X:198.09, Y:0.86, Z:0.81 [[ 9.99300885e-01 -3.39112155e-02 -1.57407565e-02 1.98089819e+02] [ 3.39136965e-02 9.99424759e-01 -1.09361290e-04 8.58327384e-01] [ 1.57354103e-02 -4.24542404e-04 9.99876101e-01 8.13353636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.539254154 meters 0.023635381729436702 Centerline is valid? [True, True] Translation: X:198.15, Y:0.85, Z:0.81 [[ 9.98988863e-01 -4.16513426e-02 -1.69238731e-02 1.98149161e+02] [ 4.16553224e-02 9.99132033e-01 -1.17434334e-04 8.50237016e-01] [ 1.69140751e-02 -5.87653800e-04 9.99856774e-01 8.12447823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.599254154 meters 0.026345461206415947 Centerline is valid? [True, True] Translation: X:198.21, Y:0.84, Z:0.81 [[ 9.98454702e-01 -5.31305631e-02 -1.62896147e-02 1.98209232e+02] [ 5.31357724e-02 9.98587291e-01 -1.13156965e-04 8.44812368e-01] [ 1.62726143e-02 -7.52579157e-04 9.99867309e-01 8.13902582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.659254154 meters 0.02980148924992029 Centerline is valid? [True, True] Translation: X:198.27, Y:0.84, Z:0.82 [[ 9.98137106e-01 -5.92790534e-02 -1.44330105e-02 1.98268402e+02] [ 5.92837911e-02 9.98241164e-01 -9.97434885e-05 8.37882265e-01] [ 1.44135379e-02 -7.56085901e-04 9.99895834e-01 8.16670784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.719254154 meters 0.02922979889020327 Centerline is valid? [True, True] Translation: X:198.33, Y:0.84, Z:0.82 [[ 9.97820506e-01 -6.44597229e-02 -1.41131842e-02 1.98328774e+02] [ 6.44647733e-02 9.97919979e-01 -9.72565375e-05 8.38799245e-01] [ 1.40900976e-02 -8.12758650e-04 9.99900399e-01 8.18567471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.779254154 meters 0.03070740223282023 Centerline is valid? [True, True] Translation: X:198.39, Y:0.84, Z:0.82 [[ 9.97740445e-01 -6.50087357e-02 -1.69667120e-02 1.98389778e+02] [ 6.50161263e-02 9.97884207e-01 -1.16219796e-04 8.38763910e-01] [ 1.69383692e-02 -9.87152699e-04 9.99856048e-01 8.17199043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.839254154 meters 0.02790183733743473 Centerline is valid? [True, True] Translation: X:198.45, Y:0.85, Z:0.82 [[ 9.97766716e-01 -6.39844886e-02 -1.91720275e-02 1.98451769e+02] [ 6.39937639e-02 9.97950290e-01 -1.29951207e-04 8.45480104e-01] [ 1.91410453e-02 -1.09722921e-03 9.99816191e-01 8.17309087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.899254154 meters 0.02888488292785722 Centerline is valid? [True, True] Translation: X:198.51, Y:0.85, Z:0.82 [[ 9.97860840e-01 -6.23134933e-02 -1.97679825e-02 1.98512405e+02] [ 6.23230397e-02 9.98056021e-01 -1.33370313e-04 8.46809099e-01] [ 1.97378648e-02 -1.09891575e-03 9.99804585e-01 8.17384783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.959254154 meters 0.026132433245967243 Centerline is valid? [True, True] Translation: X:198.57, Y:0.86, Z:0.82 [[ 9.98146209e-01 -5.78864105e-02 -1.87965125e-02 1.98572721e+02] [ 5.78942591e-02 9.98322713e-01 -1.26786458e-04 8.55921868e-01] [ 1.87723246e-02 -9.61658741e-04 9.99823322e-01 8.20311259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.019254154 meters 0.02387038720320569 Centerline is valid? [True, True] Translation: X:198.63, Y:0.87, Z:0.82 [[ 9.98662921e-01 -4.85936158e-02 -1.76360471e-02 1.98632399e+02] [ 4.85990809e-02 9.98818359e-01 -1.18816805e-04 8.66846902e-01] [ 1.76209814e-02 -7.38437743e-04 9.99844466e-01 8.23055195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.079254154 meters 0.02022381888873409 Centerline is valid? [True, True] Translation: X:198.69, Y:0.88, Z:0.83 [[ 9.99038956e-01 -4.07184357e-02 -1.62226012e-02 1.98692607e+02] [ 4.07220237e-02 9.99170508e-01 -1.09237806e-04 8.78114733e-01] [ 1.62135927e-02 -5.51484328e-04 9.99868399e-01 8.25666018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.139254154 meters 0.017741828549175786 Centerline is valid? [True, True] Translation: X:198.75, Y:0.89, Z:0.83 [[ 9.99355265e-01 -3.24546954e-02 -1.53540418e-02 1.98753743e+02] [ 3.24569369e-02 9.99473129e-01 -1.03241158e-04 8.86853080e-01] [ 1.53493029e-02 -3.95170572e-04 9.99882114e-01 8.27613591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.19925415400002 meters 0.01606659082747523 Centerline is valid? [True, True] Translation: X:198.81, Y:0.90, Z:0.83 [[ 9.99606979e-01 -2.34421557e-02 -1.53737773e-02 1.98814570e+02] [ 2.34433397e-02 9.99725162e-01 -1.03218567e-04 8.96018716e-01] [ 1.53719717e-02 -2.57234684e-04 9.99881811e-01 8.28279522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.259254154 meters 0.015801430951677783 Centerline is valid? [True, True] Translation: X:198.87, Y:0.90, Z:0.83 [[ 9.99616722e-01 -2.11047312e-02 -1.79164622e-02 1.98873812e+02] [ 2.11059561e-02 9.99777237e-01 -1.20736713e-04 8.98807277e-01] [ 1.79150192e-02 -2.57453628e-04 9.99839480e-01 8.26694943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.319254154 meters 0.015989711473500534 Centerline is valid? [True, True] Translation: X:198.93, Y:0.90, Z:0.83 [[ 9.99570744e-01 -2.21141083e-02 -1.92170395e-02 1.98932249e+02] [ 2.21156282e-02 9.99755411e-01 -1.33446454e-04 8.98652785e-01] [ 1.92152902e-02 -2.91607729e-04 9.99815327e-01 8.26216586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.379254154 meters 0.01626872576019575 Centerline is valid? [True, True] Translation: X:198.99, Y:0.90, Z:0.83 [[ 9.99506785e-01 -2.49345256e-02 -1.90907443e-02 1.98990849e+02] [ 2.49364465e-02 9.99689029e-01 -1.37464548e-04 8.96573938e-01] [ 1.90882352e-02 -3.38658574e-04 9.99817746e-01 8.27292400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.439254154 meters 0.016757448235578058 Centerline is valid? [True, True] Translation: X:199.05, Y:0.90, Z:0.83 [[ 9.99425895e-01 -2.79605923e-02 -1.91333833e-02 1.99049419e+02] [ 2.79629820e-02 9.99608949e-01 -1.42682862e-04 8.95131388e-01] [ 1.91298907e-02 -3.92425506e-04 9.99816930e-01 8.27873016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.499254154 meters 0.017844431757837585 Centerline is valid? [True, True] Translation: X:199.11, Y:0.89, Z:0.83 [[ 9.99286039e-01 -3.26823669e-02 -1.89545722e-02 1.99109166e+02] [ 3.26855297e-02 9.99465675e-01 -1.42997910e-04 8.91058496e-01] [ 1.89491178e-02 -4.76644418e-04 9.99820336e-01 8.28648714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.559254154 meters 0.019044747787986822 Centerline is valid? [True, True] Translation: X:199.17, Y:0.89, Z:0.83 [[ 9.99185882e-01 -3.62121343e-02 -1.77835308e-02 1.99169483e+02] [ 3.62154741e-02 9.99343996e-01 -1.34313968e-04 8.88056827e-01] [ 1.77767285e-02 -5.09834377e-04 9.99841851e-01 8.29522577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.619254154 meters 0.019907161545326648 Centerline is valid? [True, True] Translation: X:199.23, Y:0.89, Z:0.83 [[ 9.99051245e-01 -4.00751509e-02 -1.70467419e-02 1.99230914e+02] [ 4.00787891e-02 9.99196514e-01 -1.28288345e-04 8.85666820e-01] [ 1.70381862e-02 -5.55046142e-04 9.99854686e-01 8.30461013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.679254154 meters 0.02179390530585899 Centerline is valid? [True, True] Translation: X:199.29, Y:0.88, Z:0.83 [[ 9.98772195e-01 -4.67643445e-02 -1.63462038e-02 1.99292217e+02] [ 4.67685928e-02 9.98905743e-01 -1.22486328e-04 8.80388772e-01] [ 1.63340449e-02 -6.42153011e-04 9.99866384e-01 8.31634445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.739254154 meters 0.023838875178280452 Centerline is valid? [True, True] Translation: X:199.35, Y:0.88, Z:0.83 [[ 9.98540264e-01 -5.13114899e-02 -1.68662974e-02 1.99353749e+02] [ 5.13166703e-02 9.98682424e-01 -1.25787529e-04 8.75810531e-01] [ 1.68505291e-02 -7.39918309e-04 9.99857746e-01 8.31083446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.799254154 meters 0.02615026576075157 Centerline is valid? [True, True] Translation: X:199.41, Y:0.87, Z:0.83 [[ 9.98100722e-01 -5.89726072e-02 -1.78095409e-02 1.99414365e+02] [ 5.89796049e-02 9.98259179e-01 -1.32525015e-04 8.70792115e-01] [ 1.77863530e-02 -9.18126371e-04 9.99841389e-01 8.30703470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.859254154 meters 0.028982046301832452 Centerline is valid? [True, True] Translation: X:199.47, Y:0.87, Z:0.83 [[ 9.97778560e-01 -6.40277185e-02 -1.83955353e-02 1.99474972e+02] [ 6.40360423e-02 9.97947577e-01 -1.36796432e-04 8.65941485e-01] [ 1.83665387e-02 -1.04148473e-03 9.99830778e-01 8.30414802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.91925415400001 meters 0.032579426541012625 Centerline is valid? [True, True] Translation: X:199.53, Y:0.86, Z:0.83 [[ 9.97395996e-01 -6.94414757e-02 -1.94707092e-02 1.99534782e+02] [ 6.94518246e-02 9.97585296e-01 -1.45004502e-04 8.61741261e-01] [ 1.94337626e-02 -1.20764937e-03 9.99810417e-01 8.29737425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.979254154 meters 0.029869133245688188 Centerline is valid? [True, True] Translation: X:199.60, Y:0.87, Z:0.83 [[ 9.97293696e-01 -7.06195844e-02 -2.04489156e-02 1.99597221e+02] [ 7.06312694e-02 9.97502482e-01 -1.51156571e-04 8.66333338e-01] [ 2.04085186e-02 -1.29358537e-03 9.99790888e-01 8.31005802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.039254154 meters 0.03214387628918321 Centerline is valid? [True, True] Translation: X:199.66, Y:0.86, Z:0.83 [[ 9.97123456e-01 -7.29386007e-02 -2.06100511e-02 1.99658362e+02] [ 7.29509768e-02 9.97335516e-01 -1.51717157e-04 8.64712717e-01] [ 2.05662020e-02 -1.35224262e-03 9.99787579e-01 8.30473302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.099254154 meters 0.03441642953001037 Centerline is valid? [True, True] Translation: X:199.72, Y:0.86, Z:0.83 [[ 9.97076455e-01 -7.34230320e-02 -2.11565757e-02 1.99720406e+02] [ 7.34362094e-02 9.97299904e-01 -1.54440359e-04 8.63059376e-01] [ 2.11107904e-02 -1.39966988e-03 9.99776163e-01 8.29241884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.159254154 meters 0.03353056840117035 Centerline is valid? [True, True] Translation: X:199.78, Y:0.87, Z:0.83 [[ 9.97191498e-01 -7.19293228e-02 -2.08635900e-02 1.99781629e+02] [ 7.19418311e-02 9.97408818e-01 -1.51389135e-04 8.67752788e-01] [ 2.08204180e-02 -1.35000091e-03 9.99782320e-01 8.31082312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.219254154 meters 0.032159408998634155 Centerline is valid? [True, True] Translation: X:199.84, Y:0.87, Z:0.83 [[ 9.97305682e-01 -7.03950077e-02 -2.06378241e-02 1.99843189e+02] [ 7.04069350e-02 9.97518341e-01 -1.48999546e-04 8.71172929e-01] [ 2.05970969e-02 -1.30444785e-03 9.99787006e-01 8.31946975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.279254154 meters 0.03343674233686591 Centerline is valid? [True, True] Translation: X:199.90, Y:0.87, Z:0.83 [[ 9.97666253e-01 -6.53018772e-02 -1.99427475e-02 1.99903140e+02] [ 6.53120050e-02 9.97864881e-01 -1.43746454e-04 8.72859962e-01] [ 1.99095543e-02 -1.15908984e-03 9.99801113e-01 8.32327498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.339254154 meters 0.025143691340035294 Centerline is valid? [True, True] Translation: X:199.96, Y:0.89, Z:0.84 [[ 9.98352004e-01 -5.45298421e-02 -1.78821661e-02 1.99963266e+02] [ 5.45362622e-02 9.98511782e-01 -1.28800310e-04 8.90358025e-01] [ 1.78625770e-02 -8.46638453e-04 9.99840093e-01 8.36296897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.399254154 meters 0.020398952776101507 Centerline is valid? [True, True] Translation: X:200.02, Y:0.90, Z:0.84 [[ 9.98990206e-01 -4.22395349e-02 -1.53097834e-02 2.00023695e+02] [ 4.22428003e-02 9.99107368e-01 -1.10175164e-04 9.03849811e-01] [ 1.53007711e-02 -5.36664213e-04 9.99882792e-01 8.39777911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.459254154 meters 0.01800447658467196 Centerline is valid? [True, True] Translation: X:200.08, Y:0.91, Z:0.84 [[ 9.99303015e-01 -3.42690976e-02 -1.48024715e-02 2.00084545e+02] [ 3.42712802e-02 9.99412561e-01 -1.06265153e-04 9.11235520e-01] [ 1.47974175e-02 -4.01108559e-04 9.99890432e-01 8.40042936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.519254154 meters 0.01637207401887483 Centerline is valid? [True, True] Translation: X:200.15, Y:0.92, Z:0.84 [[ 9.99508958e-01 -2.72476727e-02 -1.54728191e-02 2.00145883e+02] [ 2.72492241e-02 9.99628665e-01 -1.10587509e-04 9.18022779e-01] [ 1.54700868e-02 -3.11089110e-04 9.99880283e-01 8.39448570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.579254154 meters 0.015122404303023506 Centerline is valid? [True, True] Translation: X:200.21, Y:0.93, Z:0.84 [[ 9.99683076e-01 -1.80515888e-02 -1.75467259e-02 2.00206445e+02] [ 1.80521708e-02 9.99837038e-01 -1.25235008e-04 9.26624828e-01] [ 1.75461272e-02 -1.91561176e-04 9.99846037e-01 8.37898577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.639254154 meters 0.014899516710334768 Centerline is valid? [True, True] Translation: X:200.27, Y:0.93, Z:0.84 [[ 9.99761478e-01 -1.25415379e-02 -1.78800624e-02 2.00265648e+02] [ 1.25412036e-02 9.99921347e-01 -1.30826105e-04 9.31369048e-01] [ 1.78802969e-02 -9.34426034e-05 9.99840130e-01 8.37931396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.69925415400002 meters 0.014820884009186895 Centerline is valid? [True, True] Translation: X:200.32, Y:0.94, Z:0.84 [[ 9.99852862e-01 -5.05315600e-03 -1.63926776e-02 2.00324583e+02] [ 5.05180286e-03 9.99987232e-01 -1.23953790e-04 9.37642925e-01] [ 1.63930947e-02 4.11229763e-05 9.99865623e-01 8.39871686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.759254154 meters 0.015077080724289867 Centerline is valid? [True, True] Translation: X:200.38, Y:0.94, Z:0.84 [[ 9.99880319e-01 -1.81030204e-03 -1.53645623e-02 2.00382298e+02] [ 1.80866618e-03 9.99998357e-01 -1.20364106e-04 9.40163242e-01] [ 1.53647549e-02 9.25603365e-05 9.99881951e-01 8.41091299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.819254154 meters 0.01492968428571712 Centerline is valid? [True, True] Translation: X:200.44, Y:0.94, Z:0.84 [[ 9.99896960e-01 -8.12854905e-04 -1.43320693e-02 2.00440432e+02] [ 8.11269787e-04 9.99999664e-01 -1.16412935e-04 9.37941819e-01] [ 1.43321591e-02 1.04773765e-04 9.99897284e-01 8.41749810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.879254154 meters 0.014779825090255506 Centerline is valid? [True, True] Translation: X:200.50, Y:0.93, Z:0.84 [[ 9.99879096e-01 -3.23622119e-03 -1.52091911e-02 2.00499112e+02] [ 3.23468318e-03 9.99994760e-01 -1.25722046e-04 9.34949171e-01] [ 1.52095183e-02 7.65099314e-05 9.99884326e-01 8.41319878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.939254154 meters 0.014634762208263994 Centerline is valid? [True, True] Translation: X:200.56, Y:0.93, Z:0.84 [[ 9.99824300e-01 -1.10785099e-02 -1.51207221e-02 2.00558104e+02] [ 1.10778698e-02 9.99938631e-01 -1.26089090e-04 9.27265900e-01] [ 1.51211910e-02 -4.14384550e-05 9.99885667e-01 8.41999638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.999254154 meters 0.015268260982848508 Centerline is valid? [True, True] Translation: X:200.62, Y:0.92, Z:0.84 [[ 9.99706309e-01 -1.89641079e-02 -1.50883250e-02 2.00617139e+02] [ 1.89643520e-02 9.99820152e-01 -1.26909821e-04 9.19066599e-01] [ 1.50880182e-02 -1.59267758e-04 9.99886157e-01 8.42090201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.059254154 meters 0.017479832338120144 Centerline is valid? [True, True] Translation: X:200.68, Y:0.91, Z:0.84 [[ 9.99407145e-01 -3.11381533e-02 -1.46892372e-02 2.00677807e+02] [ 3.11396942e-02 9.99515034e-01 -1.23862598e-04 9.05541897e-01] [ 1.46859702e-02 -3.33629188e-04 9.99892100e-01 8.42465545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.119254154 meters 0.01936301451756675 Centerline is valid? [True, True] Translation: X:200.74, Y:0.90, Z:0.84 [[ 9.99194967e-01 -3.76843108e-02 -1.37590229e-02 2.00738648e+02] [ 3.76862851e-02 9.99289613e-01 -1.15849921e-04 8.98156301e-01] [ 1.37536144e-02 -4.02769801e-04 9.99905333e-01 8.43536483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.179254154 meters 0.022531465012124198 Centerline is valid? [True, True] Translation: X:200.80, Y:0.89, Z:0.84 [[ 9.98951343e-01 -4.40671929e-02 -1.24216032e-02 2.00798550e+02] [ 4.40693021e-02 9.99028471e-01 -1.03997863e-04 8.88000592e-01] [ 1.24141181e-02 -4.43522577e-04 9.99922844e-01 8.44674832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.239254154 meters 0.024220291985580917 Centerline is valid? [True, True] Translation: X:200.86, Y:0.88, Z:0.84 [[ 9.98835818e-01 -4.64438009e-02 -1.30377208e-02 2.00860943e+02] [ 4.64463384e-02 9.98920781e-01 -1.08255946e-04 8.82769312e-01] [ 1.30286780e-02 -4.97424475e-04 9.99914999e-01 8.44076197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.299254154 meters 0.027403609738472785 Centerline is valid? [True, True] Translation: X:200.92, Y:0.88, Z:0.84 [[ 9.98617958e-01 -5.03846439e-02 -1.49519471e-02 2.00922476e+02] [ 5.03884330e-02 9.98729688e-01 -1.23436675e-04 8.75701437e-01] [ 1.49391728e-02 -6.30139104e-04 9.99888206e-01 8.41367612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.359254154 meters 0.02497224554934181 Centerline is valid? [True, True] Translation: X:200.98, Y:0.88, Z:0.84 [[ 9.98382552e-01 -5.46635335e-02 -1.56262136e-02 2.00983643e+02] [ 5.46682007e-02 9.98504567e-01 -1.28641041e-04 8.75915610e-01] [ 1.56098776e-02 -7.25824012e-04 9.99877895e-01 8.43654950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.41925415400001 meters 0.027456549710825198 Centerline is valid? [True, True] Translation: X:201.04, Y:0.87, Z:0.84 [[ 9.97974391e-01 -6.14156313e-02 -1.65902138e-02 2.01044041e+02] [ 6.14218245e-02 9.98111888e-01 -1.36455543e-04 8.69800959e-01] [ 1.65672701e-02 -8.82822060e-04 9.99862364e-01 8.43575014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.479254154 meters 0.029254461674441217 Centerline is valid? [True, True] Translation: X:201.11, Y:0.87, Z:0.84 [[ 9.97749023e-01 -6.48987804e-02 -1.68829959e-02 2.01105494e+02] [ 6.49056990e-02 9.97891392e-01 -1.38395604e-04 8.67608705e-01] [ 1.68563780e-02 -9.57718573e-04 9.99857462e-01 8.44234705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.539254154 meters 0.030330591294340677 Centerline is valid? [True, True] Translation: X:201.17, Y:0.87, Z:0.85 [[ 9.97643527e-01 -6.66035542e-02 -1.64730086e-02 2.01167865e+02] [ 6.66103895e-02 9.97779053e-01 -1.33999501e-04 8.68119511e-01] [ 1.64453478e-02 -9.63589785e-04 9.99864302e-01 8.46449349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.599254154 meters 0.030882305402194735 Centerline is valid? [True, True] Translation: X:201.23, Y:0.87, Z:0.85 [[ 9.97695288e-01 -6.58207633e-02 -1.64844994e-02 2.01230547e+02] [ 6.58275248e-02 9.97831007e-01 -1.32685965e-04 8.69478613e-01] [ 1.64574781e-02 -9.52753628e-04 9.99864113e-01 8.47369838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.659254154 meters 0.02855262933565498 Centerline is valid? [True, True] Translation: X:201.29, Y:0.88, Z:0.85 [[ 9.97771355e-01 -6.47698876e-02 -1.60370054e-02 2.01292275e+02] [ 6.47761715e-02 9.97899810e-01 -1.27838517e-04 8.75753951e-01] [ 1.60116047e-02 -9.11262201e-04 9.99871391e-01 8.50153599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.719254154 meters 0.0328274234735948 Centerline is valid? [True, True] Translation: X:201.35, Y:0.87, Z:0.85 [[ 9.97842674e-01 -6.37581217e-02 -1.56492969e-02 2.01353776e+02] [ 6.37639960e-02 9.97964998e-01 -1.23816127e-04 8.72035253e-01] [ 1.56253448e-02 -8.74312689e-04 9.99877535e-01 8.49779914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.779254154 meters 0.025831066828167642 Centerline is valid? [True, True] Translation: X:201.41, Y:0.89, Z:0.85 [[ 9.98082191e-01 -5.98628366e-02 -1.57600975e-02 2.01414659e+02] [ 5.98683171e-02 9.98206276e-01 -1.24239086e-04 8.85902382e-01] [ 1.57392655e-02 -8.19529694e-04 9.99875794e-01 8.52502606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.839254154 meters 0.027241405233040347 Centerline is valid? [True, True] Translation: X:201.48, Y:0.89, Z:0.85 [[ 9.98203132e-01 -5.78327459e-02 -1.56806085e-02 2.01475378e+02] [ 5.78379293e-02 9.98325978e-01 -1.23114879e-04 8.85392967e-01] [ 1.56614789e-02 -7.84040267e-04 9.99877044e-01 8.52426581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.899254154 meters 0.027180612085076345 Centerline is valid? [True, True] Translation: X:201.54, Y:0.89, Z:0.85 [[ 9.98464467e-01 -5.29475158e-02 -1.62870430e-02 2.01535036e+02] [ 5.29524621e-02 9.98597026e-01 -1.27707658e-04 8.88802152e-01] [ 1.62709545e-02 -7.34927468e-04 9.99867349e-01 8.52376101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.959254154 meters 0.022482755276986798 Centerline is valid? [True, True] Translation: X:201.60, Y:0.90, Z:0.85 [[ 9.98962397e-01 -4.24171566e-02 -1.65805325e-02 2.01595594e+02] [ 4.24208372e-02 9.99099823e-01 -1.29814537e-04 9.01136578e-01] [ 1.65711135e-02 -5.73680231e-04 9.99862525e-01 8.53992641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.019254154 meters 0.016710933600406742 Centerline is valid? [True, True] Translation: X:201.66, Y:0.92, Z:0.86 [[ 9.99462931e-01 -2.85493482e-02 -1.60867641e-02 2.01655843e+02] [ 2.85510181e-02 9.99592329e-01 -1.25896494e-04 9.16656809e-01] [ 1.60838002e-02 -3.33464612e-04 9.99870592e-01 8.56874819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.079254154 meters 0.015268251298239562 Centerline is valid? [True, True] Translation: X:201.72, Y:0.92, Z:0.86 [[ 9.99681452e-01 -1.94532851e-02 -1.60799625e-02 2.01715158e+02] [ 1.94537735e-02 9.99810749e-01 -1.26060995e-04 9.23130865e-01] [ 1.60793717e-02 -1.86795110e-04 9.99870701e-01 8.57528365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.139254154 meters 0.014671441422437233 Centerline is valid? [True, True] Translation: X:201.77, Y:0.93, Z:0.86 [[ 9.99807532e-01 -9.84430326e-03 -1.69702163e-02 2.01774345e+02] [ 9.84341181e-03 9.99951543e-01 -1.36059915e-04 9.28822797e-01] [ 1.69707333e-02 -3.10110992e-05 9.99855986e-01 8.56612925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.199254154 meters 0.014780841047287614 Centerline is valid? [True, True] Translation: X:201.83, Y:0.93, Z:0.86 [[ 9.99820354e-01 -7.57885758e-03 -1.73729761e-02 2.01831885e+02] [ 7.57749888e-03 9.99971280e-01 -1.44033909e-04 9.29397601e-01] [ 1.73735687e-02 1.23643274e-05 9.99849068e-01 8.56437372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.259254154 meters 0.014539001489707071 Centerline is valid? [True, True] Translation: X:201.89, Y:0.92, Z:0.86 [[ 9.99797314e-01 -1.02534168e-02 -1.73262601e-02 2.01890210e+02] [ 1.02524212e-02 9.99947432e-01 -1.46291613e-04 9.24715948e-01] [ 1.73268492e-02 -3.13741542e-05 9.99849878e-01 8.57133391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.319254154 meters 0.015139464398086689 Centerline is valid? [True, True] Translation: X:201.95, Y:0.92, Z:0.86 [[ 9.99736743e-01 -1.56339021e-02 -1.67936500e-02 2.01947752e+02] [ 1.56336995e-02 9.99877776e-01 -1.43352758e-04 9.17282383e-01] [ 1.67938385e-02 -1.19231859e-04 9.99858966e-01 8.56554127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.379254154 meters 0.01632826096944828 Centerline is valid? [True, True] Translation: X:202.01, Y:0.91, Z:0.86 [[ 9.99524746e-01 -2.71088449e-02 -1.46762500e-02 2.02007336e+02] [ 2.71099160e-02 9.99632451e-01 -1.25996730e-04 9.05689766e-01] [ 1.46742714e-02 -2.71935057e-04 9.99892290e-01 8.59251268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.439254154 meters 0.021102682330311415 Centerline is valid? [True, True] Translation: X:202.07, Y:0.89, Z:0.86 [[ 9.99127024e-01 -3.96591763e-02 -1.31277998e-02 2.02066870e+02] [ 3.96611153e-02 9.99213182e-01 -1.12712542e-04 8.89306660e-01] [ 1.31219407e-02 -4.08049035e-04 9.99913820e-01 8.59190868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.499254154 meters 0.02115584464810915 Centerline is valid? [True, True] Translation: X:202.13, Y:0.89, Z:0.86 [[ 9.98828654e-01 -4.65661657e-02 -1.31495742e-02 2.02127642e+02] [ 4.65687136e-02 9.98915083e-01 -1.12531224e-04 8.85105178e-01] [ 1.31405481e-02 -4.99959342e-04 9.99913534e-01 8.59658259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.559254154 meters 0.0251933548170655 Centerline is valid? [True, True] Translation: X:202.19, Y:0.87, Z:0.86 [[ 9.98471077e-01 -5.37587667e-02 -1.28648308e-02 2.02187714e+02] [ 5.37618045e-02 9.98553782e-01 -1.09832229e-04 8.74548583e-01] [ 1.28521299e-02 -5.81972212e-04 9.99917239e-01 8.59113804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.619254154 meters 0.025596168348280633 Centerline is valid? [True, True] Translation: X:202.25, Y:0.87, Z:0.86 [[ 9.98321341e-01 -5.65581451e-02 -1.24770252e-02 2.02248431e+02] [ 5.65612268e-02 9.98399127e-01 -1.06020800e-04 8.71684142e-01] [ 1.24630474e-02 -5.99873028e-04 9.99922153e-01 8.59655455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.679254154 meters 0.028187757844066852 Centerline is valid? [True, True] Translation: X:202.31, Y:0.86, Z:0.86 [[ 9.98232407e-01 -5.81992169e-02 -1.20379789e-02 2.02309824e+02] [ 5.82022168e-02 9.98304809e-01 -1.01272692e-04 8.64589598e-01] [ 1.20234662e-02 -5.99543373e-04 9.99927536e-01 8.58838009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.739254154 meters 0.026987555938465836 Centerline is valid? [True, True] Translation: X:202.37, Y:0.87, Z:0.86 [[ 9.98259684e-01 -5.77334665e-02 -1.20187392e-02 2.02372316e+02] [ 5.77364352e-02 9.98331856e-01 -1.00107391e-04 8.65673461e-01] [ 1.20044697e-02 -5.93985983e-04 9.99927767e-01 8.58810728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.799254154 meters 0.025510641431692266 Centerline is valid? [True, True] Translation: X:202.43, Y:0.87, Z:0.86 [[ 9.98378112e-01 -5.53932664e-02 -1.31427471e-02 2.02433504e+02] [ 5.53966229e-02 9.98464422e-01 -1.08800058e-04 8.68174973e-01] [ 1.31285922e-02 -6.19440210e-04 9.99913624e-01 8.58217150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.859254154 meters 0.022467509288585704 Centerline is valid? [True, True] Translation: X:202.49, Y:0.87, Z:0.86 [[ 9.98664565e-01 -4.96925809e-02 -1.41327288e-02 2.02494313e+02] [ 4.96958974e-02 9.98764389e-01 -1.16641313e-04 8.74680841e-01] [ 1.41210624e-02 -5.85853092e-04 9.99900121e-01 8.58553748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.91925415400001 meters 0.022414863173480636 Centerline is valid? [True, True] Translation: X:202.56, Y:0.88, Z:0.86 [[ 9.98822434e-01 -4.62915561e-02 -1.45202066e-02 2.02555135e+02] [ 4.62947047e-02 9.98927818e-01 -1.19383998e-04 8.76548843e-01] [ 1.45101647e-02 -5.52965260e-04 9.99894569e-01 8.58400565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.979254154 meters 0.021404969391383397 Centerline is valid? [True, True] Translation: X:202.62, Y:0.88, Z:0.86 [[ 9.98948101e-01 -4.33691270e-02 -1.48933119e-02 2.02616736e+02] [ 4.33721233e-02 9.99058979e-01 -1.21904055e-04 8.79990563e-01] [ 1.48845839e-02 -5.24178736e-04 9.99889081e-01 8.58745877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.039254154 meters 0.021683629539853394 Centerline is valid? [True, True] Translation: X:202.68, Y:0.88, Z:0.86 [[ 9.98988533e-01 -4.24370120e-02 -1.48664213e-02 2.02678015e+02] [ 4.24399023e-02 9.99099014e-01 -1.21151966e-04 8.81978929e-01] [ 1.48581682e-02 -5.09900044e-04 9.99889481e-01 8.58366553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.099254154 meters 0.021129483143570438 Centerline is valid? [True, True] Translation: X:202.74, Y:0.89, Z:0.86 [[ 9.99053153e-01 -4.08481095e-02 -1.49742693e-02 2.02739266e+02] [ 4.08508716e-02 9.99165247e-01 -1.21496305e-04 8.87155690e-01] [ 1.49667324e-02 -4.90330685e-04 9.99887872e-01 8.59779734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.159254154 meters 0.020580915319579014 Centerline is valid? [True, True] Translation: X:202.80, Y:0.89, Z:0.86 [[ 9.99145543e-01 -3.89214470e-02 -1.39034225e-02 2.02800323e+02] [ 3.89236485e-02 9.99242181e-01 -1.12325370e-04 8.90700472e-01] [ 1.38972581e-02 -4.28942537e-04 9.99903336e-01 8.61435608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.219254154 meters 0.01924114430753108 Centerline is valid? [True, True] Translation: X:202.86, Y:0.90, Z:0.86 [[ 9.99299414e-01 -3.51777071e-02 -1.27753474e-02 2.02861518e+02] [ 3.51792657e-02 9.99381013e-01 -1.02767420e-04 8.97819086e-01] [ 1.27710547e-02 -3.46731918e-04 9.99918387e-01 8.63617740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.279254154 meters 0.018216965974487 Centerline is valid? [True, True] Translation: X:202.92, Y:0.90, Z:0.86 [[ 9.99417533e-01 -3.17382139e-02 -1.25411156e-02 2.02923187e+02] [ 3.17394527e-02 9.99496172e-01 -1.00291912e-04 9.03155184e-01] [ 1.25379801e-02 -2.97814649e-04 9.99921352e-01 8.64877755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.339254154 meters 0.01737230635286879 Centerline is valid? [True, True] Translation: X:202.98, Y:0.91, Z:0.86 [[ 9.99614248e-01 -2.49583903e-02 -1.21833674e-02 2.02984848e+02] [ 2.49590639e-02 9.99688469e-01 -9.67767792e-05 9.12058906e-01] [ 1.21819873e-02 -2.07345998e-04 9.99925775e-01 8.64951683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.399254154 meters 0.01567683958797416 Centerline is valid? [True, True] Translation: X:203.05, Y:0.92, Z:0.87 [[ 9.99730296e-01 -2.00575138e-02 -1.17060021e-02 2.03045173e+02] [ 2.00578025e-02 9.99798818e-01 -9.27538636e-05 9.18521660e-01] [ 1.17055075e-02 -1.42067831e-04 9.99931478e-01 8.66962715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.459254154 meters 0.014905089210224641 Centerline is valid? [True, True] Translation: X:203.10, Y:0.93, Z:0.87 [[ 9.99861588e-01 -1.20822006e-02 -1.14378855e-02 2.03104571e+02] [ 1.20819530e-02 9.99927006e-01 -9.07543204e-05 9.26805545e-01] [ 1.14381471e-02 -4.74502351e-05 9.99934581e-01 8.67551215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.519254154 meters 0.014874617830763884 Centerline is valid? [True, True] Translation: X:203.16, Y:0.93, Z:0.87 [[ 9.99886172e-01 -8.55473028e-03 -1.24282131e-02 2.03162926e+02] [ 8.55413895e-03 9.99963408e-01 -1.00737627e-04 9.31113947e-01] [ 1.24286201e-02 -5.58650147e-06 9.99922762e-01 8.67887083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.579254154 meters 0.015009446875392983 Centerline is valid? [True, True] Translation: X:203.22, Y:0.93, Z:0.87 [[ 9.99879094e-01 -6.54474423e-03 -1.41054230e-02 2.03220309e+02] [ 6.54375240e-03 9.99978583e-01 -1.16468654e-04 9.32777135e-01] [ 1.41058831e-02 2.41521770e-05 9.99900507e-01 8.66841204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.639254154 meters 0.014987180472102816 Centerline is valid? [True, True] Translation: X:203.28, Y:0.93, Z:0.87 [[ 9.99858866e-01 -7.08790227e-03 -1.52318450e-02 2.03279472e+02] [ 7.08676161e-03 9.99974880e-01 -1.28861545e-04 9.31730379e-01] [ 1.52323757e-02 2.08989039e-05 9.99883980e-01 8.66354812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.699254154 meters 0.015171711665080157 Centerline is valid? [True, True] Translation: X:203.34, Y:0.93, Z:0.87 [[ 9.99827198e-01 -1.00255554e-02 -1.56544456e-02 2.03337318e+02] [ 1.00246779e-02 9.99949743e-01 -1.34523731e-04 9.28481003e-01] [ 1.56550075e-02 -2.24302904e-05 9.99877453e-01 8.66263608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.759254154 meters 0.015123765354020291 Centerline is valid? [True, True] Translation: X:203.40, Y:0.93, Z:0.87 [[ 9.99808818e-01 -1.18194273e-02 -1.55765581e-02 2.03395585e+02] [ 1.18187225e-02 9.99930147e-01 -1.37303456e-04 9.26998861e-01] [ 1.55770929e-02 -4.68178113e-05 9.99878669e-01 8.66859653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.819254154 meters 0.015791025682125908 Centerline is valid? [True, True] Translation: X:203.45, Y:0.92, Z:0.87 [[ 9.99708781e-01 -1.85368599e-02 -1.54511170e-02 2.03453716e+02] [ 1.85369356e-02 9.99828167e-01 -1.38330302e-04 9.18362287e-01] [ 1.54510262e-02 -1.48126343e-04 9.99880615e-01 8.67012050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.879254154 meters 0.017068678717506197 Centerline is valid? [True, True] Translation: X:203.51, Y:0.91, Z:0.87 [[ 9.99587775e-01 -2.46366217e-02 -1.47416585e-02 2.03512472e+02] [ 2.46373128e-02 9.99696446e-01 -1.34753392e-04 9.11222546e-01] [ 1.47405035e-02 -2.28497009e-04 9.99891327e-01 8.67894659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.939254154 meters 0.020678030804688965 Centerline is valid? [True, True] Translation: X:203.57, Y:0.90, Z:0.87 [[ 9.99321351e-01 -3.45360208e-02 -1.28101486e-02 2.03571429e+02] [ 3.45373403e-02 9.99403401e-01 -1.18269795e-04 8.97732401e-01] [ 1.28065906e-02 -3.24238929e-04 9.99917940e-01 8.68662713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.999254154 meters 0.024065114791833417 Centerline is valid? [True, True] Translation: X:203.63, Y:0.89, Z:0.87 [[ 9.99075509e-01 -4.11484010e-02 -1.24473843e-02 2.03633039e+02] [ 4.11501609e-02 9.99152967e-01 -1.14800120e-04 8.88126352e-01] [ 1.24415648e-02 -3.97517880e-04 9.99922522e-01 8.68794161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.059254154 meters 0.023520685972673726 Centerline is valid? [True, True] Translation: X:203.69, Y:0.89, Z:0.87 [[ 9.98707264e-01 -4.93013706e-02 -1.23764440e-02 2.03693590e+02] [ 4.93037376e-02 9.98783825e-01 -1.13977545e-04 8.85332089e-01] [ 1.23670113e-02 -4.96374745e-04 9.99923402e-01 8.69419199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.119254154 meters 0.027066580713142576 Centerline is valid? [True, True] Translation: X:203.75, Y:0.88, Z:0.87 [[ 9.98387682e-01 -5.51439230e-02 -1.34605001e-02 2.03752880e+02] [ 5.51472512e-02 9.98478225e-01 -1.24076618e-04 8.76012767e-01] [ 1.34468583e-02 -6.18433011e-04 9.99909396e-01 8.67390284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.179254154 meters 0.02767796804421299 Centerline is valid? [True, True] Translation: X:203.81, Y:0.87, Z:0.87 [[ 9.98227552e-01 -5.81302609e-02 -1.27525027e-02 2.03814165e+02] [ 5.81334942e-02 9.98308811e-01 -1.17312794e-04 8.72331403e-01] [ 1.27377552e-02 -6.24242678e-04 9.99918677e-01 8.68369994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.239254154 meters 0.02855903532107996 Centerline is valid? [True, True] Translation: X:203.88, Y:0.87, Z:0.87 [[ 9.98181246e-01 -5.90978401e-02 -1.19014794e-02 2.03876117e+02] [ 5.91007329e-02 9.98252018e-01 -1.08796935e-04 8.71230202e-01] [ 1.18871055e-02 -5.94787098e-04 9.99929169e-01 8.68900489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.299254154 meters 0.02779523931003892 Centerline is valid? [True, True] Translation: X:203.94, Y:0.87, Z:0.87 [[ 9.98215686e-01 -5.87154668e-02 -1.08599313e-02 2.03938174e+02] [ 5.87178610e-02 9.98274613e-01 -9.85241773e-05 8.71778983e-01] [ 1.08469786e-02 -5.39323558e-04 9.99941024e-01 8.69955990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.359254154 meters 0.027572966732577364 Centerline is valid? [True, True] Translation: X:204.00, Y:0.87, Z:0.87 [[ 9.98287879e-01 -5.73720918e-02 -1.13909709e-02 2.04000176e+02] [ 5.73746481e-02 9.98352713e-01 -1.02513880e-04 8.72546426e-01] [ 1.13780881e-02 -5.51214584e-04 9.99935116e-01 8.68839971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.41925415400001 meters 0.027857882128825333 Centerline is valid? [True, True] Translation: X:204.06, Y:0.87, Z:0.87 [[ 9.98373572e-01 -5.56539753e-02 -1.23630926e-02 2.04061890e+02] [ 5.56568662e-02 9.98449949e-01 -1.10364448e-04 8.73426588e-01] [ 1.23500714e-02 -5.77906041e-04 9.99923568e-01 8.68275675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.479254154 meters 0.025888386356671296 Centerline is valid? [True, True] Translation: X:204.12, Y:0.88, Z:0.87 [[ 9.98597641e-01 -5.11091760e-02 -1.38059424e-02 2.04123061e+02] [ 5.11123548e-02 9.98692902e-01 -1.22729834e-04 8.81497327e-01] [ 1.37941693e-02 -5.83096503e-04 9.99904686e-01 8.66279531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.539254154 meters 0.023469291702653283 Centerline is valid? [True, True] Translation: X:204.18, Y:0.88, Z:0.87 [[ 9.98750924e-01 -4.83736321e-02 -1.25133150e-02 2.04184531e+02] [ 4.83760336e-02 9.98829188e-01 -1.10874507e-04 8.84752613e-01] [ 1.25040277e-02 -4.94608531e-04 9.99921699e-01 8.68187856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.599254154 meters 0.022107890989879003 Centerline is valid? [True, True] Translation: X:204.24, Y:0.89, Z:0.87 [[ 9.99017279e-01 -4.28870010e-02 -1.11884101e-02 2.04244077e+02] [ 4.28885787e-02 9.99079857e-01 -9.89934810e-05 8.89492072e-01] [ 1.11823607e-02 -3.80958808e-04 9.99937403e-01 8.69115481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.659254154 meters 0.020365801693954005 Centerline is valid? [True, True] Translation: X:204.31, Y:0.89, Z:0.87 [[ 9.99164933e-01 -3.94645593e-02 -1.05822734e-02 2.04305438e+02] [ 3.94657813e-02 9.99220918e-01 -9.34092740e-05 8.94064500e-01] [ 1.05777153e-02 -3.24306416e-04 9.99944002e-01 8.69716926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.719254154 meters 0.019972621522376582 Centerline is valid? [True, True] Translation: X:204.37, Y:0.90, Z:0.87 [[ 9.99312634e-01 -3.57301634e-02 -9.88006130e-03 2.04367287e+02] [ 3.57310505e-02 9.99361438e-01 -8.67688506e-05 8.98280909e-01] [ 9.87685254e-03 -2.66315761e-04 9.99951187e-01 8.69049139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.779254154 meters 0.01729081052367503 Centerline is valid? [True, True] Translation: X:204.43, Y:0.90, Z:0.87 [[ 9.99453676e-01 -3.16011972e-02 -9.68061006e-03 2.04428613e+02] [ 3.16018594e-02 9.99500533e-01 -8.45902633e-05 9.04008383e-01] [ 9.67844806e-03 -2.21381228e-04 9.99953138e-01 8.69888103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.839254154 meters 0.01709475113407584 Centerline is valid? [True, True] Translation: X:204.49, Y:0.91, Z:0.87 [[ 9.99522826e-01 -2.91951395e-02 -1.00877739e-02 2.04490105e+02] [ 2.91957409e-02 9.99573710e-01 -8.76702475e-05 9.05189590e-01] [ 1.00860331e-02 -2.06891621e-04 9.99949113e-01 8.69438647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.899254154 meters 0.015745435638505677 Centerline is valid? [True, True] Translation: X:204.55, Y:0.91, Z:0.87 [[ 9.99619998e-01 -2.58635433e-02 -9.53604336e-03 2.04551717e+02] [ 2.58639332e-02 9.99665469e-01 -8.24588936e-05 9.09835336e-01] [ 9.53498594e-03 -1.64212029e-04 9.99954528e-01 8.70089185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.959254154 meters 0.015218097535447853 Centerline is valid? [True, True] Translation: X:204.61, Y:0.91, Z:0.87 [[ 9.99716234e-01 -2.17643333e-02 -9.68326880e-03 2.04613017e+02] [ 2.17645465e-02 9.99763121e-01 -8.33723109e-05 9.12410913e-01] [ 9.68278958e-03 -1.27403301e-04 9.99953113e-01 8.69882647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.019254154 meters 0.016693630987198622 Centerline is valid? [True, True] Translation: X:204.67, Y:0.91, Z:0.87 [[ 9.99769653e-01 -1.90560669e-02 -9.87455442e-03 2.04673000e+02] [ 1.90561591e-02 9.99818411e-01 -8.47558267e-05 9.13142457e-01] [ 9.87437642e-03 -1.03434777e-04 9.99951242e-01 8.68275599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.079254154 meters 0.014605226787927066 Centerline is valid? [True, True] Translation: X:204.73, Y:0.91, Z:0.87 [[ 9.99806364e-01 -1.74777167e-02 -9.04229606e-03 2.04733626e+02] [ 1.74777302e-02 9.99847250e-01 -7.75395935e-05 9.13768310e-01] [ 9.04227006e-03 -8.05142315e-05 9.99959115e-01 8.70607888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.139254154 meters 0.015813626410046588 Centerline is valid? [True, True] Translation: X:204.79, Y:0.91, Z:0.87 [[ 9.99801020e-01 -1.78671749e-02 -8.87045265e-03 2.04794353e+02] [ 1.78672032e-02 9.99840366e-01 -7.60660001e-05 9.11773410e-01] [ 8.87039571e-03 -8.24393151e-05 9.99960654e-01 8.69986832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.199254154 meters 0.015627674251019977 Centerline is valid? [True, True] Translation: X:204.85, Y:0.91, Z:0.87 [[ 9.99691399e-01 -2.31439850e-02 -9.02568092e-03 2.04854601e+02] [ 2.31442293e-02 9.99732133e-01 -7.73971153e-05 9.05839737e-01] [ 9.02505452e-03 -1.31519198e-04 9.99959265e-01 8.70505694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.259254154 meters 0.017241576943110546 Centerline is valid? [True, True] Translation: X:204.92, Y:0.90, Z:0.87 [[ 9.99549960e-01 -2.85466751e-02 -9.21767000e-03 2.04915957e+02] [ 2.85471610e-02 9.99592444e-01 -7.88772721e-05 8.99736536e-01] [ 9.21616497e-03 -1.84296535e-04 9.99957513e-01 8.70170119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.319254154 meters 0.018800120330108347 Centerline is valid? [True, True] Translation: X:204.98, Y:0.89, Z:0.87 [[ 9.99257409e-01 -3.73420084e-02 -9.49764001e-03 2.04977425e+02] [ 3.73429245e-02 9.99302506e-01 -8.09321896e-05 8.93060812e-01] [ 9.49403763e-03 -2.73797563e-04 9.99954893e-01 8.71072248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.379254154 meters 0.02221808920873057 Centerline is valid? [True, True] Translation: X:205.04, Y:0.88, Z:0.87 [[ 9.98914362e-01 -4.54585118e-02 -1.01794070e-02 2.05037449e+02] [ 4.54599877e-02 9.98966157e-01 -8.64671617e-05 8.84328620e-01] [ 1.01728138e-02 -3.76382428e-04 9.99948185e-01 8.70767805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.439254154 meters 0.023442916133885546 Centerline is valid? [True, True] Translation: X:205.10, Y:0.88, Z:0.87 [[ 9.98672927e-01 -5.05103050e-02 -1.00545141e-02 2.05099011e+02] [ 5.05120033e-02 9.98723450e-01 -8.51240480e-05 8.80433007e-01] [ 1.00459787e-02 -4.22862567e-04 9.99949448e-01 8.71569946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.499254154 meters 0.02532387329517988 Centerline is valid? [True, True] Translation: X:205.16, Y:0.88, Z:0.87 [[ 9.98352310e-01 -5.67598503e-02 -8.42523795e-03 2.05160033e+02] [ 5.67612660e-02 9.98387777e-01 -7.11837615e-05 8.75787259e-01] [ 8.41569497e-03 -4.07160700e-04 9.99964505e-01 8.73036131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.559254154 meters 0.027758076310142016 Centerline is valid? [True, True] Translation: X:205.22, Y:0.87, Z:0.87 [[ 9.98141431e-01 -6.02398895e-02 -9.21085443e-03 2.05221622e+02] [ 6.02417310e-02 9.98183815e-01 -7.76316805e-05 8.72328923e-01] [ 9.19880233e-03 -4.77390418e-04 9.99957576e-01 8.73057813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.619254154 meters 0.028945402591037186 Centerline is valid? [True, True] Translation: X:205.28, Y:0.87, Z:0.87 [[ 9.98060962e-01 -6.15691312e-02 -9.14098136e-03 2.05283585e+02] [ 6.15710051e-02 9.98102703e-01 -7.65441821e-05 8.70672956e-01] [ 9.12835096e-03 -4.86423650e-04 9.99958217e-01 8.72747245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.679254154 meters 0.029148541449591364 Centerline is valid? [True, True] Translation: X:205.34, Y:0.87, Z:0.87 [[ 9.97729542e-01 -6.64812265e-02 -1.07707252e-02 2.05343771e+02] [ 6.64841177e-02 9.97787479e-01 -8.97957777e-05 8.69968147e-01] [ 1.07528645e-02 -6.26490263e-04 9.99941990e-01 8.71386759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.739254154 meters 0.030490500665099673 Centerline is valid? [True, True] Translation: X:205.40, Y:0.87, Z:0.87 [[ 9.97522312e-01 -6.93597281e-02 -1.17671579e-02 2.05404682e+02] [ 6.93633803e-02 9.97591455e-01 -9.79506396e-05 8.69402313e-01] [ 1.17456101e-02 -7.18501903e-04 9.99930760e-01 8.70694595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.799254154 meters 0.030259725369285558 Centerline is valid? [True, True] Translation: X:205.47, Y:0.87, Z:0.87 [[ 9.97285642e-01 -7.23304683e-02 -1.37714286e-02 2.05465300e+02] [ 7.23357566e-02 9.97380331e-01 -1.14363960e-04 8.72189415e-01] [ 1.37436240e-02 -8.82113173e-04 9.99905163e-01 8.70402310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.859254154 meters 0.031154529302721293 Centerline is valid? [True, True] Translation: X:205.53, Y:0.87, Z:0.87 [[ 9.97280237e-01 -7.23755274e-02 -1.39252107e-02 2.05527871e+02] [ 7.23809499e-02 9.97377053e-01 -1.14848119e-04 8.73688251e-01] [ 1.38969978e-02 -8.93384215e-04 9.99903033e-01 8.70988631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.91925415400001 meters 0.029926095525440562 Centerline is valid? [True, True] Translation: X:205.59, Y:0.88, Z:0.87 [[ 9.97569386e-01 -6.84197908e-02 -1.31928521e-02 2.05589021e+02] [ 6.84243190e-02 9.97656304e-01 -1.08371230e-04 8.81026906e-01] [ 1.31693468e-02 -7.94604102e-04 9.99912965e-01 8.72985164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.979254154 meters 0.027917628002676224 Centerline is valid? [True, True] Translation: X:205.65, Y:0.89, Z:0.87 [[ 9.98071168e-01 -6.07012906e-02 -1.30114047e-02 2.05648284e+02] [ 6.07050395e-02 9.98155743e-01 -1.06988300e-04 8.90703200e-01] [ 1.29939027e-02 -6.83075902e-04 9.99915342e-01 8.73374815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.039254154 meters 0.025092096587848958 Centerline is valid? [True, True] Translation: X:205.71, Y:0.90, Z:0.87 [[ 9.98405035e-01 -5.49348363e-02 -1.30210962e-02 2.05708719e+02] [ 5.49381010e-02 9.98489756e-01 -1.07105906e-04 8.99503693e-01] [ 1.30073150e-02 -6.08419221e-04 9.99915216e-01 8.73963661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.099254154 meters 0.023324679762518126 Centerline is valid? [True, True] Translation: X:205.77, Y:0.91, Z:0.87 [[ 9.98676818e-01 -4.95036743e-02 -1.39283929e-02 2.05769136e+02] [ 4.95068829e-02 9.98773776e-01 -1.14542195e-04 9.06443883e-01] [ 1.39169838e-02 -5.75160682e-04 9.99902989e-01 8.73612616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.159254154 meters 0.020156566485063428 Centerline is valid? [True, True] Translation: X:205.83, Y:0.92, Z:0.87 [[ 9.98989937e-01 -4.23649263e-02 -1.49772792e-02 2.05829618e+02] [ 4.23678366e-02 9.99102072e-01 -1.23068223e-04 9.17959338e-01] [ 1.49690445e-02 -5.11611002e-04 9.99887827e-01 8.74945164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.219254154 meters 0.020591860983207682 Centerline is valid? [True, True] Translation: X:205.89, Y:0.92, Z:0.88 [[ 9.99155972e-01 -3.82344616e-02 -1.50156688e-02 2.05890147e+02] [ 3.82369244e-02 9.99268694e-01 -1.23148042e-04 9.21524599e-01] [ 1.50093962e-02 -4.51108890e-04 9.99887251e-01 8.75218397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.279254154 meters 0.01727655185298119 Centerline is valid? [True, True] Translation: X:205.95, Y:0.93, Z:0.88 [[ 9.99386090e-01 -3.15138015e-02 -1.53076321e-02 2.05951207e+02] [ 3.15155773e-02 9.99503253e-01 -1.25262786e-04 9.32193696e-01] [ 1.53039756e-02 -3.57242978e-04 9.99882823e-01 8.76631241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.339254154 meters 0.015220140407240223 Centerline is valid? [True, True] Translation: X:206.01, Y:0.94, Z:0.88 [[ 9.99621250e-01 -2.33745378e-02 -1.45254427e-02 2.06012309e+02] [ 2.33752815e-02 9.99726754e-01 -1.18596018e-04 9.42232716e-01] [ 1.45242458e-02 -2.20985213e-04 9.99894493e-01 8.78492793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.399254154 meters 0.01448453563659906 Centerline is valid? [True, True] Translation: X:206.07, Y:0.95, Z:0.88 [[ 9.99748189e-01 -1.72226292e-02 -1.43854188e-02 2.06072122e+02] [ 1.72227230e-02 9.99851671e-01 -1.17370799e-04 9.47105503e-01] [ 1.43853065e-02 -1.30414840e-04 9.99896518e-01 8.78880438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.459254154 meters 0.01431075218830554 Centerline is valid? [True, True] Translation: X:206.13, Y:0.95, Z:0.88 [[ 9.99845197e-01 -1.08140560e-02 -1.38794150e-02 2.06131048e+02] [ 1.08134925e-02 9.99941526e-01 -1.15645214e-04 9.52185400e-01] [ 1.38798540e-02 -3.44576381e-05 9.99903670e-01 8.78747032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.519254154 meters 0.014335600383120269 Centerline is valid? [True, True] Translation: X:206.19, Y:0.95, Z:0.88 [[ 9.99849231e-01 -9.61034341e-03 -1.44622491e-02 2.06188839e+02] [ 9.60954597e-03 9.99953819e-01 -1.24631501e-04 9.52473691e-01] [ 1.44627789e-02 -1.43629369e-05 9.99895408e-01 8.78782706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.579254154 meters 0.014236008323075885 Centerline is valid? [True, True] Translation: X:206.25, Y:0.95, Z:0.88 [[ 9.99826962e-01 -1.12714116e-02 -1.47987186e-02 2.06246912e+02] [ 1.12706929e-02 9.99936475e-01 -1.31972638e-04 9.51021737e-01] [ 1.47992660e-02 -3.48420096e-05 9.99890484e-01 8.79520710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.639254154 meters 0.014471803489061828 Centerline is valid? [True, True] Translation: X:206.31, Y:0.95, Z:0.88 [[ 9.99770502e-01 -1.56914384e-02 -1.45849656e-02 2.06306080e+02] [ 1.56911806e-02 9.99876877e-01 -1.32118206e-04 9.45849641e-01] [ 1.45852430e-02 -9.67674437e-05 9.99893625e-01 8.79277018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.699254154 meters 0.014929663478430865 Centerline is valid? [True, True] Translation: X:206.36, Y:0.94, Z:0.88 [[ 9.99699758e-01 -2.01357987e-02 -1.39622062e-02 2.06364104e+02] [ 2.01359794e-02 9.99797242e-01 -1.27656403e-04 9.40386909e-01] [ 1.39619457e-02 -1.53524620e-04 9.99902515e-01 8.79522113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.759254154 meters 0.015580559105968563 Centerline is valid? [True, True] Translation: X:206.42, Y:0.94, Z:0.88 [[ 9.99599339e-01 -2.52154287e-02 -1.28586394e-02 2.06424170e+02] [ 2.52159932e-02 9.99682019e-01 -1.18246709e-04 9.35700374e-01] [ 1.28575322e-02 -2.06044031e-04 9.99917317e-01 8.80779931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.819254154 meters 0.01705980816709993 Centerline is valid? [True, True] Translation: X:206.49, Y:0.93, Z:0.88 [[ 9.99348807e-01 -3.38673012e-02 -1.24485979e-02 2.06485309e+02] [ 3.38685010e-02 9.99426291e-01 -1.14483298e-04 9.28117957e-01] [ 1.24453332e-02 -3.07206601e-04 9.99922507e-01 8.81987764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.879254154 meters 0.020965093951644913 Centerline is valid? [True, True] Translation: X:206.55, Y:0.92, Z:0.88 [[ 9.99028788e-01 -4.22748149e-02 -1.24226031e-02 2.06546752e+02] [ 4.22766631e-02 9.99105936e-01 -1.13908703e-04 9.18114909e-01] [ 1.24163120e-02 -4.11388134e-04 9.99922830e-01 8.79972263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.939254154 meters 0.02186794318055367 Centerline is valid? [True, True] Translation: X:206.61, Y:0.91, Z:0.88 [[ 9.98740521e-01 -4.87404401e-02 -1.19055056e-02 2.06607079e+02] [ 4.87425978e-02 9.98811367e-01 -1.09036779e-04 9.10390232e-01] [ 1.18966689e-02 -4.71405823e-04 9.99929121e-01 8.81568144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.999254154 meters 0.024428666869297507 Centerline is valid? [True, True] Translation: X:206.67, Y:0.90, Z:0.88 [[ 9.98356123e-01 -5.59343025e-02 -1.25062208e-02 2.06667362e+02] [ 5.59372469e-02 9.98434280e-01 -1.14513125e-04 9.02761496e-01] [ 1.24930448e-02 -5.85238681e-04 9.99921788e-01 8.80616098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.059254154 meters 0.025629137418601906 Centerline is valid? [True, True] Translation: X:206.73, Y:0.90, Z:0.88 [[ 9.98176103e-01 -5.90067935e-02 -1.27540669e-02 2.06728810e+02] [ 5.90101100e-02 9.98257378e-01 -1.16460074e-04 8.99349761e-01] [ 1.27387133e-02 -6.36371226e-04 9.99918657e-01 8.80282865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.119254154 meters 0.028468757250493908 Centerline is valid? [True, True] Translation: X:206.79, Y:0.89, Z:0.88 [[ 9.97980357e-01 -6.20535613e-02 -1.35854017e-02 2.06788592e+02] [ 6.20576183e-02 9.98072561e-01 -1.23131730e-04 8.93111884e-01] [ 1.35668574e-02 -7.20194623e-04 9.99907707e-01 8.79302291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.179254154 meters 0.02712239693473478 Centerline is valid? [True, True] Translation: X:206.85, Y:0.89, Z:0.88 [[ 9.97944483e-01 -6.27114930e-02 -1.31938668e-02 2.06850850e+02] [ 6.27153900e-02 9.98031445e-01 -1.18585418e-04 8.94665772e-01] [ 1.31753307e-02 -7.09116840e-04 9.99912950e-01 8.80361038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.239254154 meters 0.028291686709737533 Centerline is valid? [True, True] Translation: X:206.91, Y:0.89, Z:0.88 [[ 9.98004213e-01 -6.19161665e-02 -1.24088149e-02 2.06912323e+02] [ 6.19195613e-02 9.98081137e-01 -1.10786573e-04 8.93951167e-01] [ 1.23918636e-02 -6.57782911e-04 9.99923002e-01 8.81668723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.299254154 meters 0.02704090829747232 Centerline is valid? [True, True] Translation: X:206.97, Y:0.90, Z:0.88 [[ 9.98099141e-01 -6.03178746e-02 -1.26435508e-02 2.06974954e+02] [ 6.03212856e-02 9.98179007e-01 -1.11749590e-04 8.96626167e-01] [ 1.26272675e-02 -6.51138071e-04 9.99920061e-01 8.82304012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.359254154 meters 0.024964743972058744 Centerline is valid? [True, True] Translation: X:207.04, Y:0.90, Z:0.88 [[ 9.98294435e-01 -5.68345556e-02 -1.33436977e-02 2.07036634e+02] [ 5.68380597e-02 9.98383404e-01 -1.16787970e-04 9.01657415e-01] [ 1.33287639e-02 -6.41841104e-04 9.99910962e-01 8.82469899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.41925415400001 meters 0.024525071915532267 Centerline is valid? [True, True] Translation: X:207.10, Y:0.91, Z:0.88 [[ 9.98596429e-01 -5.13919495e-02 -1.28077852e-02 2.07096139e+02] [ 5.13947340e-02 9.98678411e-01 -1.11858746e-04 9.06655103e-01] [ 1.27966073e-02 -5.46550971e-04 9.99917971e-01 8.83914750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.479254154 meters 0.022053326823803784 Centerline is valid? [True, True] Translation: X:207.16, Y:0.91, Z:0.89 [[ 9.98840178e-01 -4.66945944e-02 -1.17436629e-02 2.07157087e+02] [ 4.66966123e-02 9.98909113e-01 -1.02465530e-04 9.14527971e-01] [ 1.17356365e-02 -4.46042585e-04 9.99931036e-01 8.86079806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.539254154 meters 0.020231141042216228 Centerline is valid? [True, True] Translation: X:207.22, Y:0.92, Z:0.89 [[ 9.98969229e-01 -4.40054667e-02 -1.11355016e-02 2.07218312e+02] [ 4.40071177e-02 9.99031213e-01 -9.68332526e-05 9.20081362e-01] [ 1.11289749e-02 -3.93307892e-04 9.99937994e-01 8.87218849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.599254154 meters 0.01846719913369911 Centerline is valid? [True, True] Translation: X:207.28, Y:0.93, Z:0.89 [[ 9.99289389e-01 -3.64032935e-02 -9.77324724e-03 2.07277833e+02] [ 3.64042032e-02 9.99337144e-01 -8.48605395e-05 9.27821819e-01] [ 9.76985819e-03 -2.70987042e-04 9.99952237e-01 8.88012201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.659254154 meters 0.017623599151149773 Centerline is valid? [True, True] Translation: X:207.34, Y:0.93, Z:0.89 [[ 9.99428989e-01 -3.22153977e-02 -1.01913310e-02 2.07339591e+02] [ 3.22161723e-02 9.99480921e-01 -8.81937330e-05 9.32347544e-01] [ 1.01888820e-02 -2.40182301e-04 9.99948063e-01 8.87918459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.719254154 meters 0.01632989764220297 Centerline is valid? [True, True] Translation: X:207.40, Y:0.94, Z:0.89 [[ 9.99570401e-01 -2.71255073e-02 -1.11004654e-02 2.07400810e+02] [ 2.71261181e-02 9.99632015e-01 -9.55609434e-05 9.38998883e-01] [ 1.10989727e-02 -2.05592645e-04 9.99938383e-01 8.87194878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.779254154 meters 0.015972937200562327 Centerline is valid? [True, True] Translation: X:207.46, Y:0.94, Z:0.89 [[ 9.99614352e-01 -2.53295755e-02 -1.13824046e-02 2.07461706e+02] [ 2.53301060e-02 9.99679137e-01 -9.75767455e-05 9.41449012e-01] [ 1.13812239e-02 -1.90778399e-04 9.99935214e-01 8.87247661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.839254154 meters 0.015655726730357755 Centerline is valid? [True, True] Translation: X:207.52, Y:0.94, Z:0.89 [[ 9.99671286e-01 -2.35260798e-02 -1.01903755e-02 2.07523104e+02] [ 2.35264149e-02 9.99723212e-01 -8.70108442e-05 9.43908203e-01] [ 1.01896020e-02 -1.52760760e-04 9.99948073e-01 8.88136040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.899254154 meters 0.015099808833655595 Centerline is valid? [True, True] Translation: X:207.58, Y:0.95, Z:0.89 [[ 9.99717894e-01 -2.14788143e-02 -1.01387107e-02 2.07584051e+02] [ 2.14790444e-02 9.99769295e-01 -8.62039943e-05 9.46301152e-01] [ 1.01382232e-02 -1.31590142e-04 9.99948598e-01 8.88589750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.959254154 meters 0.014669476576213413 Centerline is valid? [True, True] Translation: X:207.65, Y:0.95, Z:0.89 [[ 9.99786002e-01 -1.80834222e-02 -1.00468739e-02 2.07645864e+02] [ 1.80834807e-02 9.99836477e-01 -8.50229517e-05 9.48050240e-01] [ 1.00467685e-02 -9.66776927e-05 9.99949525e-01 8.88376274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.019254154 meters 0.014756213025235335 Centerline is valid? [True, True] Translation: X:207.71, Y:0.95, Z:0.89 [[ 9.99809288e-01 -1.71302881e-02 -9.37768370e-03 2.07706118e+02] [ 1.71302996e-02 9.99853263e-01 -7.90958124e-05 9.46282687e-01] [ 9.37766257e-03 -8.15618038e-05 9.99956025e-01 8.87923740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.079254154 meters 0.014585576257867725 Centerline is valid? [True, True] Translation: X:207.77, Y:0.94, Z:0.89 [[ 9.99797978e-01 -1.82293647e-02 -8.46721807e-03 2.07766273e+02] [ 1.82294141e-02 9.99833828e-01 -7.13458577e-05 9.44568323e-01] [ 8.46711165e-03 -8.30209805e-05 9.99964150e-01 8.89188825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.139254154 meters 0.01512398937343556 Centerline is valid? [True, True] Translation: X:207.83, Y:0.94, Z:0.89 [[ 9.99751336e-01 -2.06341006e-02 -8.45572528e-03 2.07826521e+02] [ 2.06342379e-02 9.99787089e-01 -7.10176347e-05 9.40419820e-01] [ 8.45539034e-03 -1.03477471e-04 9.99964247e-01 8.88902530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.199254154 meters 0.015942604314698898 Centerline is valid? [True, True] Translation: X:207.89, Y:0.93, Z:0.89 [[ 9.99586685e-01 -2.71584558e-02 -9.42750309e-03 2.07888186e+02] [ 2.71589304e-02 9.99631125e-01 -7.76933635e-05 9.34031135e-01] [ 9.42613555e-03 -1.78379649e-04 9.99955557e-01 8.88102130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.259254154 meters 0.01712282456872322 Centerline is valid? [True, True] Translation: X:207.95, Y:0.93, Z:0.89 [[ 9.99405748e-01 -3.31273841e-02 -9.52511850e-03 2.07949181e+02] [ 3.31281507e-02 9.99451109e-01 -7.73355734e-05 9.28620474e-01] [ 9.52245217e-03 -2.38259944e-04 9.99954632e-01 8.87951024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.319254154 meters 0.020764972174776186 Centerline is valid? [True, True] Translation: X:208.01, Y:0.92, Z:0.89 [[ 9.99111863e-01 -4.10922115e-02 -9.32283068e-03 2.08009658e+02] [ 4.10932945e-02 9.99155311e-01 -7.54408433e-05 9.18638209e-01] [ 9.31805582e-03 -3.07731985e-04 9.99956539e-01 8.87964932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.379254154 meters 0.02071035962805911 Centerline is valid? [True, True] Translation: X:208.07, Y:0.92, Z:0.89 [[ 9.98969396e-01 -4.44355727e-02 -9.25339662e-03 2.08071534e+02] [ 4.44367867e-02 9.99012195e-01 -7.44595547e-05 9.17601224e-01] [ 9.24756473e-03 -3.36808396e-04 9.99957184e-01 8.88633596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.439254154 meters 0.02284634771174945 Centerline is valid? [True, True] Translation: X:208.13, Y:0.91, Z:0.89 [[ 9.98883901e-01 -4.63100008e-02 -9.29169637e-03 2.08133104e+02] [ 4.63113126e-02 9.98927053e-01 -7.40472727e-05 9.13850996e-01] [ 9.28515600e-03 -3.56346027e-04 9.99956829e-01 8.88133942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.499254154 meters 0.023862161421635504 Centerline is valid? [True, True] Translation: X:208.19, Y:0.91, Z:0.89 [[ 9.98892955e-01 -4.60083220e-02 -9.80297568e-03 2.08194468e+02] [ 4.60097749e-02 9.98940987e-01 -7.73829016e-05 9.12414917e-01] [ 9.79615446e-03 -3.73735469e-04 9.99951947e-01 8.87874886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.559254154 meters 0.022658028057665935 Centerline is valid? [True, True] Translation: X:208.26, Y:0.92, Z:0.89 [[ 9.99039774e-01 -4.29161524e-02 -8.81662838e-03 2.08256305e+02] [ 4.29172113e-02 9.99078630e-01 -6.91477707e-05 9.17997385e-01] [ 8.81147256e-03 -3.09303730e-04 9.99961130e-01 8.87679473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.619254154 meters 0.019246741658409706 Centerline is valid? [True, True] Translation: X:208.32, Y:0.92, Z:0.89 [[ 9.99144258e-01 -4.06554862e-02 -7.60813774e-03 2.08318778e+02] [ 4.06562126e-02 9.99173193e-01 -5.92229065e-05 9.23317516e-01] [ 7.60425501e-03 -2.50145839e-04 9.99971056e-01 8.90254991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.679254154 meters 0.01837060182886023 Centerline is valid? [True, True] Translation: X:208.38, Y:0.93, Z:0.89 [[ 9.99370009e-01 -3.44997883e-02 -8.32766756e-03 2.08378345e+02] [ 3.45004503e-02 9.99404680e-01 -6.41847321e-05 9.27263449e-01] [ 8.32492430e-03 -2.23163985e-04 9.99965322e-01 8.90342286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.739254154 meters 0.01689691675679762 Centerline is valid? [True, True] Translation: X:208.44, Y:0.93, Z:0.89 [[ 9.99538707e-01 -2.87258910e-02 -9.85877783e-03 2.08439625e+02] [ 2.87265438e-02 9.99587305e-01 -7.54191059e-05 9.32451440e-01] [ 9.85687564e-03 -2.07824297e-04 9.99951398e-01 8.89766665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.799254154 meters 0.016051844778230986 Centerline is valid? [True, True] Translation: X:208.50, Y:0.94, Z:0.89 [[ 9.99603486e-01 -2.60515371e-02 -1.06858710e-02 2.08501006e+02] [ 2.60521555e-02 9.99660582e-01 -8.13437254e-05 9.35490114e-01] [ 1.06843631e-02 -1.97078501e-04 9.99942901e-01 8.89708247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.859254154 meters 0.016062147837011806 Centerline is valid? [True, True] Translation: X:208.56, Y:0.94, Z:0.89 [[ 9.99637017e-01 -2.45452143e-02 -1.11071007e-02 2.08561355e+02] [ 2.45457961e-02 9.99698703e-01 -8.39508917e-05 9.35396477e-01] [ 1.11058148e-02 -1.88712210e-04 9.99938311e-01 8.89442192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.91925415400001 meters 0.01614378158845228 Centerline is valid? [True, True] Translation: X:208.62, Y:0.94, Z:0.89 [[ 9.99623717e-01 -2.52175690e-02 -1.07934445e-02 2.08622581e+02] [ 2.52181631e-02 9.99681968e-01 -8.10764594e-05 9.35119054e-01] [ 1.07920564e-02 -1.91144892e-04 9.99941746e-01 8.90236533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.979254154 meters 0.016272925430932426 Centerline is valid? [True, True] Translation: X:208.68, Y:0.93, Z:0.89 [[ 9.99583698e-01 -2.74077066e-02 -9.01376338e-03 2.08684203e+02] [ 2.74082126e-02 9.99624322e-01 -6.74079011e-05 9.33593532e-01] [ 9.01222461e-03 -1.79671304e-04 9.99959373e-01 8.91982284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.039254154 meters 0.016895467803205964 Centerline is valid? [True, True] Translation: X:208.75, Y:0.93, Z:0.89 [[ 9.99530738e-01 -2.94237128e-02 -8.51751905e-03 2.08745878e+02] [ 2.94242410e-02 9.99567011e-01 -6.33199847e-05 9.30344249e-01] [ 8.51569417e-03 -1.87331262e-04 9.99963723e-01 8.92498753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.099254154 meters 0.017295045179869604 Centerline is valid? [True, True] Translation: X:208.81, Y:0.93, Z:0.89 [[ 9.99400960e-01 -3.38233111e-02 -7.32834927e-03 2.08808270e+02] [ 3.38238234e-02 9.99427809e-01 -5.40544838e-05 9.25646513e-01] [ 7.32598436e-03 -1.93850689e-04 9.99973146e-01 8.93777095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.159254154 meters 0.020284473616339393 Centerline is valid? [True, True] Translation: X:208.87, Y:0.92, Z:0.89 [[ 9.99253207e-01 -3.80490123e-02 -6.73063375e-03 2.08869114e+02] [ 3.80495428e-02 9.99275853e-01 -4.92597863e-05 9.17860088e-01] [ 6.72763407e-03 -2.06874537e-04 9.99977348e-01 8.93791801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.219254154 meters 0.024512815287054582 Centerline is valid? [True, True] Translation: X:208.93, Y:0.91, Z:0.89 [[ 9.98839156e-01 -4.75578281e-02 -7.65463146e-03 2.08930363e+02] [ 4.75587950e-02 9.98868439e-01 -5.57597151e-05 9.06768736e-01] [ 7.64862159e-03 -3.08350062e-04 9.99970701e-01 8.91594459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.279254154 meters 0.025494420935409077 Centerline is valid? [True, True] Translation: X:208.99, Y:0.90, Z:0.89 [[ 9.98447733e-01 -5.50287959e-02 -8.59974773e-03 2.08991271e+02] [ 5.50302939e-02 9.98484683e-01 -6.25204203e-05 9.02649523e-01] [ 8.59015681e-03 -4.10823273e-04 9.99963020e-01 8.90281757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.339254154 meters 0.029513923278999335 Centerline is valid? [True, True] Translation: X:209.05, Y:0.90, Z:0.89 [[ 9.97874640e-01 -6.44735075e-02 -9.45354436e-03 2.09051929e+02] [ 6.44757401e-02 9.97919272e-01 -6.87269556e-05 8.95721484e-01] [ 9.43830518e-03 -5.40943383e-04 9.99955312e-01 8.89756103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.399254154 meters 0.02962574532119192 Centerline is valid? [True, True] Translation: X:209.11, Y:0.90, Z:0.89 [[ 9.97612244e-01 -6.83265742e-02 -1.00642842e-02 2.09113191e+02] [ 6.83293020e-02 9.97662819e-01 -7.29642392e-05 8.96919794e-01] [ 1.00457476e-02 -6.14895498e-04 9.99949351e-01 8.90522504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.459254154 meters 0.032822778928033314 Centerline is valid? [True, True] Translation: X:209.17, Y:0.89, Z:0.89 [[ 9.97615503e-01 -6.82911984e-02 -9.98102025e-03 2.09174506e+02] [ 6.82938884e-02 9.97665244e-01 -7.14701800e-05 8.93785667e-01] [ 9.96259779e-03 -6.10342923e-04 9.99950186e-01 8.90234695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.519254154 meters 0.03140839724528462 Centerline is valid? [True, True] Translation: X:209.24, Y:0.90, Z:0.89 [[ 9.97738865e-01 -6.65275593e-02 -9.55205434e-03 2.09235999e+02] [ 6.65299495e-02 9.97784426e-01 -6.76554055e-05 8.98488394e-01] [ 9.53539201e-03 -5.67995266e-04 9.99954376e-01 8.89938933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.579254154 meters 0.02858707792729393 Centerline is valid? [True, True] Translation: X:209.30, Y:0.90, Z:0.89 [[ 9.97825655e-01 -6.52794315e-02 -9.08611009e-03 2.09297798e+02] [ 6.52815472e-02 9.97866883e-01 -6.38535628e-05 9.04418577e-01] [ 9.07089667e-03 -5.29440601e-04 9.99958718e-01 8.91080202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.639254154 meters 0.027293940112737343 Centerline is valid? [True, True] Translation: X:209.36, Y:0.91, Z:0.89 [[ 9.98005821e-01 -6.24274382e-02 -9.33785929e-03 2.09358982e+02] [ 6.24295532e-02 9.98049371e-01 -6.51009569e-05 9.11081151e-01] [ 9.32370868e-03 -5.17987250e-04 9.99956399e-01 8.91621557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.699254154 meters 0.02654900765892168 Centerline is valid? [True, True] Translation: X:209.42, Y:0.92, Z:0.89 [[ 9.98179877e-01 -5.96377144e-02 -8.95972293e-03 2.09420657e+02] [ 5.96395532e-02 9.98219976e-01 -6.20521992e-05 9.16022247e-01] [ 8.94747506e-03 -4.72414616e-04 9.99959859e-01 8.92642314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.759254154 meters 0.026982012829861044 Centerline is valid? [True, True] Translation: X:209.48, Y:0.92, Z:0.89 [[ 9.98516647e-01 -5.36393980e-02 -9.34458650e-03 2.09480033e+02] [ 5.36411377e-02 9.98560276e-01 -6.45450617e-05 9.20923092e-01] [ 9.33459503e-03 -4.36804932e-04 9.99956336e-01 8.92416177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.819254154 meters 0.023497386539454577 Centerline is valid? [True, True] Translation: X:209.54, Y:0.93, Z:0.89 [[ 9.98786256e-01 -4.83590893e-02 -9.34954435e-03 2.09540993e+02] [ 4.83606000e-02 9.98829940e-01 -6.45643911e-05 9.30084324e-01] [ 9.34172710e-03 -3.87663548e-04 9.99956290e-01 8.92753593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.879254154 meters 0.02033958811798918 Centerline is valid? [True, True] Translation: X:209.60, Y:0.94, Z:0.89 [[ 9.99177477e-01 -3.91911545e-02 -1.04126538e-02 2.09601233e+02] [ 3.91925319e-02 9.99231675e-01 -7.18202291e-05 9.41212208e-01] [ 1.04074682e-02 -3.36337110e-04 9.99945784e-01 8.91744592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.939254154 meters 0.017264085399332902 Centerline is valid? [True, True] Translation: X:209.66, Y:0.95, Z:0.89 [[ 9.99534195e-01 -2.81999031e-02 -1.16686916e-02 2.09660932e+02] [ 2.82008828e-02 9.99602273e-01 -8.06052859e-05 9.52375072e-01] [ 1.16663237e-02 -2.48499663e-04 9.99931915e-01 8.91278074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.999254154 meters 0.015417661577363144 Centerline is valid? [True, True] Translation: X:209.72, Y:0.96, Z:0.89 [[ 9.99732920e-01 -2.03757696e-02 -1.09048666e-02 2.09722009e+02] [ 2.03761593e-02 9.99792382e-01 -7.53738384e-05 9.60297786e-01] [ 1.09041384e-02 -1.46845592e-04 9.99940537e-01 8.91972237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.059254154 meters 0.014265255532616736 Centerline is valid? [True, True] Translation: X:209.78, Y:0.97, Z:0.89 [[ 9.99865522e-01 -1.26857885e-02 -1.03927358e-02 2.09782795e+02] [ 1.26857284e-02 9.99919530e-01 -7.17090900e-05 9.69155566e-01] [ 1.03928092e-02 -6.01399771e-05 9.99945991e-01 8.93838760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.119254154 meters 0.014210565891557055 Centerline is valid? [True, True] Translation: X:209.84, Y:0.98, Z:0.89 [[ 9.99944976e-01 -4.09609912e-03 -9.65747841e-03 2.09842076e+02] [ 4.09564547e-03 9.99991611e-01 -6.67510936e-05 9.76477321e-01] [ 9.65767081e-03 2.71938130e-05 9.99953363e-01 8.94664854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.179254154 meters 0.014417199558856883 Centerline is valid? [True, True] Translation: X:209.90, Y:0.98, Z:0.89 [[ 9.99956920e-01 -2.05696066e-03 -9.05135587e-03 2.09899538e+02] [ 2.05646524e-03 9.99997883e-01 -6.40402673e-05 9.78374100e-01] [ 9.05146844e-03 4.54237097e-05 9.99959034e-01 8.94889919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.239254154 meters 0.014273366486382494 Centerline is valid? [True, True] Translation: X:209.96, Y:0.98, Z:0.89 [[ 9.99952591e-01 -3.49027402e-03 -9.09030001e-03 2.09957064e+02] [ 3.48981833e-03 9.99993908e-01 -6.59911124e-05 9.76562044e-01] [ 9.09047496e-03 3.42644882e-05 9.99958680e-01 8.94973225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.299254154 meters 0.01413050469744447 Centerline is valid? [True, True] Translation: X:210.02, Y:0.97, Z:0.89 [[ 9.99929896e-01 -6.75313670e-03 -9.72614210e-03 2.10015961e+02] [ 6.75276177e-03 9.99977197e-01 -7.13883238e-05 9.74336114e-01] [ 9.72640241e-03 5.70499869e-06 9.99952697e-01 8.94899409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.359254154 meters 0.014521825172027129 Centerline is valid? [True, True] Translation: X:210.07, Y:0.97, Z:0.89 [[ 9.99869722e-01 -1.24644595e-02 -1.02555303e-02 2.10074988e+02] [ 1.24643353e-02 9.99922314e-01 -7.60234105e-05 9.68542762e-01] [ 1.02556812e-02 -5.18148621e-05 9.99947408e-01 8.94914419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.41925415400001 meters 0.015133611248511711 Centerline is valid? [True, True] Translation: X:210.14, Y:0.96, Z:0.90 [[ 9.99820056e-01 -1.59617663e-02 -1.02506980e-02 2.10135082e+02] [ 1.59618206e-02 9.99872599e-01 -7.65258689e-05 9.64822165e-01] [ 1.02506136e-02 -8.71077042e-05 9.99947457e-01 8.95058253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.479254154 meters 0.01632669441860504 Centerline is valid? [True, True] Translation: X:210.20, Y:0.96, Z:0.90 [[ 9.99750851e-01 -2.01486382e-02 -9.60564395e-03 2.10195202e+02] [ 2.01488767e-02 9.99796988e-01 -7.19583645e-05 9.59349610e-01] [ 9.60514375e-03 -1.21602499e-04 9.99953862e-01 8.95007400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.539254154 meters 0.016386052683254472 Centerline is valid? [True, True] Translation: X:210.26, Y:0.95, Z:0.90 [[ 9.99674542e-01 -2.38810803e-02 -8.97243710e-03 2.10256136e+02] [ 2.38814388e-02 9.99714796e-01 -6.72072474e-05 9.54699140e-01] [ 8.97148310e-03 -1.47089333e-04 9.99959745e-01 8.95635752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.599254154 meters 0.017974491573369746 Centerline is valid? [True, True] Translation: X:210.32, Y:0.95, Z:0.90 [[ 9.99480230e-01 -3.10235688e-02 -8.76396660e-03 2.10317625e+02] [ 3.10241872e-02 9.99518632e-01 -6.54097308e-05 9.46460407e-01] [ 8.76177715e-03 -2.06519208e-04 9.99961594e-01 8.95903897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.659254154 meters 0.021404944633569387 Centerline is valid? [True, True] Translation: X:210.38, Y:0.94, Z:0.90 [[ 9.99153605e-01 -3.98829288e-02 -1.00709786e-02 2.10377708e+02] [ 3.98841981e-02 9.99204306e-01 -7.48559623e-05 9.35878297e-01] [ 1.00659506e-02 -3.26880301e-04 9.99949284e-01 8.95069885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.719254154 meters 0.02652394358685025 Centerline is valid? [True, True] Translation: X:210.44, Y:0.92, Z:0.89 [[ 9.98624234e-01 -5.11556303e-02 -1.15213526e-02 2.10438465e+02] [ 5.11580424e-02 9.98690566e-01 -8.54491940e-05 9.24785492e-01] [ 1.15106373e-02 -5.04078208e-04 9.99933623e-01 8.93342500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.779254154 meters 0.03103181323209163 Centerline is valid? [True, True] Translation: X:210.50, Y:0.92, Z:0.89 [[ 9.98186196e-01 -5.90828865e-02 -1.15555499e-02 2.10499118e+02] [ 5.90858463e-02 9.98252902e-01 -8.53913270e-05 9.16891689e-01] [ 1.15404064e-02 -5.97533002e-04 9.99933229e-01 8.92649124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.839254154 meters 0.03075042565979985 Centerline is valid? [True, True] Translation: X:210.56, Y:0.92, Z:0.89 [[ 9.97774372e-01 -6.56636798e-02 -1.16010643e-02 2.10560259e+02] [ 6.56671104e-02 9.97841582e-01 -8.53674709e-05 9.16376744e-01] [ 1.15816299e-02 -6.76630898e-04 9.99932702e-01 8.93668769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.899254154 meters 0.036390528222221524 Centerline is valid? [True, True] Translation: X:210.62, Y:0.91, Z:0.89 [[ 9.97369177e-01 -7.13378212e-02 -1.28701550e-02 2.10620570e+02] [ 7.13425201e-02 9.97451871e-01 -9.42294493e-05 9.10693493e-01] [ 1.28440823e-02 -8.24207745e-04 9.99917172e-01 8.92744817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.959254154 meters 0.03652277544474081 Centerline is valid? [True, True] Translation: X:210.68, Y:0.91, Z:0.90 [[ 9.97272747e-01 -7.27492389e-02 -1.24344442e-02 2.10682125e+02] [ 7.27537417e-02 9.97349931e-01 -9.04383011e-05 9.12325725e-01] [ 1.24080714e-02 -8.14460687e-04 9.99922685e-01 8.95046775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.019254154 meters 0.03605790526837278 Centerline is valid? [True, True] Translation: X:210.74, Y:0.92, Z:0.90 [[ 9.97345020e-01 -7.17214555e-02 -1.26073243e-02 2.10744120e+02] [ 7.17260129e-02 9.97424368e-01 -9.08734564e-05 9.15831783e-01] [ 1.25813701e-02 -8.13640917e-04 9.99920520e-01 8.95519526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.079254154 meters 0.035656658046925804 Centerline is valid? [True, True] Translation: X:210.81, Y:0.92, Z:0.90 [[ 9.97511145e-01 -6.95373969e-02 -1.16647239e-02 2.10805420e+02] [ 6.95411559e-02 9.97579080e-01 -8.35332667e-05 9.20623301e-01] [ 1.16422932e-02 -7.27853018e-04 9.99931961e-01 8.97837804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.139254154 meters 0.02854559944199394 Centerline is valid? [True, True] Translation: X:210.87, Y:0.94, Z:0.90 [[ 9.97706984e-01 -6.67280973e-02 -1.13196901e-02 2.10866440e+02] [ 6.67314616e-02 9.97770968e-01 -8.06554001e-05 9.35664393e-01] [ 1.12998402e-02 -6.74909012e-04 9.99935927e-01 8.99513964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.199254154 meters 0.02887209194123141 Centerline is valid? [True, True] Translation: X:210.93, Y:0.94, Z:0.90 [[ 9.97835565e-01 -6.47068884e-02 -1.17133796e-02 2.10927250e+02] [ 6.47103571e-02 9.97904085e-01 -8.30192181e-05 9.39007295e-01] [ 1.16942012e-02 -6.75137448e-04 9.99931393e-01 8.99631952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.259254154 meters 0.027527778252406456 Centerline is valid? [True, True] Translation: X:210.99, Y:0.95, Z:0.90 [[ 9.98125307e-01 -5.98449164e-02 -1.28241368e-02 2.10987716e+02] [ 5.98486778e-02 9.98207457e-01 -9.06040396e-05 9.47023915e-01] [ 1.28065711e-02 -6.77073444e-04 9.99917763e-01 8.99223224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.319254154 meters 0.026046676016201323 Centerline is valid? [True, True] Translation: X:211.05, Y:0.95, Z:0.90 [[ 9.98375640e-01 -5.54514489e-02 -1.30850554e-02 2.11048271e+02] [ 5.54549913e-02 9.98461184e-01 -9.22316573e-05 9.53935565e-01] [ 1.30700343e-02 -6.33549794e-04 9.99914383e-01 8.99724263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.379254154 meters 0.02451343655677578 Centerline is valid? [True, True] Translation: X:211.11, Y:0.96, Z:0.90 [[ 9.98669797e-01 -4.97655437e-02 -1.34917496e-02 2.11108687e+02] [ 4.97687942e-02 9.98760761e-01 -9.49270577e-05 9.61469556e-01] [ 1.34797542e-02 -5.76667325e-04 9.99908978e-01 8.99449212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.439254154 meters 0.022551414100905495 Centerline is valid? [True, True] Translation: X:211.17, Y:0.97, Z:0.90 [[ 9.98935313e-01 -4.40004288e-02 -1.38637059e-02 2.11169385e+02] [ 4.40033095e-02 9.99031381e-01 -9.73305523e-05 9.67731982e-01] [ 1.38545598e-02 -5.12822016e-04 9.99903889e-01 8.99477382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.499254154 meters 0.019450524188533706 Centerline is valid? [True, True] Translation: X:211.23, Y:0.98, Z:0.90 [[ 9.99337714e-01 -3.33283738e-02 -1.46065857e-02 2.11229636e+02] [ 3.33304335e-02 9.99444381e-01 -1.02468568e-04 9.78900443e-01] [ 1.46018851e-02 -3.84443130e-04 9.99893313e-01 8.98812802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.559254154 meters 0.017259615382664045 Centerline is valid? [True, True] Translation: X:211.29, Y:0.99, Z:0.90 [[ 9.99583363e-01 -2.50094250e-02 -1.44093353e-02 2.11289970e+02] [ 2.50105653e-02 9.99687182e-01 -1.01087220e-04 9.87179038e-01] [ 1.44073559e-02 -2.59340517e-04 9.99896175e-01 8.99586347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.619254154 meters 0.015051886297381141 Centerline is valid? [True, True] Translation: X:211.35, Y:1.00, Z:0.90 [[ 9.99850491e-01 -1.31150872e-02 -1.12689459e-02 2.11350187e+02] [ 1.31150291e-02 9.99913991e-01 -7.90561392e-05 9.97720172e-01] [ 1.12690135e-02 -6.87482341e-05 9.99936500e-01 9.02687470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.679254154 meters 0.014719299920709637 Centerline is valid? [True, True] Translation: X:211.41, Y:1.00, Z:0.91 [[ 9.99939629e-01 -5.53309377e-03 -9.49334071e-03 2.11409853e+02] [ 5.53270908e-03 9.99984692e-01 -6.67839004e-05 1.00278039e+00] [ 9.49356491e-03 1.42559763e-05 9.99954935e-01 9.05108505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.739254154 meters 0.014751436267153422 Centerline is valid? [True, True] Translation: X:211.47, Y:1.00, Z:0.90 [[ 9.99948231e-01 -4.15263053e-03 -9.28930735e-03 2.11467901e+02] [ 4.15218818e-03 9.99991377e-01 -6.69046754e-05 1.00290354e+00] [ 9.28950508e-03 2.83302596e-05 9.99956851e-01 9.04717841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.799254154 meters 0.01444908648893746 Centerline is valid? [True, True] Translation: X:211.53, Y:1.00, Z:0.90 [[ 9.99912272e-01 -7.61547920e-03 -1.08375828e-02 2.11526175e+02] [ 7.61505841e-03 9.99971002e-01 -8.00924996e-05 9.97272678e-01] [ 1.08378785e-02 -2.44335291e-06 9.99941268e-01 9.02470304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.859254154 meters 0.014635796837229617 Centerline is valid? [True, True] Translation: X:211.58, Y:0.99, Z:0.90 [[ 9.99850329e-01 -1.26259919e-02 -1.18280647e-02 2.11584992e+02] [ 1.26258299e-02 9.99920287e-01 -8.83760846e-05 9.91538006e-01] [ 1.18282377e-02 -6.09762750e-05 9.99930042e-01 9.01907035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.91925415400001 meters 0.015495271752259471 Centerline is valid? [True, True] Translation: X:211.64, Y:0.98, Z:0.90 [[ 9.99714217e-01 -2.09419841e-02 -1.15290218e-02 2.11643982e+02] [ 2.09423754e-02 9.99780681e-01 -8.67949491e-05 9.81565763e-01] [ 1.15283109e-02 -1.54674958e-04 9.99933535e-01 9.02081208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.979254154 meters 0.016193512282243964 Centerline is valid? [True, True] Translation: X:211.70, Y:0.98, Z:0.90 [[ 9.99607563e-01 -2.58402347e-02 -1.08167755e-02 2.11704718e+02] [ 2.58408637e-02 9.99666066e-01 -8.16301144e-05 9.76347442e-01] [ 1.08152727e-02 -1.97916741e-04 9.99941494e-01 9.03123483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.039254154 meters 0.017414601457156956 Centerline is valid? [True, True] Translation: X:211.77, Y:0.97, Z:0.90 [[ 9.99405180e-01 -3.32025477e-02 -9.32082135e-03 2.11766177e+02] [ 3.32033364e-02 9.99448615e-01 -7.01586575e-05 9.67538485e-01] [ 9.31801143e-03 -2.39365441e-04 9.99956558e-01 9.04315114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.099254154 meters 0.02065585599283183 Centerline is valid? [True, True] Translation: X:211.83, Y:0.96, Z:0.90 [[ 9.99122697e-01 -4.07822972e-02 -9.52052017e-03 2.11827731e+02] [ 4.07834672e-02 9.99168006e-01 -7.13048917e-05 9.58178523e-01] [ 9.51550713e-03 -3.17037486e-04 9.99954676e-01 9.03312179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.159254154 meters 0.023151478609895654 Centerline is valid? [True, True] Translation: X:211.89, Y:0.95, Z:0.90 [[ 9.98812748e-01 -4.76696132e-02 -1.00351057e-02 2.11887288e+02] [ 4.76712610e-02 9.98863076e-01 -7.50682568e-05 9.49906931e-01] [ 1.00272750e-02 -4.03407012e-04 9.99949644e-01 9.03230231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.219254154 meters 0.026128273616082786 Centerline is valid? [True, True] Translation: X:211.95, Y:0.94, Z:0.90 [[ 9.98201883e-01 -5.87738608e-02 -1.17743250e-02 2.11948365e+02] [ 5.87768997e-02 9.98271140e-01 -8.80738285e-05 9.42236258e-01] [ 1.17591453e-02 -6.04142859e-04 9.99930676e-01 9.02661941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.279254154 meters 0.030220453082136396 Centerline is valid? [True, True] Translation: X:212.01, Y:0.93, Z:0.90 [[ 9.97777774e-01 -6.54052459e-02 -1.27148638e-02 2.12008673e+02] [ 6.54093281e-02 9.97858512e-01 -9.49795364e-05 9.34711748e-01] [ 1.26938472e-02 -7.36902226e-04 9.99919158e-01 9.01394790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.339254154 meters 0.03393663755328139 Centerline is valid? [True, True] Translation: X:212.07, Y:0.93, Z:0.90 [[ 9.97358017e-01 -7.13379588e-02 -1.37069543e-02 2.12069425e+02] [ 7.13432627e-02 9.97451818e-01 -1.02255006e-04 9.29903080e-01] [ 1.36793212e-02 -8.75913993e-04 9.99906050e-01 9.00924870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.399254154 meters 0.03583112093281668 Centerline is valid? [True, True] Translation: X:212.13, Y:0.93, Z:0.90 [[ 9.97368957e-01 -7.12148684e-02 -1.35501583e-02 2.12131108e+02] [ 7.12200497e-02 9.97460623e-01 -1.00397140e-04 9.30242452e-01] [ 1.35228991e-02 -8.64909959e-04 9.99908187e-01 9.01840771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.459254154 meters 0.02932815793115907 Centerline is valid? [True, True] Translation: X:212.19, Y:0.94, Z:0.90 [[ 9.97755547e-01 -6.55980276e-02 -1.34449851e-02 2.12191795e+02] [ 6.56026245e-02 9.97845823e-01 -9.93146435e-05 9.43636555e-01] [ 1.34225370e-02 -7.82934571e-04 9.99909607e-01 9.03368534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.519254154 meters 0.02638832867325636 Centerline is valid? [True, True] Translation: X:212.25, Y:0.95, Z:0.90 [[ 9.98215141e-01 -5.82998406e-02 -1.29483829e-02 2.12252356e+02] [ 5.83034928e-02 9.98298900e-01 -9.55675714e-05 9.53511494e-01] [ 1.29319280e-02 -6.59538955e-04 9.99916162e-01 9.04676296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.579254154 meters 0.02533616801040672 Centerline is valid? [True, True] Translation: X:212.31, Y:0.96, Z:0.91 [[ 9.98496091e-01 -5.32481729e-02 -1.30456312e-02 2.12311794e+02] [ 5.32514504e-02 9.98581130e-01 -9.62492630e-05 9.59077715e-01] [ 1.30322462e-02 -5.98594268e-04 9.99914898e-01 9.05346922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.639254154 meters 0.02213003007547448 Centerline is valid? [True, True] Translation: X:212.37, Y:0.97, Z:0.91 [[ 9.98835413e-01 -4.62687452e-02 -1.36755618e-02 2.12372257e+02] [ 4.62716940e-02 9.98928886e-01 -1.00881540e-04 9.70265798e-01] [ 1.36655814e-02 -5.32027355e-04 9.99906480e-01 9.06154646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.699254154 meters 0.02526216129182171 Centerline is valid? [True, True] Translation: X:212.43, Y:0.97, Z:0.90 [[ 9.99060623e-01 -4.10794100e-02 -1.37968926e-02 2.12432056e+02] [ 4.10819172e-02 9.99155777e-01 -1.01767712e-04 9.69577911e-01] [ 1.37894255e-02 -4.65130683e-04 9.99904813e-01 9.04416869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.759254154 meters 0.01788584389918413 Centerline is valid? [True, True] Translation: X:212.49, Y:0.99, Z:0.91 [[ 9.99400067e-01 -3.17705067e-02 -1.37891382e-02 2.12492816e+02] [ 3.17721261e-02 9.99495133e-01 -1.01667371e-04 9.89727113e-01] [ 1.37854065e-02 -3.36503859e-04 9.99904920e-01 9.07542918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.819254154 meters 0.015106644507799845 Centerline is valid? [True, True] Translation: X:212.55, Y:1.01, Z:0.91 [[ 9.99720010e-01 -1.93264678e-02 -1.36524296e-02 2.12553755e+02] [ 1.93268976e-02 9.99813213e-01 -1.00469648e-04 1.00569259e+00] [ 1.36518212e-02 -1.63417590e-04 9.99906796e-01 9.08079056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.879254154 meters 0.014919981964783563 Centerline is valid? [True, True] Translation: X:212.61, Y:1.01, Z:0.91 [[ 9.99765518e-01 -1.71768252e-02 -1.31857949e-02 2.12613688e+02] [ 1.71770359e-02 9.99852459e-01 -9.72761309e-05 1.00881984e+00] [ 1.31855203e-02 -1.29239550e-04 9.99913059e-01 9.08364037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.939254154 meters 0.014897314889581062 Centerline is valid? [True, True] Translation: X:212.67, Y:1.01, Z:0.91 [[ 9.99820023e-01 -1.38172730e-02 -1.30002108e-02 2.12673319e+02] [ 1.38171878e-02 9.99904533e-01 -9.63733998e-05 1.01348016e+00] [ 1.30003014e-02 -8.32702998e-05 9.99915489e-01 9.08468882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.999254154 meters 0.014778719343474824 Centerline is valid? [True, True] Translation: X:212.73, Y:1.02, Z:0.91 [[ 9.99855914e-01 -1.14882147e-02 -1.24968715e-02 2.12731740e+02] [ 1.14879267e-02 9.99934007e-01 -9.48360979e-05 1.01967765e+00] [ 1.24971363e-02 -4.87407097e-05 9.99921907e-01 9.09255407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.059254154 meters 0.014860385649736355 Centerline is valid? [True, True] Translation: X:212.79, Y:1.02, Z:0.91 [[ 9.99851833e-01 -1.23756732e-02 -1.19647568e-02 2.12790278e+02] [ 1.23754369e-02 9.99923417e-01 -9.37845486e-05 1.02039208e+00] [ 1.19650012e-02 -5.42984404e-05 9.99928415e-01 9.09644654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.119254154 meters 0.015034838600999242 Centerline is valid? [True, True] Translation: X:212.85, Y:1.02, Z:0.91 [[ 9.99828376e-01 -1.45850219e-02 -1.14235109e-02 2.12848595e+02] [ 1.45849343e-02 9.99893630e-01 -9.09878448e-05 1.01912319e+00] [ 1.14236228e-02 -7.56389261e-05 9.99934745e-01 9.09984229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.179254154 meters 0.015445335879121851 Centerline is valid? [True, True] Translation: X:212.91, Y:1.02, Z:0.91 [[ 9.99755802e-01 -1.92783555e-02 -1.08019528e-02 2.12908411e+02] [ 1.92785462e-02 9.99814148e-01 -8.64860207e-05 1.01664314e+00] [ 1.08016126e-02 -1.21781045e-04 9.99941653e-01 9.11751873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.239254154 meters 0.016449122886122474 Centerline is valid? [True, True] Translation: X:212.97, Y:1.01, Z:0.91 [[ 9.99673889e-01 -2.33068321e-02 -1.04359066e-02 2.12969943e+02] [ 2.33072302e-02 9.99728346e-01 -8.34954069e-05 1.01244715e+00] [ 1.04350176e-02 -1.59763898e-04 9.99945541e-01 9.11612318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.299254154 meters 0.017554329194623502 Centerline is valid? [True, True] Translation: X:213.03, Y:1.01, Z:0.91 [[ 9.99575283e-01 -2.71493707e-02 -1.05908189e-02 2.13031276e+02] [ 2.71500001e-02 9.99631367e-01 -8.43673190e-05 1.00708956e+00] [ 1.05892053e-02 -2.03209247e-04 9.99943912e-01 9.10805127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.359254154 meters 0.01856811282373219 Centerline is valid? [True, True] Translation: X:213.09, Y:1.00, Z:0.91 [[ 9.99488111e-01 -3.00707591e-02 -1.09208418e-02 2.13093189e+02] [ 3.00716093e-02 9.99547743e-01 -8.63925909e-05 1.00352826e+00] [ 1.09185006e-02 -2.42058919e-04 9.99940362e-01 9.10671700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.41925415400001 meters 0.019382658907649765 Centerline is valid? [True, True] Translation: X:213.15, Y:1.00, Z:0.91 [[ 9.99411386e-01 -3.24483197e-02 -1.11349998e-02 2.13154969e+02] [ 3.24493583e-02 9.99473377e-01 -8.74320494e-05 9.99724378e-01] [ 1.11319728e-02 -2.73943011e-04 9.99938000e-01 9.10413140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.479254154 meters 0.02003557841150701 Centerline is valid? [True, True] Translation: X:213.22, Y:1.00, Z:0.91 [[ 9.99364700e-01 -3.36034679e-02 -1.18744775e-02 2.13217155e+02] [ 3.36047394e-02 9.99435197e-01 -9.24894389e-05 9.97487056e-01] [ 1.18708787e-02 -3.06608041e-04 9.99929492e-01 9.09759106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.539254154 meters 0.0189227856362545 Centerline is valid? [True, True] Translation: X:213.28, Y:1.00, Z:0.91 [[ 9.99259647e-01 -3.62174010e-02 -1.29791069e-02 2.13279702e+02] [ 3.62191528e-02 9.99343866e-01 -1.00137429e-04 9.97195950e-01] [ 1.29742176e-02 -3.70028965e-04 9.99915763e-01 9.10002664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.599254154 meters 0.01958075796844237 Centerline is valid? [True, True] Translation: X:213.34, Y:1.00, Z:0.91 [[ 9.99150904e-01 -3.91062801e-02 -1.29680572e-02 2.13342186e+02] [ 3.91082844e-02 9.99234973e-01 -9.90953717e-05 9.95341685e-01] [ 1.29620115e-02 -4.08147237e-04 9.99915906e-01 9.10751349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.659254154 meters 0.019993367906875035 Centerline is valid? [True, True] Translation: X:213.40, Y:0.99, Z:0.91 [[ 9.99092019e-01 -4.06266915e-02 -1.28300397e-02 2.13404476e+02] [ 4.06287908e-02 9.99174305e-01 -9.70934513e-05 9.94394342e-01] [ 1.28233906e-02 -4.24263705e-04 9.99917687e-01 9.11473257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.719254154 meters 0.021010060289382078 Centerline is valid? [True, True] Translation: X:213.47, Y:0.99, Z:0.91 [[ 9.98939921e-01 -4.41393787e-02 -1.30671449e-02 2.13466061e+02] [ 4.41418648e-02 9.99025268e-01 -9.82356374e-05 9.92495520e-01] [ 1.30587440e-02 -4.78676646e-04 9.99914616e-01 9.12189489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.779254154 meters 0.023603171760843634 Centerline is valid? [True, True] Translation: X:213.53, Y:0.99, Z:0.91 [[ 9.98805155e-01 -4.71543330e-02 -1.28347981e-02 2.13527359e+02] [ 4.71569880e-02 9.98887486e-01 -9.58695695e-05 9.88340496e-01] [ 1.28250399e-02 -5.09495400e-04 9.99917626e-01 9.12277902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.839254154 meters 0.024544935859986204 Centerline is valid? [True, True] Translation: X:213.59, Y:0.99, Z:0.91 [[ 9.98606521e-01 -5.11835007e-02 -1.28555627e-02 2.13588922e+02] [ 5.11865045e-02 9.98689107e-01 -9.54794797e-05 9.87570137e-01] [ 1.28435974e-02 -5.62684886e-04 9.99917359e-01 9.13157890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.899254154 meters 0.02365474964259289 Centerline is valid? [True, True] Translation: X:213.65, Y:0.99, Z:0.91 [[ 9.98539606e-01 -5.22957149e-02 -1.35577578e-02 2.13651333e+02] [ 5.22991696e-02 9.98631457e-01 -9.98472271e-05 9.90580557e-01] [ 1.35444250e-02 -6.09358063e-04 9.99908084e-01 9.13964050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.959254154 meters 0.026056070038996782 Centerline is valid? [True, True] Translation: X:213.71, Y:0.99, Z:0.91 [[ 9.98645361e-01 -5.01482861e-02 -1.38777955e-02 2.13712204e+02] [ 5.01517084e-02 9.98741606e-01 -1.01522001e-04 9.89482620e-01] [ 1.38654229e-02 -5.94610676e-04 9.99903694e-01 9.12619169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.019254154 meters 0.022119288301488474 Centerline is valid? [True, True] Translation: X:213.77, Y:1.00, Z:0.91 [[ 9.98795775e-01 -4.70251100e-02 -1.39870615e-02 2.13773745e+02] [ 4.70282904e-02 9.98893553e-01 -1.01626582e-04 9.98009757e-01] [ 1.39763646e-02 -5.56283390e-04 9.99902171e-01 9.13510050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.079254154 meters 0.0206105132954126 Centerline is valid? [True, True] Translation: X:213.83, Y:1.01, Z:0.91 [[ 9.99117164e-01 -3.99780775e-02 -1.29091507e-02 2.13833049e+02] [ 3.99802004e-02 9.99200468e-01 -9.36774203e-05 1.00508666e+00] [ 1.29025745e-02 -4.22515715e-04 9.99916669e-01 9.14390558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.139254154 meters 0.018040024615757825 Centerline is valid? [True, True] Translation: X:213.89, Y:1.01, Z:0.92 [[ 9.99401802e-01 -3.26721917e-02 -1.13387172e-02 2.13893481e+02] [ 3.26733590e-02 9.99466080e-01 -8.23304434e-05 1.01365213e+00] [ 1.13353531e-02 -2.88192783e-04 9.99935711e-01 9.15356346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.199254154 meters 0.01712839393431335 Centerline is valid? [True, True] Translation: X:213.96, Y:1.02, Z:0.92 [[ 9.99528699e-01 -2.84346724e-02 -1.15693675e-02 2.13955433e+02] [ 2.84356084e-02 9.99595623e-01 -8.36159147e-05 1.01737777e+00] [ 1.15670667e-02 -2.45405496e-04 9.99933069e-01 9.15655981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.259254154 meters 0.016124992646838143 Centerline is valid? [True, True] Translation: X:214.02, Y:1.02, Z:0.92 [[ 9.99634999e-01 -2.45186365e-02 -1.13448531e-02 2.14017159e+02] [ 2.45192915e-02 9.99699354e-01 -8.13723386e-05 1.02247167e+00] [ 1.13434375e-02 -1.96825123e-04 9.99935642e-01 9.16031357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.319254154 meters 0.015844314088276894 Centerline is valid? [True, True] Translation: X:214.08, Y:1.02, Z:0.92 [[ 9.99655273e-01 -2.34033826e-02 -1.19003152e-02 2.14078141e+02] [ 2.34040307e-02 9.99726085e-01 -8.48228268e-05 1.02368812e+00] [ 1.18990407e-02 -1.93721757e-04 9.99929185e-01 9.15651340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.379254154 meters 0.01597995272802964 Centerline is valid? [True, True] Translation: X:214.14, Y:1.02, Z:0.91 [[ 9.99636038e-01 -2.34470535e-02 -1.33426495e-02 2.14139239e+02] [ 2.34478789e-02 9.99725056e-01 -9.45958912e-05 1.02325331e+00] [ 1.33411990e-02 -2.18295367e-04 9.99910978e-01 9.13654800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.439254154 meters 0.015902553500071973 Centerline is valid? [True, True] Translation: X:214.20, Y:1.02, Z:0.91 [[ 9.99617273e-01 -2.37864492e-02 -1.41248944e-02 2.14200171e+02] [ 2.37874156e-02 9.99717034e-01 -9.96128248e-05 1.02385560e+00] [ 1.41232670e-02 -2.36420033e-04 9.99900234e-01 9.13323905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.499254154 meters 0.016293663476905564 Centerline is valid? [True, True] Translation: X:214.26, Y:1.02, Z:0.91 [[ 9.99632060e-01 -2.38272284e-02 -1.29617543e-02 2.14260214e+02] [ 2.38280495e-02 9.99716068e-01 -9.11051060e-05 1.02280483e+00] [ 1.29602448e-02 -2.17781737e-04 9.99915989e-01 9.13684221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.559254154 meters 0.015493449968104851 Centerline is valid? [True, True] Translation: X:214.32, Y:1.02, Z:0.92 [[ 9.99720644e-01 -2.07800084e-02 -1.12616773e-02 2.14320787e+02] [ 2.07804357e-02 9.99784060e-01 -7.90861305e-05 1.02477069e+00] [ 1.12608888e-02 -1.54958523e-04 9.99936582e-01 9.15195769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.619254154 meters 0.014790893911082225 Centerline is valid? [True, True] Translation: X:214.38, Y:1.03, Z:0.92 [[ 9.99817347e-01 -1.63965506e-02 -9.81964357e-03 2.14381842e+02] [ 1.63966650e-02 9.99865563e-01 -6.88638280e-05 1.02733161e+00] [ 9.81945258e-03 -9.21581564e-05 9.99951784e-01 9.16212611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.679254154 meters 0.014194846271730802 Centerline is valid? [True, True] Translation: X:214.44, Y:1.03, Z:0.92 [[ 9.99898262e-01 -1.09621628e-02 -9.12670891e-03 2.14442331e+02] [ 1.09620359e-02 9.99939913e-01 -6.39322751e-05 1.03035023e+00] [ 9.12686134e-03 -3.61215396e-05 9.99958349e-01 9.17407464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.739254154 meters 0.01418132490981286 Centerline is valid? [True, True] Translation: X:214.50, Y:1.03, Z:0.92 [[ 9.99897114e-01 -1.01592303e-02 -1.01267211e-02 2.14502000e+02] [ 1.01590307e-02 9.99948393e-01 -7.11497911e-05 1.02794510e+00] [ 1.01269213e-02 -3.17351992e-05 9.99948721e-01 9.16417074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.799254154 meters 0.0142011295856003 Centerline is valid? [True, True] Translation: X:214.56, Y:1.03, Z:0.91 [[ 9.99854932e-01 -1.20190628e-02 -1.20688634e-02 2.14560659e+02] [ 1.20189074e-02 9.99927767e-01 -8.54095430e-05 1.02527165e+00] [ 1.20690182e-02 -5.96573992e-05 9.99927165e-01 9.14931648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.859254154 meters 0.014759260600646518 Centerline is valid? [True, True] Translation: X:214.62, Y:1.02, Z:0.91 [[ 9.99755412e-01 -1.73162658e-02 -1.37573262e-02 2.14619248e+02] [ 1.73165522e-02 9.99850052e-01 -9.83093856e-05 1.01966910e+00] [ 1.37569657e-02 -1.39944117e-04 9.99905359e-01 9.13982749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.91925415400001 meters 0.015946765519670718 Centerline is valid? [True, True] Translation: X:214.68, Y:1.01, Z:0.91 [[ 9.99625588e-01 -2.38015289e-02 -1.34970788e-02 2.14677328e+02] [ 2.38023826e-02 9.99716678e-01 -9.74085034e-05 1.01268093e+00] [ 1.34955732e-02 -2.23890601e-04 9.99908906e-01 9.13345497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.979254154 meters 0.017386481788872934 Centerline is valid? [True, True] Translation: X:214.74, Y:1.01, Z:0.91 [[ 9.99514086e-01 -2.84601405e-02 -1.27126465e-02 2.14738150e+02] [ 2.84612707e-02 9.99594892e-01 -9.20420086e-05 1.00860917e+00] [ 1.27101160e-02 -2.69820789e-04 9.99919187e-01 9.14546354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.039254154 meters 0.020560699008230918 Centerline is valid? [True, True] Translation: X:214.80, Y:1.00, Z:0.92 [[ 9.99243151e-01 -3.72803772e-02 -1.11039643e-02 2.14799395e+02] [ 3.72817858e-02 9.99304789e-01 -8.01834114e-05 1.00128443e+00] [ 1.10992339e-02 -3.33852893e-04 9.99938346e-01 9.15824064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.099254154 meters 0.024067556698530918 Centerline is valid? [True, True] Translation: X:214.86, Y:0.99, Z:0.92 [[ 9.98924080e-01 -4.51298977e-02 -1.06759063e-02 2.14859528e+02] [ 4.51316491e-02 9.98981045e-01 -7.69388065e-05 9.94776060e-01] [ 1.06685003e-02 -4.04965231e-04 9.99943008e-01 9.16436033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.159254154 meters 0.02428996169495016 Centerline is valid? [True, True] Translation: X:214.92, Y:0.99, Z:0.92 [[ 9.98714175e-01 -4.94961470e-02 -1.09603188e-02 2.14921054e+02] [ 4.94982580e-02 9.98774207e-01 -7.87397161e-05 9.94516403e-01] [ 1.09507810e-02 -4.63878217e-04 9.99939931e-01 9.17176009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.219254154 meters 0.028685866660639475 Centerline is valid? [True, True] Translation: X:214.98, Y:0.99, Z:0.92 [[ 9.98078820e-01 -6.09385947e-02 -1.11873359e-02 2.14981576e+02] [ 6.09415128e-02 9.98141335e-01 -8.01874776e-05 9.88591474e-01] [ 1.11714289e-02 -6.01739751e-04 9.99937417e-01 9.17038299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.279254154 meters 0.03162337478329441 Centerline is valid? [True, True] Translation: X:215.04, Y:0.98, Z:0.92 [[ 9.97516127e-01 -6.95776406e-02 -1.09785284e-02 2.15042232e+02] [ 6.95809721e-02 9.97576304e-01 -7.86753747e-05 9.84074027e-01] [ 1.09573938e-02 -6.85416722e-04 9.99939731e-01 9.17285216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.339254154 meters 0.03314535149424365 Centerline is valid? [True, True] Translation: X:215.10, Y:0.98, Z:0.92 [[ 9.97331370e-01 -7.21864297e-02 -1.09205240e-02 2.15103454e+02] [ 7.21898844e-02 9.97390904e-01 -7.80208907e-05 9.82629650e-01] [ 1.08976634e-02 -7.10538684e-04 9.99940366e-01 9.17736454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.399254154 meters 0.03345255723321189 Centerline is valid? [True, True] Translation: X:215.17, Y:0.99, Z:0.92 [[ 9.97415160e-01 -7.07930749e-02 -1.23019934e-02 2.15166189e+02] [ 7.07973646e-02 9.97490715e-01 -8.69920078e-05 9.85528861e-01] [ 1.22772826e-02 -7.84181566e-04 9.99924324e-01 9.15553365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.459254154 meters 0.030266608355946033 Centerline is valid? [True, True] Translation: X:215.23, Y:0.99, Z:0.92 [[ 9.97605051e-01 -6.80001349e-02 -1.26548118e-02 2.15226968e+02] [ 6.80044574e-02 9.97685013e-01 -8.89235617e-05 9.92595831e-01] [ 1.26315629e-02 -7.71873016e-04 9.99919921e-01 9.16243267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.519254154 meters 0.029443497242635047 Centerline is valid? [True, True] Translation: X:215.29, Y:1.00, Z:0.92 [[ 9.98123596e-01 -6.00644523e-02 -1.18974476e-02 2.15286566e+02] [ 6.00677114e-02 9.98194301e-01 -8.35381981e-05 1.00198773e+00] [ 1.18809821e-02 -6.31271003e-04 9.99929219e-01 9.17386003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.579254154 meters 0.025239247085586475 Centerline is valid? [True, True] Translation: X:215.35, Y:1.01, Z:0.92 [[ 9.98475797e-01 -5.41292268e-02 -1.07754098e-02 2.15347248e+02] [ 5.41315552e-02 9.98533810e-01 -7.56606879e-05 1.01371063e+00] [ 1.07637065e-02 -5.07744327e-04 9.99941941e-01 9.19064165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.639254154 meters 0.02355807635781703 Centerline is valid? [True, True] Translation: X:215.41, Y:1.02, Z:0.92 [[ 9.98896875e-01 -4.58284245e-02 -1.02365871e-02 2.15406602e+02] [ 4.58300895e-02 9.98949247e-01 -7.19844143e-05 1.02328270e+00] [ 1.02291299e-02 -3.97238697e-04 9.99947602e-01 9.18991704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.699254154 meters 0.02053665872850502 Centerline is valid? [True, True] Translation: X:215.47, Y:1.04, Z:0.92 [[ 9.99216953e-01 -3.81582273e-02 -1.04608740e-02 2.15466778e+02] [ 3.81595457e-02 9.99271657e-01 -7.36094214e-05 1.03718281e+00] [ 1.04560637e-02 -3.25630417e-04 9.99945281e-01 9.17914774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.759254154 meters 0.01815043307741175 Centerline is valid? [True, True] Translation: X:215.53, Y:1.04, Z:0.92 [[ 9.99367731e-01 -3.40656486e-02 -1.01818846e-02 2.15527764e+02] [ 3.40666878e-02 9.99419559e-01 -7.14038797e-05 1.04460628e+00] [ 1.01784071e-02 -2.75504352e-04 9.99948161e-01 9.18850091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.819254154 meters 0.017047585813289426 Centerline is valid? [True, True] Translation: X:215.59, Y:1.05, Z:0.92 [[ 9.99583140e-01 -2.65194197e-02 -1.14134232e-02 2.15587864e+02] [ 2.65202447e-02 9.99648273e-01 -7.90901144e-05 1.05288597e+00] [ 1.14115062e-02 -2.23629631e-04 9.99934862e-01 9.17776050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.879254154 meters 0.015783386338170464 Centerline is valid? [True, True] Translation: X:215.65, Y:1.06, Z:0.92 [[ 9.99713539e-01 -2.11463636e-02 -1.12103001e-02 2.15649388e+02] [ 2.11468297e-02 9.99776378e-01 -7.69654787e-05 1.06063320e+00] [ 1.12094208e-02 -1.60118876e-04 9.99937160e-01 9.18620476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.939254154 meters 0.014706323024241961 Centerline is valid? [True, True] Translation: X:215.71, Y:1.07, Z:0.92 [[ 9.99868565e-01 -1.34269397e-02 -9.08681092e-03 2.15710380e+02] [ 1.34269299e-02 9.99909853e-01 -6.20896254e-05 1.07061392e+00] [ 9.08682544e-03 -5.99265081e-05 9.99958712e-01 9.20585905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.999254154 meters 0.016091717552788386 Centerline is valid? [True, True] Translation: X:215.77, Y:1.08, Z:0.92 [[ 9.99915947e-01 -9.82744164e-03 -8.45697581e-03 2.15770904e+02] [ 9.82730564e-03 9.99951709e-01 -5.76385910e-05 1.07522654e+00] [ 8.45713386e-03 -2.54755398e-05 9.99964237e-01 9.20000363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.059254154 meters 0.014341108005024543 Centerline is valid? [True, True] Translation: X:215.83, Y:1.08, Z:0.92 [[ 9.99918599e-01 -1.02597791e-02 -7.58498507e-03 2.15830767e+02] [ 1.02596812e-02 9.99947367e-01 -5.18117456e-05 1.07870618e+00] [ 7.58511742e-03 -2.60120006e-05 9.99971232e-01 9.21361523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.119254154 meters 0.014371216826895922 Centerline is valid? [True, True] Translation: X:215.89, Y:1.08, Z:0.92 [[ 9.99882805e-01 -1.32938858e-02 -7.59263351e-03 2.15891172e+02] [ 1.32938740e-02 9.99911631e-01 -5.20248238e-05 1.07862813e+00] [ 7.59265417e-03 -4.89167861e-05 9.99971174e-01 9.21827989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.179254154 meters 0.01540950606652964 Centerline is valid? [True, True] Translation: X:215.95, Y:1.07, Z:0.92 [[ 9.99721647e-01 -2.20631708e-02 -8.35732078e-03 2.15952133e+02] [ 2.20634635e-02 9.99756571e-01 -5.71911086e-05 1.07426605e+00] [ 8.35654818e-03 -1.27216252e-04 9.99965075e-01 9.21538832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.239254154 meters 0.01778545047878926 Centerline is valid? [True, True] Translation: X:216.01, Y:1.07, Z:0.92 [[ 9.99430622e-01 -3.27317810e-02 -8.18910562e-03 2.16011726e+02] [ 3.27324205e-02 9.99464149e-01 -5.59599923e-05 1.06619511e+00] [ 8.18654915e-03 -2.12121119e-04 9.99966467e-01 9.21291358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.299254154 meters 0.021801737866703967 Centerline is valid? [True, True] Translation: X:216.07, Y:1.06, Z:0.92 [[ 9.99254992e-01 -3.77050635e-02 -8.23344998e-03 2.16072668e+02] [ 3.77058791e-02 9.99288879e-01 -5.61937497e-05 1.06094768e+00] [ 8.22971379e-03 -2.54297585e-04 9.99966103e-01 9.19560558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.359254154 meters 0.022865123420570153 Centerline is valid? [True, True] Translation: X:216.13, Y:1.05, Z:0.92 [[ 9.98971891e-01 -4.47682860e-02 -7.13877493e-03 2.16132299e+02] [ 4.47690795e-02 9.98997361e-01 -4.86891134e-05 1.05497919e+00] [ 7.13379705e-03 -2.70957327e-04 9.99974517e-01 9.21007815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.41925415400001 meters 0.025450419072178897 Centerline is valid? [True, True] Translation: X:216.19, Y:1.05, Z:0.92 [[ 9.98788098e-01 -4.87641341e-02 -6.66294514e-03 2.16192858e+02] [ 4.87649140e-02 9.98810283e-01 -4.54575826e-05 1.05091820e+00] [ 6.65723482e-03 -2.79515455e-04 9.99977801e-01 9.21153232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.479254154 meters 0.02718653387351797 Centerline is valid? [True, True] Translation: X:216.25, Y:1.05, Z:0.92 [[ 9.98501362e-01 -5.42714067e-02 -7.04586787e-03 2.16253843e+02] [ 5.42724164e-02 9.98526165e-01 -4.79636868e-05 1.04849544e+00] [ 7.03808648e-03 -3.34504468e-04 9.99975176e-01 9.21409011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.539254154 meters 0.02683282189575965 Centerline is valid? [True, True] Translation: X:216.32, Y:1.05, Z:0.92 [[ 9.98283762e-01 -5.80634578e-02 -7.62657927e-03 2.16315146e+02] [ 5.80647523e-02 9.98312818e-01 -5.17539945e-05 1.04827854e+00] [ 7.61671685e-03 -3.91170264e-04 9.99970916e-01 9.20748044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.599254154 meters 0.028385302508130865 Centerline is valid? [True, True] Translation: X:216.38, Y:1.05, Z:0.92 [[ 9.98087496e-01 -6.12621143e-02 -8.26462492e-03 2.16376567e+02] [ 6.12637464e-02 9.98121611e-01 -5.57682940e-05 1.04590778e+00] [ 8.25251723e-03 -4.50660249e-04 9.99965846e-01 9.19699036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.659254154 meters 0.03042541983313323 Centerline is valid? [True, True] Translation: X:216.44, Y:1.04, Z:0.92 [[ 9.97937354e-01 -6.36149720e-02 -8.61240660e-03 2.16437001e+02] [ 6.36168339e-02 9.97974396e-01 -5.78715531e-05 1.04414930e+00] [ 8.59864277e-03 -4.90141855e-04 9.99962911e-01 9.18329487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.719254154 meters 0.029442065505211494 Centerline is valid? [True, True] Translation: X:216.50, Y:1.05, Z:0.92 [[ 9.97926522e-01 -6.37109929e-02 -9.14140001e-03 2.16498943e+02] [ 6.37130984e-02 9.97968255e-01 -6.09952633e-05 1.04743831e+00] [ 9.12671309e-03 -5.21558128e-04 9.99958215e-01 9.18581467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.779254154 meters 0.03092223111048881 Centerline is valid? [True, True] Translation: X:216.56, Y:1.05, Z:0.92 [[ 9.97984595e-01 -6.26710266e-02 -9.95446000e-03 2.16560009e+02] [ 6.26734784e-02 9.98034083e-01 -6.57689854e-05 1.04849918e+00] [ 9.93901217e-03 -5.58244199e-04 9.99950451e-01 9.16897743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.839254154 meters 0.030969469908056702 Centerline is valid? [True, True] Translation: X:216.62, Y:1.05, Z:0.92 [[ 9.97973396e-01 -6.28925875e-02 -9.67589822e-03 2.16621785e+02] [ 6.28949202e-02 9.98020153e-01 -6.33210234e-05 1.04946001e+00] [ 9.66072385e-03 -5.45372150e-04 9.99953185e-01 9.17857923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.899254154 meters 0.03180630840350539 Centerline is valid? [True, True] Translation: X:216.68, Y:1.05, Z:0.92 [[ 9.98038926e-01 -6.19695888e-02 -8.83587672e-03 2.16684330e+02] [ 6.19715033e-02 9.98077918e-01 -5.72265869e-05 1.05106317e+00] [ 8.82243974e-03 -4.90458201e-04 9.99960961e-01 9.18616577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.959254154 meters 0.03026698076030857 Centerline is valid? [True, True] Translation: X:216.75, Y:1.06, Z:0.92 [[ 9.98141403e-01 -6.04997513e-02 -7.31568180e-03 2.16745392e+02] [ 6.05010268e-02 9.98168134e-01 -4.70212862e-05 1.05644285e+00] [ 7.30512523e-03 -3.95672368e-04 9.99973239e-01 9.20509416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.019254154 meters 0.027318086002754868 Centerline is valid? [True, True] Translation: X:216.81, Y:1.06, Z:0.92 [[ 9.98406492e-01 -5.61685761e-02 -5.43759681e-03 2.16806167e+02] [ 5.61692174e-02 9.98421263e-01 -3.48143721e-05 1.06440554e+00] [ 5.43096775e-03 -2.70666662e-04 9.99985216e-01 9.22606388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.079254154 meters 0.02710809949793837 Centerline is valid? [True, True] Translation: X:216.87, Y:1.07, Z:0.92 [[ 9.98498639e-01 -5.45402375e-02 -5.08239683e-03 2.16868869e+02] [ 5.45407774e-02 9.98511544e-01 -3.24051704e-05 1.06596555e+00] [ 5.07659929e-03 -2.44841356e-04 9.99987084e-01 9.22802112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.139254154 meters 0.02647047080824843 Centerline is valid? [True, True] Translation: X:216.93, Y:1.07, Z:0.92 [[ 9.98679677e-01 -5.10132716e-02 -6.04556338e-03 2.16930704e+02] [ 5.10139744e-02 9.98697939e-01 -3.79927497e-05 1.06922402e+00] [ 6.03962982e-03 -2.70465629e-04 9.99981725e-01 9.21414788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.199254154 meters 0.026455078463053713 Centerline is valid? [True, True] Translation: X:216.99, Y:1.07, Z:0.92 [[ 9.98726371e-01 -4.99577263e-02 -7.06128307e-03 2.16992565e+02] [ 4.99586620e-02 9.98751285e-01 -4.39225409e-05 1.07075903e+00] [ 7.05465981e-03 -3.08905654e-04 9.99975068e-01 9.20688827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.259254154 meters 0.02359894987795828 Centerline is valid? [True, True] Translation: X:217.05, Y:1.08, Z:0.92 [[ 9.98733724e-01 -4.93338758e-02 -9.85484739e-03 2.17054734e+02] [ 4.93356763e-02 9.98782252e-01 -6.04715136e-05 1.07612779e+00] [ 9.84582997e-03 -4.25800621e-04 9.99951438e-01 9.19649360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.319254154 meters 0.02326980798083427 Centerline is valid? [True, True] Translation: X:217.12, Y:1.08, Z:0.92 [[ 9.98819809e-01 -4.74255081e-02 -1.04790225e-02 2.17117241e+02] [ 4.74274472e-02 9.98874683e-01 -6.35182907e-05 1.07778537e+00] [ 1.04702426e-02 -4.33549958e-04 9.99945092e-01 9.19685453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.379254154 meters 0.022231692989725084 Centerline is valid? [True, True] Translation: X:217.18, Y:1.08, Z:0.92 [[ 9.99049660e-01 -4.24744717e-02 -9.78247000e-03 2.17176553e+02] [ 4.24759265e-02 9.99097489e-01 -5.90935926e-05 1.08176249e+00] [ 9.77615118e-03 -3.56482043e-04 9.99952149e-01 9.20260892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.439254154 meters 0.020006941456338335 Centerline is valid? [True, True] Translation: X:217.24, Y:1.09, Z:0.92 [[ 9.99256072e-01 -3.75460346e-02 -8.80898472e-03 2.17237156e+02] [ 3.75470231e-02 9.99294861e-01 -5.32045709e-05 1.08834514e+00] [ 8.80477078e-03 -2.77586162e-04 9.99961199e-01 9.21803798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.499254154 meters 0.018327451170883777 Centerline is valid? [True, True] Translation: X:217.30, Y:1.09, Z:0.92 [[ 9.99353237e-01 -3.51180590e-02 -7.73499320e-03 2.17299428e+02] [ 3.51187509e-02 9.99383145e-01 -4.64017603e-05 1.09267549e+00] [ 7.73185138e-03 -2.25271550e-04 9.99970083e-01 9.23258243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.559254154 meters 0.018708312989081627 Centerline is valid? [True, True] Translation: X:217.36, Y:1.09, Z:0.92 [[ 9.99407751e-01 -3.36033095e-02 -7.41380708e-03 2.17360194e+02] [ 3.36039070e-02 9.99435228e-01 -4.39977405e-05 1.09322342e+00] [ 7.41109844e-03 -2.05161201e-04 9.99972516e-01 9.23219824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.619254154 meters 0.018262360294794215 Centerline is valid? [True, True] Translation: X:217.42, Y:1.10, Z:0.92 [[ 9.99354069e-01 -3.48763142e-02 -8.66532361e-03 2.17422134e+02] [ 3.48771834e-02 9.99391605e-01 -5.08268753e-05 1.09514975e+00] [ 8.66182432e-03 -2.51428036e-04 9.99962454e-01 9.22402573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.679254154 meters 0.02026667572243418 Centerline is valid? [True, True] Translation: X:217.48, Y:1.09, Z:0.92 [[ 9.99129653e-01 -4.02262427e-02 -1.10356654e-02 2.17483651e+02] [ 4.02279858e-02 9.99190525e-01 -6.40719028e-05 1.09198464e+00] [ 1.10293096e-02 -3.79926451e-04 9.99939103e-01 9.20254883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.739254154 meters 0.021041180013099983 Centerline is valid? [True, True] Translation: X:217.54, Y:1.09, Z:0.92 [[ 9.98907188e-01 -4.51280453e-02 -1.21609884e-02 2.17544523e+02] [ 4.51305286e-02 9.98981096e-01 -7.02837602e-05 1.09029346e+00] [ 1.21517692e-02 -4.78624880e-04 9.99926050e-01 9.19604125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.799254154 meters 0.026324177787952117 Centerline is valid? [True, True] Translation: X:217.60, Y:1.08, Z:0.92 [[ 9.98631659e-01 -5.08093700e-02 -1.23781480e-02 2.17604710e+02] [ 5.08123801e-02 9.98708214e-01 -7.13975429e-05 1.08107106e+00] [ 1.23657858e-02 -5.57663317e-04 9.99923385e-01 9.19002012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.859254154 meters 0.024852965649611085 Centerline is valid? [True, True] Translation: X:217.67, Y:1.08, Z:0.92 [[ 9.98691984e-01 -4.94925058e-02 -1.28379857e-02 2.17666889e+02] [ 4.94956434e-02 9.98774337e-01 -7.34050230e-05 1.08356838e+00] [ 1.28258837e-02 -5.62115355e-04 9.99917587e-01 9.19273155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.91925415400001 meters 0.02373143346161175 Centerline is valid? [True, True] Translation: X:217.73, Y:1.09, Z:0.92 [[ 9.98739380e-01 -4.85432652e-02 -1.27750900e-02 2.17729578e+02] [ 4.85463084e-02 9.98820930e-01 -7.19661737e-05 1.08521789e+00] [ 1.27635208e-02 -5.48308010e-04 9.99918393e-01 9.21137492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.979254154 meters 0.025065142703741772 Centerline is valid? [True, True] Translation: X:217.79, Y:1.08, Z:0.92 [[ 9.98759387e-01 -4.81675688e-02 -1.26322036e-02 2.17790885e+02] [ 4.81705248e-02 9.98839124e-01 -7.03240079e-05 1.08381682e+00] [ 1.26209265e-02 -5.38263115e-04 9.99920208e-01 9.22016694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.039254154 meters 0.025565786712290664 Centerline is valid? [True, True] Translation: X:217.85, Y:1.08, Z:0.92 [[ 9.98755383e-01 -4.81911681e-02 -1.28567895e-02 2.17852590e+02] [ 4.81942410e-02 9.98837980e-01 -7.08898728e-05 1.08242468e+00] [ 1.28452659e-02 -5.48821569e-04 9.99917346e-01 9.22016901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.099254154 meters 0.025609844149195454 Centerline is valid? [True, True] Translation: X:217.92, Y:1.08, Z:0.92 [[ 9.98754908e-01 -4.77301872e-02 -1.45073115e-02 2.17916123e+02] [ 4.77340704e-02 9.98860076e-01 -7.86701667e-05 1.08356333e+00] [ 1.44945292e-02 -6.13920814e-04 9.99894760e-01 9.22259658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.159254154 meters 0.022178266430717995 Centerline is valid? [True, True] Translation: X:217.98, Y:1.09, Z:0.92 [[ 9.98801194e-01 -4.65520952e-02 -1.51352711e-02 2.17977874e+02] [ 4.65562062e-02 9.98915669e-01 -8.07990276e-05 1.09040129e+00] [ 1.51226208e-02 -6.23938636e-04 9.99885452e-01 9.24670123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.219254154 meters 0.025054011212977328 Centerline is valid? [True, True] Translation: X:218.04, Y:1.09, Z:0.92 [[ 9.98922030e-01 -4.35162129e-02 -1.61591453e-02 2.18038409e+02] [ 4.35205116e-02 9.99052530e-01 -8.57004028e-05 1.08884586e+00] [ 1.61475643e-02 -6.17646249e-04 9.99869429e-01 9.23851739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.279254154 meters 0.02193684015842677 Centerline is valid? [True, True] Translation: X:218.10, Y:1.10, Z:0.93 [[ 9.99032764e-01 -4.08622392e-02 -1.62423296e-02 2.18100042e+02] [ 4.08662436e-02 9.99164622e-01 -8.54232342e-05 1.09529272e+00] [ 1.62322517e-02 -5.78422387e-04 9.99868081e-01 9.25823531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.339254154 meters 0.01905284486752851 Centerline is valid? [True, True] Translation: X:218.16, Y:1.10, Z:0.93 [[ 9.99171019e-01 -3.70952418e-02 -1.67695311e-02 2.18161400e+02] [ 3.70989924e-02 9.99311592e-01 -8.74899649e-05 1.10184707e+00] [ 1.67612323e-02 -5.34715269e-04 9.99859378e-01 9.28852987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.399254154 meters 0.019090305784531067 Centerline is valid? [True, True] Translation: X:218.22, Y:1.10, Z:0.93 [[ 9.99283092e-01 -3.38970121e-02 -1.68610630e-02 2.18222082e+02] [ 3.39003593e-02 9.99425214e-01 -8.73460792e-05 1.10364796e+00] [ 1.68543322e-02 -4.84312633e-04 9.99857838e-01 9.29372215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.459254154 meters 0.018384035061865284 Centerline is valid? [True, True] Translation: X:218.28, Y:1.11, Z:0.93 [[ 9.99328264e-01 -3.27537404e-02 -1.64381620e-02 2.18284166e+02] [ 3.27567844e-02 9.99463349e-01 -8.41132640e-05 1.10521316e+00] [ 1.64320955e-02 -4.54404567e-04 9.99864881e-01 9.31048212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.519254154 meters 0.018765532712833613 Centerline is valid? [True, True] Translation: X:218.35, Y:1.10, Z:0.93 [[ 9.99341804e-01 -3.24893664e-02 -1.61368856e-02 2.18345386e+02] [ 3.24922807e-02 9.99471983e-01 -8.16162012e-05 1.10364232e+00] [ 1.61310167e-02 -4.42761736e-04 9.99869789e-01 9.32568620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.579254154 meters 0.01937874360479329 Centerline is valid? [True, True] Translation: X:218.41, Y:1.10, Z:0.93 [[ 9.99305030e-01 -3.34404966e-02 -1.64678812e-02 2.18407416e+02] [ 3.34436791e-02 9.99440600e-01 -8.21762842e-05 1.10193098e+00] [ 1.64614171e-02 -4.68627360e-04 9.99864392e-01 9.33324132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.639254154 meters 0.02025387780903342 Centerline is valid? [True, True] Translation: X:218.47, Y:1.10, Z:0.93 [[ 9.99207837e-01 -3.55579356e-02 -1.78698293e-02 2.18469908e+02] [ 3.55620448e-02 9.99367467e-01 -8.78660324e-05 1.09805691e+00] [ 1.78616504e-02 -5.47691243e-04 9.99840318e-01 9.33301749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.699254154 meters 0.020350764183378542 Centerline is valid? [True, True] Translation: X:218.53, Y:1.10, Z:0.93 [[ 9.99143764e-01 -3.66638240e-02 -1.91703598e-02 2.18532261e+02] [ 3.66687834e-02 9.99327470e-01 -9.28584032e-05 1.09615093e+00] [ 1.91608717e-02 -6.10174879e-04 9.99816227e-01 9.34162557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.759254154 meters 0.01969872592773863 Centerline is valid? [True, True] Translation: X:218.59, Y:1.10, Z:0.94 [[ 9.99166920e-01 -3.60410867e-02 -1.91443253e-02 2.18594061e+02] [ 3.60459453e-02 9.99350130e-01 -9.13309825e-05 1.09591853e+00] [ 1.91351756e-02 -5.98820406e-04 9.99816726e-01 9.36719655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.819254154 meters 0.019037037826551226 Centerline is valid? [True, True] Translation: X:218.65, Y:1.10, Z:0.94 [[ 9.99365032e-01 -3.10961151e-02 -1.73943636e-02 2.18654196e+02] [ 3.10993825e-02 9.99516294e-01 -8.26884222e-05 1.09597718e+00] [ 1.73885211e-02 -4.58318050e-04 9.99848703e-01 9.38855491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.879254154 meters 0.017385960842379884 Centerline is valid? [True, True] Translation: X:218.72, Y:1.10, Z:0.94 [[ 9.99526090e-01 -2.61951472e-02 -1.61681631e-02 2.18715226e+02] [ 2.61973362e-02 9.99656788e-01 -7.64250600e-05 1.09876401e+00] [ 1.61646159e-02 -3.47173962e-04 9.99869284e-01 9.40835711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.939254154 meters 0.0161538802815318 Centerline is valid? [True, True] Translation: X:218.78, Y:1.10, Z:0.94 [[ 9.99710226e-01 -1.84625498e-02 -1.54466527e-02 2.18776317e+02] [ 1.84636279e-02 9.99829530e-01 -7.28243610e-05 1.10051229e+00] [ 1.54453640e-02 -2.12397989e-04 9.99880691e-01 9.41279635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.999254154 meters 0.01600907880991584 Centerline is valid? [True, True] Translation: X:218.84, Y:1.10, Z:0.94 [[ 9.99743440e-01 -1.61686707e-02 -1.58628182e-02 2.18835926e+02] [ 1.61695125e-02 9.99869262e-01 -7.51924528e-05 1.10092709e+00] [ 1.58619601e-02 -1.81320877e-04 9.99874175e-01 9.41151484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.059254154 meters 0.01576208394247057 Centerline is valid? [True, True] Translation: X:218.89, Y:1.10, Z:0.94 [[ 9.99791623e-01 -1.13556383e-02 -1.69635167e-02 2.18894264e+02] [ 1.13558506e-02 9.99935517e-01 -8.38118995e-05 1.09894578e+00] [ 1.69633746e-02 -1.08840727e-04 9.99856106e-01 9.38909371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.119254154 meters 0.015703477896882 Centerline is valid? [True, True] Translation: X:218.95, Y:1.09, Z:0.94 [[ 9.99790378e-01 -9.90383604e-03 -1.79196296e-02 2.18951968e+02] [ 9.90374769e-03 9.99950952e-01 -9.36754600e-05 1.09391776e+00] [ 1.79196784e-02 -8.38156665e-05 9.99839426e-01 9.36892353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.179254154 meters 0.015775962090033402 Centerline is valid? [True, True] Translation: X:219.01, Y:1.09, Z:0.94 [[ 9.99784752e-01 -1.03600237e-02 -1.79755381e-02 2.19010052e+02] [ 1.03599147e-02 9.99946330e-01 -9.91853916e-05 1.08976835e+00] [ 1.79756009e-02 -8.70609985e-05 9.99838422e-01 9.36624736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.239254154 meters 0.015616797404553821 Centerline is valid? [True, True] Translation: X:219.07, Y:1.08, Z:0.94 [[ 9.99793372e-01 -1.31186596e-02 -1.55278264e-02 2.19067629e+02] [ 1.31188784e-02 9.99913940e-01 -8.77679172e-05 1.08115011e+00] [ 1.55276414e-02 -1.15957885e-04 9.99879432e-01 9.36336018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.299254154 meters 0.015626465786056185 Centerline is valid? [True, True] Translation: X:219.13, Y:1.07, Z:0.94 [[ 9.99767751e-01 -1.64788060e-02 -1.38885815e-02 2.19126635e+02] [ 1.64792676e-02 9.99864204e-01 -8.12119219e-05 1.07434035e+00] [ 1.38880338e-02 -1.47680590e-04 9.99903546e-01 9.36788039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.359254154 meters 0.016231709124549167 Centerline is valid? [True, True] Translation: X:219.19, Y:1.06, Z:0.94 [[ 9.99662361e-01 -2.33387770e-02 -1.14221701e-02 2.19185753e+02] [ 2.33395221e-02 9.99727594e-01 -6.80799783e-05 1.06470381e+00] [ 1.14206475e-02 -1.98530999e-04 9.99934763e-01 9.37626227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.41925415400001 meters 0.019468365827581564 Centerline is valid? [True, True] Translation: X:219.25, Y:1.05, Z:0.94 [[ 9.99382567e-01 -3.37712253e-02 -9.69480480e-03 2.19247058e+02] [ 3.37722514e-02 9.99429553e-01 -5.78929067e-05 1.05246208e+00] [ 9.69122954e-03 -2.69558223e-04 9.99953003e-01 9.36231139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.479254154 meters 0.021777026187691673 Centerline is valid? [True, True] Translation: X:219.31, Y:1.04, Z:0.94 [[ 9.99072118e-01 -4.22287781e-02 -8.46369496e-03 2.19306487e+02] [ 4.22298634e-02 9.99107920e-01 -5.05285082e-05 1.04220425e+00] [ 8.45827842e-03 -3.06939058e-04 9.99964181e-01 9.37161016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.539254154 meters 0.02362855866081267 Centerline is valid? [True, True] Translation: X:219.37, Y:1.04, Z:0.94 [[ 9.98722805e-01 -5.00311271e-02 -7.04587011e-03 2.19367243e+02] [ 5.00320727e-02 9.98747611e-01 -4.21080671e-05 1.03519331e+00] [ 7.03915265e-03 -3.10465198e-04 9.99975177e-01 9.37990669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.599254154 meters 0.028957580393458845 Centerline is valid? [True, True] Translation: X:219.43, Y:1.02, Z:0.94 [[ 9.98307363e-01 -5.78120200e-02 -6.33875068e-03 2.19427260e+02] [ 5.78129423e-02 9.98327432e-01 -3.77895915e-05 1.02350549e+00] [ 6.33033338e-03 -3.28736200e-04 9.99979909e-01 9.36073166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.659254154 meters 0.03053606446484658 Centerline is valid? [True, True] Translation: X:219.49, Y:1.02, Z:0.94 [[ 9.98072468e-01 -6.17391521e-02 -6.29487599e-03 2.19487961e+02] [ 6.17401409e-02 9.98092257e-01 -3.73162348e-05 1.01701739e+00] [ 6.28517085e-03 -3.51402224e-04 9.99980186e-01 9.36120413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.719254154 meters 0.029393603966850406 Centerline is valid? [True, True] Translation: X:219.55, Y:1.02, Z:0.94 [[ 9.98059534e-01 -6.18941935e-02 -6.80266505e-03 2.19550447e+02] [ 6.18953535e-02 9.98082644e-01 -4.00661901e-05 1.01809643e+00] [ 6.79210178e-03 -3.81064915e-04 9.99976861e-01 9.35622691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.779254154 meters 0.029308943211478398 Centerline is valid? [True, True] Translation: X:219.61, Y:1.02, Z:0.94 [[ 9.98277857e-01 -5.82556351e-02 -6.89940400e-03 2.19610061e+02] [ 5.82567439e-02 9.98301633e-01 -4.03102429e-05 1.01903111e+00] [ 6.89003457e-03 -3.61695989e-04 9.99976198e-01 9.35254281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.839254154 meters 0.026775290864163415 Centerline is valid? [True, True] Translation: X:219.67, Y:1.03, Z:0.94 [[ 9.98667793e-01 -5.13251702e-02 -5.32596659e-03 2.19670914e+02] [ 5.13257327e-02 9.98681965e-01 -3.11014639e-05 1.02528525e+00] [ 5.32054307e-03 -2.42299107e-04 9.99985816e-01 9.36133039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.899254154 meters 0.025092495369237043 Centerline is valid? [True, True] Translation: X:219.73, Y:1.03, Z:0.94 [[ 9.98965630e-01 -4.52014484e-02 -4.94957365e-03 2.19730614e+02] [ 4.52018594e-02 9.98977873e-01 -2.88407904e-05 1.03035403e+00] [ 4.94581820e-03 -1.94918974e-04 9.99987750e-01 9.36779343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.959254154 meters 0.018631294834577063 Centerline is valid? [True, True] Translation: X:219.79, Y:1.05, Z:0.94 [[ 9.99400799e-01 -3.43703185e-02 -4.08951806e-03 2.19791341e+02] [ 3.43705083e-02 9.99409159e-01 -2.38807861e-05 1.04592675e+00] [ 4.08792260e-03 -1.16692338e-04 9.99991638e-01 9.37078108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.019254154 meters 0.015391024116227413 Centerline is valid? [True, True] Translation: X:219.85, Y:1.06, Z:0.94 [[ 9.99765839e-01 -2.14237113e-02 -3.04839732e-03 2.19852043e+02] [ 2.14237566e-02 9.99770485e-01 -1.77879724e-05 1.05794772e+00] [ 3.04807875e-03 -4.75243151e-05 9.99995353e-01 9.36748322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.079254154 meters 0.014531731635267392 Centerline is valid? [True, True] Translation: X:219.91, Y:1.07, Z:0.94 [[ 9.99921327e-01 -1.21612253e-02 -3.07313457e-03 2.19913120e+02] [ 1.21612276e-02 9.99926049e-01 -1.79631194e-05 1.06534200e+00] [ 3.07312576e-03 -1.94113825e-05 9.99995278e-01 9.37066969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.139254154 meters 0.014529150471525594 Centerline is valid? [True, True] Translation: X:219.97, Y:1.07, Z:0.94 [[ 9.99996480e-01 8.10040676e-04 -2.52667479e-03 2.19974772e+02] [-8.10080590e-04 9.99999672e-01 -1.47736025e-05 1.07473857e+00] [ 2.52666199e-03 1.68203607e-05 9.99996808e-01 9.38272512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.199254154 meters 0.015038393384498935 Centerline is valid? [True, True] Translation: X:220.03, Y:1.08, Z:0.94 [[ 9.99975420e-01 6.83940548e-03 -1.54348803e-03 2.20034093e+02] [-6.83942709e-03 9.99976611e-01 -8.72080201e-06 1.07829383e+00] [ 1.54339229e-03 1.92771615e-05 9.99998809e-01 9.38981984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.259254154 meters 0.015552321741919404 Centerline is valid? [True, True] Translation: X:220.09, Y:1.08, Z:0.94 [[ 9.99947709e-01 1.01488427e-02 -1.25680423e-03 2.20092789e+02] [-1.01488587e-02 9.99948499e-01 -6.42699316e-06 1.07847110e+00] [ 1.25667428e-03 1.91817857e-05 9.99999210e-01 9.39443186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.319254154 meters 0.014922051745302943 Centerline is valid? [True, True] Translation: X:220.15, Y:1.07, Z:0.94 [[ 9.99977879e-01 6.29418951e-03 -2.15037748e-03 2.20152039e+02] [-6.29423159e-03 9.99980191e-01 -1.28011967e-05 1.07312491e+00] [ 2.15025431e-03 2.63358875e-05 9.99997688e-01 9.38440755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.379254154 meters 0.014299288700254308 Centerline is valid? [True, True] Translation: X:220.21, Y:1.07, Z:0.94 [[ 9.99995961e-01 -2.81561884e-05 -2.84205591e-03 2.20211405e+02] [ 2.81075521e-05 9.99999999e-01 -1.71530316e-05 1.06747661e+00] [ 2.84205639e-03 1.70730791e-05 9.99995961e-01 9.38212114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.439254154 meters 0.014428113976609466 Centerline is valid? [True, True] Translation: X:220.27, Y:1.05, Z:0.94 [[ 9.99911272e-01 -1.31869960e-02 -1.88463138e-03 2.20270083e+02] [ 1.31869980e-02 9.99913048e-01 -1.13990595e-05 1.05491064e+00] [ 1.88461783e-03 -1.34545821e-05 9.99998224e-01 9.39076228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.499254154 meters 0.01598132610192699 Centerline is valid? [True, True] Translation: X:220.33, Y:1.05, Z:0.94 [[ 9.99754794e-01 -2.21365408e-02 -5.69888073e-04 2.20332015e+02] [ 2.21365419e-02 9.99754957e-01 -4.41770254e-06 1.04614660e+00] [ 5.69846219e-04 -8.19873191e-06 9.99999838e-01 9.40108145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.559254154 meters 0.019615256209844667 Centerline is valid? [True, True] Translation: X:220.39, Y:1.03, Z:0.94 [[ 9.99400966e-01 -3.46062898e-02 3.36303986e-04 2.20392542e+02] [ 3.46062910e-02 9.99401023e-01 1.98269997e-06 1.03315837e+00] [-3.36171161e-04 9.65672134e-06 9.99999943e-01 9.40566157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.619254154 meters 0.022022058193656033 Centerline is valid? [True, True] Translation: X:220.45, Y:1.02, Z:0.94 [[ 9.99004690e-01 -4.46039373e-02 -3.43552561e-04 2.20453301e+02] [ 4.46039393e-02 9.99004749e-01 -2.05271567e-06 1.02345142e+00] [ 3.43302200e-04 -1.32731250e-05 9.99999941e-01 9.39149878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.679254154 meters 0.025817019897899245 Centerline is valid? [True, True] Translation: X:220.51, Y:1.02, Z:0.94 [[ 9.98723484e-01 -5.04929908e-02 -1.36366987e-03 2.20512586e+02] [ 5.04930266e-02 9.98724414e-01 -8.18920901e-06 1.01524426e+00] [ 1.36234388e-03 -6.06770634e-05 9.99999070e-01 9.38167375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.739254154 meters 0.03027472239714039 Centerline is valid? [True, True] Translation: X:220.57, Y:1.01, Z:0.94 [[ 9.98275571e-01 -5.85900613e-02 -3.61795575e-03 2.20573579e+02] [ 5.85903676e-02 9.98282109e-01 -2.13646080e-05 1.00632600e+00] [ 3.61299225e-03 -1.90649591e-04 9.99993455e-01 9.36867958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.799254154 meters 0.031316716184281466 Centerline is valid? [True, True] Translation: X:220.63, Y:1.00, Z:0.94 [[ 9.97836891e-01 -6.55039877e-02 -5.54681009e-03 2.20634827e+02] [ 6.55048146e-02 9.97852253e-01 -3.26468972e-05 1.00317840e+00] [ 5.53703544e-03 -3.30766488e-04 9.99984616e-01 9.35405601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.859254154 meters 0.033278626533337005 Centerline is valid? [True, True] Translation: X:220.70, Y:1.00, Z:0.94 [[ 9.97695450e-01 -6.75604760e-02 -6.27462421e-03 2.20695611e+02] [ 6.75615763e-02 9.97715106e-01 -3.66874921e-05 1.00028412e+00] [ 6.26276598e-03 -3.87320558e-04 9.99980314e-01 9.35071011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.91925415400001 meters 0.03408746279009273 Centerline is valid? [True, True] Translation: X:220.76, Y:1.00, Z:0.93 [[ 9.97696333e-01 -6.74420362e-02 -7.32115020e-03 2.20759095e+02] [ 6.74435352e-02 9.97723092e-01 -4.22220693e-05 1.00113254e+00] [ 7.30732816e-03 -4.51639448e-04 9.99973199e-01 9.34910652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.979254154 meters 0.0338486832917326 Centerline is valid? [True, True] Translation: X:220.82, Y:1.00, Z:0.93 [[ 9.97825030e-01 -6.53345891e-02 -8.75216104e-03 2.20820285e+02] [ 6.53366570e-02 9.97863277e-01 -4.97570392e-05 1.00406534e+00] [ 8.73671094e-03 -5.22188124e-04 9.99961698e-01 9.34959644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.039254154 meters 0.032940738463976035 Centerline is valid? [True, True] Translation: X:220.88, Y:1.01, Z:0.93 [[ 9.98051567e-01 -6.15111494e-02 -1.04617071e-02 2.20880620e+02] [ 6.15138966e-02 9.98106225e-01 -5.92901015e-05 1.00959361e+00] [ 1.04455420e-02 -5.84365790e-04 9.99945273e-01 9.34681410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.099254154 meters 0.03256512982849855 Centerline is valid? [True, True] Translation: X:220.94, Y:1.01, Z:0.94 [[ 9.98204037e-01 -5.89426576e-02 -1.06988077e-02 2.20942602e+02] [ 5.89453870e-02 9.98261207e-01 -6.03097666e-05 1.01261748e+00] [ 1.06837595e-02 -5.70443910e-04 9.99942764e-01 9.35099721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.159254154 meters 0.03192416235357134 Centerline is valid? [True, True] Translation: X:221.00, Y:1.02, Z:0.94 [[ 9.98357981e-01 -5.61234377e-02 -1.14674332e-02 2.21003836e+02] [ 5.61263935e-02 9.98423670e-01 -6.41600097e-05 1.01697501e+00] [ 1.14529576e-02 -5.79571011e-04 9.99934245e-01 9.35806758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.219254154 meters 0.031127812679307813 Centerline is valid? [True, True] Translation: X:221.07, Y:1.02, Z:0.94 [[ 9.98509974e-01 -5.31621366e-02 -1.23133906e-02 2.21065276e+02] [ 5.31653252e-02 9.98585722e-01 -6.84668165e-05 1.02084855e+00] [ 1.22996159e-02 -5.86280618e-04 9.99924185e-01 9.36074015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.279254154 meters 0.028003795312392287 Centerline is valid? [True, True] Translation: X:221.13, Y:1.03, Z:0.94 [[ 9.98853903e-01 -4.58916642e-02 -1.35954325e-02 2.21126050e+02] [ 4.58948813e-02 9.98946272e-01 -7.54364267e-05 1.02907872e+00] [ 1.35845685e-02 -5.48610792e-04 9.99907575e-01 9.36803511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.339254154 meters 0.02310163454057652 Centerline is valid? [True, True] Translation: X:221.19, Y:1.04, Z:0.94 [[ 9.99310326e-01 -3.44489791e-02 -1.38614458e-02 2.21185786e+02] [ 3.44512247e-02 9.99406377e-01 -7.68193166e-05 1.04126836e+00] [ 1.38558637e-02 -4.00777448e-04 9.99903923e-01 9.37722880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.399254154 meters 0.019420025030389223 Centerline is valid? [True, True] Translation: X:221.25, Y:1.05, Z:0.94 [[ 9.99570356e-01 -2.55796763e-02 -1.43102400e-02 2.21246738e+02] [ 2.55811640e-02 9.99672745e-01 -7.91031218e-05 1.05145915e+00] [ 1.43075803e-02 -2.87003460e-04 9.99897600e-01 9.38870397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.459254154 meters 0.01588796195984857 Centerline is valid? [True, True] Translation: X:221.31, Y:1.06, Z:0.94 [[ 9.99815276e-01 -1.28319837e-02 -1.43092286e-02 2.21306552e+02] [ 1.28321667e-02 9.99917661e-01 -7.90275182e-05 1.06486397e+00] [ 1.43090644e-02 -1.04605487e-04 9.99897615e-01 9.40318658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.519254154 meters 0.015106211766980416 Centerline is valid? [True, True] Translation: X:221.37, Y:1.07, Z:0.94 [[ 9.99864541e-01 -7.39316509e-03 -1.47051205e-02 2.21365744e+02] [ 7.39273516e-03 9.99972670e-01 -8.35959051e-05 1.07087767e+00] [ 1.47053366e-02 -2.51264800e-05 9.99891870e-01 9.43160967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.579254154 meters 0.0149910227888642 Centerline is valid? [True, True] Translation: X:221.42, Y:1.07, Z:0.94 [[ 9.99867802e-01 -4.36381786e-03 -1.56632053e-02 2.21424189e+02] [ 4.36289730e-03 9.99990478e-01 -9.29422346e-05 1.07234561e+00] [ 1.56634617e-02 2.45929917e-05 9.99877320e-01 9.43917323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.639254154 meters 0.014831559141527813 Centerline is valid? [True, True] Translation: X:221.48, Y:1.07, Z:0.94 [[ 9.99830955e-01 -8.32637878e-03 -1.63930588e-02 2.21483173e+02] [ 8.32586983e-03 9.99965334e-01 -9.92955227e-05 1.06738614e+00] [ 1.63933173e-02 -3.72077362e-05 9.99865620e-01 9.44498487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.699254154 meters 0.015001604450502233 Centerline is valid? [True, True] Translation: X:221.54, Y:1.06, Z:0.94 [[ 9.99754877e-01 -1.41558815e-02 -1.70234364e-02 2.21542354e+02] [ 1.41561566e-02 9.99899791e-01 -1.04350923e-04 1.06115307e+00] [ 1.70232077e-02 -1.36661086e-04 9.99855085e-01 9.44234785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.759254154 meters 0.01684819206431881 Centerline is valid? [True, True] Translation: X:221.60, Y:1.05, Z:0.95 [[ 9.99516960e-01 -2.62297615e-02 -1.66687206e-02 2.21601955e+02] [ 2.62316908e-02 9.99655885e-01 -1.02919510e-04 1.04899545e+00] [ 1.66656842e-02 -3.34378928e-04 9.99861062e-01 9.45357708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.819254154 meters 0.02036364832364781 Centerline is valid? [True, True] Translation: X:221.66, Y:1.04, Z:0.95 [[ 9.99166677e-01 -3.74717469e-02 -1.61808642e-02 2.21661855e+02] [ 3.74750312e-02 9.99297559e-01 -1.00295397e-04 1.03516830e+00] [ 1.61732564e-02 -5.06166572e-04 9.99869076e-01 9.45502793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.879254154 meters 0.020644651339088358 Centerline is valid? [True, True] Translation: X:221.72, Y:1.03, Z:0.95 [[ 9.98960708e-01 -4.25890391e-02 -1.62381536e-02 2.21723015e+02] [ 4.25930239e-02 9.99092500e-01 -1.00520161e-04 1.03173721e+00] [ 1.62276985e-02 -5.91216371e-04 9.99868147e-01 9.46433205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.939254154 meters 0.025510396574240236 Centerline is valid? [True, True] Translation: X:221.78, Y:1.02, Z:0.94 [[ 9.98785435e-01 -4.64837077e-02 -1.63376755e-02 2.21783248e+02] [ 4.64882764e-02 9.98918831e-01 -1.00233681e-04 1.02005494e+00] [ 1.63246709e-02 -6.59398433e-04 9.99866526e-01 9.44877707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.999254154 meters 0.02183286010020767 Centerline is valid? [True, True] Translation: X:221.85, Y:1.02, Z:0.95 [[ 9.98749081e-01 -4.70452799e-02 -1.69415372e-02 2.21845725e+02] [ 4.70502944e-02 9.98892516e-01 -1.02686982e-04 1.02347399e+00] [ 1.69276056e-02 -6.94545783e-04 9.99856477e-01 9.46449248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.059254154 meters 0.02367980512622071 Centerline is valid? [True, True] Translation: X:221.91, Y:1.02, Z:0.95 [[ 9.98783340e-01 -4.61454247e-02 -1.73908159e-02 2.21907230e+02] [ 4.61505910e-02 9.98934488e-01 -1.04354133e-04 1.02011672e+00] [ 1.73771013e-02 -6.98369264e-04 9.99848763e-01 9.45284964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.119254154 meters 0.020633356675776836 Centerline is valid? [True, True] Translation: X:221.97, Y:1.03, Z:0.95 [[ 9.98923663e-01 -4.27062859e-02 -1.81021717e-02 2.21968762e+02] [ 4.27113336e-02 9.99087449e-01 -1.07857306e-04 1.02587073e+00] [ 1.80902587e-02 -6.65426678e-04 9.99836136e-01 9.45813920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.179254154 meters 0.02072539495470009 Centerline is valid? [True, True] Translation: X:222.03, Y:1.03, Z:0.94 [[ 9.99047707e-01 -3.97551446e-02 -1.79779892e-02 2.22029210e+02] [ 3.97596534e-02 9.99209267e-01 -1.06706474e-04 1.02673085e+00] [ 1.79680156e-02 -6.08193762e-04 9.99838377e-01 9.44720215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.239254154 meters 0.020295671725129853 Centerline is valid? [True, True] Translation: X:222.09, Y:1.03, Z:0.94 [[ 9.99182116e-01 -3.64183905e-02 -1.75727091e-02 2.22089071e+02] [ 3.64221841e-02 9.99336487e-01 -1.04222534e-04 1.02941667e+00] [ 1.75648450e-02 -5.35899153e-04 9.99845583e-01 9.43776682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.299254154 meters 0.019421183738193376 Centerline is valid? [True, True] Translation: X:222.15, Y:1.03, Z:0.94 [[ 9.99199244e-01 -3.57212052e-02 -1.80240586e-02 2.22150736e+02] [ 3.57250917e-02 9.99361650e-01 -1.06410521e-04 1.03258388e+00] [ 1.80163540e-02 -5.37585833e-04 9.99837548e-01 9.43654357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.359254154 meters 0.02019255178822785 Centerline is valid? [True, True] Translation: X:222.21, Y:1.03, Z:0.94 [[ 9.99118879e-01 -3.75979755e-02 -1.86509416e-02 2.22211581e+02] [ 3.76024668e-02 9.99292771e-01 -1.09948067e-04 1.03297913e+00] [ 1.86418849e-02 -5.91470223e-04 9.99826050e-01 9.42713519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.41925415400001 meters 0.021671915431244932 Centerline is valid? [True, True] Translation: X:222.27, Y:1.03, Z:0.94 [[ 9.99024829e-01 -4.04562539e-02 -1.76828428e-02 2.22271964e+02] [ 4.04607381e-02 9.99181124e-01 -1.04241085e-04 1.03142315e+00] [ 1.76725799e-02 -6.11321439e-04 9.99843641e-01 9.42845135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.479254154 meters 0.025833501025531697 Centerline is valid? [True, True] Translation: X:222.33, Y:1.03, Z:0.94 [[ 9.98806494e-01 -4.58418269e-02 -1.68556795e-02 2.22332438e+02] [ 4.58466720e-02 9.98948484e-01 -9.90623807e-05 1.02804072e+00] [ 1.68424967e-02 -6.73832661e-04 9.99857928e-01 9.42870158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.539254154 meters 0.02842526482961157 Centerline is valid? [True, True] Translation: X:222.39, Y:1.03, Z:0.94 [[ 9.98561186e-01 -5.13098357e-02 -1.55839444e-02 2.22392454e+02] [ 5.13146430e-02 9.98682532e-01 -9.14960941e-05 1.02501620e+00] [ 1.55681077e-02 -7.08320095e-04 9.99878559e-01 9.43687246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.599254154 meters 0.031118709081495433 Centerline is valid? [True, True] Translation: X:222.45, Y:1.02, Z:0.95 [[ 9.98394300e-01 -5.48800327e-02 -1.40358249e-02 2.22452434e+02] [ 5.48842841e-02 9.98492718e-01 -8.24091719e-05 1.02394581e+00] [ 1.40191915e-02 -6.88069351e-04 9.99901490e-01 9.45384026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.659254154 meters 0.025629812477488745 Centerline is valid? [True, True] Translation: X:222.51, Y:1.03, Z:0.95 [[ 9.98330694e-01 -5.63456634e-02 -1.26882846e-02 2.22513971e+02] [ 5.63492614e-02 9.98411115e-01 -7.40349995e-05 1.03440449e+00] [ 1.26722959e-02 -6.41064054e-04 9.99919498e-01 9.47929102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.719254154 meters 0.0276716704526081 Centerline is valid? [True, True] Translation: X:222.58, Y:1.03, Z:0.95 [[ 9.98318780e-01 -5.69053127e-02 -1.10181451e-02 2.22575441e+02] [ 5.69080661e-02 9.98379421e-01 -6.37140455e-05 1.03450439e+00] [ 1.10039149e-02 -5.63414399e-04 9.99939296e-01 9.48027297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.779254154 meters 0.025250342698339007 Centerline is valid? [True, True] Translation: X:222.64, Y:1.04, Z:0.95 [[ 9.98361773e-01 -5.62835965e-02 -1.02920589e-02 2.22638111e+02] [ 5.62859757e-02 9.98414686e-01 -5.85665472e-05 1.03945738e+00] [ 1.02790391e-02 -5.20827976e-04 9.99947034e-01 9.48912779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.839254154 meters 0.024609418969078672 Centerline is valid? [True, True] Translation: X:222.70, Y:1.05, Z:0.95 [[ 9.98526879e-01 -5.32299174e-02 -1.05189516e-02 2.22700094e+02] [ 5.32322431e-02 9.98582157e-01 -5.89648155e-05 1.04586214e+00] [ 1.05071761e-02 -5.01069436e-04 9.99944673e-01 9.48894912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.899254154 meters 0.024490215640184814 Centerline is valid? [True, True] Translation: X:222.76, Y:1.05, Z:0.95 [[ 9.98721071e-01 -4.95609207e-02 -9.99682631e-03 2.22761804e+02] [ 4.95628445e-02 9.98771005e-01 -5.53635300e-05 1.05135615e+00] [ 9.98728413e-03 -4.40178423e-04 9.99950029e-01 9.48771043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.959254154 meters 0.02178160985996779 Centerline is valid? [True, True] Translation: X:222.82, Y:1.06, Z:0.95 [[ 9.98993504e-01 -4.38124162e-02 -9.61510581e-03 2.22822788e+02] [ 4.38139341e-02 9.99039707e-01 -5.28202363e-05 1.05965971e+00] [ 9.60818668e-03 -3.68508540e-04 9.99953772e-01 9.49118478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.019254154 meters 0.02025097852993437 Centerline is valid? [True, True] Translation: X:222.88, Y:1.07, Z:0.95 [[ 9.99200204e-01 -3.89654164e-02 -8.98049320e-03 2.22883379e+02] [ 3.89665456e-02 9.99240515e-01 -4.92590493e-05 1.06617798e+00] [ 8.97559204e-03 -3.00719146e-04 9.99959673e-01 9.48853323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.079254154 meters 0.0171620709097708 Centerline is valid? [True, True] Translation: X:222.94, Y:1.08, Z:0.95 [[ 9.99481746e-01 -3.08710714e-02 -9.12226086e-03 2.22944227e+02] [ 3.08719004e-02 9.99523348e-01 -4.99480962e-05 1.07764553e+00] [ 9.11945467e-03 -2.31699319e-04 9.99958390e-01 9.48811475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.139254154 meters 0.016621117354278646 Centerline is valid? [True, True] Translation: X:223.01, Y:1.08, Z:0.95 [[ 9.99628140e-01 -2.57302386e-02 -9.02976253e-03 2.23005119e+02] [ 2.57308436e-02 9.99668906e-01 -4.91881692e-05 1.08332466e+00] [ 9.02803845e-03 -1.83173529e-04 9.99959230e-01 9.48532639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.199254154 meters 0.015700837714699045 Centerline is valid? [True, True] Translation: X:223.07, Y:1.09, Z:0.95 [[ 9.99764178e-01 -2.02862219e-02 -7.74972918e-03 2.23066302e+02] [ 2.02865061e-02 9.99794207e-01 -4.19533060e-05 1.09074503e+00] [ 7.74898541e-03 -1.15271515e-04 9.99969970e-01 9.48897808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.259254154 meters 0.015094793036840439 Centerline is valid? [True, True] Translation: X:223.13, Y:1.10, Z:0.95 [[ 9.99835137e-01 -1.65842784e-02 -7.39323228e-03 2.23127335e+02] [ 1.65844377e-02 9.99862468e-01 -3.97625701e-05 1.09657470e+00] [ 7.39287491e-03 -8.28565854e-05 9.99972669e-01 9.48594662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.319254154 meters 0.014787301782959096 Centerline is valid? [True, True] Translation: X:223.19, Y:1.10, Z:0.95 [[ 9.99874642e-01 -1.45159095e-02 -6.32372958e-03 2.23188471e+02] [ 1.45159860e-02 9.99894637e-01 -3.38027747e-05 1.10066922e+00] [ 6.32355397e-03 -5.79966329e-05 9.99980004e-01 9.48801395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.379254154 meters 0.014538555945881295 Centerline is valid? [True, True] Translation: X:223.25, Y:1.10, Z:0.95 [[ 9.99924371e-01 -1.09978833e-02 -5.50443992e-03 2.23248564e+02] [ 1.09978889e-02 9.99939521e-01 -2.92596639e-05 1.10468386e+00] [ 5.50442881e-03 -3.12797675e-05 9.99984850e-01 9.49427655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.439254154 meters 0.014462312425732513 Centerline is valid? [True, True] Translation: X:223.31, Y:1.11, Z:0.95 [[ 9.99947921e-01 -9.47591402e-03 -3.78984313e-03 2.23310215e+02] [ 9.47590585e-03 9.99955102e-01 -2.01124131e-05 1.10741124e+00] [ 3.78986356e-03 -1.58008310e-05 9.99992818e-01 9.49298460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.499254154 meters 0.01437303332162051 Centerline is valid? [True, True] Translation: X:223.37, Y:1.11, Z:0.95 [[ 9.99941112e-01 -9.89288266e-03 -4.46127860e-03 2.23371686e+02] [ 9.89287636e-03 9.99951064e-01 -2.34812393e-05 1.10726896e+00] [ 4.46129258e-03 -2.06550211e-05 9.99990048e-01 9.49132541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.559254154 meters 0.014601672008095194 Centerline is valid? [True, True] Translation: X:223.43, Y:1.11, Z:0.95 [[ 9.99913077e-01 -1.22718971e-02 -4.82069837e-03 2.23432626e+02] [ 1.22719183e-02 9.99924697e-01 -2.51817549e-05 1.10532158e+00] [ 4.82064438e-03 -3.39796503e-05 9.99988380e-01 9.48248815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.619254154 meters 0.014749576413463935 Centerline is valid? [True, True] Translation: X:223.49, Y:1.10, Z:0.95 [[ 9.99877877e-01 -1.45401741e-02 -5.72836004e-03 2.23494419e+02] [ 1.45402429e-02 9.99894285e-01 -2.96347174e-05 1.10373722e+00] [ 5.72818536e-03 -5.36606481e-05 9.99983592e-01 9.47373250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.679254154 meters 0.015543444101706326 Centerline is valid? [True, True] Translation: X:223.56, Y:1.10, Z:0.95 [[ 9.99800774e-01 -1.87379795e-02 -6.87757763e-03 2.23555755e+02] [ 1.87381816e-02 9.99824424e-01 -3.50575359e-05 1.10101293e+00] [ 6.87702700e-03 -9.38227470e-05 9.99976349e-01 9.46551647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.739254154 meters 0.016356533325375133 Centerline is valid? [True, True] Translation: X:223.62, Y:1.10, Z:0.95 [[ 9.99716892e-01 -2.25205111e-02 -7.67870860e-03 2.23617706e+02] [ 2.25208784e-02 9.99746372e-01 -3.86410800e-05 1.09908423e+00] [ 7.67763129e-03 -1.34301122e-04 9.99970518e-01 9.46534583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.799254154 meters 0.016407731990642882 Centerline is valid? [True, True] Translation: X:223.68, Y:1.10, Z:0.95 [[ 9.99660717e-01 -2.47512758e-02 -8.11332021e-03 2.23679645e+02] [ 2.47517642e-02 9.99693627e-01 -4.02257080e-05 1.09947578e+00] [ 8.11183014e-03 -1.60606928e-04 9.99967086e-01 9.46829832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.859254154 meters 0.017308674615721758 Centerline is valid? [True, True] Translation: X:223.74, Y:1.10, Z:0.95 [[ 9.99578959e-01 -2.81162964e-02 -7.16788756e-03 2.23741435e+02] [ 2.81167682e-02 9.99604645e-01 -3.49669817e-05 1.09810179e+00] [ 7.16603684e-03 -1.66585574e-04 9.99974310e-01 9.47567047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.91925415400001 meters 0.018180333255630753 Centerline is valid? [True, True] Translation: X:223.80, Y:1.10, Z:0.95 [[ 9.99507376e-01 -3.05110591e-02 -7.35388737e-03 2.23802727e+02] [ 3.05116261e-02 9.99534411e-01 -3.50993870e-05 1.09597208e+00] [ 7.35153440e-03 -1.89296965e-04 9.99972959e-01 9.48161340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.979254154 meters 0.01999006647787336 Centerline is valid? [True, True] Translation: X:223.86, Y:1.09, Z:0.95 [[ 9.99281183e-01 -3.69921978e-02 -8.28817756e-03 2.23863950e+02] [ 3.69931456e-02 9.99315519e-01 -3.89730256e-05 1.09274638e+00] [ 8.28394615e-03 -2.67660748e-04 9.99965652e-01 9.47988791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.039254154 meters 0.023642448360163593 Centerline is valid? [True, True] Translation: X:223.93, Y:1.09, Z:0.95 [[ 9.98856925e-01 -4.67182694e-02 -1.01117373e-02 2.23925454e+02] [ 4.67201802e-02 9.98908015e-01 -4.72929583e-05 1.08599867e+00] [ 1.01029049e-02 -4.25183291e-04 9.99948874e-01 9.47507790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.099254154 meters 0.024161415254231846 Centerline is valid? [True, True] Translation: X:223.99, Y:1.08, Z:0.95 [[ 9.98487480e-01 -5.39268174e-02 -1.07074680e-02 2.23986098e+02] [ 5.39293751e-02 9.98544751e-01 -4.99286809e-05 1.08474924e+00] [ 1.06945784e-02 -5.27593894e-04 9.99942672e-01 9.47803993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.159254154 meters 0.028848010701428083 Centerline is valid? [True, True] Translation: X:224.05, Y:1.08, Z:0.95 [[ 9.97970009e-01 -6.25651628e-02 -1.18937738e-02 2.24045559e+02] [ 6.25689338e-02 9.98040643e-01 -5.51488867e-05 1.07773507e+00] [ 1.18739201e-02 -6.89143810e-04 9.99929265e-01 9.47203783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.219254154 meters 0.030796404761890668 Centerline is valid? [True, True] Translation: X:224.11, Y:1.08, Z:0.95 [[ 9.97675293e-01 -6.68097163e-02 -1.34339795e-02 2.24106242e+02] [ 6.68149137e-02 9.97765385e-01 -6.20597955e-05 1.07670340e+00] [ 1.34081060e-02 -8.35674659e-04 9.99909758e-01 9.47285096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.279254154 meters 0.03117855699667748 Centerline is valid? [True, True] Translation: X:224.17, Y:1.08, Z:0.95 [[ 9.97707843e-01 -6.62313337e-02 -1.38733575e-02 2.24168318e+02] [ 6.62368309e-02 9.97803928e-01 -6.33772138e-05 1.07767516e+00] [ 1.38470882e-02 -8.55695293e-04 9.99903758e-01 9.47394368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.339254154 meters 0.028910881882359404 Centerline is valid? [True, True] Translation: X:224.23, Y:1.09, Z:0.95 [[ 9.98029702e-01 -6.10144140e-02 -1.46272382e-02 2.24229159e+02] [ 6.10199716e-02 9.98136543e-01 -6.64681915e-05 1.08511232e+00] [ 1.46040364e-02 -8.26216427e-04 9.99893014e-01 9.48121268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.399254154 meters 0.027052533186277858 Centerline is valid? [True, True] Translation: X:224.29, Y:1.09, Z:0.95 [[ 9.98408884e-01 -5.45629870e-02 -1.42330903e-02 2.24290073e+02] [ 5.45675958e-02 9.98510077e-01 -6.46280398e-05 1.09154647e+00] [ 1.42154104e-02 -7.12140311e-04 9.99898702e-01 9.48976992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.459254154 meters 0.022991050912011847 Centerline is valid? [True, True] Translation: X:224.35, Y:1.10, Z:0.95 [[ 9.99022256e-01 -4.23660600e-02 -1.26352384e-02 2.24349622e+02] [ 4.23687165e-02 9.99102041e-01 -5.74828559e-05 1.10361701e+00] [ 1.26263278e-02 -4.77912181e-04 9.99920171e-01 9.51094599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.519254154 meters 0.018166203751134685 Centerline is valid? [True, True] Translation: X:224.41, Y:1.12, Z:0.95 [[ 9.99496641e-01 -2.96809965e-02 -1.12028518e-02 2.24410168e+02] [ 2.96822876e-02 9.99559383e-01 -5.10371352e-05 1.11776210e+00] [ 1.11994304e-02 -2.81514823e-04 9.99937245e-01 9.53152672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.579254154 meters 0.01595844452942296 Centerline is valid? [True, True] Translation: X:224.47, Y:1.13, Z:0.95 [[ 9.99672154e-01 -2.29442295e-02 -1.13642915e-02 2.24471652e+02] [ 2.29451258e-02 9.99736725e-01 -5.15235851e-05 1.12559454e+00] [ 1.13624818e-02 -2.09248405e-04 9.99935423e-01 9.53605165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.639254154 meters 0.01590805816534126 Centerline is valid? [True, True] Translation: X:224.53, Y:1.13, Z:0.95 [[ 9.99807139e-01 -1.23715860e-02 -1.52521867e-02 2.24532080e+02] [ 1.23719881e-02 9.99923462e-01 -6.79957416e-05 1.13426700e+00] [ 1.52518605e-02 -1.20717244e-04 9.99883676e-01 9.49450779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.699254154 meters 0.014387285869497014 Centerline is valid? [True, True] Translation: X:224.59, Y:1.14, Z:0.95 [[ 9.99821231e-01 -1.06078354e-02 -1.56518325e-02 2.24590169e+02] [ 1.06079983e-02 9.99943731e-01 -7.26178330e-05 1.13705149e+00] [ 1.56517221e-02 -9.34297610e-05 9.99877500e-01 9.50382250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.759254154 meters 0.014280712624242603 Centerline is valid? [True, True] Translation: X:224.65, Y:1.14, Z:0.95 [[ 9.99855174e-01 -6.29639452e-03 -1.58109397e-02 2.24648476e+02] [ 6.29595638e-03 9.99980177e-01 -7.74870154e-05 1.14158208e+00] [ 1.58111142e-02 -2.20691936e-05 9.99874996e-01 9.50580067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.819254154 meters 0.014360280653643314 Centerline is valid? [True, True] Translation: X:224.71, Y:1.15, Z:0.95 [[ 9.99904909e-01 -3.85289456e-05 -1.37902335e-02 2.24706596e+02] [ 3.75496544e-05 9.99999997e-01 -7.12723074e-05 1.14682397e+00] [ 1.37902362e-02 7.07477116e-05 9.99904908e-01 9.53197784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.879254154 meters 0.014423260951086724 Centerline is valid? [True, True] Translation: X:224.76, Y:1.15, Z:0.95 [[ 9.99927137e-01 2.32429619e-03 -1.18456194e-02 2.24764789e+02] [-2.32522334e-03 9.99997295e-01 -6.44981367e-05 1.14843961e+00] [ 1.18454375e-02 9.20371480e-05 9.99929836e-01 9.54628777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.939254154 meters 0.014395817643656682 Centerline is valid? [True, True] Translation: X:224.82, Y:1.15, Z:0.96 [[ 9.99947681e-01 1.69418394e-03 -1.00878548e-02 2.24824124e+02] [-1.69483845e-03 9.99998562e-01 -5.63325470e-05 1.14658395e+00] [ 1.00877448e-02 7.34268839e-05 9.99949115e-01 9.55473423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.999254154 meters 0.014897980635535251 Centerline is valid? [True, True] Translation: X:224.88, Y:1.14, Z:0.95 [[ 9.99943979e-01 -2.84486014e-03 -1.01954187e-02 2.24883073e+02] [ 2.84442080e-03 9.99995953e-01 -5.75921890e-05 1.13994203e+00] [ 1.01955412e-02 2.85889017e-05 9.99948024e-01 9.54861338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.059254154 meters 0.014090700486255318 Centerline is valid? [True, True] Translation: X:224.94, Y:1.13, Z:0.95 [[ 9.99897053e-01 -8.28162636e-03 -1.17173954e-02 2.24942328e+02] [ 8.28140896e-03 9.99965706e-01 -6.70744298e-05 1.13396847e+00] [ 1.17175491e-02 -2.99690186e-05 9.99931347e-01 9.53800722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.119254154 meters 0.014940521932128206 Centerline is valid? [True, True] Translation: X:225.00, Y:1.12, Z:0.95 [[ 9.99761678e-01 -1.74907595e-02 -1.30637116e-02 2.25001695e+02] [ 1.74912648e-02 9.99847013e-01 -7.55861902e-05 1.12182998e+00] [ 1.30630351e-02 -1.52932662e-04 9.99914663e-01 9.52129389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.179254154 meters 0.015940311440699358 Centerline is valid? [True, True] Translation: X:225.06, Y:1.11, Z:0.95 [[ 9.99659452e-01 -2.25583300e-02 -1.31187556e-02 2.25061348e+02] [ 2.25592687e-02 9.99745504e-01 -7.64399387e-05 1.11456341e+00] [ 1.31171413e-02 -2.19535625e-04 9.99913943e-01 9.52157017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.239254154 meters 0.016893882099497614 Centerline is valid? [True, True] Translation: X:225.12, Y:1.11, Z:0.95 [[ 9.99608395e-01 -2.49506891e-02 -1.26696161e-02 2.25121367e+02] [ 2.49517567e-02 9.99688654e-01 -7.38286548e-05 1.10581410e+00] [ 1.26675136e-02 -2.42329435e-04 9.99919734e-01 9.52150521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.299254154 meters 0.016140322533773906 Centerline is valid? [True, True] Translation: X:225.18, Y:1.10, Z:0.95 [[ 9.99653800e-01 -2.29682562e-02 -1.28350793e-02 2.25182522e+02] [ 2.29691932e-02 9.99736171e-01 -7.44281454e-05 1.10274073e+00] [ 1.28334026e-02 -2.20409038e-04 9.99917624e-01 9.53079070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.359254154 meters 0.015143120532727136 Centerline is valid? [True, True] Translation: X:225.24, Y:1.10, Z:0.95 [[ 9.99739820e-01 -1.86890615e-02 -1.30771414e-02 2.25242955e+02] [ 1.86896701e-02 9.99825330e-01 -7.56785667e-05 1.10192764e+00] [ 1.30762716e-02 -1.68748582e-04 9.99914488e-01 9.54042417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.41925415400001 meters 0.014355038446723985 Centerline is valid? [True, True] Translation: X:225.30, Y:1.10, Z:0.95 [[ 9.99807297e-01 -1.47880379e-02 -1.29105503e-02 2.25303065e+02] [ 1.47882983e-02 9.99890644e-01 -7.53058045e-05 1.10146561e+00] [ 1.29102520e-02 -1.15633775e-04 9.99916653e-01 9.54484098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.479254154 meters 0.013795275193289958 Centerline is valid? [True, True] Translation: X:225.36, Y:1.10, Z:0.96 [[ 9.99879739e-01 -7.66784232e-03 -1.34800271e-02 2.25362087e+02] [ 7.66744501e-03 9.99970601e-01 -8.11552104e-05 1.10304556e+00] [ 1.34802531e-02 -2.22119159e-05 9.99909137e-01 9.55779379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.539254154 meters 0.01403452285413974 Centerline is valid? [True, True] Translation: X:225.42, Y:1.10, Z:0.96 [[ 9.99895055e-01 -2.05789653e-03 -1.43403187e-02 2.25420404e+02] [ 2.05681933e-03 9.99997881e-01 -8.98646353e-05 1.10407576e+00] [ 1.43404733e-02 6.03597596e-05 9.99897168e-01 9.55768535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.599254154 meters 0.01617605423423017 Centerline is valid? [True, True] Translation: X:225.48, Y:1.11, Z:0.96 [[ 9.99876484e-01 6.16441852e-03 -1.44574241e-02 2.25478569e+02] [-6.16640048e-03 9.99980983e-01 -9.25155885e-05 1.10726015e+00] [ 1.44565789e-02 1.81654429e-04 9.99895482e-01 9.55239165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.659254154 meters 0.015613023803201554 Centerline is valid? [True, True] Translation: X:225.54, Y:1.10, Z:0.96 [[ 9.99836830e-01 1.08298827e-02 -1.44577735e-02 2.25537054e+02] [-1.08323947e-02 9.99941323e-01 -9.54438257e-05 1.10160940e+00] [ 1.44558916e-02 2.52040562e-04 9.99895476e-01 9.58204491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.719254154 meters 0.015141636315111177 Centerline is valid? [True, True] Translation: X:225.60, Y:1.09, Z:0.96 [[ 9.99846664e-01 8.54989847e-03 -1.52822729e-02 2.25595908e+02] [-8.55246923e-03 9.99963422e-01 -1.02870737e-04 1.09302398e+00] [ 1.52808344e-02 2.33556133e-04 9.99883214e-01 9.58585346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.779254154 meters 0.01387987822643483 Centerline is valid? [True, True] Translation: X:225.66, Y:1.07, Z:0.96 [[ 9.99892735e-01 -4.15077409e-03 -1.40460033e-02 2.25656217e+02] [ 4.14984404e-03 9.99991385e-01 -9.53600627e-05 1.07415300e+00] [ 1.40462781e-02 3.70611108e-05 9.99901345e-01 9.60120922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.839254154 meters 0.014721222397377647 Centerline is valid? [True, True] Translation: X:225.71, Y:1.05, Z:0.96 [[ 9.99726429e-01 -2.02593985e-02 -1.16886177e-02 2.25714091e+02] [ 2.02598451e-02 9.99794745e-01 -8.02092739e-05 1.05316867e+00] [ 1.16878436e-02 -1.56622254e-04 9.99931683e-01 9.61228934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.899254154 meters 0.014721222397377647 Centerline is valid? [True, True] Translation: X:225.77, Y:1.05, Z:0.96 [[ 9.99726429e-01 -2.02594003e-02 -1.16886150e-02 2.25774096e+02] [ 2.02598422e-02 9.99794745e-01 -8.06072993e-05 1.05358267e+00] [ 1.16878489e-02 -1.56224248e-04 9.99931683e-01 9.61493166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.959254154 meters 0.017093084469798455 Centerline is valid? [True, True] Translation: X:225.83, Y:1.04, Z:0.96 [[ 9.99553597e-01 -2.77863245e-02 -1.09784736e-02 2.25833082e+02] [ 2.77871704e-02 9.99613859e-01 -7.55020505e-05 1.04287379e+00] [ 1.09763323e-02 -2.29592371e-04 9.99939732e-01 9.61429638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.019254154 meters 0.01925340971962598 Centerline is valid? [True, True] Translation: X:225.89, Y:1.03, Z:0.96 [[ 9.99198374e-01 -3.86263392e-02 -1.05174245e-02 2.25894174e+02] [ 3.86277170e-02 9.99253669e-01 -7.21761656e-05 1.03094915e+00] [ 1.05123629e-02 -3.34145791e-04 9.99944688e-01 9.62688942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.079254154 meters 0.0215985340858078 Centerline is valid? [True, True] Translation: X:225.95, Y:1.02, Z:0.96 [[ 9.98902928e-01 -4.56030782e-02 -1.06442563e-02 2.25954675e+02] [ 4.56048854e-02 9.98959553e-01 -7.30007931e-05 1.02256743e+00] [ 1.06365106e-02 -4.12509383e-04 9.99943346e-01 9.62844840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.139254154 meters 0.025367451481249862 Centerline is valid? [True, True] Translation: X:226.02, Y:1.01, Z:0.96 [[ 9.98446247e-01 -5.46065462e-02 -1.11003525e-02 2.26015606e+02] [ 5.46090699e-02 9.98507809e-01 -7.58477675e-05 1.01161160e+00] [ 1.10879304e-02 -5.30450005e-04 9.99938386e-01 9.62740607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.199254154 meters 0.02812735820906881 Centerline is valid? [True, True] Translation: X:226.08, Y:1.00, Z:0.96 [[ 9.98061442e-01 -6.10150216e-02 -1.22688790e-02 2.26076078e+02] [ 6.10185900e-02 9.98136626e-01 -8.36184212e-05 1.00481861e+00] [ 1.22511194e-02 -6.65173374e-04 9.99924731e-01 9.61765172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.259254154 meters 0.02936294615138625 Centerline is valid? [True, True] Translation: X:226.14, Y:1.00, Z:0.96 [[ 9.97952254e-01 -6.26622263e-02 -1.28352656e-02 2.26138492e+02] [ 6.26662756e-02 9.98034534e-01 -8.68524707e-05 1.00302155e+00] [ 1.28154806e-02 -7.17663670e-04 9.99917621e-01 9.61819517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.319254154 meters 0.027200265227908114 Centerline is valid? [True, True] Translation: X:226.20, Y:1.01, Z:0.96 [[ 9.97995690e-01 -6.18942884e-02 -1.31795451e-02 2.26200940e+02] [ 6.18985041e-02 9.98082445e-01 -8.82008042e-05 1.00775072e+00] [ 1.31597317e-02 -7.27770102e-04 9.99913142e-01 9.62590489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.379254154 meters 0.025730027813085816 Centerline is valid? [True, True] Translation: X:226.26, Y:1.01, Z:0.96 [[ 9.98100819e-01 -6.00300529e-02 -1.38256017e-02 2.26262111e+02] [ 6.00345234e-02 9.98196297e-01 -9.18237333e-05 1.01135406e+00] [ 1.38061766e-02 -7.38364064e-04 9.99904418e-01 9.63175906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.439254154 meters 0.027440155062764177 Centerline is valid? [True, True] Translation: X:226.32, Y:1.01, Z:0.96 [[ 9.98316359e-01 -5.64439960e-02 -1.33612410e-02 2.26322086e+02] [ 5.64478530e-02 9.98405545e-01 -8.85786373e-05 1.01123580e+00] [ 1.33449369e-02 -6.65783868e-04 9.99910731e-01 9.62977297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.499254154 meters 0.024110310520972237 Centerline is valid? [True, True] Translation: X:226.38, Y:1.02, Z:0.96 [[ 9.98571129e-01 -5.21088951e-02 -1.18474793e-02 2.26383263e+02] [ 5.21116247e-02 9.98641263e-01 -7.84063802e-05 1.01906588e+00] [ 1.18354674e-02 -5.39097049e-04 9.99929813e-01 9.64108033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.559254154 meters 0.02338747160663193 Centerline is valid? [True, True] Translation: X:226.45, Y:1.02, Z:0.96 [[ 9.98755400e-01 -4.84770544e-02 -1.17314411e-02 2.26445269e+02] [ 4.84794863e-02 9.98824175e-01 -7.71577286e-05 1.02287290e+00] [ 1.17213874e-02 -4.91672542e-04 9.99931181e-01 9.63797642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.619254154 meters 0.02208150339462876 Centerline is valid? [True, True] Translation: X:226.51, Y:1.03, Z:0.96 [[ 9.98953423e-01 -4.42112134e-02 -1.17229170e-02 2.26505700e+02] [ 4.42133513e-02 9.99022109e-01 -7.68612556e-05 1.02806663e+00] [ 1.17148514e-02 -4.41528632e-04 9.99931281e-01 9.63477946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.679254154 meters 0.02100542136544319 Centerline is valid? [True, True] Translation: X:226.57, Y:1.03, Z:0.96 [[ 9.99149568e-01 -3.96278856e-02 -1.13917338e-02 2.26566696e+02] [ 3.96296082e-02 9.99214436e-01 -7.45655998e-05 1.03334524e+00] [ 1.13857397e-02 -3.76947759e-04 9.99935109e-01 9.63251015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.739254154 meters 0.018187941660252154 Centerline is valid? [True, True] Translation: X:226.63, Y:1.04, Z:0.96 [[ 9.99463849e-01 -3.09259410e-02 -1.07517589e-02 2.26627632e+02] [ 3.09269735e-02 9.99521644e-01 -7.02579934e-05 1.04171223e+00] [ 1.07487885e-02 -2.62299038e-04 9.99942196e-01 9.63784755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.799254154 meters 0.016364762954427497 Centerline is valid? [True, True] Translation: X:226.69, Y:1.05, Z:0.96 [[ 9.99657408e-01 -2.40996924e-02 -1.02113184e-02 2.26688712e+02] [ 2.41002687e-02 9.99709544e-01 -6.66261678e-05 1.04834744e+00] [ 1.02099581e-02 -1.79492175e-04 9.99947861e-01 9.64173575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.859254154 meters 0.014527556582648725 Centerline is valid? [True, True] Translation: X:226.75, Y:1.06, Z:0.96 [[ 9.99850105e-01 -1.38610911e-02 -1.03748817e-02 2.26749770e+02] [ 1.38611355e-02 9.99903928e-01 -6.76359862e-05 1.05772887e+00] [ 1.03748225e-02 -7.61817929e-05 9.99946177e-01 9.64526730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.91925415400001 meters 0.01415727282937025 Centerline is valid? [True, True] Translation: X:226.81, Y:1.06, Z:0.97 [[ 9.99922634e-01 -8.03088426e-03 -9.49897751e-03 2.26809424e+02] [ 8.03065657e-03 9.99967752e-01 -6.21128301e-05 1.06193520e+00] [ 9.49917000e-03 -1.41750014e-05 9.99954882e-01 9.65607659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.979254154 meters 0.014327264667661392 Centerline is valid? [True, True] Translation: X:226.87, Y:1.07, Z:0.97 [[ 9.99963114e-01 -2.51458661e-03 -8.21264767e-03 2.26867260e+02] [ 2.51422474e-03 9.99996838e-01 -5.43869855e-05 1.06573805e+00] [ 8.21275846e-03 3.37365375e-05 9.99966274e-01 9.65893521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.039254154 meters 0.0144031992061862 Centerline is valid? [True, True] Translation: X:226.92, Y:1.07, Z:0.97 [[ 9.99964096e-01 -1.41958644e-03 -8.35411307e-03 2.26924755e+02] [ 1.41916576e-03 9.99998991e-01 -5.62833520e-05 1.06591991e+00] [ 8.35418455e-03 4.44254599e-05 9.99965102e-01 9.65753884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.099254154 meters 0.014170633280179883 Centerline is valid? [True, True] Translation: X:226.98, Y:1.06, Z:0.97 [[ 9.99950695e-01 -3.61314556e-03 -9.24952069e-03 2.26983471e+02] [ 3.61271672e-03 9.99993472e-01 -6.30714875e-05 1.06068411e+00] [ 9.24968819e-03 2.96524797e-05 9.99957220e-01 9.65986711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.159254154 meters 0.014011290789757613 Centerline is valid? [True, True] Translation: X:227.04, Y:1.06, Z:0.97 [[ 9.99930909e-01 -6.22707682e-03 -9.97003786e-03 2.27042130e+02] [ 6.22670084e-03 9.99980612e-01 -6.87516954e-05 1.05612807e+00] [ 9.97027268e-03 6.66650211e-06 9.99950296e-01 9.65126514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.219254154 meters 0.01408999432429208 Centerline is valid? [True, True] Translation: X:227.10, Y:1.05, Z:0.96 [[ 9.99904449e-01 -9.65406393e-03 -9.89401403e-03 2.27101434e+02] [ 9.65385418e-03 9.99953398e-01 -6.89598077e-05 1.05040999e+00] [ 9.89421869e-03 -2.65621501e-05 9.99951051e-01 9.64996385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.279254154 meters 0.014243283372191403 Centerline is valid? [True, True] Translation: X:227.16, Y:1.04, Z:0.96 [[ 9.99867276e-01 -1.25583742e-02 -1.03786643e-02 2.27160434e+02] [ 1.25582917e-02 9.99921139e-01 -7.31166598e-05 1.04425316e+00] [ 1.03787641e-02 -5.72313388e-05 9.99946138e-01 9.64719591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.339254154 meters 0.014454930067084286 Centerline is valid? [True, True] Translation: X:227.22, Y:1.04, Z:0.96 [[ 9.99839601e-01 -1.46480545e-02 -1.03056796e-02 2.27218978e+02] [ 1.46480777e-02 9.99892708e-01 -7.32394876e-05 1.03994921e+00] [ 1.03056467e-02 -7.77306555e-05 9.99946892e-01 9.64165043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.399254154 meters 0.014801459899284422 Centerline is valid? [True, True] Translation: X:227.28, Y:1.03, Z:0.96 [[ 9.99795101e-01 -1.77026492e-02 -9.81691244e-03 2.27277634e+02] [ 1.77028019e-02 9.99843291e-01 -7.13531108e-05 1.03378372e+00] [ 9.81663718e-03 -1.02448365e-04 9.99951810e-01 9.64071356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.459254154 meters 0.015225401198177193 Centerline is valid? [True, True] Translation: X:227.34, Y:1.03, Z:0.96 [[ 9.99745923e-01 -2.01654190e-02 -1.00719728e-02 2.27337741e+02] [ 2.01656911e-02 9.99796649e-01 -7.45435953e-05 1.02799913e+00] [ 1.00714278e-02 -1.28583637e-04 9.99949274e-01 9.63449186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.519254154 meters 0.015160286280290253 Centerline is valid? [True, True] Translation: X:227.40, Y:1.03, Z:0.96 [[ 9.99723035e-01 -2.07888662e-02 -1.10307125e-02 2.27398533e+02] [ 2.07892287e-02 9.99783877e-01 -8.18105942e-05 1.02589467e+00] [ 1.10300292e-02 -1.47532069e-04 9.99939156e-01 9.63105319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.579254154 meters 0.015040494625750469 Centerline is valid? [True, True] Translation: X:227.46, Y:1.03, Z:0.96 [[ 9.99730960e-01 -1.96984650e-02 -1.22465647e-02 2.27458327e+02] [ 1.96988267e-02 9.99805955e-01 -9.11006974e-05 1.02545908e+00] [ 1.22459829e-02 -1.50166768e-04 9.99925004e-01 9.62846821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.639254154 meters 0.014722223284528803 Centerline is valid? [True, True] Translation: X:227.52, Y:1.03, Z:0.96 [[ 9.99766204e-01 -1.75446377e-02 -1.26381554e-02 2.27517931e+02] [ 1.75448453e-02 9.99846073e-01 -9.44538417e-05 1.02623306e+00] [ 1.26378672e-02 -1.27302723e-04 9.99920131e-01 9.62373954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.699254154 meters 0.013977153207093551 Centerline is valid? [True, True] Translation: X:227.58, Y:1.03, Z:0.96 [[ 9.99838723e-01 -1.23588508e-02 -1.30302053e-02 2.27576929e+02] [ 1.23586001e-02 9.99923625e-01 -9.97644731e-05 1.03015387e+00] [ 1.30304431e-02 -6.12867130e-05 9.99915098e-01 9.63761395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.759254154 meters 0.013887937296489891 Centerline is valid? [True, True] Translation: X:227.64, Y:1.03, Z:0.96 [[ 9.99882961e-01 -8.66854365e-03 -1.26063606e-02 2.27635592e+02] [ 8.66797516e-03 9.99962427e-01 -9.97340433e-05 1.03213901e+00] [ 1.26067515e-02 -9.54924970e-06 9.99920532e-01 9.64642565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.819254154 meters 0.014006261802115838 Centerline is valid? [True, True] Translation: X:227.69, Y:1.03, Z:0.96 [[ 9.99904381e-01 -4.84798698e-03 -1.29508740e-02 2.27693736e+02] [ 4.84704141e-03 9.99988248e-01 -1.04398893e-04 1.03430280e+00] [ 1.29512279e-02 4.16154878e-05 9.99916128e-01 9.64575763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.879254154 meters 0.01424189489856197 Centerline is valid? [True, True] Translation: X:227.75, Y:1.03, Z:0.97 [[ 9.99892851e-01 -4.98793336e-03 -1.37625224e-02 2.27751962e+02] [ 4.98683565e-03 9.99987559e-01 -1.14077210e-04 1.03402670e+00] [ 1.37629202e-02 4.54335494e-05 9.99905285e-01 9.65305077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.939254154 meters 0.014598186521494612 Centerline is valid? [True, True] Translation: X:227.81, Y:1.03, Z:0.97 [[ 9.99857695e-01 -9.99931564e-03 -1.35868636e-02 2.27811135e+02] [ 9.99868233e-03 9.99950005e-01 -1.14541457e-04 1.03020602e+00] [ 1.35873296e-02 -2.13255757e-05 9.99907688e-01 9.65895038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.999254154 meters 0.01528837937948082 Centerline is valid? [True, True] Translation: X:227.87, Y:1.03, Z:0.97 [[ 9.99780016e-01 -1.62057467e-02 -1.33151713e-02 2.27869145e+02] [ 1.62056741e-02 9.99868673e-01 -1.13351937e-04 1.02587985e+00] [ 1.33152596e-02 -1.02454326e-04 9.99911343e-01 9.66128247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.059254154 meters 0.016935540417219383 Centerline is valid? [True, True] Translation: X:227.93, Y:1.02, Z:0.97 [[ 9.99522604e-01 -2.82137181e-02 -1.25916414e-02 2.27928446e+02] [ 2.82145953e-02 9.99601883e-01 -1.08006849e-04 1.01880982e+00] [ 1.25896757e-02 -2.47312779e-04 9.99920716e-01 9.67228377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.119254154 meters 0.01920915897376477 Centerline is valid? [True, True] Translation: X:227.99, Y:1.01, Z:0.97 [[ 9.99210318e-01 -3.76134294e-02 -1.28050548e-02 2.27989031e+02] [ 3.76151046e-02 9.99292295e-01 -1.10080745e-04 1.01340157e+00] [ 1.28001331e-02 -3.71669660e-04 9.99918006e-01 9.67216915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.179254154 meters 0.02425451426074248 Centerline is valid? [True, True] Translation: X:228.05, Y:1.00, Z:0.97 [[ 9.98540075e-01 -5.22768502e-02 -1.35959356e-02 2.28049821e+02] [ 5.22800955e-02 9.98632454e-01 -1.16849049e-04 1.00441197e+00] [ 1.35834511e-02 -5.94118355e-04 9.99907564e-01 9.67323301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.239254154 meters 0.029288284189325043 Centerline is valid? [True, True] Translation: X:228.11, Y:1.00, Z:0.97 [[ 9.97658357e-01 -6.67923888e-02 -1.47166537e-02 2.28110716e+02] [ 6.67977670e-02 9.97766527e-01 -1.26341378e-04 9.98200156e-01] [ 1.46922231e-02 -8.56994073e-04 9.99891696e-01 9.67081145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.299254154 meters 0.03878600882121756 Centerline is valid? [True, True] Translation: X:228.17, Y:0.99, Z:0.97 [[ 9.96898427e-01 -7.73960486e-02 -1.42610511e-02 2.28170017e+02] [ 7.74021749e-02 9.96999944e-01 -1.22691284e-04 9.87318425e-01] [ 1.42277629e-02 -9.81525620e-04 9.99898299e-01 9.66787734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.359254154 meters 0.0378113922625665 Centerline is valid? [True, True] Translation: X:228.23, Y:0.99, Z:0.97 [[ 9.96647657e-01 -8.06748816e-02 -1.36018867e-02 2.28231353e+02] [ 8.06807610e-02 9.96739987e-01 -1.16824989e-04 9.90282327e-01] [ 1.35669692e-02 -9.80977215e-04 9.99907483e-01 9.68231389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.41925415400001 meters 0.03698964499244937 Centerline is valid? [True, True] Translation: X:228.29, Y:1.00, Z:0.97 [[ 9.96601441e-01 -8.10986247e-02 -1.44423497e-02 2.28293068e+02] [ 8.11053078e-02 9.96705530e-01 -1.23324528e-04 9.95954409e-01] [ 1.44047712e-02 -1.04844581e-03 9.99895696e-01 9.68721221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.479254154 meters 0.037411178268441314 Centerline is valid? [True, True] Translation: X:228.36, Y:1.00, Z:0.97 [[ 9.96685709e-01 -8.00161361e-02 -1.46634349e-02 2.28355192e+02] [ 8.00229234e-02 9.96793016e-01 -1.24221613e-04 9.97302735e-01] [ 1.46263493e-02 -1.04960102e-03 9.99892478e-01 9.68638959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.539254154 meters 0.03273393707271608 Centerline is valid? [True, True] Translation: X:228.42, Y:1.01, Z:0.97 [[ 9.97074405e-01 -7.47788487e-02 -1.58352363e-02 2.28415287e+02] [ 7.47861122e-02 9.97199589e-01 -1.33808185e-04 1.00957660e+00] [ 1.58008971e-02 -1.05083904e-03 9.99874606e-01 9.69620474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.599254154 meters 0.03091363742416661 Centerline is valid? [True, True] Translation: X:228.48, Y:1.02, Z:0.97 [[ 9.97449934e-01 -6.92795829e-02 -1.71455066e-02 2.28475366e+02] [ 6.92872889e-02 9.97596737e-01 -1.44884876e-04 1.01750630e+00] [ 1.71143390e-02 -1.04345026e-03 9.99852995e-01 9.69220949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.659254154 meters 0.027629723177176557 Centerline is valid? [True, True] Translation: X:228.54, Y:1.03, Z:0.97 [[ 9.98086639e-01 -5.93544617e-02 -1.73236253e-02 2.28535306e+02] [ 5.93608341e-02 9.98236580e-01 -1.46585348e-04 1.03015557e+00] [ 1.73017770e-02 -8.82039973e-04 9.99849924e-01 9.70007610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.719254154 meters 0.023726247764285897 Centerline is valid? [True, True] Translation: X:228.60, Y:1.04, Z:0.97 [[ 9.98498349e-01 -5.19040241e-02 -1.75219548e-02 2.28595394e+02] [ 5.19093970e-02 9.98651787e-01 -1.48340152e-04 1.04156229e+00] [ 1.75060309e-02 -7.61436709e-04 9.99846468e-01 9.71393547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.779254154 meters 0.019808081993182486 Centerline is valid? [True, True] Translation: X:228.66, Y:1.06, Z:0.97 [[ 9.99080983e-01 -3.92720034e-02 -1.71726566e-02 2.28656392e+02] [ 3.92753033e-02 9.99228417e-01 -1.45180098e-04 1.05613448e+00] [ 1.71651079e-02 -5.29414620e-04 9.99852529e-01 9.72042576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.839254154 meters 0.017447541585040423 Centerline is valid? [True, True] Translation: X:228.72, Y:1.07, Z:0.97 [[ 9.99515011e-01 -2.66836584e-02 -1.60538484e-02 2.28717156e+02] [ 2.66849230e-02 9.99643885e-01 -1.35472795e-04 1.07113136e+00] [ 1.60517463e-02 -2.92988615e-04 9.99871119e-01 9.72962334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.899254154 meters 0.015520479784629317 Centerline is valid? [True, True] Translation: X:228.78, Y:1.08, Z:0.97 [[ 9.99709251e-01 -1.95279902e-02 -1.41446211e-02 2.28776874e+02] [ 1.95282517e-02 9.99809298e-01 -1.19643141e-04 1.07987535e+00] [ 1.41442601e-02 -1.56611366e-04 9.99899953e-01 9.74234040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.959254154 meters 0.015999448359124806 Centerline is valid? [True, True] Translation: X:228.84, Y:1.09, Z:0.98 [[ 9.99864688e-01 -8.85722027e-03 -1.38620109e-02 2.28836538e+02] [ 8.85643883e-03 9.99960774e-01 -1.17760349e-04 1.09059091e+00] [ 1.38625102e-02 -5.02363744e-06 9.99903911e-01 9.75549246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.019254154 meters 0.015308287394051205 Centerline is valid? [True, True] Translation: X:228.89, Y:1.10, Z:0.97 [[ 9.99902225e-01 -3.67110631e-03 -1.34930654e-02 2.28894677e+02] [ 3.66988023e-03 9.99993259e-01 -1.15626578e-04 1.09704982e+00] [ 1.34933989e-02 6.60973391e-05 9.99908958e-01 9.74725434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.079254154 meters 0.015416409258916084 Centerline is valid? [True, True] Translation: X:228.95, Y:1.10, Z:0.98 [[ 9.99904211e-01 9.86501910e-04 -1.38056578e-02 2.28953165e+02] [-9.88268031e-04 9.99999504e-01 -1.21105724e-04 1.10070136e+00] [ 1.38055315e-02 1.34737814e-04 9.99904690e-01 9.75843868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.139254154 meters 0.015091581888415159 Centerline is valid? [True, True] Translation: X:229.01, Y:1.10, Z:0.98 [[ 9.99908774e-01 5.21545701e-04 -1.34970810e-02 2.29011975e+02] [-5.23215094e-04 9.99999856e-01 -1.20154703e-04 1.09988911e+00] [ 1.34970164e-02 1.27205618e-04 9.99908903e-01 9.76230482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.199254154 meters 0.014738131556127415 Centerline is valid? [True, True] Translation: X:229.07, Y:1.10, Z:0.98 [[ 9.99906782e-01 -1.90063416e-03 -1.35209215e-02 2.29069893e+02] [ 1.89916485e-03 9.99998189e-01 -1.21508304e-04 1.09748233e+00] [ 1.35211280e-02 9.58185184e-05 9.99908581e-01 9.76549796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.259254154 meters 0.01415694710149147 Centerline is valid? [True, True] Translation: X:229.13, Y:1.09, Z:0.98 [[ 9.99887309e-01 -8.04003660e-03 -1.26778367e-02 2.29128465e+02] [ 8.03922594e-03 9.99967678e-01 -1.14904547e-04 1.09139674e+00] [ 1.26783507e-02 1.29716047e-05 9.99919626e-01 9.77846412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.319254154 meters 0.014270217059106423 Centerline is valid? [True, True] Translation: X:229.19, Y:1.09, Z:0.98 [[ 9.99826577e-01 -1.38184261e-02 -1.24846577e-02 2.29187128e+02] [ 1.38180792e-02 9.99904519e-01 -1.14050098e-04 1.08585898e+00] [ 1.24850417e-02 -5.84836697e-05 9.99922057e-01 9.78032836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.379254154 meters 0.015194869612525072 Centerline is valid? [True, True] Translation: X:229.25, Y:1.08, Z:0.98 [[ 9.99624784e-01 -2.48747762e-02 -1.14689557e-02 2.29246357e+02] [ 2.48752030e-02 9.99690559e-01 -1.05452265e-04 1.07567782e+00] [ 1.14680298e-02 -1.79879904e-04 9.99934224e-01 9.79926196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.439254154 meters 0.01698085788824475 Centerline is valid? [True, True] Translation: X:229.31, Y:1.07, Z:0.98 [[ 9.99379086e-01 -3.34792884e-02 -1.09808562e-02 2.29307938e+02] [ 3.34801989e-02 9.99439376e-01 -1.00954524e-04 1.06763770e+00] [ 1.09780800e-02 -2.66749409e-04 9.99939703e-01 9.80083140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.499254154 meters 0.021603825869390976 Centerline is valid? [True, True] Translation: X:229.37, Y:1.05, Z:0.98 [[ 9.98845562e-01 -4.68126448e-02 -1.07759079e-02 2.29368484e+02] [ 4.68142988e-02 9.98903605e-01 -9.88348999e-05 1.05373754e+00] [ 1.07687200e-02 -4.05745773e-04 9.99941933e-01 9.79939954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.559254154 meters 0.02892571211998137 Centerline is valid? [True, True] Translation: X:229.43, Y:1.04, Z:0.98 [[ 9.98395969e-01 -5.55246242e-02 -1.10682475e-02 2.29428876e+02] [ 5.55269047e-02 9.98457186e-01 -1.01399165e-04 1.04013217e+00] [ 1.10568014e-02 -5.13349007e-04 9.99938740e-01 9.78862528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.619254154 meters 0.02869605268866088 Centerline is valid? [True, True] Translation: X:229.49, Y:1.04, Z:0.98 [[ 9.97740134e-01 -6.61954694e-02 -1.15232621e-02 2.29489218e+02] [ 6.61986513e-02 9.97806458e-01 -1.05499648e-04 1.03796115e+00] [ 1.15049690e-02 -6.57563179e-04 9.99933599e-01 9.79430772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.679254154 meters 0.0318347159864903 Centerline is valid? [True, True] Translation: X:229.55, Y:1.03, Z:0.98 [[ 9.97401116e-01 -7.11111620e-02 -1.15851524e-02 2.29549394e+02] [ 7.11147089e-02 9.97468138e-01 -1.06029195e-04 1.03359216e+00] [ 1.15633602e-02 -7.18121100e-04 9.99932884e-01 9.79480229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.739254154 meters 0.03240134513017521 Centerline is valid? [True, True] Translation: X:229.61, Y:1.03, Z:0.98 [[ 9.97394197e-01 -7.10650361e-02 -1.24329064e-02 2.29611429e+02] [ 7.10691250e-02 9.97471386e-01 -1.13192502e-04 1.03462466e+00] [ 1.24095124e-02 -7.70698236e-04 9.99922702e-01 9.79775418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.799254154 meters 0.028962904491152363 Centerline is valid? [True, True] Translation: X:229.67, Y:1.04, Z:0.98 [[ 9.97717913e-01 -6.63443294e-02 -1.25457491e-02 2.29672367e+02] [ 6.63481251e-02 9.97796529e-01 -1.13873629e-04 1.04469340e+00] [ 1.25256598e-02 -7.18773173e-04 9.99921293e-01 9.80887545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.859254154 meters 0.027000145871148934 Centerline is valid? [True, True] Translation: X:229.73, Y:1.05, Z:0.98 [[ 9.98050956e-01 -6.11978500e-02 -1.22111800e-02 2.29732866e+02] [ 6.12010625e-02 9.98125452e-01 -1.10781535e-04 1.05090378e+00] [ 1.21950692e-02 -6.36771575e-04 9.99925435e-01 9.81972624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.91925415400001 meters 0.023327289766532294 Centerline is valid? [True, True] Translation: X:229.79, Y:1.06, Z:0.98 [[ 9.98516642e-01 -5.33622536e-02 -1.08159983e-02 2.29793820e+02] [ 5.33643165e-02 9.98575105e-01 -9.79905120e-05 1.06131943e+00] [ 1.08058156e-02 -4.79343199e-04 9.99941501e-01 9.83735131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.979254154 meters 0.021994751566341224 Centerline is valid? [True, True] Translation: X:229.85, Y:1.07, Z:0.98 [[ 9.98763736e-01 -4.83211266e-02 -1.16647956e-02 2.29854914e+02] [ 4.83231853e-02 9.98831747e-01 -1.05463677e-04 1.06692432e+00] [ 1.16562643e-02 -4.58346784e-04 9.99931958e-01 9.83524058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.039254154 meters 0.02002918031111673 Centerline is valid? [True, True] Translation: X:229.92, Y:1.08, Z:0.98 [[ 9.99065945e-01 -4.11863322e-02 -1.30738034e-02 2.29915437e+02] [ 4.11883112e-02 9.99151394e-01 -1.17959928e-04 1.07508780e+00] [ 1.30675672e-02 -4.20638135e-04 9.99914527e-01 9.82856510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.099254154 meters 0.01797776114944496 Centerline is valid? [True, True] Translation: X:229.98, Y:1.08, Z:0.98 [[ 9.99288674e-01 -3.52710691e-02 -1.33452934e-02 2.29976274e+02] [ 3.52726073e-02 9.99377721e-01 -1.20168151e-04 1.08357072e+00] [ 1.33412274e-02 -3.50640621e-04 9.99910940e-01 9.83363236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.159254154 meters 0.019211623941756694 Centerline is valid? [True, True] Translation: X:230.04, Y:1.09, Z:0.98 [[ 9.99407646e-01 -3.15854196e-02 -1.36644762e-02 2.30037891e+02] [ 3.15866937e-02 9.99501008e-01 -1.22617610e-04 1.08865173e+00] [ 1.36615306e-02 -3.09070647e-04 9.99906629e-01 9.82205259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.219254154 meters 0.01614726559884726 Centerline is valid? [True, True] Translation: X:230.10, Y:1.10, Z:0.98 [[ 9.99562504e-01 -2.67293925e-02 -1.26625729e-02 2.30098022e+02] [ 2.67301009e-02 9.99642681e-01 -1.13326750e-04 1.09583742e+00] [ 1.26610774e-02 -2.25194681e-04 9.99919820e-01 9.84799144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.279254154 meters 0.01553967084433978 Centerline is valid? [True, True] Translation: X:230.16, Y:1.10, Z:0.99 [[ 9.99679358e-01 -2.22542240e-02 -1.20801851e-02 2.30159004e+02] [ 2.22545463e-02 9.99752331e-01 -1.07768147e-04 1.10068103e+00] [ 1.20795915e-02 -1.61105445e-04 9.99927026e-01 9.85353940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.339254154 meters 0.014747567488970471 Centerline is valid? [True, True] Translation: X:230.22, Y:1.11, Z:0.99 [[ 9.99793741e-01 -1.67278461e-02 -1.15175872e-02 2.30219270e+02] [ 1.67277740e-02 9.99860076e-01 -1.02601383e-04 1.10742044e+00] [ 1.15176919e-02 -9.00833745e-05 9.99933665e-01 9.87102094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.399254154 meters 0.01451496963634778 Centerline is valid? [True, True] Translation: X:230.28, Y:1.11, Z:0.99 [[ 9.99832697e-01 -1.46230347e-02 -1.09884373e-02 2.30279359e+02] [ 1.46228362e-02 9.99893076e-01 -9.84084461e-05 1.11090792e+00] [ 1.09887014e-02 -6.22901366e-05 9.99939620e-01 9.88301096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.459254154 meters 0.014306514649217263 Centerline is valid? [True, True] Translation: X:230.34, Y:1.11, Z:0.99 [[ 9.99841321e-01 -1.39606036e-02 -1.10649872e-02 2.30339270e+02] [ 1.39603553e-02 9.99902545e-01 -9.96830420e-05 1.11201718e+00] [ 1.10653005e-02 -5.48039283e-05 9.99938776e-01 9.88892087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.519254154 meters 0.01635562768895045 Centerline is valid? [True, True] Translation: X:230.40, Y:1.11, Z:0.99 [[ 9.99828828e-01 -1.38586049e-02 -1.22578162e-02 2.30399398e+02] [ 1.38582869e-02 9.99903963e-01 -1.10885373e-04 1.11194853e+00] [ 1.22581757e-02 -5.90059416e-05 9.99924864e-01 9.86637963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.579254154 meters 0.014727215748171815 Centerline is valid? [True, True] Translation: X:230.46, Y:1.11, Z:0.99 [[ 9.99759548e-01 -1.82822905e-02 -1.21080343e-02 2.30457924e+02] [ 1.82822962e-02 9.99832859e-01 -1.10231083e-04 1.10874591e+00] [ 1.21080258e-02 -1.11158091e-04 9.99926689e-01 9.88563137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.639254154 meters 0.015069616392554627 Centerline is valid? [True, True] Translation: X:230.52, Y:1.11, Z:0.99 [[ 9.99687007e-01 -2.22676407e-02 -1.14035482e-02 2.30518019e+02] [ 2.22679002e-02 9.99752034e-01 -1.04235693e-04 1.10555743e+00] [ 1.14030416e-02 -1.49730005e-04 9.99934972e-01 9.89705119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.699254154 meters 0.0166604701214068 Centerline is valid? [True, True] Translation: X:230.58, Y:1.10, Z:0.99 [[ 9.99494966e-01 -2.95498330e-02 -1.16885020e-02 2.30579677e+02] [ 2.95506054e-02 9.99563280e-01 -1.06656933e-04 1.09964592e+00] [ 1.16865491e-02 -2.38799244e-04 9.99931681e-01 9.89624382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.759254154 meters 0.017967175653239513 Centerline is valid? [True, True] Translation: X:230.64, Y:1.09, Z:0.99 [[ 9.99343140e-01 -3.38370570e-02 -1.29746930e-02 2.30639495e+02] [ 3.38383721e-02 9.99427311e-01 -1.18216303e-04 1.09494658e+00] [ 1.29712626e-02 -3.20903839e-04 9.99915818e-01 9.88781185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.819254154 meters 0.020169572008373982 Centerline is valid? [True, True] Translation: X:230.70, Y:1.09, Z:0.99 [[ 9.99142225e-01 -3.89687812e-02 -1.40088853e-02 2.30701148e+02] [ 3.89708231e-02 9.99240341e-01 -1.27300017e-04 1.08974199e+00] [ 1.40032040e-02 -4.18746967e-04 9.99901863e-01 9.87977697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.879254154 meters 0.02086616632636994 Centerline is valid? [True, True] Translation: X:230.76, Y:1.09, Z:0.99 [[ 9.99128983e-01 -3.95116911e-02 -1.34201825e-02 2.30762924e+02] [ 3.95136243e-02 9.99219024e-01 -1.21171853e-04 1.08819271e+00] [ 1.34144894e-02 -4.09213741e-04 9.99909938e-01 9.88425839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.939254154 meters 0.021957853072299246 Centerline is valid? [True, True] Translation: X:230.82, Y:1.09, Z:0.99 [[ 9.99156129e-01 -3.89376555e-02 -1.30724236e-02 2.30824171e+02] [ 3.89394580e-02 9.99241565e-01 -1.16715743e-04 1.08642099e+00] [ 1.30670537e-02 -3.92415841e-04 9.99914545e-01 9.88320718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.999254154 meters 0.022327728528723674 Centerline is valid? [True, True] Translation: X:230.89, Y:1.09, Z:0.99 [[ 9.99153663e-01 -3.89797945e-02 -1.31351798e-02 2.30886834e+02] [ 3.89816324e-02 9.99239921e-01 -1.16167833e-04 1.08501887e+00] [ 1.31297242e-02 -3.95961235e-04 9.99913723e-01 9.89157972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.059254154 meters 0.019837483071868073 Centerline is valid? [True, True] Translation: X:230.95, Y:1.09, Z:0.99 [[ 9.99127661e-01 -3.95452692e-02 -1.34197076e-02 2.30948755e+02] [ 3.95472515e-02 9.99217695e-01 -1.17725589e-04 1.08869189e+00] [ 1.34138648e-02 -4.13089659e-04 9.99909945e-01 9.91084135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.119254154 meters 0.02180167238872365 Centerline is valid? [True, True] Translation: X:231.01, Y:1.09, Z:0.99 [[ 9.99032936e-01 -4.15100209e-02 -1.44952224e-02 2.31010273e+02] [ 4.15125531e-02 9.99137974e-01 -1.26273468e-04 1.08531629e+00] [ 1.44879687e-02 -4.75582335e-04 9.99894931e-01 9.90327067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.179254154 meters 0.0212268122573528 Centerline is valid? [True, True] Translation: X:231.07, Y:1.09, Z:0.99 [[ 9.98906431e-01 -4.41611589e-02 -1.53536160e-02 2.31072201e+02] [ 4.41643288e-02 9.99024271e-01 -1.32702256e-04 1.08660472e+00] [ 1.53444953e-02 -5.45525007e-04 9.99882117e-01 9.91342312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.239254154 meters 0.023834892003574006 Centerline is valid? [True, True] Translation: X:231.13, Y:1.08, Z:0.99 [[ 9.98618827e-01 -4.99004563e-02 -1.64432980e-02 2.31132847e+02] [ 4.99048767e-02 9.98753965e-01 -1.41647317e-04 1.08392433e+00] [ 1.64298774e-02 -6.79149083e-04 9.99864790e-01 9.91242585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.299254154 meters 0.025834057158300408 Centerline is valid? [True, True] Translation: X:231.19, Y:1.08, Z:0.99 [[ 9.98450036e-01 -5.31313991e-02 -1.65704594e-02 2.31194079e+02] [ 5.31363401e-02 9.98587257e-01 -1.42264153e-04 1.08181206e+00] [ 1.65546083e-02 -7.38449920e-04 9.99862690e-01 9.91974752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.359254154 meters 0.027838320459369594 Centerline is valid? [True, True] Translation: X:231.26, Y:1.08, Z:0.99 [[ 9.98332723e-01 -5.56529880e-02 -1.53140337e-02 2.31256540e+02] [ 5.56575179e-02 9.98449910e-01 -1.30569659e-04 1.08036119e+00] [ 1.52975622e-02 -7.21989144e-04 9.99882725e-01 9.93776349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.419254154 meters 0.027024241764211466 Centerline is valid? [True, True] Translation: X:231.32, Y:1.08, Z:1.00 [[ 9.98360522e-01 -5.54306686e-02 -1.42726519e-02 2.31318869e+02] [ 5.54345947e-02 9.98462313e-01 -1.20703874e-04 1.08406819e+00] [ 1.42573957e-02 -6.70692690e-04 9.99898133e-01 9.95875432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.479254154 meters 0.023253597288498 Centerline is valid? [True, True] Translation: X:231.38, Y:1.09, Z:1.00 [[ 9.98457591e-01 -5.36990159e-02 -1.41015511e-02 2.31380872e+02] [ 5.37026906e-02 9.98556962e-01 -1.18220815e-04 1.09174982e+00] [ 1.40875504e-02 -6.39252768e-04 9.99900561e-01 9.97782214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.539254154 meters 0.024980689092934587 Centerline is valid? [True, True] Translation: X:231.44, Y:1.09, Z:1.00 [[ 9.98635869e-01 -5.02526859e-02 -1.41798687e-02 2.31441566e+02] [ 5.02560646e-02 9.98736359e-01 -1.18182834e-04 1.09174846e+00] [ 1.41678894e-02 -5.94602781e-04 9.99899454e-01 9.96616233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.599254154 meters 0.021911311648014554 Centerline is valid? [True, True] Translation: X:231.50, Y:1.10, Z:1.00 [[ 9.98838432e-01 -4.60104651e-02 -1.43116530e-02 2.31503205e+02] [ 4.60134821e-02 9.98940812e-01 -1.18578769e-04 1.09919685e+00] [ 1.43019502e-02 -5.40087959e-04 9.99897576e-01 9.97021442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.659254154 meters 0.0210342059607551 Centerline is valid? [True, True] Translation: X:231.56, Y:1.10, Z:1.00 [[ 9.99033080e-01 -4.16963664e-02 -1.39398145e-02 2.31564334e+02] [ 4.16988172e-02 9.99130219e-01 -1.14919082e-04 1.10286139e+00] [ 1.39324816e-02 -4.66465813e-04 9.99902829e-01 9.96962164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.719254154 meters 0.017729646188770976 Centerline is valid? [True, True] Translation: X:231.62, Y:1.11, Z:1.00 [[ 9.99401265e-01 -3.16997310e-02 -1.38650280e-02 2.31624742e+02] [ 3.17011966e-02 9.99497384e-01 -1.14112376e-04 1.11341740e+00] [ 1.38616766e-02 -3.25493928e-04 9.99903869e-01 9.97700358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.779254154 meters 0.01666708324154847 Centerline is valid? [True, True] Translation: X:231.69, Y:1.12, Z:1.00 [[ 9.99624216e-01 -2.34004013e-02 -1.42775565e-02 2.31685225e+02] [ 2.34011094e-02 9.99726150e-01 -1.17492602e-04 1.12023512e+00] [ 1.42763960e-02 -2.16662212e-04 9.99898064e-01 9.97398080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.839254154 meters 0.015123766486872818 Centerline is valid? [True, True] Translation: X:231.75, Y:1.13, Z:1.00 [[ 9.99829282e-01 -1.27078231e-02 -1.34133258e-02 2.31745390e+02] [ 1.27074837e-02 9.99919251e-01 -1.10542077e-04 1.12869573e+00] [ 1.34136475e-02 -5.99264131e-05 9.99910031e-01 9.97787492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.899254154 meters 0.016632683924745564 Centerline is valid? [True, True] Translation: X:231.80, Y:1.13, Z:1.00 [[ 9.99882074e-01 -7.88272681e-03 -1.31795835e-02 2.31804336e+02] [ 7.88194940e-03 9.99968931e-01 -1.10928986e-04 1.13171783e+00] [ 1.31800484e-02 7.03509476e-06 9.99913139e-01 9.97367056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.959254154 meters 0.014697290446576047 Centerline is valid? [True, True] Translation: X:231.86, Y:1.13, Z:1.00 [[ 9.99906214e-01 -7.24131943e-03 -1.16243805e-02 2.31862671e+02] [ 7.24063512e-03 9.99973781e-01 -1.00952856e-04 1.13238074e+00] [ 1.16248067e-02 1.67754909e-05 9.99932430e-01 9.99697997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.019254154 meters 0.014700262187589025 Centerline is valid? [True, True] Translation: X:231.92, Y:1.13, Z:1.00 [[ 9.99844935e-01 -1.30972723e-02 -1.17714933e-02 2.31921602e+02] [ 1.30969547e-02 9.99914226e-01 -1.04073648e-04 1.12694183e+00] [ 1.17718467e-02 -5.01132045e-05 9.99930708e-01 9.99275772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.079254154 meters 0.01547349087015266 Centerline is valid? [True, True] Translation: X:231.98, Y:1.12, Z:1.00 [[ 9.99710410e-01 -2.09480281e-02 -1.18438612e-02 2.31980507e+02] [ 2.09482493e-02 9.99780556e-01 -1.05387873e-04 1.12008207e+00] [ 1.18434698e-02 -1.42750803e-04 9.99929853e-01 9.98848233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.139254154 meters 0.018496312614840436 Centerline is valid? [True, True] Translation: X:232.04, Y:1.11, Z:1.00 [[ 9.99283254e-01 -3.59793126e-02 -1.17672456e-02 2.32041482e+02] [ 3.59805701e-02 9.99352484e-01 -1.04892186e-04 1.10813304e+00] [ 1.17634000e-02 -3.18575199e-04 9.99930758e-01 9.98865905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.199254154 meters 0.021137607622072428 Centerline is valid? [True, True] Translation: X:232.10, Y:1.10, Z:1.00 [[ 9.98892938e-01 -4.55720994e-02 -1.16654249e-02 2.32101997e+02] [ 4.55739888e-02 9.98960961e-01 -1.03947668e-04 1.10092661e+00] [ 1.16580412e-02 -4.27807353e-04 9.99931951e-01 9.98684293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.259254154 meters 0.026999622362219238 Centerline is valid? [True, True] Translation: X:232.16, Y:1.09, Z:1.00 [[ 9.98372423e-01 -5.59403353e-02 -1.10988588e-02 2.32162569e+02] [ 5.59426877e-02 9.98433977e-01 -9.86350752e-05 1.08880620e+00] [ 1.10869954e-02 -5.22425454e-04 9.99938401e-01 9.98233221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.319254154 meters 0.029098663939018856 Centerline is valid? [True, True] Translation: X:232.22, Y:1.09, Z:1.00 [[ 9.98259357e-01 -5.78377676e-02 -1.15346750e-02 2.32224612e+02] [ 5.78404426e-02 9.98325835e-01 -1.01830509e-04 1.08676929e+00] [ 1.15212537e-02 -5.65517448e-04 9.99933468e-01 9.96927309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.379254154 meters 0.02747841089628984 Centerline is valid? [True, True] Translation: X:232.29, Y:1.09, Z:1.00 [[ 9.97915984e-01 -6.35951445e-02 -1.09245487e-02 2.32285519e+02] [ 6.35978914e-02 9.97975600e-01 -9.61254224e-05 1.08745687e+00] [ 1.09085462e-02 -5.98853169e-04 9.99940321e-01 9.98262659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.439254154 meters 0.028981596611001886 Centerline is valid? [True, True] Translation: X:232.35, Y:1.09, Z:1.00 [[ 9.97733657e-01 -6.66012708e-02 -9.58234246e-03 2.32346654e+02] [ 6.66035234e-02 9.97779517e-01 -8.42060471e-05 1.08599591e+00] [ 9.56667326e-03 -5.54202563e-04 9.99954085e-01 9.99042968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.499254154 meters 0.031014570890096935 Centerline is valid? [True, True] Translation: X:232.41, Y:1.08, Z:1.00 [[ 9.97671446e-01 -6.76412458e-02 -8.73772310e-03 2.32407997e+02] [ 6.76431639e-02 9.97709575e-01 -7.61585695e-05 1.08412713e+00] [ 8.72286146e-03 -5.15066005e-04 9.99961822e-01 9.99737645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.559254154 meters 0.0316284860361265 Centerline is valid? [True, True] Translation: X:232.47, Y:1.08, Z:1.00 [[ 9.97687303e-01 -6.73285177e-02 -9.32284989e-03 2.32470540e+02] [ 6.73306966e-02 9.97730711e-01 -8.03069572e-05 1.08485705e+00] [ 9.30710059e-03 -5.47592746e-04 9.99956538e-01 9.99161793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.619254154 meters 0.03173904567339674 Centerline is valid? [True, True] Translation: X:232.53, Y:1.09, Z:1.00 [[ 9.97821850e-01 -6.51831305e-02 -1.01348737e-02 2.32532235e+02] [ 6.51856018e-02 9.97873153e-01 -8.66456526e-05 1.08768206e+00] [ 1.01189662e-02 -5.74190916e-04 9.99948637e-01 9.97273056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.679254154 meters 0.026388046132881357 Centerline is valid? [True, True] Translation: X:232.59, Y:1.10, Z:1.00 [[ 9.98092593e-01 -6.08021908e-02 -1.06897315e-02 2.32593397e+02] [ 6.08046936e-02 9.98149679e-01 -9.10202747e-05 1.09827607e+00] [ 1.06754863e-02 -5.59139187e-04 9.99942859e-01 9.98931929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.739254154 meters 0.02817526577535062 Centerline is valid? [True, True] Translation: X:232.65, Y:1.10, Z:1.00 [[ 9.98357004e-01 -5.61532282e-02 -1.14064281e-02 2.32653276e+02] [ 5.61557761e-02 9.98422015e-01 -9.70352860e-05 1.09953525e+00] [ 1.13938778e-02 -5.43660967e-04 9.99934940e-01 9.98787599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.799254154 meters 0.02590229999722579 Centerline is valid? [True, True] Translation: X:232.71, Y:1.11, Z:1.00 [[ 9.98812636e-01 -4.74156641e-02 -1.11836249e-02 2.32712745e+02] [ 4.74175651e-02 9.98875150e-01 -9.52646375e-05 1.10851797e+00] [ 1.11755620e-02 -4.35148737e-04 9.99937457e-01 9.99488336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.859254154 meters 0.020819978319056676 Centerline is valid? [True, True] Translation: X:232.77, Y:1.12, Z:1.00 [[ 9.99112842e-01 -4.09955630e-02 -9.63812197e-03 2.32773769e+02] [ 4.09966770e-02 9.99159279e-01 -8.20378296e-05 1.12081091e+00] [ 9.63338219e-03 -3.13165924e-04 9.99953549e-01 1.00164650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.919254154 meters 0.017579499411249404 Centerline is valid? [True, True] Translation: X:232.83, Y:1.13, Z:1.00 [[ 9.99476952e-01 -3.12181414e-02 -8.44101966e-03 2.32833992e+02] [ 3.12186483e-02 9.99512577e-01 -7.17356086e-05 1.13301808e+00] [ 8.43914477e-03 -1.91819137e-04 9.99964371e-01 1.00359481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.979254154 meters 0.015884495116772507 Centerline is valid? [True, True] Translation: X:232.89, Y:1.14, Z:1.00 [[ 9.99715513e-01 -2.23396854e-02 -8.35649040e-03 2.32894448e+02] [ 2.23398734e-02 9.99750431e-01 -7.08603022e-05 1.14175968e+00] [ 8.35598788e-03 -1.15842794e-04 9.99965081e-01 1.00374906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.039254154 meters 0.01480394666945425 Centerline is valid? [True, True] Translation: X:232.96, Y:1.15, Z:1.00 [[ 9.99813755e-01 -1.74528964e-02 -8.23724537e-03 2.32955984e+02] [ 1.74529156e-02 9.99847684e-01 -6.95566330e-05 1.14687012e+00] [ 8.23720467e-03 -7.42202698e-05 9.99966071e-01 1.00431160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.099254154 meters 0.014430479629378039 Centerline is valid? [True, True] Translation: X:233.02, Y:1.15, Z:1.00 [[ 9.99898893e-01 -1.23975730e-02 -6.96444824e-03 2.33017617e+02] [ 1.23974657e-02 9.99923147e-01 -5.85807676e-05 1.15077492e+00] [ 6.96463926e-03 -2.77666637e-05 9.99975746e-01 1.00495429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.159254154 meters 0.014335281753660688 Centerline is valid? [True, True] Translation: X:233.08, Y:1.15, Z:1.00 [[ 9.99914806e-01 -1.05032637e-02 -7.74996448e-03 2.33078559e+02] [ 1.05030763e-02 9.99944839e-01 -6.48859777e-05 1.15203683e+00] [ 7.75021850e-03 -1.65180183e-05 9.99969966e-01 1.00420442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.219254154 meters 0.01437091075764321 Centerline is valid? [True, True] Translation: X:233.14, Y:1.15, Z:1.00 [[ 9.99903512e-01 -1.08827367e-02 -8.63328677e-03 2.33138881e+02] [ 1.08825198e-02 9.99940781e-01 -7.21000757e-05 1.15064913e+00] [ 8.63356017e-03 -2.18587953e-05 9.99962730e-01 1.00234075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.279254154 meters 0.01438601628870824 Centerline is valid? [True, True] Translation: X:233.20, Y:1.15, Z:1.00 [[ 9.99876256e-01 -1.29818782e-02 -8.88496786e-03 2.33198309e+02] [ 1.29817299e-02 9.99915731e-01 -7.43641469e-05 1.14808400e+00] [ 8.88518452e-03 -4.09873084e-05 9.99960525e-01 1.00163106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.339254154 meters 0.014894338075528988 Centerline is valid? [True, True] Translation: X:233.26, Y:1.14, Z:1.00 [[ 9.99785884e-01 -1.90212682e-02 -8.14726425e-03 2.33258399e+02] [ 1.90213422e-02 9.99819076e-01 -6.84051506e-05 1.14267223e+00] [ 8.14709136e-03 -8.65813974e-05 9.99966808e-01 1.00231942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.399254154 meters 0.016265569953501025 Centerline is valid? [True, True] Translation: X:233.32, Y:1.13, Z:1.00 [[ 9.99609934e-01 -2.70295443e-02 -7.02736165e-03 2.33319365e+02] [ 2.70297973e-02 9.99634627e-01 -5.89767021e-05 1.13367762e+00] [ 7.02638816e-03 -1.30994464e-04 9.99975306e-01 1.00259741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.459254154 meters 0.01761929221991877 Centerline is valid? [True, True] Translation: X:233.38, Y:1.13, Z:1.00 [[ 9.99439518e-01 -3.27656651e-02 -6.86017313e-03 2.33380437e+02] [ 3.27660427e-02 9.99463047e-01 -5.73717284e-05 1.12753230e+00] [ 6.85836937e-03 -1.67441153e-04 9.99976467e-01 1.00249377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.519254154 meters 0.021034826291467246 Centerline is valid? [True, True] Translation: X:233.44, Y:1.12, Z:1.00 [[ 9.99223978e-01 -3.86890311e-02 -7.38926367e-03 2.33440455e+02] [ 3.86896316e-02 9.99251274e-01 -6.17099496e-05 1.11807356e+00] [ 7.38611864e-03 -2.24225828e-04 9.99972697e-01 1.00074083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.579254154 meters 0.020780226392091993 Centerline is valid? [True, True] Translation: X:233.50, Y:1.11, Z:1.00 [[ 9.99165049e-01 -4.01437123e-02 -7.59518780e-03 2.33502918e+02] [ 4.01443905e-02 9.99193887e-01 -6.32022200e-05 1.11465497e+00] [ 7.59160239e-03 -2.41754736e-04 9.99971154e-01 1.00094621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.639254154 meters 0.020145366535106558 Centerline is valid? [True, True] Translation: X:233.56, Y:1.11, Z:1.00 [[ 9.99272298e-01 -3.70664227e-02 -8.99753979e-03 2.33564369e+02] [ 3.70672547e-02 9.99312770e-01 -7.43386518e-05 1.11341037e+00] [ 8.99411189e-03 -2.59229543e-04 9.99959519e-01 9.99940824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.699254154 meters 0.017332848490390455 Centerline is valid? [True, True] Translation: X:233.63, Y:1.12, Z:1.00 [[ 9.99431635e-01 -3.22173919e-02 -9.92204623e-03 2.33625612e+02] [ 3.22181685e-02 9.99480857e-01 -8.16026765e-05 1.11783452e+00] [ 9.91952429e-03 -2.38113861e-04 9.99950772e-01 1.00001586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.759254154 meters 0.016536977382886675 Centerline is valid? [True, True] Translation: X:233.69, Y:1.12, Z:1.00 [[ 9.99689292e-01 -2.26845929e-02 -1.03309530e-02 2.33685520e+02] [ 2.26849276e-02 9.99742660e-01 -8.47966736e-05 1.12043659e+00] [ 1.03302180e-02 -1.49586593e-04 9.99946631e-01 9.99180807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.819254154 meters 0.014908802960050906 Centerline is valid? [True, True] Translation: X:233.75, Y:1.13, Z:1.00 [[ 9.99811703e-01 -1.61723106e-02 -1.07245245e-02 2.33746392e+02] [ 1.61722978e-02 9.99869216e-01 -8.79219159e-05 1.12558278e+00] [ 1.07245438e-02 -8.55348428e-05 9.99942487e-01 9.99483191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.879254154 meters 0.014360798885802934 Centerline is valid? [True, True] Translation: X:233.81, Y:1.13, Z:1.00 [[ 9.99915358e-01 -7.50181936e-03 -1.06301436e-02 2.33806174e+02] [ 7.50131819e-03 9.99971861e-01 -8.70169678e-05 1.13103940e+00] [ 1.06304973e-02 7.26951305e-06 9.99943495e-01 9.98960982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.939254154 meters 0.0143516042621717 Centerline is valid? [True, True] Translation: X:233.86, Y:1.13, Z:1.00 [[ 9.99931986e-01 -2.40402858e-03 -1.14124130e-02 2.33864792e+02] [ 2.40309917e-03 9.99997108e-01 -9.51506532e-05 1.13301077e+00] [ 1.14126087e-02 6.77190215e-05 9.99934872e-01 1.00039510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.999254154 meters 0.01420783117468719 Centerline is valid? [True, True] Translation: X:233.92, Y:1.13, Z:1.00 [[ 9.99938219e-01 -1.93575151e-03 -1.09458684e-02 2.33922679e+02] [ 1.93483602e-03 9.99998124e-01 -9.42270076e-05 1.13149980e+00] [ 1.09460303e-02 7.30427256e-05 9.99940088e-01 1.00128500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.059254154 meters 0.014947294707344915 Centerline is valid? [True, True] Translation: X:233.98, Y:1.12, Z:1.00 [[ 9.99932427e-01 -4.81872097e-03 -1.05793129e-02 2.33981759e+02] [ 4.81800933e-03 9.99988389e-01 -9.27525791e-05 1.12488816e+00] [ 1.05796370e-02 4.17750833e-05 9.99944033e-01 1.00089278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.119254154 meters 0.014147913856036927 Centerline is valid? [True, True] Translation: X:234.04, Y:1.12, Z:1.00 [[ 9.99918129e-01 -7.98521909e-03 -9.99859992e-03 2.34039689e+02] [ 7.98473372e-03 9.99968118e-01 -8.84621540e-05 1.12047508e+00] [ 9.99898753e-03 8.61875349e-06 9.99950009e-01 1.00247740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.179254154 meters 0.014473745407513916 Centerline is valid? [True, True] Translation: X:234.10, Y:1.11, Z:1.00 [[ 9.99872377e-01 -1.33656525e-02 -8.75154734e-03 2.34098952e+02] [ 1.33654810e-02 9.99910675e-01 -7.80780030e-05 1.11009150e+00] [ 8.75180917e-03 -3.89006014e-05 9.99961701e-01 1.00370696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.239254154 meters 0.014473745407513916 Centerline is valid? [True, True] Translation: X:234.16, Y:1.11, Z:1.00 [[ 9.99871907e-01 -1.34007521e-02 -8.75154320e-03 2.34158106e+02] [ 1.34005779e-02 9.99910205e-01 -7.85395498e-05 1.11065346e+00] [ 8.75180985e-03 -3.87462474e-05 9.99961701e-01 1.00396742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.299254154 meters 0.01437814597713204 Centerline is valid? [True, True] Translation: X:234.22, Y:1.10, Z:1.00 [[ 9.99860623e-01 -1.43031134e-02 -8.61135237e-03 2.34217826e+02] [ 1.43029763e-02 9.99897704e-01 -7.75062206e-05 1.10423475e+00] [ 8.61158004e-03 -4.56725511e-05 9.99962919e-01 1.00431644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.359254154 meters 0.01441387156705313 Centerline is valid? [True, True] Translation: X:234.28, Y:1.10, Z:1.00 [[ 9.99851886e-01 -1.45750547e-02 -9.15283006e-03 2.34277619e+02] [ 1.45749097e-02 9.99893777e-01 -8.25414333e-05 1.10132066e+00] [ 9.15306087e-03 -5.08724642e-05 9.99958109e-01 1.00470391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.419254154 meters 0.01572890787487026 Centerline is valid? [True, True] Translation: X:234.34, Y:1.10, Z:1.00 [[ 9.99853883e-01 -1.37845093e-02 -1.01093775e-02 2.34336989e+02] [ 1.37842892e-02 9.99904988e-01 -9.14521137e-05 1.09768419e+00] [ 1.01096776e-02 -4.79118321e-05 9.99948895e-01 1.00410499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.479254154 meters 0.014396662410856591 Centerline is valid? [True, True] Translation: X:234.40, Y:1.09, Z:1.01 [[ 9.99875695e-01 -1.19673539e-02 -1.02653726e-02 2.34395469e+02] [ 1.19670144e-02 9.99928388e-01 -9.44977068e-05 1.09385908e+00] [ 1.02657684e-02 -2.83599017e-05 9.99947305e-01 1.00540857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.539254154 meters 0.01424782079175451 Centerline is valid? [True, True] Translation: X:234.45, Y:1.09, Z:1.01 [[ 9.99885183e-01 -9.48010397e-03 -1.18215121e-02 2.34453883e+02] [ 9.47944207e-03 9.99955063e-01 -1.12023568e-04 1.09352460e+00] [ 1.18220429e-02 -5.06334705e-08 9.99930117e-01 1.00592189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.599254154 meters 0.014975971904892285 Centerline is valid? [True, True] Translation: X:234.51, Y:1.09, Z:1.00 [[ 9.99897767e-01 -5.34049813e-03 -1.32640049e-02 2.34512079e+02] [ 5.33927294e-03 9.99985738e-01 -1.27779918e-04 1.09357387e+00] [ 1.32644981e-02 5.69467125e-05 9.99912021e-01 1.00330131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.659254154 meters 0.014473818321367562 Centerline is valid? [True, True] Translation: X:234.57, Y:1.09, Z:1.01 [[ 9.99912086e-01 -2.84637507e-03 -1.29506315e-02 2.34570714e+02] [ 2.84496467e-03 9.99995945e-01 -1.27326835e-04 1.08806523e+00] [ 1.29509414e-02 9.04715517e-05 9.99916129e-01 1.00615562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.719254154 meters 0.01451392242666788 Centerline is valid? [True, True] Translation: X:234.63, Y:1.09, Z:1.01 [[ 9.99910950e-01 -3.24692372e-03 -1.29441316e-02 2.34628196e+02] [ 3.24550165e-03 9.99994725e-01 -1.30866136e-04 1.08504264e+00] [ 1.29444882e-02 8.88442815e-05 9.99916213e-01 1.00685433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.779254154 meters 0.01431942171081466 Centerline is valid? [True, True] Translation: X:234.69, Y:1.08, Z:1.01 [[ 9.99899853e-01 -6.13514349e-03 -1.27531802e-02 2.34687378e+02] [ 6.13397407e-03 9.99981178e-01 -1.30810323e-04 1.07855825e+00] [ 1.27537427e-02 5.25695466e-05 9.99918666e-01 1.00743975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.839254154 meters 0.0141394555541291 Centerline is valid? [True, True] Translation: X:234.75, Y:1.07, Z:1.01 [[ 9.99861787e-01 -9.78660845e-03 -1.34398442e-02 2.34745460e+02] [ 9.78562159e-03 9.99952110e-01 -1.39189507e-04 1.07263037e+00] [ 1.34405628e-02 7.65304000e-06 9.99909672e-01 1.00753416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.899254154 meters 0.014528650177808536 Centerline is valid? [True, True] Translation: X:234.80, Y:1.06, Z:1.01 [[ 9.99769990e-01 -1.59191146e-02 -1.43717939e-02 2.34802948e+02] [ 1.59185974e-02 9.99873280e-01 -1.50388043e-04 1.06341539e+00] [ 1.43723667e-02 -7.84253481e-05 9.99896709e-01 1.00604161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.959254154 meters 0.016034897427373598 Centerline is valid? [True, True] Translation: X:234.86, Y:1.06, Z:1.01 [[ 9.99687623e-01 -2.00482025e-02 -1.49239913e-02 2.34861999e+02] [ 2.00480576e-02 9.99799005e-01 -1.59329874e-04 1.05890114e+00] [ 1.49241859e-02 -1.39916933e-04 9.99888618e-01 1.00635758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.019254154 meters 0.0155612434370172 Centerline is valid? [True, True] Translation: X:234.92, Y:1.05, Z:1.01 [[ 9.99556258e-01 -2.58339062e-02 -1.48288777e-02 2.34920510e+02] [ 2.58343438e-02 9.99666224e-01 -1.62078165e-04 1.05105045e+00] [ 1.48281153e-02 -2.21088079e-04 9.99890033e-01 1.00702409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.079254154 meters 0.016581587035363426 Centerline is valid? [True, True] Translation: X:234.98, Y:1.04, Z:1.01 [[ 9.99403770e-01 -3.12754992e-02 -1.46269834e-02 2.34979524e+02] [ 3.12764536e-02 9.99510759e-01 -1.63553050e-04 1.04494239e+00] [ 1.46249425e-02 -2.94024634e-04 9.99893007e-01 1.00773334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.139254154 meters 0.017404167297518647 Centerline is valid? [True, True] Translation: X:235.04, Y:1.04, Z:1.01 [[ 9.99291078e-01 -3.47504164e-02 -1.44827297e-02 2.35039095e+02] [ 3.47516955e-02 9.99395964e-01 -1.63405073e-04 1.04267637e+00] [ 1.44796600e-02 -3.40010183e-04 9.99895106e-01 1.00817595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.199254154 meters 0.018527805328659733 Centerline is valid? [True, True] Translation: X:235.10, Y:1.04, Z:1.01 [[ 9.99092380e-01 -4.01594690e-02 -1.41997291e-02 2.35098965e+02] [ 4.01612371e-02 9.99193199e-01 -1.60727509e-04 1.03945804e+00] [ 1.41947275e-02 -4.09697060e-04 9.99899166e-01 1.00852028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.259254154 meters 0.01960219803628594 Centerline is valid? [True, True] Translation: X:235.16, Y:1.04, Z:1.01 [[ 9.98963592e-01 -4.33006258e-02 -1.40284774e-02 2.35159343e+02] [ 4.33026587e-02 9.99061987e-01 -1.58948431e-04 1.03777236e+00] [ 1.40222011e-02 -4.48686673e-04 9.99901583e-01 1.00890538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.319254154 meters 0.021693973468203717 Centerline is valid? [True, True] Translation: X:235.22, Y:1.04, Z:1.01 [[ 9.98789864e-01 -4.73086472e-02 -1.34424407e-02 2.35219433e+02] [ 4.73108762e-02 9.98880202e-01 -1.52308394e-04 1.03701390e+00] [ 1.34345933e-02 -4.83849567e-04 9.99909635e-01 1.00941192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.379254154 meters 0.02255223288508584 Centerline is valid? [True, True] Translation: X:235.28, Y:1.04, Z:1.01 [[ 9.98679189e-01 -4.96088131e-02 -1.33732544e-02 2.35280166e+02] [ 4.96112252e-02 9.98768594e-01 -1.51524484e-04 1.03850420e+00] [ 1.33643034e-02 -5.12139185e-04 9.99910563e-01 1.00988860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.439254154 meters 0.022713671378095827 Centerline is valid? [True, True] Translation: X:235.34, Y:1.04, Z:1.01 [[ 9.98580291e-01 -5.15807533e-02 -1.32976983e-02 2.35341122e+02] [ 5.15833149e-02 9.98668683e-01 -1.50506456e-04 1.04163726e+00] [ 1.32877581e-02 -5.35646579e-04 9.99911570e-01 1.01039594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.499254154 meters 0.024787913442798046 Centerline is valid? [True, True] Translation: X:235.40, Y:1.04, Z:1.01 [[ 9.98556222e-01 -5.18521874e-02 -1.40293207e-02 2.35402233e+02] [ 5.18550715e-02 9.98654608e-01 -1.58357485e-04 1.04461131e+00] [ 1.40186569e-02 -5.69362573e-04 9.99901572e-01 1.00924698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.559254154 meters 0.023291454430840228 Centerline is valid? [True, True] Translation: X:235.46, Y:1.05, Z:1.01 [[ 9.98615167e-01 -5.10693393e-02 -1.26361171e-02 2.35463609e+02] [ 5.10716219e-02 9.98694983e-01 -1.42191394e-04 1.04977964e+00] [ 1.26268884e-02 -5.03352514e-04 9.99920151e-01 1.01101208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.619254154 meters 0.02290178032221531 Centerline is valid? [True, True] Translation: X:235.53, Y:1.06, Z:1.01 [[ 9.98771055e-01 -4.79923457e-02 -1.23739467e-02 2.35525461e+02] [ 4.79943060e-02 9.98847600e-01 -1.38656569e-04 1.05628168e+00] [ 1.23663414e-02 -4.55392816e-04 9.99923430e-01 1.01069747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.679254154 meters 0.02272061585729912 Centerline is valid? [True, True] Translation: X:235.59, Y:1.06, Z:1.01 [[ 9.98889768e-01 -4.51478652e-02 -1.34499963e-02 2.35587050e+02] [ 4.51499335e-02 9.98980211e-01 -1.49984571e-04 1.06331804e+00] [ 1.34430517e-02 -4.57448387e-04 9.99909533e-01 1.01010783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.739254154 meters 0.01906427573908908 Centerline is valid? [True, True] Translation: X:235.65, Y:1.08, Z:1.01 [[ 9.99106955e-01 -4.02759016e-02 -1.27727663e-02 2.35648013e+02] [ 4.02773756e-02 9.99188527e-01 -1.41919240e-04 1.07511219e+00] [ 1.27681175e-02 -3.72661005e-04 9.99918415e-01 1.01227889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.799254154 meters 0.018690548862041665 Centerline is valid? [True, True] Translation: X:235.71, Y:1.08, Z:1.01 [[ 9.99277023e-01 -3.59045408e-02 -1.25017854e-02 2.35708611e+02] [ 3.59056166e-02 9.99355176e-01 -1.38457981e-04 1.08414713e+00] [ 1.24986952e-02 -3.10526436e-04 9.99921840e-01 1.01309191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.859254154 meters 0.017997608438055722 Centerline is valid? [True, True] Translation: X:235.77, Y:1.09, Z:1.01 [[ 9.99409120e-01 -3.19700757e-02 -1.26224438e-02 2.35769917e+02] [ 3.19708645e-02 9.99488792e-01 -1.39332359e-04 1.09091662e+00] [ 1.26204456e-02 -2.64300411e-04 9.99920324e-01 1.01378842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.919254154 meters 0.01668436964678913 Centerline is valid? [True, True] Translation: X:235.83, Y:1.10, Z:1.01 [[ 9.99591900e-01 -2.57483449e-02 -1.23716239e-02 2.35830162e+02] [ 2.57486282e-02 9.99668440e-01 -1.36407245e-04 1.10200621e+00] [ 1.23710343e-02 -1.82200768e-04 9.99923459e-01 1.01443169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.979254154 meters 0.01633770514732351 Centerline is valid? [True, True] Translation: X:235.89, Y:1.11, Z:1.02 [[ 9.99670752e-01 -2.28098559e-02 -1.17515244e-02 2.35890790e+02] [ 2.28099085e-02 9.99739812e-01 -1.29570141e-04 1.10782553e+00] [ 1.17514222e-02 -1.38523716e-04 9.99930940e-01 1.01517886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.039254154 meters 0.016122476985811707 Centerline is valid? [True, True] Translation: X:235.95, Y:1.11, Z:1.02 [[ 9.99706658e-01 -2.18795285e-02 -1.03867458e-02 2.35950391e+02] [ 2.18795183e-02 9.99760608e-01 -1.14627658e-04 1.11244862e+00] [ 1.03867673e-02 -1.12662961e-04 9.99946050e-01 1.01609493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.099254154 meters 0.016276156640333297 Centerline is valid? [True, True] Translation: X:236.01, Y:1.11, Z:1.02 [[ 9.99677674e-01 -2.32141608e-02 -1.02786912e-02 2.36011253e+02] [ 2.32142205e-02 9.99730507e-01 -1.13511804e-04 1.11393649e+00] [ 1.02785562e-02 -1.25136588e-04 9.99947166e-01 1.01644612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.159254154 meters 0.01677418005632298 Centerline is valid? [True, True] Translation: X:236.07, Y:1.11, Z:1.02 [[ 9.99618447e-01 -2.57411981e-02 -1.00175283e-02 2.36072299e+02] [ 2.57413837e-02 9.99668630e-01 -1.10429059e-04 1.11425020e+00] [ 1.00170513e-02 -1.47478114e-04 9.99949817e-01 1.01626011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.219254154 meters 0.01860653139656096 Centerline is valid? [True, True] Translation: X:236.13, Y:1.11, Z:1.02 [[ 9.99434201e-01 -3.20244213e-02 -1.02817625e-02 2.36132052e+02] [ 3.20249553e-02 9.99487063e-01 -1.12739377e-04 1.11022173e+00] [ 1.02800991e-02 -2.16597396e-04 9.99947135e-01 1.01533546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.279254154 meters 0.019492085719014913 Centerline is valid? [True, True] Translation: X:236.19, Y:1.11, Z:1.02 [[ 9.99274340e-01 -3.66965924e-02 -1.02055716e-02 2.36192987e+02] [ 3.66973684e-02 9.99326419e-01 -1.11282228e-04 1.10840541e+00] [ 1.02027810e-02 -2.63316146e-04 9.99947916e-01 1.01566371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.339254154 meters 0.019513544453810476 Centerline is valid? [True, True] Translation: X:236.25, Y:1.11, Z:1.02 [[ 9.99078908e-01 -4.16635650e-02 -1.02704753e-02 2.36254362e+02] [ 4.16646176e-02 9.99131647e-01 -1.11546048e-04 1.10935698e+00] [ 1.02662043e-02 -3.16472121e-04 9.99947251e-01 1.01648410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.399254154 meters 0.019754620491981626 Centerline is valid? [True, True] Translation: X:236.32, Y:1.11, Z:1.02 [[ 9.99097869e-01 -4.11792947e-02 -1.03785545e-02 2.36316485e+02] [ 4.11803499e-02 9.99151723e-01 -1.12108848e-04 1.11016644e+00] [ 1.03743672e-02 -3.15384794e-04 9.99946135e-01 1.01589797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.459254154 meters 0.019512047208202602 Centerline is valid? [True, True] Translation: X:236.38, Y:1.11, Z:1.02 [[ 9.99252926e-01 -3.70940871e-02 -1.08452448e-02 2.36376685e+02] [ 3.70950090e-02 9.99311737e-01 -1.16205939e-04 1.11310009e+00] [ 1.08420910e-02 -2.86185330e-04 9.99941182e-01 1.01585804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.519254154 meters 0.01761902830763699 Centerline is valid? [True, True] Translation: X:236.44, Y:1.12, Z:1.02 [[ 9.99481920e-01 -3.05994688e-02 -9.97818743e-03 2.36437941e+02] [ 3.05999315e-02 9.99531707e-01 -1.06334247e-04 1.11938789e+00] [ 9.97676848e-03 -1.99052695e-04 9.99950211e-01 1.01635875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.579254154 meters 0.015542084023095346 Centerline is valid? [True, True] Translation: X:236.50, Y:1.13, Z:1.02 [[ 9.99780241e-01 -1.92279844e-02 -8.35186723e-03 2.36498195e+02] [ 1.92279129e-02 9.99815123e-01 -8.88692254e-05 1.12998186e+00] [ 8.35203193e-03 -7.17392798e-05 9.99965119e-01 1.01775356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.639254154 meters 0.015243461765762807 Centerline is valid? [True, True] Translation: X:236.56, Y:1.14, Z:1.02 [[ 9.99931789e-01 -8.83318579e-03 -7.64148632e-03 2.36558988e+02] [ 8.83282234e-03 9.99960987e-01 -8.13103168e-05 1.13736476e+00] [ 7.64190643e-03 1.38088795e-05 9.99970800e-01 1.01812120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.699254154 meters 0.015288433624266923 Centerline is valid? [True, True] Translation: X:236.62, Y:1.14, Z:1.02 [[ 9.99952351e-01 -4.66683863e-03 -8.57421155e-03 2.36618881e+02] [ 4.66622659e-03 9.99989109e-01 -9.13851529e-05 1.14074374e+00] [ 8.57454465e-03 5.13715845e-05 9.99963237e-01 1.01779651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.759254154 meters 0.015398122221331486 Centerline is valid? [True, True] Translation: X:236.68, Y:1.14, Z:1.02 [[ 9.99952486e-01 -2.94870833e-03 -9.29138999e-03 2.36678031e+02] [ 2.94790237e-03 9.99995650e-01 -1.00437097e-04 1.14160355e+00] [ 9.29164573e-03 7.30422139e-05 9.99956829e-01 1.01757048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.819254154 meters 0.01660543658340897 Centerline is valid? [True, True] Translation: X:236.74, Y:1.14, Z:1.02 [[ 9.99948964e-01 -3.82494250e-03 -9.35092947e-03 2.36736378e+02] [ 3.82414068e-03 9.99992683e-01 -1.03626651e-04 1.13992331e+00] [ 9.35125741e-03 6.78620924e-05 9.99956274e-01 1.01698233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.879254154 meters 0.014763597514794254 Centerline is valid? [True, True] Translation: X:236.80, Y:1.13, Z:1.02 [[ 9.99921659e-01 -8.83473295e-03 -8.86703479e-03 2.36795132e+02] [ 8.83419545e-03 9.99960973e-01 -9.97843365e-05 1.13457995e+00] [ 8.86757030e-03 2.14434009e-05 9.99960682e-01 1.01885291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.939254154 meters 0.0146435146456466 Centerline is valid? [True, True] Translation: X:236.85, Y:1.13, Z:1.02 [[ 9.99873286e-01 -1.30271669e-02 -9.14905801e-03 2.36853056e+02] [ 1.30267633e-02 9.99915143e-01 -1.03698176e-04 1.13073877e+00] [ 9.14963254e-03 -1.54975772e-05 9.99958141e-01 1.01973135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.999254154 meters 0.016436061220156062 Centerline is valid? [True, True] Translation: X:236.91, Y:1.12, Z:1.02 [[ 9.99783576e-01 -1.91443334e-02 -8.14225670e-03 2.36912588e+02] [ 1.91442128e-02 9.99816728e-01 -9.27599710e-05 1.12225175e+00] [ 8.14254029e-03 -6.31371996e-05 9.99966847e-01 1.02078707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.059254154 meters 0.0158971624720218 Centerline is valid? [True, True] Translation: X:236.97, Y:1.11, Z:1.02 [[ 9.99643376e-01 -2.59052636e-02 -6.48368483e-03 2.36973179e+02] [ 2.59053285e-02 9.99664398e-01 -7.39860309e-05 1.11409149e+00] [ 6.48342551e-03 -9.40023398e-05 9.99978978e-01 1.02402081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.119254154 meters 0.019905444317661204 Centerline is valid? [True, True] Translation: X:237.03, Y:1.11, Z:1.02 [[ 9.99555210e-01 -2.91062311e-02 -6.49692345e-03 2.37034835e+02] [ 2.91063646e-02 9.99576317e-01 -7.40265539e-05 1.10688601e+00] [ 6.49632545e-03 -1.15108195e-04 9.99978892e-01 1.02355267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.179254154 meters 0.018638337549718918 Centerline is valid? [True, True] Translation: X:237.10, Y:1.10, Z:1.03 [[ 9.99375925e-01 -3.47542723e-02 -6.31668083e-03 2.37096369e+02] [ 3.47545130e-02 9.99395877e-01 -7.16810997e-05 1.10058163e+00] [ 6.31535600e-03 -1.47896801e-04 9.99980047e-01 1.02623410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.239254154 meters 0.019785758494465663 Centerline is valid? [True, True] Translation: X:237.16, Y:1.10, Z:1.03 [[ 9.99301451e-01 -3.67712780e-02 -6.66961446e-03 2.37158023e+02] [ 3.67715932e-02 9.99323693e-01 -7.54097828e-05 1.09586850e+00] [ 6.66787667e-03 -1.69895244e-04 9.99977755e-01 1.02636102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.299254154 meters 0.021172626841766688 Centerline is valid? [True, True] Translation: X:237.22, Y:1.09, Z:1.03 [[ 9.99314178e-01 -3.61738329e-02 -7.91375206e-03 2.37219573e+02] [ 3.61742614e-02 9.99345493e-01 -8.90324984e-05 1.09326987e+00] [ 7.91179310e-03 -1.97302697e-04 9.99968682e-01 1.02515197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.359254154 meters 0.01890000564007281 Centerline is valid? [True, True] Translation: X:237.28, Y:1.10, Z:1.03 [[ 9.99448479e-01 -3.20143154e-02 -8.82160541e-03 2.37281114e+02] [ 3.20146894e-02 9.99487394e-01 -9.88533191e-05 1.09601126e+00] [ 8.82024812e-03 -1.83622158e-04 9.99961084e-01 1.02511769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.419254154 meters 0.017437634852550874 Centerline is valid? [True, True] Translation: X:237.34, Y:1.10, Z:1.02 [[ 9.99588421e-01 -2.71746422e-02 -9.19386991e-03 2.37342617e+02] [ 2.71748466e-02 9.99630690e-01 -1.02715528e-04 1.09969817e+00] [ 9.19326579e-03 -1.47168752e-04 9.99957730e-01 1.02407604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.479254154 meters 0.014713847066589127 Centerline is valid? [True, True] Translation: X:237.40, Y:1.11, Z:1.02 [[ 9.99752228e-01 -2.01871687e-02 -9.37874753e-03 2.37403753e+02] [ 2.01870770e-02 9.99796215e-01 -1.04455537e-04 1.10604780e+00] [ 9.37894494e-03 -8.48998430e-05 9.99956013e-01 1.02369098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.539254154 meters 0.01439526226070553 Centerline is valid? [True, True] Translation: X:237.46, Y:1.11, Z:1.02 [[ 9.99789506e-01 -1.76939958e-02 -1.03858173e-02 2.37464223e+02] [ 1.76937507e-02 9.99843447e-01 -1.15497729e-04 1.10786999e+00] [ 1.03862350e-02 -6.82906449e-05 9.99946059e-01 1.02262452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.599254154 meters 0.014509572874720256 Centerline is valid? [True, True] Translation: X:237.52, Y:1.11, Z:1.02 [[ 9.99774059e-01 -1.84205306e-02 -1.06072949e-02 2.37522438e+02] [ 1.84203110e-02 9.99830325e-01 -1.18406280e-04 1.10587272e+00] [ 1.06076762e-02 -7.70101443e-05 9.99943734e-01 1.02062469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.659254154 meters 0.014812474530612586 Centerline is valid? [True, True] Translation: X:237.58, Y:1.10, Z:1.02 [[ 9.99718826e-01 -2.12443866e-02 -1.05330247e-02 2.37582141e+02] [ 2.12443212e-02 9.99774307e-01 -1.18106833e-04 1.10266293e+00] [ 1.05331566e-02 -1.05693336e-04 9.99944519e-01 1.02014175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.719254154 meters 0.01639802807624766 Centerline is valid? [True, True] Translation: X:237.64, Y:1.10, Z:1.02 [[ 9.99533577e-01 -2.90401346e-02 -9.44980178e-03 2.37642433e+02] [ 2.90404288e-02 9.99578232e-01 -1.06104159e-04 1.09527075e+00] [ 9.44889743e-03 -1.68371627e-04 9.99955344e-01 1.02016095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.779254154 meters 0.018570305705887767 Centerline is valid? [True, True] Translation: X:237.70, Y:1.09, Z:1.02 [[ 9.99273056e-01 -3.73043736e-02 -7.85763288e-03 2.37703967e+02] [ 3.73048332e-02 9.99303929e-01 -8.81075802e-05 1.08810314e+00] [ 7.85545021e-03 -2.05084153e-04 9.99969124e-01 1.02121576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.839254154 meters 0.022179242463442345 Centerline is valid? [True, True] Translation: X:237.76, Y:1.08, Z:1.02 [[ 9.99110034e-01 -4.15086590e-02 -7.49467864e-03 2.37764778e+02] [ 4.15091976e-02 9.99138118e-01 -8.37354745e-05 1.08373007e+00] [ 7.49169486e-03 -2.27437144e-04 9.99971911e-01 1.02051297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.899254154 meters 0.023091471350979862 Centerline is valid? [True, True] Translation: X:237.83, Y:1.08, Z:1.03 [[ 9.98885961e-01 -4.70296484e-02 -3.87937670e-03 2.37825506e+02] [ 4.70298347e-02 9.98893484e-01 -4.32390991e-05 1.07897325e+00] [ 3.87711763e-03 -1.39255516e-04 9.99992474e-01 1.02524939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.959254154 meters 0.023564873002033852 Centerline is valid? [True, True] Translation: X:237.89, Y:1.08, Z:1.03 [[ 9.98784899e-01 -4.91611061e-02 -3.45123962e-03 2.37887771e+02] [ 4.91612662e-02 9.98790853e-01 -3.84661536e-05 1.07862607e+00] [ 3.44895760e-03 -1.31247896e-04 9.99994044e-01 1.02603014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.019254154 meters 0.02323210167327161 Centerline is valid? [True, True] Translation: X:237.95, Y:1.08, Z:1.03 [[ 9.98675991e-01 -5.13590696e-02 -2.91721635e-03 2.37950022e+02] [ 5.13591938e-02 9.98680245e-01 -3.23593857e-05 1.07970133e+00] [ 2.91502829e-03 -1.17509339e-04 9.99995744e-01 1.02655939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.079254154 meters 0.025598987641509523 Centerline is valid? [True, True] Translation: X:238.01, Y:1.08, Z:1.03 [[ 9.98558414e-01 -5.35296056e-02 -3.95923526e-03 2.38012254e+02] [ 5.35298531e-02 9.98566249e-01 -4.35171235e-05 1.07848455e+00] [ 3.95588816e-03 -1.68482892e-04 9.99992161e-01 1.02596125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.139254154 meters 0.027435448939729885 Centerline is valid? [True, True] Translation: X:238.07, Y:1.08, Z:1.03 [[ 9.98375630e-01 -5.68328732e-02 -4.01564099e-03 2.38072836e+02] [ 5.68331557e-02 9.98383689e-01 -4.38253399e-05 1.07607710e+00] [ 4.01164119e-03 -1.84467398e-04 9.99991936e-01 1.02772276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.199254154 meters 0.027128092329655924 Centerline is valid? [True, True] Translation: X:238.13, Y:1.08, Z:1.03 [[ 9.98231742e-01 -5.92628004e-02 -4.61620952e-03 2.38134377e+02] [ 5.92632001e-02 9.98242391e-01 -5.02691231e-05 1.07890880e+00] [ 4.61107511e-03 -2.23391114e-04 9.99989344e-01 1.02744101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.259254154 meters 0.02863137097815672 Centerline is valid? [True, True] Translation: X:238.20, Y:1.08, Z:1.03 [[ 9.98145332e-01 -6.06726749e-02 -4.97216794e-03 2.38195942e+02] [ 6.06731586e-02 9.98157685e-01 -5.36278225e-05 1.07893206e+00] [ 4.96626139e-03 -2.48148774e-04 9.99987637e-01 1.02813150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.319254154 meters 0.027268905710503874 Centerline is valid? [True, True] Translation: X:238.26, Y:1.08, Z:1.03 [[ 9.98180849e-01 -5.99596848e-02 -6.31108333e-03 2.38257658e+02] [ 5.99604527e-02 9.98200751e-01 -6.76336770e-05 1.08479079e+00] [ 6.30378342e-03 -3.10904773e-04 9.99980083e-01 1.02783436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.379254154 meters 0.02723261629804473 Centerline is valid? [True, True] Translation: X:238.32, Y:1.09, Z:1.03 [[ 9.98248347e-01 -5.87105281e-02 -7.30149645e-03 2.38319562e+02] [ 5.87115268e-02 9.98274987e-01 -7.76735211e-05 1.08835363e+00] [ 7.29346153e-03 -3.51144540e-04 9.99973341e-01 1.02746779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.439254154 meters 0.02768804514931174 Centerline is valid? [True, True] Translation: X:238.38, Y:1.09, Z:1.03 [[ 9.98417347e-01 -5.57020445e-02 -7.75141332e-03 2.38379656e+02] [ 5.57030826e-02 9.98447375e-01 -8.20661585e-05 1.09324357e+00] [ 7.74394953e-03 -3.49841340e-04 9.99969954e-01 1.02642970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.499254154 meters 0.024793319146167423 Centerline is valid? [True, True] Translation: X:238.44, Y:1.10, Z:1.03 [[ 9.98597042e-01 -5.24024422e-02 -7.61129443e-03 2.38441398e+02] [ 5.24033493e-02 9.98625997e-01 -8.03345867e-05 1.10148094e+00] [ 7.60504621e-03 -3.18635440e-04 9.99971030e-01 1.02644899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.559254154 meters 0.023029755167367657 Centerline is valid? [True, True] Translation: X:238.50, Y:1.11, Z:1.03 [[ 9.98915207e-01 -4.60454167e-02 -6.94469746e-03 2.38500531e+02] [ 4.60460197e-02 9.98939317e-01 -7.31107054e-05 1.11103027e+00] [ 6.94069775e-03 -2.46744281e-04 9.99975883e-01 1.02638501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.619254154 meters 0.02214444167840795 Centerline is valid? [True, True] Translation: X:238.56, Y:1.12, Z:1.03 [[ 9.99139863e-01 -4.07592290e-02 -7.63014457e-03 2.38560093e+02] [ 4.07598026e-02 9.99168971e-01 -8.03761832e-05 1.11777207e+00] [ 7.62707977e-03 -2.30696138e-04 9.99970887e-01 1.02539581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.679254154 meters 0.018043281712167545 Centerline is valid? [True, True] Translation: X:238.62, Y:1.13, Z:1.03 [[ 9.99481053e-01 -3.12529600e-02 -7.80233737e-03 2.38620548e+02] [ 3.12532704e-02 9.99511494e-01 -8.21675409e-05 1.13129703e+00] [ 7.80109386e-03 -1.61723659e-04 9.99969558e-01 1.02518178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.739254154 meters 0.0156703301005731 Centerline is valid? [True, True] Translation: X:238.68, Y:1.14, Z:1.03 [[ 9.99714513e-01 -2.27597372e-02 -7.27235145e-03 2.38680924e+02] [ 2.27597827e-02 9.99740960e-01 -7.65109678e-05 1.14306014e+00] [ 7.27220899e-03 -8.90280141e-05 9.99973553e-01 1.02688986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.799254154 meters 0.014964428971297393 Centerline is valid? [True, True] Translation: X:238.74, Y:1.15, Z:1.03 [[ 9.99800113e-01 -1.87269245e-02 -7.00262219e-03 2.38740978e+02] [ 1.87268694e-02 9.99824634e-01 -7.34415489e-05 1.14908210e+00] [ 7.00276950e-03 -5.77103226e-05 9.99975479e-01 1.02770951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.859254154 meters 0.0144831393918351 Centerline is valid? [True, True] Translation: X:238.80, Y:1.15, Z:1.03 [[ 9.99829989e-01 -1.71015414e-02 -6.89426079e-03 2.38802319e+02] [ 1.71014518e-02 9.99853757e-01 -7.19566413e-05 1.15234369e+00] [ 6.89448313e-03 -4.59574606e-05 9.99976232e-01 1.02817066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.919254154 meters 0.0149023096881802 Centerline is valid? [True, True] Translation: X:238.86, Y:1.15, Z:1.03 [[ 9.99791570e-01 -1.87346068e-02 -8.11366884e-03 2.38862479e+02] [ 1.87345382e-02 9.99824490e-01 -8.44569113e-05 1.15259124e+00] [ 8.11382708e-03 -6.75665313e-05 9.99967080e-01 1.02787122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.979254154 meters 0.016338816128556494 Centerline is valid? [True, True] Translation: X:238.92, Y:1.15, Z:1.03 [[ 9.99699248e-01 -2.29877482e-02 -8.54260864e-03 2.38923625e+02] [ 2.29878292e-02 9.99735741e-01 -8.87168565e-05 1.14970953e+00] [ 8.54239058e-03 -1.07685854e-04 9.99963507e-01 1.02851321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.039254154 meters 0.017368293905408866 Centerline is valid? [True, True] Translation: X:238.98, Y:1.15, Z:1.03 [[ 9.99630524e-01 -2.55992990e-02 -9.13731973e-03 2.38983471e+02] [ 2.55995056e-02 9.99672274e-01 -9.43743691e-05 1.14703411e+00] [ 9.13674111e-03 -1.39571367e-04 9.99958249e-01 1.02860436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.099254154 meters 0.01839150109484989 Centerline is valid? [True, True] Translation: X:239.04, Y:1.15, Z:1.03 [[ 9.99572549e-01 -2.75357021e-02 -9.82362314e-03 2.39044853e+02] [ 2.75360396e-02 9.99620806e-01 -1.00925560e-04 1.14505685e+00] [ 9.82267714e-03 -1.69621257e-04 9.99951742e-01 1.02808333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.159254154 meters 0.018775803527181965 Centerline is valid? [True, True] Translation: X:239.10, Y:1.14, Z:1.03 [[ 9.99573216e-01 -2.74308951e-02 -1.00464986e-02 2.39104767e+02] [ 2.74312470e-02 9.99623687e-01 -1.02798986e-04 1.14439487e+00] [ 1.00455379e-02 -1.72832873e-04 9.99949527e-01 1.02756480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.219254154 meters 0.018995144533564514 Centerline is valid? [True, True] Translation: X:239.17, Y:1.14, Z:1.03 [[ 9.99614328e-01 -2.61543010e-02 -9.33532661e-03 2.39166452e+02] [ 2.61545524e-02 9.99657907e-01 -9.51726696e-05 1.14449701e+00] [ 9.33462223e-03 -1.49025325e-04 9.99956420e-01 1.02678774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.279254154 meters 0.017829629797067606 Centerline is valid? [True, True] Translation: X:239.23, Y:1.15, Z:1.03 [[ 9.99659011e-01 -2.43971229e-02 -9.30812334e-03 2.39226851e+02] [ 2.43973005e-02 9.99702337e-01 -9.44843794e-05 1.14604533e+00] [ 9.30765780e-03 -1.32640921e-04 9.99956674e-01 1.02613115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.339254154 meters 0.01585949609993698 Centerline is valid? [True, True] Translation: X:239.29, Y:1.15, Z:1.03 [[ 9.99673256e-01 -2.36992126e-02 -9.57752110e-03 2.39288419e+02] [ 2.36993728e-02 9.99719126e-01 -9.67827470e-05 1.15197637e+00] [ 9.57712469e-03 -1.30230119e-04 9.99954130e-01 1.02702929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.399254154 meters 0.01525944382753672 Centerline is valid? [True, True] Translation: X:239.35, Y:1.15, Z:1.03 [[ 9.99698738e-01 -2.29636515e-02 -8.66624624e-03 2.39350032e+02] [ 2.29637575e-02 9.99736294e-01 -8.72816106e-05 1.15470708e+00] [ 8.66596521e-03 -1.11754261e-04 9.99962444e-01 1.02843941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.459254154 meters 0.015520683307903535 Centerline is valid? [True, True] Translation: X:239.41, Y:1.16, Z:1.03 [[ 9.99747494e-01 -2.13637674e-02 -6.96684667e-03 2.39410721e+02] [ 2.13637983e-02 9.99771766e-01 -6.99920018e-05 1.15516570e+00] [ 6.96675189e-03 -7.88639788e-05 9.99975729e-01 1.02994133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.519254154 meters 0.015286963524257388 Centerline is valid? [True, True] Translation: X:239.47, Y:1.16, Z:1.03 [[ 9.99744621e-01 -2.15857931e-02 -6.68919491e-03 2.39473232e+02] [ 2.15858282e-02 9.99766997e-01 -6.69624530e-05 1.15747528e+00] [ 6.68908175e-03 -7.74464600e-05 9.99977625e-01 1.03093716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.579254154 meters 0.01570396458388285 Centerline is valid? [True, True] Translation: X:239.54, Y:1.16, Z:1.03 [[ 9.99696240e-01 -2.32696543e-02 -8.12100853e-03 2.39535005e+02] [ 2.32697668e-02 9.99729219e-01 -8.06476172e-05 1.15703308e+00] [ 8.12068616e-03 -1.08350855e-04 9.99967021e-01 1.03064989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.639254154 meters 0.01712919426360104 Centerline is valid? [True, True] Translation: X:239.60, Y:1.15, Z:1.03 [[ 9.99525723e-01 -2.89241128e-02 -1.05700205e-02 2.39596477e+02] [ 2.89246260e-02 9.99581590e-01 -1.04347981e-04 1.15294486e+00] [ 1.05686160e-02 -2.01435397e-04 9.99944130e-01 1.02918798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.699254154 meters 0.01900005750562969 Centerline is valid? [True, True] Translation: X:239.66, Y:1.15, Z:1.03 [[ 9.99352658e-01 -3.40121319e-02 -1.17235010e-02 2.39657957e+02] [ 3.40131180e-02 9.99421380e-01 -1.15313767e-04 1.14907510e+00] [ 1.17206396e-02 -2.83513703e-04 9.99931271e-01 1.02852243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.759254154 meters 0.01950944266929074 Centerline is valid? [True, True] Translation: X:239.72, Y:1.15, Z:1.03 [[ 9.99078439e-01 -4.09488402e-02 -1.28633179e-02 2.39719057e+02] [ 4.09506079e-02 9.99161164e-01 -1.26048260e-04 1.14835394e+00] [ 1.28576892e-02 -4.00828589e-04 9.99917256e-01 1.02974104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.819254154 meters 0.023493390933307195 Centerline is valid? [True, True] Translation: X:239.78, Y:1.14, Z:1.03 [[ 9.98953800e-01 -4.38896813e-02 -1.28452889e-02 2.39779984e+02] [ 4.38917027e-02 9.99036287e-01 -1.24642920e-04 1.14214138e+00] [ 1.28383803e-02 -4.39289082e-04 9.99917488e-01 1.02882649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.879254154 meters 0.02197707320858158 Centerline is valid? [True, True] Translation: X:239.84, Y:1.15, Z:1.03 [[ 9.98862728e-01 -4.55905715e-02 -1.39553286e-02 2.39842303e+02] [ 4.55931415e-02 9.98960083e-01 -1.34101062e-04 1.14763360e+00] [ 1.39469300e-02 -5.02318721e-04 9.99902611e-01 1.02907424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.939254154 meters 0.021695301788359555 Centerline is valid? [True, True] Translation: X:239.90, Y:1.15, Z:1.03 [[ 9.98854593e-01 -4.61480965e-02 -1.26434174e-02 2.39903352e+02] [ 4.61502600e-02 9.98934502e-01 -1.20747620e-04 1.14731058e+00] [ 1.26355181e-02 -4.62887684e-04 9.99920062e-01 1.02967901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.999254154 meters 0.021441334045495978 Centerline is valid? [True, True] Translation: X:239.97, Y:1.15, Z:1.03 [[ 9.98878629e-01 -4.57132068e-02 -1.23201793e-02 2.39965496e+02] [ 4.57152380e-02 9.98954505e-01 -1.16848860e-04 1.14909292e+00] [ 1.23126402e-02 -4.46502099e-04 9.99924097e-01 1.02958949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.059254154 meters 0.01985268050731426 Centerline is valid? [True, True] Translation: X:240.03, Y:1.16, Z:1.03 [[ 9.99005342e-01 -4.31100009e-02 -1.13953724e-02 2.40026583e+02] [ 4.31115758e-02 9.99070258e-01 -1.07519637e-04 1.15530857e+00] [ 1.13894128e-02 -3.83859769e-04 9.99935065e-01 1.02977403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.119254154 meters 0.020462374903875286 Centerline is valid? [True, True] Translation: X:240.09, Y:1.16, Z:1.03 [[ 9.99168254e-01 -3.92140462e-02 -1.11829376e-02 2.40086632e+02] [ 3.92153223e-02 9.99230778e-01 -1.05228226e-04 1.15728281e+00] [ 1.11784619e-02 -3.33401800e-04 9.99937463e-01 1.02947608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.179254154 meters 0.01880468987260735 Centerline is valid? [True, True] Translation: X:240.15, Y:1.16, Z:1.03 [[ 9.99276827e-01 -3.63537348e-02 -1.11458304e-02 2.40148341e+02] [ 3.63548296e-02 9.99338939e-01 -1.04433893e-04 1.16281231e+00] [ 1.11422589e-02 -3.00846395e-04 9.99937878e-01 1.03026949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.239254154 meters 0.01776798619644562 Centerline is valid? [True, True] Translation: X:240.21, Y:1.17, Z:1.03 [[ 9.99386009e-01 -3.30236292e-02 -1.17066601e-02 2.40209399e+02] [ 3.30246146e-02 9.99454533e-01 -1.09175199e-04 1.16772702e+00] [ 1.17038799e-02 -2.77499773e-04 9.99931469e-01 1.03030600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.299254154 meters 0.01593895049595354 Centerline is valid? [True, True] Translation: X:240.27, Y:1.18, Z:1.03 [[ 9.99537250e-01 -2.78267915e-02 -1.22863832e-02 2.40270643e+02] [ 2.78274902e-02 9.99612734e-01 -1.14123969e-04 1.17524863e+00] [ 1.22848008e-02 -2.27828051e-04 9.99924513e-01 1.03052859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.359254154 meters 0.01571190385667682 Centerline is valid? [True, True] Translation: X:240.33, Y:1.18, Z:1.03 [[ 9.99648172e-01 -2.37168590e-02 -1.18761764e-02 2.40330568e+02] [ 2.37172252e-02 9.99718701e-01 -1.10022489e-04 1.17950664e+00] [ 1.18754451e-02 -1.71686171e-04 9.99929470e-01 1.03016330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.419254154 meters 0.015051872346740892 Centerline is valid? [True, True] Translation: X:240.39, Y:1.18, Z:1.03 [[ 9.99695655e-01 -2.18628142e-02 -1.14287101e-02 2.40392230e+02] [ 2.18630360e-02 9.99760970e-01 -1.05548595e-04 1.18419759e+00] [ 1.14282859e-02 -1.44349829e-04 9.99934685e-01 1.03135785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.479254154 meters 0.01505244875011735 Centerline is valid? [True, True] Translation: X:240.45, Y:1.19, Z:1.03 [[ 9.99727994e-01 -2.11575409e-02 -9.81311820e-03 2.40452893e+02] [ 2.11576717e-02 9.99776147e-01 -9.04922635e-05 1.18799307e+00] [ 9.81283610e-03 -1.17155084e-04 9.99951846e-01 1.03257398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.539254154 meters 0.015650557355604566 Centerline is valid? [True, True] Translation: X:240.51, Y:1.19, Z:1.03 [[ 9.99703439e-01 -2.29187544e-02 -8.23197286e-03 2.40513468e+02] [ 2.29189067e-02 9.99737324e-01 -7.58450018e-05 1.18826913e+00] [ 8.23154879e-03 -1.12845309e-04 9.99966114e-01 1.03310583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.599254154 meters 0.016548616366543832 Centerline is valid? [True, True] Translation: X:240.58, Y:1.19, Z:1.03 [[ 9.99535630e-01 -2.96604896e-02 -6.98429969e-03 2.40575414e+02] [ 2.96607655e-02 9.99560021e-01 -6.40973193e-05 1.18693442e+00] [ 6.98312790e-03 -1.43092121e-04 9.99975607e-01 1.03314737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.659254154 meters 0.021566607346590026 Centerline is valid? [True, True] Translation: X:240.64, Y:1.18, Z:1.03 [[ 9.99260642e-01 -3.79000788e-02 -6.46164714e-03 2.40635136e+02] [ 3.79004898e-02 9.99281517e-01 -5.88674003e-05 1.17901515e+00] [ 6.45923563e-03 -1.86075716e-04 9.99979122e-01 1.03249107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.719254154 meters 0.02071978566888669 Centerline is valid? [True, True] Translation: X:240.70, Y:1.18, Z:1.03 [[ 9.99032141e-01 -4.35197664e-02 -6.38839968e-03 2.40696679e+02] [ 4.35202853e-02 9.99052542e-01 -5.78363409e-05 1.18163814e+00] [ 6.38486396e-03 -2.20244613e-04 9.99979592e-01 1.03295266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.779254154 meters 0.02313543171940413 Centerline is valid? [True, True] Translation: X:240.76, Y:1.18, Z:1.03 [[ 9.98610501e-01 -5.23036265e-02 -6.43414624e-03 2.40756998e+02] [ 5.23043359e-02 9.98631190e-01 -5.80826371e-05 1.17878282e+00] [ 6.42837705e-03 -2.78531815e-04 9.99979299e-01 1.03361732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.839254154 meters 0.027592240315452737 Centerline is valid? [True, True] Translation: X:240.82, Y:1.17, Z:1.03 [[ 9.98373542e-01 -5.66681202e-02 -6.24460555e-03 2.40817270e+02] [ 5.66688744e-02 9.98393027e-01 -5.62281536e-05 1.17351831e+00] [ 6.23775698e-03 -2.97738067e-04 9.99980501e-01 1.03400420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.899254154 meters 0.029987234831500162 Centerline is valid? [True, True] Translation: X:240.88, Y:1.17, Z:1.03 [[ 9.98210184e-01 -5.95379409e-02 -5.62686629e-03 2.40878026e+02] [ 5.95386006e-02 9.98226003e-01 -5.03311672e-05 1.17365756e+00] [ 5.61988086e-03 -2.84774661e-04 9.99984168e-01 1.03433416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.959254154 meters 0.027748210692576783 Centerline is valid? [True, True] Translation: X:240.94, Y:1.18, Z:1.03 [[ 9.98218365e-01 -5.93599735e-02 -6.04064726e-03 2.40939948e+02] [ 5.93607327e-02 9.98236595e-01 -5.36962353e-05 1.18004470e+00] [ 6.03318256e-03 -3.04976679e-04 9.99981754e-01 1.03481370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.019254154 meters 0.028088694273598835 Centerline is valid? [True, True] Translation: X:241.00, Y:1.18, Z:1.03 [[ 9.98356609e-01 -5.69874432e-02 -6.04251599e-03 2.41000392e+02] [ 5.69881624e-02 9.98374853e-01 -5.32217879e-05 1.18414987e+00] [ 6.03572898e-03 -2.91217559e-04 9.99981742e-01 1.03490400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.079254154 meters 0.024934066017522256 Centerline is valid? [True, True] Translation: X:241.06, Y:1.19, Z:1.03 [[ 9.98583861e-01 -5.27210345e-02 -7.12495121e-03 2.41060858e+02] [ 5.27219301e-02 9.98609230e-01 -6.22048388e-05 1.19377594e+00] [ 7.11832155e-03 -3.13524432e-04 9.99974615e-01 1.03431754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.139254154 meters 0.021800768045389034 Centerline is valid? [True, True] Translation: X:241.12, Y:1.20, Z:1.03 [[ 9.98768198e-01 -4.88928505e-02 -8.46021377e-03 2.41122762e+02] [ 4.88939779e-02 9.98803972e-01 -7.36364698e-05 1.20311800e+00] [ 8.45369541e-03 -3.40107741e-04 9.99964209e-01 1.03322680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.199254154 meters 0.020516816401700683 Centerline is valid? [True, True] Translation: X:241.18, Y:1.21, Z:1.03 [[ 9.99096942e-01 -4.14344662e-02 -9.40664337e-03 2.41183264e+02] [ 4.14355327e-02 9.99141176e-01 -8.15675779e-05 1.21389088e+00] [ 9.40194443e-03 -3.08275361e-04 9.99955753e-01 1.03069570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.259254154 meters 0.01819715356757126 Centerline is valid? [True, True] Translation: X:241.24, Y:1.22, Z:1.03 [[ 9.99325302e-01 -3.59024076e-02 -7.74326872e-03 2.41242741e+02] [ 3.59029640e-02 9.99355278e-01 -6.71799444e-05 1.22031666e+00] [ 7.74068839e-03 -2.10871680e-04 9.99970018e-01 1.03246563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.319254154 meters 0.01659567400408927 Centerline is valid? [True, True] Translation: X:241.30, Y:1.23, Z:1.03 [[ 9.99567707e-01 -2.86776389e-02 -6.48017610e-03 2.41303783e+02] [ 2.86778767e-02 9.99588704e-01 -5.62513453e-05 1.22889787e+00] [ 6.47912399e-03 -1.29610663e-04 9.99979002e-01 1.03371066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.379254154 meters 0.014294702312018124 Centerline is valid? [True, True] Translation: X:241.36, Y:1.24, Z:1.04 [[ 9.99841124e-01 -1.71876728e-02 -4.72352091e-03 2.41365000e+02] [ 1.71876712e-02 9.99852280e-01 -4.09341352e-05 1.24306050e+00] [ 4.72352672e-03 -4.02586926e-05 9.99988843e-01 1.03599819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.439254154 meters 0.013887645466769395 Centerline is valid? [True, True] Translation: X:241.43, Y:1.25, Z:1.04 [[ 9.99930633e-01 -1.10241918e-02 -4.14677077e-03 2.41426820e+02] [ 1.10241381e-02 9.99939232e-01 -3.58154907e-05 1.24881850e+00] [ 4.14691361e-03 -9.90156737e-06 9.99991401e-01 1.03655859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.499254154 meters 0.014018849492476119 Centerline is valid? [True, True] Translation: X:241.49, Y:1.25, Z:1.04 [[ 9.99973823e-01 -6.28773536e-03 -3.58018117e-03 2.41488083e+02] [ 6.28766583e-03 9.99980232e-01 -3.06754853e-05 1.25274883e+00] [ 3.58030328e-03 8.16369946e-06 9.99993591e-01 1.03757649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.559254154 meters 0.013742788757089919 Centerline is valid? [True, True] Translation: X:241.55, Y:1.25, Z:1.04 [[ 9.99953453e-01 -8.43250777e-03 -4.68871432e-03 2.41549035e+02] [ 8.43241307e-03 9.99964446e-01 -3.99657003e-05 1.25043977e+00] [ 4.68888463e-03 4.26664099e-07 9.99989007e-01 1.03672068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.619254154 meters 0.014123790647287677 Centerline is valid? [True, True] Translation: X:241.61, Y:1.25, Z:1.03 [[ 9.99885591e-01 -1.37453133e-02 -6.31436514e-03 2.41609134e+02] [ 1.37452475e-02 9.99905528e-01 -5.38224356e-05 1.24555150e+00] [ 6.31450841e-03 -3.29762336e-05 9.99980063e-01 1.03484445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.679254154 meters 0.015253021492317982 Centerline is valid? [True, True] Translation: X:241.67, Y:1.24, Z:1.03 [[ 9.99647051e-01 -2.53199445e-02 -8.04202686e-03 2.41670054e+02] [ 2.53202127e-02 9.99679390e-01 -6.84816200e-05 1.23615119e+00] [ 8.04118245e-03 -1.35168381e-04 9.99967660e-01 1.03382192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.739254154 meters 0.017645153064116112 Centerline is valid? [True, True] Translation: X:241.73, Y:1.23, Z:1.03 [[ 9.99395756e-01 -3.37662325e-02 -8.24400280e-03 2.41730397e+02] [ 3.37668028e-02 9.99429736e-01 -7.00486368e-05 1.22868490e+00] [ 8.24166682e-03 -2.08367306e-04 9.99966015e-01 1.03414474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.799254154 meters 0.021363175146347013 Centerline is valid? [True, True] Translation: X:241.79, Y:1.22, Z:1.04 [[ 9.98953250e-01 -4.51610228e-02 -7.27223900e-03 2.41791936e+02] [ 4.51617692e-02 9.98979685e-01 -6.16297397e-05 1.21946601e+00] [ 7.26760229e-03 -2.66861950e-04 9.99973555e-01 1.03537326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.859254154 meters 0.021226556692685788 Centerline is valid? [True, True] Translation: X:241.85, Y:1.22, Z:1.04 [[ 9.98814496e-01 -4.81567011e-02 -7.10875178e-03 2.41853611e+02] [ 4.81574921e-02 9.98839753e-01 -5.99552893e-05 1.21876057e+00] [ 7.10339112e-03 -2.82455445e-04 9.99974731e-01 1.03562089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.919254154 meters 0.025422393147537557 Centerline is valid? [True, True] Translation: X:241.91, Y:1.21, Z:1.04 [[ 9.98414543e-01 -5.58262420e-02 -7.19944033e-03 2.41913098e+02] [ 5.58272538e-02 9.98440441e-01 -6.05126071e-05 1.21092822e+00] [ 7.19159057e-03 -3.41508316e-04 9.99974082e-01 1.03520246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.979254154 meters 0.027054664634800295 Centerline is valid? [True, True] Translation: X:241.97, Y:1.21, Z:1.03 [[ 9.98071038e-01 -6.15482918e-02 -8.12473287e-03 2.41973385e+02] [ 6.15497689e-02 9.98104013e-01 -6.83528762e-05 1.20977342e+00] [ 8.11353549e-03 -4.31854404e-04 9.99966991e-01 1.03495738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.039254154 meters 0.030779214598718605 Centerline is valid? [True, True] Translation: X:242.03, Y:1.21, Z:1.04 [[ 9.97881752e-01 -6.46240838e-02 -7.46573313e-03 2.42033284e+02] [ 6.46254169e-02 9.97909591e-01 -6.27948980e-05 1.20514623e+00] [ 7.45418476e-03 -4.19814233e-04 9.99972129e-01 1.03547768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.099254154 meters 0.029822701894952827 Centerline is valid? [True, True] Translation: X:242.09, Y:1.21, Z:1.04 [[ 9.97633872e-01 -6.83994785e-02 -6.94042803e-03 2.42094553e+02] [ 6.84007220e-02 9.97657926e-01 -5.83297566e-05 1.20760907e+00] [ 6.92816277e-03 -4.16538548e-04 9.99975913e-01 1.03637349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.159254154 meters 0.02942491233159319 Centerline is valid? [True, True] Translation: X:242.16, Y:1.21, Z:1.04 [[ 9.97571951e-01 -6.92895656e-02 -7.01132062e-03 2.42156619e+02] [ 6.92908584e-02 9.97596498e-01 -5.86488124e-05 1.21077633e+00] [ 6.99853265e-03 -4.27314014e-04 9.99975419e-01 1.03687793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.219254154 meters 0.030789105362908107 Centerline is valid? [True, True] Translation: X:242.22, Y:1.21, Z:1.04 [[ 9.97600893e-01 -6.87431867e-02 -8.17515907e-03 2.42217997e+02] [ 6.87449365e-02 9.97634266e-01 -6.71043825e-05 1.21289441e+00] [ 8.16043179e-03 -4.95057400e-04 9.99966581e-01 1.03517575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.279254154 meters 0.03165005591175185 Centerline is valid? [True, True] Translation: X:242.28, Y:1.21, Z:1.03 [[ 9.97606197e-01 -6.85384617e-02 -9.18447674e-03 2.42281404e+02] [ 6.85406772e-02 9.97648320e-01 -7.36934465e-05 1.21396907e+00] [ 9.16792863e-03 -5.55993216e-04 9.99957819e-01 1.03383700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.339254154 meters 0.02998673322123227 Centerline is valid? [True, True] Translation: X:242.34, Y:1.22, Z:1.03 [[ 9.97567720e-01 -6.87846236e-02 -1.12836177e-02 2.42343566e+02] [ 6.87879957e-02 9.97631296e-01 -8.94386264e-05 1.22045129e+00] [ 1.12630422e-02 -6.86956360e-04 9.99936334e-01 1.03236442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.399254154 meters 0.03226936667346677 Centerline is valid? [True, True] Translation: X:242.40, Y:1.22, Z:1.03 [[ 9.97640157e-01 -6.76927720e-02 -1.14806492e-02 2.42404503e+02] [ 6.76962065e-02 9.97705977e-01 -8.96394247e-05 1.22077729e+00] [ 1.14603803e-02 -6.87768510e-04 9.99934091e-01 1.03284952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.459254154 meters 0.026422262118246484 Centerline is valid? [True, True] Translation: X:242.46, Y:1.24, Z:1.04 [[ 9.98007042e-01 -6.25999807e-02 -7.94904743e-03 2.42464485e+02] [ 6.26014696e-02 9.98038603e-01 -6.16171784e-05 1.23548741e+00] [ 7.93731342e-03 -4.36127673e-04 9.99968404e-01 1.03731754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.519254154 meters 0.025413215967347212 Centerline is valid? [True, True] Translation: X:242.52, Y:1.24, Z:1.04 [[ 9.98381808e-01 -5.66600473e-02 -4.83787949e-03 2.42524076e+02] [ 5.66605291e-02 9.98393501e-01 -3.75053520e-05 1.24170581e+00] [ 4.83223249e-03 -2.36672151e-04 9.99988297e-01 1.04024379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.579254154 meters 0.023075738399954332 Centerline is valid? [True, True] Translation: X:242.58, Y:1.25, Z:1.04 [[ 9.98736190e-01 -5.01863451e-02 -2.71177945e-03 2.42584765e+02] [ 5.01864725e-02 9.98739865e-01 -2.10711164e-05 1.24975841e+00] [ 2.70941972e-03 -1.15050158e-04 9.99996323e-01 1.04236949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.639254154 meters 0.020407130379241516 Centerline is valid? [True, True] Translation: X:242.64, Y:1.26, Z:1.04 [[ 9.99124264e-01 -4.17894886e-02 -2.08433203e-03 2.42644923e+02] [ 4.17895457e-02 9.99126435e-01 -1.61897522e-05 1.25775135e+00] [ 2.08318779e-03 -7.09277143e-05 9.99997828e-01 1.04134835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.699254154 meters 0.019422611448536575 Centerline is valid? [True, True] Translation: X:242.71, Y:1.26, Z:1.04 [[ 9.99272358e-01 -3.78160199e-02 -4.97029741e-03 2.42706650e+02] [ 3.78162954e-02 9.99284707e-01 -3.85717504e-05 1.26251922e+00] [ 4.96820082e-03 -1.49414551e-04 9.99987647e-01 1.03841972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.759254154 meters 0.018977909398051183 Centerline is valid? [True, True] Translation: X:242.77, Y:1.26, Z:1.04 [[ 9.99251754e-01 -3.78972272e-02 -7.72871844e-03 2.42769235e+02] [ 3.78979006e-02 9.99281615e-01 -5.93648294e-05 1.26413822e+00] [ 7.72541600e-03 -2.33581793e-04 9.99970131e-01 1.03606837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.819254154 meters 0.018630059201982418 Centerline is valid? [True, True] Translation: X:242.83, Y:1.27, Z:1.03 [[ 9.99269150e-01 -3.72484953e-02 -8.58576526e-03 2.42830961e+02] [ 3.72493080e-02 9.99306002e-01 -6.52843844e-05 1.26575711e+00] [ 8.58223850e-03 -2.54577144e-04 9.99963140e-01 1.03498777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.879254154 meters 0.01817164373711908 Centerline is valid? [True, True] Translation: X:242.89, Y:1.27, Z:1.04 [[ 9.99312692e-01 -3.60427606e-02 -8.66391101e-03 2.42893108e+02] [ 3.60435485e-02 9.99350218e-01 -6.52378274e-05 1.26704516e+00] [ 8.66063271e-03 -2.47085108e-04 9.99962465e-01 1.03545800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.939254154 meters 0.016690115449513432 Centerline is valid? [True, True] Translation: X:242.95, Y:1.27, Z:1.04 [[ 9.99545764e-01 -2.92460991e-02 -7.27535673e-03 2.42953286e+02] [ 2.92464767e-02 9.99572229e-01 -5.45100211e-05 1.27247579e+00] [ 7.27383875e-03 -1.58293290e-04 9.99973533e-01 1.03739026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.999254154 meters 0.014882180224889916 Centerline is valid? [True, True] Translation: X:243.01, Y:1.28, Z:1.04 [[ 9.99771303e-01 -2.06410804e-02 -5.59346497e-03 2.43014456e+02] [ 2.06411691e-02 9.99786947e-01 -4.18656489e-05 1.27810880e+00] [ 5.59313742e-03 -7.35995820e-05 9.99984356e-01 1.03897933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.059254154 meters 0.01414190833059982 Centerline is valid? [True, True] Translation: X:243.08, Y:1.28, Z:1.04 [[ 9.99874890e-01 -1.48753933e-02 -5.37845891e-03 2.43076821e+02] [ 1.48753932e-02 9.99889354e-01 -4.00342161e-05 1.28036313e+00] [ 5.37845933e-03 -3.99774834e-05 9.99985535e-01 1.03898092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.119254154 meters 0.014033141738140804 Centerline is valid? [True, True] Translation: X:243.14, Y:1.28, Z:1.04 [[ 9.99896660e-01 -1.32823575e-02 -5.49993310e-03 2.43138619e+02] [ 1.32823354e-02 9.99911785e-01 -4.05348197e-05 1.28019376e+00] [ 5.49998632e-03 -3.25213254e-05 9.99984874e-01 1.03840925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.179254154 meters 0.013926600069784963 Centerline is valid? [True, True] Translation: X:243.20, Y:1.28, Z:1.04 [[ 9.99887812e-01 -1.34107483e-02 -6.67204615e-03 2.43200213e+02] [ 1.34107223e-02 9.99910071e-01 -4.86475492e-05 1.27526380e+00] [ 6.67209854e-03 -4.08348662e-05 9.99977740e-01 1.03743168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.239254154 meters 0.014044756565158828 Centerline is valid? [True, True] Translation: X:243.26, Y:1.27, Z:1.04 [[ 9.99851049e-01 -1.52164613e-02 -8.14485135e-03 2.43261431e+02] [ 1.52164858e-02 9.99884221e-01 -5.89547219e-05 1.26873977e+00] [ 8.14480543e-03 -6.49900746e-05 9.99966828e-01 1.03663504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.299254154 meters 0.014441604020438367 Centerline is valid? [True, True] Translation: X:243.32, Y:1.26, Z:1.04 [[ 9.99814402e-01 -1.72278469e-02 -8.62344555e-03 2.43322694e+02] [ 1.72279520e-02 9.99851586e-01 -6.21028628e-05 1.26442632e+00] [ 8.62323561e-03 -8.64729697e-05 9.99962815e-01 1.03656158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.359254154 meters 0.014878478231157856 Centerline is valid? [True, True] Translation: X:243.38, Y:1.26, Z:1.04 [[ 9.99770255e-01 -1.95642792e-02 -8.75645974e-03 2.43383719e+02] [ 1.95644799e-02 9.99808595e-01 -6.27504622e-05 1.25904266e+00] [ 8.75601138e-03 -1.08579535e-04 9.99961660e-01 1.03640546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.419254154 meters 0.015573856585405327 Centerline is valid? [True, True] Translation: X:243.45, Y:1.25, Z:1.04 [[ 9.99664436e-01 -2.40500869e-02 -9.62330734e-03 2.43446028e+02] [ 2.40505424e-02 9.99710742e-01 -6.84089401e-05 1.25171975e+00] [ 9.62216896e-03 -1.63059776e-04 9.99953693e-01 1.03660526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.479254154 meters 0.01700300019682182 Centerline is valid? [True, True] Translation: X:243.51, Y:1.24, Z:1.04 [[ 9.99468619e-01 -3.05232249e-02 -1.14373155e-02 2.43507339e+02] [ 3.05242992e-02 9.99534022e-01 -8.06636804e-05 1.24298902e+00] [ 1.14344481e-02 -2.68495224e-04 9.99934589e-01 1.03666596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.539254154 meters 0.0190220087806432 Centerline is valid? [True, True] Translation: X:243.57, Y:1.24, Z:1.04 [[ 9.99262832e-01 -3.59823788e-02 -1.33813885e-02 2.43567084e+02] [ 3.59843409e-02 9.99352349e-01 -9.41874517e-05 1.23597234e+00] [ 1.33761112e-02 -3.87402427e-04 9.99910461e-01 1.03650859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.599254154 meters 0.02127422593363916 Centerline is valid? [True, True] Translation: X:243.63, Y:1.23, Z:1.04 [[ 9.98863469e-01 -4.49040905e-02 -1.59810102e-02 2.43627919e+02] [ 4.49080299e-02 9.98991119e-01 -1.12451933e-04 1.22790667e+00] [ 1.59699368e-02 -6.05351557e-04 9.99872289e-01 1.03680211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.659254154 meters 0.023946053495632863 Centerline is valid? [True, True] Translation: X:243.69, Y:1.22, Z:1.04 [[ 9.98565330e-01 -5.05357857e-02 -1.77035832e-02 2.43688599e+02] [ 5.05415050e-02 9.98721954e-01 -1.24499270e-04 1.22191818e+00] [ 1.76872488e-02 -7.70445083e-04 9.99843272e-01 1.03712602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.719254154 meters 0.025129658538389058 Centerline is valid? [True, True] Translation: X:243.75, Y:1.22, Z:1.04 [[ 9.98296034e-01 -5.53097782e-02 -1.85972451e-02 2.43749990e+02] [ 5.53169259e-02 9.98468838e-01 -1.30251107e-04 1.21870886e+00] [ 1.85759739e-02 -8.98713267e-04 9.99827048e-01 1.03835794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.779254154 meters 0.03648068441832518 Centerline is valid? [True, True] Translation: X:243.81, Y:1.20, Z:1.04 [[ 9.98115873e-01 -5.85269900e-02 -1.84199634e-02 2.43809928e+02] [ 5.85345707e-02 9.98285374e-01 -1.27791853e-04 1.20188856e+00] [ 1.83958593e-02 -9.50653573e-04 9.99830330e-01 1.03647198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.839254154 meters 0.028210964846460972 Centerline is valid? [True, True] Translation: X:243.87, Y:1.21, Z:1.04 [[ 9.98034863e-01 -6.02147681e-02 -1.73376494e-02 2.43871769e+02] [ 6.02217595e-02 9.98185016e-01 -1.19032774e-04 1.21353081e+00] [ 1.73133494e-02 -9.25304896e-04 9.99849685e-01 1.04293188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.899254154 meters 0.02802135898129819 Centerline is valid? [True, True] Translation: X:243.93, Y:1.22, Z:1.04 [[ 9.98059659e-01 -5.98969939e-02 -1.70078620e-02 2.43933937e+02] [ 5.99036966e-02 9.98204154e-01 -1.15541512e-04 1.21564344e+00] [ 1.69842391e-02 -9.03516482e-04 9.99855349e-01 1.04490526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.959254154 meters 0.027580738214731285 Centerline is valid? [True, True] Translation: X:244.00, Y:1.22, Z:1.04 [[ 9.98184946e-01 -5.72864401e-02 -1.85762525e-02 2.43995282e+02] [ 5.72940015e-02 9.98357342e-01 -1.25334665e-04 1.21973902e+00] [ 1.85529180e-02 -9.39200664e-04 9.99827439e-01 1.04423464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.019254154 meters 0.02475740487915382 Centerline is valid? [True, True] Translation: X:244.06, Y:1.23, Z:1.04 [[ 9.98317960e-01 -5.43308835e-02 -2.02337866e-02 2.44056584e+02] [ 5.43392648e-02 9.98522521e-01 -1.35752742e-04 1.22678344e+00] [ 2.02112672e-02 -9.63964689e-04 9.99795267e-01 1.04436673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.079254154 meters 0.022907715545602846 Centerline is valid? [True, True] Translation: X:244.12, Y:1.23, Z:1.04 [[ 9.98574149e-01 -4.83280919e-02 -2.26729818e-02 2.44117342e+02] [ 4.83370840e-02 9.98831068e-01 -1.51594875e-04 1.23429186e+00] [ 2.26538049e-02 -9.44567104e-04 9.99742923e-01 1.04422152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.139254154 meters 0.021177677250472877 Centerline is valid? [True, True] Translation: X:244.18, Y:1.24, Z:1.04 [[ 9.98867019e-01 -4.04949837e-02 -2.49967067e-02 2.44178478e+02] [ 4.05034747e-02 9.99179384e-01 -1.66732318e-04 1.24339670e+00] [ 2.49829458e-02 -8.45910065e-04 9.99687520e-01 1.04412862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.199254154 meters 0.01852653445678087 Centerline is valid? [True, True] Translation: X:244.24, Y:1.25, Z:1.05 [[ 9.99216451e-01 -3.02013179e-02 -2.55805321e-02 2.44237682e+02] [ 3.02068295e-02 9.99543655e-01 -1.71017335e-04 1.25307452e+00] [ 2.55740235e-02 -6.01823438e-04 9.99672750e-01 1.04506150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.259254154 meters 0.016850979566562393 Centerline is valid? [True, True] Translation: X:244.30, Y:1.26, Z:1.05 [[ 9.99448596e-01 -2.20402658e-02 -2.48340737e-02 2.44297013e+02] [ 2.20429215e-02 9.99757011e-01 -1.66837354e-04 1.26137941e+00] [ 2.48317164e-02 -3.80670177e-04 9.99691573e-01 1.04720483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.319254154 meters 0.014867310711531146 Centerline is valid? [True, True] Translation: X:244.36, Y:1.27, Z:1.05 [[ 9.99702760e-01 -1.00862312e-02 -2.21959456e-02 2.44357000e+02] [ 1.00853959e-02 9.99949130e-01 -1.49577411e-04 1.27285213e+00] [ 2.21963252e-02 -7.43219485e-05 9.99753628e-01 1.05313157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.379254154 meters 0.014671196572031213 Centerline is valid? [True, True] Translation: X:244.41, Y:1.28, Z:1.05 [[ 9.99729733e-01 -4.37221130e-03 -2.28329849e-02 2.44414782e+02] [ 4.36979759e-03 9.99990440e-01 -1.55604778e-04 1.27835073e+00] [ 2.28334469e-02 5.57872010e-05 9.99739281e-01 1.05413345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.439254154 meters 0.014622369502376551 Centerline is valid? [True, True] Translation: X:244.47, Y:1.28, Z:1.05 [[ 9.99688138e-01 -5.88260166e-03 -2.42697591e-02 2.44473652e+02] [ 5.88019029e-03 9.99982697e-01 -1.70722431e-04 1.27746358e+00] [ 2.42703434e-02 2.79583875e-05 9.99705431e-01 1.05313553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.499254154 meters 0.014359450355160092 Centerline is valid? [True, True] Translation: X:244.53, Y:1.27, Z:1.06 [[ 9.99576116e-01 -1.43922886e-02 -2.53071260e-02 2.44531986e+02] [ 1.43923153e-02 9.99896409e-01 -1.81099300e-04 1.27183778e+00] [ 2.53071108e-02 -1.83205600e-04 9.99679707e-01 1.05503888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.559254154 meters 0.015101127048250831 Centerline is valid? [True, True] Translation: X:244.59, Y:1.27, Z:1.06 [[ 9.99481704e-01 -2.16484322e-02 -2.38257948e-02 2.44589718e+02] [ 2.16504649e-02 9.99765586e-01 -1.72669178e-04 1.26562402e+00] [ 2.38239477e-02 -3.43259850e-04 9.99716111e-01 1.05507293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.619254154 meters 0.017017752104576015 Centerline is valid? [True, True] Translation: X:244.65, Y:1.26, Z:1.06 [[ 9.99259581e-01 -3.09471744e-02 -2.28596393e-02 2.44648722e+02] [ 3.09514452e-02 9.99520875e-01 -1.67047635e-04 1.25697910e+00] [ 2.28538563e-02 -5.40614923e-04 9.99738670e-01 1.05539713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.679254154 meters 0.02272933993770289 Centerline is valid? [True, True] Translation: X:244.71, Y:1.25, Z:1.05 [[ 9.99049790e-01 -3.61095047e-02 -2.44053539e-02 2.44707739e+02] [ 3.61159022e-02 9.99347592e-01 -1.78731004e-04 1.24576955e+00] [ 2.43958855e-02 -7.02860202e-04 9.99702129e-01 1.05175880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.739254154 meters 0.018524272050498555 Centerline is valid? [True, True] Translation: X:244.77, Y:1.25, Z:1.06 [[ 9.98991685e-01 -3.90958863e-02 -2.20709243e-02 2.44767066e+02] [ 3.91018311e-02 9.99235218e-01 -1.62313373e-04 1.24915562e+00] [ 2.20603907e-02 -7.00863845e-04 9.99756394e-01 1.05637965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.799254154 meters 0.019522843834235495 Centerline is valid? [True, True] Translation: X:244.83, Y:1.24, Z:1.06 [[ 9.98861603e-01 -4.28838761e-02 -2.08919142e-02 2.44827878e+02] [ 4.28900331e-02 9.99079787e-01 -1.53489613e-04 1.24319940e+00] [ 2.08792714e-02 -7.42740011e-04 9.99781728e-01 1.05657261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.859254154 meters 0.020784260813389126 Centerline is valid? [True, True] Translation: X:244.89, Y:1.24, Z:1.06 [[ 9.98730031e-01 -4.59546729e-02 -2.06516973e-02 2.44889020e+02] [ 4.59613585e-02 9.98943207e-01 -1.51042735e-04 1.23958055e+00] [ 2.06368139e-02 -7.98329149e-04 9.99786720e-01 1.05609100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.919254154 meters 0.021723223645013365 Centerline is valid? [True, True] Translation: X:244.95, Y:1.24, Z:1.06 [[ 9.98544211e-01 -4.98034585e-02 -2.07141282e-02 2.44949827e+02] [ 4.98110259e-02 9.98758649e-01 -1.50786798e-04 1.23663264e+00] [ 2.06959244e-02 -8.81224692e-04 9.99785428e-01 1.05569410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.979254154 meters 0.02408235733445671 Centerline is valid? [True, True] Translation: X:245.01, Y:1.23, Z:1.05 [[ 9.98181839e-01 -5.64615226e-02 -2.10977067e-02 2.45010536e+02] [ 5.64708607e-02 9.98404236e-01 -1.53371340e-04 1.23029108e+00] [ 2.10726993e-02 -1.03831317e-03 9.99777407e-01 1.05433879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.039254154 meters 0.02628330418951795 Centerline is valid? [True, True] Translation: X:245.07, Y:1.23, Z:1.05 [[ 9.97979443e-01 -5.97064571e-02 -2.17294721e-02 2.45072138e+02] [ 5.97171441e-02 9.98215326e-01 -1.57312634e-04 1.22676587e+00] [ 2.17000847e-02 -1.14062724e-03 9.99763875e-01 1.05368013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.099254154 meters 0.02765890222382975 Centerline is valid? [True, True] Translation: X:245.13, Y:1.22, Z:1.05 [[ 9.97845916e-01 -6.19091153e-02 -2.16976792e-02 2.45133743e+02] [ 6.19203073e-02 9.98081084e-01 -1.56291092e-04 1.22491357e+00] [ 2.16657190e-02 -1.18757254e-03 9.99764565e-01 1.05356874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.159254154 meters 0.02944101081277071 Centerline is valid? [True, True] Translation: X:245.19, Y:1.22, Z:1.05 [[ 9.97833933e-01 -6.21193658e-02 -2.16477930e-02 2.45194517e+02] [ 6.21306061e-02 9.98068016e-01 -1.53603633e-04 1.22223374e+00] [ 2.16155116e-02 -1.19171958e-03 9.99765647e-01 1.05239108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.219254154 meters 0.02707447012387595 Centerline is valid? [True, True] Translation: X:245.26, Y:1.23, Z:1.05 [[ 9.97910075e-01 -6.04936639e-02 -2.27156047e-02 2.45257196e+02] [ 6.05056722e-02 9.98167841e-01 -1.58923143e-04 1.22626769e+00] [ 2.26835999e-02 -1.21583192e-03 9.99741955e-01 1.05266363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.279254154 meters 0.029570332173285967 Centerline is valid? [True, True] Translation: X:245.32, Y:1.22, Z:1.05 [[ 9.98039576e-01 -5.85517977e-02 -2.21063694e-02 2.45317679e+02] [ 5.85627109e-02 9.98283720e-01 -1.53946350e-04 1.22407950e+00] [ 2.20774425e-02 -1.14096437e-03 9.99755613e-01 1.05236080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.339254154 meters 0.02615965479429066 Centerline is valid? [True, True] Translation: X:245.38, Y:1.23, Z:1.06 [[ 9.98117398e-01 -5.77958493e-02 -2.05255734e-02 2.45379928e+02] [ 5.78051233e-02 9.98327876e-01 -1.41682977e-04 1.22924775e+00] [ 2.04994407e-02 -1.04506705e-03 9.99789318e-01 1.05536927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.399254154 meters 0.026817775800837156 Centerline is valid? [True, True] Translation: X:245.44, Y:1.23, Z:1.06 [[ 9.98187707e-01 -5.73728536e-02 -1.81564587e-02 2.45442471e+02] [ 5.73800633e-02 9.98352399e-01 -1.24046450e-04 1.22867715e+00] [ 1.81336610e-02 -9.17997110e-04 9.99835150e-01 1.05810774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.459254154 meters 0.027496136406226973 Centerline is valid? [True, True] Translation: X:245.50, Y:1.23, Z:1.06 [[ 9.98245960e-01 -5.69026748e-02 -1.63428749e-02 2.45503417e+02] [ 5.69084681e-02 9.98379394e-01 -1.10727740e-04 1.22902431e+00] [ 1.63226903e-02 -8.19514458e-04 9.99866440e-01 1.05905079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.519254154 meters 0.025758646446097457 Centerline is valid? [True, True] Translation: X:245.57, Y:1.23, Z:1.06 [[ 9.98305022e-01 -5.59984491e-02 -1.58510862e-02 2.45565331e+02] [ 5.60038020e-02 9.98430550e-01 -1.06334016e-04 1.23322607e+00] [ 1.58321632e-02 -7.81567310e-04 9.99874358e-01 1.05982143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.579254154 meters 0.027008279701820768 Centerline is valid? [True, True] Translation: X:245.63, Y:1.23, Z:1.06 [[ 9.98307982e-01 -5.59300071e-02 -1.59062338e-02 2.45626192e+02] [ 5.59354157e-02 9.98434384e-01 -1.05003701e-04 1.23248065e+00] [ 1.58872036e-02 -7.84895767e-04 9.99873482e-01 1.05949796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.639254154 meters 0.024726156595573104 Centerline is valid? [True, True] Translation: X:245.69, Y:1.24, Z:1.06 [[ 9.98190383e-01 -5.70799538e-02 -1.89166123e-02 2.45688551e+02] [ 5.70878422e-02 9.98369152e-01 -1.23167914e-04 1.23821587e+00] [ 1.88927926e-02 -9.56963553e-04 9.99821057e-01 1.05858817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.699254154 meters 0.026785973110260156 Centerline is valid? [True, True] Translation: X:245.75, Y:1.24, Z:1.06 [[ 9.98154803e-01 -5.75590479e-02 -1.93376471e-02 2.45750144e+02] [ 5.75674036e-02 9.98341614e-01 -1.24753331e-04 1.23624236e+00] [ 1.93127585e-02 -9.88694999e-04 9.99813002e-01 1.05707300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.759254154 meters 0.02570187906673645 Centerline is valid? [True, True] Translation: X:245.81, Y:1.24, Z:1.06 [[ 9.98061282e-01 -5.95537353e-02 -1.80839955e-02 2.45812520e+02] [ 5.95613913e-02 9.98224638e-01 -1.15421745e-04 1.23933787e+00] [ 1.80587636e-02 -9.61909957e-04 9.99836465e-01 1.05815109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.819254154 meters 0.02552035503023066 Centerline is valid? [True, True] Translation: X:245.87, Y:1.24, Z:1.06 [[ 9.98085943e-01 -5.96360423e-02 -1.63704736e-02 2.45874252e+02] [ 5.96423465e-02 9.98219805e-01 -1.03291711e-04 1.24071580e+00] [ 1.63474909e-02 -8.73279453e-04 9.99865989e-01 1.06033568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.879254154 meters 0.02813146559385482 Centerline is valid? [True, True] Translation: X:245.94, Y:1.24, Z:1.06 [[ 9.98144322e-01 -5.93098149e-02 -1.37933906e-02 2.45935535e+02] [ 5.93142818e-02 9.98239354e-01 -8.53804874e-05 1.23821255e+00] [ 1.37741693e-02 -7.32923011e-04 9.99904863e-01 1.06197516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.939254154 meters 0.028637973891484692 Centerline is valid? [True, True] Translation: X:246.00, Y:1.24, Z:1.06 [[ 9.98126565e-01 -5.97851124e-02 -1.30039032e-02 2.45997419e+02] [ 5.97891386e-02 9.98211026e-01 -7.92700516e-05 1.23756664e+00] [ 1.29853787e-02 -6.98370628e-04 9.99915443e-01 1.06238031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.999254154 meters 0.025616197991112442 Centerline is valid? [True, True] Translation: X:246.06, Y:1.24, Z:1.06 [[ 9.98071765e-01 -6.07201000e-02 -1.28771519e-02 2.46060007e+02] [ 6.07241380e-02 9.98154584e-01 -7.75455741e-05 1.24205926e+00] [ 1.28580968e-02 -7.04557901e-04 9.99917083e-01 1.06296340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.059254154 meters 0.028825913728075497 Centerline is valid? [True, True] Translation: X:246.12, Y:1.24, Z:1.06 [[ 9.97990284e-01 -6.19914490e-02 -1.31321206e-02 2.46121031e+02] [ 6.19957690e-02 9.98076409e-01 -7.82567532e-05 1.23820729e+00] [ 1.31117110e-02 -7.36036434e-04 9.99913767e-01 1.06147721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.119254154 meters 0.026317451060205367 Centerline is valid? [True, True] Translation: X:246.18, Y:1.24, Z:1.06 [[ 9.97996771e-01 -6.18916672e-02 -1.31097870e-02 2.46184488e+02] [ 6.18959801e-02 9.98082603e-01 -7.68920574e-05 1.24179796e+00] [ 1.30894093e-02 -7.34705088e-04 9.99914060e-01 1.06111711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.179254154 meters 0.02753069622691424 Centerline is valid? [True, True] Translation: X:246.25, Y:1.24, Z:1.06 [[ 9.98130006e-01 -5.96208445e-02 -1.34850163e-02 2.46245392e+02] [ 5.96252126e-02 9.98220831e-01 -7.82424560e-05 1.24125319e+00] [ 1.34656891e-02 -7.25950821e-04 9.99909070e-01 1.05884159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.239254154 meters 0.025877740547143292 Centerline is valid? [True, True] Translation: X:246.31, Y:1.25, Z:1.06 [[ 9.98409980e-01 -5.49038732e-02 -1.27701690e-02 2.46306134e+02] [ 5.49074096e-02 9.98491448e-01 -7.37703604e-05 1.24669452e+00] [ 1.27549548e-02 -6.27523836e-04 9.99918455e-01 1.05830078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.299254154 meters 0.024279995295858742 Centerline is valid? [True, True] Translation: X:246.37, Y:1.25, Z:1.06 [[ 9.98644855e-01 -5.09920275e-02 -1.04051514e-02 2.46367091e+02] [ 5.09941653e-02 9.98698949e-01 -5.99268412e-05 1.25131479e+00] [ 1.03946695e-02 -4.70756376e-04 9.99945863e-01 1.05929167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.359254154 meters 0.02345877572247405 Centerline is valid? [True, True] Translation: X:246.43, Y:1.25, Z:1.06 [[ 9.98659331e-01 -5.08433075e-02 -9.72100502e-03 2.46429637e+02] [ 5.08451708e-02 9.98706546e-01 -5.55207858e-05 1.25377966e+00] [ 9.71125421e-03 -4.38819810e-04 9.99952748e-01 1.05916220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.419254154 meters 0.027478260356346318 Centerline is valid? [True, True] Translation: X:246.49, Y:1.25, Z:1.06 [[ 9.98374343e-01 -5.59959696e-02 -1.06358861e-02 2.46489291e+02] [ 5.59984973e-02 9.98430851e-01 -6.02370180e-05 1.24866729e+00] [ 1.06225699e-02 -5.35454547e-04 9.99943436e-01 1.05768258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.479254154 meters 0.032331209424134116 Centerline is valid? [True, True] Translation: X:246.55, Y:1.24, Z:1.06 [[ 9.97780820e-01 -6.55374195e-02 -1.17593365e-02 2.46549473e+02] [ 6.55411716e-02 9.97849864e-01 -6.64308305e-05 1.24216174e+00] [ 1.17384060e-02 -7.04437281e-04 9.99930854e-01 1.05656982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.539254154 meters 0.032331209424134116 Centerline is valid? [True, True] Translation: X:246.61, Y:1.24, Z:1.06 [[ 9.97787810e-01 -6.54309100e-02 -1.17593410e-02 2.46612124e+02] [ 6.54346643e-02 9.97856854e-01 -6.56166232e-05 1.24241645e+00] [ 1.17384324e-02 -7.03997066e-04 9.99930854e-01 1.05684558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.599254154 meters 0.030936863861729138 Centerline is valid? [True, True] Translation: X:246.67, Y:1.25, Z:1.06 [[ 9.97580901e-01 -6.86210265e-02 -1.11130469e-02 2.46672876e+02] [ 6.86245829e-02 9.97642553e-01 -6.14433307e-05 1.24551341e+00] [ 1.10910648e-02 -7.01333513e-04 9.99938246e-01 1.05826453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.659254154 meters 0.029578361212394617 Centerline is valid? [True, True] Translation: X:246.73, Y:1.25, Z:1.06 [[ 9.97441613e-01 -7.07287493e-02 -1.03764993e-02 2.46734374e+02] [ 7.07319665e-02 9.97495356e-01 -5.70702070e-05 1.25056050e+00] [ 1.03545464e-02 -6.77026003e-04 9.99946161e-01 1.05895675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.719254154 meters 0.03430238913704067 Centerline is valid? [True, True] Translation: X:246.80, Y:1.25, Z:1.06 [[ 9.97446048e-01 -7.04832532e-02 -1.15538633e-02 2.46796443e+02] [ 7.04872508e-02 9.97512678e-01 -6.13639918e-05 1.24835461e+00] [ 1.15294503e-02 -7.53192791e-04 9.99933250e-01 1.05756637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.779254154 meters 0.03225657936407539 Centerline is valid? [True, True] Translation: X:246.86, Y:1.25, Z:1.06 [[ 9.97408583e-01 -7.09620093e-02 -1.18537669e-02 2.46858281e+02] [ 7.09662721e-02 9.97478714e-01 -6.11483590e-05 1.25449436e+00] [ 1.18282194e-02 -7.80227748e-04 9.99929740e-01 1.05737404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.839254154 meters 0.031565698808457936 Centerline is valid? [True, True] Translation: X:246.92, Y:1.26, Z:1.06 [[ 9.97357135e-01 -7.17590400e-02 -1.13747476e-02 2.46920439e+02] [ 7.17630263e-02 9.97421709e-01 -5.78466294e-05 1.25730989e+00] [ 1.13495712e-02 -7.58592561e-04 9.99935304e-01 1.05804670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.899254154 meters 0.03417722185203338 Centerline is valid? [True, True] Translation: X:246.98, Y:1.26, Z:1.06 [[ 9.97301056e-01 -7.25405236e-02 -1.13347361e-02 2.46981306e+02] [ 7.25445401e-02 9.97365172e-01 -5.69329638e-05 1.25550601e+00] [ 1.13090009e-02 -7.65493911e-04 9.99935758e-01 1.05800097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.959254154 meters 0.03158148624984804 Centerline is valid? [True, True] Translation: X:247.04, Y:1.26, Z:1.06 [[ 9.97116994e-01 -7.48692228e-02 -1.23409807e-02 2.47042662e+02] [ 7.48741687e-02 9.97192988e-01 -6.14231602e-05 1.26051745e+00] [ 1.23109381e-02 -8.62774594e-04 9.99923845e-01 1.05734540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.019254154 meters 0.03534462737179141 Centerline is valid? [True, True] Translation: X:247.10, Y:1.26, Z:1.06 [[ 9.96903802e-01 -7.71859525e-02 -1.50046405e-02 2.47102375e+02] [ 7.71935282e-02 9.97016125e-01 -7.44789094e-05 1.25601626e+00] [ 1.49656172e-02 -1.08401283e-03 9.99887421e-01 1.05508548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.079254154 meters 0.036112209369172796 Centerline is valid? [True, True] Translation: X:247.16, Y:1.26, Z:1.05 [[ 9.96792219e-01 -7.83308342e-02 -1.64180336e-02 2.47164170e+02] [ 7.83400700e-02 9.96926691e-01 -8.08335501e-05 1.25634247e+00] [ 1.63739077e-02 -1.20561565e-03 9.99865212e-01 1.05422951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.139254154 meters 0.03697210329331776 Centerline is valid? [True, True] Translation: X:247.23, Y:1.26, Z:1.05 [[ 9.96852215e-01 -7.74766508e-02 -1.68234838e-02 2.47226887e+02] [ 7.74862505e-02 9.96993417e-01 -8.14601436e-05 1.25715338e+00] [ 1.67792138e-02 -1.22238495e-03 9.99858472e-01 1.05368665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.199254154 meters 0.031891114127374484 Centerline is valid? [True, True] Translation: X:247.29, Y:1.27, Z:1.06 [[ 9.97193986e-01 -7.32084541e-02 -1.56421219e-02 2.47287594e+02] [ 7.32162360e-02 9.97316087e-01 -7.53624431e-05 1.26669648e+00] [ 1.56056570e-02 -1.07010632e-03 9.99877652e-01 1.05597271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.259254154 meters 0.029310394153014667 Centerline is valid? [True, True] Translation: X:247.35, Y:1.28, Z:1.06 [[ 9.98118577e-01 -5.98681390e-02 -1.32329634e-02 2.47346924e+02] [ 5.98725373e-02 9.98206028e-01 -6.38971992e-05 1.27533075e+00] [ 1.32130493e-02 -7.28514114e-04 9.99912438e-01 1.05760662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.319254154 meters 0.020308923393884945 Centerline is valid? [True, True] Translation: X:247.41, Y:1.29, Z:1.06 [[ 9.99101566e-01 -4.11602710e-02 -1.00942277e-02 2.47407733e+02] [ 4.11618760e-02 9.99152490e-01 -4.87893399e-05 1.29488057e+00] [ 1.00876809e-02 -3.66751841e-04 9.99949051e-01 1.06100568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.379254154 meters 0.01469858673705915 Centerline is valid? [True, True] Translation: X:247.47, Y:1.31, Z:1.06 [[ 9.99700666e-01 -2.32818609e-02 -7.51880928e-03 2.47468825e+02] [ 2.32822462e-02 9.99728931e-01 -3.62875443e-05 1.31037215e+00] [ 7.51761600e-03 -1.38778087e-04 9.99971733e-01 1.06289564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.439254154 meters 0.013158978496302001 Centerline is valid? [True, True] Translation: X:247.53, Y:1.32, Z:1.06 [[ 9.99875802e-01 -1.39750735e-02 -7.28540013e-03 2.47530794e+02] [ 1.39751899e-02 9.99902342e-01 -3.49375091e-05 1.31741615e+00] [ 7.28517690e-03 -6.68816801e-05 9.99973461e-01 1.06329397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.499254154 meters 0.012730473731934517 Centerline is valid? [True, True] Translation: X:247.59, Y:1.32, Z:1.06 [[ 9.99942623e-01 -7.63751824e-03 -7.51130029e-03 2.47592210e+02] [ 7.63746580e-03 9.99970833e-01 -3.56663476e-05 1.32252873e+00] [ 7.51135361e-03 -2.17029979e-05 9.99971789e-01 1.06322925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.559254154 meters 0.012948955227328827 Centerline is valid? [True, True] Translation: X:247.65, Y:1.33, Z:1.06 [[ 9.99959361e-01 -4.14144153e-03 -8.00783994e-03 2.47651660e+02] [ 4.14127013e-03 9.99991424e-01 -3.79856689e-05 1.32564116e+00] [ 8.00792858e-03 4.82149686e-06 9.99967936e-01 1.06301234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.619254154 meters 0.012935210527251937 Centerline is valid? [True, True] Translation: X:247.71, Y:1.33, Z:1.06 [[ 9.99960773e-01 -3.54525992e-03 -8.11690289e-03 2.47710727e+02] [ 3.54505543e-03 9.99993715e-01 -3.95805975e-05 1.32652208e+00] [ 8.11699220e-03 1.08041742e-05 9.99967057e-01 1.06255465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.679254154 meters 0.013025805892433944 Centerline is valid? [True, True] Translation: X:247.77, Y:1.32, Z:1.06 [[ 9.99945179e-01 -6.65863785e-03 -8.08095201e-03 2.47769572e+02] [ 6.65852594e-03 9.99977831e-01 -4.07525789e-05 1.32453042e+00] [ 8.08104422e-03 -1.30568838e-05 9.99967348e-01 1.06238980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.739254154 meters 0.013955569744012453 Centerline is valid? [True, True] Translation: X:247.83, Y:1.32, Z:1.06 [[ 9.99874108e-01 -1.41330828e-02 -7.21281874e-03 2.47828339e+02] [ 1.41331852e-02 9.99900121e-01 -3.67829487e-05 1.31789134e+00] [ 7.21261819e-03 -6.51617847e-05 9.99973987e-01 1.06232449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.799254154 meters 0.01567794319142245 Centerline is valid? [True, True] Translation: X:247.89, Y:1.31, Z:1.06 [[ 9.99753114e-01 -2.09464753e-02 -7.41331167e-03 2.47889966e+02] [ 2.09467741e-02 9.99780592e-01 -3.73398484e-05 1.31061866e+00] [ 7.41246726e-03 -1.17954335e-04 9.99972520e-01 1.06183525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.859254154 meters 0.016549002563605423 Centerline is valid? [True, True] Translation: X:247.95, Y:1.31, Z:1.06 [[ 9.99558769e-01 -2.88084522e-02 -7.23462428e-03 2.47950912e+02] [ 2.88089505e-02 9.99584935e-01 -3.53432606e-05 1.30569401e+00] [ 7.23263963e-03 -1.73094267e-04 9.99973829e-01 1.06236509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.919254154 meters 0.02128095700677415 Centerline is valid? [True, True] Translation: X:248.01, Y:1.29, Z:1.06 [[ 9.99180931e-01 -3.99705619e-02 -6.31048133e-03 2.48010443e+02] [ 3.99711643e-02 9.99200833e-01 -3.06707868e-05 1.29218658e+00] [ 6.30666413e-03 -2.21591621e-04 9.99980088e-01 1.06291801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.979254154 meters 0.021746928456838545 Centerline is valid? [True, True] Translation: X:248.07, Y:1.29, Z:1.06 [[ 9.98874712e-01 -4.70829714e-02 -5.70126588e-03 2.48071437e+02] [ 4.70835785e-02 9.98890953e-01 -2.77653772e-05 1.28523982e+00] [ 5.69625018e-03 -2.40701866e-04 9.99983747e-01 1.06357402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.039254154 meters 0.022976576305695252 Centerline is valid? [True, True] Translation: X:248.13, Y:1.28, Z:1.06 [[ 9.98828872e-01 -4.79814974e-02 -6.21778219e-03 2.48132966e+02] [ 4.79822376e-02 9.98848189e-01 -3.01622179e-05 1.28080067e+00] [ 6.21206770e-03 -2.68216208e-04 9.99980669e-01 1.06358650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.099254154 meters 0.021594603532865565 Centerline is valid? [True, True] Translation: X:248.19, Y:1.28, Z:1.06 [[ 9.99027138e-01 -4.34623706e-02 -7.46991997e-03 2.48193562e+02] [ 4.34633149e-02 9.99055023e-01 -3.59441763e-05 1.27856508e+00] [ 7.46442328e-03 -2.88758276e-04 9.99972099e-01 1.06160354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.159254154 meters 0.01953847011244406 Centerline is valid? [True, True] Translation: X:248.25, Y:1.28, Z:1.06 [[ 9.99220777e-01 -3.84750662e-02 -8.80387781e-03 2.48253971e+02] [ 3.84761846e-02 9.99259517e-01 -4.23629888e-05 1.28031842e+00] [ 8.79898861e-03 -2.96409650e-04 9.99961244e-01 1.06067302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.219254154 meters 0.017038983795946244 Centerline is valid? [True, True] Translation: X:248.32, Y:1.28, Z:1.06 [[ 9.99499241e-01 -2.98300066e-02 -1.05563857e-02 2.48315013e+02] [ 2.98311345e-02 9.99554951e-01 -5.06366005e-05 1.28340808e+00] [ 1.05531980e-02 -2.64297716e-04 9.99944279e-01 1.05970962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.279254154 meters 0.015806622390224494 Centerline is valid? [True, True] Translation: X:248.38, Y:1.29, Z:1.06 [[ 9.99628154e-01 -2.49150753e-02 -1.10812287e-02 2.48376571e+02] [ 2.49160203e-02 9.99689546e-01 -5.27892427e-05 1.28601271e+00] [ 1.10791038e-02 -2.23330507e-04 9.99938600e-01 1.05965786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.339254154 meters 0.015036092406397776 Centerline is valid? [True, True] Translation: X:248.44, Y:1.29, Z:1.06 [[ 9.99707871e-01 -2.09239961e-02 -1.20979258e-02 2.48436683e+02] [ 2.09248342e-02 9.99781050e-01 -5.73180002e-05 1.28515646e+00] [ 1.20964763e-02 -1.95845836e-04 9.99926816e-01 1.05917249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.399254154 meters 0.015175089830256333 Centerline is valid? [True, True] Translation: X:248.50, Y:1.28, Z:1.06 [[ 9.99701164e-01 -2.15890562e-02 -1.14671018e-02 2.48497911e+02] [ 2.15898566e-02 9.99766910e-01 -5.40005769e-05 1.28274571e+00] [ 1.14655948e-02 -1.93588644e-04 9.99934249e-01 1.06046440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.459254154 meters 0.01607941362625075 Centerline is valid? [True, True] Translation: X:248.56, Y:1.28, Z:1.06 [[ 9.99644147e-01 -2.47103599e-02 -1.00487499e-02 2.48559416e+02] [ 2.47111355e-02 9.99694632e-01 -4.69833307e-05 1.27835788e+00] [ 1.00468423e-02 -2.01349408e-04 9.99949509e-01 1.06222262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.519254154 meters 0.020600016585906142 Centerline is valid? [True, True] Translation: X:248.62, Y:1.27, Z:1.06 [[ 9.99366288e-01 -3.44316756e-02 -9.02674639e-03 2.48619669e+02] [ 3.44326991e-02 9.99407018e-01 -4.20423193e-05 1.26638390e+00] [ 9.02284128e-03 -2.68799566e-04 9.99959257e-01 1.06253472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.579254154 meters 0.023190987815544583 Centerline is valid? [True, True] Translation: X:248.68, Y:1.26, Z:1.06 [[ 9.98973278e-01 -4.42601146e-02 -9.66600316e-03 2.48679763e+02] [ 4.42617470e-02 9.99019968e-01 -4.50729790e-05 1.25785680e+00] [ 9.65852510e-03 -3.82807485e-04 9.99953282e-01 1.06311219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.639254154 meters 0.02545342315500571 Centerline is valid? [True, True] Translation: X:248.74, Y:1.25, Z:1.06 [[ 9.98229154e-01 -5.84089484e-02 -1.12672763e-02 2.48740415e+02] [ 5.84120647e-02 9.98292556e-01 -5.25825942e-05 1.25059055e+00] [ 1.12511094e-02 -6.05655394e-04 9.99936521e-01 1.06325735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.699254154 meters 0.0381248239439608 Centerline is valid? [True, True] Translation: X:248.80, Y:1.23, Z:1.06 [[ 9.97760445e-01 -6.59260992e-02 -1.13067827e-02 2.48800209e+02] [ 6.59297181e-02 9.97824268e-01 -5.27840919e-05 1.23034581e+00] [ 1.12856620e-02 -6.92787119e-04 9.99936075e-01 1.06179220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.759254154 meters 0.03235436826815393 Centerline is valid? [True, True] Translation: X:248.86, Y:1.24, Z:1.06 [[ 9.97370496e-01 -7.15168250e-02 -1.17233669e-02 2.48861165e+02] [ 7.15211020e-02 9.97439085e-01 -5.45550632e-05 1.23545371e+00] [ 1.16972459e-02 -7.84056507e-04 9.99931277e-01 1.06292136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.819254154 meters 0.0347965838935877 Centerline is valid? [True, True] Translation: X:248.92, Y:1.23, Z:1.06 [[ 9.97414833e-01 -7.08153802e-02 -1.21997312e-02 2.48922165e+02] [ 7.08199663e-02 9.97489112e-01 -5.62205832e-05 1.23331860e+00] [ 1.21730803e-02 -8.07909306e-04 9.99925579e-01 1.06317538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.879254154 meters 0.03182425418570105 Centerline is valid? [True, True] Translation: X:248.98, Y:1.24, Z:1.06 [[ 9.97583421e-01 -6.82987038e-02 -1.27516959e-02 2.48984133e+02] [ 6.83035186e-02 9.97664586e-01 -5.80525155e-05 1.23933521e+00] [ 1.27258803e-02 -8.13073470e-04 9.99918692e-01 1.06380470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.939254154 meters 0.030581298532312128 Centerline is valid? [True, True] Translation: X:249.04, Y:1.24, Z:1.06 [[ 9.97898762e-01 -6.36592312e-02 -1.20649407e-02 2.49044295e+02] [ 6.36632063e-02 9.97971439e-01 -5.46820415e-05 1.24373965e+00] [ 1.20439472e-02 -7.13525667e-04 9.99927214e-01 1.06470875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.999254154 meters 0.030279336867275516 Centerline is valid? [True, True] Translation: X:249.11, Y:1.25, Z:1.07 [[ 9.98105784e-01 -6.04814315e-02 -1.12623590e-02 2.49105103e+02] [ 6.04846952e-02 9.98169123e-01 -5.09144021e-05 1.24688503e+00] [ 1.12448183e-02 -6.30382390e-04 9.99936576e-01 1.06605878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.059254154 meters 0.028675325963916677 Centerline is valid? [True, True] Translation: X:249.17, Y:1.25, Z:1.07 [[ 9.98355064e-01 -5.62649060e-02 -1.10193598e-02 2.49166010e+02] [ 5.62677763e-02 9.98415712e-01 -4.96219942e-05 1.25275910e+00] [ 1.10046940e-02 -5.70494506e-04 9.99939284e-01 1.06687676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.119254154 meters 0.025481589977583534 Centerline is valid? [True, True] Translation: X:249.23, Y:1.26, Z:1.07 [[ 9.98525522e-01 -5.31065155e-02 -1.12463008e-02 2.49227933e+02] [ 5.31093105e-02 9.98588703e-01 -5.01889123e-05 1.25931905e+00] [ 1.12330942e-02 -5.47168369e-04 9.99936757e-01 1.06699303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.179254154 meters 0.022799908664064637 Centerline is valid? [True, True] Translation: X:249.29, Y:1.27, Z:1.07 [[ 9.98793117e-01 -4.75007794e-02 -1.24893791e-02 2.49288889e+02] [ 4.75037950e-02 9.98871056e-01 -5.52597253e-05 1.26666205e+00] [ 1.24779042e-02 -5.38099873e-04 9.99922003e-01 1.06672969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.239254154 meters 0.021347225091091545 Centerline is valid? [True, True] Translation: X:249.35, Y:1.27, Z:1.07 [[ 9.98979090e-01 -4.30261842e-02 -1.37668444e-02 2.49349836e+02] [ 4.30294282e-02 9.99073803e-01 -6.06153136e-05 1.27161704e+00] [ 1.37567016e-02 -5.31826012e-04 9.99905231e-01 1.06661601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.299254154 meters 0.018760223284077688 Centerline is valid? [True, True] Translation: X:249.41, Y:1.28, Z:1.07 [[ 9.99259816e-01 -3.62395706e-02 -1.29040443e-02 2.49410515e+02] [ 3.62418584e-02 9.99343046e-01 -5.65864423e-05 1.28004322e+00] [ 1.28976176e-02 -4.11121988e-04 9.99916738e-01 1.06791076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.359254154 meters 0.01769505509644771 Centerline is valid? [True, True] Translation: X:249.47, Y:1.28, Z:1.07 [[ 9.99422009e-01 -3.17779926e-02 -1.20750551e-02 2.49471822e+02] [ 3.17796747e-02 9.99494897e-01 -5.25933982e-05 1.28409713e+00] [ 1.20706272e-02 -3.31178322e-04 9.99927092e-01 1.06877614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.419254154 meters 0.01669041560445851 Centerline is valid? [True, True] Translation: X:249.53, Y:1.29, Z:1.07 [[ 9.99590883e-01 -2.62245376e-02 -1.14166664e-02 2.49532232e+02] [ 2.62256825e-02 9.99656046e-01 -4.94441576e-05 1.28971561e+00] [ 1.14140362e-02 -2.49985938e-04 9.99934827e-01 1.06873238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.479254154 meters 0.0161951762950887 Centerline is valid? [True, True] Translation: X:249.59, Y:1.29, Z:1.07 [[ 9.99616358e-01 -2.52021926e-02 -1.14885020e-02 2.49594448e+02] [ 2.52032913e-02 9.99682345e-01 -4.91582600e-05 1.29214005e+00] [ 1.14860915e-02 -2.40408661e-04 9.99934004e-01 1.06919716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.539254154 meters 0.01619687887757608 Centerline is valid? [True, True] Translation: X:249.66, Y:1.29, Z:1.07 [[ 9.99575506e-01 -2.65026473e-02 -1.21003171e-02 2.49656413e+02] [ 2.65039724e-02 9.99648707e-01 -5.08672705e-05 1.29317162e+00] [ 1.20974144e-02 -2.69860792e-04 9.99926787e-01 1.06864656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.599254154 meters 0.01784870292202562 Centerline is valid? [True, True] Translation: X:249.72, Y:1.29, Z:1.07 [[ 9.99435368e-01 -3.11198888e-02 -1.26687822e-02 2.49716711e+02] [ 3.11217218e-02 9.99515601e-01 -5.24785003e-05 1.28937334e+00] [ 1.26642785e-02 -3.41825445e-04 9.99919746e-01 1.06798823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.659254154 meters 0.020700900417560855 Centerline is valid? [True, True] Translation: X:249.78, Y:1.28, Z:1.07 [[ 9.99124797e-01 -3.99353891e-02 -1.24420549e-02 2.49777231e+02] [ 3.99378429e-02 9.99202165e-01 -5.12845319e-05 1.28338758e+00] [ 1.24341763e-02 -4.45669188e-04 9.99922593e-01 1.06807649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.719254154 meters 0.02311864800501925 Centerline is valid? [True, True] Translation: X:249.84, Y:1.28, Z:1.07 [[ 9.98926804e-01 -4.46719961e-02 -1.22332350e-02 2.49837514e+02] [ 4.46747247e-02 9.99001585e-01 -5.02691144e-05 1.27947794e+00] [ 1.22232668e-02 -4.96301241e-04 9.99925170e-01 1.06853351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.779254154 meters 0.024213594983641666 Centerline is valid? [True, True] Translation: X:249.90, Y:1.28, Z:1.07 [[ 9.98757683e-01 -4.80206324e-02 -1.33082190e-02 2.49898750e+02] [ 4.80241638e-02 9.98846173e-01 -5.42809297e-05 1.27831309e+00] [ 1.32954702e-02 -5.84902594e-04 9.99911440e-01 1.06926013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.839254154 meters 0.02438476586768141 Centerline is valid? [True, True] Translation: X:249.96, Y:1.28, Z:1.07 [[ 9.98824467e-01 -4.65041796e-02 -1.36764257e-02 2.49961009e+02] [ 4.65077787e-02 9.98917926e-01 -5.49436565e-05 1.28020742e+00] [ 1.36641819e-02 -5.81181112e-04 9.99906472e-01 1.06993096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.899254154 meters 0.02283673182002434 Centerline is valid? [True, True] Translation: X:250.02, Y:1.28, Z:1.07 [[ 9.98925116e-01 -4.45928803e-02 -1.26525574e-02 2.50022033e+02] [ 4.45958150e-02 9.99005110e-01 -5.02335068e-05 1.28264217e+00] [ 1.26422096e-02 -5.14071599e-04 9.99919952e-01 1.07137323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.959254154 meters 0.019955597388755245 Centerline is valid? [True, True] Translation: X:250.08, Y:1.29, Z:1.07 [[ 9.99105629e-01 -3.97210045e-02 -1.44977017e-02 2.50083641e+02] [ 3.97243562e-02 9.99210675e-01 -5.68198683e-05 1.28983402e+00] [ 1.44885152e-02 -5.19142817e-04 9.99894901e-01 1.07145251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.019254154 meters 0.02052552805684972 Centerline is valid? [True, True] Translation: X:250.14, Y:1.29, Z:1.07 [[ 9.99217319e-01 -3.61742349e-02 -1.60054644e-02 2.50143657e+02] [ 3.61778733e-02 9.99345365e-01 -6.22508190e-05 1.29056809e+00] [ 1.59972385e-02 -5.16841566e-04 9.99871902e-01 1.06968059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.079254154 meters 0.018126323093124015 Centerline is valid? [True, True] Translation: X:250.20, Y:1.30, Z:1.07 [[ 9.99328722e-01 -3.17171688e-02 -1.83337786e-02 2.50204868e+02] [ 3.17212048e-02 9.99496753e-01 -7.07049056e-05 1.29761006e+00] [ 1.83267947e-02 -5.10912102e-04 9.99831920e-01 1.06955222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.139254154 meters 0.017558300770965443 Centerline is valid? [True, True] Translation: X:250.27, Y:1.30, Z:1.07 [[ 9.99377065e-01 -2.87751027e-02 -2.04322106e-02 2.50265193e+02] [ 2.87795049e-02 9.99585781e-01 -7.86180526e-05 1.30211556e+00] [ 2.04260094e-02 -5.09459826e-04 9.99791238e-01 1.06943063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.199254154 meters 0.01803386223166042 Centerline is valid? [True, True] Translation: X:250.32, Y:1.31, Z:1.07 [[ 9.99384727e-01 -2.70431656e-02 -2.23346135e-02 2.50324603e+02] [ 2.70479793e-02 9.99634133e-01 -8.65936512e-05 1.30591460e+00] [ 2.23287837e-02 -5.17565789e-04 9.99750548e-01 1.06970058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.259254154 meters 0.017133279760356945 Centerline is valid? [True, True] Translation: X:250.38, Y:1.31, Z:1.07 [[ 9.99402827e-01 -2.70761087e-02 -2.14679521e-02 2.50383452e+02] [ 2.70804669e-02 9.99633253e-01 -8.77287525e-05 1.30827384e+00] [ 2.14624541e-02 -4.93685804e-04 9.99769533e-01 1.07099818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.319254154 meters 0.01755179218689587 Centerline is valid? [True, True] Translation: X:250.44, Y:1.31, Z:1.07 [[ 9.99420073e-01 -2.78317749e-02 -1.96191176e-02 2.50442630e+02] [ 2.78355293e-02 9.99612513e-01 -8.17432952e-05 1.30979301e+00] [ 1.96137905e-02 -4.64412633e-04 9.99807523e-01 1.07251899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.379254154 meters 0.0190954487534006 Centerline is valid? [True, True] Translation: X:250.50, Y:1.31, Z:1.07 [[ 9.99318949e-01 -3.28416315e-02 -1.68245425e-02 2.50503122e+02] [ 3.28450994e-02 9.99460452e-01 -7.02353060e-05 1.30859207e+00] [ 1.68177715e-02 -4.82416299e-04 9.99858455e-01 1.07494399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.439254154 meters 0.020952131245790945 Centerline is valid? [True, True] Translation: X:250.56, Y:1.31, Z:1.08 [[ 9.99155499e-01 -3.82657125e-02 -1.49674555e-02 2.50564528e+02] [ 3.82690704e-02 9.99267469e-01 -6.21071052e-05 1.30536753e+00] [ 1.49588679e-02 -5.10735953e-04 9.99887979e-01 1.07553429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.499254154 meters 0.02575956619563912 Centerline is valid? [True, True] Translation: X:250.62, Y:1.30, Z:1.08 [[ 9.98797314e-01 -4.69592699e-02 -1.40979942e-02 2.50624134e+02] [ 4.69631162e-02 9.98896622e-01 -5.82978387e-05 1.29830921e+00] [ 1.40851764e-02 -6.03858015e-04 9.99900617e-01 1.07605534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.559254154 meters 0.02554491011253375 Centerline is valid? [True, True] Translation: X:250.69, Y:1.30, Z:1.08 [[ 9.98482266e-01 -5.32393291e-02 -1.40974481e-02 2.50685023e+02] [ 5.32438002e-02 9.98581541e-01 -5.82386827e-05 1.29929372e+00] [ 1.40805520e-02 -6.92451419e-04 9.99900624e-01 1.07680010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.619254154 meters 0.025018422485591257 Centerline is valid? [True, True] Translation: X:250.75, Y:1.30, Z:1.08 [[ 9.98341901e-01 -5.58973594e-02 -1.37453196e-02 2.50746161e+02] [ 5.59018661e-02 9.98436266e-01 -5.64205436e-05 1.30040134e+00] [ 1.37269793e-02 -7.12062021e-04 9.99905527e-01 1.07719761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.679254154 meters 0.025673625300884316 Centerline is valid? [True, True] Translation: X:250.81, Y:1.30, Z:1.08 [[ 9.98379100e-01 -5.54572913e-02 -1.27929962e-02 2.50808642e+02] [ 5.54611690e-02 9.98460844e-01 -5.17357791e-05 1.30037444e+00] [ 1.27761749e-02 -6.57862606e-04 9.99918165e-01 1.07659321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.739254154 meters 0.024591778996535057 Centerline is valid? [True, True] Translation: X:250.87, Y:1.30, Z:1.08 [[ 9.98587176e-01 -5.16979193e-02 -1.22872865e-02 2.50869070e+02] [ 5.17012163e-02 9.98662597e-01 -4.93769648e-05 1.30404387e+00] [ 1.22734061e-02 -5.85960452e-04 9.99924507e-01 1.07725407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.799254154 meters 0.021707817659508938 Centerline is valid? [True, True] Translation: X:250.93, Y:1.31, Z:1.08 [[ 9.99062891e-01 -4.18763687e-02 -1.09411579e-02 2.50929298e+02] [ 4.18783946e-02 9.99122714e-01 -4.39786780e-05 1.31298988e+00] [ 1.09334010e-02 -4.14260661e-04 9.99940143e-01 1.07800264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.859254154 meters 0.01892143811980302 Centerline is valid? [True, True] Translation: X:250.99, Y:1.32, Z:1.08 [[ 9.99364150e-01 -3.42686723e-02 -9.84654625e-03 2.50989936e+02] [ 3.42699446e-02 9.99412612e-01 -3.95320444e-05 1.32009569e+00] [ 9.84211722e-03 -2.97933686e-04 9.99951521e-01 1.07901651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.919254154 meters 0.01680420776539507 Centerline is valid? [True, True] Translation: X:251.05, Y:1.33, Z:1.08 [[ 9.99596079e-01 -2.68814344e-02 -9.22323274e-03 2.51050803e+02] [ 2.68822378e-02 9.99638607e-01 -3.68772035e-05 1.32558159e+00] [ 9.22089084e-03 -2.11078828e-04 9.99957464e-01 1.07889078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.979254154 meters 0.014537599624625494 Centerline is valid? [True, True] Translation: X:251.11, Y:1.33, Z:1.08 [[ 9.99819242e-01 -1.66104202e-02 -9.25082980e-03 2.51111514e+02] [ 1.66107907e-02 9.99862031e-01 -3.67934226e-05 1.33499200e+00] [ 9.25016462e-03 -1.16876825e-04 9.99957209e-01 1.07845269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.039254154 meters 0.013852641874923475 Centerline is valid? [True, True] Translation: X:251.17, Y:1.34, Z:1.08 [[ 9.99917505e-01 -7.92616190e-03 -1.01073464e-02 2.51171782e+02] [ 7.92616245e-03 9.99968587e-01 -4.00030564e-05 1.34167422e+00] [ 1.01073460e-02 -4.01127133e-05 9.99948919e-01 1.07680763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.099254154 meters 0.013973352384586375 Centerline is valid? [True, True] Translation: X:251.23, Y:1.35, Z:1.08 [[ 9.99943205e-01 -2.58229350e-03 -1.03401492e-02 2.51230200e+02] [ 2.58199336e-03 9.99996666e-01 -4.23760272e-05 1.34559182e+00] [ 1.03402241e-02 1.56754240e-05 9.99946538e-01 1.07607805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.159254154 meters 0.013902116498873782 Centerline is valid? [True, True] Translation: X:251.29, Y:1.35, Z:1.08 [[ 9.99953065e-01 -1.73200193e-03 -9.53247471e-03 2.51288028e+02] [ 1.73168377e-03 9.99998500e-01 -4.16295636e-05 1.34660959e+00] [ 9.53253251e-03 2.51203779e-05 9.99954564e-01 1.07679853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.219254154 meters 0.013936209826193226 Centerline is valid? [True, True] Translation: X:251.35, Y:1.35, Z:1.08 [[ 9.99954168e-01 -3.18329084e-03 -9.02932188e-03 2.51345368e+02] [ 3.18304965e-03 9.99994933e-01 -4.10817679e-05 1.34593970e+00] [ 9.02940690e-03 1.23391052e-05 9.99959234e-01 1.07758147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.279254154 meters 0.013784289244574505 Centerline is valid? [True, True] Translation: X:251.40, Y:1.34, Z:1.08 [[ 9.99934784e-01 -8.81018319e-03 -7.26698858e-03 2.51403785e+02] [ 8.81017168e-03 9.99961189e-01 -3.35968975e-05 1.34117457e+00] [ 7.26700254e-03 -3.04287106e-05 9.99973595e-01 1.07972423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.339254154 meters 0.014018602382866476 Centerline is valid? [True, True] Translation: X:251.46, Y:1.34, Z:1.08 [[ 9.99918100e-01 -1.10311293e-02 -6.48902726e-03 2.51464448e+02] [ 1.10311650e-02 9.99939154e-01 -3.02920735e-05 1.33931795e+00] [ 6.48896659e-03 -4.12919381e-05 9.99978946e-01 1.08054409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.399254154 meters 0.01456360221399315 Centerline is valid? [True, True] Translation: X:251.53, Y:1.33, Z:1.08 [[ 9.99850938e-01 -1.64908447e-02 -5.11404489e-03 2.51526218e+02] [ 1.64909384e-02 9.99864015e-01 -2.38471319e-05 1.33455557e+00] [ 5.11374272e-03 -6.04918221e-05 9.99986923e-01 1.08231695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.459254154 meters 0.01574638932318648 Centerline is valid? [True, True] Translation: X:251.59, Y:1.33, Z:1.08 [[ 9.99748105e-01 -2.20047709e-02 -4.41772688e-03 2.51587512e+02] [ 2.20048953e-02 9.99757863e-01 -2.04580593e-05 1.32862218e+00] [ 4.41710736e-03 -7.67587114e-05 9.99990242e-01 1.08348051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.519254154 meters 0.017313513945865257 Centerline is valid? [True, True] Translation: X:251.65, Y:1.32, Z:1.08 [[ 9.99518886e-01 -3.05388508e-02 -5.41985732e-03 2.51648860e+02] [ 3.05391672e-02 9.99533571e-01 -2.43859667e-05 1.32146969e+00] [ 5.41807406e-03 -1.41143695e-04 9.99985312e-01 1.08286169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.579254154 meters 0.019412321312015767 Centerline is valid? [True, True] Translation: X:251.71, Y:1.31, Z:1.08 [[ 9.99237516e-01 -3.81487854e-02 -8.31008596e-03 2.51709963e+02] [ 3.81497949e-02 9.99272031e-01 -3.70693623e-05 1.31378758e+00] [ 8.30545063e-03 -2.79986977e-04 9.99965470e-01 1.08066725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.639254154 meters 0.0203621963993649 Centerline is valid? [True, True] Translation: X:251.77, Y:1.31, Z:1.08 [[ 9.99043020e-01 -4.27176452e-02 -9.39395029e-03 2.51771301e+02] [ 4.27191394e-02 9.99087120e-01 -4.16277445e-05 1.31100276e+00] [ 9.38715298e-03 -3.59713565e-04 9.99955875e-01 1.07985984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.699254154 meters 0.022747031512974938 Centerline is valid? [True, True] Translation: X:251.83, Y:1.31, Z:1.08 [[ 9.98736208e-01 -4.91642547e-02 -1.04337605e-02 2.51831798e+02] [ 4.91664513e-02 9.98790598e-01 -4.60311737e-05 1.30549345e+00] [ 1.04234050e-02 -4.67017977e-04 9.99945566e-01 1.07936245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.759254154 meters 0.02686045237119864 Centerline is valid? [True, True] Translation: X:251.89, Y:1.30, Z:1.08 [[ 9.98515689e-01 -5.34557055e-02 -1.04358140e-02 2.51891694e+02] [ 5.34581369e-02 9.98570090e-01 -4.60248054e-05 1.29793976e+00] [ 1.04233521e-02 -5.11922686e-04 9.99945544e-01 1.07892713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.819254154 meters 0.032642121032256714 Centerline is valid? [True, True] Translation: X:251.95, Y:1.29, Z:1.08 [[ 9.98210678e-01 -5.88218031e-02 -1.07441872e-02 2.51951030e+02] [ 5.88246912e-02 9.98268327e-01 -4.72932493e-05 1.28856744e+00] [ 1.07283636e-02 -5.84814867e-04 9.99942278e-01 1.07861909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.879254154 meters 0.029408389535913314 Centerline is valid? [True, True] Translation: X:252.01, Y:1.29, Z:1.08 [[ 9.98093359e-01 -6.06354223e-02 -1.15322370e-02 2.52013372e+02] [ 6.06388770e-02 9.98159769e-01 -5.01781421e-05 1.29272116e+00] [ 1.15140576e-02 -6.49219429e-04 9.99933500e-01 1.07982535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.939254154 meters 0.027519665984270778 Centerline is valid? [True, True] Translation: X:252.08, Y:1.30, Z:1.08 [[ 9.98040813e-01 -6.12072066e-02 -1.29697325e-02 2.52075260e+02] [ 6.12116374e-02 9.98124808e-01 -5.54360603e-05 1.29520342e+00] [ 1.29488048e-02 -7.38571112e-04 9.99915888e-01 1.08070767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.999254154 meters 0.0268309807265723 Centerline is valid? [True, True] Translation: X:252.14, Y:1.30, Z:1.08 [[ 9.98068793e-01 -6.04371678e-02 -1.43538713e-02 2.52137286e+02] [ 6.04425315e-02 9.98171677e-01 -6.02410067e-05 1.29550342e+00] [ 1.43312686e-02 -8.07459650e-04 9.99896976e-01 1.08071899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.059254154 meters 0.026474467622879333 Centerline is valid? [True, True] Translation: X:252.20, Y:1.30, Z:1.08 [[ 9.98197001e-01 -5.70624352e-02 -1.86178908e-02 2.52199279e+02] [ 5.70709035e-02 9.98370125e-01 -7.65864263e-05 1.29603453e+00] [ 1.85919162e-02 -9.86091509e-04 9.99826669e-01 1.07936466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.119254154 meters 0.024641068305727303 Centerline is valid? [True, True] Translation: X:252.26, Y:1.30, Z:1.08 [[ 9.98389952e-01 -5.25886369e-02 -2.12588517e-02 2.52260081e+02] [ 5.25986823e-02 9.98615727e-01 -8.67432970e-05 1.29939675e+00] [ 2.12339854e-02 -1.03158395e-03 9.99774001e-01 1.07841201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.179254154 meters 0.020973570006189754 Centerline is valid? [True, True] Translation: X:252.32, Y:1.31, Z:1.08 [[ 9.98879002e-01 -4.16828258e-02 -2.24339555e-02 2.52320537e+02] [ 4.16912677e-02 9.99130537e-01 -9.14809274e-05 1.30622811e+00] [ 2.24182631e-02 -8.43921664e-04 9.99748323e-01 1.07815597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.239254154 meters 0.016283500937647848 Centerline is valid? [True, True] Translation: X:252.38, Y:1.32, Z:1.08 [[ 9.99388832e-01 -2.70740865e-02 -2.21123370e-02 2.52381488e+02] [ 2.70787164e-02 9.99633300e-01 -9.00695839e-05 1.31742900e+00] [ 2.21066669e-02 -5.08759165e-04 9.99755488e-01 1.08100881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.299254154 meters 0.014955114269006526 Centerline is valid? [True, True] Translation: X:252.44, Y:1.32, Z:1.08 [[ 9.99614279e-01 -1.71040830e-02 -2.18802156e-02 2.52440211e+02] [ 1.71062080e-02 9.99853674e-01 -9.00542074e-05 1.32344150e+00] [ 2.18785542e-02 -2.84268048e-04 9.99760595e-01 1.08181647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.359254154 meters 0.013854847918651941 Centerline is valid? [True, True] Translation: X:252.50, Y:1.33, Z:1.08 [[ 9.99737928e-01 -8.02397419e-03 -2.14403888e-02 2.52499249e+02] [ 8.02389567e-03 9.99967804e-01 -8.96914777e-05 1.32905594e+00] [ 2.14404182e-02 -8.23674709e-05 9.99770124e-01 1.08227208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.419254154 meters 0.013664560048290324 Centerline is valid? [True, True] Translation: X:252.56, Y:1.33, Z:1.08 [[ 9.99780830e-01 -6.32263241e-05 -2.09353237e-02 2.52557336e+02] [ 6.12983060e-05 9.99999994e-01 -9.27357231e-05 1.33105917e+00] [ 2.09353294e-02 9.14320984e-05 9.99780828e-01 1.08355387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.479254154 meters 0.013743642210006438 Centerline is valid? [True, True] Translation: X:252.62, Y:1.33, Z:1.08 [[ 9.99760333e-01 -3.29065016e-05 -2.18923386e-02 2.52615934e+02] [ 3.06624267e-05 9.99999994e-01 -1.02840702e-04 1.32805741e+00] [ 2.18923418e-02 1.02144783e-04 9.99760329e-01 1.08318748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.539254154 meters 0.013464239983678569 Centerline is valid? [True, True] Translation: X:252.67, Y:1.32, Z:1.08 [[ 9.99712068e-01 -6.56627214e-03 -2.30795256e-02 2.52674931e+02] [ 6.56545976e-03 9.99978441e-01 -1.10974050e-04 1.31893787e+00] [ 2.30797567e-02 -4.05855995e-05 9.99733626e-01 1.08159313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.599254154 meters 0.013683873469649567 Centerline is valid? [True, True] Translation: X:252.73, Y:1.31, Z:1.08 [[ 9.99631256e-01 -1.34124197e-02 -2.36105884e-02 2.52733560e+02] [ 1.34134375e-02 9.99910029e-01 -1.15269579e-04 1.31115395e+00] [ 2.36100102e-02 -2.01472079e-04 9.99721225e-01 1.08224099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.659254154 meters 0.01507446793499412 Centerline is valid? [True, True] Translation: X:252.79, Y:1.30, Z:1.08 [[ 9.99466379e-01 -2.26993436e-02 -2.34882203e-02 2.52793238e+02] [ 2.27028902e-02 9.99742249e-01 -1.15688089e-04 1.29870927e+00] [ 2.34847923e-02 -4.17624133e-04 9.99724107e-01 1.08300944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.719254154 meters 0.015544551243808562 Centerline is valid? [True, True] Translation: X:252.85, Y:1.29, Z:1.08 [[ 9.99357555e-01 -2.65368985e-02 -2.40888101e-02 2.52852309e+02] [ 2.65417130e-02 9.99647699e-01 -1.19894497e-04 1.29453982e+00] [ 2.40835052e-02 -5.19540812e-04 9.99709815e-01 1.08473435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.779254154 meters 0.01574528276416979 Centerline is valid? [True, True] Translation: X:252.91, Y:1.29, Z:1.09 [[ 9.99337899e-01 -2.78041875e-02 -2.34667996e-02 2.52911408e+02] [ 2.78089846e-02 9.99613248e-01 -1.21955512e-04 1.29078641e+00] [ 2.34611146e-02 -5.30713103e-04 9.99724609e-01 1.08632639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.839254154 meters 0.01526332169442193 Centerline is valid? [True, True] Translation: X:252.97, Y:1.29, Z:1.09 [[ 9.99393976e-01 -2.67532837e-02 -2.22697826e-02 2.52970476e+02] [ 2.67572159e-02 9.99641954e-01 -1.21438460e-04 1.28990268e+00] [ 2.22650579e-02 -4.74512517e-04 9.99751990e-01 1.08797972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.899254154 meters 0.014618573881635106 Centerline is valid? [True, True] Translation: X:253.03, Y:1.29, Z:1.09 [[ 9.99533678e-01 -2.27569502e-02 -2.03604687e-02 2.53028239e+02] [ 2.27593574e-02 9.99740966e-01 -1.13515774e-04 1.28873307e+00] [ 2.03577779e-02 -3.49928343e-04 9.99792698e-01 1.08916782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.959254154 meters 0.014005805150049858 Centerline is valid? [True, True] Translation: X:253.09, Y:1.29, Z:1.09 [[ 9.99616396e-01 -1.80677184e-02 -2.09909018e-02 2.53086912e+02] [ 1.80691471e-02 9.99836732e-01 -1.21615101e-04 1.29008636e+00] [ 2.09896719e-02 -2.57719243e-04 9.99779659e-01 1.08871511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.019254154 meters 0.013624511254535157 Centerline is valid? [True, True] Translation: X:253.14, Y:1.29, Z:1.09 [[ 9.99662536e-01 -1.39175381e-02 -2.19343622e-02 2.53144853e+02] [ 1.39180400e-02 9.99903131e-01 -1.29785159e-04 1.29120042e+00] [ 2.19340437e-02 -1.75541969e-04 9.99759405e-01 1.08734922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.079254154 meters 0.01326106110978639 Centerline is valid? [True, True] Translation: X:253.20, Y:1.29, Z:1.09 [[ 9.99707972e-01 -8.84163682e-03 -2.24899237e-02 2.53203479e+02] [ 8.84076984e-03 9.99960910e-01 -1.37978403e-04 1.29301889e+00] [ 2.24902645e-02 -6.08901293e-05 9.99747060e-01 1.08760226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.139254154 meters 0.013309126133584637 Centerline is valid? [True, True] Translation: X:253.26, Y:1.30, Z:1.09 [[ 9.99752248e-01 -1.39018359e-03 -2.22150959e-02 2.53261412e+02] [ 1.38735776e-03 9.99999027e-01 -1.42614755e-04 1.29563106e+00] [ 2.22152726e-02 1.11759136e-04 9.99753204e-01 1.08855485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.199254154 meters 0.013400056842322611 Centerline is valid? [True, True] Translation: X:253.32, Y:1.30, Z:1.09 [[ 9.99764421e-01 8.44119501e-04 -2.16884910e-02 2.53318830e+02] [-8.47475828e-04 9.99999630e-01 -1.45560672e-04 1.29662386e+00] [ 2.16883601e-02 1.63906852e-04 9.99764766e-01 1.08929182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.259254154 meters 0.01335872708793484 Centerline is valid? [True, True] Translation: X:253.38, Y:1.29, Z:1.09 [[ 9.99774506e-01 2.29766946e-04 -2.12340201e-02 2.53376244e+02] [-2.32904452e-04 9.99999962e-01 -1.45285552e-04 1.29473033e+00] [ 2.12339860e-02 1.50198289e-04 9.99774522e-01 1.08857245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.319254154 meters 0.01305027980549838 Centerline is valid? [True, True] Translation: X:253.44, Y:1.29, Z:1.09 [[ 9.99769416e-01 -3.46052135e-03 -2.11929227e-02 2.53435226e+02] [ 3.45819093e-03 9.99994010e-01 -1.46609638e-04 1.29062487e+00] [ 2.11933031e-02 7.32866590e-05 9.99775394e-01 1.08923415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.379254154 meters 0.012943544880642423 Centerline is valid? [True, True] Translation: X:253.49, Y:1.28, Z:1.09 [[ 9.99737384e-01 -1.24415090e-02 -1.92450530e-02 2.53493507e+02] [ 1.24412202e-02 9.99922596e-01 -1.34739065e-04 1.28274423e+00] [ 1.92452397e-02 -1.04728262e-04 9.99814788e-01 1.09005427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.439254154 meters 0.013062939610252833 Centerline is valid? [True, True] Translation: X:253.55, Y:1.28, Z:1.09 [[ 9.99671036e-01 -1.80535475e-02 -1.82178470e-02 2.53552341e+02] [ 1.80541950e-02 9.99837001e-01 -1.28936115e-04 1.27796647e+00] [ 1.82172053e-02 -2.00014862e-04 9.99834033e-01 1.09240289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.499254154 meters 0.014036871356043697 Centerline is valid? [True, True] Translation: X:253.61, Y:1.27, Z:1.09 [[ 9.99597054e-01 -2.22359740e-02 -1.76434357e-02 2.53610171e+02] [ 2.22372059e-02 9.99752715e-01 -1.26387141e-04 1.27160887e+00] [ 1.76418831e-02 -2.66004500e-04 9.99844334e-01 1.09244557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.559254154 meters 0.013886178191616624 Centerline is valid? [True, True] Translation: X:253.67, Y:1.27, Z:1.09 [[ 9.99635699e-01 -2.13726866e-02 -1.64826233e-02 2.53669406e+02] [ 2.13735922e-02 9.99771551e-01 -1.21230319e-04 1.27056754e+00] [ 1.64814489e-02 -2.31106714e-04 9.99864145e-01 1.09327721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.619254154 meters 0.012465501803517362 Centerline is valid? [True, True] Translation: X:253.73, Y:1.27, Z:1.10 [[ 9.99785644e-01 -1.49907903e-02 -1.42808125e-02 2.53728598e+02] [ 1.49907887e-02 9.99887626e-01 -1.07166237e-04 1.27183369e+00] [ 1.42808142e-02 -1.06937378e-04 9.99898018e-01 1.09630914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.679254154 meters 0.01219175290504721 Centerline is valid? [True, True] Translation: X:253.79, Y:1.27, Z:1.10 [[ 9.99894920e-01 -6.81226172e-03 -1.27961558e-02 2.53787766e+02] [ 6.81155821e-03 9.99976796e-01 -9.85605208e-05 1.27379399e+00] [ 1.27965303e-02 1.13884039e-05 9.99918121e-01 1.09802667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.739254154 meters 0.012455099022759618 Centerline is valid? [True, True] Translation: X:253.85, Y:1.28, Z:1.10 [[ 9.99920736e-01 -1.50231418e-03 -1.25005802e-02 2.53846892e+02] [ 1.50118869e-03 9.99998868e-01 -9.94175924e-05 1.27514562e+00] [ 1.25007154e-02 8.06439825e-05 9.99921860e-01 1.09816910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.799254154 meters 0.012831780218741873 Centerline is valid? [True, True] Translation: X:253.91, Y:1.27, Z:1.10 [[ 9.99909158e-01 2.36759269e-03 -1.32691502e-02 2.53905646e+02] [-2.36924786e-03 9.99997187e-01 -1.09019594e-04 1.27488311e+00] [ 1.32688547e-02 1.40447596e-04 9.99911955e-01 1.09756713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.859254154 meters 0.013095669013470233 Centerline is valid? [True, True] Translation: X:253.96, Y:1.27, Z:1.10 [[ 9.99884425e-01 4.69701950e-03 -1.44594067e-02 2.53964863e+02] [-4.69928433e-03 9.99988951e-01 -1.22661208e-04 1.26991019e+00] [ 1.44586708e-02 1.90595895e-04 9.99895450e-01 1.09661422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.919254154 meters 0.013195761684398474 Centerline is valid? [True, True] Translation: X:254.02, Y:1.26, Z:1.10 [[ 9.99863741e-01 2.61684419e-03 -1.62988296e-02 2.54023897e+02] [-2.61948104e-03 9.99996559e-01 -1.40434920e-04 1.26285381e+00] [ 1.62984060e-02 1.83110260e-04 9.99867155e-01 1.09579319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.979254154 meters 0.012957438606911986 Centerline is valid? [True, True] Translation: X:254.08, Y:1.26, Z:1.10 [[ 9.99852023e-01 -1.62174303e-04 -1.72019242e-02 2.54082651e+02] [ 1.59626414e-04 9.99999976e-01 -1.49489444e-04 1.25698599e+00] [ 1.72019480e-02 1.46721441e-04 9.99852025e-01 1.09571730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.039254154 meters 0.01255178683690925 Centerline is valid? [True, True] Translation: X:254.14, Y:1.25, Z:1.10 [[ 9.99831163e-01 -5.87659667e-03 -1.74101085e-02 2.54141801e+02] [ 5.87483082e-03 9.99982731e-01 -1.52570186e-04 1.24598931e+00] [ 1.74107044e-02 5.02629849e-05 9.99848421e-01 1.09655176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.099254154 meters 0.01261853060222303 Centerline is valid? [True, True] Translation: X:254.20, Y:1.24, Z:1.10 [[ 9.99792828e-01 -1.14259046e-02 -1.68448835e-02 2.54200855e+02] [ 1.14250186e-02 9.99934721e-01 -1.48831485e-04 1.23743946e+00] [ 1.68454844e-02 -4.36524573e-05 9.99858104e-01 1.09763741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.159254154 meters 0.013256941235159832 Centerline is valid? [True, True] Translation: X:254.26, Y:1.22, Z:1.10 [[ 9.99657337e-01 -2.10017366e-02 -1.56248442e-02 2.54258519e+02] [ 2.10021210e-02 9.99779421e-01 -1.39498636e-04 1.22321652e+00] [ 1.56243274e-02 -1.88704035e-04 9.99877915e-01 1.09932247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.219254154 meters 0.01423720819453753 Centerline is valid? [True, True] Translation: X:254.32, Y:1.22, Z:1.10 [[ 9.99523241e-01 -2.72684130e-02 -1.44818932e-02 2.54317470e+02] [ 2.72693574e-02 9.99628113e-01 -1.32287592e-04 1.21540689e+00] [ 1.44801148e-02 -2.62687397e-04 9.99895123e-01 1.10048230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.279254154 meters 0.016340963674055534 Centerline is valid? [True, True] Translation: X:254.38, Y:1.20, Z:1.10 [[ 9.99267673e-01 -3.57276100e-02 -1.36987357e-02 2.54377856e+02] [ 3.57292323e-02 9.99361499e-01 -1.26367198e-04 1.20246365e+00] [ 1.36945038e-02 -3.63170654e-04 9.99906160e-01 1.10082549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.339254154 meters 0.01887483303910725 Centerline is valid? [True, True] Translation: X:254.44, Y:1.19, Z:1.10 [[ 9.99038255e-01 -4.16878780e-02 -1.35899517e-02 2.54437925e+02] [ 4.16900244e-02 9.99130585e-01 -1.25443517e-04 1.19295435e+00] [ 1.35833658e-02 -4.41242544e-04 9.99907644e-01 1.10029037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.399254154 meters 0.020432988166664712 Centerline is valid? [True, True] Translation: X:254.50, Y:1.18, Z:1.10 [[ 9.98609094e-01 -5.08828011e-02 -1.38136598e-02 2.54498496e+02] [ 5.08858967e-02 9.98704465e-01 -1.27510308e-04 1.18354335e+00] [ 1.38022518e-02 -5.75587514e-04 9.99904579e-01 1.10070212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.459254154 meters 0.022791230383578515 Centerline is valid? [True, True] Translation: X:254.56, Y:1.18, Z:1.10 [[ 9.98279753e-01 -5.66769144e-02 -1.50087466e-02 2.54558702e+02] [ 5.66812235e-02 9.98392318e-01 -1.38459526e-04 1.17685978e+00] [ 1.49924648e-02 -7.12492779e-04 9.99887353e-01 1.10044155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.519254154 meters 0.02904941824735075 Centerline is valid? [True, True] Translation: X:254.62, Y:1.17, Z:1.10 [[ 9.97990345e-01 -6.12563744e-02 -1.62150638e-02 2.54618089e+02] [ 6.12620052e-02 9.98121708e-01 -1.49697495e-04 1.16554088e+00] [ 1.61937771e-02 -8.43970668e-04 9.99868516e-01 1.09854639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.579254154 meters 0.02697740437613777 Centerline is valid? [True, True] Translation: X:254.68, Y:1.17, Z:1.10 [[ 9.97716940e-01 -6.51253840e-02 -1.78771261e-02 2.54678530e+02] [ 6.51328496e-02 9.97876588e-01 -1.64932778e-04 1.16762392e+00] [ 1.78499069e-02 -9.99831939e-04 9.99840178e-01 1.09988757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.639254154 meters 0.026412583362289115 Centerline is valid? [True, True] Translation: X:254.74, Y:1.17, Z:1.10 [[ 9.97705516e-01 -6.51111400e-02 -1.85537873e-02 2.54740087e+02] [ 6.51191900e-02 9.97877478e-01 -1.70594439e-04 1.16958740e+00] [ 1.85255141e-02 -1.03800459e-03 9.99827849e-01 1.10037928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.699254154 meters 0.02573808111760534 Centerline is valid? [True, True] Translation: X:254.80, Y:1.17, Z:1.10 [[ 9.97798189e-01 -6.34890777e-02 -1.91809834e-02 2.54800908e+02] [ 6.34973910e-02 9.97981989e-01 -1.75919625e-04 1.17294576e+00] [ 1.91534449e-02 -1.04241012e-03 9.99816013e-01 1.10013315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.759254154 meters 0.028562652241108048 Centerline is valid? [True, True] Translation: X:254.86, Y:1.17, Z:1.10 [[ 9.97757375e-01 -6.38607147e-02 -2.00506916e-02 2.54860717e+02] [ 6.38698757e-02 9.97958218e-01 -1.83811166e-04 1.17309913e+00] [ 2.00214908e-02 -1.09723623e-03 9.99798948e-01 1.09907310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.819254154 meters 0.030352335772186524 Centerline is valid? [True, True] Translation: X:254.92, Y:1.17, Z:1.10 [[ 9.97639339e-01 -6.56413067e-02 -2.01734708e-02 2.54920682e+02] [ 6.56509319e-02 9.97842633e-01 -1.85493409e-04 1.17280973e+00] [ 2.01421253e-02 -1.13935164e-03 9.99796478e-01 1.09881779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.879254154 meters 0.026463825386094732 Centerline is valid? [True, True] Translation: X:254.98, Y:1.18, Z:1.10 [[ 9.97468916e-01 -6.84853779e-02 -1.91184494e-02 2.54981463e+02] [ 6.84945454e-02 9.97651475e-01 -1.75662629e-04 1.18250564e+00] [ 1.90855795e-02 -1.13429149e-03 9.99817210e-01 1.10296020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.939254154 meters 0.0300781026538096 Centerline is valid? [True, True] Translation: X:255.04, Y:1.18, Z:1.10 [[ 9.97444798e-01 -6.90090347e-02 -1.84831692e-02 2.55041952e+02] [ 6.90177087e-02 9.97615421e-01 -1.68944053e-04 1.18157666e+00] [ 1.84507533e-02 -1.10715362e-03 9.99829157e-01 1.10291820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.999254154 meters 0.02725809309851201 Centerline is valid? [True, True] Translation: X:255.10, Y:1.19, Z:1.10 [[ 9.97572039e-01 -6.72922556e-02 -1.79381821e-02 2.55103181e+02] [ 6.73001623e-02 9.97732761e-01 -1.63213902e-04 1.19137020e+00] [ 1.79084950e-02 -1.04442494e-03 9.99839085e-01 1.10460468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.059254154 meters 0.024349850816424882 Centerline is valid? [True, True] Translation: X:255.16, Y:1.20, Z:1.11 [[ 9.97837788e-01 -6.31801911e-02 -1.81111151e-02 2.55163740e+02] [ 6.31875834e-02 9.98001654e-01 -1.64362569e-04 1.19968021e+00] [ 1.80853073e-02 -9.80390413e-04 9.99835967e-01 1.10506507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.119254154 meters 0.0245660506888097 Centerline is valid? [True, True] Translation: X:255.22, Y:1.20, Z:1.10 [[ 9.98209840e-01 -5.68645170e-02 -1.85349118e-02 2.55223358e+02] [ 5.68711701e-02 9.98381511e-01 -1.68376775e-04 1.20445117e+00] [ 1.85144880e-02 -8.86026770e-04 9.99828200e-01 1.10391118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.179254154 meters 0.020068168744803546 Centerline is valid? [True, True] Translation: X:255.28, Y:1.22, Z:1.11 [[ 9.98621470e-01 -4.90568548e-02 -1.86704007e-02 2.55284239e+02] [ 4.90622466e-02 9.98795708e-01 -1.69423799e-04 1.21722985e+00] [ 1.86562275e-02 -7.46821557e-04 9.99825679e-01 1.10593835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.239254154 meters 0.017230112894525466 Centerline is valid? [True, True] Translation: X:255.34, Y:1.23, Z:1.11 [[ 9.98991226e-01 -4.09358348e-02 -1.84604235e-02 2.55344875e+02] [ 4.09397223e-02 9.99161604e-01 -1.67437123e-04 1.22748241e+00] [ 1.84518006e-02 -5.88496396e-04 9.99829578e-01 1.10717655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.299254154 meters 0.015258795321208454 Centerline is valid? [True, True] Translation: X:255.40, Y:1.24, Z:1.11 [[ 9.99351612e-01 -3.13296227e-02 -1.77428817e-02 2.55404452e+02] [ 3.13316956e-02 9.99509029e-01 -1.61210077e-04 1.23791253e+00] [ 1.77392211e-02 -3.94809017e-04 9.99842570e-01 1.10748821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.359254154 meters 0.014519916547031645 Centerline is valid? [True, True] Translation: X:255.46, Y:1.24, Z:1.11 [[ 9.99458137e-01 -2.78089083e-02 -1.76095626e-02 2.55464107e+02] [ 2.78103939e-02 9.99613203e-01 -1.60564979e-04 1.24324980e+00] [ 1.76072164e-02 -3.29250897e-04 9.99844927e-01 1.10737117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.419254154 meters 0.014745691400104885 Centerline is valid? [True, True] Translation: X:255.52, Y:1.25, Z:1.11 [[ 9.99468697e-01 -2.74746898e-02 -1.75346879e-02 2.55523086e+02] [ 2.74760515e-02 9.99622449e-01 -1.63293484e-04 1.24649448e+00] [ 1.75325541e-02 -3.18577263e-04 9.99846242e-01 1.10718542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.479254154 meters 0.015704225854192934 Centerline is valid? [True, True] Translation: X:255.58, Y:1.25, Z:1.11 [[ 9.99425314e-01 -2.95353150e-02 -1.66344868e-02 2.55581455e+02] [ 2.95367979e-02 9.99563681e-01 -1.56583485e-04 1.24541556e+00] [ 1.66318536e-02 -3.34835976e-04 9.99861625e-01 1.10746115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.539254154 meters 0.016591507157220877 Centerline is valid? [True, True] Translation: X:255.64, Y:1.24, Z:1.11 [[ 9.99265022e-01 -3.50165759e-02 -1.55966677e-02 2.55641194e+02] [ 3.50185370e-02 9.99386652e-01 -1.47429406e-04 1.24474793e+00] [ 1.55922640e-02 -3.98851437e-04 9.99878354e-01 1.10952093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.599254154 meters 0.01704965457490581 Centerline is valid? [True, True] Translation: X:255.70, Y:1.24, Z:1.11 [[ 9.99133459e-01 -3.86153955e-02 -1.55300511e-02 2.55702759e+02] [ 3.86177781e-02 9.99254045e-01 -1.46547721e-04 1.24452901e+00] [ 1.55241254e-02 -4.53315337e-04 9.99879391e-01 1.10983588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.659254154 meters 0.018536117610530176 Centerline is valid? [True, True] Translation: X:255.76, Y:1.24, Z:1.11 [[ 9.98976043e-01 -4.27761218e-02 -1.47332285e-02 2.55764292e+02] [ 4.27787259e-02 9.99084562e-01 -1.38496368e-04 1.24265483e+00] [ 1.47256654e-02 -4.91914188e-04 9.99891451e-01 1.10939552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.719254154 meters 0.019379426393509338 Centerline is valid? [True, True] Translation: X:255.83, Y:1.24, Z:1.11 [[ 9.98960821e-01 -4.35094707e-02 -1.35722133e-02 2.55826701e+02] [ 4.35117592e-02 9.99052907e-01 -1.26766806e-04 1.24110770e+00] [ 1.35648747e-02 -4.63915802e-04 9.99907885e-01 1.10928036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.779254154 meters 0.01767364125519955 Centerline is valid? [True, True] Translation: X:255.89, Y:1.24, Z:1.11 [[ 9.99069157e-01 -4.14684866e-02 -1.18820669e-02 2.55888345e+02] [ 4.14701031e-02 9.99139739e-01 -1.10419967e-04 1.24438153e+00] [ 1.18764242e-02 -3.82433357e-04 9.99929400e-01 1.11039158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.839254154 meters 0.01693945399253897 Centerline is valid? [True, True] Translation: X:255.95, Y:1.25, Z:1.11 [[ 9.99319308e-01 -3.50364104e-02 -1.15486366e-02 2.55948433e+02] [ 3.50375100e-02 9.99385992e-01 -1.07161086e-04 1.24777911e+00] [ 1.15453002e-02 -2.97547327e-04 9.99933307e-01 1.10953725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.899254154 meters 0.014611032751893563 Centerline is valid? [True, True] Translation: X:256.01, Y:1.25, Z:1.11 [[ 9.99503192e-01 -2.92401686e-02 -1.17636080e-02 2.56009451e+02] [ 2.92409114e-02 9.99572387e-01 -1.08883803e-04 1.25312559e+00] [ 1.17617615e-02 -2.35148909e-04 9.99930800e-01 1.10956296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.959254154 meters 0.013233143455746757 Centerline is valid? [True, True] Translation: X:256.07, Y:1.26, Z:1.11 [[ 9.99728420e-01 -2.06722465e-02 -1.07584479e-02 2.56068705e+02] [ 2.06723721e-02 9.99786299e-01 -9.95459435e-05 1.25814429e+00] [ 1.07582066e-02 -1.22883729e-04 9.99942121e-01 1.10952644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.019254154 meters 0.012539095626881701 Centerline is valid? [True, True] Translation: X:256.13, Y:1.26, Z:1.11 [[ 9.99800324e-01 -1.70472581e-02 -1.04260511e-02 2.56129405e+02] [ 1.70471781e-02 9.99854682e-01 -9.65472325e-05 1.26132019e+00] [ 1.04261819e-02 -8.12067954e-05 9.99945643e-01 1.10976066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.079254154 meters 0.012688709874932098 Centerline is valid? [True, True] Translation: X:256.19, Y:1.26, Z:1.11 [[ 9.99808059e-01 -1.57711379e-02 -1.16239733e-02 2.56188473e+02] [ 1.57709507e-02 9.99875625e-01 -1.07772382e-04 1.26154965e+00] [ 1.16242272e-02 -7.55694136e-05 9.99932434e-01 1.10774197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.139254154 meters 0.012968922247830453 Centerline is valid? [True, True] Translation: X:256.25, Y:1.26, Z:1.11 [[ 9.99726195e-01 -1.86959409e-02 -1.40711464e-02 2.56247621e+02] [ 1.86959447e-02 9.99825207e-01 -1.31280210e-04 1.25909666e+00] [ 1.40711412e-02 -1.31829109e-04 9.99900988e-01 1.10538733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.199254154 meters 0.014379912034109314 Centerline is valid? [True, True] Translation: X:256.31, Y:1.25, Z:1.11 [[ 9.99528331e-01 -2.75390000e-02 -1.35911461e-02 2.56307578e+02] [ 2.75398119e-02 9.99620699e-01 -1.27454943e-04 1.25196279e+00] [ 1.35895009e-02 -2.46902780e-04 9.99907628e-01 1.10553133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.259254154 meters 0.016555811980734088 Centerline is valid? [True, True] Translation: X:256.37, Y:1.25, Z:1.11 [[ 9.99318107e-01 -3.48314694e-02 -1.22510899e-02 2.56367953e+02] [ 3.48326748e-02 9.99393152e-01 -1.15033204e-04 1.24600010e+00] [ 1.22476622e-02 -3.11783469e-04 9.99924946e-01 1.10700066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.319254154 meters 0.020237919316841206 Centerline is valid? [True, True] Translation: X:256.43, Y:1.24, Z:1.11 [[ 9.98933194e-01 -4.48492848e-02 -1.10007134e-02 2.56428887e+02] [ 4.48508635e-02 9.98993688e-01 -1.03271837e-04 1.23816723e+00] [ 1.09942749e-02 -3.90229828e-04 9.99939485e-01 1.10850388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.379254154 meters 0.020879921613959202 Centerline is valid? [True, True] Translation: X:256.49, Y:1.24, Z:1.11 [[ 9.98646417e-01 -5.08654700e-02 -1.08644798e-02 2.56489938e+02] [ 5.08673668e-02 9.98705412e-01 -1.01860059e-04 1.23639449e+00] [ 1.08555960e-02 -4.50925298e-04 9.99940975e-01 1.10923478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.439254154 meters 0.024860627779823268 Centerline is valid? [True, True] Translation: X:256.55, Y:1.23, Z:1.11 [[ 9.98227682e-01 -5.86073751e-02 -1.03281085e-02 2.56549592e+02] [ 5.86095082e-02 9.98280981e-01 -9.62719466e-05 1.23060487e+00] [ 1.03159965e-02 -5.09224036e-04 9.99946659e-01 1.10955214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.499254154 meters 0.027811044725358735 Centerline is valid? [True, True] Translation: X:256.61, Y:1.23, Z:1.11 [[ 9.97840592e-01 -6.50639769e-02 -8.99063723e-03 2.56610284e+02] [ 6.50658575e-02 9.97880968e-01 -8.34785464e-05 1.22717135e+00] [ 8.97701723e-03 -5.01685239e-04 9.99959580e-01 1.11108669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.559254154 meters 0.02866810434641022 Centerline is valid? [True, True] Translation: X:256.67, Y:1.23, Z:1.11 [[ 9.97617785e-01 -6.84302051e-02 -8.72133719e-03 2.56671514e+02] [ 6.84321037e-02 9.97655773e-01 -8.08846068e-05 1.22838900e+00] [ 8.70642734e-03 -5.16127529e-04 9.99961965e-01 1.11174298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.619254154 meters 0.031923099282841316 Centerline is valid? [True, True] Translation: X:256.73, Y:1.23, Z:1.11 [[ 9.97510489e-01 -6.96757780e-02 -1.08678449e-02 2.56732420e+02] [ 6.96788049e-02 9.97569473e-01 -1.00336433e-04 1.22804236e+00] [ 1.08484214e-02 -6.57171801e-04 9.99940938e-01 1.11005362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.679254154 meters 0.029088046825103187 Centerline is valid? [True, True] Translation: X:256.79, Y:1.24, Z:1.11 [[ 9.97623481e-01 -6.79319148e-02 -1.15171649e-02 2.56793815e+02] [ 6.79352044e-02 9.97689730e-01 -1.05811579e-04 1.23540468e+00] [ 1.14977451e-02 -6.76860834e-04 9.99933670e-01 1.11000753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.739254154 meters 0.029298207439447606 Centerline is valid? [True, True] Translation: X:256.85, Y:1.24, Z:1.11 [[ 9.97983298e-01 -6.24798656e-02 -1.12073268e-02 2.56853368e+02] [ 6.24826381e-02 9.98046046e-01 -1.02926274e-04 1.24084012e+00] [ 1.11918590e-02 -5.97544642e-04 9.99937191e-01 1.10987482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.799254154 meters 0.02477615704794773 Centerline is valid? [True, True] Translation: X:256.91, Y:1.26, Z:1.11 [[ 9.98490666e-01 -5.36493911e-02 -1.17529975e-02 2.56913533e+02] [ 5.36518286e-02 9.98559698e-01 -1.08030356e-04 1.25595830e+00] [ 1.17418654e-02 -5.22702507e-04 9.99930925e-01 1.11001734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.859254154 meters 0.023094745016035746 Centerline is valid? [True, True] Translation: X:256.97, Y:1.26, Z:1.11 [[ 9.98801269e-01 -4.74804779e-02 -1.19007770e-02 2.56973881e+02] [ 4.74825407e-02 9.98872062e-01 -1.09319748e-04 1.26329697e+00] [ 1.18925442e-02 -4.55890426e-04 9.99929177e-01 1.11020661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.919254154 meters 0.018885498027712284 Centerline is valid? [True, True] Translation: X:257.03, Y:1.28, Z:1.11 [[ 9.99165089e-01 -3.93014635e-02 -1.11588048e-02 2.57034008e+02] [ 3.93027680e-02 9.99227342e-01 -1.02446405e-04 1.27589947e+00] [ 1.11542092e-02 -3.36211046e-04 9.99937733e-01 1.11271851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.979254154 meters 0.01775791849953206 Centerline is valid? [True, True] Translation: X:257.10, Y:1.28, Z:1.11 [[ 9.99385194e-01 -3.37858381e-02 -9.36760079e-03 2.57095245e+02] [ 3.37865170e-02 9.99429069e-01 -8.58123727e-05 1.28472578e+00] [ 9.36515178e-03 -2.30738988e-04 9.99956119e-01 1.11429958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.039254154 meters 0.016988120070094943 Centerline is valid? [True, True] Translation: X:257.16, Y:1.29, Z:1.11 [[ 9.99436262e-01 -3.23581867e-02 -8.95014144e-03 2.57157930e+02] [ 3.23587544e-02 9.99476315e-01 -8.14102699e-05 1.29048043e+00] [ 8.94808868e-03 -2.08251053e-04 9.99959943e-01 1.11429595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.099254154 meters 0.01725429418399629 Centerline is valid? [True, True] Translation: X:257.22, Y:1.29, Z:1.11 [[ 9.99440813e-01 -3.21324847e-02 -9.25010003e-03 2.57219011e+02] [ 3.21330878e-02 9.99483596e-01 -8.34461151e-05 1.29147564e+00] [ 9.24800457e-03 -2.13834824e-04 9.99957213e-01 1.11375995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.159254154 meters 0.017164129318403613 Centerline is valid? [True, True] Translation: X:257.28, Y:1.30, Z:1.11 [[ 9.99459235e-01 -3.13753877e-02 -9.83983790e-03 2.57280902e+02] [ 3.13760400e-02 9.99507647e-01 -8.81126083e-05 1.29647195e+00] [ 9.83775779e-03 -2.20670187e-04 9.99951584e-01 1.11299352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.219254154 meters 0.01764220247256629 Centerline is valid? [True, True] Translation: X:257.34, Y:1.30, Z:1.11 [[ 9.99508282e-01 -3.00438927e-02 -8.97545433e-03 2.57342491e+02] [ 3.00443865e-02 9.99548562e-01 -7.98349500e-05 1.29979434e+00] [ 8.97380103e-03 -1.89866326e-04 9.99959717e-01 1.11268081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.279254154 meters 0.01736691975111448 Centerline is valid? [True, True] Translation: X:257.40, Y:1.30, Z:1.11 [[ 9.99561610e-01 -2.84452299e-02 -8.21323536e-03 2.57404630e+02] [ 2.84455935e-02 9.99595340e-01 -7.25698506e-05 1.30350610e+00] [ 8.21197606e-03 -1.61092318e-04 9.99966268e-01 1.11332359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.339254154 meters 0.01686329035307846 Centerline is valid? [True, True] Translation: X:257.47, Y:1.31, Z:1.11 [[ 9.99675327e-01 -2.45781736e-02 -6.71971864e-03 2.57466091e+02] [ 2.45783318e-02 9.99697905e-01 -5.90372289e-05 1.30991299e+00] [ 6.71913967e-03 -1.06141413e-04 9.99977421e-01 1.11338082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.399254154 meters 0.01720699822193526 Centerline is valid? [True, True] Translation: X:257.53, Y:1.31, Z:1.11 [[ 9.99732313e-01 -2.23982565e-02 -5.79837460e-03 2.57527319e+02] [ 2.23983394e-02 9.99749124e-01 -5.06331531e-05 1.31149019e+00] [ 5.79805402e-03 -7.92543633e-05 9.99983188e-01 1.11275803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.459254154 meters 0.01689446049866642 Centerline is valid? [True, True] Translation: X:257.59, Y:1.31, Z:1.11 [[ 9.99725725e-01 -2.27262081e-02 -5.65643052e-03 2.57589384e+02] [ 2.27262959e-02 9.99741723e-01 -4.87652226e-05 1.31303029e+00] [ 5.65607785e-03 -7.97978662e-05 9.99984001e-01 1.11212552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.519254154 meters 0.017608394348512052 Centerline is valid? [True, True] Translation: X:257.65, Y:1.31, Z:1.11 [[ 9.99606814e-01 -2.72290704e-02 -6.69295561e-03 2.57651569e+02] [ 2.72292978e-02 9.99629212e-01 -5.71516565e-05 1.31013516e+00] [ 6.69203013e-03 -1.25115296e-04 9.99977600e-01 1.11157633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.579254154 meters 0.018793985801936298 Centerline is valid? [True, True] Translation: X:257.71, Y:1.31, Z:1.11 [[ 9.99513395e-01 -3.01186695e-02 -8.11418174e-03 2.57713128e+02] [ 3.01191039e-02 9.99546315e-01 -6.86843765e-05 1.30776785e+00] [ 8.11256914e-03 -1.75740929e-04 9.99967077e-01 1.11145837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.639254154 meters 0.018764612807054555 Centerline is valid? [True, True] Translation: X:257.78, Y:1.31, Z:1.11 [[ 9.99446029e-01 -3.20113948e-02 -9.10520556e-03 2.57775320e+02] [ 3.20120260e-02 9.99487481e-01 -7.64488658e-05 1.30679370e+00] [ 9.10298620e-03 -2.15069562e-04 9.99958544e-01 1.11122423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.699254154 meters 0.018614627707856386 Centerline is valid? [True, True] Translation: X:257.84, Y:1.31, Z:1.11 [[ 9.99479378e-01 -3.06504778e-02 -1.00757789e-02 2.57836473e+02] [ 3.06511926e-02 9.99530138e-01 -8.35027404e-05 1.30519514e+00] [ 1.00736041e-02 -2.25375373e-04 9.99949235e-01 1.11095825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.759254154 meters 0.016852107652844072 Centerline is valid? [True, True] Translation: X:257.90, Y:1.31, Z:1.11 [[ 9.99666437e-01 -2.42384411e-02 -8.91695649e-03 2.57898122e+02] [ 2.42387527e-02 9.99706196e-01 -7.31466771e-05 1.30817280e+00] [ 8.91610961e-03 -1.43013625e-04 9.99960240e-01 1.11231025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.819254154 meters 0.01609396830357742 Centerline is valid? [True, True] Translation: X:257.96, Y:1.31, Z:1.11 [[ 9.99798647e-01 -1.84023003e-02 -8.00130589e-03 2.57959911e+02] [ 1.84023676e-02 9.99830660e-01 -6.52178632e-05 1.31071033e+00] [ 8.00115111e-03 -8.20382408e-05 9.99967987e-01 1.11372880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.879254154 meters 0.015660219850612462 Centerline is valid? [True, True] Translation: X:258.02, Y:1.31, Z:1.12 [[ 9.99928155e-01 -9.58078200e-03 -7.20365427e-03 2.58020408e+02] [ 9.58060955e-03 9.99954103e-01 -5.84472650e-05 1.31338365e+00] [ 7.20388361e-03 -1.05723330e-05 9.99974052e-01 1.11504360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.939254154 meters 0.015533375541792247 Centerline is valid? [True, True] Translation: X:258.08, Y:1.31, Z:1.12 [[ 9.99951960e-01 -5.87819501e-03 -7.84369647e-03 2.58080360e+02] [ 5.87787634e-03 9.99982723e-01 -6.36793548e-05 1.31318545e+00] [ 7.84393527e-03 1.75720178e-05 9.99969236e-01 1.11583145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.999254154 meters 0.01560178463300239 Centerline is valid? [True, True] Translation: X:258.14, Y:1.31, Z:1.11 [[ 9.99925050e-01 -6.38421222e-03 -1.04468627e-02 2.58138356e+02] [ 6.38366666e-03 9.99979621e-01 -8.55670686e-05 1.30682783e+00] [ 1.04471961e-02 1.88713662e-05 9.99945426e-01 1.11356700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.059254154 meters 0.015830699478959362 Centerline is valid? [True, True] Translation: X:258.20, Y:1.29, Z:1.11 [[ 9.99825744e-01 -1.31393898e-02 -1.32604221e-02 2.58197605e+02] [ 1.31390900e-02 9.99913672e-01 -1.09734982e-04 1.29478606e+00] [ 1.32607192e-02 -6.45140190e-05 9.99912071e-01 1.11189583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.119254154 meters 0.016334385208602926 Centerline is valid? [True, True] Translation: X:258.26, Y:1.29, Z:1.11 [[ 9.99718972e-01 -1.95649419e-02 -1.33862078e-02 2.58256880e+02] [ 1.95651996e-02 9.99808577e-01 -1.11715217e-04 1.28630385e+00] [ 1.33858310e-02 -1.50220006e-04 9.99910394e-01 1.11323722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.179254154 meters 0.018069938592389184 Centerline is valid? [True, True] Translation: X:258.32, Y:1.27, Z:1.12 [[ 9.99526028e-01 -2.79844128e-02 -1.28293783e-02 2.58315311e+02] [ 2.79853316e-02 9.99608328e-01 -1.07941445e-04 1.27408677e+00] [ 1.28273740e-02 -2.51144121e-04 9.99917694e-01 1.11580504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.239254154 meters 0.017741651973562523 Centerline is valid? [True, True] Translation: X:258.38, Y:1.27, Z:1.12 [[ 9.99341514e-01 -3.37964910e-02 -1.32036245e-02 2.58375838e+02] [ 3.37979670e-02 9.99428679e-01 -1.11401429e-04 1.26788182e+00] [ 1.31998460e-02 -3.34927592e-04 9.99912822e-01 1.11906614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.299254154 meters 0.018108183743826643 Centerline is valid? [True, True] Translation: X:258.44, Y:1.26, Z:1.12 [[ 9.99234491e-01 -3.70753030e-02 -1.24841431e-02 2.58437312e+02] [ 3.70768819e-02 9.99312411e-01 -1.05027744e-04 1.26212546e+00] [ 1.24794531e-02 -3.57925755e-04 9.99922065e-01 1.12074928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.359254154 meters 0.019559321125853044 Centerline is valid? [True, True] Translation: X:258.50, Y:1.25, Z:1.12 [[ 9.99020878e-01 -4.24968816e-02 -1.23003926e-02 2.58498324e+02] [ 4.24988286e-02 9.99096511e-01 -1.03171281e-04 1.25273015e+00] [ 1.22936638e-02 -4.19682015e-04 9.99924342e-01 1.12131122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.419254154 meters 0.022869602468577967 Centerline is valid? [True, True] Translation: X:258.56, Y:1.24, Z:1.12 [[ 9.98797642e-01 -4.72342565e-02 -1.31223224e-02 2.58558898e+02] [ 4.72368840e-02 9.98883709e-01 -1.09816764e-04 1.24199120e+00] [ 1.31128612e-02 -5.10172897e-04 9.99913893e-01 1.12071516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.479254154 meters 0.022469016011178546 Centerline is valid? [True, True] Translation: X:258.62, Y:1.24, Z:1.12 [[ 9.98714751e-01 -4.85810689e-02 -1.44473346e-02 2.58620146e+02] [ 4.85844011e-02 9.98819073e-01 -1.20448612e-04 1.23985098e+00] [ 1.44361249e-02 -5.81621293e-04 9.99895625e-01 1.12055003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.539254154 meters 0.02213177712247467 Centerline is valid? [True, True] Translation: X:258.68, Y:1.24, Z:1.12 [[ 9.98730571e-01 -4.74255066e-02 -1.69725600e-02 2.58681663e+02] [ 4.74299502e-02 9.98874557e-01 -1.40852634e-04 1.23812314e+00] [ 1.69601384e-02 -6.64333845e-04 9.99855946e-01 1.11965576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.599254154 meters 0.02098400000625581 Centerline is valid? [True, True] Translation: X:258.74, Y:1.24, Z:1.12 [[ 9.98876803e-01 -4.41250682e-02 -1.72658587e-02 2.58741957e+02] [ 4.41291771e-02 9.99025823e-01 -1.43122911e-04 1.24053260e+00] [ 1.72553540e-02 -6.18965980e-04 9.99850924e-01 1.12043680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.659254154 meters 0.01920272972154061 Centerline is valid? [True, True] Translation: X:258.80, Y:1.25, Z:1.12 [[ 9.99187514e-01 -3.63580010e-02 -1.73898834e-02 2.58801962e+02] [ 3.63609929e-02 9.99338710e-01 -1.44210782e-04 1.24653768e+00] [ 1.73836269e-02 -4.88219815e-04 9.99848774e-01 1.12198541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.719254154 meters 0.017448875790214445 Centerline is valid? [True, True] Translation: X:258.86, Y:1.25, Z:1.12 [[ 9.99399437e-01 -2.92731434e-02 -1.85431243e-02 2.58861939e+02] [ 2.92753211e-02 9.99571374e-01 -1.54060328e-04 1.25461112e+00] [ 1.85396860e-02 -3.88888111e-04 9.99828050e-01 1.12307152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.779254154 meters 0.017746714348459813 Centerline is valid? [True, True] Translation: X:258.92, Y:1.26, Z:1.12 [[ 9.99492375e-01 -2.61570225e-02 -1.81879771e-02 2.58919716e+02] [ 2.61585772e-02 9.99657794e-01 -1.52457617e-04 1.25651779e+00] [ 1.81857409e-02 -3.23391377e-04 9.99834573e-01 1.12310312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.839254154 meters 0.017169905136929207 Centerline is valid? [True, True] Translation: X:258.98, Y:1.26, Z:1.13 [[ 9.99564991e-01 -2.38382284e-02 -1.73656992e-02 2.58978926e+02] [ 2.38392356e-02 9.99715794e-01 -1.49037751e-04 1.25826729e+00] [ 1.73643166e-02 -2.65012077e-04 9.99849194e-01 1.12572200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.899254154 meters 0.017151519234186022 Centerline is valid? [True, True] Translation: X:259.04, Y:1.26, Z:1.13 [[ 9.99556792e-01 -2.43451728e-02 -1.71327507e-02 2.59036454e+02] [ 2.43461458e-02 9.99703577e-01 -1.51805303e-04 1.25758915e+00] [ 1.71313679e-02 -2.65378426e-04 9.99853212e-01 1.12669140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.959254154 meters 0.016904007086026726 Centerline is valid? [True, True] Translation: X:259.09, Y:1.26, Z:1.13 [[ 9.99536902e-01 -2.51830249e-02 -1.70820500e-02 2.59094458e+02] [ 2.51840281e-02 9.99682820e-01 -1.56411307e-04 1.25742461e+00] [ 1.70805708e-02 -2.73855954e-04 9.99854079e-01 1.12695793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.019254154 meters 0.017471389136994198 Centerline is valid? [True, True] Translation: X:259.15, Y:1.25, Z:1.13 [[ 9.99395613e-01 -2.95537711e-02 -1.83025601e-02 2.59154354e+02] [ 2.95556205e-02 9.99563123e-01 -1.69497641e-04 1.25296001e+00] [ 1.82995735e-02 -3.71548324e-04 9.99832480e-01 1.12653846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.079254154 meters 0.019829688530025535 Centerline is valid? [True, True] Translation: X:259.21, Y:1.25, Z:1.12 [[ 9.99144277e-01 -3.68027725e-02 -1.88751328e-02 2.59213321e+02] [ 3.68060257e-02 9.99322413e-01 -1.75127581e-04 1.24600872e+00] [ 1.88687885e-02 -5.19740903e-04 9.99821833e-01 1.12487612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.139254154 meters 0.02067843097892435 Centerline is valid? [True, True] Translation: X:259.27, Y:1.24, Z:1.13 [[ 9.98896055e-01 -4.32579233e-02 -1.83145870e-02 2.59273687e+02] [ 4.32620641e-02 9.99063744e-01 -1.70230405e-04 1.24341559e+00] [ 1.83048036e-02 -6.22284356e-04 9.99832259e-01 1.12601854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.199254154 meters 0.024638065741868952 Centerline is valid? [True, True] Translation: X:259.33, Y:1.24, Z:1.13 [[ 9.98445602e-01 -5.30570663e-02 -1.70682961e-02 2.59333379e+02] [ 5.30620876e-02 9.98591202e-01 -1.58865997e-04 1.23644712e+00] [ 1.70526793e-02 -7.47060365e-04 9.99854313e-01 1.12722482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.259254154 meters 0.027827766826564793 Centerline is valid? [True, True] Translation: X:259.39, Y:1.23, Z:1.13 [[ 9.98072520e-01 -5.98125260e-02 -1.65440762e-02 2.59393577e+02] [ 5.98181686e-02 9.98209278e-01 -1.54020542e-04 1.23221817e+00] [ 1.65236627e-02 -8.35912670e-04 9.99863126e-01 1.12799046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.319254154 meters 0.03382509305656483 Centerline is valid? [True, True] Translation: X:259.45, Y:1.22, Z:1.13 [[ 9.97473605e-01 -6.92040807e-02 -1.60375101e-02 2.59453449e+02] [ 6.92105894e-02 9.97602061e-01 -1.49484988e-04 1.22458197e+00] [ 1.60093981e-02 -9.60858198e-04 9.99871380e-01 1.12838039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.379254154 meters 0.0354166058411701 Centerline is valid? [True, True] Translation: X:259.51, Y:1.22, Z:1.13 [[ 9.97173373e-01 -7.34463446e-02 -1.58397791e-02 2.59513746e+02] [ 7.34532269e-02 9.97298652e-01 -1.47631657e-04 1.22376916e+00] [ 1.58078334e-02 -1.01626853e-03 9.99874532e-01 1.12901873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.439254154 meters 0.036332689364643456 Centerline is valid? [True, True] Translation: X:259.57, Y:1.23, Z:1.13 [[ 9.96994106e-01 -7.55463197e-02 -1.71902678e-02 2.59574378e+02] [ 7.55547411e-02 9.97141643e-01 -1.59958486e-04 1.22592129e+00] [ 1.71532162e-02 -1.13932857e-03 9.99852224e-01 1.12856525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.499254154 meters 0.03382372659336334 Centerline is valid? [True, True] Translation: X:259.64, Y:1.23, Z:1.13 [[ 9.97178181e-01 -7.30068155e-02 -1.74837185e-02 2.59635619e+02] [ 7.30151476e-02 9.97330819e-01 -1.62153816e-04 1.23382087e+00] [ 1.74488896e-02 -1.11488004e-03 9.99847135e-01 1.12800009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.559254154 meters 0.032423718406973126 Centerline is valid? [True, True] Translation: X:259.70, Y:1.24, Z:1.13 [[ 9.97454010e-01 -6.90408933e-02 -1.78564587e-02 2.59696525e+02] [ 6.90489583e-02 9.97613259e-01 -1.65220047e-04 1.23958397e+00] [ 1.78252469e-02 -1.06817047e-03 9.99840547e-01 1.12707038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.619254154 meters 0.029950833058961495 Centerline is valid? [True, True] Translation: X:259.76, Y:1.25, Z:1.13 [[ 9.97996571e-01 -6.04486302e-02 -1.86763825e-02 2.59756037e+02] [ 6.04559535e-02 9.98170851e-01 -1.72754800e-04 1.25053024e+00] [ 1.86526634e-02 -9.56689811e-04 9.99825566e-01 1.12591606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.679254154 meters 0.027865598008339973 Centerline is valid? [True, True] Translation: X:259.82, Y:1.26, Z:1.13 [[ 9.98359127e-01 -5.39973450e-02 -1.90614635e-02 2.59816197e+02] [ 5.40038011e-02 9.98540714e-01 -1.76255320e-04 1.25971824e+00] [ 1.90431647e-02 -8.53425378e-04 9.99818298e-01 1.12571896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.739254154 meters 0.021615981209792617 Centerline is valid? [True, True] Translation: X:259.88, Y:1.28, Z:1.13 [[ 9.98864290e-01 -4.44432702e-02 -1.71734179e-02 2.59876217e+02] [ 4.44471000e-02 9.99011727e-01 -1.58798721e-04 1.27714624e+00] [ 1.71635034e-02 -6.04690250e-04 9.99852513e-01 1.12912797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.799254154 meters 0.01962385129551871 Centerline is valid? [True, True] Translation: X:259.94, Y:1.29, Z:1.13 [[ 9.99161712e-01 -3.82442143e-02 -1.46031975e-02 2.59936746e+02] [ 3.82463235e-02 9.99268333e-01 -1.34916396e-04 1.28532663e+00] [ 1.45976726e-02 -4.23715317e-04 9.99893359e-01 1.13111880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.859254154 meters 0.017243282943277833 Centerline is valid? [True, True] Translation: X:260.00, Y:1.30, Z:1.13 [[ 9.99478575e-01 -2.97098626e-02 -1.26452184e-02 2.59997537e+02] [ 2.97107636e-02 9.99558531e-01 -1.16634749e-04 1.29756159e+00] [ 1.26431012e-02 -2.59125163e-04 9.99920039e-01 1.13329437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.919254154 meters 0.01586530717418931 Centerline is valid? [True, True] Translation: X:260.06, Y:1.30, Z:1.13 [[ 9.99638948e-01 -2.41291804e-02 -1.18218201e-02 2.60057795e+02] [ 2.41295786e-02 9.99708833e-01 -1.08966861e-04 1.30393935e+00] [ 1.18210072e-02 -1.76328018e-04 9.99930114e-01 1.13367058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.979254154 meters 0.014807423217381599 Centerline is valid? [True, True] Translation: X:260.12, Y:1.31, Z:1.13 [[ 9.99759978e-01 -1.84707715e-02 -1.17820298e-02 2.60116910e+02] [ 1.84707726e-02 9.99829395e-01 -1.08727055e-04 1.31086183e+00] [ 1.17820280e-02 -1.08922237e-04 9.99930584e-01 1.13287280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.039254154 meters 0.014672505440519484 Centerline is valid? [True, True] Translation: X:260.18, Y:1.31, Z:1.13 [[ 9.99781002e-01 -1.71236541e-02 -1.20303003e-02 2.60176260e+02] [ 1.71235537e-02 9.99853375e-01 -1.11354580e-04 1.31386645e+00] [ 1.20304432e-02 -9.46712996e-05 9.99927627e-01 1.13230826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.099254154 meters 0.015142143856328361 Centerline is valid? [True, True] Translation: X:260.24, Y:1.31, Z:1.13 [[ 9.99743674e-01 -1.88999222e-02 -1.24651519e-02 2.60235027e+02] [ 1.88999455e-02 9.99821373e-01 -1.15939649e-04 1.31314680e+00] [ 1.24651165e-02 -1.19680761e-04 9.99922300e-01 1.13145833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.159254154 meters 0.015643280793226 Centerline is valid? [True, True] Translation: X:260.29, Y:1.31, Z:1.13 [[ 9.99676970e-01 -2.25006406e-02 -1.18184686e-02 2.60294898e+02] [ 2.25009077e-02 9.99746816e-01 -1.10378436e-04 1.31078759e+00] [ 1.18179599e-02 -1.55583490e-04 9.99930153e-01 1.13194159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.219254154 meters 0.01818886386577293 Centerline is valid? [True, True] Translation: X:260.35, Y:1.30, Z:1.13 [[ 9.99507862e-01 -2.94963607e-02 -1.06769813e-02 2.60354998e+02] [ 2.94969763e-02 9.99564865e-01 -9.98483421e-05 1.30491807e+00] [ 1.06752805e-02 -2.15139461e-04 9.99942994e-01 1.13266521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.279254154 meters 0.02341272767497857 Centerline is valid? [True, True] Translation: X:260.42, Y:1.30, Z:1.13 [[ 9.99179740e-01 -3.95313284e-02 -8.78187678e-03 2.60415920e+02] [ 3.95321321e-02 9.99218296e-01 -8.21128536e-05 1.29520903e+00] [ 8.77825799e-03 -2.65120814e-04 9.99961435e-01 1.13420484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.339254154 meters 0.026162815163636687 Centerline is valid? [True, True] Translation: X:260.48, Y:1.29, Z:1.13 [[ 9.98873755e-01 -4.66745857e-02 -8.52671700e-03 2.60476534e+02] [ 4.66756036e-02 9.98910097e-01 -7.96841198e-05 1.29083994e+00] [ 8.52114292e-03 -3.18395287e-04 9.99963644e-01 1.13499690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.399254154 meters 0.03188263226657949 Centerline is valid? [True, True] Translation: X:260.54, Y:1.28, Z:1.13 [[ 9.98432733e-01 -5.52044150e-02 -9.19512792e-03 2.60536423e+02] [ 5.52059598e-02 9.98474984e-01 -8.59243790e-05 1.28233661e+00] [ 9.18584861e-03 -4.21836150e-04 9.99957720e-01 1.13385597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.459254154 meters 0.037297570118071 Centerline is valid? [True, True] Translation: X:260.60, Y:1.27, Z:1.13 [[ 9.98007648e-01 -6.22272460e-02 -1.04165383e-02 2.60596328e+02] [ 6.22296141e-02 9.98061855e-01 -9.69369164e-05 1.27497485e+00] [ 1.04023817e-02 -5.51473376e-04 9.99945742e-01 1.13203413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.519254154 meters 0.04111212302878711 Centerline is valid? [True, True] Translation: X:260.66, Y:1.27, Z:1.13 [[ 9.97741235e-01 -6.63327537e-02 -1.06016317e-02 2.60656709e+02] [ 6.63354414e-02 9.97797374e-01 -9.83171901e-05 1.27038550e+00] [ 1.05848019e-02 -6.05168804e-04 9.99943796e-01 1.13144359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.579254154 meters 0.04035068711746407 Centerline is valid? [True, True] Translation: X:260.72, Y:1.27, Z:1.13 [[ 9.97329724e-01 -7.21772623e-02 -1.11294314e-02 2.60717897e+02] [ 7.21805888e-02 9.97391574e-01 -1.03015631e-04 1.27342718e+00] [ 1.11078365e-02 -7.00588360e-04 9.99938061e-01 1.13202223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.639254154 meters 0.042275172242113794 Centerline is valid? [True, True] Translation: X:260.78, Y:1.27, Z:1.13 [[ 9.97111032e-01 -7.50679345e-02 -1.15928697e-02 2.60779238e+02] [ 7.50717426e-02 9.97178130e-01 -1.06944924e-04 1.27270673e+00] [ 1.15681842e-02 -7.63660963e-04 9.99932795e-01 1.13187159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.699254154 meters 0.0457693926931056 Centerline is valid? [True, True] Translation: X:260.84, Y:1.27, Z:1.13 [[ 9.96876252e-01 -7.79515195e-02 -1.27003204e-02 2.60839027e+02] [ 7.79563249e-02 9.96956768e-01 -1.17004675e-04 1.27263286e+00] [ 1.26707911e-02 -8.73431124e-04 9.99919341e-01 1.13115163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.759254154 meters 0.046965540262888524 Centerline is valid? [True, True] Translation: X:260.90, Y:1.27, Z:1.13 [[ 9.96837266e-01 -7.82016273e-02 -1.41411188e-02 2.60901243e+02] [ 7.82076188e-02 9.96937085e-01 -1.29651794e-04 1.27458088e+00] [ 1.41079447e-02 -9.76701488e-04 9.99900001e-01 1.13049366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.819254154 meters 0.04816058886221045 Centerline is valid? [True, True] Translation: X:260.96, Y:1.28, Z:1.13 [[ 9.96959428e-01 -7.67199601e-02 -1.36362540e-02 2.60962203e+02] [ 7.67254012e-02 9.97052254e-01 -1.24454982e-04 1.27893402e+00] [ 1.36056059e-02 -9.22170489e-04 9.99907014e-01 1.13167221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.879254154 meters 0.047628630289791675 Centerline is valid? [True, True] Translation: X:261.02, Y:1.28, Z:1.13 [[ 9.97167690e-01 -7.39881615e-02 -1.35036790e-02 2.61022689e+02] [ 7.39932497e-02 9.97258735e-01 -1.23106115e-04 1.28467786e+00] [ 1.34757702e-02 -8.76423650e-04 9.99908814e-01 1.13290541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.939254154 meters 0.0463528895643961 Centerline is valid? [True, True] Translation: X:261.08, Y:1.29, Z:1.13 [[ 9.97399698e-01 -7.08198983e-02 -1.33560887e-02 2.61083161e+02] [ 7.08245948e-02 9.97488778e-01 -1.21621852e-04 1.29141875e+00] [ 1.33311618e-02 -8.24633971e-04 9.99910796e-01 1.13427022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.999254154 meters 0.04338508487788727 Centerline is valid? [True, True] Translation: X:261.14, Y:1.30, Z:1.14 [[ 9.97682035e-01 -6.68414330e-02 -1.27585428e-02 2.61143290e+02] [ 6.68453954e-02 9.97763338e-01 -1.16099475e-04 1.29984747e+00] [ 1.27377665e-02 -7.37019477e-04 9.99918600e-01 1.13504985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.059254154 meters 0.026536395295608264 Centerline is valid? [True, True] Translation: X:261.20, Y:1.33, Z:1.14 [[ 9.98220000e-01 -5.83966461e-02 -1.21104825e-02 2.61204092e+02] [ 5.83995979e-02 9.98293281e-01 -1.10060958e-04 1.32798613e+00] [ 1.20962405e-02 -5.97382260e-04 9.99926659e-01 1.13853976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.119254154 meters 0.023051945179536237 Centerline is valid? [True, True] Translation: X:261.26, Y:1.34, Z:1.14 [[ 9.98805131e-01 -4.74327025e-02 -1.17664695e-02 2.61263874e+02] [ 4.74347298e-02 9.98874334e-01 -1.06878327e-04 1.33941289e+00] [ 1.17582939e-02 -4.51388682e-04 9.99930767e-01 1.13869203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.179254154 meters 0.01771184175454545 Centerline is valid? [True, True] Translation: X:261.32, Y:1.35, Z:1.14 [[ 9.99186320e-01 -3.85791481e-02 -1.17621298e-02 2.61323996e+02] [ 3.85805610e-02 9.99255487e-01 -1.06841476e-04 1.35197588e+00] [ 1.17574946e-02 -3.47035025e-04 9.99930818e-01 1.13877414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.239254154 meters 0.014111173541283415 Centerline is valid? [True, True] Translation: X:261.38, Y:1.36, Z:1.14 [[ 9.99609706e-01 -2.47735064e-02 -1.29115899e-02 2.61383725e+02] [ 2.47740557e-02 9.99693069e-01 -1.17424082e-04 1.36372425e+00] [ 1.29105359e-02 -2.02494195e-04 9.99916635e-01 1.13667932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.299254154 meters 0.012792961255439127 Centerline is valid? [True, True] Translation: X:261.44, Y:1.37, Z:1.14 [[ 9.99783064e-01 -1.61845427e-02 -1.31105293e-02 2.61444947e+02] [ 1.61843735e-02 9.99869017e-01 -1.19006322e-04 1.37175323e+00] [ 1.31107382e-02 -9.32051985e-05 9.99914046e-01 1.13577268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.359254154 meters 0.012584626652450782 Centerline is valid? [True, True] Translation: X:261.50, Y:1.38, Z:1.14 [[ 9.99898726e-01 -6.45996506e-03 -1.26809260e-02 2.61504288e+02] [ 6.45902292e-03 9.99979134e-01 -1.15249686e-04 1.38148790e+00] [ 1.26814059e-02 3.33316227e-05 9.99919587e-01 1.13593863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.419254154 meters 0.012922875217186304 Centerline is valid? [True, True] Translation: X:261.56, Y:1.39, Z:1.14 [[ 9.99924276e-01 -2.94522791e-03 -1.19485699e-02 2.61563215e+02] [ 2.94411678e-03 9.99995660e-01 -1.10581828e-04 1.38554253e+00] [ 1.19488437e-02 7.53954695e-05 9.99928607e-01 1.13611481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.479254154 meters 0.012902592907389428 Centerline is valid? [True, True] Translation: X:261.62, Y:1.39, Z:1.14 [[ 9.99941286e-01 -2.92746329e-03 -1.04332938e-02 2.61620925e+02] [ 2.92658760e-03 9.99995713e-01 -9.91985906e-05 1.38510909e+00] [ 1.04335394e-02 6.86588181e-05 9.99945567e-01 1.13604620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.539254154 meters 0.012752969911763933 Centerline is valid? [True, True] Translation: X:261.68, Y:1.38, Z:1.14 [[ 9.99931825e-01 -6.25033043e-03 -9.86300582e-03 2.61679752e+02] [ 6.24969418e-03 9.99980466e-01 -9.53290162e-05 1.38227996e+00] [ 9.86340899e-03 3.36817471e-05 9.99951355e-01 1.13609644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.599254154 meters 0.012755730247936591 Centerline is valid? [True, True] Translation: X:261.74, Y:1.37, Z:1.14 [[ 9.99856362e-01 -1.47335638e-02 -8.37722159e-03 2.61738487e+02] [ 1.47333979e-02 9.99891454e-01 -8.15144626e-05 1.37431000e+00] [ 8.37751328e-03 -4.19221851e-05 9.99964907e-01 1.13729972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.659254154 meters 0.01486275048410882 Centerline is valid? [True, True] Translation: X:261.80, Y:1.36, Z:1.14 [[ 9.99693833e-01 -2.37821700e-02 -6.83000144e-03 2.61798920e+02] [ 2.37822694e-02 9.99717160e-01 -6.66750817e-05 1.36198654e+00] [ 6.82965532e-03 -9.57782664e-05 9.99976673e-01 1.13706174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.719254154 meters 0.014964664432542747 Centerline is valid? [True, True] Translation: X:261.86, Y:1.36, Z:1.14 [[ 9.99587973e-01 -2.80304045e-02 -6.17897949e-03 2.61861470e+02] [ 2.80305683e-02 9.99607065e-01 -6.01193075e-05 1.35902424e+00] [ 6.17823672e-03 -1.13105770e-04 9.99980908e-01 1.13758467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.779254154 meters 0.016276121714849115 Centerline is valid? [True, True] Translation: X:261.92, Y:1.35, Z:1.14 [[ 9.99519962e-01 -3.01949364e-02 -6.93619640e-03 2.61922241e+02] [ 3.01951995e-02 9.99544019e-01 -6.68087422e-05 1.35351725e+00] [ 6.93505091e-03 -1.42663163e-04 9.99975942e-01 1.13684261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.839254154 meters 0.017381892441869946 Centerline is valid? [True, True] Translation: X:261.98, Y:1.35, Z:1.14 [[ 9.99573128e-01 -2.82148091e-02 -7.58193505e-03 2.61983409e+02] [ 2.82150724e-02 9.99601873e-01 -7.22603635e-05 1.34944882e+00] [ 7.58095529e-03 -1.41695328e-04 9.99971254e-01 1.13558165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.899254154 meters 0.015425275285155655 Centerline is valid? [True, True] Translation: X:262.05, Y:1.35, Z:1.14 [[ 9.99615179e-01 -2.64708384e-02 -8.29388696e-03 2.62046065e+02] [ 2.64710983e-02 9.99649576e-01 -7.84599729e-05 1.35253079e+00] [ 8.29305749e-03 -1.41118517e-04 9.99965602e-01 1.13559179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.959254154 meters 0.014981361024267033 Centerline is valid? [True, True] Translation: X:262.11, Y:1.35, Z:1.13 [[ 9.99646019e-01 -2.47300621e-02 -9.81124161e-03 2.62107911e+02] [ 2.47303501e-02 9.99694154e-01 -9.19916001e-05 1.35334319e+00] [ 9.81051584e-03 -1.50676403e-04 9.99951864e-01 1.13482338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.019254154 meters 0.014631195773733159 Centerline is valid? [True, True] Translation: X:262.17, Y:1.35, Z:1.13 [[ 9.99601049e-01 -2.64353858e-02 -9.94549034e-03 2.62170024e+02] [ 2.64357732e-02 9.99650510e-01 -9.25305396e-05 1.35264593e+00] [ 9.94446057e-03 -1.70423103e-04 9.99950538e-01 1.13494386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.079254154 meters 0.015312952819401844 Centerline is valid? [True, True] Translation: X:262.23, Y:1.35, Z:1.13 [[ 9.99510840e-01 -2.97022667e-02 -9.79061154e-03 2.62232498e+02] [ 2.97028059e-02 9.99558770e-01 -9.03667355e-05 1.34952153e+00] [ 9.78897573e-03 -2.00486102e-04 9.99952067e-01 1.13485844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.139254154 meters 0.018124392848399205 Centerline is valid? [True, True] Translation: X:262.29, Y:1.34, Z:1.13 [[ 9.99286102e-01 -3.64707716e-02 -9.85743009e-03 2.62292887e+02] [ 3.64716514e-02 9.99334684e-01 -9.05544717e-05 1.34215166e+00] [ 9.85417437e-03 -2.69026928e-04 9.99951410e-01 1.13498812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.199254154 meters 0.018055138032187057 Centerline is valid? [True, True] Translation: X:262.35, Y:1.34, Z:1.14 [[ 9.99070602e-01 -4.21738617e-02 -8.90496062e-03 2.62353647e+02] [ 4.21748085e-02 9.99110244e-01 -8.15162141e-05 1.34074694e+00] [ 8.90047523e-03 -2.94124556e-04 9.99960347e-01 1.13586542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.259254154 meters 0.021486143881966686 Centerline is valid? [True, True] Translation: X:262.41, Y:1.33, Z:1.14 [[ 9.98632551e-01 -5.17097042e-02 -7.68993016e-03 2.62414416e+02] [ 5.17106939e-02 9.98662105e-01 -7.02010017e-05 1.33161130e+00] [ 7.68327191e-03 -3.27546619e-04 9.99970430e-01 1.13672348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.319254154 meters 0.024957690921375293 Centerline is valid? [True, True] Translation: X:262.48, Y:1.33, Z:1.14 [[ 9.98353513e-01 -5.68831315e-02 -7.38732745e-03 2.62475491e+02] [ 5.68841867e-02 9.98380781e-01 -6.73714465e-05 1.32561992e+00] [ 7.37919805e-03 -3.52961594e-04 9.99972711e-01 1.13742065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.379254154 meters 0.027584129201317968 Centerline is valid? [True, True] Translation: X:262.54, Y:1.32, Z:1.14 [[ 9.97992577e-01 -6.29001210e-02 -7.37499833e-03 2.62536035e+02] [ 6.29013371e-02 9.98019748e-01 -6.71714246e-05 1.31924368e+00] [ 7.36461906e-03 -3.96860673e-04 9.99972802e-01 1.13686703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.439254154 meters 0.027668046567474788 Centerline is valid? [True, True] Translation: X:262.60, Y:1.32, Z:1.14 [[ 9.97888205e-01 -6.44749958e-02 -7.88066685e-03 2.62597615e+02] [ 6.44764350e-02 9.97919227e-01 -7.15683514e-05 1.31868869e+00] [ 7.86888334e-03 -4.36700090e-04 9.99968945e-01 1.13722575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.499254154 meters 0.0289487443355774 Centerline is valid? [True, True] Translation: X:262.66, Y:1.32, Z:1.14 [[ 9.97866941e-01 -6.45971520e-02 -9.42205513e-03 2.62659511e+02] [ 6.45992209e-02 9.97911285e-01 -8.49014263e-05 1.31719672e+00] [ 9.40785953e-03 -5.23937094e-04 9.99955608e-01 1.13647886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.559254154 meters 0.027432383980935802 Centerline is valid? [True, True] Translation: X:262.72, Y:1.32, Z:1.14 [[ 9.97895947e-01 -6.40208907e-02 -1.02471648e-02 2.62721452e+02] [ 6.40233157e-02 9.97948399e-01 -9.15501915e-05 1.31881331e+00] [ 1.02320028e-02 -5.64699899e-04 9.99947492e-01 1.13542289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.619254154 meters 0.026351859365339552 Centerline is valid? [True, True] Translation: X:262.78, Y:1.32, Z:1.14 [[ 9.98125868e-01 -6.02386042e-02 -1.07731778e-02 2.62782576e+02] [ 6.02410698e-02 9.98183853e-01 -9.57900956e-05 1.32207167e+00] [ 1.07593824e-02 -5.53377182e-04 9.99941963e-01 1.13521171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.679254154 meters 0.022968560928732527 Centerline is valid? [True, True] Translation: X:262.84, Y:1.33, Z:1.14 [[ 9.98470940e-01 -5.42128057e-02 -1.08052499e-02 2.62842675e+02] [ 5.42149349e-02 9.98529284e-01 -9.59780450e-05 1.33033576e+00] [ 1.07945617e-02 -4.89974629e-04 9.99941617e-01 1.13651196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.739254154 meters 0.02240946229760005 Centerline is valid? [True, True] Translation: X:262.90, Y:1.33, Z:1.14 [[ 9.98764739e-01 -4.84840744e-02 -1.08761238e-02 2.62902344e+02] [ 4.84858925e-02 9.98823863e-01 -9.65981326e-05 1.33409716e+00] [ 1.08680154e-02 -4.30859759e-04 9.99940849e-01 1.13629601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.799254154 meters 0.021485084791352523 Centerline is valid? [True, True] Translation: X:262.96, Y:1.34, Z:1.14 [[ 9.99063760e-01 -4.15869697e-02 -1.19217353e-02 2.62963595e+02] [ 4.15886653e-02 9.99134812e-01 -1.05750023e-04 1.34142976e+00] [ 1.19158186e-02 -3.90158045e-04 9.99928928e-01 1.13635973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.859254154 meters 0.017809094410882634 Centerline is valid? [True, True] Translation: X:263.02, Y:1.35, Z:1.14 [[ 9.99292603e-01 -3.62589953e-02 -9.97887176e-03 2.63024301e+02] [ 3.62599195e-02 9.99342389e-01 -8.83474897e-05 1.34750511e+00] [ 9.97551294e-03 -2.73548094e-04 9.99950206e-01 1.13728923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.919254154 meters 0.016091954232492187 Centerline is valid? [True, True] Translation: X:263.09, Y:1.35, Z:1.14 [[ 9.99530069e-01 -2.93711128e-02 -8.77377858e-03 2.63085506e+02] [ 2.93715633e-02 9.99568560e-01 -7.75276852e-05 1.35357495e+00] [ 8.77227029e-03 -1.80208341e-04 9.99961507e-01 1.13742950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.979254154 meters 0.015980914072187838 Centerline is valid? [True, True] Translation: X:263.15, Y:1.36, Z:1.14 [[ 9.99600214e-01 -2.67184063e-02 -9.24877770e-03 2.63146476e+02] [ 2.67187966e-02 9.99642986e-01 -8.13779120e-05 1.35526347e+00] [ 9.24765004e-03 -1.65770832e-04 9.99957226e-01 1.13639362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.039254154 meters 0.015132795238114125 Centerline is valid? [True, True] Translation: X:263.21, Y:1.36, Z:1.14 [[ 9.99605966e-01 -2.61857150e-02 -1.01104067e-02 2.63208559e+02] [ 2.61861611e-02 9.99657080e-01 -8.82795529e-05 1.35780325e+00] [ 1.01092513e-02 -1.76507969e-04 9.99948885e-01 1.13547888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.099254154 meters 0.017126443549724653 Centerline is valid? [True, True] Translation: X:263.27, Y:1.36, Z:1.13 [[ 9.99559941e-01 -2.77774417e-02 -1.04085974e-02 2.63270023e+02] [ 2.77780076e-02 9.99614113e-01 -9.02246773e-05 1.35511265e+00] [ 1.04070870e-02 -1.98945124e-04 9.99945825e-01 1.13480717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.159254154 meters 0.01669090246549841 Centerline is valid? [True, True] Translation: X:263.33, Y:1.35, Z:1.14 [[ 9.99411258e-01 -3.31069907e-02 -9.00353194e-03 2.63331567e+02] [ 3.31076344e-02 9.99451789e-01 -7.75863510e-05 1.35401758e+00] [ 9.00116476e-03 -2.20544971e-04 9.99959464e-01 1.13650978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.219254154 meters 0.01842544074667471 Centerline is valid? [True, True] Translation: X:263.39, Y:1.35, Z:1.14 [[ 9.99295197e-01 -3.66894442e-02 -7.93693342e-03 2.63393780e+02] [ 3.66900610e-02 9.99326691e-01 -6.79192372e-05 1.35256689e+00] [ 7.93408133e-03 -2.23335204e-04 9.99968500e-01 1.13745780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.279254154 meters 0.01980655603735872 Centerline is valid? [True, True] Translation: X:263.46, Y:1.35, Z:1.14 [[ 9.99060598e-01 -4.28118619e-02 -6.71314871e-03 2.63455370e+02] [ 4.28124437e-02 9.99083125e-01 -5.70851058e-05 1.34727157e+00] [ 6.70943751e-03 -2.30374821e-04 9.99977465e-01 1.13788322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.339254154 meters 0.022848333438038153 Centerline is valid? [True, True] Translation: X:263.52, Y:1.34, Z:1.14 [[ 9.98862705e-01 -4.70939654e-02 -7.44683033e-03 2.63515980e+02] [ 4.70948019e-02 9.98890422e-01 -6.30900643e-05 1.34211465e+00] [ 7.44153865e-03 -2.87688687e-04 9.99972270e-01 1.13626525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.399254154 meters 0.023381912354792624 Centerline is valid? [True, True] Translation: X:263.58, Y:1.34, Z:1.14 [[ 9.98774822e-01 -4.89132649e-02 -7.50650695e-03 2.63577659e+02] [ 4.89141680e-02 9.98802984e-01 -6.33488762e-05 1.34019634e+00] [ 7.50062014e-03 -3.03903279e-04 9.99971824e-01 1.13613880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.459254154 meters 0.022727269757657098 Centerline is valid? [True, True] Translation: X:263.64, Y:1.34, Z:1.14 [[ 9.98862043e-01 -4.72673958e-02 -6.35710699e-03 2.63640337e+02] [ 4.72680125e-02 9.98882241e-01 -5.32738774e-05 1.34216676e+00] [ 6.35251940e-03 -2.47274559e-04 9.99979792e-01 1.13686361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.519254154 meters 0.02183199405247138 Centerline is valid? [True, True] Translation: X:263.70, Y:1.35, Z:1.14 [[ 9.99021672e-01 -4.38682989e-02 -5.59202251e-03 2.63701751e+02] [ 4.38687251e-02 9.99037303e-01 -4.64736563e-05 1.34506290e+00] [ 5.58867781e-03 -1.98886709e-04 9.99984363e-01 1.13733923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.579254154 meters 0.019648418308395445 Centerline is valid? [True, True] Translation: X:263.76, Y:1.35, Z:1.14 [[ 9.99251599e-01 -3.83199982e-02 -5.27433891e-03 2.63762166e+02] [ 3.83203009e-02 9.99265507e-01 -4.36855293e-05 1.35150073e+00] [ 5.27213898e-03 -1.58461419e-04 9.99986090e-01 1.13727466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.639254154 meters 0.017874055018316598 Centerline is valid? [True, True] Translation: X:263.82, Y:1.36, Z:1.14 [[ 9.99355537e-01 -3.54009791e-02 -5.93982387e-03 2.63824411e+02] [ 3.54013122e-02 9.99373176e-01 -4.90854576e-05 1.35634041e+00] [ 5.93783832e-03 -1.61223735e-04 9.99982358e-01 1.13693028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.699254154 meters 0.016851400593220645 Centerline is valid? [True, True] Translation: X:263.89, Y:1.36, Z:1.14 [[ 9.99400753e-01 -3.36715274e-02 -8.02271717e-03 2.63886715e+02] [ 3.36720851e-02 9.99432932e-01 -6.55928557e-05 1.36018293e+00] [ 8.02037636e-03 -2.04588066e-04 9.99967815e-01 1.13532403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.759254154 meters 0.018379454638412066 Centerline is valid? [True, True] Translation: X:263.95, Y:1.36, Z:1.13 [[ 9.99369838e-01 -3.37120458e-02 -1.11097152e-02 2.63948010e+02] [ 3.37131270e-02 9.99431547e-01 -9.00014992e-05 1.35877307e+00] [ 1.11064340e-02 -2.84598456e-04 9.99938281e-01 1.13265306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.819254154 meters 0.017089286768652102 Centerline is valid? [True, True] Translation: X:264.01, Y:1.36, Z:1.13 [[ 9.99389041e-01 -3.30944546e-02 -1.12383951e-02 2.64010088e+02] [ 3.30955304e-02 9.99452189e-01 -9.02919442e-05 1.36300355e+00] [ 1.12352268e-02 -2.81703868e-04 9.99936843e-01 1.13363363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.879254154 meters 0.016156993590355318 Centerline is valid? [True, True] Translation: X:264.07, Y:1.37, Z:1.14 [[ 9.99530334e-01 -2.87272906e-02 -1.06702824e-02 2.64071424e+02] [ 2.87280173e-02 9.99587262e-01 -8.51881658e-05 1.36779401e+00] [ 1.06683256e-02 -2.21387901e-04 9.99943067e-01 1.13596593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.939254154 meters 0.015402096219005765 Centerline is valid? [True, True] Translation: X:264.13, Y:1.37, Z:1.14 [[ 9.99690648e-01 -2.29981917e-02 -9.47057692e-03 2.64131931e+02] [ 2.29985094e-02 9.99735496e-01 -7.53740043e-05 1.37265156e+00] [ 9.46980538e-03 -1.42458465e-04 9.99955150e-01 1.13709535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.999254154 meters 0.014011908736472702 Centerline is valid? [True, True] Translation: X:264.19, Y:1.38, Z:1.14 [[ 9.99863527e-01 -1.36789331e-02 -9.26360907e-03 2.64193659e+02] [ 1.36788403e-02 9.99906438e-01 -7.33830315e-05 1.38169713e+00] [ 9.26374615e-03 -5.33424124e-05 9.99957089e-01 1.13803738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.059254154 meters 0.013921820201765732 Centerline is valid? [True, True] Translation: X:264.25, Y:1.39, Z:1.14 [[ 9.99910405e-01 -9.44458292e-03 -9.48584055e-03 2.64253026e+02] [ 9.44429768e-03 9.99955399e-01 -7.48646439e-05 1.38500409e+00] [ 9.48612453e-03 -1.47291655e-05 9.99955006e-01 1.13762143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.119254154 meters 0.013949864774988663 Centerline is valid? [True, True] Translation: X:264.31, Y:1.39, Z:1.14 [[ 9.99921984e-01 -7.22827860e-03 -1.01871791e-02 2.64311460e+02] [ 7.22781965e-03 9.99973876e-01 -8.18678632e-05 1.38685289e+00] [ 1.01875047e-02 8.23038285e-06 9.99948106e-01 1.13797326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.179254154 meters 0.014012938335790315 Centerline is valid? [True, True] Translation: X:264.37, Y:1.39, Z:1.14 [[ 9.99906937e-01 -7.56839136e-03 -1.13505903e-02 2.64368938e+02] [ 7.56782193e-03 9.99971359e-01 -9.31184724e-05 1.38504080e+00] [ 1.13509700e-02 7.21056037e-06 9.99935576e-01 1.13666509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.239254154 meters 0.013971759574063594 Centerline is valid? [True, True] Translation: X:264.43, Y:1.38, Z:1.14 [[ 9.99898006e-01 -7.07883083e-03 -1.24043267e-02 2.64426755e+02] [ 7.07809882e-03 9.99974945e-01 -1.02913348e-04 1.38227762e+00] [ 1.24047444e-02 1.51038011e-05 9.99923058e-01 1.13583599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.299254154 meters 0.014100163295568192 Centerline is valid? [True, True] Translation: X:264.49, Y:1.38, Z:1.14 [[ 9.99911435e-01 -5.72695054e-03 -1.20134595e-02 2.64485138e+02] [ 5.72613495e-03 9.99983600e-01 -1.02285651e-04 1.38107427e+00] [ 1.20138483e-02 3.34859015e-05 9.99927831e-01 1.13714948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.359254154 meters 0.014265495163904199 Centerline is valid? [True, True] Translation: X:264.54, Y:1.38, Z:1.14 [[ 9.99928917e-01 -2.81594199e-03 -1.15857920e-02 2.64543782e+02] [ 2.81495244e-03 9.99996033e-01 -1.01717156e-04 1.37878855e+00] [ 1.15860325e-02 6.90964721e-05 9.99932877e-01 1.13758767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.419254154 meters 0.01783855427143955 Centerline is valid? [True, True] Translation: X:264.60, Y:1.38, Z:1.14 [[ 9.99920954e-01 -7.22581942e-04 -1.25524305e-02 2.64602260e+02] [ 7.21214260e-04 9.99999733e-01 -1.13483922e-04 1.37599873e+00] [ 1.25525092e-02 1.04421959e-04 9.99921209e-01 1.13661090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.479254154 meters 0.014438135858568728 Centerline is valid? [True, True] Translation: X:264.66, Y:1.37, Z:1.14 [[ 9.99944781e-01 -2.66614438e-03 -1.01649403e-02 2.64659779e+02] [ 2.66533353e-03 9.99996444e-01 -9.33158671e-05 1.37021149e+00] [ 1.01651530e-02 6.62177581e-05 9.99948331e-01 1.13883141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.539254154 meters 0.014156122882346064 Centerline is valid? [True, True] Translation: X:264.72, Y:1.36, Z:1.14 [[ 9.99892270e-01 -1.04216149e-02 -1.03362678e-02 2.64718692e+02] [ 1.04211823e-02 9.99945693e-01 -9.57123068e-05 1.35826660e+00] [ 1.03367040e-02 -1.20141360e-05 9.99946575e-01 1.13857078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.599254154 meters 0.01504467387652352 Centerline is valid? [True, True] Translation: X:264.78, Y:1.35, Z:1.14 [[ 9.99763621e-01 -1.87703096e-02 -1.09716735e-02 2.64777967e+02] [ 1.87703173e-02 9.99823817e-01 -1.02281642e-04 1.34778797e+00] [ 1.09716603e-02 -1.03684328e-04 9.99939804e-01 1.13805955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.659254154 meters 0.017097283069667568 Centerline is valid? [True, True] Translation: X:264.84, Y:1.33, Z:1.14 [[ 9.99389781e-01 -3.30988286e-02 -1.11594707e-02 2.64838715e+02] [ 3.30997265e-02 9.99452048e-01 -1.04271176e-04 1.33371197e+00] [ 1.11568071e-02 -2.65167881e-04 9.99937726e-01 1.13832998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.719254154 meters 0.01920285064213126 Centerline is valid? [True, True] Translation: X:264.90, Y:1.33, Z:1.14 [[ 9.99236833e-01 -3.71858577e-02 -1.19567386e-02 2.64899431e+02] [ 3.71871856e-02 9.99308311e-01 -1.11325390e-04 1.32797821e+00] [ 1.19526080e-02 -3.33397026e-04 9.99928509e-01 1.13782601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.779254154 meters 0.02454421264857952 Centerline is valid? [True, True] Translation: X:264.96, Y:1.31, Z:1.14 [[ 9.98774895e-01 -4.79156429e-02 -1.23612096e-02 2.64959820e+02] [ 4.79178865e-02 9.98851272e-01 -1.14779658e-04 1.31446118e+00] [ 1.23525096e-02 -4.77683995e-04 9.99923591e-01 1.13730554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.839254154 meters 0.02383405797217446 Centerline is valid? [True, True] Translation: X:265.02, Y:1.31, Z:1.14 [[ 9.98535783e-01 -5.28285163e-02 -1.16378100e-02 2.65020423e+02] [ 5.28308399e-02 9.98603470e-01 -1.07892342e-04 1.31286020e+00] [ 1.16272573e-02 -5.07100913e-04 9.99932273e-01 1.13945091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.899254154 meters 0.02654893265104732 Centerline is valid? [True, True] Translation: X:265.08, Y:1.31, Z:1.14 [[ 9.98349983e-01 -5.64582691e-02 -1.04773908e-02 2.65080204e+02] [ 5.64603525e-02 9.98404837e-01 -9.70620575e-05 1.30745986e+00] [ 1.04661576e-02 -4.94655276e-04 9.99945106e-01 1.14096062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.959254154 meters 0.028279854111557246 Centerline is valid? [True, True] Translation: X:265.14, Y:1.31, Z:1.14 [[ 9.98347629e-01 -5.63550405e-02 -1.12303468e-02 2.65142883e+02] [ 5.63574332e-02 9.98410651e-01 -1.03553716e-04 1.30677627e+00] [ 1.12183337e-02 -5.29530914e-04 9.99936932e-01 1.14071232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.019254154 meters 0.024963076361546033 Centerline is valid? [True, True] Translation: X:265.20, Y:1.31, Z:1.14 [[ 9.98326586e-01 -5.66307446e-02 -1.17041083e-02 2.65204545e+02] [ 5.66333708e-02 9.98395037e-01 -1.07193313e-04 1.31080177e+00] [ 1.16913941e-02 -5.55829173e-04 9.99931499e-01 1.14108846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.079254154 meters 0.02620570935713615 Centerline is valid? [True, True] Translation: X:265.27, Y:1.31, Z:1.14 [[ 9.98330067e-01 -5.61505285e-02 -1.35718728e-02 2.65265272e+02] [ 5.61540263e-02 9.98422110e-01 -1.23518160e-04 1.31049398e+00] [ 1.35573935e-02 -6.38803412e-04 9.99907890e-01 1.13921084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.139254154 meters 0.024456823325492726 Centerline is valid? [True, True] Translation: X:265.33, Y:1.31, Z:1.14 [[ 9.98366238e-01 -5.53300763e-02 -1.42631463e-02 2.65327467e+02] [ 5.53338699e-02 9.98467899e-01 -1.28829705e-04 1.31474815e+00] [ 1.42484219e-02 -6.60615855e-04 9.99898268e-01 1.13916706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.199254154 meters 0.0260773046586114 Centerline is valid? [True, True] Translation: X:265.39, Y:1.32, Z:1.14 [[ 9.98505188e-01 -5.28713902e-02 -1.38566238e-02 2.65387996e+02] [ 5.28747411e-02 9.98601145e-01 -1.24668407e-04 1.31619663e+00] [ 1.38438318e-02 -6.08183346e-04 9.99903985e-01 1.13924603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.259254154 meters 0.02325127922333507 Centerline is valid? [True, True] Translation: X:265.45, Y:1.32, Z:1.14 [[ 9.98665908e-01 -4.98886917e-02 -1.33237297e-02 2.65449425e+02] [ 4.98915301e-02 9.98754635e-01 -1.19470916e-04 1.32367402e+00] [ 1.33130971e-02 -5.45429733e-04 9.99911228e-01 1.14088463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.319254154 meters 0.022355104518208484 Centerline is valid? [True, True] Translation: X:265.51, Y:1.33, Z:1.14 [[ 9.98947856e-01 -4.41688988e-02 -1.23405354e-02 2.65508892e+02] [ 4.41708996e-02 9.99023983e-01 -1.10506233e-04 1.33087129e+00] [ 1.23333718e-02 -4.34702587e-04 9.99923847e-01 1.14219279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.379254154 meters 0.01973247253106948 Centerline is valid? [True, True] Translation: X:265.57, Y:1.34, Z:1.14 [[ 9.99113818e-01 -4.04325750e-02 -1.16955765e-02 2.65570030e+02] [ 4.04341196e-02 9.99182201e-01 -1.04463663e-04 1.33896846e+00] [ 1.16902356e-02 -3.68529250e-04 9.99931599e-01 1.14317309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.439254154 meters 0.018901839860638564 Centerline is valid? [True, True] Translation: X:265.63, Y:1.34, Z:1.14 [[ 9.99325887e-01 -3.51152818e-02 -1.07092839e-02 2.65630429e+02] [ 3.51162744e-02 9.99383229e-01 -9.53948753e-05 1.34401663e+00] [ 1.07060285e-02 -2.80739582e-04 9.99942649e-01 1.14275062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.499254154 meters 0.017327427026784338 Centerline is valid? [True, True] Translation: X:265.69, Y:1.35, Z:1.14 [[ 9.99539597e-01 -2.86092409e-02 -1.01046986e-02 2.65690855e+02] [ 2.86097940e-02 9.99590652e-01 -8.98365380e-05 1.35106262e+00] [ 1.01031324e-02 -1.99298168e-04 9.99948942e-01 1.14317028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.559254154 meters 0.015191190397689453 Centerline is valid? [True, True] Translation: X:265.75, Y:1.36, Z:1.14 [[ 9.99750185e-01 -2.02078014e-02 -9.55047726e-03 2.65751514e+02] [ 2.02079138e-02 9.99795796e-01 -8.47440873e-05 1.36108329e+00] [ 9.55023950e-03 -1.08272304e-04 9.99954390e-01 1.14481696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.619254154 meters 0.014542399246191808 Centerline is valid? [True, True] Translation: X:265.81, Y:1.37, Z:1.15 [[ 9.99852636e-01 -1.45945102e-02 -9.03914855e-03 2.65812126e+02] [ 1.45943821e-02 9.99893493e-01 -8.01319600e-05 1.36554777e+00] [ 9.03935530e-03 -5.18006367e-05 9.99959143e-01 1.14519576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.679254154 meters 0.014173366730184952 Centerline is valid? [True, True] Translation: X:265.87, Y:1.37, Z:1.15 [[ 9.99907403e-01 -1.01977867e-02 -9.01063476e-03 2.65872383e+02] [ 1.01974810e-02 9.99948001e-01 -7.98791856e-05 1.36818666e+00] [ 9.01098081e-03 -1.20139874e-05 9.99959400e-01 1.14581292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.739254154 meters 0.014143701392934839 Centerline is valid? [True, True] Translation: X:265.93, Y:1.37, Z:1.15 [[ 9.99916698e-01 -8.98602049e-03 -9.26539219e-03 2.65931515e+02] [ 8.98563367e-03 9.99959625e-01 -8.33773388e-05 1.36815239e+00] [ 9.26576733e-03 1.14973267e-07 9.99957072e-01 1.14531813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.799254154 meters 0.014191811259718566 Centerline is valid? [True, True] Translation: X:265.99, Y:1.36, Z:1.14 [[ 9.99858942e-01 -1.33182866e-02 -1.02332949e-02 2.65990015e+02] [ 1.33180247e-02 9.99911307e-01 -9.37455079e-05 1.36304605e+00] [ 1.02336358e-02 -4.25549895e-05 9.99947634e-01 1.14478941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.859254154 meters 0.014893396387647924 Centerline is valid? [True, True] Translation: X:266.05, Y:1.36, Z:1.14 [[ 9.99771552e-01 -1.89099161e-02 -9.96288805e-03 2.66048183e+02] [ 1.89099384e-02 9.99821187e-01 -9.19706276e-05 1.35595294e+00] [ 9.96284571e-03 -9.64479825e-05 9.99950365e-01 1.14413497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.919254154 meters 0.016397582618006737 Centerline is valid? [True, True] Translation: X:266.11, Y:1.35, Z:1.14 [[ 9.99541948e-01 -2.83185605e-02 -1.06749277e-02 2.66108487e+02] [ 2.83191176e-02 9.99598928e-01 -9.89884999e-05 1.34561989e+00] [ 1.06734495e-02 -2.03361376e-04 9.99943016e-01 1.14470349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.979254154 meters 0.020269722584304508 Centerline is valid? [True, True] Translation: X:266.17, Y:1.33, Z:1.14 [[ 9.99338177e-01 -3.47507535e-02 -1.07514485e-02 2.66168292e+02] [ 3.47516898e-02 9.99395973e-01 -9.97761721e-05 1.33395999e+00] [ 1.07484217e-02 -2.73920867e-04 9.99942197e-01 1.14374849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.039254154 meters 0.02481403587114877 Centerline is valid? [True, True] Translation: X:266.23, Y:1.32, Z:1.14 [[ 9.99049648e-01 -4.23088162e-02 -1.04769042e-02 2.66228239e+02] [ 4.23101221e-02 9.99104521e-01 -9.70679256e-05 1.32103354e+00] [ 1.04716291e-02 -3.46303418e-04 9.99945111e-01 1.14342031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.099254154 meters 0.021151823749950185 Centerline is valid? [True, True] Translation: X:266.29, Y:1.32, Z:1.15 [[ 9.98848236e-01 -4.68255481e-02 -1.04675266e-02 2.66288813e+02] [ 4.68271034e-02 9.98903005e-01 -9.65945120e-05 1.32380479e+00] [ 1.04605669e-02 -3.93680694e-04 9.99945209e-01 1.14567627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.159254154 meters 0.024322761661727706 Centerline is valid? [True, True] Translation: X:266.35, Y:1.32, Z:1.15 [[ 9.98727300e-01 -4.93280311e-02 -1.05130873e-02 2.66349680e+02] [ 4.93297428e-02 9.98782542e-01 -9.65957443e-05 1.31760182e+00] [ 1.05050529e-02 -4.22135085e-04 9.99944731e-01 1.14511721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.219254154 meters 0.025000577278602668 Centerline is valid? [True, True] Translation: X:266.41, Y:1.31, Z:1.15 [[ 9.98536068e-01 -5.29324069e-02 -1.11302353e-02 2.66410590e+02] [ 5.29345541e-02 9.98597978e-01 -1.01799570e-04 1.31489847e+00] [ 1.11200189e-02 -4.87523499e-04 9.99938052e-01 1.14511316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.279254154 meters 0.026847602963349565 Centerline is valid? [True, True] Translation: X:266.47, Y:1.31, Z:1.14 [[ 9.98424037e-01 -5.49655095e-02 -1.13240845e-02 2.66472782e+02] [ 5.49678703e-02 9.98488118e-01 -1.02887707e-04 1.31274162e+00] [ 1.13126191e-02 -5.19735246e-04 9.99935875e-01 1.14470545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.339254154 meters 0.028527376140030893 Centerline is valid? [True, True] Translation: X:266.53, Y:1.31, Z:1.14 [[ 9.98243427e-01 -5.79911739e-02 -1.21278600e-02 2.66533577e+02] [ 5.79941103e-02 9.98316919e-01 -1.09724354e-04 1.31011946e+00] [ 1.21138109e-02 -5.93812836e-04 9.99926449e-01 1.14433460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.399254154 meters 0.029917094248047834 Centerline is valid? [True, True] Translation: X:266.60, Y:1.31, Z:1.14 [[ 9.98162404e-01 -5.93138288e-02 -1.23969367e-02 2.66596120e+02] [ 5.93170065e-02 9.98239190e-01 -1.11527746e-04 1.30880303e+00] [ 1.23817232e-02 -6.24026374e-04 9.99923149e-01 1.14405558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.459254154 meters 0.032103910010819386 Centerline is valid? [True, True] Translation: X:266.66, Y:1.31, Z:1.14 [[ 9.98132235e-01 -5.95550502e-02 -1.36101759e-02 2.66657102e+02] [ 5.95589137e-02 9.98224785e-01 -1.21637383e-04 1.30783859e+00] [ 1.35932591e-02 -6.89197100e-04 9.99907370e-01 1.14294907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.519254154 meters 0.032219254408231604 Centerline is valid? [True, True] Translation: X:266.72, Y:1.31, Z:1.14 [[ 9.98244086e-01 -5.75007087e-02 -1.42272054e-02 2.66718569e+02] [ 5.75047304e-02 9.98345226e-01 -1.26587932e-04 1.31047823e+00] [ 1.42109415e-02 -6.91765955e-04 9.99898780e-01 1.14252250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.579254154 meters 0.027343960162035028 Centerline is valid? [True, True] Translation: X:266.78, Y:1.32, Z:1.14 [[ 9.98624028e-01 -5.04823037e-02 -1.41981292e-02 2.66778915e+02] [ 5.04856029e-02 9.98724781e-01 -1.26182573e-04 1.32241458e+00] [ 1.41863935e-02 -5.90792163e-04 9.99899194e-01 1.14351399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.639254154 meters 0.020333673503006397 Centerline is valid? [True, True] Translation: X:266.84, Y:1.33, Z:1.15 [[ 9.98935011e-01 -4.44710213e-02 -1.22951710e-02 2.66839823e+02] [ 4.44730429e-02 9.99010579e-01 -1.09074821e-04 1.33462475e+00] [ 1.22878566e-02 -4.37845010e-04 9.99924406e-01 1.14711017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.699254154 meters 0.01792554541639728 Centerline is valid? [True, True] Translation: X:266.90, Y:1.34, Z:1.15 [[ 9.99277739e-01 -3.65053793e-02 -1.05526051e-02 2.66900566e+02] [ 3.65064261e-02 9.99333414e-01 -9.34777834e-05 1.34301387e+00] [ 1.05489834e-02 -2.91827631e-04 9.99944315e-01 1.14819838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.759254154 meters 0.01654304516991755 Centerline is valid? [True, True] Translation: X:266.96, Y:1.35, Z:1.15 [[ 9.99539877e-01 -2.89173807e-02 -9.15528229e-03 2.66959795e+02] [ 2.89178499e-02 9.99581788e-01 -8.11580473e-05 1.34945888e+00] [ 9.15380032e-03 -1.83630374e-04 9.99958086e-01 1.14874266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.819254154 meters 0.014292963680539873 Centerline is valid? [True, True] Translation: X:267.02, Y:1.36, Z:1.15 [[ 9.99779576e-01 -1.88059999e-02 -9.33451015e-03 2.67020844e+02] [ 1.88060479e-02 9.99823147e-01 -8.26438120e-05 1.35974063e+00] [ 9.33441351e-03 -9.29196496e-05 9.99956429e-01 1.14823225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.879254154 meters 0.014056747102664469 Centerline is valid? [True, True] Translation: X:267.08, Y:1.37, Z:1.15 [[ 9.99889738e-01 -1.14494739e-02 -9.45627413e-03 2.67081798e+02] [ 1.14491954e-02 9.99934452e-01 -8.35903670e-05 1.36699948e+00] [ 9.45661136e-03 -2.46855799e-05 9.99955285e-01 1.14847031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.939254154 meters 0.013825552409838326 Centerline is valid? [True, True] Translation: X:267.14, Y:1.37, Z:1.15 [[ 9.99932376e-01 -7.95548488e-03 -8.48252071e-03 2.67140712e+02] [ 7.95512600e-03 9.99968355e-01 -7.60476281e-05 1.37047847e+00] [ 8.48285727e-03 8.56296439e-06 9.99964020e-01 1.14903819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.999254154 meters 0.0141238486803946 Centerline is valid? [True, True] Translation: X:267.20, Y:1.37, Z:1.15 [[ 9.99960119e-01 -5.71609487e-03 -6.86202787e-03 2.67199738e+02] [ 5.71579670e-03 9.99983663e-01 -6.30628978e-05 1.37176973e+00] [ 6.86227624e-03 2.38384266e-05 9.99976454e-01 1.14895643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.059254154 meters 0.014035842219283478 Centerline is valid? [True, True] Translation: X:267.26, Y:1.37, Z:1.15 [[ 9.99955102e-01 -7.30196263e-03 -6.03940699e-03 2.67258188e+02] [ 7.30175379e-03 9.99973340e-01 -5.66290850e-05 1.36867256e+00] [ 6.03965948e-03 1.25282796e-05 9.99981761e-01 1.14841762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.119254154 meters 0.014135004823438236 Centerline is valid? [True, True] Translation: X:267.32, Y:1.37, Z:1.15 [[ 9.99926185e-01 -1.05655859e-02 -5.99935523e-03 2.67317961e+02] [ 1.05654363e-02 9.99944183e-01 -5.66378981e-05 1.36547912e+00] [ 5.99961877e-03 -6.75208800e-06 9.99982002e-01 1.14824769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.179254154 meters 0.01488614851295732 Centerline is valid? [True, True] Translation: X:267.38, Y:1.36, Z:1.15 [[ 9.99806385e-01 -1.90289576e-02 -5.00919393e-03 2.67377219e+02] [ 1.90289587e-02 9.99818932e-01 -4.74369900e-05 1.35611539e+00] [ 5.00918960e-03 -4.78919388e-05 9.99987453e-01 1.14894866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.239254154 meters 0.015983532580755508 Centerline is valid? [True, True] Translation: X:267.44, Y:1.35, Z:1.15 [[ 9.99650511e-01 -2.60707650e-02 -4.37850175e-03 2.67439049e+02] [ 2.60708331e-02 9.99660097e-01 -4.15396455e-05 1.34721951e+00] [ 4.37809646e-03 -7.26260606e-05 9.99990413e-01 1.14926883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.299254154 meters 0.018809658467213695 Centerline is valid? [True, True] Translation: X:267.50, Y:1.33, Z:1.15 [[ 9.99335240e-01 -3.61043719e-02 -5.05491314e-03 2.67499947e+02] [ 3.61045969e-02 9.99348015e-01 -4.67587459e-05 1.33338927e+00] [ 5.05330561e-03 -1.35777939e-04 9.99987223e-01 1.14792019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.359254154 meters 0.018976392922667947 Centerline is valid? [True, True] Translation: X:267.56, Y:1.33, Z:1.15 [[ 9.99136386e-01 -4.11009499e-02 -6.09872146e-03 2.67560846e+02] [ 4.11013715e-02 9.99154980e-01 -5.62360385e-05 1.32884172e+00] [ 6.09587928e-03 -1.94478344e-04 9.99981401e-01 1.14709401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.419254154 meters 0.020634331560375863 Centerline is valid? [True, True] Translation: X:267.62, Y:1.32, Z:1.15 [[ 9.99014558e-01 -4.39643734e-02 -6.08662918e-03 2.67622240e+02] [ 4.39648483e-02 9.99033077e-01 -5.58127391e-05 1.32019264e+00] [ 6.08319765e-03 -2.11839990e-04 9.99981475e-01 1.14649973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.479254154 meters 0.020324561834358084 Centerline is valid? [True, True] Translation: X:267.68, Y:1.32, Z:1.15 [[ 9.99114606e-01 -4.18034378e-02 -4.74100406e-03 2.67684080e+02] [ 4.18037027e-02 9.99125842e-01 -4.32599069e-05 1.31670294e+00] [ 4.73866809e-03 -1.54969919e-04 9.99988760e-01 1.14827061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.539254154 meters 0.018585966740669046 Centerline is valid? [True, True] Translation: X:267.75, Y:1.32, Z:1.15 [[ 9.99212939e-01 -3.93897433e-02 -4.68522445e-03 2.67746025e+02] [ 3.93899770e-02 9.99223913e-01 -4.24146933e-05 1.31895314e+00] [ 4.68325901e-03 -1.42169573e-04 9.99989023e-01 1.14865686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.599254154 meters 0.018388544870410015 Centerline is valid? [True, True] Translation: X:267.81, Y:1.32, Z:1.15 [[ 9.99256933e-01 -3.81774901e-02 -5.29724381e-03 2.67808044e+02] [ 3.81777742e-02 9.99270962e-01 -4.75168254e-05 1.31613266e+00] [ 5.29519599e-03 -1.54755461e-04 9.99985968e-01 1.14746517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.659254154 meters 0.0200508832838513 Centerline is valid? [True, True] Translation: X:267.87, Y:1.31, Z:1.15 [[ 9.99112199e-01 -4.15643816e-02 -6.87143169e-03 2.67869340e+02] [ 4.15649435e-02 9.99135802e-01 -6.10802235e-05 1.30974628e+00] [ 6.86803218e-03 -2.24584674e-04 9.99976390e-01 1.14562816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.719254154 meters 0.02061229251210265 Centerline is valid? [True, True] Translation: X:267.93, Y:1.31, Z:1.15 [[ 9.98901926e-01 -4.61685471e-02 -7.96286948e-03 2.67930467e+02] [ 4.61694505e-02 9.98933620e-01 -7.04371778e-05 1.30735366e+00] [ 7.95763001e-03 -2.97281476e-04 9.99968293e-01 1.14518787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.779254154 meters 0.024930313366916288 Centerline is valid? [True, True] Translation: X:267.99, Y:1.30, Z:1.14 [[ 9.98518496e-01 -5.36959796e-02 -8.80652396e-03 2.67990529e+02] [ 5.36973769e-02 9.98557252e-01 -7.78766956e-05 1.29903189e+00] [ 8.79800003e-03 -3.95125915e-04 9.99961219e-01 1.14443331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.839254154 meters 0.029029152534253366 Centerline is valid? [True, True] Translation: X:268.05, Y:1.29, Z:1.15 [[ 9.98265549e-01 -5.82413693e-02 -8.59280495e-03 2.68051035e+02] [ 5.82428676e-02 9.98302440e-01 -7.59772631e-05 1.29133200e+00] [ 8.58264317e-03 -4.24624117e-04 9.99963078e-01 1.14513667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.899254154 meters 0.027413715495303314 Centerline is valid? [True, True] Translation: X:268.11, Y:1.29, Z:1.15 [[ 9.98097357e-01 -6.09916435e-02 -9.03800986e-03 2.68112394e+02] [ 6.09934159e-02 9.98138165e-01 -7.96622446e-05 1.29302195e+00] [ 9.02604131e-03 -4.71748419e-04 9.99959153e-01 1.14589348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.959254154 meters 0.02391100244018632 Centerline is valid? [True, True] Translation: X:268.17, Y:1.30, Z:1.15 [[ 9.98214131e-01 -5.91947367e-02 -8.03319527e-03 2.68173685e+02] [ 5.91960811e-02 9.98246372e-01 -7.05243811e-05 1.29974309e+00] [ 8.02328271e-03 -4.05135245e-04 9.99967731e-01 1.14895692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.019254154 meters 0.022930925179508874 Centerline is valid? [True, True] Translation: X:268.23, Y:1.30, Z:1.15 [[ 9.98574784e-01 -5.28400808e-02 -7.50512781e-03 2.68233444e+02] [ 5.28410759e-02 9.98602932e-01 -6.57843800e-05 1.30401639e+00] [ 7.49811869e-03 -3.30888405e-04 9.99971834e-01 1.15016948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.079254154 meters 0.02170154882439759 Centerline is valid? [True, True] Translation: X:268.29, Y:1.31, Z:1.15 [[ 9.98816984e-01 -4.79009484e-02 -8.37448071e-03 2.68294705e+02] [ 4.79020140e-02 9.98852037e-01 -7.33973532e-05 1.30883398e+00] [ 8.36838292e-03 -3.27843970e-04 9.99964931e-01 1.15043810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.139254154 meters 0.02380948762133743 Centerline is valid? [True, True] Translation: X:268.35, Y:1.31, Z:1.15 [[ 9.99086777e-01 -4.14916641e-02 -1.02007006e-02 2.68354609e+02] [ 4.14929128e-02 9.99138794e-01 -8.92793057e-05 1.31257565e+00] [ 1.01956200e-02 -3.34059006e-04 9.99947968e-01 1.14797427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.199254154 meters 0.019291903708025283 Centerline is valid? [True, True] Translation: X:268.42, Y:1.32, Z:1.15 [[ 9.99209505e-01 -3.81234851e-02 -1.12678341e-02 2.68415783e+02] [ 3.81247978e-02 9.99272981e-01 -9.83628013e-05 1.31932223e+00] [ 1.12633921e-02 -3.31298852e-04 9.99936511e-01 1.14910608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.259254154 meters 0.01821343740531339 Centerline is valid? [True, True] Translation: X:268.48, Y:1.32, Z:1.15 [[ 9.99282499e-01 -3.59868953e-02 -1.18080805e-02 2.68476905e+02] [ 3.59881929e-02 9.99352210e-01 -1.02635891e-04 1.32182796e+00] [ 1.18041249e-02 -3.22389229e-04 9.99930277e-01 1.14958833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.319254154 meters 0.01758031187781899 Centerline is valid? [True, True] Translation: X:268.54, Y:1.33, Z:1.15 [[ 9.99297376e-01 -3.51304637e-02 -1.30615461e-02 2.68538503e+02] [ 3.51319850e-02 9.99382675e-01 -1.13030974e-04 1.32594886e+00] [ 1.30574537e-02 -3.45926485e-04 9.99914688e-01 1.15016767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.379254154 meters 0.01827248581701815 Centerline is valid? [True, True] Translation: X:268.60, Y:1.33, Z:1.15 [[ 9.99257653e-01 -3.61207921e-02 -1.33952204e-02 2.68598368e+02] [ 3.61224833e-02 9.99347363e-01 -1.15750656e-04 1.32553350e+00] [ 1.33906592e-02 -3.68203898e-04 9.99910273e-01 1.14952957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.439254154 meters 0.019587921184483804 Centerline is valid? [True, True] Translation: X:268.66, Y:1.32, Z:1.15 [[ 9.99061980e-01 -4.11863956e-02 -1.33731137e-02 2.68658735e+02] [ 4.11885345e-02 9.99151386e-01 -1.15559627e-04 1.32455075e+00] [ 1.33665246e-02 -4.35367725e-04 9.99910569e-01 1.15043937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.499254154 meters 0.022154497446443558 Centerline is valid? [True, True] Translation: X:268.72, Y:1.32, Z:1.15 [[ 9.98792579e-01 -4.75226164e-02 -1.24492665e-02 2.68719290e+02] [ 4.75249631e-02 9.98870045e-01 -1.07431107e-04 1.32120103e+00] [ 1.24403048e-02 -4.84349540e-04 9.99922499e-01 1.15143179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.559254154 meters 0.025824709000871512 Centerline is valid? [True, True] Translation: X:268.78, Y:1.32, Z:1.15 [[ 9.98375921e-01 -5.57647780e-02 -1.16537410e-02 2.68780293e+02] [ 5.57673957e-02 9.98443783e-01 -1.00468326e-04 1.31617042e+00] [ 1.16412079e-02 -5.49593631e-04 9.99932088e-01 1.15199030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.619254154 meters 0.030830304241001066 Centerline is valid? [True, True] Translation: X:268.84, Y:1.31, Z:1.15 [[ 9.97836288e-01 -6.47051462e-02 -1.16613344e-02 2.68839558e+02] [ 6.47083740e-02 9.97904212e-01 -1.00694336e-04 1.30938399e+00] [ 1.16434102e-02 -6.54109525e-04 9.99931999e-01 1.15222471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.679254154 meters 0.030568397692250664 Centerline is valid? [True, True] Translation: X:268.90, Y:1.31, Z:1.15 [[ 9.97013877e-01 -7.63162858e-02 -1.17963422e-02 2.68900114e+02] [ 7.63203969e-02 9.97083340e-01 -1.01927552e-04 1.31123255e+00] [ 1.17697150e-02 -7.98678336e-04 9.99930416e-01 1.15377733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.739254154 meters 0.03533629195972249 Centerline is valid? [True, True] Translation: X:268.96, Y:1.31, Z:1.15 [[ 9.96693047e-01 -8.01796960e-02 -1.31979426e-02 2.68960156e+02] [ 8.01851778e-02 9.96779978e-01 -1.14143881e-04 1.30742527e+00] [ 1.31645970e-02 -9.44512964e-04 9.99912897e-01 1.15281010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.799254154 meters 0.03476560284930908 Centerline is valid? [True, True] Translation: X:269.02, Y:1.31, Z:1.15 [[ 9.96675384e-01 -8.03554727e-02 -1.34602347e-02 2.69022518e+02] [ 8.03611987e-02 9.96765802e-01 -1.15800371e-04 1.31273190e+00] [ 1.34260068e-02 -9.66265214e-04 9.99909400e-01 1.15332506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.859254154 meters 0.03383605973965402 Centerline is valid? [True, True] Translation: X:269.08, Y:1.32, Z:1.15 [[ 9.97129229e-01 -7.41702656e-02 -1.52339422e-02 2.69083204e+02] [ 7.41768891e-02 9.97245091e-01 -1.30569144e-04 1.32198470e+00] [ 1.52016584e-02 -9.99812131e-04 9.99883948e-01 1.15271303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.919254154 meters 0.030209421634022383 Centerline is valid? [True, True] Translation: X:269.14, Y:1.33, Z:1.15 [[ 9.97807388e-01 -6.41873318e-02 -1.61369792e-02 2.69143867e+02] [ 6.41934643e-02 9.97937463e-01 -1.38198867e-04 1.33497608e+00] [ 1.61125667e-02 -8.97992746e-04 9.99869781e-01 1.15231291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.979254154 meters 0.026674139550198588 Centerline is valid? [True, True] Translation: X:269.20, Y:1.35, Z:1.15 [[ 9.98209200e-01 -5.76969988e-02 -1.57939929e-02 2.69204433e+02] [ 5.77020632e-02 9.98333839e-01 -1.35244691e-04 1.34582349e+00] [ 1.57754808e-02 -7.76343482e-04 9.99875258e-01 1.15332452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.039254154 meters 0.023757297234593133 Centerline is valid? [True, True] Translation: X:269.27, Y:1.36, Z:1.15 [[ 9.98558789e-01 -5.10562618e-02 -1.65409301e-02 2.69265168e+02] [ 5.10609074e-02 9.98695531e-01 -1.41622760e-04 1.35631811e+00] [ 1.65265837e-02 -7.03176248e-04 9.99863179e-01 1.15365170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.099254154 meters 0.021244682752835743 Centerline is valid? [True, True] Translation: X:269.33, Y:1.37, Z:1.15 [[ 9.98928874e-01 -4.30764987e-02 -1.68973365e-02 2.69326049e+02] [ 4.30802063e-02 9.99071606e-01 -1.44684971e-04 1.36926086e+00] [ 1.68878816e-02 -5.83410746e-04 9.99857219e-01 1.15375452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.159254154 meters 0.019655939970475187 Centerline is valid? [True, True] Translation: X:269.39, Y:1.38, Z:1.15 [[ 9.99207800e-01 -3.59226044e-02 -1.71271258e-02 2.69385791e+02] [ 3.59253633e-02 9.99354465e-01 -1.46659026e-04 1.37986778e+00] [ 1.71213380e-02 -4.68755376e-04 9.99853309e-01 1.15423768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.219254154 meters 0.016921763117577194 Centerline is valid? [True, True] Translation: X:269.45, Y:1.39, Z:1.16 [[ 9.99402690e-01 -2.97793330e-02 -1.75343796e-02 2.69446176e+02] [ 2.97812796e-02 9.99556428e-01 -1.50146327e-04 1.39079326e+00] [ 1.75310731e-02 -3.72139620e-04 9.99846250e-01 1.15585887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.279254154 meters 0.016207492468304132 Centerline is valid? [True, True] Translation: X:269.51, Y:1.40, Z:1.16 [[ 9.99498969e-01 -2.67932657e-02 -1.68502628e-02 2.69505789e+02] [ 2.67946315e-02 9.99640949e-01 -1.44748097e-04 1.39591028e+00] [ 1.68480909e-02 -3.06821007e-04 9.99858014e-01 1.15672617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.339254154 meters 0.015736780790512165 Centerline is valid? [True, True] Translation: X:269.57, Y:1.40, Z:1.16 [[ 9.99590633e-01 -2.38109182e-02 -1.58621258e-02 2.69565070e+02] [ 2.38117439e-02 9.99716451e-01 -1.36832155e-04 1.40116237e+00] [ 1.58608862e-02 -2.40928737e-04 9.99874179e-01 1.15788341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.399254154 meters 0.015772768209670447 Centerline is valid? [True, True] Translation: X:269.63, Y:1.40, Z:1.16 [[ 9.99595924e-01 -2.41284470e-02 -1.50268614e-02 2.69625062e+02] [ 2.41292158e-02 9.99708840e-01 -1.30166466e-04 1.40130949e+00] [ 1.50256269e-02 -2.32472512e-04 9.99887082e-01 1.15784075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.459254154 meters 0.017773044747215447 Centerline is valid? [True, True] Translation: X:269.68, Y:1.40, Z:1.16 [[ 9.99546357e-01 -2.62315476e-02 -1.47981742e-02 2.69684770e+02] [ 2.62325185e-02 9.99655860e-01 -1.28529717e-04 1.39882612e+00] [ 1.47964531e-02 -2.59721968e-04 9.99890493e-01 1.15706471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.519254154 meters 0.01711515266002784 Centerline is valid? [True, True] Translation: X:269.74, Y:1.40, Z:1.16 [[ 9.99491643e-01 -2.86276729e-02 -1.40325527e-02 2.69744610e+02] [ 2.86287809e-02 9.99590105e-01 -1.21954697e-04 1.39733096e+00] [ 1.40302921e-02 -2.79842175e-04 9.99901531e-01 1.15731931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.579254154 meters 0.017431626120622778 Centerline is valid? [True, True] Translation: X:269.81, Y:1.40, Z:1.16 [[ 9.99480178e-01 -2.87665361e-02 -1.45554312e-02 2.69805970e+02] [ 2.87677480e-02 9.99586115e-01 -1.26148573e-04 1.39637078e+00] [ 1.45530358e-02 -2.92643979e-04 9.99894056e-01 1.15639928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.639254154 meters 0.017593586081180192 Centerline is valid? [True, True] Translation: X:269.87, Y:1.40, Z:1.16 [[ 9.99496735e-01 -2.84984216e-02 -1.39325475e-02 2.69866838e+02] [ 2.84995079e-02 9.99593799e-01 -1.20604820e-04 1.39524736e+00] [ 1.39303251e-02 -2.76526624e-04 9.99902930e-01 1.15596862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.699254154 meters 0.017769558827305923 Centerline is valid? [True, True] Translation: X:269.93, Y:1.40, Z:1.16 [[ 9.99507490e-01 -2.82623904e-02 -1.36386867e-02 2.69927309e+02] [ 2.82634095e-02 9.99600503e-01 -1.18061061e-04 1.39534517e+00] [ 1.36365747e-02 -2.67472871e-04 9.99906982e-01 1.15613237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.759254154 meters 0.016661778004175103 Centerline is valid? [True, True] Translation: X:269.99, Y:1.40, Z:1.16 [[ 9.99562644e-01 -2.64665684e-02 -1.31924853e-02 2.69987655e+02] [ 2.64673655e-02 9.99649671e-01 -1.14198592e-04 1.39747805e+00] [ 1.31908861e-02 -2.35021684e-04 9.99912969e-01 1.15686280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.819254154 meters 0.015437371441880138 Centerline is valid? [True, True] Translation: X:270.05, Y:1.40, Z:1.16 [[ 9.99656774e-01 -2.27405748e-02 -1.30077431e-02 2.70048441e+02] [ 2.27410343e-02 9.99741383e-01 -1.12599402e-04 1.40102711e+00] [ 1.30069396e-02 -1.83248778e-04 9.99915389e-01 1.15805418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.879254154 meters 0.015074644832896323 Centerline is valid? [True, True] Translation: X:270.11, Y:1.40, Z:1.16 [[ 9.99719878e-01 -2.00338249e-02 -1.26020449e-02 2.70108539e+02] [ 2.00340412e-02 9.99799293e-01 -1.09087542e-04 1.40232652e+00] [ 1.26017011e-02 -1.43412904e-04 9.99920585e-01 1.15864597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.939254154 meters 0.014631398533096772 Centerline is valid? [True, True] Translation: X:270.17, Y:1.40, Z:1.16 [[ 9.99766710e-01 -1.76454715e-02 -1.24564298e-02 2.70167981e+02] [ 1.76454938e-02 9.99844300e-01 -1.08126569e-04 1.40300200e+00] [ 1.24563983e-02 -1.11698511e-04 9.99922410e-01 1.15928711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.999254154 meters 0.014579666694760188 Centerline is valid? [True, True] Translation: X:270.23, Y:1.40, Z:1.16 [[ 9.99780330e-01 -1.69372103e-02 -1.23459819e-02 2.70227295e+02] [ 1.69371726e-02 9.99856550e-01 -1.07622799e-04 1.40055863e+00] [ 1.23460336e-02 -1.01506868e-04 9.99923780e-01 1.15909036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.059254154 meters 0.014862611712615974 Centerline is valid? [True, True] Translation: X:270.29, Y:1.39, Z:1.16 [[ 9.99716053e-01 -2.00601147e-02 -1.28609801e-02 2.70285560e+02] [ 2.00603220e-02 9.99798765e-01 -1.12894567e-04 1.39475697e+00] [ 1.28606567e-02 -1.45132891e-04 9.99917288e-01 1.15818375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.119254154 meters 0.015223593186922733 Centerline is valid? [True, True] Translation: X:270.35, Y:1.39, Z:1.16 [[ 9.99630266e-01 -2.36161133e-02 -1.34763240e-02 2.70345318e+02] [ 2.36166550e-02 9.99721081e-01 -1.18964500e-04 1.38982279e+00] [ 1.34753747e-02 -1.99345180e-04 9.99909183e-01 1.15771259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.179254154 meters 0.01696867893393064 Centerline is valid? [True, True] Translation: X:270.41, Y:1.38, Z:1.16 [[ 9.99440238e-01 -3.01431154e-02 -1.45121705e-02 2.70405272e+02] [ 3.01444261e-02 9.99545545e-01 -1.28466848e-04 1.37942104e+00] [ 1.45094478e-02 -3.09066113e-04 9.99894685e-01 1.15597146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.239254154 meters 0.01781429074485253 Centerline is valid? [True, True] Translation: X:270.47, Y:1.37, Z:1.16 [[ 9.99243380e-01 -3.65388112e-02 -1.33260448e-02 2.70465335e+02] [ 3.65404814e-02 9.99332167e-01 -1.18205237e-04 1.37186637e+00] [ 1.33214643e-02 -3.68824291e-04 9.99911197e-01 1.15769660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.299254154 meters 0.018198028001650934 Centerline is valid? [True, True] Translation: X:270.53, Y:1.37, Z:1.16 [[ 9.99179667e-01 -3.86584560e-02 -1.20630164e-02 2.70527062e+02] [ 3.86599815e-02 9.99252418e-01 -1.06791135e-04 1.36841170e+00] [ 1.20581266e-02 -3.59652458e-04 9.99927233e-01 1.15924154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.359254154 meters 0.018999374397916477 Centerline is valid? [True, True] Translation: X:270.59, Y:1.36, Z:1.16 [[ 9.99242705e-01 -3.75235300e-02 -1.02957288e-02 2.70587347e+02] [ 3.75245835e-02 9.99295701e-01 -9.08987367e-05 1.36417634e+00] [ 1.02918883e-02 -2.95513035e-04 9.99946993e-01 1.15998247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.419254154 meters 0.017999325853297013 Centerline is valid? [True, True] Translation: X:270.65, Y:1.37, Z:1.16 [[ 9.99296065e-01 -3.61392531e-02 -1.00661791e-02 2.70648624e+02] [ 3.61401929e-02 9.99346726e-01 -8.85860216e-05 1.36546239e+00] [ 1.00628045e-02 -2.75269990e-04 9.99949331e-01 1.16054259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.479254154 meters 0.016909126936913755 Centerline is valid? [True, True] Translation: X:270.71, Y:1.37, Z:1.16 [[ 9.99454912e-01 -3.16462438e-02 -9.40185832e-03 2.70709746e+02] [ 3.16468681e-02 9.99499109e-01 -8.24062129e-05 1.36610000e+00] [ 9.39975686e-03 -2.15178076e-04 9.99955798e-01 1.16133012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.539254154 meters 0.01680384592556225 Centerline is valid? [True, True] Translation: X:270.77, Y:1.37, Z:1.16 [[ 9.99517956e-01 -2.93893750e-02 -1.00059989e-02 2.70770071e+02] [ 2.93899718e-02 9.99568018e-01 -8.74300441e-05 1.36596325e+00] [ 1.00042460e-02 -2.06688128e-04 9.99949935e-01 1.16127333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.599254154 meters 0.01716937638296659 Centerline is valid? [True, True] Translation: X:270.83, Y:1.36, Z:1.16 [[ 9.99496035e-01 -2.93597300e-02 -1.20698951e-02 2.70830164e+02] [ 2.93605989e-02 9.99568879e-01 -1.05235495e-04 1.36354556e+00] [ 1.20677812e-02 -2.49196888e-04 9.99927151e-01 1.16012482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.659254154 meters 0.017792552034353624 Centerline is valid? [True, True] Translation: X:270.89, Y:1.36, Z:1.16 [[ 9.99369088e-01 -3.23832006e-02 -1.45861034e-02 2.70891028e+02] [ 3.23847929e-02 9.99475467e-01 -1.27081227e-04 1.36027681e+00] [ 1.45825678e-02 -3.45366888e-04 9.99893609e-01 1.15859649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.719254154 meters 0.019084125109515793 Centerline is valid? [True, True] Translation: X:270.95, Y:1.36, Z:1.16 [[ 9.99260274e-01 -3.50280174e-02 -1.58727169e-02 2.70950199e+02] [ 3.50302302e-02 9.99386244e-01 -1.38688042e-04 1.35698383e+00] [ 1.58678329e-02 -4.17439477e-04 9.99874011e-01 1.15788926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.779254154 meters 0.020838630448910204 Centerline is valid? [True, True] Translation: X:271.01, Y:1.35, Z:1.16 [[ 9.99151516e-01 -3.78316761e-02 -1.62792165e-02 2.71009272e+02] [ 3.78343663e-02 9.99284014e-01 -1.42800992e-04 1.35310353e+00] [ 1.62729632e-02 -4.73234013e-04 9.99867475e-01 1.15830852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.839254154 meters 0.01843242780520608 Centerline is valid? [True, True] Translation: X:271.07, Y:1.36, Z:1.16 [[ 9.99169321e-01 -3.72212708e-02 -1.65905135e-02 2.71069750e+02] [ 3.72239783e-02 9.99306937e-01 -1.45684559e-04 1.35781030e+00] [ 1.65844377e-02 -4.72001371e-04 9.99862357e-01 1.16146318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.899254154 meters 0.01896986215052506 Centerline is valid? [True, True] Translation: X:271.13, Y:1.36, Z:1.16 [[ 9.99184986e-01 -3.72502346e-02 -1.55493912e-02 2.71130680e+02] [ 3.72526164e-02 9.99305871e-01 -1.36542260e-04 1.35850512e+00] [ 1.55436841e-02 -4.42824530e-04 9.99879092e-01 1.16298525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.959254154 meters 0.018736492454118577 Centerline is valid? [True, True] Translation: X:271.19, Y:1.36, Z:1.16 [[ 9.99205484e-01 -3.71360773e-02 -1.44676651e-02 2.71190836e+02] [ 3.71381272e-02 9.99310134e-01 -1.27043410e-04 1.36013611e+00] [ 1.44624022e-02 -4.10359514e-04 9.99895330e-01 1.16450629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.019254154 meters 0.018609787524895532 Centerline is valid? [True, True] Translation: X:271.25, Y:1.36, Z:1.17 [[ 9.99226791e-01 -3.66212385e-02 -1.43075196e-02 2.71251620e+02] [ 3.66231906e-02 9.99329138e-01 -1.25637141e-04 1.36107017e+00] [ 1.43025222e-02 -3.98447018e-04 9.99897634e-01 1.16515499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.079254154 meters 0.018308161488056408 Centerline is valid? [True, True] Translation: X:271.31, Y:1.36, Z:1.16 [[ 9.99239751e-01 -3.57739465e-02 -1.54966168e-02 2.71312449e+02] [ 3.57761347e-02 9.99359820e-01 -1.36078838e-04 1.36354565e+00] [ 1.54915642e-02 -4.18433666e-04 9.99879911e-01 1.16455209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.139254154 meters 0.017112185515359545 Centerline is valid? [True, True] Translation: X:271.37, Y:1.37, Z:1.16 [[ 9.99259267e-01 -3.45393331e-02 -1.69691530e-02 2.71372512e+02] [ 3.45417792e-02 9.99403244e-01 -1.49009468e-04 1.36666035e+00] [ 1.69641733e-02 -4.37245646e-04 9.99856002e-01 1.16442006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.199254154 meters 0.016555611850986817 Centerline is valid? [True, True] Translation: X:271.43, Y:1.37, Z:1.16 [[ 9.99337655e-01 -3.16942480e-02 -1.78808827e-02 2.71432127e+02] [ 3.16965001e-02 9.99497527e-01 -1.57509544e-04 1.36946466e+00] [ 1.78768902e-02 -4.09356183e-04 9.99840112e-01 1.16396598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.259254154 meters 0.016399194156067637 Centerline is valid? [True, True] Translation: X:271.49, Y:1.37, Z:1.16 [[ 9.99394145e-01 -2.97300188e-02 -1.80960936e-02 2.71490886e+02] [ 2.97319855e-02 9.99557894e-01 -1.60405722e-04 1.37102844e+00] [ 1.80928620e-02 -3.77724252e-04 9.99836239e-01 1.16398239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.319254154 meters 0.01790085688845655 Centerline is valid? [True, True] Translation: X:271.55, Y:1.37, Z:1.16 [[ 9.99459993e-01 -2.66996266e-02 -1.91534064e-02 2.71548803e+02] [ 2.67012433e-02 9.99643444e-01 -1.71369071e-04 1.37310555e+00] [ 1.91511527e-02 -3.40143234e-04 9.99816542e-01 1.16363033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.379254154 meters 0.015357455271977002 Centerline is valid? [True, True] Translation: X:271.61, Y:1.37, Z:1.17 [[ 9.99486690e-01 -2.64072912e-02 -1.81386587e-02 2.71607323e+02] [ 2.64086220e-02 9.99651218e-01 -1.66200632e-04 1.37496003e+00] [ 1.81367211e-02 -3.12901660e-04 9.99835467e-01 1.16539052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.439254154 meters 0.01566243557437068 Centerline is valid? [True, True] Translation: X:271.67, Y:1.37, Z:1.17 [[ 9.99450905e-01 -2.74102621e-02 -1.86163018e-02 2.71666354e+02] [ 2.74117485e-02 9.99624212e-01 -1.75372330e-04 1.37413748e+00] [ 1.86141130e-02 -3.35029349e-04 9.99826686e-01 1.16620112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.499254154 meters 0.016380506479188477 Centerline is valid? [True, True] Translation: X:271.72, Y:1.37, Z:1.17 [[ 9.99417676e-01 -2.95205593e-02 -1.71127260e-02 2.71723862e+02] [ 2.95220782e-02 9.99564115e-01 -1.63910593e-04 1.37148365e+00] [ 1.71101056e-02 -3.41388091e-04 9.99853553e-01 1.16772531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.559254154 meters 0.017150243547324383 Centerline is valid? [True, True] Translation: X:271.78, Y:1.37, Z:1.17 [[ 9.99371548e-01 -3.16671278e-02 -1.59280442e-02 2.71782169e+02] [ 3.16686913e-02 9.99498409e-01 -1.54116715e-04 1.36844179e+00] [ 1.59249353e-02 -3.50400456e-04 9.99873129e-01 1.16846630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.619254154 meters 0.018747432395037136 Centerline is valid? [True, True] Translation: X:271.84, Y:1.36, Z:1.17 [[ 9.99230566e-01 -3.56964379e-02 -1.62493289e-02 2.71841429e+02] [ 3.56985811e-02 9.99362590e-01 -1.58239077e-04 1.36322265e+00] [ 1.62446200e-02 -4.21960663e-04 9.99867958e-01 1.16806500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.679254154 meters 0.019070041674085454 Centerline is valid? [True, True] Translation: X:271.90, Y:1.36, Z:1.17 [[ 9.99049465e-01 -4.02801793e-02 -1.66635198e-02 2.71901254e+02] [ 4.02830587e-02 9.99188295e-01 -1.62951769e-04 1.36022211e+00] [ 1.66565577e-02 -5.08460671e-04 9.99861141e-01 1.16873064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.739254154 meters 0.02081890996045236 Centerline is valid? [True, True] Translation: X:271.96, Y:1.36, Z:1.17 [[ 9.98939360e-01 -4.31152597e-02 -1.61626095e-02 2.71961057e+02] [ 4.31183333e-02 9.99069960e-01 -1.58417797e-04 1.35548912e+00] [ 1.61544078e-02 -5.38655011e-04 9.99869364e-01 1.16863883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.799254154 meters 0.024539442541380053 Centerline is valid? [True, True] Translation: X:272.02, Y:1.35, Z:1.17 [[ 9.98854750e-01 -4.50435089e-02 -1.61329093e-02 2.72020211e+02] [ 4.50468256e-02 9.98984864e-01 -1.57926070e-04 1.34784281e+00] [ 1.61236458e-02 -5.68991149e-04 9.99869844e-01 1.16771090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.859254154 meters 0.02136629249176064 Centerline is valid? [True, True] Translation: X:272.08, Y:1.35, Z:1.17 [[ 9.98886549e-01 -4.45999967e-02 -1.53786624e-02 2.72080237e+02] [ 4.46029595e-02 9.99004781e-01 -1.50442921e-04 1.35196267e+00] [ 1.53700671e-02 -5.35658448e-04 9.99881730e-01 1.16980458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.919254154 meters 0.02057256229758084 Centerline is valid? [True, True] Translation: X:272.14, Y:1.35, Z:1.17 [[ 9.98910284e-01 -4.38463745e-02 -1.59918465e-02 2.72141067e+02] [ 4.38494820e-02 9.99038137e-01 -1.56441441e-04 1.35294164e+00] [ 1.59833239e-02 -5.44963222e-04 9.99872110e-01 1.17034983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.979254154 meters 0.018875134410016686 Centerline is valid? [True, True] Translation: X:272.20, Y:1.36, Z:1.17 [[ 9.98896013e-01 -4.37922029e-02 -1.69999574e-02 2.72202843e+02] [ 4.37957147e-02 9.99040494e-01 -1.65833255e-04 1.35519316e+00] [ 1.69909080e-02 -5.78875106e-04 9.99855477e-01 1.17080756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.039254154 meters 0.02095205000384608 Centerline is valid? [True, True] Translation: X:272.26, Y:1.35, Z:1.17 [[ 9.98823661e-01 -4.49361688e-02 -1.82218447e-02 2.72263683e+02] [ 4.49403971e-02 9.98989654e-01 -1.77576655e-04 1.35495279e+00] [ 1.82114139e-02 -6.41529172e-04 9.99833953e-01 1.17147116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.099254154 meters 0.020655780497749354 Centerline is valid? [True, True] Translation: X:272.32, Y:1.35, Z:1.17 [[ 9.98746314e-01 -4.69091964e-02 -1.74736429e-02 2.72322987e+02] [ 4.69133835e-02 9.98898947e-01 -1.70431370e-04 1.35263326e+00] [ 1.74623983e-02 -6.49530009e-04 9.99847310e-01 1.17089930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.159254154 meters 0.02182840101751846 Centerline is valid? [True, True] Translation: X:272.38, Y:1.35, Z:1.17 [[ 9.98676362e-01 -4.82895214e-02 -1.77100469e-02 2.72382983e+02] [ 4.82940341e-02 9.98833147e-01 -1.73026438e-04 1.35106974e+00] [ 1.76977372e-02 -6.82492193e-04 9.99843150e-01 1.17058489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.219254154 meters 0.02314838608445959 Centerline is valid? [True, True] Translation: X:272.44, Y:1.35, Z:1.17 [[ 9.98611621e-01 -4.95297179e-02 -1.79342332e-02 2.72442547e+02] [ 4.95345396e-02 9.98772396e-01 -1.75536941e-04 1.35122433e+00] [ 1.79209113e-02 -7.13070754e-04 9.99839153e-01 1.17098539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.279254154 meters 0.022447752665039643 Centerline is valid? [True, True] Translation: X:272.50, Y:1.35, Z:1.17 [[ 9.98575377e-01 -5.08490287e-02 -1.61738022e-02 2.72503135e+02] [ 5.08531216e-02 9.98706130e-01 -1.58376567e-04 1.35452200e+00] [ 1.61609287e-02 -6.64337392e-04 9.99869183e-01 1.17363135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.339254154 meters 0.021200593002608615 Centerline is valid? [True, True] Translation: X:272.56, Y:1.36, Z:1.17 [[ 9.98570281e-01 -5.12635358e-02 -1.51473979e-02 2.72563956e+02] [ 5.12671763e-02 9.98684963e-01 -1.48125498e-04 1.35718294e+00] [ 1.51350720e-02 -6.28650599e-04 9.99885261e-01 1.17463573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.399254154 meters 0.02290779980776979 Centerline is valid? [True, True] Translation: X:272.62, Y:1.36, Z:1.17 [[ 9.98513375e-01 -5.24781884e-02 -1.47336205e-02 2.72624005e+02] [ 5.24817686e-02 9.98621872e-01 -1.43809476e-04 1.35718065e+00] [ 1.47208625e-02 -6.29650775e-04 9.99891444e-01 1.17468666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.459254154 meters 0.02258804148893015 Centerline is valid? [True, True] Translation: X:272.69, Y:1.36, Z:1.17 [[ 9.98517370e-01 -5.25319433e-02 -1.42638135e-02 2.72685859e+02] [ 5.25353157e-02 9.98619057e-01 -1.38423244e-04 1.36011534e+00] [ 1.42513877e-02 -6.11135934e-04 9.99898257e-01 1.17455246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.519254154 meters 0.023556229423737928 Centerline is valid? [True, True] Translation: X:272.75, Y:1.36, Z:1.17 [[ 9.98614904e-01 -5.08068127e-02 -1.36726400e-02 2.72746038e+02] [ 5.08097563e-02 9.98708341e-01 -1.32210715e-04 1.36277096e+00] [ 1.36616968e-02 -5.62675915e-04 9.99906516e-01 1.17350478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.579254154 meters 0.02030333794557607 Centerline is valid? [True, True] Translation: X:272.81, Y:1.37, Z:1.17 [[ 9.98859466e-01 -4.62004571e-02 -1.20533946e-02 2.72806356e+02] [ 4.62024106e-02 9.98932092e-01 -1.16483368e-04 1.37221877e+00] [ 1.20459043e-02 -4.40545373e-04 9.99927348e-01 1.17408710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.639254154 meters 0.019049655850906993 Centerline is valid? [True, True] Translation: X:272.87, Y:1.38, Z:1.17 [[ 9.99075545e-01 -4.13321723e-02 -1.18197659e-02 2.72867263e+02] [ 4.13337121e-02 9.99145390e-01 -1.14088775e-04 1.37869571e+00] [ 1.18143801e-02 -3.74571495e-04 9.99930138e-01 1.17374786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.699254154 meters 0.01788496959690356 Centerline is valid? [True, True] Translation: X:272.93, Y:1.38, Z:1.17 [[ 9.99342486e-01 -3.43058447e-02 -1.17347264e-02 2.72926951e+02] [ 3.43068792e-02 9.99411339e-01 -1.13187357e-04 1.38496555e+00] [ 1.17317016e-02 -2.89468906e-04 9.99931139e-01 1.17180920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.759254154 meters 0.014910928996451973 Centerline is valid? [True, True] Translation: X:272.99, Y:1.40, Z:1.17 [[ 9.99536204e-01 -2.82178292e-02 -1.14512385e-02 2.72987889e+02] [ 2.82184165e-02 9.99601775e-01 -1.10321284e-04 1.39577666e+00] [ 1.14497914e-02 -2.12865700e-04 9.99934426e-01 1.17230343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.819254154 meters 0.014769311623274885 Centerline is valid? [True, True] Translation: X:273.05, Y:1.40, Z:1.17 [[ 9.99615009e-01 -2.56817548e-02 -1.05015331e-02 2.73048769e+02] [ 2.56821119e-02 9.99670155e-01 -1.00872632e-04 1.39891911e+00] [ 1.05006598e-02 -1.68867750e-04 9.99944852e-01 1.17224327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.879254154 meters 0.014534328714224424 Centerline is valid? [True, True] Translation: X:273.11, Y:1.40, Z:1.17 [[ 9.99634866e-01 -2.53108700e-02 -9.46020083e-03 2.73109774e+02] [ 2.53111463e-02 9.99679618e-01 -9.05407050e-05 1.40233354e+00] [ 9.45946161e-03 -1.48940882e-04 9.99955247e-01 1.17321496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.939254154 meters 0.015609712561213764 Centerline is valid? [True, True] Translation: X:273.17, Y:1.40, Z:1.17 [[ 9.99573922e-01 -2.78816865e-02 -8.63631566e-03 2.73170569e+02] [ 2.78820159e-02 9.99611218e-01 -8.22812651e-05 1.40113533e+00] [ 8.63525216e-03 -1.58551684e-04 9.99962703e-01 1.17321334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.999254154 meters 0.016499141559057753 Centerline is valid? [True, True] Translation: X:273.23, Y:1.40, Z:1.17 [[ 9.99364645e-01 -3.47680746e-02 -7.84137897e-03 2.73231726e+02] [ 3.47685601e-02 9.99395388e-01 -7.44285000e-05 1.39946060e+00] [ 7.83922571e-03 -1.98252245e-04 9.99969253e-01 1.17257775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.059254154 meters 0.02030447328315329 Centerline is valid? [True, True] Translation: X:273.29, Y:1.39, Z:1.17 [[ 9.99005138e-01 -4.40477261e-02 -6.96648274e-03 2.73291647e+02] [ 4.40483350e-02 9.99029399e-01 -6.60893572e-05 1.39327712e+00] [ 6.96263215e-03 -2.40838358e-04 9.99975732e-01 1.17173196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.119254154 meters 0.022784946231374625 Centerline is valid? [True, True] Translation: X:273.35, Y:1.39, Z:1.17 [[ 9.98703503e-01 -5.04069775e-02 -7.10278810e-03 2.73352493e+02] [ 5.04077706e-02 9.98728718e-01 -6.74325333e-05 1.38979915e+00] [ 7.09715752e-03 -2.90690606e-04 9.99974773e-01 1.17150208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.179254154 meters 0.02747965684492571 Centerline is valid? [True, True] Translation: X:273.41, Y:1.38, Z:1.17 [[ 9.98229628e-01 -5.89940552e-02 -7.57046581e-03 2.73413573e+02] [ 5.89952034e-02 9.98258264e-01 -7.17517726e-05 1.38456551e+00] [ 7.56151298e-03 -3.74996425e-04 9.99971341e-01 1.17139351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.239254154 meters 0.027549085700064396 Centerline is valid? [True, True] Translation: X:273.47, Y:1.38, Z:1.17 [[ 9.97908710e-01 -6.43012308e-02 -6.59987146e-03 2.73474281e+02] [ 6.43022200e-02 9.97930469e-01 -6.24321419e-05 1.38453772e+00] [ 6.59022729e-03 -3.62084808e-04 9.99978219e-01 1.17366987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.299254154 meters 0.034321814600430565 Centerline is valid? [True, True] Translation: X:273.53, Y:1.38, Z:1.18 [[ 9.97669804e-01 -6.80016358e-02 -5.54442914e-03 2.73534388e+02] [ 6.80023909e-02 9.97685157e-01 -5.24354412e-05 1.37789227e+00] [ 5.53516035e-03 -3.24721181e-04 9.99984628e-01 1.17520791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.359254154 meters 0.02825649827881346 Centerline is valid? [True, True] Translation: X:273.60, Y:1.39, Z:1.17 [[ 9.97631288e-01 -6.84260591e-02 -7.04895727e-03 2.73596696e+02] [ 6.84272916e-02 9.97656104e-01 -6.64656193e-05 1.38984629e+00] [ 7.03698322e-03 -4.16032873e-04 9.99975154e-01 1.17472002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.419254154 meters 0.028459241156353798 Centerline is valid? [True, True] Translation: X:273.66, Y:1.39, Z:1.17 [[ 9.97676388e-01 -6.75000220e-02 -9.25048866e-03 2.73658913e+02] [ 6.75021122e-02 9.97719127e-01 -8.64291116e-05 1.39268947e+00] [ 9.23522344e-03 -5.38199240e-04 9.99957210e-01 1.17375925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.479254154 meters 0.027946075309815216 Centerline is valid? [True, True] Translation: X:273.72, Y:1.40, Z:1.17 [[ 9.97867577e-01 -6.41962983e-02 -1.17955014e-02 2.73719644e+02] [ 6.41994735e-02 9.97937080e-01 -1.09651850e-04 1.39984926e+00] [ 1.17782074e-02 -6.47846952e-04 9.99930425e-01 1.17298481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.539254154 meters 0.02566569016722986 Centerline is valid? [True, True] Translation: X:273.78, Y:1.41, Z:1.17 [[ 9.98159078e-01 -5.94439605e-02 -1.20362565e-02 2.73780883e+02] [ 5.94469247e-02 9.98231461e-01 -1.11670466e-04 1.40918991e+00] [ 1.20216080e-02 -6.04053542e-04 9.99927555e-01 1.17441765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.599254154 meters 0.022725760635135133 Centerline is valid? [True, True] Translation: X:273.84, Y:1.42, Z:1.18 [[ 9.98433810e-01 -5.48050137e-02 -1.12400192e-02 2.73841926e+02] [ 5.48073075e-02 9.98496945e-01 -1.04081498e-04 1.41854977e+00] [ 1.12288290e-02 -5.12116701e-04 9.99936824e-01 1.17580158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.659254154 meters 0.01988787943657249 Centerline is valid? [True, True] Translation: X:273.90, Y:1.43, Z:1.18 [[ 9.98950332e-01 -4.45316279e-02 -1.07316284e-02 2.73902916e+02] [ 4.45331287e-02 9.99007903e-01 -9.91862777e-05 1.43083169e+00] [ 1.07253985e-02 -3.78830823e-04 9.99942409e-01 1.17661822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.719254154 meters 0.016711945592167626 Centerline is valid? [True, True] Translation: X:273.96, Y:1.44, Z:1.18 [[ 9.99403634e-01 -3.28360341e-02 -1.06850670e-02 2.73963630e+02] [ 3.28368546e-02 9.99460720e-01 -9.86840084e-05 1.44357260e+00] [ 1.06825451e-02 -2.52238833e-04 9.99942908e-01 1.17803361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.779254154 meters 0.015610312010077941 Centerline is valid? [True, True] Translation: X:274.02, Y:1.45, Z:1.18 [[ 9.99585754e-01 -2.67948078e-02 -1.05052147e-02 2.74024825e+02] [ 2.67952697e-02 9.99640938e-01 -9.68008609e-05 1.45033303e+00] [ 1.05040364e-02 -1.84729300e-04 9.99944814e-01 1.17907060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.839254154 meters 0.015067465668580459 Centerline is valid? [True, True] Translation: X:274.09, Y:1.45, Z:1.18 [[ 9.99682068e-01 -2.24421813e-02 -1.14940062e-02 2.74085528e+02] [ 2.24424516e-02 9.99748131e-01 -1.05480966e-04 1.45464934e+00] [ 1.14934784e-02 -1.52506248e-04 9.99933936e-01 1.17848291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.899254154 meters 0.014924797344882048 Centerline is valid? [True, True] Translation: X:274.15, Y:1.45, Z:1.18 [[ 9.99657749e-01 -2.31321840e-02 -1.22183344e-02 2.74147219e+02] [ 2.31325465e-02 9.99732401e-01 -1.11673245e-04 1.45499021e+00] [ 1.22176480e-02 -1.71006164e-04 9.99925347e-01 1.17830073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.959254154 meters 0.015343441363268939 Centerline is valid? [True, True] Translation: X:274.21, Y:1.45, Z:1.18 [[ 9.99594999e-01 -2.56495114e-02 -1.23264391e-02 2.74208016e+02] [ 2.56500738e-02 9.99670976e-01 -1.12498133e-04 1.45289357e+00] [ 1.23252689e-02 -2.03721501e-04 9.99924020e-01 1.17820098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.019254154 meters 0.016061250931906815 Centerline is valid? [True, True] Translation: X:274.27, Y:1.45, Z:1.18 [[ 9.99467461e-01 -2.99367066e-02 -1.29841573e-02 2.74268951e+02] [ 2.99376942e-02 9.99551760e-01 -1.18340990e-04 1.44960076e+00] [ 1.29818801e-02 -2.70437764e-04 9.99915695e-01 1.17824980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.079254154 meters 0.01694087790724702 Centerline is valid? [True, True] Translation: X:274.33, Y:1.45, Z:1.18 [[ 9.99369417e-01 -3.30939702e-02 -1.28668912e-02 2.74330347e+02] [ 3.30952067e-02 9.99452197e-01 -1.16876912e-04 1.44643473e+00] [ 1.28637106e-02 -3.09029212e-04 9.99917211e-01 1.17820096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.139254154 meters 0.018203997772951105 Centerline is valid? [True, True] Translation: X:274.39, Y:1.44, Z:1.18 [[ 9.99188104e-01 -3.80712913e-02 -1.31798800e-02 2.74391888e+02] [ 3.80730277e-02 9.99274952e-01 -1.19228289e-04 1.44036178e+00] [ 1.31748631e-02 -3.82666448e-04 9.99913135e-01 1.17776150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.199254154 meters 0.019838207416925314 Centerline is valid? [True, True] Translation: X:274.45, Y:1.43, Z:1.18 [[ 9.98965058e-01 -4.33217350e-02 -1.38578435e-02 2.74453302e+02] [ 4.33241665e-02 9.99061060e-01 -1.24842884e-04 1.43403226e+00] [ 1.38502402e-02 -4.75665840e-04 9.99903968e-01 1.17779070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.259254154 meters 0.020810931651793468 Centerline is valid? [True, True] Translation: X:274.52, Y:1.43, Z:1.18 [[ 9.98895731e-01 -4.48274054e-02 -1.40649080e-02 2.74515846e+02] [ 4.48300714e-02 9.98994619e-01 -1.25836769e-04 1.43177278e+00] [ 1.40564083e-02 -5.04833017e-04 9.99901076e-01 1.17773033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.319254154 meters 0.02368640915139809 Centerline is valid? [True, True] Translation: X:274.58, Y:1.43, Z:1.18 [[ 9.98759763e-01 -4.76016726e-02 -1.45951056e-02 2.74576433e+02] [ 4.76048466e-02 9.98866238e-01 -1.30062788e-04 1.42540317e+00] [ 1.45847494e-02 -5.64896284e-04 9.99893477e-01 1.17646759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.379254154 meters 0.02371925052255877 Centerline is valid? [True, True] Translation: X:274.64, Y:1.42, Z:1.18 [[ 9.98553381e-01 -5.14765643e-02 -1.55340988e-02 2.74637410e+02] [ 5.14806324e-02 9.98673984e-01 -1.38145349e-04 1.42315004e+00] [ 1.55206116e-02 -6.61759725e-04 9.99879329e-01 1.17696420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.439254154 meters 0.025588756723017945 Centerline is valid? [True, True] Translation: X:274.70, Y:1.42, Z:1.18 [[ 9.98365789e-01 -5.52118133e-02 -1.47446979e-02 2.74698627e+02] [ 5.52158886e-02 9.98474431e-01 -1.30864072e-04 1.41823805e+00] [ 1.47294291e-02 -6.83491387e-04 9.99891282e-01 1.17650403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.499254154 meters 0.02605652691929469 Centerline is valid? [True, True] Translation: X:274.76, Y:1.42, Z:1.18 [[ 9.98220450e-01 -5.78200177e-02 -1.45869661e-02 2.74760044e+02] [ 5.78242906e-02 9.98326768e-01 -1.29016813e-04 1.41718557e+00] [ 1.45700184e-02 -7.14693744e-04 9.99893596e-01 1.17745211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.559254154 meters 0.026953624069428184 Centerline is valid? [True, True] Translation: X:274.82, Y:1.42, Z:1.18 [[ 9.98172105e-01 -5.87712083e-02 -1.40852437e-02 2.74822141e+02] [ 5.87752988e-02 9.98271230e-01 -1.23725043e-04 1.41680086e+00] [ 1.40681650e-02 -7.04365519e-04 9.99900790e-01 1.17813277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.619254154 meters 0.028130161034340864 Centerline is valid? [True, True] Translation: X:274.88, Y:1.42, Z:1.18 [[ 9.98159713e-01 -5.90268035e-02 -1.38932967e-02 2.74884777e+02] [ 5.90308217e-02 9.98256153e-01 -1.21049991e-04 1.41617375e+00] [ 1.38762141e-02 -6.99305495e-04 9.99903476e-01 1.17765366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.679254154 meters 0.027707511158962556 Centerline is valid? [True, True] Translation: X:274.95, Y:1.42, Z:1.18 [[ 9.98153382e-01 -5.91450651e-02 -1.38450891e-02 2.74946656e+02] [ 5.91490805e-02 9.98249153e-01 -1.19640257e-04 1.41817299e+00] [ 1.38279246e-02 -6.99504962e-04 9.99904145e-01 1.17798786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.739254154 meters 0.029775268504602298 Centerline is valid? [True, True] Translation: X:275.01, Y:1.42, Z:1.18 [[ 9.98188037e-01 -5.85367286e-02 -1.39317743e-02 2.75007502e+02] [ 5.85407552e-02 9.98285012e-01 -1.18957104e-04 1.41738742e+00] [ 1.39148449e-02 -6.96835032e-04 9.99902941e-01 1.17787146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.799254154 meters 0.025173761106942003 Centerline is valid? [True, True] Translation: X:275.07, Y:1.43, Z:1.18 [[ 9.98422073e-01 -5.47569347e-02 -1.24515732e-02 2.75068119e+02] [ 5.47598653e-02 9.98499547e-01 -1.05712324e-04 1.42650205e+00] [ 1.24386787e-02 -5.76300953e-04 9.99922471e-01 1.17979688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.859254154 meters 0.0233721375861529 Centerline is valid? [True, True] Translation: X:275.13, Y:1.43, Z:1.18 [[ 9.98707534e-01 -4.95015269e-02 -1.15264887e-02 2.75129196e+02] [ 4.95036911e-02 9.98773936e-01 -9.76558459e-05 1.43157879e+00] [ 1.15171906e-02 -4.73074109e-04 9.99933563e-01 1.18070009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.919254154 meters 0.01906296304498733 Centerline is valid? [True, True] Translation: X:275.19, Y:1.44, Z:1.18 [[ 9.99229670e-01 -3.79521070e-02 -9.98520687e-03 2.75190192e+02] [ 3.79531561e-02 9.99279516e-01 -8.44642320e-05 1.44294229e+00] [ 9.98121828e-03 -2.94570949e-04 9.99950143e-01 1.18163415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.979254154 meters 0.016198608626278158 Centerline is valid? [True, True] Translation: X:275.25, Y:1.45, Z:1.18 [[ 9.99589514e-01 -2.71541323e-02 -9.13544220e-03 2.75250299e+02] [ 2.71545596e-02 9.99631244e-01 -7.72795301e-05 1.45269251e+00] [ 9.13417191e-03 -1.70821102e-04 9.99958268e-01 1.18255395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.039254154 meters 0.015027194669531754 Centerline is valid? [True, True] Translation: X:275.31, Y:1.46, Z:1.18 [[ 9.99721951e-01 -2.20813256e-02 -8.27260372e-03 2.75311349e+02] [ 2.20815032e-02 9.99756171e-01 -6.98768587e-05 1.45653634e+00] [ 8.27212960e-03 -1.12814096e-04 9.99965779e-01 1.18273879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.099254154 meters 0.015618678767109843 Centerline is valid? [True, True] Translation: X:275.37, Y:1.46, Z:1.18 [[ 9.99814358e-01 -1.72172855e-02 -8.64949561e-03 2.75371379e+02] [ 1.72173018e-02 9.99851769e-01 -7.25813030e-05 1.45892749e+00] [ 8.64946314e-03 -7.63531476e-05 9.99962590e-01 1.18209931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.159254154 meters 0.014585447617621762 Centerline is valid? [True, True] Translation: X:275.43, Y:1.46, Z:1.18 [[ 9.99823308e-01 -1.67683420e-02 -8.49565031e-03 2.75431556e+02] [ 1.67683448e-02 9.99859399e-01 -7.09059302e-05 1.45855482e+00] [ 8.49564479e-03 -7.15645919e-05 9.99963909e-01 1.18207063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.219254154 meters 0.014530894110894962 Centerline is valid? [True, True] Translation: X:275.49, Y:1.46, Z:1.18 [[ 9.99771076e-01 -1.90017939e-02 -9.83497726e-03 2.75492214e+02] [ 1.90019066e-02 9.99819444e-01 -8.19931367e-05 1.45547317e+00] [ 9.83475951e-03 -1.04908952e-04 9.99951632e-01 1.18139493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.279254154 meters 0.015193671483437985 Centerline is valid? [True, True] Translation: X:275.55, Y:1.45, Z:1.18 [[ 9.99653432e-01 -2.39872524e-02 -1.08456559e-02 2.75552836e+02] [ 2.39876828e-02 9.99712250e-01 -9.04190548e-05 1.44937735e+00] [ 1.08447040e-02 -1.69774435e-04 9.99941180e-01 1.18076358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.339254154 meters 0.01609934905767164 Centerline is valid? [True, True] Translation: X:275.61, Y:1.44, Z:1.18 [[ 9.99540596e-01 -2.83240584e-02 -1.07863268e-02 2.75614348e+02] [ 2.83247390e-02 9.99598770e-01 -8.96908802e-05 1.44409485e+00] [ 1.07845394e-02 -2.15870215e-04 9.99941822e-01 1.18073085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.399254154 meters 0.01835613904390591 Centerline is valid? [True, True] Translation: X:275.67, Y:1.44, Z:1.18 [[ 9.99299758e-01 -3.58343995e-02 -1.07652343e-02 2.75674582e+02] [ 3.58355195e-02 9.99357698e-01 -8.89028361e-05 1.43519425e+00] [ 1.07615055e-02 -2.96937180e-04 9.99942049e-01 1.18135119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.459254154 meters 0.02036140608168839 Centerline is valid? [True, True] Translation: X:275.73, Y:1.43, Z:1.18 [[ 9.99133169e-01 -4.02525559e-02 -1.06133410e-02 2.75734943e+02] [ 4.02538998e-02 9.99189480e-01 -8.70507656e-05 1.42873231e+00] [ 1.06082426e-02 -3.40253056e-04 9.99943673e-01 1.18136035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.519254154 meters 0.02295741903155683 Centerline is valid? [True, True] Translation: X:275.80, Y:1.42, Z:1.18 [[ 9.98886973e-01 -4.59823266e-02 -1.05091253e-02 2.75795994e+02] [ 4.59839642e-02 9.98942174e-01 -8.58858283e-05 1.42026395e+00] [ 1.05019577e-02 -3.97461005e-04 9.99944774e-01 1.18122198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.579254154 meters 0.025214706039289853 Centerline is valid? [True, True] Translation: X:275.86, Y:1.41, Z:1.18 [[ 9.98740731e-01 -4.87891627e-02 -1.16863488e-02 2.75856704e+02] [ 4.87913821e-02 9.98808987e-01 -9.52950190e-05 1.41371746e+00] [ 1.16770795e-02 -4.75018090e-04 9.99931708e-01 1.18013680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.639254154 meters 0.02563881007200233 Centerline is valid? [True, True] Translation: X:275.92, Y:1.41, Z:1.18 [[ 9.98779397e-01 -4.77867020e-02 -1.24959200e-02 2.75918593e+02] [ 4.77891690e-02 9.98857440e-01 -1.01266872e-04 1.41188832e+00] [ 1.24864818e-02 -4.96026366e-04 9.99921918e-01 1.17971597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.699254154 meters 0.02378846307257178 Centerline is valid? [True, True] Translation: X:275.98, Y:1.41, Z:1.18 [[ 9.98995913e-01 -4.30359853e-02 -1.24526738e-02 2.75978875e+02] [ 4.30380703e-02 9.99073428e-01 -1.00619272e-04 1.41411321e+00] [ 1.24454657e-02 -4.35420808e-04 9.99922457e-01 1.18057605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.759254154 meters 0.020855603119660972 Centerline is valid? [True, True] Translation: X:276.04, Y:1.42, Z:1.18 [[ 9.99308090e-01 -3.53750947e-02 -1.14866859e-02 2.76038321e+02] [ 3.53763620e-02 9.99374056e-01 -9.29040366e-05 1.41883935e+00] [ 1.14827824e-02 -3.13517403e-04 9.99934022e-01 1.18168514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.819254154 meters 0.018777421316618016 Centerline is valid? [True, True] Translation: X:276.10, Y:1.42, Z:1.18 [[ 9.99473932e-01 -3.05689559e-02 -1.08350534e-02 2.76099685e+02] [ 3.05698027e-02 9.99532631e-01 -8.74967622e-05 1.42211202e+00] [ 1.08326641e-02 -2.43774712e-04 9.99941295e-01 1.18270646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.879254154 meters 0.015395525559900619 Centerline is valid? [True, True] Translation: X:276.16, Y:1.43, Z:1.18 [[ 9.99586131e-01 -2.65708149e-02 -1.10253350e-02 2.76160937e+02] [ 2.65714526e-02 9.99646913e-01 -8.86608625e-05 1.42881952e+00] [ 1.10237978e-02 -2.04334997e-04 9.99939215e-01 1.18353523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.939254154 meters 0.016245835251417252 Centerline is valid? [True, True] Translation: X:276.22, Y:1.43, Z:1.18 [[ 9.99531607e-01 -2.77776231e-02 -1.28440431e-02 2.76221685e+02] [ 2.77785926e-02 9.99614095e-01 -1.02950198e-04 1.42580084e+00] [ 1.28419463e-02 -2.53887465e-04 9.99917507e-01 1.18160695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.999254154 meters 0.0172016756705742 Centerline is valid? [True, True] Translation: X:276.28, Y:1.42, Z:1.18 [[ 9.99411557e-01 -3.12446230e-02 -1.41531774e-02 2.76282498e+02] [ 3.12461489e-02 9.99511713e-01 -1.13357398e-04 1.42272280e+00] [ 1.41498084e-02 -3.28941595e-04 9.99899832e-01 1.18064550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.059254154 meters 0.01718747435317317 Centerline is valid? [True, True] Translation: X:276.34, Y:1.42, Z:1.18 [[ 9.99181906e-01 -3.80084408e-02 -1.38158408e-02 2.76342410e+02] [ 3.80105386e-02 9.99277332e-01 -1.10812430e-04 1.42034122e+00] [ 1.38100684e-02 -4.14425776e-04 9.99904551e-01 1.18221761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.119254154 meters 0.01914952084893451 Centerline is valid? [True, True] Translation: X:276.40, Y:1.42, Z:1.18 [[ 9.99093434e-01 -4.04248311e-02 -1.33470429e-02 2.76402725e+02] [ 4.04270056e-02 9.99182489e-01 -1.06957457e-04 1.41664058e+00] [ 1.33404553e-02 -4.32720484e-04 9.99910919e-01 1.18223633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.179254154 meters 0.020905172066312507 Centerline is valid? [True, True] Translation: X:276.46, Y:1.41, Z:1.18 [[ 9.98830550e-01 -4.71191827e-02 -1.08311990e-02 2.76463645e+02] [ 4.71210098e-02 9.98889185e-01 -8.65810410e-05 1.41223493e+00] [ 1.08232472e-02 -4.23897246e-04 9.99941337e-01 1.18397630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.239254154 meters 0.022666013721360803 Centerline is valid? [True, True] Translation: X:276.53, Y:1.41, Z:1.18 [[ 9.98703040e-01 -4.99669519e-02 -9.77457704e-03 2.76526025e+02] [ 4.99685808e-02 9.98750787e-01 -7.76594207e-05 1.40882733e+00] [ 9.76624692e-03 -4.10863043e-04 9.99952225e-01 1.18488279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.299254154 meters 0.026728164825001736 Centerline is valid? [True, True] Translation: X:276.59, Y:1.40, Z:1.19 [[ 9.98507909e-01 -5.38835130e-02 -8.86133114e-03 2.76585884e+02] [ 5.38850111e-02 9.98547145e-01 -6.97727910e-05 1.40229589e+00] [ 8.85221652e-03 -4.07824244e-04 9.99960735e-01 1.18561497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.359254154 meters 0.02542329365733615 Centerline is valid? [True, True] Translation: X:276.65, Y:1.40, Z:1.19 [[ 9.98222107e-01 -5.91091262e-02 -7.66392830e-03 2.76646590e+02] [ 5.91104028e-02 9.98251450e-01 -6.00333152e-05 1.40341674e+00] [ 7.65407605e-03 -3.93091306e-04 9.99970630e-01 1.18744479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.419254154 meters 0.027219548780008505 Centerline is valid? [True, True] Translation: X:276.71, Y:1.40, Z:1.19 [[ 9.97999768e-01 -6.26577146e-02 -8.39491171e-03 2.76707744e+02] [ 6.26593723e-02 9.98034969e-01 -6.56627661e-05 1.39975320e+00] [ 8.38252973e-03 -4.60488473e-04 9.99964760e-01 1.18728218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.479254154 meters 0.029715301720954997 Centerline is valid? [True, True] Translation: X:276.77, Y:1.40, Z:1.19 [[ 9.97696003e-01 -6.70942975e-02 -1.00519172e-02 2.76768829e+02] [ 6.70968998e-02 9.97746461e-01 -7.85032110e-05 1.39685311e+00] [ 1.00345319e-02 -5.96130143e-04 9.99949475e-01 1.18524597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.539254154 meters 0.029547515192759336 Centerline is valid? [True, True] Translation: X:276.83, Y:1.40, Z:1.19 [[ 9.97558309e-01 -6.89514226e-02 -1.10960276e-02 2.76830595e+02] [ 6.89547124e-02 9.97619787e-01 -8.62706635e-05 1.39671414e+00] [ 1.10755652e-02 -6.79063373e-04 9.99938433e-01 1.18549467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.599254154 meters 0.03300931645521556 Centerline is valid? [True, True] Translation: X:276.89, Y:1.39, Z:1.18 [[ 9.97638794e-01 -6.76037401e-02 -1.21066917e-02 2.76892414e+02] [ 6.76075677e-02 9.97711987e-01 -9.33035160e-05 1.39354643e+00] [ 1.20852991e-02 -7.25420770e-04 9.99926707e-01 1.18384906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.659254154 meters 0.031149717225724988 Centerline is valid? [True, True] Translation: X:276.95, Y:1.40, Z:1.18 [[ 9.97890918e-01 -6.37008601e-02 -1.24866302e-02 2.76953612e+02] [ 6.37046337e-02 9.97968792e-01 -9.57055268e-05 1.39912210e+00] [ 1.24673638e-02 -6.99952528e-04 9.99922034e-01 1.18417098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.719254154 meters 0.02784562209534461 Centerline is valid? [True, True] Translation: X:277.01, Y:1.41, Z:1.19 [[ 9.98393373e-01 -5.57534095e-02 -1.01108876e-02 2.77012749e+02] [ 5.57554768e-02 9.98444451e-01 -7.75201633e-05 1.40757443e+00] [ 1.00994816e-02 -4.86341741e-04 9.99948881e-01 1.18700604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.779254154 meters 0.021840590019069298 Centerline is valid? [True, True] Translation: X:277.07, Y:1.42, Z:1.19 [[ 9.98897352e-01 -4.60450073e-02 -9.16175984e-03 2.77073189e+02] [ 4.60462961e-02 9.98939304e-01 -7.03283611e-05 1.42103247e+00] [ 9.15528027e-03 -3.51614292e-04 9.99958028e-01 1.18860492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.839254154 meters 0.017516839037397987 Centerline is valid? [True, True] Translation: X:277.13, Y:1.43, Z:1.19 [[ 9.99307243e-01 -3.62802019e-02 -8.29342151e-03 2.77133876e+02] [ 3.62809218e-02 9.99341629e-01 -6.36693308e-05 1.43280680e+00] [ 8.29027130e-03 -2.37267754e-04 9.99965607e-01 1.19017872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.899254154 meters 0.01637838057119879 Centerline is valid? [True, True] Translation: X:277.20, Y:1.44, Z:1.19 [[ 9.99470131e-01 -3.15407204e-02 -8.03990079e-03 2.77195716e+02] [ 3.15412454e-02 9.99502449e-01 -6.15216506e-05 1.43740279e+00] [ 8.03784097e-03 -1.92099431e-04 9.99967678e-01 1.18991015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.959254154 meters 0.015841107552524037 Centerline is valid? [True, True] Translation: X:277.26, Y:1.44, Z:1.19 [[ 9.99585289e-01 -2.74179068e-02 -8.80388857e-03 2.77256948e+02] [ 2.74183803e-02 9.99624043e-01 -6.69406021e-05 1.44080976e+00] [ 8.80241406e-03 -1.74475524e-04 9.99961243e-01 1.18901292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.019254154 meters 0.015635202162122972 Centerline is valid? [True, True] Translation: X:277.32, Y:1.44, Z:1.19 [[ 9.99624804e-01 -2.59666473e-02 -8.71687400e-03 2.77318670e+02] [ 2.59670590e-02 9.99662797e-01 -6.59636420e-05 1.44204470e+00] [ 8.71564750e-03 -1.60412689e-04 9.99962005e-01 1.18835656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.079254154 meters 0.016189548059401065 Centerline is valid? [True, True] Translation: X:277.38, Y:1.44, Z:1.19 [[ 9.99632716e-01 -2.56319874e-02 -8.79964874e-03 2.77379227e+02] [ 2.56323961e-02 9.99671434e-01 -6.63513004e-05 1.44100612e+00] [ 8.79845819e-03 -1.59229152e-04 9.99961280e-01 1.18799384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.139254154 meters 0.01589041672086284 Centerline is valid? [True, True] Translation: X:277.44, Y:1.44, Z:1.19 [[ 9.99629526e-01 -2.60714234e-02 -7.81616591e-03 2.77440436e+02] [ 2.60717607e-02 9.99660072e-01 -5.87432079e-05 1.44202743e+00] [ 7.81504049e-03 -1.45059762e-04 9.99969452e-01 1.18922245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.199254154 meters 0.01819051550794632 Centerline is valid? [True, True] Translation: X:277.50, Y:1.44, Z:1.19 [[ 9.99559786e-01 -2.87001124e-02 -7.51916915e-03 2.77501770e+02] [ 2.87005026e-02 9.99588054e-01 -5.60261446e-05 1.43722783e+00] [ 7.51767962e-03 -1.59802452e-04 9.99971729e-01 1.18867512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.259254154 meters 0.017710557691887785 Centerline is valid? [True, True] Translation: X:277.56, Y:1.44, Z:1.19 [[ 9.99412105e-01 -3.36255275e-02 -6.69091504e-03 2.77563648e+02] [ 3.36259504e-02 9.99434487e-01 -4.93113162e-05 1.43569814e+00] [ 6.68878936e-03 -1.75706051e-04 9.99977614e-01 1.18983953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.319254154 meters 0.022391408598741606 Centerline is valid? [True, True] Translation: X:277.62, Y:1.43, Z:1.19 [[ 9.99037810e-01 -4.31667483e-02 -7.75149570e-03 2.77624594e+02] [ 4.31676050e-02 9.99067843e-01 -5.68383349e-05 1.42715148e+00] [ 7.74672361e-03 -2.77829859e-04 9.99969955e-01 1.18849726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.379254154 meters 0.022890575763137314 Centerline is valid? [True, True] Translation: X:277.68, Y:1.42, Z:1.19 [[ 9.98661537e-01 -5.09622669e-02 -8.83074960e-03 2.77684859e+02] [ 5.09636832e-02 9.98700505e-01 -6.47225112e-05 1.42350297e+00] [ 8.82257249e-03 -3.85411642e-04 9.99961006e-01 1.18845349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.439254154 meters 0.026365514711059565 Centerline is valid? [True, True] Translation: X:277.75, Y:1.42, Z:1.19 [[ 9.98087460e-01 -6.09600113e-02 -1.02615881e-02 2.77745729e+02] [ 6.09624518e-02 9.98140057e-01 -7.50961770e-05 1.41703513e+00] [ 1.02470800e-02 -5.50619018e-04 9.99947346e-01 1.18718506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.499254154 meters 0.03108953651732034 Centerline is valid? [True, True] Translation: X:277.81, Y:1.41, Z:1.19 [[ 9.97614631e-01 -6.82663621e-02 -1.02348397e-02 2.77805943e+02] [ 6.82691759e-02 9.97666935e-01 -7.46037124e-05 1.41187394e+00] [ 1.02160541e-02 -6.24298320e-04 9.99947620e-01 1.18755780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.559254154 meters 0.035307378949079156 Centerline is valid? [True, True] Translation: X:277.87, Y:1.41, Z:1.19 [[ 9.97396851e-01 -7.14615747e-02 -9.63141526e-03 2.77865762e+02] [ 7.14642164e-02 9.97443162e-01 -7.00454182e-05 1.40773605e+00] [ 9.61179484e-03 -6.18438465e-04 9.99953614e-01 1.18849895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.619254154 meters 0.03262313458335716 Centerline is valid? [True, True] Translation: X:277.93, Y:1.41, Z:1.19 [[ 9.97201767e-01 -7.42691508e-02 -8.52811994e-03 2.77926292e+02] [ 7.42713248e-02 9.97238069e-01 -6.19453207e-05 1.41398990e+00] [ 8.50916648e-03 -5.71622782e-04 9.99963633e-01 1.18990020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.679254154 meters 0.03713822615921771 Centerline is valid? [True, True] Translation: X:277.99, Y:1.41, Z:1.19 [[ 9.97114668e-01 -7.53131587e-02 -9.50090863e-03 2.77986888e+02] [ 7.53159111e-02 9.97159721e-01 -6.82699384e-05 1.41264339e+00] [ 9.47906502e-03 -6.47496632e-04 9.99954863e-01 1.18943367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.739254154 meters 0.031626984126335425 Centerline is valid? [True, True] Translation: X:278.05, Y:1.42, Z:1.19 [[ 9.97120500e-01 -7.50182256e-02 -1.10894033e-02 2.78048933e+02] [ 7.50219701e-02 9.97181878e-01 -7.85240325e-05 1.42429929e+00] [ 1.10640427e-02 -7.53650960e-04 9.99938508e-01 1.18908518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.799254154 meters 0.036090640013674666 Centerline is valid? [True, True] Translation: X:278.11, Y:1.42, Z:1.19 [[ 9.97191240e-01 -7.39808321e-02 -1.16819046e-02 2.78110379e+02] [ 7.39849255e-02 9.97259356e-01 -8.19636891e-05 1.42260895e+00] [ 1.16559524e-02 -7.82551367e-04 9.99931761e-01 1.18922283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.859254154 meters 0.03008378315801364 Centerline is valid? [True, True] Translation: X:278.17, Y:1.44, Z:1.19 [[ 9.97477917e-01 -6.98313641e-02 -1.27037574e-02 2.78171468e+02] [ 6.98358742e-02 9.97558491e-01 -8.87806590e-05 1.43696878e+00] [ 1.26789408e-02 -7.98621259e-04 9.99919300e-01 1.19046843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.919254154 meters 0.029464964128441788 Centerline is valid? [True, True] Translation: X:278.23, Y:1.44, Z:1.19 [[ 9.97884541e-01 -6.37500742e-02 -1.27425134e-02 2.78231351e+02] [ 6.37541182e-02 9.97965633e-01 -8.90135184e-05 1.44186613e+00] [ 1.27222651e-02 -7.23562492e-04 9.99918807e-01 1.19036732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.979254154 meters 0.021863930719596532 Centerline is valid? [True, True] Translation: X:278.29, Y:1.46, Z:1.19 [[ 9.98700285e-01 -4.94815394e-02 -1.22195878e-02 2.78291858e+02] [ 4.94841917e-02 9.98774903e-01 -8.53839336e-05 1.46087841e+00] [ 1.22088426e-02 -5.19403469e-04 9.99925334e-01 1.19189623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.039254154 meters 0.022415914419308857 Centerline is valid? [True, True] Translation: X:278.35, Y:1.46, Z:1.19 [[ 9.98961429e-01 -4.39297049e-02 -1.20931360e-02 2.78352009e+02] [ 4.39318962e-02 9.99034525e-01 -8.45112135e-05 1.46322080e+00] [ 1.20851729e-02 -4.46850952e-04 9.99926872e-01 1.19169835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.099254154 meters 0.016473921074243954 Centerline is valid? [True, True] Translation: X:278.41, Y:1.48, Z:1.19 [[ 9.99507696e-01 -2.96136441e-02 -1.03632464e-02 2.78412560e+02] [ 2.96144852e-02 9.99561392e-01 -7.23213190e-05 1.48008510e+00] [ 1.03608427e-02 -2.34616491e-04 9.99946298e-01 1.19463743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.159254154 meters 0.01534085980724488 Centerline is valid? [True, True] Translation: X:278.47, Y:1.49, Z:1.19 [[ 9.99704820e-01 -2.23575158e-02 -9.50860996e-03 2.78473583e+02] [ 2.23578982e-02 9.99750029e-01 -6.60993242e-05 1.48678696e+00] [ 9.50771090e-03 -1.46512720e-04 9.99954790e-01 1.19481565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.219254154 meters 0.015209605378388332 Centerline is valid? [True, True] Translation: X:278.53, Y:1.49, Z:1.19 [[ 9.99735157e-01 -2.09796045e-02 -9.45896453e-03 2.78533975e+02] [ 2.09799259e-02 9.99779895e-01 -6.52601460e-05 1.48796829e+00] [ 9.45825170e-03 -1.33205513e-04 9.99955261e-01 1.19481368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.279254154 meters 0.015495446928273733 Centerline is valid? [True, True] Translation: X:278.60, Y:1.49, Z:1.19 [[ 9.99694089e-01 -2.23456703e-02 -1.06018912e-02 2.78595600e+02] [ 2.23461567e-02 9.99750291e-01 -7.25930301e-05 1.48675276e+00] [ 1.06008659e-02 -1.64340699e-04 9.99943796e-01 1.19345267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.339254154 meters 0.015934134493023402 Centerline is valid? [True, True] Translation: X:278.66, Y:1.48, Z:1.19 [[ 9.99645000e-01 -2.41590413e-02 -1.12345283e-02 2.78657221e+02] [ 2.41597067e-02 9.99708109e-01 -7.65005650e-05 1.48439485e+00] [ 1.12330972e-02 -1.94949500e-04 9.99936888e-01 1.19289765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.399254154 meters 0.016623036779885927 Centerline is valid? [True, True] Translation: X:278.72, Y:1.48, Z:1.19 [[ 9.99600302e-01 -2.58798043e-02 -1.13785507e-02 2.78718490e+02] [ 2.58806046e-02 9.99665038e-01 -7.69352234e-05 1.48160707e+00] [ 1.13767304e-02 -2.17579299e-04 9.99935259e-01 1.19334962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.459254154 meters 0.017435223296333614 Centerline is valid? [True, True] Translation: X:278.78, Y:1.48, Z:1.19 [[ 9.99562880e-01 -2.71633478e-02 -1.16705470e-02 2.78779197e+02] [ 2.71642815e-02 9.99630980e-01 -7.85333381e-05 1.47672758e+00] [ 1.16683735e-02 -2.38523014e-04 9.99931894e-01 1.19269790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.519254154 meters 0.01831823629356685 Centerline is valid? [True, True] Translation: X:278.84, Y:1.47, Z:1.19 [[ 9.99504721e-01 -2.92093243e-02 -1.17102024e-02 2.78840452e+02] [ 2.92104086e-02 9.99573282e-01 -7.84686845e-05 1.47309248e+00] [ 1.17074975e-02 -2.63629977e-04 9.99931430e-01 1.19290759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.579254154 meters 0.018584199722278618 Centerline is valid? [True, True] Translation: X:278.90, Y:1.47, Z:1.19 [[ 9.99340859e-01 -3.45245047e-02 -1.12208042e-02 2.78901573e+02] [ 3.45258380e-02 9.99403803e-01 -7.49192492e-05 1.46940114e+00] [ 1.12167010e-02 -3.12537803e-04 9.99937042e-01 1.19419956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.639254154 meters 0.021579524397694366 Centerline is valid? [True, True] Translation: X:278.96, Y:1.46, Z:1.19 [[ 9.99050194e-01 -4.18210888e-02 -1.22354193e-02 2.78961011e+02] [ 4.18232249e-02 9.99125023e-01 -8.13464729e-05 1.46236771e+00] [ 1.22281156e-02 -4.30455483e-04 9.99925141e-01 1.19382501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.699254154 meters 0.025029639301241226 Centerline is valid? [True, True] Translation: X:279.02, Y:1.45, Z:1.19 [[ 9.98655604e-01 -5.01636790e-02 -1.30609943e-02 2.79021562e+02] [ 5.01668276e-02 9.98740848e-01 -8.66546437e-05 1.45466140e+00] [ 1.30488955e-02 -5.68690505e-04 9.99914698e-01 1.19367112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.759254154 meters 0.025768594542005443 Centerline is valid? [True, True] Translation: X:279.08, Y:1.45, Z:1.19 [[ 9.98381703e-01 -5.52759670e-02 -1.33619532e-02 2.79082745e+02] [ 5.52797225e-02 9.98470903e-01 -8.83975121e-05 1.45283782e+00] [ 1.33464078e-02 -6.50390607e-04 9.99910721e-01 1.19420980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.819254154 meters 0.029941783981737805 Centerline is valid? [True, True] Translation: X:279.14, Y:1.45, Z:1.19 [[ 9.98115604e-01 -5.98770671e-02 -1.34155966e-02 2.79142194e+02] [ 5.98812675e-02 9.98205503e-01 -8.87356708e-05 1.44682010e+00] [ 1.33968356e-02 -7.14774470e-04 9.99910003e-01 1.19444240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.879254154 meters 0.027912601345649712 Centerline is valid? [True, True] Translation: X:279.20, Y:1.45, Z:1.20 [[ 9.98139315e-01 -5.94428761e-02 -1.35813586e-02 2.79204245e+02] [ 5.94471492e-02 9.98231450e-01 -8.92155120e-05 1.45183762e+00] [ 1.35626425e-02 -7.18323543e-04 9.99907765e-01 1.19562337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.939254154 meters 0.025225004194397393 Centerline is valid? [True, True] Translation: X:279.26, Y:1.46, Z:1.20 [[ 9.98393766e-01 -5.48970513e-02 -1.40071745e-02 2.79264918e+02] [ 5.49011574e-02 9.98491790e-01 -9.15066798e-05 1.46026179e+00] [ 1.39910722e-02 -6.77650391e-04 9.99901891e-01 1.19662977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.99925415399997 meters 0.023831399471851297 Centerline is valid? [True, True] Translation: X:279.33, Y:1.47, Z:1.20 [[ 9.98643045e-01 -5.00703334e-02 -1.43189151e-02 2.79325655e+02] [ 5.00741328e-02 9.98745499e-01 -9.32803417e-05 1.46677604e+00] [ 1.43056225e-02 -6.23853490e-04 9.99897475e-01 1.19685385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.059254154 meters 0.02340892578997021 Centerline is valid? [True, True] Translation: X:279.39, Y:1.47, Z:1.20 [[ 9.98750483e-01 -4.77688038e-02 -1.46838047e-02 2.79387153e+02] [ 4.77725577e-02 9.98858235e-01 -9.52019022e-05 1.47061995e+00] [ 1.46715869e-02 -6.06399961e-04 9.99892183e-01 1.19683829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.119254154 meters 0.02387273920627021 Centerline is valid? [True, True] Translation: X:279.45, Y:1.47, Z:1.20 [[ 9.98864184e-01 -4.52185628e-02 -1.50207775e-02 2.79448117e+02] [ 4.52222113e-02 9.98976948e-01 -9.68434909e-05 1.47437590e+00] [ 1.50097896e-02 -5.82539278e-04 9.99887177e-01 1.19619623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.179254154 meters 0.021905633517318765 Centerline is valid? [True, True] Translation: X:279.51, Y:1.48, Z:1.20 [[ 9.99002832e-01 -4.18196087e-02 -1.56352838e-02 2.79510038e+02] [ 4.18231583e-02 9.99125024e-01 -1.00027579e-04 1.48168568e+00] [ 1.56257864e-02 -5.53989112e-04 9.99877756e-01 1.19635371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.239254154 meters 0.020078789432917854 Centerline is valid? [True, True] Translation: X:279.57, Y:1.49, Z:1.20 [[ 9.99104879e-01 -3.91775644e-02 -1.59549160e-02 2.79571200e+02] [ 3.91809348e-02 9.99232127e-01 -1.01404093e-04 1.48861853e+00] [ 1.59466374e-02 -5.23815198e-04 9.99872707e-01 1.19727460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.299254154 meters 0.018855248939092996 Centerline is valid? [True, True] Translation: X:279.63, Y:1.50, Z:1.20 [[ 9.99293610e-01 -3.45412239e-02 -1.48048652e-02 2.79632634e+02] [ 3.45436277e-02 9.99403186e-01 -9.34007980e-05 1.49663058e+00] [ 1.47992556e-02 -4.18078930e-04 9.99890398e-01 1.19842808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.359254154 meters 0.017403772124520857 Centerline is valid? [True, True] Translation: X:279.69, Y:1.50, Z:1.20 [[ 9.99432884e-01 -3.09583529e-02 -1.32473128e-02 2.79693738e+02] [ 3.09599700e-02 9.99520622e-01 -8.30412686e-05 1.50235710e+00] [ 1.32435331e-02 -3.27142231e-04 9.99912247e-01 1.20004878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.419254154 meters 0.016366916131420953 Centerline is valid? [True, True] Translation: X:279.75, Y:1.51, Z:1.20 [[ 9.99616124e-01 -2.53312031e-02 -1.12220536e-02 2.79754500e+02] [ 2.53320119e-02 9.99679091e-01 -7.00843840e-05 1.50949484e+00] [ 1.12202276e-02 -2.14219715e-04 9.99937028e-01 1.20167059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.479254154 meters 0.015613734336799162 Centerline is valid? [True, True] Translation: X:279.82, Y:1.51, Z:1.20 [[ 9.99688516e-01 -2.26962711e-02 -1.03802708e-02 2.79815568e+02] [ 2.26968242e-02 9.99742392e-01 -6.45330392e-05 1.51408573e+00] [ 1.03790614e-02 -1.71086243e-04 9.99946121e-01 1.20242041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.539254154 meters 0.01636105430910423 Centerline is valid? [True, True] Translation: X:279.88, Y:1.51, Z:1.20 [[ 9.99661251e-01 -2.35236884e-02 -1.11363995e-02 2.79877204e+02] [ 2.35243824e-02 9.99723261e-01 -6.86918249e-05 1.51214273e+00] [ 1.11349335e-02 -1.93308364e-04 9.99937986e-01 1.20083210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.599254154 meters 0.01730545172644942 Centerline is valid? [True, True] Translation: X:279.94, Y:1.51, Z:1.20 [[ 9.99528949e-01 -2.80557668e-02 -1.24399824e-02 2.79938663e+02] [ 2.80569905e-02 9.99606322e-01 -7.61756458e-05 1.50892742e+00] [ 1.24372222e-02 -2.72888706e-04 9.99922618e-01 1.19947378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.659254154 meters 0.018888705725915073 Centerline is valid? [True, True] Translation: X:280.00, Y:1.50, Z:1.20 [[ 9.99317325e-01 -3.45400034e-02 -1.31099894e-02 2.79999747e+02] [ 3.45419242e-02 9.99403246e-01 -7.99545655e-05 1.50378419e+00] [ 1.31049276e-02 -3.72944277e-04 9.99914057e-01 1.19860405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.719254154 meters 0.020259594326851635 Centerline is valid? [True, True] Translation: X:280.06, Y:1.50, Z:1.20 [[ 9.99166614e-01 -3.86631130e-02 -1.30858815e-02 2.80061404e+02] [ 3.86653851e-02 9.99252211e-01 -7.94146812e-05 1.49980775e+00] [ 1.30791664e-02 -4.26622149e-04 9.99914373e-01 1.19865235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.779254154 meters 0.02147874322239869 Centerline is valid? [True, True] Translation: X:280.12, Y:1.50, Z:1.20 [[ 9.98991865e-01 -4.31897834e-02 -1.22432200e-02 2.80122418e+02] [ 4.31921181e-02 9.99066782e-01 -7.37821696e-05 1.49696553e+00] [ 1.22349811e-02 -4.55102817e-04 9.99925046e-01 1.19906992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.839254154 meters 0.02364462828345614 Centerline is valid? [True, True] Translation: X:280.18, Y:1.49, Z:1.20 [[ 9.98898504e-01 -4.54941100e-02 -1.14919773e-02 2.80183003e+02] [ 4.54963244e-02 9.98964504e-01 -6.88029911e-05 1.49344515e+00] [ 1.14832075e-02 -4.54115523e-04 9.99933963e-01 1.19981798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.899254154 meters 0.02497631275928711 Centerline is valid? [True, True] Translation: X:280.24, Y:1.49, Z:1.20 [[ 9.98866068e-01 -4.63673570e-02 -1.08003387e-02 2.80244554e+02] [ 4.63693690e-02 9.98924360e-01 -6.41750120e-05 1.49141452e+00] [ 1.07916971e-02 -4.36702650e-04 9.99941673e-01 1.20016580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.959254154 meters 0.02423309399748229 Centerline is valid? [True, True] Translation: X:280.31, Y:1.49, Z:1.20 [[ 9.98853270e-01 -4.66304602e-02 -1.08510899e-02 2.80306531e+02] [ 4.66325142e-02 9.98912111e-01 -6.37854725e-05 1.49247993e+00] [ 1.08422595e-02 -4.42301277e-04 9.99941123e-01 1.20050762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.019254154 meters 0.023594940536188307 Centerline is valid? [True, True] Translation: X:280.37, Y:1.49, Z:1.20 [[ 9.98883654e-01 -4.59866539e-02 -1.08015519e-02 2.80369257e+02] [ 4.59886611e-02 9.98941960e-01 -6.26095232e-05 1.49407516e+00] [ 1.07930026e-02 -4.34209279e-04 9.99941660e-01 1.20025940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.079254154 meters 0.02302568334295498 Centerline is valid? [True, True] Translation: X:280.43, Y:1.50, Z:1.20 [[ 9.99051815e-01 -4.20290226e-02 -1.13592451e-02 2.80429809e+02] [ 4.20309945e-02 9.99116305e-01 -6.51809756e-05 1.49573044e+00] [ 1.13519465e-02 -4.12321197e-04 9.99935480e-01 1.20001206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.139254154 meters 0.021031283896807796 Centerline is valid? [True, True] Translation: X:280.49, Y:1.50, Z:1.20 [[ 9.99298813e-01 -3.56254581e-02 -1.15199431e-02 2.80489167e+02] [ 3.56270615e-02 9.99365153e-01 -6.60678163e-05 1.49971513e+00] [ 1.15149834e-02 -3.44400230e-04 9.99933641e-01 1.20019671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.199254154 meters 0.018031942816054847 Centerline is valid? [True, True] Translation: X:280.55, Y:1.51, Z:1.20 [[ 9.99471704e-01 -3.04330466e-02 -1.14080448e-02 2.80550926e+02] [ 3.04342844e-02 9.99536768e-01 -6.51195003e-05 1.50646436e+00] [ 1.14047420e-02 -2.82110582e-04 9.99934924e-01 1.20136543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.259254154 meters 0.018071530347962744 Centerline is valid? [True, True] Translation: X:280.61, Y:1.51, Z:1.20 [[ 9.99630918e-01 -2.43027876e-02 -1.21408977e-02 2.80611566e+02] [ 2.43037441e-02 9.99704618e-01 -6.87705140e-05 1.50814635e+00] [ 1.21389828e-02 -2.26324139e-04 9.99926294e-01 1.19968535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.319254154 meters 0.016691519126801807 Centerline is valid? [True, True] Translation: X:280.67, Y:1.51, Z:1.20 [[ 9.99650816e-01 -2.24573286e-02 -1.39252972e-02 2.80673207e+02] [ 2.24584151e-02 9.99747775e-01 -7.83636977e-05 1.51159155e+00] [ 1.39235448e-02 -2.34403771e-04 9.99903035e-01 1.19946150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.379254154 meters 0.016469738049748602 Centerline is valid? [True, True] Translation: X:280.73, Y:1.51, Z:1.20 [[ 9.99605482e-01 -2.40633678e-02 -1.44856450e-02 2.80733272e+02] [ 2.40647119e-02 9.99710400e-01 -8.15395570e-05 1.51106723e+00] [ 1.44834121e-02 -2.67085486e-04 9.99895074e-01 1.19991218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.439254154 meters 0.017320807745606088 Centerline is valid? [True, True] Translation: X:280.79, Y:1.51, Z:1.20 [[ 9.99487562e-01 -2.87432793e-02 -1.40867461e-02 2.80793545e+02] [ 2.87450138e-02 9.99586774e-01 -7.93717848e-05 1.50792745e+00] [ 1.40832065e-02 -3.25592598e-04 9.99900774e-01 1.20149275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.49925415399997 meters 0.019087275538791047 Centerline is valid? [True, True] Translation: X:280.86, Y:1.50, Z:1.20 [[ 9.99325149e-01 -3.47291844e-02 -1.19637190e-02 2.80855031e+02] [ 3.47308672e-02 9.99396699e-01 -6.71365289e-05 1.50276935e+00] [ 1.19588329e-02 -3.48419114e-04 9.99928430e-01 1.20303919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.559254154 meters 0.022620813781021595 Centerline is valid? [True, True] Translation: X:280.92, Y:1.50, Z:1.20 [[ 9.99194823e-01 -3.85555626e-02 -1.10984114e-02 2.80915588e+02] [ 3.85572495e-02 9.99256391e-01 -6.20142076e-05 1.49708125e+00] [ 1.10925495e-02 -3.65959942e-04 9.99938409e-01 1.20225544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.619254154 meters 0.023041696037897207 Centerline is valid? [True, True] Translation: X:280.98, Y:1.49, Z:1.20 [[ 9.98908748e-01 -4.55958746e-02 -1.01157515e-02 2.80976500e+02] [ 4.55976373e-02 9.98959885e-01 -5.64290407e-05 1.49344902e+00] [ 1.01078029e-02 -4.04886907e-04 9.99948833e-01 1.20435142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.679254154 meters 0.027255872106093173 Centerline is valid? [True, True] Translation: X:281.04, Y:1.49, Z:1.20 [[ 9.98497192e-01 -5.39026154e-02 -9.89274637e-03 2.81037062e+02] [ 5.39047087e-02 9.98546083e-01 -5.51159988e-05 1.48567245e+00] [ 9.88133403e-03 -4.78232441e-04 9.99951064e-01 1.20464913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.739254154 meters 0.031185143029260506 Centerline is valid? [True, True] Translation: X:281.10, Y:1.48, Z:1.20 [[ 9.98108248e-01 -6.04641813e-02 -1.11358728e-02 2.81098235e+02] [ 6.04672434e-02 9.98170180e-01 -6.18223058e-05 1.47875328e+00] [ 1.11192341e-02 -6.11650174e-04 9.99937992e-01 1.20373031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.799254154 meters 0.03363743454249258 Centerline is valid? [True, True] Translation: X:281.16, Y:1.47, Z:1.20 [[ 9.97926916e-01 -6.33820995e-02 -1.11615098e-02 2.81159664e+02] [ 6.33853614e-02 9.97989124e-01 -6.16171481e-05 1.47439590e+00] [ 1.11429708e-02 -6.45986924e-04 9.99937707e-01 1.20341856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.859254154 meters 0.03159552101379286 Centerline is valid? [True, True] Translation: X:281.22, Y:1.48, Z:1.20 [[ 9.97776070e-01 -6.55156783e-02 -1.22723558e-02 2.81220472e+02] [ 6.55197864e-02 9.97851268e-01 -6.74399928e-05 1.47761183e+00] [ 1.22504042e-02 -7.36792121e-04 9.99924690e-01 1.20316014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.919254154 meters 0.03124897231843353 Centerline is valid? [True, True] Translation: X:281.28, Y:1.48, Z:1.20 [[ 9.97819396e-01 -6.46916523e-02 -1.30936462e-02 2.81283074e+02] [ 6.46962675e-02 9.97904999e-01 -7.12348339e-05 1.47870107e+00] [ 1.30708233e-02 -7.76030541e-04 9.99914272e-01 1.20256226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.979254154 meters 0.028465299630466356 Centerline is valid? [True, True] Translation: X:281.34, Y:1.48, Z:1.20 [[ 9.97993230e-01 -6.18013452e-02 -1.37879307e-02 2.81344639e+02] [ 6.18061997e-02 9.98088167e-01 -7.41528594e-05 1.48437903e+00] [ 1.37661532e-02 -7.78175549e-04 9.99904939e-01 1.20358544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.039254154 meters 0.035119209337254875 Centerline is valid? [True, True] Translation: X:281.40, Y:1.48, Z:1.20 [[ 9.98227168e-01 -5.78871143e-02 -1.38420908e-02 2.81404889e+02] [ 5.78916352e-02 9.98322870e-01 -7.41987530e-05 1.47796309e+00] [ 1.38231710e-02 -7.27274059e-04 9.99904191e-01 1.20232156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.099254154 meters 0.02262976121539009 Centerline is valid? [True, True] Translation: X:281.47, Y:1.50, Z:1.21 [[ 9.98726265e-01 -4.88330317e-02 -1.26957330e-02 2.81465628e+02] [ 4.88361060e-02 9.98806803e-01 -6.79412325e-05 1.49946029e+00] [ 1.26839022e-02 -5.52155467e-04 9.99919404e-01 1.20611340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.159254154 meters 0.01959539870970793 Centerline is valid? [True, True] Translation: X:281.53, Y:1.51, Z:1.21 [[ 9.99231130e-01 -3.75296233e-02 -1.13435948e-02 2.81526627e+02] [ 3.75313518e-02 9.99295449e-01 -6.05365320e-05 1.50911324e+00] [ 1.13378745e-02 -3.65250459e-04 9.99935658e-01 1.20741108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.219254154 meters 0.016722743051138984 Centerline is valid? [True, True] Translation: X:281.59, Y:1.52, Z:1.21 [[ 9.99586490e-01 -2.64176478e-02 -1.13559332e-02 2.81587506e+02] [ 2.64186642e-02 9.99650964e-01 -6.05201737e-05 1.51860877e+00] [ 1.13535684e-02 -2.39513439e-04 9.99935517e-01 1.20792724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.279254154 meters 0.015716369176585844 Centerline is valid? [True, True] Translation: X:281.65, Y:1.52, Z:1.21 [[ 9.99705989e-01 -2.08933741e-02 -1.23045560e-02 2.81648663e+02] [ 2.08941528e-02 9.99781691e-01 -6.52783746e-05 1.52320875e+00] [ 1.23032337e-02 -1.91834091e-04 9.99924294e-01 1.20748131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.339254154 meters 0.015230862562269963 Centerline is valid? [True, True] Translation: X:281.71, Y:1.53, Z:1.21 [[ 9.99778141e-01 -1.69448797e-02 -1.25115578e-02 2.81709523e+02] [ 1.69453777e-02 9.99856415e-01 -6.62116641e-05 1.52582597e+00] [ 1.25108833e-02 -1.45816098e-04 9.99921725e-01 1.20688991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.399254154 meters 0.01527898706418284 Centerline is valid? [True, True] Translation: X:281.77, Y:1.53, Z:1.21 [[ 9.99771458e-01 -1.73995766e-02 -1.24211784e-02 2.81768103e+02] [ 1.74000973e-02 9.99848605e-01 -6.61624180e-05 1.52530873e+00] [ 1.24204491e-02 -1.49982415e-04 9.99922852e-01 1.20678953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.459254154 meters 0.015470557230727868 Centerline is valid? [True, True] Translation: X:281.83, Y:1.52, Z:1.21 [[ 9.99735756e-01 -1.99774955e-02 -1.13718071e-02 2.81827967e+02] [ 1.99780932e-02 9.99800416e-01 -6.10427640e-05 1.52344922e+00] [ 1.13707570e-02 -1.66160389e-04 9.99935337e-01 1.20704740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.519254154 meters 0.016064044686568423 Centerline is valid? [True, True] Translation: X:281.89, Y:1.52, Z:1.21 [[ 9.99682317e-01 -2.29059696e-02 -1.05157512e-02 2.81888257e+02] [ 2.29066411e-02 9.99737607e-01 -5.65960454e-05 1.52079630e+00] [ 1.05142883e-02 -1.84302473e-04 9.99944706e-01 1.20754135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.579254154 meters 0.017725729842311237 Centerline is valid? [True, True] Translation: X:281.95, Y:1.51, Z:1.21 [[ 9.99511929e-01 -3.00868928e-02 -8.40730301e-03 2.81949578e+02] [ 3.00875771e-02 9.99547265e-01 -4.51029561e-05 1.51429106e+00] [ 8.40485374e-03 -2.07874435e-04 9.99964657e-01 1.20802411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.639254154 meters 0.01940772354461927 Centerline is valid? [True, True] Translation: X:282.01, Y:1.51, Z:1.21 [[ 9.99277645e-01 -3.73156388e-02 -7.19237877e-03 2.82010730e+02] [ 3.73163280e-02 9.99303503e-01 -3.83968642e-05 1.50874517e+00] [ 7.18880210e-03 -2.30024037e-04 9.99974134e-01 1.20817289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.699254154 meters 0.025294372012142442 Centerline is valid? [True, True] Translation: X:282.07, Y:1.50, Z:1.21 [[ 9.98760428e-01 -4.93353597e-02 -6.60531745e-03 2.82071553e+02] [ 4.93362041e-02 9.98782227e-01 -3.51556347e-05 1.49704142e+00] [ 6.59900810e-03 -2.90769233e-04 9.99978184e-01 1.20547997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.759254154 meters 0.02751096253712713 Centerline is valid? [True, True] Translation: X:282.13, Y:1.49, Z:1.21 [[ 9.98108680e-01 -6.10802887e-02 -6.94697420e-03 2.82132046e+02] [ 6.10815067e-02 9.98132781e-01 -3.68959462e-05 1.48780763e+00] [ 6.93625630e-03 -3.87505487e-04 9.99975869e-01 1.20627839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.819254154 meters 0.03147848862299163 Centerline is valid? [True, True] Translation: X:282.19, Y:1.48, Z:1.21 [[ 9.97794119e-01 -6.59724988e-02 -7.38419060e-03 2.82191844e+02] [ 6.59740090e-02 9.97821341e-01 -3.91490593e-05 1.47998752e+00] [ 7.37068572e-03 -4.48101955e-04 9.99972736e-01 1.20581646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.879254154 meters 0.03372507747066186 Centerline is valid? [True, True] Translation: X:282.25, Y:1.48, Z:1.21 [[ 9.97649334e-01 -6.81368886e-02 -7.29182933e-03 2.82252997e+02] [ 6.81384197e-02 9.97675876e-01 -3.85346103e-05 1.47551632e+00] [ 7.27750785e-03 -4.58409699e-04 9.99973414e-01 1.20571663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.939254154 meters 0.0342843012262589 Centerline is valid? [True, True] Translation: X:282.32, Y:1.47, Z:1.21 [[ 9.97672428e-01 -6.77268932e-02 -7.92427698e-03 2.82315418e+02] [ 6.77286912e-02 9.97703775e-01 -4.15405353e-05 1.47420402e+00] [ 7.90889447e-03 -4.95257062e-04 9.99968602e-01 1.20583012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.99925415399997 meters 0.032745635335275344 Centerline is valid? [True, True] Translation: X:282.38, Y:1.48, Z:1.20 [[ 9.97763109e-01 -6.62493215e-02 -8.93334964e-03 2.82377246e+02] [ 6.62515536e-02 9.97802951e-01 -4.61547487e-05 1.47655779e+00] [ 8.91678036e-03 -5.45796787e-04 9.99960096e-01 1.20493470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.059254154 meters 0.03293564778402341 Centerline is valid? [True, True] Translation: X:282.44, Y:1.48, Z:1.20 [[ 9.97897556e-01 -6.37711124e-02 -1.15633893e-02 2.82437407e+02] [ 6.37746929e-02 9.97964321e-01 -5.92094874e-05 1.47703417e+00] [ 1.15436258e-02 -6.78366599e-04 9.99933140e-01 1.20299173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.119254154 meters 0.028819888692339996 Centerline is valid? [True, True] Translation: X:282.50, Y:1.48, Z:1.20 [[ 9.98069382e-01 -6.07197744e-02 -1.30620857e-02 2.82499278e+02] [ 6.07240901e-02 9.98154587e-01 -6.63178760e-05 1.48467679e+00] [ 1.30420076e-02 -7.26993429e-04 9.99914685e-01 1.20291928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.179254154 meters 0.028492406861490908 Centerline is valid? [True, True] Translation: X:282.56, Y:1.49, Z:1.20 [[ 9.98272461e-01 -5.72672918e-02 -1.31358693e-02 2.82560485e+02] [ 5.72713637e-02 9.98358646e-01 -6.62913531e-05 1.48789727e+00] [ 1.31181050e-02 -6.86132314e-04 9.99913719e-01 1.20286577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.239254154 meters 0.026227025289163517 Centerline is valid? [True, True] Translation: X:282.62, Y:1.49, Z:1.21 [[ 9.98740506e-01 -4.87941059e-02 -1.16848582e-02 2.82619721e+02] [ 4.87967481e-02 9.98808727e-01 -5.90397576e-05 1.49449830e+00] [ 1.16738191e-02 -5.11217685e-04 9.99931728e-01 1.20543726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.299254154 meters 0.0190873340904763 Centerline is valid? [True, True] Translation: X:282.68, Y:1.51, Z:1.21 [[ 9.99270989e-01 -3.67751793e-02 -1.02506817e-02 2.82680168e+02] [ 3.67765800e-02 9.99323511e-01 -5.18786777e-05 1.51068800e+00] [ 1.02456550e-02 -3.25144157e-04 9.99947459e-01 1.20829081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.359254154 meters 0.017653748808748405 Centerline is valid? [True, True] Translation: X:282.74, Y:1.52, Z:1.21 [[ 9.99548914e-01 -2.83464118e-02 -9.92213180e-03 2.82739968e+02] [ 2.83473091e-02 9.99598133e-01 -5.02233470e-05 1.51698802e+00] [ 9.91956808e-03 -2.31065045e-04 9.99950773e-01 1.20916654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.419254154 meters 0.015502268759711897 Centerline is valid? [True, True] Translation: X:282.80, Y:1.53, Z:1.21 [[ 9.99744862e-01 -1.97939565e-02 -1.08816122e-02 2.82800821e+02] [ 1.97945305e-02 9.99804068e-01 -5.49559343e-05 1.52595626e+00] [ 1.08805679e-02 -1.60454491e-04 9.99940792e-01 1.20958128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.479254154 meters 0.015215637987965405 Centerline is valid? [True, True] Translation: X:282.86, Y:1.53, Z:1.21 [[ 9.99763279e-01 -1.79465461e-02 -1.23007402e-02 2.82862140e+02] [ 1.79471446e-02 9.99838935e-01 -6.17355431e-05 1.52891537e+00] [ 1.22998669e-02 -1.59042234e-04 9.99924341e-01 1.20905202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.539254154 meters 0.015958309216264385 Centerline is valid? [True, True] Translation: X:282.92, Y:1.53, Z:1.21 [[ 9.99712896e-01 -2.02292446e-02 -1.28414352e-02 2.82921557e+02] [ 2.02300867e-02 9.99795349e-01 -6.43304527e-05 1.52737701e+00] [ 1.28401085e-02 -1.95471365e-04 9.99917543e-01 1.20784721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.599254154 meters 0.016686058051170793 Centerline is valid? [True, True] Translation: X:282.98, Y:1.52, Z:1.21 [[ 9.99591663e-01 -2.54020469e-02 -1.30859886e-02 2.82982208e+02] [ 2.54033640e-02 9.99677280e-01 -6.55827874e-05 1.52489807e+00] [ 1.30834314e-02 -2.66872124e-04 9.99914373e-01 1.20927894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.659254154 meters 0.017754232891393135 Centerline is valid? [True, True] Translation: X:283.04, Y:1.52, Z:1.21 [[ 9.99481977e-01 -2.95170171e-02 -1.28266884e-02 2.83043687e+02] [ 2.95186252e-02 9.99564228e-01 -6.39767983e-05 1.52324118e+00] [ 1.28229873e-02 -3.14682550e-04 9.99917733e-01 1.20992740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.719254154 meters 0.019774514084679045 Centerline is valid? [True, True] Translation: X:283.11, Y:1.52, Z:1.21 [[ 9.99268110e-01 -3.61960463e-02 -1.23729806e-02 2.83105146e+02] [ 3.61980596e-02 9.99344634e-01 -6.12706203e-05 1.51862322e+00] [ 1.23670895e-02 -3.86652110e-04 9.99923450e-01 1.21089650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.779254154 meters 0.0210057593296324 Centerline is valid? [True, True] Translation: X:283.17, Y:1.52, Z:1.21 [[ 9.98946696e-01 -4.41542331e-02 -1.24860567e-02 2.83165263e+02] [ 4.41569063e-02 9.99024606e-01 -6.16423681e-05 1.51511691e+00] [ 1.24765996e-02 -4.89768195e-04 9.99922044e-01 1.21182572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.839254154 meters 0.02387006197814791 Centerline is valid? [True, True] Translation: X:283.23, Y:1.51, Z:1.21 [[ 9.98639898e-01 -5.04455467e-02 -1.31757423e-02 2.83225367e+02] [ 5.04490704e-02 9.98726633e-01 -6.49999737e-05 1.50955232e+00] [ 1.31622437e-02 -5.99792382e-04 9.99913194e-01 1.21146355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.899254154 meters 0.03135545175154223 Centerline is valid? [True, True] Translation: X:283.29, Y:1.50, Z:1.21 [[ 9.98177843e-01 -5.88320765e-02 -1.34082459e-02 2.83285716e+02] [ 5.88364848e-02 9.98267631e-01 -6.57921482e-05 1.49696187e+00] [ 1.33888886e-02 -7.23221793e-04 9.99910103e-01 1.21040284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.959254154 meters 0.03120087475628529 Centerline is valid? [True, True] Translation: X:283.35, Y:1.50, Z:1.21 [[ 9.97940575e-01 -6.24870962e-02 -1.44903835e-02 2.83347032e+02] [ 6.24926368e-02 9.98045422e-01 -7.05633385e-05 1.49768706e+00] [ 1.44664702e-02 -8.35124255e-04 9.99895006e-01 1.21122816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.019254154 meters 0.028534269894590007 Centerline is valid? [True, True] Translation: X:283.41, Y:1.50, Z:1.21 [[ 9.97964259e-01 -6.20224225e-02 -1.48511754e-02 2.83409592e+02] [ 6.20282050e-02 9.98074394e-01 -7.13832839e-05 1.50291868e+00] [ 1.48270052e-02 -8.49953785e-04 9.99889713e-01 1.21254899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.079254154 meters 0.02625941848612807 Centerline is valid? [True, True] Translation: X:283.47, Y:1.51, Z:1.21 [[ 9.98221793e-01 -5.78037090e-02 -1.45596738e-02 2.83470355e+02] [ 5.78088267e-02 9.98327669e-01 -6.94719591e-05 1.50900569e+00] [ 1.45393410e-02 -7.72329237e-04 9.99894000e-01 1.21400147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.139254154 meters 0.026261074078940867 Centerline is valid? [True, True] Translation: X:283.53, Y:1.51, Z:1.21 [[ 9.98457829e-01 -5.33171946e-02 -1.54673980e-02 2.83530574e+02] [ 5.33224347e-02 9.98577344e-01 -7.37158634e-05 1.51163620e+00] [ 1.54493236e-02 -7.51157141e-04 9.99880370e-01 1.21342839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.199254154 meters 0.023646425025781015 Centerline is valid? [True, True] Translation: X:283.59, Y:1.52, Z:1.21 [[ 9.98812526e-01 -4.53064621e-02 -1.79126137e-02 2.83590788e+02] [ 4.53122043e-02 9.98972871e-01 -8.53723424e-05 1.52053512e+00] [ 1.78980831e-02 -7.26389046e-04 9.99839553e-01 1.21248167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.259254154 meters 0.021324241380864976 Centerline is valid? [True, True] Translation: X:283.65, Y:1.53, Z:1.21 [[ 9.99129195e-01 -3.69207239e-02 -1.94348048e-02 2.83650605e+02] [ 3.69258944e-02 9.99318002e-01 -9.28678922e-05 1.52884908e+00] [ 1.94249791e-02 -6.24860528e-04 9.99811122e-01 1.21175062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.319254154 meters 0.01981770219753125 Centerline is valid? [True, True] Translation: X:283.71, Y:1.53, Z:1.21 [[ 9.99320485e-01 -3.10659487e-02 -1.98361910e-02 2.83710461e+02] [ 3.10701811e-02 9.99517201e-01 -9.48575090e-05 1.53438535e+00] [ 1.98295609e-02 -5.21520993e-04 9.99803239e-01 1.21220485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.379254154 meters 0.01632406134114905 Centerline is valid? [True, True] Translation: X:283.77, Y:1.55, Z:1.22 [[ 9.99577977e-01 -2.19291052e-02 -1.90520882e-02 2.83770362e+02] [ 2.19313378e-02 9.99759475e-01 -9.17705938e-05 1.54641679e+00] [ 1.90495181e-02 -3.26105917e-04 9.99818488e-01 1.21633622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.439254154 meters 0.015061314270218553 Centerline is valid? [True, True] Translation: X:283.83, Y:1.55, Z:1.22 [[ 9.99756676e-01 -1.38776915e-02 -1.71464000e-02 2.83829843e+02] [ 1.38783045e-02 9.99903688e-01 -8.32448921e-05 1.55393329e+00] [ 1.71459039e-02 -1.54738323e-04 9.99852986e-01 1.21942808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.49925415399997 meters 0.014825561363080745 Centerline is valid? [True, True] Translation: X:283.89, Y:1.56, Z:1.22 [[ 9.99815787e-01 -1.02905098e-02 -1.62017716e-02 2.83889074e+02] [ 1.02905376e-02 9.99947048e-01 -8.16540148e-05 1.55548785e+00] [ 1.62017540e-02 -8.50859675e-05 9.99868739e-01 1.21979888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.559254154 meters 0.015431175640283176 Centerline is valid? [True, True] Translation: X:283.95, Y:1.55, Z:1.22 [[ 9.99796065e-01 -1.05827608e-02 -1.71997971e-02 2.83948054e+02] [ 1.05827596e-02 9.99943997e-01 -9.10855585e-05 1.55426255e+00] [ 1.71997978e-02 -9.09543352e-05 9.99852068e-01 1.21972352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.619254154 meters 0.015447865692573306 Centerline is valid? [True, True] Translation: X:284.01, Y:1.55, Z:1.22 [[ 9.99680974e-01 -1.72023988e-02 -1.84939972e-02 2.84005829e+02] [ 1.72034812e-02 9.99852004e-01 -1.00578525e-04 1.54844318e+00] [ 1.84929903e-02 -2.17614694e-04 9.99828966e-01 1.21848054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.679254154 meters 0.017864597013638236 Centerline is valid? [True, True] Translation: X:284.07, Y:1.54, Z:1.22 [[ 9.99523127e-01 -2.36088483e-02 -1.99032734e-02 2.84065229e+02] [ 2.36113403e-02 9.99721207e-01 -1.09815337e-04 1.54202525e+00] [ 1.99003171e-02 -3.60179992e-04 9.99801904e-01 1.21780942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.739254154 meters 0.019823831654905054 Centerline is valid? [True, True] Translation: X:284.12, Y:1.53, Z:1.22 [[ 9.99346893e-01 -3.06981742e-02 -1.90633245e-02 2.84123296e+02] [ 3.07017187e-02 9.99528585e-01 -1.06769551e-04 1.53194925e+00] [ 1.90576154e-02 -4.78577006e-04 9.99818273e-01 1.21635884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.799254154 meters 0.019364658594115625 Centerline is valid? [True, True] Translation: X:284.18, Y:1.53, Z:1.22 [[ 9.99107705e-01 -3.82103270e-02 -1.79934470e-02 2.84183410e+02] [ 3.82146904e-02 9.99269547e-01 -1.01395148e-04 1.53090872e+00] [ 1.79841780e-02 -5.86309334e-04 9.99838100e-01 1.22035700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.859254154 meters 0.01986160616503062 Centerline is valid? [True, True] Translation: X:284.25, Y:1.53, Z:1.22 [[ 9.99043143e-01 -3.96873359e-02 -1.83769844e-02 2.84245139e+02] [ 3.96921449e-02 9.99211951e-01 -1.03124419e-04 1.52969154e+00] [ 1.83665951e-02 -6.26396183e-04 9.99831124e-01 1.22042339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.919254154 meters 0.020324364134499395 Centerline is valid? [True, True] Translation: X:284.31, Y:1.53, Z:1.22 [[ 9.99061077e-01 -3.90707629e-02 -1.87200588e-02 2.84306352e+02] [ 3.90756580e-02 9.99236249e-01 -1.04364210e-04 1.52937398e+00] [ 1.87098390e-02 -6.27232396e-04 9.99824759e-01 1.22010355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.979254154 meters 0.019090610072881733 Centerline is valid? [True, True] Translation: X:284.37, Y:1.53, Z:1.22 [[ 9.99200710e-01 -3.53473841e-02 -1.86682462e-02 2.84366749e+02] [ 3.53516058e-02 9.99374931e-01 -1.03915940e-04 1.53194217e+00] [ 1.86602505e-02 -5.56119600e-04 9.99825728e-01 1.22118690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.039254154 meters 0.017112837206081827 Centerline is valid? [True, True] Translation: X:284.43, Y:1.54, Z:1.22 [[ 9.99394558e-01 -2.96132357e-02 -1.82639919e-02 2.84426959e+02] [ 2.96163196e-02 9.99561335e-01 -1.01665677e-04 1.53846884e+00] [ 1.82589908e-02 -4.39308096e-04 9.99833194e-01 1.22247941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.099254154 meters 0.01804226435029016 Centerline is valid? [True, True] Translation: X:284.49, Y:1.54, Z:1.22 [[ 9.99478498e-01 -2.53091723e-02 -2.00543564e-02 2.84487184e+02] [ 2.53120246e-02 9.99679593e-01 -1.11631659e-04 1.54185812e+00] [ 2.00507562e-02 -3.96042921e-04 9.99798885e-01 1.22182356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.159254154 meters 0.015348225681353057 Centerline is valid? [True, True] Translation: X:284.55, Y:1.55, Z:1.22 [[ 9.99619452e-01 -1.92082248e-02 -1.97988467e-02 2.84545272e+02] [ 1.92097862e-02 9.99815469e-01 -1.11333710e-04 1.54679615e+00] [ 1.97973317e-02 -2.69040269e-04 9.99803977e-01 1.22115754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.219254154 meters 0.015014358189071224 Centerline is valid? [True, True] Translation: X:284.60, Y:1.55, Z:1.22 [[ 9.99672913e-01 -1.56367780e-02 -2.02375584e-02 2.84603954e+02] [ 1.56375900e-02 9.99877718e-01 -1.18133746e-04 1.55066834e+00] [ 2.02369310e-02 -1.98371536e-04 9.99795193e-01 1.22104516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.279254154 meters 0.01481015306093777 Centerline is valid? [True, True] Translation: X:284.66, Y:1.55, Z:1.22 [[ 9.99722489e-01 -1.17156758e-02 -2.04374309e-02 2.84662288e+02] [ 1.17155786e-02 9.99931363e-01 -1.24488807e-04 1.55494650e+00] [ 2.04374866e-02 -1.14982069e-04 9.99791126e-01 1.22179419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.339254154 meters 0.017016444969740606 Centerline is valid? [True, True] Translation: X:284.72, Y:1.56, Z:1.22 [[ 9.99710302e-01 -1.05517474e-02 -2.16326840e-02 2.84720598e+02] [ 1.05513070e-02 9.99944324e-01 -1.34497048e-04 1.55573720e+00] [ 2.16328988e-02 -9.37950064e-05 9.99765977e-01 1.22103803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.399254154 meters 0.015579097379906771 Centerline is valid? [True, True] Translation: X:284.78, Y:1.56, Z:1.22 [[ 9.99707934e-01 -1.21741879e-02 -2.08766835e-02 2.84778407e+02] [ 1.21740221e-02 9.99925885e-01 -1.35037239e-04 1.55626311e+00] [ 2.08767801e-02 -1.19155407e-04 9.99782049e-01 1.22252128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.459254154 meters 0.014789960588062558 Centerline is valid? [True, True] Translation: X:284.84, Y:1.55, Z:1.22 [[ 9.99681221e-01 -1.57742021e-02 -1.97137316e-02 2.84836328e+02] [ 1.57746417e-02 9.99875564e-01 -1.33210341e-04 1.55399197e+00] [ 1.97133798e-02 -1.77809176e-04 9.99805657e-01 1.22345441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.519254154 meters 0.015542501386409559 Centerline is valid? [True, True] Translation: X:284.89, Y:1.55, Z:1.22 [[ 9.99617195e-01 -2.02096507e-02 -1.88953354e-02 2.84893910e+02] [ 2.02107989e-02 9.99795732e-01 -1.30210374e-04 1.54968668e+00] [ 1.88941072e-02 -2.51729296e-04 9.99821459e-01 1.22406280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.579254154 meters 0.016005570794210038 Centerline is valid? [True, True] Translation: X:284.95, Y:1.55, Z:1.23 [[ 9.99580851e-01 -2.28486824e-02 -1.77780891e-02 2.84952469e+02] [ 2.28500485e-02 9.99738896e-01 -1.26313930e-04 1.54813088e+00] [ 1.77763332e-02 -2.79969212e-04 9.99841949e-01 1.22602065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.639254154 meters 0.018314544398516125 Centerline is valid? [True, True] Translation: X:285.01, Y:1.54, Z:1.23 [[ 9.99528376e-01 -2.57504186e-02 -1.67314469e-02 2.85011203e+02] [ 2.57519638e-02 9.99668356e-01 -1.23126946e-04 1.54442727e+00] [ 1.67290686e-02 -3.07798739e-04 9.99860012e-01 1.22667819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.699254154 meters 0.019201494178086302 Centerline is valid? [True, True] Translation: X:285.07, Y:1.54, Z:1.23 [[ 9.99554093e-01 -2.60160413e-02 -1.46554112e-02 2.85071401e+02] [ 2.60172407e-02 9.99661488e-01 -1.08845732e-04 1.54066797e+00] [ 1.46532819e-02 -2.72496163e-04 9.99892598e-01 1.22632346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.759254154 meters 0.02006576076851183 Centerline is valid? [True, True] Translation: X:285.13, Y:1.54, Z:1.23 [[ 9.99603860e-01 -2.47583905e-02 -1.33845065e-02 2.85132740e+02] [ 2.47592825e-02 9.99693437e-01 -9.90753572e-05 1.53870488e+00] [ 1.33828563e-02 -2.32354669e-04 9.99910419e-01 1.22612819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.819254154 meters 0.02039512474469897 Centerline is valid? [True, True] Translation: X:285.19, Y:1.54, Z:1.23 [[ 9.99703995e-01 -2.09728102e-02 -1.23313988e-02 2.85193804e+02] [ 2.09732807e-02 9.99780032e-01 -9.11780917e-05 1.53906927e+00] [ 1.23305985e-02 -1.67478785e-04 9.99923961e-01 1.22588709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.879254154 meters 0.020481654434596278 Centerline is valid? [True, True] Translation: X:285.25, Y:1.54, Z:1.23 [[ 9.99760624e-01 -1.79285430e-02 -1.25404479e-02 2.85254022e+02] [ 1.79287917e-02 9.99839262e-01 -9.25998239e-05 1.53819207e+00] [ 1.25400923e-02 -1.32257420e-04 9.99921361e-01 1.22538767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.939254154 meters 0.02022122244136509 Centerline is valid? [True, True] Translation: X:285.31, Y:1.54, Z:1.23 [[ 9.99837539e-01 -1.40152795e-02 -1.13343493e-02 2.85314211e+02] [ 1.40152260e-02 9.99901778e-01 -8.41553523e-05 1.53589009e+00] [ 1.13344155e-02 -7.47117867e-05 9.99935761e-01 1.22548079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.99925415399997 meters 0.020087444480965364 Centerline is valid? [True, True] Translation: X:285.37, Y:1.53, Z:1.23 [[ 9.99865909e-01 -1.22862065e-02 -1.08265273e-02 2.85373608e+02] [ 1.22860502e-02 9.99924520e-01 -8.09448736e-05 1.53269947e+00] [ 1.08267046e-02 -5.20812379e-05 9.99941388e-01 1.22567362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.059254154 meters 0.02014306591432127 Centerline is valid? [True, True] Translation: X:285.43, Y:1.53, Z:1.22 [[ 9.99839338e-01 -1.35149929e-02 -1.17747162e-02 2.85432160e+02] [ 1.35148691e-02 9.99908666e-01 -9.00865302e-05 1.52850111e+00] [ 1.17748583e-02 -6.90616911e-05 9.99930672e-01 1.22492290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.119254154 meters 0.020345922820315544 Centerline is valid? [True, True] Translation: X:285.49, Y:1.52, Z:1.22 [[ 9.99757970e-01 -1.81772530e-02 -1.23931126e-02 2.85489946e+02] [ 1.81774505e-02 9.99834772e-01 -9.67112705e-05 1.51789264e+00] [ 1.23928229e-02 -1.28587328e-04 9.99923198e-01 1.22328689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.179254154 meters 0.022606861742005144 Centerline is valid? [True, True] Translation: X:285.55, Y:1.51, Z:1.22 [[ 9.99669138e-01 -2.27849333e-02 -1.19356861e-02 2.85549577e+02] [ 2.27854372e-02 9.99740374e-01 -9.37853313e-05 1.50892167e+00] [ 1.19347242e-02 -1.78205525e-04 9.99928763e-01 1.22456907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.239254154 meters 0.02063556726518568 Centerline is valid? [True, True] Translation: X:285.61, Y:1.51, Z:1.23 [[ 9.99625947e-01 -2.47459742e-02 -1.16448239e-02 2.85609893e+02] [ 2.47465851e-02 9.99693752e-01 -9.16508050e-05 1.50531448e+00] [ 1.16435257e-02 -1.96553103e-04 9.99932193e-01 1.22637699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.299254154 meters 0.02076726514117597 Centerline is valid? [True, True] Translation: X:285.67, Y:1.50, Z:1.23 [[ 9.99604510e-01 -2.59434823e-02 -1.08517265e-02 2.85671759e+02] [ 2.59440859e-02 9.99663392e-01 -8.51685137e-05 1.49885365e+00] [ 1.08502833e-02 -1.96403295e-04 9.99941115e-01 1.22645649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.359254154 meters 0.0208152384616028 Centerline is valid? [True, True] Translation: X:285.73, Y:1.49, Z:1.23 [[ 9.99613110e-01 -2.58922522e-02 -1.01598286e-02 2.85732871e+02] [ 2.58927823e-02 9.99664723e-01 -7.93726484e-05 1.49429154e+00] [ 1.01584774e-02 -1.83724292e-04 9.99948384e-01 1.22674481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.419254154 meters 0.020564830942626143 Centerline is valid? [True, True] Translation: X:285.79, Y:1.49, Z:1.23 [[ 9.99650573e-01 -2.47285084e-02 -9.33988215e-03 2.85793828e+02] [ 2.47289088e-02 9.99694191e-01 -7.26360095e-05 1.48927490e+00] [ 9.33882211e-03 -1.58354465e-04 9.99956380e-01 1.22746859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.479254154 meters 0.02054313438957278 Centerline is valid? [True, True] Translation: X:285.85, Y:1.48, Z:1.23 [[ 9.99697534e-01 -2.26780736e-02 -9.51553448e-03 2.85854714e+02] [ 2.26783996e-02 9.99742809e-01 -7.36520311e-05 1.48379252e+00] [ 9.51475746e-03 -1.42167340e-04 9.99954724e-01 1.22657457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.539254154 meters 0.020261583408477783 Centerline is valid? [True, True] Translation: X:285.92, Y:1.48, Z:1.23 [[ 9.99715666e-01 -2.19231074e-02 -9.37898009e-03 2.85916267e+02] [ 2.19233941e-02 9.99759651e-01 -7.22598046e-05 1.48204594e+00] [ 9.37831002e-03 -1.33379818e-04 9.99956014e-01 1.22710863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.599254154 meters 0.01998050735006588 Centerline is valid? [True, True] Translation: X:285.98, Y:1.48, Z:1.23 [[ 9.99721224e-01 -2.16296789e-02 -9.46737243e-03 2.85977037e+02] [ 2.16299594e-02 9.99766042e-01 -7.27815785e-05 1.47782921e+00] [ 9.46673170e-03 -1.32017592e-04 9.99955181e-01 1.22709267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.659254154 meters 0.019848408027644978 Centerline is valid? [True, True] Translation: X:286.04, Y:1.48, Z:1.23 [[ 9.99708980e-01 -2.21366618e-02 -9.58766442e-03 2.86037722e+02] [ 2.21369727e-02 9.99754944e-01 -7.37063378e-05 1.47677007e+00] [ 9.58694652e-03 -1.38556978e-04 9.99954035e-01 1.22713950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.719254154 meters 0.020177729192369497 Centerline is valid? [True, True] Translation: X:286.10, Y:1.47, Z:1.23 [[ 9.99651885e-01 -2.43335848e-02 -1.01973688e-02 2.86097917e+02] [ 2.43340519e-02 9.99703880e-01 -7.82877320e-05 1.47108039e+00] [ 1.01962542e-02 -1.69882823e-04 9.99948002e-01 1.22583742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.779254154 meters 0.020433031555472717 Centerline is valid? [True, True] Translation: X:286.16, Y:1.47, Z:1.23 [[ 9.99590577e-01 -2.65497191e-02 -1.06672478e-02 2.86158883e+02] [ 2.65503572e-02 9.99647474e-01 -8.18110811e-05 1.46751983e+00] [ 1.06656594e-02 -2.01441655e-04 9.99943100e-01 1.22578113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.839254154 meters 0.021302333332825246 Centerline is valid? [True, True] Translation: X:286.22, Y:1.46, Z:1.23 [[ 9.99480255e-01 -3.03382078e-02 -1.09001573e-02 2.86218681e+02] [ 3.03390993e-02 9.99539660e-01 -8.35973500e-05 1.46101906e+00] [ 1.08976757e-02 -2.47147054e-04 9.99940588e-01 1.22601207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.899254154 meters 0.022066147913001207 Centerline is valid? [True, True] Translation: X:286.28, Y:1.46, Z:1.23 [[ 9.99425168e-01 -3.23659876e-02 -1.00884631e-02 2.86278863e+02] [ 3.23668555e-02 9.99476053e-01 -7.72725795e-05 1.45594698e+00] [ 1.00856783e-02 -2.49303666e-04 9.99949107e-01 1.22697893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.959254154 meters 0.02214831735174752 Centerline is valid? [True, True] Translation: X:286.34, Y:1.45, Z:1.23 [[ 9.99445542e-01 -3.21369559e-02 -8.70772038e-03 2.86340453e+02] [ 3.21375956e-02 9.99483452e-01 -6.64819838e-05 1.45365520e+00] [ 8.70535895e-03 -2.13400074e-04 9.99962085e-01 1.22818245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.019254154 meters 0.02046414224457478 Centerline is valid? [True, True] Translation: X:286.40, Y:1.46, Z:1.23 [[ 9.99549179e-01 -2.89082855e-02 -8.10866576e-03 2.86402125e+02] [ 2.89087368e-02 9.99582053e-01 -6.15664870e-05 1.45595517e+00] [ 8.10705655e-03 -1.72872553e-04 9.99967122e-01 1.22900240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.079254154 meters 0.018741630419093585 Centerline is valid? [True, True] Translation: X:286.46, Y:1.46, Z:1.23 [[ 9.99717110e-01 -2.21387308e-02 -8.69348118e-03 2.86463466e+02] [ 2.21389973e-02 9.99754900e-01 -6.55898750e-05 1.45947098e+00] [ 8.69280249e-03 -1.26893636e-04 9.99962209e-01 1.22922265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.139254154 meters 0.018212548809005465 Centerline is valid? [True, True] Translation: X:286.52, Y:1.46, Z:1.23 [[ 9.99830165e-01 -1.60285262e-02 -9.09544720e-03 2.86523064e+02] [ 1.60285659e-02 9.99871532e-01 -6.85354036e-05 1.46097804e+00] [ 9.09537725e-03 -7.72632111e-05 9.99958633e-01 1.22859977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.199254154 meters 0.017534953847300576 Centerline is valid? [True, True] Translation: X:286.58, Y:1.46, Z:1.23 [[ 9.99935244e-01 -7.29164419e-03 -8.73724632e-03 2.86582108e+02] [ 7.29134460e-03 9.99973416e-01 -6.61426651e-05 1.46422780e+00] [ 8.73749634e-03 2.43210814e-06 9.99961827e-01 1.22915065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.259254154 meters 0.017647057441384176 Centerline is valid? [True, True] Translation: X:286.64, Y:1.47, Z:1.23 [[ 9.99957827e-01 -3.71418549e-03 -8.39940492e-03 2.86639955e+02] [ 3.71377108e-03 9.99993102e-01 -6.49343003e-05 1.46504710e+00] [ 8.39958816e-03 3.37380947e-05 9.99964722e-01 1.22946306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.319254154 meters 0.0175827079392983 Centerline is valid? [True, True] Translation: X:286.70, Y:1.46, Z:1.23 [[ 9.99962840e-01 -2.74634282e-03 -8.17170147e-03 2.86698237e+02] [ 2.74589978e-03 9.99996228e-01 -6.54355568e-05 1.46211924e+00] [ 8.17185036e-03 4.29944519e-05 9.99966609e-01 1.22929641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.379254154 meters 0.01719611614995842 Centerline is valid? [True, True] Translation: X:286.76, Y:1.46, Z:1.23 [[ 9.99948731e-01 -5.46680244e-03 -8.52347811e-03 2.86756294e+02] [ 5.46640528e-03 9.99985057e-01 -6.98923187e-05 1.45723381e+00] [ 8.52373283e-03 2.32959497e-05 9.99963672e-01 1.22880211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.439254154 meters 0.017844700888274174 Centerline is valid? [True, True] Translation: X:286.82, Y:1.45, Z:1.23 [[ 9.99838384e-01 -1.58401007e-02 -8.50279016e-03 2.86815345e+02] [ 1.58400748e-02 9.99874536e-01 -7.03977837e-05 1.44609324e+00] [ 8.50283847e-03 -6.42984259e-05 9.99963848e-01 1.22910296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.49925415399997 meters 0.020028707240993933 Centerline is valid? [True, True] Translation: X:286.88, Y:1.43, Z:1.23 [[ 9.99497951e-01 -3.08693970e-02 -7.13627510e-03 2.86875069e+02] [ 3.08697593e-02 9.99523414e-01 -5.94009206e-05 1.42995673e+00] [ 7.13470772e-03 -1.60923996e-04 9.99974535e-01 1.23161088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.559254154 meters 0.02435879693310502 Centerline is valid? [True, True] Translation: X:286.94, Y:1.42, Z:1.23 [[ 9.99158595e-01 -4.04952513e-02 -6.49897844e-03 2.86935944e+02] [ 4.04957548e-02 9.99179709e-01 -5.41603629e-05 1.41964921e+00] [ 6.49584062e-03 -2.09066245e-04 9.99978880e-01 1.23118399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.619254154 meters 0.02878489656132275 Centerline is valid? [True, True] Translation: X:287.00, Y:1.40, Z:1.23 [[ 9.98502246e-01 -5.43172857e-02 -6.54965734e-03 2.86996901e+02] [ 5.43180939e-02 9.98523681e-01 -5.45557771e-05 1.40494002e+00] [ 6.54295128e-03 -3.01290836e-04 9.99978549e-01 1.23217999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.679254154 meters 0.030391608768546186 Centerline is valid? [True, True] Translation: X:287.06, Y:1.40, Z:1.23 [[ 9.98066513e-01 -6.17616209e-02 -6.98128016e-03 2.87057685e+02] [ 6.17627211e-02 9.98090859e-01 -5.81013964e-05 1.40089674e+00] [ 6.97154034e-03 -3.73193801e-04 9.99975629e-01 1.23248519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.739254154 meters 0.032996707468765714 Centerline is valid? [True, True] Translation: X:287.12, Y:1.40, Z:1.23 [[ 9.97536461e-01 -6.97379475e-02 -7.59130813e-03 2.87118071e+02] [ 6.97394788e-02 9.97565237e-01 -6.31248118e-05 1.39697136e+00] [ 7.57722729e-03 -4.66444571e-04 9.99971184e-01 1.23192341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.799254154 meters 0.032323944312483234 Centerline is valid? [True, True] Translation: X:287.18, Y:1.40, Z:1.23 [[ 9.97191801e-01 -7.45610983e-02 -7.01104099e-03 2.87178844e+02] [ 7.45625232e-02 9.97216339e-01 -5.82833688e-05 1.39824317e+00] [ 6.99587030e-03 -4.64641209e-04 9.99975421e-01 1.23335680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.859254154 meters 0.03276518841576881 Centerline is valid? [True, True] Translation: X:287.24, Y:1.40, Z:1.23 [[ 9.97140324e-01 -7.51983529e-02 -7.50872925e-03 2.87241014e+02] [ 7.52000072e-02 9.97168469e-01 -6.21722290e-05 1.40149238e+00] [ 7.49214329e-03 -5.02662057e-04 9.99971807e-01 1.23285313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.919254154 meters 0.03494429970985731 Centerline is valid? [True, True] Translation: X:287.30, Y:1.40, Z:1.23 [[ 9.97288168e-01 -7.30337052e-02 -9.07676041e-03 2.87301070e+02] [ 7.30360377e-02 9.97329299e-01 -7.46695561e-05 1.40331241e+00] [ 9.05797250e-03 -5.88463551e-04 9.99958803e-01 1.23095762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.979254154 meters 0.03421950516046197 Centerline is valid? [True, True] Translation: X:287.36, Y:1.41, Z:1.23 [[ 9.97581302e-01 -6.87910549e-02 -9.96675407e-03 2.87360623e+02] [ 6.87936565e-02 9.97630907e-01 -8.19737795e-05 1.41254657e+00] [ 9.94878096e-03 -6.03873946e-04 9.99950327e-01 1.23024888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.039254154 meters 0.029301245466440168 Centerline is valid? [True, True] Translation: X:287.42, Y:1.43, Z:1.23 [[ 9.97801096e-01 -6.54531484e-02 -1.04335303e-02 2.87421616e+02] [ 6.54558181e-02 9.97855465e-01 -8.57608867e-05 1.42567159e+00] [ 1.04167686e-02 -5.97362957e-04 9.99945566e-01 1.23113344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.099254154 meters 0.028450931677989053 Centerline is valid? [True, True] Translation: X:287.48, Y:1.44, Z:1.23 [[ 9.98145306e-01 -5.98736474e-02 -1.10042633e-02 2.87482289e+02] [ 5.98762801e-02 9.98205802e-01 -9.03532757e-05 1.43752508e+00] [ 1.09899293e-02 -5.68708655e-04 9.99939447e-01 1.23063674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.159254154 meters 0.02740662618800147 Centerline is valid? [True, True] Translation: X:287.54, Y:1.44, Z:1.23 [[ 9.98300915e-01 -5.75212045e-02 -9.30556861e-03 2.87542617e+02] [ 5.75229861e-02 9.98344179e-01 -7.63078762e-05 1.44319532e+00] [ 9.29454958e-03 -4.59105871e-04 9.99956699e-01 1.23335727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.219254154 meters 0.024520581545422984 Centerline is valid? [True, True] Translation: X:287.60, Y:1.46, Z:1.24 [[ 9.98542643e-01 -5.34144068e-02 -7.71307567e-03 2.87603582e+02] [ 5.34155094e-02 9.98572371e-01 -6.31198461e-05 1.45703324e+00] [ 7.70543577e-03 -3.48970008e-04 9.99970252e-01 1.23573404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.279254154 meters 0.026810969859733875 Centerline is valid? [True, True] Translation: X:287.66, Y:1.46, Z:1.23 [[ 9.98699721e-01 -5.01279127e-02 -9.27678486e-03 2.87663614e+02] [ 5.01293680e-02 9.98742730e-01 -7.57275263e-05 1.46026258e+00] [ 9.26891750e-03 -3.89410303e-04 9.99956967e-01 1.23434292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.339254154 meters 0.02415793619384569 Centerline is valid? [True, True] Translation: X:287.73, Y:1.47, Z:1.24 [[ 9.98786432e-01 -4.82812948e-02 -9.72519592e-03 2.87725961e+02] [ 4.82828114e-02 9.98833702e-01 -7.89180557e-05 1.47095889e+00] [ 9.71766371e-03 -3.90737517e-04 9.99952706e-01 1.23582512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.399254154 meters 0.025298939047136183 Centerline is valid? [True, True] Translation: X:287.79, Y:1.48, Z:1.23 [[ 9.98859559e-01 -4.63968807e-02 -1.12654294e-02 2.87788438e+02] [ 4.63988059e-02 9.98922991e-01 -9.05480495e-05 1.47727651e+00] [ 1.12574975e-02 -4.32257685e-04 9.99936539e-01 1.23437790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.459254154 meters 0.025116110019968007 Centerline is valid? [True, True] Translation: X:287.85, Y:1.48, Z:1.24 [[ 9.98858989e-01 -4.68099311e-02 -9.46311304e-03 2.87849543e+02] [ 4.68113131e-02 9.98903747e-01 -7.55194899e-05 1.48049478e+00] [ 9.45627413e-03 -3.67547426e-04 9.99955221e-01 1.23682608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.519254154 meters 0.022901665326452773 Centerline is valid? [True, True] Translation: X:287.91, Y:1.49, Z:1.24 [[ 9.99011499e-01 -4.35709129e-02 -8.80914847e-03 2.87910697e+02] [ 4.35719881e-02 9.99050288e-01 -6.99222194e-05 1.48958662e+00] [ 8.80382888e-03 -3.13979011e-04 9.99961196e-01 1.23733676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.579254154 meters 0.023265487059435756 Centerline is valid? [True, True] Translation: X:287.97, Y:1.49, Z:1.24 [[ 9.99094223e-01 -4.15046822e-02 -9.38587256e-03 2.87972231e+02] [ 4.15058165e-02 9.99138260e-01 -7.39823105e-05 1.49134396e+00] [ 9.38085499e-03 -3.15653005e-04 9.99955949e-01 1.23698378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.639254154 meters 0.02012636137875206 Centerline is valid? [True, True] Translation: X:288.03, Y:1.50, Z:1.24 [[ 9.99338219e-01 -3.49920980e-02 -9.93363584e-03 2.88032815e+02] [ 3.49930513e-02 9.99387553e-01 -7.78757497e-05 1.50295542e+00] [ 9.93027705e-03 -2.69784016e-04 9.99950657e-01 1.23708178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.699254154 meters 0.019263221923457575 Centerline is valid? [True, True] Translation: X:288.09, Y:1.51, Z:1.24 [[ 9.99459817e-01 -3.13281200e-02 -9.93089762e-03 2.88093907e+02] [ 3.13288947e-02 9.99509127e-01 -7.75830928e-05 1.50732401e+00] [ 9.92845334e-03 -2.33582862e-04 9.99950684e-01 1.23799934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.759254154 meters 0.01842722612661881 Centerline is valid? [True, True] Translation: X:288.15, Y:1.51, Z:1.24 [[ 9.99574743e-01 -2.76223193e-02 -9.34564522e-03 2.88153997e+02] [ 2.76228456e-02 9.99618414e-01 -7.27811074e-05 1.51141116e+00] [ 9.34408943e-03 -1.85403158e-04 9.99956326e-01 1.23931017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.819254154 meters 0.018582428353570872 Centerline is valid? [True, True] Translation: X:288.21, Y:1.51, Z:1.24 [[ 9.99546959e-01 -2.82474920e-02 -1.03901471e-02 2.88214893e+02] [ 2.82481793e-02 9.99600937e-01 -8.06299407e-05 1.51171067e+00] [ 1.03882783e-02 -2.12909325e-04 9.99946018e-01 1.23888350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.879254154 meters 0.0199014785262571 Centerline is valid? [True, True] Translation: X:288.28, Y:1.51, Z:1.24 [[ 9.99471850e-01 -3.03883909e-02 -1.15137356e-02 2.88275049e+02] [ 3.03893801e-02 9.99538132e-01 -8.90670768e-05 1.50892127e+00] [ 1.15111244e-02 -2.60875253e-04 9.99933711e-01 1.23742228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.939254154 meters 0.0219880986298371 Centerline is valid? [True, True] Translation: X:288.34, Y:1.50, Z:1.24 [[ 9.99298321e-01 -3.50585695e-02 -1.31819013e-02 2.88335837e+02] [ 3.50602752e-02 9.99385194e-01 -1.01744316e-04 1.50370372e+00] [ 1.31773640e-02 -3.60488162e-04 9.99913110e-01 1.23607437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.99925415399997 meters 0.023693136646511313 Centerline is valid? [True, True] Translation: X:288.40, Y:1.50, Z:1.24 [[ 9.99203425e-01 -3.76260762e-02 -1.32963609e-02 2.88396789e+02] [ 3.76280444e-02 9.99291809e-01 -1.02201607e-04 1.50100440e+00] [ 1.32907900e-02 -3.98195863e-04 9.99911594e-01 1.23662510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.059254154 meters 0.025390496865446036 Centerline is valid? [True, True] Translation: X:288.46, Y:1.50, Z:1.24 [[ 9.99153479e-01 -3.93411711e-02 -1.20248510e-02 2.88457485e+02] [ 3.93429083e-02 9.99225764e-01 -9.21486055e-05 1.49847216e+00] [ 1.20191661e-02 -3.81022009e-04 9.99927695e-01 1.23822073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.119254154 meters 0.025571525026734702 Centerline is valid? [True, True] Translation: X:288.52, Y:1.50, Z:1.24 [[ 9.99198576e-01 -3.86866720e-02 -1.02735706e-02 2.88519098e+02] [ 3.86879079e-02 9.99251340e-01 -7.84843146e-05 1.49779014e+00] [ 1.02689155e-02 -3.19041537e-04 9.99947222e-01 1.23970271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.179254154 meters 0.025181504512907422 Centerline is valid? [True, True] Translation: X:288.58, Y:1.50, Z:1.24 [[ 9.99258903e-01 -3.72119407e-02 -9.84463302e-03 2.88580475e+02] [ 3.72130070e-02 9.99307353e-01 -7.49065452e-05 1.49882848e+00] [ 9.84060159e-03 -2.91497366e-04 9.99951538e-01 1.23984691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.239254154 meters 0.024937950984300804 Centerline is valid? [True, True] Translation: X:288.64, Y:1.50, Z:1.24 [[ 9.99308049e-01 -3.57884283e-02 -1.01297067e-02 2.88641854e+02] [ 3.57894922e-02 9.99359348e-01 -7.62806191e-05 1.49921182e+00] [ 1.01259470e-02 -2.86309221e-04 9.99948690e-01 1.24000904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.299254154 meters 0.025884906666915765 Centerline is valid? [True, True] Translation: X:288.70, Y:1.50, Z:1.24 [[ 9.99277509e-01 -3.64856062e-02 -1.06423826e-02 2.88703327e+02] [ 3.64868277e-02 9.99334131e-01 -7.94242597e-05 1.49769777e+00] [ 1.06381940e-02 -3.08939905e-04 9.99943365e-01 1.23951822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.359254154 meters 0.028439386694721423 Centerline is valid? [True, True] Translation: X:288.76, Y:1.49, Z:1.24 [[ 9.99138016e-01 -3.99874945e-02 -1.11456785e-02 2.88764447e+02] [ 3.99890546e-02 9.99200114e-01 -8.29400087e-05 1.49343131e+00] [ 1.11400798e-02 -3.62836630e-04 9.99937882e-01 1.23941248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.419254154 meters 0.0327515184961423 Centerline is valid? [True, True] Translation: X:288.82, Y:1.49, Z:1.24 [[ 9.98938524e-01 -4.43712883e-02 -1.23698492e-02 2.88824408e+02] [ 4.43735465e-02 9.99015005e-01 -9.19764166e-05 1.48736548e+00] [ 1.23617460e-02 -4.57015290e-04 9.99923486e-01 1.23741133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.479254154 meters 0.03452605011312261 Centerline is valid? [True, True] Translation: X:288.89, Y:1.48, Z:1.24 [[ 9.98820537e-01 -4.67859795e-02 -1.29848879e-02 2.88885164e+02] [ 4.67886732e-02 9.98904806e-01 -9.64239507e-05 1.48492152e+00] [ 1.29751782e-02 -5.11235453e-04 9.99915688e-01 1.23687154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.539254154 meters 0.037230408522292105 Centerline is valid? [True, True] Translation: X:288.95, Y:1.48, Z:1.24 [[ 9.98713886e-01 -4.87413488e-02 -1.39590240e-02 2.88945050e+02] [ 4.87446536e-02 9.98811267e-01 -1.03588513e-04 1.48277728e+00] [ 1.39474795e-02 -5.76972503e-04 9.99902563e-01 1.23624985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.599254154 meters 0.022516658875432836 Centerline is valid? [True, True] Translation: X:289.01, Y:1.51, Z:1.24 [[ 9.98743285e-01 -4.84568766e-02 -1.27977191e-02 2.89007273e+02] [ 4.84596389e-02 9.98825137e-01 -9.43471626e-05 1.50669623e+00] [ 1.27872553e-02 -5.25944250e-04 9.99918101e-01 1.24276029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.659254154 meters 0.025713662091292076 Centerline is valid? [True, True] Translation: X:289.07, Y:1.51, Z:1.24 [[ 9.98820412e-01 -4.70204820e-02 -1.21185423e-02 2.89068275e+02] [ 4.70228622e-02 9.98893809e-01 -8.86073955e-05 1.50666259e+00] [ 1.21093033e-02 -4.81345672e-04 9.99926564e-01 1.24186406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.719254154 meters 0.02307471225313984 Centerline is valid? [True, True] Translation: X:289.13, Y:1.51, Z:1.25 [[ 9.98841690e-01 -4.73034435e-02 -8.81262436e-03 2.89130100e+02] [ 4.73047175e-02 9.98880503e-01 -6.39389067e-05 1.51044811e+00] [ 8.80578319e-03 -3.53013860e-04 9.99961166e-01 1.24644891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.779254154 meters 0.024877452150344398 Centerline is valid? [True, True] Translation: X:289.19, Y:1.51, Z:1.25 [[ 9.98864922e-01 -4.69024670e-02 -8.30814887e-03 2.89191110e+02] [ 4.69035897e-02 9.98899419e-01 -5.97669013e-05 1.51011248e+00] [ 8.30180830e-03 -3.29982944e-04 9.99965485e-01 1.24687366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.839254154 meters 0.021472490877429008 Centerline is valid? [True, True] Translation: X:289.25, Y:1.52, Z:1.25 [[ 9.98929791e-01 -4.52488560e-02 -9.58194551e-03 2.89253388e+02] [ 4.52502797e-02 9.98975679e-01 -6.82722255e-05 1.51915565e+00] [ 9.57521977e-03 -3.65386555e-04 9.99954090e-01 1.24663276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.899254154 meters 0.022602971114183353 Centerline is valid? [True, True] Translation: X:289.31, Y:1.52, Z:1.25 [[ 9.99089627e-01 -4.15781441e-02 -9.54856337e-03 2.89314134e+02] [ 4.15793954e-02 9.99135201e-01 -6.75196598e-05 1.52111485e+00] [ 9.54311312e-03 -3.29565300e-04 9.99954409e-01 1.24602900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.959254154 meters 0.020240427821131637 Centerline is valid? [True, True] Translation: X:289.38, Y:1.53, Z:1.25 [[ 9.99210891e-01 -3.84855695e-02 -9.82123529e-03 2.89375973e+02] [ 3.84867486e-02 9.99259108e-01 -6.89872409e-05 1.52837627e+00] [ 9.81661383e-03 -3.09054611e-04 9.99951768e-01 1.24696647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.019254154 meters 0.01964740856782138 Centerline is valid? [True, True] Translation: X:289.44, Y:1.53, Z:1.25 [[ 9.99373702e-01 -3.37019407e-02 -1.07880976e-02 2.89436261e+02] [ 3.37030890e-02 9.99431887e-01 -7.54009456e-05 1.53337746e+00] [ 1.07845099e-02 -2.88238492e-04 9.99941804e-01 1.24627468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.079254154 meters 0.01777178411692944 Centerline is valid? [True, True] Translation: X:289.50, Y:1.54, Z:1.25 [[ 9.99443178e-01 -3.14170071e-02 -1.12385874e-02 2.89498411e+02] [ 3.14181154e-02 9.99506326e-01 -7.79665545e-05 1.53997548e+00] [ 1.12354887e-02 -2.75172095e-04 9.99936842e-01 1.24653158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.139254154 meters 0.017605629900440907 Centerline is valid? [True, True] Translation: X:289.56, Y:1.54, Z:1.25 [[ 9.99448456e-01 -3.14811510e-02 -1.05698078e-02 2.89560265e+02] [ 3.14821429e-02 9.99504312e-01 -7.25649091e-05 1.54203236e+00] [ 1.05668529e-02 -2.60235312e-04 9.99944135e-01 1.24710651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.199254154 meters 0.018270203293972224 Centerline is valid? [True, True] Translation: X:289.62, Y:1.54, Z:1.25 [[ 9.99377217e-01 -3.38163865e-02 -1.00811596e-02 2.89621909e+02] [ 3.38174139e-02 9.99428025e-01 -6.85810765e-05 1.54238984e+00] [ 1.00777126e-02 -2.72380381e-04 9.99949181e-01 1.24811590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.259254154 meters 0.019953008722514716 Centerline is valid? [True, True] Translation: X:289.68, Y:1.54, Z:1.25 [[ 9.99281171e-01 -3.66267984e-02 -9.77852759e-03 2.89682727e+02] [ 3.66279085e-02 9.99328971e-01 -6.55979050e-05 1.53988359e+00] [ 9.77436856e-03 -2.92616263e-04 9.99952187e-01 1.24852370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.319254154 meters 0.022800080719688542 Centerline is valid? [True, True] Translation: X:289.74, Y:1.54, Z:1.25 [[ 9.99073956e-01 -4.19001550e-02 -9.77789458e-03 2.89743834e+02] [ 4.19015236e-02 9.99121743e-01 -6.49361913e-05 1.53593659e+00] [ 9.77202792e-03 -3.44832623e-04 9.99952193e-01 1.24803306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.379254154 meters 0.024020420568981033 Centerline is valid? [True, True] Translation: X:289.80, Y:1.53, Z:1.25 [[ 9.98857386e-01 -4.66746486e-02 -1.02664298e-02 2.89804521e+02] [ 4.66764111e-02 9.98910060e-01 -6.79939616e-05 1.53388794e+00] [ 1.02584136e-02 -4.11283829e-04 9.99947297e-01 1.24928392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.439254154 meters 0.023795853770574617 Centerline is valid? [True, True] Translation: X:289.87, Y:1.54, Z:1.25 [[ 9.98850266e-01 -4.66739032e-02 -1.09404578e-02 2.89867062e+02] [ 4.66759108e-02 9.98910083e-01 -7.19052540e-05 1.53559945e+00] [ 1.09318897e-02 -4.38833250e-04 9.99940149e-01 1.24954683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.49925415399997 meters 0.02327466532037773 Centerline is valid? [True, True] Translation: X:289.93, Y:1.54, Z:1.25 [[ 9.98969745e-01 -4.36775122e-02 -1.23176197e-02 2.89928582e+02] [ 4.36798376e-02 9.99045577e-01 -8.03062265e-05 1.54041462e+00] [ 1.23093711e-02 -4.57808139e-04 9.99924132e-01 1.24846447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.559254154 meters 0.021084728410027342 Centerline is valid? [True, True] Translation: X:289.99, Y:1.54, Z:1.25 [[ 9.99126309e-01 -4.01537884e-02 -1.15884534e-02 2.89988840e+02] [ 4.01556131e-02 9.99193435e-01 -7.52656948e-05 1.54401167e+00] [ 1.15821287e-02 -3.90141514e-04 9.99932849e-01 1.25159954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.619254154 meters 0.018567525533997466 Centerline is valid? [True, True] Translation: X:290.05, Y:1.55, Z:1.25 [[ 9.99379015e-01 -3.33578027e-02 -1.13508333e-02 2.90049783e+02] [ 3.33591176e-02 9.99443427e-01 -7.35158016e-05 1.55082001e+00] [ 1.13469681e-02 -3.05183634e-04 9.99935575e-01 1.25284388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.679254154 meters 0.01735755528726352 Centerline is valid? [True, True] Translation: X:290.11, Y:1.55, Z:1.25 [[ 9.99495796e-01 -2.93199786e-02 -1.21857575e-02 2.90110928e+02] [ 2.93211989e-02 9.99570038e-01 -7.85461632e-05 1.55476009e+00] [ 1.21828211e-02 -2.78794459e-04 9.99925748e-01 1.25306123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.739254154 meters 0.017333806249094738 Centerline is valid? [True, True] Translation: X:290.17, Y:1.55, Z:1.25 [[ 9.99488004e-01 -2.89844369e-02 -1.35511231e-02 2.90172054e+02] [ 2.89859222e-02 9.99579816e-01 -8.68261130e-05 1.55441417e+00] [ 1.35479458e-02 -3.06010142e-04 9.99908176e-01 1.25209630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.799254154 meters 0.017516970599717442 Centerline is valid? [True, True] Translation: X:290.23, Y:1.55, Z:1.25 [[ 9.99437000e-01 -3.02081702e-02 -1.45996055e-02 2.90232903e+02] [ 3.02100301e-02 9.99543569e-01 -9.31800227e-05 1.55354512e+00] [ 1.45957566e-02 -3.47926960e-04 9.99893416e-01 1.25140030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.859254154 meters 0.01823559897937592 Centerline is valid? [True, True] Translation: X:290.29, Y:1.55, Z:1.25 [[ 9.99374084e-01 -3.14055693e-02 -1.62828266e-02 2.90292999e+02] [ 3.14080467e-02 9.99506640e-01 -1.03615904e-04 1.55091690e+00] [ 1.62780475e-02 -4.07860730e-04 9.99867421e-01 1.25072775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.919254154 meters 0.018785081964781944 Centerline is valid? [True, True] Translation: X:290.35, Y:1.55, Z:1.25 [[ 9.99389287e-01 -3.10801337e-02 -1.59711564e-02 2.90353018e+02] [ 3.10824801e-02 9.99516818e-01 -1.01348883e-04 1.54988780e+00] [ 1.59665893e-02 -3.95136162e-04 9.99872448e-01 1.25070464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.979254154 meters 0.01818982913208288 Centerline is valid? [True, True] Translation: X:290.41, Y:1.55, Z:1.25 [[ 9.99491078e-01 -2.87601397e-02 -1.37999766e-02 2.90413200e+02] [ 2.87616713e-02 9.99586294e-01 -8.75036949e-05 1.55118233e+00] [ 1.37967841e-02 -3.09451230e-04 9.99904772e-01 1.25243218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.039254154 meters 0.016162172340263983 Centerline is valid? [True, True] Translation: X:290.47, Y:1.56, Z:1.26 [[ 9.99646413e-01 -2.39595855e-02 -1.15320183e-02 2.90473877e+02] [ 2.39603357e-02 9.99712907e-01 -7.31228926e-05 1.55666514e+00] [ 1.15304595e-02 -2.03213992e-04 9.99933501e-01 1.25527157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.099254154 meters 0.015587211575148276 Centerline is valid? [True, True] Translation: X:290.53, Y:1.56, Z:1.26 [[ 9.99758986e-01 -1.92318157e-02 -1.05880861e-02 2.90533933e+02] [ 1.92321842e-02 9.99815042e-01 -6.70242160e-05 1.55854099e+00] [ 1.05874167e-02 -1.36623959e-04 9.99943942e-01 1.25586197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.159254154 meters 0.014811151002797921 Centerline is valid? [True, True] Translation: X:290.59, Y:1.56, Z:1.26 [[ 9.99837660e-01 -1.40364713e-02 -1.12973655e-02 2.90594802e+02] [ 1.40365602e-02 9.99901480e-01 -7.14280342e-05 1.56090627e+00] [ 1.12972551e-02 -8.71597125e-05 9.99936180e-01 1.25522224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.219254154 meters 0.014987372719308572 Centerline is valid? [True, True] Translation: X:290.65, Y:1.56, Z:1.25 [[ 9.99835669e-01 -1.35807822e-02 -1.20082026e-02 2.90654544e+02] [ 1.35808464e-02 9.99907773e-01 -7.61965718e-05 1.56030015e+00] [ 1.20081299e-02 -8.68975044e-05 9.99927896e-01 1.25436398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.279254154 meters 0.015246785037980696 Centerline is valid? [True, True] Translation: X:290.71, Y:1.56, Z:1.25 [[ 9.99773617e-01 -1.70739095e-02 -1.26962933e-02 2.90713570e+02] [ 1.70742338e-02 9.99854221e-01 -8.28584319e-05 1.55566108e+00] [ 1.26958572e-02 -1.33939805e-04 9.99919395e-01 1.25392633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.339254154 meters 0.016017929842651733 Centerline is valid? [True, True] Translation: X:290.77, Y:1.55, Z:1.25 [[ 9.99630193e-01 -2.26725373e-02 -1.50144582e-02 2.90773469e+02] [ 2.26735963e-02 9.99742916e-01 -9.97105907e-05 1.55041611e+00] [ 1.50128590e-02 -2.40758048e-04 9.99887272e-01 1.25162567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.399254154 meters 0.016843844308168425 Centerline is valid? [True, True] Translation: X:290.83, Y:1.55, Z:1.25 [[ 9.99498319e-01 -2.71197586e-02 -1.63593768e-02 2.90833222e+02] [ 2.71216013e-02 9.99632136e-01 -1.09254732e-04 1.54709147e+00] [ 1.63563217e-02 -3.34492573e-04 9.99866170e-01 1.25049147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.459254154 meters 0.020257918854086347 Centerline is valid? [True, True] Translation: X:290.89, Y:1.54, Z:1.25 [[ 9.99278403e-01 -3.37408628e-02 -1.74421421e-02 2.90893802e+02] [ 3.37439623e-02 9.99430504e-01 -1.16657440e-04 1.54217485e+00] [ 1.74361449e-02 -4.71993723e-04 9.99847867e-01 1.24935586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.519254154 meters 0.019660221591556008 Centerline is valid? [True, True] Translation: X:290.95, Y:1.54, Z:1.25 [[ 9.99095489e-01 -3.94484543e-02 -1.58752168e-02 2.90953625e+02] [ 3.94517378e-02 9.99221471e-01 -1.06409631e-04 1.54085473e+00] [ 1.58670552e-02 -5.19991510e-04 9.99873975e-01 1.25190526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.579254154 meters 0.02282589275900914 Centerline is valid? [True, True] Translation: X:291.01, Y:1.54, Z:1.25 [[ 9.98772215e-01 -4.73812636e-02 -1.44595290e-02 2.91013656e+02] [ 4.73848189e-02 9.98876704e-01 -9.68102597e-05 1.53556179e+00] [ 1.44478737e-02 -5.88470767e-04 9.99895451e-01 1.25256415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.639254154 meters 0.027985315870179158 Centerline is valid? [True, True] Translation: X:291.07, Y:1.53, Z:1.25 [[ 9.98376836e-01 -5.53334456e-02 -1.34871358e-02 2.91073418e+02] [ 5.53372735e-02 9.98467715e-01 -8.94950867e-05 1.53078853e+00] [ 1.34714218e-02 -6.56991502e-04 9.99909040e-01 1.25226584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.699254154 meters 0.027142113183701872 Centerline is valid? [True, True] Translation: X:291.13, Y:1.53, Z:1.25 [[ 9.98095939e-01 -6.03811024e-02 -1.25944099e-02 2.91134033e+02] [ 6.03848455e-02 9.98175167e-01 -8.31987639e-05 1.53328839e+00] [ 1.25764508e-02 -6.77471145e-04 9.99920684e-01 1.25412376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.759254154 meters 0.029896356515094858 Centerline is valid? [True, True] Translation: X:291.19, Y:1.53, Z:1.25 [[ 9.97770976e-01 -6.56561302e-02 -1.19311130e-02 2.91194385e+02] [ 6.56598657e-02 9.97842060e-01 -7.87704274e-05 1.53151926e+00] [ 1.19105381e-02 -7.04800432e-04 9.99928819e-01 1.25408253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.819254154 meters 0.029836980775765815 Centerline is valid? [True, True] Translation: X:291.26, Y:1.54, Z:1.25 [[ 9.97657937e-01 -6.74595594e-02 -1.13069887e-02 2.91256682e+02] [ 6.74630357e-02 9.97721771e-01 -7.41200598e-05 1.53509002e+00] [ 1.12862289e-02 -6.88857315e-04 9.99936071e-01 1.25439250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.879254154 meters 0.030510493572901736 Centerline is valid? [True, True] Translation: X:291.32, Y:1.54, Z:1.25 [[ 9.97765973e-01 -6.57910250e-02 -1.16018858e-02 2.91317642e+02] [ 6.57945796e-02 9.97833186e-01 -7.54504206e-05 1.53882132e+00] [ 1.15817107e-02 -6.88059340e-04 9.99932693e-01 1.25376808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.939254154 meters 0.02870380639408836 Centerline is valid? [True, True] Translation: X:291.38, Y:1.54, Z:1.25 [[ 9.97969777e-01 -6.22900184e-02 -1.32769816e-02 2.91378688e+02] [ 6.22943695e-02 9.98057816e-01 -8.59961077e-05 1.54474689e+00] [ 1.32565519e-02 -7.41259678e-04 9.99911853e-01 1.25265918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.99925415399997 meters 0.027683433332475856 Centerline is valid? [True, True] Translation: X:291.44, Y:1.56, Z:1.25 [[ 9.98543508e-01 -5.17845878e-02 -1.51399891e-02 2.91438723e+02] [ 5.17890407e-02 9.98658042e-01 -9.80642257e-05 1.55596459e+00] [ 1.51247501e-02 -6.86164117e-04 9.99885379e-01 1.25041205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.059254154 meters 0.022013768085055473 Centerline is valid? [True, True] Translation: X:291.50, Y:1.57, Z:1.25 [[ 9.98962994e-01 -4.32410276e-02 -1.42531026e-02 2.91499531e+02] [ 4.32441058e-02 9.99064532e-01 -9.23041636e-05 1.56875655e+00] [ 1.42437606e-02 -5.24154235e-04 9.99898415e-01 1.25311318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.119254154 meters 0.01735617738191425 Centerline is valid? [True, True] Translation: X:291.56, Y:1.59, Z:1.26 [[ 9.99520325e-01 -2.84070271e-02 -1.23353238e-02 2.91560231e+02] [ 2.84082053e-02 9.99596402e-01 -7.97311477e-05 1.58581645e+00] [ 1.23326102e-02 -2.70731509e-04 9.99923914e-01 1.25589755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.179254154 meters 0.015604407879764888 Centerline is valid? [True, True] Translation: X:291.62, Y:1.59, Z:1.26 [[ 9.99764142e-01 -1.90825703e-02 -1.03689701e-02 2.91620483e+02] [ 1.90829020e-02 9.99817903e-01 -6.69591197e-05 1.59446685e+00] [ 1.03683597e-02 -1.30926713e-04 9.99946239e-01 1.25732139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.239254154 meters 0.014643148573545317 Centerline is valid? [True, True] Translation: X:291.68, Y:1.60, Z:1.26 [[ 9.99929670e-01 -8.97345334e-03 -7.75443263e-03 2.91681117e+02] [ 8.97333483e-03 9.99959738e-01 -5.00753670e-05 1.60484939e+00] [ 7.75456977e-03 -1.95112752e-05 9.99969933e-01 1.25881124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.299254154 meters 0.014469838349581245 Centerline is valid? [True, True] Translation: X:291.74, Y:1.61, Z:1.26 [[ 9.99953473e-01 -5.46032595e-03 -7.95212281e-03 2.91741189e+02] [ 5.46008921e-03 9.99985092e-01 -5.14805215e-05 1.60772308e+00] [ 7.95228536e-03 8.05882632e-06 9.99968380e-01 1.25765545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.359254154 meters 0.014420825079599266 Centerline is valid? [True, True] Translation: X:291.80, Y:1.61, Z:1.26 [[ 9.99943827e-01 -6.39003218e-03 -8.45634565e-03 2.91799354e+02] [ 6.38979323e-03 9.99979584e-01 -5.52747548e-05 1.60737669e+00] [ 8.45652621e-03 1.23734964e-06 9.99964243e-01 1.25705886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.419254154 meters 0.014848063769612067 Centerline is valid? [True, True] Translation: X:291.86, Y:1.60, Z:1.26 [[ 9.99847320e-01 -1.39867011e-02 -1.04742390e-02 2.91858846e+02] [ 1.39867439e-02 9.99902178e-01 -6.91708208e-05 1.60132593e+00] [ 1.04741819e-02 -7.73402389e-05 9.99945141e-01 1.25535888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.479254154 meters 0.015547221787704917 Centerline is valid? [True, True] Translation: X:291.92, Y:1.60, Z:1.26 [[ 9.99720734e-01 -2.13289332e-02 -1.01750263e-02 2.91918336e+02] [ 2.13293500e-02 9.99772501e-01 -6.75639849e-05 1.59538245e+00] [ 1.01741526e-02 -1.49481581e-04 9.99948231e-01 1.25563798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.539254154 meters 0.017626708300360377 Centerline is valid? [True, True] Translation: X:291.98, Y:1.59, Z:1.26 [[ 9.99478713e-01 -3.11744680e-02 -8.39372483e-03 2.91979202e+02] [ 3.11750990e-02 9.99513937e-01 -5.56858247e-05 1.58517870e+00] [ 8.39138092e-03 -2.06018406e-04 9.99964771e-01 1.25677979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.599254154 meters 0.018452809081288057 Centerline is valid? [True, True] Translation: X:292.04, Y:1.58, Z:1.26 [[ 9.99336853e-01 -3.59004359e-02 -6.08379942e-03 2.92041546e+02] [ 3.59008566e-02 9.99355356e-01 -4.00890335e-05 1.58001993e+00] [ 6.08131674e-03 -1.78351162e-04 9.99981493e-01 1.25839064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.659254154 meters 0.018922573796451764 Centerline is valid? [True, True] Translation: X:292.10, Y:1.58, Z:1.26 [[ 9.99324851e-01 -3.63425291e-02 -5.39104401e-03 2.92103869e+02] [ 3.63428678e-02 9.99339379e-01 -3.51604958e-05 1.57696487e+00] [ 5.38876039e-03 -1.60789242e-04 9.99985468e-01 1.25867780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.719254154 meters 0.01860583088035333 Centerline is valid? [True, True] Translation: X:292.17, Y:1.58, Z:1.26 [[ 9.99375637e-01 -3.47937082e-02 -6.14279907e-03 2.92166637e+02] [ 3.47941220e-02 9.99394500e-01 -3.95291306e-05 1.57521997e+00] [ 6.14045497e-03 -1.74228850e-04 9.99981132e-01 1.25853187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.779254154 meters 0.01829076163424514 Centerline is valid? [True, True] Translation: X:292.23, Y:1.57, Z:1.26 [[ 9.99432150e-01 -3.29448530e-02 -7.07212849e-03 2.92228808e+02] [ 3.29453599e-02 9.99457153e-01 -4.48437561e-05 1.57355220e+00] [ 7.06976678e-03 -1.88175527e-04 9.99974991e-01 1.25756972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.839254154 meters 0.017207955143583076 Centerline is valid? [True, True] Translation: X:292.29, Y:1.57, Z:1.26 [[ 9.99525627e-01 -2.93672207e-02 -9.27835381e-03 2.92291424e+02] [ 2.93679473e-02 9.99568667e-01 -5.79588807e-05 1.57305453e+00] [ 9.27605384e-03 -2.14554819e-04 9.99956953e-01 1.25519214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.899254154 meters 0.016477134660584303 Centerline is valid? [True, True] Translation: X:292.35, Y:1.57, Z:1.25 [[ 9.99652892e-01 -2.37906579e-02 -1.13180934e-02 2.92352623e+02] [ 2.37913902e-02 9.99716942e-01 -6.99505024e-05 1.57466167e+00] [ 1.13165539e-02 -1.99346955e-04 9.99935946e-01 1.25391627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.959254154 meters 0.015373571369986683 Centerline is valid? [True, True] Translation: X:292.41, Y:1.58, Z:1.25 [[ 9.99757070e-01 -1.91437934e-02 -1.09231738e-02 2.92412796e+02] [ 1.91441999e-02 9.99816731e-01 -6.73539632e-05 1.57681486e+00] [ 1.09224613e-02 -1.41777821e-04 9.99940338e-01 1.25446462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.019254154 meters 0.01482244551528593 Centerline is valid? [True, True] Translation: X:292.47, Y:1.58, Z:1.25 [[ 9.99845381e-01 -1.38461366e-02 -1.08396854e-02 2.92473247e+02] [ 1.38462256e-02 9.99904134e-01 -6.68391615e-05 1.57887478e+00] [ 1.08395717e-02 -8.32599031e-05 9.99941247e-01 1.25487169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.079254154 meters 0.014284172616326947 Centerline is valid? [True, True] Translation: X:292.53, Y:1.58, Z:1.26 [[ 9.99926557e-01 -7.02882329e-03 -9.87303002e-03 2.92531479e+02] [ 7.02856191e-03 9.99975297e-01 -6.11717110e-05 1.58254877e+00] [ 9.87321610e-03 -8.22598439e-06 9.99951259e-01 1.25644192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.139254154 meters 0.014299814963017956 Centerline is valid? [True, True] Translation: X:292.59, Y:1.58, Z:1.26 [[ 9.99940525e-01 -5.60115872e-03 -9.35801810e-03 2.92589411e+02] [ 5.60084595e-03 9.99984313e-01 -5.96292426e-05 1.58132222e+00] [ 9.35820530e-03 7.21287834e-06 9.99956211e-01 1.25650152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.199254154 meters 0.014328227530016112 Centerline is valid? [True, True] Translation: X:292.65, Y:1.57, Z:1.26 [[ 9.99884746e-01 -1.06324137e-02 -1.08372526e-02 2.92648423e+02] [ 1.06322687e-02 9.99943473e-01 -7.09998101e-05 1.57465003e+00] [ 1.08373949e-02 -4.42329539e-05 9.99941273e-01 1.25562849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.259254154 meters 0.014704931522837392 Centerline is valid? [True, True] Translation: X:292.71, Y:1.57, Z:1.26 [[ 9.99802709e-01 -1.62392278e-02 -1.14381468e-02 2.92707474e+02] [ 1.62394232e-02 9.99868129e-01 -7.57991376e-05 1.56941175e+00] [ 1.14378694e-02 -1.09964724e-04 9.99934579e-01 1.25516593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.319254154 meters 0.015777460815555 Centerline is valid? [True, True] Translation: X:292.77, Y:1.56, Z:1.26 [[ 9.99629049e-01 -2.41724984e-02 -1.25480900e-02 2.92767074e+02] [ 2.41733502e-02 9.99707778e-01 -8.38096002e-05 1.56076264e+00] [ 1.25464491e-02 -2.19550863e-04 9.99921266e-01 1.25537788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.379254154 meters 0.016491775613144695 Centerline is valid? [True, True] Translation: X:292.83, Y:1.56, Z:1.26 [[ 9.99552625e-01 -2.72031084e-02 -1.24314457e-02 2.92828039e+02] [ 2.72041785e-02 9.99629894e-01 -8.30434066e-05 1.55538866e+00] [ 1.24291038e-02 -2.55181012e-04 9.99922723e-01 1.25566794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.439254154 meters 0.016659465793786483 Centerline is valid? [True, True] Translation: X:292.89, Y:1.55, Z:1.26 [[ 9.99553996e-01 -2.79980057e-02 -1.03885335e-02 2.92889758e+02] [ 2.79987989e-02 9.99607954e-01 -6.91087972e-05 1.55153413e+00] [ 1.03863956e-02 -2.21788486e-04 9.99946035e-01 1.25787326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.49925415399997 meters 0.015970028140375216 Centerline is valid? [True, True] Translation: X:292.95, Y:1.55, Z:1.26 [[ 9.99617718e-01 -2.60729183e-02 -9.19899517e-03 2.92951233e+02] [ 2.60734617e-02 9.99660028e-01 -6.08745912e-05 1.55170502e+00] [ 9.19745494e-03 -1.78998328e-04 9.99957686e-01 1.25963922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.559254154 meters 0.015381566577139051 Centerline is valid? [True, True] Translation: X:293.01, Y:1.55, Z:1.26 [[ 9.99739858e-01 -2.03091755e-02 -1.03804633e-02 2.93012602e+02] [ 2.03095610e-02 9.99793737e-01 -6.82895083e-05 1.55160756e+00] [ 1.03797091e-02 -1.42550909e-04 9.99946119e-01 1.25916800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.619254154 meters 0.014647633084300046 Centerline is valid? [True, True] Translation: X:293.07, Y:1.55, Z:1.26 [[ 9.99842482e-01 -1.31324829e-02 -1.19394267e-02 2.93073163e+02] [ 1.31324834e-02 9.99913762e-01 -7.83595671e-05 1.55311984e+00] [ 1.19394261e-02 -7.84470982e-05 9.99928719e-01 1.25887747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.679254154 meters 0.014346588642429305 Centerline is valid? [True, True] Translation: X:293.13, Y:1.55, Z:1.26 [[ 9.99868998e-01 -9.11615554e-03 -1.33746797e-02 2.93132038e+02] [ 9.11576639e-03 9.99958446e-01 -9.00604567e-05 1.55392512e+00] [ 1.33749449e-02 -3.18717970e-05 9.99910551e-01 1.25982926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.739254154 meters 0.014336580665701225 Centerline is valid? [True, True] Translation: X:293.19, Y:1.55, Z:1.26 [[ 9.99885914e-01 -4.42150603e-03 -1.44433441e-02 2.93189335e+02] [ 4.42052409e-03 9.99990224e-01 -9.99103855e-05 1.55230916e+00] [ 1.44436446e-02 3.60518365e-05 9.99895684e-01 1.25993770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.799254154 meters 0.014529414061518597 Centerline is valid? [True, True] Translation: X:293.25, Y:1.55, Z:1.26 [[ 9.99841405e-01 -2.80719709e-03 -1.75865053e-02 2.93248012e+02] [ 2.80541960e-03 9.99996057e-01 -1.25741048e-04 1.54909418e+00] [ 1.75867889e-02 7.63835797e-05 9.99845338e-01 1.25924066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.859254154 meters 0.01446371331708906 Centerline is valid? [True, True] Translation: X:293.31, Y:1.55, Z:1.26 [[ 9.99794656e-01 -2.62061102e-03 -2.00942397e-02 2.93307095e+02] [ 2.61814815e-03 9.99996562e-01 -1.48872633e-04 1.54565300e+00] [ 2.00945607e-02 9.62323669e-05 9.99798079e-01 1.25968264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.919254154 meters 0.014356835722133213 Centerline is valid? [True, True] Translation: X:293.37, Y:1.54, Z:1.26 [[ 9.99778168e-01 -3.33150415e-03 -2.07970336e-02 2.93365736e+02] [ 3.32897188e-03 9.99994447e-01 -1.56380020e-04 1.54185494e+00] [ 2.07974391e-02 8.71125901e-05 9.99783706e-01 1.26027730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.979254154 meters 0.014181042237568607 Centerline is valid? [True, True] Translation: X:293.42, Y:1.54, Z:1.26 [[ 9.99783332e-01 -5.30826464e-03 -2.01273573e-02 2.93424508e+02] [ 5.30626434e-03 9.99985910e-01 -1.52787168e-04 1.53624343e+00] [ 2.01278848e-02 4.59529850e-05 9.99797413e-01 1.26229728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.039254154 meters 0.013767309945371394 Centerline is valid? [True, True] Translation: X:293.48, Y:1.53, Z:1.26 [[ 9.99749190e-01 -1.12692544e-02 -1.93535859e-02 2.93483129e+02] [ 1.12684948e-02 9.99936497e-01 -1.48304535e-04 1.52624176e+00] [ 1.93540282e-02 -6.98184432e-05 9.99812691e-01 1.26413417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.099254154 meters 0.014366571852207919 Centerline is valid? [True, True] Translation: X:293.54, Y:1.51, Z:1.26 [[ 9.99631390e-01 -1.88509205e-02 -1.95378310e-02 2.93542098e+02] [ 1.88515664e-02 9.99822282e-01 -1.51133041e-04 1.51497572e+00] [ 1.95372078e-02 -2.17241388e-04 9.99809107e-01 1.26462259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.159254154 meters 0.014689615579308445 Centerline is valid? [True, True] Translation: X:293.60, Y:1.51, Z:1.27 [[ 9.99535930e-01 -2.27954730e-02 -2.02062023e-02 2.93601256e+02] [ 2.27968806e-02 9.99740104e-01 -1.60706866e-04 1.50851539e+00] [ 2.02046142e-02 -3.00006095e-04 9.99795821e-01 1.26539822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.219254154 meters 0.014932393580427947 Centerline is valid? [True, True] Translation: X:293.66, Y:1.50, Z:1.27 [[ 9.99526343e-01 -2.33374955e-02 -2.00611762e-02 2.93658260e+02] [ 2.33389036e-02 9.99727597e-01 -1.63963663e-04 1.50226166e+00] [ 2.00595380e-02 -3.04319858e-04 9.99798741e-01 1.26570716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.279254154 meters 0.014757002044493832 Centerline is valid? [True, True] Translation: X:293.72, Y:1.50, Z:1.27 [[ 9.99557869e-01 -2.22007026e-02 -1.97786454e-02 2.93717181e+02] [ 2.22017551e-02 9.99753497e-01 -1.66396590e-04 1.50186801e+00] [ 1.97774641e-02 -2.72797621e-04 9.99804370e-01 1.26623696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.339254154 meters 0.013640817086161832 Centerline is valid? [True, True] Translation: X:293.78, Y:1.50, Z:1.27 [[ 9.99686583e-01 -1.53418249e-02 -1.97829089e-02 2.93776476e+02] [ 1.53414437e-02 9.99882298e-01 -1.71043935e-04 1.50199422e+00] [ 1.97832046e-02 -1.32508056e-04 9.99804284e-01 1.26684110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.399254154 meters 0.013220855881563427 Centerline is valid? [True, True] Translation: X:293.84, Y:1.50, Z:1.27 [[ 9.99742790e-01 -1.06248411e-02 -2.00366383e-02 2.93835130e+02] [ 1.06234054e-02 9.99943554e-01 -1.78092723e-04 1.50243599e+00] [ 2.00373995e-02 -3.48104163e-05 9.99799231e-01 1.26738050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.459254154 meters 0.013327661977968324 Centerline is valid? [True, True] Translation: X:293.89, Y:1.50, Z:1.27 [[ 9.99754980e-01 -6.18300799e-03 -2.12544123e-02 2.93893274e+02] [ 6.18033359e-03 9.99980883e-01 -1.91513503e-04 1.50044352e+00] [ 2.12551901e-02 6.01072198e-05 9.99774081e-01 1.26583612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.519254154 meters 0.012906101816989222 Centerline is valid? [True, True] Translation: X:293.95, Y:1.49, Z:1.27 [[ 9.99711687e-01 -6.46872210e-03 -2.31235325e-02 2.93952118e+02] [ 6.46551373e-03 9.99979076e-01 -2.13509847e-04 1.49477968e+00] [ 2.31244298e-02 6.39427721e-05 9.99732593e-01 1.26728016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.579254154 meters 0.01269292617974004 Centerline is valid? [True, True] Translation: X:294.01, Y:1.49, Z:1.27 [[ 9.99691862e-01 -8.75891449e-03 -2.32263372e-02 2.94009808e+02] [ 8.75622187e-03 9.99961640e-01 -2.17630244e-04 1.48995865e+00] [ 2.32273524e-02 1.41882225e-05 9.99730209e-01 1.26827580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.639254154 meters 0.013265264852457468 Centerline is valid? [True, True] Translation: X:294.07, Y:1.48, Z:1.27 [[ 9.99639668e-01 -1.51913957e-02 -2.21304310e-02 2.94068237e+02] [ 1.51904890e-02 9.99884596e-01 -2.09086713e-04 1.47850480e+00] [ 2.21310534e-02 -1.27160695e-04 9.99755070e-01 1.26770505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.699254154 meters 0.013451127632037874 Centerline is valid? [True, True] Translation: X:294.13, Y:1.47, Z:1.27 [[ 9.99525907e-01 -2.34184880e-02 -1.99884047e-02 2.94127361e+02] [ 2.34193646e-02 9.99725711e-01 -1.90256964e-04 1.46722452e+00] [ 1.99873777e-02 -2.77948973e-04 9.99800194e-01 1.27295569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.759254154 meters 0.013786954641018766 Centerline is valid? [True, True] Translation: X:294.19, Y:1.46, Z:1.27 [[ 9.99437990e-01 -2.76272100e-02 -1.89853119e-02 2.94186338e+02] [ 2.76286829e-02 9.99618238e-01 -1.84761613e-04 1.45871972e+00] [ 1.89831684e-02 -3.39881386e-04 9.99819746e-01 1.27453763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.819254154 meters 0.013776652873161224 Centerline is valid? [True, True] Translation: X:294.24, Y:1.46, Z:1.27 [[ 9.99482114e-01 -2.61837349e-02 -1.87060143e-02 2.94244013e+02] [ 2.61848550e-02 9.99657101e-01 -1.85089830e-04 1.45503568e+00] [ 1.87044464e-02 -3.04820298e-04 9.99825010e-01 1.27462084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.879254154 meters 0.013108382077458285 Centerline is valid? [True, True] Translation: X:294.30, Y:1.45, Z:1.28 [[ 9.99568931e-01 -2.26574174e-02 -1.86706530e-02 2.94303262e+02] [ 2.26578454e-02 9.99743260e-01 -1.88642930e-04 1.45363157e+00] [ 1.86701337e-02 -2.34475156e-04 9.99825670e-01 1.27546582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.939254154 meters 0.011872666272573856 Centerline is valid? [True, True] Translation: X:294.36, Y:1.45, Z:1.28 [[ 9.99704259e-01 -1.69204664e-02 -1.74668713e-02 2.94361693e+02] [ 1.69198902e-02 9.99856832e-01 -1.80777902e-04 1.45282206e+00] [ 1.74674295e-02 -1.14813107e-04 9.99847426e-01 1.27735404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.99925415399997 meters 0.01152118640833725 Centerline is valid? [True, True] Translation: X:294.42, Y:1.45, Z:1.28 [[ 9.99755500e-01 -1.42162020e-02 -1.69363553e-02 2.94420295e+02] [ 1.42151994e-02 9.99898943e-01 -1.79585785e-04 1.44817070e+00] [ 1.69371968e-02 -6.12117909e-05 9.99856554e-01 1.27779230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.059254154 meters 0.011505879028674856 Centerline is valid? [True, True] Translation: X:294.48, Y:1.44, Z:1.28 [[ 9.99747056e-01 -1.55600029e-02 -1.62391631e-02 2.94478151e+02] [ 1.55591847e-02 9.99878933e-01 -1.76730200e-04 1.44361703e+00] [ 1.62399470e-02 -7.59826425e-05 9.99868120e-01 1.27752135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.119254154 meters 0.012143907341873086 Centerline is valid? [True, True] Translation: X:294.54, Y:1.43, Z:1.28 [[ 9.99641539e-01 -2.14124243e-02 -1.60717925e-02 2.94536559e+02] [ 2.14123417e-02 9.99770714e-01 -1.77241267e-04 1.43371383e+00] [ 1.60719027e-02 -1.66956980e-04 9.99870825e-01 1.27601139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.179254154 meters 0.014434999680121002 Centerline is valid? [True, True] Translation: X:294.60, Y:1.42, Z:1.28 [[ 9.99331486e-01 -3.29203959e-02 -1.59005885e-02 2.94596966e+02] [ 3.29217611e-02 9.99457916e-01 -1.75959838e-04 1.42236572e+00] [ 1.58977617e-02 -3.47633170e-04 9.99873562e-01 1.27674784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.239254154 meters 0.017079875947415387 Centerline is valid? [True, True] Translation: X:294.66, Y:1.41, Z:1.28 [[ 9.99019161e-01 -4.18380726e-02 -1.45014268e-02 2.94657722e+02] [ 4.18401454e-02 9.99124305e-01 -1.60550020e-04 1.41422439e+00] [ 1.44954451e-02 -4.46349262e-04 9.99894836e-01 1.27815838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.299254154 meters 0.022077179370829356 Centerline is valid? [True, True] Translation: X:294.72, Y:1.40, Z:1.28 [[ 9.98438009e-01 -5.45850673e-02 -1.19168867e-02 2.94718425e+02] [ 5.45873732e-02 9.98508989e-01 -1.31923200e-04 1.40325552e+00] [ 1.19063195e-02 -5.18794406e-04 9.99928983e-01 1.27972087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.359254154 meters 0.025630018467555207 Centerline is valid? [True, True] Translation: X:294.78, Y:1.40, Z:1.28 [[ 9.98100257e-01 -6.06366549e-02 -1.09120357e-02 2.94778318e+02] [ 6.06389475e-02 9.98159758e-01 -1.20934635e-04 1.39713282e+00] [ 1.08992880e-02 -5.40989470e-04 9.99940455e-01 1.28015626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.419254154 meters 0.026804471325136546 Centerline is valid? [True, True] Translation: X:294.84, Y:1.40, Z:1.28 [[ 9.97726296e-01 -6.65956883e-02 -1.03562850e-02 2.94838436e+02] [ 6.65980724e-02 9.97779877e-01 -1.14870956e-04 1.39598657e+00] [ 1.03409427e-02 -5.75098846e-04 9.99946366e-01 1.28035398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.479254154 meters 0.028770817861810648 Centerline is valid? [True, True] Translation: X:294.90, Y:1.40, Z:1.28 [[ 9.97504607e-01 -6.97967317e-02 -1.06289972e-02 2.94898965e+02] [ 6.97994241e-02 9.97561039e-01 -1.17899151e-04 1.39735818e+00] [ 1.06113024e-02 -6.24292935e-04 9.99943504e-01 1.27987319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.539254154 meters 0.03476920842886294 Centerline is valid? [True, True] Translation: X:294.96, Y:1.39, Z:1.28 [[ 9.97406006e-01 -7.12518600e-02 -1.02191517e-02 2.94957515e+02] [ 7.12544216e-02 9.97458167e-01 -1.13667300e-04 1.39320512e+00] [ 1.02012753e-02 -6.14787294e-04 9.99947777e-01 1.27925164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.599254154 meters 0.02776004487075348 Centerline is valid? [True, True] Translation: X:295.02, Y:1.41, Z:1.28 [[ 9.97410331e-01 -7.13022872e-02 -9.41353283e-03 2.95017374e+02] [ 7.13044610e-02 9.97454592e-01 -1.04925405e-04 1.40915267e+00] [ 9.39705297e-03 -5.66573202e-04 9.99955686e-01 1.28053458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.659254154 meters 0.02743243387919795 Centerline is valid? [True, True] Translation: X:295.08, Y:1.42, Z:1.28 [[ 9.97624901e-01 -6.82549573e-02 -9.26376654e-03 2.95077637e+02] [ 6.82569315e-02 9.97667771e-01 -1.03256075e-04 1.41854445e+00] [ 9.24920905e-03 -5.29305446e-04 9.99957085e-01 1.27958006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.719254154 meters 0.027657904464039516 Centerline is valid? [True, True] Translation: X:295.14, Y:1.43, Z:1.28 [[ 9.97853985e-01 -6.46166932e-02 -1.05880554e-02 2.95137542e+02] [ 6.46190680e-02 9.97909997e-01 -1.18016904e-04 1.42533808e+00] [ 1.05735522e-02 -5.66426636e-04 9.99943938e-01 1.27893815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.779254154 meters 0.022804857249086957 Centerline is valid? [True, True] Translation: X:295.20, Y:1.44, Z:1.28 [[ 9.98339249e-01 -5.68333918e-02 -9.41859850e-03 2.95197778e+02] [ 5.68349252e-02 9.98383584e-01 -1.04989295e-04 1.44373557e+00] [ 9.40934102e-03 -4.30490407e-04 9.99955639e-01 1.27933424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.839254154 meters 0.02147464068752171 Centerline is valid? [True, True] Translation: X:295.26, Y:1.45, Z:1.28 [[ 9.98703046e-01 -5.01227008e-02 -8.94100079e-03 2.95256965e+02] [ 5.01238134e-02 9.98743007e-01 -9.97460851e-05 1.45345761e+00] [ 8.93476156e-03 -3.48540336e-04 9.99960023e-01 1.27976093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.899254154 meters 0.01694603816261475 Centerline is valid? [True, True] Translation: X:295.32, Y:1.47, Z:1.28 [[ 9.99125466e-01 -4.09178997e-02 -8.60393602e-03 2.95317065e+02] [ 4.09185883e-02 9.99162479e-01 -9.60542350e-05 1.47195787e+00] [ 8.60066038e-03 -2.56090684e-04 9.99962981e-01 1.28059668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.959254154 meters 0.015342040423874029 Centerline is valid? [True, True] Translation: X:295.38, Y:1.48, Z:1.28 [[ 9.99344840e-01 -3.49289648e-02 -9.47934749e-03 2.95377759e+02] [ 3.49295323e-02 9.99389772e-01 -1.05735418e-04 1.48413841e+00] [ 9.47725616e-03 -2.25443030e-04 9.99955064e-01 1.28021945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.019254154 meters 0.01598891146534529 Centerline is valid? [True, True] Translation: X:295.44, Y:1.49, Z:1.28 [[ 9.99392858e-01 -3.30471357e-02 -1.10363761e-02 2.95438301e+02] [ 3.30477913e-02 9.99453765e-01 -1.23011347e-04 1.49168986e+00] [ 1.10344128e-02 -2.41791193e-04 9.99939090e-01 1.28013808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.079254154 meters 0.014346087374858232 Centerline is valid? [True, True] Translation: X:295.50, Y:1.50, Z:1.28 [[ 9.99342496e-01 -3.44017552e-02 -1.14496287e-02 2.95498424e+02] [ 3.44025497e-02 9.99408049e-01 -1.27617456e-04 1.49868713e+00] [ 1.14472413e-02 -2.66362873e-04 9.99934443e-01 1.28016881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.139254154 meters 0.014945479466257875 Centerline is valid? [True, True] Translation: X:295.56, Y:1.50, Z:1.28 [[ 9.99289720e-01 -3.60200103e-02 -1.10731146e-02 2.95559868e+02] [ 3.60208554e-02 9.99351031e-01 -1.23174947e-04 1.50372914e+00] [ 1.10703653e-02 -2.75775601e-04 9.99938684e-01 1.28101751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.199254154 meters 0.015345728067979776 Centerline is valid? [True, True] Translation: X:295.62, Y:1.51, Z:1.28 [[ 9.99296345e-01 -3.59466342e-02 -1.07076902e-02 2.95620486e+02] [ 3.59474231e-02 9.99353675e-01 -1.18838939e-04 1.50559665e+00] [ 1.07050415e-02 -2.66158554e-04 9.99942664e-01 1.28169607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.259254154 meters 0.014414585164872712 Centerline is valid? [True, True] Translation: X:295.68, Y:1.51, Z:1.28 [[ 9.99406365e-01 -3.31683144e-02 -9.31559304e-03 2.95681857e+02] [ 3.31687932e-02 9.99449759e-01 -1.03141564e-04 1.51429619e+00] [ 9.31388825e-03 -2.05906643e-04 9.99956604e-01 1.28362575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.319254154 meters 0.014047169439064257 Centerline is valid? [True, True] Translation: X:295.74, Y:1.52, Z:1.28 [[ 9.99510550e-01 -2.99780418e-02 -8.94295955e-03 2.95742856e+02] [ 2.99783581e-02 9.99550543e-01 -9.87011903e-05 1.51980324e+00] [ 8.94189894e-03 -1.69442363e-04 9.99960006e-01 1.28418800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.379254154 meters 0.01636092865119411 Centerline is valid? [True, True] Translation: X:295.80, Y:1.53, Z:1.28 [[ 9.99636333e-01 -2.55632487e-02 -8.58614559e-03 2.95804401e+02] [ 2.55633801e-02 9.99673199e-01 -9.44619859e-05 1.52730590e+00] [ 8.58575439e-03 -1.25063270e-04 9.99963134e-01 1.28498931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.439254154 meters 0.012606625466588086 Centerline is valid? [True, True] Translation: X:295.87, Y:1.53, Z:1.28 [[ 9.99640186e-01 -2.55644799e-02 -8.12131187e-03 2.95866013e+02] [ 2.55645998e-02 9.99673168e-01 -8.90631601e-05 1.53065054e+00] [ 8.12093442e-03 -1.18586974e-04 9.99967018e-01 1.28472385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.49925415399997 meters 0.014416905917342 Centerline is valid? [True, True] Translation: X:295.93, Y:1.53, Z:1.28 [[ 9.99560429e-01 -2.82772061e-02 -8.90775506e-03 2.95926621e+02] [ 2.82774603e-02 9.99600108e-01 -9.74321626e-05 1.53089568e+00] [ 8.90694803e-03 -1.54499356e-04 9.99960320e-01 1.28344732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.559254154 meters 0.015940783931490798 Centerline is valid? [True, True] Translation: X:295.99, Y:1.53, Z:1.28 [[ 9.99300808e-01 -3.60558330e-02 -9.89301158e-03 2.95987740e+02] [ 3.60565293e-02 9.99349746e-01 -1.08023692e-04 1.52913648e+00] [ 9.89047349e-03 -2.48759499e-04 9.99951057e-01 1.28215534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.619254154 meters 0.01725223114278545 Centerline is valid? [True, True] Translation: X:296.05, Y:1.53, Z:1.28 [[ 9.99027126e-01 -4.29684094e-02 -9.92561557e-03 2.96048840e+02] [ 4.29694529e-02 9.99076381e-01 -1.08198827e-04 1.52925318e+00] [ 9.92109722e-03 -3.18404708e-04 9.99950734e-01 1.28230128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.679254154 meters 0.021244245224614648 Centerline is valid? [True, True] Translation: X:296.11, Y:1.53, Z:1.28 [[ 9.98503899e-01 -5.38593382e-02 -9.44111933e-03 2.96109437e+02] [ 5.38607694e-02 9.98548450e-01 -1.02781736e-04 1.52614428e+00] [ 9.43295083e-03 -4.05877987e-04 9.99955426e-01 1.28203643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.739254154 meters 0.024506443938850007 Centerline is valid? [True, True] Translation: X:296.17, Y:1.52, Z:1.28 [[ 9.98081548e-01 -6.12485714e-02 -9.04636868e-03 2.96169476e+02] [ 6.12501880e-02 9.98122440e-01 -9.85081989e-05 1.52380704e+00] [ 9.03541706e-03 -4.55772566e-04 9.99959076e-01 1.28168700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.799254154 meters 0.03050314428169439 Centerline is valid? [True, True] Translation: X:296.23, Y:1.52, Z:1.28 [[ 9.97398163e-01 -7.16846296e-02 -7.63006787e-03 2.96229041e+02] [ 7.16860829e-02 9.97427240e-01 -8.31904262e-05 1.51943874e+00] [ 7.61640101e-03 -4.63995700e-04 9.99970887e-01 1.28197876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.859254154 meters 0.033561897210459816 Centerline is valid? [True, True] Translation: X:296.29, Y:1.52, Z:1.28 [[ 9.96842293e-01 -7.91759405e-02 -6.05082105e-03 2.96289997e+02] [ 7.91769917e-02 9.96860572e-01 -6.59936094e-05 1.52180595e+00] [ 6.03705004e-03 -4.13300588e-04 9.99981691e-01 1.28302746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.919254154 meters 0.03575178096234363 Centerline is valid? [True, True] Translation: X:296.35, Y:1.52, Z:1.28 [[ 9.96621697e-01 -8.19225466e-02 -5.82144848e-03 2.96350854e+02] [ 8.19235668e-02 9.96638613e-01 -6.33923737e-05 1.52371734e+00] [ 5.80707360e-03 -4.13735608e-04 9.99983053e-01 1.28330266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.979254154 meters 0.03791962068276956 Centerline is valid? [True, True] Translation: X:296.41, Y:1.53, Z:1.28 [[ 9.96652619e-01 -8.15653445e-02 -5.53638521e-03 2.96412196e+02] [ 8.15662625e-02 9.96667919e-01 -6.01512661e-05 1.52934457e+00] [ 5.52284378e-03 -3.91632332e-04 9.99984672e-01 1.28300596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.039254154 meters 0.0322895868752935 Centerline is valid? [True, True] Translation: X:296.47, Y:1.55, Z:1.28 [[ 9.96977495e-01 -7.75060574e-02 -5.35580848e-03 2.96472255e+02] [ 7.75068594e-02 9.96991817e-01 -5.79568576e-05 1.54630678e+00] [ 5.34418924e-03 -3.57330212e-04 9.99985656e-01 1.28346234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.099254154 meters 0.030856950499745503 Centerline is valid? [True, True] Translation: X:296.53, Y:1.56, Z:1.28 [[ 9.97342768e-01 -7.25823727e-02 -6.26115258e-03 2.96532544e+02] [ 7.25833723e-02 9.97362346e-01 -6.77264136e-05 1.55606359e+00] [ 6.24955357e-03 -3.86909120e-04 9.99980396e-01 1.28323715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.159254154 meters 0.026584749402461808 Centerline is valid? [True, True] Translation: X:296.59, Y:1.57, Z:1.28 [[ 9.98020451e-01 -6.24751999e-02 -7.21303248e-03 2.96593343e+02] [ 6.24762635e-02 9.98046447e-01 -7.79831773e-05 1.57498894e+00] [ 7.20381345e-03 -3.72814512e-04 9.99973983e-01 1.28374551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.219254154 meters 0.028929618730319854 Centerline is valid? [True, True] Translation: X:296.65, Y:1.58, Z:1.28 [[ 9.98446376e-01 -5.52358310e-02 -7.33740867e-03 2.96653367e+02] [ 5.52367368e-02 9.98473283e-01 -7.93034368e-05 1.58081794e+00] [ 7.33058691e-03 -3.26114282e-04 9.99973078e-01 1.28382345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.279254154 meters 0.02210147709807884 Centerline is valid? [True, True] Translation: X:296.71, Y:1.60, Z:1.28 [[ 9.98932220e-01 -4.56001681e-02 -7.41925632e-03 2.96713279e+02] [ 4.56008286e-02 9.98959738e-01 -8.01940137e-05 1.60294694e+00] [ 7.41519521e-03 -2.58215852e-04 9.99972474e-01 1.28444137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.339254154 meters 0.018294833003376042 Centerline is valid? [True, True] Translation: X:296.77, Y:1.62, Z:1.29 [[ 9.99193226e-01 -3.96320893e-02 -6.49581018e-03 2.96773957e+02] [ 3.96324698e-02 9.99214323e-01 -7.01792362e-05 1.61803686e+00] [ 6.49348791e-03 -1.87322383e-04 9.99978900e-01 1.28590549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.399254154 meters 0.016928047003111586 Centerline is valid? [True, True] Translation: X:296.84, Y:1.63, Z:1.29 [[ 9.99321798e-01 -3.63365537e-02 -5.96653952e-03 2.96835383e+02] [ 3.63368169e-02 9.99339598e-01 -6.43310083e-05 1.62555210e+00] [ 5.96493677e-03 -1.52517675e-04 9.99982198e-01 1.28585851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.459254154 meters 0.016254904584924706 Centerline is valid? [True, True] Translation: X:296.90, Y:1.63, Z:1.29 [[ 9.99478072e-01 -3.19561865e-02 -4.73145425e-03 2.96895660e+02] [ 3.19563037e-02 9.99489266e-01 -5.08511166e-05 1.63383164e+00] [ 4.73066274e-03 -1.00375213e-04 9.99988805e-01 1.28601592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.519254154 meters 0.01584319596936498 Centerline is valid? [True, True] Translation: X:296.96, Y:1.64, Z:1.29 [[ 9.99548797e-01 -2.97482251e-02 -4.15277246e-03 2.96957590e+02] [ 2.97482979e-02 9.99557420e-01 -4.42357628e-05 1.63773478e+00] [ 4.15225046e-03 -7.93221089e-05 9.99991376e-01 1.28593231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.579254154 meters 0.016030316762425275 Centerline is valid? [True, True] Translation: X:297.02, Y:1.64, Z:1.28 [[ 9.99595794e-01 -2.82071194e-02 -3.55057710e-03 2.97018878e+02] [ 2.82071637e-02 9.99602098e-01 -3.75987228e-05 1.64036825e+00] [ 3.55022487e-03 -6.25681844e-05 9.99993696e-01 1.28487246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.639254154 meters 0.016589368167846282 Centerline is valid? [True, True] Translation: X:297.08, Y:1.64, Z:1.28 [[ 9.99592871e-01 -2.83628231e-02 -3.10521445e-03 2.97080384e+02] [ 2.83628579e-02 9.99597693e-01 -3.28363317e-05 1.64095484e+00] [ 3.10489653e-03 -5.52497930e-05 9.99995178e-01 1.28251621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.699254154 meters 0.0171451474714077 Centerline is valid? [True, True] Translation: X:297.14, Y:1.64, Z:1.28 [[ 9.99567468e-01 -2.93027353e-02 -2.49536199e-03 2.97142901e+02] [ 2.93027615e-02 9.99570582e-01 -2.60910854e-05 1.64046821e+00] [ 2.49505498e-03 -4.70411971e-05 9.99996886e-01 1.28181485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.759254154 meters 0.020079822207909846 Centerline is valid? [True, True] Translation: X:297.20, Y:1.64, Z:1.28 [[ 9.99547016e-01 -3.00600610e-02 -1.46821263e-03 2.97203920e+02] [ 3.00600709e-02 9.99548094e-01 -1.53231222e-05 1.63706266e+00] [ 1.46800975e-03 -2.88183947e-05 9.99998922e-01 1.28061336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.819254154 meters 0.017054148697974697 Centerline is valid? [True, True] Translation: X:297.27, Y:1.64, Z:1.28 [[ 9.99510614e-01 -3.12786833e-02 -4.19205458e-04 2.97266104e+02] [ 3.12786841e-02 9.99510702e-01 -4.59810827e-06 1.63969135e+00] [ 4.19144165e-04 -8.51633707e-06 9.99999912e-01 1.28027019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.879254154 meters 0.017134644522652107 Centerline is valid? [True, True] Translation: X:297.33, Y:1.64, Z:1.28 [[ 9.99485040e-01 -3.20789399e-02 -7.71710486e-04 2.97328420e+02] [ 3.20789432e-02 9.99485338e-01 -8.14831552e-06 1.63958837e+00] [ 7.71574706e-04 -1.66115374e-05 9.99999702e-01 1.27938938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.939254154 meters 0.0170188000818806 Centerline is valid? [True, True] Translation: X:297.39, Y:1.64, Z:1.28 [[ 9.99440909e-01 -3.34324651e-02 -3.74997509e-04 2.97390351e+02] [ 3.34324659e-02 9.99440979e-01 -4.10230729e-06 1.63682380e+00] [ 3.74925028e-04 -8.43707772e-06 9.99999930e-01 1.27779543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.99925415399997 meters 0.01924601712783672 Centerline is valid? [True, True] Translation: X:297.45, Y:1.63, Z:1.28 [[ 9.99401555e-01 -3.45836831e-02 -7.08087055e-04 2.97451445e+02] [ 3.45836863e-02 9.99401805e-01 -7.64046184e-06 1.63122342e+00] [ 7.07927717e-04 -1.68523712e-05 9.99999749e-01 1.27744087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.059254154 meters 0.01831925019505434 Centerline is valid? [True, True] Translation: X:297.51, Y:1.63, Z:1.28 [[ 9.99401072e-01 -3.45935090e-02 -8.87330054e-04 2.97514907e+02] [ 3.45935144e-02 9.99401465e-01 -9.18823448e-06 1.63256634e+00] [ 8.87116809e-04 -2.15131336e-05 9.99999606e-01 1.27701843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.119254154 meters 0.020310588140840538 Centerline is valid? [True, True] Translation: X:297.58, Y:1.63, Z:1.28 [[ 9.99366805e-01 -3.55693276e-02 -9.01544648e-04 2.97575628e+02] [ 3.55693340e-02 9.99367211e-01 -8.97868682e-06 1.62847090e+00] [ 9.01293527e-04 -2.30943411e-05 9.99999594e-01 1.27728392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.179254154 meters 0.018807846543668103 Centerline is valid? [True, True] Translation: X:297.64, Y:1.63, Z:1.28 [[ 9.99254265e-01 -3.86108002e-02 -3.45646301e-04 2.97637275e+02] [ 3.86108012e-02 9.99254325e-01 -3.60599746e-06 1.62945417e+00] [ 3.45527792e-04 -9.74237229e-06 9.99999940e-01 1.27754643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.239254154 meters 0.020245803029085123 Centerline is valid? [True, True] Translation: X:297.70, Y:1.62, Z:1.28 [[ 9.98988981e-01 -4.49450900e-02 -9.77042220e-04 2.97698087e+02] [ 4.49451021e-02 9.98989458e-01 -9.57184927e-06 1.62454714e+00] [ 9.76485085e-04 -3.43510904e-05 9.99999523e-01 1.27717661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.299254154 meters 0.022103089857138252 Centerline is valid? [True, True] Translation: X:297.76, Y:1.62, Z:1.28 [[ 9.98729217e-01 -5.03311838e-02 -2.59297423e-03 2.97759104e+02] [ 5.03312877e-02 9.98732577e-01 -2.52205811e-05 1.61975591e+00] [ 2.59095722e-03 -1.05319201e-04 9.99996638e-01 1.27586845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.359254154 meters 0.02676572048467443 Centerline is valid? [True, True] Translation: X:297.82, Y:1.61, Z:1.27 [[ 9.98282523e-01 -5.84031667e-02 -4.59064513e-03 2.97819215e+02] [ 5.84035781e-02 9.98293053e-01 -4.45056976e-05 1.61137400e+00] [ 4.58540842e-03 -2.23680841e-04 9.99989462e-01 1.27435320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.419254154 meters 0.030308835040094274 Centerline is valid? [True, True] Translation: X:297.88, Y:1.61, Z:1.27 [[ 9.97922315e-01 -6.41416481e-02 -6.07468659e-03 2.97879820e+02] [ 6.41424747e-02 9.97940749e-01 -5.88383767e-05 1.60589131e+00] [ 6.06595128e-03 -3.30929302e-04 9.99981547e-01 1.27354815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.479254154 meters 0.030352043291395743 Centerline is valid? [True, True] Translation: X:297.94, Y:1.61, Z:1.28 [[ 9.97826586e-01 -6.56218782e-02 -5.98939983e-03 2.97941383e+02] [ 6.56227097e-02 9.97844505e-01 -5.78066654e-05 1.60720703e+00] [ 5.98028309e-03 -3.35359618e-04 9.99982062e-01 1.27503665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.539254154 meters 0.03179187420842745 Centerline is valid? [True, True] Translation: X:298.00, Y:1.61, Z:1.28 [[ 9.97885404e-01 -6.49023814e-02 -3.52144099e-03 2.98002787e+02] [ 6.49026652e-02 9.97891599e-01 -3.37197920e-05 1.60812950e+00] [ 3.51620488e-03 -1.94902418e-04 9.99993799e-01 1.27803380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.599254154 meters 0.025419268597343562 Centerline is valid? [True, True] Translation: X:298.06, Y:1.62, Z:1.28 [[ 9.98282237e-01 -5.85863544e-02 -4.62704550e-04 2.98062892e+02] [ 5.85863586e-02 9.98282344e-01 -4.40040417e-06 1.62043913e+00] [ 4.62167587e-04 -2.27153294e-05 9.99999893e-01 1.28045811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.659254154 meters 0.022110347741712985 Centerline is valid? [True, True] Translation: X:298.12, Y:1.63, Z:1.28 [[ 9.98835677e-01 -4.82366262e-02 -7.20432972e-04 2.98123660e+02] [ 4.82366337e-02 9.98835936e-01 -6.91069507e-06 1.63075102e+00] [ 7.19927691e-04 -2.78486126e-05 9.99999740e-01 1.28070108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.719254154 meters 0.020638894711432935 Centerline is valid? [True, True] Translation: X:298.18, Y:1.64, Z:1.28 [[ 9.98978189e-01 -4.51545081e-02 -1.91005967e-03 2.98184745e+02] [ 4.51545557e-02 9.98980013e-01 -1.82247698e-05 1.63552599e+00] [ 1.90893436e-03 -6.80417481e-05 9.99998176e-01 1.28035865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.779254154 meters 0.019687944701196735 Centerline is valid? [True, True] Translation: X:298.24, Y:1.64, Z:1.28 [[ 9.99217591e-01 -3.93008393e-02 -4.43289081e-03 2.98244491e+02] [ 3.93010398e-02 9.99227415e-01 -4.19148904e-05 1.64044991e+00] [ 4.43111332e-03 -1.32335122e-04 9.99990174e-01 1.27846085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.839254154 meters 0.019697679566158983 Centerline is valid? [True, True] Translation: X:298.31, Y:1.64, Z:1.28 [[ 9.99222640e-01 -3.86932793e-02 -7.54618284e-03 2.98306776e+02] [ 3.86938446e-02 9.99251110e-01 -7.11266058e-05 1.64271183e+00] [ 7.54328370e-03 -2.20919511e-04 9.99971525e-01 1.27633842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.899254154 meters 0.019732624269130267 Centerline is valid? [True, True] Translation: X:298.37, Y:1.64, Z:1.28 [[ 9.99204384e-01 -3.87173368e-02 -9.56903892e-03 2.98368537e+02] [ 3.87182543e-02 9.99250163e-01 -8.94212914e-05 1.64477898e+00] [ 9.56532586e-03 -2.81146336e-04 9.99954212e-01 1.27548367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.959254154 meters 0.02020794140701109 Centerline is valid? [True, True] Translation: X:298.43, Y:1.65, Z:1.28 [[ 9.99249123e-01 -3.75944066e-02 -9.37285903e-03 2.98430220e+02] [ 3.75952437e-02 9.99293045e-01 -8.69271694e-05 1.64585876e+00] [ 9.36950082e-03 -2.65513021e-04 9.99956070e-01 1.27627641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.019254154 meters 0.019889874999496224 Centerline is valid? [True, True] Translation: X:298.49, Y:1.65, Z:1.28 [[ 9.99359162e-01 -3.48939124e-02 -7.97994018e-03 2.98491744e+02] [ 3.48944372e-02 9.99391001e-01 -7.34998922e-05 1.64932040e+00] [ 7.97764511e-03 -2.05002731e-04 9.99968157e-01 1.27874061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.079254154 meters 0.018543630238319404 Centerline is valid? [True, True] Translation: X:298.55, Y:1.65, Z:1.28 [[ 9.99374519e-01 -3.47059058e-02 -6.78751796e-03 2.98554033e+02] [ 3.47062841e-02 9.99397554e-01 -6.20899503e-05 1.65341949e+00] [ 6.78558373e-03 -1.73518412e-04 9.99976963e-01 1.28094372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.139254154 meters 0.02082871462918604 Centerline is valid? [True, True] Translation: X:298.62, Y:1.65, Z:1.28 [[ 9.99100885e-01 -4.19695142e-02 -5.99852077e-03 2.98615473e+02] [ 4.19699424e-02 9.99118872e-01 -5.45353665e-05 1.64810634e+00] [ 5.99552413e-03 -1.97271238e-04 9.99982007e-01 1.28226398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.199254154 meters 0.02518223619456809 Centerline is valid? [True, True] Translation: X:298.68, Y:1.64, Z:1.28 [[ 9.98658676e-01 -5.11887513e-02 -7.78203546e-03 2.98676076e+02] [ 5.11897540e-02 9.98688943e-01 -7.04070175e-05 1.63916157e+00] [ 7.77543681e-03 -3.28047902e-04 9.99969717e-01 1.28101659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.259254154 meters 0.02482316860290995 Centerline is valid? [True, True] Translation: X:298.74, Y:1.64, Z:1.28 [[ 9.98355765e-01 -5.64397344e-02 -1.00161226e-02 2.98736998e+02] [ 5.64416619e-02 9.98405895e-01 -9.03550311e-05 1.63874509e+00] [ 1.00052554e-02 -4.75120138e-04 9.99949833e-01 1.27990923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.319254154 meters 0.027478505504310004 Centerline is valid? [True, True] Translation: X:298.80, Y:1.63, Z:1.28 [[ 9.98125596e-01 -6.01560199e-02 -1.12493413e-02 2.98796743e+02] [ 6.01586925e-02 9.98188821e-01 -1.00957520e-04 1.63485910e+00] [ 1.12350400e-02 -5.75977381e-04 9.99936719e-01 1.27904124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.379254154 meters 0.030358900439221025 Centerline is valid? [True, True] Translation: X:298.86, Y:1.63, Z:1.28 [[ 9.97915216e-01 -6.31896895e-02 -1.31256999e-02 2.98857094e+02] [ 6.31935967e-02 9.98001280e-01 -1.17271240e-04 1.63072098e+00] [ 1.31068756e-02 -7.12433430e-04 9.99913847e-01 1.27817881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.439254154 meters 0.029108457371566296 Centerline is valid? [True, True] Translation: X:298.92, Y:1.63, Z:1.28 [[ 9.97924169e-01 -6.30309691e-02 -1.32079416e-02 2.98918872e+02] [ 6.30349210e-02 9.98011315e-01 -1.17292216e-04 1.63283427e+00] [ 1.31890682e-02 -7.15512819e-04 9.99912764e-01 1.27915603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.49925415399997 meters 0.028261522238187883 Centerline is valid? [True, True] Translation: X:298.98, Y:1.63, Z:1.28 [[ 9.98049202e-01 -6.10913742e-02 -1.28698677e-02 2.98979889e+02] [ 6.10949734e-02 9.98131951e-01 -1.13673628e-04 1.63454270e+00] [ 1.28527707e-02 -6.72832353e-04 9.99917173e-01 1.27958673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.559254154 meters 0.028005614908879813 Centerline is valid? [True, True] Translation: X:299.04, Y:1.64, Z:1.28 [[ 9.98219409e-01 -5.81436699e-02 -1.33163187e-02 2.99041542e+02] [ 5.81472727e-02 9.98308009e-01 -1.16780986e-04 1.63568787e+00] [ 1.33005777e-02 -6.57734568e-04 9.99911327e-01 1.27925445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.619254154 meters 0.027114711335329555 Centerline is valid? [True, True] Translation: X:299.10, Y:1.64, Z:1.28 [[ 9.98261340e-01 -5.72207708e-02 -1.41449778e-02 2.99103276e+02] [ 5.72247585e-02 9.98361313e-01 -1.22998331e-04 1.63835253e+00] [ 1.41288366e-02 -6.86658457e-04 9.99899947e-01 1.27910754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.679254154 meters 0.02736205856451595 Centerline is valid? [True, True] Translation: X:299.17, Y:1.64, Z:1.28 [[ 9.98156494e-01 -5.85612572e-02 -1.59433928e-02 2.99165198e+02] [ 5.85665130e-02 9.98283499e-01 -1.37448921e-04 1.63959302e+00] [ 1.59240751e-02 -7.96553387e-04 9.99872887e-01 1.27820246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.739254154 meters 0.0264670531281451 Centerline is valid? [True, True] Translation: X:299.23, Y:1.64, Z:1.28 [[ 9.97996950e-01 -6.08923250e-02 -1.71526276e-02 2.99226619e+02] [ 6.08987658e-02 9.98143937e-01 -1.47059160e-04 1.64175869e+00] [ 1.71297460e-02 -8.97809259e-04 9.99852872e-01 1.27883559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.799254154 meters 0.028446435833625768 Centerline is valid? [True, True] Translation: X:299.29, Y:1.64, Z:1.28 [[ 9.97794160e-01 -6.44941677e-02 -1.57262973e-02 2.99288091e+02] [ 6.45000364e-02 9.97917696e-01 -1.34265211e-04 1.64050441e+00] [ 1.57022097e-02 -8.80377707e-04 9.99876325e-01 1.28003998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.859254154 meters 0.03202603779904372 Centerline is valid? [True, True] Translation: X:299.35, Y:1.64, Z:1.28 [[ 9.97701361e-01 -6.62065872e-02 -1.44458133e-02 2.99349469e+02] [ 6.62117279e-02 9.97805588e-01 -1.22637685e-04 1.63835613e+00] [ 1.44222327e-02 -8.34126474e-04 9.99895646e-01 1.28003971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.919254154 meters 0.0293142082612932 Centerline is valid? [True, True] Translation: X:299.41, Y:1.64, Z:1.28 [[ 9.97681887e-01 -6.65284090e-02 -1.43116410e-02 2.99411768e+02] [ 6.65335015e-02 9.97784184e-01 -1.20532285e-04 1.64289237e+00] [ 1.42879478e-02 -8.31950707e-04 9.99897576e-01 1.28168023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.979254154 meters 0.02941104981356063 Centerline is valid? [True, True] Translation: X:299.47, Y:1.64, Z:1.28 [[ 9.97707263e-01 -6.63462067e-02 -1.33565453e-02 2.99474090e+02] [ 6.63506386e-02 9.97796362e-01 -1.11528350e-04 1.64493044e+00] [ 1.33345118e-02 -7.74942666e-04 9.99910791e-01 1.28218210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.039254154 meters 0.029807178127750283 Centerline is valid? [True, True] Translation: X:299.54, Y:1.65, Z:1.28 [[ 9.97697062e-01 -6.65033233e-02 -1.33371471e-02 2.99535915e+02] [ 6.65077693e-02 9.97785901e-01 -1.10389307e-04 1.64661873e+00] [ 1.33149586e-02 -7.76888815e-04 9.99911050e-01 1.28275985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.099254154 meters 0.03255095758190507 Centerline is valid? [True, True] Translation: X:299.60, Y:1.64, Z:1.28 [[ 9.97619356e-01 -6.75440252e-02 -1.39077097e-02 2.99596829e+02] [ 6.75489815e-02 9.97715953e-01 -1.13607625e-04 1.64416801e+00] [ 1.38836173e-02 -8.26114459e-04 9.99903277e-01 1.28198356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.159254154 meters 0.03354395339082776 Centerline is valid? [True, True] Translation: X:299.66, Y:1.64, Z:1.28 [[ 9.97462232e-01 -6.93571112e-02 -1.60837317e-02 2.99658103e+02] [ 6.93639916e-02 9.97591409e-01 -1.30343219e-04 1.64372783e+00] [ 1.60540328e-02 -9.85619391e-04 9.99870640e-01 1.28055011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.219254154 meters 0.03359089853856708 Centerline is valid? [True, True] Translation: X:299.72, Y:1.65, Z:1.28 [[ 9.97503107e-01 -6.85479777e-02 -1.69919438e-02 2.99720556e+02] [ 6.85555582e-02 9.97647291e-01 -1.36649199e-04 1.64566674e+00] [ 1.69613338e-02 -1.02858419e-03 9.99855617e-01 1.28028739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.279254154 meters 0.032012629554342524 Centerline is valid? [True, True] Translation: X:299.78, Y:1.65, Z:1.28 [[ 9.97904131e-01 -6.24209889e-02 -1.70577346e-02 2.99780500e+02] [ 6.24277408e-02 9.98049477e-01 -1.36879257e-04 1.65099563e+00] [ 1.70330073e-02 -9.28283459e-04 9.99854497e-01 1.28116505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.339254154 meters 0.02952046428058714 Centerline is valid? [True, True] Translation: X:299.84, Y:1.66, Z:1.28 [[ 9.98314148e-01 -5.58077523e-02 -1.59485902e-02 2.99841498e+02] [ 5.58128154e-02 9.98441242e-01 -1.27799503e-04 1.65751521e+00] [ 1.59308624e-02 -7.62551669e-04 9.99872805e-01 1.28232291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.399254154 meters 0.025295586636860188 Centerline is valid? [True, True] Translation: X:299.90, Y:1.67, Z:1.28 [[ 9.98914903e-01 -4.43010829e-02 -1.43676965e-02 2.99900555e+02] [ 4.43040022e-02 9.99018089e-01 -1.15194857e-04 1.66779533e+00] [ 1.43586920e-02 -5.21476599e-04 9.99896773e-01 1.28429095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.459254154 meters 0.017534243967639047 Centerline is valid? [True, True] Translation: X:299.96, Y:1.68, Z:1.29 [[ 9.99393101e-01 -3.18194326e-02 -1.41757735e-02 2.99961153e+02] [ 3.18210198e-02 9.99493577e-01 -1.13631076e-04 1.68470108e+00] [ 1.41722102e-02 -3.37525455e-04 9.99899512e-01 1.28648419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.519254154 meters 0.015504101943322551 Centerline is valid? [True, True] Translation: X:300.02, Y:1.69, Z:1.29 [[ 9.99629211e-01 -2.30885742e-02 -1.44346425e-02 3.00021468e+02] [ 2.30893104e-02 9.99733400e-01 -1.15669404e-04 1.69252122e+00] [ 1.44334649e-02 -2.17659426e-04 9.99895808e-01 1.28668494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.579254154 meters 0.014557880262715525 Centerline is valid? [True, True] Translation: X:300.08, Y:1.70, Z:1.29 [[ 9.99783091e-01 -1.49452930e-02 -1.45054695e-02 3.00082169e+02] [ 1.49451794e-02 9.99888308e-01 -1.16236963e-04 1.69894335e+00] [ 1.45055866e-02 -1.00575094e-04 9.99894783e-01 1.28683449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.639254154 meters 0.01441254198242825 Centerline is valid? [True, True] Translation: X:300.14, Y:1.71, Z:1.29 [[ 9.99883006e-01 -4.95483942e-03 -1.44715157e-02 3.00141164e+02] [ 4.95364191e-03 9.99987724e-01 -1.18593666e-04 1.70730501e+00] [ 1.44719256e-02 4.68930847e-05 9.99895275e-01 1.28850599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.699254154 meters 0.014809811781890036 Centerline is valid? [True, True] Translation: X:300.20, Y:1.71, Z:1.29 [[ 9.99890317e-01 -1.28788382e-03 -1.47544795e-02 3.00199358e+02] [ 1.28620857e-03 9.99999165e-01 -1.23030714e-04 1.71088411e+00] [ 1.47546256e-02 1.04039881e-04 9.99891139e-01 1.28733661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.759254154 meters 0.014512863327134874 Centerline is valid? [True, True] Translation: X:300.26, Y:1.71, Z:1.29 [[ 9.99880884e-01 -2.88200623e-03 -1.51628502e-02 3.00258267e+02] [ 2.88040204e-03 9.99995843e-01 -1.27635309e-04 1.70963910e+00] [ 1.51631550e-02 8.39450013e-05 9.99885029e-01 1.28847130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.819254154 meters 0.014187581452905986 Centerline is valid? [True, True] Translation: X:300.32, Y:1.70, Z:1.29 [[ 9.99848658e-01 -9.05415509e-03 -1.48554012e-02 3.00317383e+02] [ 9.05328030e-03 9.99959010e-01 -1.26135571e-04 1.70410596e+00] [ 1.48559343e-02 -8.37362959e-06 9.99889644e-01 1.28987924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.879254154 meters 0.014336969892257957 Centerline is valid? [True, True] Translation: X:300.37, Y:1.70, Z:1.29 [[ 9.99776025e-01 -1.51142424e-02 -1.48141648e-02 3.00374805e+02] [ 1.51140188e-02 9.99885769e-01 -1.27057129e-04 1.69925819e+00] [ 1.48143930e-02 -9.68728934e-05 9.99890256e-01 1.29038497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.939254154 meters 0.015624157626516661 Centerline is valid? [True, True] Translation: X:300.43, Y:1.69, Z:1.29 [[ 9.99549396e-01 -2.58909834e-02 -1.51875670e-02 3.00434159e+02] [ 2.58919766e-02 9.99664738e-01 -1.31262964e-04 1.69040845e+00] [ 1.51858738e-02 -2.62032314e-04 9.99884654e-01 1.29034622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.99925415399997 meters 0.01653737284643065 Centerline is valid? [True, True] Translation: X:300.49, Y:1.68, Z:1.29 [[ 9.99349597e-01 -3.27631357e-02 -1.50652143e-02 3.00494981e+02] [ 3.27648927e-02 9.99463078e-01 -1.30244968e-04 1.68454007e+00] [ 1.50613927e-02 -3.63449873e-04 9.99886505e-01 1.29052605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.059254154 meters 0.01889004598458524 Centerline is valid? [True, True] Translation: X:300.56, Y:1.68, Z:1.29 [[ 9.99060343e-01 -4.06052467e-02 -1.51540229e-02 3.00556204e+02] [ 4.06079329e-02 9.99175149e-01 -1.30528281e-04 1.67613412e+00] [ 1.51468232e-02 -4.84967914e-04 9.99885163e-01 1.29033673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.119254154 meters 0.01992247429561198 Centerline is valid? [True, True] Translation: X:300.62, Y:1.67, Z:1.29 [[ 9.98952794e-01 -4.33059878e-02 -1.47616472e-02 3.00618448e+02] [ 4.33088448e-02 9.99061724e-01 -1.26220182e-04 1.67294753e+00] [ 1.47532628e-02 -5.13221886e-04 9.99891033e-01 1.29043830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.179254154 meters 0.01957730500434138 Centerline is valid? [True, True] Translation: X:300.68, Y:1.67, Z:1.29 [[ 9.98965395e-01 -4.32917061e-02 -1.39272609e-02 3.00680234e+02] [ 4.32942620e-02 9.99062357e-01 -1.18065159e-04 1.67187604e+00] [ 1.39193133e-02 -4.85027475e-04 9.99903004e-01 1.29102179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.239254154 meters 0.02005297571293728 Centerline is valid? [True, True] Translation: X:300.74, Y:1.67, Z:1.29 [[ 9.99092533e-01 -4.02584041e-02 -1.39058008e-02 3.00740348e+02] [ 4.02606657e-02 9.99189204e-01 -1.17380397e-04 1.67129871e+00] [ 1.38992516e-02 -4.42582920e-04 9.99903303e-01 1.29015197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.299254154 meters 0.019430225222898 Centerline is valid? [True, True] Translation: X:300.80, Y:1.67, Z:1.29 [[ 9.99164177e-01 -3.81783990e-02 -1.46067272e-02 3.00802818e+02] [ 3.81806843e-02 9.99270844e-01 -1.22481259e-04 1.67317551e+00] [ 1.46007528e-02 -4.35315953e-04 9.99893309e-01 1.28978809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.359254154 meters 0.01816018018458514 Centerline is valid? [True, True] Translation: X:300.87, Y:1.68, Z:1.29 [[ 9.99185494e-01 -3.74285290e-02 -1.50815784e-02 3.00865275e+02] [ 3.74308967e-02 9.99299211e-01 -1.25344232e-04 1.67638388e+00] [ 1.50757009e-02 -4.39274866e-04 9.99886259e-01 1.29008492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.419254154 meters 0.0195112470696165 Centerline is valid? [True, True] Translation: X:300.93, Y:1.67, Z:1.29 [[ 9.99071801e-01 -3.97907966e-02 -1.64993563e-02 3.00925883e+02] [ 3.97939656e-02 9.99207897e-01 -1.36326289e-04 1.67482266e+00] [ 1.64917116e-02 -5.20375065e-04 9.99863867e-01 1.28867187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.479254154 meters 0.020761362489941097 Centerline is valid? [True, True] Translation: X:300.99, Y:1.67, Z:1.29 [[ 9.98857552e-01 -4.46253531e-02 -1.70929212e-02 3.00987466e+02] [ 4.46294719e-02 9.99003599e-01 -1.40599211e-04 1.67382339e+00] [ 1.70821641e-02 -6.22409462e-04 9.99853895e-01 1.28954784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.539254154 meters 0.02173979903459502 Centerline is valid? [True, True] Translation: X:301.05, Y:1.67, Z:1.29 [[ 9.98732589e-01 -4.75570995e-02 -1.64783792e-02 3.01049938e+02] [ 4.75613430e-02 9.98868310e-01 -1.34500753e-04 1.67405849e+00] [ 1.64661272e-02 -6.49403558e-04 9.99864213e-01 1.29099324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.599254154 meters 0.023518166673369763 Centerline is valid? [True, True] Translation: X:301.11, Y:1.67, Z:1.29 [[ 9.98666409e-01 -4.95890240e-02 -1.43642869e-02 3.01110988e+02] [ 4.95924699e-02 9.98769530e-01 -1.16420794e-04 1.67357446e+00] [ 1.43523853e-02 -5.96094932e-04 9.99896822e-01 1.29307608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.659254154 meters 0.023476948309510356 Centerline is valid? [True, True] Translation: X:301.17, Y:1.68, Z:1.29 [[ 9.98678378e-01 -4.98130568e-02 -1.26552858e-02 3.01173106e+02] [ 4.98157597e-02 9.98758419e-01 -1.01760997e-04 1.67570146e+00] [ 1.26446423e-02 -5.28806169e-04 9.99919913e-01 1.29482221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.719254154 meters 0.0239394385123296 Centerline is valid? [True, True] Translation: X:301.23, Y:1.68, Z:1.30 [[ 9.98742816e-01 -4.87596327e-02 -1.16312643e-02 3.01233936e+02] [ 4.87618523e-02 9.98810429e-01 -9.28467603e-05 1.67782760e+00] [ 1.16219553e-02 -4.74431960e-04 9.99932350e-01 1.29592698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.779254154 meters 0.02426639819484186 Centerline is valid? [True, True] Translation: X:301.30, Y:1.68, Z:1.30 [[ 9.98814317e-01 -4.71838167e-02 -1.19853164e-02 3.01295085e+02] [ 4.71860680e-02 9.98886113e-01 -9.50308132e-05 1.67965842e+00] [ 1.19764500e-02 -4.70621818e-04 9.99928169e-01 1.29583659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.839254154 meters 0.023526620228247187 Centerline is valid? [True, True] Translation: X:301.36, Y:1.68, Z:1.29 [[ 9.98974509e-01 -4.33575167e-02 -1.30405888e-02 3.01355545e+02] [ 4.33598616e-02 9.99059514e-01 -1.02995823e-04 1.68376094e+00] [ 1.30327900e-02 -4.62547924e-04 9.99914963e-01 1.29487229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.899254154 meters 0.022227335358909923 Centerline is valid? [True, True] Translation: X:301.42, Y:1.69, Z:1.29 [[ 9.99062193e-01 -4.11767336e-02 -1.33870040e-02 3.01417563e+02] [ 4.11790186e-02 9.99151779e-01 -1.05033699e-04 1.68722960e+00] [ 1.33799738e-02 -4.46328487e-04 9.99910385e-01 1.29482531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.959254154 meters 0.017384807313856204 Centerline is valid? [True, True] Translation: X:301.48, Y:1.70, Z:1.30 [[ 9.99358226e-01 -3.30263533e-02 -1.38707065e-02 3.01478495e+02] [ 3.30280285e-02 9.99454420e-01 -1.08339768e-04 1.70043015e+00] [ 1.38667170e-02 -3.49851853e-04 9.99903791e-01 1.29615364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.019254154 meters 0.017022959327965666 Centerline is valid? [True, True] Translation: X:301.54, Y:1.70, Z:1.30 [[ 9.99593112e-01 -2.54319145e-02 -1.29162293e-02 3.01538022e+02] [ 2.54327323e-02 9.99676531e-01 -1.00963257e-04 1.70402686e+00] [ 1.29146190e-02 -2.27572826e-04 9.99916577e-01 1.29563844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.079254154 meters 0.014597185428018997 Centerline is valid? [True, True] Translation: X:301.60, Y:1.72, Z:1.30 [[ 9.99838962e-01 -1.26472654e-02 -1.27317277e-02 3.01598054e+02] [ 1.26470224e-02 9.99920018e-01 -9.95995934e-05 1.71687578e+00] [ 1.27319691e-02 -6.14348924e-05 9.99918943e-01 1.29697527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.139254154 meters 0.014417920158751095 Centerline is valid? [True, True] Translation: X:301.66, Y:1.73, Z:1.30 [[ 9.99921156e-01 -2.18048627e-03 -1.23663886e-02 3.01656800e+02] [ 2.17943120e-03 9.99997620e-01 -9.87930268e-05 1.72593732e+00] [ 1.23665746e-02 7.18335443e-05 9.99923528e-01 1.29980870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.199254154 meters 0.015051292669756168 Centerline is valid? [True, True] Translation: X:301.72, Y:1.73, Z:1.30 [[ 9.99926044e-01 2.55997467e-03 -1.18891716e-02 3.01715527e+02] [-2.56132055e-03 9.99996715e-01 -9.79771083e-05 1.72843260e+00] [ 1.18888818e-02 1.28421842e-04 9.99929317e-01 1.29993889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.259254154 meters 0.015316275547186526 Centerline is valid? [True, True] Translation: X:301.77, Y:1.73, Z:1.30 [[ 9.99922225e-01 4.55281110e-03 -1.16110413e-02 3.01774479e+02] [-4.55426280e-03 9.99989624e-01 -9.85898500e-05 1.72841068e+00] [ 1.16104720e-02 1.51461916e-04 9.99932585e-01 1.30040414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.319254154 meters 0.015271697793803253 Centerline is valid? [True, True] Translation: X:301.83, Y:1.72, Z:1.30 [[ 9.99922801e-01 2.31028557e-03 -1.22088226e-02 3.01832560e+02] [-2.31174605e-03 9.99997322e-01 -1.05514408e-04 1.72401605e+00] [ 1.22085462e-02 1.33729960e-04 9.99925464e-01 1.29957351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.379254154 meters 0.014577038054130527 Centerline is valid? [True, True] Translation: X:301.89, Y:1.72, Z:1.30 [[ 9.99913468e-01 -1.36280304e-03 -1.30843231e-02 3.01891776e+02] [ 1.36142610e-03 9.99999067e-01 -1.14142419e-04 1.71738590e+00] [ 1.30844665e-02 9.63192030e-05 9.99914390e-01 1.30010816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.439254154 meters 0.014163867812771635 Centerline is valid? [True, True] Translation: X:301.95, Y:1.71, Z:1.30 [[ 9.99868430e-01 -8.95392564e-03 -1.35258923e-02 3.01950472e+02] [ 8.95313502e-03 9.99959913e-01 -1.19004867e-04 1.70692794e+00] [ 1.35264156e-02 -2.10993063e-06 9.99908514e-01 1.29917625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.49925415399997 meters 0.014441927651697708 Centerline is valid? [True, True] Translation: X:302.01, Y:1.70, Z:1.30 [[ 9.99798893e-01 -1.48547958e-02 -1.34725493e-02 3.02009332e+02] [ 1.48545339e-02 9.99889658e-01 -1.19516634e-04 1.69919333e+00] [ 1.34728381e-02 -8.06358407e-05 9.99909234e-01 1.29902981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.559254154 meters 0.015449078526483393 Centerline is valid? [True, True] Translation: X:302.07, Y:1.69, Z:1.30 [[ 9.99650665e-01 -2.31675544e-02 -1.27205727e-02 3.02067610e+02] [ 2.31679884e-02 9.99731580e-01 -1.13260330e-04 1.68696110e+00] [ 1.27197823e-02 -1.81489317e-04 9.99919084e-01 1.29934242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.619254154 meters 0.01644550754290559 Centerline is valid? [True, True] Translation: X:302.13, Y:1.68, Z:1.30 [[ 9.99534670e-01 -2.79282947e-02 -1.22659619e-02 3.02128773e+02] [ 2.79290592e-02 9.99609902e-01 -1.08991349e-04 1.67979031e+00] [ 1.22642209e-02 -2.33636144e-04 9.99924764e-01 1.29978637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.679254154 meters 0.01817407920396693 Centerline is valid? [True, True] Translation: X:302.19, Y:1.67, Z:1.30 [[ 9.99379994e-01 -3.28234809e-02 -1.27375729e-02 3.02190301e+02] [ 3.28247086e-02 9.99461118e-01 -1.12725902e-04 1.66949722e+00] [ 1.27344089e-02 -3.05451106e-04 9.99918867e-01 1.29874750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.739254154 meters 0.017937277441168777 Centerline is valid? [True, True] Translation: X:302.25, Y:1.66, Z:1.30 [[ 9.99261459e-01 -3.61160595e-02 -1.31212384e-02 3.02251929e+02] [ 3.61176598e-02 9.99347538e-01 -1.15064846e-04 1.66374600e+00] [ 1.31168330e-02 -3.58928559e-04 9.99913906e-01 1.29922482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.799254154 meters 0.021780121215858976 Centerline is valid? [True, True] Translation: X:302.31, Y:1.66, Z:1.30 [[ 9.99205377e-01 -3.72657520e-02 -1.41378372e-02 3.02313091e+02] [ 3.72677392e-02 9.99305309e-01 -1.22962030e-04 1.65638630e+00] [ 1.41325981e-02 -4.04020910e-04 9.99900048e-01 1.29679656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.859254154 meters 0.019515652767428254 Centerline is valid? [True, True] Translation: X:302.38, Y:1.65, Z:1.30 [[ 9.99129500e-01 -3.93126741e-02 -1.39555309e-02 3.02375610e+02] [ 3.93148228e-02 9.99226866e-01 -1.20449831e-04 1.65297701e+00] [ 1.39494766e-02 -4.28314244e-04 9.99902610e-01 1.29864575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.919254154 meters 0.019927935535572105 Centerline is valid? [True, True] Translation: X:302.44, Y:1.65, Z:1.30 [[ 9.99100703e-01 -3.94991127e-02 -1.54144347e-02 3.02438204e+02] [ 3.95017739e-02 9.99219492e-01 -1.31904069e-04 1.65029198e+00] [ 1.54076137e-02 -4.77112067e-04 9.99881182e-01 1.29772987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.979254154 meters 0.01873160765871198 Centerline is valid? [True, True] Translation: X:302.50, Y:1.65, Z:1.30 [[ 9.99088674e-01 -3.88323174e-02 -1.77164403e-02 3.02500260e+02] [ 3.88357521e-02 9.99245596e-01 -1.50262173e-04 1.65010105e+00] [ 1.77089100e-02 -5.37906049e-04 9.99843040e-01 1.29718975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.039254154 meters 0.018676121093486094 Centerline is valid? [True, True] Translation: X:302.56, Y:1.65, Z:1.30 [[ 9.99147005e-01 -3.72882333e-02 -1.77440208e-02 3.02561332e+02] [ 3.72914455e-02 9.99304421e-01 -1.49929682e-04 1.64956964e+00] [ 1.77372690e-02 -5.11898390e-04 9.99842551e-01 1.29759300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.099254154 meters 0.017789374114738684 Centerline is valid? [True, True] Translation: X:302.62, Y:1.65, Z:1.30 [[ 9.99328916e-01 -3.23260212e-02 -1.72263241e-02 3.02622332e+02] [ 3.23283171e-02 9.99477293e-01 -1.45245082e-04 1.65168610e+00] [ 1.72220150e-02 -4.11750459e-04 9.99851605e-01 1.29920681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.159254154 meters 0.01602888473851601 Centerline is valid? [True, True] Translation: X:302.68, Y:1.65, Z:1.30 [[ 9.99523706e-01 -2.64123780e-02 -1.59608185e-02 3.02682332e+02] [ 2.64135964e-02 9.99651091e-01 -1.34500884e-04 1.65462539e+00] [ 1.59588021e-02 -2.87145796e-04 9.99872609e-01 1.30078604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.219254154 meters 0.01569992675837138 Centerline is valid? [True, True] Translation: X:302.74, Y:1.66, Z:1.30 [[ 9.99610538e-01 -2.30989133e-02 -1.56592351e-02 3.02742448e+02] [ 2.30996765e-02 9.99733158e-01 -1.32157278e-04 1.65587854e+00] [ 1.56581093e-02 -2.29617459e-04 9.99877378e-01 1.30156862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.279254154 meters 0.015042004018260374 Centerline is valid? [True, True] Translation: X:302.80, Y:1.65, Z:1.30 [[ 9.99668109e-01 -2.13451584e-02 -1.44241224e-02 3.02802469e+02] [ 2.13456173e-02 9.99772149e-01 -1.22153089e-04 1.65480736e+00] [ 1.44234432e-02 -1.85779248e-04 9.99895959e-01 1.30264284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.339254154 meters 0.014894796296786405 Centerline is valid? [True, True] Translation: X:302.86, Y:1.65, Z:1.30 [[ 9.99641713e-01 -2.20644355e-02 -1.51527377e-02 3.02862258e+02] [ 2.20650164e-02 9.99756530e-01 -1.28869910e-04 1.65417640e+00] [ 1.51518919e-02 -2.05521667e-04 9.99885182e-01 1.30358058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.399254154 meters 0.015566085864363356 Centerline is valid? [True, True] Translation: X:302.92, Y:1.65, Z:1.30 [[ 9.99520525e-01 -2.66125495e-02 -1.58269431e-02 3.02921421e+02] [ 2.66137406e-02 9.99645783e-01 -1.35394470e-04 1.64955087e+00] [ 1.58249401e-02 -2.85884605e-04 9.99874737e-01 1.30398474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.459254154 meters 0.018114988694245646 Centerline is valid? [True, True] Translation: X:302.98, Y:1.64, Z:1.30 [[ 9.99231643e-01 -3.54375371e-02 -1.67423066e-02 3.02980205e+02] [ 3.54400960e-02 9.99371792e-01 -1.43923449e-04 1.64044571e+00] [ 1.67368893e-02 -4.49536090e-04 9.99859827e-01 1.30340811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.519254154 meters 0.02423506441840182 Centerline is valid? [True, True] Translation: X:303.04, Y:1.63, Z:1.30 [[ 9.98973931e-01 -4.22251721e-02 -1.63743761e-02 3.03040094e+02] [ 4.22285267e-02 9.99107968e-01 -1.40986933e-04 1.62796629e+00] [ 1.63657228e-02 -5.50623507e-04 9.99865921e-01 1.30187841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.579254154 meters 0.023468239225336796 Centerline is valid? [True, True] Translation: X:303.10, Y:1.63, Z:1.30 [[ 9.98682678e-01 -4.87468608e-02 -1.60203543e-02 3.03100742e+02] [ 4.87509101e-02 9.98810958e-01 -1.37903001e-04 1.62755153e+00] [ 1.60080277e-02 -6.43285512e-04 9.99871656e-01 1.30450987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.639254154 meters 0.02366737085159753 Centerline is valid? [True, True] Translation: X:303.16, Y:1.63, Z:1.31 [[ 9.98257899e-01 -5.68113700e-02 -1.59259221e-02 3.03161700e+02] [ 5.68163964e-02 9.98384634e-01 -1.37032656e-04 1.62594157e+00] [ 1.59079809e-02 -7.68059569e-04 9.99873165e-01 1.30673898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.699254154 meters 0.026434139752518696 Centerline is valid? [True, True] Translation: X:303.22, Y:1.62, Z:1.31 [[ 9.97914274e-01 -6.26363976e-02 -1.56135731e-02 3.03222361e+02] [ 6.26419403e-02 9.98036056e-01 -1.34296675e-04 1.62087413e+00] [ 1.55913208e-02 -8.44047945e-04 9.99878092e-01 1.30771158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.759254154 meters 0.028402985019327757 Centerline is valid? [True, True] Translation: X:303.28, Y:1.62, Z:1.31 [[ 9.97800603e-01 -6.42735253e-02 -1.62132570e-02 3.03284015e+02] [ 6.42797370e-02 9.97931910e-01 -1.38251242e-04 1.61875640e+00] [ 1.61886124e-02 -9.04236724e-04 9.99868547e-01 1.30824330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.819254154 meters 0.030672827452010318 Centerline is valid? [True, True] Translation: X:303.35, Y:1.62, Z:1.31 [[ 9.97734455e-01 -6.54669907e-02 -1.54929225e-02 3.03345087e+02] [ 6.54728302e-02 9.97854344e-01 -1.30538631e-04 1.61576092e+00] [ 1.54682260e-02 -8.84122598e-04 9.99879969e-01 1.30830983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.879254154 meters 0.029457087302644572 Centerline is valid? [True, True] Translation: X:303.41, Y:1.62, Z:1.31 [[ 9.97654958e-01 -6.60105784e-02 -1.80883653e-02 3.03407218e+02] [ 6.60186560e-02 9.97818377e-01 -1.50855635e-04 1.62023775e+00] [ 1.80588614e-02 -1.04366769e-03 9.99836381e-01 1.30821346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.939254154 meters 0.031815585097297774 Centerline is valid? [True, True] Translation: X:303.47, Y:1.62, Z:1.31 [[ 9.97592636e-01 -6.68904978e-02 -1.82919241e-02 3.03468611e+02] [ 6.68989380e-02 9.97759745e-01 -1.50783877e-04 1.61662749e+00] [ 1.82610315e-02 -1.07328941e-03 9.99832677e-01 1.30659414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.99925415399997 meters 0.030411202293700167 Centerline is valid? [True, True] Translation: X:303.53, Y:1.62, Z:1.31 [[ 9.97547243e-01 -6.70180994e-02 -2.02008009e-02 3.03530604e+02] [ 6.70284532e-02 9.97751051e-01 -1.64867993e-04 1.62281780e+00] [ 2.01664194e-02 -1.18956482e-03 9.99795929e-01 1.30603651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.059254154 meters 0.02965217074093166 Centerline is valid? [True, True] Translation: X:303.59, Y:1.63, Z:1.31 [[ 9.97620804e-01 -6.55679090e-02 -2.12974412e-02 3.03593047e+02] [ 6.55791219e-02 9.97847358e-01 -1.72250371e-04 1.62972910e+00] [ 2.12628895e-02 -1.22482694e-03 9.99773169e-01 1.30693230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.119254154 meters 0.029386872739970118 Centerline is valid? [True, True] Translation: X:303.65, Y:1.64, Z:1.31 [[ 9.97764378e-01 -6.36156208e-02 -2.04767831e-02 3.03654645e+02] [ 6.36256002e-02 9.97973825e-01 -1.64432988e-04 1.63511339e+00] [ 2.04457541e-02 -1.13878224e-03 9.99790315e-01 1.30812715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.179254154 meters 0.027327675344560487 Centerline is valid? [True, True] Translation: X:303.72, Y:1.65, Z:1.31 [[ 9.98060437e-01 -5.92574545e-02 -1.90766624e-02 3.03715342e+02] [ 5.92653281e-02 9.98242254e-01 -1.52841954e-04 1.64661309e+00] [ 1.90521875e-02 -9.78039150e-04 9.99818012e-01 1.31126810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.239254154 meters 0.023640649138478655 Centerline is valid? [True, True] Translation: X:303.78, Y:1.66, Z:1.31 [[ 9.98283166e-01 -5.54956013e-02 -1.87338747e-02 3.03775550e+02] [ 5.55025342e-02 9.98458535e-01 -1.50058611e-04 1.65796839e+00] [ 1.87133246e-02 -8.89976533e-04 9.99824494e-01 1.31345999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.299254154 meters 0.022013774879370805 Centerline is valid? [True, True] Translation: X:303.84, Y:1.67, Z:1.31 [[ 9.98555411e-01 -5.00560715e-02 -1.95315492e-02 3.03836553e+02] [ 5.00625744e-02 9.98746071e-01 -1.56167894e-04 1.66805159e+00] [ 1.95148752e-02 -8.21857339e-04 9.99809229e-01 1.31356362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.359254154 meters 0.020593245611243646 Centerline is valid? [True, True] Translation: X:303.90, Y:1.68, Z:1.31 [[ 9.98709046e-01 -4.60695131e-02 -2.13972180e-02 3.03898014e+02] [ 4.60764200e-02 9.98937903e-01 -1.70363212e-04 1.67701819e+00] [ 2.13823406e-02 -8.15763923e-04 9.99771039e-01 1.31309815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.419254154 meters 0.02036385754838768 Centerline is valid? [True, True] Translation: X:303.96, Y:1.68, Z:1.31 [[ 9.98792242e-01 -4.37569952e-02 -2.23468589e-02 3.03958961e+02] [ 4.37639696e-02 9.99041883e-01 -1.77098209e-04 1.68148218e+00] [ 2.23331973e-02 -8.01102937e-04 9.99750262e-01 1.31261618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.479254154 meters 0.01934514362690736 Centerline is valid? [True, True] Translation: X:304.02, Y:1.69, Z:1.31 [[ 9.98964919e-01 -3.99600299e-02 -2.17321436e-02 3.04019159e+02] [ 3.99657316e-02 9.99201036e-01 -1.72070438e-04 1.68904091e+00] [ 2.17216564e-02 -6.96648688e-04 9.99763814e-01 1.31384784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.539254154 meters 0.018467853797563154 Centerline is valid? [True, True] Translation: X:304.08, Y:1.70, Z:1.32 [[ 9.99099329e-01 -3.66139360e-02 -2.14464616e-02 3.04080656e+02] [ 3.66187323e-02 9.99329295e-01 -1.69164979e-04 1.69649610e+00] [ 2.14382711e-02 -6.16329618e-04 9.99769984e-01 1.31659707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.599254154 meters 0.017009940985610036 Centerline is valid? [True, True] Translation: X:304.14, Y:1.70, Z:1.32 [[ 9.99218699e-01 -3.34161159e-02 -2.11034415e-02 3.04139765e+02] [ 3.34200443e-02 9.99441380e-01 -1.66603337e-04 1.70218681e+00] [ 2.10972200e-02 -5.38804781e-04 9.99777284e-01 1.31693523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.659254154 meters 0.016939053001467676 Centerline is valid? [True, True] Translation: X:304.20, Y:1.71, Z:1.32 [[ 9.99223441e-01 -3.32907837e-02 -2.10769887e-02 3.04200651e+02] [ 3.32946727e-02 9.99445565e-01 -1.66475419e-04 1.70503397e+00] [ 2.10708450e-02 -5.35405298e-04 9.99777842e-01 1.31707231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.719254154 meters 0.017510672750741915 Centerline is valid? [True, True] Translation: X:304.26, Y:1.71, Z:1.32 [[ 9.99085231e-01 -3.73179989e-02 -2.08822653e-02 3.04261306e+02] [ 3.73226950e-02 9.99303252e-01 -1.64937407e-04 1.70664275e+00] [ 2.08738707e-02 -6.14595891e-04 9.99781928e-01 1.31871123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.779254154 meters 0.020342627159195898 Centerline is valid? [True, True] Translation: X:304.32, Y:1.70, Z:1.32 [[ 9.98754929e-01 -4.54247963e-02 -2.06198644e-02 3.04322196e+02] [ 4.54311014e-02 9.98967461e-01 -1.62803513e-04 1.70345407e+00] [ 2.06059689e-02 -7.74182338e-04 9.99787375e-01 1.31905821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.839254154 meters 0.024960700761602256 Centerline is valid? [True, True] Translation: X:304.38, Y:1.70, Z:1.32 [[ 9.98338127e-01 -5.43723731e-02 -1.90952868e-02 3.04382224e+02] [ 5.43794246e-02 9.98520333e-01 -1.50152925e-04 1.69769061e+00] [ 1.90751963e-02 -8.88487317e-04 9.99817657e-01 1.31964182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.899254154 meters 0.027896538644585942 Centerline is valid? [True, True] Translation: X:304.44, Y:1.70, Z:1.32 [[ 9.98018617e-01 -5.98124324e-02 -1.95272161e-02 3.04442406e+02] [ 5.98208502e-02 9.98209118e-01 -1.53282634e-04 1.69511493e+00] [ 1.95014134e-02 -1.01515575e-03 9.99809314e-01 1.32026814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.959254154 meters 0.032878424790667105 Centerline is valid? [True, True] Translation: X:304.50, Y:1.69, Z:1.32 [[ 9.97613293e-01 -6.60129897e-02 -2.02485474e-02 3.04502817e+02] [ 6.60233268e-02 9.97818067e-01 -1.58303234e-04 1.69019494e+00] [ 2.02148165e-02 -1.17895105e-03 9.99794965e-01 1.31971784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.019254154 meters 0.03501589217022889 Centerline is valid? [True, True] Translation: X:304.56, Y:1.69, Z:1.32 [[ 9.97425208e-01 -6.87633523e-02 -2.03606435e-02 3.04564215e+02] [ 6.87743896e-02 9.97632226e-01 -1.58460392e-04 1.68806270e+00] [ 2.03233304e-02 -1.24223844e-03 9.99792688e-01 1.31957209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.079254154 meters 0.0319390691682371 Centerline is valid? [True, True] Translation: X:304.63, Y:1.70, Z:1.32 [[ 9.97182839e-01 -7.14253250e-02 -2.29086961e-02 3.04625633e+02] [ 7.14400176e-02 9.97444882e-01 -1.77453396e-04 1.69588570e+00] [ 2.28628363e-02 -1.45964417e-03 9.99737546e-01 1.32042199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.139254154 meters 0.032130886726971064 Centerline is valid? [True, True] Translation: X:304.69, Y:1.70, Z:1.32 [[ 9.97153050e-01 -7.16360649e-02 -2.35386772e-02 3.04688263e+02] [ 7.16516721e-02 9.97429699e-01 -1.80782592e-04 1.69733092e+00] [ 2.34911262e-02 -1.50631766e-03 9.99722911e-01 1.32028628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.199254154 meters 0.02892200782519973 Centerline is valid? [True, True] Translation: X:304.75, Y:1.71, Z:1.32 [[ 9.97267143e-01 -6.98424174e-02 -2.40890547e-02 3.04749568e+02] [ 6.98582676e-02 9.97556910e-01 -1.83945916e-04 1.70575868e+00] [ 2.40430502e-02 -1.49937641e-03 9.99709800e-01 1.32197271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.259254154 meters 0.0263544089345173 Centerline is valid? [True, True] Translation: X:304.81, Y:1.72, Z:1.32 [[ 9.97720232e-01 -6.36446318e-02 -2.24432308e-02 3.04810502e+02] [ 6.36568335e-02 9.97971832e-01 -1.71055396e-04 1.71511513e+00] [ 2.24085989e-02 -1.25799958e-03 9.99748104e-01 1.32478125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.319254154 meters 0.02289001378777582 Centerline is valid? [True, True] Translation: X:304.87, Y:1.72, Z:1.33 [[ 9.98156424e-01 -5.71452512e-02 -2.04492777e-02 3.04871240e+02] [ 5.71540266e-02 9.98365361e-01 -1.55529079e-04 1.72485863e+00] [ 2.04247382e-02 -1.01351621e-03 9.99790880e-01 1.32758699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.379254154 meters 0.019584894615464185 Centerline is valid? [True, True] Translation: X:304.93, Y:1.74, Z:1.33 [[ 9.98774142e-01 -4.60642966e-02 -1.81188799e-02 3.04931746e+02] [ 4.60693689e-02 9.98938233e-01 -1.37570829e-04 1.73628277e+00] [ 1.81059790e-02 -6.97323178e-04 9.99835830e-01 1.32927055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.439254154 meters 0.017995388248697165 Centerline is valid? [True, True] Translation: X:304.99, Y:1.74, Z:1.33 [[ 9.99028262e-01 -3.99548809e-02 -1.86048056e-02 3.04992628e+02] [ 3.99591766e-02 9.99201303e-01 -1.40947684e-04 1.74229113e+00] [ 1.85955776e-02 -6.02621993e-04 9.99826906e-01 1.32862342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.49925415399997 meters 0.015720224395882144 Centerline is valid? [True, True] Translation: X:305.05, Y:1.75, Z:1.33 [[ 9.99204641e-01 -3.42619728e-02 -2.04010419e-02 3.05053949e+02] [ 3.42659665e-02 9.99412737e-01 -1.53877165e-04 1.74905019e+00] [ 2.03943333e-02 -5.45306643e-04 9.99791865e-01 1.32745283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.559254154 meters 0.016252000903525965 Centerline is valid? [True, True] Translation: X:305.12, Y:1.75, Z:1.33 [[ 9.99203487e-01 -3.33855460e-02 -2.18585454e-02 3.05115145e+02] [ 3.33899460e-02 9.99442387e-01 -1.63749360e-04 1.75038081e+00] [ 2.18518237e-02 -5.66236719e-04 9.99761060e-01 1.32571653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.619254154 meters 0.016000569901659475 Centerline is valid? [True, True] Translation: X:305.18, Y:1.75, Z:1.33 [[ 9.99178958e-01 -3.38134312e-02 -2.23172850e-02 3.05176567e+02] [ 3.38181444e-02 9.99427989e-01 -1.66294955e-04 1.75218588e+00] [ 2.23101422e-02 -5.88570745e-04 9.99750925e-01 1.32559501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.679254154 meters 0.016143170811409063 Centerline is valid? [True, True] Translation: X:305.24, Y:1.75, Z:1.33 [[ 9.99167163e-01 -3.44021770e-02 -2.19424315e-02 3.05238185e+02] [ 3.44068924e-02 9.99407894e-01 -1.62710596e-04 1.75287297e+00] [ 2.19350369e-02 -5.92395796e-04 9.99759223e-01 1.32597842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.739254154 meters 0.01621057712514661 Centerline is valid? [True, True] Translation: X:305.30, Y:1.75, Z:1.33 [[ 9.99161074e-01 -3.54659770e-02 -2.04771259e-02 3.05299148e+02] [ 3.54703216e-02 9.99370719e-01 -1.51109763e-04 1.75463573e+00] [ 2.04695993e-02 -5.75347246e-04 9.99790310e-01 1.32703369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.799254154 meters 0.016831419426807243 Centerline is valid? [True, True] Translation: X:305.36, Y:1.76, Z:1.33 [[ 9.99140017e-01 -3.68923972e-02 -1.89255643e-02 3.05361107e+02] [ 3.68963865e-02 9.99319087e-01 -1.38456894e-04 1.75521368e+00] [ 1.89177856e-02 -5.59947110e-04 9.99820886e-01 1.32836419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.859254154 meters 0.018566519407688033 Centerline is valid? [True, True] Translation: X:305.42, Y:1.75, Z:1.33 [[ 9.99003611e-01 -4.16386606e-02 -1.60625983e-02 3.05422744e+02] [ 4.16421579e-02 9.99132582e-01 -1.16816783e-04 1.75338616e+00] [ 1.60535294e-02 -5.52180865e-04 9.99870981e-01 1.32962671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.919254154 meters 0.022594635025998438 Centerline is valid? [True, True] Translation: X:305.48, Y:1.75, Z:1.33 [[ 9.98680117e-01 -4.94882879e-02 -1.37452934e-02 3.05482526e+02] [ 4.94915908e-02 9.98774535e-01 -9.99639318e-05 1.74696646e+00] [ 1.37333961e-02 -5.80444445e-04 9.99905524e-01 1.32880221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.979254154 meters 0.023818088215087612 Centerline is valid? [True, True] Translation: X:305.54, Y:1.75, Z:1.33 [[ 9.98439602e-01 -5.43262405e-02 -1.29236572e-02 3.05543612e+02] [ 5.43295680e-02 9.98523054e-01 -9.37313510e-05 1.74523849e+00] [ 1.29096618e-02 -6.08551622e-04 9.99916482e-01 1.32878369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.039254154 meters 0.025459272364437048 Centerline is valid? [True, True] Translation: X:305.60, Y:1.74, Z:1.33 [[ 9.98203180e-01 -5.87191321e-02 -1.19362724e-02 3.05604623e+02] [ 5.87222872e-02 9.98274354e-01 -8.62814394e-05 1.74195245e+00] [ 1.19207409e-02 -6.14798806e-04 9.99928756e-01 1.32843845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.099254154 meters 0.025765685579671904 Centerline is valid? [True, True] Translation: X:305.67, Y:1.74, Z:1.33 [[ 9.98176838e-01 -5.91631300e-02 -1.19467579e-02 3.05666939e+02] [ 5.91663299e-02 9.98248135e-01 -8.57241750e-05 1.74146241e+00] [ 1.19309005e-02 -6.21277936e-04 9.99928631e-01 1.32830410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.159254154 meters 0.025190650426599973 Centerline is valid? [True, True] Translation: X:305.73, Y:1.74, Z:1.33 [[ 9.98283798e-01 -5.76239557e-02 -1.04373355e-02 3.05728053e+02] [ 5.76263193e-02 9.98338220e-01 -7.43900912e-05 1.74267264e+00] [ 1.04242776e-02 -5.27202803e-04 9.99945527e-01 1.32782347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.219254154 meters 0.02195833512920966 Centerline is valid? [True, True] Translation: X:305.79, Y:1.75, Z:1.33 [[ 9.98513260e-01 -5.37536869e-02 -9.04493513e-03 3.05789230e+02] [ 5.37553056e-02 9.98554136e-01 -6.42386871e-05 1.74816239e+00] [ 9.03531045e-03 -4.22070071e-04 9.99959092e-01 1.32741818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.279254154 meters 0.021106949158833956 Centerline is valid? [True, True] Translation: X:305.85, Y:1.75, Z:1.33 [[ 9.98705727e-01 -4.99743411e-02 -9.45702996e-03 3.05851244e+02] [ 4.99759449e-02 9.98750420e-01 -6.67954889e-05 1.75054352e+00] [ 9.44855070e-03 -4.05914971e-04 9.99955279e-01 1.32618616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.339254154 meters 0.018841130537455085 Centerline is valid? [True, True] Translation: X:305.91, Y:1.76, Z:1.32 [[ 9.99044942e-01 -4.26186448e-02 -9.63607892e-03 3.05911682e+02] [ 4.26199708e-02 9.99091354e-01 -6.77935137e-05 1.75605216e+00] [ 9.63021240e-03 -3.42960635e-04 9.99953570e-01 1.32472128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.399254154 meters 0.017366686621281893 Centerline is valid? [True, True] Translation: X:305.97, Y:1.76, Z:1.32 [[ 9.99275626e-01 -3.69777436e-02 -8.99270665e-03 3.05972441e+02] [ 3.69786711e-02 9.99316053e-01 -6.31714276e-05 1.76060037e+00] [ 8.98889205e-03 -2.69412674e-04 9.99959563e-01 1.32424796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.459254154 meters 0.015416840731792777 Centerline is valid? [True, True] Translation: X:306.03, Y:1.77, Z:1.32 [[ 9.99553297e-01 -2.88082517e-02 -7.95560125e-03 3.06033595e+02] [ 2.88087201e-02 9.99584941e-01 -5.57309959e-05 1.76730874e+00] [ 7.95390472e-03 -1.73484589e-04 9.99968352e-01 1.32396372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.519254154 meters 0.013620361997891565 Centerline is valid? [True, True] Translation: X:306.10, Y:1.77, Z:1.32 [[ 9.99762353e-01 -2.06152044e-02 -7.08873273e-03 3.06095148e+02] [ 2.06153724e-02 9.99787479e-01 -4.93744129e-05 1.77483905e+00] [ 7.08824409e-03 -9.67741856e-05 9.99974873e-01 1.32349058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.579254154 meters 0.012719761145337516 Centerline is valid? [True, True] Translation: X:306.16, Y:1.78, Z:1.32 [[ 9.99865859e-01 -1.57090993e-02 -4.63556737e-03 3.06157401e+02] [ 1.57091195e-02 9.99876604e-01 -3.20652446e-05 1.78049232e+00] [ 4.63549908e-03 -4.07597383e-05 9.99989255e-01 1.32407678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.639254154 meters 0.012438791566435285 Centerline is valid? [True, True] Translation: X:306.22, Y:1.78, Z:1.32 [[ 9.99951444e-01 -9.49547591e-03 -2.63541031e-03 3.06219671e+02] [ 9.49546099e-03 9.99954917e-01 -1.81725888e-05 1.78480629e+00] [ 2.63546405e-03 -6.85272934e-06 9.99996527e-01 1.32498232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.699254154 meters 0.012138906468347527 Centerline is valid? [True, True] Translation: X:306.28, Y:1.79, Z:1.33 [[ 9.99978933e-01 -6.40510526e-03 -1.05233579e-03 3.06282213e+02] [ 6.40510104e-03 9.99979487e-01 -7.37868348e-06 1.78692440e+00] [ 1.05236146e-03 6.38210975e-07 9.99999446e-01 1.32537997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.759254154 meters 0.012631923408851522 Centerline is valid? [True, True] Translation: X:306.34, Y:1.79, Z:1.32 [[ 9.99989859e-01 -4.50199157e-03 1.20703611e-04 3.06343265e+02] [ 4.50199157e-03 9.99989866e-01 2.90079059e-07 1.78764806e+00] [-1.20703694e-04 2.53330522e-07 9.99999993e-01 1.32443923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.819254154 meters 0.012955017849781396 Centerline is valid? [True, True] Translation: X:306.41, Y:1.78, Z:1.32 [[ 9.99984314e-01 -5.32626506e-03 1.73303310e-03 3.06405310e+02] [ 5.32625406e-03 9.99985815e-01 1.09635075e-05 1.78483512e+00] [-1.73306691e-03 -1.73276099e-06 9.99998498e-01 1.32316461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.879254154 meters 0.013058981740169662 Centerline is valid? [True, True] Translation: X:306.47, Y:1.78, Z:1.32 [[ 9.99976489e-01 -6.24283379e-03 2.83714155e-03 3.06467665e+02] [ 6.24280800e-03 9.99980513e-01 1.79437489e-05 1.78230861e+00] [-2.83719829e-03 -2.31597019e-07 9.99995975e-01 1.32340485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.939254154 meters 0.013287156261501643 Centerline is valid? [True, True] Translation: X:306.53, Y:1.78, Z:1.32 [[ 9.99958201e-01 -8.69831516e-03 2.81687820e-03 3.06529791e+02] [ 8.69830404e-03 9.99962169e-01 1.61992882e-05 1.77752530e+00] [-2.81691254e-03 8.30345200e-06 9.99996032e-01 1.32489622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.99925415399997 meters 0.013888441333337397 Centerline is valid? [True, True] Translation: X:306.59, Y:1.77, Z:1.32 [[ 9.99921928e-01 -1.22541055e-02 2.44450852e-03 3.06591894e+02] [ 1.22541093e-02 9.99924915e-01 1.34261766e-05 1.77221015e+00] [-2.44448950e-03 1.65301462e-05 9.99997012e-01 1.32490250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.059254154 meters 0.015173541220650413 Centerline is valid? [True, True] Translation: X:306.65, Y:1.76, Z:1.32 [[ 9.99773123e-01 -2.12680638e-02 1.17161210e-03 3.06653723e+02] [ 2.12680711e-02 9.99773809e-01 6.24618906e-06 1.76083015e+00] [-1.17147994e-03 1.86731576e-05 9.99999314e-01 1.32266041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.119254154 meters 0.018128524172778347 Centerline is valid? [True, True] Translation: X:306.71, Y:1.75, Z:1.32 [[ 9.99524228e-01 -3.08426802e-02 -2.17207562e-04 3.06714143e+02] [ 3.08426806e-02 9.99524251e-01 -1.42548224e-06 1.74722744e+00] [ 2.17148192e-04 -5.27445943e-06 9.99999976e-01 1.32172059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.179254154 meters 0.02099518591732532 Centerline is valid? [True, True] Translation: X:306.78, Y:1.74, Z:1.32 [[ 9.99154132e-01 -4.11074375e-02 -1.09502978e-03 3.06775105e+02] [ 4.11074552e-02 9.99154731e-01 -6.31793143e-06 1.73708379e+00] [ 1.09436390e-03 -3.87013003e-05 9.99999400e-01 1.32191871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.239254154 meters 0.024941749878220933 Centerline is valid? [True, True] Translation: X:306.84, Y:1.72, Z:1.32 [[ 9.98670260e-01 -5.15525796e-02 -2.05796930e-04 3.06836521e+02] [ 5.15525805e-02 9.98670282e-01 -1.31594600e-06 1.72497374e+00] [ 2.05591118e-04 -9.29516664e-06 9.99999979e-01 1.32335430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.299254154 meters 0.026123478497238003 Centerline is valid? [True, True] Translation: X:306.90, Y:1.72, Z:1.32 [[ 9.98381949e-01 -5.68636616e-02 8.66222906e-05 3.06896873e+02] [ 5.68636618e-02 9.98381953e-01 4.77112978e-07 1.71974764e+00] [-8.65092620e-05 4.44931965e-06 9.99999996e-01 1.32419337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.359254154 meters 0.02999683777775803 Centerline is valid? [True, True] Translation: X:306.96, Y:1.71, Z:1.32 [[ 9.98079340e-01 -6.19475446e-02 -3.65078011e-04 3.06956416e+02] [ 6.19475480e-02 9.98079406e-01 -2.03023034e-06 1.71004434e+00] [ 3.64502612e-04 -2.05893566e-05 9.99999933e-01 1.32491925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.419254154 meters 0.03009969748660366 Centerline is valid? [True, True] Translation: X:307.02, Y:1.71, Z:1.32 [[ 9.98037806e-01 -6.26059791e-02 -1.01489227e-03 3.07018339e+02] [ 6.26060052e-02 9.98038320e-01 -6.07048330e-06 1.70858928e+00] [ 1.01328143e-03 -5.74797792e-05 9.99999485e-01 1.32459550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.479254154 meters 0.03199356064889582 Centerline is valid? [True, True] Translation: X:307.08, Y:1.70, Z:1.32 [[ 9.98012168e-01 -6.29669505e-02 -2.62227214e-03 3.07079307e+02] [ 6.29671270e-02 9.98015601e-01 -1.52726269e-05 1.70123052e+00] [ 2.61803018e-03 -1.49874675e-04 9.99996562e-01 1.32240594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.539254154 meters 0.029303576673740544 Centerline is valid? [True, True] Translation: X:307.14, Y:1.70, Z:1.32 [[ 9.98226702e-01 -5.92869190e-02 -5.33967425e-03 3.07140364e+02] [ 5.92876095e-02 9.98240942e-01 -2.90139071e-05 1.70252896e+00] [ 5.33200160e-03 -2.87614065e-04 9.99985743e-01 1.32055892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.599254154 meters 0.02749058856811981 Centerline is valid? [True, True] Translation: X:307.20, Y:1.71, Z:1.32 [[ 9.98363136e-01 -5.68970899e-02 -5.81110504e-03 3.07202059e+02] [ 5.68978683e-02 9.98380004e-01 -3.14135697e-05 1.70549412e+00] [ 5.80347841e-03 -2.99277339e-04 9.99983115e-01 1.32054965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.659254154 meters 0.02465684656419357 Centerline is valid? [True, True] Translation: X:307.26, Y:1.71, Z:1.32 [[ 9.99106432e-01 -4.18531464e-02 -5.88659747e-03 3.07261566e+02] [ 4.18536856e-02 9.99123750e-01 -3.16096722e-05 1.71157590e+00] [ 5.88276231e-03 -2.14794373e-04 9.99982673e-01 1.32079230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.719254154 meters 0.020038525464946857 Centerline is valid? [True, True] Translation: X:307.32, Y:1.72, Z:1.32 [[ 9.99450694e-01 -3.28086050e-02 -4.68031043e-03 3.07321838e+02] [ 3.28088465e-02 9.99461645e-01 -2.52024483e-05 1.72067364e+00] [ 4.67861762e-03 -1.28366982e-04 9.99989047e-01 1.32220113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.779254154 meters 0.016254184672851765 Centerline is valid? [True, True] Translation: X:307.38, Y:1.73, Z:1.32 [[ 9.99715054e-01 -2.36878784e-02 -2.94862217e-03 3.07382429e+02] [ 2.36879345e-02 9.99719401e-01 -1.59018181e-05 1.72948583e+00] [ 2.94817147e-03 -5.39494820e-05 9.99995653e-01 1.32344570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.839254154 meters 0.014615905579410525 Centerline is valid? [True, True] Translation: X:307.44, Y:1.74, Z:1.32 [[ 9.99926903e-01 -1.13358047e-02 -4.20579520e-03 3.07444027e+02] [ 1.13358100e-02 9.99935747e-01 -2.25793056e-05 1.73717097e+00] [ 4.20578092e-03 -2.50984399e-05 9.99991155e-01 1.32182501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.899254154 meters 0.014364389608289199 Centerline is valid? [True, True] Translation: X:307.50, Y:1.74, Z:1.32 [[ 9.99973593e-01 -4.41339347e-03 -5.77368376e-03 3.07504990e+02] [ 4.41329028e-03 9.99990261e-01 -3.06116280e-05 1.74066423e+00] [ 5.77376263e-03 5.12987715e-06 9.99983332e-01 1.32136832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.959254154 meters 0.015085944121211522 Centerline is valid? [True, True] Translation: X:307.56, Y:1.74, Z:1.32 [[ 9.99969990e-01 4.21344585e-03 -6.50128680e-03 3.07563442e+02] [-4.21375854e-03 9.99991121e-01 -3.44003163e-05 1.74478922e+00] [ 6.50108414e-03 6.17941367e-05 9.99978866e-01 1.32224892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.019254154 meters 0.015628234354768285 Centerline is valid? [True, True] Translation: X:307.62, Y:1.75, Z:1.32 [[ 9.99943028e-01 8.79719060e-03 -6.04561526e-03 3.07622259e+02] [-8.79754863e-03 9.99961300e-01 -3.26302572e-05 1.74573570e+00] [ 6.04509424e-03 8.58149925e-05 9.99981725e-01 1.32336484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.079254154 meters 0.0160936328908311 Centerline is valid? [True, True] Translation: X:307.68, Y:1.74, Z:1.32 [[ 9.99916333e-01 1.16389216e-02 -5.64473694e-03 3.07680672e+02] [-1.16392867e-02 9.99932261e-01 -3.18287051e-05 1.74249645e+00] [ 5.64398412e-03 9.75267534e-05 9.99984068e-01 1.32421353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.139254154 meters 0.016253323008342018 Centerline is valid? [True, True] Translation: X:307.74, Y:1.74, Z:1.32 [[ 9.99928092e-01 1.01657606e-02 -6.36153157e-03 3.07738239e+02] [-1.01662038e-02 9.99948322e-01 -3.73477166e-05 1.73682430e+00] [ 6.36082315e-03 1.02017658e-04 9.99979765e-01 1.32383657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.199254154 meters 0.015038431777980723 Centerline is valid? [True, True] Translation: X:307.80, Y:1.73, Z:1.32 [[ 9.99967480e-01 3.20773779e-03 -7.39923510e-03 3.07797659e+02] [-3.20815212e-03 9.99994853e-01 -4.41282188e-05 1.72513233e+00] [ 7.39905547e-03 6.78646556e-05 9.99972624e-01 1.32424226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.259254154 meters 0.014632567145270175 Centerline is valid? [True, True] Translation: X:307.86, Y:1.71, Z:1.32 [[ 9.99962348e-01 -5.32474864e-03 -6.85194746e-03 3.07856874e+02] [ 5.32459089e-03 9.99985823e-01 -4.12643080e-05 1.71461125e+00] [ 6.85207005e-03 4.77893724e-06 9.99976524e-01 1.32459892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.319254154 meters 0.016248726530510207 Centerline is valid? [True, True] Translation: X:307.92, Y:1.70, Z:1.33 [[ 9.99749857e-01 -2.14595536e-02 -6.30158898e-03 3.07916479e+02] [ 2.14597387e-02 9.99769713e-01 -3.82448550e-05 1.69505153e+00] [ 6.30095852e-03 -9.69951645e-05 9.99980144e-01 1.32562516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.379254154 meters 0.018358079801024267 Centerline is valid? [True, True] Translation: X:307.98, Y:1.68, Z:1.33 [[ 9.99444421e-01 -3.25366154e-02 -7.22619568e-03 3.07977795e+02] [ 3.25371485e-02 9.99470526e-01 -4.38056596e-05 1.68339358e+00] [ 7.22379489e-03 -1.91338480e-04 9.99973890e-01 1.32509935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.439254154 meters 0.02416938531816439 Centerline is valid? [True, True] Translation: X:308.04, Y:1.66, Z:1.32 [[ 9.98897930e-01 -4.62014987e-02 -8.26726871e-03 3.08037451e+02] [ 4.62026653e-02 9.98932085e-01 -4.99148650e-05 1.66430801e+00] [ 8.26074611e-03 -3.32109994e-04 9.99965824e-01 1.32341842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.49925415399997 meters 0.028607469739026517 Centerline is valid? [True, True] Translation: X:308.10, Y:1.65, Z:1.32 [[ 9.98411691e-01 -5.56647319e-02 -8.69098118e-03 3.08097550e+02] [ 5.56663827e-02 9.98449423e-01 -5.20372174e-05 1.65022731e+00] [ 8.68040178e-03 -4.31840918e-04 9.99962231e-01 1.32462428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.559254154 meters 0.03015948004935934 Centerline is valid? [True, True] Translation: X:308.16, Y:1.64, Z:1.33 [[ 9.98193676e-01 -5.93610125e-02 -9.25503023e-03 3.08159072e+02] [ 5.93630475e-02 9.98236458e-01 -5.49149979e-05 1.64482121e+00] [ 9.24196840e-03 -4.94590996e-04 9.99957170e-01 1.32519837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.619254154 meters 0.034451612922552666 Centerline is valid? [True, True] Translation: X:308.22, Y:1.63, Z:1.32 [[ 9.97958330e-01 -6.30055290e-02 -1.04630014e-02 3.08219298e+02] [ 6.30083314e-02 9.98012999e-01 -6.19064170e-05 1.63488301e+00] [ 1.04461119e-02 -5.97476238e-04 9.99945259e-01 1.32382263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.679254154 meters 0.037034357947358404 Centerline is valid? [True, True] Translation: X:308.28, Y:1.63, Z:1.32 [[ 9.97945099e-01 -6.26738063e-02 -1.33257016e-02 3.08280546e+02] [ 6.26783361e-02 9.98033777e-01 -7.78488805e-05 1.63106900e+00] [ 1.33043794e-02 -7.57543895e-04 9.99911206e-01 1.32069189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.739254154 meters 0.03545801330414705 Centerline is valid? [True, True] Translation: X:308.34, Y:1.63, Z:1.32 [[ 9.98036714e-01 -6.13079677e-02 -1.28082571e-02 3.08341557e+02] [ 6.13120500e-02 9.98118644e-01 -7.40708920e-05 1.63187116e+00] [ 1.27887013e-02 -7.11375029e-04 9.99917968e-01 1.32237836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.799254154 meters 0.028561352484038943 Centerline is valid? [True, True] Translation: X:308.40, Y:1.65, Z:1.32 [[ 9.98301196e-01 -5.64646477e-02 -1.43689142e-02 3.08401959e+02] [ 5.64692875e-02 9.98404333e-01 -8.29336485e-05 1.64541690e+00] [ 1.43506690e-02 -7.28609587e-04 9.99896758e-01 1.32265350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.859254154 meters 0.024956671682482667 Centerline is valid? [True, True] Translation: X:308.46, Y:1.65, Z:1.32 [[ 9.98640115e-01 -5.02451228e-02 -1.39049424e-02 3.08462524e+02] [ 5.02488662e-02 9.98736725e-01 -8.02479483e-05 1.65147647e+00] [ 1.38914087e-02 -6.18568771e-04 9.99903318e-01 1.32449984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.919254154 meters 0.02447858307035848 Centerline is valid? [True, True] Translation: X:308.52, Y:1.66, Z:1.32 [[ 9.98882537e-01 -4.47509909e-02 -1.51995396e-02 3.08522846e+02] [ 4.47548289e-02 9.98997997e-01 -8.77145521e-05 1.65623475e+00] [ 1.51882350e-02 -5.92636261e-04 9.99884476e-01 1.32333558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.979254154 meters 0.019883985840409506 Centerline is valid? [True, True] Translation: X:308.58, Y:1.66, Z:1.33 [[ 9.99206082e-01 -3.74241755e-02 -1.36615424e-02 3.08583694e+02] [ 3.74265924e-02 9.99299377e-01 -7.88017787e-05 1.66490192e+00] [ 1.36549199e-02 -4.32565761e-04 9.99906674e-01 1.32600303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.039254154 meters 0.017369834183846623 Centerline is valid? [True, True] Translation: X:308.64, Y:1.67, Z:1.33 [[ 9.99493962e-01 -2.90761472e-02 -1.28995356e-02 3.08644503e+02] [ 2.90776093e-02 9.99577154e-01 -7.42329848e-05 1.67297726e+00] [ 1.28962395e-02 -3.00892235e-04 9.99916795e-01 1.32726621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.099254154 meters 0.01572922596691491 Centerline is valid? [True, True] Translation: X:308.70, Y:1.68, Z:1.33 [[ 9.99728816e-01 -1.99409064e-02 -1.20272422e-02 3.08704934e+02] [ 1.99415174e-02 9.99801146e-01 -6.91375113e-05 1.68019435e+00] [ 1.20262292e-02 -1.70722696e-04 9.99927668e-01 1.32834856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.159254154 meters 0.015046345391571648 Centerline is valid? [True, True] Translation: X:308.76, Y:1.68, Z:1.33 [[ 9.99830054e-01 -1.39985836e-02 -1.19959211e-02 3.08764282e+02] [ 1.39987604e-02 9.99902010e-01 -6.92319020e-05 1.68484812e+00] [ 1.19957148e-02 -9.87078891e-05 9.99928044e-01 1.32883517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.219254154 meters 0.01537007958185582 Centerline is valid? [True, True] Translation: X:308.82, Y:1.69, Z:1.33 [[ 9.99887394e-01 -9.22455679e-03 -1.18366896e-02 3.08822643e+02] [ 9.22437031e-03 9.99957452e-01 -7.03508961e-05 1.68819565e+00] [ 1.18368349e-02 -3.88430339e-05 9.99929941e-01 1.32872956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.279254154 meters 0.014551882887468653 Centerline is valid? [True, True] Translation: X:308.88, Y:1.69, Z:1.33 [[ 9.99925902e-01 -5.72617688e-03 -1.07425170e-02 3.08880679e+02] [ 5.72580449e-03 9.99983605e-01 -6.54200893e-05 1.69011415e+00] [ 1.07427155e-02 3.90568942e-06 9.99942295e-01 1.32985409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.339254154 meters 0.014599629761148678 Centerline is valid? [True, True] Translation: X:308.94, Y:1.69, Z:1.33 [[ 9.99916094e-01 -7.50401379e-03 -1.05590900e-02 3.08939086e+02] [ 7.50374222e-03 9.99971844e-01 -6.53362901e-05 1.68824930e+00] [ 1.05592830e-02 -1.39018813e-05 9.99944249e-01 1.33021121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.399254154 meters 0.014666729995173867 Centerline is valid? [True, True] Translation: X:309.00, Y:1.69, Z:1.33 [[ 9.99890936e-01 -1.03179485e-02 -1.05667170e-02 3.08997593e+02] [ 1.03178242e-02 9.99946768e-01 -6.62833952e-05 1.68506586e+00] [ 1.05668384e-02 -4.27493619e-05 9.99944168e-01 1.32991529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.459254154 meters 0.015235835880192335 Centerline is valid? [True, True] Translation: X:309.06, Y:1.68, Z:1.33 [[ 9.99835404e-01 -1.49270595e-02 -1.03124857e-02 3.09055749e+02] [ 1.49271778e-02 9.99888581e-01 -6.55054535e-05 1.67865865e+00] [ 1.03123145e-02 -8.84416367e-05 9.99946823e-01 1.32959110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.519254154 meters 0.01536592279730199 Centerline is valid? [True, True] Translation: X:309.12, Y:1.68, Z:1.33 [[ 9.99817282e-01 -1.62336665e-02 -1.00931109e-02 3.09115137e+02] [ 1.62338406e-02 9.99868220e-01 -6.46836687e-05 1.67687444e+00] [ 1.00928309e-02 -9.91781035e-05 9.99949061e-01 1.32996486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.579254154 meters 0.015549569311086415 Centerline is valid? [True, True] Translation: X:309.18, Y:1.67, Z:1.33 [[ 9.99775339e-01 -1.87483475e-02 -9.88793165e-03 3.09175235e+02] [ 1.87486340e-02 9.99824227e-01 -6.37197339e-05 1.67267465e+00] [ 9.88738826e-03 -1.21679793e-04 9.99951111e-01 1.33073890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.639254154 meters 0.016348552893852366 Centerline is valid? [True, True] Translation: X:309.23, Y:1.67, Z:1.33 [[ 9.99752561e-01 -2.01222108e-02 -9.48223996e-03 3.09234892e+02] [ 2.01225338e-02 9.99797519e-01 -6.13521728e-05 1.66700286e+00] [ 9.48155454e-03 -1.29469702e-04 9.99955041e-01 1.32985737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.699254154 meters 0.016755774695624653 Centerline is valid? [True, True] Translation: X:309.30, Y:1.66, Z:1.33 [[ 9.99675794e-01 -2.33757474e-02 -1.00935927e-02 3.09295425e+02] [ 2.33762784e-02 9.99726735e-01 -6.53923818e-05 1.66272506e+00] [ 1.00923631e-02 -1.70579452e-04 9.99949056e-01 1.32970178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.759254154 meters 0.016619263573080342 Centerline is valid? [True, True] Translation: X:309.36, Y:1.66, Z:1.33 [[ 9.99623269e-01 -2.53410916e-02 -1.05427350e-02 3.09356234e+02] [ 2.53417812e-02 9.99678843e-01 -6.81896905e-05 1.65932725e+00] [ 1.05410771e-02 -1.99007683e-04 9.99944421e-01 1.33024464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.819254154 meters 0.016946334736332436 Centerline is valid? [True, True] Translation: X:309.42, Y:1.66, Z:1.33 [[ 9.99681166e-01 -2.24276224e-02 -1.16003065e-02 3.09416262e+02] [ 2.24282623e-02 9.99748452e-01 -7.49412737e-05 1.65674648e+00] [ 1.15990692e-02 -1.85257338e-04 9.99932711e-01 1.32879049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.879254154 meters 0.016485442791944995 Centerline is valid? [True, True] Translation: X:309.48, Y:1.66, Z:1.33 [[ 9.99749759e-01 -1.84641578e-02 -1.26291302e-02 3.09475609e+02] [ 1.84645964e-02 9.99829511e-01 -8.18817186e-05 1.65941820e+00] [ 1.26284890e-02 -1.51330565e-04 9.99920246e-01 1.32851390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.939254154 meters 0.015195273948848148 Centerline is valid? [True, True] Translation: X:309.53, Y:1.66, Z:1.33 [[ 9.99850312e-01 -1.24541680e-02 -1.20102826e-02 3.09534045e+02] [ 1.24541064e-02 9.99922441e-01 -7.99159661e-05 1.66207539e+00] [ 1.20103464e-02 -6.96733342e-05 9.99927871e-01 1.32982003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.99925415399997 meters 0.014673957931352871 Centerline is valid? [True, True] Translation: X:309.59, Y:1.66, Z:1.33 [[ 9.99889400e-01 -9.38054691e-03 -1.15409594e-02 3.09591592e+02] [ 9.38026600e-03 9.99956001e-01 -7.84716736e-05 1.66273318e+00] [ 1.15411877e-02 -2.97942743e-05 9.99933398e-01 1.33051265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.059254154 meters 0.014636185340482796 Centerline is valid? [True, True] Translation: X:309.65, Y:1.66, Z:1.33 [[ 9.99900202e-01 -9.14437593e-03 -1.07688151e-02 3.09649525e+02] [ 9.14409416e-03 9.99958189e-01 -7.54030111e-05 1.66015365e+00] [ 1.07690544e-02 -2.30755733e-05 9.99942012e-01 1.33148552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.119254154 meters 0.016457542529240723 Centerline is valid? [True, True] Translation: X:309.71, Y:1.65, Z:1.33 [[ 9.99843183e-01 -1.36481187e-02 -1.12843882e-02 3.09706887e+02] [ 1.36480763e-02 9.99906857e-01 -8.07650232e-05 1.65383624e+00] [ 1.12844394e-02 -7.32578328e-05 9.99936326e-01 1.33024178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.179254154 meters 0.01841026754206909 Centerline is valid? [True, True] Translation: X:309.77, Y:1.64, Z:1.33 [[ 9.99670682e-01 -2.25411681e-02 -1.22646989e-02 3.09766352e+02] [ 2.25417801e-02 9.99745898e-01 -8.83603168e-05 1.64428712e+00] [ 1.22635742e-02 -1.88136927e-04 9.99924782e-01 1.32949166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.239254154 meters 0.01819673165670985 Centerline is valid? [True, True] Translation: X:309.83, Y:1.64, Z:1.33 [[ 9.99477837e-01 -2.99641159e-02 -1.20915162e-02 3.09826166e+02] [ 2.99652484e-02 9.99550937e-01 -8.75364172e-05 1.63631500e+00] [ 1.20887093e-02 -2.74834577e-04 9.99926891e-01 1.33052930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.299254154 meters 0.021965831087069128 Centerline is valid? [True, True] Translation: X:309.89, Y:1.63, Z:1.33 [[ 9.99181222e-01 -3.85174757e-02 -1.23810062e-02 3.09885812e+02] [ 3.85193152e-02 9.99257852e-01 -8.99462495e-05 1.62587500e+00] [ 1.23752821e-02 -3.87035275e-04 9.99923348e-01 1.32968220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.359254154 meters 0.022361282768014263 Centerline is valid? [True, True] Translation: X:309.95, Y:1.63, Z:1.33 [[ 9.99051128e-01 -4.17830276e-02 -1.22890812e-02 3.09947077e+02] [ 4.17850890e-02 9.99126618e-01 -8.90780079e-05 1.62566777e+00] [ 1.22820701e-02 -4.24506868e-04 9.99924482e-01 1.33023726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.419254154 meters 0.022312283435390302 Centerline is valid? [True, True] Translation: X:310.01, Y:1.62, Z:1.33 [[ 9.99028112e-01 -4.28366479e-02 -1.03852456e-02 3.10007062e+02] [ 4.28381816e-02 9.99082021e-01 -7.48240583e-05 1.62361058e+00] [ 1.03789173e-02 -3.70133698e-04 9.99946069e-01 1.33239930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.479254154 meters 0.022152637002196027 Centerline is valid? [True, True] Translation: X:310.07, Y:1.62, Z:1.33 [[ 9.99142071e-01 -4.01745986e-02 -1.00560534e-02 3.10067952e+02] [ 4.01759063e-02 9.99192620e-01 -7.20261492e-05 1.62438016e+00] [ 1.00508280e-02 -3.32046703e-04 9.99949434e-01 1.33253947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.539254154 meters 0.021474723662491937 Centerline is valid? [True, True] Translation: X:310.13, Y:1.63, Z:1.33 [[ 9.99229297e-01 -3.78915616e-02 -1.02489540e-02 3.10129284e+02] [ 3.78928035e-02 9.99281807e-01 -7.30485480e-05 1.62702095e+00] [ 1.02443612e-02 -3.15369353e-04 9.99947475e-01 1.33251884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.599254154 meters 0.021926796365507085 Centerline is valid? [True, True] Translation: X:310.19, Y:1.63, Z:1.33 [[ 9.99353675e-01 -3.43474847e-02 -1.06057912e-02 3.10189907e+02] [ 3.43486169e-02 9.99409909e-01 -7.54349127e-05 1.62988181e+00] [ 1.06021238e-02 -2.88908100e-04 9.99943754e-01 1.33162467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.659254154 meters 0.01818390660072419 Centerline is valid? [True, True] Translation: X:310.25, Y:1.64, Z:1.33 [[ 9.99341655e-01 -3.45792819e-02 -1.09786316e-02 3.10250807e+02] [ 3.45805118e-02 9.99401912e-01 -7.78444829e-05 1.63590949e+00] [ 1.09747572e-02 -3.01853465e-04 9.99939730e-01 1.33307366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.719254154 meters 0.02192077511523639 Centerline is valid? [True, True] Translation: X:310.31, Y:1.63, Z:1.33 [[ 9.99306554e-01 -3.51275925e-02 -1.23476204e-02 3.10311171e+02] [ 3.51291941e-02 9.99382776e-01 -8.72248433e-05 1.63112743e+00] [ 1.23430631e-02 -3.46597595e-04 9.99923761e-01 1.33052130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.779254154 meters 0.018886469592284214 Centerline is valid? [True, True] Translation: X:310.37, Y:1.64, Z:1.33 [[ 9.99233992e-01 -3.63754034e-02 -1.44312132e-02 3.10371969e+02] [ 3.63777252e-02 9.99338106e-01 -1.01666411e-04 1.63935779e+00] [ 1.44253594e-02 -4.23386175e-04 9.99895859e-01 1.33084253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.839254154 meters 0.019941814695721333 Centerline is valid? [True, True] Translation: X:310.43, Y:1.64, Z:1.33 [[ 9.99215932e-01 -3.73438736e-02 -1.31513013e-02 3.10432127e+02] [ 3.73458886e-02 9.99302395e-01 -9.24181233e-05 1.64036845e+00] [ 1.31455781e-02 -3.98801372e-04 9.99913514e-01 1.33242036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.899254154 meters 0.02035482806421987 Centerline is valid? [True, True] Translation: X:310.49, Y:1.64, Z:1.33 [[ 9.99233721e-01 -3.73213149e-02 -1.17936328e-02 3.10493003e+02] [ 3.73229346e-02 9.99303253e-01 -8.28061433e-05 1.64166278e+00] [ 1.17885061e-02 -3.57430296e-04 9.99930449e-01 1.33420249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.959254154 meters 0.020797417361028536 Centerline is valid? [True, True] Translation: X:310.55, Y:1.64, Z:1.34 [[ 9.99266924e-01 -3.68262780e-02 -1.04613323e-02 3.10553855e+02] [ 3.68275275e-02 9.99321634e-01 -7.32417686e-05 1.64407673e+00] [ 1.04569329e-02 -3.12076927e-04 9.99945276e-01 1.33548102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.019254154 meters 0.021119061047587668 Centerline is valid? [True, True] Translation: X:310.61, Y:1.65, Z:1.33 [[ 9.99286481e-01 -3.60962054e-02 -1.11172318e-02 3.10614573e+02] [ 3.60975818e-02 9.99348267e-01 -7.68921681e-05 1.64544187e+00] [ 1.11127619e-02 -3.24467882e-04 9.99938199e-01 1.33475709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.079254154 meters 0.019211082474668538 Centerline is valid? [True, True] Translation: X:310.68, Y:1.65, Z:1.33 [[ 9.99369597e-01 -3.35047511e-02 -1.17404963e-02 3.10676392e+02] [ 3.35061187e-02 9.99438509e-01 -8.02525356e-05 1.65272924e+00] [ 1.17365929e-02 -3.13176517e-04 9.99931075e-01 1.33453795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.139254154 meters 0.01800778843398186 Centerline is valid? [True, True] Translation: X:310.74, Y:1.66, Z:1.34 [[ 9.99562421e-01 -2.74671638e-02 -1.09782001e-02 3.10736440e+02] [ 2.74679980e-02 9.99622681e-01 -7.48114476e-05 1.65702998e+00] [ 1.09761127e-02 -2.26770468e-04 9.99939735e-01 1.33564154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.199254154 meters 0.015888325750972376 Centerline is valid? [True, True] Translation: X:310.80, Y:1.66, Z:1.34 [[ 9.99633914e-01 -2.48633816e-02 -1.06700764e-02 3.10798112e+02] [ 2.48640238e-02 9.99690840e-01 -7.24792818e-05 1.66056935e+00] [ 1.06685797e-02 -1.92848285e-04 9.99943070e-01 1.33713284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.259254154 meters 0.014667108614058979 Centerline is valid? [True, True] Translation: X:310.86, Y:1.67, Z:1.34 [[ 9.99830825e-01 -1.48604428e-02 -1.08391723e-02 3.10858699e+02] [ 1.48605196e-02 9.99889574e-01 -7.34621251e-05 1.66671465e+00] [ 1.08390670e-02 -8.76260348e-05 9.99941252e-01 1.33686000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.319254154 meters 0.01679425541055446 Centerline is valid? [True, True] Translation: X:310.92, Y:1.67, Z:1.34 [[ 9.99918857e-01 -5.83487155e-03 -1.13239980e-02 3.10917354e+02] [ 5.83437225e-03 9.99982977e-01 -7.71271125e-05 1.67133890e+00] [ 1.13242552e-02 1.10524347e-05 9.99935879e-01 1.33553122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.379254154 meters 0.014104560896630728 Centerline is valid? [True, True] Translation: X:310.98, Y:1.67, Z:1.34 [[ 9.99937785e-01 -4.88221946e-03 -1.00294748e-02 3.10975615e+02] [ 4.88176133e-03 9.99988082e-01 -7.01590785e-05 1.67230891e+00] [ 1.00296978e-02 2.11932113e-05 9.99949701e-01 1.33786438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.439254154 meters 0.015750337769950114 Centerline is valid? [True, True] Translation: X:311.03, Y:1.67, Z:1.34 [[ 9.99924670e-01 -6.71059752e-03 -1.02772357e-02 3.11033415e+02] [ 6.71019307e-03 9.99977484e-01 -7.38357906e-05 1.67013841e+00] [ 1.02774998e-02 4.86799274e-06 9.99947185e-01 1.33688309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.49925415399997 meters 0.014604183195874953 Centerline is valid? [True, True] Translation: X:311.09, Y:1.66, Z:1.34 [[ 9.99811289e-01 -1.68496057e-02 -9.66834841e-03 3.11091752e+02] [ 1.68497129e-02 9.99858031e-01 -7.03740371e-05 1.66040754e+00] [ 9.66816158e-03 -9.25481377e-05 9.99953258e-01 1.33775800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.559254154 meters 0.01784617939354451 Centerline is valid? [True, True] Translation: X:311.15, Y:1.65, Z:1.34 [[ 9.99496251e-01 -3.02486836e-02 -9.60528491e-03 3.11151402e+02] [ 3.02494033e-02 9.99542380e-01 -7.03678918e-05 1.64744920e+00] [ 9.60301787e-03 -2.20221693e-04 9.99953866e-01 1.33761682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.619254154 meters 0.020410135431949764 Centerline is valid? [True, True] Translation: X:311.21, Y:1.64, Z:1.34 [[ 9.99139889e-01 -4.04893266e-02 -8.94966004e-03 3.11212000e+02] [ 4.04903615e-02 9.99179927e-01 -6.55902908e-05 1.63959098e+00] [ 8.94497637e-03 -2.96841095e-04 9.99959949e-01 1.33747891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.679254154 meters 0.021870420314784218 Centerline is valid? [True, True] Translation: X:311.27, Y:1.64, Z:1.34 [[ 9.99044549e-01 -4.28723511e-02 -8.48231661e-03 3.11273034e+02] [ 4.28733687e-02 9.99080512e-01 -6.19187679e-05 1.63528174e+00] [ 8.47717183e-03 -3.01805880e-04 9.99964023e-01 1.33801356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.739254154 meters 0.023598245914885317 Centerline is valid? [True, True] Translation: X:311.33, Y:1.63, Z:1.34 [[ 9.98828424e-01 -4.77620015e-02 -7.78271941e-03 3.11334183e+02] [ 4.77630085e-02 9.98858695e-01 -5.65312502e-05 1.63106658e+00] [ 7.77653700e-03 -3.15261074e-04 9.99969713e-01 1.33813066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.799254154 meters 0.0248896242546144 Centerline is valid? [True, True] Translation: X:311.40, Y:1.63, Z:1.34 [[ 9.98670044e-01 -5.10242368e-02 -7.39391339e-03 3.11395617e+02] [ 5.10252363e-02 9.98697363e-01 -5.35250742e-05 1.62933401e+00] [ 7.38701288e-03 -3.23822289e-04 9.99972663e-01 1.33862928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.859254154 meters 0.02364254462232388 Centerline is valid? [True, True] Translation: X:311.46, Y:1.63, Z:1.34 [[ 9.98574344e-01 -5.29510971e-02 -6.74242908e-03 3.11458046e+02] [ 5.29519742e-02 9.98597059e-01 -4.84901922e-05 1.63088708e+00] [ 6.73553745e-03 -3.08603868e-04 9.99977268e-01 1.33910056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.919254154 meters 0.026867970494443907 Centerline is valid? [True, True] Translation: X:311.52, Y:1.63, Z:1.34 [[ 9.98470923e-01 -5.48040188e-02 -7.23436640e-03 3.11518872e+02] [ 5.48050803e-02 9.98497071e-01 -5.15708003e-05 1.62747275e+00] [ 7.22631994e-03 -3.44988087e-04 9.99973830e-01 1.33859762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.979254154 meters 0.024034074790619822 Centerline is valid? [True, True] Translation: X:311.58, Y:1.63, Z:1.34 [[ 9.98480394e-01 -5.44091131e-02 -8.74935540e-03 3.11580660e+02] [ 5.44106554e-02 9.98518641e-01 -6.18475085e-05 1.63428364e+00] [ 8.73975953e-03 -4.14304637e-04 9.99961722e-01 1.33740087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.039254154 meters 0.02430595548236604 Centerline is valid? [True, True] Translation: X:311.64, Y:1.64, Z:1.34 [[ 9.98566169e-01 -5.25072711e-02 -1.04207924e-02 3.11642204e+02] [ 5.25093682e-02 9.98620429e-01 -7.24425651e-05 1.63630658e+00] [ 1.04102199e-02 -4.74850529e-04 9.99945699e-01 1.33633071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.099254154 meters 0.02218127259276478 Centerline is valid? [True, True] Translation: X:311.70, Y:1.64, Z:1.34 [[ 9.98771052e-01 -4.83143939e-02 -1.10501561e-02 3.11702745e+02] [ 4.83165030e-02 9.98832073e-01 -7.61771522e-05 1.64459925e+00] [ 1.10409308e-02 -4.57821365e-04 9.99938942e-01 1.33577681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.159254154 meters 0.02045636344573531 Centerline is valid? [True, True] Translation: X:311.76, Y:1.65, Z:1.34 [[ 9.98954159e-01 -4.43042459e-02 -1.13013981e-02 3.11763860e+02] [ 4.43061986e-02 9.99017995e-01 -7.76468152e-05 1.65151976e+00] [ 1.12937402e-02 -4.23156380e-04 9.99936134e-01 1.33671614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.219254154 meters 0.019628624032551292 Centerline is valid? [True, True] Translation: X:311.82, Y:1.66, Z:1.34 [[ 9.99198853e-01 -3.87138918e-02 -1.01433314e-02 3.11823701e+02] [ 3.87151786e-02 9.99250284e-01 -6.95400718e-05 1.65888459e+00] [ 1.01384189e-02 -3.23216526e-04 9.99948553e-01 1.33780843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.279254154 meters 0.01854487320380396 Centerline is valid? [True, True] Translation: X:311.89, Y:1.67, Z:1.34 [[ 9.99365033e-01 -3.44223008e-02 -9.19979271e-03 3.11885675e+02] [ 3.44231801e-02 9.99407345e-01 -6.28057924e-05 1.66577909e+00] [ 9.19650232e-03 -2.53920208e-04 9.99957679e-01 1.33789161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.339254154 meters 0.019157005593470926 Centerline is valid? [True, True] Translation: X:311.95, Y:1.67, Z:1.34 [[ 9.99433761e-01 -3.21357359e-02 -9.97253640e-03 3.11947351e+02] [ 3.21366599e-02 9.99483482e-01 -6.76142670e-05 1.67042569e+00] [ 9.96955824e-03 -2.52908030e-04 9.99950271e-01 1.33787711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.399254154 meters 0.018274157736206775 Centerline is valid? [True, True] Translation: X:312.01, Y:1.67, Z:1.34 [[ 9.99498338e-01 -3.00205522e-02 -1.00914754e-02 3.12007935e+02] [ 3.00213934e-02 9.99549254e-01 -6.81566060e-05 1.67480136e+00] [ 1.00889728e-02 -2.34837739e-04 9.99949077e-01 1.33803885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.459254154 meters 0.017864754775400133 Centerline is valid? [True, True] Translation: X:312.07, Y:1.68, Z:1.34 [[ 9.99541742e-01 -2.86126231e-02 -9.88049210e-03 3.12069288e+02] [ 2.86133633e-02 9.99590552e-01 -6.64602755e-05 1.67748158e+00] [ 9.87834815e-03 -2.16284291e-04 9.99951185e-01 1.33820969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.519254154 meters 0.016721106746216064 Centerline is valid? [True, True] Translation: X:312.13, Y:1.68, Z:1.34 [[ 9.99597116e-01 -2.67347750e-02 -9.53190896e-03 3.12130727e+02] [ 2.67353818e-02 9.99642544e-01 -6.37768023e-05 1.68324733e+00] [ 9.53020678e-03 -1.91088118e-04 9.99954568e-01 1.33921758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.579254154 meters 0.01599365886675455 Centerline is valid? [True, True] Translation: X:312.19, Y:1.69, Z:1.34 [[ 9.99659434e-01 -2.39329414e-02 -1.04034121e-02 3.12191670e+02] [ 2.39335167e-02 9.99713550e-01 -6.92081394e-05 1.68815219e+00] [ 1.04020884e-02 -1.79805669e-04 9.99945881e-01 1.33893107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.639254154 meters 0.01567900750767558 Centerline is valid? [True, True] Translation: X:312.25, Y:1.69, Z:1.34 [[ 9.99720399e-01 -2.10138396e-02 -1.08417083e-02 3.12251676e+02] [ 2.10142960e-02 9.99779173e-01 -7.18351995e-05 1.69005296e+00] [ 1.08408237e-02 -1.56015752e-04 9.99941224e-01 1.33819738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.699254154 meters 0.015549683268320843 Centerline is valid? [True, True] Translation: X:312.31, Y:1.69, Z:1.34 [[ 9.99739200e-01 -2.01338084e-02 -1.07777986e-02 3.12311763e+02] [ 2.01342092e-02 9.99797284e-01 -7.13316614e-05 1.69202908e+00] [ 1.07770500e-02 -1.45689394e-04 9.99941915e-01 1.33879554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.759254154 meters 0.015844679856386254 Centerline is valid? [True, True] Translation: X:312.37, Y:1.69, Z:1.34 [[ 9.99708106e-01 -2.19094523e-02 -1.01822431e-02 3.12372373e+02] [ 2.19099021e-02 9.99759947e-01 -6.73900430e-05 1.69094142e+00] [ 1.01812753e-02 -1.55721576e-04 9.99948157e-01 1.33998665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.819254154 meters 0.016891007027803204 Centerline is valid? [True, True] Translation: X:312.43, Y:1.69, Z:1.34 [[ 9.99631600e-01 -2.50720456e-02 -1.03950085e-02 3.12433044e+02] [ 2.50726865e-02 9.99685628e-01 -6.86891706e-05 1.68619863e+00] [ 1.03934628e-02 -1.91966923e-04 9.99945968e-01 1.33944096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.879254154 meters 0.017820920921199544 Centerline is valid? [True, True] Translation: X:312.49, Y:1.68, Z:1.34 [[ 9.99419414e-01 -3.18569465e-02 -1.20818261e-02 3.12493574e+02] [ 3.18583087e-02 9.99492392e-01 -7.97424301e-05 1.68182050e+00] [ 1.20782336e-02 -3.05210414e-04 9.99927009e-01 1.33928691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.939254154 meters 0.019607438968178435 Centerline is valid? [True, True] Translation: X:312.56, Y:1.68, Z:1.34 [[ 9.99243449e-01 -3.65818327e-02 -1.32022076e-02 3.12555007e+02] [ 3.65838757e-02 9.99330582e-01 -8.68112953e-05 1.67808008e+00] [ 1.31965455e-02 -3.96242302e-04 9.99912843e-01 1.33856777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.99925415399997 meters 0.021822226471107098 Centerline is valid? [True, True] Translation: X:312.62, Y:1.67, Z:1.34 [[ 9.98976645e-01 -4.30972266e-02 -1.37219221e-02 3.12615120e+02] [ 4.31000496e-02 9.99070757e-01 -9.00593054e-05 1.67233914e+00] [ 1.37130524e-02 -5.01448379e-04 9.99905846e-01 1.33901883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.059254154 meters 0.02365112827781406 Centerline is valid? [True, True] Translation: X:312.68, Y:1.67, Z:1.34 [[ 9.98828925e-01 -4.61818083e-02 -1.44228499e-02 3.12676618e+02] [ 4.61852534e-02 9.98932887e-01 -9.43003854e-05 1.67016511e+00] [ 1.44118141e-02 -5.71933025e-04 9.99895981e-01 1.33947285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.119254154 meters 0.025755164733403738 Centerline is valid? [True, True] Translation: X:312.74, Y:1.67, Z:1.34 [[ 9.98700818e-01 -4.91486329e-02 -1.34568608e-02 3.12736852e+02] [ 4.91519049e-02 9.98791311e-01 -8.76775801e-05 1.66859322e+00] [ 1.34449048e-02 -5.73866670e-04 9.99909449e-01 1.34107411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.179254154 meters 0.026953157535043456 Centerline is valid? [True, True] Translation: X:312.80, Y:1.67, Z:1.34 [[ 9.98698693e-01 -4.95861038e-02 -1.19221648e-02 3.12798371e+02] [ 4.95887136e-02 9.98769720e-01 -7.67922607e-05 1.66832347e+00] [ 1.19113051e-02 -5.14512487e-04 9.99928926e-01 1.34285125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.239254154 meters 0.026534538427855754 Centerline is valid? [True, True] Translation: X:312.86, Y:1.67, Z:1.34 [[ 9.98742949e-01 -4.84820058e-02 -1.27285605e-02 3.12860988e+02] [ 4.84849070e-02 9.98823912e-01 -8.07345067e-05 1.67160885e+00] [ 1.27175048e-02 -5.36510055e-04 9.99918985e-01 1.34243424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.299254154 meters 0.02268645419759996 Centerline is valid? [True, True] Translation: X:312.92, Y:1.68, Z:1.34 [[ 9.98745183e-01 -4.87587364e-02 -1.14300135e-02 3.12923495e+02] [ 4.87611039e-02 9.98810467e-01 -7.16174741e-05 1.67785458e+00] [ 1.14199091e-02 -4.85812469e-04 9.99934673e-01 1.34469749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.359254154 meters 0.028403311940591352 Centerline is valid? [True, True] Translation: X:312.99, Y:1.67, Z:1.34 [[ 9.98759501e-01 -4.84178012e-02 -1.16264745e-02 3.12985138e+02] [ 4.84202364e-02 9.98827050e-01 -7.21100258e-05 1.67073198e+00] [ 1.16163287e-02 -4.90936072e-04 9.99932408e-01 1.34334230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.419254154 meters 0.023381216288230092 Centerline is valid? [True, True] Translation: X:313.05, Y:1.68, Z:1.34 [[ 9.98781945e-01 -4.77617546e-02 -1.23871598e-02 3.13047495e+02] [ 4.77644791e-02 9.98858623e-01 -7.59808096e-05 1.68082059e+00] [ 1.23766503e-02 -5.15777972e-04 9.99923273e-01 1.34411899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.479254154 meters 0.029443932797399517 Centerline is valid? [True, True] Translation: X:313.11, Y:1.67, Z:1.34 [[ 9.98772131e-01 -4.78914299e-02 -1.26744629e-02 3.13109163e+02] [ 4.78943089e-02 9.98852406e-01 -7.64588295e-05 1.67301883e+00] [ 1.26635794e-02 -5.30669691e-04 9.99919673e-01 1.34228478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.539254154 meters 0.02348441417581341 Centerline is valid? [True, True] Translation: X:313.17, Y:1.68, Z:1.34 [[ 9.98817585e-01 -4.67499414e-02 -1.33369691e-02 3.13171834e+02] [ 4.67530456e-02 9.98906475e-01 -7.91100555e-05 1.68459672e+00] [ 1.33260831e-02 -5.44527409e-04 9.99911056e-01 1.34334036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.599254154 meters 0.02227823381477886 Centerline is valid? [True, True] Translation: X:313.23, Y:1.69, Z:1.34 [[ 9.98970217e-01 -4.33121333e-02 -1.35116212e-02 3.13232902e+02] [ 4.33150153e-02 9.99061461e-01 -7.94100259e-05 1.69053940e+00] [ 1.35023794e-02 -5.05927828e-04 9.99908711e-01 1.34351022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.659254154 meters 0.020872959725966936 Centerline is valid? [True, True] Translation: X:313.29, Y:1.70, Z:1.34 [[ 9.99123945e-01 -3.99665068e-02 -1.24105362e-02 3.13294271e+02] [ 3.99686858e-02 9.99200930e-01 -7.24991479e-05 1.69620696e+00] [ 1.24035169e-02 -4.23597188e-04 9.99922984e-01 1.34444614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.719254154 meters 0.01978938438116726 Centerline is valid? [True, True] Translation: X:313.36, Y:1.70, Z:1.35 [[ 9.99182073e-01 -3.89961609e-02 -1.06997045e-02 3.13356092e+02] [ 3.89977302e-02 9.99239297e-01 -6.20148288e-05 1.70070970e+00] [ 1.06939836e-02 -3.55300085e-04 9.99942755e-01 1.34615202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.779254154 meters 0.01936130439892676 Centerline is valid? [True, True] Translation: X:313.42, Y:1.70, Z:1.35 [[ 9.99238579e-01 -3.82198250e-02 -7.84259995e-03 3.13417835e+02] [ 3.82206476e-02 9.99269323e-01 -4.50173244e-05 1.70465040e+00] [ 7.83859010e-03 -2.54766202e-04 9.99969245e-01 1.34866501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.839254154 meters 0.020947895979840328 Centerline is valid? [True, True] Translation: X:313.48, Y:1.70, Z:1.35 [[ 9.99205808e-01 -3.91748728e-02 -7.28578099e-03 3.13479464e+02] [ 3.91756115e-02 9.99232340e-01 -4.13549620e-05 1.70353440e+00] [ 7.28180807e-03 -2.44102807e-04 9.99973457e-01 1.34886557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.899254154 meters 0.020831303215260284 Centerline is valid? [True, True] Translation: X:313.54, Y:1.71, Z:1.35 [[ 9.99156052e-01 -4.01798206e-02 -8.53024911e-03 3.13542008e+02] [ 4.01808748e-02 9.99192421e-01 -4.78322863e-05 1.70556107e+00] [ 8.52528216e-03 -2.94960953e-04 9.99963616e-01 1.34789828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.959254154 meters 0.021252612069830683 Centerline is valid? [True, True] Translation: X:313.60, Y:1.71, Z:1.35 [[ 9.99123134e-01 -4.07543561e-02 -9.59407104e-03 3.13603917e+02] [ 4.07557232e-02 9.99169139e-01 -5.30593828e-05 1.70620090e+00] [ 9.58826211e-03 -3.38000447e-04 9.99953974e-01 1.34755887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.019254154 meters 0.021658788610019974 Centerline is valid? [True, True] Translation: X:313.67, Y:1.71, Z:1.35 [[ 9.99054128e-01 -4.19641125e-02 -1.13957520e-02 3.13665896e+02] [ 4.19661299e-02 9.99119032e-01 -6.21364561e-05 1.70779484e+00] [ 1.13883202e-02 -4.16157925e-04 9.99935064e-01 1.34633409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.079254154 meters 0.021520715170329895 Centerline is valid? [True, True] Translation: X:313.73, Y:1.71, Z:1.35 [[ 9.99032500e-01 -4.23088574e-02 -1.20010485e-02 3.13728326e+02] [ 4.23111305e-02 9.99104481e-01 -6.45464378e-05 1.71078478e+00] [ 1.19930322e-02 -4.43293940e-04 9.99927983e-01 1.34644634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.139254154 meters 0.021593372538658964 Centerline is valid? [True, True] Translation: X:313.79, Y:1.71, Z:1.35 [[ 9.99083338e-01 -4.10980537e-02 -1.19763786e-02 3.13790423e+02] [ 4.11002409e-02 9.99155026e-01 -6.35475444e-05 1.71380980e+00] [ 1.19688705e-02 -4.28742752e-04 9.99928279e-01 1.34719583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.199254154 meters 0.019848324078570664 Centerline is valid? [True, True] Translation: X:313.85, Y:1.72, Z:1.35 [[ 9.99222118e-01 -3.75190783e-02 -1.21440185e-02 3.13851488e+02] [ 3.75210705e-02 9.99295835e-01 -6.38317591e-05 1.72144725e+00] [ 1.21378620e-02 -3.91874468e-04 9.99926257e-01 1.34805496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.259254154 meters 0.01897159893976739 Centerline is valid? [True, True] Translation: X:313.91, Y:1.73, Z:1.35 [[ 9.99319411e-01 -3.51403216e-02 -1.12193057e-02 3.13912791e+02] [ 3.51418766e-02 9.99382332e-01 -5.85702671e-05 1.72720644e+00] [ 1.12144341e-02 -3.35737053e-04 9.99937060e-01 1.34895774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.319254154 meters 0.01884240977618353 Centerline is valid? [True, True] Translation: X:313.97, Y:1.73, Z:1.35 [[ 9.99311886e-01 -3.57192346e-02 -9.99456709e-03 3.13974919e+02] [ 3.57205032e-02 9.99361818e-01 -5.16152028e-05 1.72955032e+00] [ 9.99003239e-03 -3.05431280e-04 9.99950052e-01 1.35020284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.379254154 meters 0.02076968601452915 Centerline is valid? [True, True] Translation: X:314.04, Y:1.73, Z:1.35 [[ 9.99199847e-01 -3.87641956e-02 -9.84902585e-03 3.14035774e+02] [ 3.87655853e-02 9.99248331e-01 -4.98424410e-05 1.72855275e+00] [ 9.84355474e-03 -3.32000692e-04 9.99951496e-01 1.35006244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.439254154 meters 0.02052952843386351 Centerline is valid? [True, True] Translation: X:314.10, Y:1.73, Z:1.35 [[ 9.99115231e-01 -4.04877788e-02 -1.13795598e-02 3.14097826e+02] [ 4.04897590e-02 9.99179952e-01 -5.64180306e-05 1.73157479e+00] [ 1.13725123e-02 -4.04387521e-04 9.99935249e-01 1.34994517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.49925415399997 meters 0.021728514171807406 Centerline is valid? [True, True] Translation: X:314.16, Y:1.73, Z:1.35 [[ 9.99146554e-01 -3.98076184e-02 -1.10234835e-02 3.14158563e+02] [ 3.98094426e-02 9.99207288e-01 -5.39728369e-05 1.73233440e+00] [ 1.10168936e-02 -3.84911961e-04 9.99939238e-01 1.35023344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.559254154 meters 0.020106626296776346 Centerline is valid? [True, True] Translation: X:314.22, Y:1.74, Z:1.35 [[ 9.99196804e-01 -3.85267477e-02 -1.10197858e-02 3.14220721e+02] [ 3.85285010e-02 9.99257500e-01 -5.32215507e-05 1.73702133e+00] [ 1.10136541e-02 -3.71397027e-04 9.99939279e-01 1.35096301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.619254154 meters 0.020438432479503988 Centerline is valid? [True, True] Translation: X:314.28, Y:1.74, Z:1.35 [[ 9.99253561e-01 -3.68371045e-02 -1.16339537e-02 3.14281858e+02] [ 3.68389530e-02 9.99321214e-01 -5.54451956e-05 1.73978106e+00] [ 1.16280992e-02 -3.73178866e-04 9.99932322e-01 1.35068912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.679254154 meters 0.020290645975602366 Centerline is valid? [True, True] Translation: X:314.34, Y:1.74, Z:1.35 [[ 9.99256881e-01 -3.66676826e-02 -1.18813436e-02 3.14344006e+02] [ 3.66696079e-02 9.99327442e-01 -5.58341048e-05 1.74203076e+00] [ 1.18754000e-02 -3.79891597e-04 9.99929413e-01 1.35073507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.739254154 meters 0.020647182536658402 Centerline is valid? [True, True] Translation: X:314.41, Y:1.74, Z:1.35 [[ 9.99233947e-01 -3.72682274e-02 -1.19414639e-02 3.14406053e+02] [ 3.72702255e-02 9.99305222e-01 -5.52509971e-05 1.74281282e+00] [ 1.19352263e-02 -3.89852379e-04 9.99928697e-01 1.35116491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.799254154 meters 0.020018540381102706 Centerline is valid? [True, True] Translation: X:314.47, Y:1.75, Z:1.35 [[ 9.99180840e-01 -3.87320729e-02 -1.17249599e-02 3.14467921e+02] [ 3.87341099e-02 9.99249551e-01 -5.33909576e-05 1.74554444e+00] [ 1.17182289e-02 -4.00808665e-04 9.99931259e-01 1.35201880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.859254154 meters 0.02038463729443087 Centerline is valid? [True, True] Translation: X:314.53, Y:1.75, Z:1.35 [[ 9.99120541e-01 -4.01784570e-02 -1.19932032e-02 3.14529686e+02] [ 4.01807015e-02 9.99192428e-01 -5.38514615e-05 1.74601413e+00] [ 1.19856815e-02 -4.28091218e-04 9.99928078e-01 1.35236335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.919254154 meters 0.023015381650560014 Centerline is valid? [True, True] Translation: X:314.59, Y:1.74, Z:1.35 [[ 9.99049308e-01 -4.20817827e-02 -1.13843309e-02 3.14591195e+02] [ 4.20839355e-02 9.99114077e-01 -5.04990995e-05 1.74233092e+00] [ 1.13763703e-02 -4.28646356e-04 9.99935195e-01 1.35128784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.979254154 meters 0.0234280428661155 Centerline is valid? [True, True] Translation: X:314.65, Y:1.74, Z:1.35 [[ 9.99058556e-01 -4.18554445e-02 -1.14071655e-02 3.14652914e+02] [ 4.18575995e-02 9.99123585e-01 -4.98632057e-05 1.74259730e+00] [ 1.13992552e-02 -4.27660305e-04 9.99934935e-01 1.35128206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.039254154 meters 0.020147653915261802 Centerline is valid? [True, True] Translation: X:314.71, Y:1.75, Z:1.35 [[ 9.99227100e-01 -3.76070923e-02 -1.14415478e-02 3.14714489e+02] [ 3.76089917e-02 9.99292530e-01 -4.91778505e-05 1.75037904e+00] [ 1.14353027e-02 -3.81165237e-04 9.99934542e-01 1.35218358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.099254154 meters 0.018380132788633426 Centerline is valid? [True, True] Translation: X:314.77, Y:1.76, Z:1.35 [[ 9.99531976e-01 -2.88766301e-02 -1.00979798e-02 3.14773739e+02] [ 2.88776666e-02 9.99582952e-01 -4.31794712e-05 1.75744561e+00] [ 1.00950153e-02 -2.48446832e-04 9.99949013e-01 1.35372139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.159254154 meters 0.01685510667001533 Centerline is valid? [True, True] Translation: X:314.84, Y:1.76, Z:1.35 [[ 9.99698901e-01 -2.25627579e-02 -9.64516088e-03 3.14835235e+02] [ 2.25634112e-02 9.99745413e-01 -4.10997468e-05 1.76286061e+00] [ 9.64363267e-03 -1.76540359e-04 9.99953484e-01 1.35417847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.219254154 meters 0.016160043046958852 Centerline is valid? [True, True] Translation: X:314.90, Y:1.77, Z:1.35 [[ 9.99787526e-01 -1.78730136e-02 -1.02693163e-02 3.14896877e+02] [ 1.78735106e-02 9.99840255e-01 -4.33778047e-05 1.76640612e+00] [ 1.02684511e-02 -1.40180145e-04 9.99947268e-01 1.35381173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.279254154 meters 0.01574909605476026 Centerline is valid? [True, True] Translation: X:314.96, Y:1.77, Z:1.35 [[ 9.99806476e-01 -1.56754519e-02 -1.18865583e-02 3.14957663e+02] [ 1.56759648e-02 9.99877123e-01 -5.00267083e-05 1.76822688e+00] [ 1.18858819e-02 -1.36316242e-04 9.99929351e-01 1.35245236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.339254154 meters 0.01600710498491467 Centerline is valid? [True, True] Translation: X:315.02, Y:1.77, Z:1.35 [[ 9.99767331e-01 -1.72488052e-02 -1.29523161e-02 3.15017060e+02] [ 1.72495421e-02 9.99851214e-01 -5.48224178e-05 1.76747408e+00] [ 1.29513346e-02 -1.68611859e-04 9.99916114e-01 1.35200675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.399254154 meters 0.01664444250544876 Centerline is valid? [True, True] Translation: X:315.08, Y:1.76, Z:1.35 [[ 9.99671008e-01 -2.17657615e-02 -1.35693246e-02 3.15076285e+02] [ 2.17669772e-02 9.99763070e-01 -5.81050160e-05 1.76463123e+00] [ 1.35673743e-02 -2.37277278e-04 9.99907931e-01 1.35311593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.459254154 meters 0.017658155886738643 Centerline is valid? [True, True] Translation: X:315.14, Y:1.76, Z:1.35 [[ 9.99569704e-01 -2.58105004e-02 -1.39364540e-02 3.15136617e+02] [ 2.58121723e-02 9.99666809e-01 -5.99254559e-05 1.76106100e+00] [ 1.39333572e-02 -2.99830482e-04 9.99902881e-01 1.35348053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.519254154 meters 0.020822948894241414 Centerline is valid? [True, True] Translation: X:315.20, Y:1.75, Z:1.35 [[ 9.99397616e-01 -3.14934509e-02 -1.45796867e-02 3.15196930e+02] [ 3.14958876e-02 9.99503880e-01 -6.25098218e-05 1.75401741e+00] [ 1.45744221e-02 -3.96728007e-04 9.99893709e-01 1.35253538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.579254154 meters 0.021146792304665596 Centerline is valid? [True, True] Translation: X:315.26, Y:1.75, Z:1.35 [[ 9.99274555e-01 -3.55125426e-02 -1.37558354e-02 3.15257688e+02] [ 3.55150954e-02 9.99369138e-01 -5.87391644e-05 1.74965718e+00] [ 1.37492434e-02 -4.29843255e-04 9.99905382e-01 1.35343672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.639254154 meters 0.024256805475796405 Centerline is valid? [True, True] Translation: X:315.32, Y:1.74, Z:1.35 [[ 9.99086350e-01 -4.03195831e-02 -1.41702457e-02 3.15317927e+02] [ 4.03227783e-02 9.99186704e-01 -6.02598979e-05 1.74382289e+00] [ 1.41611508e-02 -5.11178836e-04 9.99899595e-01 1.35281815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.699254154 meters 0.026318731921014166 Centerline is valid? [True, True] Translation: X:315.38, Y:1.74, Z:1.35 [[ 9.98929465e-01 -4.43641276e-02 -1.31052624e-02 3.15377743e+02] [ 4.43672089e-02 9.99015289e-01 -5.56604956e-05 1.73882128e+00] [ 1.30948268e-02 -5.25843005e-04 9.99914121e-01 1.35344774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.759254154 meters 0.022447574270317613 Centerline is valid? [True, True] Translation: X:315.44, Y:1.74, Z:1.36 [[ 9.98878806e-01 -4.55513708e-02 -1.28919751e-02 3.15440057e+02] [ 4.55544595e-02 9.98961855e-01 -5.41222342e-05 1.74452234e+00] [ 1.28810567e-02 -5.33225405e-04 9.99916894e-01 1.35524146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.819254154 meters 0.025004919829515693 Centerline is valid? [True, True] Translation: X:315.50, Y:1.74, Z:1.35 [[ 9.98886329e-01 -4.52552153e-02 -1.33441933e-02 3.15501436e+02] [ 4.52585092e-02 9.98975307e-01 -5.51901343e-05 1.74081940e+00] [ 1.33330172e-02 -5.48809623e-04 9.99910961e-01 1.35401412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.879254154 meters 0.023250245183184998 Centerline is valid? [True, True] Translation: X:315.56, Y:1.74, Z:1.35 [[ 9.99064433e-01 -4.10078135e-02 -1.37338490e-02 3.15563508e+02] [ 4.10109119e-02 9.99158697e-01 -5.60669903e-05 1.74484282e+00] [ 1.37245938e-02 -5.07223134e-04 9.99905685e-01 1.35324404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.939254154 meters 0.01908872433530905 Centerline is valid? [True, True] Translation: X:315.62, Y:1.76, Z:1.35 [[ 9.99364378e-01 -3.29723467e-02 -1.35522889e-02 3.15623667e+02] [ 3.29746297e-02 9.99456188e-01 -5.50146997e-05 1.75524561e+00] [ 1.35467330e-02 -3.91901978e-04 9.99908162e-01 1.35356317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.99925415399997 meters 0.017798709476471487 Centerline is valid? [True, True] Translation: X:315.68, Y:1.76, Z:1.35 [[ 9.99576076e-01 -2.57047956e-02 -1.36723163e-02 3.15683026e+02] [ 2.57064380e-02 9.99669533e-01 -5.56273817e-05 1.76075957e+00] [ 1.36692279e-02 -2.95862751e-04 9.99906528e-01 1.35306707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.059254154 meters 0.015183620952368965 Centerline is valid? [True, True] Translation: X:315.74, Y:1.77, Z:1.35 [[ 9.99809057e-01 -1.41672050e-02 -1.34588189e-02 3.15743760e+02] [ 1.41677512e-02 9.99899631e-01 -5.47707822e-05 1.77244523e+00] [ 1.34582440e-02 -1.35920873e-04 9.99909424e-01 1.35388266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.119254154 meters 0.01689996449370391 Centerline is valid? [True, True] Translation: X:315.80, Y:1.78, Z:1.35 [[ 9.99894944e-01 -4.43282687e-03 -1.38004200e-02 3.15802578e+02] [ 4.43244123e-03 9.99990175e-01 -5.85302442e-05 1.77828019e+00] [ 1.38005438e-02 -2.64545538e-06 9.99904768e-01 1.35261183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.179254154 meters 0.015039724069966655 Centerline is valid? [True, True] Translation: X:315.86, Y:1.78, Z:1.35 [[ 9.99913697e-01 -5.88728115e-04 -1.31244489e-02 3.15858991e+02] [ 5.88011425e-04 9.99999825e-01 -5.84659938e-05 1.78116156e+00] [ 1.31244810e-02 5.07436221e-05 9.99913869e-01 1.35351868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.239254154 meters 0.015133068987088709 Centerline is valid? [True, True] Translation: X:315.92, Y:1.78, Z:1.35 [[ 9.99912634e-01 3.02382140e-03 -1.28678321e-02 3.15917286e+02] [-3.02484896e-03 9.99995423e-01 -6.03932696e-05 1.78123532e+00] [ 1.28675906e-02 9.93112419e-05 9.99917204e-01 1.35486792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.299254154 meters 0.015956994324449872 Centerline is valid? [True, True] Translation: X:315.98, Y:1.78, Z:1.35 [[ 9.99912574e-01 4.46091449e-03 -1.24476850e-02 3.15975129e+02] [-4.46201042e-03 9.99990043e-01 -6.02721902e-05 1.78096557e+00] [ 1.24472921e-02 1.15808621e-04 9.99922523e-01 1.35431680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.359254154 meters 0.016540408487155826 Centerline is valid? [True, True] Translation: X:316.03, Y:1.78, Z:1.36 [[ 9.99925192e-01 3.86091123e-03 -1.16062025e-02 3.16033738e+02] [-3.86183405e-03 9.99992541e-01 -5.71006191e-05 1.77692575e+00] [ 1.16058955e-02 1.01917576e-04 9.99932644e-01 1.35537111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.419254154 meters 0.015082297654357705 Centerline is valid? [True, True] Translation: X:316.09, Y:1.77, Z:1.36 [[ 9.99942960e-01 1.67794577e-03 -1.05480617e-02 3.16092191e+02] [-1.67859439e-03 9.99998590e-01 -5.26388735e-05 1.77363871e+00] [ 1.05479585e-02 7.03417881e-05 9.99944366e-01 1.35740042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.479254154 meters 0.017637007998627767 Centerline is valid? [True, True] Translation: X:316.15, Y:1.77, Z:1.36 [[ 9.99946509e-01 1.25299845e-03 -1.02669026e-02 3.16149104e+02] [-1.25360140e-03 9.99999213e-01 -5.22930040e-05 1.76845655e+00] [ 1.02668290e-02 6.51608103e-05 9.99947293e-01 1.35649776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.539254154 meters 0.014677284660392621 Centerline is valid? [True, True] Translation: X:316.21, Y:1.76, Z:1.36 [[ 9.99959993e-01 -9.55830194e-04 -8.89377200e-03 3.16207584e+02] [ 9.55457865e-04 9.99999542e-01 -4.61128160e-05 1.76472617e+00] [ 8.89381201e-03 3.76133468e-05 9.99960449e-01 1.35902665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.599254154 meters 0.015529838642268161 Centerline is valid? [True, True] Translation: X:316.27, Y:1.76, Z:1.36 [[ 9.99952956e-01 -3.50276892e-03 -9.04520046e-03 3.16266654e+02] [ 3.50248197e-03 9.99993865e-01 -4.75649395e-05 1.75715750e+00] [ 9.04531158e-03 1.58820504e-05 9.99959090e-01 1.35734916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.659254154 meters 0.014667810708499356 Centerline is valid? [True, True] Translation: X:316.33, Y:1.75, Z:1.36 [[ 9.99912964e-01 -8.96390974e-03 -9.68054010e-03 3.16325925e+02] [ 8.96382990e-03 9.99959823e-01 -5.16372729e-05 1.74868860e+00] [ 9.68061404e-03 -3.51419362e-05 9.99953141e-01 1.35769687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.719254154 meters 0.016541496776281 Centerline is valid? [True, True] Translation: X:316.38, Y:1.74, Z:1.36 [[ 9.99881866e-01 -1.17740037e-02 -9.88065536e-03 3.16384072e+02] [ 1.17740495e-02 9.99930682e-01 -5.35334921e-05 1.74222623e+00] [ 9.88060075e-03 -6.28081574e-05 9.99951184e-01 1.35610698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.779254154 meters 0.01591027269767236 Centerline is valid? [True, True] Translation: X:316.44, Y:1.73, Z:1.36 [[ 9.99762090e-01 -1.95483806e-02 -9.67594493e-03 3.16443314e+02] [ 1.95487820e-02 9.99808903e-01 -5.31040868e-05 1.73306895e+00] [ 9.67513398e-03 -1.36061485e-04 9.99953186e-01 1.35720261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.839254154 meters 0.019554880950074797 Centerline is valid? [True, True] Translation: X:316.50, Y:1.72, Z:1.36 [[ 9.99609155e-01 -2.61294083e-02 -9.93942707e-03 3.16503606e+02] [ 2.61301556e-02 9.99658548e-01 -5.46979928e-05 1.72106170e+00] [ 9.93746246e-03 -2.05042161e-04 9.99950601e-01 1.35536482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.899254154 meters 0.019631225860913006 Centerline is valid? [True, True] Translation: X:316.56, Y:1.71, Z:1.36 [[ 9.99435828e-01 -3.22079249e-02 -9.52238448e-03 3.16564447e+02] [ 3.22088880e-02 9.99481158e-01 -5.22375842e-05 1.71372742e+00] [ 9.51912633e-03 -2.54497302e-04 9.99954660e-01 1.35633424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.959254154 meters 0.020916464628300206 Centerline is valid? [True, True] Translation: X:316.63, Y:1.71, Z:1.36 [[ 9.99221139e-01 -3.82303175e-02 -9.77539453e-03 3.16625289e+02] [ 3.82316220e-02 9.99268903e-01 -5.34499071e-05 1.70774658e+00] [ 9.77029118e-03 -3.20320912e-04 9.99952218e-01 1.35591501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.019254154 meters 0.02399982874308614 Centerline is valid? [True, True] Translation: X:316.69, Y:1.70, Z:1.36 [[ 9.98707177e-01 -4.97780376e-02 -1.03014982e-02 3.16686268e+02] [ 4.97801008e-02 9.98760201e-01 -5.61967048e-05 1.69767988e+00] [ 1.02915238e-02 -4.56685568e-04 9.99946937e-01 1.35541951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.079254154 meters 0.02934527103882156 Centerline is valid? [True, True] Translation: X:316.75, Y:1.69, Z:1.36 [[ 9.98070850e-01 -6.13846313e-02 -9.30082185e-03 3.16747204e+02] [ 6.13868159e-02 9.98114050e-01 -5.06831576e-05 1.68539816e+00] [ 9.28639213e-03 -5.20362456e-04 9.99956745e-01 1.35545209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.139254154 meters 0.028331147961050747 Centerline is valid? [True, True] Translation: X:316.81, Y:1.69, Z:1.36 [[ 9.97831939e-01 -6.51791521e-02 -9.11584618e-03 3.16807761e+02] [ 6.51814095e-02 9.97873430e-01 -4.95656539e-05 1.68631446e+00] [ 9.09969133e-03 -5.44725510e-04 9.99958449e-01 1.35625550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.199254154 meters 0.033313464589255985 Centerline is valid? [True, True] Translation: X:316.87, Y:1.68, Z:1.36 [[ 9.97354872e-01 -7.19786167e-02 -1.01162588e-02 3.16868255e+02] [ 7.19817466e-02 9.97405948e-01 -5.48377001e-05 1.67948482e+00] [ 1.00939638e-02 -6.73493330e-04 9.99948828e-01 1.35583691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.259254154 meters 0.033076286595326486 Centerline is valid? [True, True] Translation: X:316.93, Y:1.68, Z:1.36 [[ 9.97369004e-01 -7.17756470e-02 -1.01649484e-02 3.16930429e+02] [ 7.17788016e-02 9.97420574e-01 -5.46166829e-05 1.68104619e+00] [ 1.01426489e-02 -6.75154831e-04 9.99948334e-01 1.35604417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.319254154 meters 0.03284355058734656 Centerline is valid? [True, True] Translation: X:316.99, Y:1.68, Z:1.36 [[ 9.97564556e-01 -6.90908983e-02 -9.56057491e-03 3.16990755e+02] [ 6.90935690e-02 9.97610182e-01 -5.10629078e-05 1.68261117e+00] [ 9.54125487e-03 -6.09635696e-04 9.99954295e-01 1.35649380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.379254154 meters 0.033052368799450234 Centerline is valid? [True, True] Translation: X:317.05, Y:1.69, Z:1.36 [[ 9.97850408e-01 -6.47401903e-02 -1.01622570e-02 3.17050451e+02] [ 6.47429821e-02 9.97901971e-01 -5.43530521e-05 1.68533531e+00] [ 1.01444551e-02 -6.03698610e-04 9.99948361e-01 1.35578040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.439254154 meters 0.02567900169297374 Centerline is valid? [True, True] Translation: X:317.11, Y:1.70, Z:1.36 [[ 9.98291340e-01 -5.75799342e-02 -9.94745439e-03 3.17110497e+02] [ 5.75822541e-02 9.98340764e-01 -5.32690850e-05 1.70094685e+00] [ 9.93401644e-03 -5.19618780e-04 9.99950521e-01 1.35823811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.49925415399997 meters 0.024377992355412957 Centerline is valid? [True, True] Translation: X:317.17, Y:1.71, Z:1.36 [[ 9.98596586e-01 -5.19743026e-02 -1.01750233e-02 3.17171217e+02] [ 5.19764397e-02 9.98648310e-01 -5.44658028e-05 1.70715858e+00] [ 1.01641006e-02 -4.74472120e-04 9.99948232e-01 1.35884437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.559254154 meters 0.02394345561890123 Centerline is valid? [True, True] Translation: X:317.23, Y:1.71, Z:1.36 [[ 9.98980482e-01 -4.34068859e-02 -1.24031734e-02 3.17231071e+02] [ 4.34094025e-02 9.99057365e-01 -6.63731569e-05 1.71445380e+00] [ 1.23943628e-02 -4.72108860e-04 9.99923075e-01 1.35730228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.619254154 meters 0.018934557089420746 Centerline is valid? [True, True] Translation: X:317.29, Y:1.73, Z:1.36 [[ 9.99311619e-01 -3.49104849e-02 -1.25517319e-02 3.17291601e+02] [ 3.49123928e-02 9.99390374e-01 -6.71479709e-05 1.72801015e+00] [ 1.25464242e-02 -3.71109247e-04 9.99921222e-01 1.35903220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.679254154 meters 0.017213307135342366 Centerline is valid? [True, True] Translation: X:317.35, Y:1.74, Z:1.36 [[ 9.99521577e-01 -2.82574490e-02 -1.25750935e-02 3.17352646e+02] [ 2.82588398e-02 9.99600637e-01 -6.71082750e-05 1.73597033e+00] [ 1.25719678e-02 -2.88281385e-04 9.99920928e-01 1.35982402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.739254154 meters 0.016562023777038075 Centerline is valid? [True, True] Translation: X:317.41, Y:1.74, Z:1.36 [[ 9.99698364e-01 -2.12762751e-02 -1.22678524e-02 3.17412574e+02] [ 2.12770742e-02 9.99773615e-01 -6.53888989e-05 1.74210478e+00] [ 1.22664664e-02 -1.95654830e-04 9.99924745e-01 1.35960630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.799254154 meters 0.016357784247616906 Centerline is valid? [True, True] Translation: X:317.47, Y:1.75, Z:1.36 [[ 9.99833664e-01 -1.35765649e-02 -1.21787199e-02 3.17473239e+02] [ 1.35767813e-02 9.99907829e-01 -6.49138134e-05 1.75088350e+00] [ 1.21784787e-02 -1.00444800e-04 9.99925835e-01 1.36072062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.859254154 meters 0.014866022316723394 Centerline is valid? [True, True] Translation: X:317.53, Y:1.75, Z:1.36 [[ 9.99872899e-01 -1.16178460e-02 -1.09184146e-02 3.17531529e+02] [ 1.16178846e-02 9.99932508e-01 -5.98853914e-05 1.75394130e+00] [ 1.09183734e-02 -6.69711013e-05 9.99940391e-01 1.36278869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.919254154 meters 0.014982169177673175 Centerline is valid? [True, True] Translation: X:317.59, Y:1.75, Z:1.36 [[ 9.99878001e-01 -1.17043260e-02 -1.03437225e-02 3.17589965e+02] [ 1.17043430e-02 9.99931500e-01 -5.88948845e-05 1.75368714e+00] [ 1.03437033e-02 -6.21787766e-05 9.99946501e-01 1.36330044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.979254154 meters 0.015164046268844702 Centerline is valid? [True, True] Translation: X:317.65, Y:1.75, Z:1.36 [[ 9.99826515e-01 -1.52721091e-02 -1.06631707e-02 3.17649192e+02] [ 1.52723183e-02 9.99883369e-01 -6.18176721e-05 1.74875966e+00] [ 1.06628711e-02 -1.01044388e-04 9.99943145e-01 1.36322260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.039254154 meters 0.01562652422675025 Centerline is valid? [True, True] Translation: X:317.71, Y:1.74, Z:1.36 [[ 9.99751440e-01 -1.90491316e-02 -1.15839709e-02 3.17708742e+02] [ 1.90496265e-02 9.99818537e-01 -6.76306831e-05 1.74469178e+00] [ 1.15831572e-02 -1.53056447e-04 9.99932901e-01 1.36318514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.099254154 meters 0.01846721745607519 Centerline is valid? [True, True] Translation: X:317.77, Y:1.74, Z:1.36 [[ 9.99601071e-01 -2.45406503e-02 -1.39805096e-02 3.17768142e+02] [ 2.45419029e-02 9.99698799e-01 -8.19882827e-05 1.73565761e+00] [ 1.39783107e-02 -2.61152733e-04 9.99902265e-01 1.35944751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.159254154 meters 0.017443320368668146 Centerline is valid? [True, True] Translation: X:317.83, Y:1.73, Z:1.36 [[ 9.99487906e-01 -2.85432467e-02 -1.44640345e-02 3.17828035e+02] [ 2.85449998e-02 9.99592505e-01 -8.52729061e-05 1.73311327e+00] [ 1.44605744e-02 -3.27646624e-04 9.99895387e-01 1.36097382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.219254154 meters 0.018102954005207922 Centerline is valid? [True, True] Translation: X:317.89, Y:1.73, Z:1.36 [[ 9.99399829e-01 -3.17167125e-02 -1.39295554e-02 3.17888438e+02] [ 3.17186443e-02 9.99496834e-01 -8.22765519e-05 1.72845312e+00] [ 1.39251561e-02 -3.59599442e-04 9.99902976e-01 1.36161771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.279254154 meters 0.018337849938957842 Centerline is valid? [True, True] Translation: X:317.95, Y:1.73, Z:1.36 [[ 9.99400426e-01 -3.19140952e-02 -1.34267926e-02 3.17949735e+02] [ 3.19159122e-02 9.99490554e-01 -7.89767630e-05 1.72695113e+00] [ 1.34224728e-02 -3.49598923e-04 9.99909853e-01 1.36256433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.339254154 meters 0.019070841719992848 Centerline is valid? [True, True] Translation: X:318.01, Y:1.73, Z:1.36 [[ 9.99449865e-01 -3.05165451e-02 -1.29887319e-02 3.18011313e+02] [ 3.05181337e-02 9.99534210e-01 -7.59332687e-05 1.72614410e+00] [ 1.29849991e-02 -3.20500362e-04 9.99915640e-01 1.36251079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.399254154 meters 0.01763028135112809 Centerline is valid? [True, True] Translation: X:318.07, Y:1.73, Z:1.36 [[ 9.99515588e-01 -2.85844197e-02 -1.23093686e-02 3.18072310e+02] [ 2.85857009e-02 9.99591343e-01 -7.18866723e-05 1.72639219e+00] [ 1.23063931e-02 -2.80020079e-04 9.99924234e-01 1.36410313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.459254154 meters 0.01660633269010643 Centerline is valid? [True, True] Translation: X:318.13, Y:1.73, Z:1.36 [[ 9.99635467e-01 -2.40558815e-02 -1.22575516e-02 3.18132553e+02] [ 2.40568110e-02 9.99710590e-01 -7.16262417e-05 1.72764560e+00] [ 1.22557272e-02 -2.23277472e-04 9.99924871e-01 1.36458451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.519254154 meters 0.01603800957177671 Centerline is valid? [True, True] Translation: X:318.19, Y:1.73, Z:1.37 [[ 9.99752431e-01 -1.90781195e-02 -1.14500132e-02 3.18192361e+02] [ 1.90786027e-02 9.99817985e-01 -6.70341743e-05 1.72846891e+00] [ 1.14492080e-02 -1.51432673e-04 9.99934444e-01 1.36534570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.579254154 meters 0.015266492334497523 Centerline is valid? [True, True] Translation: X:318.25, Y:1.73, Z:1.37 [[ 9.99801183e-01 -1.59896783e-02 -1.19132131e-02 3.18252544e+02] [ 1.59899795e-02 9.99872150e-01 -6.99668871e-05 1.72960922e+00] [ 1.19128087e-02 -1.20539057e-04 9.99929033e-01 1.36604527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.639254154 meters 0.014946767381095823 Centerline is valid? [True, True] Translation: X:318.31, Y:1.73, Z:1.36 [[ 9.99826754e-01 -1.29348623e-02 -1.33847452e-02 3.18310860e+02] [ 1.29349366e-02 9.99916337e-01 -8.10212252e-05 1.72890674e+00] [ 1.33846734e-02 -9.21236421e-05 9.99910417e-01 1.36476144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.699254154 meters 0.015064189243247674 Centerline is valid? [True, True] Translation: X:318.37, Y:1.73, Z:1.36 [[ 9.99817437e-01 -1.22773018e-02 -1.46410453e-02 3.18368771e+02] [ 1.22772582e-02 9.99924627e-01 -9.28635818e-05 1.72787534e+00] [ 1.46410819e-02 -8.69052655e-05 9.99892810e-01 1.36412318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.759254154 meters 0.0148673980106875 Centerline is valid? [True, True] Translation: X:318.43, Y:1.73, Z:1.37 [[ 9.99817416e-01 -1.26500513e-02 -1.43216891e-02 3.18426847e+02] [ 1.26499881e-02 9.99919981e-01 -9.50069605e-05 1.72645116e+00] [ 1.43217449e-02 -8.61795823e-05 9.99897435e-01 1.36564912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.819254154 meters 0.015315635708647498 Centerline is valid? [True, True] Translation: X:318.48, Y:1.72, Z:1.37 [[ 9.99773401e-01 -1.63350645e-02 -1.36496598e-02 3.18484657e+02] [ 1.63353223e-02 9.99866565e-01 -9.26107543e-05 1.72262554e+00] [ 1.36493513e-02 -1.30381824e-04 9.99906835e-01 1.36700238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.879254154 meters 0.01601383106069199 Centerline is valid? [True, True] Translation: X:318.54, Y:1.72, Z:1.37 [[ 9.99685059e-01 -2.14055789e-02 -1.30990139e-02 3.18543736e+02] [ 2.14062183e-02 9.99770856e-01 -9.14121267e-05 1.71823559e+00] [ 1.30979691e-02 -1.89017013e-04 9.99914200e-01 1.36780864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.939254154 meters 0.01905360391639337 Centerline is valid? [True, True] Translation: X:318.60, Y:1.71, Z:1.37 [[ 9.99398912e-01 -3.24394202e-02 -1.22269821e-02 3.18603256e+02] [ 3.24407866e-02 9.99473655e-01 -8.66186813e-05 1.70660309e+00] [ 1.22233563e-02 -3.10086301e-04 9.99925244e-01 1.36827596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.99925415399997 meters 0.021326123807286292 Centerline is valid? [True, True] Translation: X:318.66, Y:1.70, Z:1.37 [[ 9.99050485e-01 -4.17752578e-02 -1.23675413e-02 3.18664326e+02] [ 4.17773687e-02 9.99126941e-01 -8.77413265e-05 1.70001562e+00] [ 1.23604091e-02 -4.29025316e-04 9.99923515e-01 1.36903239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.059254154 meters 0.02522300892257535 Centerline is valid? [True, True] Translation: X:318.73, Y:1.70, Z:1.37 [[ 9.98833186e-01 -4.61132635e-02 -1.43468707e-02 3.18725066e+02] [ 4.61165555e-02 9.98936061e-01 -1.01466091e-04 1.69616551e+00] [ 1.43362855e-02 -5.60280562e-04 9.99897073e-01 1.36680410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.119254154 meters 0.02576407092748246 Centerline is valid? [True, True] Translation: X:318.79, Y:1.69, Z:1.37 [[ 9.98364083e-01 -5.58655710e-02 -1.21735599e-02 3.18786049e+02] [ 5.58686667e-02 9.98438123e-01 -8.58919197e-05 1.69017138e+00] [ 1.21593447e-02 -5.94369152e-04 9.99925896e-01 1.37016156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.179254154 meters 0.02971246456567271 Centerline is valid? [True, True] Translation: X:318.85, Y:1.68, Z:1.37 [[ 9.97625690e-01 -6.75161518e-02 -1.35849942e-02 3.18846967e+02] [ 6.75210846e-02 9.97717843e-01 -9.57477788e-05 1.68373096e+00] [ 1.35604556e-02 -8.21753098e-04 9.99907715e-01 1.37031577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.239254154 meters 0.031880659407255055 Centerline is valid? [True, True] Translation: X:318.91, Y:1.68, Z:1.37 [[ 9.97371566e-01 -7.11516948e-02 -1.36892217e-02 3.18908166e+02] [ 7.11570472e-02 9.97465120e-01 -9.62917849e-05 1.68146569e+00] [ 1.36613725e-02 -8.78045904e-04 9.99906294e-01 1.37051409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.299254154 meters 0.03225848124905132 Centerline is valid? [True, True] Translation: X:318.97, Y:1.68, Z:1.37 [[ 9.97417702e-01 -7.05084782e-02 -1.36558743e-02 3.18970486e+02] [ 7.05137549e-02 9.97510803e-01 -9.52979516e-05 1.68474837e+00] [ 1.36286015e-02 -8.67875111e-04 9.99906750e-01 1.37120802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.359254154 meters 0.029879302277873134 Centerline is valid? [True, True] Translation: X:319.03, Y:1.69, Z:1.37 [[ 9.97733085e-01 -6.56936354e-02 -1.45957884e-02 3.19031188e+02] [ 6.56991560e-02 9.97839471e-01 -1.01452466e-04 1.69300813e+00] [ 1.45709186e-02 -8.57708500e-04 9.99893471e-01 1.37106381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.419254154 meters 0.027439871753980025 Centerline is valid? [True, True] Translation: X:319.09, Y:1.70, Z:1.37 [[ 9.97937479e-01 -6.24350486e-02 -1.49215668e-02 3.19091879e+02] [ 6.24404586e-02 9.98048685e-01 -1.03494726e-04 1.69988486e+00] [ 1.48989119e-02 -8.28428211e-04 9.99888662e-01 1.37098314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.479254154 meters 0.026562131461728384 Centerline is valid? [True, True] Translation: X:319.15, Y:1.71, Z:1.37 [[ 9.98158771e-01 -5.88651258e-02 -1.46275149e-02 3.19152923e+02] [ 5.88699463e-02 9.98265656e-01 -1.01186148e-04 1.70588517e+00] [ 1.46081021e-02 -7.60121175e-04 9.99893007e-01 1.37134283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.539254154 meters 0.026018812925264468 Centerline is valid? [True, True] Translation: X:319.21, Y:1.71, Z:1.37 [[ 9.98281142e-01 -5.68036647e-02 -1.44258793e-02 3.19214631e+02] [ 5.68081477e-02 9.98385108e-01 -9.91566196e-05 1.70997443e+00] [ 1.44082156e-02 -7.20521300e-04 9.99895937e-01 1.37207378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.599254154 meters 0.02357629453439377 Centerline is valid? [True, True] Translation: X:319.28, Y:1.72, Z:1.37 [[ 9.98477595e-01 -5.34209406e-02 -1.37366669e-02 3.19275841e+02] [ 5.34246939e-02 9.98571877e-01 -9.38375675e-05 1.71882865e+00] [ 1.37220621e-02 -6.40182516e-04 9.99905643e-01 1.37351152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.659254154 meters 0.022825643319781593 Centerline is valid? [True, True] Translation: X:319.34, Y:1.72, Z:1.37 [[ 9.98665309e-01 -4.98527633e-02 -1.35019244e-02 3.19337092e+02] [ 4.98560708e-02 9.98756409e-01 -9.17291986e-05 1.72364027e+00] [ 1.34897065e-02 -5.81546130e-04 9.99908841e-01 1.37363759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.719254154 meters 0.02061877280571491 Centerline is valid? [True, True] Translation: X:319.40, Y:1.73, Z:1.37 [[ 9.99044039e-01 -4.16083653e-02 -1.34071286e-02 3.19397635e+02] [ 4.16108878e-02 9.99133888e-01 -9.08709364e-05 1.73328460e+00] [ 1.33992975e-02 -4.67098455e-04 9.99910116e-01 1.37372986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.779254154 meters 0.017787985264834893 Centerline is valid? [True, True] Translation: X:319.46, Y:1.75, Z:1.37 [[ 9.99441494e-01 -3.05999090e-02 -1.34292946e-02 3.19457708e+02] [ 3.06014471e-02 9.99531662e-01 -9.09935405e-05 1.74603414e+00] [ 1.34257895e-02 -3.20013127e-04 9.99909819e-01 1.37460525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.839254154 meters 0.016322511312370933 Centerline is valid? [True, True] Translation: X:319.52, Y:1.75, Z:1.38 [[ 9.99630165e-01 -2.40526016e-02 -1.26888258e-02 3.19517924e+02] [ 2.40534473e-02 9.99710670e-01 -8.59747834e-05 1.75458643e+00] [ 1.26872225e-02 -2.19267017e-04 9.99919490e-01 1.37555622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.899254154 meters 0.015510427708322906 Centerline is valid? [True, True] Translation: X:319.58, Y:1.76, Z:1.38 [[ 9.99779573e-01 -1.77800845e-02 -1.11657711e-02 3.19577026e+02] [ 1.77803469e-02 9.99841914e-01 -7.57781579e-05 1.76233151e+00] [ 1.11653533e-02 -1.22769830e-04 9.99937658e-01 1.37595351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.959254154 meters 0.015305130494620093 Centerline is valid? [True, True] Translation: X:319.64, Y:1.77, Z:1.38 [[ 9.99801994e-01 -1.69481985e-02 -1.04274530e-02 3.19637481e+02] [ 1.69483813e-02 9.99856363e-01 -7.08422079e-05 1.76582828e+00] [ 1.04271558e-02 -1.05900268e-04 9.99945630e-01 1.37677550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.019254154 meters 0.01655441549051688 Centerline is valid? [True, True] Translation: X:319.70, Y:1.77, Z:1.38 [[ 9.99763677e-01 -1.89101226e-02 -1.07236818e-02 3.19698344e+02] [ 1.89104288e-02 9.99821179e-01 -7.28547323e-05 1.76651073e+00] [ 1.07231418e-02 -1.29951906e-04 9.99942497e-01 1.37626860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.079254154 meters 0.01779212021675995 Centerline is valid? [True, True] Translation: X:319.76, Y:1.76, Z:1.38 [[ 9.99555337e-01 -2.79752513e-02 -1.03205714e-02 3.19758865e+02] [ 2.79760179e-02 9.99608592e-01 -7.01160743e-05 1.76223468e+00] [ 1.03184934e-02 -2.18643594e-04 9.99946739e-01 1.37609552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.139254154 meters 0.02114949541819717 Centerline is valid? [True, True] Translation: X:319.82, Y:1.76, Z:1.37 [[ 9.99273456e-01 -3.63003604e-02 -1.16122704e-02 3.19819628e+02] [ 3.63018940e-02 9.99340866e-01 -7.87611835e-05 1.75788563e+00] [ 1.16074754e-02 -3.42843447e-04 9.99932572e-01 1.37482724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.199254154 meters 0.02619579991504464 Centerline is valid? [True, True] Translation: X:319.88, Y:1.75, Z:1.37 [[ 9.98737215e-01 -4.84637279e-02 -1.32379014e-02 3.19879234e+02] [ 4.84667920e-02 9.98824790e-01 -8.94414562e-05 1.74912464e+00] [ 1.32266788e-02 -5.52270102e-04 9.99912371e-01 1.37318057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.259254154 meters 0.03022582479513967 Centerline is valid? [True, True] Translation: X:319.94, Y:1.74, Z:1.37 [[ 9.98287459e-01 -5.67807407e-02 -1.40746853e-02 3.19939515e+02] [ 5.67850324e-02 9.98386424e-01 -9.48486804e-05 1.74193650e+00] [ 1.40573603e-02 -7.04545214e-04 9.99900942e-01 1.37213283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.319254154 meters 0.029469144828559928 Centerline is valid? [True, True] Translation: X:320.00, Y:1.74, Z:1.37 [[ 9.98094031e-01 -5.99528787e-02 -1.46272993e-02 3.20000630e+02] [ 5.99578610e-02 9.98200904e-01 -9.80749961e-05 1.74388325e+00] [ 1.46068632e-02 -7.79133507e-04 9.99893011e-01 1.37251369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.379254154 meters 0.033118580805962305 Centerline is valid? [True, True] Translation: X:320.06, Y:1.74, Z:1.37 [[ 9.98018724e-01 -6.13008312e-02 -1.41716485e-02 3.20061651e+02] [ 6.13056534e-02 9.98119035e-01 -9.43089037e-05 1.74126793e+00] [ 1.41507733e-02 -7.74680118e-04 9.99899573e-01 1.37274856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.439254154 meters 0.028914449914446215 Centerline is valid? [True, True] Translation: X:320.12, Y:1.75, Z:1.37 [[ 9.98057986e-01 -6.06093284e-02 -1.43793856e-02 3.20123566e+02] [ 6.06142355e-02 9.98161262e-01 -9.47173845e-05 1.75010829e+00] [ 1.43586864e-02 -7.77062023e-04 9.99896607e-01 1.37422713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.49925415399997 meters 0.026958043477733704 Centerline is valid? [True, True] Translation: X:320.18, Y:1.76, Z:1.38 [[ 9.98243243e-01 -5.76684727e-02 -1.35931922e-02 3.20184884e+02] [ 5.76725947e-02 9.98335547e-01 -8.88895885e-05 1.75743298e+00] [ 1.35756930e-02 -6.95221230e-04 9.99907604e-01 1.37519102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.559254154 meters 0.026527821190923 Centerline is valid? [True, True] Translation: X:320.25, Y:1.76, Z:1.38 [[ 9.98382371e-01 -5.51851507e-02 -1.36835532e-02 3.20246139e+02] [ 5.51891019e-02 9.98475916e-01 -8.89730636e-05 1.76195081e+00] [ 1.36676083e-02 -6.66353873e-04 9.99906372e-01 1.37557946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.619254154 meters 0.025597257336359827 Centerline is valid? [True, True] Translation: X:320.31, Y:1.77, Z:1.37 [[ 9.98514681e-01 -5.24436167e-02 -1.47681618e-02 3.20307200e+02] [ 5.24479282e-02 9.98623656e-01 -9.54705178e-05 1.76708754e+00] [ 1.47528426e-02 -6.79230778e-04 9.99890940e-01 1.37483688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.679254154 meters 0.02482790678257507 Centerline is valid? [True, True] Translation: X:320.37, Y:1.77, Z:1.37 [[ 9.98717574e-01 -4.79411496e-02 -1.62743021e-02 3.20367171e+02] [ 4.79457917e-02 9.98849934e-01 -1.05029431e-04 1.77379973e+00] [ 1.62606208e-02 -6.75389561e-04 9.99867559e-01 1.37369872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.739254154 meters 0.023007562018303084 Centerline is valid? [True, True] Translation: X:320.43, Y:1.78, Z:1.37 [[ 9.98905084e-01 -4.38003873e-02 -1.64365114e-02 3.20428339e+02] [ 4.38045697e-02 9.99040114e-01 -1.05647923e-04 1.78091443e+00] [ 1.64253617e-02 -6.14462064e-04 9.99864906e-01 1.37452068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.799254154 meters 0.01905403004939923 Centerline is valid? [True, True] Translation: X:320.49, Y:1.80, Z:1.38 [[ 9.99254830e-01 -3.51074103e-02 -1.60391372e-02 3.20488798e+02] [ 3.51102769e-02 9.99383439e-01 -1.02913105e-04 1.79523206e+00] [ 1.60328611e-02 -4.60302130e-04 9.99871359e-01 1.37694900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.859254154 meters 0.01677090228263204 Centerline is valid? [True, True] Translation: X:320.55, Y:1.81, Z:1.38 [[ 9.99578259e-01 -2.52664603e-02 -1.43146705e-02 3.20549387e+02] [ 2.52677373e-02 9.99680716e-01 -9.16680708e-05 1.80595034e+00] [ 1.43124162e-02 -2.70069924e-04 9.99897536e-01 1.37867516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.919254154 meters 0.016058167822650318 Centerline is valid? [True, True] Translation: X:320.61, Y:1.81, Z:1.38 [[ 9.99664620e-01 -2.20150966e-02 -1.36375932e-02 3.20609848e+02] [ 2.20159542e-02 9.99757616e-01 -8.72599574e-05 1.80990739e+00] [ 1.36362087e-02 -2.13013936e-04 9.99907000e-01 1.37964149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.979254154 meters 0.014873176517451715 Centerline is valid? [True, True] Translation: X:320.67, Y:1.82, Z:1.38 [[ 9.99795299e-01 -1.45385521e-02 -1.40709035e-02 3.20669019e+02] [ 1.45387222e-02 9.99894303e-01 -9.02064948e-05 1.81853762e+00] [ 1.40707277e-02 -1.14384928e-04 9.99900996e-01 1.38017864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.039254154 meters 0.014681485484088276 Centerline is valid? [True, True] Translation: X:320.73, Y:1.82, Z:1.38 [[ 9.99816849e-01 -1.28330888e-02 -1.41978757e-02 3.20727969e+02] [ 1.28330543e-02 9.99917649e-01 -9.35439795e-05 1.82195436e+00] [ 1.41979070e-02 -8.86752631e-05 9.99899201e-01 1.38021638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.099254154 meters 0.01450179951853999 Centerline is valid? [True, True] Translation: X:320.79, Y:1.82, Z:1.38 [[ 9.99811277e-01 -1.30921255e-02 -1.43529178e-02 3.20786254e+02] [ 1.30920877e-02 9.99914290e-01 -9.65964226e-05 1.82406188e+00] [ 1.43529522e-02 -9.13314652e-05 9.99896987e-01 1.38122192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.159254154 meters 0.014609421567861968 Centerline is valid? [True, True] Translation: X:320.84, Y:1.82, Z:1.38 [[ 9.99794408e-01 -1.41278047e-02 -1.45446648e-02 3.20844494e+02] [ 1.41278263e-02 9.99900192e-01 -1.01266282e-04 1.82461920e+00] [ 1.45446438e-02 -1.04239035e-04 9.99894216e-01 1.38124804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.219254154 meters 0.016701601305952208 Centerline is valid? [True, True] Translation: X:320.90, Y:1.83, Z:1.38 [[ 9.99797533e-01 -1.30028633e-02 -1.53563922e-02 3.20902765e+02] [ 1.30026903e-02 9.99915455e-01 -1.11117724e-04 1.82608250e+00] [ 1.53565387e-02 -8.85791853e-05 9.99882077e-01 1.38132074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.279254154 meters 0.014394812330128015 Centerline is valid? [True, True] Translation: X:320.96, Y:1.83, Z:1.38 [[ 9.99822346e-01 -1.18380018e-02 -1.46676115e-02 3.20961656e+02] [ 1.18376637e-02 9.99929926e-01 -1.09871710e-04 1.82764596e+00] [ 1.46678844e-02 -6.37780623e-05 9.99892419e-01 1.38291310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.339254154 meters 0.014543589932130216 Centerline is valid? [True, True] Translation: X:321.02, Y:1.83, Z:1.38 [[ 9.99870051e-01 -8.61149328e-03 -1.36280322e-02 3.21020739e+02] [ 8.61085519e-03 9.99962920e-01 -1.05499496e-04 1.82785212e+00] [ 1.36284354e-02 -1.18632249e-05 9.99907128e-01 1.38363374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.399254154 meters 0.014552068467356518 Centerline is valid? [True, True] Translation: X:321.08, Y:1.83, Z:1.38 [[ 9.99891538e-01 -7.46839742e-03 -1.26939328e-02 3.21078904e+02] [ 7.46770784e-03 9.99972111e-01 -1.01722184e-04 1.82754245e+00] [ 1.26943385e-02 6.91656906e-06 9.99919424e-01 1.38400613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.459254154 meters 0.014568977678586753 Centerline is valid? [True, True] Translation: X:321.14, Y:1.82, Z:1.38 [[ 9.99854980e-01 -1.05584746e-02 -1.33617858e-02 3.21137622e+02] [ 1.05579599e-02 9.99944257e-01 -1.09061738e-04 1.82198778e+00] [ 1.33621925e-02 -3.20272772e-05 9.99910721e-01 1.38366983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.519254154 meters 0.014993971311227086 Centerline is valid? [True, True] Translation: X:321.20, Y:1.81, Z:1.38 [[ 9.99771346e-01 -1.63458678e-02 -1.37865170e-02 3.21196326e+02] [ 1.63458562e-02 9.99866391e-01 -1.13529873e-04 1.81491292e+00] [ 1.37865307e-02 -1.11848510e-04 9.99904955e-01 1.38288459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.579254154 meters 0.016975430373779396 Centerline is valid? [True, True] Translation: X:321.26, Y:1.80, Z:1.38 [[ 9.99484282e-01 -2.86535370e-02 -1.44963837e-02 3.21256539e+02] [ 2.86548105e-02 9.99589359e-01 -1.19890085e-04 1.80075834e+00] [ 1.44938661e-02 -2.95562872e-04 9.99894915e-01 1.38227136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.639254154 meters 0.02008297804546711 Centerline is valid? [True, True] Translation: X:321.32, Y:1.79, Z:1.38 [[ 9.99160081e-01 -3.79817361e-02 -1.53792132e-02 3.21316143e+02] [ 3.79842698e-02 9.99278329e-01 -1.27428500e-04 1.79025370e+00] [ 1.53729544e-02 -4.56846711e-04 9.99881725e-01 1.38160473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.699254154 meters 0.022882844030252654 Centerline is valid? [True, True] Translation: X:321.38, Y:1.78, Z:1.38 [[ 9.98487362e-01 -5.24969849e-02 -1.63418266e-02 3.21377191e+02] [ 5.25017850e-02 9.98620821e-01 -1.35439045e-04 1.78012097e+00] [ 1.63263985e-02 -7.22740893e-04 9.99866454e-01 1.38304683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.759254154 meters 0.028028412769775433 Centerline is valid? [True, True] Translation: X:321.44, Y:1.77, Z:1.38 [[ 9.97817346e-01 -6.37608098e-02 -1.71785446e-02 3.21436991e+02] [ 6.37677819e-02 9.97964754e-01 -1.42149387e-04 1.76800986e+00] [ 1.71526456e-02 -9.53598559e-04 9.99852428e-01 1.38390918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.819254154 meters 0.029969052342635284 Centerline is valid? [True, True] Translation: X:321.50, Y:1.76, Z:1.38 [[ 9.97506251e-01 -6.82321352e-02 -1.80459343e-02 3.21497817e+02] [ 6.82405616e-02 9.97668885e-01 -1.49149982e-04 1.76377970e+00] [ 1.80140440e-02 -1.08268666e-03 9.99837148e-01 1.38454403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.879254154 meters 0.030259554497734906 Centerline is valid? [True, True] Translation: X:321.56, Y:1.76, Z:1.39 [[ 9.97331846e-01 -7.07557574e-02 -1.79669555e-02 3.21558644e+02] [ 7.07645302e-02 9.97493037e-01 -1.47817411e-04 1.76207784e+00] [ 1.79323720e-02 -1.12400015e-03 9.99838570e-01 1.38540856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.939254154 meters 0.03210222217135235 Centerline is valid? [True, True] Translation: X:321.62, Y:1.76, Z:1.38 [[ 9.97308237e-01 -7.08221434e-02 -1.89869712e-02 3.21620304e+02] [ 7.08319722e-02 9.97488249e-01 -1.55185580e-04 1.75947107e+00] [ 1.89502712e-02 -1.19011676e-03 9.99819719e-01 1.38451720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.99925415399997 meters 0.032927953502620066 Centerline is valid? [True, True] Translation: X:321.68, Y:1.76, Z:1.38 [[ 9.97348101e-01 -6.95349870e-02 -2.14860827e-02 3.21681267e+02] [ 6.95473026e-02 9.97578640e-01 -1.74418960e-04 1.75979242e+00] [ 2.14461854e-02 -1.32034268e-03 9.99769132e-01 1.38320751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.059254154 meters 0.029266276874393718 Centerline is valid? [True, True] Translation: X:321.74, Y:1.77, Z:1.38 [[ 9.97389395e-01 -6.88188375e-02 -2.18714860e-02 3.21743933e+02] [ 6.88314728e-02 9.97628286e-01 -1.75476827e-04 1.76646620e+00] [ 2.18316892e-02 -1.33042786e-03 9.99760775e-01 1.38489568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.119254154 meters 0.02850154161709508 Centerline is valid? [True, True] Translation: X:321.81, Y:1.77, Z:1.39 [[ 9.97551721e-01 -6.65114289e-02 -2.16053993e-02 3.21805840e+02] [ 6.65232497e-02 9.97784860e-01 -1.71924911e-04 1.77014425e+00] [ 2.15689753e-02 -1.26575738e-03 9.99766561e-01 1.38525510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.179254154 meters 0.029671163815639036 Centerline is valid? [True, True] Translation: X:321.87, Y:1.77, Z:1.38 [[ 9.97777866e-01 -6.26136936e-02 -2.27783946e-02 3.21865624e+02] [ 6.26258268e-02 9.98037060e-01 -1.80999655e-04 1.77278420e+00] [ 2.27450151e-02 -1.24591835e-03 9.99740522e-01 1.38429752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.239254154 meters 0.027234420250084743 Centerline is valid? [True, True] Translation: X:321.93, Y:1.78, Z:1.39 [[ 9.98010000e-01 -5.93619802e-02 -2.12648594e-02 3.21926270e+02] [ 5.93718243e-02 9.98235923e-01 -1.68668365e-04 1.77934373e+00] [ 2.12373591e-02 -1.09420078e-03 9.99773863e-01 1.38508368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.299254154 meters 0.023274745344579073 Centerline is valid? [True, True] Translation: X:321.99, Y:1.79, Z:1.39 [[ 9.98347061e-01 -5.38356977e-02 -2.01212052e-02 3.21987194e+02] [ 5.38433937e-02 9.98549380e-01 -1.59470988e-04 1.79026457e+00] [ 2.01006022e-02 -9.24186580e-04 9.99797535e-01 1.38738916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.359254154 meters 0.02203812100544135 Centerline is valid? [True, True] Translation: X:322.05, Y:1.80, Z:1.39 [[ 9.98503297e-01 -5.09298848e-02 -1.99326885e-02 3.22049113e+02] [ 5.09368769e-02 9.98701862e-01 -1.57090683e-04 1.79588938e+00] [ 1.99148137e-02 -8.58453335e-04 9.99801312e-01 1.38821903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.419254154 meters 0.022216997705535715 Centerline is valid? [True, True] Translation: X:322.11, Y:1.80, Z:1.39 [[ 9.98645054e-01 -4.81141648e-02 -1.98263332e-02 3.22109113e+02] [ 4.81205390e-02 9.98841524e-01 -1.55719897e-04 1.79992790e+00] [ 1.98108572e-02 -7.98544938e-04 9.99803427e-01 1.38696375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.479254154 meters 0.022159096582776757 Centerline is valid? [True, True] Translation: X:322.17, Y:1.80, Z:1.39 [[ 9.98688517e-01 -4.77402024e-02 -1.84964407e-02 3.22171736e+02] [ 4.77457110e-02 9.98859513e-01 -1.43922297e-04 1.80403367e+00] [ 1.84822166e-02 -7.39392167e-04 9.99828916e-01 1.38722786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.539254154 meters 0.021190237230330283 Centerline is valid? [True, True] Translation: X:322.23, Y:1.81, Z:1.39 [[ 9.98698295e-01 -4.80976862e-02 -1.69802094e-02 3.22233592e+02] [ 4.81024020e-02 9.98842401e-01 -1.30822506e-04 1.80804819e+00] [ 1.69668454e-02 -6.86136644e-04 9.99855817e-01 1.38863159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.599254154 meters 0.023436922096807897 Centerline is valid? [True, True] Translation: X:322.29, Y:1.81, Z:1.39 [[ 9.98698309e-01 -4.85949036e-02 -1.54990991e-02 3.22294435e+02] [ 4.85989178e-02 9.98818368e-01 -1.17763674e-04 1.80662864e+00] [ 1.54865076e-02 -6.35629063e-04 9.99879875e-01 1.38840740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.659254154 meters 0.023834288021852036 Centerline is valid? [True, True] Translation: X:322.36, Y:1.81, Z:1.39 [[ 9.98623864e-01 -5.04677953e-02 -1.42611010e-02 3.22356323e+02] [ 5.04714015e-02 9.98725501e-01 -1.07154542e-04 1.80895894e+00] [ 1.42483331e-02 -6.12770669e-04 9.99898300e-01 1.38890284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.719254154 meters 0.02510814959430341 Centerline is valid? [True, True] Translation: X:322.42, Y:1.81, Z:1.39 [[ 9.98529091e-01 -5.23420035e-02 -1.41410620e-02 3.22418344e+02] [ 5.23457510e-02 9.98629016e-01 -1.05243286e-04 1.80880347e+00] [ 1.41271835e-02 -6.35136027e-04 9.99900005e-01 1.38864208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.779254154 meters 0.02777003336724176 Centerline is valid? [True, True] Translation: X:322.48, Y:1.81, Z:1.39 [[ 9.98349638e-01 -5.59499460e-02 -1.29461953e-02 3.22479405e+02] [ 5.59533981e-02 9.98433377e-01 -9.56871472e-05 1.80700407e+00] [ 1.29312672e-02 -6.28854392e-04 9.99916190e-01 1.38758380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.839254154 meters 0.026371538961337752 Centerline is valid? [True, True] Translation: X:322.54, Y:1.81, Z:1.39 [[ 9.98233741e-01 -5.80930328e-02 -1.24337212e-02 3.22540974e+02] [ 5.80963906e-02 9.98310974e-01 -9.12733779e-05 1.80977244e+00] [ 1.24180226e-02 -6.31242155e-04 9.99922694e-01 1.38773986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.899254154 meters 0.02583076341054315 Centerline is valid? [True, True] Translation: X:322.60, Y:1.81, Z:1.39 [[ 9.98148505e-01 -5.95491997e-02 -1.23876727e-02 3.22603252e+02] [ 5.95526548e-02 9.98225162e-01 -9.01014060e-05 1.81244020e+00] [ 1.23710520e-02 -6.47784211e-04 9.99923266e-01 1.38752982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.959254154 meters 0.0243035420131107 Centerline is valid? [True, True] Translation: X:322.67, Y:1.82, Z:1.39 [[ 9.98231873e-01 -5.80515137e-02 -1.27730092e-02 3.22665631e+02] [ 5.80550771e-02 9.98313377e-01 -9.19360175e-05 1.81736568e+00] [ 1.27568030e-02 -6.49764571e-04 9.99918418e-01 1.38630197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.019254154 meters 0.024706847032228946 Centerline is valid? [True, True] Translation: X:322.73, Y:1.82, Z:1.39 [[ 9.98415242e-01 -5.48842818e-02 -1.24386182e-02 3.22726654e+02] [ 5.48874236e-02 9.98492545e-01 -8.89076278e-05 1.81952370e+00] [ 1.24247472e-02 -5.93956977e-04 9.99922633e-01 1.38588906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.079254154 meters 0.02237160807666084 Centerline is valid? [True, True] Translation: X:322.79, Y:1.83, Z:1.39 [[ 9.98829916e-01 -4.71697183e-02 -1.06684401e-02 3.22786691e+02] [ 4.71715915e-02 9.98886798e-01 -7.61185578e-05 1.82792402e+00] [ 1.06601544e-02 -4.27217804e-04 9.99943088e-01 1.38754304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.139254154 meters 0.02114622369860303 Centerline is valid? [True, True] Translation: X:322.85, Y:1.83, Z:1.39 [[ 9.99135297e-01 -4.06998790e-02 -8.49581161e-03 3.22846474e+02] [ 4.07008329e-02 9.99171376e-01 -6.06569214e-05 1.83352051e+00] [ 8.49124050e-03 -2.85182137e-04 9.99963908e-01 1.38868508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.199254154 meters 0.017155973360791634 Centerline is valid? [True, True] Translation: X:322.91, Y:1.84, Z:1.39 [[ 9.99441860e-01 -3.22329638e-02 -8.77527572e-03 3.22907277e+02] [ 3.22336557e-02 9.99480359e-01 -6.26166756e-05 1.84462614e+00] [ 8.77273404e-03 -2.20277489e-04 9.99961495e-01 1.38835958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.259254154 meters 0.01636105312057181 Centerline is valid? [True, True] Translation: X:322.97, Y:1.85, Z:1.39 [[ 9.99548555e-01 -2.84233541e-02 -9.73647918e-03 3.22970074e+02] [ 2.84240307e-02 9.99595953e-01 -6.89072408e-05 1.84813365e+00] [ 9.73450376e-03 -2.07873850e-04 9.99952597e-01 1.38703609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.319254154 meters 0.016064362791846188 Centerline is valid? [True, True] Translation: X:323.03, Y:1.85, Z:1.38 [[ 9.99584052e-01 -2.63507069e-02 -1.17202139e-02 3.23032137e+02] [ 2.63515567e-02 9.99652734e-01 -8.19452839e-05 1.85062187e+00] [ 1.17183032e-02 -2.26934683e-04 9.99931313e-01 1.38449934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.379254154 meters 0.015454113838111664 Centerline is valid? [True, True] Translation: X:323.09, Y:1.85, Z:1.38 [[ 9.99581438e-01 -2.60816296e-02 -1.25178529e-02 3.23094097e+02] [ 2.60825896e-02 9.99659788e-01 -8.65840636e-05 1.85303703e+00] [ 1.25158524e-02 -2.39950196e-04 9.99921645e-01 1.38454421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.439254154 meters 0.01536023727832836 Centerline is valid? [True, True] Translation: X:323.16, Y:1.86, Z:1.39 [[ 9.99591663e-01 -2.58968703e-02 -1.20772483e-02 3.23155880e+02] [ 2.58977612e-02 9.99664593e-01 -8.26448998e-05 1.85589374e+00] [ 1.20753378e-02 -2.30162541e-04 9.99927064e-01 1.38500754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.49925415399997 meters 0.015468555045446732 Centerline is valid? [True, True] Translation: X:323.22, Y:1.86, Z:1.39 [[ 9.99586342e-01 -2.65985162e-02 -1.09391004e-02 3.23217643e+02] [ 2.65992977e-02 9.99646173e-01 -7.40708811e-05 1.85682990e+00] [ 1.09372000e-02 -2.16932147e-04 9.99940164e-01 1.38522072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.559254154 meters 0.017592271665062147 Centerline is valid? [True, True] Translation: X:323.28, Y:1.86, Z:1.39 [[ 9.99531527e-01 -2.88262712e-02 -1.02845925e-02 3.23280069e+02] [ 2.88270874e-02 9.99584411e-01 -6.88987813e-05 1.85594155e+00] [ 1.02823044e-02 -2.27608342e-04 9.99947110e-01 1.38509239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.619254154 meters 0.018057141807883825 Centerline is valid? [True, True] Translation: X:323.34, Y:1.85, Z:1.39 [[ 9.99255013e-01 -3.75983353e-02 -8.70535607e-03 3.23340817e+02] [ 3.75992557e-02 9.99292896e-01 -5.79649986e-05 1.85283856e+00] [ 8.70137987e-03 -2.69393094e-04 9.99962106e-01 1.38635301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.679254154 meters 0.0247647227721117 Centerline is valid? [True, True] Translation: X:323.40, Y:1.84, Z:1.39 [[ 9.98714197e-01 -4.98981636e-02 -8.95125550e-03 3.23400969e+02] [ 4.98996305e-02 9.98754236e-01 -5.95243302e-05 1.84166037e+00] [ 8.94307450e-03 -3.87216549e-04 9.99959935e-01 1.38605945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.739254154 meters 0.028283855660016746 Centerline is valid? [True, True] Translation: X:323.46, Y:1.84, Z:1.39 [[ 9.98268936e-01 -5.79915996e-02 -9.80331197e-03 3.23461650e+02] [ 5.79937488e-02 9.98316944e-01 -6.51374409e-05 1.83553707e+00] [ 9.79058987e-03 -5.03506128e-04 9.99951944e-01 1.38561787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.799254154 meters 0.028984269749188617 Centerline is valid? [True, True] Translation: X:323.52, Y:1.83, Z:1.38 [[ 9.97867699e-01 -6.42083573e-02 -1.17193413e-02 3.23522119e+02] [ 6.42118571e-02 9.97936286e-01 -7.77804655e-05 1.83264459e+00] [ 1.17001501e-02 -6.74906053e-04 9.99931323e-01 1.38460507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.859254154 meters 0.02783132993449936 Centerline is valid? [True, True] Translation: X:323.58, Y:1.84, Z:1.39 [[ 9.97989332e-01 -6.22255186e-02 -1.20531078e-02 3.23583900e+02] [ 6.22290818e-02 9.98061889e-01 -7.95506497e-05 1.83509940e+00] [ 1.20346976e-02 -6.70663129e-04 9.99927355e-01 1.38504404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.919254154 meters 0.02695439305794419 Centerline is valid? [True, True] Translation: X:323.65, Y:1.84, Z:1.39 [[ 9.98151529e-01 -5.96127521e-02 -1.18255991e-02 3.23645575e+02] [ 5.96160090e-02 9.98221381e-01 -7.72216357e-05 1.83715862e+00] [ 1.18091692e-02 -6.27916128e-04 9.99930072e-01 1.38636594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.979254154 meters 0.02501293026184903 Centerline is valid? [True, True] Translation: X:323.71, Y:1.84, Z:1.39 [[ 9.98554922e-01 -5.25515663e-02 -1.12427666e-02 3.23706570e+02] [ 5.25540684e-02 9.98618077e-01 -7.29670593e-05 1.84300110e+00] [ 1.12310645e-02 -5.17991509e-04 9.99936795e-01 1.38806415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.039254154 meters 0.022951814795432256 Centerline is valid? [True, True] Translation: X:323.77, Y:1.85, Z:1.39 [[ 9.98880060e-01 -4.60378340e-02 -1.09153095e-02 3.23766674e+02] [ 4.60398052e-02 9.98939603e-01 -7.07522405e-05 1.84832563e+00] [ 1.09069923e-02 -4.31865723e-04 9.99940424e-01 1.38888321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.099254154 meters 0.019248981246849043 Centerline is valid? [True, True] Translation: X:323.83, Y:1.86, Z:1.39 [[ 9.99326256e-01 -3.48842238e-02 -1.14072003e-02 3.23826840e+02] [ 3.48856506e-02 9.99391308e-01 -7.39375790e-05 1.85874073e+00] [ 1.14028361e-02 -3.24059841e-04 9.99934933e-01 1.38963374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.159254154 meters 0.015697737568482757 Centerline is valid? [True, True] Translation: X:323.89, Y:1.87, Z:1.39 [[ 9.99541287e-01 -2.78734840e-02 -1.18441426e-02 3.23888130e+02] [ 2.78745335e-02 9.99611427e-01 -7.64971723e-05 1.86874947e+00] [ 1.18416725e-02 -2.53687867e-04 9.99929853e-01 1.39107573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.219254154 meters 0.014239290755634182 Centerline is valid? [True, True] Translation: X:323.95, Y:1.88, Z:1.39 [[ 9.99751244e-01 -1.77672565e-02 -1.34823835e-02 3.23949206e+02] [ 1.77677046e-02 9.99842138e-01 -8.65517745e-05 1.87613413e+00] [ 1.34817929e-02 -1.53020764e-04 9.99909105e-01 1.39009360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.279254154 meters 0.01385126172171307 Centerline is valid? [True, True] Translation: X:324.01, Y:1.88, Z:1.39 [[ 9.99832487e-01 -1.06568680e-02 -1.48804875e-02 3.24009307e+02] [ 1.06566291e-02 9.99943212e-01 -9.53456285e-05 1.88207584e+00] [ 1.48806586e-02 -6.32461798e-05 9.99889275e-01 1.39031378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.339254154 meters 0.014143569997889181 Centerline is valid? [True, True] Translation: X:324.07, Y:1.89, Z:1.39 [[ 9.99884484e-01 2.80601289e-04 -1.51966998e-02 3.24066521e+02] [-2.82131684e-04 9.99999955e-01 -9.85619786e-05 1.89076721e+00] [ 1.51966714e-02 1.02838064e-04 9.99884519e-01 1.39134349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.399254154 meters 0.01521659793589403 Centerline is valid? [True, True] Translation: X:324.13, Y:1.89, Z:1.39 [[ 9.99868322e-01 8.08418340e-03 -1.40707321e-02 3.24125017e+02] [-8.08630920e-03 9.99967301e-01 -9.41925018e-05 1.89497826e+00] [ 1.40695106e-02 2.07960389e-04 9.99900998e-01 1.39299984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.459254154 meters 0.015320762399848059 Centerline is valid? [True, True] Translation: X:324.18, Y:1.89, Z:1.39 [[ 9.99865333e-01 9.86686584e-03 -1.31134174e-02 3.24184040e+02] [-9.86890878e-03 9.99951297e-01 -9.10873467e-05 1.89473967e+00] [ 1.31118800e-02 2.20490200e-04 9.99914011e-01 1.39372247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.519254154 meters 0.015309602539392427 Centerline is valid? [True, True] Translation: X:324.24, Y:1.89, Z:1.39 [[ 9.99901208e-01 7.72105673e-03 -1.17455887e-02 3.24242079e+02] [-7.72257089e-03 9.99970177e-01 -8.35634832e-05 1.89131344e+00] [ 1.17445932e-02 1.74261369e-04 9.99931015e-01 1.39399164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.579254154 meters 0.014764325721340909 Centerline is valid? [True, True] Translation: X:324.30, Y:1.89, Z:1.39 [[ 9.99924773e-01 4.85764180e-03 -1.12628483e-02 3.24300953e+02] [-4.85886417e-03 9.99988192e-01 -8.11704074e-05 1.88611887e+00] [ 1.12623210e-02 1.35888951e-04 9.99936569e-01 1.39439616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.639254154 meters 0.013952874426797898 Centerline is valid? [True, True] Translation: X:324.36, Y:1.88, Z:1.39 [[ 9.99939825e-01 -1.20559002e-03 -1.09037997e-02 3.24359786e+02] [ 1.20479647e-03 9.99999271e-01 -7.93457465e-05 1.87656331e+00] [ 1.09038875e-02 6.62041124e-05 9.99940549e-01 1.39485952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.699254154 meters 0.013741236164253932 Centerline is valid? [True, True] Translation: X:324.42, Y:1.86, Z:1.40 [[ 9.99915245e-01 -8.01677487e-03 -1.02583591e-02 3.24418795e+02] [ 8.01642370e-03 9.99967865e-01 -7.53518453e-05 1.86340842e+00] [ 1.02586336e-02 -6.88989456e-06 9.99947379e-01 1.39524388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.759254154 meters 0.014102032416063733 Centerline is valid? [True, True] Translation: X:324.48, Y:1.86, Z:1.40 [[ 9.99898410e-01 -1.01028690e-02 -1.00549203e-02 3.24477136e+02] [ 1.01026291e-02 9.99948964e-01 -7.46486734e-05 1.85875356e+00] [ 1.00551613e-02 -2.69400404e-05 9.99949445e-01 1.39505114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.819254154 meters 0.014732126070730408 Centerline is valid? [True, True] Translation: X:324.54, Y:1.85, Z:1.39 [[ 9.99824783e-01 -1.59797279e-02 -9.74948121e-03 3.24536363e+02] [ 1.59797744e-02 9.99872313e-01 -7.31425687e-05 1.84501378e+00] [ 9.74940512e-03 -8.26647571e-05 9.99952470e-01 1.39481271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.879254154 meters 0.016770255309325674 Centerline is valid? [True, True] Translation: X:324.60, Y:1.83, Z:1.39 [[ 9.99711115e-01 -2.15986256e-02 -1.05444520e-02 3.24596916e+02] [ 2.15989886e-02 9.99766711e-01 -7.94561408e-05 1.83212183e+00] [ 1.05437083e-02 -1.48316313e-04 9.99944403e-01 1.39345786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.939254154 meters 0.01760401174184352 Centerline is valid? [True, True] Translation: X:324.66, Y:1.82, Z:1.39 [[ 9.99593529e-01 -2.62797956e-02 -1.10520986e-02 3.24657664e+02] [ 2.62804819e-02 9.99654605e-01 -8.31605583e-05 1.81907319e+00] [ 1.10504667e-02 -2.07327720e-04 9.99938920e-01 1.39086770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.99925415399997 meters 0.017544560146248486 Centerline is valid? [True, True] Translation: X:324.72, Y:1.81, Z:1.39 [[ 9.99344596e-01 -3.39415521e-02 -1.25836650e-02 3.24718927e+02] [ 3.39430517e-02 9.99423764e-01 -9.44442047e-05 1.80946234e+00] [ 1.25796194e-02 -3.32745685e-04 9.99920818e-01 1.39131912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.059254154 meters 0.018893384427657173 Centerline is valid? [True, True] Translation: X:324.78, Y:1.80, Z:1.39 [[ 9.99110821e-01 -4.01137117e-02 -1.29791340e-02 3.24779840e+02] [ 4.01158304e-02 9.99195031e-01 -9.71703470e-05 1.80137892e+00] [ 1.29725841e-02 -4.23584796e-04 9.99915763e-01 1.39119606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.119254154 meters 0.022691372872798706 Centerline is valid? [True, True] Translation: X:324.84, Y:1.79, Z:1.39 [[ 9.98657154e-01 -4.99212216e-02 -1.38477354e-02 3.24840838e+02] [ 4.99245793e-02 9.98752985e-01 -1.03323222e-04 1.78984516e+00] [ 1.38356251e-02 -5.88157891e-04 9.99904110e-01 1.39071336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.179254154 meters 0.02684211068205719 Centerline is valid? [True, True] Translation: X:324.90, Y:1.78, Z:1.39 [[ 9.98247153e-01 -5.74268882e-02 -1.43099497e-02 3.24900573e+02] [ 5.74312427e-02 9.98349458e-01 -1.06797646e-04 1.77892145e+00] [ 1.42924635e-02 -7.15227745e-04 9.99897602e-01 1.39049130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.239254154 meters 0.02755164788304141 Centerline is valid? [True, True] Translation: X:324.96, Y:1.77, Z:1.39 [[ 9.97992743e-01 -6.16915038e-02 -1.43053848e-02 3.24961812e+02] [ 6.16962964e-02 9.98094963e-01 -1.06471444e-04 1.77475480e+00] [ 1.42847009e-02 -7.76331535e-04 9.99897667e-01 1.39125282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.299254154 meters 0.030038075993605053 Centerline is valid? [True, True] Translation: X:325.02, Y:1.77, Z:1.39 [[ 9.98004800e-01 -6.13595305e-02 -1.48804489e-02 3.25022579e+02] [ 6.13646905e-02 9.98115405e-01 -1.10010648e-04 1.77172944e+00] [ 1.48591555e-02 -8.03342986e-04 9.99889274e-01 1.39071079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.359254154 meters 0.025297003888538977 Centerline is valid? [True, True] Translation: X:325.08, Y:1.78, Z:1.39 [[ 9.98164018e-01 -5.89536623e-02 -1.38945387e-02 3.25083913e+02] [ 5.89579367e-02 9.98260463e-01 -1.02138664e-04 1.77747147e+00] [ 1.38763901e-02 -7.17242193e-04 9.99903461e-01 1.39280636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.419254154 meters 0.024223441266690307 Centerline is valid? [True, True] Translation: X:325.15, Y:1.78, Z:1.39 [[ 9.98354368e-01 -5.56845552e-02 -1.37035363e-02 3.25145347e+02] [ 5.56884126e-02 9.98448191e-01 -1.00221673e-04 1.77935387e+00] [ 1.36878518e-02 -6.63071438e-04 9.99906097e-01 1.39315803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.479254154 meters 0.022926274300628546 Centerline is valid? [True, True] Translation: X:325.21, Y:1.79, Z:1.39 [[ 9.98784232e-01 -4.72440025e-02 -1.40734502e-02 3.25205440e+02] [ 4.72472367e-02 9.98883220e-01 -1.02767368e-04 1.78528527e+00] [ 1.40625884e-02 -5.62289205e-04 9.99900959e-01 1.39317585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.539254154 meters 0.02086042826986086 Centerline is valid? [True, True] Translation: X:325.27, Y:1.79, Z:1.39 [[ 9.99251727e-01 -3.59901164e-02 -1.41667660e-02 3.25265239e+02] [ 3.59922634e-02 9.99352063e-01 -1.03464994e-04 1.79405050e+00] [ 1.41613105e-02 -4.06506399e-04 9.99899641e-01 1.39355856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.599254154 meters 0.016696349497143086 Centerline is valid? [True, True] Translation: X:325.33, Y:1.80, Z:1.40 [[ 9.99501838e-01 -2.82505013e-02 -1.40707455e-02 3.25326136e+02] [ 2.82518550e-02 9.99600831e-01 -1.02592586e-04 1.80442496e+00] [ 1.40680272e-02 -2.94983184e-04 9.99900997e-01 1.39529260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.659254154 meters 0.015040916702796992 Centerline is valid? [True, True] Translation: X:325.39, Y:1.81, Z:1.40 [[ 9.99712022e-01 -1.93613816e-02 -1.41777905e-02 3.25386679e+02] [ 1.93618634e-02 9.99812536e-01 -1.03292201e-04 1.81313223e+00] [ 1.41771325e-02 -1.71245987e-04 9.99899485e-01 1.39526967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.719254154 meters 0.014367298403574624 Centerline is valid? [True, True] Translation: X:325.45, Y:1.82, Z:1.40 [[ 9.99810065e-01 -1.30409775e-02 -1.44833507e-02 3.25446439e+02] [ 1.30408118e-02 9.99914959e-01 -1.05885420e-04 1.81941192e+00] [ 1.44834999e-02 -8.30093423e-05 9.99895105e-01 1.39538920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.779254154 meters 0.014880975065380338 Centerline is valid? [True, True] Translation: X:325.50, Y:1.82, Z:1.40 [[ 9.99844917e-01 -9.45126164e-03 -1.48598600e-02 3.25504462e+02] [ 9.45064289e-03 9.99955335e-01 -1.11861971e-04 1.82266044e+00] [ 1.48602535e-02 -2.85906074e-05 9.99889580e-01 1.39579139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.839254154 meters 0.014314172374648847 Centerline is valid? [True, True] Translation: X:325.56, Y:1.83, Z:1.40 [[ 9.99897238e-01 -4.12419127e-03 -1.37297199e-02 3.25562019e+02] [ 4.12310753e-03 9.99991494e-01 -1.07239152e-04 1.82589139e+00] [ 1.37300454e-02 5.06190205e-05 9.99905737e-01 1.39737544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.899254154 meters 0.014573413410626382 Centerline is valid? [True, True] Translation: X:325.62, Y:1.83, Z:1.40 [[ 9.99920966e-01 -3.16706766e-04 -1.25683020e-02 3.25620226e+02] [ 3.15468934e-04 9.99999945e-01 -1.00470855e-04 1.82759936e+00] [ 1.25683331e-02 9.64980052e-05 9.99921011e-01 1.39882033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.959254154 meters 0.014326372682444773 Centerline is valid? [True, True] Translation: X:325.68, Y:1.82, Z:1.40 [[ 9.99936243e-01 -1.51916060e-03 -1.11893292e-02 3.25679369e+02] [ 1.51824305e-03 9.99998843e-01 -9.04964088e-05 1.82300151e+00] [ 1.11894538e-02 7.35025178e-05 9.99937393e-01 1.40034123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.019254154 meters 0.015149834194947616 Centerline is valid? [True, True] Translation: X:325.74, Y:1.81, Z:1.40 [[ 9.99877107e-01 -1.13450389e-02 -1.08194528e-02 3.25737024e+02] [ 1.13447461e-02 9.99935642e-01 -8.84331556e-05 1.81096739e+00] [ 1.08197598e-02 -3.43216577e-05 9.99941464e-01 1.39859590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.079254154 meters 0.015054539167958066 Centerline is valid? [True, True] Translation: X:325.80, Y:1.80, Z:1.40 [[ 9.99655169e-01 -2.36659326e-02 -1.13783569e-02 3.25796721e+02] [ 2.36663987e-02 9.99719907e-01 -9.37010571e-05 1.79802513e+00] [ 1.13773874e-02 -1.75615985e-04 9.99935260e-01 1.39740572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.139254154 meters 0.015054539167958066 Centerline is valid? [True, True] Translation: X:325.86, Y:1.80, Z:1.40 [[ 9.99656044e-01 -2.36289552e-02 -1.13783577e-02 3.25857572e+02] [ 2.36294200e-02 9.99720782e-01 -9.36053788e-05 1.79849725e+00] [ 1.13773924e-02 -1.75290810e-04 9.99935260e-01 1.39767361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.199254154 meters 0.016113847938635618 Centerline is valid? [True, True] Translation: X:325.92, Y:1.79, Z:1.40 [[ 9.99571775e-01 -2.69410371e-02 -1.14213434e-02 3.25917936e+02] [ 2.69417248e-02 9.99637001e-01 -9.36678141e-05 1.79248862e+00] [ 1.14197210e-02 -2.14082987e-04 9.99934770e-01 1.39709297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.259254154 meters 0.01650700091776531 Centerline is valid? [True, True] Translation: X:325.98, Y:1.79, Z:1.40 [[ 9.99536233e-01 -2.84090729e-02 -1.09655772e-02 3.25979570e+02] [ 2.84097985e-02 9.99596356e-01 -8.96180309e-05 1.78715678e+00] [ 1.09636969e-02 -2.21953369e-04 9.99939872e-01 1.39666686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.319254154 meters 0.01707253519918142 Centerline is valid? [True, True] Translation: X:326.04, Y:1.79, Z:1.40 [[ 9.99621857e-01 -2.56490776e-02 -9.91302951e-03 3.26041284e+02] [ 2.56495384e-02 9.99670993e-01 -8.06740374e-05 1.78569699e+00] [ 9.91183727e-03 -1.73621100e-04 9.99950861e-01 1.39646521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.379254154 meters 0.01487039472307219 Centerline is valid? [True, True] Translation: X:326.10, Y:1.79, Z:1.40 [[ 9.99674826e-01 -2.34622928e-02 -9.98810979e-03 3.26102524e+02] [ 2.34626551e-02 9.99724711e-01 -8.09176577e-05 1.78559513e+00] [ 9.98725868e-03 -1.53456230e-04 9.99950114e-01 1.39681176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.439254154 meters 0.016568844247495666 Centerline is valid? [True, True] Translation: X:326.16, Y:1.78, Z:1.40 [[ 9.99751410e-01 -1.99513044e-02 -9.95304817e-03 3.26163901e+02] [ 1.99514938e-02 9.99800946e-01 -8.02680302e-05 1.78325093e+00] [ 9.95266842e-03 -1.18330102e-04 9.99950464e-01 1.39585551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.49925415399997 meters 0.014447769119494016 Centerline is valid? [True, True] Translation: X:326.22, Y:1.78, Z:1.40 [[ 9.99728242e-01 -2.08703653e-02 -1.03860489e-02 3.26224344e+02] [ 2.08706229e-02 9.99782181e-01 -8.35920257e-05 1.78157326e+00] [ 1.03855312e-02 -1.33194002e-04 9.99946060e-01 1.39674609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.559254154 meters 0.015431401612409771 Centerline is valid? [True, True] Translation: X:326.28, Y:1.77, Z:1.40 [[ 9.99616634e-01 -2.52588423e-02 -1.13391186e-02 3.26283999e+02] [ 2.52594307e-02 9.99680925e-01 -9.13398879e-05 1.77379800e+00] [ 1.13378077e-02 -1.95114809e-04 9.99935706e-01 1.39577355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.619254154 meters 0.017350390381025333 Centerline is valid? [True, True] Translation: X:326.34, Y:1.77, Z:1.39 [[ 9.99365238e-01 -3.34430636e-02 -1.22753028e-02 3.26344718e+02] [ 3.34443695e-02 9.99440576e-01 -9.89340645e-05 1.76517852e+00] [ 1.22717443e-02 -3.11668497e-04 9.99924651e-01 1.39486879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.679254154 meters 0.01762941823753279 Centerline is valid? [True, True] Translation: X:326.41, Y:1.76, Z:1.40 [[ 9.99273264e-01 -3.61503348e-02 -1.20870577e-02 3.26405641e+02] [ 3.61518006e-02 9.99346305e-01 -9.72746891e-05 1.76350425e+00] [ 1.20826730e-02 -3.39764903e-04 9.99926944e-01 1.39513984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.739254154 meters 0.020649460377025138 Centerline is valid? [True, True] Translation: X:326.47, Y:1.76, Z:1.40 [[ 9.98996036e-01 -4.30344338e-02 -1.24482258e-02 3.26465565e+02] [ 4.30365233e-02 9.99073495e-01 -1.00097452e-04 1.75662141e+00] [ 1.24410001e-02 -4.35731403e-04 9.99922513e-01 1.39525085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.799254154 meters 0.022403981297513538 Centerline is valid? [True, True] Translation: X:326.53, Y:1.75, Z:1.40 [[ 9.98873492e-01 -4.58939410e-02 -1.20620505e-02 3.26526811e+02] [ 4.58961143e-02 9.98946213e-01 -9.67184603e-05 1.75230170e+00] [ 1.20537785e-02 -4.56991743e-04 9.99927246e-01 1.39581669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.859254154 meters 0.023354859202248515 Centerline is valid? [True, True] Translation: X:326.59, Y:1.75, Z:1.40 [[ 9.98804902e-01 -4.76904598e-02 -1.06951967e-02 3.26588397e+02] [ 4.76922751e-02 9.98862072e-01 -8.53943670e-05 1.75036678e+00] [ 1.06870988e-02 -4.24785951e-04 9.99942801e-01 1.39769899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.919254154 meters 0.023362317848114756 Centerline is valid? [True, True] Translation: X:326.65, Y:1.75, Z:1.40 [[ 9.98799530e-01 -4.83090744e-02 -8.10757574e-03 3.26650822e+02] [ 4.83101410e-02 9.98832381e-01 -6.43470495e-05 1.75098389e+00] [ 8.10121773e-03 -3.27408324e-04 9.99967131e-01 1.40065628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.979254154 meters 0.022222214209448605 Centerline is valid? [True, True] Translation: X:326.71, Y:1.75, Z:1.40 [[ 9.98762284e-01 -4.90730492e-02 -8.10780478e-03 3.26712546e+02] [ 4.90741453e-02 9.98795136e-01 -6.38242576e-05 1.75324654e+00] [ 8.10116803e-03 -3.34138328e-04 9.99967129e-01 1.40221842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.039254154 meters 0.022790920817867558 Centerline is valid? [True, True] Translation: X:326.78, Y:1.75, Z:1.40 [[ 9.98657274e-01 -5.08632920e-02 -9.82723415e-03 3.26775068e+02] [ 5.08649956e-02 9.98705535e-01 -7.66601843e-05 1.75330978e+00] [ 9.81841233e-03 -4.23304972e-04 9.99951709e-01 1.40214726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.099254154 meters 0.024269093033424928 Centerline is valid? [True, True] Translation: X:326.84, Y:1.75, Z:1.40 [[ 9.98563579e-01 -5.23793140e-02 -1.12777198e-02 3.26837090e+02] [ 5.23816641e-02 9.98627134e-01 -8.70994940e-05 1.75329084e+00] [ 1.12667992e-02 -5.03771346e-04 9.99936401e-01 1.40169896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.159254154 meters 0.024183021734223497 Centerline is valid? [True, True] Translation: X:326.90, Y:1.76, Z:1.40 [[ 9.98494185e-01 -5.33203423e-02 -1.28958477e-02 3.26899204e+02] [ 5.33235063e-02 9.98577285e-01 -9.86047534e-05 1.75637379e+00] [ 1.28827582e-02 -5.89195545e-04 9.99916840e-01 1.40211188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.219254154 meters 0.02429112845193443 Centerline is valid? [True, True] Translation: X:326.96, Y:1.76, Z:1.40 [[ 9.98589603e-01 -5.15172611e-02 -1.28365110e-02 3.26961473e+02] [ 5.15202593e-02 9.98671945e-01 -9.72276191e-05 1.76066956e+00] [ 1.28244723e-02 -5.64249887e-04 9.99917604e-01 1.40259668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.279254154 meters 0.024260806757568903 Centerline is valid? [True, True] Translation: X:327.02, Y:1.76, Z:1.40 [[ 9.98735314e-01 -4.86547521e-02 -1.26684102e-02 3.27021663e+02] [ 4.86574482e-02 9.98815520e-01 -9.54957762e-05 1.76486054e+00] [ 1.26580510e-02 -5.21037507e-04 9.99919748e-01 1.40300615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.339254154 meters 0.022228959952746985 Centerline is valid? [True, True] Translation: X:327.08, Y:1.77, Z:1.40 [[ 9.99014508e-01 -4.27393845e-02 -1.19732523e-02 3.27082141e+02] [ 4.27413709e-02 9.99086166e-01 -9.00473088e-05 1.77445610e+00] [ 1.19661593e-02 -4.21794649e-04 9.99928314e-01 1.40389904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.399254154 meters 0.0216581468407476 Centerline is valid? [True, True] Translation: X:327.14, Y:1.78, Z:1.40 [[ 9.99161308e-01 -3.93776531e-02 -1.12286048e-02 3.27142668e+02] [ 3.93791902e-02 9.99224335e-01 -8.42543828e-05 1.78069255e+00] [ 1.12232129e-02 -3.57989644e-04 9.99936954e-01 1.40497434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.459254154 meters 0.021130143830600783 Centerline is valid? [True, True] Translation: X:327.20, Y:1.78, Z:1.41 [[ 9.99188334e-01 -3.87404008e-02 -1.10387901e-02 3.27204762e+02] [ 3.87418535e-02 9.99249249e-01 -8.22899941e-05 1.78425608e+00] [ 1.10336907e-02 -3.45439988e-04 9.99939067e-01 1.40564516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.519254154 meters 0.02255783726744599 Centerline is valid? [True, True] Translation: X:327.27, Y:1.79, Z:1.40 [[ 9.99256379e-01 -3.67634916e-02 -1.16247153e-02 3.27265583e+02] [ 3.67649756e-02 9.99323936e-01 -8.60860540e-05 1.78699069e+00] [ 1.16200211e-02 -3.41360336e-04 9.99932427e-01 1.40472502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.579254154 meters 0.02006170893471618 Centerline is valid? [True, True] Translation: X:327.33, Y:1.79, Z:1.41 [[ 9.99430280e-01 -3.15739019e-02 -1.19249203e-02 3.27326012e+02] [ 3.15751051e-02 9.99501378e-01 -8.74081563e-05 1.79415021e+00] [ 1.19217341e-02 -2.89172255e-04 9.99928892e-01 1.40504174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.639254154 meters 0.01691440409984554 Centerline is valid? [True, True] Translation: X:327.39, Y:1.80, Z:1.41 [[ 9.99583261e-01 -2.59228312e-02 -1.27008151e-02 3.27386352e+02] [ 2.59237460e-02 9.99663919e-01 -9.26304457e-05 1.80360519e+00] [ 1.26989479e-02 -2.36660863e-04 9.99919337e-01 1.40586052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.699254154 meters 0.014831206948576467 Centerline is valid? [True, True] Translation: X:327.45, Y:1.81, Z:1.41 [[ 9.99762192e-01 -1.73519133e-02 -1.32087058e-02 3.27447328e+02] [ 1.73521569e-02 9.99849435e-01 -9.61754800e-05 1.81383858e+00] [ 1.32083858e-02 -1.33046926e-04 9.99912757e-01 1.40683349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.759254154 meters 0.014427979996551491 Centerline is valid? [True, True] Translation: X:327.51, Y:1.82, Z:1.41 [[ 9.99807849e-01 -1.43138885e-02 -1.33931777e-02 3.27505781e+02] [ 1.43138373e-02 9.99897547e-01 -9.96844665e-05 1.81722757e+00] [ 1.33932324e-02 -9.20424552e-05 9.99910302e-01 1.40680807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.819254154 meters 0.014407162448391098 Centerline is valid? [True, True] Translation: X:327.56, Y:1.82, Z:1.41 [[ 9.99810026e-01 -1.39149327e-02 -1.36487031e-02 3.27563906e+02] [ 1.39147903e-02 9.99903179e-01 -1.05401486e-04 1.81840033e+00] [ 1.36488483e-02 -8.45373806e-05 9.99906847e-01 1.40707074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.879254154 meters 0.015497562964130292 Centerline is valid? [True, True] Translation: X:327.62, Y:1.81, Z:1.41 [[ 9.99678859e-01 -2.13501499e-02 -1.36510221e-02 3.27622956e+02] [ 2.13506762e-02 9.99772043e-01 -1.07198241e-04 1.81150295e+00] [ 1.36501989e-02 -1.84294737e-04 9.99906815e-01 1.40661519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.939254154 meters 0.01580035363770187 Centerline is valid? [True, True] Translation: X:327.68, Y:1.81, Z:1.41 [[ 9.99606493e-01 -2.44688580e-02 -1.37162342e-02 3.27682579e+02] [ 2.44696749e-02 9.99700567e-01 -1.08286174e-04 1.80963829e+00] [ 1.37147767e-02 -2.27388228e-04 9.99905922e-01 1.40720357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.99925415399997 meters 0.02015587185348723 Centerline is valid? [True, True] Translation: X:327.74, Y:1.80, Z:1.41 [[ 9.99316184e-01 -3.41579096e-02 -1.41563041e-02 3.27742740e+02] [ 3.41597471e-02 9.99416379e-01 -1.12055536e-04 1.80065146e+00] [ 1.41518698e-02 -3.71596857e-04 9.99899788e-01 1.40619539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.059254154 meters 0.019536528605435477 Centerline is valid? [True, True] Translation: X:327.80, Y:1.79, Z:1.41 [[ 9.99015628e-01 -4.25672571e-02 -1.24821230e-02 3.27804167e+02] [ 4.25693439e-02 9.99093510e-01 -9.85763536e-05 1.79426469e+00] [ 1.24750042e-02 -4.32876471e-04 9.99922090e-01 1.40871173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.119254154 meters 0.021140099970156104 Centerline is valid? [True, True] Translation: X:327.87, Y:1.79, Z:1.41 [[ 9.98898151e-01 -4.54052426e-02 -1.18679096e-02 3.27865557e+02] [ 4.54073358e-02 9.98968551e-01 -9.31661209e-05 1.79054059e+00] [ 1.18598987e-02 -4.45826689e-04 9.99929570e-01 1.40870428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.179254154 meters 0.022006580313062265 Centerline is valid? [True, True] Translation: X:327.93, Y:1.79, Z:1.41 [[ 9.98850493e-01 -4.67355528e-02 -1.06527179e-02 3.27927349e+02] [ 4.67373207e-02 9.98907211e-01 -8.30624928e-05 1.78777123e+00] [ 1.06449587e-02 -4.14912483e-04 9.99943255e-01 1.40912426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.239254154 meters 0.02368107638847583 Centerline is valid? [True, True] Translation: X:327.99, Y:1.79, Z:1.41 [[ 9.98899912e-01 -4.54904550e-02 -1.13835398e-02 3.27989923e+02] [ 4.54924020e-02 9.98964681e-01 -8.79825072e-05 1.78852237e+00] [ 1.13757566e-02 -4.29978850e-04 9.99935202e-01 1.40723273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.299254154 meters 0.021251068453376574 Centerline is valid? [True, True] Translation: X:328.05, Y:1.79, Z:1.41 [[ 9.98879973e-01 -4.58920544e-02 -1.15203329e-02 3.28052519e+02] [ 4.58940850e-02 9.98946307e-01 -8.81813949e-05 1.78858892e+00] [ 1.15122409e-02 -4.40632509e-04 9.99933635e-01 1.40849813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.359254154 meters 0.02201990299000191 Centerline is valid? [True, True] Translation: X:328.11, Y:1.79, Z:1.41 [[ 9.98879801e-01 -4.56449069e-02 -1.24773802e-02 3.28113632e+02] [ 4.56472796e-02 9.98957615e-01 -9.47119084e-05 1.78725947e+00] [ 1.24686971e-02 -4.74952650e-04 9.99922150e-01 1.40791641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.419254154 meters 0.022117867634974753 Centerline is valid? [True, True] Translation: X:328.17, Y:1.79, Z:1.41 [[ 9.98960592e-01 -4.35609603e-02 -1.34230658e-02 3.28174560e+02] [ 4.35635285e-02 9.99050654e-01 -1.01145896e-04 1.78812897e+00] [ 1.34147287e-02 -4.83715347e-04 9.99909901e-01 1.40740013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.479254154 meters 0.01954253901197693 Centerline is valid? [True, True] Translation: X:328.24, Y:1.80, Z:1.41 [[ 9.99168827e-01 -3.79993753e-02 -1.47547235e-02 3.28235166e+02] [ 3.80018791e-02 9.99277662e-01 -1.10736090e-04 1.79511841e+00] [ 1.47482735e-02 -4.50063168e-04 9.99891137e-01 1.40842141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.539254154 meters 0.020345758728882116 Centerline is valid? [True, True] Translation: X:328.30, Y:1.80, Z:1.41 [[ 9.99248579e-01 -3.58162924e-02 -1.48145451e-02 3.28296358e+02] [ 3.58185836e-02 9.99358303e-01 -1.10732941e-04 1.79670787e+00] [ 1.48090047e-02 -4.19986289e-04 9.99890252e-01 1.40780518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.599254154 meters 0.018451605800401262 Centerline is valid? [True, True] Translation: X:328.36, Y:1.80, Z:1.41 [[ 9.99331547e-01 -3.36097946e-02 -1.43819470e-02 3.28357326e+02] [ 3.36117329e-02 9.99434960e-01 -1.06989062e-04 1.79925749e+00] [ 1.43774165e-02 -3.76484615e-04 9.99896569e-01 1.40947888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.659254154 meters 0.01867612255370004 Centerline is valid? [True, True] Translation: X:328.42, Y:1.80, Z:1.41 [[ 9.99336043e-01 -3.32807361e-02 -1.48278594e-02 3.28418720e+02] [ 3.32827682e-02 9.99445969e-01 -1.09774864e-04 1.80122438e+00] [ 1.48232977e-02 -3.83810230e-04 9.99890055e-01 1.41021822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.719254154 meters 0.019489314525126776 Centerline is valid? [True, True] Translation: X:328.48, Y:1.80, Z:1.41 [[ 9.99286499e-01 -3.45363756e-02 -1.52882976e-02 3.28480010e+02] [ 3.45386909e-02 9.99403355e-01 -1.12643306e-04 1.80181741e+00] [ 1.52830662e-02 -4.15474849e-04 9.99883121e-01 1.41064719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.779254154 meters 0.02098450827784634 Centerline is valid? [True, True] Translation: X:328.54, Y:1.80, Z:1.41 [[ 9.99168596e-01 -3.74263532e-02 -1.61673705e-02 3.28540482e+02] [ 3.74293263e-02 9.99299270e-01 -1.18755780e-04 1.80135878e+00] [ 1.61604861e-02 -4.86476740e-04 9.99869292e-01 1.41120815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.839254154 meters 0.021842048766688164 Centerline is valid? [True, True] Translation: X:328.60, Y:1.80, Z:1.41 [[ 9.99048728e-01 -4.02531817e-02 -1.67726328e-02 3.28602146e+02] [ 4.02567881e-02 9.99189359e-01 -1.22696519e-04 1.80077470e+00] [ 1.67639751e-02 -5.52632522e-04 9.99859322e-01 1.41203433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.899254154 meters 0.024468792230589807 Centerline is valid? [True, True] Translation: X:328.66, Y:1.80, Z:1.41 [[ 9.98972755e-01 -4.10667808e-02 -1.91560328e-02 3.28662388e+02] [ 4.10716380e-02 9.99156194e-01 -1.39958395e-04 1.80022193e+00] [ 1.91456165e-02 -6.46955023e-04 9.99816497e-01 1.41093803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.959254154 meters 0.020691280057069838 Centerline is valid? [True, True] Translation: X:328.72, Y:1.81, Z:1.41 [[ 9.98894188e-01 -4.31524527e-02 -1.86619010e-02 3.28723137e+02] [ 4.31574309e-02 9.99068275e-01 -1.36086027e-04 1.80538779e+00] [ 1.86503857e-02 -6.69464163e-04 9.99825842e-01 1.41415557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.019254154 meters 0.02164146410173103 Centerline is valid? [True, True] Translation: X:328.78, Y:1.80, Z:1.41 [[ 9.98862929e-01 -4.37052121e-02 -1.90447657e-02 3.28783818e+02] [ 4.37105133e-02 9.99044229e-01 -1.38018227e-04 1.80483780e+00] [ 1.90325954e-02 -6.94595194e-04 9.99818622e-01 1.41477207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.079254154 meters 0.02242127281385818 Centerline is valid? [True, True] Translation: X:328.84, Y:1.81, Z:1.42 [[ 9.98861117e-01 -4.28303942e-02 -2.10244129e-02 3.28844229e+02] [ 4.28366672e-02 9.99082077e-01 -1.52106975e-04 1.80710175e+00] [ 2.10116289e-02 -7.48682037e-04 9.99778951e-01 1.41579850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.139254154 meters 0.02185775947623139 Centerline is valid? [True, True] Translation: X:328.90, Y:1.81, Z:1.42 [[ 9.98875225e-01 -4.26740747e-02 -2.06690062e-02 3.28904883e+02] [ 4.26801038e-02 9.99088778e-01 -1.49535686e-04 1.80970904e+00] [ 2.06565534e-02 -7.32787839e-04 9.99786362e-01 1.41756686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.199254154 meters 0.02128878998066501 Centerline is valid? [True, True] Translation: X:328.97, Y:1.81, Z:1.42 [[ 9.98858698e-01 -4.28188373e-02 -2.11624555e-02 3.28965681e+02] [ 4.28251904e-02 9.99082569e-01 -1.53105682e-04 1.81125838e+00] [ 2.11495962e-02 -7.53355242e-04 9.99776038e-01 1.41787748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.259254154 meters 0.02202008919802665 Centerline is valid? [True, True] Translation: X:329.02, Y:1.81, Z:1.42 [[ 9.98833313e-01 -4.25228397e-02 -2.28871407e-02 3.29024688e+02] [ 4.25301783e-02 9.99095169e-01 -1.66239439e-04 1.81085347e+00] [ 2.28735007e-02 -8.07348687e-04 9.99738041e-01 1.41696271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.319254154 meters 0.020412297551201497 Centerline is valid? [True, True] Translation: X:329.08, Y:1.82, Z:1.42 [[ 9.98937709e-01 -3.80794779e-02 -2.59500941e-02 3.29084858e+02] [ 3.80874009e-02 9.99274394e-01 -1.89065759e-04 1.81884699e+00] [ 2.59384641e-02 -7.99506721e-04 9.99663222e-01 1.41967166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.379254154 meters 0.01977932927804601 Centerline is valid? [True, True] Translation: X:329.14, Y:1.82, Z:1.42 [[ 9.99139150e-01 -3.37127126e-02 -2.41746238e-02 3.29144050e+02] [ 3.37182914e-02 9.99431361e-01 -1.76931185e-04 1.82061626e+00] [ 2.41668420e-02 -6.38348135e-04 9.99707735e-01 1.41801821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.439254154 meters 0.01579506140738345 Centerline is valid? [True, True] Translation: X:329.20, Y:1.83, Z:1.42 [[ 9.99432747e-01 -2.35906056e-02 -2.40347271e-02 3.29203799e+02] [ 2.35931817e-02 9.99721627e-01 -1.76423607e-04 1.83143492e+00] [ 2.40321984e-02 -3.90732151e-04 9.99711109e-01 1.42123613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.49925415399997 meters 0.014345212646474197 Centerline is valid? [True, True] Translation: X:329.26, Y:1.84, Z:1.42 [[ 9.99653768e-01 -1.35659930e-02 -2.25456768e-02 3.29263646e+02] [ 1.35657010e-02 9.99907968e-01 -1.65900019e-04 1.83911301e+00] [ 2.25458525e-02 -1.40005333e-04 9.99745800e-01 1.42322403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.559254154 meters 0.014121714597822247 Centerline is valid? [True, True] Translation: X:329.32, Y:1.84, Z:1.42 [[ 9.99714427e-01 -9.30063251e-03 -2.20128021e-02 3.29322404e+02] [ 9.29922010e-03 9.99956747e-01 -1.66527567e-04 1.84237649e+00] [ 2.20133988e-02 -3.82218807e-05 9.99757675e-01 1.42387217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.619254154 meters 0.014061253091056455 Centerline is valid? [True, True] Translation: X:329.38, Y:1.84, Z:1.42 [[ 9.99718636e-01 -7.24183684e-03 -2.25876942e-02 3.29380858e+02] [ 7.23969255e-03 9.99973777e-01 -1.76705796e-04 1.84272724e+00] [ 2.25883816e-02 1.31281156e-05 9.99744850e-01 1.42366675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.679254154 meters 0.01406889105768495 Centerline is valid? [True, True] Translation: X:329.44, Y:1.84, Z:1.42 [[ 9.99684461e-01 -8.09516537e-03 -2.37791392e-02 3.29439269e+02] [ 8.09288367e-03 9.99967234e-01 -1.92188437e-04 1.84156965e+00] [ 2.37799158e-02 -3.14013505e-07 9.99717218e-01 1.42276473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.739254154 meters 0.014124274587859462 Centerline is valid? [True, True] Translation: X:329.50, Y:1.84, Z:1.42 [[ 9.99625377e-01 -1.24088676e-02 -2.43951844e-02 3.29496616e+02] [ 1.24076695e-02 9.99923002e-01 -2.00483201e-04 1.83823768e+00] [ 2.43957937e-02 -1.02279289e-04 9.99702373e-01 1.42267043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.799254154 meters 0.014677531900209583 Centerline is valid? [True, True] Translation: X:329.56, Y:1.83, Z:1.42 [[ 9.99514570e-01 -2.05110264e-02 -2.34504045e-02 3.29555752e+02] [ 2.05121053e-02 9.99789586e-01 -1.94556118e-04 1.83008671e+00] [ 2.34494607e-02 -2.86555492e-04 9.99724983e-01 1.42345837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.859254154 meters 0.015688996614304066 Centerline is valid? [True, True] Translation: X:329.61, Y:1.82, Z:1.42 [[ 9.99392922e-01 -2.72027276e-02 -2.17669251e-02 3.29614584e+02] [ 2.72052097e-02 9.99629853e-01 -1.82138767e-04 1.82364520e+00] [ 2.17638228e-02 -4.10145568e-04 9.99763056e-01 1.42368641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.919254154 meters 0.017834011515663106 Centerline is valid? [True, True] Translation: X:329.67, Y:1.82, Z:1.42 [[ 9.99215092e-01 -3.42144179e-02 -1.99642920e-02 3.29673262e+02] [ 3.42178816e-02 9.99414383e-01 -1.68178121e-04 1.81626447e+00] [ 1.99583547e-02 -5.15089663e-04 9.99800680e-01 1.42415201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.979254154 meters 0.021144663142771025 Centerline is valid? [True, True] Translation: X:329.73, Y:1.81, Z:1.43 [[ 9.99089325e-01 -3.78088641e-02 -1.97739644e-02 3.29733154e+02] [ 3.78129499e-02 9.99284821e-01 -1.67361568e-04 1.81210114e+00] [ 1.97661502e-02 -5.80502769e-04 9.99804462e-01 1.42546343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.039254154 meters 0.019828344542292063 Centerline is valid? [True, True] Translation: X:329.79, Y:1.81, Z:1.43 [[ 9.98964371e-01 -4.19560721e-02 -1.76032398e-02 3.29793228e+02] [ 4.19599472e-02 9.99119282e-01 -1.49310265e-04 1.80974326e+00] [ 1.75940008e-02 -5.89475378e-04 9.99845040e-01 1.42647208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.099254154 meters 0.02057139373031054 Centerline is valid? [True, True] Translation: X:329.85, Y:1.81, Z:1.43 [[ 9.98830368e-01 -4.52094081e-02 -1.71465672e-02 3.29854245e+02] [ 4.52135717e-02 9.98977333e-01 -1.44951846e-04 1.80729827e+00] [ 1.71355851e-02 -6.30475238e-04 9.99852976e-01 1.42596558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.159254154 meters 0.022355449210308534 Centerline is valid? [True, True] Translation: X:329.92, Y:1.80, Z:1.42 [[ 9.98611845e-01 -4.95839172e-02 -1.77712740e-02 3.29915678e+02] [ 4.95890934e-02 9.98769693e-01 -1.49552069e-04 1.80429705e+00] [ 1.77568252e-02 -7.31916897e-04 9.99842067e-01 1.42497644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.219254154 meters 0.02280303424497609 Centerline is valid? [True, True] Translation: X:329.98, Y:1.80, Z:1.42 [[ 9.98466581e-01 -5.20953561e-02 -1.87232606e-02 3.29976694e+02] [ 5.21015506e-02 9.98641779e-01 -1.57131490e-04 1.80393217e+00] [ 1.87060161e-02 -8.18620368e-04 9.99824692e-01 1.42358027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.279254154 meters 0.022829549244306146 Centerline is valid? [True, True] Translation: X:330.04, Y:1.81, Z:1.42 [[ 9.98457169e-01 -5.20846202e-02 -1.92476800e-02 3.30039064e+02] [ 5.20911876e-02 9.98642320e-01 -1.60344057e-04 1.80657266e+00] [ 1.92298992e-02 -8.42537835e-04 9.99814733e-01 1.42375066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.339254154 meters 0.022765039198395294 Centerline is valid? [True, True] Translation: X:330.10, Y:1.81, Z:1.42 [[ 9.98524589e-01 -5.06890468e-02 -1.94747529e-02 3.30100120e+02] [ 5.06955223e-02 9.98714142e-01 -1.61354051e-04 1.80928792e+00] [ 1.94578900e-02 -8.26166783e-04 9.99810336e-01 1.42408313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.399254154 meters 0.020904779193612007 Centerline is valid? [True, True] Translation: X:330.16, Y:1.82, Z:1.43 [[ 9.98731252e-01 -4.67299592e-02 -1.87669346e-02 3.30161084e+02] [ 4.67352824e-02 9.98907298e-01 -1.55070085e-04 1.81624954e+00] [ 1.87536744e-02 -7.22204649e-04 9.99823874e-01 1.42576420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.459254154 meters 0.020043347415744265 Centerline is valid? [True, True] Translation: X:330.22, Y:1.82, Z:1.43 [[ 9.98814171e-01 -4.49577852e-02 -1.86828839e-02 3.30222485e+02] [ 4.49627626e-02 9.98988652e-01 -1.53766997e-04 1.81906321e+00] [ 1.86709020e-02 -6.86449417e-04 9.99825448e-01 1.42652187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.519254154 meters 0.019367535992325213 Centerline is valid? [True, True] Translation: X:330.28, Y:1.82, Z:1.43 [[ 9.99137965e-01 -3.81657438e-02 -1.63310659e-02 3.30281714e+02] [ 3.81686405e-02 9.99271303e-01 -1.34390987e-04 1.82483524e+00] [ 1.63242947e-02 -4.89059447e-04 9.99866630e-01 1.42751763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.579254154 meters 0.01655744886337621 Centerline is valid? [True, True] Translation: X:330.34, Y:1.83, Z:1.43 [[ 9.99422268e-01 -3.06916656e-02 -1.45997163e-02 3.30342198e+02] [ 3.06931846e-02 9.99528846e-01 -1.20068314e-04 1.83365826e+00] [ 1.45965227e-02 -3.28112840e-04 9.99893411e-01 1.42966644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.639254154 meters 0.01570106274048399 Centerline is valid? [True, True] Translation: X:330.40, Y:1.84, Z:1.43 [[ 9.99507149e-01 -2.77557522e-02 -1.46655179e-02 3.30402387e+02] [ 2.77569697e-02 9.99614694e-01 -1.20559394e-04 1.83800251e+00] [ 1.46632134e-02 -2.86570361e-04 9.99892448e-01 1.42968482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.699254154 meters 0.016121676832475125 Centerline is valid? [True, True] Translation: X:330.46, Y:1.84, Z:1.43 [[ 9.99466199e-01 -2.87307671e-02 -1.55518466e-02 3.30462447e+02] [ 2.87322574e-02 9.99587135e-01 -1.27647456e-04 1.83732434e+00] [ 1.55490932e-02 -3.19260341e-04 9.99879055e-01 1.42894535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.759254154 meters 0.017971957242663008 Centerline is valid? [True, True] Translation: X:330.52, Y:1.83, Z:1.43 [[ 9.99322790e-01 -3.30805287e-02 -1.61133614e-02 3.30521791e+02] [ 3.30826915e-02 9.99452609e-01 -1.32379783e-04 1.83441504e+00] [ 1.61089203e-02 -4.00783231e-04 9.99870163e-01 1.42847564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.819254154 meters 0.020074449998475574 Centerline is valid? [True, True] Translation: X:330.58, Y:1.83, Z:1.43 [[ 9.99258207e-01 -3.53311439e-02 -1.53214485e-02 3.30582443e+02] [ 3.53333706e-02 9.99375574e-01 -1.25421420e-04 1.83115239e+00] [ 1.53163127e-02 -4.16030037e-04 9.99882612e-01 1.42873472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.879254154 meters 0.016983105122236865 Centerline is valid? [True, True] Translation: X:330.64, Y:1.84, Z:1.43 [[ 9.99269653e-01 -3.56235839e-02 -1.38246794e-02 3.30644072e+02] [ 3.56254322e-02 9.99365206e-01 -1.12628513e-04 1.83725197e+00] [ 1.38199158e-02 -3.79963922e-04 9.99904428e-01 1.43199301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.939254154 meters 0.01684637464541577 Centerline is valid? [True, True] Translation: X:330.71, Y:1.84, Z:1.43 [[ 9.99334010e-01 -3.41625927e-02 -1.28239516e-02 3.30705710e+02] [ 3.41640687e-02 9.99416232e-01 -1.04014665e-04 1.83841280e+00] [ 1.28200188e-02 -3.34172973e-04 9.99917764e-01 1.43256596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.99925415399997 meters 0.016732955092631042 Centerline is valid? [True, True] Translation: X:330.77, Y:1.84, Z:1.43 [[ 9.99402197e-01 -3.27776259e-02 -1.09943214e-02 3.30767325e+02] [ 3.27786311e-02 9.99462632e-01 -8.87953680e-05 1.83932681e+00] [ 1.09913239e-02 -2.71636520e-04 9.99939557e-01 1.43323647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.059254154 meters 0.01794495464708389 Centerline is valid? [True, True] Translation: X:330.83, Y:1.84, Z:1.43 [[ 9.99412189e-01 -3.27053342e-02 -1.02779815e-02 3.30829441e+02] [ 3.27062149e-02 9.99465005e-01 -8.24228271e-05 1.83905553e+00] [ 1.02751785e-02 -2.53779492e-04 9.99947177e-01 1.43366702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.119254154 meters 0.017144056113639068 Centerline is valid? [True, True] Translation: X:330.89, Y:1.84, Z:1.43 [[ 9.99355669e-01 -3.43212956e-02 -1.05021687e-02 3.30891942e+02] [ 3.43223126e-02 9.99410812e-01 -8.34373545e-05 1.83683256e+00] [ 1.04988446e-02 -2.77075123e-04 9.99944847e-01 1.43217651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.179254154 meters 0.01843457417667209 Centerline is valid? [True, True] Translation: X:330.95, Y:1.83, Z:1.43 [[ 9.99343943e-01 -3.45949531e-02 -1.07178752e-02 3.30953398e+02] [ 3.45960352e-02 9.99401374e-01 -8.44771286e-05 1.83447421e+00] [ 1.07143816e-02 -2.86374280e-04 9.99942558e-01 1.43099148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.239254154 meters 0.0164035450443669 Centerline is valid? [True, True] Translation: X:331.02, Y:1.84, Z:1.43 [[ 9.99449149e-01 -3.12229200e-02 -1.12484719e-02 3.31015175e+02] [ 3.12239055e-02 9.99512411e-01 -8.80316891e-05 1.83730359e+00] [ 1.12457359e-02 -2.63238027e-04 9.99936730e-01 1.43023094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.299254154 meters 0.014637710481885577 Centerline is valid? [True, True] Translation: X:331.08, Y:1.84, Z:1.43 [[ 9.99678292e-01 -2.34852001e-02 -9.57898659e-03 3.31076720e+02] [ 2.34855642e-02 9.99724173e-01 -7.44887380e-05 1.84238240e+00] [ 9.57809383e-03 -1.50503130e-04 9.99954118e-01 1.43105688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.359254154 meters 0.013951999782263594 Centerline is valid? [True, True] Translation: X:331.14, Y:1.85, Z:1.43 [[ 9.99812849e-01 -1.74551854e-02 -8.34165445e-03 3.31136995e+02] [ 1.74552539e-02 9.99847643e-01 -6.45938847e-05 1.84609238e+00] [ 8.34151104e-03 -8.10239008e-05 9.99965206e-01 1.43159786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.419254154 meters 0.013573198976175916 Centerline is valid? [True, True] Translation: X:331.20, Y:1.85, Z:1.43 [[ 9.99918469e-01 -1.04980912e-02 -7.26947635e-03 3.31196731e+02] [ 1.04979595e-02 9.99944893e-01 -5.62727702e-05 1.84965972e+00] [ 7.26966651e-03 -2.00464862e-05 9.99973575e-01 1.43156904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.479254154 meters 0.015360216172171521 Centerline is valid? [True, True] Translation: X:331.26, Y:1.85, Z:1.43 [[ 9.99940452e-01 -8.15305926e-03 -7.25398959e-03 3.31256570e+02] [ 8.15286510e-03 9.99966763e-01 -5.63376713e-05 1.84912557e+00] [ 7.25420781e-03 -2.80648204e-06 9.99973688e-01 1.43158435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.539254154 meters 0.013875813461793868 Centerline is valid? [True, True] Translation: X:331.32, Y:1.85, Z:1.43 [[ 9.99920469e-01 -1.01768868e-02 -7.44890439e-03 3.31315433e+02] [ 1.01767355e-02 9.99948214e-01 -5.82162248e-05 1.84691958e+00] [ 7.44911110e-03 -1.75939346e-05 9.99972255e-01 1.43046156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.599254154 meters 0.014401704028150095 Centerline is valid? [True, True] Translation: X:331.38, Y:1.84, Z:1.43 [[ 9.99818704e-01 -1.67088244e-02 -9.13095847e-03 3.31375524e+02] [ 1.67088647e-02 9.99860395e-01 -7.18815764e-05 1.83995261e+00] [ 9.13088479e-03 -8.06994050e-05 9.99958309e-01 1.42890106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.659254154 meters 0.015236784250496174 Centerline is valid? [True, True] Translation: X:331.44, Y:1.83, Z:1.43 [[ 9.99712454e-01 -2.21610851e-02 -9.15950617e-03 3.31435761e+02] [ 2.21613529e-02 9.99754404e-01 -7.22654357e-05 1.83422254e+00] [ 9.15885812e-03 -1.30742393e-04 9.99958048e-01 1.42831427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.719254154 meters 0.01674514896692504 Centerline is valid? [True, True] Translation: X:331.50, Y:1.83, Z:1.43 [[ 9.99515871e-01 -2.99528019e-02 -8.41744493e-03 3.31497084e+02] [ 2.99533055e-02 9.99551297e-01 -6.62659289e-05 1.82634697e+00] [ 8.41565285e-03 -1.85896452e-04 9.99964570e-01 1.42857468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.779254154 meters 0.01970244622855164 Centerline is valid? [True, True] Translation: X:331.56, Y:1.82, Z:1.43 [[ 9.99327525e-01 -3.58227574e-02 -7.82479051e-03 3.31556823e+02] [ 3.58233735e-02 9.99358135e-01 -6.14526763e-05 1.81779222e+00] [ 7.82196946e-03 -2.18899042e-04 9.99969384e-01 1.42837941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.839254154 meters 0.0208781502616719 Centerline is valid? [True, True] Translation: X:331.62, Y:1.82, Z:1.43 [[ 9.99218606e-01 -3.88626416e-02 -7.20230292e-03 3.31618724e+02] [ 3.88632439e-02 9.99244537e-01 -5.63603022e-05 1.81604586e+00] [ 7.19905216e-03 -2.23588593e-04 9.99974061e-01 1.42925508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.899254154 meters 0.02486278963004649 Centerline is valid? [True, True] Translation: X:331.68, Y:1.81, Z:1.43 [[ 9.98971079e-01 -4.48269225e-02 -6.87967424e-03 3.31678953e+02] [ 4.48276154e-02 9.98994736e-01 -5.35300106e-05 1.80578196e+00] [ 6.87515794e-03 -2.54924459e-04 9.99976333e-01 1.42896677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.959254154 meters 0.0245949006260583 Centerline is valid? [True, True] Translation: X:331.74, Y:1.81, Z:1.43 [[ 9.98764830e-01 -4.91930450e-02 -6.98989921e-03 3.31740013e+02] [ 4.91938673e-02 9.98789247e-01 -5.43419032e-05 1.80547793e+00] [ 6.98410942e-03 -2.89585393e-04 9.99975569e-01 1.42835295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.019254154 meters 0.025599137623744578 Centerline is valid? [True, True] Translation: X:331.80, Y:1.80, Z:1.43 [[ 9.98450225e-01 -5.50728489e-02 -8.00808660e-03 3.31801003e+02] [ 5.50741178e-02 9.98482267e-01 -6.21548456e-05 1.80351528e+00] [ 7.99935550e-03 -3.78979785e-04 9.99967933e-01 1.42729411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.079254154 meters 0.02555694561780725 Centerline is valid? [True, True] Translation: X:331.86, Y:1.80, Z:1.43 [[ 9.98233850e-01 -5.87934507e-02 -8.51537474e-03 3.31862078e+02] [ 5.87950213e-02 9.98270074e-01 -6.59978872e-05 1.80451496e+00] [ 8.50452402e-03 -4.34780314e-04 9.99963741e-01 1.42703675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.139254154 meters 0.027126591443696627 Centerline is valid? [True, True] Translation: X:331.92, Y:1.80, Z:1.43 [[ 9.98173969e-01 -5.97632452e-02 -8.77964629e-03 3.31923256e+02] [ 5.97649550e-02 9.98212475e-01 -6.77199284e-05 1.80419449e+00] [ 8.76799962e-03 -4.57118896e-04 9.99961456e-01 1.42730006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.199254154 meters 0.02706937083685215 Centerline is valid? [True, True] Translation: X:331.99, Y:1.81, Z:1.43 [[ 9.98146452e-01 -6.00583451e-02 -9.83132806e-03 3.31985453e+02] [ 6.00605099e-02 9.98194735e-01 -7.51609490e-05 1.80741276e+00] [ 9.81809395e-03 -5.15452942e-04 9.99951669e-01 1.42682431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.259254154 meters 0.02707754355508782 Centerline is valid? [True, True] Translation: X:332.05, Y:1.81, Z:1.43 [[ 9.98234567e-01 -5.85781123e-02 -9.81597573e-03 3.32047503e+02] [ 5.85802060e-02 9.98282702e-01 -7.43265282e-05 1.81113043e+00] [ 9.80347269e-03 -5.00826571e-04 9.99951819e-01 1.42707776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.319254154 meters 0.02642301008460529 Centerline is valid? [True, True] Translation: X:332.11, Y:1.82, Z:1.43 [[ 9.98304989e-01 -5.74178292e-02 -9.50478200e-03 3.32110073e+02] [ 5.74197472e-02 9.98350123e-01 -7.11936860e-05 1.81598574e+00] [ 9.49318806e-03 -4.74689168e-04 9.99954826e-01 1.42822105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.379254154 meters 0.026754079175851122 Centerline is valid? [True, True] Translation: X:332.17, Y:1.82, Z:1.43 [[ 9.98364488e-01 -5.60371779e-02 -1.13218165e-02 3.32172159e+02] [ 5.60398219e-02 9.98428531e-01 -8.38260096e-05 1.81939586e+00] [ 1.13087220e-02 -5.50783670e-04 9.99935903e-01 1.42784527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.439254154 meters 0.026166542128777087 Centerline is valid? [True, True] Translation: X:332.23, Y:1.82, Z:1.43 [[ 9.98482612e-01 -5.37743500e-02 -1.18655985e-02 3.32233673e+02] [ 5.37771019e-02 9.98552961e-01 -8.72514568e-05 1.82359610e+00] [ 1.18531204e-02 -5.50978434e-04 9.99929598e-01 1.42784040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.49925415399997 meters 0.023209267255538752 Centerline is valid? [True, True] Translation: X:332.29, Y:1.83, Z:1.43 [[ 9.98720237e-01 -4.90295400e-02 -1.24093595e-02 3.32294740e+02] [ 4.90321881e-02 9.98797195e-01 -9.09388026e-05 1.83351137e+00] [ 1.23988922e-02 -5.17635627e-04 9.99922997e-01 1.43005576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.559254154 meters 0.02238635110825038 Centerline is valid? [True, True] Translation: X:332.35, Y:1.84, Z:1.43 [[ 9.98920633e-01 -4.43351630e-02 -1.38550619e-02 3.32354785e+02] [ 4.43380145e-02 9.99016582e-01 -1.01443812e-04 1.83909545e+00] [ 1.38459341e-02 -5.12971619e-04 9.99904009e-01 1.43071160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.619254154 meters 0.017792268134791154 Centerline is valid? [True, True] Translation: X:332.42, Y:1.85, Z:1.43 [[ 9.99222360e-01 -3.57134223e-02 -1.67100601e-02 3.32415203e+02] [ 3.57163711e-02 9.99361959e-01 -1.22023891e-04 1.85300756e+00] [ 1.67037563e-02 -4.74893709e-04 9.99860370e-01 1.43183638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.679254154 meters 0.017520655797834017 Centerline is valid? [True, True] Translation: X:332.47, Y:1.86, Z:1.43 [[ 9.99526897e-01 -2.52746876e-02 -1.75263343e-02 3.32474720e+02] [ 2.52763295e-02 9.99680494e-01 -1.27863310e-04 1.86270221e+00] [ 1.75239662e-02 -3.15198583e-04 9.99846394e-01 1.43374092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.739254154 meters 0.015100212944172981 Centerline is valid? [True, True] Translation: X:332.53, Y:1.87, Z:1.44 [[ 9.99656149e-01 -1.99903623e-02 -1.69696275e-02 3.32533761e+02] [ 1.99910902e-02 9.99800150e-01 -1.26755545e-04 1.86912680e+00] [ 1.69687700e-02 -2.12529393e-04 9.99855997e-01 1.43563977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.799254154 meters 0.01437808953096389 Centerline is valid? [True, True] Translation: X:332.59, Y:1.88, Z:1.44 [[ 9.99735800e-01 -1.63519903e-02 -1.61537296e-02 3.32592481e+02] [ 1.63521103e-02 9.99866288e-01 -1.24662741e-04 1.87567104e+00] [ 1.61536082e-02 -1.39517764e-04 9.99869512e-01 1.43851040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.859254154 meters 0.0144222645779932 Centerline is valid? [True, True] Translation: X:332.65, Y:1.87, Z:1.44 [[ 9.99651408e-01 -2.04620689e-02 -1.66843172e-02 3.32651127e+02] [ 2.04626970e-02 9.99790608e-01 -1.33082785e-04 1.87448152e+00] [ 1.66835468e-02 -2.08369736e-04 9.99860798e-01 1.43881083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.919254154 meters 0.01519919237340145 Centerline is valid? [True, True] Translation: X:332.71, Y:1.87, Z:1.44 [[ 9.99503514e-01 -2.62149795e-02 -1.74785909e-02 3.32710684e+02] [ 2.62165190e-02 9.99656278e-01 -1.41085535e-04 1.87205430e+00] [ 1.74762816e-02 -3.17212321e-04 9.99847228e-01 1.43923692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.979254154 meters 0.0176675632719771 Centerline is valid? [True, True] Translation: X:332.77, Y:1.87, Z:1.44 [[ 9.99153835e-01 -3.63466434e-02 -1.92493111e-02 3.32771464e+02] [ 3.63503835e-02 9.99339094e-01 -1.55677993e-04 1.86656151e+00] [ 1.92422475e-02 -5.44173577e-04 9.99814703e-01 1.43867165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.039254154 meters 0.023650187121313164 Centerline is valid? [True, True] Translation: X:332.83, Y:1.86, Z:1.44 [[ 9.98597878e-01 -4.87960828e-02 -2.05236361e-02 3.32830879e+02] [ 4.88029473e-02 9.98808412e-01 -1.66555005e-04 1.85565136e+00] [ 2.05073077e-02 -8.35292458e-04 9.99789354e-01 1.43712416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.099254154 meters 0.023351779138828153 Centerline is valid? [True, True] Translation: X:332.89, Y:1.86, Z:1.44 [[ 9.98194541e-01 -5.59807891e-02 -2.17671762e-02 3.32891220e+02] [ 5.59902129e-02 9.98431302e-01 -1.76744548e-04 1.85641377e+00] [ 2.17429243e-02 -1.04232339e-03 9.99763051e-01 1.43877493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.159254154 meters 0.02745184702448126 Centerline is valid? [True, True] Translation: X:332.95, Y:1.85, Z:1.44 [[ 9.98107960e-01 -5.72606630e-02 -2.23990252e-02 3.32952626e+02] [ 5.72709862e-02 9.98358654e-01 -1.80864173e-04 1.85179796e+00] [ 2.23726170e-02 -1.10229229e-03 9.99749094e-01 1.43731325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.219254154 meters 0.024673910600971724 Centerline is valid? [True, True] Translation: X:333.02, Y:1.86, Z:1.44 [[ 9.98124262e-01 -5.71331848e-02 -2.19944614e-02 3.33015212e+02] [ 5.71431412e-02 9.98365980e-01 -1.76060765e-04 1.85687086e+00] [ 2.19685810e-02 -1.08110209e-03 9.99758077e-01 1.43925095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.279254154 meters 0.02601673681436787 Centerline is valid? [True, True] Translation: X:333.08, Y:1.86, Z:1.44 [[ 9.98152302e-01 -5.64451133e-02 -2.24929153e-02 3.33077680e+02] [ 5.64553890e-02 9.98405107e-01 -1.78406608e-04 1.85687522e+00] [ 2.24671117e-02 -1.09176932e-03 9.99746986e-01 1.43921306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.339254154 meters 0.025175551249930702 Centerline is valid? [True, True] Translation: X:333.14, Y:1.86, Z:1.44 [[ 9.98170338e-01 -5.58326919e-02 -2.32096445e-02 3.33139585e+02] [ 5.58435072e-02 9.98439517e-01 -1.82403508e-04 1.85918687e+00] [ 2.31836103e-02 -1.11403818e-03 9.99730603e-01 1.43906599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.399254154 meters 0.026040340554031115 Centerline is valid? [True, True] Translation: X:333.20, Y:1.86, Z:1.44 [[ 9.98287376e-01 -5.26284048e-02 -2.55453729e-02 3.33199848e+02] [ 5.26404793e-02 9.98613509e-01 -2.00035767e-04 1.86214136e+00] [ 2.55204820e-02 -1.14502749e-03 9.99673644e-01 1.43791234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.459254154 meters 0.024195607347712457 Centerline is valid? [True, True] Translation: X:333.26, Y:1.87, Z:1.44 [[ 9.98507071e-01 -4.80574941e-02 -2.59635523e-02 3.33260814e+02] [ 4.80684366e-02 9.98844024e-01 -2.02857550e-04 1.86798805e+00] [ 2.59432879e-02 -1.04547267e-03 9.99662870e-01 1.43799172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.519254154 meters 0.022639382313221143 Centerline is valid? [True, True] Translation: X:333.32, Y:1.87, Z:1.44 [[ 9.98709335e-01 -4.38246395e-02 -2.56722627e-02 3.33320912e+02] [ 4.38339338e-02 9.99038811e-01 -2.00869930e-04 1.87356126e+00] [ 2.56563898e-02 -9.24705589e-04 9.99670393e-01 1.43898689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.579254154 meters 0.018744868871141962 Centerline is valid? [True, True] Translation: X:333.38, Y:1.88, Z:1.44 [[ 9.99002999e-01 -3.75645873e-02 -2.41228077e-02 3.33380905e+02] [ 3.75709656e-02 9.99293944e-01 -1.88921236e-04 1.88429115e+00] [ 2.41128724e-02 -7.17584297e-04 9.99708985e-01 1.44297842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.639254154 meters 0.01588686550893382 Centerline is valid? [True, True] Translation: X:333.44, Y:1.89, Z:1.45 [[ 9.99207569e-01 -3.26245941e-02 -2.28006490e-02 3.33440960e+02] [ 3.26289848e-02 9.99467517e-01 -1.79530381e-04 1.89297763e+00] [ 2.27943651e-02 -5.64573914e-04 9.99740015e-01 1.44597145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.699254154 meters 0.015153189385584066 Centerline is valid? [True, True] Translation: X:333.50, Y:1.90, Z:1.45 [[ 9.99246950e-01 -3.17396146e-02 -2.23188116e-02 3.33500108e+02] [ 3.17435001e-02 9.99496032e-01 -1.80259723e-04 1.89662261e+00] [ 2.23132850e-02 -5.28353220e-04 9.99750888e-01 1.44717898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.759254154 meters 0.01837025001408381 Centerline is valid? [True, True] Translation: X:333.56, Y:1.89, Z:1.44 [[ 9.99179994e-01 -3.40018532e-02 -2.19821242e-02 3.33558854e+02] [ 3.40061254e-02 9.99421608e-01 -1.79537899e-04 1.89280472e+00] [ 2.19755145e-02 -5.68136196e-04 9.99758348e-01 1.44406470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.819254154 meters 0.017360886590256773 Centerline is valid? [True, True] Translation: X:333.62, Y:1.89, Z:1.45 [[ 9.99047322e-01 -3.81344717e-02 -2.12181539e-02 3.33619277e+02] [ 3.81393782e-02 9.99272414e-01 -1.73529339e-04 1.89484238e+00] [ 2.12093333e-02 -6.35883175e-04 9.99774855e-01 1.44708661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.879254154 meters 0.017245297468918636 Centerline is valid? [True, True] Translation: X:333.68, Y:1.90, Z:1.45 [[ 9.98935086e-01 -4.08065655e-02 -2.15294547e-02 3.33680423e+02] [ 4.08122505e-02 9.99166818e-01 -1.75440469e-04 1.89652016e+00] [ 2.15186758e-02 -7.03411858e-04 9.99768199e-01 1.44869929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.939254154 meters 0.01827345115586301 Centerline is valid? [True, True] Translation: X:333.74, Y:1.90, Z:1.45 [[ 9.98849285e-01 -4.31217484e-02 -2.09909615e-02 3.33741821e+02] [ 4.31276793e-02 9.99069554e-01 -1.70281320e-04 1.89657046e+00] [ 2.09787734e-02 -7.35206079e-04 9.99779651e-01 1.44884751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.99925415399997 meters 0.018997311369102775 Centerline is valid? [True, True] Translation: X:333.80, Y:1.90, Z:1.45 [[ 9.98902327e-01 -4.23495916e-02 -2.00163167e-02 3.33801837e+02] [ 4.23548383e-02 9.99102618e-01 -1.61936380e-04 1.89638586e+00] [ 2.00052124e-02 -6.86029230e-04 9.99799640e-01 1.44879988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.059254154 meters 0.018004723565134415 Centerline is valid? [True, True] Translation: X:333.86, Y:1.90, Z:1.45 [[ 9.99114931e-01 -3.80412070e-02 -1.79505188e-02 3.33862017e+02] [ 3.80447328e-02 9.99276027e-01 -1.45151924e-04 1.90042913e+00] [ 1.79430448e-02 -5.37899235e-04 9.99838866e-01 1.45110667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.119254154 meters 0.014739265283024949 Centerline is valid? [True, True] Translation: X:333.92, Y:1.91, Z:1.45 [[ 9.99379226e-01 -3.10460885e-02 -1.66524388e-02 3.33922965e+02] [ 3.10481559e-02 9.99517881e-01 -1.34429394e-04 1.90975725e+00] [ 1.66485838e-02 -3.82681571e-04 9.99861329e-01 1.45424792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.179254154 meters 0.014556386836467587 Centerline is valid? [True, True] Translation: X:333.98, Y:1.91, Z:1.45 [[ 9.99515761e-01 -2.64037835e-02 -1.64646239e-02 3.33983802e+02] [ 2.64051835e-02 9.99651314e-01 -1.32392607e-04 1.91159395e+00] [ 1.64623785e-02 -3.02422917e-04 9.99864440e-01 1.45338321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.239254154 meters 0.012834059794034831 Centerline is valid? [True, True] Translation: X:334.04, Y:1.92, Z:1.45 [[ 9.99628604e-01 -2.11205334e-02 -1.72214119e-02 3.34044339e+02] [ 2.11212841e-02 9.99776911e-01 -1.38309927e-04 1.91632015e+00] [ 1.72204912e-02 -2.25479775e-04 9.99851691e-01 1.45375392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.299254154 meters 0.01247089287142867 Centerline is valid? [True, True] Translation: X:334.10, Y:1.92, Z:1.45 [[ 9.99645802e-01 -2.02445163e-02 -1.72751574e-02 3.34103667e+02] [ 2.02451327e-02 9.99795037e-01 -1.39219334e-04 1.91811286e+00] [ 1.72744350e-02 -2.10567832e-04 9.99850764e-01 1.45483683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.359254154 meters 0.012473847659466946 Centerline is valid? [True, True] Translation: X:334.16, Y:1.92, Z:1.45 [[ 9.99658620e-01 -1.97405760e-02 -1.71158785e-02 3.34161937e+02] [ 1.97410485e-02 9.99805117e-01 -1.41365442e-04 1.91805831e+00] [ 1.71153335e-02 -1.96568205e-04 9.99853503e-01 1.45480526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.419254154 meters 0.012608232384031921 Centerline is valid? [True, True] Translation: X:334.22, Y:1.92, Z:1.45 [[ 9.99613007e-01 -2.14471328e-02 -1.77160296e-02 3.34221087e+02] [ 2.14478252e-02 9.99769958e-01 -1.50941026e-04 1.91671193e+00] [ 1.77151914e-02 -2.29087693e-04 9.99843047e-01 1.45442787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.479254154 meters 0.013419252513015999 Centerline is valid? [True, True] Translation: X:334.28, Y:1.91, Z:1.45 [[ 9.99487787e-01 -2.63227382e-02 -1.82010449e-02 3.34280093e+02] [ 2.63241901e-02 9.99653446e-01 -1.59849197e-04 1.91209063e+00] [ 1.81989450e-02 -3.19360447e-04 9.99834334e-01 1.45406616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.539254154 meters 0.01511461240689682 Centerline is valid? [True, True] Translation: X:334.34, Y:1.91, Z:1.45 [[ 9.99297971e-01 -3.25925038e-02 -1.84741558e-02 3.34339398e+02] [ 3.25950490e-02 9.99468627e-01 -1.63403237e-04 1.90539922e+00] [ 1.84696649e-02 -4.38877492e-04 9.99829325e-01 1.45362736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.599254154 meters 0.016933053364796186 Centerline is valid? [True, True] Translation: X:334.40, Y:1.90, Z:1.45 [[ 9.99149351e-01 -3.72320375e-02 -1.77299196e-02 3.34399746e+02] [ 3.72351158e-02 9.99306520e-01 -1.56577343e-04 1.89952351e+00] [ 1.77234540e-02 -5.03731460e-04 9.99842800e-01 1.45366382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.659254154 meters 0.01830507656280695 Centerline is valid? [True, True] Translation: X:334.46, Y:1.89, Z:1.46 [[ 9.98962543e-01 -4.26864785e-02 -1.58651550e-02 3.34460584e+02] [ 4.26896346e-02 9.99088372e-01 -1.39829374e-04 1.89272226e+00] [ 1.58566607e-02 -5.37593364e-04 9.99874131e-01 1.45521953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.719254154 meters 0.018131503688151616 Centerline is valid? [True, True] Translation: X:334.52, Y:1.89, Z:1.46 [[ 9.98896756e-01 -4.46590381e-02 -1.45203863e-02 3.34522992e+02] [ 4.46619019e-02 9.99002151e-01 -1.27145638e-04 1.89090073e+00] [ 1.45115754e-02 -5.21502703e-04 9.99894566e-01 1.45687789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.779254154 meters 0.018476658567452942 Centerline is valid? [True, True] Translation: X:334.59, Y:1.89, Z:1.46 [[ 9.98893179e-01 -4.54679116e-02 -1.20451789e-02 3.34585088e+02] [ 4.54699511e-02 9.98965701e-01 -1.04625987e-04 1.88715001e+00] [ 1.20374777e-02 -4.43183510e-04 9.99927449e-01 1.45851194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.839254154 meters 0.020864020645814173 Centerline is valid? [True, True] Translation: X:334.65, Y:1.88, Z:1.46 [[ 9.98913821e-01 -4.52071676e-02 -1.12911508e-02 3.34647514e+02] [ 4.52089523e-02 9.98977548e-01 -9.72588452e-05 1.88423717e+00] [ 1.12840030e-02 -4.13307895e-04 9.99936248e-01 1.45839569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.899254154 meters 0.019821558723425618 Centerline is valid? [True, True] Translation: X:334.71, Y:1.88, Z:1.46 [[ 9.98865708e-01 -4.62214214e-02 -1.14401923e-02 3.34709613e+02] [ 4.62233296e-02 9.98931126e-01 -9.76950522e-05 1.88177009e+00] [ 1.14324798e-02 -4.31219542e-04 9.99934554e-01 1.45729286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.959254154 meters 0.02067584480725338 Centerline is valid? [True, True] Translation: X:334.77, Y:1.88, Z:1.45 [[ 9.98810246e-01 -4.69826420e-02 -1.30661045e-02 3.34771865e+02] [ 4.69852094e-02 9.98895579e-01 -1.10580183e-04 1.87854412e+00] [ 1.30568693e-02 -5.03465034e-04 9.99914629e-01 1.45432450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.019254154 meters 0.021034908372564422 Centerline is valid? [True, True] Translation: X:334.83, Y:1.88, Z:1.45 [[ 9.98840770e-01 -4.59832821e-02 -1.42356579e-02 3.34834263e+02] [ 4.59862434e-02 9.98942066e-01 -1.19426409e-04 1.87764271e+00] [ 1.42260891e-02 -5.35356460e-04 9.99898661e-01 1.45276296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.079254154 meters 0.01862921525410785 Centerline is valid? [True, True] Translation: X:334.90, Y:1.88, Z:1.45 [[ 9.99035525e-01 -4.17568920e-02 -1.35787421e-02 3.34895488e+02] [ 4.17592049e-02 9.99127698e-01 -1.13278665e-04 1.88344292e+00] [ 1.35716275e-02 -4.53868064e-04 9.99907798e-01 1.45410308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.139254154 meters 0.01653651457519191 Centerline is valid? [True, True] Translation: X:334.96, Y:1.89, Z:1.46 [[ 9.99321955e-01 -3.53173996e-02 -1.04073066e-02 3.34955777e+02] [ 3.53184105e-02 9.99376107e-01 -8.66977904e-05 1.89007233e+00] [ 1.04038755e-02 -2.80930521e-04 9.99945839e-01 1.45756708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.199254154 meters 0.015081877459767192 Centerline is valid? [True, True] Translation: X:335.02, Y:1.89, Z:1.46 [[ 9.99474153e-01 -3.11126659e-02 -9.13342513e-03 3.35017264e+02] [ 3.11132706e-02 9.99515862e-01 -7.59081363e-05 1.89476370e+00] [ 9.13136500e-03 -2.08302507e-04 9.99958287e-01 1.45899455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.259254154 meters 0.014751734202591661 Centerline is valid? [True, True] Translation: X:335.08, Y:1.90, Z:1.46 [[ 9.99597116e-01 -2.73871935e-02 -7.45296314e-03 3.35077597e+02] [ 2.73874961e-02 9.99624890e-01 -6.14848312e-05 1.89635569e+00] [ 7.45185136e-03 -1.42657939e-04 9.99972224e-01 1.45922054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.319254154 meters 0.014185471712958109 Centerline is valid? [True, True] Translation: X:335.14, Y:1.90, Z:1.46 [[ 9.99625495e-01 -2.65259867e-02 -6.72627023e-03 3.35139747e+02] [ 2.65262176e-02 9.99648116e-01 -5.48973963e-05 1.89815053e+00] [ 6.72535958e-03 -1.23545671e-04 9.99977377e-01 1.46017532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.379254154 meters 0.015140052082725175 Centerline is valid? [True, True] Translation: X:335.20, Y:1.90, Z:1.46 [[ 9.99563398e-01 -2.87313612e-02 -6.89361766e-03 3.35200627e+02] [ 2.87316594e-02 9.99587159e-01 -5.57902564e-05 1.89504614e+00] [ 6.89237463e-03 -1.42299177e-04 9.99976237e-01 1.45919006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.439254154 meters 0.01643827920210186 Centerline is valid? [True, True] Translation: X:335.26, Y:1.89, Z:1.46 [[ 9.99431820e-01 -3.26841352e-02 -8.23318978e-03 3.35263013e+02] [ 3.26846993e-02 9.99465710e-01 -6.60652593e-05 1.89021676e+00] [ 8.23095016e-03 -2.03071610e-04 9.99966105e-01 1.45711569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.49925415399997 meters 0.01881657847389602 Centerline is valid? [True, True] Translation: X:335.32, Y:1.89, Z:1.46 [[ 9.99388840e-01 -3.35363701e-02 -9.86197771e-03 3.35324846e+02] [ 3.35372287e-02 9.99437466e-01 -7.83556682e-05 1.88730834e+00] [ 9.85905778e-03 -2.52435621e-04 9.99951366e-01 1.45650273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.559254154 meters 0.018283863752170077 Centerline is valid? [True, True] Translation: X:335.39, Y:1.89, Z:1.46 [[ 9.99433133e-01 -3.25474894e-02 -8.60654473e-03 3.35387176e+02] [ 3.25481117e-02 9.99470168e-01 -6.77979683e-05 1.88670032e+00] [ 8.60419136e-03 -2.12367243e-04 9.99962961e-01 1.45660861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.619254154 meters 0.0153857740281618 Centerline is valid? [True, True] Translation: X:335.45, Y:1.89, Z:1.46 [[ 9.99578946e-01 -2.83369026e-02 -6.24110687e-03 3.35449082e+02] [ 2.83371499e-02 9.99598421e-01 -4.88141700e-05 1.88922185e+00] [ 6.23998381e-03 -1.28061564e-04 9.99980523e-01 1.45731125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.679254154 meters 0.014574289737857698 Centerline is valid? [True, True] Translation: X:335.51, Y:1.89, Z:1.46 [[ 9.99691427e-01 -2.40727946e-02 -6.12785972e-03 3.35510559e+02] [ 2.40729550e-02 9.99710203e-01 -4.75838763e-05 1.89139834e+00] [ 6.12722936e-03 -9.99464982e-05 9.99981223e-01 1.45811772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.739254154 meters 0.013439673530111145 Centerline is valid? [True, True] Translation: X:335.57, Y:1.89, Z:1.46 [[ 9.99803984e-01 -1.89404311e-02 -5.76666726e-03 3.35571910e+02] [ 1.89404890e-02 9.99820612e-01 -4.45785726e-05 1.89444072e+00] [ 5.76647712e-03 -6.46536635e-05 9.99983372e-01 1.45866455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.799254154 meters 0.01333100298846567 Centerline is valid? [True, True] Translation: X:335.63, Y:1.89, Z:1.46 [[ 9.99855238e-01 -1.60060903e-02 -5.77129461e-03 3.35632814e+02] [ 1.60061008e-02 9.99871893e-01 -4.43721737e-05 1.89254529e+00] [ 5.77126549e-03 -4.80101733e-05 9.99983345e-01 1.45797378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.859254154 meters 0.01315521048568343 Centerline is valid? [True, True] Translation: X:335.69, Y:1.89, Z:1.46 [[ 9.99921244e-01 -1.10554500e-02 -5.93997430e-03 3.35693996e+02] [ 1.10553756e-02 9.99938886e-01 -4.53604664e-05 1.89288703e+00] [ 5.94011276e-03 -2.03117530e-05 9.99982357e-01 1.45789792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.919254154 meters 0.01316548368088217 Centerline is valid? [True, True] Translation: X:335.75, Y:1.89, Z:1.46 [[ 9.99960450e-01 -7.05358374e-03 -5.41709694e-03 3.35754565e+02] [ 7.05346393e-03 9.99975123e-01 -4.12209107e-05 1.89379664e+00] [ 5.41725294e-03 3.00998247e-06 9.99985327e-01 1.45832573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.979254154 meters 0.013300574185040116 Centerline is valid? [True, True] Translation: X:335.81, Y:1.89, Z:1.46 [[ 9.99985052e-01 -2.08500986e-03 -5.05463467e-03 3.35813831e+02] [ 2.08484195e-03 9.99997826e-01 -3.84870400e-05 1.89195157e+00] [ 5.05470393e-03 2.79483502e-05 9.99987225e-01 1.45794769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.039254154 meters 0.01371987771569675 Centerline is valid? [True, True] Translation: X:335.87, Y:1.88, Z:1.46 [[ 9.99982407e-01 -2.36652907e-03 -5.43930602e-03 3.35872418e+02] [ 2.36633640e-03 9.99997199e-01 -4.18579287e-05 1.88466878e+00] [ 5.43938985e-03 2.89859644e-05 9.99985206e-01 1.45722191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.099254154 meters 0.013319244776839451 Centerline is valid? [True, True] Translation: X:335.93, Y:1.87, Z:1.46 [[ 9.99940356e-01 -9.80920572e-03 -4.80248414e-03 3.35931446e+02] [ 9.80913643e-03 9.99951889e-01 -3.79826693e-05 1.87249704e+00] [ 4.80262566e-03 -9.12781827e-06 9.99988467e-01 1.45720625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.159254154 meters 0.013595449389521381 Centerline is valid? [True, True] Translation: X:335.99, Y:1.87, Z:1.46 [[ 9.99893292e-01 -1.38181780e-02 -4.73940939e-03 3.35991796e+02] [ 1.38181541e-02 9.99904524e-01 -3.77996620e-05 1.86738414e+00] [ 4.73947921e-03 -2.76942607e-05 9.99988768e-01 1.45720810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.219254154 meters 0.015257367929488239 Centerline is valid? [True, True] Translation: X:336.05, Y:1.85, Z:1.46 [[ 9.99632093e-01 -2.64595356e-02 -5.96425415e-03 3.36053319e+02] [ 2.64597229e-02 9.99649879e-01 -4.75100403e-05 1.85028871e+00] [ 5.96342303e-03 -1.10319951e-04 9.99982213e-01 1.45602131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.279254154 meters 0.01747710497031089 Centerline is valid? [True, True] Translation: X:336.11, Y:1.84, Z:1.46 [[ 9.99408902e-01 -3.38599507e-02 -5.94569717e-03 3.36113212e+02] [ 3.38602695e-02 9.99426576e-01 -4.70659465e-05 1.83867984e+00] [ 5.94388141e-03 -1.54284783e-04 9.99982323e-01 1.45626628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.339254154 meters 0.020051546879227094 Centerline is valid? [True, True] Translation: X:336.17, Y:1.83, Z:1.46 [[ 9.99178508e-01 -4.01419512e-02 -5.56175110e-03 3.36173490e+02] [ 4.01423298e-02 9.99193971e-01 -4.35893325e-05 1.82599136e+00] [ 5.55901793e-03 -1.79708123e-04 9.99984532e-01 1.45706882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.399254154 meters 0.01876385460448 Centerline is valid? [True, True] Translation: X:336.24, Y:1.82, Z:1.46 [[ 9.99164694e-01 -4.04728738e-02 -5.64444531e-03 3.36235641e+02] [ 4.04732714e-02 9.99180620e-01 -4.38157278e-05 1.82316836e+00] [ 5.64159372e-03 -1.84670039e-04 9.99984069e-01 1.45720544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.459254154 meters 0.018084271899768665 Centerline is valid? [True, True] Translation: X:336.30, Y:1.82, Z:1.46 [[ 9.99382422e-01 -3.47123513e-02 -5.46140809e-03 3.36295235e+02] [ 3.47126392e-02 9.99397334e-01 -4.20945667e-05 1.81904213e+00] [ 5.45957789e-03 -1.47511319e-04 9.99985086e-01 1.45778754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.519254154 meters 0.015180615919451173 Centerline is valid? [True, True] Translation: X:336.36, Y:1.82, Z:1.46 [[ 9.99728363e-01 -2.27304555e-02 -5.15039246e-03 3.36356003e+02] [ 2.27305522e-02 9.99741627e-01 -3.97667706e-05 1.82252781e+00] [ 5.14996565e-03 -7.73152960e-05 9.99986736e-01 1.45860537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.579254154 meters 0.01414913844524276 Centerline is valid? [True, True] Translation: X:336.42, Y:1.82, Z:1.46 [[ 9.99880200e-01 -1.44371767e-02 -5.58162384e-03 3.36417021e+02] [ 1.44371615e-02 9.99895778e-01 -4.30100650e-05 1.82490850e+00] [ 5.58166306e-03 -3.75778925e-05 9.99984422e-01 1.45841970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.639254154 meters 0.014001394278198371 Centerline is valid? [True, True] Translation: X:336.48, Y:1.82, Z:1.46 [[ 9.99968162e-01 -5.26001849e-03 -6.00062115e-03 3.36476849e+02] [ 5.25983658e-03 9.99986166e-01 -4.60961931e-05 1.82485227e+00] [ 6.00078060e-03 1.45324388e-05 9.99981995e-01 1.45713866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.699254154 meters 0.01417006482232324 Centerline is valid? [True, True] Translation: X:336.54, Y:1.82, Z:1.46 [[ 9.99971706e-01 -2.76376537e-03 -6.99629200e-03 3.36536121e+02] [ 2.76345195e-03 9.99996180e-01 -5.44650976e-05 1.82056215e+00] [ 6.99641580e-03 3.51296398e-05 9.99975524e-01 1.45583607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.759254154 meters 0.01396083474437069 Centerline is valid? [True, True] Translation: X:336.60, Y:1.81, Z:1.45 [[ 9.99957560e-01 -4.70989541e-03 -7.91800937e-03 3.36595083e+02] [ 4.70954344e-03 9.99988908e-01 -6.30970582e-05 1.81436889e+00] [ 7.91821873e-03 2.58041713e-05 9.99968650e-01 1.45489622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.819254154 meters 0.013857996370802554 Centerline is valid? [True, True] Translation: X:336.65, Y:1.80, Z:1.45 [[ 9.99902327e-01 -1.07354161e-02 -8.94919246e-03 3.36654088e+02] [ 1.07352017e-02 9.99942373e-01 -7.19934268e-05 1.80206536e+00] [ 8.94944962e-03 -2.40849909e-05 9.99959953e-01 1.45424467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.879254154 meters 0.014107353717241294 Centerline is valid? [True, True] Translation: X:336.71, Y:1.80, Z:1.45 [[ 9.99845746e-01 -1.51469198e-02 -8.89129961e-03 3.36712954e+02] [ 1.51468770e-02 9.99885277e-01 -7.21667912e-05 1.79530650e+00] [ 8.89137268e-03 -6.25197621e-05 9.99960469e-01 1.45496345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.939254154 meters 0.014872841335831014 Centerline is valid? [True, True] Translation: X:336.77, Y:1.79, Z:1.46 [[ 9.99728212e-01 -2.18520236e-02 -8.12346360e-03 3.36772089e+02] [ 2.18522050e-02 9.99761210e-01 -6.64271201e-05 1.78558870e+00] [ 8.12297537e-03 -1.11106526e-04 9.99967002e-01 1.45605138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.99925415399997 meters 0.01675330511382034 Centerline is valid? [True, True] Translation: X:336.83, Y:1.77, Z:1.46 [[ 9.99578782e-01 -2.80842254e-02 -7.31670205e-03 3.36831409e+02] [ 2.80845375e-02 9.99605550e-01 -6.00994653e-05 1.77374741e+00] [ 7.31550382e-03 -1.45412043e-04 9.99973231e-01 1.45667073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.059254154 meters 0.018079709798342232 Centerline is valid? [True, True] Translation: X:336.89, Y:1.77, Z:1.46 [[ 9.99409701e-01 -3.35890220e-02 -7.21298006e-03 3.36892221e+02] [ 3.35894680e-02 9.99435713e-01 -5.93254663e-05 1.76640042e+00] [ 7.21090255e-03 -1.82989717e-04 9.99973984e-01 1.45713455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.119254154 meters 0.01780589802142342 Centerline is valid? [True, True] Translation: X:336.95, Y:1.76, Z:1.46 [[ 9.99349074e-01 -3.51746206e-02 -8.01091584e-03 3.36953683e+02] [ 3.51752227e-02 9.99381158e-01 -6.57569764e-05 1.76457789e+00] [ 8.00827132e-03 -2.16071576e-04 9.99967910e-01 1.45717918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.179254154 meters 0.01865917670969489 Centerline is valid? [True, True] Translation: X:337.01, Y:1.76, Z:1.46 [[ 9.99380692e-01 -3.42077799e-02 -8.24988923e-03 3.37014018e+02] [ 3.42083875e-02 9.99414720e-01 -6.74846784e-05 1.76102811e+00] [ 8.24736923e-03 -2.14772523e-04 9.99965967e-01 1.45740500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.239254154 meters 0.017242933677321035 Centerline is valid? [True, True] Translation: X:337.07, Y:1.76, Z:1.46 [[ 9.99474229e-01 -3.14721029e-02 -7.79571303e-03 3.37074712e+02] [ 3.14725629e-02 9.99504614e-01 -6.36949932e-05 1.76349931e+00] [ 7.79385576e-03 -1.81689564e-04 9.99969611e-01 1.45830113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.299254154 meters 0.01604087906158079 Centerline is valid? [True, True] Translation: X:337.14, Y:1.77, Z:1.46 [[ 9.99625031e-01 -2.60578177e-02 -8.41357488e-03 3.37135497e+02] [ 2.60581624e-02 9.99660426e-01 -6.86722496e-05 1.76653133e+00] [ 8.41250730e-03 -1.50595801e-04 9.99964603e-01 1.45809423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.359254154 meters 0.014964986130600115 Centerline is valid? [True, True] Translation: X:337.20, Y:1.77, Z:1.46 [[ 9.99724096e-01 -2.15287583e-02 -9.39381570e-03 3.37195769e+02] [ 2.15289889e-02 9.99768222e-01 -7.65861003e-05 1.76997392e+00] [ 9.39328722e-03 -1.25674384e-04 9.99955874e-01 1.45739058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.419254154 meters 0.017350575896379207 Centerline is valid? [True, True] Translation: X:337.26, Y:1.77, Z:1.46 [[ 9.99708600e-01 -2.13622108e-02 -1.12414647e-02 3.37255168e+02] [ 2.13625278e-02 9.99771791e-01 -9.18905200e-05 1.76849292e+00] [ 1.12408623e-02 -1.48282360e-04 9.99936809e-01 1.45575869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.479254154 meters 0.018835793588373576 Centerline is valid? [True, True] Translation: X:337.31, Y:1.77, Z:1.46 [[ 9.99654447e-01 -2.34528452e-02 -1.18722915e-02 3.37313284e+02] [ 2.34533365e-02 9.99724928e-01 -9.78580677e-05 1.76585165e+00] [ 1.18713208e-02 -1.80620595e-04 9.99929517e-01 1.45569795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.539254154 meters 0.018300790066984235 Centerline is valid? [True, True] Translation: X:337.37, Y:1.76, Z:1.46 [[ 9.99463308e-01 -3.07508863e-02 -1.12906940e-02 3.37372102e+02] [ 3.07517861e-02 9.99527048e-01 -9.39431922e-05 1.75933130e+00] [ 1.12882429e-02 -2.53316233e-04 9.99936254e-01 1.45743400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.599254154 meters 0.01907113872637304 Centerline is valid? [True, True] Translation: X:337.43, Y:1.75, Z:1.46 [[ 9.99177869e-01 -3.92794178e-02 -1.00356077e-02 3.37432211e+02] [ 3.92805545e-02 9.99228218e-01 -8.38955326e-05 1.75479053e+00] [ 1.00311578e-02 -3.10377675e-04 9.99949639e-01 1.45974142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.659254154 meters 0.023021172008255788 Centerline is valid? [True, True] Translation: X:337.49, Y:1.75, Z:1.46 [[ 9.98926080e-01 -4.52339226e-02 -1.00289190e-02 3.37492813e+02] [ 4.52353566e-02 9.98976354e-01 -8.39192387e-05 1.74899927e+00] [ 1.00224489e-02 -3.69832609e-04 9.99949706e-01 1.45923253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.719254154 meters 0.028848597517788125 Centerline is valid? [True, True] Translation: X:337.55, Y:1.74, Z:1.46 [[ 9.98625798e-01 -5.12438342e-02 -1.09810939e-02 3.37551975e+02] [ 5.12459145e-02 9.98686061e-01 -9.20326547e-05 1.73826713e+00] [ 1.09713816e-02 -4.70830018e-04 9.99939702e-01 1.45816653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.779254154 meters 0.023068429789550805 Centerline is valid? [True, True] Translation: X:337.61, Y:1.75, Z:1.46 [[ 9.98567690e-01 -5.24825077e-02 -1.03997692e-02 3.37612801e+02] [ 5.24844397e-02 9.98621738e-01 -8.72529783e-05 1.74858395e+00] [ 1.03900149e-02 -4.58698057e-04 9.99945917e-01 1.46068182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.839254154 meters 0.022471398247298918 Centerline is valid? [True, True] Translation: X:337.67, Y:1.75, Z:1.46 [[ 9.98622937e-01 -5.15477585e-02 -9.74980160e-03 3.37673624e+02] [ 5.15494120e-02 9.98670442e-01 -8.17998176e-05 1.75170712e+00] [ 9.74105527e-03 -4.20909365e-04 9.99952466e-01 1.46190064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.899254154 meters 0.021875874519894686 Centerline is valid? [True, True] Translation: X:337.73, Y:1.76, Z:1.46 [[ 9.98806312e-01 -4.76750608e-02 -1.06320254e-02 3.37734102e+02] [ 4.76768081e-02 9.98862810e-01 -8.92015836e-05 1.75630158e+00] [ 1.06241875e-02 -4.17805932e-04 9.99943474e-01 1.46145628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.959254154 meters 0.020331874656137037 Centerline is valid? [True, True] Translation: X:337.79, Y:1.76, Z:1.46 [[ 9.99076508e-01 -4.11167979e-02 -1.24715341e-02 3.37794305e+02] [ 4.11186917e-02 9.99154263e-01 -1.04634869e-04 1.76368385e+00] [ 1.24652887e-02 -4.08274925e-04 9.99922222e-01 1.46011290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.019254154 meters 0.019175593438105678 Centerline is valid? [True, True] Translation: X:337.85, Y:1.77, Z:1.46 [[ 9.99245088e-01 -3.64956080e-02 -1.33163145e-02 3.37853994e+02] [ 3.64973529e-02 9.99333743e-01 -1.12035742e-04 1.76848880e+00] [ 1.33115313e-02 -3.74059067e-04 9.99911328e-01 1.45982859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.079254154 meters 0.016467934054497587 Centerline is valid? [True, True] Translation: X:337.91, Y:1.78, Z:1.46 [[ 9.99400424e-01 -3.17714271e-02 -1.37611281e-02 3.37912956e+02] [ 3.17728098e-02 9.99495110e-01 -1.18190233e-04 1.77710630e+00] [ 1.37579353e-02 -3.19110337e-04 9.99905304e-01 1.46080719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.139254154 meters 0.01640621597396466 Centerline is valid? [True, True] Translation: X:337.97, Y:1.78, Z:1.46 [[ 9.99408530e-01 -3.14808972e-02 -1.38399376e-02 3.37971756e+02] [ 3.14822194e-02 9.99504305e-01 -1.22378733e-04 1.77912882e+00] [ 1.38369298e-02 -3.13405601e-04 9.99904216e-01 1.46123152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.199254154 meters 0.017043136535394358 Centerline is valid? [True, True] Translation: X:338.03, Y:1.78, Z:1.46 [[ 9.99385554e-01 -3.22691146e-02 -1.36828028e-02 3.38030303e+02] [ 3.22704584e-02 9.99479166e-01 -1.22622839e-04 1.78077395e+00] [ 1.36796333e-02 -3.19002826e-04 9.99906379e-01 1.46163665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.259254154 meters 0.01786113157717125 Centerline is valid? [True, True] Translation: X:338.09, Y:1.78, Z:1.46 [[ 9.99297653e-01 -3.51009684e-02 -1.31195662e-02 3.38089443e+02] [ 3.51024383e-02 9.99383713e-01 -1.18294463e-04 1.78249919e+00] [ 1.31156330e-02 -3.42317383e-04 9.99913928e-01 1.46263896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.319254154 meters 0.018986593484972322 Centerline is valid? [True, True] Translation: X:338.15, Y:1.78, Z:1.46 [[ 9.99211797e-01 -3.74918676e-02 -1.30439268e-02 3.38147942e+02] [ 3.74935147e-02 9.99296864e-01 -1.18334717e-04 1.78061401e+00] [ 1.30391918e-02 -3.70821217e-04 9.99914917e-01 1.46217181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.379254154 meters 0.020294952984534424 Centerline is valid? [True, True] Translation: X:338.21, Y:1.78, Z:1.46 [[ 9.99035818e-01 -4.19497546e-02 -1.29480495e-02 3.38207879e+02] [ 4.19517464e-02 9.99119631e-01 -1.17861892e-04 1.78146890e+00] [ 1.29415947e-02 -4.25445036e-04 9.99916164e-01 1.46296926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.439254154 meters 0.022404473741529762 Centerline is valid? [True, True] Translation: X:338.27, Y:1.78, Z:1.46 [[ 9.98791634e-01 -4.79346705e-02 -1.08415446e-02 3.38267263e+02] [ 4.79364157e-02 9.98850384e-01 -9.89857134e-05 1.77856832e+00] [ 1.08338259e-02 -4.20838688e-04 9.99941224e-01 1.46424478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.49925415399997 meters 0.02454679273556537 Centerline is valid? [True, True] Translation: X:338.33, Y:1.78, Z:1.46 [[ 9.98681292e-01 -5.02111531e-02 -1.07012651e-02 3.38327480e+02] [ 5.02129821e-02 9.98738528e-01 -9.78610067e-05 1.77793672e+00] [ 1.06926795e-02 -4.39610478e-04 9.99942735e-01 1.46435288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.559254154 meters 0.023537903990885983 Centerline is valid? [True, True] Translation: X:338.39, Y:1.78, Z:1.47 [[ 9.98705319e-01 -5.01872240e-02 -8.30230171e-03 3.38388299e+02] [ 5.01883252e-02 9.98739769e-01 -7.57837547e-05 1.78219820e+00] [ 8.29564227e-03 -3.40992979e-04 9.99965532e-01 1.46580488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.619254154 meters 0.024728885092218503 Centerline is valid? [True, True] Translation: X:338.45, Y:1.79, Z:1.46 [[ 9.98914721e-01 -4.58242044e-02 -8.33800789e-03 3.38447561e+02] [ 4.58251640e-02 9.98949472e-01 -7.60211258e-05 1.78623278e+00] [ 8.33273219e-03 -3.06151958e-04 9.99965235e-01 1.46423805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.679254154 meters 0.019345209276149175 Centerline is valid? [True, True] Translation: X:338.51, Y:1.80, Z:1.46 [[ 9.99119181e-01 -4.09882881e-02 -8.99008535e-03 3.38508658e+02] [ 4.09892082e-02 9.99159586e-01 -8.19662647e-05 1.79812017e+00] [ 8.98588961e-03 -2.86602413e-04 9.99959585e-01 1.46430136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.739254154 meters 0.018392926247278986 Centerline is valid? [True, True] Translation: X:338.57, Y:1.80, Z:1.46 [[ 9.99236131e-01 -3.79079056e-02 -9.49450664e-03 3.38570364e+02] [ 3.79087963e-02 9.99281200e-01 -8.62007242e-05 1.80344526e+00] [ 9.49094967e-03 -2.73790440e-04 9.99954922e-01 1.46370455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.799254154 meters 0.018172156290656116 Centerline is valid? [True, True] Translation: X:338.63, Y:1.81, Z:1.46 [[ 9.99361736e-01 -3.44371583e-02 -9.49746314e-03 3.38631510e+02] [ 3.44378970e-02 9.99406836e-01 -8.57976860e-05 1.80804231e+00] [ 9.49478422e-03 -2.41329733e-04 9.99954894e-01 1.46301982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.859254154 meters 0.01735419813244725 Centerline is valid? [True, True] Translation: X:338.69, Y:1.81, Z:1.46 [[ 9.99421368e-01 -3.25018169e-02 -1.00279932e-02 3.38692916e+02] [ 3.25025470e-02 9.99471649e-01 -9.02093307e-05 1.81327054e+00] [ 1.00256269e-02 -2.35778188e-04 9.99949714e-01 1.46267309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.919254154 meters 0.01704582454292612 Centerline is valid? [True, True] Translation: X:338.75, Y:1.82, Z:1.46 [[ 9.99465322e-01 -3.12566432e-02 -9.59649621e-03 3.38753616e+02] [ 3.12572568e-02 9.99511369e-01 -8.60754900e-05 1.81554105e+00] [ 9.59449749e-03 -2.13930679e-04 9.99953949e-01 1.46360716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.979254154 meters 0.01630035040202005 Centerline is valid? [True, True] Translation: X:338.82, Y:1.82, Z:1.46 [[ 9.99527517e-01 -2.96773473e-02 -7.99989186e-03 3.38815097e+02] [ 2.96777247e-02 9.99559517e-01 -7.15560308e-05 1.81934708e+00] [ 7.99849163e-03 -1.65896366e-04 9.99967998e-01 1.46432263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.039254154 meters 0.016850475252838677 Centerline is valid? [True, True] Translation: X:338.88, Y:1.82, Z:1.46 [[ 9.99515019e-01 -3.02113794e-02 -7.54980411e-03 3.38875336e+02] [ 3.02117323e-02 9.99543519e-01 -6.73217586e-05 1.81998538e+00] [ 7.54839165e-03 -1.60803552e-04 9.99971498e-01 1.46482309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.099254154 meters 0.02026254302944471 Centerline is valid? [True, True] Translation: X:338.94, Y:1.82, Z:1.46 [[ 9.99470789e-01 -3.19482254e-02 -6.11982712e-03 3.38937031e+02] [ 3.19484906e-02 9.99489515e-01 -5.44451366e-05 1.82011305e+00] [ 6.11844246e-03 -1.41102916e-04 9.99981272e-01 1.46474365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.159254154 meters 0.017970488654349945 Centerline is valid? [True, True] Translation: X:339.00, Y:1.82, Z:1.47 [[ 9.99406849e-01 -3.38827690e-02 -6.15697848e-03 3.38999274e+02] [ 3.38830759e-02 9.99425802e-01 -5.44911601e-05 1.82058001e+00] [ 6.15528947e-03 -1.54158531e-04 9.99981044e-01 1.46679647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.219254154 meters 0.017205799737895905 Centerline is valid? [True, True] Translation: X:339.06, Y:1.82, Z:1.47 [[ 9.99425141e-01 -3.31665779e-02 -7.02599946e-03 3.39061141e+02] [ 3.31669637e-02 9.99449823e-01 -6.16267779e-05 1.82257463e+00] [ 7.02417787e-03 -1.71439718e-04 9.99975315e-01 1.46651933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.279254154 meters 0.01703679157636376 Centerline is valid? [True, True] Translation: X:339.12, Y:1.82, Z:1.47 [[ 9.99501568e-01 -3.02678528e-02 -8.97063698e-03 3.39121446e+02] [ 3.02683696e-02 9.99541805e-01 -7.81860149e-05 1.82453702e+00] [ 8.96889320e-03 -1.93379511e-04 9.99959760e-01 1.46592017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.339254154 meters 0.018663646757069753 Centerline is valid? [True, True] Translation: X:339.18, Y:1.83, Z:1.46 [[ 9.99571903e-01 -2.75308827e-02 -9.90262001e-03 3.39181859e+02] [ 2.75313790e-02 9.99620936e-01 -8.62211021e-05 1.82637250e+00] [ 9.90124002e-03 -1.86448594e-04 9.99950964e-01 1.46466714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.399254154 meters 0.016632736782790716 Centerline is valid? [True, True] Translation: X:339.24, Y:1.83, Z:1.47 [[ 9.99565714e-01 -2.76027386e-02 -1.03185261e-02 3.39242324e+02] [ 2.76032849e-02 9.99618953e-01 -8.94870087e-05 1.82558987e+00] [ 1.03170643e-02 -1.95377070e-04 9.99946759e-01 1.46551870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.459254154 meters 0.016473093499023938 Centerline is valid? [True, True] Translation: X:339.30, Y:1.82, Z:1.47 [[ 9.99507751e-01 -2.91079440e-02 -1.17039931e-02 3.39303011e+02] [ 2.91087537e-02 9.99576245e-01 -1.01202624e-04 1.82488294e+00] [ 1.17019793e-02 -2.39535846e-04 9.99931501e-01 1.46616631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.519254154 meters 0.017587516709376846 Centerline is valid? [True, True] Translation: X:339.36, Y:1.82, Z:1.47 [[ 9.99410659e-01 -3.21061375e-02 -1.21462306e-02 3.39362383e+02] [ 3.21072299e-02 9.99484424e-01 -1.05097993e-04 1.82073235e+00] [ 1.21433426e-02 -2.84945763e-04 9.99926226e-01 1.46594075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.579254154 meters 0.020128915718954803 Centerline is valid? [True, True] Translation: X:339.42, Y:1.81, Z:1.47 [[ 9.99164104e-01 -3.89498899e-02 -1.24096547e-02 3.39423083e+02] [ 3.89515571e-02 9.99241094e-01 -1.07418789e-04 1.81377038e+00] [ 1.24044209e-02 -3.76046374e-04 9.99922992e-01 1.46601114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.639254154 meters 0.024764782413782934 Centerline is valid? [True, True] Translation: X:339.48, Y:1.81, Z:1.47 [[ 9.98824803e-01 -4.67137955e-02 -1.29164174e-02 3.39483522e+02] [ 4.67162494e-02 9.98908194e-01 -1.11829598e-04 1.80701976e+00] [ 1.29075392e-02 -4.91708401e-04 9.99916573e-01 1.46639442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.699254154 meters 0.02740472740158555 Centerline is valid? [True, True] Translation: X:339.54, Y:1.80, Z:1.47 [[ 9.98512783e-01 -5.29527841e-02 -1.29701463e-02 3.39543552e+02] [ 5.29557834e-02 9.98596852e-01 -1.12318077e-04 1.79962113e+00] [ 1.29578948e-02 -5.74693222e-04 9.99915878e-01 1.46658537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.759254154 meters 0.025469085044883474 Centerline is valid? [True, True] Translation: X:339.60, Y:1.80, Z:1.47 [[ 9.98280589e-01 -5.69991331e-02 -1.36734611e-02 3.39604155e+02] [ 5.70028475e-02 9.98374009e-01 -1.18244224e-04 1.80256780e+00] [ 1.36579680e-02 -6.61385305e-04 9.99906507e-01 1.46767625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.819254154 meters 0.02826625421535606 Centerline is valid? [True, True] Translation: X:339.67, Y:1.80, Z:1.47 [[ 9.98138076e-01 -5.89842217e-02 -1.55320220e-02 3.39665063e+02] [ 5.89892591e-02 9.98258608e-01 -1.34019334e-04 1.80262864e+00] [ 1.55128797e-02 -7.82452672e-04 9.99879362e-01 1.46733589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.879254154 meters 0.027159659590344835 Centerline is valid? [True, True] Translation: X:339.73, Y:1.80, Z:1.47 [[ 9.98015955e-01 -6.11309884e-02 -1.50716961e-02 3.39726067e+02] [ 6.11359797e-02 9.98129438e-01 -1.29773509e-04 1.80458521e+00] [ 1.50514368e-02 -7.91906877e-04 9.99886407e-01 1.46873574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.93925415399997 meters 0.027940987189048305 Centerline is valid? [True, True] Translation: X:339.79, Y:1.81, Z:1.47 [[ 9.98015763e-01 -6.09514723e-02 -1.57941098e-02 3.39787390e+02] [ 6.09569391e-02 9.98140388e-01 -1.35498839e-04 1.80579425e+00] [ 1.57729977e-02 -8.27530609e-04 9.99875256e-01 1.46862230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.99925415399997 meters 0.028385855298871096 Centerline is valid? [True, True] Translation: X:339.85, Y:1.81, Z:1.47 [[ 9.98051962e-01 -6.02393299e-02 -1.62328238e-02 3.39849133e+02] [ 6.02450202e-02 9.98183610e-01 -1.38677789e-04 1.80822557e+00] [ 1.62116925e-02 -8.39539157e-04 9.99868229e-01 1.46906814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.059254154 meters 0.028782653350178097 Centerline is valid? [True, True] Translation: X:339.91, Y:1.81, Z:1.47 [[ 9.98103835e-01 -5.92062678e-02 -1.68330902e-02 3.39910703e+02] [ 5.92122504e-02 9.98245405e-01 -1.43205945e-04 1.81291732e+00] [ 1.68120337e-02 -8.53790751e-04 9.99858303e-01 1.46983971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.119254154 meters 0.029585732398475204 Centerline is valid? [True, True] Translation: X:339.97, Y:1.81, Z:1.47 [[ 9.98120503e-01 -5.89075832e-02 -1.68925593e-02 3.39971434e+02] [ 5.89135682e-02 9.98263077e-01 -1.43556533e-04 1.81491731e+00] [ 1.68716748e-02 -8.51914224e-04 9.99857300e-01 1.46976468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.179254154 meters 0.026176786120816812 Centerline is valid? [True, True] Translation: X:340.03, Y:1.83, Z:1.47 [[ 9.98122457e-01 -5.81090501e-02 -1.93623253e-02 3.40032763e+02] [ 5.81167744e-02 9.98309778e-01 -1.63991674e-04 1.82565605e+00] [ 1.93391281e-02 -9.61592120e-04 9.99812519e-01 1.47089917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.239254154 meters 0.026374921474064374 Centerline is valid? [True, True] Translation: X:340.09, Y:1.83, Z:1.47 [[ 9.98257571e-01 -5.60607363e-02 -1.84123632e-02 3.40092184e+02] [ 5.60673716e-02 9.98426976e-01 -1.56045881e-04 1.82880091e+00] [ 1.83921482e-02 -8.76558828e-04 9.99830466e-01 1.47127590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.299254154 meters 0.02288719541886556 Centerline is valid? [True, True] Translation: X:340.15, Y:1.84, Z:1.47 [[ 9.98557811e-01 -5.09406624e-02 -1.69513032e-02 3.40152423e+02] [ 5.09455476e-02 9.98701422e-01 -1.43791359e-04 1.83982618e+00] [ 1.69366155e-02 -7.20009440e-04 9.99856306e-01 1.47362845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.359254154 meters 0.020144910013880673 Centerline is valid? [True, True] Translation: X:340.21, Y:1.85, Z:1.47 [[ 9.98904143e-01 -4.38607091e-02 -1.63325007e-02 3.40212943e+02] [ 4.38642992e-02 9.99037489e-01 -1.38520607e-04 1.84911527e+00] [ 1.63228561e-02 -5.78044888e-04 9.99866606e-01 1.47331070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.419254154 meters 0.018319344069119548 Centerline is valid? [True, True] Translation: X:340.27, Y:1.86, Z:1.47 [[ 9.99225274e-01 -3.59853012e-02 -1.59345239e-02 3.40273625e+02] [ 3.59877184e-02 9.99352223e-01 -1.35115020e-04 1.85917336e+00] [ 1.59290640e-02 -4.38436815e-04 9.99873028e-01 1.47293345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.479254154 meters 0.017212314843164513 Centerline is valid? [True, True] Translation: X:340.33, Y:1.87, Z:1.47 [[ 9.99403391e-01 -3.07953983e-02 -1.56366942e-02 3.40333822e+02] [ 3.07970879e-02 9.99525648e-01 -1.32785526e-04 1.86524892e+00] [ 1.56333661e-02 -3.48858341e-04 9.99877731e-01 1.47301100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.539254154 meters 0.016217525058973142 Centerline is valid? [True, True] Translation: X:340.39, Y:1.87, Z:1.47 [[ 9.99555616e-01 -2.58305066e-02 -1.48780167e-02 3.40393874e+02] [ 2.58314826e-02 9.99666304e-01 -1.26603212e-04 1.87012348e+00] [ 1.48763222e-02 -2.57774278e-04 9.99889308e-01 1.47293311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.599254154 meters 0.01638434677443221 Centerline is valid? [True, True] Translation: X:340.45, Y:1.87, Z:1.47 [[ 9.99560292e-01 -2.55503112e-02 -1.50467246e-02 3.40452475e+02] [ 2.55512681e-02 9.99673505e-01 -1.28673077e-04 1.87158665e+00] [ 1.50450995e-02 -2.55846395e-04 9.99886783e-01 1.47294964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.659254154 meters 0.0198744219534167 Centerline is valid? [True, True] Translation: X:340.51, Y:1.87, Z:1.47 [[ 9.99431588e-01 -2.96404422e-02 -1.60606924e-02 3.40511585e+02] [ 2.96420117e-02 9.99560569e-01 -1.40374638e-04 1.86979153e+00] [ 1.60577956e-02 -3.35776386e-04 9.99871009e-01 1.47250497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.719254154 meters 0.01955729312368789 Centerline is valid? [True, True] Translation: X:340.57, Y:1.87, Z:1.47 [[ 9.99135968e-01 -3.86112764e-02 -1.53781475e-02 3.40571658e+02] [ 3.86137571e-02 9.99254202e-01 -1.35686365e-04 1.86630486e+00] [ 1.53719176e-02 -4.58238926e-04 9.99881740e-01 1.47271451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.779254154 meters 0.02385445845637167 Centerline is valid? [True, True] Translation: X:340.63, Y:1.86, Z:1.47 [[ 9.98704649e-01 -4.84062233e-02 -1.56799535e-02 3.40631406e+02] [ 4.84100032e-02 9.98827539e-01 -1.38624604e-04 1.85900859e+00] [ 1.56682796e-02 -6.20621562e-04 9.99877052e-01 1.47241169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.839254154 meters 0.02698326834238938 Centerline is valid? [True, True] Translation: X:340.69, Y:1.86, Z:1.47 [[ 9.98401432e-01 -5.43656193e-02 -1.54583597e-02 3.40691633e+02] [ 5.43700055e-02 9.98520848e-01 -1.36689079e-04 1.85565977e+00] [ 1.54429256e-02 -7.04000529e-04 9.99880503e-01 1.47383883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.899254154 meters 0.029399482282983305 Centerline is valid? [True, True] Translation: X:340.75, Y:1.85, Z:1.48 [[ 9.98006356e-01 -6.14220565e-02 -1.45136232e-02 3.40751995e+02] [ 6.14266675e-02 9.98111591e-01 -1.28291248e-04 1.85203261e+00] [ 1.44940955e-02 -7.63488026e-04 9.99894664e-01 1.47523008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.959254154 meters 0.029033254515671403 Centerline is valid? [True, True] Translation: X:340.81, Y:1.85, Z:1.48 [[ 9.97699182e-01 -6.63637870e-02 -1.38632885e-02 3.40812535e+02] [ 6.63684701e-02 9.97795175e-01 -1.22493892e-04 1.85326723e+00] [ 1.38408515e-02 -7.97873189e-04 9.99903892e-01 1.47654450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.019254154 meters 0.032531646687364434 Centerline is valid? [True, True] Translation: X:340.87, Y:1.85, Z:1.48 [[ 9.97586156e-01 -6.79253839e-02 -1.44223559e-02 3.40874036e+02] [ 6.79306231e-02 9.97690039e-01 -1.26873050e-04 1.85098950e+00] [ 1.43976587e-02 -8.53152823e-04 9.99895984e-01 1.47622597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.079254154 meters 0.03980029689720039 Centerline is valid? [True, True] Translation: X:340.94, Y:1.84, Z:1.47 [[ 9.97492698e-01 -6.93521353e-02 -1.40925094e-02 3.40935199e+02] [ 6.93572899e-02 9.97591876e-01 -1.23225376e-04 1.84395552e+00] [ 1.40671188e-02 -8.54501848e-04 9.99900688e-01 1.47471066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.139254154 meters 0.02943098216829453 Centerline is valid? [True, True] Translation: X:341.00, Y:1.86, Z:1.48 [[ 9.97533535e-01 -6.87264365e-02 -1.42661943e-02 3.40997354e+02] [ 6.87316690e-02 9.97635175e-01 -1.23776870e-04 1.86224548e+00] [ 1.42409640e-02 -8.57067767e-04 9.99898225e-01 1.47695071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.199254154 meters 0.02919814675073324 Centerline is valid? [True, True] Translation: X:341.06, Y:1.87, Z:1.48 [[ 9.97731560e-01 -6.53992293e-02 -1.59585258e-02 3.41057650e+02] [ 6.54053587e-02 9.97858768e-01 -1.38094950e-04 1.86947594e+00] [ 1.59333862e-02 -9.05991417e-04 9.99872645e-01 1.47627650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.259254154 meters 0.025657445908378217 Centerline is valid? [True, True] Translation: X:341.12, Y:1.88, Z:1.48 [[ 9.98075253e-01 -5.98793788e-02 -1.61322290e-02 3.41118354e+02] [ 5.98849236e-02 9.98205278e-01 -1.39573011e-04 1.88074528e+00] [ 1.61116337e-02 -8.26772934e-04 9.99869857e-01 1.47682894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.319254154 meters 0.02462193830176053 Centerline is valid? [True, True] Translation: X:341.18, Y:1.89, Z:1.48 [[ 9.98339110e-01 -5.54605681e-02 -1.55931439e-02 3.41178867e+02] [ 5.54652149e-02 9.98460611e-01 -1.34632642e-04 1.88733334e+00] [ 1.55766068e-02 -7.30468048e-04 9.99878410e-01 1.47734643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.379254154 meters 0.021753956942107286 Centerline is valid? [True, True] Translation: X:341.24, Y:1.90, Z:1.48 [[ 9.98702203e-01 -4.83566825e-02 -1.59856594e-02 3.41239122e+02] [ 4.83606597e-02 9.98829929e-01 -1.37897129e-04 1.90021300e+00] [ 1.59736233e-02 -6.35358867e-04 9.99872212e-01 1.47809865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.43925415399997 meters 0.02112697416729473 Centerline is valid? [True, True] Translation: X:341.30, Y:1.91, Z:1.48 [[ 9.98979393e-01 -4.24304151e-02 -1.54865357e-02 3.41299322e+02] [ 4.24334366e-02 9.99099287e-01 -1.33585353e-04 1.90937093e+00] [ 1.54782548e-02 -5.23697914e-04 9.99880067e-01 1.47910963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.49925415399997 meters 0.01938122628830818 Centerline is valid? [True, True] Translation: X:341.36, Y:1.92, Z:1.48 [[ 9.99095401e-01 -3.99618487e-02 -1.45406357e-02 3.41360580e+02] [ 3.99642566e-02 9.99201102e-01 -1.25053583e-04 1.91525803e+00] [ 1.45340166e-02 -4.56165236e-04 9.99894272e-01 1.48002324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.559254154 meters 0.019993184281357303 Centerline is valid? [True, True] Translation: X:341.42, Y:1.92, Z:1.48 [[ 9.99169964e-01 -3.84057157e-02 -1.35787909e-02 3.41421611e+02] [ 3.84076807e-02 9.99262146e-01 -1.16134584e-04 1.91843863e+00] [ 1.35732320e-02 -4.05491679e-04 9.99907797e-01 1.47916028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.619254154 meters 0.019377484040015276 Centerline is valid? [True, True] Translation: X:341.48, Y:1.92, Z:1.48 [[ 9.99175152e-01 -3.83696041e-02 -1.32962133e-02 3.41483658e+02] [ 3.83714966e-02 9.99263537e-01 -1.12841012e-04 1.92259006e+00] [ 1.32907508e-02 -3.97447670e-04 9.99911595e-01 1.47965259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.679254154 meters 0.01966880502014566 Centerline is valid? [True, True] Translation: X:341.54, Y:1.93, Z:1.48 [[ 9.99210460e-01 -3.74472574e-02 -1.32725143e-02 3.41544977e+02] [ 3.74490723e-02 9.99298531e-01 -1.11846504e-04 1.92558389e+00] [ 1.32673924e-02 -3.85285153e-04 9.99911910e-01 1.47936657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.739254154 meters 0.017661254394522673 Centerline is valid? [True, True] Translation: X:341.61, Y:1.93, Z:1.48 [[ 9.99291651e-01 -3.52380720e-02 -1.32088767e-02 3.41606804e+02] [ 3.52396864e-02 9.99378883e-01 -1.10579154e-04 1.93239139e+00] [ 1.32045691e-02 -3.54975848e-04 9.99912753e-01 1.48060517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.799254154 meters 0.018774433737629544 Centerline is valid? [True, True] Translation: X:341.67, Y:1.93, Z:1.48 [[ 9.99379180e-01 -3.28260069e-02 -1.27948406e-02 3.41666963e+02] [ 3.28273292e-02 9.99461032e-01 -1.06718547e-04 1.93178933e+00] [ 1.27914478e-02 -3.13368152e-04 9.99918137e-01 1.48011068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.859254154 meters 0.019274194726681817 Centerline is valid? [True, True] Translation: X:341.73, Y:1.93, Z:1.48 [[ 9.99413182e-01 -3.17432201e-02 -1.28709066e-02 3.41728680e+02] [ 3.17444732e-02 9.99496011e-01 -1.06981585e-04 1.93205165e+00] [ 1.28678158e-02 -3.01661345e-04 9.99917161e-01 1.47975940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.919254154 meters 0.017312411315541038 Centerline is valid? [True, True] Translation: X:341.79, Y:1.94, Z:1.48 [[ 9.99382305e-01 -3.24496300e-02 -1.34918254e-02 3.41790148e+02] [ 3.24510779e-02 9.99473319e-01 -1.11647687e-04 1.93516982e+00] [ 1.34883424e-02 -3.26245552e-04 9.99908975e-01 1.48067021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.979254154 meters 0.018771545193012024 Centerline is valid? [True, True] Translation: X:341.85, Y:1.93, Z:1.48 [[ 9.99299367e-01 -3.46411993e-02 -1.41690328e-02 3.41851579e+02] [ 3.46430265e-02 9.99399743e-01 -1.16543128e-04 1.93292395e+00] [ 1.41645650e-02 -3.74396706e-04 9.99899607e-01 1.48021653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.039254154 meters 0.02032163163380616 Centerline is valid? [True, True] Translation: X:341.91, Y:1.93, Z:1.48 [[ 9.99093381e-01 -3.99862139e-02 -1.46122723e-02 3.41912035e+02] [ 3.99887345e-02 9.99200123e-01 -1.19756479e-04 1.92653022e+00] [ 1.46053729e-02 -4.64678374e-04 9.99893228e-01 1.47934116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.099254154 meters 0.020627164712630396 Centerline is valid? [True, True] Translation: X:341.97, Y:1.93, Z:1.48 [[ 9.98876361e-01 -4.50335315e-02 -1.47646749e-02 3.41972651e+02] [ 4.50366632e-02 9.98985327e-01 -1.20483499e-04 1.92506710e+00] [ 1.47551194e-02 -5.44603570e-04 9.99890989e-01 1.48084492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.159254154 meters 0.023058357313452994 Centerline is valid? [True, True] Translation: X:342.03, Y:1.92, Z:1.48 [[ 9.98787190e-01 -4.69249155e-02 -1.49064138e-02 3.42033316e+02] [ 4.69283409e-02 9.98898251e-01 -1.20102009e-04 1.92204116e+00] [ 1.48956265e-02 -5.79576920e-04 9.99888886e-01 1.48095686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.219254154 meters 0.022508934437574665 Centerline is valid? [True, True] Translation: X:342.10, Y:1.92, Z:1.48 [[ 9.98754487e-01 -4.76281230e-02 -1.48672745e-02 3.42095487e+02] [ 4.76316279e-02 9.98864963e-01 -1.18460284e-04 1.92132892e+00] [ 1.48560416e-02 -5.89839744e-04 9.99889469e-01 1.48143788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.279254154 meters 0.024035553636283274 Centerline is valid? [True, True] Translation: X:342.16, Y:1.92, Z:1.48 [[ 9.98815583e-01 -4.61188472e-02 -1.55075200e-02 3.42157210e+02] [ 4.61224965e-02 9.98935784e-01 -1.22431040e-04 1.92103786e+00] [ 1.54966630e-02 -5.92959506e-04 9.99879744e-01 1.48230327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.339254154 meters 0.021667608567959965 Centerline is valid? [True, True] Translation: X:342.22, Y:1.92, Z:1.48 [[ 9.98945446e-01 -4.35748948e-02 -1.44646204e-02 3.42218901e+02] [ 4.35778155e-02 9.99050029e-01 -1.13358924e-04 1.92419161e+00] [ 1.44558190e-02 -5.17097178e-04 9.99895375e-01 1.48451006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.399254154 meters 0.022010846790090608 Centerline is valid? [True, True] Translation: X:342.28, Y:1.92, Z:1.49 [[ 9.99098874e-01 -3.99816681e-02 -1.42445026e-02 3.42279074e+02] [ 3.99841516e-02 9.99200308e-01 -1.10516133e-04 1.92369619e+00] [ 1.42375300e-02 -4.59137808e-04 9.99898536e-01 1.48537074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.459254154 meters 0.0192229585765682 Centerline is valid? [True, True] Translation: X:342.34, Y:1.93, Z:1.49 [[ 9.99182513e-01 -3.78520350e-02 -1.41960787e-02 3.42340877e+02] [ 3.78543002e-02 9.99283263e-01 -1.09208180e-04 1.92872127e+00] [ 1.41900376e-02 -4.28263721e-04 9.99899225e-01 1.48705175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.519254154 meters 0.020035027394936632 Centerline is valid? [True, True] Translation: X:342.40, Y:1.93, Z:1.49 [[ 9.99224917e-01 -3.58532895e-02 -1.62513530e-02 3.42402302e+02] [ 3.58560090e-02 9.99356959e-01 -1.24100331e-04 1.92932390e+00] [ 1.62453521e-02 -4.58704514e-04 9.99867930e-01 1.48582395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.579254154 meters 0.0187294956405639 Centerline is valid? [True, True] Translation: X:342.46, Y:1.93, Z:1.49 [[ 9.99167207e-01 -3.69429226e-02 -1.73237654e-02 3.42463976e+02] [ 3.69461892e-02 9.99317248e-01 -1.31558675e-04 1.93013670e+00] [ 1.73167977e-02 -5.08597998e-04 9.99849924e-01 1.48570321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.639254154 meters 0.02006136151652529 Centerline is valid? [True, True] Translation: X:342.52, Y:1.93, Z:1.49 [[ 9.99093303e-01 -3.89833925e-02 -1.71133689e-02 3.42523764e+02] [ 3.89868819e-02 9.99239714e-01 -1.29800463e-04 1.92835139e+00] [ 1.71054179e-02 -5.37514121e-04 9.99853547e-01 1.48593737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.699254154 meters 0.020240732432278752 Centerline is valid? [True, True] Translation: X:342.58, Y:1.93, Z:1.49 [[ 9.98915350e-01 -4.38230095e-02 -1.57374478e-02 3.42584988e+02] [ 4.38265667e-02 9.99039147e-01 -1.18940504e-04 1.92908531e+00] [ 1.57275388e-02 -5.70906813e-04 9.99876152e-01 1.48842631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.759254154 meters 0.025967288099799094 Centerline is valid? [True, True] Translation: X:342.65, Y:1.92, Z:1.49 [[ 9.98636343e-01 -4.99676477e-02 -1.51224766e-02 3.42645292e+02] [ 4.99716470e-02 9.98750630e-01 -1.13529670e-04 1.92233515e+00] [ 1.51092558e-02 -6.42320205e-04 9.99885642e-01 1.48842975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.819254154 meters 0.02581694128497843 Centerline is valid? [True, True] Translation: X:342.71, Y:1.92, Z:1.49 [[ 9.98313540e-01 -5.63969347e-02 -1.37645123e-02 3.42705462e+02] [ 5.64008614e-02 9.98408199e-01 -1.03047839e-04 1.92023575e+00] [ 1.37484135e-02 -6.73456299e-04 9.99905259e-01 1.48873405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.879254154 meters 0.029022163954903788 Centerline is valid? [True, True] Translation: X:342.77, Y:1.92, Z:1.49 [[ 9.97729143e-01 -6.60608807e-02 -1.31345987e-02 3.42766131e+02] [ 6.60652919e-02 9.97815297e-01 -9.82322885e-05 1.91603272e+00] [ 1.31123928e-02 -7.69731879e-04 9.99913733e-01 1.48991056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.93925415399997 meters 0.03358132241973545 Centerline is valid? [True, True] Translation: X:342.83, Y:1.91, Z:1.49 [[ 9.97133346e-01 -7.47679145e-02 -1.16124533e-02 3.42827026e+02] [ 7.47719508e-02 9.97200656e-01 -8.67950061e-05 1.90883797e+00] [ 1.15864355e-02 -7.81739593e-04 9.99932569e-01 1.49009179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.99925415399997 meters 0.036857268097631554 Centerline is valid? [True, True] Translation: X:342.89, Y:1.91, Z:1.49 [[ 9.96912857e-01 -7.77957226e-02 -1.06104009e-02 3.42886784e+02] [ 7.77992675e-02 9.96969041e-01 -7.88714559e-05 1.90632606e+00] [ 1.05843771e-02 -7.46853452e-04 9.99943705e-01 1.49081997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.059254154 meters 0.035476921016371725 Centerline is valid? [True, True] Translation: X:342.95, Y:1.91, Z:1.49 [[ 9.96971883e-01 -7.69720573e-02 -1.10619933e-02 3.42949130e+02] [ 7.69758687e-02 9.97032953e-01 -8.14296763e-05 1.91049285e+00] [ 1.10354397e-02 -7.70323447e-04 9.99938811e-01 1.49104929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.119254154 meters 0.03595319479638947 Centerline is valid? [True, True] Translation: X:343.01, Y:1.91, Z:1.49 [[ 9.97280913e-01 -7.27655601e-02 -1.16598905e-02 3.43008675e+02] [ 7.27695111e-02 9.97348781e-01 -8.56058312e-05 1.91406537e+00] [ 1.16352067e-02 -7.63111467e-04 9.99932018e-01 1.49063375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.179254154 meters 0.03334979395830766 Centerline is valid? [True, True] Translation: X:343.07, Y:1.92, Z:1.49 [[ 9.97672461e-01 -6.69085689e-02 -1.31492918e-02 3.43068916e+02] [ 6.69130859e-02 9.97758803e-01 -9.66271632e-05 1.92213673e+00] [ 1.31262869e-02 -7.83457434e-04 9.99913540e-01 1.49083340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.239254154 meters 0.0317194831368567 Centerline is valid? [True, True] Translation: X:343.13, Y:1.93, Z:1.49 [[ 9.97924910e-01 -6.28799491e-02 -1.38558755e-02 3.43129459e+02] [ 6.28845798e-02 9.98020801e-01 -1.01658413e-04 1.92833779e+00] [ 1.38348442e-02 -7.69873443e-04 9.99903998e-01 1.49119206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.299254154 meters 0.02831768244069685 Centerline is valid? [True, True] Translation: X:343.19, Y:1.94, Z:1.49 [[ 9.98320903e-01 -5.61090778e-02 -1.43925628e-02 3.43190173e+02] [ 5.61133743e-02 9.98424398e-01 -1.05448827e-04 1.93814704e+00] [ 1.43758025e-02 -7.02343496e-04 9.99896416e-01 1.49226243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.359254154 meters 0.02222116531083244 Centerline is valid? [True, True] Translation: X:343.25, Y:1.95, Z:1.49 [[ 9.98732908e-01 -4.79054360e-02 -1.54158416e-02 3.43250351e+02] [ 4.79093914e-02 9.98851679e-01 -1.12835346e-04 1.95220686e+00] [ 1.54035447e-02 -6.25871215e-04 9.99881162e-01 1.49416479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.419254154 meters 0.01965721862967536 Centerline is valid? [True, True] Translation: X:343.31, Y:1.96, Z:1.49 [[ 9.99147207e-01 -3.82275098e-02 -1.56049987e-02 3.43310229e+02] [ 3.82303839e-02 9.99268945e-01 -1.14195686e-04 1.96097200e+00] [ 1.55979560e-02 -4.82486790e-04 9.99878228e-01 1.49473267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.479254154 meters 0.017136915587549966 Centerline is valid? [True, True] Translation: X:343.37, Y:1.97, Z:1.50 [[ 9.99356832e-01 -3.21589665e-02 -1.58657587e-02 3.43372093e+02] [ 3.21611830e-02 9.99482689e-01 -1.15489607e-04 1.96847314e+00] [ 1.58612652e-02 -3.94846243e-04 9.99874124e-01 1.49585373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.539254154 meters 0.015773267809014817 Centerline is valid? [True, True] Translation: X:343.43, Y:1.97, Z:1.50 [[ 9.99557197e-01 -2.52035890e-02 -1.58173582e-02 3.43432685e+02] [ 2.52049252e-02 9.99682299e-01 -1.14901009e-04 1.97306330e+00] [ 1.58152289e-02 -2.83825199e-04 9.99874891e-01 1.49590404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.599254154 meters 0.014581415772691848 Centerline is valid? [True, True] Translation: X:343.49, Y:1.98, Z:1.50 [[ 9.99644774e-01 -2.01852459e-02 -1.74035157e-02 3.43493363e+02] [ 2.01861033e-02 9.99796232e-01 -1.26423230e-04 1.97783786e+00] [ 1.74025213e-02 -2.24930843e-04 9.99848539e-01 1.49646962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.659254154 meters 0.014586072029887506 Centerline is valid? [True, True] Translation: X:343.55, Y:1.98, Z:1.50 [[ 9.99650838e-01 -1.86988521e-02 -1.86696462e-02 3.43550732e+02] [ 1.86995550e-02 9.99825139e-01 -1.36939601e-04 1.97816809e+00] [ 1.86689422e-02 -2.12222289e-04 9.99825698e-01 1.49528600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.719254154 meters 0.014727402462762447 Centerline is valid? [True, True] Translation: X:343.61, Y:1.98, Z:1.49 [[ 9.99621973e-01 -1.88624031e-02 -2.00030202e-02 3.43609464e+02] [ 1.88631549e-02 9.99822063e-01 -1.51111880e-04 1.97694110e+00] [ 2.00023113e-02 -2.26265314e-04 9.99799908e-01 1.49459517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.779254154 meters 0.014888447622442265 Centerline is valid? [True, True] Translation: X:343.67, Y:1.98, Z:1.49 [[ 9.99588017e-01 -1.99693823e-02 -2.06160183e-02 3.43668203e+02] [ 1.99703082e-02 9.99800561e-01 -1.60987647e-04 1.97625826e+00] [ 2.06151214e-02 -2.50786915e-04 9.99787454e-01 1.49451835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.839254154 meters 0.015374749487344734 Centerline is valid? [True, True] Translation: X:343.73, Y:1.97, Z:1.50 [[ 9.99484883e-01 -2.33168387e-02 -2.20520751e-02 3.43726622e+02] [ 2.33186508e-02 9.99728068e-01 -1.74998518e-04 1.97325973e+00] [ 2.20501589e-02 -3.39316267e-04 9.99756808e-01 1.49542257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.899254154 meters 0.01581258561589789 Centerline is valid? [True, True] Translation: X:343.79, Y:1.97, Z:1.50 [[ 9.99348074e-01 -2.71340159e-02 -2.38153755e-02 3.43786666e+02] [ 2.71371857e-02 9.99631701e-01 -1.90134940e-04 1.96899000e+00] [ 2.38117634e-02 -4.56271282e-04 9.99716356e-01 1.49527631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.959254154 meters 0.0170917587295237 Centerline is valid? [True, True] Translation: X:343.84, Y:1.96, Z:1.49 [[ 9.99234593e-01 -3.10485806e-02 -2.37952359e-02 3.43844019e+02] [ 3.10527759e-02 9.99517728e-01 -1.93266562e-04 1.96242546e+00] [ 2.37897608e-02 -5.45789495e-04 9.99716835e-01 1.49434113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.019254154 meters 0.019948597212818334 Centerline is valid? [True, True] Translation: X:343.90, Y:1.96, Z:1.49 [[ 9.99156904e-01 -3.28866718e-02 -2.45753604e-02 3.43901667e+02] [ 3.28916409e-02 9.99458903e-01 -2.02108117e-04 1.95769244e+00] [ 2.45687094e-02 -6.06386208e-04 9.99697960e-01 1.49401934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.079254154 meters 0.019405033033708326 Centerline is valid? [True, True] Translation: X:343.96, Y:1.95, Z:1.49 [[ 9.99015906e-01 -3.64747308e-02 -2.52351674e-02 3.43961574e+02] [ 3.64810858e-02 9.99334322e-01 -2.08655145e-04 1.95261838e+00] [ 2.52259795e-02 -7.12156496e-04 9.99681521e-01 1.49238918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.139254154 meters 0.018377101409538528 Centerline is valid? [True, True] Translation: X:344.02, Y:1.95, Z:1.49 [[ 9.98942926e-01 -3.79072572e-02 -2.60013605e-02 3.44020225e+02] [ 3.79143416e-02 9.99280968e-01 -2.20654656e-04 1.95060121e+00] [ 2.59910291e-02 -7.65403055e-04 9.99661883e-01 1.49337313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.199254154 meters 0.01842742744513195 Centerline is valid? [True, True] Translation: X:344.08, Y:1.95, Z:1.49 [[ 9.98945799e-01 -3.83512141e-02 -2.52284625e-02 3.44078757e+02] [ 3.83578640e-02 9.99264042e-01 -2.20468027e-04 1.94741421e+00] [ 2.52183506e-02 -7.47474324e-04 9.99681687e-01 1.49415562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.259254154 meters 0.017324423716070143 Centerline is valid? [True, True] Translation: X:344.14, Y:1.95, Z:1.50 [[ 9.98995553e-01 -3.71373993e-02 -2.50738816e-02 3.44137807e+02] [ 3.71434233e-02 9.99309919e-01 -2.25604217e-04 1.94875242e+00] [ 2.50649570e-02 -7.05952191e-04 9.99685575e-01 1.49607847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.319254154 meters 0.01710206580758236 Centerline is valid? [True, True] Translation: X:344.20, Y:1.95, Z:1.50 [[ 9.99196649e-01 -3.21683134e-02 -2.39009584e-02 3.44196201e+02] [ 3.21723211e-02 9.99482313e-01 -2.16931864e-04 1.94804840e+00] [ 2.38955635e-02 -5.52191716e-04 9.99714308e-01 1.49527295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.379254154 meters 0.01624494553061628 Centerline is valid? [True, True] Translation: X:344.25, Y:1.95, Z:1.50 [[ 9.99308225e-01 -2.85833051e-02 -2.37921500e-02 3.44254648e+02] [ 2.85862245e-02 9.99591307e-01 -2.17471195e-04 1.94975523e+00] [ 2.37886423e-02 -4.62806986e-04 9.99716903e-01 1.49561313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.43925415399997 meters 0.014848218769760788 Centerline is valid? [True, True] Translation: X:344.31, Y:1.95, Z:1.50 [[ 9.99445683e-01 -2.43417188e-02 -2.27113936e-02 3.44314018e+02] [ 2.43431820e-02 9.99703638e-01 -2.12080764e-04 1.95190860e+00] [ 2.27098252e-02 -3.40904383e-04 9.99742041e-01 1.49714576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.49925415399997 meters 0.014227544632978685 Centerline is valid? [True, True] Translation: X:344.37, Y:1.95, Z:1.50 [[ 9.99527528e-01 -2.24222686e-02 -2.10229059e-02 3.44373273e+02] [ 2.24229972e-02 9.99748553e-01 -2.01095745e-04 1.95124225e+00] [ 2.10221288e-02 -2.70395827e-04 9.99778974e-01 1.49871642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.559254154 meters 0.014296572989912042 Centerline is valid? [True, True] Translation: X:344.43, Y:1.95, Z:1.50 [[ 9.99537806e-01 -2.34344772e-02 -1.93649224e-02 3.44431633e+02] [ 2.34351959e-02 9.99725340e-01 -1.89848315e-04 1.94771852e+00] [ 1.93640526e-02 -2.64060181e-04 9.99812464e-01 1.49897049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.619254154 meters 0.014485283030867512 Centerline is valid? [True, True] Translation: X:344.49, Y:1.94, Z:1.50 [[ 9.99478742e-01 -2.67623834e-02 -1.80560172e-02 3.44490055e+02] [ 2.67634699e-02 9.99641778e-01 -1.81505495e-04 1.94497496e+00] [ 1.80544067e-02 -3.01830790e-04 9.99836960e-01 1.50032976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.679254154 meters 0.01571578771961324 Centerline is valid? [True, True] Translation: X:344.55, Y:1.94, Z:1.50 [[ 9.99432360e-01 -2.91883300e-02 -1.68225912e-02 3.44548598e+02] [ 2.91895878e-02 9.99573879e-01 -1.70819163e-04 1.94103360e+00] [ 1.68204087e-02 -3.20322304e-04 9.99858476e-01 1.49977652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.739254154 meters 0.016618226745077 Centerline is valid? [True, True] Translation: X:344.61, Y:1.94, Z:1.50 [[ 9.99335629e-01 -3.31260374e-02 -1.51975643e-02 3.44608335e+02] [ 3.31275099e-02 9.99451121e-01 -1.54912259e-04 1.93680021e+00] [ 1.51943543e-02 -3.48648122e-04 9.99884498e-01 1.50114133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.799254154 meters 0.01684886651167844 Centerline is valid? [True, True] Translation: X:344.67, Y:1.94, Z:1.50 [[ 9.99255360e-01 -3.59148983e-02 -1.41012824e-02 3.44669869e+02] [ 3.59164464e-02 9.99354786e-01 -1.43531689e-04 1.93594164e+00] [ 1.40973390e-02 -3.63043144e-04 9.99900562e-01 1.50235484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.859254154 meters 0.01830012078957149 Centerline is valid? [True, True] Translation: X:344.73, Y:1.93, Z:1.50 [[ 9.99050287e-01 -4.15937594e-02 -1.29801383e-02 3.44731356e+02] [ 4.15955558e-02 9.99134522e-01 -1.31659506e-04 1.93252136e+00] [ 1.29743805e-02 -4.08381599e-04 9.99915746e-01 1.50290410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.919254154 meters 0.02090369197034985 Centerline is valid? [True, True] Translation: X:344.79, Y:1.93, Z:1.50 [[ 9.98753579e-01 -4.84369124e-02 -1.20479984e-02 3.44791979e+02] [ 4.84389621e-02 9.98826137e-01 -1.21795395e-04 1.92645545e+00] [ 1.20397551e-02 -4.61948951e-04 9.99927413e-01 1.50223459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.979254154 meters 0.024790223936838024 Centerline is valid? [True, True] Translation: X:344.85, Y:1.92, Z:1.50 [[ 9.98355630e-01 -5.60301345e-02 -1.21103471e-02 3.44851950e+02] [ 5.60327654e-02 9.98428923e-01 -1.22208411e-04 1.91944288e+00] [ 1.20981681e-02 -5.56568782e-04 9.99926660e-01 1.50143418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.039254154 meters 0.029880346216462152 Centerline is valid? [True, True] Translation: X:344.91, Y:1.91, Z:1.50 [[ 9.97893198e-01 -6.39195436e-02 -1.11111415e-02 3.44912259e+02] [ 6.39222471e-02 9.97954876e-01 -1.12017199e-04 1.91172143e+00] [ 1.10955779e-02 -5.98467930e-04 9.99938263e-01 1.50101704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.099254154 meters 0.028542933509765285 Centerline is valid? [True, True] Translation: X:344.97, Y:1.91, Z:1.50 [[ 9.97647057e-01 -6.77355987e-02 -1.05942595e-02 3.44972789e+02] [ 6.77382738e-02 9.97703120e-01 -1.06525847e-04 1.91380365e+00] [ 1.05771413e-02 -6.11361651e-04 9.99943874e-01 1.50154754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.159254154 meters 0.03198202770569984 Centerline is valid? [True, True] Translation: X:345.03, Y:1.91, Z:1.50 [[ 9.97435352e-01 -7.08837481e-02 -9.91022268e-03 3.45033239e+02] [ 7.08862463e-02 9.97484401e-01 -9.93923997e-05 1.91163674e+00] [ 9.89233784e-03 -6.03360993e-04 9.99950888e-01 1.50218183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.219254154 meters 0.03353239011804798 Centerline is valid? [True, True] Translation: X:345.10, Y:1.91, Z:1.50 [[ 9.97455797e-01 -7.06096657e-02 -9.80854371e-03 3.45095804e+02] [ 7.06121042e-02 9.97503845e-01 -9.79079853e-05 1.91368088e+00] [ 9.79097332e-03 -5.94943023e-04 9.99951890e-01 1.50223724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.279254154 meters 0.03310096253341436 Centerline is valid? [True, True] Translation: X:345.16, Y:1.92, Z:1.50 [[ 9.97460270e-01 -7.05221007e-02 -9.98210177e-03 3.45159231e+02] [ 7.05246311e-02 9.97510033e-01 -9.87256253e-05 1.91599803e+00] [ 9.96420901e-03 -6.05509156e-04 9.99950173e-01 1.50183888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.339254154 meters 0.03131019249327648 Centerline is valid? [True, True] Translation: X:345.22, Y:1.92, Z:1.50 [[ 9.97435692e-01 -7.09079574e-02 -9.70056201e-03 3.45221493e+02] [ 7.09103733e-02 9.97482687e-01 -9.50972227e-05 1.92364925e+00] [ 9.68288581e-03 -5.93017110e-04 9.99952944e-01 1.50306241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.399254154 meters 0.03356259763313731 Centerline is valid? [True, True] Translation: X:345.28, Y:1.92, Z:1.50 [[ 9.97345372e-01 -7.22253598e-02 -9.25774422e-03 3.45282681e+02] [ 7.22276220e-02 9.97388170e-01 -9.01864179e-05 1.92420843e+00] [ 9.24007832e-03 -5.78717843e-04 9.99957142e-01 1.50246434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.459254154 meters 0.03375371127189719 Centerline is valid? [True, True] Translation: X:345.34, Y:1.93, Z:1.50 [[ 9.97320520e-01 -7.26558575e-02 -8.53851890e-03 3.45344731e+02] [ 7.26578019e-02 9.97356926e-01 -8.26658045e-05 1.92756983e+00] [ 8.52195711e-03 -5.37945712e-04 9.99963543e-01 1.50304364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.519254154 meters 0.03416015177968078 Centerline is valid? [True, True] Translation: X:345.41, Y:1.93, Z:1.50 [[ 9.97411331e-01 -7.15902489e-02 -6.74329836e-03 3.45407337e+02] [ 7.15914404e-02 9.97434039e-01 -6.48307980e-05 1.93318853e+00] [ 6.73063657e-03 -4.18099470e-04 9.99977262e-01 1.50447442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.579254154 meters 0.029081391108788705 Centerline is valid? [True, True] Translation: X:345.47, Y:1.95, Z:1.50 [[ 9.97440266e-01 -7.12449687e-02 -6.08853855e-03 3.45469589e+02] [ 7.12459366e-02 9.97458778e-01 -5.80584010e-05 1.94509457e+00] [ 6.07720259e-03 -3.75873845e-04 9.99981463e-01 1.50493672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.639254154 meters 0.03683887675394804 Centerline is valid? [True, True] Translation: X:345.53, Y:1.94, Z:1.50 [[ 9.97431200e-01 -7.12496068e-02 -7.38208098e-03 3.45531189e+02] [ 7.12510358e-02 9.97458413e-01 -6.95686361e-05 1.93942225e+00] [ 7.36827552e-03 -4.56590988e-04 9.99972750e-01 1.50375681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.699254154 meters 0.0314281181118386 Centerline is valid? [True, True] Translation: X:345.59, Y:1.95, Z:1.50 [[ 9.97375205e-01 -7.19129782e-02 -8.43945067e-03 3.45593670e+02] [ 7.19148781e-02 9.97410770e-01 -7.85218797e-05 1.95002597e+00] [ 8.42324573e-03 -5.28606290e-04 9.99964384e-01 1.50336875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.759254154 meters 0.030840780581254047 Centerline is valid? [True, True] Translation: X:345.66, Y:1.95, Z:1.50 [[ 9.97429154e-01 -7.11714686e-02 -8.34896282e-03 3.45656027e+02] [ 7.11733072e-02 9.97463961e-01 -7.70721155e-05 1.95415240e+00] [ 8.33327487e-03 -5.17349321e-04 9.99965144e-01 1.50345807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.819254154 meters 0.028921106415263364 Centerline is valid? [True, True] Translation: X:345.72, Y:1.96, Z:1.50 [[ 9.97573009e-01 -6.91163863e-02 -8.42710571e-03 3.45717922e+02] [ 6.91181918e-02 9.97608475e-01 -7.71480659e-05 1.96029052e+00] [ 8.41228427e-03 -5.05505481e-04 9.99964488e-01 1.50411626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.879254154 meters 0.02567329597154432 Centerline is valid? [True, True] Translation: X:345.78, Y:1.97, Z:1.51 [[ 9.97959445e-01 -6.32801783e-02 -8.51853458e-03 3.45778240e+02] [ 6.32818142e-02 9.97995694e-01 -7.76325667e-05 1.97021290e+00] [ 8.50637343e-03 -4.61594169e-04 9.99963714e-01 1.50508225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.93925415399997 meters 0.022359792895792527 Centerline is valid? [True, True] Translation: X:345.84, Y:1.98, Z:1.51 [[ 9.98461948e-01 -5.47058679e-02 -9.00036080e-03 3.45839194e+02] [ 5.47073472e-02 9.98502428e-01 -8.19445064e-05 1.98190889e+00] [ 8.99136496e-03 -4.10567392e-04 9.99959493e-01 1.50574528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.99925415399997 meters 0.020741454589562815 Centerline is valid? [True, True] Translation: X:345.90, Y:1.99, Z:1.51 [[ 9.98766777e-01 -4.87998687e-02 -9.13772206e-03 3.45900050e+02] [ 4.88011482e-02 9.98808511e-01 -8.30327788e-05 1.98800358e+00] [ 9.13088655e-03 -3.63000948e-04 9.99958247e-01 1.50606882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.059254154 meters 0.019333719104208294 Centerline is valid? [True, True] Translation: X:345.96, Y:1.99, Z:1.51 [[ 9.99079179e-01 -4.21089700e-02 -8.22368156e-03 3.45959539e+02] [ 4.21097803e-02 9.99112987e-01 -7.46683540e-05 1.99396143e+00] [ 8.21953126e-03 -2.71697826e-04 9.99966182e-01 1.50652938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.119254154 meters 0.01791015908450103 Centerline is valid? [True, True] Translation: X:346.02, Y:2.00, Z:1.51 [[ 9.99320509e-01 -3.61365387e-02 -7.25752457e-03 3.46019262e+02] [ 3.61370124e-02 9.99346843e-01 -6.59081773e-05 1.99989981e+00] [ 7.25516596e-03 -1.96401862e-04 9.99973662e-01 1.50677763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.179254154 meters 0.015651175271528282 Centerline is valid? [True, True] Translation: X:346.08, Y:2.01, Z:1.51 [[ 9.99462974e-01 -3.18781587e-02 -7.58597826e-03 3.46081059e+02] [ 3.18785549e-02 9.99491747e-01 -6.87141111e-05 2.00683692e+00] [ 7.58431315e-03 -1.73152815e-04 9.99971224e-01 1.50672139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.239254154 meters 0.014223148135738953 Centerline is valid? [True, True] Translation: X:346.14, Y:2.01, Z:1.51 [[ 9.99660462e-01 -2.48379731e-02 -7.87626945e-03 3.46141136e+02] [ 2.48381842e-02 9.99691482e-01 -7.10258999e-05 2.01246804e+00] [ 7.87560362e-03 -1.24630448e-04 9.99968979e-01 1.50613136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.299254154 meters 0.013631777974574868 Centerline is valid? [True, True] Translation: X:346.20, Y:2.02, Z:1.51 [[ 9.99761087e-01 -2.07195926e-02 -6.96183703e-03 3.46203895e+02] [ 2.07196598e-02 9.99785323e-01 -6.24811768e-05 2.01565078e+00] [ 6.96163707e-03 -8.17806458e-05 9.99975764e-01 1.50598453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.359254154 meters 0.013206595033404697 Centerline is valid? [True, True] Translation: X:346.27, Y:2.02, Z:1.51 [[ 9.99826731e-01 -1.75982389e-02 -6.06719447e-03 3.46266128e+02] [ 1.75982352e-02 9.99845138e-01 -5.39946684e-05 2.01800149e+00] [ 6.06720510e-03 -5.27866027e-05 9.99981593e-01 1.50545547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.419254154 meters 0.01350626667516865 Centerline is valid? [True, True] Translation: X:346.33, Y:2.02, Z:1.50 [[ 9.99829080e-01 -1.74793305e-02 -6.02360826e-03 3.46328316e+02] [ 1.74793273e-02 9.99847223e-01 -5.31842464e-05 2.01777073e+00] [ 6.02361762e-03 -5.21134639e-05 9.99981856e-01 1.50394203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.479254154 meters 0.013818943639063544 Centerline is valid? [True, True] Translation: X:346.39, Y:2.01, Z:1.50 [[ 9.99781633e-01 -1.98191446e-02 -6.62478291e-03 3.46390645e+02] [ 1.98191954e-02 9.99803579e-01 -5.79876283e-05 2.01487329e+00] [ 6.62463093e-03 -7.33229012e-05 9.99978054e-01 1.50269724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.539254154 meters 0.015267707859506707 Centerline is valid? [True, True] Translation: X:346.45, Y:2.01, Z:1.50 [[ 9.99680593e-01 -2.46073996e-02 -5.76097631e-03 3.46451928e+02] [ 2.46075195e-02 9.99697188e-01 -5.00791637e-05 2.00801258e+00] [ 5.76046414e-03 -9.17001690e-05 9.99983404e-01 1.50316784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.599254154 meters 0.016865418669047665 Centerline is valid? [True, True] Translation: X:346.51, Y:2.00, Z:1.50 [[ 9.99591022e-01 -2.81600056e-02 -4.98020849e-03 3.46514227e+02] [ 2.81601405e-02 9.99603424e-01 -4.30474529e-05 2.00472465e+00] [ 4.97944567e-03 -9.72135235e-05 9.99987598e-01 1.50317167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.659254154 meters 0.017093353317714256 Centerline is valid? [True, True] Translation: X:346.57, Y:2.00, Z:1.50 [[ 9.99391341e-01 -3.44972534e-02 -5.18535153e-03 3.46574933e+02] [ 3.44974867e-02 9.99404784e-01 -4.44705320e-05 1.99846195e+00] [ 5.18379923e-03 -1.34438131e-04 9.99986555e-01 1.50294472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.719254154 meters 0.019429782383084168 Centerline is valid? [True, True] Translation: X:346.64, Y:1.99, Z:1.50 [[ 9.99309148e-01 -3.67495676e-02 -5.54035238e-03 3.46636308e+02] [ 3.67498693e-02 9.99324494e-01 -4.73658803e-05 1.99252679e+00] [ 5.53835052e-03 -1.56274068e-04 9.99984651e-01 1.50234603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.779254154 meters 0.020528741650700018 Centerline is valid? [True, True] Translation: X:346.70, Y:1.99, Z:1.50 [[ 9.99244836e-01 -3.85578321e-02 -4.80112207e-03 3.46698915e+02] [ 3.85580806e-02 9.99256360e-01 -4.08078416e-05 1.99072354e+00] [ 4.79912522e-03 -1.44345027e-04 9.99988474e-01 1.50240989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.839254154 meters 0.019598892831267332 Centerline is valid? [True, True] Translation: X:346.76, Y:1.99, Z:1.50 [[ 9.99150725e-01 -4.09922493e-02 -4.17891466e-03 3.46760770e+02] [ 4.09924600e-02 9.99159455e-01 -3.52514775e-05 1.98819534e+00] [ 4.17684713e-03 -1.36082452e-04 9.99991268e-01 1.50419655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.899254154 meters 0.020212708481661998 Centerline is valid? [True, True] Translation: X:346.82, Y:1.99, Z:1.50 [[ 9.99106566e-01 -4.20068931e-02 -4.63588343e-03 3.46822824e+02] [ 4.20071647e-02 9.99117309e-01 -3.88209068e-05 1.98634750e+00] [ 4.63342212e-03 -1.55954096e-04 9.99989253e-01 1.50426197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.959254154 meters 0.022762798023111923 Centerline is valid? [True, True] Translation: X:346.88, Y:1.98, Z:1.50 [[ 9.99022413e-01 -4.39277768e-02 -4.95663162e-03 3.46883960e+02] [ 4.39281127e-02 9.99034694e-01 -4.11358114e-05 1.98206219e+00] [ 4.95365396e-03 -1.76639875e-04 9.99987715e-01 1.50413416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.019254154 meters 0.025051363761496262 Centerline is valid? [True, True] Translation: X:346.95, Y:1.98, Z:1.50 [[ 9.98966672e-01 -4.50184088e-02 -6.23951904e-03 3.46945716e+02] [ 4.50189648e-02 9.98986131e-01 -5.13881264e-05 1.98291898e+00] [ 6.23550640e-03 -2.29561662e-04 9.99980533e-01 1.50229807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.079254154 meters 0.020698114952195142 Centerline is valid? [True, True] Translation: X:347.01, Y:1.99, Z:1.50 [[ 9.98864672e-01 -4.71009212e-02 -7.13228778e-03 3.47008219e+02] [ 4.71017041e-02 9.98890097e-01 -5.82681182e-05 1.98744927e+00] [ 7.12711611e-03 -2.77740943e-04 9.99974563e-01 1.50430986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.139254154 meters 0.021458426942228083 Centerline is valid? [True, True] Translation: X:347.07, Y:1.99, Z:1.51 [[ 9.98829221e-01 -4.78073171e-02 -7.39244130e-03 3.47070189e+02] [ 4.78081816e-02 9.98856533e-01 -5.98277858e-05 1.98822157e+00] [ 7.38684849e-03 -2.93661435e-04 9.99972674e-01 1.50501438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.199254154 meters 0.021523064526356807 Centerline is valid? [True, True] Translation: X:347.13, Y:1.99, Z:1.51 [[ 9.98898124e-01 -4.64863159e-02 -6.44668155e-03 3.47132532e+02] [ 4.64869486e-02 9.98918896e-01 -5.17372381e-05 1.99124930e+00] [ 6.44211709e-03 -2.48006324e-04 9.99979219e-01 1.50696265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.259254154 meters 0.020365487143010574 Centerline is valid? [True, True] Translation: X:347.20, Y:2.00, Z:1.51 [[ 9.99007377e-01 -4.42429329e-02 -5.17915181e-03 3.47195146e+02] [ 4.42433129e-02 9.99020784e-01 -4.12316469e-05 1.99532560e+00] [ 5.17590451e-03 -1.87952114e-04 9.99986587e-01 1.50812651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.319254154 meters 0.020435684177722704 Centerline is valid? [True, True] Translation: X:347.26, Y:2.00, Z:1.51 [[ 9.99149942e-01 -4.10007551e-02 -4.28150572e-03 3.47255650e+02] [ 4.10009864e-02 9.99159105e-01 -3.37595097e-05 1.99917381e+00] [ 4.27928959e-03 -1.41815146e-04 9.99990834e-01 1.50930635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.379254154 meters 0.020584439488177998 Centerline is valid? [True, True] Translation: X:347.32, Y:2.00, Z:1.51 [[ 9.99236425e-01 -3.88044147e-02 -4.55899528e-03 3.47316661e+02] [ 3.88046566e-02 9.99246815e-01 -3.54234566e-05 2.00293735e+00] [ 4.55693610e-03 -1.41513838e-04 9.99989607e-01 1.50931906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.43925415399997 meters 0.02075211389415006 Centerline is valid? [True, True] Translation: X:347.38, Y:2.01, Z:1.51 [[ 9.99267602e-01 -3.78562022e-02 -5.58277402e-03 3.47378947e+02] [ 3.78565521e-02 9.99283183e-01 -4.30075388e-05 2.00611072e+00] [ 5.58040029e-03 -1.68368536e-04 9.99984415e-01 1.50876271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.49925415399997 meters 0.02088430018217362 Centerline is valid? [True, True] Translation: X:347.44, Y:2.01, Z:1.51 [[ 9.99297906e-01 -3.70139604e-02 -5.80195019e-03 3.47441378e+02] [ 3.70143267e-02 9.99314734e-01 -4.42809087e-05 2.00740110e+00] [ 5.79961332e-03 -1.70505460e-04 9.99983168e-01 1.50851421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.559254154 meters 0.01804045998153087 Centerline is valid? [True, True] Translation: X:347.50, Y:2.02, Z:1.51 [[ 9.99363231e-01 -3.50357633e-02 -6.75482003e-03 3.47503365e+02] [ 3.50362181e-02 9.99386042e-01 -5.10249926e-05 2.01531695e+00] [ 6.75246055e-03 -1.85670846e-04 9.99977185e-01 1.50870022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.619254154 meters 0.01815669238779455 Centerline is valid? [True, True] Translation: X:347.57, Y:2.02, Z:1.51 [[ 9.99385665e-01 -3.42918369e-02 -7.23617674e-03 3.47565671e+02] [ 3.42923434e-02 9.99411843e-01 -5.41017734e-05 2.01651877e+00] [ 7.23377599e-03 -1.94076921e-04 9.99973817e-01 1.50848872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.679254154 meters 0.017767958137368898 Centerline is valid? [True, True] Translation: X:347.63, Y:2.02, Z:1.51 [[ 9.99441864e-01 -3.20013621e-02 -9.58510093e-03 3.47628014e+02] [ 3.20021533e-02 9.99487797e-01 -7.08574877e-05 2.01839297e+00] [ 9.58245895e-03 -2.35925930e-04 9.99954059e-01 1.50694109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.739254154 meters 0.017905685750872376 Centerline is valid? [True, True] Translation: X:347.69, Y:2.02, Z:1.51 [[ 9.99456964e-01 -3.15299749e-02 -9.57281427e-03 3.47690535e+02] [ 3.15307491e-02 9.99502780e-01 -7.00754774e-05 2.01796158e+00] [ 9.57026395e-03 -2.31800581e-04 9.99954177e-01 1.50728081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.799254154 meters 0.018253153866805143 Centerline is valid? [True, True] Translation: X:347.75, Y:2.02, Z:1.51 [[ 9.99445417e-01 -3.19464540e-02 -9.39583164e-03 3.47752648e+02] [ 3.19472246e-02 9.99489555e-01 -6.81070083e-05 2.01783996e+00] [ 9.39321136e-03 -2.32101506e-04 9.99955856e-01 1.50889950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.859254154 meters 0.017886630087801704 Centerline is valid? [True, True] Translation: X:347.82, Y:2.02, Z:1.51 [[ 9.99421770e-01 -3.25831320e-02 -9.71933442e-03 3.47815307e+02] [ 3.25839936e-02 9.99468998e-01 -6.97312747e-05 2.01645381e+00] [ 9.71644550e-03 -2.47003777e-04 9.99952764e-01 1.50945351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.919254154 meters 0.018376218497973267 Centerline is valid? [True, True] Translation: X:347.88, Y:2.01, Z:1.51 [[ 9.99334144e-01 -3.45040126e-02 -1.18634656e-02 3.47877021e+02] [ 3.45054412e-02 9.99404506e-01 -8.43068959e-05 2.01299578e+00] [ 1.18593099e-02 -3.25103355e-04 9.99929623e-01 1.50733265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.979254154 meters 0.019727898253144374 Centerline is valid? [True, True] Translation: X:347.94, Y:2.01, Z:1.51 [[ 9.99280565e-01 -3.56002294e-02 -1.30758145e-02 3.47938627e+02] [ 3.56020740e-02 9.99366041e-01 -9.17493846e-05 2.00971315e+00] [ 1.30707913e-02 -3.73842740e-04 9.99914504e-01 1.50665651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.039254154 meters 0.018155068121714885 Centerline is valid? [True, True] Translation: X:348.00, Y:2.01, Z:1.51 [[ 9.99322457e-01 -3.40661572e-02 -1.39328452e-02 3.48000858e+02] [ 3.40681193e-02 9.99419508e-01 -9.65620282e-05 2.01169790e+00] [ 1.39280468e-02 -3.78169228e-04 9.99902929e-01 1.50798966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.099254154 meters 0.01887075841838145 Centerline is valid? [True, True] Translation: X:348.06, Y:2.01, Z:1.51 [[ 9.99539252e-01 -2.66739489e-02 -1.44839295e-02 3.48061702e+02] [ 2.66753038e-02 9.99644146e-01 -9.96752988e-05 2.01399451e+00] [ 1.44814341e-02 -2.86733845e-04 9.99895097e-01 1.50826317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.159254154 meters 0.016074936612091653 Centerline is valid? [True, True] Translation: X:348.12, Y:2.02, Z:1.51 [[ 9.99672538e-01 -2.18862089e-02 -1.32593570e-02 3.48121880e+02] [ 2.18869252e-02 9.99760448e-01 -9.11025007e-05 2.01594350e+00] [ 1.32581746e-02 -1.99133886e-04 9.99912087e-01 1.51061334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.219254154 meters 0.015135966095111392 Centerline is valid? [True, True] Translation: X:348.18, Y:2.02, Z:1.51 [[ 9.99798248e-01 -1.50888561e-02 -1.32585940e-02 3.48182972e+02] [ 1.50889767e-02 9.99886151e-01 -9.09396859e-05 2.01709342e+00] [ 1.32584567e-02 -1.09137277e-04 9.99912097e-01 1.51113239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.279254154 meters 0.01655468049760866 Centerline is valid? [True, True] Translation: X:348.24, Y:2.01, Z:1.51 [[ 9.99797189e-01 -1.33151402e-02 -1.51091863e-02 3.48241680e+02] [ 1.33150546e-02 9.99911345e-01 -1.06261926e-04 2.01452128e+00] [ 1.51092617e-02 -9.49392665e-05 9.99885844e-01 1.50979428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.339254154 meters 0.016733896826527192 Centerline is valid? [True, True] Translation: X:348.30, Y:2.01, Z:1.51 [[ 9.99757365e-01 -1.54445002e-02 -1.57059860e-02 3.48299208e+02] [ 1.54446365e-02 9.99880718e-01 -1.12627166e-04 2.00954792e+00] [ 1.57058521e-02 -1.29973406e-04 9.99876647e-01 1.50891632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.399254154 meters 0.01611934428928425 Centerline is valid? [True, True] Translation: X:348.36, Y:2.00, Z:1.51 [[ 9.99577143e-01 -2.40400327e-02 -1.63588499e-02 3.48359238e+02] [ 2.40413173e-02 9.99710959e-01 -1.18153734e-04 1.99959149e+00] [ 1.63569619e-02 -2.75184528e-04 9.99866178e-01 1.51028884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.459254154 meters 0.01980579453568992 Centerline is valid? [True, True] Translation: X:348.42, Y:1.99, Z:1.51 [[ 9.99249212e-01 -3.49870162e-02 -1.66409295e-02 3.48419813e+02] [ 3.49898564e-02 9.99387660e-01 -1.20535982e-04 1.98667291e+00] [ 1.66349568e-02 -4.61818251e-04 9.99861523e-01 1.50901344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.519254154 meters 0.019857792511056925 Centerline is valid? [True, True] Translation: X:348.48, Y:1.98, Z:1.51 [[ 9.99005568e-01 -4.18120497e-02 -1.54799385e-02 3.48480839e+02] [ 4.18153278e-02 9.99125350e-01 -1.11979973e-04 1.98113344e+00] [ 1.54710811e-02 -5.35430089e-04 9.99880172e-01 1.51138328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.579254154 meters 0.02423102781116357 Centerline is valid? [True, True] Translation: X:348.54, Y:1.97, Z:1.51 [[ 9.98759695e-01 -4.75779345e-02 -1.46769315e-02 3.48541401e+02] [ 4.75815095e-02 9.98867353e-01 -1.05716069e-04 1.97194725e+00] [ 1.46653375e-02 -5.92765608e-04 9.99892282e-01 1.51052063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.639254154 meters 0.02547976446108729 Centerline is valid? [True, True] Translation: X:348.60, Y:1.96, Z:1.51 [[ 9.98500282e-01 -5.34589093e-02 -1.18039159e-02 3.48602443e+02] [ 5.34616360e-02 9.98569901e-01 -8.46424567e-05 1.96334188e+00] [ 1.17915601e-02 -5.46541140e-04 9.99930328e-01 1.51360007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.699254154 meters 0.025987822578622935 Centerline is valid? [True, True] Translation: X:348.66, Y:1.96, Z:1.51 [[ 9.98303872e-01 -5.70409208e-02 -1.16495735e-02 3.48663246e+02] [ 5.70438232e-02 9.98371672e-01 -8.32559864e-05 1.96000084e+00] [ 1.16353531e-02 -5.81421435e-04 9.99932138e-01 1.51428724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.759254154 meters 0.031614358946771365 Centerline is valid? [True, True] Translation: X:348.72, Y:1.95, Z:1.51 [[ 9.98070190e-01 -6.10233263e-02 -1.14912853e-02 3.48723841e+02] [ 6.10264159e-02 9.98136148e-01 -8.19169007e-05 1.95000946e+00] [ 1.14748661e-02 -6.19513142e-04 9.99933970e-01 1.51251987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.819254154 meters 0.02690971378817546 Centerline is valid? [True, True] Translation: X:348.79, Y:1.95, Z:1.51 [[ 9.97898157e-01 -6.36011006e-02 -1.24164682e-02 3.48785136e+02] [ 6.36049115e-02 9.97975154e-01 -8.81237764e-05 1.95452689e+00] [ 1.23969315e-02 -7.01809806e-04 9.99922909e-01 1.51358844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.879254154 meters 0.029752121960075574 Centerline is valid? [True, True] Translation: X:348.85, Y:1.95, Z:1.51 [[ 9.97946456e-01 -6.22374433e-02 -1.51450311e-02 3.48846560e+02] [ 6.22429692e-02 9.98061021e-01 -1.06686144e-04 1.95210831e+00] [ 1.51223051e-02 -8.36204647e-04 9.99885302e-01 1.50999930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.93925415399997 meters 0.02828680566843558 Centerline is valid? [True, True] Translation: X:348.91, Y:1.95, Z:1.51 [[ 9.97963197e-01 -6.18993614e-02 -1.54248839e-02 3.48908269e+02] [ 6.19050694e-02 9.98082036e-01 -1.07596510e-04 1.95422190e+00] [ 1.54019597e-02 -8.47501149e-04 9.99881024e-01 1.51119045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.99925415399997 meters 0.02626083444087686 Centerline is valid? [True, True] Translation: X:348.97, Y:1.96, Z:1.51 [[ 9.98145853e-01 -5.89599894e-02 -1.51186985e-02 3.48969853e+02] [ 5.89651534e-02 9.98260036e-01 -1.04359721e-04 1.95955579e+00] [ 1.50985456e-02 -7.87310155e-04 9.99885700e-01 1.51255670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.059254154 meters 0.027658640649129262 Centerline is valid? [True, True] Translation: X:349.03, Y:1.96, Z:1.51 [[ 9.98337606e-01 -5.58297094e-02 -1.43202233e-02 3.49029106e+02] [ 5.58340228e-02 9.98440059e-01 -9.87239388e-05 1.96047077e+00] [ 1.43033963e-02 -7.00995855e-04 9.99897455e-01 1.51352716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.119254154 meters 0.023221743954237487 Centerline is valid? [True, True] Translation: X:349.09, Y:1.97, Z:1.52 [[ 9.98742485e-01 -4.88146034e-02 -1.14272935e-02 3.49089849e+02] [ 4.88168907e-02 9.98807742e-01 -7.88483811e-05 1.97107507e+00] [ 1.14175182e-02 -4.79095711e-04 9.99934703e-01 1.51648558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.179254154 meters 0.0228545910886208 Centerline is valid? [True, True] Translation: X:349.15, Y:1.97, Z:1.52 [[ 9.98985842e-01 -4.37285815e-02 -1.07283811e-02 3.49149480e+02] [ 4.37303046e-02 9.99043370e-01 -7.40284536e-05 1.97375426e+00] [ 1.07213552e-02 -3.95201996e-04 9.99942447e-01 1.51665935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.239254154 meters 0.0207736542969291 Centerline is valid? [True, True] Translation: X:349.21, Y:1.98, Z:1.52 [[ 9.99268414e-01 -3.64807459e-02 -1.14800742e-02 3.49210232e+02] [ 3.64822426e-02 9.99334298e-01 -7.90853247e-05 1.98317966e+00] [ 1.14753170e-02 -3.39791385e-04 9.99934099e-01 1.51563665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.299254154 meters 0.01882926605019059 Centerline is valid? [True, True] Translation: X:349.27, Y:1.99, Z:1.52 [[ 9.99388300e-01 -3.28076846e-02 -1.21111808e-02 3.49271738e+02] [ 3.28090853e-02 9.99461634e-01 -8.30645643e-05 1.98829417e+00] [ 1.21073857e-02 -3.14343009e-04 9.99926654e-01 1.51585794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.359254154 meters 0.018363544158523502 Centerline is valid? [True, True] Translation: X:349.33, Y:1.99, Z:1.51 [[ 9.99448847e-01 -3.02829011e-02 -1.35995545e-02 3.49333033e+02] [ 3.02844429e-02 9.99541317e-01 -9.25941205e-05 1.99050182e+00] [ 1.35961206e-02 -3.19311845e-04 9.99907517e-01 1.51467948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.419254154 meters 0.017016359518975233 Centerline is valid? [True, True] Translation: X:349.39, Y:1.99, Z:1.52 [[ 9.99493239e-01 -2.84533640e-02 -1.42713514e-02 3.49394358e+02] [ 2.84548844e-02 9.99595073e-01 -9.65565560e-05 1.99493144e+00] [ 1.42683199e-02 -3.09582029e-04 9.99898154e-01 1.51543467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.479254154 meters 0.016575054497371403 Centerline is valid? [True, True] Translation: X:349.45, Y:2.00, Z:1.52 [[ 9.99586162e-01 -2.59301076e-02 -1.24553168e-02 3.49454974e+02] [ 2.59310715e-02 9.99663730e-01 -8.41288071e-05 1.99834095e+00] [ 1.24533099e-02 -2.38885718e-04 9.99922426e-01 1.51705929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.539254154 meters 0.01642036080298759 Centerline is valid? [True, True] Translation: X:349.52, Y:2.00, Z:1.52 [[ 9.99627121e-01 -2.48984493e-02 -1.12109994e-02 3.49516698e+02] [ 2.48991681e-02 9.99689965e-01 -7.54745654e-05 1.99975460e+00] [ 1.12094028e-02 -2.03698137e-04 9.99937152e-01 1.51804359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.599254154 meters 0.01690439912954383 Centerline is valid? [True, True] Translation: X:349.58, Y:2.00, Z:1.52 [[ 9.99645214e-01 -2.43142417e-02 -1.08749433e-02 3.49576805e+02] [ 2.43148865e-02 9.99704347e-01 -7.29389632e-05 1.99844182e+00] [ 1.08735016e-02 -1.91509928e-04 9.99940863e-01 1.51801191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.659254154 meters 0.016902537009091376 Centerline is valid? [True, True] Translation: X:349.64, Y:2.00, Z:1.52 [[ 9.99628312e-01 -2.47778393e-02 -1.13708262e-02 3.49637705e+02] [ 2.47785781e-02 9.99692961e-01 -7.59313797e-05 1.99805269e+00] [ 1.13692164e-02 -2.05849749e-04 9.99935347e-01 1.51781549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.719254154 meters 0.01675937657118963 Centerline is valid? [True, True] Translation: X:349.70, Y:2.00, Z:1.52 [[ 9.99551536e-01 -2.75200857e-02 -1.18056114e-02 3.49699086e+02] [ 2.75210783e-02 9.99621220e-01 -7.83978950e-05 1.99526091e+00] [ 1.18032972e-02 -2.46540419e-04 9.99930308e-01 1.51817759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.779254154 meters 0.01891527258360604 Centerline is valid? [True, True] Translation: X:349.76, Y:1.99, Z:1.52 [[ 9.99497444e-01 -2.87652274e-02 -1.33199719e-02 3.49760785e+02] [ 2.87666084e-02 9.99586152e-01 -8.79475601e-05 1.99200948e+00] [ 1.33169893e-02 -2.95267055e-04 9.99911281e-01 1.51630449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.839254154 meters 0.018769605181293194 Centerline is valid? [True, True] Translation: X:349.82, Y:1.99, Z:1.52 [[ 9.99506035e-01 -2.79398317e-02 -1.43892820e-02 3.49822489e+02] [ 2.79413655e-02 9.99609559e-01 -9.44738744e-05 1.99148882e+00] [ 1.43863034e-02 -3.07628979e-04 9.99896464e-01 1.51576243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.899254154 meters 0.017256189940658452 Centerline is valid? [True, True] Translation: X:349.88, Y:1.99, Z:1.52 [[ 9.99565455e-01 -2.55219790e-02 -1.47488980e-02 3.49883926e+02] [ 2.55233354e-02 9.99674222e-01 -9.62929195e-05 1.99336542e+00] [ 1.47465508e-02 -2.80189995e-04 9.99891224e-01 1.51708388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.959254154 meters 0.015549513007937 Centerline is valid? [True, True] Translation: X:349.94, Y:2.00, Z:1.52 [[ 9.99713935e-01 -1.96023409e-02 -1.37038872e-02 3.49944521e+02] [ 1.96029577e-02 9.99807840e-01 -8.93205094e-05 1.99595544e+00] [ 1.37030047e-02 -1.79341764e-04 9.99906093e-01 1.51918917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.019254154 meters 0.015038798060948329 Centerline is valid? [True, True] Translation: X:350.00, Y:2.00, Z:1.52 [[ 9.99813031e-01 -1.45484213e-02 -1.27376177e-02 3.50003443e+02] [ 1.45485385e-02 9.99894161e-01 -8.34698569e-05 1.99815329e+00] [ 1.27374840e-02 -1.01859471e-04 9.99918870e-01 1.52061604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.079254154 meters 0.014706657170785327 Centerline is valid? [True, True] Translation: X:350.06, Y:2.00, Z:1.52 [[ 9.99903498e-01 -6.85567782e-03 -1.20828458e-02 3.50062241e+02] [ 6.85519480e-03 9.99976500e-01 -8.13922912e-05 2.00187285e+00] [ 1.20831198e-02 -1.44582497e-06 9.99926996e-01 1.52230240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.139254154 meters 0.014759726545036196 Centerline is valid? [True, True] Translation: X:350.12, Y:2.00, Z:1.52 [[ 9.99917681e-01 -1.77194316e-03 -1.27079560e-02 3.50120703e+02] [ 1.77095580e-03 9.99998428e-01 -8.89487502e-05 2.00158493e+00] [ 1.27080937e-02 6.64361996e-05 9.99919247e-01 1.52146829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.199254154 meters 0.014877929419039442 Centerline is valid? [True, True] Translation: X:350.18, Y:2.00, Z:1.52 [[ 9.99915943e-01 -1.31211004e-03 -1.28990810e-02 3.50178800e+02] [ 1.31102968e-03 9.99999136e-01 -9.22104376e-05 1.99820598e+00] [ 1.28991909e-02 7.52916085e-05 9.99916799e-01 1.52057385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.259254154 meters 0.014871899636178403 Centerline is valid? [True, True] Translation: X:350.24, Y:1.99, Z:1.52 [[ 9.99912218e-01 -3.33096693e-03 -1.28242567e-02 3.50236757e+02] [ 3.33005056e-03 9.99994451e-01 -9.28086641e-05 1.99460557e+00] [ 1.28244946e-02 5.00950940e-05 9.99917762e-01 1.51963691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.319254154 meters 0.014501952653885535 Centerline is valid? [True, True] Translation: X:350.30, Y:1.99, Z:1.52 [[ 9.99880693e-01 -8.78452470e-03 -1.27055604e-02 3.50295285e+02] [ 8.78405288e-03 9.99961415e-01 -9.29406612e-05 1.98588702e+00] [ 1.27058866e-02 -1.86767416e-05 9.99919277e-01 1.52107623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.379254154 meters 0.014688811502916082 Centerline is valid? [True, True] Translation: X:350.35, Y:1.98, Z:1.52 [[ 9.99851210e-01 -1.29252751e-02 -1.14234254e-02 3.50354330e+02] [ 1.29251547e-02 9.99916463e-01 -8.43723201e-05 1.98067044e+00] [ 1.14235617e-02 -6.32897745e-05 9.99934747e-01 1.52188937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.43925415399997 meters 0.015652220073796717 Centerline is valid? [True, True] Translation: X:350.41, Y:1.97, Z:1.52 [[ 9.99750221e-01 -1.98903919e-02 -1.01915524e-02 3.50411902e+02] [ 1.98906496e-02 9.99802159e-01 -7.60919098e-05 1.97191707e+00] [ 1.01910496e-02 -1.26643693e-04 9.99948062e-01 1.52263290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.49925415399997 meters 0.016830434322381706 Centerline is valid? [True, True] Translation: X:350.47, Y:1.96, Z:1.52 [[ 9.99610500e-01 -2.64411895e-02 -8.92810277e-03 3.50472210e+02] [ 2.64416453e-02 9.99650356e-01 -6.70099014e-05 1.96415174e+00] [ 8.92675293e-03 -1.69089925e-04 9.99960141e-01 1.52302370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.559254154 meters 0.017981557807120054 Centerline is valid? [True, True] Translation: X:350.53, Y:1.96, Z:1.52 [[ 9.99428342e-01 -3.29016082e-02 -7.77643632e-03 3.50533816e+02] [ 3.29021503e-02 9.99458576e-01 -5.82422128e-05 1.95856621e+00] [ 7.77414224e-03 -1.97652559e-04 9.99969761e-01 1.52375519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.619254154 meters 0.01893754733067566 Centerline is valid? [True, True] Translation: X:350.60, Y:1.95, Z:1.52 [[ 9.99287567e-01 -3.69867898e-02 -7.50569805e-03 3.50595959e+02] [ 3.69874128e-02 9.99315730e-01 -5.58274335e-05 1.95458567e+00] [ 7.50262700e-03 -2.21828692e-04 9.99971830e-01 1.52342610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.679254154 meters 0.020896868632109572 Centerline is valid? [True, True] Translation: X:350.66, Y:1.95, Z:1.52 [[ 9.99057923e-01 -4.26483804e-02 -8.02385275e-03 3.50655772e+02] [ 4.26492777e-02 9.99090104e-01 -5.93310846e-05 1.94752477e+00] [ 8.01908225e-03 -2.82936334e-04 9.99967807e-01 1.52301903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.739254154 meters 0.021777805026762787 Centerline is valid? [True, True] Translation: X:350.72, Y:1.95, Z:1.52 [[ 9.98952661e-01 -4.49797790e-02 -8.39055612e-03 3.50718081e+02] [ 4.49808447e-02 9.98987848e-01 -6.17492391e-05 1.94506263e+00] [ 8.38484107e-03 -3.15729736e-04 9.99964797e-01 1.52253216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.799254154 meters 0.022446171039511468 Centerline is valid? [True, True] Translation: X:350.78, Y:1.94, Z:1.52 [[ 9.98845759e-01 -4.70519896e-02 -9.65709767e-03 3.50780170e+02] [ 4.70535054e-02 9.98892368e-01 -7.03105870e-05 1.94331799e+00] [ 9.64970941e-03 -3.84170865e-04 9.99953367e-01 1.52180925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.859254154 meters 0.02334777533072746 Centerline is valid? [True, True] Translation: X:350.84, Y:1.94, Z:1.52 [[ 9.98789415e-01 -4.81277855e-02 -1.01696056e-02 3.50842293e+02] [ 4.81295299e-02 9.98841100e-01 -7.32801885e-05 1.94172560e+00] [ 1.01613469e-02 -4.16266861e-04 9.99948286e-01 1.52110007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.919254154 meters 0.023548304216746932 Centerline is valid? [True, True] Translation: X:350.90, Y:1.94, Z:1.52 [[ 9.98806604e-01 -4.77926309e-02 -1.00614033e-02 3.50904235e+02] [ 4.77943287e-02 9.98857195e-01 -7.17742919e-05 1.94318896e+00] [ 1.00533354e-02 -4.09189379e-04 9.99949380e-01 1.52203041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.979254154 meters 0.025027865071129543 Centerline is valid? [True, True] Translation: X:350.97, Y:1.94, Z:1.52 [[ 9.98838365e-01 -4.73059676e-02 -9.16871665e-03 3.50965030e+02] [ 4.73073620e-02 9.98880378e-01 -6.48621051e-05 1.94302261e+00] [ 9.16151951e-03 -3.68961038e-04 9.99957964e-01 1.52317987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.039254154 meters 0.02212380142521879 Centerline is valid? [True, True] Translation: X:351.03, Y:1.95, Z:1.52 [[ 9.98963131e-01 -4.47745610e-02 -8.24023836e-03 3.51026078e+02] [ 4.47756042e-02 9.98997068e-01 -5.79368791e-05 1.95169074e+00] [ 8.23456806e-03 -3.11084845e-04 9.99966047e-01 1.52390509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.099254154 meters 0.021492046346947836 Centerline is valid? [True, True] Translation: X:351.09, Y:1.95, Z:1.53 [[ 9.99062208e-01 -4.27780136e-02 -6.68932321e-03 3.51087765e+02] [ 4.27786584e-02 9.99084573e-01 -4.67267841e-05 1.95232121e+00] [ 6.68519850e-03 -2.39477309e-04 9.99977625e-01 1.52576565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.159254154 meters 0.020419196293429826 Centerline is valid? [True, True] Translation: X:351.15, Y:1.96, Z:1.53 [[ 9.99191534e-01 -3.96231089e-02 -6.80346861e-03 3.51149066e+02] [ 3.96237057e-02 9.99214671e-01 -4.71036901e-05 1.95642343e+00] [ 6.79999205e-03 -2.22513030e-04 9.99976855e-01 1.52543174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.219254154 meters 0.01883233276308349 Centerline is valid? [True, True] Translation: X:351.21, Y:1.96, Z:1.52 [[ 9.99299653e-01 -3.65514495e-02 -8.01220769e-03 3.51210925e+02] [ 3.65521817e-02 9.99331744e-01 -5.50806972e-05 1.96086306e+00] [ 8.00886677e-03 -2.37821550e-04 9.99967900e-01 1.52386238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.279254154 meters 0.018393307112650827 Centerline is valid? [True, True] Translation: X:351.27, Y:1.96, Z:1.52 [[ 9.99385899e-01 -3.38769507e-02 -8.95421656e-03 3.51272318e+02] [ 3.38777619e-02 9.99425982e-01 -6.11148162e-05 1.96285044e+00] [ 8.95114706e-03 -2.42271531e-04 9.99959908e-01 1.52266059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.339254154 meters 0.019409830610173012 Centerline is valid? [True, True] Translation: X:351.33, Y:1.97, Z:1.52 [[ 9.99510442e-01 -2.97322423e-02 -9.74009857e-03 3.51333806e+02] [ 2.97330091e-02 9.99557874e-01 -6.61029892e-05 1.96805397e+00] [ 9.73775761e-03 -2.23531811e-04 9.99952562e-01 1.52072948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.399254154 meters 0.018521606251720897 Centerline is valid? [True, True] Translation: X:351.39, Y:1.97, Z:1.52 [[ 9.99565905e-01 -2.77926041e-02 -9.77615257e-03 3.51393821e+02] [ 2.77932864e-02 9.99613690e-01 -6.60835837e-05 1.96918033e+00] [ 9.77421258e-03 -2.05656511e-04 9.99952210e-01 1.52100514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.459254154 meters 0.016315114091112835 Centerline is valid? [True, True] Translation: X:351.45, Y:1.97, Z:1.52 [[ 9.99600858e-01 -2.64610360e-02 -9.89642065e-03 3.51454858e+02] [ 2.64616728e-02 9.99649826e-01 -6.66114185e-05 1.97438327e+00] [ 9.89471780e-03 -1.95291014e-04 9.99951027e-01 1.52295053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.519254154 meters 0.016230967914055372 Centerline is valid? [True, True] Translation: X:351.52, Y:1.98, Z:1.52 [[ 9.99639030e-01 -2.53685856e-02 -8.84554412e-03 3.51515923e+02] [ 2.53690543e-02 9.99678152e-01 -5.92289820e-05 1.97834015e+00] [ 8.84419975e-03 -1.65195487e-04 9.99960876e-01 1.52398157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.579254154 meters 0.016742876047024763 Centerline is valid? [True, True] Translation: X:351.58, Y:1.98, Z:1.52 [[ 9.99609313e-01 -2.66701775e-02 -8.36197054e-03 3.51576896e+02] [ 2.66706443e-02 9.99644274e-01 -5.56945018e-05 1.97897697e+00] [ 8.36048135e-03 -1.67346399e-04 9.99965037e-01 1.52443826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.639254154 meters 0.018101165149898214 Centerline is valid? [True, True] Translation: X:351.64, Y:1.98, Z:1.52 [[ 9.99494989e-01 -3.07765696e-02 -7.91015710e-03 3.51637804e+02] [ 3.07771205e-02 9.99526271e-01 -5.20949706e-05 1.97770725e+00] [ 7.90801313e-03 -1.91383196e-04 9.99968713e-01 1.52426944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.699254154 meters 0.019920599068016454 Centerline is valid? [True, True] Translation: X:351.70, Y:1.98, Z:1.52 [[ 9.99353895e-01 -3.50481540e-02 -7.96366419e-03 3.51698496e+02] [ 3.50488533e-02 9.99385599e-01 -5.17689552e-05 1.97639118e+00] [ 7.96058572e-03 -2.27381791e-04 9.99968288e-01 1.52424260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.759254154 meters 0.02205805188796534 Centerline is valid? [True, True] Translation: X:351.76, Y:1.98, Z:1.52 [[ 9.99321757e-01 -3.59663385e-02 -7.90245266e-03 3.51761115e+02] [ 3.59670590e-02 9.99352975e-01 -5.09772604e-05 1.97608907e+00] [ 7.89917304e-03 -2.33285295e-04 9.99968774e-01 1.52333068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.819254154 meters 0.02091514977547006 Centerline is valid? [True, True] Translation: X:351.82, Y:1.98, Z:1.53 [[ 9.99366068e-01 -3.51082048e-02 -5.90556253e-03 3.51822738e+02] [ 3.51085941e-02 9.99383503e-01 -3.77656475e-05 1.97936311e+00] [ 5.90324765e-03 -1.69594291e-04 9.99982561e-01 1.52674132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.879254154 meters 0.0195174510622947 Centerline is valid? [True, True] Translation: X:351.88, Y:1.99, Z:1.53 [[ 9.99541676e-01 -2.98569555e-02 -4.99997081e-03 3.51883221e+02] [ 2.98571705e-02 9.99554175e-01 -3.16603663e-05 1.98780818e+00] [ 4.99868698e-03 -1.17639125e-04 9.99987500e-01 1.52813861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.93925415399997 meters 0.016208065151960802 Centerline is valid? [True, True] Translation: X:351.94, Y:2.00, Z:1.53 [[ 9.99661942e-01 -2.55332279e-02 -4.90460145e-03 3.51944672e+02] [ 2.55333849e-02 9.99673970e-01 -3.06039499e-05 1.99940460e+00] [ 4.90378382e-03 -9.46374726e-05 9.99987972e-01 1.52869133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.99925415399997 meters 0.016145769775753317 Centerline is valid? [True, True] Translation: X:352.01, Y:2.00, Z:1.53 [[ 9.99686340e-01 -2.45164706e-02 -5.11504230e-03 3.52005767e+02] [ 2.45166294e-02 9.99699422e-01 -3.16586592e-05 2.00152586e+00] [ 5.11428099e-03 -9.37548672e-05 9.99986918e-01 1.52899518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.059254154 meters 0.015996090052674283 Centerline is valid? [True, True] Translation: X:352.07, Y:2.01, Z:1.53 [[ 9.99648307e-01 -2.58128582e-02 -6.07942366e-03 3.52067727e+02] [ 2.58131111e-02 9.99666785e-01 -3.68687203e-05 2.00517892e+00] [ 6.07834959e-03 -1.20073085e-04 9.99981519e-01 1.52882668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.119254154 meters 0.016928412365663687 Centerline is valid? [True, True] Translation: X:352.13, Y:2.01, Z:1.53 [[ 9.99556393e-01 -2.88568279e-02 -7.36892861e-03 3.52130020e+02] [ 2.88572867e-02 9.99583541e-01 -4.40736952e-05 2.00611225e+00] [ 7.36713158e-03 -1.68593142e-04 9.99972848e-01 1.52865804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.179254154 meters 0.01708624041475694 Centerline is valid? [True, True] Translation: X:352.19, Y:2.01, Z:1.53 [[ 9.99506308e-01 -3.05396578e-02 -7.38029141e-03 3.52192508e+02] [ 3.05401679e-02 9.99533539e-01 -4.35957583e-05 2.00788550e+00] [ 7.37818019e-03 -1.81821104e-04 9.99972764e-01 1.52894713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.239254154 meters 0.018361045224676128 Centerline is valid? [True, True] Translation: X:352.25, Y:2.01, Z:1.53 [[ 9.99482350e-01 -3.14904919e-02 -6.58648762e-03 3.52253213e+02] [ 3.14909213e-02 9.99504037e-01 -3.85329653e-05 2.00823342e+00] [ 6.58443439e-03 -1.68901545e-04 9.99978308e-01 1.52943344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.299254154 meters 0.019211099822590772 Centerline is valid? [True, True] Translation: X:352.32, Y:2.01, Z:1.53 [[ 9.99491337e-01 -3.12316598e-02 -6.45376646e-03 3.52315137e+02] [ 3.12320686e-02 9.99512159e-01 -3.74501159e-05 2.01128201e+00] [ 6.45178768e-03 -1.64133411e-04 9.99979174e-01 1.52839334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.359254154 meters 0.018264465716557172 Centerline is valid? [True, True] Translation: X:352.38, Y:2.01, Z:1.53 [[ 9.99455282e-01 -3.23495155e-02 -6.53062028e-03 3.52376788e+02] [ 3.23499616e-02 9.99476602e-01 -3.73370973e-05 2.01456432e+00] [ 6.52841000e-03 -1.73948556e-04 9.99978675e-01 1.52839315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.419254154 meters 0.020686607056120306 Centerline is valid? [True, True] Translation: X:352.44, Y:2.01, Z:1.53 [[ 9.99275568e-01 -3.73286850e-02 -7.40999979e-03 3.52436516e+02] [ 3.73294003e-02 9.99303014e-01 -4.18032961e-05 2.01097808e+00] [ 7.40639558e-03 -2.34837836e-04 9.99972545e-01 1.52750968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.479254154 meters 0.022572222339309375 Centerline is valid? [True, True] Translation: X:352.50, Y:2.01, Z:1.53 [[ 9.98951735e-01 -4.49119253e-02 -8.85153593e-03 3.52497529e+02] [ 4.49132434e-02 9.98990890e-01 -4.99084985e-05 2.00947992e+00] [ 8.84484524e-03 -3.47695007e-04 9.99960823e-01 1.52643938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.539254154 meters 0.024243030534821675 Centerline is valid? [True, True] Translation: X:352.56, Y:2.01, Z:1.53 [[ 9.98686937e-01 -5.01948811e-02 -1.02409196e-02 3.52558839e+02] [ 5.01969251e-02 9.98739338e-01 -5.75090208e-05 2.00821052e+00] [ 1.02308959e-02 -4.56629167e-04 9.99947559e-01 1.52539306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.599254154 meters 0.0270781888455964 Centerline is valid? [True, True] Translation: X:352.62, Y:2.01, Z:1.52 [[ 9.98303955e-01 -5.68390965e-02 -1.25908880e-02 3.52619473e+02] [ 5.68427161e-02 9.98383143e-01 -7.04923323e-05 2.00561310e+00] [ 1.25745371e-02 -6.45327499e-04 9.99920729e-01 1.52359029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.659254154 meters 0.028066312492466057 Centerline is valid? [True, True] Translation: X:352.68, Y:2.01, Z:1.52 [[ 9.98019882e-01 -6.13383881e-02 -1.39254064e-02 3.52679714e+02] [ 6.13432531e-02 9.98116726e-01 -7.79058756e-05 2.00555715e+00] [ 1.39039596e-02 -7.76478115e-04 9.99903034e-01 1.52226214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.719254154 meters 0.032268912151052806 Centerline is valid? [True, True] Translation: X:352.74, Y:2.00, Z:1.52 [[ 9.97855226e-01 -6.37232979e-02 -1.49762856e-02 3.52740353e+02] [ 6.37291959e-02 9.97967225e-01 -8.35726857e-05 2.00163041e+00] [ 1.49511677e-02 -8.71033196e-04 9.99887846e-01 1.52117195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.779254154 meters 0.030565372094946742 Centerline is valid? [True, True] Translation: X:352.80, Y:2.01, Z:1.52 [[ 9.97733171e-01 -6.56848088e-02 -1.46296354e-02 3.52802078e+02] [ 6.56906562e-02 9.97840033e-01 -8.10019806e-05 2.00737425e+00] [ 1.46033565e-02 -8.80211989e-04 9.99892978e-01 1.52237808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.839254154 meters 0.028968093459339445 Centerline is valid? [True, True] Translation: X:352.86, Y:2.01, Z:1.52 [[ 9.97680940e-01 -6.64906205e-02 -1.45512401e-02 3.52864084e+02] [ 6.64965054e-02 9.97786655e-01 -7.95674501e-05 2.01268376e+00] [ 1.45243237e-02 -8.88223687e-04 9.99894122e-01 1.52341052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.899254154 meters 0.029692358189046145 Centerline is valid? [True, True] Translation: X:352.93, Y:2.01, Z:1.52 [[ 9.97634165e-01 -6.71790504e-02 -1.45961937e-02 3.52926683e+02] [ 6.71850610e-02 9.97740528e-01 -7.87234076e-05 2.01409557e+00] [ 1.45685025e-02 -9.02109000e-04 9.99893467e-01 1.52351201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.959254154 meters 0.03206614084510542 Centerline is valid? [True, True] Translation: X:352.99, Y:2.01, Z:1.52 [[ 9.97559844e-01 -6.80207322e-02 -1.57333591e-02 3.52988134e+02] [ 6.80278355e-02 9.97683420e-01 -8.38810595e-05 2.01429438e+00] [ 1.57026172e-02 -9.86629987e-04 9.99876220e-01 1.52215184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.019254154 meters 0.03360505303064221 Centerline is valid? [True, True] Translation: X:353.05, Y:2.02, Z:1.52 [[ 9.97563997e-01 -6.75553435e-02 -1.73881320e-02 3.53049581e+02] [ 6.75639664e-02 9.97714940e-01 -9.17364939e-05 2.01501123e+00] [ 1.73545964e-02 -1.08329814e-03 9.99848811e-01 1.51988617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.079254154 meters 0.031240512412588097 Centerline is valid? [True, True] Translation: X:353.11, Y:2.02, Z:1.52 [[ 9.97614382e-01 -6.64624939e-02 -1.86622914e-02 3.53111470e+02] [ 6.64722607e-02 9.97788269e-01 -9.71674544e-05 2.02061374e+00] [ 1.86274734e-02 -1.14358905e-03 9.99825840e-01 1.52068276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.139254154 meters 0.0295962518031916 Centerline is valid? [True, True] Translation: X:353.17, Y:2.03, Z:1.52 [[ 9.97855622e-01 -6.24933673e-02 -1.94611520e-02 3.53172300e+02] [ 6.25032480e-02 9.98044755e-01 -1.00720815e-04 2.02767692e+00] [ 1.94293951e-02 -1.11588038e-03 9.99810609e-01 1.52093998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.199254154 meters 0.02954417104517519 Centerline is valid? [True, True] Translation: X:353.23, Y:2.03, Z:1.52 [[ 9.98300315e-01 -5.51993517e-02 -1.86952617e-02 3.53232416e+02] [ 5.52071950e-02 9.98474915e-01 -9.67016215e-05 2.03387718e+00] [ 1.86720877e-02 -9.35575699e-04 9.99825224e-01 1.52032215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.259254154 meters 0.024433538724380848 Centerline is valid? [True, True] Translation: X:353.29, Y:2.04, Z:1.52 [[ 9.98627626e-01 -4.94697722e-02 -1.71932036e-02 3.53293268e+02] [ 4.94755583e-02 9.98775331e-01 -8.89162135e-05 2.04442017e+00] [ 1.71765463e-02 -7.61849159e-04 9.99852182e-01 1.52451693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.319254154 meters 0.021450268943423945 Centerline is valid? [True, True] Translation: X:353.35, Y:2.06, Z:1.53 [[ 9.99104726e-01 -3.92280575e-02 -1.58400177e-02 3.53353917e+02] [ 3.92316850e-02 9.99230138e-01 -8.17810817e-05 2.05783705e+00] [ 1.58310312e-02 -5.39722721e-04 9.99874536e-01 1.52609993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.379254154 meters 0.0180901860309013 Centerline is valid? [True, True] Translation: X:353.42, Y:2.07, Z:1.53 [[ 9.99285099e-01 -3.45092975e-02 -1.54401727e-02 3.53415288e+02] [ 3.45121884e-02 9.99404274e-01 -7.92570100e-05 2.06562052e+00] [ 1.54337096e-02 -4.53673799e-04 9.99880790e-01 1.52827004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.43925415399997 meters 0.018775055356033216 Centerline is valid? [True, True] Translation: X:353.48, Y:2.07, Z:1.53 [[ 9.99429054e-01 -3.02243640e-02 -1.51014258e-02 3.53476857e+02] [ 3.02266490e-02 9.99543067e-01 -7.69646493e-05 2.06924347e+00] [ 1.50968516e-02 -3.79544789e-04 9.99885964e-01 1.52686386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.49925415399997 meters 0.016480729384318556 Centerline is valid? [True, True] Translation: X:353.54, Y:2.08, Z:1.53 [[ 9.99575527e-01 -2.51612374e-02 -1.46859956e-02 3.53538264e+02] [ 2.51628599e-02 9.99683362e-01 -7.43185012e-05 2.07605599e+00] [ 1.46832154e-02 -2.95254695e-04 9.99892152e-01 1.52894272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.559254154 meters 0.01704671086834411 Centerline is valid? [True, True] Translation: X:353.60, Y:2.08, Z:1.53 [[ 9.99673531e-01 -2.05046789e-02 -1.52443584e-02 3.53599900e+02] [ 2.05058945e-02 9.99789729e-01 -7.65783365e-05 2.08166660e+00] [ 1.52427231e-02 -2.36045868e-04 9.99883795e-01 1.52851499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.619254154 meters 0.015618908037205097 Centerline is valid? [True, True] Translation: X:353.66, Y:2.09, Z:1.53 [[ 9.99807611e-01 -1.33073820e-02 -1.44102096e-02 3.53660437e+02] [ 1.33077229e-02 9.99911446e-01 -7.22343413e-05 2.08775783e+00] [ 1.44098947e-02 -1.19546632e-04 9.99896165e-01 1.52985102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.679254154 meters 0.014363878807071361 Centerline is valid? [True, True] Translation: X:353.72, Y:2.09, Z:1.53 [[ 9.99900877e-01 -7.05903205e-03 -1.21821716e-02 3.53718847e+02] [ 7.05878777e-03 9.99975084e-01 -6.30497543e-05 2.09278328e+00] [ 1.21823131e-02 -2.29478591e-05 9.99925793e-01 1.53246729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.739254154 meters 0.01419252247928266 Centerline is valid? [True, True] Translation: X:353.78, Y:2.09, Z:1.54 [[ 9.99943551e-01 -4.50957339e-03 -9.62073200e-03 3.53777172e+02] [ 4.50928151e-03 9.99989832e-01 -5.20309214e-05 2.09369134e+00] [ 9.62086881e-03 8.64539536e-06 9.99953718e-01 1.53501709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.799254154 meters 0.014771771712637227 Centerline is valid? [True, True] Translation: X:353.84, Y:2.09, Z:1.53 [[ 9.99937725e-01 -6.24101601e-03 -9.25184314e-03 3.53836482e+02] [ 6.24080674e-03 9.99980525e-01 -5.14893086e-05 2.09106471e+00] [ 9.25198430e-03 -6.25286290e-06 9.99957199e-01 1.53478614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.859254154 meters 0.014534922811609924 Centerline is valid? [True, True] Translation: X:353.90, Y:2.08, Z:1.53 [[ 9.99833653e-01 -1.53448547e-02 -9.85909140e-03 3.53896129e+02] [ 1.53450542e-02 9.99882256e-01 -5.54149302e-05 2.08167273e+00] [ 9.85878089e-03 -9.58825795e-05 9.99951396e-01 1.53492421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.919254154 meters 0.01588830642885768 Centerline is valid? [True, True] Translation: X:353.96, Y:2.07, Z:1.53 [[ 9.99683106e-01 -2.28123601e-02 -1.06434640e-02 3.53956750e+02] [ 2.28130151e-02 9.99739748e-01 -5.98851204e-05 2.07306651e+00] [ 1.06420602e-02 -1.82943362e-04 9.99943355e-01 1.53441302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.979254154 meters 0.017609718993229287 Centerline is valid? [True, True] Translation: X:354.02, Y:2.06, Z:1.53 [[ 9.99403142e-01 -3.21975717e-02 -1.25170038e-02 3.54017362e+02] [ 3.21992161e-02 9.99481468e-01 -7.01830832e-05 2.06366426e+00] [ 1.25127731e-02 -3.32896517e-04 9.99921657e-01 1.53430142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.039254154 meters 0.019058540609584045 Centerline is valid? [True, True] Translation: X:354.08, Y:2.06, Z:1.53 [[ 9.99237119e-01 -3.67886693e-02 -1.31062365e-02 3.54078809e+02] [ 3.67908720e-02 9.99322984e-01 -7.30828696e-05 2.05590675e+00] [ 1.31000520e-02 -4.09162755e-04 9.99914107e-01 1.53398491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.099254154 meters 0.02044453569316754 Centerline is valid? [True, True] Translation: X:354.14, Y:2.05, Z:1.53 [[ 9.99243948e-01 -3.64467198e-02 -1.35339767e-02 3.54140218e+02] [ 3.64490463e-02 9.99335510e-01 -7.48034547e-05 2.05106544e+00] [ 1.35277098e-02 -4.18553643e-04 9.99908409e-01 1.53436008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.159254154 meters 0.018619239948763255 Centerline is valid? [True, True] Translation: X:354.20, Y:2.05, Z:1.54 [[ 9.99375698e-01 -3.24234551e-02 -1.40332979e-02 3.54202157e+02] [ 3.24255709e-02 9.99474150e-01 -7.67970642e-05 2.05366969e+00] [ 1.40284085e-02 -3.78288577e-04 9.99901525e-01 1.53617062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.219254154 meters 0.01944340766325916 Centerline is valid? [True, True] Translation: X:354.26, Y:2.05, Z:1.54 [[ 9.99463584e-01 -2.92141356e-02 -1.48012944e-02 3.54263778e+02] [ 2.92161468e-02 9.99573114e-01 -8.03760942e-05 2.05404115e+00] [ 1.47973241e-02 -3.52103812e-04 9.99890452e-01 1.53514869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.279254154 meters 0.01885237301245515 Centerline is valid? [True, True] Translation: X:354.32, Y:2.05, Z:1.54 [[ 9.99496214e-01 -2.78261093e-02 -1.52651524e-02 3.54323841e+02] [ 2.78280922e-02 9.99612720e-01 -8.25390079e-05 2.05276088e+00] [ 1.52615373e-02 -3.42302643e-04 9.99883477e-01 1.53562742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.339254154 meters 0.017039479046311014 Centerline is valid? [True, True] Translation: X:354.38, Y:2.05, Z:1.54 [[ 9.99436874e-01 -2.90559855e-02 -1.67834335e-02 3.54384798e+02] [ 2.90585649e-02 9.99577707e-01 -9.02088872e-05 2.05259328e+00] [ 1.67789670e-02 -3.97544402e-04 9.99859144e-01 1.53692597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.399254154 meters 0.018586995311707533 Centerline is valid? [True, True] Translation: X:354.45, Y:2.05, Z:1.54 [[ 9.99396697e-01 -2.93279075e-02 -1.86042113e-02 3.54445635e+02] [ 2.93311326e-02 9.99569745e-01 -9.95502812e-05 2.05175924e+00] [ 1.85991264e-02 -4.46192367e-04 9.99826922e-01 1.53517293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.459254154 meters 0.017656557291782893 Centerline is valid? [True, True] Translation: X:354.51, Y:2.05, Z:1.54 [[ 9.99391405e-01 -2.97034672e-02 -1.82900076e-02 3.54505935e+02] [ 2.97066485e-02 9.99558655e-01 -9.77878717e-05 2.05139512e+00] [ 1.82848401e-02 -4.45606469e-04 9.99832719e-01 1.53732209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.519254154 meters 0.01753242644983954 Centerline is valid? [True, True] Translation: X:354.57, Y:2.05, Z:1.54 [[ 9.99437524e-01 -2.87585673e-02 -1.72505010e-02 3.54566860e+02] [ 2.87612606e-02 9.99586305e-01 -9.19929389e-05 2.05214895e+00] [ 1.72460102e-02 -4.04204961e-04 9.99851195e-01 1.53918985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.579254154 meters 0.016870847513750134 Centerline is valid? [True, True] Translation: X:354.63, Y:2.05, Z:1.54 [[ 9.99460839e-01 -2.81953193e-02 -1.68242589e-02 3.54627332e+02] [ 2.81978027e-02 9.99602359e-01 -8.96406552e-05 2.05278974e+00] [ 1.68200964e-02 -3.84814810e-04 9.99858458e-01 1.53990991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.639254154 meters 0.016645483109901393 Centerline is valid? [True, True] Translation: X:354.69, Y:2.05, Z:1.54 [[ 9.99473696e-01 -2.82197056e-02 -1.59993426e-02 3.54688329e+02] [ 2.82219580e-02 9.99601678e-01 -8.50306359e-05 2.05283050e+00] [ 1.59953693e-02 -3.66546892e-04 9.99871999e-01 1.54093719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.699254154 meters 0.017138315484019798 Centerline is valid? [True, True] Translation: X:354.75, Y:2.05, Z:1.54 [[ 9.99445995e-01 -3.00921339e-02 -1.42185188e-02 3.54750017e+02] [ 3.00941082e-02 9.99547067e-01 -7.51311367e-05 2.05072114e+00] [ 1.42143396e-02 -3.52804129e-04 9.99898909e-01 1.54138989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.759254154 meters 0.01722843151685337 Centerline is valid? [True, True] Translation: X:354.81, Y:2.05, Z:1.54 [[ 9.99406252e-01 -3.14972905e-02 -1.39665708e-02 3.54811258e+02] [ 3.14993398e-02 9.99503770e-01 -7.32846204e-05 2.04991552e+00] [ 1.39619484e-02 -3.66696650e-04 9.99902460e-01 1.54179371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.819254154 meters 0.01839148282237101 Centerline is valid? [True, True] Translation: X:354.87, Y:2.05, Z:1.54 [[ 9.99332310e-01 -3.37640843e-02 -1.39614330e-02 3.54872627e+02] [ 3.37663627e-02 9.99429751e-01 -7.25675477e-05 2.04620811e+00] [ 1.39559217e-02 -3.98907715e-04 9.99902532e-01 1.54051259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.879254154 meters 0.019279670147412872 Centerline is valid? [True, True] Translation: X:354.93, Y:2.04, Z:1.54 [[ 9.99204366e-01 -3.72807764e-02 -1.41696329e-02 3.54933744e+02] [ 3.72834850e-02 9.99304726e-01 -7.30458367e-05 2.04444906e+00] [ 1.41625043e-02 -4.55305576e-04 9.99899603e-01 1.54060159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.93925415399997 meters 0.019624460819345615 Centerline is valid? [True, True] Translation: X:355.00, Y:2.04, Z:1.54 [[ 9.99097303e-01 -4.05027059e-02 -1.28105490e-02 3.54996226e+02] [ 4.05051942e-02 9.99179326e-01 -6.52617915e-05 2.04360890e+00] [ 1.28026790e-02 -4.53690894e-04 9.99917939e-01 1.54145793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.99925415399997 meters 0.023413625648914253 Centerline is valid? [True, True] Translation: X:355.06, Y:2.04, Z:1.54 [[ 9.99024227e-01 -4.22822530e-02 -1.27595214e-02 3.55057029e+02] [ 4.22848845e-02 9.99105592e-01 -6.35907077e-05 2.03953419e+00] [ 1.27507979e-02 -4.76006231e-04 9.99918592e-01 1.53965445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.059254154 meters 0.0224077144854231 Centerline is valid? [True, True] Translation: X:355.12, Y:2.04, Z:1.54 [[ 9.98803011e-01 -4.72119570e-02 -1.27896682e-02 3.55118424e+02] [ 4.72150156e-02 9.98884747e-01 -6.28607646e-05 2.04080979e+00] [ 1.27783722e-02 -5.41078860e-04 9.99918207e-01 1.54128953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.119254154 meters 0.025170253915690343 Centerline is valid? [True, True] Translation: X:355.18, Y:2.04, Z:1.54 [[ 9.98583499e-01 -5.14923581e-02 -1.33989456e-02 3.55178526e+02] [ 5.14961018e-02 9.98673193e-01 -6.56853366e-05 2.03758687e+00] [ 1.33845501e-02 -6.24401172e-04 9.99910228e-01 1.54066898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.179254154 meters 0.026746399229747177 Centerline is valid? [True, True] Translation: X:355.24, Y:2.04, Z:1.54 [[ 9.98260150e-01 -5.74820097e-02 -1.31336187e-02 3.55239094e+02] [ 5.74861238e-02 9.98346303e-01 -6.43576226e-05 2.03661598e+00] [ 1.31155991e-02 -6.90755183e-04 9.99913748e-01 1.54143389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.239254154 meters 0.032156915580060084 Centerline is valid? [True, True] Translation: X:355.30, Y:2.03, Z:1.54 [[ 9.98112343e-01 -5.99835333e-02 -1.31804995e-02 3.55299675e+02] [ 5.99879003e-02 9.98199102e-01 -6.41315394e-05 2.03122106e+00] [ 1.31606096e-02 -7.26660009e-04 9.99913131e-01 1.53932094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.299254154 meters 0.028881569291979735 Centerline is valid? [True, True] Translation: X:355.36, Y:2.04, Z:1.54 [[ 9.97956157e-01 -6.24468394e-02 -1.35610214e-02 3.55360981e+02] [ 6.24516966e-02 9.98047985e-01 -6.54191344e-05 2.03625091e+00] [ 1.35386353e-02 -7.81623363e-04 9.99908043e-01 1.54172818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.359254154 meters 0.030576160668935738 Centerline is valid? [True, True] Translation: X:355.42, Y:2.04, Z:1.54 [[ 9.97881947e-01 -6.32176842e-02 -1.53343924e-02 3.55422033e+02] [ 6.32239976e-02 9.97999359e-01 -7.31975593e-05 2.03737763e+00] [ 1.53083412e-02 -8.96459068e-04 9.99882419e-01 1.54051671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.419254154 meters 0.03371808263729537 Centerline is valid? [True, True] Translation: X:355.48, Y:2.04, Z:1.54 [[ 9.98014269e-01 -6.12073940e-02 -1.48718972e-02 3.55482939e+02] [ 6.12131187e-02 9.98124716e-01 -7.03844796e-05 2.03738076e+00] [ 1.48483162e-02 -8.40110493e-04 9.99889405e-01 1.54039599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.479254154 meters 0.026925498149830498 Centerline is valid? [True, True] Translation: X:355.54, Y:2.05, Z:1.54 [[ 9.98164504e-01 -5.88986189e-02 -1.40917099e-02 3.55544144e+02] [ 5.89035364e-02 9.98263677e-01 -6.61831018e-05 2.04980183e+00] [ 1.40711403e-02 -7.63989926e-04 9.99900705e-01 1.54322009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.539254154 meters 0.025649319454556254 Centerline is valid? [True, True] Translation: X:355.61, Y:2.06, Z:1.54 [[ 9.98427853e-01 -5.44852719e-02 -1.31597208e-02 3.55605219e+02] [ 5.44891822e-02 9.98514359e-01 -6.14928258e-05 2.05842304e+00] [ 1.31435206e-02 -6.55666273e-04 9.99913405e-01 1.54485434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.599254154 meters 0.024721232070185683 Centerline is valid? [True, True] Translation: X:355.67, Y:2.06, Z:1.54 [[ 9.98697480e-01 -4.92835246e-02 -1.32089969e-02 3.55665036e+02] [ 4.92870109e-02 9.98784655e-01 -6.16703812e-05 2.06491429e+00] [ 1.31959827e-02 -5.89441919e-04 9.99912755e-01 1.54449176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.659254154 meters 0.023244980747460234 Centerline is valid? [True, True] Translation: X:355.73, Y:2.07, Z:1.54 [[ 9.98912073e-01 -4.44555133e-02 -1.40846306e-02 3.55725514e+02] [ 4.44589978e-02 9.99011208e-01 -6.57735594e-05 2.07189608e+00] [ 1.40736278e-02 -5.60486557e-04 9.99900805e-01 1.54439377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.719254154 meters 0.024807667944898228 Centerline is valid? [True, True] Translation: X:355.79, Y:2.08, Z:1.54 [[ 9.98997571e-01 -4.18257958e-02 -1.59516699e-02 3.55787330e+02] [ 4.18299436e-02 9.99124742e-01 -7.36840944e-05 2.07501910e+00] [ 1.59407900e-02 -5.93647221e-04 9.99872761e-01 1.54309607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.779254154 meters 0.01997858096403318 Centerline is valid? [True, True] Translation: X:355.85, Y:2.08, Z:1.54 [[ 9.99133862e-01 -3.85756109e-02 -1.56028432e-02 3.55848868e+02] [ 3.85791945e-02 9.99255543e-01 -7.13582591e-05 2.08467918e+00] [ 1.55939803e-02 -5.30648671e-04 9.99878266e-01 1.54499878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.839254154 meters 0.01931122690861154 Centerline is valid? [True, True] Translation: X:355.91, Y:2.09, Z:1.54 [[ 9.99319896e-01 -3.33828881e-02 -1.56629528e-02 3.55909028e+02] [ 3.33858678e-02 9.99442534e-01 -7.12712506e-05 2.08994911e+00] [ 1.56566005e-02 -4.51698494e-04 9.99877326e-01 1.54496065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.899254154 meters 0.017665970967473 Centerline is valid? [True, True] Translation: X:355.97, Y:2.10, Z:1.55 [[ 9.99509444e-01 -2.72943157e-02 -1.53587966e-02 3.55970003e+02] [ 2.72964665e-02 9.99627380e-01 -6.96185238e-05 2.09693762e+00] [ 1.53549738e-02 -3.49656505e-04 9.99882044e-01 1.54641586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.959254154 meters 0.018133071533410344 Centerline is valid? [True, True] Translation: X:356.03, Y:2.10, Z:1.55 [[ 9.99622727e-01 -2.31273160e-02 -1.48165681e-02 3.56030797e+02] [ 2.31288665e-02 9.99732490e-01 -6.67241056e-05 2.09800905e+00] [ 1.48141477e-02 -2.75991494e-04 9.99890226e-01 1.54552169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.019254154 meters 0.015848732738648303 Centerline is valid? [True, True] Translation: X:356.09, Y:2.10, Z:1.55 [[ 9.99657051e-01 -2.18556959e-02 -1.44259582e-02 3.56091812e+02] [ 2.18570409e-02 9.99761104e-01 -6.44428242e-05 2.10367946e+00] [ 1.44239203e-02 -2.50888034e-04 9.99895938e-01 1.54872442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.079254154 meters 0.015872196337280032 Centerline is valid? [True, True] Translation: X:356.15, Y:2.10, Z:1.55 [[ 9.99673391e-01 -2.04773755e-02 -1.52901318e-02 3.56152189e+02] [ 2.04787310e-02 9.99790286e-01 -6.79296684e-05 2.10459324e+00] [ 1.52883163e-02 -2.45215014e-04 9.99883097e-01 1.54829807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.139254154 meters 0.01543852864501963 Centerline is valid? [True, True] Translation: X:356.21, Y:2.11, Z:1.55 [[ 9.99686775e-01 -1.89543467e-02 -1.63427329e-02 3.56212791e+02] [ 1.89556933e-02 9.99820322e-01 -7.25197402e-05 2.10639326e+00] [ 1.63411711e-02 -2.37290808e-04 9.99866446e-01 1.54759427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.199254154 meters 0.015499863850503419 Centerline is valid? [True, True] Translation: X:356.27, Y:2.11, Z:1.55 [[ 9.99729311e-01 -1.49082257e-02 -1.78619473e-02 3.56271564e+02] [ 1.49091756e-02 9.99888849e-01 -7.99898248e-05 2.10801670e+00] [ 1.78611544e-02 -1.86338735e-04 9.99840459e-01 1.54678898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.259254154 meters 0.015701868168816302 Centerline is valid? [True, True] Translation: X:356.33, Y:2.11, Z:1.55 [[ 9.99787021e-01 -1.02350474e-02 -1.79208434e-02 3.56329345e+02] [ 1.02352272e-02 9.99947615e-01 -8.16865913e-05 2.11014576e+00] [ 1.79207407e-02 -1.01754710e-04 9.99839405e-01 1.54807487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.319254154 meters 0.016607322634623833 Centerline is valid? [True, True] Translation: X:356.39, Y:2.11, Z:1.55 [[ 9.99797798e-01 -8.03374850e-03 -1.84342416e-02 3.56387160e+02] [ 8.03348243e-03 9.99967727e-01 -8.84862936e-05 2.11138126e+00] [ 1.84343575e-02 -5.96227545e-05 9.99830071e-01 1.54983378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.379254154 meters 0.01569783345885244 Centerline is valid? [True, True] Translation: X:356.44, Y:2.11, Z:1.55 [[ 9.99792796e-01 -7.19724727e-03 -1.90411155e-02 3.56444558e+02] [ 7.19670366e-03 9.99974099e-01 -9.70728876e-05 2.11014782e+00] [ 1.90413209e-02 -3.99804917e-05 9.99818697e-01 1.55052173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.43925415399997 meters 0.015388328258140325 Centerline is valid? [True, True] Translation: X:356.50, Y:2.11, Z:1.55 [[ 9.99744355e-01 -9.12014416e-03 -2.06893229e-02 3.56503154e+02] [ 9.11979729e-03 9.99958408e-01 -1.11118881e-04 2.10666232e+00] [ 2.06894758e-02 -7.75919575e-05 9.99785947e-01 1.55004248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.49925415399997 meters 0.01473675927044254 Centerline is valid? [True, True] Translation: X:356.56, Y:2.10, Z:1.55 [[ 9.99687434e-01 -1.32831258e-02 -2.11800123e-02 3.56561525e+02] [ 1.32836388e-02 9.99911762e-01 -1.16474697e-04 2.10226096e+00] [ 2.11796906e-02 -1.64909343e-04 9.99775672e-01 1.55014048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.559254154 meters 0.014843274747213054 Centerline is valid? [True, True] Translation: X:356.62, Y:2.10, Z:1.55 [[ 9.99632208e-01 -1.65554687e-02 -2.14794037e-02 3.56620558e+02] [ 1.65566478e-02 9.99862922e-01 -1.22948342e-04 2.09865578e+00] [ 2.14784948e-02 -2.32723799e-04 9.99769283e-01 1.55041939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.619254154 meters 0.015437623406677512 Centerline is valid? [True, True] Translation: X:356.68, Y:2.09, Z:1.55 [[ 9.99502629e-01 -2.23496563e-02 -2.22483340e-02 3.56680065e+02] [ 2.23523154e-02 9.99750147e-01 -1.29186117e-04 2.09346714e+00] [ 2.22456624e-02 -3.68179914e-04 9.99752467e-01 1.55062716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.679254154 meters 0.01629651229267134 Centerline is valid? [True, True] Translation: X:356.74, Y:2.09, Z:1.55 [[ 9.99353386e-01 -2.83963905e-02 -2.20557251e-02 3.56739410e+02] [ 2.84004502e-02 9.99596618e-01 -1.29211993e-04 2.08837032e+00] [ 2.20504973e-02 -4.97264078e-04 9.99756735e-01 1.55079056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.739254154 meters 0.01810960785775462 Centerline is valid? [True, True] Translation: X:356.80, Y:2.08, Z:1.55 [[ 9.99286503e-01 -3.17283096e-02 -2.04890196e-02 3.56798075e+02] [ 3.17324898e-02 9.99496390e-01 -1.21143962e-04 2.08331164e+00] [ 2.04825449e-02 -5.29110082e-04 9.99790071e-01 1.54995192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.799254154 meters 0.018657237361126823 Centerline is valid? [True, True] Translation: X:356.86, Y:2.08, Z:1.55 [[ 9.99146549e-01 -3.69895517e-02 -1.83833047e-02 3.56858877e+02] [ 3.69938022e-02 9.99315489e-01 -1.08910296e-04 2.08060267e+00] [ 1.83747497e-02 -5.71250990e-04 9.99831007e-01 1.55199948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.859254154 meters 0.023443121813084257 Centerline is valid? [True, True] Translation: X:356.92, Y:2.07, Z:1.55 [[ 9.98887984e-01 -4.36445001e-02 -1.78312562e-02 3.56918687e+02] [ 4.36495578e-02 9.99046898e-01 -1.05639867e-04 2.07048559e+00] [ 1.78188718e-02 -6.72804052e-04 9.99841005e-01 1.55011430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.919254154 meters 0.022333268144805185 Centerline is valid? [True, True] Translation: X:356.98, Y:2.07, Z:1.55 [[ 9.98648735e-01 -4.85970793e-02 -1.84127073e-02 3.56979741e+02] [ 4.86033172e-02 9.98818154e-01 -1.08826071e-04 2.07098461e+00] [ 1.83962350e-02 -7.86239638e-04 9.99830466e-01 1.55090698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.979254154 meters 0.025838888614411942 Centerline is valid? [True, True] Translation: X:357.04, Y:2.06, Z:1.55 [[ 9.98340972e-01 -5.41031069e-02 -1.97017267e-02 3.57039458e+02] [ 5.41113158e-02 9.98534903e-01 -1.16585868e-04 2.06388513e+00] [ 1.96791694e-02 -9.49693908e-04 9.99805895e-01 1.54838523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.039254154 meters 0.026698474804751817 Centerline is valid? [True, True] Translation: X:357.10, Y:2.06, Z:1.55 [[ 9.98373153e-01 -5.38320956e-02 -1.87923711e-02 3.57101617e+02] [ 5.38395342e-02 9.98549594e-01 -1.10239158e-04 2.06402138e+00] [ 1.87710489e-02 -9.01712690e-04 9.99823402e-01 1.54873008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.099254154 meters 0.025107611129523887 Centerline is valid? [True, True] Translation: X:357.16, Y:2.07, Z:1.55 [[ 9.98737649e-01 -4.75976921e-02 -1.60489227e-02 3.57161110e+02] [ 4.76023144e-02 9.98866363e-01 -9.40849664e-05 2.06996252e+00] [ 1.60352073e-02 -6.69999666e-04 9.99871203e-01 1.55102235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.159254154 meters 0.020785262440458096 Centerline is valid? [True, True] Translation: X:357.22, Y:2.08, Z:1.55 [[ 9.98887658e-01 -4.46894145e-02 -1.50433366e-02 3.57222182e+02] [ 4.46931513e-02 9.99000758e-01 -8.78613523e-05 2.07795796e+00] [ 1.50322312e-02 -5.84570500e-04 9.99886839e-01 1.55306698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.219254154 meters 0.019588394846832353 Centerline is valid? [True, True] Translation: X:357.28, Y:2.08, Z:1.55 [[ 9.99168086e-01 -3.83095927e-02 -1.39825457e-02 3.57281582e+02] [ 3.83121966e-02 9.99265815e-01 -8.16878243e-05 2.08233479e+00] [ 1.39754094e-02 -4.54082175e-04 9.99902236e-01 1.55310853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.279254154 meters 0.01707750561795148 Centerline is valid? [True, True] Translation: X:357.34, Y:2.09, Z:1.55 [[ 9.99523738e-01 -2.80996458e-02 -1.27556503e-02 3.57341907e+02] [ 2.81009810e-02 9.99605087e-01 -7.45766268e-05 2.09149222e+00] [ 1.27527085e-02 -2.83905177e-04 9.99918641e-01 1.55296684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.339254154 meters 0.015458883594494795 Centerline is valid? [True, True] Translation: X:357.40, Y:2.10, Z:1.55 [[ 9.99755595e-01 -1.85574073e-02 -1.20155439e-02 3.57401467e+02] [ 1.85579093e-02 9.99827785e-01 -6.97232952e-05 2.10077323e+00] [ 1.20147685e-02 -1.53277119e-04 9.99927808e-01 1.55307964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.399254154 meters 0.014822111598469457 Centerline is valid? [True, True] Translation: X:357.46, Y:2.11, Z:1.55 [[ 9.99842560e-01 -1.30418594e-02 -1.20318093e-02 3.57461949e+02] [ 1.30419670e-02 9.99914948e-01 -6.95181105e-05 2.10603419e+00] [ 1.20316926e-02 -8.74112945e-05 9.99927613e-01 1.55259547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.459254154 meters 0.014397557529272883 Centerline is valid? [True, True] Translation: X:357.52, Y:2.11, Z:1.55 [[ 9.99915148e-01 -5.66936114e-03 -1.17283898e-02 3.57521992e+02] [ 5.66895325e-03 9.99983929e-01 -6.80227844e-05 2.11347928e+00] [ 1.17285869e-02 1.52931918e-06 9.99931218e-01 1.55220909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.519254154 meters 0.014470461806823829 Centerline is valid? [True, True] Translation: X:357.58, Y:2.12, Z:1.55 [[ 9.99945852e-01 9.13342491e-04 -1.03662090e-02 3.57580556e+02] [-9.14032470e-04 9.99999580e-01 -6.18229324e-05 2.11949862e+00] [ 1.03661481e-02 7.12946364e-05 9.99946268e-01 1.55298651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.579254154 meters 0.015372805795329514 Centerline is valid? [True, True] Translation: X:357.64, Y:2.12, Z:1.55 [[ 9.99935435e-01 6.53623667e-03 -9.29531529e-03 3.57638029e+02] [-6.53705039e-03 9.99978632e-01 -5.71608284e-05 2.12476357e+00] [ 9.29474305e-03 1.17921082e-04 9.99956796e-01 1.55265076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.639254154 meters 0.015707441512896943 Centerline is valid? [True, True] Translation: X:357.70, Y:2.13, Z:1.55 [[ 9.99913150e-01 9.93870308e-03 -8.65534641e-03 3.57696406e+02] [-9.93954440e-03 9.99950600e-01 -5.41909058e-05 2.12762807e+00] [ 8.65438025e-03 1.40216399e-04 9.99962540e-01 1.55308618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.699254154 meters 0.01522701611572426 Centerline is valid? [True, True] Translation: X:357.76, Y:2.13, Z:1.55 [[ 9.99909958e-01 1.06795723e-02 -8.12543888e-03 3.57755519e+02] [-1.06803436e-02 9.99942962e-01 -5.15289451e-05 2.12646285e+00] [ 8.12442511e-03 1.38306784e-04 9.99966987e-01 1.55333449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.759254154 meters 0.014904199212164595 Centerline is valid? [True, True] Translation: X:357.81, Y:2.12, Z:1.55 [[ 9.99937323e-01 7.61500418e-03 -8.20746564e-03 3.57814580e+02] [-7.61569291e-03 9.99970999e-01 -5.26643874e-05 2.12377354e+00] [ 8.20682657e-03 1.15166624e-04 9.99966317e-01 1.55310268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.819254154 meters 0.015070493160006353 Centerline is valid? [True, True] Translation: X:357.87, Y:2.12, Z:1.55 [[ 9.99968221e-01 -1.00142292e-03 -7.90905808e-03 3.57873120e+02] [ 1.00104833e-03 9.99999498e-01 -5.13202896e-05 2.11547410e+00] [ 7.90910550e-03 4.34013093e-05 9.99968722e-01 1.55236817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.879254154 meters 0.013712673205538269 Centerline is valid? [True, True] Translation: X:357.93, Y:2.11, Z:1.55 [[ 9.99906575e-01 -1.17688608e-02 -6.95234071e-03 3.57931762e+02] [ 1.17688284e-02 9.99930744e-01 -4.55794313e-05 2.10511292e+00] [ 6.95239564e-03 -3.62457316e-05 9.99975831e-01 1.55250954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.93925415399997 meters 0.014947316304148915 Centerline is valid? [True, True] Translation: X:357.99, Y:2.10, Z:1.55 [[ 9.99739381e-01 -2.16264831e-02 -7.31200731e-03 3.57992634e+02] [ 2.16267088e-02 9.99766114e-01 -4.82192206e-05 2.09527764e+00] [ 7.31133995e-03 -1.09927999e-04 9.99973266e-01 1.55277989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.99925415399997 meters 0.015947968594211454 Centerline is valid? [True, True] Translation: X:358.05, Y:2.09, Z:1.55 [[ 9.99590963e-01 -2.74912022e-02 -7.88288790e-03 3.58054401e+02] [ 2.74916489e-02 9.99622032e-01 -5.17070442e-05 2.08925827e+00] [ 7.88132991e-03 -1.65027693e-04 9.99968928e-01 1.55247157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.059254154 meters 0.017665960705534087 Centerline is valid? [True, True] Translation: X:358.12, Y:2.08, Z:1.55 [[ 9.99369149e-01 -3.45969968e-02 -8.02199146e-03 3.58115130e+02] [ 3.45976914e-02 9.99401319e-01 -5.22084984e-05 2.08139910e+00] [ 8.01899510e-03 -2.25366822e-04 9.99967822e-01 1.55186930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.119254154 meters 0.01995920860595928 Centerline is valid? [True, True] Translation: X:358.17, Y:2.07, Z:1.55 [[ 9.99184369e-01 -3.95815558e-02 -7.99361129e-03 3.58174861e+02] [ 3.95824089e-02 9.99216308e-01 -5.15166659e-05 2.07377160e+00] [ 7.98938587e-03 -2.64931743e-04 9.99968049e-01 1.55189689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.179254154 meters 0.021703293580827426 Centerline is valid? [True, True] Translation: X:358.24, Y:2.07, Z:1.55 [[ 9.98970138e-01 -4.46634344e-02 -7.99011816e-03 3.58236394e+02] [ 4.46644532e-02 9.99002044e-01 -5.09865055e-05 2.06826566e+00] [ 7.98442161e-03 -3.05940262e-04 9.99968077e-01 1.55175040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.239254154 meters 0.02359957275801149 Centerline is valid? [True, True] Translation: X:358.30, Y:2.06, Z:1.55 [[ 9.98807162e-01 -4.80931122e-02 -8.44422410e-03 3.58296429e+02] [ 4.80943738e-02 9.98842795e-01 -5.37143422e-05 2.06332984e+00] [ 8.43703569e-03 -3.52469401e-04 9.99964345e-01 1.55180282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.299254154 meters 0.02604672131025991 Centerline is valid? [True, True] Translation: X:358.36, Y:2.06, Z:1.55 [[ 9.98507491e-01 -5.37673995e-02 -9.58417774e-03 3.58357206e+02] [ 5.37692857e-02 9.98553384e-01 -6.09459704e-05 2.05839220e+00] [ 9.57359002e-03 -4.54479383e-04 9.99954069e-01 1.55209639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.359254154 meters 0.027866444329595664 Centerline is valid? [True, True] Translation: X:358.42, Y:2.06, Z:1.55 [[ 9.98334791e-01 -5.67591222e-02 -1.02979634e-02 3.58418242e+02] [ 5.67614599e-02 9.98387767e-01 -6.53621745e-05 2.05534309e+00] [ 1.02850706e-02 -5.19274104e-04 9.99946972e-01 1.55215713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.419254154 meters 0.028332348057458056 Centerline is valid? [True, True] Translation: X:358.48, Y:2.05, Z:1.55 [[ 9.98119775e-01 -6.02417118e-02 -1.13071492e-02 3.58479437e+02] [ 6.02447553e-02 9.98183633e-01 -7.15569783e-05 2.05388355e+00] [ 1.12909220e-02 -6.09774002e-04 9.99936070e-01 1.55230561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.479254154 meters 0.030859083411310474 Centerline is valid? [True, True] Translation: X:358.54, Y:2.05, Z:1.55 [[ 9.98036778e-01 -6.14911247e-02 -1.18924883e-02 3.58540064e+02] [ 6.14945920e-02 9.98107414e-01 -7.42436420e-05 2.05046693e+00] [ 1.18745460e-02 -6.57225828e-04 9.99929279e-01 1.55244345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.539254154 meters 0.02593370475746718 Centerline is valid? [True, True] Translation: X:358.60, Y:2.06, Z:1.55 [[ 9.98051463e-01 -6.10288709e-02 -1.29905392e-02 3.58602540e+02] [ 6.10329854e-02 9.98135746e-01 -7.98502427e-05 2.05828401e+00] [ 1.29711947e-02 -7.13156737e-04 9.99915616e-01 1.55371052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.599254154 meters 0.024657530483898144 Centerline is valid? [True, True] Translation: X:358.66, Y:2.06, Z:1.56 [[ 9.98305598e-01 -5.67871302e-02 -1.26946872e-02 3.58663108e+02] [ 5.67907240e-02 9.98386101e-01 -7.75001696e-05 2.06297964e+00] [ 1.26786003e-02 -6.43571626e-04 9.99919416e-01 1.55516048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.659254154 meters 0.022608192761758808 Centerline is valid? [True, True] Translation: X:358.72, Y:2.07, Z:1.56 [[ 9.98788895e-01 -4.80499067e-02 -1.05806585e-02 3.58722649e+02] [ 4.80519134e-02 9.98844838e-01 -6.46264718e-05 2.07005469e+00] [ 1.05715414e-02 -4.43872682e-04 9.99944021e-01 1.55742417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.719254154 meters 0.01852732418147418 Centerline is valid? [True, True] Translation: X:358.78, Y:2.08, Z:1.56 [[ 9.99273632e-01 -3.70827295e-02 -8.77943977e-03 3.58783364e+02] [ 3.70836879e-02 9.99312162e-01 -5.36565558e-05 2.08028878e+00] [ 8.77539067e-03 -2.71956423e-04 9.99961459e-01 1.55821499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.779254154 meters 0.016080906661564563 Centerline is valid? [True, True] Translation: X:358.84, Y:2.09, Z:1.56 [[ 9.99626803e-01 -2.58795758e-02 -8.74656148e-03 3.58843993e+02] [ 2.58800988e-02 9.99665053e-01 -5.34015335e-05 2.08838058e+00] [ 8.74501385e-03 -1.72980271e-04 9.99961747e-01 1.55747570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.839254154 meters 0.01496095240801525 Centerline is valid? [True, True] Translation: X:358.90, Y:2.09, Z:1.56 [[ 9.99784721e-01 -1.82933867e-02 -9.79095581e-03 3.58904203e+02] [ 1.82936835e-02 9.99832655e-01 -5.92448842e-05 2.09404280e+00] [ 9.79040113e-03 -1.19880517e-04 9.99952066e-01 1.55645020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.899254154 meters 0.013926374167575237 Centerline is valid? [True, True] Translation: X:358.97, Y:2.10, Z:1.56 [[ 9.99914459e-01 -7.03951175e-03 -1.10236016e-02 3.58965268e+02] [ 7.03921201e-03 9.99975222e-01 -6.59909312e-05 2.10176804e+00] [ 1.10237930e-02 -1.16121828e-05 9.99939236e-01 1.55575981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.959254154 meters 0.014186450610612732 Centerline is valid? [True, True] Translation: X:359.02, Y:2.11, Z:1.56 [[ 9.99945992e-01 -4.95217719e-04 -1.03810921e-02 3.59024008e+02] [ 4.94584769e-04 9.99999876e-01 -6.35385561e-05 2.10567119e+00] [ 1.03811222e-02 5.84007945e-05 9.99946113e-01 1.55659785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.019254154 meters 0.014404472031137261 Centerline is valid? [True, True] Translation: X:359.08, Y:2.11, Z:1.56 [[ 9.99947971e-01 2.09602561e-03 -9.98304248e-03 3.59082876e+02] [-2.09676532e-03 9.99997800e-01 -6.36302566e-05 2.10724629e+00] [ 9.98288714e-03 8.45590432e-05 9.99950166e-01 1.55726940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.079254154 meters 0.014973106370855853 Centerline is valid? [True, True] Translation: X:359.14, Y:2.11, Z:1.56 [[ 9.99939989e-01 4.86871407e-03 -9.81396405e-03 3.59142076e+02] [-4.86958701e-03 9.99988141e-01 -6.50555636e-05 2.10527563e+00] [ 9.81353093e-03 1.12841611e-04 9.99951840e-01 1.55711334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.139254154 meters 0.01448323425790023 Centerline is valid? [True, True] Translation: X:359.20, Y:2.10, Z:1.56 [[ 9.99952707e-01 4.92546246e-04 -9.71295428e-03 3.59200475e+02] [-4.93209457e-04 9.99999876e-01 -6.58859452e-05 2.10036331e+00] [ 9.71292062e-03 7.06733502e-05 9.99952826e-01 1.55691227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.199254154 meters 0.014305185846799238 Centerline is valid? [True, True] Translation: X:359.26, Y:2.09, Z:1.56 [[ 9.99898390e-01 -1.11319539e-02 -8.90443523e-03 3.59259879e+02] [ 1.11318503e-02 9.99938037e-01 -6.12083112e-05 2.08821941e+00] [ 8.90456486e-03 -3.79207478e-05 9.99960353e-01 1.55781727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.259254154 meters 0.015201049736211078 Centerline is valid? [True, True] Translation: X:359.32, Y:2.08, Z:1.56 [[ 9.99747107e-01 -2.03677449e-02 -9.53298937e-03 3.59319943e+02] [ 2.03680398e-02 9.99792548e-01 -6.61628096e-05 2.07942036e+00] [ 9.53235932e-03 -1.28022229e-04 9.99954558e-01 1.55811544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.319254154 meters 0.020205351003935647 Centerline is valid? [True, True] Translation: X:359.38, Y:2.06, Z:1.56 [[ 9.99386898e-01 -3.29031978e-02 -1.19669682e-02 3.59379364e+02] [ 3.29045612e-02 9.99458495e-01 -8.30004717e-05 2.06358194e+00] [ 1.19632190e-02 -3.10818252e-04 9.99928390e-01 1.55587455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.379254154 meters 0.021956147849111547 Centerline is valid? [True, True] Translation: X:359.44, Y:2.05, Z:1.56 [[ 9.99023413e-01 -4.22447962e-02 -1.29459198e-02 3.59440025e+02] [ 4.22471766e-02 9.99107185e-01 -8.96661565e-05 2.05303888e+00] [ 1.29381494e-02 -4.57349971e-04 9.99916194e-01 1.55553955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.43925415399997 meters 0.022004425381633465 Centerline is valid? [True, True] Translation: X:359.50, Y:2.05, Z:1.56 [[ 9.98855697e-01 -4.60098819e-02 -1.30532175e-02 3.59501375e+02] [ 4.60126272e-02 9.98940854e-01 -9.00778722e-05 2.04947654e+00] [ 1.30435367e-02 -5.10638036e-04 9.99914799e-01 1.55667369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.49925415399997 meters 0.024314667641210118 Centerline is valid? [True, True] Translation: X:359.56, Y:2.04, Z:1.56 [[ 9.98868988e-01 -4.57624822e-02 -1.29050190e-02 3.59562858e+02] [ 4.57651530e-02 9.98952223e-01 -8.84316781e-05 2.04440134e+00] [ 1.28955443e-02 -5.02268511e-04 9.99916723e-01 1.55637344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.559254154 meters 0.020692038303102483 Centerline is valid? [True, True] Translation: X:359.62, Y:2.05, Z:1.56 [[ 9.98979033e-01 -4.28235888e-02 -1.43886112e-02 3.59624442e+02] [ 4.28266139e-02 9.99082515e-01 -9.79568520e-05 2.04865647e+00] [ 1.43796047e-02 -5.18358655e-04 9.99896474e-01 1.55684428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.619254154 meters 0.02032765088295841 Centerline is valid? [True, True] Translation: X:359.69, Y:2.05, Z:1.56 [[ 9.99104722e-01 -3.93048253e-02 -1.56488388e-02 3.59685075e+02] [ 3.93079917e-02 9.99227137e-01 -1.05309122e-04 2.04876528e+00] [ 1.56408836e-02 -5.09909586e-04 9.99877544e-01 1.55561575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.679254154 meters 0.01906029101219605 Centerline is valid? [True, True] Translation: X:359.75, Y:2.05, Z:1.56 [[ 9.99188693e-01 -3.60840523e-02 -1.78856497e-02 3.59746714e+02] [ 3.60876906e-02 9.99348620e-01 -1.19399539e-04 2.05266771e+00] [ 1.78783078e-02 -5.26149123e-04 9.99840032e-01 1.55512736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.739254154 meters 0.018853655882025182 Centerline is valid? [True, True] Translation: X:359.81, Y:2.05, Z:1.55 [[ 9.99225211e-01 -3.42988443e-02 -1.93019810e-02 3.59807177e+02] [ 3.43027523e-02 9.99411479e-01 -1.28680767e-04 2.05485838e+00] [ 1.92950350e-02 -5.33530005e-04 9.99813691e-01 1.55432182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.799254154 meters 0.018761641077641885 Centerline is valid? [True, True] Translation: X:359.87, Y:2.06, Z:1.55 [[ 9.99277368e-01 -3.20448156e-02 -2.04419206e-02 3.59866521e+02] [ 3.20487219e-02 9.99486298e-01 -1.36567622e-04 2.05786701e+00] [ 2.04357959e-02 -5.18668494e-04 9.99791033e-01 1.55451396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.859254154 meters 0.018007320843296624 Centerline is valid? [True, True] Translation: X:359.93, Y:2.06, Z:1.56 [[ 9.99346981e-01 -3.09664859e-02 -1.86195756e-02 3.59926061e+02] [ 3.09695286e-02 9.99520321e-01 -1.24978763e-04 2.06231004e+00] [ 1.86145143e-02 -4.51742329e-04 9.99826633e-01 1.55781728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.919254154 meters 0.01838994008522426 Centerline is valid? [True, True] Translation: X:359.99, Y:2.06, Z:1.56 [[ 9.99387057e-01 -3.08052739e-02 -1.66296527e-02 3.59985683e+02] [ 3.08076780e-02 9.99525325e-01 -1.11649696e-04 2.06280450e+00] [ 1.66251984e-02 -4.00739725e-04 9.99861712e-01 1.55930990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.979254154 meters 0.01821500131039178 Centerline is valid? [True, True] Translation: X:360.05, Y:2.06, Z:1.56 [[ 9.99391310e-01 -3.11758351e-02 -1.56548981e-02 3.60046757e+02] [ 3.11780180e-02 9.99513842e-01 -1.04662264e-04 2.06464892e+00] [ 1.56505503e-02 -3.83490139e-04 9.99877449e-01 1.56041293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.039254154 meters 0.01845552862164934 Centerline is valid? [True, True] Translation: X:360.11, Y:2.07, Z:1.56 [[ 9.99397606e-01 -3.10823530e-02 -1.54373961e-02 3.60108048e+02] [ 3.10844729e-02 9.99516756e-01 -1.02661804e-04 2.06602451e+00] [ 1.54331270e-02 -3.77263359e-04 9.99880831e-01 1.56062655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.099254154 meters 0.01858619607897455 Centerline is valid? [True, True] Translation: X:360.17, Y:2.07, Z:1.56 [[ 9.99400241e-01 -3.05762473e-02 -1.62558002e-02 3.60169833e+02] [ 3.05785405e-02 9.99532361e-01 -1.07526249e-04 2.06798928e+00] [ 1.62514862e-02 -3.89616886e-04 9.99867860e-01 1.55973108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.159254154 meters 0.01919218984491589 Centerline is valid? [True, True] Translation: X:360.23, Y:2.07, Z:1.56 [[ 9.99431049e-01 -2.91211249e-02 -1.70158304e-02 3.60229330e+02] [ 2.91234259e-02 9.99575817e-01 -1.12609604e-04 2.06945048e+00] [ 1.70118918e-02 -3.83013739e-04 9.99855214e-01 1.55978433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.219254154 meters 0.017937802592414735 Centerline is valid? [True, True] Translation: X:360.29, Y:2.07, Z:1.56 [[ 9.99562091e-01 -2.53055208e-02 -1.53380753e-02 3.60288578e+02] [ 2.53069444e-02 9.99679723e-01 -1.01302727e-04 2.07283860e+00] [ 1.53357264e-02 -2.86901453e-04 9.99882360e-01 1.56043047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.279254154 meters 0.015591494887562578 Centerline is valid? [True, True] Translation: X:360.35, Y:2.08, Z:1.56 [[ 9.99634180e-01 -2.22241905e-02 -1.54139866e-02 3.60349389e+02] [ 2.22252637e-02 9.99752983e-01 -1.01694161e-04 2.07986401e+00] [ 1.54124392e-02 -2.40922957e-04 9.99881192e-01 1.56275916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.339254154 meters 0.014983179683158132 Centerline is valid? [True, True] Translation: X:360.41, Y:2.08, Z:1.56 [[ 9.99731673e-01 -1.74948559e-02 -1.51825921e-02 3.60408486e+02] [ 1.74953545e-02 9.99846940e-01 -9.99892440e-05 2.08177594e+00] [ 1.51820175e-02 -1.65662417e-04 9.99884733e-01 1.56244026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.399254154 meters 0.015015570845958868 Centerline is valid? [True, True] Translation: X:360.47, Y:2.08, Z:1.56 [[ 9.99782306e-01 -1.51908830e-02 -1.43030605e-02 3.60466643e+02] [ 1.51910781e-02 9.99884604e-01 -9.50083455e-05 2.08170252e+00] [ 1.43028532e-02 -1.22291247e-04 9.99897701e-01 1.56218472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.459254154 meters 0.014768951274516896 Centerline is valid? [True, True] Translation: X:360.53, Y:2.08, Z:1.56 [[ 9.99764455e-01 -1.72009549e-02 -1.32348454e-02 3.60525424e+02] [ 1.72012628e-02 9.99852043e-01 -9.05816494e-05 2.08001436e+00] [ 1.32344453e-02 -1.37095741e-04 9.99912411e-01 1.56414888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.519254154 meters 0.015334852554079185 Centerline is valid? [True, True] Translation: X:360.58, Y:2.08, Z:1.56 [[ 9.99701747e-01 -2.05776003e-02 -1.31521476e-02 3.60584460e+02] [ 2.05781866e-02 9.99788243e-01 -9.07665513e-05 2.07560557e+00] [ 1.31512303e-02 -1.79907867e-04 9.99913503e-01 1.56359539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.579254154 meters 0.016023936858132495 Centerline is valid? [True, True] Translation: X:360.64, Y:2.07, Z:1.56 [[ 9.99536632e-01 -2.75070311e-02 -1.30339960e-02 3.60644588e+02] [ 2.75081961e-02 9.99621574e-01 -8.99164536e-05 2.06978098e+00] [ 1.30315369e-02 -2.68666929e-04 9.99915050e-01 1.56413309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.639254154 meters 0.01724692688927587 Centerline is valid? [True, True] Translation: X:360.71, Y:2.06, Z:1.56 [[ 9.99405953e-01 -3.19276898e-02 -1.29755238e-02 3.60705514e+02] [ 3.19292178e-02 9.99490129e-01 -8.94371656e-05 2.06481713e+00] [ 1.29717635e-02 -3.24914290e-04 9.99915810e-01 1.56398059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.699254154 meters 0.019160605197508424 Centerline is valid? [True, True] Translation: X:360.77, Y:2.06, Z:1.56 [[ 9.99211711e-01 -3.75626335e-02 -1.28454483e-02 3.60767002e+02] [ 3.75646011e-02 9.99294197e-01 -8.81544859e-05 2.05799698e+00] [ 1.28396932e-02 -3.94449146e-04 9.99917490e-01 1.56339647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.759254154 meters 0.02052955399493775 Centerline is valid? [True, True] Translation: X:360.83, Y:2.05, Z:1.56 [[ 9.99086997e-01 -4.06935519e-02 -1.30079666e-02 3.60828695e+02] [ 4.06958428e-02 9.99171577e-01 -8.86410750e-05 2.05350608e+00] [ 1.30007977e-02 -4.40810020e-04 9.99915389e-01 1.56321069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.819254154 meters 0.021795449203491413 Centerline is valid? [True, True] Translation: X:360.89, Y:2.05, Z:1.56 [[ 9.99043208e-01 -4.20181767e-02 -1.21301861e-02 3.60889814e+02] [ 4.20202741e-02 9.99116755e-01 -8.20239868e-05 2.05014556e+00] [ 1.21229187e-02 -4.27768238e-04 9.99926423e-01 1.56321168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.879254154 meters 0.021214491262839173 Centerline is valid? [True, True] Translation: X:360.95, Y:2.05, Z:1.56 [[ 9.99083872e-01 -4.10795011e-02 -1.19954478e-02 3.60952423e+02] [ 4.10814938e-02 9.99155796e-01 -8.03403177e-05 2.04903901e+00] [ 1.19886215e-02 -4.12524198e-04 9.99928049e-01 1.56322961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.93925415399997 meters 0.021080763501869097 Centerline is valid? [True, True] Translation: X:361.01, Y:2.05, Z:1.56 [[ 9.99130067e-01 -3.99603980e-02 -1.19279596e-02 3.61014219e+02] [ 3.99622987e-02 9.99201185e-01 -7.90463480e-05 2.04876174e+00] [ 1.19215901e-02 -3.97691101e-04 9.99928856e-01 1.56311666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.99925415399997 meters 0.018951866373235076 Centerline is valid? [True, True] Translation: X:361.08, Y:2.05, Z:1.56 [[ 9.99316282e-01 -3.47774548e-02 -1.25497870e-02 3.61076005e+02] [ 3.47791601e-02 9.99395019e-01 -8.24051958e-05 2.05271372e+00] [ 1.25450605e-02 -3.54122199e-04 9.99921245e-01 1.56304018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.059254154 meters 0.016713167312916263 Centerline is valid? [True, True] Translation: X:361.14, Y:2.06, Z:1.56 [[ 9.99565126e-01 -2.62924205e-02 -1.33516620e-02 3.61135642e+02] [ 2.62935973e-02 9.99654260e-01 -8.74202722e-05 2.05823531e+00] [ 1.33493442e-02 -2.63680968e-04 9.99910859e-01 1.56239024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.119254154 meters 0.015226525354911941 Centerline is valid? [True, True] Translation: X:361.20, Y:2.06, Z:1.56 [[ 9.99714439e-01 -2.03384568e-02 -1.25454237e-02 3.61195653e+02] [ 2.03390270e-02 9.99793137e-01 -8.21414112e-05 2.06258932e+00] [ 1.25444992e-02 -1.73043757e-04 9.99921300e-01 1.56272302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.179254154 meters 0.013698347974629328 Centerline is valid? [True, True] Translation: X:361.26, Y:2.07, Z:1.57 [[ 9.99845498e-01 -1.28405877e-02 -1.20041013e-02 3.61256209e+02] [ 1.28405694e-02 9.99917553e-01 -7.85970922e-05 2.06973779e+00] [ 1.20041209e-02 -7.55545478e-05 9.99927945e-01 1.56514323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.239254154 meters 0.013574434305803997 Centerline is valid? [True, True] Translation: X:361.31, Y:2.07, Z:1.57 [[ 9.99883198e-01 -1.01482364e-02 -1.14281886e-02 3.61313589e+02] [ 1.01480368e-02 9.99948504e-01 -7.54638210e-05 2.07140367e+00] [ 1.14283659e-02 -4.05186709e-05 9.99934693e-01 1.56552618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.299254154 meters 0.01357738182835866 Centerline is valid? [True, True] Translation: X:361.37, Y:2.07, Z:1.57 [[ 9.99851380e-01 -1.16646235e-02 -1.26946674e-02 3.61372151e+02] [ 1.16644668e-02 9.99931964e-01 -8.63874676e-05 2.06973967e+00] [ 1.26948114e-02 -6.17018975e-05 9.99919416e-01 1.56556026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.359254154 meters 0.01368519363430755 Centerline is valid? [True, True] Translation: X:361.43, Y:2.07, Z:1.57 [[ 9.99809376e-01 -1.48053015e-02 -1.27285346e-02 3.61431236e+02] [ 1.48053563e-02 9.99890391e-01 -8.99343214e-05 2.06764340e+00] [ 1.27284710e-02 -9.85333125e-05 9.99918985e-01 1.56632274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.419254154 meters 0.014396629974216403 Centerline is valid? [True, True] Translation: X:361.49, Y:2.06, Z:1.57 [[ 9.99693933e-01 -2.11806469e-02 -1.27835842e-02 3.61490353e+02] [ 2.11812024e-02 9.99775649e-01 -9.19538581e-05 2.06275626e+00] [ 1.27826639e-02 -1.78845970e-04 9.99918282e-01 1.56702303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.479254154 meters 0.015348042790426843 Centerline is valid? [True, True] Translation: X:361.55, Y:2.06, Z:1.57 [[ 9.99537462e-01 -2.76533119e-02 -1.26553217e-02 3.61550446e+02] [ 2.76543698e-02 9.99617541e-01 -9.14282882e-05 2.05709462e+00] [ 1.26530098e-02 -2.58588946e-04 9.99919914e-01 1.56726777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.539254154 meters 0.016765238322701454 Centerline is valid? [True, True] Translation: X:361.61, Y:2.05, Z:1.57 [[ 9.99398136e-01 -3.19875380e-02 -1.34225082e-02 3.61611644e+02] [ 3.19891219e-02 9.99488212e-01 -9.67263715e-05 2.05340340e+00] [ 1.34187328e-02 -3.32706096e-04 9.99909909e-01 1.56688481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.599254154 meters 0.0180326699173218 Centerline is valid? [True, True] Translation: X:361.67, Y:2.05, Z:1.57 [[ 9.99347595e-01 -3.31669067e-02 -1.42947449e-02 3.61672380e+02] [ 3.31688314e-02 9.99449758e-01 -1.02479056e-04 2.05176798e+00] [ 1.42902783e-02 -3.71727788e-04 9.99897820e-01 1.56633729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.659254154 meters 0.018204584806529474 Centerline is valid? [True, True] Translation: X:361.73, Y:2.06, Z:1.57 [[ 9.99398085e-01 -3.14243054e-02 -1.46962663e-02 3.61733372e+02] [ 3.14261596e-02 9.99506071e-01 -1.04805532e-04 2.05555827e+00] [ 1.46923008e-02 -3.57104762e-04 9.99891999e-01 1.56783570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.719254154 meters 0.015787858737388336 Centerline is valid? [True, True] Translation: X:361.79, Y:2.06, Z:1.57 [[ 9.99482198e-01 -2.93577407e-02 -1.31703723e-02 3.61794029e+02] [ 2.93590524e-02 9.99568926e-01 -9.37754272e-05 2.05812523e+00] [ 1.31674479e-02 -2.92942781e-04 9.99913262e-01 1.56912439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.779254154 meters 0.015462461329218512 Centerline is valid? [True, True] Translation: X:361.86, Y:2.06, Z:1.57 [[ 9.99527179e-01 -2.77535553e-02 -1.32347140e-02 3.61855407e+02] [ 2.77547436e-02 9.99614758e-01 -9.39055440e-05 2.05988103e+00] [ 1.32322217e-02 -2.73464951e-04 9.99912413e-01 1.56935369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.839254154 meters 0.015616715283235057 Centerline is valid? [True, True] Translation: X:361.92, Y:2.06, Z:1.57 [[ 9.99572581e-01 -2.58523541e-02 -1.36495794e-02 3.61915794e+02] [ 2.58534456e-02 9.99665739e-01 -9.65118221e-05 2.06109001e+00] [ 1.36475119e-02 -2.56418087e-04 9.99906835e-01 1.56807811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.899254154 meters 0.015101571154849782 Centerline is valid? [True, True] Translation: X:361.98, Y:2.06, Z:1.57 [[ 9.99582977e-01 -2.50785940e-02 -1.43156278e-02 3.61975996e+02] [ 2.50797165e-02 9.99685449e-01 -1.01136986e-04 2.06247139e+00] [ 1.43136612e-02 -2.57937079e-04 9.99897521e-01 1.56795658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.959254154 meters 0.016933484461086515 Centerline is valid? [True, True] Translation: X:362.04, Y:2.06, Z:1.57 [[ 9.99576405e-01 -2.44492310e-02 -1.57875159e-02 3.62035273e+02] [ 2.44505184e-02 9.99701035e-01 -1.11499247e-04 2.06455453e+00] [ 1.57855220e-02 -2.74560930e-04 9.99875363e-01 1.56775036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.019254154 meters 0.015215600116800617 Centerline is valid? [True, True] Translation: X:362.09, Y:2.07, Z:1.57 [[ 9.99571793e-01 -2.56447018e-02 -1.40918365e-02 3.62094485e+02] [ 2.56458413e-02 9.99671086e-01 -9.98702895e-05 2.06741006e+00] [ 1.40897627e-02 -2.61569478e-04 9.99900700e-01 1.57011332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.079254154 meters 0.015578670988914876 Centerline is valid? [True, True] Translation: X:362.16, Y:2.07, Z:1.57 [[ 9.99549237e-01 -2.70604021e-02 -1.30021913e-02 3.62155349e+02] [ 2.70614899e-02 9.99633767e-01 -9.22984270e-05 2.06779396e+00] [ 1.29999271e-02 -2.59601847e-04 9.99915464e-01 1.57091408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.139254154 meters 0.016984612041914524 Centerline is valid? [True, True] Translation: X:362.22, Y:2.07, Z:1.57 [[ 9.99424534e-01 -3.16027112e-02 -1.23235149e-02 3.62217041e+02] [ 3.16040370e-02 9.99500464e-01 -8.71927987e-05 2.06642345e+00] [ 1.23201144e-02 -3.02330198e-04 9.99924059e-01 1.57106008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.199254154 meters 0.021789664933361073 Centerline is valid? [True, True] Translation: X:362.28, Y:2.06, Z:1.57 [[ 9.99116304e-01 -3.96582456e-02 -1.39224434e-02 3.62276870e+02] [ 3.96607197e-02 9.99213199e-01 -9.84580883e-05 2.06146931e+00] [ 1.39153939e-02 -4.53803044e-04 9.99903073e-01 1.56988697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.259254154 meters 0.023021450317415208 Centerline is valid? [True, True] Translation: X:362.34, Y:2.06, Z:1.57 [[ 9.98805184e-01 -4.72280916e-02 -1.25583592e-02 3.62337442e+02] [ 4.72307016e-02 9.98884004e-01 -8.88384851e-05 2.05762997e+00] [ 1.25485397e-02 -5.04407774e-04 9.99921137e-01 1.57021367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.319254154 meters 0.026176704347792835 Centerline is valid? [True, True] Translation: X:362.40, Y:2.05, Z:1.57 [[ 9.98239630e-01 -5.80517314e-02 -1.21506345e-02 3.62397766e+02] [ 5.80549742e-02 9.98313384e-01 -8.59575218e-05 2.05418822e+00] [ 1.21351310e-02 -6.19598568e-04 9.99926175e-01 1.57085858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.379254154 meters 0.029800046727305435 Centerline is valid? [True, True] Translation: X:362.46, Y:2.05, Z:1.57 [[ 9.97809040e-01 -6.49295503e-02 -1.26993527e-02 3.62458472e+02] [ 6.49336487e-02 9.97889580e-01 -8.97667680e-05 2.05170878e+00] [ 1.26783803e-02 -7.35045215e-04 9.99919356e-01 1.57051271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.43925415399997 meters 0.03146654844356034 Centerline is valid? [True, True] Translation: X:362.52, Y:2.05, Z:1.57 [[ 9.97710876e-01 -6.64868655e-02 -1.23492778e-02 3.62520734e+02] [ 6.64908676e-02 9.97787030e-01 -8.66764908e-05 2.05191348e+00] [ 1.23277121e-02 -7.34636117e-04 9.99923741e-01 1.57073126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.49925415399997 meters 0.03169667164195454 Centerline is valid? [True, True] Translation: X:362.58, Y:2.06, Z:1.57 [[ 9.97773331e-01 -6.55430645e-02 -1.23485871e-02 3.62583250e+02] [ 6.55470049e-02 9.97849479e-01 -8.57860072e-05 2.05562380e+00] [ 1.23276539e-02 -7.23817909e-04 9.99923750e-01 1.57096391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.559254154 meters 0.027393847640648034 Centerline is valid? [True, True] Translation: X:362.65, Y:2.07, Z:1.57 [[ 9.97929778e-01 -6.29427023e-02 -1.32051130e-02 3.62645070e+02] [ 6.29469951e-02 9.98016867e-01 -9.07069619e-05 2.06660861e+00] [ 1.31846348e-02 -7.40703003e-04 9.99912805e-01 1.57114219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.619254154 meters 0.026669111896461206 Centerline is valid? [True, True] Translation: X:362.71, Y:2.07, Z:1.57 [[ 9.98138096e-01 -5.95076528e-02 -1.33858285e-02 3.62705853e+02] [ 5.95117627e-02 9.98227600e-01 -9.14322035e-05 2.07168326e+00] [ 1.33675444e-02 -7.05352286e-04 9.99910402e-01 1.57116866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.679254154 meters 0.023585469735843762 Centerline is valid? [True, True] Translation: X:362.77, Y:2.08, Z:1.57 [[ 9.98643629e-01 -5.01751269e-02 -1.39053296e-02 3.62765978e+02] [ 5.01786600e-02 9.98740253e-01 -9.49145825e-05 2.08390759e+00] [ 1.38925747e-02 -6.02964962e-04 9.99903312e-01 1.57190501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.739254154 meters 0.020403511940332603 Centerline is valid? [True, True] Translation: X:362.83, Y:2.09, Z:1.57 [[ 9.99050790e-01 -4.14319944e-02 -1.34502241e-02 3.62826182e+02] [ 4.14345084e-02 9.99141218e-01 -9.18190319e-05 2.09468157e+00] [ 1.34424775e-02 -4.65571546e-04 9.99909537e-01 1.57295414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.799254154 meters 0.016981057083958848 Centerline is valid? [True, True] Translation: X:362.89, Y:2.11, Z:1.57 [[ 9.99535918e-01 -2.75097051e-02 -1.30829864e-02 3.62887148e+02] [ 2.75108925e-02 9.99621500e-01 -8.92321775e-05 2.10969716e+00] [ 1.30804893e-02 -2.70733867e-04 9.99914410e-01 1.57439027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.859254154 meters 0.0154367135883143 Centerline is valid? [True, True] Translation: X:362.95, Y:2.11, Z:1.57 [[ 9.99639904e-01 -2.33750393e-02 -1.31784096e-02 3.62948940e+02] [ 2.33758915e-02 9.99726743e-01 -8.93869714e-05 2.11467868e+00] [ 1.31768980e-02 -2.18702290e-04 9.99913157e-01 1.57418322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.919254154 meters 0.013587594892021694 Centerline is valid? [True, True] Translation: X:363.01, Y:2.13, Z:1.57 [[ 9.99803349e-01 -1.30199555e-02 -1.49581029e-02 3.63009772e+02] [ 1.30199015e-02 9.99915232e-01 -1.01001676e-04 2.12699572e+00] [ 1.49581500e-02 -9.37712123e-05 9.99888116e-01 1.57419008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.979254154 meters 0.013459680305224413 Centerline is valid? [True, True] Translation: X:363.07, Y:2.13, Z:1.57 [[ 9.99837153e-01 -9.51738878e-03 -1.53325270e-02 3.63068655e+02] [ 9.51687801e-03 9.99954708e-01 -1.06277277e-04 2.13103433e+00] [ 1.53328441e-02 -3.96578196e-05 9.99882444e-01 1.57410697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.039254154 meters 0.014035588338413084 Centerline is valid? [True, True] Translation: X:363.13, Y:2.13, Z:1.57 [[ 9.99852185e-01 -7.81894836e-03 -1.53125169e-02 3.63125986e+02] [ 7.81820106e-03 9.99969431e-01 -1.08665203e-04 2.13298337e+00] [ 1.53128985e-02 -1.10671953e-05 9.99882751e-01 1.57429735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.099254154 meters 0.014797431941766186 Centerline is valid? [True, True] Translation: X:363.18, Y:2.13, Z:1.58 [[ 9.99861805e-01 -9.44312791e-03 -1.36820142e-02 3.63184535e+02] [ 9.44264457e-03 9.99955412e-01 -9.99274838e-05 2.13275436e+00] [ 1.36823478e-02 -2.92807225e-05 9.99906392e-01 1.57637500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.159254154 meters 0.014506040150823922 Centerline is valid? [True, True] Translation: X:363.24, Y:2.13, Z:1.58 [[ 9.99848144e-01 -1.19537354e-02 -1.26805523e-02 3.63242234e+02] [ 1.19534791e-02 9.99928550e-01 -9.60097066e-05 2.13128684e+00] [ 1.26807939e-02 -5.55815894e-05 9.99919594e-01 1.57774677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.219254154 meters 0.01516741972116432 Centerline is valid? [True, True] Translation: X:363.30, Y:2.13, Z:1.58 [[ 9.99801803e-01 -1.54566708e-02 -1.25477555e-02 3.63301039e+02] [ 1.54566723e-02 9.99880534e-01 -9.68602203e-05 2.12872592e+00] [ 1.25477536e-02 -9.71055223e-05 9.99921269e-01 1.57927613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.279254154 meters 0.014553768917282819 Centerline is valid? [True, True] Translation: X:363.36, Y:2.12, Z:1.58 [[ 9.99662319e-01 -2.28937368e-02 -1.22933142e-02 3.63360392e+02] [ 2.28942912e-02 9.99737887e-01 -9.56529090e-05 2.12253879e+00] [ 1.22922819e-02 -1.85826107e-04 9.99924430e-01 1.57893222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.339254154 meters 0.016930962965449957 Centerline is valid? [True, True] Translation: X:363.42, Y:2.12, Z:1.58 [[ 9.99476587e-01 -2.94053931e-02 -1.34861365e-02 3.63421545e+02] [ 2.94066513e-02 9.99567525e-01 -1.05034811e-04 2.11533579e+00] [ 1.34833926e-02 -2.91602278e-04 9.99909052e-01 1.57812498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.399254154 meters 0.017307073165872478 Centerline is valid? [True, True] Translation: X:363.48, Y:2.11, Z:1.58 [[ 9.99340714e-01 -3.33459307e-02 -1.43591539e-02 3.63483250e+02] [ 3.33477700e-02 9.99443802e-01 -1.11390577e-04 2.11129843e+00] [ 1.43548818e-02 -3.67528623e-04 9.99896896e-01 1.57735801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.459254154 meters 0.018818496011453717 Centerline is valid? [True, True] Translation: X:363.54, Y:2.11, Z:1.58 [[ 9.99255480e-01 -3.55744370e-02 -1.49313272e-02 3.63544648e+02] [ 3.55766853e-02 9.99366943e-01 -1.15102039e-04 2.10663235e+00] [ 1.49259695e-02 -4.16190785e-04 9.99888515e-01 1.57643609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.519254154 meters 0.017535055061862138 Centerline is valid? [True, True] Translation: X:363.61, Y:2.11, Z:1.58 [[ 9.99264275e-01 -3.58630723e-02 -1.35922543e-02 3.63607298e+02] [ 3.58649741e-02 9.99356639e-01 -1.03890395e-04 2.10752943e+00] [ 1.35872354e-02 -3.83671886e-04 9.99907616e-01 1.57889218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.579254154 meters 0.01891007510200465 Centerline is valid? [True, True] Translation: X:363.67, Y:2.11, Z:1.58 [[ 9.99299403e-01 -3.49255797e-02 -1.34501529e-02 3.63669786e+02] [ 3.49273704e-02 9.99389848e-01 -1.01817324e-04 2.10733932e+00] [ 1.34455023e-02 -3.68032481e-04 9.99909537e-01 1.57949333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.639254154 meters 0.017893607772831794 Centerline is valid? [True, True] Translation: X:363.73, Y:2.11, Z:1.58 [[ 9.99298126e-01 -3.51763963e-02 -1.28792715e-02 3.63731545e+02] [ 3.51780711e-02 9.99381055e-01 -9.65514655e-05 2.10688223e+00] [ 1.28746962e-02 -3.56584228e-04 9.99917054e-01 1.57953595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.699254154 meters 0.017905029835530446 Centerline is valid? [True, True] Translation: X:363.79, Y:2.10, Z:1.58 [[ 9.99173856e-01 -3.80692749e-02 -1.42244552e-02 3.63793461e+02] [ 3.80716238e-02 9.99275007e-01 -1.05724540e-04 2.10390688e+00] [ 1.42181674e-02 -4.35910910e-04 9.99898822e-01 1.57776190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.759254154 meters 0.018888132985594514 Centerline is valid? [True, True] Translation: X:363.86, Y:2.10, Z:1.58 [[ 9.98967234e-01 -4.23718547e-02 -1.64040034e-02 3.63855079e+02] [ 4.23755700e-02 9.99101745e-01 -1.21192837e-04 2.10154430e+00] [ 1.63944036e-02 -5.74061320e-04 9.99865438e-01 1.57632266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.819254154 meters 0.021182469165882414 Centerline is valid? [True, True] Translation: X:363.92, Y:2.10, Z:1.58 [[ 9.98835256e-01 -4.53262535e-02 -1.65427378e-02 3.63916413e+02] [ 4.53304581e-02 9.98972039e-01 -1.20911555e-04 2.09764595e+00] [ 1.65312130e-02 -6.29119159e-04 9.99863152e-01 1.57566896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.879254154 meters 0.023102380357462256 Centerline is valid? [True, True] Translation: X:363.98, Y:2.10, Z:1.58 [[ 9.98763702e-01 -4.70162181e-02 -1.61413417e-02 3.63977948e+02] [ 4.70204661e-02 9.98893919e-01 -1.16442801e-04 2.09536529e+00] [ 1.61289628e-02 -6.42674568e-04 9.99869713e-01 1.57629727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.93925415399997 meters 0.020926803002358402 Centerline is valid? [True, True] Translation: X:364.04, Y:2.10, Z:1.58 [[ 9.98883656e-01 -4.48836009e-02 -1.47276569e-02 3.64039217e+02] [ 4.48869171e-02 9.98992069e-01 -1.05478658e-04 2.10051538e+00] [ 1.47175467e-02 -5.55718209e-04 9.99891537e-01 1.57859473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.99925415399997 meters 0.018599101052791906 Centerline is valid? [True, True] Translation: X:364.10, Y:2.11, Z:1.58 [[ 9.99167124e-01 -3.88340501e-02 -1.25289586e-02 3.64099590e+02] [ 3.88359765e-02 9.99245595e-01 -8.95943405e-05 2.10802539e+00] [ 1.25229860e-02 -3.97054624e-04 9.99921506e-01 1.58082686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.059254154 meters 0.017435433258501797 Centerline is valid? [True, True] Translation: X:364.16, Y:2.11, Z:1.58 [[ 9.99319163e-01 -3.51781288e-02 -1.11225108e-02 3.64160746e+02] [ 3.51794234e-02 9.99381009e-01 -7.92885317e-05 2.11191362e+00] [ 1.11184153e-02 -3.12048969e-04 9.99938140e-01 1.58145957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.119254154 meters 0.015923737041129538 Centerline is valid? [True, True] Translation: X:364.22, Y:2.12, Z:1.58 [[ 9.99464573e-01 -3.11061424e-02 -1.01476771e-02 3.64222448e+02] [ 3.11070150e-02 9.99516057e-01 -7.18701104e-05 2.11644416e+00] [ 1.01450018e-02 -2.43832315e-04 9.99948508e-01 1.58125660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.179254154 meters 0.0152860132424785 Centerline is valid? [True, True] Translation: X:364.28, Y:2.12, Z:1.58 [[ 9.99579896e-01 -2.65675681e-02 -1.15842888e-02 3.64282411e+02] [ 2.65684054e-02 9.99646994e-01 -8.16334391e-05 2.12035133e+00] [ 1.15823682e-02 -2.26176936e-04 9.99932897e-01 1.57977138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.239254154 meters 0.01443909066426172 Centerline is valid? [True, True] Translation: X:364.34, Y:2.13, Z:1.58 [[ 9.99712320e-01 -2.06009484e-02 -1.22832698e-02 3.64343072e+02] [ 2.06014440e-02 9.99787764e-01 -8.61914814e-05 2.12620606e+00] [ 1.22824385e-02 -1.66886410e-04 9.99924554e-01 1.57900513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.299254154 meters 0.014205829187404208 Centerline is valid? [True, True] Translation: X:364.40, Y:2.13, Z:1.58 [[ 9.99733657e-01 -1.93606267e-02 -1.25611066e-02 3.64404849e+02] [ 1.93610528e-02 9.99812553e-01 -8.76921905e-05 2.12766047e+00] [ 1.25604498e-02 -1.55527413e-04 9.99921102e-01 1.57876325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.359254154 meters 0.014029871217783558 Centerline is valid? [True, True] Translation: X:364.47, Y:2.13, Z:1.58 [[ 9.99742909e-01 -1.77212541e-02 -1.41447139e-02 3.64465578e+02] [ 1.77216329e-02 9.99842955e-01 -9.85731252e-05 2.13003059e+00] [ 1.41442394e-02 -1.52119644e-04 9.99899954e-01 1.57789767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.419254154 meters 0.014149998155808908 Centerline is valid? [True, True] Translation: X:364.53, Y:2.13, Z:1.58 [[ 9.99731484e-01 -1.74764000e-02 -1.52162900e-02 3.64525137e+02] [ 1.74768042e-02 9.99847263e-01 -1.06416957e-04 2.13249389e+00] [ 1.52158257e-02 -1.59543739e-04 9.99884220e-01 1.57753422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.479254154 meters 0.014314367145416024 Centerline is valid? [True, True] Translation: X:364.58, Y:2.13, Z:1.58 [[ 9.99685819e-01 -2.06107020e-02 -1.42640538e-02 3.64583725e+02] [ 2.06113387e-02 9.99787559e-01 -1.02385760e-04 2.13153842e+00] [ 1.42631338e-02 -1.91647654e-04 9.99898258e-01 1.57931746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.539254154 meters 0.014727318484327078 Centerline is valid? [True, True] Translation: X:364.64, Y:2.13, Z:1.58 [[ 9.99624555e-01 -2.40146662e-02 -1.31926009e-02 3.64644411e+02] [ 2.40154936e-02 9.99711582e-01 -9.57205494e-05 2.12946922e+00] [ 1.31910946e-02 -2.21142210e-04 9.99912969e-01 1.58081513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.599254154 meters 0.016404954293229232 Centerline is valid? [True, True] Translation: X:364.71, Y:2.13, Z:1.58 [[ 9.99448878e-01 -3.09740672e-02 -1.19393489e-02 3.64705306e+02] [ 3.09752428e-02 9.99520148e-01 -8.64909907e-05 2.12526924e+00] [ 1.19362988e-02 -2.83380909e-04 9.99928720e-01 1.58218362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.659254154 meters 0.017345007029992032 Centerline is valid? [True, True] Translation: X:364.77, Y:2.12, Z:1.58 [[ 9.99294428e-01 -3.57156464e-02 -1.16206546e-02 3.64766157e+02] [ 3.57170828e-02 9.99361938e-01 -8.39724474e-05 2.12227486e+00] [ 1.16162391e-02 -3.31142685e-04 9.99932474e-01 1.58235079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.719254154 meters 0.020075988268399642 Centerline is valid? [True, True] Translation: X:364.83, Y:2.12, Z:1.58 [[ 9.99106388e-01 -4.03153431e-02 -1.26924432e-02 3.64826469e+02] [ 4.03174305e-02 9.99186918e-01 -9.14796391e-05 2.11676743e+00] [ 1.26858112e-02 -4.20328804e-04 9.99919444e-01 1.58077063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.779254154 meters 0.019544960150963964 Centerline is valid? [True, True] Translation: X:364.89, Y:2.12, Z:1.58 [[ 9.99061616e-01 -4.13520820e-02 -1.28799385e-02 3.64888422e+02] [ 4.13543265e-02 9.99144540e-01 -9.21340004e-05 2.11691776e+00] [ 1.28727301e-02 -4.40593637e-04 9.99917046e-01 1.58043225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.839254154 meters 0.02072319204668569 Centerline is valid? [True, True] Translation: X:364.95, Y:2.12, Z:1.58 [[ 9.99053961e-01 -4.13792259e-02 -1.33769448e-02 3.64949359e+02] [ 4.13816603e-02 9.99143408e-01 -9.48737605e-05 2.11689312e+00] [ 1.33694120e-02 -4.58776179e-04 9.99910520e-01 1.58028611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.899254154 meters 0.020622457792249426 Centerline is valid? [True, True] Translation: X:365.01, Y:2.12, Z:1.58 [[ 9.99146464e-01 -3.92111762e-02 -1.29933316e-02 3.65011990e+02] [ 3.92133025e-02 9.99230859e-01 -9.11744275e-05 2.11968336e+00] [ 1.29869130e-02 -4.18414836e-04 9.99915579e-01 1.58124537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.959254154 meters 0.01769635998138228 Centerline is valid? [True, True] Translation: X:365.07, Y:2.13, Z:1.58 [[ 9.99256985e-01 -3.66361356e-02 -1.19695671e-02 3.65073865e+02] [ 3.66377663e-02 9.99328608e-01 -8.30870922e-05 2.12646475e+00] [ 1.19645749e-02 -3.55512846e-04 9.99928359e-01 1.58300867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.019254154 meters 0.017357721378015976 Centerline is valid? [True, True] Translation: X:365.14, Y:2.13, Z:1.58 [[ 9.99302791e-01 -3.55367183e-02 -1.14487034e-02 3.65135929e+02] [ 3.55381475e-02 9.99368317e-01 -7.86431461e-05 2.12925366e+00] [ 1.14442661e-02 -3.28277393e-04 9.99934458e-01 1.58385052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.079254154 meters 0.017045470325496772 Centerline is valid? [True, True] Translation: X:365.20, Y:2.13, Z:1.58 [[ 9.99313289e-01 -3.48342770e-02 -1.26302769e-02 3.65198546e+02] [ 3.48359727e-02 9.99393040e-01 -8.57879943e-05 2.13146557e+00] [ 1.26255992e-02 -3.54258898e-04 9.99920231e-01 1.58350250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.139254154 meters 0.018025748900364125 Centerline is valid? [True, True] Translation: X:365.26, Y:2.13, Z:1.58 [[ 9.99268096e-01 -3.54076674e-02 -1.44765298e-02 3.65259831e+02] [ 3.54099687e-02 9.99372866e-01 -9.74005166e-05 2.13096010e+00] [ 1.44708998e-02 -4.15284240e-04 9.99895205e-01 1.58228452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.199254154 meters 0.017828200249774783 Centerline is valid? [True, True] Translation: X:365.32, Y:2.13, Z:1.58 [[ 9.99226898e-01 -3.63836179e-02 -1.48942757e-02 3.65321456e+02] [ 3.63861746e-02 9.99337799e-01 -9.93814882e-05 2.13303212e+00] [ 1.48880286e-02 -4.42641061e-04 9.99889069e-01 1.58324920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.259254154 meters 0.018063830728962227 Centerline is valid? [True, True] Translation: X:365.38, Y:2.13, Z:1.58 [[ 9.99285176e-01 -3.47311702e-02 -1.49292763e-02 3.65383092e+02] [ 3.47335698e-02 9.99396603e-01 -9.86060486e-05 2.13374704e+00] [ 1.49236927e-02 -4.20011498e-04 9.99888547e-01 1.58372821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.319254154 meters 0.016538735244826158 Centerline is valid? [True, True] Translation: X:365.44, Y:2.14, Z:1.59 [[ 9.99431796e-01 -3.06817573e-02 -1.39540085e-02 3.65444317e+02] [ 3.06834681e-02 9.99529147e-01 -9.15182311e-05 2.13874132e+00] [ 1.39502462e-02 -3.36691146e-04 9.99902634e-01 1.58555170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.379254154 meters 0.014242181745287503 Centerline is valid? [True, True] Translation: X:365.51, Y:2.15, Z:1.59 [[ 9.99717792e-01 -2.05451746e-02 -1.19261189e-02 3.65505430e+02] [ 2.05457066e-02 9.99788912e-01 -7.79298974e-05 2.14757258e+00] [ 1.19252025e-02 -1.67122634e-04 9.99928878e-01 1.58870579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.43925415399997 meters 0.013559216175413323 Centerline is valid? [True, True] Translation: X:365.57, Y:2.15, Z:1.59 [[ 9.99878558e-01 -1.14981425e-02 -1.05195687e-02 3.65566461e+02] [ 1.14980589e-02 9.99933893e-01 -6.84297826e-05 2.15465510e+00] [ 1.05196600e-02 -5.25331475e-05 9.99944665e-01 1.59124473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.49925415399997 meters 0.013746433502326473 Centerline is valid? [True, True] Translation: X:365.63, Y:2.16, Z:1.59 [[ 9.99916324e-01 -8.16617440e-03 -1.00328389e-02 3.65626015e+02] [ 8.16593011e-03 9.99966656e-01 -6.53144637e-05 2.15545525e+00] [ 1.00330378e-02 -1.66184630e-05 9.99949668e-01 1.59156649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.559254154 meters 0.013538242492109291 Centerline is valid? [True, True] Translation: X:365.68, Y:2.15, Z:1.59 [[ 9.99916546e-01 -8.61382583e-03 -9.62826919e-03 3.65684612e+02] [ 8.61360699e-03 9.99962900e-01 -6.41972916e-05 2.15265178e+00] [ 9.62846497e-03 -1.87421928e-05 9.99953645e-01 1.59101765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.619254154 meters 0.013848236016555937 Centerline is valid? [True, True] Translation: X:365.74, Y:2.15, Z:1.59 [[ 9.99880035e-01 -1.18479720e-02 -9.97704728e-03 3.65743640e+02] [ 1.18478839e-02 9.99929809e-01 -6.79378141e-05 2.14772235e+00] [ 9.97715191e-03 -5.02772339e-05 9.99950226e-01 1.58967772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.679254154 meters 0.014598113640290738 Centerline is valid? [True, True] Translation: X:365.80, Y:2.14, Z:1.59 [[ 9.99741717e-01 -2.02569557e-02 -1.03031319e-02 3.65803751e+02] [ 2.02573040e-02 9.99794797e-01 -7.05605640e-05 2.13788360e+00] [ 1.03024470e-02 -1.38171336e-04 9.99946919e-01 1.58796548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.739254154 meters 0.016618938709247424 Centerline is valid? [True, True] Translation: X:365.86, Y:2.13, Z:1.59 [[ 9.99479754e-01 -3.03893835e-02 -1.08030986e-02 3.65864846e+02] [ 3.03903593e-02 9.99538104e-01 -7.38648682e-05 2.12733111e+00] [ 1.08003534e-02 -2.54483608e-04 9.99941642e-01 1.58737524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.799254154 meters 0.020363800136372772 Centerline is valid? [True, True] Translation: X:365.92, Y:2.12, Z:1.59 [[ 9.99204483e-01 -3.85338146e-02 -1.02735668e-02 3.65924710e+02] [ 3.85351290e-02 9.99257244e-01 -7.00560552e-05 2.11622625e+00] [ 1.02686355e-02 -3.25892896e-04 9.99947223e-01 1.58638321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.859254154 meters 0.02092588089624958 Centerline is valid? [True, True] Translation: X:365.99, Y:2.11, Z:1.59 [[ 9.98971977e-01 -4.46391374e-02 -7.89541135e-03 3.65985976e+02] [ 4.46401045e-02 9.99003132e-01 -5.37742874e-05 2.10961568e+00] [ 7.88994110e-03 -2.98732982e-04 9.99968829e-01 1.58633919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.919254154 meters 0.0223809969023377 Centerline is valid? [True, True] Translation: X:366.05, Y:2.10, Z:1.59 [[ 9.98822139e-01 -4.80190160e-02 -6.96487315e-03 3.66047022e+02] [ 4.80198514e-02 9.98846380e-01 -4.73164885e-05 2.10484250e+00] [ 6.95911042e-03 -2.87191418e-04 9.99975744e-01 1.58675339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.979254154 meters 0.024093754053020302 Centerline is valid? [True, True] Translation: X:366.11, Y:2.10, Z:1.59 [[ 9.98609881e-01 -5.24168964e-02 -5.54753884e-03 3.66108404e+02] [ 5.24174947e-02 9.98625257e-01 -3.75800424e-05 2.09991758e+00] [ 5.54188224e-03 -2.53260286e-04 9.99984612e-01 1.58643968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.039254154 meters 0.02711474204828525 Centerline is valid? [True, True] Translation: X:366.17, Y:2.10, Z:1.59 [[ 9.98497300e-01 -5.45713316e-02 -5.01121003e-03 3.66170611e+02] [ 5.45718479e-02 9.98509846e-01 -3.37543130e-05 2.09608432e+00] [ 5.00558457e-03 -2.39767401e-04 9.99987443e-01 1.58619455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.099254154 meters 0.02883169013088858 Centerline is valid? [True, True] Translation: X:366.23, Y:2.09, Z:1.59 [[ 9.98313236e-01 -5.78290362e-02 -5.14630057e-03 3.66230354e+02] [ 5.78296259e-02 9.98326466e-01 -3.42702271e-05 2.09138540e+00] [ 5.13966988e-03 -2.63396215e-04 9.99986757e-01 1.58595875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.159254154 meters 0.03001977457640933 Centerline is valid? [True, True] Translation: X:366.29, Y:2.09, Z:1.58 [[ 9.98230635e-01 -5.90876581e-02 -6.65194949e-03 3.66292009e+02] [ 5.90886751e-02 9.98252737e-01 -4.37055327e-05 2.09004371e+00] [ 6.64290924e-03 -3.49426680e-04 9.99977875e-01 1.58431364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.219254154 meters 0.026303249073062286 Centerline is valid? [True, True] Translation: X:366.35, Y:2.10, Z:1.58 [[ 9.98272887e-01 -5.81131753e-02 -8.60825233e-03 3.66354526e+02] [ 5.81148477e-02 9.98309902e-01 -5.59450688e-05 2.09708938e+00] [ 8.59695469e-03 -4.44418828e-04 9.99962947e-01 1.58346601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.279254154 meters 0.02801451666291374 Centerline is valid? [True, True] Translation: X:366.41, Y:2.10, Z:1.58 [[ 9.98501083e-01 -5.39527417e-02 -9.20270218e-03 3.66413868e+02] [ 5.39544832e-02 9.98543394e-01 -5.91113291e-05 2.09886030e+00] [ 9.19248669e-03 -4.37504314e-04 9.99957652e-01 1.58286511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.339254154 meters 0.02252929710725489 Centerline is valid? [True, True] Translation: X:366.47, Y:2.11, Z:1.59 [[ 9.98701216e-01 -5.01645446e-02 -8.91069114e-03 3.66474559e+02] [ 5.01660303e-02 9.98740890e-01 -5.68363422e-05 2.11012601e+00] [ 8.90232277e-03 -3.90251478e-04 9.99960297e-01 1.58537286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.399254154 meters 0.020765630338291784 Centerline is valid? [True, True] Translation: X:366.54, Y:2.12, Z:1.59 [[ 9.99069546e-01 -4.25250076e-02 -7.18795469e-03 3.66535212e+02] [ 4.25257774e-02 9.99095369e-01 -4.57745106e-05 2.11937947e+00] [ 7.18339880e-03 -2.59941441e-04 9.99974165e-01 1.58793092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.459254154 meters 0.018910078459124395 Centerline is valid? [True, True] Translation: X:366.60, Y:2.13, Z:1.59 [[ 9.99303334e-01 -3.68623864e-02 -5.83186742e-03 3.66595710e+02] [ 3.68627969e-02 9.99320335e-01 -3.71354031e-05 2.12605812e+00] [ 5.82927260e-03 -1.77869412e-04 9.99982994e-01 1.58913694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.519254154 meters 0.018716726277927986 Centerline is valid? [True, True] Translation: X:366.66, Y:2.13, Z:1.59 [[ 9.99575636e-01 -2.87008229e-02 -4.98110548e-03 3.66655864e+02] [ 2.87010210e-02 9.99588040e-01 -3.17180325e-05 2.13384043e+00] [ 4.97996380e-03 -1.11258241e-04 9.99987594e-01 1.58876075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.579254154 meters 0.01613640592944653 Centerline is valid? [True, True] Translation: X:366.72, Y:2.14, Z:1.59 [[ 9.99664316e-01 -2.50866102e-02 -6.47433906e-03 3.66717706e+02] [ 2.50868701e-02 9.99685274e-01 -4.10746917e-05 2.14002641e+00] [ 6.47333184e-03 -1.21359999e-04 9.99979040e-01 1.58910070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.639254154 meters 0.015021345650134512 Centerline is valid? [True, True] Translation: X:366.78, Y:2.15, Z:1.59 [[ 9.99771755e-01 -1.91627653e-02 -9.44598810e-03 3.66778369e+02] [ 1.91630635e-02 9.99816370e-01 -5.89440776e-05 2.14561806e+00] [ 9.44538306e-03 -1.22083446e-04 9.99955384e-01 1.58799090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.699254154 meters 0.014624179997275907 Centerline is valid? [True, True] Translation: X:366.84, Y:2.15, Z:1.59 [[ 9.99822286e-01 -1.56948492e-02 -1.04435625e-02 3.66839331e+02] [ 1.56950321e-02 9.99876823e-01 -6.44558452e-05 2.14963520e+00] [ 1.04432877e-02 -9.94676579e-05 9.99945462e-01 1.58834749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.759254154 meters 0.01437098598206142 Centerline is valid? [True, True] Translation: X:366.90, Y:2.15, Z:1.59 [[ 9.99856879e-01 -1.27809072e-02 -1.10846366e-02 3.66899905e+02] [ 1.27809360e-02 9.99918318e-01 -6.82438553e-05 2.15314919e+00] [ 1.10846034e-02 -7.34379419e-05 9.99938561e-01 1.58932318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.819254154 meters 0.014230968228243265 Centerline is valid? [True, True] Translation: X:366.96, Y:2.15, Z:1.59 [[ 9.99875031e-01 -1.15730521e-02 -1.07697208e-02 3.66959963e+02] [ 1.15730067e-02 9.99933028e-01 -6.65406978e-05 2.15392467e+00] [ 1.07697696e-02 -5.81056687e-05 9.99942003e-01 1.59012913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.879254154 meters 0.01433055752731292 Centerline is valid? [True, True] Translation: X:367.02, Y:2.15, Z:1.59 [[ 9.99862173e-01 -1.30726222e-02 -1.02343486e-02 3.67019261e+02] [ 1.30726559e-02 9.99914547e-01 -6.36034250e-05 2.15253430e+00] [ 1.02343055e-02 -7.01954585e-05 9.99947626e-01 1.59104059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.93925415399997 meters 0.014988954083217928 Centerline is valid? [True, True] Translation: X:367.08, Y:2.15, Z:1.59 [[ 9.99758199e-01 -1.91505925e-02 -1.08072906e-02 3.67079137e+02] [ 1.91509807e-02 9.99816601e-01 -6.75718423e-05 2.14514508e+00] [ 1.08066026e-02 -1.39414711e-04 9.99941597e-01 1.59181612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.99925415399997 meters 0.01577985154503606 Centerline is valid? [True, True] Translation: X:367.14, Y:2.14, Z:1.59 [[ 9.99667334e-01 -2.28100925e-02 -1.20383403e-02 3.67139401e+02] [ 2.28108419e-02 9.99739796e-01 -7.50728152e-05 2.13964579e+00] [ 1.20369203e-02 -1.99556837e-04 9.99927534e-01 1.59133841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.059254154 meters 0.016550160856229332 Centerline is valid? [True, True] Translation: X:367.20, Y:2.13, Z:1.59 [[ 9.99588925e-01 -2.59508782e-02 -1.21874350e-02 3.67200893e+02] [ 2.59518857e-02 9.99663190e-01 -7.55053328e-05 2.13194177e+00] [ 1.21852896e-02 -2.40812625e-04 9.99925728e-01 1.59128788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.119254154 meters 0.0162534574962545 Centerline is valid? [True, True] Translation: X:367.26, Y:2.13, Z:1.59 [[ 9.99634821e-01 -2.41992798e-02 -1.20258152e-02 3.67262712e+02] [ 2.42001398e-02 9.99707131e-01 -7.40253123e-05 2.12918959e+00] [ 1.20240845e-02 -2.17028128e-04 9.99927685e-01 1.59128597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.179254154 meters 0.014926914363748128 Centerline is valid? [True, True] Translation: X:367.32, Y:2.13, Z:1.59 [[ 9.99768952e-01 -1.75847079e-02 -1.23620976e-02 3.67323665e+02] [ 1.75851152e-02 9.99845367e-01 -7.57585900e-05 2.12918153e+00] [ 1.23615182e-02 -1.41647824e-04 9.99923583e-01 1.59095577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.239254154 meters 0.014582150144277066 Centerline is valid? [True, True] Translation: X:367.38, Y:2.13, Z:1.59 [[ 9.99843229e-01 -1.12361929e-02 -1.36844990e-02 3.67383090e+02] [ 1.12360963e-02 9.99936870e-01 -8.39401303e-05 2.13072567e+00] [ 1.36845783e-02 -6.98333783e-05 9.99906359e-01 1.59043724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.299254154 meters 0.01469641300048825 Centerline is valid? [True, True] Translation: X:367.44, Y:2.13, Z:1.59 [[ 9.99888283e-01 -2.77104927e-03 -1.46882036e-02 3.67440822e+02] [ 2.76998045e-03 9.99996159e-01 -9.31112623e-05 2.13316771e+00] [ 1.46884052e-02 5.24148234e-05 9.99892118e-01 1.59062264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.359254154 meters 0.014944742452102686 Centerline is valid? [True, True] Translation: X:367.50, Y:2.13, Z:1.59 [[ 9.99892803e-01 2.58274575e-03 -1.44122078e-02 3.67499189e+02] [-2.58436177e-03 9.99996656e-01 -9.35054163e-05 2.13093478e+00] [ 1.44119182e-02 1.30741752e-04 9.99896134e-01 1.59160738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.419254154 meters 0.01512537718270026 Centerline is valid? [True, True] Translation: X:367.56, Y:2.13, Z:1.59 [[ 9.99883305e-01 3.48397239e-03 -1.48740546e-02 3.67557925e+02] [-3.48581088e-03 9.99993920e-01 -9.76797545e-05 2.12809673e+00] [ 1.48736238e-02 1.49516497e-04 9.99889370e-01 1.59162878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.479254154 meters 0.01510940241833443 Centerline is valid? [True, True] Translation: X:367.62, Y:2.12, Z:1.59 [[ 9.99879587e-01 2.77156907e-03 -1.52685646e-02 3.67616107e+02] [-2.77344649e-03 9.99996149e-01 -1.01786255e-04 2.12397187e+00] [ 1.52682237e-02 1.44120545e-04 9.99883423e-01 1.59150997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.539254154 meters 0.014845570968231608 Centerline is valid? [True, True] Translation: X:367.67, Y:2.11, Z:1.59 [[ 9.99859184e-01 -8.41402149e-04 -1.67601981e-02 3.67674535e+02] [ 8.39623561e-04 9.99999641e-01 -1.13156093e-04 2.11478347e+00] [ 1.67602873e-02 9.90679019e-05 9.99859532e-01 1.59149208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.599254154 meters 0.014596591653416287 Centerline is valid? [True, True] Translation: X:367.73, Y:2.10, Z:1.59 [[ 9.99839452e-01 -7.13835235e-03 -1.64351576e-02 3.67733130e+02] [ 7.13747324e-03 9.99974522e-01 -1.12145976e-04 2.10335690e+00] [ 1.64355394e-02 -5.17752597e-06 9.99864927e-01 1.59277705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.659254154 meters 0.015017840332553553 Centerline is valid? [True, True] Translation: X:367.79, Y:2.09, Z:1.59 [[ 9.99760910e-01 -1.46934569e-02 -1.61933390e-02 3.67791465e+02] [ 1.46935723e-02 9.99892037e-01 -1.11861008e-04 2.09067677e+00] [ 1.61932343e-02 -1.26103733e-04 9.99868873e-01 1.59311171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.719254154 meters 0.015669091171801753 Centerline is valid? [True, True] Translation: X:367.85, Y:2.08, Z:1.59 [[ 9.99668488e-01 -2.02203861e-02 -1.59389625e-02 3.67849848e+02] [ 2.02211779e-02 9.99795525e-01 -1.11499081e-04 2.08157375e+00] [ 1.59379579e-02 -2.10842479e-04 9.99872960e-01 1.59322354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.779254154 meters 0.016872081803615855 Centerline is valid? [True, True] Translation: X:367.91, Y:2.07, Z:1.59 [[ 9.99454460e-01 -2.91521375e-02 -1.55220876e-02 3.67908927e+02] [ 2.91539495e-02 9.99574927e-01 -1.09573316e-04 2.07054063e+00] [ 1.55186839e-02 -3.43016619e-04 9.99879519e-01 1.59448618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.839254154 meters 0.019386940840256446 Centerline is valid? [True, True] Translation: X:367.97, Y:2.06, Z:1.60 [[ 9.99122737e-01 -3.89809960e-02 -1.53048572e-02 3.67969720e+02] [ 3.89839041e-02 9.99239833e-01 -1.08394244e-04 2.05740310e+00] [ 1.52974483e-02 -4.88343933e-04 9.99882868e-01 1.59542873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.899254154 meters 0.022806255808880724 Centerline is valid? [True, True] Translation: X:368.03, Y:2.05, Z:1.60 [[ 9.98750167e-01 -4.75923301e-02 -1.52667790e-02 3.68029826e+02] [ 4.75962288e-02 9.98866651e-01 -1.08070637e-04 2.04560626e+00] [ 1.52546198e-02 -6.18705542e-04 9.99883450e-01 1.59550765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.959254154 meters 0.028882957233376902 Centerline is valid? [True, True] Translation: X:368.09, Y:2.03, Z:1.59 [[ 9.98574292e-01 -5.12879887e-02 -1.47961531e-02 3.68089733e+02] [ 5.12920562e-02 9.98683691e-01 -1.04699950e-04 2.03417830e+00] [ 1.47820467e-02 -6.54374439e-04 9.99890525e-01 1.59438363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.019254154 meters 0.024963927536566836 Centerline is valid? [True, True] Translation: X:368.15, Y:2.04, Z:1.60 [[ 9.98443385e-01 -5.34987529e-02 -1.57699135e-02 3.68150867e+02] [ 5.35036551e-02 9.98567647e-01 -1.11178400e-04 2.03764376e+00] [ 1.57532733e-02 -7.32742674e-04 9.99875641e-01 1.59571689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.079254154 meters 0.02616217073903818 Centerline is valid? [True, True] Translation: X:368.21, Y:2.04, Z:1.59 [[ 9.98458523e-01 -5.23344051e-02 -1.84848255e-02 3.68212734e+02] [ 5.23409597e-02 9.98629264e-01 -1.29359052e-04 2.03815728e+00] [ 1.84662576e-02 -8.38353857e-04 9.99829133e-01 1.59480535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.139254154 meters 0.025596697100093033 Centerline is valid? [True, True] Translation: X:368.27, Y:2.04, Z:1.59 [[ 9.98499383e-01 -5.17620256e-02 -1.78794557e-02 3.68272880e+02] [ 5.17680703e-02 9.98659127e-01 -1.24889086e-04 2.03821329e+00] [ 1.78619461e-02 -8.00883246e-04 9.99840142e-01 1.59475505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.199254154 meters 0.0252973502301752 Centerline is valid? [True, True] Translation: X:368.33, Y:2.04, Z:1.59 [[ 9.98601673e-01 -4.99242702e-02 -1.73857904e-02 3.68333215e+02] [ 4.99297254e-02 9.98752726e-01 -1.20424289e-04 2.03947204e+00] [ 1.73701176e-02 -7.47811844e-04 9.99848848e-01 1.59478063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.259254154 meters 0.02357208135061016 Centerline is valid? [True, True] Translation: X:368.39, Y:2.04, Z:1.60 [[ 9.98840354e-01 -4.50265527e-02 -1.70457091e-02 3.68393691e+02] [ 4.50310901e-02 9.98985579e-01 -1.17730890e-04 2.04378999e+00] [ 1.70337186e-02 -6.49992497e-04 9.99854704e-01 1.59520595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.319254154 meters 0.021911552567441397 Centerline is valid? [True, True] Translation: X:368.45, Y:2.05, Z:1.60 [[ 9.99051597e-01 -4.01314172e-02 -1.68930751e-02 3.68454656e+02] [ 4.01351784e-02 9.99194252e-01 -1.16459467e-04 2.04928536e+00] [ 1.68841372e-02 -5.61657567e-04 9.99857295e-01 1.59598051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.379254154 meters 0.019656468499424155 Centerline is valid? [True, True] Translation: X:368.51, Y:2.06, Z:1.60 [[ 9.99310924e-01 -3.31726252e-02 -1.66509546e-02 3.68514445e+02] [ 3.31753113e-02 9.99449541e-01 -1.14954540e-04 2.05747268e+00] [ 1.66456023e-02 -4.37525275e-04 9.99861357e-01 1.59668852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.43925415399997 meters 0.020205155278492558 Centerline is valid? [True, True] Translation: X:368.57, Y:2.06, Z:1.60 [[ 9.99456545e-01 -2.81286177e-02 -1.71870990e-02 3.68573161e+02] [ 2.81307233e-02 9.99604246e-01 -1.19285310e-04 2.06336392e+00] [ 1.71836525e-02 -3.64265044e-04 9.99852284e-01 1.59585169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.49925415399997 meters 0.017518242300358023 Centerline is valid? [True, True] Translation: X:368.63, Y:2.07, Z:1.60 [[ 9.99581182e-01 -2.40724211e-02 -1.60617109e-02 3.68631850e+02] [ 2.40737244e-02 9.99710180e-01 -1.12223761e-04 2.06994406e+00] [ 1.60597574e-02 -2.74488442e-04 9.99870996e-01 1.59753289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.559254154 meters 0.017044014129387944 Centerline is valid? [True, True] Translation: X:368.69, Y:2.07, Z:1.60 [[ 9.99618586e-01 -2.25037802e-02 -1.60081981e-02 3.68690648e+02] [ 2.25048277e-02 9.99746728e-01 -1.14728882e-04 2.07300339e+00] [ 1.60067255e-02 -2.45576618e-04 9.99871854e-01 1.59834739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.619254154 meters 0.01538414227337299 Centerline is valid? [True, True] Translation: X:368.75, Y:2.08, Z:1.60 [[ 9.99689073e-01 -1.90264947e-02 -1.61167329e-02 3.68749710e+02] [ 1.90270410e-02 9.99818962e-01 -1.19450070e-04 2.07996270e+00] [ 1.61160879e-02 -1.87240808e-04 9.99870110e-01 1.60095778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.679254154 meters 0.01628616441048801 Centerline is valid? [True, True] Translation: X:368.81, Y:2.08, Z:1.60 [[ 9.99702748e-01 -1.84918630e-02 -1.58891839e-02 3.68807229e+02] [ 1.84922932e-02 9.99828996e-01 -1.19855362e-04 2.07832860e+00] [ 1.58886831e-02 -1.74007713e-04 9.99873752e-01 1.59849955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.739254154 meters 0.015619436381050645 Centerline is valid? [True, True] Translation: X:368.87, Y:2.08, Z:1.60 [[ 9.99654870e-01 -2.10924544e-02 -1.56604643e-02 3.68865850e+02] [ 2.10931417e-02 9.99777508e-01 -1.21303234e-04 2.07944702e+00] [ 1.56595385e-02 -2.09067024e-04 9.99877360e-01 1.60120510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.799254154 meters 0.016442538502500853 Centerline is valid? [True, True] Translation: X:368.92, Y:2.08, Z:1.60 [[ 9.99531801e-01 -2.65624812e-02 -1.51859799e-02 3.68924782e+02] [ 2.65637014e-02 9.99647115e-01 -1.21388835e-04 2.07550383e+00] [ 1.51838454e-02 -2.82063834e-04 9.99884679e-01 1.60158507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.859254154 meters 0.017355025418418532 Centerline is valid? [True, True] Translation: X:368.98, Y:2.07, Z:1.60 [[ 9.99401216e-01 -3.14055229e-02 -1.45224826e-02 3.68984735e+02] [ 3.14071292e-02 9.99506668e-01 -1.17502189e-04 2.07142333e+00] [ 1.45190084e-02 -3.38677657e-04 9.99894536e-01 1.60194266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.919254154 meters 0.019345792242822124 Centerline is valid? [True, True] Translation: X:369.04, Y:2.07, Z:1.60 [[ 9.99120064e-01 -3.93763822e-02 -1.44428987e-02 3.69044666e+02] [ 3.93787980e-02 9.99224347e-01 -1.17197030e-04 2.06574913e+00] [ 1.44363108e-02 -4.51650084e-04 9.99895689e-01 1.60238491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.979254154 meters 0.021956825579524775 Centerline is valid? [True, True] Translation: X:369.11, Y:2.06, Z:1.60 [[ 9.98818680e-01 -4.62485135e-02 -1.49104045e-02 3.69105199e+02] [ 4.62518523e-02 9.98929803e-01 -1.21022646e-04 2.05962454e+00] [ 1.49000446e-02 -5.68754147e-04 9.99888826e-01 1.60129089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.039254154 meters 0.02256935114903443 Centerline is valid? [True, True] Translation: X:369.17, Y:2.06, Z:1.60 [[ 9.98656661e-01 -4.94868380e-02 -1.53599085e-02 3.69166462e+02] [ 4.94907699e-02 9.98774573e-01 -1.24249838e-04 2.05753632e+00] [ 1.53472348e-02 -6.36090767e-04 9.99882022e-01 1.60069130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.099254154 meters 0.022234998794024505 Centerline is valid? [True, True] Translation: X:369.23, Y:2.06, Z:1.60 [[ 9.98723241e-01 -4.81260368e-02 -1.53548893e-02 3.69227467e+02] [ 4.81298142e-02 9.98841081e-01 -1.23643448e-04 2.06034452e+00] [ 1.53430447e-02 -6.15542382e-04 9.99882099e-01 1.60110374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.159254154 meters 0.018913631150055874 Centerline is valid? [True, True] Translation: X:369.29, Y:2.07, Z:1.60 [[ 9.99053044e-01 -4.12464337e-02 -1.38472773e-02 3.69288096e+02] [ 4.12488487e-02 9.99148898e-01 -1.11274534e-04 2.06718977e+00] [ 1.38400815e-02 -4.60015084e-04 9.99904116e-01 1.60155857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.219254154 meters 0.01614290502658325 Centerline is valid? [True, True] Translation: X:369.35, Y:2.08, Z:1.60 [[ 9.99531830e-01 -2.78529866e-02 -1.26621985e-02 3.69348679e+02] [ 2.78539319e-02 9.99611999e-01 -1.01724997e-04 2.07572613e+00] [ 1.26601189e-02 -2.51014644e-04 9.99919826e-01 1.60233674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.279254154 meters 0.014544105348044022 Centerline is valid? [True, True] Translation: X:369.41, Y:2.08, Z:1.60 [[ 9.99767058e-01 -1.80306598e-02 -1.18627584e-02 3.69408096e+02] [ 1.80308014e-02 9.99837427e-01 -9.50202347e-05 2.08258397e+00] [ 1.18625431e-02 -1.18896940e-04 9.99929630e-01 1.60265505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.339254154 meters 0.014043577997984216 Centerline is valid? [True, True] Translation: X:369.47, Y:2.09, Z:1.60 [[ 9.99884394e-01 -1.03016148e-02 -1.11837216e-02 3.69467231e+02] [ 1.03012405e-02 9.99946937e-01 -9.10657166e-05 2.08835545e+00] [ 1.11840662e-02 -2.41510171e-05 9.99937456e-01 1.60306726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.399254154 meters 0.014195191448970837 Centerline is valid? [True, True] Translation: X:369.53, Y:2.09, Z:1.60 [[ 9.99912852e-01 -4.41618910e-03 -1.24413121e-02 3.69525256e+02] [ 4.41524227e-03 9.99990247e-01 -1.03569526e-04 2.09068177e+00] [ 1.24416482e-02 4.86290929e-05 9.99922599e-01 1.60178541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.459254154 meters 0.014262996943239108 Centerline is valid? [True, True] Translation: X:369.58, Y:2.09, Z:1.60 [[ 9.99881586e-01 -6.08542245e-03 -1.41343879e-02 3.69583900e+02] [ 6.08434763e-03 9.99981483e-01 -1.19043273e-04 2.08882898e+00] [ 1.41348506e-02 3.30306471e-05 9.99900097e-01 1.60120464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.519254154 meters 0.014226875995721876 Centerline is valid? [True, True] Translation: X:369.64, Y:2.09, Z:1.60 [[ 9.99852808e-01 -1.01802392e-02 -1.38103057e-02 3.69642437e+02] [ 1.01795898e-02 9.99948180e-01 -1.17319541e-04 2.08502198e+00] [ 1.38107844e-02 -2.32809754e-05 9.99904626e-01 1.60180161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.579254154 meters 0.015493146596614856 Centerline is valid? [True, True] Translation: X:369.70, Y:2.08, Z:1.60 [[ 9.99755119e-01 -1.79778256e-02 -1.29035148e-02 3.69700841e+02] [ 1.79778942e-02 9.99838378e-01 -1.10691287e-04 2.07689245e+00] [ 1.29034193e-02 -1.21313842e-04 9.99916740e-01 1.60295791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.639254154 meters 0.015552023469285475 Centerline is valid? [True, True] Translation: X:369.76, Y:2.07, Z:1.60 [[ 9.99622823e-01 -2.56333520e-02 -9.85609179e-03 3.69760153e+02] [ 2.56337580e-02 9.99671398e-01 -8.51501877e-05 2.06944558e+00] [ 9.85503574e-03 -1.67530601e-04 9.99951424e-01 1.60404182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.699254154 meters 0.016580042452897743 Centerline is valid? [True, True] Translation: X:369.82, Y:2.06, Z:1.61 [[ 9.99485090e-01 -3.07922996e-02 -9.02161593e-03 3.69821581e+02] [ 3.07928494e-02 9.99525785e-01 -7.79871426e-05 2.06379339e+00] [ 9.01973914e-03 -1.99854274e-04 9.99959301e-01 1.60503880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.759254154 meters 0.018756014065312913 Centerline is valid? [True, True] Translation: X:369.88, Y:2.06, Z:1.60 [[ 9.99422299e-01 -3.29059906e-02 -8.50084460e-03 3.69882396e+02] [ 3.29065609e-02 9.99458430e-01 -7.28042217e-05 2.05681608e+00] [ 8.49863649e-03 -2.06971398e-04 9.99963865e-01 1.60431835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.819254154 meters 0.01736331226719396 Centerline is valid? [True, True] Translation: X:369.94, Y:2.06, Z:1.60 [[ 9.99359512e-01 -3.49448953e-02 -7.70839591e-03 3.69944103e+02] [ 3.49454315e-02 9.99389220e-01 -6.51461391e-05 2.05675224e+00] [ 7.70596430e-03 -2.04268808e-04 9.99970288e-01 1.60477679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.879254154 meters 0.01815672616816621 Centerline is valid? [True, True] Translation: X:370.00, Y:2.05, Z:1.60 [[ 9.99335873e-01 -3.55198659e-02 -8.13340719e-03 3.70004920e+02] [ 3.55204877e-02 9.99368946e-01 -6.80297372e-05 2.05376565e+00] [ 8.13069098e-03 -2.20918034e-04 9.99966921e-01 1.60366465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.93925415399997 meters 0.01795346608961227 Centerline is valid? [True, True] Translation: X:370.07, Y:2.05, Z:1.60 [[ 9.99385282e-01 -3.41021033e-02 -8.13051544e-03 3.70066638e+02] [ 3.41026809e-02 9.99418332e-01 -6.76297442e-05 2.05271304e+00] [ 8.12809249e-03 -2.09684202e-04 9.99966945e-01 1.60314495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.99925415399997 meters 0.01662016412249624 Centerline is valid? [True, True] Translation: X:370.13, Y:2.06, Z:1.60 [[ 9.99492639e-01 -3.08242842e-02 -8.02046133e-03 3.70128090e+02] [ 3.08247431e-02 9.99524802e-01 -6.64238979e-05 2.05572177e+00] [ 8.01869750e-03 -1.80838463e-04 9.99967833e-01 1.60341914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.059254154 meters 0.015220813594717032 Centerline is valid? [True, True] Translation: X:370.19, Y:2.06, Z:1.60 [[ 9.99693639e-01 -2.36445997e-02 -7.31857981e-03 3.70189291e+02] [ 2.36447913e-02 9.99720421e-01 -6.03549007e-05 2.05975392e+00] [ 7.31796076e-03 -1.12709882e-04 9.99973217e-01 1.60335249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.119254154 meters 0.017059883880528787 Centerline is valid? [True, True] Translation: X:370.25, Y:2.06, Z:1.60 [[ 9.99803395e-01 -1.74911007e-02 -9.33989343e-03 3.70249710e+02] [ 1.74911470e-02 9.99847015e-01 -7.67295852e-05 2.06173115e+00] [ 9.33980666e-03 -8.66509496e-05 9.99956379e-01 1.60215392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.179254154 meters 0.014406275303778663 Centerline is valid? [True, True] Translation: X:370.31, Y:2.06, Z:1.60 [[ 9.99819101e-01 -1.71456756e-02 -8.23356477e-03 3.70309604e+02] [ 1.71456993e-02 9.99852999e-01 -6.77046300e-05 2.06131858e+00] [ 8.23351527e-03 -7.34778437e-05 9.99966101e-01 1.60194278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.239254154 meters 0.014787026588032734 Centerline is valid? [True, True] Translation: X:370.37, Y:2.06, Z:1.60 [[ 9.99751763e-01 -2.05188553e-02 -8.68269960e-03 3.70369864e+02] [ 2.05190075e-02 9.99789460e-01 -7.15592857e-05 2.05789109e+00] [ 8.68233986e-03 -1.06618856e-04 9.99962302e-01 1.60236683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.299254154 meters 0.018451642933114076 Centerline is valid? [True, True] Translation: X:370.43, Y:2.05, Z:1.60 [[ 9.99615187e-01 -2.58104230e-02 -1.01636678e-02 3.70429450e+02] [ 2.58109040e-02 9.99666840e-01 -8.38670205e-05 2.05059056e+00] [ 1.01624463e-02 -1.78498707e-04 9.99948345e-01 1.60251717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.359254154 meters 0.01662578491377501 Centerline is valid? [True, True] Translation: X:370.49, Y:2.05, Z:1.60 [[ 9.99505113e-01 -3.00333176e-02 -9.35568491e-03 3.70490200e+02] [ 3.00339102e-02 9.99548877e-01 -7.71805735e-05 2.04848781e+00] [ 9.35378234e-03 -2.03845423e-04 9.99956232e-01 1.60370503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.419254154 meters 0.019381405952401107 Centerline is valid? [True, True] Translation: X:370.55, Y:2.04, Z:1.60 [[ 9.99322181e-01 -3.52674366e-02 -1.05539522e-02 3.70550605e+02] [ 3.52684846e-02 9.99377870e-01 -8.68631263e-05 2.04090518e+00] [ 1.05504497e-02 -2.85417652e-04 9.99944302e-01 1.60361569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.479254154 meters 0.021137310423451305 Centerline is valid? [True, True] Translation: X:370.61, Y:2.04, Z:1.60 [[ 9.99274778e-01 -3.63050650e-02 -1.14830450e-02 3.70611794e+02] [ 3.63063780e-02 9.99340702e-01 -9.41705371e-05 2.04067172e+00] [ 1.14788931e-02 -3.22805531e-04 9.99934063e-01 1.60379939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.539254154 meters 0.021945737646736196 Centerline is valid? [True, True] Translation: X:370.67, Y:2.03, Z:1.60 [[ 9.99030031e-01 -4.24954176e-02 -1.15384521e-02 3.70672546e+02] [ 4.24971602e-02 9.99096583e-01 -9.42222657e-05 2.03473638e+00] [ 1.15320321e-02 -3.96220576e-04 9.99933425e-01 1.60478737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.599254154 meters 0.02170869240060037 Centerline is valid? [True, True] Translation: X:370.73, Y:2.03, Z:1.61 [[ 9.98895543e-01 -4.54705854e-02 -1.18372041e-02 3.70733526e+02] [ 4.54726337e-02 9.98965580e-01 -9.61918349e-05 2.03471750e+00] [ 1.18293333e-02 -4.42183249e-04 9.99929933e-01 1.60652684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.659254154 meters 0.023418179772019716 Centerline is valid? [True, True] Translation: X:370.79, Y:2.03, Z:1.61 [[ 9.98744410e-01 -4.84305491e-02 -1.28096026e-02 3.70794927e+02] [ 4.84331972e-02 9.98826419e-01 -1.03589979e-04 2.03149325e+00] [ 1.27995864e-02 -5.16950095e-04 9.99917948e-01 1.60706963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.719254154 meters 0.024533781313379965 Centerline is valid? [True, True] Translation: X:370.86, Y:2.03, Z:1.61 [[ 9.98666632e-01 -4.97335729e-02 -1.38394442e-02 3.70856445e+02] [ 4.97367959e-02 9.98762353e-01 -1.11412478e-04 2.02975576e+00] [ 1.38278568e-02 -5.77065688e-04 9.99904224e-01 1.60727458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.779254154 meters 0.02602489208515048 Centerline is valid? [True, True] Translation: X:370.92, Y:2.03, Z:1.61 [[ 9.98374562e-01 -5.43611588e-02 -1.71200923e-02 3.70917302e+02] [ 5.43667746e-02 9.98521024e-01 -1.37563553e-04 2.02889549e+00] [ 1.71022502e-02 -7.93424245e-04 9.99853431e-01 1.60848281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.839254154 meters 0.02777202522483845 Centerline is valid? [True, True] Translation: X:370.98, Y:2.03, Z:1.61 [[ 9.98292447e-01 -5.57402172e-02 -1.74705159e-02 3.70976643e+02] [ 5.57462724e-02 9.98444958e-01 -1.40586173e-04 2.02726227e+00] [ 1.74511848e-02 -8.33570024e-04 9.99847369e-01 1.60843105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.899254154 meters 0.03015071585807553 Centerline is valid? [True, True] Translation: X:371.04, Y:2.03, Z:1.61 [[ 9.98017582e-01 -5.98479428e-02 -1.94712368e-02 3.71037094e+02] [ 5.98562339e-02 9.98206996e-01 -1.57223891e-04 2.02631948e+00] [ 1.94457343e-02 -1.00856270e-03 9.99810405e-01 1.60892970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.959254154 meters 0.029195161749243106 Centerline is valid? [True, True] Translation: X:371.10, Y:2.03, Z:1.61 [[ 9.97820815e-01 -6.26201300e-02 -2.07927772e-02 3.71097650e+02] [ 6.26301823e-02 9.98036789e-01 -1.68035665e-04 2.03139483e+00] [ 2.07624790e-02 -1.13458594e-03 9.99783793e-01 1.61107036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.019254154 meters 0.03109967784694441 Centerline is valid? [True, True] Translation: X:371.16, Y:2.03, Z:1.61 [[ 9.97726652e-01 -6.37966049e-02 -2.17145164e-02 3.71157046e+02] [ 6.38078396e-02 9.97962188e-01 -1.75791323e-04 2.03337042e+00] [ 2.16814812e-02 -1.21016469e-03 9.99764197e-01 1.61180362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.079254154 meters 0.029209005222960344 Centerline is valid? [True, True] Translation: X:371.22, Y:2.04, Z:1.61 [[ 9.97912307e-01 -6.09971120e-02 -2.12221528e-02 3.71216866e+02] [ 6.10072036e-02 9.98137311e-01 -1.72182078e-04 2.04209664e+00] [ 2.11931251e-02 -1.12288158e-03 9.99774770e-01 1.61340407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.139254154 meters 0.026315388140900647 Centerline is valid? [True, True] Translation: X:371.28, Y:2.06, Z:1.62 [[ 9.98304396e-01 -5.41001646e-02 -2.14826628e-02 3.71276795e+02] [ 5.41089092e-02 9.98535025e-01 -1.74431550e-04 2.05526264e+00] [ 2.14606280e-02 -9.88267666e-04 9.99769206e-01 1.61558252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.199254154 meters 0.02417919509360239 Centerline is valid? [True, True] Translation: X:371.34, Y:2.06, Z:1.62 [[ 9.98431206e-01 -5.19365074e-02 -2.09218852e-02 3.71336868e+02] [ 5.19443206e-02 9.98649968e-01 -1.70193440e-04 2.05999421e+00] [ 2.09024793e-02 -9.16846671e-04 9.99781099e-01 1.61658102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.259254154 meters 0.022009805608847882 Centerline is valid? [True, True] Translation: X:371.40, Y:2.07, Z:1.62 [[ 9.98789290e-01 -4.45630477e-02 -2.08348153e-02 3.71397617e+02] [ 4.45691911e-02 9.99006285e-01 -1.69621270e-04 2.07104590e+00] [ 2.08216703e-02 -7.59174956e-04 9.99782917e-01 1.61712838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.319254154 meters 0.01978051702456294 Centerline is valid? [True, True] Translation: X:371.46, Y:2.08, Z:1.62 [[ 9.99004289e-01 -3.96635341e-02 -2.04263422e-02 3.71457306e+02] [ 3.96684035e-02 9.99212885e-01 -1.66901087e-04 2.07885610e+00] [ 2.04168843e-02 -6.43545483e-04 9.99791347e-01 1.61829027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.379254154 meters 0.01767922221601977 Centerline is valid? [True, True] Translation: X:371.52, Y:2.09, Z:1.62 [[ 9.99252577e-01 -3.29133365e-02 -2.02731145e-02 3.71517617e+02] [ 3.29167354e-02 9.99458084e-01 -1.66108428e-04 2.09064238e+00] [ 2.02675953e-02 -5.01340470e-04 9.99794465e-01 1.62061106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.43925415399997 meters 0.017640246344474378 Centerline is valid? [True, True] Translation: X:371.58, Y:2.10, Z:1.62 [[ 9.99364762e-01 -2.85098812e-02 -2.13836105e-02 3.71576245e+02] [ 2.85126333e-02 9.99593417e-01 -1.76235610e-04 2.09614341e+00] [ 2.13799407e-02 -4.33579384e-04 9.99771329e-01 1.61940449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.49925415399997 meters 0.017868498549153473 Centerline is valid? [True, True] Translation: X:371.64, Y:2.10, Z:1.62 [[ 9.99383772e-01 -2.69907626e-02 -2.24404794e-02 3.71635322e+02] [ 2.69933026e-02 9.99635596e-01 -1.89768945e-04 2.10121184e+00] [ 2.24374240e-02 -4.16090644e-04 9.99748163e-01 1.62009324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.559254154 meters 0.016884810188278847 Centerline is valid? [True, True] Translation: X:371.69, Y:2.11, Z:1.62 [[ 9.99352837e-01 -2.77868541e-02 -2.28428781e-02 3.71693773e+02] [ 2.77895596e-02 9.99613776e-01 -1.99054768e-04 2.10686539e+00] [ 2.28395867e-02 -4.35867574e-04 9.99739048e-01 1.62205913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.619254154 meters 0.019222601558415556 Centerline is valid? [True, True] Translation: X:371.75, Y:2.11, Z:1.62 [[ 9.99332723e-01 -2.88388351e-02 -2.24149476e-02 3.71751358e+02] [ 2.88416432e-02 9.99583974e-01 -1.98064634e-04 2.10785372e+00] [ 2.24113344e-02 -4.48551450e-04 9.99748734e-01 1.62113532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.679254154 meters 0.017871467485876195 Centerline is valid? [True, True] Translation: X:371.81, Y:2.11, Z:1.62 [[ 9.99204345e-01 -3.38802371e-02 -2.10429759e-02 3.71810443e+02] [ 3.38837312e-02 9.99425763e-01 -1.90580034e-04 2.10903082e+00] [ 2.10373492e-02 -5.22586142e-04 9.99778554e-01 1.62348226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.739254154 meters 0.02022690197713757 Centerline is valid? [True, True] Translation: X:371.87, Y:2.11, Z:1.62 [[ 9.98959061e-01 -4.08029493e-02 -2.03939430e-02 3.71871084e+02] [ 4.08076497e-02 9.99167004e-01 -1.85795043e-04 2.10728489e+00] [ 2.03845360e-02 -6.46627242e-04 9.99792005e-01 1.62412202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.799254154 meters 0.02193331428447318 Centerline is valid? [True, True] Translation: X:371.93, Y:2.11, Z:1.62 [[ 9.98714662e-01 -4.63705628e-02 -2.04644701e-02 3.71931282e+02] [ 4.63764569e-02 9.98924016e-01 -1.86730269e-04 2.10636609e+00] [ 2.04511095e-02 -7.62579360e-04 9.99790563e-01 1.62455940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.859254154 meters 0.023722904057743674 Centerline is valid? [True, True] Translation: X:371.99, Y:2.10, Z:1.63 [[ 9.98240478e-01 -5.56462822e-02 -2.04802158e-02 3.71991637e+02] [ 5.56541324e-02 9.98450090e-01 -1.86900539e-04 2.10415518e+00] [ 2.04588737e-02 -9.53236961e-04 9.99790241e-01 1.62505631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.919254154 meters 0.02555333772383694 Centerline is valid? [True, True] Translation: X:372.05, Y:2.10, Z:1.63 [[ 9.97928845e-01 -6.12297656e-02 -1.97214409e-02 3.72052500e+02] [ 6.12381334e-02 9.98123168e-01 -1.79898241e-04 2.10249475e+00] [ 1.96954422e-02 -1.02817859e-03 9.99805497e-01 1.62543190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.979254154 meters 0.02853187936876902 Centerline is valid? [True, True] Translation: X:372.11, Y:2.10, Z:1.63 [[ 9.97595276e-01 -6.66839422e-02 -1.88922360e-02 3.72112708e+02] [ 6.66925968e-02 9.97773555e-01 -1.72268117e-04 2.10122451e+00] [ 1.88616610e-02 -1.08811842e-03 9.99821511e-01 1.62576425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.039254154 meters 0.029279696162129068 Centerline is valid? [True, True] Translation: X:372.18, Y:2.10, Z:1.63 [[ 9.97549287e-01 -6.75403612e-02 -1.82679941e-02 3.72175229e+02] [ 6.75486152e-02 9.97715970e-01 -1.65537554e-04 2.10258895e+00] [ 1.82374499e-02 -1.06884584e-03 9.99833113e-01 1.62610276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.099254154 meters 0.029629734717005387 Centerline is valid? [True, True] Translation: X:372.24, Y:2.11, Z:1.63 [[ 9.97821087e-01 -6.36875002e-02 -1.72331113e-02 3.72235053e+02] [ 6.36942777e-02 9.97969446e-01 -1.55853228e-04 2.10635873e+00] [ 1.72080445e-02 -9.42136941e-04 9.99851487e-01 1.62590549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.159254154 meters 0.02723297379897471 Centerline is valid? [True, True] Translation: X:372.30, Y:2.12, Z:1.63 [[ 9.98251300e-01 -5.69295713e-02 -1.59174505e-02 3.72295302e+02] [ 5.69344959e-02 9.98377906e-01 -1.43965795e-04 2.11639533e+00] [ 1.58998268e-02 -7.62537977e-04 9.99873299e-01 1.62642665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.219254154 meters 0.02495199300004934 Centerline is valid? [True, True] Translation: X:372.36, Y:2.12, Z:1.63 [[ 9.98535439e-01 -5.16717039e-02 -1.60316058e-02 3.72355854e+02] [ 5.16760261e-02 9.98663891e-01 -1.44802019e-04 2.12381057e+00] [ 1.60176680e-02 -6.83859731e-04 9.99871475e-01 1.62615507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.279254154 meters 0.02431037550464248 Centerline is valid? [True, True] Translation: X:372.42, Y:2.13, Z:1.62 [[ 9.98878380e-01 -4.40736583e-02 -1.73059154e-02 3.72415458e+02] [ 4.40775541e-02 9.99028100e-01 -1.56437402e-04 2.13331113e+00] [ 1.72959905e-02 -6.06540482e-04 9.99850229e-01 1.62381131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.339254154 meters 0.018670538613469036 Centerline is valid? [True, True] Translation: X:372.48, Y:2.14, Z:1.63 [[ 9.99015334e-01 -4.10047453e-02 -1.69403130e-02 3.72477081e+02] [ 4.10080482e-02 9.99158805e-01 -1.52500077e-04 2.14423820e+00] [ 1.69323161e-02 -5.42339255e-04 9.99856491e-01 1.62602140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.399254154 meters 0.017630728685864062 Centerline is valid? [True, True] Translation: X:372.54, Y:2.15, Z:1.63 [[ 9.99098524e-01 -3.92723384e-02 -1.61189943e-02 3.72538404e+02] [ 3.92751142e-02 9.99228425e-01 -1.44432340e-04 2.14810920e+00] [ 1.61122295e-02 -4.88773204e-04 9.99870070e-01 1.62667977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.459254154 meters 0.016703944105165066 Centerline is valid? [True, True] Translation: X:372.60, Y:2.16, Z:1.63 [[ 9.99301801e-01 -3.44337087e-02 -1.44993255e-02 3.72599820e+02] [ 3.44354533e-02 9.99406916e-01 -1.29394055e-04 2.15624692e+00] [ 1.44951817e-02 -3.69987133e-04 9.99894871e-01 1.62772554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.519254154 meters 0.015986657378080426 Centerline is valid? [True, True] Translation: X:372.66, Y:2.16, Z:1.63 [[ 9.99497715e-01 -2.95729546e-02 -1.13911374e-02 3.72660224e+02] [ 2.95737187e-02 9.99562597e-01 -1.01398154e-04 2.16287457e+00] [ 1.13891536e-02 -2.35531071e-04 9.99935114e-01 1.62857697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.579254154 meters 0.015457161227864715 Centerline is valid? [True, True] Translation: X:372.72, Y:2.17, Z:1.63 [[ 9.99559098e-01 -2.76609669e-02 -1.07926547e-02 3.72721445e+02] [ 2.76615447e-02 9.99617342e-01 -9.57637840e-05 2.16697182e+00] [ 1.07911737e-02 -2.02819939e-04 9.99941753e-01 1.62894354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.639254154 meters 0.015751401119568895 Centerline is valid? [True, True] Translation: X:372.78, Y:2.17, Z:1.63 [[ 9.99564806e-01 -2.80439780e-02 -9.15060439e-03 3.72784056e+02] [ 2.80444137e-02 9.99606675e-01 -8.07210804e-05 2.16914896e+00] [ 9.14926897e-03 -1.75937384e-04 9.99958129e-01 1.62931342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.699254154 meters 0.016093265038834056 Centerline is valid? [True, True] Translation: X:372.85, Y:2.17, Z:1.63 [[ 9.99532886e-01 -2.93874195e-02 -8.38978708e-03 3.72846275e+02] [ 2.93878379e-02 9.99568082e-01 -7.34374090e-05 2.16903659e+00] [ 8.38832151e-03 -1.73154597e-04 9.99964802e-01 1.62885560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.759254154 meters 0.015935134615494288 Centerline is valid? [True, True] Translation: X:372.91, Y:2.17, Z:1.63 [[ 9.99505685e-01 -3.00548147e-02 -9.22462955e-03 3.72908014e+02] [ 3.00553553e-02 9.99548233e-01 -8.00479241e-05 2.17144733e+00] [ 9.22286799e-03 -1.97241163e-04 9.99957449e-01 1.62763831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.819254154 meters 0.014946309595703455 Centerline is valid? [True, True] Translation: X:372.97, Y:2.18, Z:1.63 [[ 9.99564477e-01 -2.80229322e-02 -9.25043771e-03 3.72970046e+02] [ 2.80233952e-02 9.99607264e-01 -7.95849522e-05 2.17561737e+00] [ 9.24903494e-03 -1.79678380e-04 9.99957211e-01 1.62775046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.879254154 meters 0.014621859510815956 Centerline is valid? [True, True] Translation: X:373.03, Y:2.18, Z:1.63 [[ 9.99690039e-01 -2.31300242e-02 -9.21023376e-03 3.73030773e+02] [ 2.31302803e-02 9.99732456e-01 -7.87303386e-05 2.17909066e+00] [ 9.20959066e-03 -1.34329353e-04 9.99957582e-01 1.62748094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.93925415399997 meters 0.013944342101546386 Centerline is valid? [True, True] Translation: X:373.09, Y:2.18, Z:1.63 [[ 9.99778803e-01 -1.94946590e-02 -7.89330784e-03 3.73091958e+02] [ 1.94947359e-02 9.99809957e-01 -6.72046334e-05 2.18302106e+00] [ 7.89311791e-03 -8.66881841e-05 9.99968845e-01 1.62811509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.99925415399997 meters 0.013964443270267638 Centerline is valid? [True, True] Translation: X:373.15, Y:2.18, Z:1.63 [[ 9.99791746e-01 -1.89143040e-02 -7.66249017e-03 3.73153829e+02] [ 1.89143625e-02 9.99821105e-01 -6.48446201e-05 2.18380402e+00] [ 7.66234589e-03 -8.01000007e-05 9.99970641e-01 1.62800650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.059254154 meters 0.014431185895999224 Centerline is valid? [True, True] Translation: X:373.22, Y:2.18, Z:1.63 [[ 9.99729380e-01 -2.17949630e-02 -8.13306458e-03 3.73216051e+02] [ 2.17951291e-02 9.99762456e-01 -6.82173625e-05 2.18101641e+00] [ 8.13261941e-03 -1.09062291e-04 9.99966924e-01 1.62666930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.119254154 meters 0.015145317526253092 Centerline is valid? [True, True] Translation: X:373.28, Y:2.18, Z:1.63 [[ 9.99609163e-01 -2.63906661e-02 -9.22252390e-03 3.73278353e+02] [ 2.63910818e-02 9.99651692e-01 -7.66425934e-05 2.17800891e+00] [ 9.22133427e-03 -1.66779744e-04 9.99957469e-01 1.62615606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.179254154 meters 0.017401726427018226 Centerline is valid? [True, True] Translation: X:373.34, Y:2.17, Z:1.63 [[ 9.99272175e-01 -3.67249444e-02 -1.03149372e-02 3.73339104e+02] [ 3.67260186e-02 9.99325369e-01 -8.53260500e-05 2.17077105e+00] [ 1.03111120e-02 -2.93562628e-04 9.99946796e-01 1.62554263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.239254154 meters 0.021010765014147913 Centerline is valid? [True, True] Translation: X:373.40, Y:2.16, Z:1.63 [[ 9.98974351e-01 -4.40729139e-02 -1.03838686e-02 3.73398997e+02] [ 4.40744020e-02 9.99028248e-01 -8.56003965e-05 2.16279557e+00] [ 1.03775507e-02 -3.72150197e-04 9.99946083e-01 1.62543306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.299254154 meters 0.023534880833687585 Centerline is valid? [True, True] Translation: X:373.46, Y:2.16, Z:1.63 [[ 9.98550881e-01 -5.29016938e-02 -9.87666313e-03 3.73459738e+02] [ 5.29034752e-02 9.98599627e-01 -8.09968491e-05 2.15643913e+00] [ 9.86711699e-03 -4.41630328e-04 9.99951221e-01 1.62605453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.359254154 meters 0.025149176446768274 Centerline is valid? [True, True] Translation: X:373.52, Y:2.15, Z:1.63 [[ 9.98356991e-01 -5.65129991e-02 -9.46569266e-03 3.73521114e+02] [ 5.65148006e-02 9.98401758e-01 -7.72627926e-05 2.15391002e+00] [ 9.45493055e-03 -4.57815885e-04 9.99955196e-01 1.62693090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.419254154 meters 0.025506249396793763 Centerline is valid? [True, True] Translation: X:373.58, Y:2.15, Z:1.63 [[ 9.98223054e-01 -5.87714758e-02 -9.83098592e-03 3.73582954e+02] [ 5.87735329e-02 9.98271339e-01 -7.97796718e-05 2.15337900e+00] [ 9.81868025e-03 -4.98163867e-04 9.99951672e-01 1.62723542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.479254154 meters 0.028268462333486486 Centerline is valid? [True, True] Translation: X:373.65, Y:2.15, Z:1.63 [[ 9.98229435e-01 -5.85449353e-02 -1.05111857e-02 3.73645371e+02] [ 5.85472830e-02 9.98284633e-01 -8.44847365e-05 2.15025170e+00] [ 1.04981013e-02 -5.31066211e-04 9.99944752e-01 1.62763802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.539254154 meters 0.02833059433499009 Centerline is valid? [True, True] Translation: X:373.71, Y:2.15, Z:1.63 [[ 9.98296638e-01 -5.74086971e-02 -1.03953664e-02 3.73707155e+02] [ 5.74109403e-02 9.98350628e-01 -8.27395841e-05 2.15123145e+00] [ 1.03829705e-02 -5.14209108e-04 9.99945963e-01 1.62837277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.599254154 meters 0.02473146879156706 Centerline is valid? [True, True] Translation: X:373.77, Y:2.16, Z:1.63 [[ 9.98429219e-01 -5.47047264e-02 -1.21031664e-02 3.73769130e+02] [ 5.47075784e-02 9.98502414e-01 -9.55569110e-05 2.15841110e+00] [ 1.20902683e-02 -5.66728111e-04 9.99926749e-01 1.62817218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.659254154 meters 0.022532402627349873 Centerline is valid? [True, True] Translation: X:373.83, Y:2.16, Z:1.63 [[ 9.98553777e-01 -5.19236101e-02 -1.39389150e-02 3.73830810e+02] [ 5.19271366e-02 9.98650870e-01 -1.09045908e-04 2.16310766e+00] [ 1.39257717e-02 -6.14919742e-04 9.99902843e-01 1.62739272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.719254154 meters 0.019388237988409926 Centerline is valid? [True, True] Translation: X:373.89, Y:2.17, Z:1.63 [[ 9.98814976e-01 -4.61510864e-02 -1.54506075e-02 3.73891515e+02] [ 4.61547388e-02 9.98934295e-01 -1.20292743e-04 2.17048587e+00] [ 1.54396933e-02 -5.92968559e-04 9.99880625e-01 1.62717358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.779254154 meters 0.01844772599438281 Centerline is valid? [True, True] Translation: X:373.95, Y:2.17, Z:1.63 [[ 9.99053200e-01 -4.06712749e-02 -1.54450685e-02 3.73951357e+02] [ 4.06742719e-02 9.99172452e-01 -1.20167514e-04 2.17472621e+00] [ 1.54371744e-02 -5.08163177e-04 9.99880711e-01 1.62720734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.839254154 meters 0.01561188624885619 Centerline is valid? [True, True] Translation: X:374.01, Y:2.18, Z:1.63 [[ 9.99396662e-01 -3.16347639e-02 -1.43371714e-02 3.74011698e+02] [ 3.16364181e-02 9.99499437e-01 -1.11463661e-04 2.18344332e+00] [ 1.43335209e-02 -3.42180338e-04 9.99897211e-01 1.62917816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.899254154 meters 0.014058119921314678 Centerline is valid? [True, True] Translation: X:374.07, Y:2.19, Z:1.63 [[ 9.99585796e-01 -2.59409682e-02 -1.24620651e-02 3.74073534e+02] [ 2.59417816e-02 9.99663451e-01 -9.64082131e-05 2.18818643e+00] [ 1.24603719e-02 -2.26919889e-04 9.99922341e-01 1.63068360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.959254154 meters 0.013667936274344452 Centerline is valid? [True, True] Translation: X:374.14, Y:2.19, Z:1.63 [[ 9.99631464e-01 -2.45145939e-02 -1.16606762e-02 3.74135151e+02] [ 2.45152147e-02 9.99699453e-01 -8.97128336e-05 2.18966656e+00] [ 1.16593709e-02 -1.96184209e-04 9.99932008e-01 1.63126975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.019254154 meters 0.013665310899255127 Centerline is valid? [True, True] Translation: X:374.20, Y:2.19, Z:1.63 [[ 9.99609466e-01 -2.46892694e-02 -1.30903021e-02 3.74196806e+02] [ 2.46900734e-02 9.99695149e-01 -1.00209611e-04 2.18949578e+00] [ 1.30887856e-02 -2.23030044e-04 9.99914313e-01 1.62962250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.079254154 meters 0.014614037649380823 Centerline is valid? [True, True] Translation: X:374.26, Y:2.19, Z:1.63 [[ 9.99562535e-01 -2.61921449e-02 -1.37372077e-02 3.74257381e+02] [ 2.61931769e-02 9.99656894e-01 -1.04822971e-04 2.18732422e+00] [ 1.37352399e-02 -2.55043997e-04 9.99905635e-01 1.62843274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.139254154 meters 0.014541370225665599 Centerline is valid? [True, True] Translation: X:374.32, Y:2.19, Z:1.63 [[ 9.99491469e-01 -2.84294154e-02 -1.44419837e-02 3.74318735e+02] [ 2.84307959e-02 9.99595757e-01 -1.09750283e-04 2.18658639e+00] [ 1.44392658e-02 -3.00902621e-04 9.99895703e-01 1.62823103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.199254154 meters 0.015598475223887973 Centerline is valid? [True, True] Translation: X:374.38, Y:2.18, Z:1.63 [[ 9.99402577e-01 -3.12836047e-02 -1.46909709e-02 3.74379686e+02] [ 3.12853466e-02 9.99510488e-01 -1.11292548e-04 2.18383847e+00] [ 1.46872611e-02 -3.48386058e-04 9.99892076e-01 1.62781842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.259254154 meters 0.015651637636438624 Centerline is valid? [True, True] Translation: X:374.44, Y:2.18, Z:1.63 [[ 9.99414982e-01 -3.15840406e-02 -1.31202697e-02 3.74441104e+02] [ 3.15854608e-02 9.99501050e-01 -9.90061316e-05 2.18334340e+00] [ 1.31168503e-02 -3.15461553e-04 9.99913921e-01 1.62835288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.319254154 meters 0.016278732892695512 Centerline is valid? [True, True] Translation: X:374.50, Y:2.18, Z:1.63 [[ 9.99451780e-01 -3.05966071e-02 -1.26486303e-02 3.74503185e+02] [ 3.05978575e-02 9.99531771e-01 -9.46920051e-05 2.18383432e+00] [ 1.26456051e-02 -2.92380894e-04 9.99919998e-01 1.62931353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.379254154 meters 0.015427481961644356 Centerline is valid? [True, True] Translation: X:374.57, Y:2.18, Z:1.63 [[ 9.99493643e-01 -2.98752742e-02 -1.09510796e-02 3.74565501e+02] [ 2.98761764e-02 9.99553604e-01 -8.12357253e-05 2.18390184e+00] [ 1.09486180e-02 -2.45981794e-04 9.99940032e-01 1.62943753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.43925415399997 meters 0.015331883580286726 Centerline is valid? [True, True] Translation: X:374.63, Y:2.18, Z:1.63 [[ 9.99500049e-01 -2.99331168e-02 -1.01813463e-02 3.74627984e+02] [ 2.99339069e-02 9.99551877e-01 -7.48140627e-05 2.18392229e+00] [ 1.01790232e-02 -2.29990812e-04 9.99948166e-01 1.62895452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.49925415399997 meters 0.017049582662596915 Centerline is valid? [True, True] Translation: X:374.69, Y:2.18, Z:1.63 [[ 9.99381635e-01 -3.34497987e-02 -1.08378757e-02 3.74689355e+02] [ 3.34509080e-02 9.99440359e-01 -7.89555286e-05 2.17957970e+00] [ 1.08344514e-02 -2.83630077e-04 9.99941265e-01 1.62681093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.559254154 meters 0.018403765699911694 Centerline is valid? [True, True] Translation: X:374.75, Y:2.18, Z:1.63 [[ 9.99285105e-01 -3.60549590e-02 -1.13718452e-02 3.74751757e+02] [ 3.60563572e-02 9.99349755e-01 -8.21106030e-05 2.17622809e+00] [ 1.13674112e-02 -3.27975411e-04 9.99935335e-01 1.62547047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.619254154 meters 0.018100460408697304 Centerline is valid? [True, True] Translation: X:374.81, Y:2.18, Z:1.63 [[ 9.99279876e-01 -3.61437177e-02 -1.15482230e-02 3.74814226e+02] [ 3.61451750e-02 9.99346546e-01 -8.25646540e-05 2.17718938e+00] [ 1.15436610e-02 -3.34907346e-04 9.99933314e-01 1.62514315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.679254154 meters 0.016809495985599214 Centerline is valid? [True, True] Translation: X:374.88, Y:2.18, Z:1.63 [[ 9.99393531e-01 -3.32298131e-02 -1.04091271e-02 3.74875292e+02] [ 3.32308443e-02 9.99447700e-01 -7.39235134e-05 2.18013160e+00] [ 1.04058346e-02 -2.72025402e-04 9.99945821e-01 1.62555580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.739254154 meters 0.0147891755810865 Centerline is valid? [True, True] Translation: X:374.94, Y:2.19, Z:1.63 [[ 9.99647584e-01 -2.49407920e-02 -9.09198625e-03 3.74935260e+02] [ 2.49412372e-02 9.99688917e-01 -6.44312335e-05 2.18644166e+00] [ 9.09076485e-03 -1.62356858e-04 9.99958665e-01 1.62657195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.799254154 meters 0.012778398429650473 Centerline is valid? [True, True] Translation: X:375.00, Y:2.19, Z:1.63 [[ 9.99844299e-01 -1.60482317e-02 -7.33707440e-03 3.74996624e+02] [ 1.60482830e-02 9.99871217e-01 -5.18902993e-05 2.19403740e+00] [ 7.33696226e-03 -6.58652264e-05 9.99973082e-01 1.62782150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.859254154 meters 0.013145946623083453 Centerline is valid? [True, True] Translation: X:375.06, Y:2.20, Z:1.63 [[ 9.99908427e-01 -1.14922011e-02 -7.14611121e-03 3.75056724e+02] [ 1.14921348e-02 9.99933962e-01 -5.03393046e-05 2.19682930e+00] [ 7.14621781e-03 -3.17893787e-05 9.99974465e-01 1.62816492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.919254154 meters 0.012291799052595333 Centerline is valid? [True, True] Translation: X:375.12, Y:2.20, Z:1.63 [[ 9.99926983e-01 -9.27321753e-03 -7.74828154e-03 3.75116849e+02] [ 9.27307363e-03 9.99957003e-01 -5.44981932e-05 2.19720100e+00] [ 7.74845375e-03 -1.73561713e-05 9.99969980e-01 1.62691792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.979254154 meters 0.012372243577271588 Centerline is valid? [True, True] Translation: X:375.18, Y:2.19, Z:1.63 [[ 9.99892979e-01 -1.16440405e-02 -8.85704009e-03 3.75176062e+02] [ 1.16439440e-02 9.99932205e-01 -6.24617114e-05 2.19397988e+00] [ 8.85716693e-03 -4.06758519e-05 9.99960774e-01 1.62590091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.039254154 meters 0.014842068291402047 Centerline is valid? [True, True] Translation: X:375.24, Y:2.19, Z:1.63 [[ 9.99842652e-01 -1.49621963e-02 -9.52912525e-03 3.75235337e+02] [ 1.49622318e-02 9.99888057e-01 -6.75642711e-05 2.19022395e+00] [ 9.52906944e-03 -7.50233411e-05 9.99954595e-01 1.62673905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.099254154 meters 0.015376314789770043 Centerline is valid? [True, True] Translation: X:375.30, Y:2.18, Z:1.63 [[ 9.99708999e-01 -2.25269959e-02 -8.62854054e-03 3.75295348e+02] [ 2.25273048e-02 9.99746226e-01 -6.14015850e-05 2.18323302e+00] [ 8.62773404e-03 -1.32994046e-04 9.99962772e-01 1.62759844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.159254154 meters 0.016894079193381276 Centerline is valid? [True, True] Translation: X:375.36, Y:2.18, Z:1.63 [[ 9.99599459e-01 -2.73714752e-02 -7.19191071e-03 3.75357597e+02] [ 2.73718161e-02 9.99625320e-01 -5.10370870e-05 2.17927669e+00] [ 7.19061300e-03 -1.45839013e-04 9.99974137e-01 1.62936479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.219254154 meters 0.017417176618385155 Centerline is valid? [True, True] Translation: X:375.42, Y:2.17, Z:1.63 [[ 9.99379068e-01 -3.49425867e-02 -4.52708293e-03 3.75419126e+02] [ 3.49428003e-02 9.99389313e-01 -3.19150281e-05 2.17180733e+00] [ 4.52543350e-03 -1.26293744e-04 9.99989752e-01 1.63015823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.279254154 meters 0.020020269185526844 Centerline is valid? [True, True] Translation: X:375.48, Y:2.16, Z:1.63 [[ 9.99055255e-01 -4.32427064e-02 -4.32048605e-03 3.75479918e+02] [ 4.32429791e-02 9.99064584e-01 -3.03038486e-05 2.16450242e+00] [ 4.31775502e-03 -1.56555469e-04 9.99990666e-01 1.62972796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.339254154 meters 0.025218216088083285 Centerline is valid? [True, True] Translation: X:375.54, Y:2.16, Z:1.63 [[ 9.98772397e-01 -4.91824632e-02 -5.89782277e-03 3.75539505e+02] [ 4.91830750e-02 9.98789779e-01 -4.13462872e-05 2.15710505e+00] [ 5.89271862e-03 -2.48777530e-04 9.99982607e-01 1.62890356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.399254154 meters 0.026245979822829814 Centerline is valid? [True, True] Translation: X:375.60, Y:2.15, Z:1.63 [[ 9.98231895e-01 -5.89870483e-02 -7.32206971e-03 3.75599714e+02] [ 5.89882543e-02 9.98258676e-01 -5.13369514e-05 2.15071510e+00] [ 7.31234783e-03 -3.80669928e-04 9.99973192e-01 1.62616402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.459254154 meters 0.027698336617529514 Centerline is valid? [True, True] Translation: X:375.66, Y:2.15, Z:1.63 [[ 9.97885556e-01 -6.46210357e-02 -6.96697041e-03 3.75659968e+02] [ 6.46222644e-02 9.97909796e-01 -4.88418493e-05 2.14797046e+00] [ 6.95556423e-03 -4.01482828e-04 9.99975729e-01 1.62526991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.519254154 meters 0.028114060331385145 Centerline is valid? [True, True] Translation: X:375.72, Y:2.15, Z:1.63 [[ 9.97938659e-01 -6.38718484e-02 -6.23062999e-03 3.75722106e+02] [ 6.38728174e-02 9.97958046e-01 -4.35303995e-05 2.14959577e+00] [ 6.22068769e-03 -3.54527223e-04 9.99980588e-01 1.62604721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.579254154 meters 0.02674721516628428 Centerline is valid? [True, True] Translation: X:375.78, Y:2.15, Z:1.63 [[ 9.98133265e-01 -6.07986943e-02 -5.78835526e-03 3.75784150e+02] [ 6.07994816e-02 9.98149999e-01 -4.00227288e-05 2.15285027e+00] [ 5.78008013e-03 -3.11980982e-04 9.99983247e-01 1.62521377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.639254154 meters 0.0245997008293359 Centerline is valid? [True, True] Translation: X:375.85, Y:2.16, Z:1.62 [[ 9.98504900e-01 -5.42258857e-02 -6.89334526e-03 3.75845001e+02] [ 5.42268489e-02 9.98528641e-01 -4.72400908e-05 2.16042896e+00] [ 6.88576430e-03 -3.26634930e-04 9.99976239e-01 1.62427525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.699254154 meters 0.022619274184337443 Centerline is valid? [True, True] Translation: X:375.91, Y:2.17, Z:1.62 [[ 9.98839618e-01 -4.76910153e-02 -6.70712466e-03 3.75906012e+02] [ 4.76917800e-02 9.98862099e-01 -4.59686076e-05 2.16695583e+00] [ 6.70168491e-03 -2.73959447e-04 9.99977506e-01 1.62414075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.759254154 meters 0.01995992236939351 Centerline is valid? [True, True] Translation: X:375.97, Y:2.17, Z:1.62 [[ 9.99069175e-01 -4.26827249e-02 -6.24252484e-03 3.75967216e+02] [ 4.26832899e-02 9.99088652e-01 -4.27590276e-05 2.17392813e+00] [ 6.23866080e-03 -2.23732271e-04 9.99980514e-01 1.62485986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.819254154 meters 0.020370565230312894 Centerline is valid? [True, True] Translation: X:376.03, Y:2.18, Z:1.62 [[ 9.99276017e-01 -3.75334289e-02 -6.21955925e-03 3.76026782e+02] [ 3.75338904e-02 9.99295354e-01 -4.25531831e-05 2.17652576e+00] [ 6.21677383e-03 -1.90921880e-04 9.99980657e-01 1.62489885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.879254154 meters 0.017395522013299206 Centerline is valid? [True, True] Translation: X:376.09, Y:2.19, Z:1.63 [[ 9.99571692e-01 -2.85261481e-02 -6.53392873e-03 3.76087264e+02] [ 2.85264647e-02 9.99593037e-01 -4.47504672e-05 2.18746291e+00] [ 6.53254622e-03 -1.41658587e-04 9.99978653e-01 1.62533276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.93925415399997 meters 0.015047856062847099 Centerline is valid? [True, True] Translation: X:376.15, Y:2.19, Z:1.62 [[ 9.99780598e-01 -1.99203965e-02 -6.47560097e-03 3.76149288e+02] [ 1.99205283e-02 9.99801566e-01 -4.41608457e-05 2.19495300e+00] [ 6.47519569e-03 -8.48462354e-05 9.99979032e-01 1.62484222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.99925415399997 meters 0.014086679653655758 Centerline is valid? [True, True] Translation: X:376.21, Y:2.20, Z:1.63 [[ 9.99905932e-01 -1.20483973e-02 -6.55470899e-03 3.76210344e+02] [ 1.20483652e-02 9.99927415e-01 -4.43823770e-05 2.20280437e+00] [ 6.55476795e-03 -3.45953257e-05 9.99978517e-01 1.62539813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.059254154 meters 0.013971901481353438 Centerline is valid? [True, True] Translation: X:376.27, Y:2.21, Z:1.63 [[ 9.99954384e-01 -6.78578709e-03 -6.72186218e-03 3.76270202e+02] [ 6.78563653e-03 9.99976976e-01 -4.52047276e-05 2.20652402e+00] [ 6.72201417e-03 -4.09448074e-07 9.99977407e-01 1.62522916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.119254154 meters 0.014064060550877848 Centerline is valid? [True, True] Translation: X:376.33, Y:2.21, Z:1.63 [[ 9.99963991e-01 -5.80769917e-03 -6.18769269e-03 3.76330125e+02] [ 5.80755403e-03 9.99983135e-01 -4.14229812e-05 2.20617798e+00] [ 6.18782891e-03 5.48612995e-06 9.99980855e-01 1.62572971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.179254154 meters 0.015189520181722132 Centerline is valid? [True, True] Translation: X:376.39, Y:2.21, Z:1.63 [[ 9.99963197e-01 -6.06557857e-03 -6.06738802e-03 3.76390205e+02] [ 6.06544247e-03 9.99981604e-01 -4.08327555e-05 2.20554808e+00] [ 6.06752408e-03 4.02985980e-06 9.99981592e-01 1.62616495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.239254154 meters 0.015579146287490997 Centerline is valid? [True, True] Translation: X:376.45, Y:2.20, Z:1.63 [[ 9.99925336e-01 -1.04766239e-02 -6.28984188e-03 3.76449053e+02] [ 1.04765631e-02 9.99945118e-01 -4.26032593e-05 2.19972302e+00] [ 6.28994302e-03 -2.32958472e-05 9.99980218e-01 1.62575418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.299254154 meters 0.015142718211752509 Centerline is valid? [True, True] Translation: X:376.51, Y:2.19, Z:1.63 [[ 9.99802069e-01 -1.85975166e-02 -7.06796139e-03 3.76509892e+02] [ 1.85976409e-02 9.99827048e-01 -4.81450968e-05 2.19062575e+00] [ 7.06763435e-03 -8.33118408e-05 9.99975020e-01 1.62596384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.359254154 meters 0.018049227652415366 Centerline is valid? [True, True] Translation: X:376.57, Y:2.18, Z:1.63 [[ 9.99628383e-01 -2.64469243e-02 -6.60729915e-03 3.76571500e+02] [ 2.64472048e-02 9.99650210e-01 -4.49262734e-05 2.18085950e+00] [ 6.60617615e-03 -1.29835016e-04 9.99978171e-01 1.62671455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.419254154 meters 0.018160006934911543 Centerline is valid? [True, True] Translation: X:376.63, Y:2.17, Z:1.63 [[ 9.99442937e-01 -3.25972468e-02 -7.15791091e-03 3.76632399e+02] [ 3.25977353e-02 9.99468551e-01 -4.84449926e-05 2.17400773e+00] [ 7.15568602e-03 -1.84913679e-04 9.99974381e-01 1.62710304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.479254154 meters 0.02161718647123166 Centerline is valid? [True, True] Translation: X:376.69, Y:2.16, Z:1.63 [[ 9.99147254e-01 -4.06701329e-02 -7.12079606e-03 3.76692515e+02] [ 4.06708223e-02 9.99172599e-01 -4.80287822e-05 2.16170122e+00] [ 7.11685764e-03 -2.41620805e-04 9.99974646e-01 1.62654163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.539254154 meters 0.022531274286828527 Centerline is valid? [True, True] Translation: X:376.75, Y:2.15, Z:1.63 [[ 9.98863458e-01 -4.69766510e-02 -8.06136819e-03 3.76753415e+02] [ 4.69777416e-02 9.98895935e-01 -5.41192017e-05 2.15489333e+00] [ 8.05501025e-03 -3.24647179e-04 9.99967505e-01 1.62659434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.599254154 meters 0.023434547582012223 Centerline is valid? [True, True] Translation: X:376.82, Y:2.15, Z:1.63 [[ 9.98724881e-01 -4.97124518e-02 -8.79115328e-03 3.76815081e+02] [ 4.97138578e-02 9.98763500e-01 -5.86495341e-05 2.15122351e+00] [ 8.78319864e-03 -3.78467395e-04 9.99961355e-01 1.62601959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.659254154 meters 0.02429731297916064 Centerline is valid? [True, True] Translation: X:376.88, Y:2.15, Z:1.63 [[ 9.98542024e-01 -5.31648167e-02 -9.34498718e-03 3.76875767e+02] [ 5.31665596e-02 9.98585656e-01 -6.19953819e-05 2.14728948e+00] [ 9.33506613e-03 -4.34935824e-04 9.99956333e-01 1.62522835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.719254154 meters 0.026373144231121044 Centerline is valid? [True, True] Translation: X:376.94, Y:2.14, Z:1.63 [[ 9.98237109e-01 -5.86905086e-02 -8.83730300e-03 3.76936522e+02] [ 5.86922842e-02 9.98276120e-01 -5.85129089e-05 2.14168637e+00] [ 8.82550271e-03 -4.60271742e-04 9.99960949e-01 1.62506256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.779254154 meters 0.029574685403419416 Centerline is valid? [True, True] Translation: X:377.00, Y:2.14, Z:1.62 [[ 9.97994089e-01 -6.26240050e-02 -9.27541392e-03 3.76996274e+02] [ 6.26261307e-02 9.98037055e-01 -6.13752294e-05 2.13676504e+00] [ 9.26105036e-03 -5.19631168e-04 9.99956981e-01 1.62499041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.839254154 meters 0.029443162678144858 Centerline is valid? [True, True] Translation: X:377.06, Y:2.14, Z:1.62 [[ 9.97675473e-01 -6.73146500e-02 -1.06013204e-02 3.77056981e+02] [ 6.73176911e-02 9.97731589e-01 -7.01260110e-05 2.13653208e+00] [ 1.05819927e-02 -6.43693410e-04 9.99943802e-01 1.62442911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.899254154 meters 0.030483717476533723 Centerline is valid? [True, True] Translation: X:377.12, Y:2.14, Z:1.62 [[ 9.97479277e-01 -7.00609981e-02 -1.12493435e-02 3.77117922e+02] [ 7.00645979e-02 9.97542454e-01 -7.42672564e-05 2.13568639e+00] [ 1.12269010e-02 -7.14100683e-04 9.99936721e-01 1.62401950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.959254154 meters 0.03160289179339513 Centerline is valid? [True, True] Translation: X:377.18, Y:2.14, Z:1.62 [[ 9.97378037e-01 -7.13818488e-02 -1.19030833e-02 3.77180067e+02] [ 7.13859806e-02 9.97448763e-01 -7.79364526e-05 2.13578003e+00] [ 1.18782790e-02 -7.71981170e-04 9.99929153e-01 1.62404959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.019254154 meters 0.03171333563741907 Centerline is valid? [True, True] Translation: X:377.24, Y:2.14, Z:1.62 [[ 9.97388957e-01 -7.12510960e-02 -1.17707534e-02 3.77243465e+02] [ 7.12551408e-02 9.97458119e-01 -7.59195332e-05 2.13706147e+00] [ 1.17462429e-02 -7.63005389e-04 9.99930719e-01 1.62445304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.079254154 meters 0.032663674760710595 Centerline is valid? [True, True] Translation: X:377.30, Y:2.14, Z:1.63 [[ 9.97484645e-01 -7.01271172e-02 -1.03232910e-02 3.77304506e+02] [ 7.01301762e-02 9.97537846e-01 -6.58252826e-05 2.13923317e+00] [ 1.03024896e-02 -6.58314506e-04 9.99946711e-01 1.62619697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.139254154 meters 0.032108397876167497 Centerline is valid? [True, True] Translation: X:377.37, Y:2.15, Z:1.63 [[ 9.97754160e-01 -6.63685863e-02 -9.04694904e-03 3.77365118e+02] [ 6.63707843e-02 9.97795027e-01 -5.73920526e-05 2.14553734e+00] [ 9.03080979e-03 -5.43189944e-04 9.99959074e-01 1.62842332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.199254154 meters 0.030991130751211432 Centerline is valid? [True, True] Translation: X:377.43, Y:2.15, Z:1.63 [[ 9.98004625e-01 -6.25130567e-02 -8.88180836e-03 3.77426043e+02] [ 6.25150247e-02 9.98044021e-01 -5.61580493e-05 2.15058492e+00] [ 8.86794634e-03 -4.99200476e-04 9.99960554e-01 1.62954798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.259254154 meters 0.025021295803670067 Centerline is valid? [True, True] Translation: X:377.49, Y:2.16, Z:1.63 [[ 9.98398736e-01 -5.58007841e-02 -9.28633882e-03 3.77486258e+02] [ 5.58026468e-02 9.98441817e-01 -5.86067041e-05 2.16453763e+00] [ 9.27513931e-03 -4.59689426e-04 9.99956879e-01 1.63019291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.319254154 meters 0.02538340839576083 Centerline is valid? [True, True] Translation: X:377.55, Y:2.17, Z:1.63 [[ 9.98792457e-01 -4.79523281e-02 -1.06865565e-02 3.77545495e+02] [ 4.79543451e-02 9.98849526e-01 -6.75679331e-05 2.16984316e+00] [ 1.06775019e-02 -4.44980475e-04 9.99942895e-01 1.62927204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.379254154 meters 0.020703115698743387 Centerline is valid? [True, True] Translation: X:377.61, Y:2.18, Z:1.63 [[ 9.98999718e-01 -4.28590138e-02 -1.27541435e-02 3.77606687e+02] [ 4.28614733e-02 9.99081022e-01 -8.05614275e-05 2.18003164e+00] [ 1.27458755e-02 -4.66180540e-04 9.99918659e-01 1.62903142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.43925415399997 meters 0.01829163549176434 Centerline is valid? [True, True] Translation: X:377.67, Y:2.19, Z:1.63 [[ 9.99272522e-01 -3.58108189e-02 -1.31153292e-02 3.77667330e+02] [ 3.58128167e-02 9.99358512e-01 -8.25817191e-05 2.18933253e+00] [ 1.31098732e-02 -3.87175239e-04 9.99913987e-01 1.62997466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.49925415399997 meters 0.01777713883352859 Centerline is valid? [True, True] Translation: X:377.73, Y:2.19, Z:1.63 [[ 9.99464452e-01 -3.06949474e-02 -1.13414724e-02 3.77728297e+02] [ 3.06961157e-02 9.99528761e-01 -7.10833274e-05 2.19437490e+00] [ 1.13383098e-02 -2.77093891e-04 9.99935681e-01 1.63133914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.559254154 meters 0.017404614695627103 Centerline is valid? [True, True] Translation: X:377.79, Y:2.20, Z:1.63 [[ 9.99526773e-01 -2.90571887e-02 -1.00950260e-02 3.77789665e+02] [ 2.90580344e-02 9.99577724e-01 -6.29193244e-05 2.19836192e+00] [ 1.00925914e-02 -2.30452065e-04 9.99949042e-01 1.63275901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.619254154 meters 0.017815311706985686 Centerline is valid? [True, True] Translation: X:377.85, Y:2.20, Z:1.63 [[ 9.99478057e-01 -3.08397565e-02 -9.61884714e-03 3.77851540e+02] [ 3.08406119e-02 9.99524313e-01 -5.94220877e-05 2.19901126e+00] [ 9.61610415e-03 -2.37260059e-04 9.99953736e-01 1.63336846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.679254154 meters 0.019146878573546862 Centerline is valid? [True, True] Translation: X:377.91, Y:2.20, Z:1.63 [[ 9.99358434e-01 -3.44492663e-02 -9.79635037e-03 3.77913436e+02] [ 3.44503328e-02 9.99406409e-01 -5.99020169e-05 2.19737759e+00] [ 9.79259893e-03 -2.77623945e-04 9.99952013e-01 1.63321344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.739254154 meters 0.021127685873795682 Centerline is valid? [True, True] Translation: X:377.97, Y:2.19, Z:1.63 [[ 9.99169044e-01 -3.92807030e-02 -1.08742233e-02 3.77974118e+02] [ 3.92823071e-02 9.99228150e-01 -6.61131916e-05 2.19382933e+00] [ 1.08684270e-02 -3.61106324e-04 9.99940872e-01 1.63294861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.799254154 meters 0.02628301429274288 Centerline is valid? [True, True] Translation: X:378.03, Y:2.19, Z:1.63 [[ 9.98856930e-01 -4.59903180e-02 -1.30278174e-02 3.78034258e+02] [ 4.59931937e-02 9.98941750e-01 -7.89480560e-05 2.18715011e+00] [ 1.30176616e-02 -5.20333115e-04 9.99915131e-01 1.63000650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.859254154 meters 0.024772744275699917 Centerline is valid? [True, True] Translation: X:378.10, Y:2.19, Z:1.63 [[ 9.98574446e-01 -5.17494938e-02 -1.30792119e-02 3.78095144e+02] [ 5.17528868e-02 9.98659918e-01 -7.91306177e-05 2.18814218e+00] [ 1.30657797e-02 -5.97869160e-04 9.99914460e-01 1.63241026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.919254154 meters 0.025481470367414653 Centerline is valid? [True, True] Translation: X:378.16, Y:2.19, Z:1.63 [[ 9.98519177e-01 -5.28567145e-02 -1.28693638e-02 3.78157744e+02] [ 5.28600995e-02 9.98601925e-01 -7.72240771e-05 2.18808324e+00] [ 1.28554533e-02 -6.03166131e-04 9.99917183e-01 1.63348475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.979254154 meters 0.023611473918538434 Centerline is valid? [True, True] Translation: X:378.22, Y:2.19, Z:1.63 [[ 9.98531370e-01 -5.28001267e-02 -1.21346565e-02 3.78219451e+02] [ 5.28031427e-02 9.98604938e-01 -7.19323054e-05 2.19226973e+00] [ 1.21215260e-02 -5.68921337e-04 9.99926370e-01 1.63491211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.039254154 meters 0.02409776925530822 Centerline is valid? [True, True] Translation: X:378.28, Y:2.19, Z:1.64 [[ 9.98528563e-01 -5.26332991e-02 -1.30554347e-02 3.78282186e+02] [ 5.26367933e-02 9.98613720e-01 -7.60643725e-05 2.19308715e+00] [ 1.30413397e-02 -6.11243767e-04 9.99914771e-01 1.63522782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.099254154 meters 0.024812609520349718 Centerline is valid? [True, True] Translation: X:378.34, Y:2.19, Z:1.63 [[ 9.98485091e-01 -5.31380209e-02 -1.42784389e-02 3.78344030e+02] [ 5.31422700e-02 9.98586948e-01 -8.19229575e-05 2.19264177e+00] [ 1.42626160e-02 -6.76989805e-04 9.99898055e-01 1.63461656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.159254154 meters 0.026396459072287562 Centerline is valid? [True, True] Translation: X:378.41, Y:2.19, Z:1.63 [[ 9.98398186e-01 -5.43333703e-02 -1.57780497e-02 3.78405611e+02] [ 5.43387234e-02 9.98522556e-01 -8.95498978e-05 2.19133813e+00] [ 1.57596041e-02 -7.67952622e-04 9.99875515e-01 1.63375221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.219254154 meters 0.027449855530038748 Centerline is valid? [True, True] Translation: X:378.47, Y:2.19, Z:1.63 [[ 9.98395613e-01 -5.37858026e-02 -1.76999128e-02 3.78466914e+02] [ 5.37924710e-02 9.98552132e-01 -9.94774670e-05 2.19205185e+00] [ 1.76796361e-02 -8.52804178e-04 9.99843339e-01 1.63320542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.279254154 meters 0.025080599577105313 Centerline is valid? [True, True] Translation: X:378.53, Y:2.20, Z:1.63 [[ 9.98561715e-01 -5.04559587e-02 -1.81300318e-02 3.78528759e+02] [ 5.04624255e-02 9.98725955e-01 -1.00905351e-04 2.19811830e+00] [ 1.81120246e-02 -8.14125159e-04 9.99835632e-01 1.63446330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.339254154 meters 0.021911793161083576 Centerline is valid? [True, True] Translation: X:378.59, Y:2.21, Z:1.64 [[ 9.98960347e-01 -4.19436014e-02 -1.78594348e-02 3.78589540e+02] [ 4.19485239e-02 9.99119768e-01 -9.90741736e-05 2.20941955e+00] [ 1.78478699e-02 -6.50205754e-04 9.99840503e-01 1.63570567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.399254154 meters 0.01876856733825619 Centerline is valid? [True, True] Translation: X:378.65, Y:2.22, Z:1.64 [[ 9.99365272e-01 -3.18695697e-02 -1.59180214e-02 3.78648843e+02] [ 3.18721998e-02 9.99491948e-01 -8.84952337e-05 2.21920876e+00] [ 1.59127545e-02 -4.18903294e-04 9.99873296e-01 1.63792815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.459254154 meters 0.015547140966872701 Centerline is valid? [True, True] Translation: X:378.71, Y:2.23, Z:1.64 [[ 9.99673526e-01 -2.12644230e-02 -1.41656489e-02 3.78709940e+02] [ 2.12654420e-02 9.99773862e-01 -7.87046291e-05 2.23057203e+00] [ 1.41641191e-02 -2.22559852e-04 9.99899659e-01 1.64089381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.519254154 meters 0.014300148941278023 Centerline is valid? [True, True] Translation: X:378.77, Y:2.24, Z:1.64 [[ 9.99837210e-01 -1.21881801e-02 -1.33041813e-02 3.78771021e+02] [ 1.21882765e-02 9.99925717e-01 -7.38406222e-05 2.23855254e+00] [ 1.33040931e-02 -8.83264390e-05 9.99911493e-01 1.64192471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.579254154 meters 0.014291559734317935 Centerline is valid? [True, True] Translation: X:378.83, Y:2.24, Z:1.64 [[ 9.99859674e-01 -9.84498714e-03 -1.35539022e-02 3.78829172e+02] [ 9.84486075e-03 9.99951535e-01 -7.60478335e-05 2.24018002e+00] [ 1.35539940e-02 -5.73991173e-05 9.99908139e-01 1.64086556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.639254154 meters 0.014294105335483979 Centerline is valid? [True, True] Translation: X:378.89, Y:2.24, Z:1.64 [[ 9.99810852e-01 -1.27063907e-02 -1.47243777e-02 3.78887830e+02] [ 1.27065342e-02 9.99919265e-01 -8.38096851e-05 2.23765412e+00] [ 1.47242539e-02 -1.03301977e-04 9.99891587e-01 1.63969767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.699254154 meters 0.015104297362601356 Centerline is valid? [True, True] Translation: X:378.95, Y:2.23, Z:1.64 [[ 9.99668845e-01 -2.07102765e-02 -1.52736804e-02 3.78947079e+02] [ 2.07113505e-02 9.99785493e-01 -8.78742438e-05 2.23180682e+00] [ 1.52722240e-02 -2.28493405e-04 9.99883347e-01 1.63890450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.759254154 meters 0.016816480419108985 Centerline is valid? [True, True] Translation: X:379.01, Y:2.23, Z:1.64 [[ 9.99524762e-01 -2.68720318e-02 -1.51044343e-02 3.79006424e+02] [ 2.68737787e-02 9.99638831e-01 -8.73362574e-05 2.22596957e+00] [ 1.51013260e-02 -3.18618473e-04 9.99885918e-01 1.63815409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.819254154 meters 0.01798717467769404 Centerline is valid? [True, True] Translation: X:379.07, Y:2.22, Z:1.64 [[ 9.99277824e-01 -3.52319486e-02 -1.42316522e-02 3.79067775e+02] [ 3.52343507e-02 9.99379074e-01 -8.19972893e-05 2.22105419e+00] [ 1.42257043e-02 -4.19504951e-04 9.99898722e-01 1.63958405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.879254154 meters 0.019750400411178842 Centerline is valid? [True, True] Translation: X:379.13, Y:2.22, Z:1.64 [[ 9.99114383e-01 -3.98914014e-02 -1.33838076e-02 3.79128504e+02] [ 3.98939475e-02 9.99203917e-01 -7.67905943e-05 2.21670590e+00] [ 1.33762163e-02 -4.57210331e-04 9.99910430e-01 1.63959911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.93925415399997 meters 0.02307082545885637 Centerline is valid? [True, True] Translation: X:379.19, Y:2.21, Z:1.64 [[ 9.98866851e-01 -4.59919382e-02 -1.22374844e-02 3.79188458e+02] [ 4.59945248e-02 9.98941689e-01 -7.01387120e-05 2.20937465e+00] [ 1.22277591e-02 -4.92798044e-04 9.99925117e-01 1.63978359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.99925415399997 meters 0.022325175088150757 Centerline is valid? [True, True] Translation: X:379.25, Y:2.21, Z:1.64 [[ 9.98615438e-01 -5.14039947e-02 -1.11730092e-02 3.79248983e+02] [ 5.14064903e-02 9.98677810e-01 -6.39093471e-05 2.21015781e+00] [ 1.11615215e-02 -5.10544327e-04 9.99937578e-01 1.64087550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.059254154 meters 0.028352431303466916 Centerline is valid? [True, True] Translation: X:379.31, Y:2.20, Z:1.64 [[ 9.98243055e-01 -5.82072907e-02 -1.10776110e-02 3.79308395e+02] [ 5.82101631e-02 9.98304349e-01 -6.32316913e-05 2.20110840e+00] [ 1.10625078e-02 -5.81708948e-04 9.99938639e-01 1.63968222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.119254154 meters 0.027065102516761995 Centerline is valid? [True, True] Translation: X:379.37, Y:2.20, Z:1.64 [[ 9.97952310e-01 -6.29952270e-02 -1.10810297e-02 3.79369247e+02] [ 6.29983960e-02 9.98013626e-01 -6.31887570e-05 2.20279128e+00] [ 1.10629992e-02 -6.35027729e-04 9.99938602e-01 1.63992395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.179254154 meters 0.030311640449056952 Centerline is valid? [True, True] Translation: X:379.43, Y:2.20, Z:1.64 [[ 9.97586303e-01 -6.83085668e-02 -1.24702722e-02 3.79429533e+02] [ 6.83129943e-02 9.97663936e-01 -7.10651653e-05 2.19944170e+00] [ 1.24459952e-02 -7.80987994e-04 9.99922241e-01 1.63870442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.239254154 meters 0.03450445117683273 Centerline is valid? [True, True] Translation: X:379.49, Y:2.20, Z:1.64 [[ 9.97488082e-01 -6.91998735e-02 -1.51295825e-02 3.79490555e+02] [ 6.92065023e-02 9.97602352e-01 -8.56159183e-05 2.19684972e+00] [ 1.50992317e-02 -9.61664626e-04 9.99885538e-01 1.63599215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.299254154 meters 0.030856737539488217 Centerline is valid? [True, True] Translation: X:379.55, Y:2.21, Z:1.64 [[ 9.97607692e-01 -6.70615671e-02 -1.67820837e-02 3.79552441e+02] [ 6.70694380e-02 9.97748306e-01 -9.40068763e-05 2.20621326e+00] [ 1.67505998e-02 -1.03178294e-03 9.99859166e-01 1.63515460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.359254154 meters 0.02802209018225151 Centerline is valid? [True, True] Translation: X:379.61, Y:2.22, Z:1.64 [[ 9.97973595e-01 -6.15115731e-02 -1.62797198e-02 3.79612919e+02] [ 6.15182475e-02 9.98105955e-01 -9.09553818e-05 2.21505178e+00] [ 1.62544801e-02 -9.10728763e-04 9.99867472e-01 1.63784612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.419254154 meters 0.025124829353346183 Centerline is valid? [True, True] Translation: X:379.67, Y:2.23, Z:1.64 [[ 9.98468795e-01 -5.33163575e-02 -1.47455671e-02 3.79673162e+02] [ 5.33209432e-02 9.98577423e-01 -8.22626541e-05 2.22666792e+00] [ 1.47289763e-02 -7.04110851e-04 9.99891275e-01 1.64096733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.479254154 meters 0.023804857688276365 Centerline is valid? [True, True] Translation: X:379.73, Y:2.23, Z:1.64 [[ 9.98794966e-01 -4.70149551e-02 -1.40786677e-02 3.79732888e+02] [ 4.70185089e-02 9.98894015e-01 -7.86496907e-05 2.23375729e+00] [ 1.40667947e-02 -5.83403049e-04 9.99900888e-01 1.64265657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.539254154 meters 0.0202863495050678 Centerline is valid? [True, True] Translation: X:379.79, Y:2.25, Z:1.64 [[ 9.99214775e-01 -3.72549721e-02 -1.34870811e-02 3.79792925e+02] [ 3.72573443e-02 9.99305701e-01 -7.54190905e-05 2.24659907e+00] [ 1.34805268e-02 -4.27132954e-04 9.99909042e-01 1.64389334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.599254154 meters 0.01740749072568936 Centerline is valid? [True, True] Translation: X:379.85, Y:2.26, Z:1.65 [[ 9.99447123e-01 -3.02024326e-02 -1.39018492e-02 3.79853213e+02] [ 3.02042711e-02 9.99543744e-01 -7.77413767e-05 2.25530800e+00] [ 1.38978544e-02 -3.42196828e-04 9.99903362e-01 1.64511870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.659254154 meters 0.01623143772633973 Centerline is valid? [True, True] Translation: X:379.92, Y:2.26, Z:1.64 [[ 9.99618356e-01 -2.34728595e-02 -1.45659857e-02 3.79915236e+02] [ 2.34741716e-02 9.99724440e-01 -8.09066489e-05 2.26150383e+00] [ 1.45638710e-02 -2.61048676e-04 9.99893907e-01 1.64427487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.719254154 meters 0.015921527484900073 Centerline is valid? [True, True] Translation: X:379.98, Y:2.27, Z:1.64 [[ 9.99707704e-01 -1.85814258e-02 -1.54673251e-02 3.79976042e+02] [ 1.85823240e-02 9.99827330e-01 -8.56608586e-05 2.26524859e+00] [ 1.54662460e-02 -2.01783025e-04 9.99880370e-01 1.64349895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.779254154 meters 0.014699043521992868 Centerline is valid? [True, True] Translation: X:380.04, Y:2.27, Z:1.64 [[ 9.99802877e-01 -1.20639558e-02 -1.57692292e-02 3.80035358e+02] [ 1.20640724e-02 9.99927223e-01 -8.77348159e-05 2.27099260e+00] [ 1.57691400e-02 -1.02523602e-04 9.99875654e-01 1.64361993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.839254154 meters 0.014464697574002282 Centerline is valid? [True, True] Translation: X:380.09, Y:2.27, Z:1.64 [[ 9.99844797e-01 -9.02934630e-03 -1.51278711e-02 3.80094285e+02] [ 9.02906432e-03 9.99959233e-01 -8.69407054e-05 2.27307904e+00] [ 1.51280394e-02 -4.96633095e-05 9.99885563e-01 1.64396213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.899254154 meters 0.014162568250999444 Centerline is valid? [True, True] Translation: X:380.15, Y:2.27, Z:1.65 [[ 9.99891070e-01 -7.01054925e-03 -1.29884740e-02 3.80152590e+02] [ 7.01013022e-03 9.99975426e-01 -7.77895845e-05 2.27302688e+00] [ 1.29887002e-02 -1.32697836e-05 9.99915643e-01 1.64554153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.959254154 meters 0.014049968351468857 Centerline is valid? [True, True] Translation: X:380.21, Y:2.27, Z:1.65 [[ 9.99911056e-01 -8.17431420e-03 -1.05385347e-02 3.80211677e+02] [ 8.17407604e-03 9.99966590e-01 -6.56718063e-05 2.26954081e+00] [ 1.05387194e-02 -2.04768185e-05 9.99944466e-01 1.64643442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.019254154 meters 0.014001640239057847 Centerline is valid? [True, True] Translation: X:380.27, Y:2.27, Z:1.65 [[ 9.99905669e-01 -9.58766117e-03 -9.83508783e-03 3.80270217e+02] [ 9.58749738e-03 9.99954037e-01 -6.38024197e-05 2.26810885e+00] [ 9.83524749e-03 -3.04974776e-05 9.99951632e-01 1.64652989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.079254154 meters 0.015304597422961658 Centerline is valid? [True, True] Translation: X:380.33, Y:2.26, Z:1.65 [[ 9.99801644e-01 -1.71730033e-02 -1.00876451e-02 3.80330103e+02] [ 1.71732030e-02 9.99852527e-01 -6.68348661e-05 2.25873332e+00] [ 1.00873052e-02 -1.06415567e-04 9.99949116e-01 1.64543460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.139254154 meters 0.016041530708629716 Centerline is valid? [True, True] Translation: X:380.39, Y:2.25, Z:1.64 [[ 9.99647254e-01 -2.45969379e-02 -1.00178627e-02 3.80390712e+02] [ 2.45975068e-02 9.99697433e-01 -6.64325664e-05 2.24968974e+00] [ 1.00164657e-02 -1.80005313e-04 9.99949818e-01 1.64417548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.199254154 meters 0.01847964225338854 Centerline is valid? [True, True] Translation: X:380.45, Y:2.24, Z:1.64 [[ 9.99363669e-01 -3.43629278e-02 -9.56280355e-03 3.80451192e+02] [ 3.43638946e-02 9.99409385e-01 -6.32444797e-05 2.23641914e+00] [ 9.55932888e-03 -2.65410938e-04 9.99954273e-01 1.64321519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.259254154 meters 0.019943660164380744 Centerline is valid? [True, True] Translation: X:380.51, Y:2.23, Z:1.64 [[ 9.99157124e-01 -3.96659835e-02 -1.05665338e-02 3.80512466e+02] [ 3.96674634e-02 9.99212934e-01 -6.95709285e-05 2.22895406e+00] [ 1.05609768e-02 -3.49635302e-04 9.99944170e-01 1.64225052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.319254154 meters 0.021092133141991962 Centerline is valid? [True, True] Translation: X:380.57, Y:2.22, Z:1.64 [[ 9.99093669e-01 -4.11035603e-02 -1.10606834e-02 3.80573414e+02] [ 4.11052756e-02 9.99154818e-01 -7.22975741e-05 2.22334682e+00] [ 1.10543068e-02 -3.82420391e-04 9.99938826e-01 1.64152731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.379254154 meters 0.021452267711102643 Centerline is valid? [True, True] Translation: X:380.64, Y:2.22, Z:1.64 [[ 9.99099935e-01 -4.08744354e-02 -1.13401705e-02 3.80636133e+02] [ 4.08762339e-02 9.99164215e-01 -7.32277821e-05 2.22103773e+00] [ 1.13336857e-02 -3.90381590e-04 9.99935696e-01 1.64142400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.43925415399997 meters 0.021681113940348766 Centerline is valid? [True, True] Translation: X:380.70, Y:2.22, Z:1.64 [[ 9.99142619e-01 -3.96172224e-02 -1.20209104e-02 3.80697148e+02] [ 3.96191694e-02 9.99214850e-01 -7.62222741e-05 2.21805455e+00] [ 1.20144919e-02 -4.00101563e-04 9.99927743e-01 1.64091397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.49925415399997 meters 0.01871774135937201 Centerline is valid? [True, True] Translation: X:380.76, Y:2.22, Z:1.64 [[ 9.99232620e-01 -3.70119191e-02 -1.28175230e-02 3.80759587e+02] [ 3.70139342e-02 9.99314746e-01 -8.00557129e-05 2.22092559e+00] [ 1.28117028e-02 -3.94432674e-04 9.99917849e-01 1.64115506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.559254154 meters 0.017665276724361557 Centerline is valid? [True, True] Translation: X:380.82, Y:2.22, Z:1.64 [[ 9.99358063e-01 -3.28869030e-02 -1.42096365e-02 3.80821564e+02] [ 3.28889759e-02 9.99459007e-01 -8.78421861e-05 2.22130624e+00] [ 1.42048381e-02 -3.79554596e-04 9.99899034e-01 1.64071415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.619254154 meters 0.01824235564806788 Centerline is valid? [True, True] Translation: X:380.88, Y:2.22, Z:1.64 [[ 9.99439362e-01 -2.95589076e-02 -1.57236591e-02 3.80882649e+02] [ 2.95610450e-02 9.99562972e-01 -9.65129518e-05 2.22245174e+00] [ 1.57196402e-02 -3.68348951e-04 9.99876371e-01 1.64101116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.679254154 meters 0.015942394057476873 Centerline is valid? [True, True] Translation: X:380.94, Y:2.23, Z:1.64 [[ 9.99550776e-01 -2.51182044e-02 -1.63499905e-02 3.80943051e+02] [ 2.51199245e-02 9.99684440e-01 -1.00188611e-04 2.22537619e+00] [ 1.63473476e-02 -3.10566923e-04 9.99866325e-01 1.64205404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.739254154 meters 0.015269815600338734 Centerline is valid? [True, True] Translation: X:381.00, Y:2.23, Z:1.64 [[ 9.99661964e-01 -1.93048714e-02 -1.74149180e-02 3.81003013e+02] [ 1.93059251e-02 9.99813617e-01 -1.07624642e-04 2.22852153e+00] [ 1.74137498e-02 -2.28622841e-04 9.99848343e-01 1.64144283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.799254154 meters 0.014618857175309974 Centerline is valid? [True, True] Translation: X:381.06, Y:2.23, Z:1.64 [[ 9.99725300e-01 -1.54144611e-02 -1.76555463e-02 3.81061639e+02] [ 1.54148707e-02 9.99881177e-01 -1.12896114e-04 2.23212407e+00] [ 1.76551886e-02 -1.59292862e-04 9.99844122e-01 1.64322188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.859254154 meters 0.014326370004002996 Centerline is valid? [True, True] Translation: X:381.12, Y:2.24, Z:1.64 [[ 9.99806234e-01 -9.77998012e-03 -1.70835038e-02 3.81119521e+02] [ 9.77950218e-03 9.99952173e-01 -1.11518496e-04 2.23546973e+00] [ 1.70837774e-02 -5.55712743e-05 9.99854060e-01 1.64336513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.919254154 meters 0.01411404438296878 Centerline is valid? [True, True] Translation: X:381.18, Y:2.24, Z:1.65 [[ 9.99840878e-01 -6.20895175e-03 -1.67232881e-02 3.81177512e+02] [ 6.20792734e-03 9.99980724e-01 -1.13168286e-04 2.23828895e+00] [ 1.67236684e-02 9.33332110e-06 9.99860150e-01 1.64510238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.979254154 meters 0.01427046284406857 Centerline is valid? [True, True] Translation: X:381.23, Y:2.24, Z:1.65 [[ 9.99850391e-01 -4.88094156e-03 -1.65943625e-02 3.81233970e+02] [ 4.87970342e-03 9.99988088e-01 -1.15102144e-04 2.23964608e+00] [ 1.65947266e-02 3.41093562e-05 9.99862297e-01 1.64518999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.039254154 meters 0.014216761802041877 Centerline is valid? [True, True] Translation: X:381.29, Y:2.24, Z:1.65 [[ 9.99861432e-01 -3.88914074e-03 -1.61861334e-02 3.81291425e+02] [ 3.88776863e-03 9.99992436e-01 -1.16236199e-04 2.23972393e+00] [ 1.61864630e-02 5.32921511e-05 9.99868989e-01 1.64687949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.099254154 meters 0.014311088993397206 Centerline is valid? [True, True] Translation: X:381.35, Y:2.24, Z:1.65 [[ 9.99870275e-01 -4.47434975e-03 -1.54730164e-02 3.81348965e+02] [ 4.47313176e-03 9.99989989e-01 -1.13325077e-04 2.23694093e+00] [ 1.54733685e-02 4.40975350e-05 9.99880279e-01 1.64603870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.159254154 meters 0.014118345716025708 Centerline is valid? [True, True] Translation: X:381.41, Y:2.23, Z:1.65 [[ 9.99879098e-01 -5.77734614e-03 -1.44364832e-02 3.81406597e+02] [ 5.77639761e-03 9.99983311e-01 -1.07400211e-04 2.23285793e+00] [ 1.44368627e-02 2.39963592e-05 9.99895783e-01 1.64551298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.219254154 meters 0.01410546298518209 Centerline is valid? [True, True] Translation: X:381.47, Y:2.23, Z:1.65 [[ 9.99878820e-01 -7.24596300e-03 -1.37782882e-02 3.81465520e+02] [ 7.24522133e-03 9.99973748e-01 -1.03744408e-04 2.22971352e+00] [ 1.37786782e-02 3.90508842e-06 9.99905069e-01 1.64706196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.279254154 meters 0.015219676850093964 Centerline is valid? [True, True] Translation: X:381.52, Y:2.22, Z:1.65 [[ 9.99855979e-01 -1.03384753e-02 -1.34587001e-02 3.81523999e+02] [ 1.03380299e-02 9.99946556e-01 -1.02667616e-04 2.22326147e+00] [ 1.34590423e-02 -3.64836154e-05 9.99909422e-01 1.64592806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.339254154 meters 0.014034886994244359 Centerline is valid? [True, True] Translation: X:381.58, Y:2.22, Z:1.65 [[ 9.99840371e-01 -1.32462151e-02 -1.19904144e-02 3.81581246e+02] [ 1.32460537e-02 9.99912263e-01 -9.28755626e-05 2.21889642e+00] [ 1.19905926e-02 -6.59649362e-05 9.99928108e-01 1.64545534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.399254154 meters 0.015756722670886705 Centerline is valid? [True, True] Translation: X:381.64, Y:2.21, Z:1.65 [[ 9.99762986e-01 -1.83069137e-02 -1.17825305e-02 3.81640287e+02] [ 1.83070963e-02 9.99832407e-01 -9.23676598e-05 2.21367471e+00] [ 1.17822468e-02 -1.23358153e-04 9.99930579e-01 1.64613803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.459254154 meters 0.01538452074816968 Centerline is valid? [True, True] Translation: X:381.70, Y:2.21, Z:1.65 [[ 9.99608784e-01 -2.55702302e-02 -1.13332349e-02 3.81700413e+02] [ 2.55708607e-02 9.99673008e-01 -8.92884797e-05 2.20576986e+00] [ 1.13318121e-02 -2.00547022e-04 9.99935773e-01 1.64501309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.519254154 meters 0.01774177191176368 Centerline is valid? [True, True] Translation: X:381.76, Y:2.20, Z:1.64 [[ 9.99388378e-01 -3.31108275e-02 -1.12491724e-02 3.81760338e+02] [ 3.31119312e-02 9.99451646e-01 -8.81663734e-05 2.19652275e+00] [ 1.12459232e-02 -2.84369375e-04 9.99936722e-01 1.64374885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.579254154 meters 0.01977429661459538 Centerline is valid? [True, True] Translation: X:381.82, Y:2.19, Z:1.64 [[ 9.99232816e-01 -3.78165359e-02 -1.01828160e-02 3.81821684e+02] [ 3.78176897e-02 9.99284652e-01 -7.92897377e-05 2.19198296e+00] [ 1.01785302e-02 -3.05861668e-04 9.99948151e-01 1.64419028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.639254154 meters 0.019691492305465238 Centerline is valid? [True, True] Translation: X:381.88, Y:2.19, Z:1.64 [[ 9.99027565e-01 -4.31237423e-02 -9.17969372e-03 3.81882501e+02] [ 4.31249058e-02 9.99069686e-01 -7.12491629e-05 2.19092560e+00] [ 9.17422626e-03 -3.24693550e-04 9.99957863e-01 1.64487654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.699254154 meters 0.0215786282962947 Centerline is valid? [True, True] Translation: X:381.94, Y:2.19, Z:1.64 [[ 9.98955915e-01 -4.47581242e-02 -9.15366915e-03 3.81943689e+02] [ 4.47593528e-02 9.98997795e-01 -7.07014624e-05 2.18825168e+00] [ 9.14765977e-03 -3.39084663e-04 9.99958102e-01 1.64458975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.759254154 meters 0.02046425616314286 Centerline is valid? [True, True] Translation: X:382.01, Y:2.19, Z:1.65 [[ 9.99020681e-01 -4.33553622e-02 -8.83127976e-03 3.82006272e+02] [ 4.33564571e-02 9.99059664e-01 -6.75198949e-05 2.19173888e+00] [ 8.82590274e-03 -3.15439231e-04 9.99961001e-01 1.64514816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.819254154 meters 0.020643472038208512 Centerline is valid? [True, True] Translation: X:382.07, Y:2.19, Z:1.64 [[ 9.99175536e-01 -3.93885403e-02 -9.83827098e-03 3.82066671e+02] [ 3.93897179e-02 9.99223921e-01 -7.41235652e-05 2.19452691e+00] [ 9.83355532e-03 -3.13464265e-04 9.99951600e-01 1.64438700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.879254154 meters 0.01848549343403062 Centerline is valid? [True, True] Translation: X:382.13, Y:2.20, Z:1.64 [[ 9.99291445e-01 -3.61138627e-02 -1.06017136e-02 3.82127995e+02] [ 3.61150539e-02 9.99347636e-01 -7.91331346e-05 2.20045122e+00] [ 1.05976552e-02 -3.03804394e-04 9.99943797e-01 1.64461846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.93925415399997 meters 0.01778860772421577 Centerline is valid? [True, True] Translation: X:382.19, Y:2.20, Z:1.64 [[ 9.99404433e-01 -3.28425466e-02 -1.05899579e-02 3.82189397e+02] [ 3.28435556e-02 9.99460502e-01 -7.86605685e-05 2.20424516e+00] [ 1.05868281e-02 -2.69198151e-04 9.99943922e-01 1.64433612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.99925415399997 meters 0.016782004595352108 Centerline is valid? [True, True] Translation: X:382.25, Y:2.21, Z:1.64 [[ 9.99523952e-01 -2.84906186e-02 -1.18386619e-02 3.82250446e+02] [ 2.84915798e-02 9.99594029e-01 -8.74910347e-05 2.21069061e+00] [ 1.18363484e-02 -2.49852795e-04 9.99929917e-01 1.64412007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.059254154 meters 0.015676001730873013 Centerline is valid? [True, True] Translation: X:382.31, Y:2.22, Z:1.65 [[ 9.99591619e-01 -2.60768438e-02 -1.16872879e-02 3.82312203e+02] [ 2.60776222e-02 9.99659917e-01 -8.58102058e-05 2.21618393e+00] [ 1.16855509e-02 -2.19001516e-04 9.99931698e-01 1.64513052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.119254154 meters 0.015493841015733426 Centerline is valid? [True, True] Translation: X:382.37, Y:2.22, Z:1.65 [[ 9.99612909e-01 -2.53111634e-02 -1.15489272e-02 3.82373418e+02] [ 2.53118783e-02 9.99679600e-01 -8.42881360e-05 2.21925507e+00] [ 1.15473604e-02 -2.08069531e-04 9.99933305e-01 1.64629035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.179254154 meters 0.016619717356507163 Centerline is valid? [True, True] Translation: X:382.43, Y:2.22, Z:1.65 [[ 9.99524055e-01 -2.87778459e-02 -1.11129928e-02 3.82434831e+02] [ 2.87787264e-02 9.99585803e-01 -8.07064758e-05 2.21861134e+00] [ 1.11107124e-02 -2.39149717e-04 9.99938246e-01 1.64727683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.239254154 meters 0.017744790010321275 Centerline is valid? [True, True] Translation: X:382.50, Y:2.22, Z:1.65 [[ 9.99438413e-01 -3.16285580e-02 -1.10676374e-02 3.82495574e+02] [ 3.16296104e-02 9.99499655e-01 -7.99771366e-05 2.21659159e+00] [ 1.10646293e-02 -2.70132836e-04 9.99938749e-01 1.64795803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.299254154 meters 0.01771368380168991 Centerline is valid? [True, True] Translation: X:382.56, Y:2.22, Z:1.65 [[ 9.99347968e-01 -3.41726953e-02 -1.16561667e-02 3.82558042e+02] [ 3.41740437e-02 9.99415893e-01 -8.35297506e-05 2.21862711e+00] [ 1.16522127e-02 -3.14863066e-04 9.99932061e-01 1.64994758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.359254154 meters 0.01906687616207077 Centerline is valid? [True, True] Translation: X:382.62, Y:2.22, Z:1.65 [[ 9.99316840e-01 -3.49159159e-02 -1.21133290e-02 3.82618970e+02] [ 3.49174359e-02 9.99390197e-01 -8.60513317e-05 2.21805734e+00] [ 1.21089468e-02 -3.36973843e-04 9.99926627e-01 1.65107992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.419254154 meters 0.01892898354655999 Centerline is valid? [True, True] Translation: X:382.68, Y:2.22, Z:1.65 [[ 9.99298914e-01 -3.53838806e-02 -1.22335912e-02 3.82680833e+02] [ 3.53854758e-02 9.99373734e-01 -8.61050823e-05 2.21955067e+00] [ 1.22289764e-02 -3.46846730e-04 9.99925163e-01 1.65212343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.479254154 meters 0.018419603656588488 Centerline is valid? [True, True] Translation: X:382.74, Y:2.22, Z:1.65 [[ 9.99283817e-01 -3.55209225e-02 -1.30428811e-02 3.82742617e+02] [ 3.55227600e-02 9.99368863e-01 -9.08346761e-05 2.22167118e+00] [ 1.30378758e-02 -3.72549513e-04 9.99914934e-01 1.65299092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.539254154 meters 0.017265992985741125 Centerline is valid? [True, True] Translation: X:382.80, Y:2.23, Z:1.65 [[ 9.99326363e-01 -3.34732181e-02 -1.50453918e-02 3.82804390e+02] [ 3.34754489e-02 9.99439535e-01 -1.03614654e-04 2.22572588e+00] [ 1.50404277e-02 -4.00106391e-04 9.99886806e-01 1.65321286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.599254154 meters 0.01749100779234337 Centerline is valid? [True, True] Translation: X:382.86, Y:2.23, Z:1.65 [[ 9.99412919e-01 -2.95955650e-02 -1.72603820e-02 3.82864506e+02] [ 2.95979338e-02 9.99561878e-01 -1.18256324e-04 2.22848678e+00] [ 1.72563197e-02 -3.92684746e-04 9.99851022e-01 1.65277876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.659254154 meters 0.01629584609114913 Centerline is valid? [True, True] Translation: X:382.92, Y:2.23, Z:1.65 [[ 9.99483012e-01 -2.59133877e-02 -1.90316936e-02 3.82924582e+02] [ 2.59156022e-02 9.99664126e-01 -1.30303327e-04 2.23323125e+00] [ 1.90286779e-02 -3.62981839e-04 9.99818872e-01 1.65258843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.719254154 meters 0.01656353382370074 Centerline is valid? [True, True] Translation: X:382.98, Y:2.23, Z:1.65 [[ 9.99445626e-01 -2.63893116e-02 -2.02988890e-02 3.82983068e+02] [ 2.63918485e-02 9.99651664e-01 -1.42950226e-04 2.23432257e+00] [ 2.02955905e-02 -3.92854225e-04 9.99793946e-01 1.65280276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.779254154 meters 0.01801951277880757 Centerline is valid? [True, True] Translation: X:383.04, Y:2.23, Z:1.65 [[ 9.99378483e-01 -2.68795745e-02 -2.28065026e-02 3.83040707e+02] [ 2.68828398e-02 9.99638578e-01 -1.63457815e-04 2.23406162e+00] [ 2.28026535e-02 -4.49747334e-04 9.99739885e-01 1.65251836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.839254154 meters 0.01631083363984059 Centerline is valid? [True, True] Translation: X:383.10, Y:2.24, Z:1.66 [[ 9.99380894e-01 -2.70507179e-02 -2.24963667e-02 3.83098585e+02] [ 2.70538108e-02 9.99633965e-01 -1.66906435e-04 2.23705252e+00] [ 2.24926472e-02 -4.41809345e-04 9.99746911e-01 1.65537551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.899254154 meters 0.017203999096266142 Centerline is valid? [True, True] Translation: X:383.16, Y:2.24, Z:1.66 [[ 9.99417303e-01 -2.60717031e-02 -2.20300067e-02 3.83155939e+02] [ 2.60743687e-02 9.99659992e-01 -1.66286169e-04 2.23605721e+00] [ 2.20268517e-02 -4.08229242e-04 9.99757296e-01 1.65619190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.959254154 meters 0.015845125405421573 Centerline is valid? [True, True] Translation: X:383.21, Y:2.24, Z:1.66 [[ 9.99407914e-01 -2.64134259e-02 -2.20488515e-02 3.83214205e+02] [ 2.64160558e-02 9.99651020e-01 -1.72023496e-04 2.23858106e+00] [ 2.20457006e-02 -4.10522049e-04 9.99756880e-01 1.66003450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.019254154 meters 0.01597035022012522 Centerline is valid? [True, True] Translation: X:383.27, Y:2.24, Z:1.66 [[ 9.99322902e-01 -2.85786481e-02 -2.31732176e-02 3.83273088e+02] [ 2.85819902e-02 9.99591434e-01 -1.87045099e-04 2.23636593e+00] [ 2.31690954e-02 -4.75418227e-04 9.99731447e-01 1.66087209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.079254154 meters 0.01714571187511255 Centerline is valid? [True, True] Translation: X:383.33, Y:2.23, Z:1.66 [[ 9.99209219e-01 -3.11829238e-02 -2.46690284e-02 3.83331064e+02] [ 3.11874292e-02 9.99513533e-01 -2.02178769e-04 2.23189776e+00] [ 2.46633322e-02 -5.67344685e-04 9.99695653e-01 1.66037032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.139254154 meters 0.017631747053061753 Centerline is valid? [True, True] Translation: X:383.39, Y:2.23, Z:1.66 [[ 9.99123815e-01 -3.20836076e-02 -2.68746143e-02 3.83388406e+02] [ 3.20892045e-02 9.99484984e-01 -2.23096301e-04 2.23027009e+00] [ 2.68679312e-02 -6.39484168e-04 9.99638787e-01 1.66054404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.199254154 meters 0.017314347250902896 Centerline is valid? [True, True] Translation: X:383.45, Y:2.23, Z:1.66 [[ 9.99109508e-01 -3.18235783e-02 -2.77028913e-02 3.83446157e+02] [ 3.18292258e-02 9.99493294e-01 -2.37194279e-04 2.23091655e+00] [ 2.76964024e-02 -6.44778522e-04 9.99616173e-01 1.66122537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.259254154 meters 0.017519776841055514 Centerline is valid? [True, True] Translation: X:383.50, Y:2.23, Z:1.66 [[ 9.99080523e-01 -3.16204498e-02 -2.89526397e-02 3.83504754e+02] [ 3.16263173e-02 9.99499730e-01 -2.55362408e-04 2.22947669e+00] [ 2.89462302e-02 -6.60537762e-04 9.99580752e-01 1.66094428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.319254154 meters 0.01622024696554033 Centerline is valid? [True, True] Translation: X:383.56, Y:2.23, Z:1.66 [[ 9.99169709e-01 -2.95747063e-02 -2.80219491e-02 3.83563840e+02] [ 2.95792102e-02 9.99562407e-01 -2.53865781e-04 2.23186546e+00] [ 2.80171949e-02 -5.75212123e-04 9.99607276e-01 1.66464379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.379254154 meters 0.015642907247252775 Centerline is valid? [True, True] Translation: X:383.62, Y:2.23, Z:1.67 [[ 9.99317821e-01 -2.52049648e-02 -2.69926238e-02 3.83622485e+02] [ 2.52074784e-02 9.99682210e-01 -2.47198344e-04 2.23428258e+00] [ 2.69902764e-02 -4.33386270e-04 9.99635602e-01 1.66589310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.43925415399997 meters 0.014498528508914872 Centerline is valid? [True, True] Translation: X:383.68, Y:2.24, Z:1.67 [[ 9.99541053e-01 -1.63798441e-02 -2.54829962e-02 3.83680938e+02] [ 1.63791799e-02 9.99865825e-01 -2.34807525e-04 2.23869347e+00] [ 2.54834231e-02 -1.82690819e-04 9.99675228e-01 1.66736580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.49925415399997 meters 0.013986833262644794 Centerline is valid? [True, True] Translation: X:383.74, Y:2.24, Z:1.67 [[ 9.99632509e-01 -1.08275388e-02 -2.48517714e-02 3.83739624e+02] [ 1.08250553e-02 9.99941380e-01 -2.34463365e-04 2.24064305e+00] [ 2.48528533e-02 -3.46445994e-05 9.99691120e-01 1.66881287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.559254154 meters 0.014054544344621812 Centerline is valid? [True, True] Translation: X:383.80, Y:2.24, Z:1.67 [[ 9.99622678e-01 -1.10281978e-02 -2.51571024e-02 3.83797402e+02] [ 1.10256409e-02 9.99939187e-01 -2.40347520e-04 2.23740558e+00] [ 2.51582231e-02 -3.71163454e-05 9.99683481e-01 1.66680160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.619254154 meters 0.014147910500349805 Centerline is valid? [True, True] Translation: X:383.86, Y:2.23, Z:1.67 [[ 9.99579441e-01 -1.53232713e-02 -2.46198953e-02 3.83856445e+02] [ 1.53220797e-02 9.99882582e-01 -2.37050829e-04 2.23112441e+00] [ 2.46206369e-02 -1.40276864e-04 9.99696856e-01 1.66572890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.679254154 meters 0.014558623206537613 Centerline is valid? [True, True] Translation: X:383.92, Y:2.23, Z:1.67 [[ 9.99529191e-01 -1.93508525e-02 -2.38105352e-02 3.83915350e+02] [ 1.93507570e-02 9.99812729e-01 -2.34439002e-04 2.22738444e+00] [ 2.38106128e-02 -2.26423257e-04 9.99716462e-01 1.66574442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.739254154 meters 0.015694883328069956 Centerline is valid? [True, True] Translation: X:383.97, Y:2.22, Z:1.66 [[ 9.99397065e-01 -2.61826437e-02 -2.28029576e-02 3.83972990e+02] [ 2.61842724e-02 9.99657107e-01 -2.27201667e-04 2.22061362e+00] [ 2.28010873e-02 -3.70014173e-04 9.99739953e-01 1.66482102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.799254154 meters 0.01823954448258409 Centerline is valid? [True, True] Translation: X:384.03, Y:2.22, Z:1.66 [[ 9.99337178e-01 -2.85273798e-02 -2.26140145e-02 3.84031367e+02] [ 2.85295163e-02 9.99592924e-01 -2.28207505e-04 2.21818362e+00] [ 2.26113190e-02 -4.17110650e-04 9.99744244e-01 1.66470908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.859254154 meters 0.019733799141519397 Centerline is valid? [True, True] Translation: X:384.09, Y:2.21, Z:1.66 [[ 9.99127757e-01 -3.66518816e-02 -2.00091309e-02 3.84091289e+02] [ 3.66551602e-02 9.99327953e-01 -2.02997057e-04 2.21055231e+00] [ 2.00031240e-02 -5.30617904e-04 9.99799777e-01 1.66477819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.919254154 meters 0.019467429256964038 Centerline is valid? [True, True] Translation: X:384.15, Y:2.21, Z:1.67 [[ 9.98889101e-01 -4.44279622e-02 -1.57073429e-02 3.84151127e+02] [ 4.44309373e-02 9.99012446e-01 -1.59683430e-04 2.20860711e+00] [ 1.56989254e-02 -5.38385928e-04 9.99876619e-01 1.66775974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.979254154 meters 0.022664611616444418 Centerline is valid? [True, True] Translation: X:384.21, Y:2.20, Z:1.67 [[ 9.98682243e-01 -4.93634165e-02 -1.40367449e-02 3.84211294e+02] [ 4.93662780e-02 9.98780732e-01 -1.42772602e-04 2.20303575e+00] [ 1.40266780e-02 -5.50357385e-04 9.99901470e-01 1.66726805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.039254154 meters 0.02464406747265831 Centerline is valid? [True, True] Translation: X:384.27, Y:2.20, Z:1.67 [[ 9.98261096e-01 -5.75953083e-02 -1.25525120e-02 3.84271530e+02] [ 5.75982462e-02 9.98339835e-01 -1.27639294e-04 2.19900610e+00] [ 1.25390242e-02 -5.95585334e-04 9.99921206e-01 1.66627636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.099254154 meters 0.026647940926779093 Centerline is valid? [True, True] Translation: X:384.33, Y:2.20, Z:1.67 [[ 9.97776957e-01 -6.55572128e-02 -1.19748410e-02 3.84332657e+02] [ 6.55604613e-02 9.97848591e-01 -1.21496859e-04 2.19697731e+00] [ 1.19570433e-02 -6.63849336e-04 9.99928292e-01 1.66518682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.159254154 meters 0.027139602838092892 Centerline is valid? [True, True] Translation: X:384.39, Y:2.20, Z:1.67 [[ 9.97547854e-01 -6.91279128e-02 -1.09366690e-02 3.84393822e+02] [ 6.91308390e-02 9.97607596e-01 -1.10707756e-04 2.19758416e+00] [ 1.09181571e-02 -6.45624820e-04 9.99940187e-01 1.66512389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.219254154 meters 0.030905087316101244 Centerline is valid? [True, True] Translation: X:384.45, Y:2.19, Z:1.66 [[ 9.97420633e-01 -7.10812373e-02 -9.97691486e-03 3.84454693e+02] [ 7.10837726e-02 9.97470344e-01 -1.00708211e-04 2.19485597e+00] [ 9.95883516e-03 -6.08748300e-04 9.99950224e-01 1.66390896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.279254154 meters 0.03065076836277329 Centerline is valid? [True, True] Translation: X:384.52, Y:2.20, Z:1.66 [[ 9.97519455e-01 -6.96231835e-02 -1.03706374e-02 3.84517228e+02] [ 6.96258518e-02 9.97573170e-01 -1.03963630e-04 2.20133369e+00] [ 1.03527079e-02 -6.18358722e-04 9.99946218e-01 1.66337594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.339254154 meters 0.030227710758455355 Centerline is valid? [True, True] Translation: X:384.58, Y:2.21, Z:1.66 [[ 9.97684299e-01 -6.73201082e-02 -9.69759706e-03 3.84577934e+02] [ 6.73223385e-02 9.97731273e-01 -9.66466121e-05 2.20731365e+00] [ 9.68210213e-03 -5.56442104e-04 9.99952973e-01 1.66250845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.399254154 meters 0.02925942672752053 Centerline is valid? [True, True] Translation: X:384.64, Y:2.21, Z:1.66 [[ 9.97832261e-01 -6.52307605e-02 -8.70212660e-03 3.84638985e+02] [ 6.52324797e-02 9.97870090e-01 -8.64263597e-05 2.21350160e+00] [ 8.68922951e-03 -4.81422287e-04 9.99962132e-01 1.66334254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.459254154 meters 0.02616376416501557 Centerline is valid? [True, True] Translation: X:384.70, Y:2.22, Z:1.67 [[ 9.98012919e-01 -6.27103555e-02 -6.13393060e-03 3.84700027e+02] [ 6.27111632e-02 9.98031716e-01 -6.07426133e-05 2.22475454e+00] [ 6.12566647e-03 -3.24044010e-04 9.99981185e-01 1.66540694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.519254154 meters 0.027671353254903185 Centerline is valid? [True, True] Translation: X:384.76, Y:2.23, Z:1.67 [[ 9.98151442e-01 -6.06427775e-02 -4.01888301e-03 3.84760121e+02] [ 6.06431080e-02 9.98159512e-01 -3.96970373e-05 2.22982062e+00] [ 4.01389365e-03 -2.04093901e-04 9.99991923e-01 1.66650239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.579254154 meters 0.027515617984443595 Centerline is valid? [True, True] Translation: X:384.82, Y:2.23, Z:1.67 [[ 9.98212204e-01 -5.96607778e-02 -3.60385294e-03 3.84822482e+02] [ 5.96610372e-02 9.98218693e-01 -3.55817239e-05 2.23478982e+00] [ 3.59955621e-03 -1.79491493e-04 9.99993505e-01 1.66667672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.639254154 meters 0.02746796339425815 Centerline is valid? [True, True] Translation: X:384.88, Y:2.24, Z:1.67 [[ 9.98136933e-01 -6.08833419e-02 -3.98510710e-03 3.84884406e+02] [ 6.08836700e-02 9.98144868e-01 -3.90269313e-05 2.24084204e+00] [ 3.98009029e-03 -2.03673724e-04 9.99992059e-01 1.66598949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.699254154 meters 0.02709883735935862 Centerline is valid? [True, True] Translation: X:384.95, Y:2.25, Z:1.66 [[ 9.97827506e-01 -6.56144683e-02 -5.91697093e-03 3.84945102e+02] [ 6.56152775e-02 9.97844994e-01 -5.74669950e-05 2.24712071e+00] [ 5.90799049e-03 -3.30901541e-04 9.99982493e-01 1.66484853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.759254154 meters 0.03197191411513201 Centerline is valid? [True, True] Translation: X:385.00, Y:2.25, Z:1.66 [[ 9.97623657e-01 -6.86016160e-02 -6.39198187e-03 3.85004806e+02] [ 6.86026227e-02 9.97644063e-01 -6.18918601e-05 2.24570296e+00] [ 6.38116865e-03 -3.76761937e-04 9.99979569e-01 1.66494358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.819254154 meters 0.032726949252789496 Centerline is valid? [True, True] Translation: X:385.07, Y:2.25, Z:1.67 [[ 9.97631873e-01 -6.84837442e-02 -6.37367485e-03 3.85068079e+02] [ 6.84847463e-02 9.97652162e-01 -6.11454569e-05 2.24898487e+00] [ 6.36289797e-03 -3.75498849e-04 9.99979686e-01 1.66579136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.879254154 meters 0.029657494481403767 Centerline is valid? [True, True] Translation: X:385.13, Y:2.26, Z:1.67 [[ 9.97821431e-01 -6.57916821e-02 -4.88333855e-03 3.85129406e+02] [ 6.57922401e-02 9.97833342e-01 -4.64721893e-05 2.25913767e+00] [ 4.87581551e-03 -2.74914836e-04 9.99988075e-01 1.66747364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.93925415399997 meters 0.02737388045057798 Centerline is valid? [True, True] Translation: X:385.19, Y:2.27, Z:1.67 [[ 9.98145228e-01 -6.07487769e-02 -3.96109758e-03 3.85190217e+02] [ 6.07491049e-02 9.98153067e-01 -3.75679510e-05 2.26706380e+00] [ 3.95606391e-03 -2.03134862e-04 9.99992154e-01 1.66868656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.99925415399997 meters 0.025880566377517553 Centerline is valid? [True, True] Translation: X:385.25, Y:2.27, Z:1.67 [[ 9.98353119e-01 -5.72781604e-02 -3.20348049e-03 3.85251054e+02] [ 5.72783571e-02 9.98358247e-01 -3.03896131e-05 2.27273655e+00] [ 3.19996182e-03 -1.53150534e-04 9.99994868e-01 1.66895530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.059254154 meters 0.023917929519664562 Centerline is valid? [True, True] Translation: X:385.31, Y:2.28, Z:1.67 [[ 9.98548215e-01 -5.37889090e-02 -2.86627283e-03 3.85312794e+02] [ 5.37890519e-02 9.98552321e-01 -2.72425105e-05 2.28035328e+00] [ 2.86358873e-03 -1.26971138e-04 9.99995892e-01 1.66953805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.119254154 meters 0.022141282369001612 Centerline is valid? [True, True] Translation: X:385.37, Y:2.28, Z:1.67 [[ 9.98591559e-01 -5.28657337e-02 -4.48474165e-03 3.85374831e+02] [ 5.28660769e-02 9.98601610e-01 -4.20681464e-05 2.28475577e+00] [ 4.48069420e-03 -1.95081801e-04 9.99989943e-01 1.66838632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.179254154 meters 0.022326946736754668 Centerline is valid? [True, True] Translation: X:385.44, Y:2.29, Z:1.67 [[ 9.98575396e-01 -5.29191140e-02 -6.83714281e-03 3.85436601e+02] [ 5.29199201e-02 9.98598757e-01 -6.30827243e-05 2.28653313e+00] [ 6.83090060e-03 -2.98828195e-04 9.99976624e-01 1.66615016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.239254154 meters 0.022585369314048084 Centerline is valid? [True, True] Translation: X:385.50, Y:2.29, Z:1.67 [[ 9.98584850e-01 -5.25353862e-02 -8.26626600e-03 3.85499184e+02] [ 5.25365638e-02 9.98618998e-01 -7.47790366e-05 2.28802381e+00] [ 8.25877881e-03 -3.59607997e-04 9.99965831e-01 1.66541365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.299254154 meters 0.022445286315555688 Centerline is valid? [True, True] Translation: X:385.56, Y:2.29, Z:1.66 [[ 9.98706130e-01 -4.99281195e-02 -9.65650774e-03 3.85560674e+02] [ 4.99296104e-02 9.98752735e-01 -8.67808549e-05 2.29156640e+00] [ 9.64879632e-03 -3.95477097e-04 9.99953371e-01 1.66443317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.359254154 meters 0.022153278240873226 Centerline is valid? [True, True] Translation: X:385.62, Y:2.30, Z:1.67 [[ 9.98930276e-01 -4.54931096e-02 -8.28737098e-03 3.85620818e+02] [ 4.54940564e-02 9.98964607e-01 -7.43382845e-05 2.29566974e+00] [ 8.28217217e-03 -3.02767360e-04 9.99965656e-01 1.66504731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.419254154 meters 0.02053348523630355 Centerline is valid? [True, True] Translation: X:385.68, Y:2.30, Z:1.67 [[ 9.99075042e-01 -4.24593275e-02 -6.80187592e-03 3.85682487e+02] [ 4.24598960e-02 9.99098170e-01 -6.08815878e-05 2.30127661e+00] [ 6.79832678e-03 -2.27981669e-04 9.99976865e-01 1.66666180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.479254154 meters 0.018607791181362843 Centerline is valid? [True, True] Translation: X:385.74, Y:2.31, Z:1.67 [[ 9.99205257e-01 -3.96281528e-02 -4.29687623e-03 3.85743716e+02] [ 3.96283541e-02 9.99214488e-01 -3.83114813e-05 2.30698480e+00] [ 4.29501919e-03 -1.31997099e-04 9.99990768e-01 1.66867002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.539254154 meters 0.01895340902133541 Centerline is valid? [True, True] Translation: X:385.81, Y:2.31, Z:1.67 [[ 9.99289745e-01 -3.74589122e-02 -4.10309559e-03 3.85805252e+02] [ 3.74590780e-02 9.99298162e-01 -3.64688873e-05 2.30741082e+00] [ 4.10158196e-03 -1.17255193e-04 9.99991582e-01 1.66849711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.599254154 meters 0.019588947106313755 Centerline is valid? [True, True] Translation: X:385.87, Y:2.31, Z:1.67 [[ 9.99292484e-01 -3.72907108e-02 -4.89235424e-03 3.85867521e+02] [ 3.72909485e-02 9.99304450e-01 -4.26630309e-05 2.30622782e+00] [ 4.89054230e-03 -1.39807684e-04 9.99988031e-01 1.66834938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.659254154 meters 0.019043291288099118 Centerline is valid? [True, True] Translation: X:385.93, Y:2.30, Z:1.67 [[ 9.99230718e-01 -3.88132464e-02 -5.61281875e-03 3.85930030e+02] [ 3.88135863e-02 9.99246468e-01 -4.83991612e-05 2.30492149e+00] [ 5.61046784e-03 -1.69491696e-04 9.99984247e-01 1.66722076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.719254154 meters 0.021232126590948364 Centerline is valid? [True, True] Translation: X:385.99, Y:2.30, Z:1.67 [[ 9.99232437e-01 -3.87774889e-02 -5.55370159e-03 3.85992042e+02] [ 3.87778241e-02 9.99247856e-01 -4.73599393e-05 2.30264814e+00] [ 5.55136091e-03 -1.68036876e-04 9.99984577e-01 1.66691434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.779254154 meters 0.019788483108803923 Centerline is valid? [True, True] Translation: X:386.05, Y:2.30, Z:1.67 [[ 9.99119921e-01 -4.14307329e-02 -6.54805928e-03 3.86053802e+02] [ 4.14312626e-02 9.99141355e-01 -5.47807615e-05 2.30098350e+00] [ 6.54470643e-03 -2.16561814e-04 9.99978560e-01 1.66687616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.839254154 meters 0.020423932597487284 Centerline is valid? [True, True] Translation: X:386.12, Y:2.30, Z:1.67 [[ 9.99083479e-01 -4.23546028e-02 -6.18791982e-03 3.86115649e+02] [ 4.23550958e-02 9.99102619e-01 -5.14078180e-05 2.29772823e+00] [ 6.18454425e-03 -2.10729235e-04 9.99980853e-01 1.66698779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.899254154 meters 0.021116307136372046 Centerline is valid? [True, True] Translation: X:386.18, Y:2.30, Z:1.67 [[ 9.99109176e-01 -4.17661480e-02 -6.03679425e-03 3.86177362e+02] [ 4.17666091e-02 9.99127393e-01 -4.97231369e-05 2.29523568e+00] [ 6.03360324e-03 -2.02457583e-04 9.99981777e-01 1.66732042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.959254154 meters 0.02115410657721448 Centerline is valid? [True, True] Translation: X:386.24, Y:2.29, Z:1.67 [[ 9.99148393e-01 -4.07142522e-02 -6.69619871e-03 3.86238296e+02] [ 4.07147991e-02 9.99170807e-01 -5.46847815e-05 2.29410991e+00] [ 6.69287272e-03 -2.17996173e-04 9.99977579e-01 1.66671263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.019254154 meters 0.018553801073758053 Centerline is valid? [True, True] Translation: X:386.30, Y:2.30, Z:1.67 [[ 9.99251776e-01 -3.77481674e-02 -8.42396177e-03 3.86300518e+02] [ 3.77489325e-02 9.99287253e-01 -6.82099674e-05 2.29816935e+00] [ 8.42053242e-03 -2.49836634e-04 9.99964515e-01 1.66605074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.079254154 meters 0.017033143401983693 Centerline is valid? [True, True] Translation: X:386.36, Y:2.30, Z:1.67 [[ 9.99372736e-01 -3.41667727e-02 -9.31488505e-03 3.86361582e+02] [ 3.41675578e-02 9.99416116e-01 -7.48850275e-05 2.30199823e+00] [ 9.31200482e-03 -2.43428818e-04 9.99956613e-01 1.66630617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.139254154 meters 0.01557920816576893 Centerline is valid? [True, True] Translation: X:386.42, Y:2.31, Z:1.67 [[ 9.99618316e-01 -2.61209533e-02 -8.99542449e-03 3.86422749e+02] [ 2.61213622e-02 9.99658776e-01 -7.20579203e-05 2.30726612e+00] [ 8.99423726e-03 -1.62942324e-04 9.99959538e-01 1.66679685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.199254154 meters 0.015533559991166086 Centerline is valid? [True, True] Translation: X:386.48, Y:2.31, Z:1.67 [[ 9.99763653e-01 -2.02779821e-02 -7.83850322e-03 3.86484184e+02] [ 2.02781147e-02 9.99794376e-01 -6.25777000e-05 2.31069792e+00] [ 7.83816039e-03 -9.63871573e-05 9.99969277e-01 1.66755124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.259254154 meters 0.014337912783128978 Centerline is valid? [True, True] Translation: X:386.55, Y:2.31, Z:1.67 [[ 9.99849338e-01 -1.63993918e-02 -5.68876367e-03 3.86546268e+02] [ 1.63994000e-02 9.99865520e-01 -4.52000722e-05 2.31273963e+00] [ 5.68873990e-03 -4.80990489e-05 9.99983818e-01 1.67053048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.319254154 meters 0.014731050423042279 Centerline is valid? [True, True] Translation: X:386.61, Y:2.31, Z:1.67 [[ 9.99829802e-01 -1.75158269e-02 -5.79342441e-03 3.86607909e+02] [ 1.75158566e-02 9.99846585e-01 -4.56242807e-05 2.31046014e+00] [ 5.79333476e-03 -5.58602755e-05 9.99983217e-01 1.67069093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.379254154 meters 0.01593413310990636 Centerline is valid? [True, True] Translation: X:386.67, Y:2.30, Z:1.67 [[ 9.99655485e-01 -2.51804844e-02 -7.40636344e-03 3.86670320e+02] [ 2.51807470e-02 9.99682913e-01 -5.78023574e-05 2.30303891e+00] [ 7.40547047e-03 -1.28715320e-04 9.99972571e-01 1.66921402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.43925415399997 meters 0.0189625431730688 Centerline is valid? [True, True] Translation: X:386.73, Y:2.29, Z:1.67 [[ 9.99325447e-01 -3.55914787e-02 -9.04973941e-03 3.86730068e+02] [ 3.55923021e-02 9.99366391e-01 -7.01050540e-05 2.29207710e+00] [ 9.04650055e-03 -2.52043294e-04 9.99959048e-01 1.66740456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.49925415399997 meters 0.02005828242354979 Centerline is valid? [True, True] Translation: X:386.79, Y:2.29, Z:1.67 [[ 9.99029177e-01 -4.27182011e-02 -1.07637495e-02 3.86791346e+02] [ 4.27197819e-02 9.99087090e-01 -8.31183828e-05 2.28816982e+00] [ 1.07574738e-02 -3.76787342e-04 9.99942066e-01 1.66707835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.559254154 meters 0.026039013560343077 Centerline is valid? [True, True] Translation: X:386.85, Y:2.28, Z:1.67 [[ 9.98614017e-01 -5.13612786e-02 -1.14918919e-02 3.86850624e+02] [ 5.13636499e-02 9.98680013e-01 -8.88943282e-05 2.27611288e+00] [ 1.14812885e-02 -5.01494392e-04 9.99933962e-01 1.66586226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.619254154 meters 0.02489762469546522 Centerline is valid? [True, True] Translation: X:386.91, Y:2.28, Z:1.67 [[ 9.98363675e-01 -5.60898349e-02 -1.11311517e-02 3.86911275e+02] [ 5.60923527e-02 9.98425581e-01 -8.61228193e-05 2.27629498e+00] [ 1.11184572e-02 -5.38390593e-04 9.99938043e-01 1.66665277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.679254154 meters 0.027974880393508893 Centerline is valid? [True, True] Translation: X:386.97, Y:2.27, Z:1.67 [[ 9.98039209e-01 -6.18284539e-02 -9.74572872e-03 3.86971803e+02] [ 6.18306575e-02 9.98086652e-01 -7.53162915e-05 2.26999124e+00] [ 9.73173844e-03 -5.27416202e-04 9.99952506e-01 1.66747963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.739254154 meters 0.03158012848825918 Centerline is valid? [True, True] Translation: X:387.03, Y:2.26, Z:1.67 [[ 9.97847652e-01 -6.50054515e-02 -8.62293683e-03 3.87031769e+02] [ 6.50072949e-02 9.97884787e-01 -6.66271516e-05 2.26459912e+00] [ 8.60902861e-03 -4.94070050e-04 9.99962820e-01 1.66745945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.799254154 meters 0.03349277412201228 Centerline is valid? [True, True] Translation: X:387.09, Y:2.26, Z:1.67 [[ 9.97652691e-01 -6.79782837e-02 -8.24986778e-03 3.87092513e+02] [ 6.79800736e-02 9.97686677e-01 -6.35802701e-05 2.26120857e+00] [ 8.23510525e-03 -4.97395591e-04 9.99965967e-01 1.66767047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.859254154 meters 0.034727593878645366 Centerline is valid? [True, True] Translation: X:387.15, Y:2.26, Z:1.67 [[ 9.97628752e-01 -6.83434304e-02 -8.12703753e-03 3.87154340e+02] [ 6.83451831e-02 9.97661732e-01 -6.21884514e-05 2.25887709e+00] [ 8.11228451e-03 -4.93402881e-04 9.99966973e-01 1.66774666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.919254154 meters 0.03495916470425138 Centerline is valid? [True, True] Translation: X:387.22, Y:2.26, Z:1.67 [[ 9.97738425e-01 -6.65905325e-02 -9.15076064e-03 3.87215447e+02] [ 6.65926858e-02 9.97780241e-01 -6.95118417e-05 2.25754156e+00] [ 9.13507699e-03 -5.40019093e-04 9.99958128e-01 1.66636678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.979254154 meters 0.033926979010310374 Centerline is valid? [True, True] Translation: X:387.28, Y:2.26, Z:1.66 [[ 9.97976318e-01 -6.25395201e-02 -1.14925041e-02 3.87276040e+02] [ 6.25426524e-02 9.98042288e-01 -8.69895045e-05 2.25995002e+00] [ 1.14754454e-02 -6.31958223e-04 9.99933955e-01 1.66428693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.039254154 meters 0.03259338909620202 Centerline is valid? [True, True] Translation: X:387.34, Y:2.26, Z:1.66 [[ 9.98243911e-01 -5.79691095e-02 -1.21933338e-02 3.87336780e+02] [ 5.79722975e-02 9.98318188e-01 -9.21244410e-05 2.26337011e+00] [ 1.21781673e-02 -6.14912912e-04 9.99925654e-01 1.66386848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.099254154 meters 0.023663764371744687 Centerline is valid? [True, True] Translation: X:387.40, Y:2.28, Z:1.67 [[ 9.98820906e-01 -4.71419922e-02 -1.15944184e-02 3.87397041e+02] [ 4.71441481e-02 9.98888093e-01 -8.74542684e-05 2.27908939e+00] [ 1.15856493e-02 -4.59257829e-04 9.99932779e-01 1.66580223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.159254154 meters 0.01879805475783519 Centerline is valid? [True, True] Translation: X:387.46, Y:2.29, Z:1.67 [[ 9.99397230e-01 -3.32323234e-02 -1.00394097e-02 3.87457236e+02] [ 3.32332387e-02 9.99447620e-01 -7.56848612e-05 2.29167822e+00] [ 1.00363794e-02 -2.58002860e-04 9.99949601e-01 1.66791778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.219254154 meters 0.016239763821145187 Centerline is valid? [True, True] Translation: X:387.52, Y:2.30, Z:1.67 [[ 9.99673329e-01 -2.40408706e-02 -8.67592587e-03 3.87518153e+02] [ 2.40412087e-02 9.99710966e-01 -6.53380135e-05 2.29908008e+00] [ 8.67498901e-03 -1.43263074e-04 9.99962361e-01 1.66891206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.279254154 meters 0.014365791945865103 Centerline is valid? [True, True] Translation: X:387.58, Y:2.31, Z:1.67 [[ 9.99898254e-01 -1.17851798e-02 -8.03688421e-03 3.87579538e+02] [ 1.17850756e-02 9.99930552e-01 -6.03224910e-05 2.30756593e+00] [ 8.03703697e-03 -3.43989343e-05 9.99967702e-01 1.66968609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.339254154 meters 0.014699300975662358 Centerline is valid? [True, True] Translation: X:387.64, Y:2.31, Z:1.67 [[ 9.99959927e-01 -2.09777755e-03 -8.70313275e-03 3.87640397e+02] [ 2.09728996e-03 9.99997799e-01 -6.51510212e-05 2.31333720e+00] [ 8.70325026e-03 4.68954175e-05 9.99962125e-01 1.66964039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.399254154 meters 0.015378688822382467 Centerline is valid? [True, True] Translation: X:387.70, Y:2.32, Z:1.67 [[ 9.99954512e-01 3.00153862e-03 -9.05340125e-03 3.87699133e+02] [-3.00228554e-03 9.99995491e-01 -6.89115370e-05 2.31614933e+00] [ 9.05315358e-03 9.60892980e-05 9.99959015e-01 1.66959027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.459254154 meters 0.016418707191124454 Centerline is valid? [True, True] Translation: X:387.76, Y:2.32, Z:1.67 [[ 9.99924775e-01 7.92701295e-03 -9.35980411e-03 3.87756873e+02] [-7.92804142e-03 9.99968570e-01 -7.27825878e-05 2.31696330e+00] [ 9.35893298e-03 1.46982027e-04 9.99956193e-01 1.66984751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.519254154 meters 0.017033894902834783 Centerline is valid? [True, True] Translation: X:387.82, Y:2.32, Z:1.67 [[ 9.99915723e-01 8.88679986e-03 -9.46420979e-03 3.87815102e+02] [-8.88790203e-03 9.99960499e-01 -7.44022629e-05 2.31511299e+00] [ 9.46317474e-03 1.58512962e-04 9.99955211e-01 1.66929231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.579254154 meters 0.01653214195818249 Centerline is valid? [True, True] Translation: X:387.87, Y:2.31, Z:1.67 [[ 9.99928085e-01 6.31970964e-03 -1.01924313e-02 3.87874345e+02] [-6.32086261e-03 9.99980020e-01 -8.09108158e-05 2.30784075e+00] [ 1.01917163e-02 1.45329955e-04 9.99948053e-01 1.66885493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.639254154 meters 0.01617680093876276 Centerline is valid? [True, True] Translation: X:387.93, Y:2.31, Z:1.67 [[ 9.99939339e-01 4.34476418e-03 -1.01213321e-02 3.87933468e+02] [-4.34580671e-03 9.99990554e-01 -8.10123783e-05 2.30501087e+00] [ 1.01208845e-02 1.24992817e-04 9.99948775e-01 1.66902329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.699254154 meters 0.014540609740794807 Centerline is valid? [True, True] Translation: X:387.99, Y:2.29, Z:1.67 [[ 9.99933633e-01 -5.20283415e-03 -1.02791488e-02 3.87992655e+02] [ 5.20225634e-03 9.99986465e-01 -8.29497497e-05 2.29022811e+00] [ 1.02794412e-02 2.94694777e-05 9.99947165e-01 1.66902684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.759254154 meters 0.014717919669085188 Centerline is valid? [True, True] Translation: X:388.05, Y:2.28, Z:1.67 [[ 9.99853213e-01 -1.41503677e-02 -9.66018274e-03 3.88051767e+02] [ 1.41502687e-02 9.99899877e-01 -7.85983566e-05 2.27788819e+00] [ 9.66032773e-03 -5.81073623e-05 9.99953336e-01 1.67032460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.819254154 meters 0.016642619600259295 Centerline is valid? [True, True] Translation: X:388.11, Y:2.26, Z:1.67 [[ 9.99603669e-01 -2.68672739e-02 -8.40556463e-03 3.88112068e+02] [ 2.68676454e-02 9.99638997e-01 -6.87359842e-05 2.26049816e+00] [ 8.40437695e-03 -1.57128988e-04 9.99964670e-01 1.67088544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.879254154 meters 0.018186861060946698 Centerline is valid? [True, True] Translation: X:388.17, Y:2.25, Z:1.67 [[ 9.99407111e-01 -3.32671460e-02 -8.87261397e-03 3.88172916e+02] [ 3.32678120e-02 9.99446471e-01 -7.25583654e-05 2.25048326e+00] [ 8.87011653e-03 -2.22657107e-04 9.99960635e-01 1.67103892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.93925415399997 meters 0.021607364583023272 Centerline is valid? [True, True] Translation: X:388.23, Y:2.24, Z:1.67 [[ 9.99151307e-01 -3.99785612e-02 -9.91866947e-03 3.88232958e+02] [ 3.99797247e-02 9.99200488e-01 -8.10241767e-05 2.23512539e+00] [ 9.91397861e-03 -3.15590263e-04 9.99950806e-01 1.66968854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.99925415399997 meters 0.023256198805218356 Centerline is valid? [True, True] Translation: X:388.29, Y:2.23, Z:1.67 [[ 9.98940154e-01 -4.46907081e-02 -1.10140316e-02 3.88294108e+02] [ 4.46924301e-02 9.99000790e-01 -8.98568512e-05 2.22675624e+00] [ 1.10070420e-02 -4.02482219e-04 9.99939340e-01 1.66940554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.059254154 meters 0.024924560070270586 Centerline is valid? [True, True] Translation: X:388.36, Y:2.22, Z:1.67 [[ 9.98822752e-01 -4.69897873e-02 -1.20444737e-02 3.88356583e+02] [ 4.69920209e-02 9.98895260e-01 -9.76531177e-05 2.22190363e+00] [ 1.20357564e-02 -4.68456005e-04 9.99927458e-01 1.66917676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.119254154 meters 0.026714891686865517 Centerline is valid? [True, True] Translation: X:388.42, Y:2.22, Z:1.67 [[ 9.98704879e-01 -4.89194527e-02 -1.39804018e-02 3.88417668e+02] [ 4.89226681e-02 9.98802563e-01 -1.12119176e-04 2.21743042e+00] [ 1.39691460e-02 -5.71984591e-04 9.99902263e-01 1.66779504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.179254154 meters 0.027311372494906026 Centerline is valid? [True, True] Translation: X:388.48, Y:2.22, Z:1.67 [[ 9.98684136e-01 -4.90738845e-02 -1.48912763e-02 3.88480162e+02] [ 4.90775665e-02 9.98794963e-01 -1.18293019e-04 2.21573399e+00] [ 1.48791369e-02 -6.12690243e-04 9.99889112e-01 1.66713866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.239254154 meters 0.028073112813846487 Centerline is valid? [True, True] Translation: X:388.54, Y:2.22, Z:1.67 [[ 9.98678126e-01 -4.89137932e-02 -1.57937396e-02 3.88541530e+02] [ 4.89179260e-02 9.98802794e-01 -1.24774863e-04 2.21548623e+00] [ 1.57809344e-02 -6.47987058e-04 9.99875263e-01 1.66669399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.299254154 meters 0.023158837258908386 Centerline is valid? [True, True] Translation: X:388.60, Y:2.22, Z:1.67 [[ 9.98761975e-01 -4.70884786e-02 -1.60371958e-02 3.88602968e+02] [ 4.70925138e-02 9.98890524e-01 -1.26137049e-04 2.22437238e+00] [ 1.60253425e-02 -6.29250977e-04 9.99871388e-01 1.66913979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.359254154 meters 0.021803521491570173 Centerline is valid? [True, True] Translation: X:388.66, Y:2.23, Z:1.67 [[ 9.98890955e-01 -4.44526512e-02 -1.55184284e-02 3.88664825e+02] [ 4.44561236e-02 9.99011330e-01 -1.21303467e-04 2.22896483e+00] [ 1.55084781e-02 -5.68720236e-04 9.99879575e-01 1.67057609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.419254154 meters 0.02057123339257774 Centerline is valid? [True, True] Translation: X:388.72, Y:2.24, Z:1.67 [[ 9.99144725e-01 -3.84756543e-02 -1.51473513e-02 3.88724862e+02] [ 3.84782799e-02 9.99259430e-01 -1.18170324e-04 2.23530405e+00] [ 1.51406803e-02 -4.64774767e-04 9.99885265e-01 1.67222055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.479254154 meters 0.0193249835943206 Centerline is valid? [True, True] Translation: X:388.79, Y:2.24, Z:1.67 [[ 9.99307792e-01 -3.40730148e-02 -1.49320699e-02 3.88785649e+02] [ 3.40750779e-02 9.99419269e-01 -1.16309382e-04 2.24068330e+00] [ 1.49273614e-02 -3.92582572e-04 9.99888504e-01 1.67320115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.539254154 meters 0.016780939808923454 Centerline is valid? [True, True] Translation: X:388.85, Y:2.25, Z:1.67 [[ 9.99486294e-01 -2.86470576e-02 -1.43699360e-02 3.88846524e+02] [ 2.86484112e-02 9.99589544e-01 -1.11680133e-04 2.24853005e+00] [ 1.43672371e-02 -3.00053074e-04 9.99896741e-01 1.67473171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.599254154 meters 0.016044278969095115 Centerline is valid? [True, True] Translation: X:388.91, Y:2.25, Z:1.68 [[ 9.99555363e-01 -2.59764169e-02 -1.46390923e-02 3.88906856e+02] [ 2.59775366e-02 9.99662520e-01 -1.13692046e-04 2.25304219e+00] [ 1.46371053e-02 -2.66646063e-04 9.99892836e-01 1.67515069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.659254154 meters 0.015177532819867525 Centerline is valid? [True, True] Translation: X:388.97, Y:2.26, Z:1.67 [[ 9.99650279e-01 -2.14776700e-02 -1.54282198e-02 3.88967420e+02] [ 2.14783781e-02 9.99769306e-01 -1.19820672e-04 2.25918644e+00] [ 1.54272341e-02 -2.11594370e-04 9.99880971e-01 1.67478871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.719254154 meters 0.014456021886495031 Centerline is valid? [True, True] Translation: X:389.03, Y:2.26, Z:1.68 [[ 9.99701005e-01 -1.82441874e-02 -1.62803865e-02 3.89026216e+02] [ 1.82444970e-02 9.99833547e-01 -1.29519385e-04 2.26430548e+00] [ 1.62800396e-02 -1.67546804e-04 9.99867457e-01 1.67539892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.779254154 meters 0.014225477573399503 Centerline is valid? [True, True] Translation: X:389.08, Y:2.27, Z:1.68 [[ 9.99815912e-01 -1.10739003e-02 -1.56687644e-02 3.89083644e+02] [ 1.10732733e-02 9.99938681e-01 -1.26776145e-04 2.27048445e+00] [ 1.56692075e-02 -4.67517035e-05 9.99877229e-01 1.67592080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.839254154 meters 0.014209907137919791 Centerline is valid? [True, True] Translation: X:389.14, Y:2.27, Z:1.68 [[ 9.99880048e-01 -5.99763659e-03 -1.42799791e-02 3.89142771e+02] [ 5.99655690e-03 9.99982013e-01 -1.18425373e-04 2.27463613e+00] [ 1.42804325e-02 3.27804607e-05 9.99898029e-01 1.67766624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.899254154 meters 0.014326835603466906 Centerline is valid? [True, True] Translation: X:389.20, Y:2.28, Z:1.68 [[ 9.99914463e-01 -1.57797530e-03 -1.29837154e-02 3.89201586e+02] [ 1.57666874e-03 9.99998751e-01 -1.10865976e-04 2.27851577e+00] [ 1.29838741e-02 9.03854751e-05 9.99915702e-01 1.67883674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.959254154 meters 0.014525202247651216 Centerline is valid? [True, True] Translation: X:389.26, Y:2.28, Z:1.68 [[ 9.99921106e-01 1.14033107e-03 -1.25092683e-02 3.89260329e+02] [-1.14179618e-03 9.99999342e-01 -1.09981220e-04 2.27876346e+00] [ 1.25091346e-02 1.24255578e-04 9.99921750e-01 1.67952269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.019254154 meters 0.014321772346561585 Centerline is valid? [True, True] Translation: X:389.32, Y:2.28, Z:1.68 [[ 9.99928885e-01 -7.81702265e-04 -1.19001712e-02 3.89318833e+02] [ 7.80492966e-04 9.99999690e-01 -1.06264071e-04 2.27613385e+00] [ 1.19002506e-02 9.69685145e-05 9.99929185e-01 1.67974595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.079254154 meters 0.014033125536184124 Centerline is valid? [True, True] Translation: X:389.38, Y:2.27, Z:1.68 [[ 9.99881752e-01 -9.87244039e-03 -1.17905370e-02 3.89377418e+02] [ 9.87187505e-03 9.99951266e-01 -1.06148711e-04 2.26857469e+00] [ 1.17910103e-02 -1.02585485e-05 9.99930484e-01 1.68033869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.139254154 meters 0.014636683510619052 Centerline is valid? [True, True] Translation: X:389.44, Y:2.26, Z:1.68 [[ 9.99751723e-01 -1.85922267e-02 -1.22809205e-02 3.89436441e+02] [ 1.85922600e-02 9.99827143e-01 -1.11469025e-04 2.26090132e+00] [ 1.22808701e-02 -1.16888717e-04 9.99924580e-01 1.67990181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.199254154 meters 0.01739214100774594 Centerline is valid? [True, True] Translation: X:389.50, Y:2.25, Z:1.68 [[ 9.99418354e-01 -3.12814066e-02 -1.35804226e-02 3.89496162e+02] [ 3.12826110e-02 9.99510572e-01 -1.23780079e-04 2.24782647e+00] [ 1.35776480e-02 -3.01122994e-04 9.99907774e-01 1.67785604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.259254154 meters 0.019507258846503766 Centerline is valid? [True, True] Translation: X:389.56, Y:2.24, Z:1.68 [[ 9.99176319e-01 -3.80803242e-02 -1.40203988e-02 3.89557252e+02] [ 3.80822779e-02 9.99274599e-01 -1.27699889e-04 2.24161439e+00] [ 1.40150913e-02 -4.06334019e-04 9.99901701e-01 1.67718911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.319254154 meters 0.020489730715184694 Centerline is valid? [True, True] Translation: X:389.62, Y:2.24, Z:1.68 [[ 9.98875732e-01 -4.53069233e-02 -1.39482716e-02 3.89617841e+02] [ 4.53095640e-02 9.98972986e-01 -1.26793881e-04 2.23880277e+00] [ 1.39396912e-02 -5.05338775e-04 9.99902710e-01 1.67837439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.379254154 meters 0.022542641018708637 Centerline is valid? [True, True] Translation: X:389.68, Y:2.24, Z:1.68 [[ 9.98699806e-01 -4.90708686e-02 -1.38111669e-02 3.89678222e+02] [ 4.90738237e-02 9.98795146e-01 -1.25058458e-04 2.23525923e+00] [ 1.38006632e-02 -5.52870911e-04 9.99904613e-01 1.67838222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.43925415399997 meters 0.025160015659326244 Centerline is valid? [True, True] Translation: X:389.74, Y:2.23, Z:1.68 [[ 9.98404465e-01 -5.50992661e-02 -1.23529238e-02 3.89739055e+02] [ 5.51020938e-02 9.98480719e-01 -1.11585379e-04 2.23037715e+00] [ 1.23403045e-02 -5.69264624e-04 9.99923693e-01 1.67986450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.49925415399997 meters 0.026583899185755773 Centerline is valid? [True, True] Translation: X:389.80, Y:2.23, Z:1.68 [[ 9.98287167e-01 -5.73050590e-02 -1.17839499e-02 3.89801412e+02] [ 5.73077923e-02 9.98356552e-01 -1.05862281e-04 2.22846297e+00] [ 1.17706501e-02 -5.69631199e-04 9.99930561e-01 1.68046874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.559254154 meters 0.029003146056967476 Centerline is valid? [True, True] Translation: X:389.86, Y:2.23, Z:1.68 [[ 9.98046028e-01 -6.14875772e-02 -1.11087215e-02 3.89862725e+02] [ 6.14902706e-02 9.98107678e-01 -9.92512721e-05 2.22506369e+00] [ 1.10938029e-02 -5.84020952e-04 9.99938291e-01 1.68097567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.619254154 meters 0.03311164648449904 Centerline is valid? [True, True] Translation: X:389.92, Y:2.22, Z:1.68 [[ 9.97681967e-01 -6.70252626e-02 -1.17603935e-02 3.89922457e+02] [ 6.70286674e-02 9.97751044e-01 -1.04848042e-04 2.21921778e+00] [ 1.17409724e-02 -6.83678507e-04 9.99930839e-01 1.67937076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.679254154 meters 0.03440154688001761 Centerline is valid? [True, True] Translation: X:389.98, Y:2.22, Z:1.68 [[ 9.97508987e-01 -6.93102801e-02 -1.31113080e-02 3.89983435e+02] [ 6.93147144e-02 9.97594836e-01 -1.16465967e-04 2.21844232e+00] [ 1.30878454e-02 -7.92630719e-04 9.99914036e-01 1.67783099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.739254154 meters 0.035146876696122514 Centerline is valid? [True, True] Translation: X:390.05, Y:2.22, Z:1.68 [[ 9.97521423e-01 -6.87123055e-02 -1.51535556e-02 3.90045507e+02] [ 6.87181749e-02 9.97636103e-01 -1.33636025e-04 2.22052469e+00] [ 1.51269166e-02 -9.08019888e-04 9.99885169e-01 1.67670942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.799254154 meters 0.03494196220299861 Centerline is valid? [True, True] Translation: X:390.11, Y:2.22, Z:1.68 [[ 9.97699301e-01 -6.61211050e-02 -1.49701179e-02 3.90107144e+02] [ 6.61265550e-02 9.97811235e-01 -1.31178592e-04 2.22415819e+00] [ 1.49460255e-02 -8.59045532e-04 9.99887933e-01 1.67700976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.859254154 meters 0.027472805068770454 Centerline is valid? [True, True] Translation: X:390.17, Y:2.24, Z:1.68 [[ 9.98194472e-01 -5.87515379e-02 -1.24920860e-02 3.90167993e+02] [ 5.87547611e-02 9.98272441e-01 -1.09145083e-04 2.23911973e+00] [ 1.24769176e-02 -6.25021507e-04 9.99921965e-01 1.68063895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.919254154 meters 0.024110940288312507 Centerline is valid? [True, True] Translation: X:390.23, Y:2.25, Z:1.68 [[ 9.98580341e-01 -5.20676194e-02 -1.12368369e-02 3.90228268e+02] [ 5.20698056e-02 9.98643443e-01 -9.81118259e-05 2.24796271e+00] [ 1.12267019e-02 -4.87127372e-04 9.99936860e-01 1.68203163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.979254154 meters 0.019742609315037653 Centerline is valid? [True, True] Translation: X:390.29, Y:2.26, Z:1.68 [[ 9.99102356e-01 -4.10401791e-02 -1.04969933e-02 3.90288546e+02] [ 4.10414788e-02 9.99157439e-01 -9.16607258e-05 2.26190961e+00] [ 1.04919108e-02 -3.39233682e-04 9.99944901e-01 1.68249228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.039254154 meters 0.01889394908882754 Centerline is valid? [True, True] Translation: X:390.35, Y:2.27, Z:1.68 [[ 9.99369154e-01 -3.36751114e-02 -1.12818709e-02 3.90349437e+02] [ 3.36761454e-02 9.99432793e-01 -9.83621090e-05 2.26912337e+00] [ 1.12787841e-02 -2.81629868e-04 9.99936353e-01 1.68099800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.099254154 meters 0.01634452729131135 Centerline is valid? [True, True] Translation: X:390.41, Y:2.28, Z:1.68 [[ 9.99597469e-01 -2.59871205e-02 -1.13828951e-02 3.90410286e+02] [ 2.59876774e-02 9.99662258e-01 -9.90105747e-05 2.27875283e+00] [ 1.13816236e-02 -1.96844285e-04 9.99935208e-01 1.68171402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.159254154 meters 0.016100065422726517 Centerline is valid? [True, True] Translation: X:390.47, Y:2.28, Z:1.68 [[ 9.99690446e-01 -2.20645852e-02 -1.14963779e-02 3.90470402e+02] [ 2.20648964e-02 9.99756536e-01 -9.97889550e-05 2.28396268e+00] [ 1.14957807e-02 -1.53908321e-04 9.99933909e-01 1.68181945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.219254154 meters 0.01501730896185983 Centerline is valid? [True, True] Translation: X:390.53, Y:2.29, Z:1.68 [[ 9.99801812e-01 -1.66417587e-02 -1.09265229e-02 3.90531295e+02] [ 1.66417181e-02 9.99861513e-01 -9.46485684e-05 2.29215381e+00] [ 1.09265848e-02 -8.72063034e-05 9.99940299e-01 1.68256578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.279254154 meters 0.014650532763854881 Centerline is valid? [True, True] Translation: X:390.59, Y:2.30, Z:1.68 [[ 9.99878559e-01 -1.08421360e-02 -1.11944352e-02 3.90590561e+02] [ 1.08417294e-02 9.99941222e-01 -9.70092473e-05 2.29870248e+00] [ 1.11948290e-02 -2.43695707e-05 9.99937336e-01 1.68229152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.339254154 meters 0.01448049887766961 Centerline is valid? [True, True] Translation: X:390.65, Y:2.30, Z:1.68 [[ 9.99905469e-01 -8.75179687e-03 -1.06047017e-02 3.90649300e+02] [ 8.75129728e-03 9.99961702e-01 -9.35143046e-05 2.30243413e+00] [ 1.06051140e-02 7.00567448e-07 9.99943764e-01 1.68300403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.399254154 meters 0.014589959570240271 Centerline is valid? [True, True] Translation: X:390.71, Y:2.30, Z:1.68 [[ 9.99920355e-01 -8.19282375e-03 -9.60003152e-03 3.90707074e+02] [ 8.19237473e-03 9.99966438e-01 -8.60967496e-05 2.30338264e+00] [ 9.60041471e-03 7.44283677e-06 9.99953915e-01 1.68355309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.459254154 meters 0.014703117420967235 Centerline is valid? [True, True] Translation: X:390.77, Y:2.30, Z:1.68 [[ 9.99886216e-01 -1.22126547e-02 -8.85467146e-03 3.90765479e+02] [ 1.22124245e-02 9.99925422e-01 -8.00677958e-05 2.29996312e+00] [ 8.85498894e-03 -2.80783215e-05 9.99960793e-01 1.68368190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.519254154 meters 0.01510149316675403 Centerline is valid? [True, True] Translation: X:390.83, Y:2.29, Z:1.68 [[ 9.99792951e-01 -1.81798066e-02 -9.14054778e-03 3.90825495e+02] [ 1.81798063e-02 9.99834730e-01 -8.31211910e-05 2.29429883e+00] [ 9.14054825e-03 -8.30694074e-05 9.99958221e-01 1.68329377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.579254154 meters 0.018634567009848828 Centerline is valid? [True, True] Translation: X:390.89, Y:2.28, Z:1.68 [[ 9.99502365e-01 -3.00409744e-02 -9.62094100e-03 3.90885326e+02] [ 3.00415218e-02 9.99548648e-01 -8.76460069e-05 2.28116130e+00] [ 9.61923154e-03 -2.01425317e-04 9.99953714e-01 1.68182966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.639254154 meters 0.018132881399964874 Centerline is valid? [True, True] Translation: X:390.95, Y:2.28, Z:1.68 [[ 9.99249196e-01 -3.73973241e-02 -1.01234789e-02 3.90946581e+02] [ 3.73983096e-02 9.99300434e-01 -9.20098710e-05 2.27920011e+00] [ 1.01198378e-02 -2.86660208e-04 9.99948752e-01 1.68231283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.699254154 meters 0.02421407495661748 Centerline is valid? [True, True] Translation: X:391.01, Y:2.27, Z:1.68 [[ 9.98905177e-01 -4.55777590e-02 -1.05410940e-02 3.91006612e+02] [ 4.55792831e-02 9.98960720e-01 -9.57275564e-05 2.26703451e+00] [ 1.05345019e-02 -3.84832753e-04 9.99944437e-01 1.68154474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.759254154 meters 0.022109409196447796 Centerline is valid? [True, True] Translation: X:391.07, Y:2.27, Z:1.68 [[ 9.98747065e-01 -4.89284851e-02 -1.05025864e-02 3.91067574e+02] [ 4.89301835e-02 9.98802197e-01 -9.53322797e-05 2.26994000e+00] [ 1.04946708e-02 -4.18680646e-04 9.99944842e-01 1.68285544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.819254154 meters 0.022761834485950094 Centerline is valid? [True, True] Translation: X:391.13, Y:2.27, Z:1.68 [[ 9.98611344e-01 -5.18408928e-02 -9.37577727e-03 3.91129454e+02] [ 5.18423803e-02 9.98655276e-01 -8.44770862e-05 2.26859320e+00] [ 9.36754881e-03 -4.01702834e-04 9.99956043e-01 1.68292412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.879254154 meters 0.02563771744874348 Centerline is valid? [True, True] Translation: X:391.19, Y:2.27, Z:1.68 [[ 9.98589046e-01 -5.24111879e-02 -8.54313802e-03 3.91191099e+02] [ 5.24124495e-02 9.98625520e-01 -7.62985571e-05 2.26507514e+00] [ 8.53539454e-03 -3.71575887e-04 9.99963504e-01 1.68337224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.93925415399997 meters 0.0234996545878456 Centerline is valid? [True, True] Translation: X:391.25, Y:2.27, Z:1.68 [[ 9.98611591e-01 -5.20077757e-02 -8.37141577e-03 3.91253003e+02] [ 5.20089774e-02 9.98646615e-01 -7.42322672e-05 2.27012365e+00] [ 8.36394668e-03 -3.61259571e-04 9.99964956e-01 1.68427289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.99925415399997 meters 0.023148865495748756 Centerline is valid? [True, True] Translation: X:391.32, Y:2.27, Z:1.68 [[ 9.98638447e-01 -5.13810672e-02 -9.01321323e-03 3.91315523e+02] [ 5.13824410e-02 9.98679047e-01 -7.92302436e-05 2.27235623e+00] [ 9.00537813e-03 -3.83998529e-04 9.99959377e-01 1.68392941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.059254154 meters 0.02499643903865542 Centerline is valid? [True, True] Translation: X:391.38, Y:2.27, Z:1.68 [[ 9.98657867e-01 -5.08617297e-02 -9.77496681e-03 3.91376849e+02] [ 5.08633270e-02 9.98705620e-01 -8.52778256e-05 2.27121965e+00] [ 9.76665167e-03 -4.12023962e-04 9.99952220e-01 1.68330558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.119254154 meters 0.023470893085182708 Centerline is valid? [True, True] Translation: X:391.44, Y:2.28, Z:1.68 [[ 9.98685101e-01 -5.02994020e-02 -9.90152035e-03 3.91439177e+02] [ 5.03010198e-02 9.98734099e-01 -8.57354310e-05 2.27525241e+00] [ 9.89329844e-03 -4.12433874e-04 9.99950975e-01 1.68329257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.179254154 meters 0.022066867687770688 Centerline is valid? [True, True] Translation: X:391.50, Y:2.28, Z:1.68 [[ 9.98780317e-01 -4.80755273e-02 -1.12526517e-02 3.91501279e+02] [ 4.80774857e-02 9.98843604e-01 -9.65609517e-05 2.28043687e+00] [ 1.12442814e-02 -4.44556025e-04 9.99936682e-01 1.68265653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.239254154 meters 0.021729878035676827 Centerline is valid? [True, True] Translation: X:391.56, Y:2.28, Z:1.68 [[ 9.98938918e-01 -4.45612092e-02 -1.16334238e-02 3.91562117e+02] [ 4.45630714e-02 9.99006568e-01 -9.92264562e-05 2.28423119e+00] [ 1.16262885e-02 -4.19299928e-04 9.99932325e-01 1.68238749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.299254154 meters 0.020288366591845203 Centerline is valid? [True, True] Translation: X:391.62, Y:2.29, Z:1.68 [[ 9.99241562e-01 -3.71986812e-02 -1.15134050e-02 3.91622311e+02] [ 3.72000186e-02 9.99307835e-01 -9.80477868e-05 2.29263061e+00] [ 1.15090831e-02 -3.30325458e-04 9.99933714e-01 1.68310707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.359254154 meters 0.018597634449191505 Centerline is valid? [True, True] Translation: X:391.68, Y:2.30, Z:1.68 [[ 9.99464917e-01 -3.08951120e-02 -1.07411573e-02 3.91682357e+02] [ 3.08959121e-02 9.99522603e-01 -9.14738815e-05 2.30032526e+00] [ 1.07388557e-02 -2.40432918e-04 9.99942308e-01 1.68441527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.419254154 meters 0.01644574526458436 Centerline is valid? [True, True] Translation: X:391.74, Y:2.31, Z:1.69 [[ 9.99569637e-01 -2.76116482e-02 -9.90647788e-03 3.91744163e+02] [ 2.76121706e-02 9.99618708e-01 -8.40582290e-05 2.30733579e+00] [ 9.90502160e-03 -1.89517304e-04 9.99950926e-01 1.68620302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.479254154 meters 0.015191113684000687 Centerline is valid? [True, True] Translation: X:391.81, Y:2.32, Z:1.69 [[ 9.99804428e-01 -1.82356079e-02 -7.65301072e-03 3.91805686e+02] [ 1.82356479e-02 9.99833715e-01 -6.45669980e-05 2.31714625e+00] [ 7.65291556e-03 -7.50032383e-05 9.99970713e-01 1.68828221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.539254154 meters 0.01488254358759324 Centerline is valid? [True, True] Translation: X:391.87, Y:2.32, Z:1.69 [[ 9.99876827e-01 -1.38716741e-02 -7.34218854e-03 3.91866637e+02] [ 1.38715957e-02 9.99903783e-01 -6.16037370e-05 2.32248405e+00] [ 7.34233664e-03 -4.02517222e-05 9.99973044e-01 1.68872986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.599254154 meters 0.014709373436230244 Centerline is valid? [True, True] Translation: X:391.93, Y:2.33, Z:1.69 [[ 9.99914217e-01 -1.06831201e-02 -7.57828711e-03 3.91928103e+02] [ 1.06829472e-02 9.99942934e-01 -6.33009398e-05 2.32668264e+00] [ 7.57853090e-03 -1.76629314e-05 9.99971282e-01 1.68855034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.659254154 meters 0.014592694475196821 Centerline is valid? [True, True] Translation: X:391.99, Y:2.33, Z:1.69 [[ 9.99915370e-01 -1.04090639e-02 -7.80410921e-03 3.91988706e+02] [ 1.04088735e-02 9.99945824e-01 -6.50176189e-05 2.32772752e+00] [ 7.80436319e-03 -1.62198691e-05 9.99969545e-01 1.68845929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.719254154 meters 0.0147538620135469 Centerline is valid? [True, True] Translation: X:392.05, Y:2.33, Z:1.69 [[ 9.99904387e-01 -1.17038712e-02 -7.36449704e-03 3.92048497e+02] [ 1.17037363e-02 9.99931507e-01 -6.14095677e-05 2.32796697e+00] [ 7.36471135e-03 -2.47884355e-05 9.99972880e-01 1.68856336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.779254154 meters 0.014780914980709757 Centerline is valid? [True, True] Translation: X:392.11, Y:2.33, Z:1.69 [[ 9.99885804e-01 -1.28610556e-02 -7.93551228e-03 3.92109329e+02] [ 1.28609348e-02 9.99917293e-01 -6.62581758e-05 2.32821369e+00] [ 7.93570810e-03 -3.58074967e-05 9.99968511e-01 1.68908603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.839254154 meters 0.016137960747908107 Centerline is valid? [True, True] Translation: X:392.17, Y:2.33, Z:1.69 [[ 9.99849453e-01 -1.53412942e-02 -8.10652984e-03 3.92169674e+02] [ 1.53412496e-02 9.99882314e-01 -6.76861002e-05 2.32613405e+00] [ 8.10661421e-03 -5.66883877e-05 9.99967139e-01 1.68795673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.899254154 meters 0.015061007802317982 Centerline is valid? [True, True] Translation: X:392.23, Y:2.32, Z:1.69 [[ 9.99819912e-01 -1.75621426e-02 -7.19130234e-03 3.92231174e+02] [ 1.75621657e-02 9.99845771e-01 -5.99406913e-05 2.32494264e+00] [ 7.19124593e-03 -6.63649467e-05 9.99974140e-01 1.68934050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.959254154 meters 0.015082714120027332 Centerline is valid? [True, True] Translation: X:392.29, Y:2.32, Z:1.69 [[ 9.99810717e-01 -1.80827126e-02 -7.17960047e-03 3.92293774e+02] [ 1.80827517e-02 9.99836492e-01 -5.94729759e-05 2.32390718e+00] [ 7.17950198e-03 -7.03652137e-05 9.99974225e-01 1.68988496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.019254154 meters 0.014916340966342166 Centerline is valid? [True, True] Translation: X:392.36, Y:2.32, Z:1.69 [[ 9.99829030e-01 -1.69633100e-02 -7.35915485e-03 3.92356415e+02] [ 1.69633249e-02 9.99856111e-01 -6.04060463e-05 2.32353274e+00] [ 7.35912064e-03 -6.44400158e-05 9.99972919e-01 1.68980629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.079254154 meters 0.01496091158679069 Centerline is valid? [True, True] Translation: X:392.42, Y:2.32, Z:1.69 [[ 9.99857537e-01 -1.50338512e-02 -7.67392572e-03 3.92417362e+02] [ 1.50338140e-02 9.99886984e-01 -6.25323876e-05 2.32204982e+00] [ 7.67399855e-03 -5.28448928e-05 9.99970553e-01 1.68962164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.139254154 meters 0.014781692831581839 Centerline is valid? [True, True] Translation: X:392.48, Y:2.32, Z:1.69 [[ 9.99880538e-01 -1.32330164e-02 -7.98729109e-03 3.92478519e+02] [ 1.32329211e-02 9.99912439e-01 -6.47864385e-05 2.32120880e+00] [ 7.98744903e-03 -4.09164935e-05 9.99968099e-01 1.68986548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.199254154 meters 0.01459022293788161 Centerline is valid? [True, True] Translation: X:392.54, Y:2.32, Z:1.69 [[ 9.99924423e-01 -8.90978427e-03 -8.47134879e-03 3.92539168e+02] [ 8.90952555e-03 9.99960307e-01 -6.82787589e-05 2.32015402e+00] [ 8.47162089e-03 -7.20209997e-06 9.99964115e-01 1.69013793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.259254154 meters 0.014542192250691217 Centerline is valid? [True, True] Translation: X:392.60, Y:2.32, Z:1.69 [[ 9.99942602e-01 -6.12555999e-03 -8.79030852e-03 3.92598498e+02] [ 6.12517501e-03 9.99981238e-01 -7.07182639e-05 2.32020479e+00] [ 8.79057679e-03 1.68720268e-05 9.99961362e-01 1.69075859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.319254154 meters 0.014689113400924445 Centerline is valid? [True, True] Translation: X:392.66, Y:2.32, Z:1.69 [[ 9.99948527e-01 -2.42232594e-03 -9.85272488e-03 3.92657704e+02] [ 2.42164696e-03 9.99997065e-01 -8.08422524e-05 2.31898980e+00] [ 9.85289178e-03 5.69782699e-05 9.99951457e-01 1.69031569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.379254154 meters 0.01483222730272982 Centerline is valid? [True, True] Translation: X:392.72, Y:2.32, Z:1.69 [[ 9.99951589e-01 -1.21282948e-03 -9.76464102e-03 3.92716030e+02] [ 1.21208071e-03 9.99999262e-01 -8.25989566e-05 2.31730540e+00] [ 9.76473399e-03 7.07594249e-05 9.99952321e-01 1.69079830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.43925415399997 meters 0.014713680434000087 Centerline is valid? [True, True] Translation: X:392.77, Y:2.31, Z:1.69 [[ 9.99961420e-01 -1.46255109e-03 -8.66141741e-03 3.92774277e+02] [ 1.46195215e-03 9.99998928e-01 -7.54809647e-05 2.31290433e+00] [ 8.66151852e-03 6.28154747e-05 9.99962486e-01 1.69218548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.49925415399997 meters 0.01591570370129932 Centerline is valid? [True, True] Translation: X:392.83, Y:2.31, Z:1.69 [[ 9.99956334e-01 -2.07403169e-03 -9.11202106e-03 3.92832019e+02] [ 2.07337748e-03 9.99997847e-01 -8.12422289e-05 2.30616465e+00] [ 9.11216995e-03 6.23460220e-05 9.99958481e-01 1.69132255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.559254154 meters 0.014622196207017223 Centerline is valid? [True, True] Translation: X:392.89, Y:2.30, Z:1.69 [[ 9.99958981e-01 -2.60626785e-03 -8.67432575e-03 3.92891276e+02] [ 2.60568848e-03 9.99996602e-01 -7.80918605e-05 2.30236936e+00] [ 8.67449980e-03 5.54860665e-05 9.99962374e-01 1.69199517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.619254154 meters 0.01452554347093583 Centerline is valid? [True, True] Translation: X:392.95, Y:2.29, Z:1.69 [[ 9.99951991e-01 -2.37266955e-03 -9.50712804e-03 3.92948991e+02] [ 2.37194553e-03 9.99997183e-01 -8.74300033e-05 2.29444077e+00] [ 9.50730871e-03 6.48754160e-05 9.99954802e-01 1.69133690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.679254154 meters 0.014680428159688737 Centerline is valid? [True, True] Translation: X:393.01, Y:2.29, Z:1.69 [[ 9.99953867e-01 -2.61709419e-03 -9.24202448e-03 3.93005580e+02] [ 2.61640318e-03 9.99996573e-01 -8.68588088e-05 2.29012970e+00] [ 9.24222012e-03 6.26739396e-05 9.99957288e-01 1.69119904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.739254154 meters 0.014584550695807849 Centerline is valid? [True, True] Translation: X:393.06, Y:2.28, Z:1.69 [[ 9.99958152e-01 -3.65341696e-03 -8.38733249e-03 3.93064780e+02] [ 3.65287774e-03 9.99993325e-01 -7.96082753e-05 2.28060416e+00] [ 8.38756735e-03 4.89670436e-05 9.99964823e-01 1.69213282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.799254154 meters 0.014268453686530565 Centerline is valid? [True, True] Translation: X:393.12, Y:2.27, Z:1.69 [[ 9.99943727e-01 -5.76637339e-03 -8.90463412e-03 3.93123400e+02] [ 5.76584363e-03 9.99983374e-01 -8.51634422e-05 2.27065748e+00] [ 8.90497715e-03 3.38159218e-05 9.99960349e-01 1.69198447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.859254154 meters 0.014324334989631692 Centerline is valid? [True, True] Translation: X:393.18, Y:2.26, Z:1.69 [[ 9.99936047e-01 -7.14847243e-03 -8.76360722e-03 3.93181387e+02] [ 7.14799854e-03 9.99974449e-01 -8.53958564e-05 2.26461121e+00] [ 8.76399375e-03 2.27481434e-05 9.99961595e-01 1.69201188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.919254154 meters 0.01472197581493717 Centerline is valid? [True, True] Translation: X:393.24, Y:2.26, Z:1.69 [[ 9.99928341e-01 -8.16254562e-03 -8.75698335e-03 3.93239543e+02] [ 8.16209666e-03 9.99966686e-01 -8.70069842e-05 2.25600844e+00] [ 8.75740181e-03 1.55254048e-05 9.99961653e-01 1.69212162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.979254154 meters 0.014378613002995297 Centerline is valid? [True, True] Translation: X:393.30, Y:2.25, Z:1.69 [[ 9.99926498e-01 -8.76219372e-03 -8.37985616e-03 3.93298230e+02] [ 8.76179205e-03 9.99961611e-01 -8.46448712e-05 2.25136907e+00] [ 8.38027614e-03 1.12160926e-05 9.99964885e-01 1.69328575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.039254154 meters 0.014374579012105747 Centerline is valid? [True, True] Translation: X:393.36, Y:2.25, Z:1.69 [[ 9.99933767e-01 -8.38927796e-03 -7.87920738e-03 3.93356552e+02] [ 8.38889609e-03 9.99964809e-01 -8.15142613e-05 2.24719120e+00] [ 7.87961395e-03 1.54110104e-05 9.99968955e-01 1.69399370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.099254154 meters 0.014492085814176107 Centerline is valid? [True, True] Translation: X:393.41, Y:2.24, Z:1.69 [[ 9.99953784e-01 -6.09691588e-03 -7.43351093e-03 3.93414961e+02] [ 6.09649913e-03 9.99981413e-01 -7.87220608e-05 2.24142912e+00] [ 7.43385272e-03 3.34000297e-05 9.99972368e-01 1.69498113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.159254154 meters 0.014632227169482656 Centerline is valid? [True, True] Translation: X:393.47, Y:2.24, Z:1.69 [[ 9.99957011e-01 -4.74505065e-03 -7.96622417e-03 3.93473668e+02] [ 4.74451241e-03 9.99988741e-01 -8.64621153e-05 2.23766954e+00] [ 7.96654474e-03 4.86625489e-05 9.99968265e-01 1.69489957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.219254154 meters 0.016448086099129178 Centerline is valid? [True, True] Translation: X:393.53, Y:2.23, Z:1.69 [[ 9.99939179e-01 -4.63362588e-03 -1.00083982e-02 3.93532801e+02] [ 4.63274241e-03 9.99989263e-01 -1.11454913e-04 2.22919912e+00] [ 1.00088072e-02 6.50818035e-05 9.99949909e-01 1.69276197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.279254154 meters 0.014315227154034351 Centerline is valid? [True, True] Translation: X:393.59, Y:2.22, Z:1.69 [[ 9.99920353e-01 -7.58798385e-03 -1.00851292e-02 3.93591388e+02] [ 7.58722142e-03 9.99971210e-01 -1.13857125e-04 2.22332116e+00] [ 1.00857028e-02 3.73299490e-05 9.99949137e-01 1.69430549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.339254154 meters 0.015162566300399222 Centerline is valid? [True, True] Translation: X:393.65, Y:2.22, Z:1.69 [[ 9.99859985e-01 -1.21369606e-02 -1.15197803e-02 3.93649670e+02] [ 1.21362561e-02 9.99926344e-01 -1.31065051e-04 2.21582873e+00] [ 1.15205225e-02 -8.76030310e-06 9.99933637e-01 1.69280047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.399254154 meters 0.014718497084348576 Centerline is valid? [True, True] Translation: X:393.71, Y:2.21, Z:1.69 [[ 9.99774868e-01 -1.77537280e-02 -1.16197835e-02 3.93708150e+02] [ 1.77533799e-02 9.99842387e-01 -1.33109557e-04 2.20756619e+00] [ 1.16203153e-02 -7.32108415e-05 9.99932479e-01 1.69355135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.459254154 meters 0.01821290113313309 Centerline is valid? [True, True] Translation: X:393.77, Y:2.20, Z:1.69 [[ 9.99609711e-01 -2.49251887e-02 -1.26159250e-02 3.93766793e+02] [ 2.49253361e-02 9.99689305e-01 -1.45572807e-04 2.19529766e+00] [ 1.26156337e-02 -1.68940179e-04 9.99920405e-01 1.69243114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.519254154 meters 0.016387043817843224 Centerline is valid? [True, True] Translation: X:393.82, Y:2.19, Z:1.70 [[ 9.99545079e-01 -2.80220660e-02 -1.11534101e-02 3.93824987e+02] [ 2.80223649e-02 9.99607288e-01 -1.29509218e-04 2.18957298e+00] [ 1.11526591e-02 -1.83094625e-04 9.99937790e-01 1.69507644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.579254154 meters 0.018487755687714182 Centerline is valid? [True, True] Translation: X:393.88, Y:2.18, Z:1.69 [[ 9.99513726e-01 -2.89219628e-02 -1.16546720e-02 3.93884295e+02] [ 2.89223435e-02 9.99581652e-01 -1.35913607e-04 2.18448322e+00] [ 1.16537271e-02 -2.01232910e-04 9.99932073e-01 1.69452633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.639254154 meters 0.015889327122634318 Centerline is valid? [True, True] Translation: X:393.94, Y:2.18, Z:1.70 [[ 9.99518652e-01 -2.92048363e-02 -1.04662517e-02 3.93942822e+02] [ 2.92051413e-02 9.99573431e-01 -1.23731603e-04 2.18229356e+00] [ 1.04654007e-02 -1.81996314e-04 9.99945220e-01 1.69638730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.699254154 meters 0.015253564643668017 Centerline is valid? [True, True] Translation: X:394.00, Y:2.18, Z:1.70 [[ 9.99593934e-01 -2.65732672e-02 -1.02872978e-02 3.94002755e+02] [ 2.65734090e-02 9.99646857e-01 -1.22922503e-04 2.18043550e+00] [ 1.02869314e-02 -1.50495984e-04 9.99947077e-01 1.69660010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.759254154 meters 0.015135972265784867 Centerline is valid? [True, True] Translation: X:394.06, Y:2.18, Z:1.70 [[ 9.99689589e-01 -2.27459806e-02 -1.01659166e-02 3.94062402e+02] [ 2.27459176e-02 9.99741271e-01 -1.21835971e-04 2.18100749e+00] [ 1.01660577e-02 -1.09434950e-04 9.99948318e-01 1.69669017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.819254154 meters 0.015560031935632674 Centerline is valid? [True, True] Translation: X:394.12, Y:2.18, Z:1.70 [[ 9.99827618e-01 -1.53599910e-02 -1.04309488e-02 3.94121229e+02] [ 1.53595051e-02 9.99882028e-01 -1.26688966e-04 2.18233154e+00] [ 1.04316641e-02 -3.35470842e-05 9.99945588e-01 1.69619129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.879254154 meters 0.014945431766508976 Centerline is valid? [True, True] Translation: X:394.18, Y:2.18, Z:1.70 [[ 9.99882620e-01 -1.14137526e-02 -1.02211975e-02 3.94179119e+02] [ 1.14130636e-02 9.99934861e-01 -1.25736643e-04 2.18358789e+00] [ 1.02219668e-02 9.06670703e-06 9.99947754e-01 1.69636515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.93925415399997 meters 0.014909378265835245 Centerline is valid? [True, True] Translation: X:394.24, Y:2.18, Z:1.70 [[ 9.99902272e-01 -9.19988866e-03 -1.05265293e-02 3.94237343e+02] [ 9.19902542e-03 9.99957680e-01 -1.30422253e-04 2.18168039e+00] [ 1.05272836e-02 3.35756974e-05 9.99944586e-01 1.69500681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.99925415399997 meters 0.013984876159367242 Centerline is valid? [True, True] Translation: X:394.30, Y:2.18, Z:1.69 [[ 9.99872203e-01 -1.21130025e-02 -1.04332276e-02 3.94296330e+02] [ 1.21123048e-02 9.99926635e-01 -1.30060214e-04 2.17762929e+00] [ 1.04340376e-02 3.67315992e-06 9.99945564e-01 1.69496478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.059254154 meters 0.014506771598021169 Centerline is valid? [True, True] Translation: X:394.35, Y:2.17, Z:1.70 [[ 9.99727099e-01 -2.11573927e-02 -9.90411653e-03 3.94354652e+02] [ 2.11572002e-02 9.99776154e-01 -1.24220195e-04 2.16684655e+00] [ 9.90452771e-03 -8.53570813e-05 9.99950945e-01 1.69535677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.119254154 meters 0.018742581317137744 Centerline is valid? [True, True] Translation: X:394.41, Y:2.16, Z:1.69 [[ 9.99519113e-01 -2.91253688e-02 -1.06421847e-02 3.94414149e+02] [ 2.91255914e-02 9.99575751e-01 -1.34104895e-04 2.15881878e+00] [ 1.06415756e-02 -1.75919516e-04 9.99943361e-01 1.69380578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.179254154 meters 0.020183273233522266 Centerline is valid? [True, True] Translation: X:394.47, Y:2.15, Z:1.69 [[ 9.99044699e-01 -4.24625598e-02 -1.03257469e-02 3.94474503e+02] [ 4.24634791e-02 9.99098011e-01 -1.30298671e-04 2.14595241e+00] [ 1.03219660e-02 -3.08292941e-04 9.99946680e-01 1.69458078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.239254154 meters 0.022235137786350525 Centerline is valid? [True, True] Translation: X:394.54, Y:2.14, Z:1.70 [[ 9.98687037e-01 -5.02828876e-02 -9.78944847e-03 3.94535002e+02] [ 5.02840882e-02 9.98734947e-01 -1.23605928e-04 2.14001207e+00] [ 9.78327957e-03 -3.68809853e-04 9.99952075e-01 1.69541111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.299254154 meters 0.022287363073448013 Centerline is valid? [True, True] Translation: X:394.60, Y:2.14, Z:1.70 [[ 9.98171832e-01 -6.00446177e-02 -6.90195220e-03 3.94595824e+02] [ 6.00454470e-02 9.98195640e-01 -8.71763641e-05 2.13504889e+00] [ 6.89473307e-03 -3.27413814e-04 9.99976177e-01 1.69870300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.359254154 meters 0.026139266143094697 Centerline is valid? [True, True] Translation: X:394.66, Y:2.13, Z:1.70 [[ 9.97799529e-01 -6.59704310e-02 -6.63342551e-03 3.94655796e+02] [ 6.59713274e-02 9.97821516e-01 -8.38149033e-05 2.12878238e+00] [ 6.62450400e-03 -3.53985415e-04 9.99977995e-01 1.69944943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.419254154 meters 0.027841639055052617 Centerline is valid? [True, True] Translation: X:394.72, Y:2.13, Z:1.70 [[ 9.97793520e-01 -6.60256914e-02 -6.97854119e-03 3.94716643e+02] [ 6.60266847e-02 9.97817854e-01 -8.82008154e-05 2.12875156e+00] [ 6.96913651e-03 -3.72763737e-04 9.99975646e-01 1.69901053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.479254154 meters 0.02618694903231158 Centerline is valid? [True, True] Translation: X:394.78, Y:2.13, Z:1.70 [[ 9.97933473e-01 -6.39010384e-02 -6.74094097e-03 3.94776746e+02] [ 6.39019174e-02 9.97956180e-01 -8.51195596e-05 2.13400302e+00] [ 6.73260293e-03 -3.45815396e-04 9.99977276e-01 1.70044626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.539254154 meters 0.02489832807517205 Centerline is valid? [True, True] Translation: X:394.84, Y:2.14, Z:1.70 [[ 9.98327169e-01 -5.74425427e-02 -6.57409070e-03 3.94836540e+02] [ 5.74432388e-02 9.98348770e-01 -8.30508046e-05 2.14114435e+00] [ 6.56800602e-03 -2.94725187e-04 9.99978387e-01 1.70057659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.599254154 meters 0.02137467974282048 Centerline is valid? [True, True] Translation: X:394.90, Y:2.15, Z:1.70 [[ 9.98538274e-01 -5.35755235e-02 -7.13993538e-03 3.94897505e+02] [ 5.35762456e-02 9.98563757e-01 -9.02317049e-05 2.15120860e+00] [ 7.13451492e-03 -2.92431121e-04 9.99974506e-01 1.70005903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.659254154 meters 0.020866898295528225 Centerline is valid? [True, True] Translation: X:394.96, Y:2.16, Z:1.70 [[ 9.98698617e-01 -5.03018874e-02 -8.41383651e-03 3.94957744e+02] [ 5.03027749e-02 9.98734008e-01 -1.06233693e-04 2.15904707e+00] [ 8.40852842e-03 -3.17143883e-04 9.99964597e-01 1.69883192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.719254154 meters 0.020550018782598583 Centerline is valid? [True, True] Translation: X:395.02, Y:2.16, Z:1.70 [[ 9.98742320e-01 -4.91892565e-02 -9.70539722e-03 3.95018306e+02] [ 4.91903851e-02 9.98789413e-01 -1.22541029e-04 2.16425452e+00] [ 9.69967570e-03 -3.55025315e-04 9.99952894e-01 1.69856431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.779254154 meters 0.020979099990467646 Centerline is valid? [True, True] Translation: X:395.08, Y:2.17, Z:1.70 [[ 9.98769792e-01 -4.82546198e-02 -1.14190715e-02 3.95077743e+02] [ 4.82561218e-02 9.98834984e-01 -1.44121405e-04 2.17085085e+00] [ 1.14127226e-02 -4.07096000e-04 9.99934790e-01 1.69770999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.839254154 meters 0.021454216319668658 Centerline is valid? [True, True] Translation: X:395.14, Y:2.18, Z:1.70 [[ 9.98744134e-01 -4.86653899e-02 -1.19094561e-02 3.95137840e+02] [ 4.86670533e-02 9.98815046e-01 -1.50273588e-04 2.17527772e+00] [ 1.19026570e-02 -4.29513269e-04 9.99929069e-01 1.69832377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.899254154 meters 0.02263973656859178 Centerline is valid? [True, True] Translation: X:395.20, Y:2.18, Z:1.70 [[ 9.98644160e-01 -5.06892416e-02 -1.18508242e-02 3.95197804e+02] [ 5.06910293e-02 9.98714372e-01 -1.49666444e-04 2.18058984e+00] [ 1.18431749e-02 -4.51266955e-04 9.99929765e-01 1.69925480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.959254154 meters 0.023306904116052424 Centerline is valid? [True, True] Translation: X:395.26, Y:2.18, Z:1.70 [[ 9.98589849e-01 -5.19007156e-02 -1.11637650e-02 3.95258169e+02] [ 5.19023768e-02 9.98652153e-01 -1.41063269e-04 2.18418800e+00] [ 1.11560393e-02 -4.38561590e-04 9.99937673e-01 1.70008744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.019254154 meters 0.024806110353277473 Centerline is valid? [True, True] Translation: X:395.32, Y:2.19, Z:1.70 [[ 9.98643916e-01 -5.07562216e-02 -1.15816269e-02 3.95318003e+02] [ 5.07579326e-02 9.98710975e-01 -1.46343294e-04 2.19035853e+00] [ 1.15741257e-02 -4.41714596e-04 9.99932920e-01 1.70108397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.079254154 meters 0.0206571615004562 Centerline is valid? [True, True] Translation: X:395.38, Y:2.20, Z:1.70 [[ 9.98779065e-01 -4.78878880e-02 -1.21297232e-02 3.95378198e+02] [ 4.78895536e-02 9.98852625e-01 -1.53268937e-04 2.20257944e+00] [ 1.21231456e-02 -4.27805222e-04 9.99926420e-01 1.70291204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.139254154 meters 0.02033671472086447 Centerline is valid? [True, True] Translation: X:395.44, Y:2.21, Z:1.70 [[ 9.98874699e-01 -4.57015485e-02 -1.26769485e-02 3.95438846e+02] [ 4.57031919e-02 9.98955050e-01 -1.60183576e-04 2.20826016e+00] [ 1.26710224e-02 -4.19373691e-04 9.99919631e-01 1.70308556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.199254154 meters 0.020639953634487347 Centerline is valid? [True, True] Translation: X:395.50, Y:2.22, Z:1.70 [[ 9.98922050e-01 -4.40402592e-02 -1.46694855e-02 3.95498114e+02] [ 4.40422783e-02 9.99029651e-01 -1.85543871e-04 2.21524259e+00] [ 1.46634223e-02 -4.60733696e-04 9.99892380e-01 1.70302074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.259254154 meters 0.01981564868266833 Centerline is valid? [True, True] Translation: X:395.56, Y:2.22, Z:1.70 [[ 9.98934245e-01 -4.35886236e-02 -1.51791315e-02 3.95558874e+02] [ 4.35907322e-02 9.99049454e-01 -1.92071162e-04 2.21988380e+00] [ 1.51730751e-02 -4.69802995e-04 9.99884772e-01 1.70350019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.319254154 meters 0.018794684038098045 Centerline is valid? [True, True] Translation: X:395.62, Y:2.23, Z:1.70 [[ 9.98952670e-01 -4.26837885e-02 -1.64820138e-02 3.95619161e+02] [ 4.26861516e-02 9.99088509e-01 -2.08557356e-04 2.22817668e+00] [ 1.64758926e-02 -4.95214812e-04 9.99864141e-01 1.70371158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.379254154 meters 0.01903371594423282 Centerline is valid? [True, True] Translation: X:395.68, Y:2.23, Z:1.70 [[ 9.98983376e-01 -4.15337829e-02 -1.75259864e-02 3.95678393e+02] [ 4.15362740e-02 9.99136972e-01 -2.22004826e-04 2.23206065e+00] [ 1.75200817e-02 -5.06185044e-04 9.99846383e-01 1.70337782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.43925415399997 meters 0.01803191952193497 Centerline is valid? [True, True] Translation: X:395.74, Y:2.24, Z:1.70 [[ 9.99086669e-01 -3.83142476e-02 -1.89168273e-02 3.95737886e+02] [ 3.83165617e-02 9.99265622e-01 -2.40232677e-04 2.24049079e+00] [ 1.89121395e-02 -4.84814516e-04 9.99821032e-01 1.70393224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.49925415399997 meters 0.017168749893778614 Centerline is valid? [True, True] Translation: X:395.80, Y:2.25, Z:1.71 [[ 9.99234615e-01 -3.45018629e-02 -1.84338012e-02 3.95797065e+02] [ 3.45033488e-02 9.99404554e-01 -2.37526488e-04 2.24796324e+00] [ 1.84310200e-02 -3.98683185e-04 9.99830055e-01 1.70526744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.559254154 meters 0.01629816622746805 Centerline is valid? [True, True] Translation: X:395.86, Y:2.25, Z:1.71 [[ 9.99313583e-01 -3.26243198e-02 -1.75504157e-02 3.95856228e+02] [ 3.26253053e-02 9.99467627e-01 -2.30237421e-04 2.25268438e+00] [ 1.75485837e-02 -3.42508289e-04 9.99845953e-01 1.70708537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.619254154 meters 0.015787926783730016 Centerline is valid? [True, True] Translation: X:395.91, Y:2.26, Z:1.71 [[ 9.99363970e-01 -3.11096008e-02 -1.74312646e-02 3.95914579e+02] [ 3.11102652e-02 9.99515931e-01 -2.33113692e-04 2.25771853e+00] [ 1.74300787e-02 -3.09325840e-04 9.99848037e-01 1.70825415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.679254154 meters 0.016175439606561638 Centerline is valid? [True, True] Translation: X:395.97, Y:2.26, Z:1.71 [[ 9.99403889e-01 -2.94395803e-02 -1.80327097e-02 3.95972798e+02] [ 2.94399757e-02 9.99566520e-01 -2.43595728e-04 2.25939149e+00] [ 1.80320642e-02 -2.87432016e-04 9.99837368e-01 1.70741121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.739254154 meters 0.015246608517713806 Centerline is valid? [True, True] Translation: X:396.03, Y:2.26, Z:1.71 [[ 9.99470195e-01 -2.68454491e-02 -1.84024914e-02 3.96031100e+02] [ 2.68453471e-02 9.99639567e-01 -2.52616932e-04 2.26289886e+00] [ 1.84026401e-02 -2.41538174e-04 9.99830628e-01 1.70744836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.799254154 meters 0.014884782978377191 Centerline is valid? [True, True] Translation: X:396.09, Y:2.27, Z:1.71 [[ 9.99594795e-01 -2.21090368e-02 -1.79286224e-02 3.96089328e+02] [ 2.21080968e-02 9.99755555e-01 -2.50652655e-04 2.26718526e+00] [ 1.79297816e-02 -1.45816631e-04 9.99839238e-01 1.70749531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.859254154 meters 0.014527043974788732 Centerline is valid? [True, True] Translation: X:396.15, Y:2.27, Z:1.71 [[ 9.99658656e-01 -1.94371387e-02 -1.74576181e-02 3.96148360e+02] [ 1.94357622e-02 9.99811077e-01 -2.48525924e-04 2.26976443e+00] [ 1.74591506e-02 -9.08610221e-05 9.99847573e-01 1.70890257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.919254154 meters 0.014531324509739292 Centerline is valid? [True, True] Translation: X:396.21, Y:2.27, Z:1.71 [[ 9.99726198e-01 -1.76031179e-02 -1.54161817e-02 3.96206363e+02] [ 1.76017956e-02 9.99845052e-01 -2.21463620e-04 2.27004308e+00] [ 1.54176915e-02 -4.99494965e-05 9.99881139e-01 1.70914384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.979254154 meters 0.014545661602271675 Centerline is valid? [True, True] Translation: X:396.26, Y:2.27, Z:1.71 [[ 9.99715332e-01 -1.88398721e-02 -1.46394865e-02 3.96264647e+02] [ 1.88387643e-02 9.99822512e-01 -2.13584139e-04 2.26942318e+00] [ 1.46409120e-02 -6.22664966e-05 9.99892814e-01 1.70933803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.039254154 meters 0.014972248667919838 Centerline is valid? [True, True] Translation: X:396.32, Y:2.26, Z:1.71 [[ 9.99586400e-01 -2.45139006e-02 -1.50365443e-02 3.96323209e+02] [ 2.45133430e-02 9.99699478e-01 -2.21423193e-04 2.26384038e+00] [ 1.50374534e-02 -1.47264355e-04 9.99886920e-01 1.70877601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.099254154 meters 0.016791918019563708 Centerline is valid? [True, True] Translation: X:396.38, Y:2.26, Z:1.71 [[ 9.99425937e-01 -3.01596245e-02 -1.54335220e-02 3.96381628e+02] [ 3.01596817e-02 9.99545067e-01 -2.29098061e-04 2.25875992e+00] [ 1.54334103e-02 -2.36503568e-04 9.99880870e-01 1.70852750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.159254154 meters 0.01872848026365292 Centerline is valid? [True, True] Translation: X:396.44, Y:2.25, Z:1.71 [[ 9.99096821e-01 -3.98806134e-02 -1.46655974e-02 3.96440899e+02] [ 3.98817015e-02 9.99204385e-01 -2.18372797e-04 2.25019186e+00] [ 1.46626380e-02 -3.66713409e-04 9.99892430e-01 1.70835855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.219254154 meters 0.02236709712402923 Centerline is valid? [True, True] Translation: X:396.50, Y:2.24, Z:1.71 [[ 9.98738529e-01 -4.81674166e-02 -1.41863081e-02 3.96500035e+02] [ 4.81692647e-02 9.98839165e-01 -2.11582697e-04 2.24267280e+00] [ 1.41800315e-02 -4.72028237e-04 9.99899347e-01 1.70829908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.279254154 meters 0.024950708854203085 Centerline is valid? [True, True] Translation: X:396.56, Y:2.24, Z:1.71 [[ 9.98509935e-01 -5.30688230e-02 -1.27126176e-02 3.96560150e+02] [ 5.30707004e-02 9.98590739e-01 -1.89866608e-04 2.23869441e+00] [ 1.27047782e-02 -4.85083824e-04 9.99919173e-01 1.70854645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.339254154 meters 0.029454421083389394 Centerline is valid? [True, True] Translation: X:396.62, Y:2.24, Z:1.71 [[ 9.98229994e-01 -5.78548886e-02 -1.37728022e-02 3.96621299e+02] [ 5.78575483e-02 9.98324828e-01 -2.05594255e-04 2.23511451e+00] [ 1.37616250e-02 -5.91630215e-04 9.99905129e-01 1.70796665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.399254154 meters 0.03270559321867833 Centerline is valid? [True, True] Translation: X:396.68, Y:2.23, Z:1.71 [[ 9.97855673e-01 -6.42059930e-02 -1.27140056e-02 3.96681159e+02] [ 6.42087731e-02 9.97936470e-01 -1.89821883e-04 2.23321722e+00] [ 1.26999576e-02 -6.26935860e-04 9.99919156e-01 1.70798171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.459254154 meters 0.02747738687581232 Centerline is valid? [True, True] Translation: X:396.74, Y:2.24, Z:1.71 [[ 9.97622970e-01 -6.76950279e-02 -1.28760638e-02 3.96742100e+02] [ 6.76981703e-02 9.97705829e-01 -1.92147912e-04 2.24493447e+00] [ 1.28595314e-02 -6.79994792e-04 9.99917082e-01 1.71020761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.519254154 meters 0.028766670463768924 Centerline is valid? [True, True] Translation: X:396.80, Y:2.25, Z:1.71 [[ 9.97387240e-01 -7.11980100e-02 -1.22285543e-02 3.96803220e+02] [ 7.12011095e-02 9.97461964e-01 -1.82266030e-04 2.24840559e+00] [ 1.22104948e-02 -6.88896822e-04 9.99925212e-01 1.71120820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.579254154 meters 0.029831276575561987 Centerline is valid? [True, True] Translation: X:396.86, Y:2.25, Z:1.71 [[ 9.97233575e-01 -7.33478273e-02 -1.20537224e-02 3.96863976e+02] [ 7.33509978e-02 9.97306171e-01 -1.79441097e-04 2.25196230e+00] [ 1.20344134e-02 -7.05207881e-04 9.99927335e-01 1.71185263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.639254154 meters 0.0313454996787245 Centerline is valid? [True, True] Translation: X:396.93, Y:2.26, Z:1.71 [[ 9.97065460e-01 -7.54713541e-02 -1.28274656e-02 3.96925069e+02] [ 7.54751249e-02 9.97147667e-01 -1.90568186e-04 2.25710947e+00] [ 1.28052598e-02 -7.78145614e-04 9.99917707e-01 1.71094163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.699254154 meters 0.03126830171803435 Centerline is valid? [True, True] Translation: X:396.99, Y:2.26, Z:1.71 [[ 9.97042066e-01 -7.55327822e-02 -1.42097657e-02 3.96987106e+02] [ 7.55374285e-02 9.97142945e-01 -2.10211596e-04 2.26277919e+00] [ 1.41850455e-02 -8.63779360e-04 9.99899014e-01 1.71006469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.759254154 meters 0.030851880050044956 Centerline is valid? [True, True] Translation: X:397.05, Y:2.27, Z:1.71 [[ 9.97157267e-01 -7.37426173e-02 -1.54729486e-02 3.97048415e+02] [ 7.37479235e-02 9.97276888e-01 -2.28145630e-04 2.26978825e+00] [ 1.54476381e-02 -9.13600755e-04 9.99880261e-01 1.70967582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.819254154 meters 0.02937111531585804 Centerline is valid? [True, True] Translation: X:397.11, Y:2.28, Z:1.71 [[ 9.97592692e-01 -6.76319934e-02 -1.53210616e-02 3.97108034e+02] [ 6.76364766e-02 9.97710006e-01 -2.25947842e-04 2.28271391e+00] [ 1.53012577e-02 -8.10858706e-04 9.99882600e-01 1.71104201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.879254154 meters 0.02756722495787927 Centerline is valid? [True, True] Translation: X:397.17, Y:2.30, Z:1.71 [[ 9.98196956e-01 -5.81934601e-02 -1.47091094e-02 3.97167914e+02] [ 5.81965703e-02 9.98305120e-01 -2.16862211e-04 2.29743373e+00] [ 1.46967992e-02 -6.39548522e-04 9.99891792e-01 1.71193102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.93925415399997 meters 0.020549580495669947 Centerline is valid? [True, True] Translation: X:397.23, Y:2.32, Z:1.71 [[ 9.98624805e-01 -5.07706318e-02 -1.30706460e-02 3.97227775e+02] [ 5.07724538e-02 9.98710229e-01 -1.92606268e-04 2.31549019e+00] [ 1.30635666e-02 -4.71287374e-04 9.99914557e-01 1.71411094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.99925415399997 meters 0.018682377564541625 Centerline is valid? [True, True] Translation: X:397.29, Y:2.33, Z:1.71 [[ 9.99002453e-01 -4.29244312e-02 -1.23122426e-02 3.97287787e+02] [ 4.29254517e-02 9.99078262e-01 -1.81487663e-04 2.32654294e+00] [ 1.23086842e-02 -3.47201956e-04 9.99924185e-01 1.71448005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.059254154 meters 0.01633751443955485 Centerline is valid? [True, True] Translation: X:397.35, Y:2.34, Z:1.71 [[ 9.99346092e-01 -3.40844286e-02 -1.20681518e-02 3.97348235e+02] [ 3.40847658e-02 9.99418930e-01 -1.77791175e-04 2.34087557e+00] [ 1.20671993e-02 -2.33665214e-04 9.99927161e-01 1.71485987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.119254154 meters 0.016681104222835492 Centerline is valid? [True, True] Translation: X:397.41, Y:2.34, Z:1.71 [[ 9.99393108e-01 -3.24836008e-02 -1.25790326e-02 3.97408934e+02] [ 3.24838472e-02 9.99472243e-01 -1.84784084e-04 2.34354783e+00] [ 1.25783964e-02 -2.23943434e-04 9.99920864e-01 1.71437687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.179254154 meters 0.016284248701543564 Centerline is valid? [True, True] Translation: X:397.47, Y:2.35, Z:1.71 [[ 9.99424798e-01 -3.12055475e-02 -1.32773459e-02 3.97470660e+02] [ 3.12057169e-02 9.99512964e-01 -1.94461576e-04 2.34970620e+00] [ 1.32769476e-02 -2.19979377e-04 9.99911833e-01 1.71406297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.239254154 meters 0.016062150159068655 Centerline is valid? [True, True] Translation: X:397.53, Y:2.35, Z:1.71 [[ 9.99354904e-01 -3.33565579e-02 -1.33084731e-02 3.97531861e+02] [ 3.33569254e-02 9.99443484e-01 -1.94424756e-04 2.35440099e+00] [ 1.33075520e-02 -2.49630410e-04 9.99911419e-01 1.71419170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.299254154 meters 0.01720589995615013 Centerline is valid? [True, True] Translation: X:397.59, Y:2.36, Z:1.71 [[ 9.99279723e-01 -3.59542066e-02 -1.21379428e-02 3.97592585e+02] [ 3.59547176e-02 9.99353405e-01 -1.76183446e-04 2.35556817e+00] [ 1.21364290e-02 -2.60359760e-04 9.99926317e-01 1.71407091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.359254154 meters 0.01713212260295804 Centerline is valid? [True, True] Translation: X:397.65, Y:2.36, Z:1.71 [[ 9.99238794e-01 -3.73062698e-02 -1.14050046e-02 3.97654357e+02] [ 3.73068209e-02 9.99303845e-01 -1.64495570e-04 2.35847280e+00] [ 1.14032017e-02 -2.61114110e-04 9.99934947e-01 1.71485089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.419254154 meters 0.01746572534385297 Centerline is valid? [True, True] Translation: X:397.72, Y:2.36, Z:1.71 [[ 9.99192886e-01 -3.84571316e-02 -1.16027900e-02 3.97716535e+02] [ 3.84577896e-02 9.99260212e-01 -1.66483943e-04 2.36147312e+00] [ 1.16006089e-02 -2.79868086e-04 9.99932672e-01 1.71471582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.479254154 meters 0.01726236840055954 Centerline is valid? [True, True] Translation: X:397.78, Y:2.37, Z:1.72 [[ 9.99208403e-01 -3.80832269e-02 -1.14993762e-02 3.97779035e+02] [ 3.80838583e-02 9.99274533e-01 -1.64145025e-04 2.36515654e+00] [ 1.14972849e-02 -2.73925524e-04 9.99933867e-01 1.71526521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.539254154 meters 0.017120012984811948 Centerline is valid? [True, True] Translation: X:397.84, Y:2.37, Z:1.72 [[ 9.99220418e-01 -3.77215169e-02 -1.16466442e-02 3.97841438e+02] [ 3.77221503e-02 9.99288253e-01 -1.65367248e-04 2.36817395e+00] [ 1.16445926e-02 -2.74098132e-04 9.99932162e-01 1.71552216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.599254154 meters 0.017421441423351 Centerline is valid? [True, True] Translation: X:397.90, Y:2.37, Z:1.72 [[ 9.99217556e-01 -3.78741659e-02 -1.13939989e-02 3.97903779e+02] [ 3.78747916e-02 9.99282480e-01 -1.60935101e-04 2.36901716e+00] [ 1.13919188e-02 -2.70736156e-04 9.99935073e-01 1.71561661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.659254154 meters 0.01703895507442692 Centerline is valid? [True, True] Translation: X:397.97, Y:2.37, Z:1.72 [[ 9.99262298e-01 -3.66592839e-02 -1.14436550e-02 3.97966199e+02] [ 3.66598453e-02 9.99327789e-01 -1.60778906e-04 2.37142234e+00] [ 1.14418565e-02 -2.58862324e-04 9.99934506e-01 1.71592884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.719254154 meters 0.01687337886501321 Centerline is valid? [True, True] Translation: X:398.03, Y:2.37, Z:1.72 [[ 9.99349281e-01 -3.43257130e-02 -1.10797408e-02 3.98028672e+02] [ 3.43261048e-02 9.99410674e-01 -1.54853200e-04 2.37363527e+00] [ 1.10785266e-02 -2.25571909e-04 9.99938606e-01 1.71583934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.779254154 meters 0.01581118872750753 Centerline is valid? [True, True] Translation: X:398.09, Y:2.38, Z:1.72 [[ 9.99516590e-01 -2.86542535e-02 -1.20632106e-02 3.98090527e+02] [ 2.86543144e-02 9.99589367e-01 -1.67817619e-04 2.37842597e+00] [ 1.20630657e-02 -1.77926536e-04 9.99927223e-01 1.71535801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.839254154 meters 0.01533970371416273 Centerline is valid? [True, True] Translation: X:398.15, Y:2.38, Z:1.71 [[ 9.99642020e-01 -2.38288127e-02 -1.21663638e-02 3.98150682e+02] [ 2.38285221e-02 9.99716046e-01 -1.68864530e-04 2.38089295e+00] [ 1.21669329e-02 -1.21102388e-04 9.99925973e-01 1.71478014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.899254154 meters 0.014706205670732147 Centerline is valid? [True, True] Translation: X:398.21, Y:2.39, Z:1.72 [[ 9.99782640e-01 -1.69193845e-02 -1.21822743e-02 3.98211684e+02] [ 1.69185829e-02 9.99856856e-01 -1.68869241e-04 2.38575897e+00] [ 1.21833876e-02 -3.72742814e-05 9.99925779e-01 1.71558474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.959254154 meters 0.014777989763655384 Centerline is valid? [True, True] Translation: X:398.27, Y:2.39, Z:1.72 [[ 9.99819614e-01 -1.42347497e-02 -1.25742654e-02 3.98271308e+02] [ 1.42336805e-02 9.99898681e-01 -1.74523553e-04 2.38776453e+00] [ 1.25754757e-02 -4.48600382e-06 9.99920926e-01 1.71608782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.019254154 meters 0.014790315372382885 Centerline is valid? [True, True] Translation: X:398.33, Y:2.39, Z:1.71 [[ 9.99814220e-01 -1.38590744e-02 -1.33959362e-02 3.98329732e+02] [ 1.38577942e-02 9.99903958e-01 -1.88382299e-04 2.38676745e+00] [ 1.33972604e-02 2.70917360e-06 9.99910253e-01 1.71489539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.079254154 meters 0.014771131107270812 Centerline is valid? [True, True] Translation: X:398.39, Y:2.38, Z:1.72 [[ 9.99781581e-01 -1.63695552e-02 -1.29934056e-02 3.98387351e+02] [ 1.63685161e-02 9.99866010e-01 -1.86318071e-04 2.38391194e+00] [ 1.29947146e-02 -2.64053937e-05 9.99915565e-01 1.71514880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.139254154 meters 0.015106285872609622 Centerline is valid? [True, True] Translation: X:398.45, Y:2.38, Z:1.72 [[ 9.99639631e-01 -2.38474929e-02 -1.23249613e-02 3.98446564e+02] [ 2.38471041e-02 9.99715601e-01 -1.78532410e-04 2.37625455e+00] [ 1.23257136e-02 -1.15446561e-04 9.99924029e-01 1.71599825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.199254154 meters 0.015804920380460392 Centerline is valid? [True, True] Translation: X:398.51, Y:2.37, Z:1.72 [[ 9.99474249e-01 -3.02083881e-02 -1.17761727e-02 3.98507343e+02] [ 3.02084709e-02 9.99543605e-01 -1.70889898e-04 2.37062843e+00] [ 1.17759604e-02 -1.84940117e-04 9.99930644e-01 1.71660231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.259254154 meters 0.01893187370630763 Centerline is valid? [True, True] Translation: X:398.57, Y:2.36, Z:1.72 [[ 9.99090896e-01 -4.12973685e-02 -1.05786719e-02 3.98567560e+02] [ 4.12980562e-02 9.99146860e-01 -1.53514797e-04 2.35809819e+00] [ 1.05759866e-02 -2.83503352e-04 9.99944032e-01 1.71609481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.319254154 meters 0.02116212706220856 Centerline is valid? [True, True] Translation: X:398.63, Y:2.35, Z:1.72 [[ 9.98713613e-01 -4.97096825e-02 -1.00033767e-02 3.98628496e+02] [ 4.97107191e-02 9.98763647e-01 -1.45146428e-04 2.35108314e+00] [ 9.99822413e-03 -3.52315333e-04 9.99949954e-01 1.71649102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.379254154 meters 0.026739032209201628 Centerline is valid? [True, True] Translation: X:398.69, Y:2.34, Z:1.72 [[ 9.98033358e-01 -6.18903200e-02 -9.95006777e-03 3.98688594e+02] [ 6.18919510e-02 9.98082845e-01 -1.44214920e-04 2.33814999e+00] [ 9.93991745e-03 -4.71897805e-04 9.99950486e-01 1.71620858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.43925415399997 meters 0.03083545096488879 Centerline is valid? [True, True] Translation: X:398.75, Y:2.33, Z:1.72 [[ 9.97585434e-01 -6.87382712e-02 -9.91724458e-03 3.98750008e+02] [ 6.87402313e-02 9.97634582e-01 -1.43483299e-04 2.33120256e+00] [ 9.90364895e-03 -5.38576837e-04 9.99950813e-01 1.71643850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.49925415399997 meters 0.02778779413437538 Centerline is valid? [True, True] Translation: X:398.81, Y:2.33, Z:1.72 [[ 9.97219185e-01 -7.38352129e-02 -1.01122931e-02 3.98810445e+02] [ 7.38375134e-02 9.97270274e-01 -1.46165939e-04 2.33462484e+00] [ 1.00954815e-02 -6.00907101e-04 9.99948859e-01 1.71730453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.559254154 meters 0.03006349081999676 Centerline is valid? [True, True] Translation: X:398.87, Y:2.33, Z:1.72 [[ 9.97252187e-01 -7.34254676e-02 -9.83747360e-03 3.98871478e+02] [ 7.34276281e-02 9.97300538e-01 -1.41872202e-04 2.33258020e+00] [ 9.82133475e-03 -5.80859989e-04 9.99951601e-01 1.71728505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.619254154 meters 0.02708723369428735 Centerline is valid? [True, True] Translation: X:398.93, Y:2.34, Z:1.72 [[ 9.97603343e-01 -6.84500653e-02 -1.01073125e-02 3.98931638e+02] [ 6.84520940e-02 9.97654394e-01 -1.45487405e-04 2.33951364e+00] [ 1.00935634e-02 -5.46727988e-04 9.99948909e-01 1.71747197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.679254154 meters 0.024404783242891942 Centerline is valid? [True, True] Translation: X:398.99, Y:2.35, Z:1.72 [[ 9.98157534e-01 -5.97810183e-02 -1.03810893e-02 3.98991901e+02] [ 5.97826906e-02 9.98211404e-01 -1.49421046e-04 2.34802398e+00] [ 1.03714543e-02 -4.71463707e-04 9.99946104e-01 1.71669448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.739254154 meters 0.021250357919191755 Centerline is valid? [True, True] Translation: X:399.05, Y:2.36, Z:1.72 [[ 9.98546227e-01 -5.28151341e-02 -1.07700264e-02 3.99052580e+02] [ 5.28165296e-02 9.98604221e-01 -1.55010649e-04 2.35674884e+00] [ 1.07631807e-02 -4.14050119e-04 9.99941990e-01 1.71711404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.799254154 meters 0.020175103846325024 Centerline is valid? [True, True] Translation: X:399.11, Y:2.36, Z:1.72 [[ 9.98896454e-01 -4.57758585e-02 -1.05092510e-02 3.99112308e+02] [ 4.57767981e-02 9.98951681e-01 -1.51250039e-04 2.36307708e+00] [ 1.05051576e-02 -3.29996734e-04 9.99944765e-01 1.71771769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.859254154 meters 0.016838555286277698 Centerline is valid? [True, True] Translation: X:399.17, Y:2.38, Z:1.72 [[ 9.99325354e-01 -3.51914376e-02 -1.05071568e-02 3.99172403e+02] [ 3.51917924e-02 9.99380566e-01 -1.51176757e-04 2.37534328e+00] [ 1.05059684e-02 -2.18690913e-04 9.99944787e-01 1.71962729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.919254154 meters 0.016735834810842846 Centerline is valid? [True, True] Translation: X:399.23, Y:2.38, Z:1.72 [[ 9.99561560e-01 -2.78914313e-02 -9.93757766e-03 3.99233021e+02] [ 2.78913903e-02 9.99610949e-01 -1.42745599e-04 2.38113751e+00] [ 9.93769281e-03 -1.34489843e-04 9.99950611e-01 1.71982656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.979254154 meters 0.014959417931610644 Centerline is valid? [True, True] Translation: X:399.29, Y:2.39, Z:1.72 [[ 9.99785868e-01 -1.83285654e-02 -9.60629347e-03 3.99294493e+02] [ 1.83280890e-02 9.99832017e-01 -1.37634947e-04 2.39026860e+00] [ 9.60720243e-03 -3.84595268e-05 9.99953849e-01 1.72175349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.039254154 meters 0.015003221615207906 Centerline is valid? [True, True] Translation: X:399.35, Y:2.39, Z:1.72 [[ 9.99840208e-01 -1.53066441e-02 -9.23386400e-03 3.99354795e+02] [ 1.53060765e-02 9.99882846e-01 -1.32140670e-04 2.39268889e+00] [ 9.23480485e-03 -9.21467352e-06 9.99957358e-01 1.72155970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.099254154 meters 0.015056492942085104 Centerline is valid? [True, True] Translation: X:399.41, Y:2.40, Z:1.72 [[ 9.99886374e-01 -1.13199487e-02 -9.95476700e-03 3.99414920e+02] [ 1.13190914e-02 9.99935927e-01 -1.42457110e-04 2.39561306e+00] [ 9.95574177e-03 2.97620055e-05 9.99950440e-01 1.72147232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.159254154 meters 0.01499560266264732 Centerline is valid? [True, True] Translation: X:399.47, Y:2.40, Z:1.72 [[ 9.99902319e-01 -9.50839373e-03 -1.02441501e-02 3.99473684e+02] [ 9.50738758e-03 9.99954793e-01 -1.46911951e-04 2.39583797e+00] [ 1.02450839e-02 4.95024946e-05 9.99947517e-01 1.72168044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.219254154 meters 0.014825201656340145 Centerline is valid? [True, True] Translation: X:399.53, Y:2.39, Z:1.72 [[ 9.99859753e-01 -1.36758051e-02 -9.66674581e-03 3.99532372e+02] [ 1.36750981e-02 9.99906482e-01 -1.39232473e-04 2.38992350e+00] [ 9.66774591e-03 7.01924837e-06 9.99953266e-01 1.72223530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.279254154 meters 0.014937148310289522 Centerline is valid? [True, True] Translation: X:399.59, Y:2.38, Z:1.72 [[ 9.99768092e-01 -1.93305371e-02 -9.49173106e-03 3.99592254e+02] [ 1.93301056e-02 9.99813147e-01 -1.37209510e-04 2.38364684e+00] [ 9.49260983e-03 -4.62984739e-05 9.99954943e-01 1.72256909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.339254154 meters 0.01551442749801188 Centerline is valid? [True, True] Translation: X:399.65, Y:2.38, Z:1.72 [[ 9.99624392e-01 -2.55246659e-02 -9.97829482e-03 3.99653052e+02] [ 2.55244959e-02 9.99674187e-01 -1.44413485e-04 2.37636517e+00] [ 9.97872986e-03 -1.10331703e-04 9.99950205e-01 1.72242605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.399254154 meters 0.017833216379064938 Centerline is valid? [True, True] Translation: X:399.71, Y:2.37, Z:1.72 [[ 9.99355893e-01 -3.42833442e-02 -1.06043132e-02 3.99714314e+02] [ 3.42836462e-02 9.99412131e-01 -1.53359610e-04 2.36545697e+00] [ 1.06033369e-02 -2.10293692e-04 9.99943761e-01 1.72186291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.459254154 meters 0.01964036758361204 Centerline is valid? [True, True] Translation: X:399.77, Y:2.36, Z:1.72 [[ 9.99166514e-01 -3.94695579e-02 -1.04130540e-02 3.99774271e+02] [ 3.94701314e-02 9.99220739e-01 -1.50514139e-04 2.35540434e+00] [ 1.04108803e-02 -2.60615923e-04 9.99945771e-01 1.72140110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.519254154 meters 0.020068751099514143 Centerline is valid? [True, True] Translation: X:399.84, Y:2.35, Z:1.72 [[ 9.99026714e-01 -4.30507821e-02 -9.60490955e-03 3.99836749e+02] [ 4.30514388e-02 9.99072847e-01 -1.38461936e-04 2.34841397e+00] [ 9.60196523e-03 -2.75178004e-04 9.99953862e-01 1.72164106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.579254154 meters 0.019231888223677072 Centerline is valid? [True, True] Translation: X:399.90, Y:2.35, Z:1.72 [[ 9.99040999e-01 -4.27515555e-02 -9.45442693e-03 3.99899371e+02] [ 4.27521849e-02 9.99085698e-01 -1.35613255e-04 2.34761765e+00] [ 9.45158041e-03 -2.68714206e-04 9.99955297e-01 1.72219644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.639254154 meters 0.018919239621545098 Centerline is valid? [True, True] Translation: X:399.96, Y:2.35, Z:1.72 [[ 9.99243895e-01 -3.73283823e-02 -1.08733601e-02 3.99960649e+02] [ 3.73289005e-02 9.99303022e-01 -1.55358620e-04 2.34629241e+00] [ 1.08715809e-02 -2.50649424e-04 9.99940871e-01 1.72123034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.699254154 meters 0.01615999985785384 Centerline is valid? [True, True] Translation: X:400.02, Y:2.35, Z:1.72 [[ 9.99533502e-01 -2.85036761e-02 -1.09689900e-02 4.00020993e+02] [ 2.85036739e-02 9.99593675e-01 -1.56562738e-04 2.34887026e+00] [ 1.09689957e-02 -1.56166813e-04 9.99939827e-01 1.72161435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.759254154 meters 0.015416936691886988 Centerline is valid? [True, True] Translation: X:400.08, Y:2.35, Z:1.72 [[ 9.99684508e-01 -2.25627345e-02 -1.10366027e-02 4.00081224e+02] [ 2.25623716e-02 9.99745425e-01 -1.57406601e-04 2.34934393e+00] [ 1.10373446e-02 -9.16549925e-05 9.99939082e-01 1.72095272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.819254154 meters 0.015063659644845658 Centerline is valid? [True, True] Translation: X:400.14, Y:2.35, Z:1.72 [[ 9.99765111e-01 -1.77757792e-02 -1.23993933e-02 4.00141570e+02] [ 1.77749541e-02 9.99841997e-01 -1.76752737e-04 2.34959350e+00] [ 1.24005761e-02 -4.36874268e-05 9.99923109e-01 1.72050906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.879254154 meters 0.015018002545959993 Centerline is valid? [True, True] Translation: X:400.20, Y:2.35, Z:1.72 [[ 9.99723358e-01 -1.84148066e-02 -1.46322358e-02 4.00200562e+02] [ 1.84136872e-02 9.99830431e-01 -2.11239115e-04 2.34701127e+00] [ 1.46336446e-02 -5.82527355e-05 9.99892921e-01 1.71915491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.93925415399997 meters 0.015388583380458237 Centerline is valid? [True, True] Translation: X:400.26, Y:2.34, Z:1.72 [[ 9.99635471e-01 -2.14416976e-02 -1.64066365e-02 4.00259730e+02] [ 2.14406263e-02 9.99770094e-01 -2.41211587e-04 2.34251186e+00] [ 1.64080365e-02 -1.10644903e-04 9.99865373e-01 1.71814744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.99925415399997 meters 0.015578873288255354 Centerline is valid? [True, True] Translation: X:400.32, Y:2.33, Z:1.72 [[ 9.99502343e-01 -2.67167497e-02 -1.67714706e-02 4.00318369e+02] [ 2.67162999e-02 9.99643024e-01 -2.50910387e-04 2.33468459e+00] [ 1.67721871e-02 -1.97286119e-04 9.99859318e-01 1.71905391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.059254154 meters 0.016294694925749812 Centerline is valid? [True, True] Translation: X:400.38, Y:2.33, Z:1.72 [[ 9.99422777e-01 -2.95142431e-02 -1.68232459e-02 4.00375955e+02] [ 2.95141487e-02 9.99564330e-01 -2.53943812e-04 2.33000864e+00] [ 1.68234115e-02 -2.42726552e-04 9.99858447e-01 1.71952313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.119254154 meters 0.016128308575300853 Centerline is valid? [True, True] Translation: X:400.43, Y:2.33, Z:1.72 [[ 9.99360043e-01 -3.16754944e-02 -1.66183121e-02 4.00434868e+02] [ 3.16756426e-02 9.99498169e-01 -2.54364301e-04 2.32581562e+00] [ 1.66180296e-02 -2.72194196e-04 9.99861874e-01 1.72166624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.179254154 meters 0.016249090429250455 Centerline is valid? [True, True] Translation: X:400.49, Y:2.32, Z:1.72 [[ 9.99388754e-01 -3.12593117e-02 -1.56516709e-02 4.00492639e+02] [ 3.12593523e-02 9.99511278e-01 -2.42109068e-04 2.32358358e+00] [ 1.56515898e-02 -2.47300015e-04 9.99877476e-01 1.72244439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.239254154 meters 0.01568637195828785 Centerline is valid? [True, True] Translation: X:400.55, Y:2.32, Z:1.72 [[ 9.99526700e-01 -2.72328101e-02 -1.43090816e-02 4.00551173e+02] [ 2.72324165e-02 9.99629104e-01 -2.22392566e-04 2.32307785e+00] [ 1.43098308e-02 -1.67383563e-04 9.99897595e-01 1.72408273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.299254154 meters 0.014639202985887664 Centerline is valid? [True, True] Translation: X:400.61, Y:2.33, Z:1.73 [[ 9.99667012e-01 -2.14401645e-02 -1.43591116e-02 4.00609496e+02] [ 2.14391313e-02 9.99770130e-01 -2.25901755e-04 2.32518374e+00] [ 1.43606542e-02 -8.20203449e-05 9.99896877e-01 1.72573837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.359254154 meters 0.014375414432421928 Centerline is valid? [True, True] Translation: X:400.67, Y:2.33, Z:1.73 [[ 9.99728086e-01 -1.85400269e-02 -1.41428919e-02 4.00668166e+02] [ 1.85386828e-02 9.99828118e-01 -2.26144216e-04 2.32526345e+00] [ 1.41446537e-02 -3.61078626e-05 9.99899959e-01 1.72700990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.419254154 meters 0.014275484527687928 Centerline is valid? [True, True] Translation: X:400.73, Y:2.32, Z:1.73 [[ 9.99783541e-01 -1.50220113e-02 -1.43948285e-02 4.00725179e+02] [ 1.50202188e-02 9.99887163e-01 -2.32634336e-04 2.32234455e+00] [ 1.43966988e-02 1.63705068e-05 9.99896362e-01 1.72686253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.479254154 meters 0.014252957565063883 Centerline is valid? [True, True] Translation: X:400.78, Y:2.32, Z:1.73 [[ 9.99776028e-01 -1.46200060e-02 -1.53019430e-02 4.00784442e+02] [ 1.46178807e-02 9.99893122e-01 -2.50734472e-04 2.32015578e+00] [ 1.53039732e-02 2.69963380e-05 9.99882887e-01 1.72679908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.539254154 meters 0.0141652872633297 Centerline is valid? [True, True] Translation: X:400.84, Y:2.32, Z:1.73 [[ 9.99730029e-01 -1.57963227e-02 -1.70395387e-02 4.00843364e+02] [ 1.57937809e-02 9.99875230e-01 -2.83733524e-04 2.31662374e+00] [ 1.70418946e-02 1.45381827e-05 9.99854776e-01 1.72564417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.599254154 meters 0.014528854404274476 Centerline is valid? [True, True] Translation: X:400.90, Y:2.31, Z:1.73 [[ 9.99592208e-01 -2.17710501e-02 -1.84780959e-02 4.00902760e+02] [ 2.17690395e-02 9.99762978e-01 -3.09968380e-04 2.30808451e+00] [ 1.84804645e-02 -9.24084213e-05 9.99829217e-01 1.72554537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.659254154 meters 0.015022513730735931 Centerline is valid? [True, True] Translation: X:400.96, Y:2.30, Z:1.72 [[ 9.99422796e-01 -2.86348270e-02 -1.82789988e-02 4.00960958e+02] [ 2.86339778e-02 9.99589916e-01 -3.08232603e-04 2.30035100e+00] [ 1.82803290e-02 -2.15345755e-04 9.99832878e-01 1.72480556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.719254154 meters 0.018255349972016423 Centerline is valid? [True, True] Translation: X:401.02, Y:2.29, Z:1.73 [[ 9.98994774e-01 -4.16016788e-02 -1.66955714e-02 4.01020337e+02] [ 4.16027700e-02 9.99134190e-01 -2.82105544e-04 2.28552229e+00] [ 1.66928523e-02 -4.12760053e-04 9.99860579e-01 1.72671603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.779254154 meters 0.02145000850018358 Centerline is valid? [True, True] Translation: X:401.08, Y:2.28, Z:1.73 [[ 9.98602694e-01 -5.02950506e-02 -1.62193770e-02 4.01080767e+02] [ 5.02972195e-02 9.98734256e-01 -2.74432574e-04 2.27899648e+00] [ 1.62126500e-02 -5.41740456e-04 9.99868420e-01 1.72821756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.839254154 meters 0.024704038009545567 Centerline is valid? [True, True] Translation: X:401.14, Y:2.27, Z:1.73 [[ 9.98001723e-01 -6.13693651e-02 -1.50453335e-02 4.01140909e+02] [ 6.13724833e-02 9.98114900e-01 -2.54805388e-04 2.26850340e+00] [ 1.50326088e-02 -6.69073264e-04 9.99886780e-01 1.72895849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.899254154 meters 0.025140340926452624 Centerline is valid? [True, True] Translation: X:401.20, Y:2.27, Z:1.73 [[ 9.97555922e-01 -6.82530488e-02 -1.49567031e-02 4.01201087e+02] [ 6.82569011e-02 9.97667746e-01 -2.53358092e-04 2.26649454e+00] [ 1.49391128e-02 -7.68159341e-04 9.99888110e-01 1.72999015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.959254154 meters 0.029357924761461724 Centerline is valid? [True, True] Translation: X:401.26, Y:2.26, Z:1.73 [[ 9.97092923e-01 -7.45466795e-02 -1.57637181e-02 4.01260696e+02] [ 7.45517395e-02 9.97217111e-01 -2.67232468e-04 2.25988229e+00] [ 1.57397707e-02 -9.08757003e-04 9.99875709e-01 1.72877613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.019254154 meters 0.028668044934213675 Centerline is valid? [True, True] Translation: X:401.32, Y:2.26, Z:1.73 [[ 9.96706616e-01 -7.95461379e-02 -1.57585869e-02 4.01320706e+02] [ 7.95518153e-02 9.96830696e-01 -2.67247790e-04 2.26084255e+00] [ 1.57299017e-02 -9.87256555e-04 9.99875790e-01 1.72952425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.079254154 meters 0.031679629890572714 Centerline is valid? [True, True] Translation: X:401.38, Y:2.26, Z:1.73 [[ 9.96301514e-01 -8.43446085e-02 -1.64097393e-02 4.01380764e+02] [ 8.43514086e-02 9.96436030e-01 -2.78537825e-04 2.25987073e+00] [ 1.63747487e-02 -1.10667697e-03 9.99865312e-01 1.72897298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.139254154 meters 0.035487525898428046 Centerline is valid? [True, True] Translation: X:401.44, Y:2.26, Z:1.73 [[ 9.96243545e-01 -8.50633050e-02 -1.62183063e-02 4.01440704e+02] [ 8.50700372e-02 9.96374936e-01 -2.75592525e-04 2.25841320e+00] [ 1.61829567e-02 -1.10513464e-03 9.99868437e-01 1.72884250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.199254154 meters 0.031444027919904215 Centerline is valid? [True, True] Translation: X:401.50, Y:2.27, Z:1.73 [[ 9.96332916e-01 -8.38978023e-02 -1.67892563e-02 4.01501181e+02] [ 8.39048508e-02 9.96473730e-01 -2.85378502e-04 2.26857048e+00] [ 1.67539955e-02 -1.12436805e-03 9.99859010e-01 1.72936584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.259254154 meters 0.031989251525076666 Centerline is valid? [True, True] Translation: X:401.56, Y:2.28, Z:1.73 [[ 9.96474484e-01 -8.20597628e-02 -1.74584867e-02 4.01561250e+02] [ 8.20671037e-02 9.96626762e-01 -2.96753870e-04 2.27555020e+00] [ 1.74239467e-02 -1.13705978e-03 9.99847545e-01 1.72899265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.319254154 meters 0.030418677259895787 Centerline is valid? [True, True] Translation: X:401.62, Y:2.29, Z:1.73 [[ 9.96559893e-01 -8.08201038e-02 -1.83436796e-02 4.01621751e+02] [ 8.08279991e-02 9.96728016e-01 -3.11800100e-04 2.28712630e+00] [ 1.83088591e-02 -1.17195544e-03 9.99831692e-01 1.72974275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.379254154 meters 0.03023256437844251 Centerline is valid? [True, True] Translation: X:401.68, Y:2.29, Z:1.73 [[ 9.96596338e-01 -8.02563731e-02 -1.88322367e-02 4.01682249e+02] [ 8.02645945e-02 9.96773541e-01 -3.20104440e-04 2.29383116e+00] [ 1.87971657e-02 -1.19254693e-03 9.99822606e-01 1.73008577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.43925415399997 meters 0.029494327045314107 Centerline is valid? [True, True] Translation: X:401.74, Y:2.30, Z:1.73 [[ 9.96708146e-01 -7.91216148e-02 -1.76816757e-02 4.01742537e+02] [ 7.91286841e-02 9.96864364e-01 -3.00547566e-04 2.30478416e+00] [ 1.76500122e-02 -1.09956952e-03 9.99843622e-01 1.73259382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.49925415399997 meters 0.029032063623342947 Centerline is valid? [True, True] Translation: X:401.80, Y:2.31, Z:1.73 [[ 9.96800804e-01 -7.79279925e-02 -1.77590687e-02 4.01803930e+02] [ 7.79349440e-02 9.96958401e-01 -3.01365285e-04 2.31265585e+00] [ 1.77285375e-02 -1.08365087e-03 9.99842250e-01 1.73369198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.559254154 meters 0.027649078391309766 Centerline is valid? [True, True] Translation: X:401.86, Y:2.33, Z:1.73 [[ 9.97006192e-01 -7.50343033e-02 -1.86683136e-02 4.01864976e+02] [ 7.50414928e-02 9.97180362e-01 -3.16083260e-04 2.32564253e+00] [ 1.86393928e-02 -1.08576115e-03 9.99825682e-01 1.73495869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.619254154 meters 0.030844036618495017 Centerline is valid? [True, True] Translation: X:401.92, Y:2.33, Z:1.73 [[ 9.97241569e-01 -7.20272406e-02 -1.79256863e-02 4.01924356e+02] [ 7.20333834e-02 9.97402175e-01 -3.03599375e-04 2.32793948e+00] [ 1.79009860e-02 -9.88485919e-04 9.99839276e-01 1.73448723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.679254154 meters 0.025399378948316263 Centerline is valid? [True, True] Translation: X:401.98, Y:2.35, Z:1.74 [[ 9.97722693e-01 -6.49658890e-02 -1.81345484e-02 4.01984711e+02] [ 6.49710103e-02 9.97887105e-01 -3.07231092e-04 2.34545098e+00] [ 1.81161915e-02 -8.71688496e-04 9.99835508e-01 1.73615077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.739254154 meters 0.023156011241924044 Centerline is valid? [True, True] Translation: X:402.05, Y:2.36, Z:1.74 [[ 9.98104916e-01 -5.91447112e-02 -1.69846860e-02 4.02045204e+02] [ 5.91483634e-02 9.98249161e-01 -2.87674323e-04 2.35569225e+00] [ 1.69719629e-02 -7.17487222e-04 9.99855708e-01 1.73687990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.799254154 meters 0.018634360966620134 Centerline is valid? [True, True] Translation: X:402.11, Y:2.37, Z:1.74 [[ 9.98650789e-01 -4.91019117e-02 -1.68998450e-02 4.02105990e+02] [ 4.91040950e-02 9.98793625e-01 -2.85989850e-04 2.37260072e+00] [ 1.68935002e-02 -5.44247609e-04 9.99857147e-01 1.73731624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.859254154 meters 0.017114157789748227 Centerline is valid? [True, True] Translation: X:402.17, Y:2.38, Z:1.74 [[ 9.98970789e-01 -4.23521997e-02 -1.62374082e-02 4.02166491e+02] [ 4.23533280e-02 9.99102658e-01 -2.74534589e-04 2.38138413e+00] [ 1.62344649e-02 -4.13456242e-04 9.99868127e-01 1.73706764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.919254154 meters 0.016436418260298603 Centerline is valid? [True, True] Translation: X:402.23, Y:2.39, Z:1.74 [[ 9.99269947e-01 -3.48992967e-02 -1.55438548e-02 4.02226534e+02] [ 3.48994301e-02 9.99390795e-01 -2.62747540e-04 2.39069983e+00] [ 1.55435551e-02 -2.79915954e-04 9.99879152e-01 1.73573155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.979254154 meters 0.016318122109414086 Centerline is valid? [True, True] Translation: X:402.29, Y:2.40, Z:1.74 [[ 9.99359959e-01 -3.20691163e-02 -1.58506800e-02 4.02286570e+02] [ 3.20688992e-02 9.99485625e-01 -2.67933999e-04 2.39833784e+00] [ 1.58511192e-02 -2.40551349e-04 9.99874334e-01 1.73689820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.039254154 meters 0.015228509886790382 Centerline is valid? [True, True] Translation: X:402.35, Y:2.40, Z:1.74 [[ 9.99373472e-01 -3.19634766e-02 -1.51986588e-02 4.02347400e+02] [ 3.19632647e-02 9.99489011e-01 -2.56912476e-04 2.40104265e+00] [ 1.51991043e-02 -2.29047243e-04 9.99884461e-01 1.73637128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.099254154 meters 0.015866427297599024 Centerline is valid? [True, True] Translation: X:402.41, Y:2.40, Z:1.74 [[ 9.99245175e-01 -3.59338378e-02 -1.47593974e-02 4.02408194e+02] [ 3.59340709e-02 9.99354132e-01 -2.49487364e-04 2.40225441e+00] [ 1.47588298e-02 -2.81066188e-04 9.99891043e-01 1.73682242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.159254154 meters 0.01792608910370383 Centerline is valid? [True, True] Translation: X:402.47, Y:2.40, Z:1.74 [[ 9.98937483e-01 -4.37227022e-02 -1.45681125e-02 4.02468547e+02] [ 4.37237595e-02 9.99043629e-01 -2.46067206e-04 2.39988235e+00] [ 1.45649387e-02 -3.91166890e-04 9.99893849e-01 1.73733136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.219254154 meters 0.019707823798451495 Centerline is valid? [True, True] Translation: X:402.53, Y:2.40, Z:1.74 [[ 9.98657742e-01 -4.98356443e-02 -1.41110867e-02 4.02529320e+02] [ 4.98372494e-02 9.98757324e-01 -2.38091026e-04 2.39724655e+00] [ 1.41054166e-02 -4.65486299e-04 9.99900405e-01 1.73717121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.279254154 meters 0.02244271089826749 Centerline is valid? [True, True] Translation: X:402.59, Y:2.39, Z:1.74 [[ 9.98255302e-01 -5.74645982e-02 -1.35709934e-02 4.02590304e+02] [ 5.74667884e-02 9.98347392e-01 -2.28836808e-04 2.39330942e+00] [ 1.35617158e-02 -5.51443847e-04 9.99907884e-01 1.73702776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.339254154 meters 0.02432908016096991 Centerline is valid? [True, True] Translation: X:402.65, Y:2.39, Z:1.74 [[ 9.98042682e-01 -6.10082197e-02 -1.37404966e-02 4.02651566e+02] [ 6.10108052e-02 9.98137079e-01 -2.31325191e-04 2.39220930e+00] [ 1.37290119e-02 -6.07446348e-04 9.99905568e-01 1.73723061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.399254154 meters 0.025803229294540646 Centerline is valid? [True, True] Translation: X:402.71, Y:2.39, Z:1.74 [[ 9.97879740e-01 -6.37324271e-02 -1.31985391e-02 4.02712927e+02] [ 6.37350565e-02 9.97966830e-01 -2.21731077e-04 2.39162189e+00] [ 1.31858357e-02 -6.19948686e-04 9.99912871e-01 1.73731826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.459254154 meters 0.031205901851370236 Centerline is valid? [True, True] Translation: X:402.77, Y:2.39, Z:1.74 [[ 9.97664453e-01 -6.71871194e-02 -1.23097638e-02 4.02773020e+02] [ 6.71896707e-02 9.97740199e-01 -2.06652184e-04 2.38535818e+00] [ 1.22958306e-02 -6.20919440e-04 9.99924211e-01 1.73670611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.519254154 meters 0.026554198908764346 Centerline is valid? [True, True] Translation: X:402.84, Y:2.39, Z:1.74 [[ 9.97583266e-01 -6.84083271e-02 -1.21625753e-02 4.02835344e+02] [ 6.84109152e-02 9.97657208e-01 -2.03607241e-04 2.39440262e+00] [ 1.21480094e-02 -6.28937732e-04 9.99926012e-01 1.73807251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.579254154 meters 0.027318358842507884 Centerline is valid? [True, True] Translation: X:402.90, Y:2.40, Z:1.74 [[ 9.97609259e-01 -6.78345315e-02 -1.32000852e-02 4.02897532e+02] [ 6.78375431e-02 9.97696356e-01 -2.19980794e-04 2.39745474e+00] [ 1.31845992e-02 -6.76006472e-04 9.99912851e-01 1.73737360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.639254154 meters 0.02735406309873186 Centerline is valid? [True, True] Translation: X:402.96, Y:2.40, Z:1.74 [[ 9.97762509e-01 -6.54222973e-02 -1.37803712e-02 4.02958608e+02] [ 6.54253593e-02 9.97857440e-01 -2.28976401e-04 2.40090435e+00] [ 1.37658261e-02 -6.73121667e-04 9.99905020e-01 1.73727009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.699254154 meters 0.0230345324941042 Centerline is valid? [True, True] Translation: X:403.02, Y:2.41, Z:1.74 [[ 9.98040537e-01 -6.09353053e-02 -1.42117963e-02 4.03018843e+02] [ 6.09381104e-02 9.98141519e-01 -2.35980546e-04 2.41157280e+00] [ 1.41997635e-02 -6.30521861e-04 9.99898979e-01 1.73764464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.759254154 meters 0.02175273591071722 Centerline is valid? [True, True] Translation: X:403.08, Y:2.42, Z:1.74 [[ 9.98326437e-01 -5.57930689e-02 -1.52137921e-02 4.03079051e+02] [ 5.57956874e-02 9.98442175e-01 -2.52618241e-04 2.42019571e+00] [ 1.52041861e-02 -5.96668522e-04 9.99884232e-01 1.73785717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.819254154 meters 0.021746707382937897 Centerline is valid? [True, True] Translation: X:403.14, Y:2.42, Z:1.74 [[ 9.98543329e-01 -5.16139084e-02 -1.57233607e-02 4.03139657e+02] [ 5.16161944e-02 9.98666962e-01 -2.60664656e-04 2.42374274e+00] [ 1.57158548e-02 -5.51295088e-04 9.99876346e-01 1.73706787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.87925415399997 meters 0.01885171151420847 Centerline is valid? [True, True] Translation: X:403.20, Y:2.43, Z:1.74 [[ 9.98747238e-01 -4.73562832e-02 -1.61659115e-02 4.03201347e+02] [ 4.73581559e-02 9.98877937e-01 -2.67175241e-04 2.43287957e+00] [ 1.61604248e-02 -4.98747222e-04 9.99869287e-01 1.73872786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.93925415399997 meters 0.01896195518527477 Centerline is valid? [True, True] Translation: X:403.26, Y:2.44, Z:1.74 [[ 9.98927738e-01 -4.35465031e-02 -1.57186622e-02 4.03262816e+02] [ 4.35478126e-02 9.99051310e-01 -2.59124916e-04 2.43784054e+00] [ 1.57150341e-02 -4.25666291e-04 9.99876421e-01 1.74016380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.99925415399997 meters 0.01801863768210863 Centerline is valid? [True, True] Translation: X:403.32, Y:2.44, Z:1.74 [[ 9.99031048e-01 -4.19607327e-02 -1.32763651e-02 4.03323974e+02] [ 4.19615329e-02 9.99119203e-01 -2.18404670e-04 2.44184112e+00] [ 1.32738358e-02 -3.38903584e-04 9.99911841e-01 1.74160781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.059254154 meters 0.018056286647786607 Centerline is valid? [True, True] Translation: X:403.39, Y:2.44, Z:1.74 [[ 9.99012242e-01 -4.24847206e-02 -1.30226229e-02 4.03386497e+02] [ 4.24855453e-02 9.99097059e-01 -2.13443876e-04 2.44356311e+00] [ 1.30199323e-02 -3.40040189e-04 9.99915179e-01 1.74176612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.119254154 meters 0.01899888087674558 Centerline is valid? [True, True] Translation: X:403.45, Y:2.44, Z:1.74 [[ 9.98947533e-01 -4.38590279e-02 -1.34243179e-02 4.03447896e+02] [ 4.38600392e-02 9.99037661e-01 -2.19209363e-04 2.44347876e+00] [ 1.34210134e-02 -3.69812456e-04 9.99909866e-01 1.74066783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.179254154 meters 0.019373649862248443 Centerline is valid? [True, True] Translation: X:403.51, Y:2.44, Z:1.74 [[ 9.98927076e-01 -4.43675463e-02 -1.32746927e-02 4.03509553e+02] [ 4.43685894e-02 9.99015206e-01 -2.16057947e-04 2.44436656e+00] [ 1.32712059e-02 -3.73153258e-04 9.99911864e-01 1.74102155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.239254154 meters 0.020351641996691046 Centerline is valid? [True, True] Translation: X:403.57, Y:2.44, Z:1.74 [[ 9.98889464e-01 -4.53842204e-02 -1.26535115e-02 4.03571026e+02] [ 4.53852580e-02 9.98969537e-01 -2.05291201e-04 2.44370423e+00] [ 1.26497895e-02 -3.69219664e-04 9.99919920e-01 1.74188903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.299254154 meters 0.02111390659072111 Centerline is valid? [True, True] Translation: X:403.63, Y:2.44, Z:1.74 [[ 9.98840771e-01 -4.64742630e-02 -1.25402484e-02 4.03633543e+02] [ 4.64753778e-02 9.98919415e-01 -2.02664070e-04 2.44297149e+00] [ 1.25361162e-02 -3.80383645e-04 9.99921347e-01 1.74155173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.359254154 meters 0.020110431565039097 Centerline is valid? [True, True] Translation: X:403.70, Y:2.44, Z:1.74 [[ 9.98738084e-01 -4.82059533e-02 -1.40863541e-02 4.03695943e+02] [ 4.82075467e-02 9.98837315e-01 -2.26608563e-04 2.44485298e+00] [ 1.40809000e-02 -4.52745970e-04 9.99900757e-01 1.74029770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.419254154 meters 0.020088225223672096 Centerline is valid? [True, True] Translation: X:403.76, Y:2.44, Z:1.74 [[ 9.98707346e-01 -4.85961962e-02 -1.49012316e-02 4.03758475e+02] [ 4.85980392e-02 9.98818389e-01 -2.38617615e-04 2.44498772e+00] [ 1.48952200e-02 -4.85861471e-04 9.99888942e-01 1.73962630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.479254154 meters 0.01971307784021297 Centerline is valid? [True, True] Translation: X:403.82, Y:2.45, Z:1.74 [[ 9.98692068e-01 -4.89525381e-02 -1.47580939e-02 4.03820983e+02] [ 4.89544005e-02 9.98800987e-01 -2.35248051e-04 2.44636796e+00] [ 1.47519147e-02 -4.87533275e-04 9.99891066e-01 1.74010723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.539254154 meters 0.019683553757097325 Centerline is valid? [True, True] Translation: X:403.88, Y:2.45, Z:1.74 [[ 9.98668932e-01 -4.95950657e-02 -1.41666709e-02 4.03883060e+02] [ 4.95968610e-02 9.98769293e-01 -2.24789516e-04 2.44767552e+00] [ 1.41603843e-02 -4.78132099e-04 9.99899622e-01 1.74065264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.599254154 meters 0.020447857219668585 Centerline is valid? [True, True] Translation: X:403.95, Y:2.45, Z:1.74 [[ 9.98564970e-01 -5.15007469e-02 -1.46858461e-02 4.03945549e+02] [ 5.15028981e-02 9.98672818e-01 -2.31933148e-04 2.44789476e+00] [ 1.46783001e-02 -5.24763321e-04 9.99892130e-01 1.74050346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.659254154 meters 0.02022941961943973 Centerline is valid? [True, True] Translation: X:404.01, Y:2.45, Z:1.74 [[ 9.98564620e-01 -5.15629163e-02 -1.44901958e-02 4.04007941e+02] [ 5.15650326e-02 9.98669613e-01 -2.27779060e-04 2.44866635e+00] [ 1.44826632e-02 -5.19735308e-04 9.99894986e-01 1.74050801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.719254154 meters 0.01973029168649913 Centerline is valid? [True, True] Translation: X:404.07, Y:2.45, Z:1.74 [[ 9.98740290e-01 -4.79649608e-02 -1.47375373e-02 4.04069227e+02] [ 4.79667691e-02 9.98848905e-01 -2.30959768e-04 2.45178399e+00] [ 1.47316510e-02 -4.76243224e-04 9.99891370e-01 1.74066453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.779254154 meters 0.017979989859625307 Centerline is valid? [True, True] Translation: X:404.13, Y:2.46, Z:1.74 [[ 9.98980063e-01 -4.27964187e-02 -1.43979454e-02 4.04131139e+02] [ 4.27976197e-02 9.99083737e-01 -2.24830580e-04 2.45755396e+00] [ 1.43943750e-02 -3.91596524e-04 9.99896319e-01 1.74193161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.839254154 meters 0.015363030605023054 Centerline is valid? [True, True] Translation: X:404.19, Y:2.47, Z:1.74 [[ 9.99348707e-01 -3.33468505e-02 -1.37894916e-02 4.04191612e+02] [ 3.33470589e-02 9.99443809e-01 -2.14880692e-04 2.46656987e+00] [ 1.37889876e-02 -2.45098245e-04 9.99904897e-01 1.74423109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.899254154 meters 0.014095670041444745 Centerline is valid? [True, True] Translation: X:404.25, Y:2.47, Z:1.74 [[ 9.99590342e-01 -2.51039474e-02 -1.37455106e-02 4.04252445e+02] [ 2.51033810e-02 9.99684838e-01 -2.13770907e-04 2.47101489e+00] [ 1.37465451e-02 -1.31375456e-04 9.99905503e-01 1.74389683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.959254154 meters 0.015132002882332286 Centerline is valid? [True, True] Translation: X:404.31, Y:2.47, Z:1.74 [[ 9.99660182e-01 -2.13660610e-02 -1.49335929e-02 4.04312470e+02] [ 2.13649780e-02 9.99771716e-01 -2.32072561e-04 2.47334762e+00] [ 1.49351422e-02 -8.70621843e-05 9.99888461e-01 1.74376022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.019254154 meters 0.013721279205804524 Centerline is valid? [True, True] Translation: X:404.37, Y:2.47, Z:1.74 [[ 9.99654987e-01 -2.10359740e-02 -1.57287561e-02 4.04372311e+02] [ 2.10347254e-02 9.99778716e-01 -2.44836480e-04 2.47301507e+00] [ 1.57304259e-02 -8.60980564e-05 9.99876265e-01 1.74266066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.079254154 meters 0.013926288681303635 Centerline is valid? [True, True] Translation: X:404.43, Y:2.47, Z:1.74 [[ 9.99592183e-01 -2.35074383e-02 -1.62132047e-02 4.04430739e+02] [ 2.35064238e-02 9.99723654e-01 -2.53166777e-04 2.47036621e+00] [ 1.62146756e-02 -1.28050931e-04 9.99868525e-01 1.74199118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.139254154 meters 0.016511795532623195 Centerline is valid? [True, True] Translation: X:404.49, Y:2.46, Z:1.74 [[ 9.99367364e-01 -3.17918800e-02 -1.59420381e-02 4.04489106e+02] [ 3.17919452e-02 9.99494477e-01 -2.49404039e-04 2.46243801e+00] [ 1.59419080e-02 -2.57582145e-04 9.99872887e-01 1.74247587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.199254154 meters 0.01884205659131577 Centerline is valid? [True, True] Translation: X:404.55, Y:2.46, Z:1.74 [[ 9.99104668e-01 -3.96485412e-02 -1.47599157e-02 4.04549781e+02] [ 3.96494525e-02 9.99213625e-01 -2.30995859e-04 2.45577652e+00] [ 1.47574675e-02 -3.54433537e-04 9.99891040e-01 1.74338985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.259254154 meters 0.02070965596546751 Centerline is valid? [True, True] Translation: X:404.61, Y:2.45, Z:1.75 [[ 9.98526386e-01 -5.29871896e-02 -1.17223529e-02 4.04611037e+02] [ 5.29886847e-02 9.98595096e-01 -1.83220250e-04 2.44690886e+00] [ 1.17155924e-02 -4.38201806e-04 9.99931274e-01 1.74590953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.319254154 meters 0.02643748121903985 Centerline is valid? [True, True] Translation: X:404.67, Y:2.44, Z:1.75 [[ 9.97900038e-01 -6.39148489e-02 -1.05074196e-02 4.04671394e+02] [ 6.39166555e-02 9.97955227e-01 -1.64121841e-04 2.43687586e+00] [ 1.04964242e-02 -5.07821930e-04 9.99944782e-01 1.74678607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.37925415399997 meters 0.026980337255323915 Centerline is valid? [True, True] Translation: X:404.73, Y:2.43, Z:1.75 [[ 9.97489560e-01 -7.01017225e-02 -1.00163173e-02 4.04731709e+02] [ 7.01036752e-02 9.97539699e-01 -1.56451174e-04 2.43466032e+00] [ 1.00026416e-02 -5.46122241e-04 9.99949823e-01 1.74761313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.43925415399997 meters 0.030641497690199703 Centerline is valid? [True, True] Translation: X:404.79, Y:2.43, Z:1.75 [[ 9.97090222e-01 -7.57070583e-02 -8.91798119e-03 4.04791662e+02] [ 7.57088300e-02 9.97129958e-01 -1.39240792e-04 2.42944501e+00] [ 8.90292772e-03 -5.36334290e-04 9.99960224e-01 1.74852317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.49925415399997 meters 0.03211765557658252 Centerline is valid? [True, True] Translation: X:404.85, Y:2.43, Z:1.75 [[ 9.96917445e-01 -7.79370876e-02 -9.02316916e-03 4.04853119e+02] [ 7.79389943e-02 9.96958120e-01 -1.40671019e-04 2.42766071e+00] [ 9.00668525e-03 -5.63019337e-04 9.99959280e-01 1.74844106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.559254154 meters 0.030944789552780905 Centerline is valid? [True, True] Translation: X:404.92, Y:2.43, Z:1.75 [[ 9.96854433e-01 -7.85873021e-02 -1.02603485e-02 4.04915157e+02] [ 7.85898081e-02 9.96907025e-01 -1.59345892e-04 2.42975258e+00] [ 1.02411360e-02 -6.47514159e-04 9.99947349e-01 1.74658087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.619254154 meters 0.030717303107830246 Centerline is valid? [True, True] Translation: X:404.98, Y:2.43, Z:1.75 [[ 9.96990192e-01 -7.66791746e-02 -1.14394478e-02 4.04976752e+02] [ 7.66821717e-02 9.97055572e-01 -1.77036321e-04 2.43182113e+00] [ 1.14193401e-02 -7.00698222e-04 9.99934552e-01 1.74535352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.679254154 meters 0.026814937241923603 Centerline is valid? [True, True] Translation: X:405.04, Y:2.44, Z:1.75 [[ 9.97531172e-01 -6.89933839e-02 -1.30948127e-02 4.05037078e+02] [ 6.89966546e-02 9.97616871e-01 -2.02372796e-04 2.44269258e+00] [ 1.30775684e-02 -7.01625095e-04 9.99914239e-01 1.74529726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.739254154 meters 0.025957800092909357 Centerline is valid? [True, True] Translation: X:405.10, Y:2.45, Z:1.75 [[ 9.97752653e-01 -6.56469410e-02 -1.34209788e-02 4.05097374e+02] [ 6.56500754e-02 9.97842685e-01 -2.07363622e-04 2.44656837e+00] [ 1.34056383e-02 -6.74190664e-04 9.99909913e-01 1.74565965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.799254154 meters 0.023460200405209512 Centerline is valid? [True, True] Translation: X:405.16, Y:2.45, Z:1.75 [[ 9.98220081e-01 -5.82705159e-02 -1.26971080e-02 4.05158193e+02] [ 5.82727260e-02 9.98300682e-01 -1.96141232e-04 2.45363133e+00] [ 1.26869608e-02 -5.44102978e-04 9.99919369e-01 1.74631687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.859254154 meters 0.01991511822825004 Centerline is valid? [True, True] Translation: X:405.22, Y:2.46, Z:1.75 [[ 9.98845263e-01 -4.68752295e-02 -1.05287399e-02 4.05218316e+02] [ 4.68761166e-02 9.98900697e-01 -1.62637368e-04 2.46402103e+00] [ 1.05247892e-02 -3.31096873e-04 9.99944558e-01 1.74763454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.919254154 meters 0.01835122080738685 Centerline is valid? [True, True] Translation: X:405.28, Y:2.47, Z:1.75 [[ 9.99210765e-01 -3.85842005e-02 -9.43957784e-03 4.05278820e+02] [ 3.85845449e-02 9.99255329e-01 -1.45694295e-04 2.47162256e+00] [ 9.43816995e-03 -2.18642507e-04 9.99955436e-01 1.74878437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.979254154 meters 0.014853242838219552 Centerline is valid? [True, True] Translation: X:405.34, Y:2.48, Z:1.75 [[ 9.99572746e-01 -2.76607489e-02 -9.44499754e-03 4.05339046e+02] [ 2.76606071e-02 9.99617362e-01 -1.45668949e-04 2.48347823e+00] [ 9.44541283e-03 -1.15647655e-04 9.99955384e-01 1.74951027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.039254154 meters 0.014148474534763892 Centerline is valid? [True, True] Translation: X:405.40, Y:2.49, Z:1.75 [[ 9.99716000e-01 -2.16992520e-02 -9.85195587e-03 4.05400594e+02] [ 2.16988102e-02 9.99764542e-01 -1.51744565e-04 2.48823697e+00] [ 9.85292889e-03 -6.20742509e-05 9.99951457e-01 1.74963865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.099254154 meters 0.014312944057374426 Centerline is valid? [True, True] Translation: X:405.46, Y:2.49, Z:1.75 [[ 9.99805577e-01 -1.66957266e-02 -1.04909468e-02 4.05460943e+02] [ 1.66949560e-02 9.99860617e-01 -1.61028277e-04 2.49092362e+00] [ 1.04921730e-02 -1.41489252e-05 9.99944956e-01 1.74918387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.159254154 meters 0.013895099248108183 Centerline is valid? [True, True] Translation: X:405.52, Y:2.49, Z:1.75 [[ 9.99822867e-01 -1.60953228e-02 -9.75579850e-03 4.05521717e+02] [ 1.60946304e-02 9.99870462e-01 -1.49485132e-04 2.48991546e+00] [ 9.75694076e-03 -7.55731787e-06 9.99952400e-01 1.75034409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.219254154 meters 0.014000860753702087 Centerline is valid? [True, True] Translation: X:405.58, Y:2.49, Z:1.75 [[ 9.99815320e-01 -1.72304449e-02 -8.51103846e-03 4.05582462e+02] [ 1.72299590e-02 9.99851545e-01 -1.30412052e-04 2.48717381e+00] [ 8.51202201e-03 -1.62568762e-05 9.99963772e-01 1.75089261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.279254154 meters 0.015089047142149445 Centerline is valid? [True, True] Translation: X:405.64, Y:2.48, Z:1.75 [[ 9.99779772e-01 -1.94906834e-02 -7.77947060e-03 4.05643163e+02] [ 1.94903463e-02 9.99810038e-01 -1.19141268e-04 2.48287971e+00] [ 7.78031494e-03 -3.25095463e-05 9.99969732e-01 1.75062187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.339254154 meters 0.014549908564444295 Centerline is valid? [True, True] Translation: X:405.70, Y:2.48, Z:1.75 [[ 9.99632058e-01 -2.57629188e-02 -8.48654440e-03 4.05704875e+02] [ 2.57627458e-02 9.99668077e-01 -1.29732214e-04 2.47583707e+00] [ 8.48706980e-03 -8.89522063e-05 9.99963980e-01 1.75108648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.399254154 meters 0.015860342627854154 Centerline is valid? [True, True] Translation: X:405.77, Y:2.47, Z:1.75 [[ 9.99418162e-01 -3.27419378e-02 -9.55525609e-03 4.05765799e+02] [ 3.27420408e-02 9.99463825e-01 -1.45697558e-04 2.46606869e+00] [ 9.55490322e-03 -1.67245799e-04 9.99954337e-01 1.75024612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.459254154 meters 0.017395830095315673 Centerline is valid? [True, True] Translation: X:405.83, Y:2.46, Z:1.75 [[ 9.99238708e-01 -3.77449627e-02 -9.86522979e-03 4.05828380e+02] [ 3.77453217e-02 9.99287380e-01 -1.49869020e-04 2.45869177e+00] [ 9.86385643e-03 -2.22611346e-04 9.99951326e-01 1.74988232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.519254154 meters 0.01871929752547946 Centerline is valid? [True, True] Translation: X:405.89, Y:2.45, Z:1.75 [[ 9.98945444e-01 -4.49211925e-02 -9.49133168e-03 4.05889491e+02] [ 4.49218520e-02 9.98990494e-01 -1.43794553e-04 2.44836036e+00] [ 9.48820954e-03 -2.82725283e-04 9.99954946e-01 1.75056936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.579254154 meters 0.021184492302933483 Centerline is valid? [True, True] Translation: X:405.95, Y:2.44, Z:1.75 [[ 9.98815931e-01 -4.76975906e-02 -9.57476837e-03 4.05951484e+02] [ 4.76983948e-02 9.98861773e-01 -1.44473862e-04 2.44200094e+00] [ 9.57076117e-03 -3.12398287e-04 9.99954150e-01 1.74932447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.639254154 meters 0.02057619017973493 Centerline is valid? [True, True] Translation: X:406.01, Y:2.44, Z:1.75 [[ 9.98715807e-01 -4.98041113e-02 -9.28914893e-03 4.06014088e+02] [ 4.98049664e-02 9.98758953e-01 -1.39391191e-04 2.43603509e+00] [ 9.28456291e-03 -3.23433565e-04 9.99956845e-01 1.74992593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.699254154 meters 0.020665776298368296 Centerline is valid? [True, True] Translation: X:406.08, Y:2.43, Z:1.75 [[ 9.98742020e-01 -4.93022485e-02 -9.14685436e-03 4.06075896e+02] [ 4.93030627e-02 9.98783855e-01 -1.36593368e-04 2.43448912e+00] [ 9.14246482e-03 -3.14546398e-04 9.99958157e-01 1.75050558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.759254154 meters 0.020358981300014976 Centerline is valid? [True, True] Translation: X:406.14, Y:2.43, Z:1.75 [[ 9.98859785e-01 -4.68672392e-02 -9.08798697e-03 4.06137875e+02] [ 4.68679474e-02 9.98901085e-01 -1.35142354e-04 2.43296222e+00] [ 9.08433379e-03 -2.90947033e-04 9.99958694e-01 1.75082543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.819254154 meters 0.021388715183788053 Centerline is valid? [True, True] Translation: X:406.20, Y:2.43, Z:1.75 [[ 9.98997420e-01 -4.37728181e-02 -9.38589135e-03 4.06199707e+02] [ 4.37734423e-02 9.99041474e-01 -1.39014080e-04 2.43181524e+00] [ 9.38297977e-03 -2.71978067e-04 9.99955942e-01 1.74986130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.87925415399997 meters 0.01834155088824233 Centerline is valid? [True, True] Translation: X:406.26, Y:2.43, Z:1.75 [[ 9.99103822e-01 -4.12093931e-02 -9.66118972e-03 4.06261523e+02] [ 4.12099402e-02 9.99150499e-01 -1.42521128e-04 2.43201796e+00] [ 9.65885574e-03 -2.55743647e-04 9.99953319e-01 1.75121675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.93925415399997 meters 0.018693319955238465 Centerline is valid? [True, True] Translation: X:406.32, Y:2.43, Z:1.75 [[ 9.99186568e-01 -3.88896267e-02 -1.06677127e-02 4.06323741e+02] [ 3.88901692e-02 9.99243479e-01 -1.56656197e-04 2.43214684e+00] [ 1.06657347e-02 -2.58340385e-04 9.99943086e-01 1.75058406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.99925415399997 meters 0.016519236757312192 Centerline is valid? [True, True] Translation: X:406.39, Y:2.43, Z:1.75 [[ 9.99309553e-01 -3.53418517e-02 -1.14616832e-02 4.06385106e+02] [ 3.53422517e-02 9.99375253e-01 -1.67715018e-04 2.43469598e+00] [ 1.14604499e-02 -2.37482472e-04 9.99934299e-01 1.75139738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.059254154 meters 0.01642681178758116 Centerline is valid? [True, True] Translation: X:406.45, Y:2.43, Z:1.75 [[ 9.99387207e-01 -3.31695659e-02 -1.11799372e-02 4.06445262e+02] [ 3.31698137e-02 9.99449717e-01 -1.63309003e-04 2.43463904e+00] [ 1.11792020e-02 -2.07627505e-04 9.99937489e-01 1.75204487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.119254154 meters 0.015790604592434324 Centerline is valid? [True, True] Translation: X:406.51, Y:2.44, Z:1.75 [[ 9.99494852e-01 -3.04390528e-02 -9.13814111e-03 4.06506164e+02] [ 3.04391057e-02 9.99536614e-01 -1.33330252e-04 2.43591337e+00] [ 9.13796507e-03 -1.44893943e-04 9.99958237e-01 1.75468682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.179254154 meters 0.015705666859805963 Centerline is valid? [True, True] Translation: X:406.57, Y:2.43, Z:1.76 [[ 9.99502724e-01 -3.01565798e-02 -9.21336045e-03 4.06567313e+02] [ 3.01566239e-02 9.99545177e-01 -1.34168468e-04 2.43409336e+00] [ 9.21321606e-03 -1.43742097e-04 9.99957547e-01 1.75544577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.239254154 meters 0.016155860145847793 Centerline is valid? [True, True] Translation: X:406.63, Y:2.43, Z:1.76 [[ 9.99433672e-01 -3.21769835e-02 -9.84773994e-03 4.06628749e+02] [ 3.21771356e-02 9.99482172e-01 -1.43033916e-04 2.43149906e+00] [ 9.84724291e-03 -1.73919152e-04 9.99951500e-01 1.75517070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.299254154 meters 0.016651619420336848 Centerline is valid? [True, True] Translation: X:406.69, Y:2.43, Z:1.76 [[ 9.99319652e-01 -3.53648242e-02 -1.04671837e-02 4.06690305e+02] [ 3.53651750e-02 9.99374445e-01 -1.51635476e-04 2.42850608e+00] [ 1.04659984e-02 -2.18641471e-04 9.99945206e-01 1.75513665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.359254154 meters 0.01831886572342804 Centerline is valid? [True, True] Translation: X:406.75, Y:2.42, Z:1.75 [[ 9.99063786e-01 -4.16639133e-02 -1.16477523e-02 4.06751484e+02] [ 4.16647791e-02 9.99131632e-01 -1.68424056e-04 2.42167871e+00] [ 1.16446550e-02 -3.17034652e-04 9.99932148e-01 1.75440735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.419254154 meters 0.0205024502660987 Centerline is valid? [True, True] Translation: X:406.81, Y:2.41, Z:1.75 [[ 9.98804841e-01 -4.73869257e-02 -1.19736759e-02 4.06812496e+02] [ 4.73882540e-02 9.98876531e-01 -1.72916672e-04 2.41432700e+00] [ 1.19684179e-02 -3.94701587e-04 9.99928298e-01 1.75450570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.479254154 meters 0.021572179971429913 Centerline is valid? [True, True] Translation: X:406.87, Y:2.41, Z:1.76 [[ 9.98717084e-01 -4.91912134e-02 -1.20170623e-02 4.06873739e+02] [ 4.91926861e-02 9.98789292e-01 -1.73190603e-04 2.41199034e+00] [ 1.20110326e-02 -4.18183158e-04 9.99927778e-01 1.75516501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.539254154 meters 0.023097816405983372 Centerline is valid? [True, True] Translation: X:406.93, Y:2.41, Z:1.75 [[ 9.98792864e-01 -4.76009608e-02 -1.21228845e-02 4.06934989e+02] [ 4.76023477e-02 9.98866350e-01 -1.74284064e-04 2.41189328e+00] [ 1.21174375e-02 -4.03004086e-04 9.99926500e-01 1.75397008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.599254154 meters 0.02091780147505594 Centerline is valid? [True, True] Translation: X:407.00, Y:2.41, Z:1.76 [[ 9.98829394e-01 -4.70558414e-02 -1.12066589e-02 4.06996298e+02] [ 4.70569966e-02 9.98892193e-01 -1.60725881e-04 2.41379974e+00] [ 1.12018072e-02 -3.66813976e-04 9.99937191e-01 1.75712413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.659254154 meters 0.020524513938868005 Centerline is valid? [True, True] Translation: X:407.06, Y:2.41, Z:1.76 [[ 9.98848224e-01 -4.66993579e-02 -1.10179365e-02 4.07057730e+02] [ 4.67004572e-02 9.98908926e-01 -1.57627868e-04 2.41498268e+00] [ 1.10132763e-02 -3.57096357e-04 9.99939288e-01 1.75808218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.719254154 meters 0.023332929548676436 Centerline is valid? [True, True] Translation: X:407.12, Y:2.42, Z:1.76 [[ 9.98810068e-01 -4.71668142e-02 -1.23991775e-02 4.07119424e+02] [ 4.71682500e-02 9.98886943e-01 -1.76776231e-04 2.41535813e+00] [ 1.23937145e-02 -4.08281626e-04 9.99923112e-01 1.75556905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.779254154 meters 0.02215632723628758 Centerline is valid? [True, True] Translation: X:407.18, Y:2.41, Z:1.76 [[ 9.98663576e-01 -5.01986609e-02 -1.22946020e-02 4.07180724e+02] [ 5.02003083e-02 9.98739154e-01 -1.74767126e-04 2.41410271e+00] [ 1.22878734e-02 -4.42659246e-04 9.99924403e-01 1.75785993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.839254154 meters 0.025109760581278454 Centerline is valid? [True, True] Translation: X:407.24, Y:2.41, Z:1.76 [[ 9.98390586e-01 -5.52511691e-02 -1.27885181e-02 4.07241110e+02] [ 5.52533704e-02 9.98472349e-01 -1.81390471e-04 2.40879540e+00] [ 1.27790038e-02 -5.25510189e-04 9.99918207e-01 1.75759871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.899254154 meters 0.025723154573350327 Centerline is valid? [True, True] Translation: X:407.30, Y:2.41, Z:1.76 [[ 9.98215157e-01 -5.80158961e-02 -1.41653173e-02 4.07301845e+02] [ 5.80188794e-02 9.98315466e-01 -2.00603550e-04 2.41076192e+00] [ 1.41530935e-02 -6.21610332e-04 9.99899647e-01 1.75569983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.959254154 meters 0.026627462378879033 Centerline is valid? [True, True] Translation: X:407.36, Y:2.41, Z:1.76 [[ 9.98210312e-01 -5.80061908e-02 -1.45415179e-02 4.07362792e+02] [ 5.80093401e-02 9.98316019e-01 -2.05481693e-04 2.41157981e+00] [ 1.45289495e-02 -6.38429913e-04 9.99894245e-01 1.75506818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.019254154 meters 0.024566142225761176 Centerline is valid? [True, True] Translation: X:407.42, Y:2.41, Z:1.76 [[ 9.98282038e-01 -5.68867713e-02 -1.40309695e-02 4.07423859e+02] [ 5.68895999e-02 9.98380456e-01 -1.97769461e-04 2.41432972e+00] [ 1.40194962e-02 -6.00786541e-04 9.99901542e-01 1.75785338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.079254154 meters 0.02376218946934051 Centerline is valid? [True, True] Translation: X:407.48, Y:2.42, Z:1.76 [[ 9.98530116e-01 -5.25071807e-02 -1.34388913e-02 4.07483423e+02] [ 5.25093815e-02 9.98620413e-01 -1.89273307e-04 2.41986430e+00] [ 1.34302894e-02 -5.16672775e-04 9.99909676e-01 1.75905469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.139254154 meters 0.02147910643603851 Centerline is valid? [True, True] Translation: X:407.54, Y:2.43, Z:1.76 [[ 9.98859608e-01 -4.65067043e-02 -1.07985653e-02 4.07544133e+02] [ 4.65077761e-02 9.98917916e-01 -1.51976965e-04 2.42866655e+00] [ 1.07939483e-02 -3.50413606e-04 9.99941682e-01 1.76212118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.199254154 meters 0.01830698095395703 Centerline is valid? [True, True] Translation: X:407.61, Y:2.44, Z:1.76 [[ 9.99079184e-01 -4.17698465e-02 -9.80122891e-03 4.07605423e+02] [ 4.17705043e-02 9.99127222e-01 -1.37671191e-04 2.43832149e+00] [ 9.79842512e-03 -2.71857853e-04 9.99951957e-01 1.76357462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.259254154 meters 0.017301095473000006 Centerline is valid? [True, True] Translation: X:407.67, Y:2.45, Z:1.76 [[ 9.99313781e-01 -3.57572549e-02 -9.66362874e-03 4.07666045e+02] [ 3.57576168e-02 9.99360483e-01 -1.35385228e-04 2.44566784e+00] [ 9.66228968e-03 -2.10256009e-04 9.99953297e-01 1.76351161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.319254154 meters 0.016385548033593773 Centerline is valid? [True, True] Translation: X:407.73, Y:2.45, Z:1.76 [[ 9.99419784e-01 -3.24352994e-02 -1.03945592e-02 4.07727329e+02] [ 3.24355425e-02 9.99473819e-01 -1.45233949e-04 2.45104768e+00] [ 1.03938005e-02 -1.92003485e-04 9.99945965e-01 1.76328336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.37925415399997 meters 0.015636998404688244 Centerline is valid? [True, True] Translation: X:407.79, Y:2.46, Z:1.76 [[ 9.99536661e-01 -2.84454459e-02 -1.08314547e-02 4.07788199e+02] [ 2.84454788e-02 9.99595334e-01 -1.51054997e-04 2.45555843e+00] [ 1.08313684e-02 -1.57120908e-04 9.99941327e-01 1.76330977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.43925415399997 meters 0.016111387165353024 Centerline is valid? [True, True] Translation: X:407.85, Y:2.46, Z:1.76 [[ 9.99598265e-01 -2.56980775e-02 -1.19548338e-02 4.07849826e+02] [ 2.56979254e-02 9.99669740e-01 -1.66356432e-04 2.45992083e+00] [ 1.19551606e-02 -1.40924825e-04 9.99928525e-01 1.76278515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.49925415399997 meters 0.0153680971003616 Centerline is valid? [True, True] Translation: X:407.91, Y:2.46, Z:1.76 [[ 9.99640693e-01 -2.41890600e-02 -1.15487507e-02 4.07909766e+02] [ 2.41888192e-02 9.99707395e-01 -1.60549351e-04 2.46164793e+00] [ 1.15492550e-02 -1.18858978e-04 9.99933298e-01 1.76329559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.559254154 meters 0.014971701289935009 Centerline is valid? [True, True] Translation: X:407.97, Y:2.46, Z:1.76 [[ 9.99667156e-01 -2.32689938e-02 -1.11414505e-02 4.07970101e+02] [ 2.32687126e-02 9.99729235e-01 -1.54887113e-04 2.46409644e+00] [ 1.11420378e-02 -1.04411649e-04 9.99937920e-01 1.76447776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.619254154 meters 0.01541984045800001 Centerline is valid? [True, True] Translation: X:408.03, Y:2.46, Z:1.76 [[ 9.99631293e-01 -2.48509554e-02 -1.09411608e-02 4.08029978e+02] [ 2.48507776e-02 9.99691160e-01 -1.52221613e-04 2.46289484e+00] [ 1.09415645e-02 -1.19730865e-04 9.99940132e-01 1.76486291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.679254154 meters 0.01581357940271886 Centerline is valid? [True, True] Translation: X:408.09, Y:2.46, Z:1.77 [[ 9.99545333e-01 -2.82176877e-02 -1.06249449e-02 4.08090550e+02] [ 2.82177094e-02 9.99601790e-01 -1.47899880e-04 2.46065641e+00] [ 1.06248873e-02 -1.51978971e-04 9.99943543e-01 1.76571304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.739254154 meters 0.01790134406165677 Centerline is valid? [True, True] Translation: X:408.15, Y:2.45, Z:1.77 [[ 9.99275696e-01 -3.65846380e-02 -1.04712426e-02 4.08150591e+02] [ 3.65851181e-02 9.99330530e-01 -1.45760336e-04 2.45283683e+00] [ 1.04695650e-02 -2.37436887e-04 9.99945164e-01 1.76620547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.799254154 meters 0.0206393036753912 Centerline is valid? [True, True] Translation: X:408.21, Y:2.45, Z:1.77 [[ 9.98943368e-01 -4.47013533e-02 -1.06740873e-02 4.08211703e+02] [ 4.47023170e-02 9.99000341e-01 -1.48403889e-04 2.44523540e+00] [ 1.06700507e-02 -3.28909353e-04 9.99943019e-01 1.76624828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.859254154 meters 0.022902788979781714 Centerline is valid? [True, True] Translation: X:408.27, Y:2.44, Z:1.77 [[ 9.98737318e-01 -4.91230044e-02 -1.05214212e-02 4.08273180e+02] [ 4.91241893e-02 9.98792668e-01 -1.45943823e-04 2.44112369e+00] [ 1.05158875e-02 -3.71096743e-04 9.99944638e-01 1.76670261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.919254154 meters 0.023276822186380497 Centerline is valid? [True, True] Translation: X:408.33, Y:2.44, Z:1.77 [[ 9.98529038e-01 -5.31005579e-02 -1.09586026e-02 4.08334335e+02] [ 5.31020873e-02 9.98589077e-01 -1.51561383e-04 2.44171488e+00] [ 1.09511888e-02 -4.30586230e-04 9.99939941e-01 1.76744219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.979254154 meters 0.0244879306262607 Centerline is valid? [True, True] Translation: X:408.40, Y:2.44, Z:1.77 [[ 9.98468356e-01 -5.41923892e-02 -1.11412629e-02 4.08396891e+02] [ 5.41940455e-02 9.98530411e-01 -1.53413001e-04 2.44228963e+00] [ 1.11332036e-02 -4.50612080e-04 9.99937922e-01 1.76804007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.039254154 meters 0.02250928994938612 Centerline is valid? [True, True] Translation: X:408.46, Y:2.45, Z:1.77 [[ 9.98405335e-01 -5.51212406e-02 -1.21834533e-02 4.08458867e+02] [ 5.51233015e-02 9.98479541e-01 -1.66843194e-04 2.44838683e+00] [ 1.21741254e-02 -5.05015031e-04 9.99925765e-01 1.76844436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.099254154 meters 0.023592087883810533 Centerline is valid? [True, True] Translation: X:408.52, Y:2.45, Z:1.77 [[ 9.98342739e-01 -5.60692067e-02 -1.29622280e-02 4.08521135e+02] [ 5.60716319e-02 9.98426733e-01 -1.76531735e-04 2.44966023e+00] [ 1.29517329e-02 -5.50574100e-04 9.99915971e-01 1.76811199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.159254154 meters 0.024923843230647242 Centerline is valid? [True, True] Translation: X:408.58, Y:2.45, Z:1.77 [[ 9.98190347e-01 -5.85833250e-02 -1.35656220e-02 4.08582701e+02] [ 5.85862221e-02 9.98282335e-01 -1.84079272e-04 2.45135676e+00] [ 1.35531048e-02 -6.11012393e-04 9.99907966e-01 1.76759784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.219254154 meters 0.026145915928784423 Centerline is valid? [True, True] Translation: X:408.64, Y:2.45, Z:1.77 [[ 9.98082875e-01 -6.02707622e-02 -1.40715901e-02 4.08644755e+02] [ 6.02740589e-02 9.98181848e-01 -1.90082198e-04 2.45236804e+00] [ 1.40574622e-02 -6.58434066e-04 9.99900972e-01 1.76730258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.279254154 meters 0.027608121513468312 Centerline is valid? [True, True] Translation: X:408.71, Y:2.46, Z:1.77 [[ 9.97980103e-01 -6.18172636e-02 -1.46403315e-02 4.08706891e+02] [ 6.18210139e-02 9.98087232e-01 -1.96700075e-04 2.45612155e+00] [ 1.46244874e-02 -7.08777377e-04 9.99892805e-01 1.76690588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.339254154 meters 0.024902770742159838 Centerline is valid? [True, True] Translation: X:408.77, Y:2.46, Z:1.77 [[ 9.97990100e-01 -6.17543811e-02 -1.42182039e-02 4.08768733e+02] [ 6.17579265e-02 9.98091139e-01 -1.89989822e-04 2.46400352e+00] [ 1.42027960e-02 -6.88478828e-04 9.99898898e-01 1.76898696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.399254154 meters 0.024515420035459163 Centerline is valid? [True, True] Translation: X:408.83, Y:2.47, Z:1.77 [[ 9.98248249e-01 -5.77758454e-02 -1.27430242e-02 4.08828150e+02] [ 5.77783715e-02 9.98329420e-01 -1.70136065e-04 2.47076955e+00] [ 1.27315657e-02 -5.66433157e-04 9.99918790e-01 1.77065901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.459254154 meters 0.022548529846123665 Centerline is valid? [True, True] Translation: X:408.89, Y:2.48, Z:1.77 [[ 9.98565775e-01 -5.21904401e-02 -1.19394362e-02 4.08889157e+02] [ 5.21922597e-02 9.98637042e-01 -1.59345326e-04 2.47808085e+00] [ 1.19314796e-02 -4.64029366e-04 9.99928710e-01 1.77130764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.519254154 meters 0.018945885827829446 Centerline is valid? [True, True] Translation: X:408.95, Y:2.49, Z:1.77 [[ 9.99015213e-01 -4.27009639e-02 -1.20512155e-02 4.08949664e+02] [ 4.27021288e-02 9.99087835e-01 -1.60754250e-04 2.49155512e+00] [ 1.20470871e-02 -3.54016615e-04 9.99927369e-01 1.77273003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.579254154 meters 0.019050547492836002 Centerline is valid? [True, True] Translation: X:409.01, Y:2.50, Z:1.77 [[ 9.99153199e-01 -3.92275235e-02 -1.24131875e-02 4.09010880e+02] [ 3.92284953e-02 9.99230253e-01 -1.65281101e-04 2.49556846e+00] [ 1.24101160e-02 -3.21809527e-04 9.99922940e-01 1.77197410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.639254154 meters 0.01682147605034667 Centerline is valid? [True, True] Translation: X:409.07, Y:2.50, Z:1.77 [[ 9.99389237e-01 -3.25181034e-02 -1.27955786e-02 4.09072718e+02] [ 3.25185944e-02 9.99471116e-01 -1.69738728e-04 2.50321913e+00] [ 1.27943308e-02 -2.46459173e-04 9.99918119e-01 1.77255520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.699254154 meters 0.01642926259625949 Centerline is valid? [True, True] Translation: X:409.13, Y:2.51, Z:1.77 [[ 9.99469892e-01 -2.96973500e-02 -1.33417895e-02 4.09134278e+02] [ 2.96976402e-02 9.99558912e-01 -1.76407399e-04 2.50710849e+00] [ 1.33411434e-02 -2.19905780e-04 9.99910979e-01 1.77248873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.759254154 meters 0.016376006237577814 Centerline is valid? [True, True] Translation: X:409.19, Y:2.51, Z:1.77 [[ 9.99506852e-01 -2.82579875e-02 -1.36944572e-02 4.09194658e+02] [ 2.82581627e-02 9.99600642e-01 -1.80741578e-04 2.51045971e+00] [ 1.36940956e-02 -2.06327753e-04 9.99906210e-01 1.77282831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.819254154 meters 0.015985964393404894 Centerline is valid? [True, True] Translation: X:409.26, Y:2.51, Z:1.77 [[ 9.99496710e-01 -2.88637804e-02 -1.31608944e-02 4.09255981e+02] [ 2.88639999e-02 9.99583333e-01 -1.73303349e-04 2.51248181e+00] [ 1.31604128e-02 -2.06659926e-04 9.99913377e-01 1.77443094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.87925415399997 meters 0.016625619545016904 Centerline is valid? [True, True] Translation: X:409.32, Y:2.51, Z:1.77 [[ 9.99462404e-01 -3.02982416e-02 -1.25267608e-02 4.09316745e+02] [ 3.02985569e-02 9.99540880e-01 -1.64653112e-04 2.51073285e+00] [ 1.25259982e-02 -2.14978180e-04 9.99921523e-01 1.77404815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.93925415399997 meters 0.017345239997265276 Centerline is valid? [True, True] Translation: X:409.38, Y:2.51, Z:1.77 [[ 9.99333687e-01 -3.47213576e-02 -1.12520744e-02 4.09377695e+02] [ 3.47218944e-02 9.99397002e-01 -1.47703272e-04 2.50731292e+00] [ 1.12504179e-02 -2.43088484e-04 9.99936682e-01 1.77499765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.99925415399997 meters 0.019013125755679757 Centerline is valid? [True, True] Translation: X:409.44, Y:2.51, Z:1.77 [[ 9.99229463e-01 -3.76427676e-02 -1.11131480e-02 4.09439677e+02] [ 3.76434782e-02 9.99291223e-01 -1.45296163e-04 2.50532693e+00] [ 1.11107406e-02 -2.73153339e-04 9.99938237e-01 1.77440492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.059254154 meters 0.01879016453407862 Centerline is valid? [True, True] Translation: X:409.50, Y:2.50, Z:1.78 [[ 9.99056526e-01 -4.22718238e-02 -9.95746556e-03 4.09500563e+02] [ 4.22726280e-02 9.99106105e-01 -1.29786700e-04 2.50031727e+00] [ 9.95405095e-03 -2.91263988e-04 9.99950415e-01 1.77580318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.119254154 meters 0.019713003721483685 Centerline is valid? [True, True] Translation: X:409.56, Y:2.50, Z:1.78 [[ 9.99045811e-01 -4.25769058e-02 -9.73010631e-03 4.09561481e+02] [ 4.25776918e-02 9.99093151e-01 -1.26449790e-04 2.49706542e+00] [ 9.72666642e-03 -2.87956334e-04 9.99952653e-01 1.77573064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.179254154 meters 0.019431975472699526 Centerline is valid? [True, True] Translation: X:409.62, Y:2.50, Z:1.78 [[ 9.99174067e-01 -3.95661328e-02 -9.25772917e-03 4.09621717e+02] [ 3.95667181e-02 9.99216924e-01 -1.19994066e-04 2.49548095e+00] [ 9.25522736e-03 -2.46403002e-04 9.99957139e-01 1.77609764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.239254154 meters 0.01690492603821749 Centerline is valid? [True, True] Translation: X:409.68, Y:2.50, Z:1.78 [[ 9.99419232e-01 -3.29845799e-02 -8.55659699e-03 4.09683515e+02] [ 3.29848414e-02 9.99455846e-01 -1.10602505e-04 2.49905253e+00] [ 8.55558906e-03 -1.71699724e-04 9.99963386e-01 1.77652206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.299254154 meters 0.016382308184927884 Centerline is valid? [True, True] Translation: X:409.74, Y:2.50, Z:1.78 [[ 9.99544214e-01 -2.88927096e-02 -8.75072460e-03 4.09743563e+02] [ 2.88928314e-02 9.99582509e-01 -1.12521485e-04 2.49893450e+00] [ 8.75032230e-03 -1.40363011e-04 9.99961705e-01 1.77606874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.359254154 meters 0.015642989062671572 Centerline is valid? [True, True] Translation: X:409.80, Y:2.50, Z:1.78 [[ 9.99595120e-01 -2.66995261e-02 -9.83520587e-03 4.09804637e+02] [ 2.66995796e-02 9.99643495e-01 -1.25879053e-04 2.49741218e+00] [ 9.83506048e-03 -1.36767775e-04 9.99951625e-01 1.77534852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.419254154 meters 0.015828606019053556 Centerline is valid? [True, True] Translation: X:409.87, Y:2.49, Z:1.77 [[ 9.99556946e-01 -2.79863460e-02 -1.01329685e-02 4.09866037e+02] [ 2.79864728e-02 9.99608294e-01 -1.29310882e-04 2.49363660e+00] [ 1.01326183e-02 -1.54332457e-04 9.99948652e-01 1.77496006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.479254154 meters 0.01716514858376537 Centerline is valid? [True, True] Translation: X:409.93, Y:2.49, Z:1.78 [[ 9.99391384e-01 -3.35019896e-02 -9.71998968e-03 4.09926633e+02] [ 3.35023694e-02 9.99438630e-01 -1.23788732e-04 2.48588338e+00] [ 9.71868034e-03 -2.01929293e-04 9.99952752e-01 1.77504570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.539254154 meters 0.018075618176134227 Centerline is valid? [True, True] Translation: X:409.99, Y:2.48, Z:1.78 [[ 9.99199211e-01 -3.86831204e-02 -1.02251171e-02 4.09987710e+02] [ 3.86838138e-02 9.99251493e-01 -1.30030583e-04 2.48176099e+00] [ 1.02224935e-02 -2.65620069e-04 9.99947714e-01 1.77537278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.599254154 meters 0.02042956240818614 Centerline is valid? [True, True] Translation: X:410.05, Y:2.47, Z:1.78 [[ 9.98869394e-01 -4.65465519e-02 -9.66185261e-03 4.10048348e+02] [ 4.65475408e-02 9.98916068e-01 -1.22618704e-04 2.47367653e+00] [ 9.65708729e-03 -3.27255408e-04 9.99953316e-01 1.77564356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.659254154 meters 0.022594378707446114 Centerline is valid? [True, True] Translation: X:410.11, Y:2.47, Z:1.78 [[ 9.98664230e-01 -5.07992954e-02 -9.44394570e-03 4.10108922e+02] [ 5.08004323e-02 9.98708817e-01 -1.19621247e-04 2.46889692e+00] [ 9.43782852e-03 -3.60295063e-04 9.99955398e-01 1.77566088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.719254154 meters 0.025618254695111038 Centerline is valid? [True, True] Translation: X:410.17, Y:2.46, Z:1.78 [[ 9.98305615e-01 -5.74905262e-02 -8.98550127e-03 4.10169342e+02] [ 5.74918266e-02 9.98345971e-01 -1.13724480e-04 2.46329335e+00] [ 8.97717707e-03 -4.03061094e-04 9.99959623e-01 1.77589434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.779254154 meters 0.028901483935764888 Centerline is valid? [True, True] Translation: X:410.23, Y:2.46, Z:1.78 [[ 9.97993407e-01 -6.27947872e-02 -8.12245059e-03 4.10229683e+02] [ 6.27960254e-02 9.98026377e-01 -1.02757364e-04 2.45854495e+00] [ 8.11287256e-03 -4.07506442e-04 9.99967007e-01 1.77622955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.839254154 meters 0.027889084844852967 Centerline is valid? [True, True] Translation: X:410.29, Y:2.46, Z:1.78 [[ 9.97459357e-01 -7.08609749e-02 -7.31807478e-03 4.10290217e+02] [ 7.08621969e-02 9.97486110e-01 -9.25091765e-05 2.46085109e+00] [ 7.30623324e-03 -4.26300712e-04 9.99973218e-01 1.77678316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.899254154 meters 0.030467270250381866 Centerline is valid? [True, True] Translation: X:410.35, Y:2.46, Z:1.78 [[ 9.97132720e-01 -7.52903640e-02 -7.59601373e-03 4.10351111e+02] [ 7.52918091e-02 9.97161539e-01 -9.59498378e-05 2.45906105e+00] [ 7.58167684e-03 -4.76242892e-04 9.99971145e-01 1.77698680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.959254154 meters 0.03162157954807832 Centerline is valid? [True, True] Translation: X:410.41, Y:2.46, Z:1.78 [[ 9.96916025e-01 -7.79835738e-02 -8.77505768e-03 4.10412377e+02] [ 7.79856078e-02 9.96954479e-01 -1.10660025e-04 2.46105648e+00] [ 8.75696272e-03 -5.74009455e-04 9.99961492e-01 1.77585886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.019254154 meters 0.036444131097092915 Centerline is valid? [True, True] Translation: X:410.47, Y:2.46, Z:1.77 [[ 9.96989099e-01 -7.68692220e-02 -1.01911622e-02 4.10473810e+02] [ 7.68719175e-02 9.97040968e-01 -1.27535727e-04 2.45935981e+00] [ 1.01708098e-02 -6.56262448e-04 9.99948061e-01 1.77262093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.079254154 meters 0.029275358432198705 Centerline is valid? [True, True] Translation: X:410.53, Y:2.48, Z:1.78 [[ 9.97307741e-01 -7.25784397e-02 -1.04708577e-02 4.10534242e+02] [ 7.25810566e-02 9.97362508e-01 -1.30367902e-04 2.47516370e+00] [ 1.04527028e-02 -6.29968999e-04 9.99945171e-01 1.77501503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.139254154 meters 0.026900371214176086 Centerline is valid? [True, True] Translation: X:410.60, Y:2.49, Z:1.78 [[ 9.97808093e-01 -6.54371793e-02 -9.84810596e-03 4.10595202e+02] [ 6.54391481e-02 9.97856554e-01 -1.22525949e-04 2.48647147e+00] [ 9.83501483e-03 -5.22194280e-04 9.99951499e-01 1.77605691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.199254154 meters 0.026943423967452196 Centerline is valid? [True, True] Translation: X:410.65, Y:2.49, Z:1.78 [[ 9.98214760e-01 -5.90355945e-02 -9.06039265e-03 4.10654735e+02] [ 5.90369974e-02 9.98255789e-01 -1.12771041e-04 2.49217254e+00] [ 9.05124691e-03 -4.22328659e-04 9.99958947e-01 1.77684811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.259254154 meters 0.02244682116469512 Centerline is valid? [True, True] Translation: X:410.72, Y:2.51, Z:1.78 [[ 9.98752117e-01 -4.91902780e-02 -8.63281932e-03 4.10715728e+02] [ 4.91911840e-02 9.98789375e-01 -1.07476442e-04 2.50670121e+00] [ 8.62765501e-03 -3.17316280e-04 9.99962731e-01 1.77757827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.319254154 meters 0.02138565332274624 Centerline is valid? [True, True] Translation: X:410.78, Y:2.51, Z:1.78 [[ 9.99019929e-01 -4.34999373e-02 -8.18147593e-03 4.10775207e+02] [ 4.35005603e-02 9.99053397e-01 -1.01874224e-04 2.51382342e+00] [ 8.17816284e-03 -2.54124407e-04 9.99966526e-01 1.77791696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.37925415399997 meters 0.018897152222495488 Centerline is valid? [True, True] Translation: X:410.84, Y:2.52, Z:1.78 [[ 9.99257283e-01 -3.77777892e-02 -7.59739463e-03 4.10836744e+02] [ 3.77781619e-02 9.99286146e-01 -9.45045311e-05 2.52299218e+00] [ 7.59554137e-03 -1.92581263e-04 9.99971135e-01 1.77787548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.43925415399997 meters 0.017069409461510948 Centerline is valid? [True, True] Translation: X:410.90, Y:2.53, Z:1.78 [[ 9.99339636e-01 -3.55560707e-02 -7.48714315e-03 4.10898947e+02] [ 3.55563737e-02 9.99367668e-01 -9.26714755e-05 2.52886034e+00] [ 7.48570382e-03 -1.73605381e-04 9.99971967e-01 1.77824651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.49925415399997 meters 0.01721386593149122 Centerline is valid? [True, True] Translation: X:410.96, Y:2.53, Z:1.78 [[ 9.99386954e-01 -3.40812360e-02 -8.01164395e-03 4.10960847e+02] [ 3.40815407e-02 9.99419051e-01 -9.85353752e-05 2.53177032e+00] [ 8.01034780e-03 -1.74574201e-04 9.99967901e-01 1.77769523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.559254154 meters 0.017172898027913542 Centerline is valid? [True, True] Translation: X:411.02, Y:2.53, Z:1.78 [[ 9.99426752e-01 -3.28648094e-02 -8.12846260e-03 4.11022301e+02] [ 3.28650895e-02 9.99459792e-01 -9.91502314e-05 2.53140451e+00] [ 8.12733010e-03 -1.68049257e-04 9.99966959e-01 1.77765851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.619254154 meters 0.02007388898469801 Centerline is valid? [True, True] Translation: X:411.08, Y:2.53, Z:1.78 [[ 9.99502349e-01 -3.03810322e-02 -8.48811478e-03 4.11084527e+02] [ 3.03812556e-02 9.99538378e-01 -1.02645901e-04 2.53199406e+00] [ 8.48731496e-03 -1.55284766e-04 9.99963970e-01 1.77517298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.679254154 meters 0.0161378662228128 Centerline is valid? [True, True] Translation: X:411.15, Y:2.53, Z:1.78 [[ 9.99499779e-01 -3.07212358e-02 -7.50983646e-03 4.11146885e+02] [ 3.07214241e-02 9.99527982e-01 -9.03034035e-05 2.53409852e+00] [ 7.50906591e-03 -1.40454639e-04 9.99971797e-01 1.77890793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.739254154 meters 0.01705261851952613 Centerline is valid? [True, True] Translation: X:411.21, Y:2.53, Z:1.78 [[ 9.99469465e-01 -3.18785748e-02 -6.67422398e-03 4.11208297e+02] [ 3.18787521e-02 9.99491740e-01 -7.98379203e-05 2.53059445e+00] [ 6.67337686e-03 -1.32970368e-04 9.99977724e-01 1.77904234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.799254154 meters 0.017240121977280295 Centerline is valid? [True, True] Translation: X:411.27, Y:2.53, Z:1.78 [[ 9.99406212e-01 -3.37783423e-02 -6.80048184e-03 4.11269970e+02] [ 3.37785730e-02 9.99429338e-01 -8.09689459e-05 2.52709035e+00] [ 6.79933606e-03 -1.48789704e-04 9.99976873e-01 1.77931074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.859254154 meters 0.01683139658585642 Centerline is valid? [True, True] Translation: X:411.33, Y:2.53, Z:1.78 [[ 9.99389999e-01 -3.41236079e-02 -7.43035819e-03 4.11331678e+02] [ 3.41238974e-02 9.99417606e-01 -8.78503166e-05 2.52634555e+00] [ 7.42902857e-03 -1.65756052e-04 9.99972391e-01 1.77944859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.919254154 meters 0.017669813985563516 Centerline is valid? [True, True] Translation: X:411.39, Y:2.52, Z:1.78 [[ 9.99388801e-01 -3.36409679e-02 -9.50315424e-03 4.11392712e+02] [ 3.36414286e-02 9.99433961e-01 -1.11416743e-04 2.52246107e+00] [ 9.50152325e-03 -2.08351040e-04 9.99954838e-01 1.77781696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.979254154 meters 0.017175816748024833 Centerline is valid? [True, True] Translation: X:411.46, Y:2.52, Z:1.78 [[ 9.99394621e-01 -3.31327573e-02 -1.06118338e-02 4.11455306e+02] [ 3.31333108e-02 9.99450933e-01 -1.23690753e-04 2.52122315e+00] [ 1.06101055e-02 -2.27989316e-04 9.99943685e-01 1.77720692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.039254154 meters 0.01671336910418484 Centerline is valid? [True, True] Translation: X:411.52, Y:2.52, Z:1.78 [[ 9.99408510e-01 -3.24483724e-02 -1.13900574e-02 4.11517727e+02] [ 3.24489756e-02 9.99473385e-01 -1.31896011e-04 2.52030639e+00] [ 1.13883391e-02 -2.37777699e-04 9.99935122e-01 1.77746978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.099254154 meters 0.01669527829302617 Centerline is valid? [True, True] Translation: X:411.58, Y:2.52, Z:1.78 [[ 9.99466532e-01 -3.07368835e-02 -1.10405933e-02 4.11579064e+02] [ 3.07373520e-02 9.99527488e-01 -1.27286082e-04 2.51923538e+00] [ 1.10392889e-02 -2.12140423e-04 9.99939043e-01 1.77810752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.159254154 meters 0.01594550097282221 Centerline is valid? [True, True] Translation: X:411.64, Y:2.52, Z:1.78 [[ 9.99598973e-01 -2.60018728e-02 -1.12158391e-02 4.11639891e+02] [ 2.60020629e-02 9.99661881e-01 -1.28893519e-04 2.51954674e+00] [ 1.12153983e-02 -1.62793124e-04 9.99937092e-01 1.77880532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.219254154 meters 0.015442653963334933 Centerline is valid? [True, True] Translation: X:411.70, Y:2.52, Z:1.78 [[ 9.99664392e-01 -2.35854744e-02 -1.07157777e-02 4.11700167e+02] [ 2.35855108e-02 9.99721816e-01 -1.22993541e-04 2.51989880e+00] [ 1.07156976e-02 -1.29784828e-04 9.99942577e-01 1.77978424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.279254154 meters 0.015288606578651205 Centerline is valid? [True, True] Translation: X:411.76, Y:2.52, Z:1.78 [[ 9.99628854e-01 -2.50290731e-02 -1.07564043e-02 4.11761053e+02] [ 2.50291945e-02 9.99686713e-01 -1.23342855e-04 2.51751756e+00] [ 1.07561216e-02 -1.45927058e-04 9.99942141e-01 1.78157928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.339254154 meters 0.01626883183432793 Centerline is valid? [True, True] Translation: X:411.82, Y:2.51, Z:1.78 [[ 9.99477677e-01 -3.00220443e-02 -1.19603114e-02 4.11821499e+02] [ 3.00225530e-02 9.99549212e-01 -1.37057882e-04 2.51169638e+00] [ 1.19590346e-02 -2.22092789e-04 9.99928464e-01 1.78109735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.399254154 meters 0.0189403263421158 Centerline is valid? [True, True] Translation: X:411.88, Y:2.50, Z:1.78 [[ 9.99115898e-01 -4.01551000e-02 -1.24494713e-02 4.11882686e+02] [ 4.01564383e-02 9.99193395e-01 -1.42555978e-04 2.50037663e+00] [ 1.24451538e-02 -3.57496481e-04 9.99922492e-01 1.78018668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.459254154 meters 0.02403036925990567 Centerline is valid? [True, True] Translation: X:411.94, Y:2.49, Z:1.78 [[ 9.98714081e-01 -4.89549735e-02 -1.31755259e-02 4.11942068e+02] [ 4.89572362e-02 9.98800864e-01 -1.50937887e-04 2.48988526e+00] [ 1.31671158e-02 -4.94293539e-04 9.99913188e-01 1.77921148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.519254154 meters 0.024642971391007278 Centerline is valid? [True, True] Translation: X:412.00, Y:2.49, Z:1.78 [[ 9.98445724e-01 -5.44120580e-02 -1.20608378e-02 4.12003359e+02] [ 5.44143523e-02 9.98518432e-01 -1.38091281e-04 2.48588594e+00] [ 1.20504827e-02 -5.18406029e-04 9.99927256e-01 1.78181842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.579254154 meters 0.02637784526490546 Centerline is valid? [True, True] Translation: X:412.06, Y:2.48, Z:1.78 [[ 9.98136844e-01 -6.00740102e-02 -1.06749611e-02 4.12064057e+02] [ 6.00761319e-02 9.98193791e-01 -1.22087010e-04 2.48118433e+00] [ 1.06630141e-02 -5.19450826e-04 9.99943014e-01 1.78361699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.639254154 meters 0.02850056158551735 Centerline is valid? [True, True] Translation: X:412.13, Y:2.48, Z:1.78 [[ 9.98000377e-01 -6.25100645e-02 -9.36690815e-03 4.12125312e+02] [ 6.25118071e-02 9.98044219e-01 -1.06909156e-04 2.47793722e+00] [ 9.35527142e-03 -4.78846977e-04 9.99956124e-01 1.78463075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.699254154 meters 0.03148275154107006 Centerline is valid? [True, True] Translation: X:412.19, Y:2.47, Z:1.78 [[ 9.97958505e-01 -6.32210651e-02 -9.05093419e-03 4.12186828e+02] [ 6.32227269e-02 9.97999437e-01 -1.02687013e-04 2.47367262e+00] [ 9.03931921e-03 -4.69747362e-04 9.99959034e-01 1.78488764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.759254154 meters 0.028238364109135283 Centerline is valid? [True, True] Translation: X:412.25, Y:2.48, Z:1.78 [[ 9.98014103e-01 -6.22751911e-02 -9.46840978e-03 4.12248735e+02] [ 6.22769751e-02 9.98058900e-01 -1.06592002e-04 2.48002837e+00] [ 9.45666868e-03 -4.83283599e-04 9.99955168e-01 1.78409475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.819254154 meters 0.027076620117457498 Centerline is valid? [True, True] Translation: X:412.31, Y:2.48, Z:1.79 [[ 9.98049857e-01 -6.15534337e-02 -1.03757898e-02 4.12310481e+02] [ 6.15555453e-02 9.98103653e-01 -1.16019193e-04 2.48269626e+00] [ 1.03632550e-02 -5.22894458e-04 9.99946163e-01 1.78512107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.87925415399997 meters 0.02594558985150142 Centerline is valid? [True, True] Translation: X:412.37, Y:2.49, Z:1.78 [[ 9.98037030e-01 -6.14893122e-02 -1.18807153e-02 4.12372504e+02] [ 6.14920872e-02 9.98107562e-01 -1.31928149e-04 2.48608365e+00] [ 1.18663439e-02 -5.98900801e-04 9.99929413e-01 1.78474936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.93925415399997 meters 0.026597563416763524 Centerline is valid? [True, True] Translation: X:412.43, Y:2.49, Z:1.78 [[ 9.98054864e-01 -6.10658487e-02 -1.25479205e-02 4.12434564e+02] [ 6.10689226e-02 9.98133542e-01 -1.38397816e-04 2.48700973e+00] [ 1.25329517e-02 -6.28159371e-04 9.99921262e-01 1.78438995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.99925415399997 meters 0.02671518119453143 Centerline is valid? [True, True] Translation: X:412.50, Y:2.49, Z:1.78 [[ 9.98155938e-01 -5.93753758e-02 -1.26209168e-02 4.12496269e+02] [ 5.93783602e-02 9.98235539e-01 -1.38455718e-04 2.48950340e+00] [ 1.26068685e-02 -6.11208945e-04 9.99920343e-01 1.78373395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.059254154 meters 0.022890104587558812 Centerline is valid? [True, True] Translation: X:412.56, Y:2.50, Z:1.79 [[ 9.98436229e-01 -5.45653186e-02 -1.21541062e-02 4.12557141e+02] [ 5.45677355e-02 9.98510062e-01 -1.32927326e-04 2.49867213e+00] [ 1.21432506e-02 -5.30502595e-04 9.99926127e-01 1.78608773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.119254154 meters 0.021330918649101062 Centerline is valid? [True, True] Translation: X:412.62, Y:2.50, Z:1.79 [[ 9.98704104e-01 -4.93421556e-02 -1.24684937e-02 4.12618315e+02] [ 4.93442959e-02 9.98781819e-01 -1.36106021e-04 2.50468939e+00] [ 1.24600206e-02 -4.79319400e-04 9.99922256e-01 1.78654578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.179254154 meters 0.02060673892129654 Centerline is valid? [True, True] Translation: X:412.68, Y:2.51, Z:1.79 [[ 9.98993935e-01 -4.32207159e-02 -1.19619057e-02 4.12678526e+02] [ 4.32222484e-02 9.99065473e-01 -1.30497788e-04 2.51048501e+00] [ 1.19563672e-02 -3.86653960e-04 9.99928445e-01 1.78695289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.239254154 meters 0.01988386754979394 Centerline is valid? [True, True] Translation: X:412.74, Y:2.51, Z:1.79 [[ 9.99095255e-01 -4.11564078e-02 -1.07154341e-02 4.12740067e+02] [ 4.11575213e-02 9.99152663e-01 -1.16671362e-04 2.51345855e+00] [ 1.07111563e-02 -3.24454903e-04 9.99942581e-01 1.78848592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.299254154 meters 0.018865523881376956 Centerline is valid? [True, True] Translation: X:412.80, Y:2.52, Z:1.79 [[ 9.99244566e-01 -3.78156379e-02 -8.95960707e-03 4.12801408e+02] [ 3.78162849e-02 9.99284704e-01 -9.72549087e-05 2.51800768e+00] [ 8.95687605e-03 -2.41637614e-04 9.99959857e-01 1.79021579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.359254154 meters 0.0192538709291228 Centerline is valid? [True, True] Translation: X:412.86, Y:2.52, Z:1.79 [[ 9.99294869e-01 -3.64874636e-02 -8.85607797e-03 4.12862380e+02] [ 3.64880500e-02 9.99334085e-01 -9.54057700e-05 2.51871306e+00] [ 8.85366169e-03 -2.27802519e-04 9.99960780e-01 1.79002818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.419254154 meters 0.018428092255475224 Centerline is valid? [True, True] Translation: X:412.92, Y:2.52, Z:1.79 [[ 9.99405903e-01 -3.28220319e-02 -1.05145616e-02 4.12922537e+02] [ 3.28226678e-02 9.99461185e-01 -1.12119722e-04 2.52125990e+00] [ 1.05125762e-02 -2.33062849e-04 9.99944714e-01 1.78808711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.479254154 meters 0.01703338418814892 Centerline is valid? [True, True] Translation: X:412.98, Y:2.52, Z:1.79 [[ 9.99443373e-01 -3.12863715e-02 -1.15804689e-02 4.12983689e+02] [ 3.12870474e-02 9.99510433e-01 -1.22836584e-04 2.52453924e+00] [ 1.15786426e-02 -2.39550469e-04 9.99932937e-01 1.78758672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.539254154 meters 0.01816671304108176 Centerline is valid? [True, True] Translation: X:413.05, Y:2.52, Z:1.79 [[ 9.99431828e-01 -3.06642669e-02 -1.39901336e-02 4.13045496e+02] [ 3.06652003e-02 9.99529701e-01 -1.47844465e-04 2.52478506e+00] [ 1.39880876e-02 -2.81249784e-04 9.99902122e-01 1.78619026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.599254154 meters 0.018591088815197252 Centerline is valid? [True, True] Translation: X:413.11, Y:2.52, Z:1.79 [[ 9.99404134e-01 -3.15035588e-02 -1.41033115e-02 4.13105102e+02] [ 3.15045907e-02 9.99503596e-01 -1.49052903e-04 2.52349395e+00] [ 1.41010062e-02 -2.95354968e-04 9.99900532e-01 1.78608893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.659254154 meters 0.019284427586841953 Centerline is valid? [True, True] Translation: X:413.17, Y:2.52, Z:1.79 [[ 9.99285270e-01 -3.47591512e-02 -1.48577020e-02 4.13165114e+02] [ 3.47606520e-02 9.99395654e-01 -1.57301389e-04 2.52113032e+00] [ 1.48541905e-02 -3.59274448e-04 9.99889606e-01 1.78678238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.719254154 meters 0.01901387636779644 Centerline is valid? [True, True] Translation: X:413.23, Y:2.52, Z:1.79 [[ 9.99094217e-01 -4.03088598e-02 -1.36360282e-02 4.13225505e+02] [ 4.03106392e-02 9.99187185e-01 -1.44440929e-04 2.51819326e+00] [ 1.36307669e-02 -4.05366916e-04 9.99907015e-01 1.78810782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.779254154 meters 0.02057750023149004 Centerline is valid? [True, True] Translation: X:413.29, Y:2.52, Z:1.79 [[ 9.98906968e-01 -4.46192225e-02 -1.39281729e-02 4.13286566e+02] [ 4.46215000e-02 9.99003954e-01 -1.47362004e-04 2.51506912e+00] [ 1.39208749e-02 -4.74295033e-04 9.99902987e-01 1.78786416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.839254154 meters 0.023388621115083212 Centerline is valid? [True, True] Translation: X:413.35, Y:2.51, Z:1.79 [[ 9.98603870e-01 -5.07640453e-02 -1.46055778e-02 4.13347334e+02] [ 5.07672081e-02 9.98710502e-01 -1.54367432e-04 2.50934367e+00] [ 1.45945803e-02 -5.87332493e-04 9.99893321e-01 1.78769574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.899254154 meters 0.02630249193681481 Centerline is valid? [True, True] Translation: X:413.41, Y:2.50, Z:1.79 [[ 9.98364532e-01 -5.53285140e-02 -1.43881097e-02 4.13407684e+02] [ 5.53320594e-02 9.98467997e-01 -1.51859423e-04 2.50456463e+00] [ 1.43744692e-02 -6.44512679e-04 9.99896474e-01 1.78751909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.959254154 meters 0.02735586209585352 Centerline is valid? [True, True] Translation: X:413.47, Y:2.50, Z:1.79 [[ 9.97964342e-01 -6.21526783e-02 -1.42904547e-02 4.13468169e+02] [ 6.21568750e-02 9.98066381e-01 -1.50719306e-04 2.50320669e+00] [ 1.42721900e-02 -7.37837513e-04 9.99897875e-01 1.78811544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.019254154 meters 0.03341321044392917 Centerline is valid? [True, True] Translation: X:413.53, Y:2.50, Z:1.79 [[ 9.97744127e-01 -6.57324295e-02 -1.36346959e-02 4.13527890e+02] [ 6.57365910e-02 9.97837001e-01 -1.43216502e-04 2.49544120e+00] [ 1.36146180e-02 -7.53405002e-04 9.99907033e-01 1.78749625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.079254154 meters 0.029942636615807677 Centerline is valid? [True, True] Translation: X:413.59, Y:2.50, Z:1.79 [[ 9.97516447e-01 -6.92405241e-02 -1.29107700e-02 4.13588634e+02] [ 6.92445535e-02 9.97599706e-01 -1.35198444e-04 2.50296039e+00] [ 1.28891416e-02 -7.59137834e-04 9.99916643e-01 1.78947663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.139254154 meters 0.02960876972876443 Centerline is valid? [True, True] Translation: X:413.65, Y:2.51, Z:1.79 [[ 9.97451888e-01 -7.02393034e-02 -1.24968731e-02 4.13650352e+02] [ 7.02431633e-02 9.97529890e-01 -1.30335755e-04 2.50625451e+00] [ 1.24751592e-02 -7.47816254e-04 9.99921903e-01 1.79016403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.199254154 meters 0.03194737455605606 Centerline is valid? [True, True] Translation: X:413.71, Y:2.51, Z:1.79 [[ 9.97363393e-01 -7.10888325e-02 -1.45821627e-02 4.13711966e+02] [ 7.10941910e-02 9.97469595e-01 -1.51232455e-04 2.50917819e+00] [ 1.45560148e-02 -8.85873343e-04 9.99893663e-01 1.78819795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.259254154 meters 0.036260219818749856 Centerline is valid? [True, True] Translation: X:413.77, Y:2.51, Z:1.79 [[ 9.97330200e-01 -7.16530425e-02 -1.40824068e-02 4.13772966e+02] [ 7.16581149e-02 9.97429242e-01 -1.44708534e-04 2.50504605e+00] [ 1.40565732e-02 -8.64796533e-04 9.99900828e-01 1.78724083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.319254154 meters 0.03320401718146672 Centerline is valid? [True, True] Translation: X:413.84, Y:2.51, Z:1.79 [[ 9.97250475e-01 -7.26376296e-02 -1.46719365e-02 4.13835405e+02] [ 7.26432603e-02 9.97357977e-01 -1.49505094e-04 2.51388630e+00] [ 1.46440327e-02 -9.16723281e-04 9.99892350e-01 1.78723214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.37925415399997 meters 0.03157734245943889 Centerline is valid? [True, True] Translation: X:413.90, Y:2.52, Z:1.79 [[ 9.97302322e-01 -7.18106540e-02 -1.52088185e-02 4.13897374e+02] [ 7.18166256e-02 9.97417841e-01 -1.53857895e-04 2.52275551e+00] [ 1.51805956e-02 -9.38803189e-04 9.99884327e-01 1.78742185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.43925415399997 meters 0.03244336621991844 Centerline is valid? [True, True] Translation: X:413.96, Y:2.53, Z:1.79 [[ 9.97490879e-01 -6.91774392e-02 -1.50475204e-02 4.13957585e+02] [ 6.91829939e-02 9.97603975e-01 -1.51718600e-04 2.52712299e+00] [ 1.50219617e-02 -8.89694592e-04 9.99886768e-01 1.78774455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.49925415399997 meters 0.02602585944524795 Centerline is valid? [True, True] Translation: X:414.02, Y:2.55, Z:1.79 [[ 9.97983086e-01 -6.21208392e-02 -1.30676053e-02 4.14018199e+02] [ 6.21244276e-02 9.98068404e-01 -1.31538000e-04 2.54544404e+00] [ 1.30505352e-02 -6.80544797e-04 9.99914607e-01 1.79147658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.559254154 meters 0.02467443891418483 Centerline is valid? [True, True] Translation: X:414.08, Y:2.55, Z:1.79 [[ 9.98385648e-01 -5.56449726e-02 -1.13900916e-02 4.14078754e+02] [ 5.56472789e-02 9.98450483e-01 -1.14585712e-04 2.55430518e+00] [ 1.13788186e-02 -5.19426873e-04 9.99935124e-01 1.79320700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.619254154 meters 0.02051051895678216 Centerline is valid? [True, True] Translation: X:414.14, Y:2.57, Z:1.80 [[ 9.98833693e-01 -4.71124430e-02 -1.05674762e-02 4.14138840e+02] [ 4.71139512e-02 9.98889516e-01 -1.06314643e-04 2.56964000e+00] [ 1.05607499e-02 -3.91684910e-04 9.99944157e-01 1.79532022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.679254154 meters 0.02003453930821326 Centerline is valid? [True, True] Translation: X:414.20, Y:2.58, Z:1.80 [[ 9.98985013e-01 -4.37498213e-02 -1.07190115e-02 4.14200726e+02] [ 4.37511835e-02 9.99042453e-01 -1.07488125e-04 2.57770948e+00] [ 1.07134502e-02 -3.61590413e-04 9.99942544e-01 1.79524717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.739254154 meters 0.021805432136970355 Centerline is valid? [True, True] Translation: X:414.26, Y:2.58, Z:1.79 [[ 9.98945314e-01 -4.41727235e-02 -1.25311605e-02 4.14261904e+02] [ 4.41746277e-02 9.99023817e-01 -1.24922464e-04 2.57811539e+00] [ 1.25244460e-02 -4.28768642e-04 9.99921474e-01 1.79355743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.799254154 meters 0.021624742671748173 Centerline is valid? [True, True] Translation: X:414.32, Y:2.58, Z:1.79 [[ 9.98799504e-01 -4.70475425e-02 -1.36411209e-02 4.14324127e+02] [ 4.70500796e-02 9.98892523e-01 -1.35048702e-04 2.58244045e+00] [ 1.36323673e-02 -5.06929247e-04 9.99906946e-01 1.79329646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.859254154 meters 0.02264817321050646 Centerline is valid? [True, True] Translation: X:414.39, Y:2.58, Z:1.79 [[ 9.98737701e-01 -4.84708111e-02 -1.31751438e-02 4.14386122e+02] [ 4.84733139e-02 9.98824470e-01 -1.29490854e-04 2.58321821e+00] [ 1.31659325e-02 -5.09315481e-04 9.99913196e-01 1.79390523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.919254154 meters 0.02211997748524205 Centerline is valid? [True, True] Translation: X:414.45, Y:2.59, Z:1.80 [[ 9.98743522e-01 -4.86825175e-02 -1.18907781e-02 4.14448562e+02] [ 4.86845810e-02 9.98814196e-01 -1.16031270e-04 2.58757153e+00] [ 1.18823267e-02 -4.63012071e-04 9.99929295e-01 1.79607386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.979254154 meters 0.021050038292120394 Centerline is valid? [True, True] Translation: X:414.51, Y:2.59, Z:1.80 [[ 9.98772914e-01 -4.81644712e-02 -1.15260394e-02 4.14510826e+02] [ 4.81663853e-02 9.98839320e-01 -1.11626068e-04 2.59153555e+00] [ 1.15180378e-02 -4.43678563e-04 9.99933567e-01 1.79720656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.039254154 meters 0.021411342818391212 Centerline is valid? [True, True] Translation: X:414.57, Y:2.59, Z:1.80 [[ 9.98789441e-01 -4.79607590e-02 -1.09278702e-02 4.14573234e+02] [ 4.79624762e-02 9.98849133e-01 -1.05036322e-04 2.59250103e+00] [ 1.09203313e-02 -4.19218543e-04 9.99940284e-01 1.79755185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.099254154 meters 0.02179172549071147 Centerline is valid? [True, True] Translation: X:414.64, Y:2.59, Z:1.80 [[ 9.98792997e-01 -4.81842856e-02 -9.53018258e-03 4.14636724e+02] [ 4.81856098e-02 9.98838395e-01 -9.07480352e-05 2.59248231e+00] [ 9.52348490e-03 -3.68579157e-04 9.99954583e-01 1.79842799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.159254154 meters 0.022406999858669795 Centerline is valid? [True, True] Translation: X:414.70, Y:2.59, Z:1.80 [[ 9.98830553e-01 -4.75204289e-02 -8.90697690e-03 4.14699055e+02] [ 4.75215663e-02 9.98870209e-01 -8.40232425e-05 2.59319138e+00] [ 8.90090669e-03 -3.39348511e-04 9.99960329e-01 1.79842009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.219254154 meters 0.02519375412281357 Centerline is valid? [True, True] Translation: X:414.76, Y:2.59, Z:1.80 [[ 9.98914715e-01 -4.57910212e-02 -8.51910652e-03 4.14760377e+02] [ 4.57920034e-02 9.98950993e-01 -7.98269609e-05 2.58959733e+00] [ 8.51382528e-03 -3.10366629e-04 9.99963709e-01 1.79651871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.279254154 meters 0.021256250121316482 Centerline is valid? [True, True] Translation: X:414.82, Y:2.59, Z:1.80 [[ 9.98924247e-01 -4.56848246e-02 -7.95273053e-03 4.14823348e+02] [ 4.56856821e-02 9.98955861e-01 -7.39021162e-05 2.59352321e+00] [ 7.94780298e-03 -2.89503303e-04 9.99968374e-01 1.79812166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.339254154 meters 0.01999296786128531 Centerline is valid? [True, True] Translation: X:414.89, Y:2.59, Z:1.80 [[ 9.99027401e-01 -4.34836800e-02 -7.30894756e-03 4.14885744e+02] [ 4.34843503e-02 9.99054106e-01 -6.72541492e-05 2.59493508e+00] [ 7.30495853e-03 -2.50636098e-04 9.99973287e-01 1.79827431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.399254154 meters 0.0208596914500701 Centerline is valid? [True, True] Translation: X:414.95, Y:2.59, Z:1.80 [[ 9.99096719e-01 -4.16628294e-02 -8.36390053e-03 4.14947411e+02] [ 4.16636491e-02 9.99131690e-01 -7.62917962e-05 2.59338322e+00] [ 8.35981661e-03 -2.72247733e-04 9.99965019e-01 1.79741948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.459254154 meters 0.019779873716334852 Centerline is valid? [True, True] Translation: X:415.01, Y:2.59, Z:1.80 [[ 9.99141440e-01 -4.03060226e-02 -9.58157345e-03 4.15009707e+02] [ 4.03070432e-02 9.99187337e-01 -8.66488498e-05 2.59385973e+00] [ 9.57727933e-03 -2.99630438e-04 9.99954092e-01 1.79609443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.519254154 meters 0.020034916165285965 Centerline is valid? [True, True] Translation: X:415.07, Y:2.59, Z:1.79 [[ 9.99155078e-01 -3.97617091e-02 -1.03988268e-02 4.15072125e+02] [ 3.97628898e-02 9.99209139e-01 -9.32586254e-05 2.59253119e+00] [ 1.03943109e-02 -3.20307575e-04 9.99945926e-01 1.79480690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.579254154 meters 0.019750692436529913 Centerline is valid? [True, True] Translation: X:415.13, Y:2.59, Z:1.79 [[ 9.99123699e-01 -4.02979272e-02 -1.13097795e-02 4.15134735e+02] [ 4.02993678e-02 9.99187645e-01 -1.00578813e-04 2.59164625e+00] [ 1.13046450e-02 -3.55286287e-04 9.99936037e-01 1.79499727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.639254154 meters 0.02023245072362946 Centerline is valid? [True, True] Translation: X:415.20, Y:2.59, Z:1.80 [[ 9.99070972e-01 -4.18074524e-02 -1.04560990e-02 4.15196948e+02] [ 4.18087741e-02 9.99125627e-01 -9.22469574e-05 2.58972528e+00] [ 1.04508130e-02 -3.44995422e-04 9.99945329e-01 1.79580868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.699254154 meters 0.020824418591000867 Centerline is valid? [True, True] Translation: X:415.26, Y:2.59, Z:1.80 [[ 9.98919438e-01 -4.54518518e-02 -9.69975111e-03 4.15257843e+02] [ 4.54531645e-02 9.98966467e-01 -8.51777837e-05 2.58660780e+00] [ 9.69359759e-03 -3.55798639e-04 9.99952953e-01 1.79627183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.759254154 meters 0.02110084373386688 Centerline is valid? [True, True] Translation: X:415.32, Y:2.59, Z:1.80 [[ 9.98838754e-01 -4.72720371e-02 -9.30047176e-03 4.15320084e+02] [ 4.72733269e-02 9.98881988e-01 -8.12296799e-05 2.58511443e+00] [ 9.29391361e-03 -3.58528889e-04 9.99956746e-01 1.79673947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.819254154 meters 0.02301606755247135 Centerline is valid? [True, True] Translation: X:415.38, Y:2.58, Z:1.80 [[ 9.98804468e-01 -4.82356583e-02 -7.93447749e-03 4.15381095e+02] [ 4.82366312e-02 9.98835934e-01 -6.88263515e-05 2.58204716e+00] [ 7.92856112e-03 -3.13988397e-04 9.99968519e-01 1.79778729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.87925415399997 meters 0.023531363753549004 Centerline is valid? [True, True] Translation: X:415.44, Y:2.58, Z:1.80 [[ 9.98814869e-01 -4.80970646e-02 -7.45189940e-03 4.15442971e+02] [ 4.80979221e-02 9.98842623e-01 -6.41961101e-05 2.58084473e+00] [ 7.44636239e-03 -2.94300848e-04 9.99972232e-01 1.79808447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.93925415399997 meters 0.024380337952482303 Centerline is valid? [True, True] Translation: X:415.50, Y:2.58, Z:1.80 [[ 9.98834487e-01 -4.76420582e-02 -7.73963045e-03 4.15503900e+02] [ 4.76429756e-02 9.98864426e-01 -6.59053660e-05 2.57896084e+00] [ 7.73398140e-03 -3.02910472e-04 9.99970046e-01 1.79762363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.99925415399997 meters 0.02145056594654091 Centerline is valid? [True, True] Translation: X:415.57, Y:2.58, Z:1.80 [[ 9.98841928e-01 -4.75670806e-02 -7.22326861e-03 4.15567159e+02] [ 4.75678839e-02 9.98868006e-01 -6.06464701e-05 2.58332336e+00] [ 7.21797668e-03 -2.83019366e-04 9.99973910e-01 1.79813193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.059254154 meters 0.023443115940892403 Centerline is valid? [True, True] Translation: X:415.63, Y:2.58, Z:1.80 [[ 9.98883444e-01 -4.65721369e-02 -7.93100458e-03 4.15628309e+02] [ 4.65730798e-02 9.98914883e-01 -6.58539532e-05 2.58021084e+00] [ 7.92546547e-03 -3.03590886e-04 9.99968547e-01 1.79725047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.119254154 meters 0.02005193375326353 Centerline is valid? [True, True] Translation: X:415.69, Y:2.59, Z:1.80 [[ 9.98996091e-01 -4.39900950e-02 -8.46646916e-03 4.15689993e+02] [ 4.39910811e-02 9.99031921e-01 -6.98131241e-05 2.58561144e+00] [ 8.46134403e-03 -3.02706093e-04 9.99964156e-01 1.79673887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.179254154 meters 0.02200239953872099 Centerline is valid? [True, True] Translation: X:415.75, Y:2.58, Z:1.80 [[ 9.99086374e-01 -4.18374776e-02 -8.72025194e-03 4.15751186e+02] [ 4.18384461e-02 9.99124386e-01 -7.14111543e-05 2.58432670e+00] [ 8.71560403e-03 -2.93495879e-04 9.99961975e-01 1.79620349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.239254154 meters 0.01867544152722385 Centerline is valid? [True, True] Translation: X:415.81, Y:2.59, Z:1.80 [[ 9.99147942e-01 -4.04846577e-02 -8.02382873e-03 4.15813712e+02] [ 4.04854381e-02 9.99180126e-01 -6.52076226e-05 2.59012393e+00] [ 8.01989011e-03 -2.59696160e-04 9.99967806e-01 1.79777320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.299254154 meters 0.018880158838274305 Centerline is valid? [True, True] Translation: X:415.87, Y:2.59, Z:1.80 [[ 9.99217209e-01 -3.88108556e-02 -7.66078924e-03 4.15874834e+02] [ 3.88115216e-02 9.99246547e-01 -6.17538681e-05 2.59026881e+00] [ 7.65741392e-03 -2.35621360e-04 9.99970654e-01 1.79787977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.359254154 meters 0.01913653885267737 Centerline is valid? [True, True] Translation: X:415.94, Y:2.59, Z:1.80 [[ 9.99299371e-01 -3.67774667e-02 -6.94161059e-03 4.15935703e+02] [ 3.67779671e-02 9.99323460e-01 -5.55927933e-05 2.59043697e+00] [ 6.93895887e-03 -1.99744483e-04 9.99975905e-01 1.79800981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.419254154 meters 0.018254130184292228 Centerline is valid? [True, True] Translation: X:416.00, Y:2.59, Z:1.80 [[ 9.99366146e-01 -3.50168895e-02 -6.41284717e-03 4.15997554e+02] [ 3.50172827e-02 9.99386706e-01 -5.09866909e-05 2.59374010e+00] [ 6.41069960e-03 -1.73606110e-04 9.99979436e-01 1.79878369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.479254154 meters 0.017793229782639974 Centerline is valid? [True, True] Translation: X:416.06, Y:2.60, Z:1.80 [[ 9.99462825e-01 -3.22418451e-02 -5.87579333e-03 4.16059727e+02] [ 3.22421297e-02 9.99480086e-01 -4.63106021e-05 2.59700888e+00] [ 5.87423156e-03 -1.43162365e-04 9.99982736e-01 1.79931767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.539254154 meters 0.017409365134633998 Centerline is valid? [True, True] Translation: X:416.12, Y:2.60, Z:1.80 [[ 9.99491023e-01 -3.14586356e-02 -5.29613720e-03 4.16121538e+02] [ 3.14588577e-02 9.99505047e-01 -4.13811035e-05 2.59701674e+00] [ 5.29481765e-03 -1.25250385e-04 9.99985975e-01 1.79968844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.599254154 meters 0.017912619122802086 Centerline is valid? [True, True] Translation: X:416.18, Y:2.60, Z:1.80 [[ 9.99477508e-01 -3.19417734e-02 -4.94316521e-03 4.16183095e+02] [ 3.19419744e-02 9.99489724e-01 -3.82916983e-05 2.59517836e+00] [ 4.94186594e-03 -1.19622765e-04 9.99987782e-01 1.79980116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.659254154 meters 0.018572934414841365 Centerline is valid? [True, True] Translation: X:416.25, Y:2.59, Z:1.80 [[ 9.99431939e-01 -3.33395208e-02 -4.92709534e-03 4.16245489e+02] [ 3.33397389e-02 9.99444076e-01 -3.78909290e-05 2.59337258e+00] [ 4.92561951e-03 -1.26398668e-04 9.99987861e-01 1.79911808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.719254154 meters 0.019561575694778684 Centerline is valid? [True, True] Translation: X:416.31, Y:2.59, Z:1.80 [[ 9.99365011e-01 -3.52250995e-02 -5.36349382e-03 4.16307501e+02] [ 3.52253873e-02 9.99379393e-01 -4.08350120e-05 2.59018490e+00] [ 5.36160361e-03 -1.48122065e-04 9.99985616e-01 1.79870414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.779254154 meters 0.02057261701943668 Centerline is valid? [True, True] Translation: X:416.37, Y:2.59, Z:1.80 [[ 9.99298769e-01 -3.69858672e-02 -5.83238405e-03 4.16369903e+02] [ 3.69862400e-02 9.99315774e-01 -4.39669014e-05 2.58601844e+00] [ 5.83001953e-03 -1.71781886e-04 9.99982991e-01 1.79810568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.839254154 meters 0.018632860574444767 Centerline is valid? [True, True] Translation: X:416.43, Y:2.59, Z:1.80 [[ 9.99283597e-01 -3.73772462e-02 -5.93588646e-03 4.16432457e+02] [ 3.73776417e-02 9.99301211e-01 -4.43195574e-05 2.58824225e+00] [ 5.93339507e-03 -1.77581631e-04 9.99982381e-01 1.79799543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.899254154 meters 0.019479976506789943 Centerline is valid? [True, True] Translation: X:416.49, Y:2.59, Z:1.80 [[ 9.99291210e-01 -3.71442699e-02 -6.11394055e-03 4.16493508e+02] [ 3.71446879e-02 9.99309897e-01 -4.52150698e-05 2.58631441e+00] [ 6.11140079e-03 -1.81917392e-04 9.99981309e-01 1.79766606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.959254154 meters 0.018894774361099514 Centerline is valid? [True, True] Translation: X:416.56, Y:2.59, Z:1.80 [[ 9.99412154e-01 -3.37106285e-02 -6.24013640e-03 4.16555441e+02] [ 3.37109992e-02 9.99431622e-01 -4.57973689e-05 2.58806385e+00] [ 6.23813350e-03 -1.64590786e-04 9.99980529e-01 1.79692610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.019254154 meters 0.016702717499782437 Centerline is valid? [True, True] Translation: X:416.62, Y:2.59, Z:1.80 [[ 9.99553152e-01 -2.92161156e-02 -6.31781083e-03 4.16617105e+02] [ 2.92164081e-02 9.99573109e-01 -4.60115202e-05 2.59159016e+00] [ 6.31645809e-03 -1.38592780e-04 9.99980041e-01 1.79798638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.079254154 meters 0.015907561126156305 Centerline is valid? [True, True] Translation: X:416.68, Y:2.60, Z:1.80 [[ 9.99694529e-01 -2.38725211e-02 -6.39928535e-03 4.16677586e+02] [ 2.38727135e-02 9.99715005e-01 -4.63201906e-05 2.59543348e+00] [ 6.39856736e-03 -1.06462265e-04 9.99979523e-01 1.79829872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.139254154 meters 0.014949683617244528 Centerline is valid? [True, True] Translation: X:416.74, Y:2.60, Z:1.80 [[ 9.99806938e-01 -1.85864775e-02 -6.37412762e-03 4.16738742e+02] [ 1.85865619e-02 9.99827254e-01 -4.59874765e-05 2.59812789e+00] [ 6.37388126e-03 -7.24945197e-05 9.99979684e-01 1.79855920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.199254154 meters 0.016847936040417538 Centerline is valid? [True, True] Translation: X:416.80, Y:2.60, Z:1.80 [[ 9.99823597e-01 -1.76287260e-02 -6.48101843e-03 4.16800568e+02] [ 1.76287953e-02 9.99844600e-01 -4.64474551e-05 2.59762058e+00] [ 6.48083008e-03 -6.78132855e-05 9.99978997e-01 1.79715890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.259254154 meters 0.015398512865056732 Centerline is valid? [True, True] Translation: X:416.86, Y:2.59, Z:1.80 [[ 9.99774317e-01 -2.02186461e-02 -6.52091987e-03 4.16861862e+02] [ 2.02187741e-02 9.99795579e-01 -4.63002893e-05 2.59325433e+00] [ 6.52052298e-03 -8.55551658e-05 9.99978738e-01 1.79796734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.319254154 meters 0.016653691888594675 Centerline is valid? [True, True] Translation: X:416.92, Y:2.59, Z:1.80 [[ 9.99687815e-01 -2.39492727e-02 -7.12067735e-03 4.16923899e+02] [ 2.39495232e-02 9.99713168e-01 -5.00979224e-05 2.59056083e+00] [ 7.11983472e-03 -1.20454545e-04 9.99974646e-01 1.79693700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.37925415399997 meters 0.018144012042919832 Centerline is valid? [True, True] Translation: X:416.98, Y:2.58, Z:1.80 [[ 9.99501687e-01 -3.03874784e-02 -8.54281174e-03 4.16984515e+02] [ 3.03880780e-02 9.99538174e-01 -5.96311561e-05 2.58126845e+00] [ 8.54067849e-03 -1.99998189e-04 9.99963508e-01 1.79606056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.43925415399997 meters 0.019001945425676306 Centerline is valid? [True, True] Translation: X:417.05, Y:2.58, Z:1.80 [[ 9.99400144e-01 -3.35857412e-02 -8.44694598e-03 4.17046820e+02] [ 3.35864447e-02 9.99435814e-01 -5.85952803e-05 2.57799332e+00] [ 8.44414830e-03 -2.25142752e-04 9.99964322e-01 1.79639660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.49925415399997 meters 0.019479853971938698 Centerline is valid? [True, True] Translation: X:417.11, Y:2.58, Z:1.80 [[ 9.99326595e-01 -3.60277534e-02 -6.95389815e-03 4.17109381e+02] [ 3.60282923e-02 9.99350769e-01 -4.77984261e-05 2.57539060e+00] [ 6.95110554e-03 -2.02770837e-04 9.99975820e-01 1.79831299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.559254154 meters 0.022045482071928746 Centerline is valid? [True, True] Translation: X:417.17, Y:2.57, Z:1.80 [[ 9.99342895e-01 -3.57677194e-02 -5.86931376e-03 4.17170151e+02] [ 3.57681008e-02 9.99360116e-01 -3.99991560e-05 2.56986077e+00] [ 5.86698876e-03 -1.69961334e-04 9.99982775e-01 1.79939320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.619254154 meters 0.022066587763550805 Centerline is valid? [True, True] Translation: X:417.23, Y:2.57, Z:1.80 [[ 9.99427977e-01 -3.34065988e-02 -5.26479960e-03 4.17232469e+02] [ 3.34068744e-02 9.99441834e-01 -3.56134714e-05 2.56959805e+00] [ 5.26305069e-03 -1.40287399e-04 9.99986140e-01 1.79928177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.679254154 meters 0.01688708961030758 Centerline is valid? [True, True] Translation: X:417.29, Y:2.58, Z:1.80 [[ 9.99581918e-01 -2.85296711e-02 -4.69541649e-03 4.17293748e+02] [ 2.85298378e-02 9.99592941e-01 -3.14942832e-05 2.57728060e+00] [ 4.69440370e-03 -1.02478355e-04 9.99988976e-01 1.80016464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.739254154 meters 0.016376160728832512 Centerline is valid? [True, True] Translation: X:417.36, Y:2.58, Z:1.80 [[ 9.99706300e-01 -2.36528547e-02 -5.27796979e-03 4.17355723e+02] [ 2.36529985e-02 9.99720228e-01 -3.51730345e-05 2.57717973e+00] [ 5.27732510e-03 -8.96771074e-05 9.99986071e-01 1.79910570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.799254154 meters 0.015243117706893388 Centerline is valid? [True, True] Translation: X:417.42, Y:2.58, Z:1.80 [[ 9.99739898e-01 -2.19464527e-02 -6.20397882e-03 4.17417631e+02] [ 2.19466212e-02 9.99759143e-01 -4.09307128e-05 2.57715621e+00] [ 6.20338283e-03 -9.52363065e-05 9.99980754e-01 1.79872750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.859254154 meters 0.015457089348391613 Centerline is valid? [True, True] Translation: X:417.48, Y:2.57, Z:1.80 [[ 9.99754498e-01 -2.11279545e-02 -6.67475621e-03 4.17478636e+02] [ 2.11281354e-02 9.99776775e-01 -4.34137520e-05 2.57486628e+00] [ 6.67418348e-03 -9.76220591e-05 9.99977723e-01 1.79818831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.919254154 meters 0.0180514228501498 Centerline is valid? [True, True] Translation: X:417.54, Y:2.57, Z:1.80 [[ 9.99765949e-01 -1.98385838e-02 -8.63006776e-03 4.17539552e+02] [ 1.98388454e-02 9.99803189e-01 -5.53010565e-05 2.57360364e+00] [ 8.62946637e-03 -1.15922467e-04 9.99962759e-01 1.79540480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.979254154 meters 0.015344795975336695 Centerline is valid? [True, True] Translation: X:417.60, Y:2.57, Z:1.80 [[ 9.99771961e-01 -2.01127390e-02 -7.17661539e-03 4.17599568e+02] [ 2.01129279e-02 9.99797714e-01 -4.58566214e-05 2.57281328e+00] [ 7.17608596e-03 -9.84965839e-05 9.99974247e-01 1.79737454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.039254154 meters 0.0156231994762361 Centerline is valid? [True, True] Translation: X:417.66, Y:2.57, Z:1.80 [[ 9.99721102e-01 -2.24491687e-02 -7.33163287e-03 4.17660685e+02] [ 2.24494294e-02 9.99747979e-01 -4.67432970e-05 2.56981170e+00] [ 7.33083449e-03 -1.17860714e-04 9.99973122e-01 1.79767942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.099254154 meters 0.01704174313740472 Centerline is valid? [True, True] Translation: X:417.72, Y:2.57, Z:1.80 [[ 9.99636159e-01 -2.60290297e-02 -7.07377272e-03 4.17722093e+02] [ 2.60293649e-02 9.99661178e-01 -4.46944980e-05 2.56674104e+00] [ 7.07253932e-03 -1.39447575e-04 9.99974980e-01 1.79812627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.159254154 meters 0.019733354287198558 Centerline is valid? [True, True] Translation: X:417.78, Y:2.56, Z:1.80 [[ 9.99449602e-01 -3.25785272e-02 -6.25566847e-03 4.17781739e+02] [ 3.25789198e-02 9.99469165e-01 -3.91550460e-05 2.55907861e+00] [ 6.25362336e-03 -1.64669427e-04 9.99980432e-01 1.79862870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.219254154 meters 0.022572330083446154 Centerline is valid? [True, True] Translation: X:417.84, Y:2.55, Z:1.80 [[ 9.99280200e-01 -3.74626719e-02 -5.96912223e-03 4.17841650e+02] [ 3.74631164e-02 9.99298010e-01 -3.73615156e-05 2.55336715e+00] [ 5.96633163e-03 -1.86287298e-04 9.99982184e-01 1.79875095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.279254154 meters 0.02586978399328491 Centerline is valid? [True, True] Translation: X:417.90, Y:2.55, Z:1.80 [[ 9.99070508e-01 -4.26429157e-02 -6.30096275e-03 4.17901960e+02] [ 4.26435141e-02 9.99090351e-01 -3.94073445e-05 2.54764732e+00] [ 6.29691153e-03 -2.29324479e-04 9.99980148e-01 1.79868334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.339254154 meters 0.02721865008929996 Centerline is valid? [True, True] Translation: X:417.96, Y:2.55, Z:1.80 [[ 9.99021544e-01 -4.37779793e-02 -6.28038932e-03 4.17964362e+02] [ 4.37785974e-02 9.99041257e-01 -3.90847396e-05 2.54605810e+00] [ 6.27607909e-03 -2.35900139e-04 9.99980277e-01 1.79883554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.399254154 meters 0.022329192261578756 Centerline is valid? [True, True] Translation: X:418.03, Y:2.55, Z:1.80 [[ 9.98986949e-01 -4.44013828e-02 -7.32071948e-03 4.18026193e+02] [ 4.44022434e-02 9.99013733e-01 -4.50152280e-05 2.55407430e+00] [ 7.31549803e-03 -2.80086743e-04 9.99973202e-01 1.79852748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.459254154 meters 0.02233730092577178 Centerline is valid? [True, True] Translation: X:418.09, Y:2.55, Z:1.80 [[ 9.98967710e-01 -4.47004903e-02 -8.08587210e-03 4.18088471e+02] [ 4.47015550e-02 9.99000385e-01 -4.91027104e-05 2.55392545e+00] [ 8.07998426e-03 -3.12399034e-04 9.99967308e-01 1.79829626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.519254154 meters 0.023604086334699372 Centerline is valid? [True, True] Translation: X:418.15, Y:2.55, Z:1.80 [[ 9.98946908e-01 -4.52029942e-02 -7.85905030e-03 4.18149828e+02] [ 4.52040194e-02 9.98977775e-01 -4.72319354e-05 2.55377902e+00] [ 7.85315161e-03 -3.08078466e-04 9.99969116e-01 1.79819239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.579254154 meters 0.021373218654094965 Centerline is valid? [True, True] Translation: X:418.21, Y:2.56, Z:1.80 [[ 9.98935127e-01 -4.54110220e-02 -8.15177342e-03 4.18211775e+02] [ 4.54121361e-02 9.98968336e-01 -4.84687393e-05 2.55856795e+00] [ 8.14556454e-03 -3.21772318e-04 9.99966773e-01 1.79843626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.639254154 meters 0.022480136278948844 Centerline is valid? [True, True] Translation: X:418.27, Y:2.56, Z:1.80 [[ 9.98886511e-01 -4.63526417e-02 -8.78469263e-03 4.18273494e+02] [ 4.63539790e-02 9.98925075e-01 -5.14241652e-05 2.55983231e+00] [ 8.77763339e-03 -3.55838553e-04 9.99961413e-01 1.79778356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.699254154 meters 0.023860692126490553 Centerline is valid? [True, True] Translation: X:418.33, Y:2.56, Z:1.80 [[ 9.98875984e-01 -4.66298006e-02 -8.51059175e-03 4.18334501e+02] [ 4.66310737e-02 9.98912179e-01 -4.88905859e-05 2.55982736e+00] [ 8.50361350e-03 -3.48022399e-04 9.99963783e-01 1.79792801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.759254154 meters 0.023437922037483457 Centerline is valid? [True, True] Translation: X:418.40, Y:2.56, Z:1.80 [[ 9.98884094e-01 -4.64238761e-02 -8.68279722e-03 4.18396862e+02] [ 4.64252008e-02 9.98921768e-01 -4.90401143e-05 2.56447463e+00] [ 8.67571178e-03 -3.54115214e-04 9.99962303e-01 1.79853694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.819254154 meters 0.023987977108397014 Centerline is valid? [True, True] Translation: X:418.46, Y:2.57, Z:1.80 [[ 9.98943004e-01 -4.53160146e-02 -7.70283664e-03 4.18457621e+02] [ 4.53170277e-02 9.98972655e-01 -4.30484231e-05 2.56670686e+00] [ 7.69687395e-03 -3.06066740e-04 9.99970332e-01 1.79893717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.87925415399997 meters 0.023453469110250456 Centerline is valid? [True, True] Translation: X:418.52, Y:2.57, Z:1.80 [[ 9.99064839e-01 -4.25214392e-02 -7.83418419e-03 4.18519532e+02] [ 4.25224047e-02 9.99095513e-01 -4.33650264e-05 2.57104031e+00] [ 7.82894221e-03 -2.89803877e-04 9.99969311e-01 1.79868761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.93925415399997 meters 0.023374590050258402 Centerline is valid? [True, True] Translation: X:418.58, Y:2.57, Z:1.80 [[ 9.99136523e-01 -4.07201116e-02 -8.25114475e-03 4.18581664e+02] [ 4.07211254e-02 9.99170550e-01 -4.51672512e-05 2.57331030e+00] [ 8.24614005e-03 -2.90867649e-04 9.99965958e-01 1.79862994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.99925415399997 meters 0.023529891271591653 Centerline is valid? [True, True] Translation: X:418.64, Y:2.58, Z:1.80 [[ 9.99199817e-01 -3.90757712e-02 -8.53288541e-03 4.18643171e+02] [ 3.90767999e-02 9.99236209e-01 -4.61882995e-05 2.57527081e+00] [ 8.52817291e-03 -2.87286516e-04 9.99963593e-01 1.79864298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.059254154 meters 0.01963920521937782 Centerline is valid? [True, True] Translation: X:418.71, Y:2.58, Z:1.80 [[ 9.99214821e-01 -3.85864879e-02 -8.99021853e-03 4.18705821e+02] [ 3.85876163e-02 9.99255219e-01 -4.79766053e-05 2.58287837e+00] [ 8.98537404e-03 -2.98972168e-04 9.99959586e-01 1.79907533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.119254154 meters 0.021706276655266116 Centerline is valid? [True, True] Translation: X:418.77, Y:2.58, Z:1.80 [[ 9.99225849e-01 -3.80149219e-02 -1.01276162e-02 4.18768442e+02] [ 3.80163338e-02 9.99277116e-01 -5.31381627e-05 2.58286569e+00] [ 1.01223151e-02 -3.31917811e-04 9.99948713e-01 1.79755711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.179254154 meters 0.020609570157851854 Centerline is valid? [True, True] Translation: X:418.83, Y:2.58, Z:1.80 [[ 9.99236891e-01 -3.72660752e-02 -1.16993307e-02 4.18829368e+02] [ 3.72679230e-02 9.99305308e-01 -6.01136442e-05 2.58263028e+00] [ 1.16934434e-02 -3.75941983e-04 9.99931559e-01 1.79677678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.239254154 meters 0.01943228569117086 Centerline is valid? [True, True] Translation: X:418.89, Y:2.59, Z:1.80 [[ 9.99316368e-01 -3.51307519e-02 -1.15163728e-02 4.18890599e+02] [ 3.51324097e-02 9.99382665e-01 -5.83858085e-05 2.58644474e+00] [ 1.15113145e-02 -3.46252033e-04 9.99933683e-01 1.79792615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.299254154 meters 0.01971601493768624 Centerline is valid? [True, True] Translation: X:418.95, Y:2.59, Z:1.80 [[ 9.99364364e-01 -3.42373485e-02 -9.93341488e-03 4.18951593e+02] [ 3.42385410e-02 9.99413688e-01 -5.00299814e-05 2.58764217e+00] [ 9.92930370e-03 -2.90107453e-04 9.99950661e-01 1.79942831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.359254154 meters 0.018316194774827512 Centerline is valid? [True, True] Translation: X:419.01, Y:2.59, Z:1.80 [[ 9.99401441e-01 -3.36645858e-02 -7.96586003e-03 4.19013874e+02] [ 3.36653376e-02 9.99433161e-01 -3.97335231e-05 2.58994967e+00] [ 7.96268228e-03 -2.28463627e-04 9.99968271e-01 1.80124837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.419254154 meters 0.017803305254560083 Centerline is valid? [True, True] Translation: X:419.08, Y:2.59, Z:1.80 [[ 9.99437151e-01 -3.27549605e-02 -7.24528880e-03 4.19076571e+02] [ 3.27555626e-02 9.99463392e-01 -3.55790001e-05 2.59095536e+00] [ 7.24256631e-03 -2.01764537e-04 9.99973752e-01 1.80179596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.479254154 meters 0.017354677788602224 Centerline is valid? [True, True] Translation: X:419.14, Y:2.59, Z:1.80 [[ 9.99506382e-01 -3.08875584e-02 -5.74032621e-03 4.19139145e+02] [ 3.08879080e-02 9.99522854e-01 -2.77635443e-05 2.58996691e+00] [ 5.73844478e-03 -1.49556828e-04 9.99983524e-01 1.80236121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.539254154 meters 0.017629180037343137 Centerline is valid? [True, True] Translation: X:419.20, Y:2.59, Z:1.80 [[ 9.99523829e-01 -3.04087245e-02 -5.23681188e-03 4.19201642e+02] [ 3.04090107e-02 9.99537539e-01 -2.49684688e-05 2.58800539e+00] [ 5.23514931e-03 -1.34289689e-04 9.99986287e-01 1.80231820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.599254154 meters 0.017217353010524853 Centerline is valid? [True, True] Translation: X:419.26, Y:2.59, Z:1.80 [[ 9.99497528e-01 -3.08849904e-02 -7.12797440e-03 4.19263991e+02] [ 3.08855375e-02 9.99522927e-01 -3.33403688e-05 2.58588182e+00] [ 7.12560356e-03 -1.86827704e-04 9.99974595e-01 1.80019229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.659254154 meters 0.017875762992361672 Centerline is valid? [True, True] Translation: X:419.33, Y:2.58, Z:1.80 [[ 9.99461601e-01 -3.15961582e-02 -8.84253352e-03 4.19325254e+02] [ 3.15970338e-02 9.99500688e-01 -4.07004034e-05 2.58266526e+00] [ 8.83940432e-03 -2.38719340e-04 9.99960903e-01 1.79881799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.719254154 meters 0.018088449230526896 Centerline is valid? [True, True] Translation: X:419.39, Y:2.58, Z:1.80 [[ 9.99430446e-01 -3.22512930e-02 -9.93164358e-03 4.19386982e+02] [ 3.22524356e-02 9.99479754e-01 -4.51317670e-05 2.57909608e+00] [ 9.92793224e-03 -2.75213633e-04 9.99950679e-01 1.79776089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.779254154 meters 0.01846461425478234 Centerline is valid? [True, True] Translation: X:419.45, Y:2.58, Z:1.80 [[ 9.99452952e-01 -3.17461140e-02 -9.27260876e-03 4.19448473e+02] [ 3.17470960e-02 9.99495933e-01 -4.13015768e-05 2.57685001e+00] [ 9.26924591e-03 -2.53099418e-04 9.99957008e-01 1.79832819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.839254154 meters 0.017866022995506967 Centerline is valid? [True, True] Translation: X:419.51, Y:2.58, Z:1.80 [[ 9.99510565e-01 -3.03296067e-02 -7.66452433e-03 4.19509420e+02] [ 3.03302404e-02 9.99539932e-01 -3.35656087e-05 2.57728533e+00] [ 7.66201616e-03 -1.98917685e-04 9.99970627e-01 1.80019406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.899254154 meters 0.018901377116785287 Centerline is valid? [True, True] Translation: X:419.57, Y:2.58, Z:1.80 [[ 9.99540078e-01 -2.94587960e-02 -7.19805233e-03 4.19571551e+02] [ 2.94593349e-02 9.99565979e-01 -3.11673231e-05 2.57683404e+00] [ 7.19584638e-03 -1.80896846e-04 9.99974093e-01 1.80012251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.959254154 meters 0.017017618760567076 Centerline is valid? [True, True] Translation: X:419.63, Y:2.57, Z:1.80 [[ 9.99560791e-01 -2.92097909e-02 -5.00123134e-03 4.19633920e+02] [ 2.92100493e-02 9.99573295e-01 -2.13864256e-05 2.57475498e+00] [ 4.99972199e-03 -1.24709182e-04 9.99987494e-01 1.80133969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.019254154 meters 0.017354254400989005 Centerline is valid? [True, True] Translation: X:419.70, Y:2.57, Z:1.80 [[ 9.99563891e-01 -2.92181391e-02 -4.28106478e-03 4.19695814e+02] [ 2.92183297e-02 9.99573053e-01 -1.80321114e-05 2.57291111e+00] [ 4.27976386e-03 -1.07061315e-04 9.99990836e-01 1.80133101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.079254154 meters 0.01818957902743822 Centerline is valid? [True, True] Translation: X:419.76, Y:2.57, Z:1.80 [[ 9.99577437e-01 -2.87808406e-02 -4.07557865e-03 4.19757257e+02] [ 2.87810109e-02 9.99585741e-01 -1.68700160e-05 2.56840101e+00] [ 4.07437584e-03 -1.00436386e-04 9.99991695e-01 1.80170703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.139254154 meters 0.018088692725197236 Centerline is valid? [True, True] Translation: X:419.82, Y:2.57, Z:1.80 [[ 9.99598981e-01 -2.78596455e-02 -5.07115129e-03 4.19819130e+02] [ 2.78598991e-02 9.99611837e-01 -2.06392399e-05 2.56704418e+00] [ 5.06975786e-03 -1.20650800e-04 9.99987141e-01 1.80057962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.199254154 meters 0.017155103041691894 Centerline is valid? [True, True] Translation: X:419.88, Y:2.57, Z:1.80 [[ 9.99633181e-01 -2.62103444e-02 -6.82059887e-03 4.19881359e+02] [ 2.62107689e-02 9.99656438e-01 -2.71569575e-05 2.56546459e+00] [ 6.81896737e-03 -1.51626145e-04 9.99976739e-01 1.79876633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.259254154 meters 0.017064656546054404 Centerline is valid? [True, True] Translation: X:419.94, Y:2.56, Z:1.80 [[ 9.99664404e-01 -2.46931041e-02 -7.83139630e-03 4.19942450e+02] [ 2.46936211e-02 9.99695066e-01 -3.06908938e-05 2.56439670e+00] [ 7.82976609e-03 -1.62704938e-04 9.99969334e-01 1.79777916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.319254154 meters 0.016594428128267523 Centerline is valid? [True, True] Translation: X:420.00, Y:2.56, Z:1.80 [[ 9.99684102e-01 -2.37085791e-02 -8.34262142e-03 4.20003735e+02] [ 2.37091341e-02 9.99718898e-01 -3.23835433e-05 2.56342638e+00] [ 8.34104406e-03 -1.65423017e-04 9.99965199e-01 1.79755680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.37925415399997 meters 0.017385036307955008 Centerline is valid? [True, True] Translation: X:420.06, Y:2.56, Z:1.80 [[ 9.99644070e-01 -2.52557645e-02 -8.59537343e-03 4.20063961e+02] [ 2.52564129e-02 9.99681005e-01 -3.31248773e-05 2.56024463e+00] [ 8.59346815e-03 -1.83975213e-04 9.99963059e-01 1.79785857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.43925415399997 meters 0.01947447134027015 Centerline is valid? [True, True] Translation: X:420.12, Y:2.56, Z:1.80 [[ 9.99564406e-01 -2.77426830e-02 -1.00669095e-02 4.20124905e+02] [ 2.77437004e-02 9.99615069e-01 -3.86005740e-05 2.55820198e+00] [ 1.00641053e-02 -2.40709560e-04 9.99949327e-01 1.79686031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.49925415399997 meters 0.019563162436808657 Centerline is valid? [True, True] Translation: X:420.19, Y:2.55, Z:1.80 [[ 9.99410599e-01 -3.29554318e-02 -9.61223065e-03 4.20185046e+02] [ 3.29566044e-02 9.99456783e-01 -3.64209940e-05 2.55345351e+00] [ 9.60820939e-03 -2.80386955e-04 9.99953801e-01 1.79858067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.559254154 meters 0.02269224094905523 Centerline is valid? [True, True] Translation: X:420.25, Y:2.55, Z:1.80 [[ 9.99056734e-01 -4.26129904e-02 -8.35318158e-03 4.20245770e+02] [ 4.26142152e-02 9.99091601e-01 -3.13752075e-05 2.54566711e+00] [ 8.34693055e-03 -3.24618665e-04 9.99965111e-01 1.79966239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.619254154 meters 0.026674164303703264 Centerline is valid? [True, True] Translation: X:420.31, Y:2.54, Z:1.80 [[ 9.98712305e-01 -5.00940026e-02 -8.02015540e-03 4.20305421e+02] [ 5.00953721e-02 9.98744438e-01 -3.01656560e-05 2.53977278e+00] [ 8.01159671e-03 -3.71645857e-04 9.99967838e-01 1.80038016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.679254154 meters 0.03247556001991447 Centerline is valid? [True, True] Translation: X:420.37, Y:2.53, Z:1.80 [[ 9.98136328e-01 -6.04486054e-02 -8.35687727e-03 4.20365793e+02] [ 6.04504536e-02 9.98171199e-01 -3.14871468e-05 2.53295179e+00] [ 8.34349755e-03 -4.73748557e-04 9.99965080e-01 1.80060242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.739254154 meters 0.036532230808429225 Centerline is valid? [True, True] Translation: X:420.42, Y:2.53, Z:1.80 [[ 9.97806305e-01 -6.55957825e-02 -8.93143314e-03 4.20424834e+02] [ 6.55981014e-02 9.97846124e-01 -3.33870519e-05 2.52856315e+00] [ 8.91438599e-03 -5.52571245e-04 9.99960113e-01 1.80040962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.799254154 meters 0.03379927470162701 Centerline is valid? [True, True] Translation: X:420.49, Y:2.54, Z:1.80 [[ 9.97521400e-01 -6.96545734e-02 -9.96477290e-03 4.20485643e+02] [ 6.96576644e-02 9.97570954e-01 -3.69576603e-05 2.53527619e+00] [ 9.94314228e-03 -6.57256750e-04 9.99950350e-01 1.80131542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.859254154 meters 0.035000423571588966 Centerline is valid? [True, True] Translation: X:420.55, Y:2.54, Z:1.80 [[ 9.97527787e-01 -6.95073598e-02 -1.03460908e-02 4.20548063e+02] [ 6.95106887e-02 9.97581206e-01 -3.79264898e-05 2.53679553e+00] [ 1.03237019e-02 -6.81331172e-04 9.99946477e-01 1.80169428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.919254154 meters 0.034059205592075106 Centerline is valid? [True, True] Translation: X:420.61, Y:2.54, Z:1.80 [[ 9.97748033e-01 -6.61115544e-02 -1.13191969e-02 4.20609144e+02] [ 6.61153266e-02 9.97811987e-01 -4.10240597e-05 2.54343616e+00] [ 1.12971425e-02 -7.07440727e-04 9.99935935e-01 1.80101496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.979254154 meters 0.034188849426124095 Centerline is valid? [True, True] Translation: X:420.67, Y:2.55, Z:1.80 [[ 9.97827597e-01 -6.48337182e-02 -1.16908480e-02 4.20671099e+02] [ 6.48376603e-02 9.97895824e-01 -4.19036652e-05 2.54526902e+00] [ 1.16689652e-02 -7.16194600e-04 9.99931659e-01 1.80105058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.039254154 meters 0.028386470023649496 Centerline is valid? [True, True] Translation: X:420.73, Y:2.56, Z:1.80 [[ 9.98110585e-01 -6.03372152e-02 -1.16051865e-02 4.20731540e+02] [ 6.03408003e-02 9.98177833e-01 -4.12920299e-05 2.55862860e+00] [ 1.15865314e-02 -6.59052229e-04 9.99932657e-01 1.80188395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.099254154 meters 0.027859717859407596 Centerline is valid? [True, True] Translation: X:420.79, Y:2.56, Z:1.80 [[ 9.98283893e-01 -5.74641749e-02 -1.12755367e-02 4.20793190e+02] [ 5.74673820e-02 9.98347384e-01 -3.96346346e-05 2.56255510e+00] [ 1.12591801e-02 -6.08408957e-04 9.99936428e-01 1.80247990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.159254154 meters 0.0251964634733605 Centerline is valid? [True, True] Translation: X:420.85, Y:2.57, Z:1.80 [[ 9.98570331e-01 -5.23246225e-02 -1.09282945e-02 4.20854059e+02] [ 5.23273315e-02 9.98629986e-01 -3.80921171e-05 2.57200302e+00] [ 1.09153157e-02 -5.33810830e-04 9.99940284e-01 1.80285387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.219254154 meters 0.02322111094795639 Centerline is valid? [True, True] Translation: X:420.91, Y:2.58, Z:1.80 [[ 9.98774279e-01 -4.83265418e-02 -1.06997534e-02 4.20914357e+02] [ 4.83289101e-02 9.98831475e-01 -3.72637230e-05 2.57809212e+00] [ 1.06890513e-02 -4.79889371e-04 9.99942755e-01 1.80320710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.279254154 meters 0.021313369209011154 Centerline is valid? [True, True] Translation: X:420.97, Y:2.59, Z:1.80 [[ 9.99134735e-01 -4.05281015e-02 -9.34095843e-03 4.20974417e+02] [ 4.05295660e-02 9.99178339e-01 -3.25315378e-05 2.58570762e+00] [ 9.33460178e-03 -3.46081602e-04 9.99956372e-01 1.80347582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.339254154 meters 0.01930890448343511 Centerline is valid? [True, True] Translation: X:421.03, Y:2.59, Z:1.80 [[ 9.99323830e-01 -3.55974833e-02 -9.20335793e-03 4.21034926e+02] [ 3.55986961e-02 9.99366165e-01 -3.20523644e-05 2.59164210e+00] [ 9.19866551e-03 -2.95596851e-04 9.99957648e-01 1.80377577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.399254154 meters 0.018245467734394144 Centerline is valid? [True, True] Translation: X:421.10, Y:2.60, Z:1.80 [[ 9.99478499e-01 -3.08044477e-02 -9.68585624e-03 4.21096838e+02] [ 3.08055690e-02 9.99525395e-01 -3.34396977e-05 2.59681806e+00] [ 9.68228938e-03 -2.64956054e-04 9.99953090e-01 1.80328820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.459254154 meters 0.018231034885968663 Centerline is valid? [True, True] Translation: X:421.16, Y:2.60, Z:1.80 [[ 9.99518201e-01 -2.94200611e-02 -9.89066513e-03 4.21157984e+02] [ 2.94211670e-02 9.99567103e-01 -3.36983282e-05 2.59787927e+00] [ 9.88737490e-03 -2.57312818e-04 9.99951086e-01 1.80267845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.519254154 meters 0.018582092278334576 Centerline is valid? [True, True] Translation: X:421.22, Y:2.60, Z:1.80 [[ 9.99476675e-01 -3.05265627e-02 -1.07006829e-02 4.21219730e+02] [ 3.05279249e-02 9.99533914e-01 -3.60571168e-05 2.59684087e+00] [ 1.06967961e-02 -2.90631395e-04 9.99942745e-01 1.80183872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.579254154 meters 0.020392786447301983 Centerline is valid? [True, True] Translation: X:421.28, Y:2.59, Z:1.80 [[ 9.99392541e-01 -3.31948460e-02 -1.06136801e-02 4.21280037e+02] [ 3.31963393e-02 9.99448849e-01 -3.54949522e-05 2.59257817e+00] [ 1.06090086e-02 -3.16861934e-04 9.99943673e-01 1.80104397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.639254154 meters 0.02256638100804032 Centerline is valid? [True, True] Translation: X:421.34, Y:2.59, Z:1.80 [[ 9.99234146e-01 -3.78095503e-02 -1.00777022e-02 4.21341002e+02] [ 3.78111336e-02 9.99284903e-01 -3.34440344e-05 2.58765193e+00] [ 1.00717602e-02 -3.47630922e-04 9.99949218e-01 1.80121346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.699254154 meters 0.024352125800937718 Centerline is valid? [True, True] Translation: X:421.40, Y:2.59, Z:1.80 [[ 9.99139777e-01 -3.99512468e-02 -1.11177119e-02 4.21403238e+02] [ 3.99533131e-02 9.99201547e-01 -3.62629006e-05 2.58654485e+00] [ 1.11102837e-02 -4.07957718e-04 9.99938196e-01 1.80034841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.759254154 meters 0.02230222780871176 Centerline is valid? [True, True] Translation: X:421.46, Y:2.59, Z:1.80 [[ 9.98986243e-01 -4.39727204e-02 -9.63777721e-03 4.21464455e+02] [ 4.39744646e-02 9.99032655e-01 -3.09725461e-05 2.58808691e+00] [ 9.62981610e-03 -3.92874945e-04 9.99953555e-01 1.80246287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.819254154 meters 0.02397070182622915 Centerline is valid? [True, True] Translation: X:421.53, Y:2.59, Z:1.80 [[ 9.98881325e-01 -4.63413103e-02 -9.41180097e-03 4.21526547e+02] [ 4.63430835e-02 9.98925582e-01 -2.97216238e-05 2.58548062e+00] [ 9.40306610e-03 -4.06483503e-04 9.99955708e-01 1.80247517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.87925415399997 meters 0.02441055800686407 Centerline is valid? [True, True] Translation: X:421.59, Y:2.58, Z:1.80 [[ 9.98705879e-01 -5.00302687e-02 -9.13998913e-03 4.21587168e+02] [ 5.00320987e-02 9.98747610e-01 -2.84631780e-05 2.58478709e+00] [ 9.12996632e-03 -4.28866495e-04 9.99958229e-01 1.80234774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.93925415399997 meters 0.024588612322358785 Centerline is valid? [True, True] Translation: X:421.65, Y:2.59, Z:1.80 [[ 9.98574152e-01 -5.22881170e-02 -1.07525208e-02 4.21648704e+02] [ 5.22907852e-02 9.98631900e-01 -3.30332731e-05 2.58650327e+00] [ 1.07395375e-02 -5.29271581e-04 9.99942189e-01 1.80128679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.99925415399997 meters 0.028241404723393922 Centerline is valid? [True, True] Translation: X:421.71, Y:2.58, Z:1.80 [[ 9.98570130e-01 -5.23888541e-02 -1.06350470e-02 4.21709791e+02] [ 5.23914762e-02 9.98626623e-01 -3.20828036e-05 2.58285323e+00] [ 1.06221219e-02 -5.25148885e-04 9.99943446e-01 1.80060631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.059254154 meters 0.02427755754226414 Centerline is valid? [True, True] Translation: X:421.77, Y:2.59, Z:1.80 [[ 9.98631375e-01 -5.11867506e-02 -1.07374792e-02 4.21771694e+02] [ 5.11893619e-02 9.98688965e-01 -3.16690499e-05 2.59071833e+00] [ 1.07250231e-02 -5.18019004e-04 9.99942351e-01 1.80150306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.119254154 meters 0.026558705239894558 Centerline is valid? [True, True] Translation: X:421.83, Y:2.59, Z:1.80 [[ 9.98779482e-01 -4.83142847e-02 -1.02604133e-02 4.21831846e+02] [ 4.83165223e-02 9.98832074e-01 -2.98365205e-05 2.59164991e+00] [ 1.02498714e-02 -4.65947383e-04 9.99947360e-01 1.80174182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.179254154 meters 0.021477028198316307 Centerline is valid? [True, True] Translation: X:421.89, Y:2.60, Z:1.80 [[ 9.98998083e-01 -4.33905857e-02 -1.09584310e-02 4.21892826e+02] [ 4.33928449e-02 9.99058086e-01 -3.16246638e-05 2.60395010e+00] [ 1.09494813e-02 -4.43924519e-04 9.99939954e-01 1.80240604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.239254154 meters 0.022173256609513844 Centerline is valid? [True, True] Translation: X:421.95, Y:2.61, Z:1.80 [[ 9.99128717e-01 -4.01028338e-02 -1.15572284e-02 4.21953357e+02] [ 4.01051300e-02 9.99195465e-01 -3.31101514e-05 2.60569392e+00] [ 1.15492581e-02 -4.30422846e-04 9.99933212e-01 1.80160881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.299254154 meters 0.019561927957587166 Centerline is valid? [True, True] Translation: X:422.01, Y:2.61, Z:1.80 [[ 9.99314882e-01 -3.51591016e-02 -1.15587136e-02 4.22013749e+02] [ 3.51610689e-02 9.99381658e-01 -3.30322133e-05 2.61330581e+00] [ 1.15527278e-02 -3.73407144e-04 9.99933195e-01 1.80229609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.359254154 meters 0.01882038774522335 Centerline is valid? [True, True] Translation: X:422.08, Y:2.62, Z:1.80 [[ 9.99389984e-01 -3.29630029e-02 -1.15369282e-02 4.22075269e+02] [ 3.29648196e-02 9.99456512e-01 -3.27050066e-05 2.61644944e+00] [ 1.15317361e-02 -3.47627702e-04 9.99933447e-01 1.80286546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.419254154 meters 0.018217120395727274 Centerline is valid? [True, True] Translation: X:422.14, Y:2.62, Z:1.80 [[ 9.99500501e-01 -2.97099747e-02 -1.07733745e-02 4.22137070e+02] [ 2.97113755e-02 9.99558519e-01 -3.00340046e-05 2.61976945e+00] [ 1.07695106e-02 -2.90072774e-04 9.99941965e-01 1.80328299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.479254154 meters 0.017651935273331913 Centerline is valid? [True, True] Translation: X:422.20, Y:2.62, Z:1.80 [[ 9.99607599e-01 -2.61893983e-02 -9.93793371e-03 4.22198683e+02] [ 2.61904207e-02 9.99656972e-01 -2.72771410e-05 2.62293103e+00] [ 9.93523909e-03 -2.33012227e-04 9.99950617e-01 1.80406914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.539254154 meters 0.016235060503439456 Centerline is valid? [True, True] Translation: X:422.26, Y:2.63, Z:1.81 [[ 9.99729677e-01 -2.15182623e-02 -8.80555329e-03 4.22260586e+02] [ 2.15188872e-02 9.99768442e-01 -2.37800779e-05 2.62817422e+00] [ 8.80402600e-03 -1.65712059e-04 9.99961230e-01 1.80566519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.599254154 meters 0.016521948710391744 Centerline is valid? [True, True] Translation: X:422.32, Y:2.63, Z:1.81 [[ 9.99868290e-01 -1.45159015e-02 -7.25885182e-03 4.22321961e+02] [ 1.45161439e-02 9.99894635e-01 -1.92938937e-05 2.63324847e+00] [ 7.25836706e-03 -8.60791849e-05 9.99973654e-01 1.80600997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.659254154 meters 0.014955149645281832 Centerline is valid? [True, True] Translation: X:422.38, Y:2.63, Z:1.81 [[ 9.99902841e-01 -1.28740819e-02 -5.34475800e-03 4.22382074e+02] [ 1.28741905e-02 9.99917124e-01 -1.40858411e-05 2.63377604e+00] [ 5.34449639e-03 -5.47249599e-05 9.99985717e-01 1.80772426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.719254154 meters 0.015154118767953263 Centerline is valid? [True, True] Translation: X:422.44, Y:2.63, Z:1.81 [[ 9.99864316e-01 -1.53375118e-02 -6.00910802e-03 4.22443064e+02] [ 1.53376939e-02 9.99882371e-01 -1.57769504e-05 2.63132961e+00] [ 6.00864315e-03 -7.63910499e-05 9.99981945e-01 1.80692275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.779254154 meters 0.01663170301360337 Centerline is valid? [True, True] Translation: X:422.50, Y:2.62, Z:1.80 [[ 9.99705247e-01 -2.30381691e-02 -7.65914063e-03 4.22504592e+02] [ 2.30386934e-02 9.99734574e-01 -1.97813437e-05 2.62197275e+00] [ 7.65756342e-03 -1.56681080e-04 9.99970668e-01 1.80485061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.839254154 meters 0.01793197353197001 Centerline is valid? [True, True] Translation: X:422.57, Y:2.62, Z:1.80 [[ 9.99532149e-01 -2.94301564e-02 -8.32765942e-03 4.22565529e+02] [ 2.94310000e-02 9.99566814e-01 -2.12595430e-05 2.61566558e+00] [ 8.32467767e-03 -2.23841748e-04 9.99965324e-01 1.80410629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.899254154 meters 0.02051106042465982 Centerline is valid? [True, True] Translation: X:422.63, Y:2.61, Z:1.80 [[ 9.99350257e-01 -3.49871114e-02 -8.65824508e-03 4.22625748e+02] [ 3.49882330e-02 9.99387724e-01 -2.19398500e-05 2.60792711e+00] [ 8.65371146e-03 -2.81011101e-04 9.99962516e-01 1.80347985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.959254154 meters 0.020725593897606025 Centerline is valid? [True, True] Translation: X:422.69, Y:2.60, Z:1.80 [[ 9.99167138e-01 -3.96347433e-02 -9.70144055e-03 4.22686405e+02] [ 3.96363721e-02 9.99214170e-01 -2.43938770e-05 2.60435029e+00] [ 9.69478371e-03 -3.60156347e-04 9.99952940e-01 1.80347666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.019254154 meters 0.026666698170912863 Centerline is valid? [True, True] Translation: X:422.75, Y:2.59, Z:1.80 [[ 9.99019432e-01 -4.34622003e-02 -8.43871848e-03 4.22746755e+02] [ 4.34635703e-02 9.99055012e-01 -2.10735238e-05 2.59393120e+00] [ 8.43165990e-03 -3.45723974e-04 9.99964393e-01 1.80186798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.079254154 meters 0.023257065508411393 Centerline is valid? [True, True] Translation: X:422.81, Y:2.60, Z:1.81 [[ 9.98980103e-01 -4.45528887e-02 -7.33440897e-03 4.22809307e+02] [ 4.45539549e-02 9.99006979e-01 -1.80305458e-05 2.59645070e+00] [ 7.32792907e-03 -3.08764770e-04 9.99973103e-01 1.80521713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.139254154 meters 0.022725337291931907 Centerline is valid? [True, True] Translation: X:422.87, Y:2.60, Z:1.81 [[ 9.98987081e-01 -4.45552975e-02 -6.29583473e-03 4.22872726e+02] [ 4.45560863e-02 9.99006884e-01 -1.49883857e-05 2.59742295e+00] [ 6.29025005e-03 -2.65544552e-04 9.99980181e-01 1.80620350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.199254154 meters 0.02290568980544566 Centerline is valid? [True, True] Translation: X:422.94, Y:2.60, Z:1.81 [[ 9.98974116e-01 -4.47730430e-02 -6.78894059e-03 4.22935386e+02] [ 4.47739700e-02 9.98997143e-01 -1.54541369e-05 2.59713816e+00] [ 6.78282418e-03 -2.88529540e-04 9.99976955e-01 1.80618157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.259254154 meters 0.023308130761288993 Centerline is valid? [True, True] Translation: X:423.00, Y:2.60, Z:1.80 [[ 9.98936790e-01 -4.52311279e-02 -8.91260959e-03 4.22997799e+02] [ 4.52327506e-02 9.98976475e-01 -1.95260626e-05 2.59775401e+00] [ 8.90437050e-03 -3.83636545e-04 9.99960282e-01 1.80492672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.319254154 meters 0.02349884060588861 Centerline is valid? [True, True] Translation: X:423.06, Y:2.60, Z:1.80 [[ 9.98901698e-01 -4.56677801e-02 -1.04810319e-02 4.23060254e+02] [ 4.56700569e-02 9.98956578e-01 -2.21327970e-05 2.59872091e+00] [ 1.04711065e-02 -4.56560836e-04 9.99945072e-01 1.80445130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.37925415399997 meters 0.02405527699394081 Centerline is valid? [True, True] Translation: X:423.12, Y:2.60, Z:1.80 [[ 9.98953711e-01 -4.42908984e-02 -1.13929804e-02 4.23121510e+02] [ 4.42935140e-02 9.99018560e-01 -2.27707211e-05 2.59830454e+00] [ 1.13828074e-02 -4.81888239e-04 9.99935098e-01 1.80365480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.43925415399997 meters 0.02151574569713322 Centerline is valid? [True, True] Translation: X:423.18, Y:2.60, Z:1.80 [[ 9.99030781e-01 -4.22977561e-02 -1.21819258e-02 4.23183936e+02] [ 4.23006133e-02 9.99104928e-01 -2.31349909e-05 2.60357588e+00] [ 1.21720007e-02 -4.92190367e-04 9.99925797e-01 1.80425439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.49925415399997 meters 0.02112913796101159 Centerline is valid? [True, True] Translation: X:423.24, Y:2.61, Z:1.80 [[ 9.99182593e-01 -3.84951426e-02 -1.23397446e-02 4.23244418e+02] [ 3.84977990e-02 9.99258685e-01 -2.22801882e-05 2.60731922e+00] [ 1.23314547e-02 -4.52791033e-04 9.99923862e-01 1.80458237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.559254154 meters 0.02079772345330907 Centerline is valid? [True, True] Translation: X:423.31, Y:2.61, Z:1.80 [[ 9.99281963e-01 -3.57818394e-02 -1.24586472e-02 4.23306382e+02] [ 3.57843478e-02 9.99359535e-01 -2.15981417e-05 2.60940123e+00] [ 1.24514407e-02 -4.24241931e-04 9.99922388e-01 1.80480503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.619254154 meters 0.01778074206840601 Centerline is valid? [True, True] Translation: X:423.37, Y:2.62, Z:1.81 [[ 9.99502138e-01 -2.95816986e-02 -1.09726228e-02 4.23367526e+02] [ 2.95832746e-02 9.99562319e-01 -1.86889163e-05 2.61722189e+00] [ 1.09683732e-02 -3.05926502e-04 9.99939799e-01 1.80670331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.679254154 meters 0.017275433366513777 Centerline is valid? [True, True] Translation: X:423.43, Y:2.62, Z:1.81 [[ 9.99663547e-01 -2.38477690e-02 -1.02018008e-02 4.23428693e+02] [ 2.38488348e-02 9.99715576e-01 -1.71911846e-05 2.62227737e+00] [ 1.01993092e-02 -2.26115662e-04 9.99947960e-01 1.80727502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.739254154 meters 0.015171746815256685 Centerline is valid? [True, True] Translation: X:423.49, Y:2.63, Z:1.81 [[ 9.99822582e-01 -1.63937756e-02 -9.27620118e-03 4.23489466e+02] [ 1.63943375e-02 9.99865604e-01 -1.54667176e-05 2.62872563e+00] [ 9.27520805e-03 -1.36613199e-04 9.99956975e-01 1.80858917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.799254154 meters 0.014691808256491804 Centerline is valid? [True, True] Translation: X:423.55, Y:2.63, Z:1.81 [[ 9.99874690e-01 -1.29965455e-02 -9.03846471e-03 4.23549176e+02] [ 1.29969402e-02 9.99915536e-01 -1.50752155e-05 2.63050981e+00] [ 9.03789721e-03 -1.02399059e-04 9.99959152e-01 1.80840035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.859254154 meters 0.014630975708585047 Centerline is valid? [True, True] Translation: X:423.61, Y:2.63, Z:1.81 [[ 9.99880588e-01 -1.21133326e-02 -9.59568532e-03 4.23609236e+02] [ 1.21137342e-02 9.99926626e-01 -1.62787749e-05 2.63098462e+00] [ 9.59517843e-03 -9.99627500e-05 9.99953960e-01 1.80756990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.919254154 meters 0.014947782217433717 Centerline is valid? [True, True] Translation: X:423.67, Y:2.63, Z:1.81 [[ 9.99827884e-01 -1.52925854e-02 -1.05042134e-02 4.23667596e+02] [ 1.52932239e-02 9.99883052e-01 -1.95468966e-05 2.62790460e+00] [ 1.05032839e-02 -1.41099755e-04 9.99944829e-01 1.80680338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.979254154 meters 0.015873057192055492 Centerline is valid? [True, True] Translation: X:423.73, Y:2.62, Z:1.81 [[ 9.99763576e-01 -1.87604708e-02 -1.09925747e-02 4.23726334e+02] [ 1.87613628e-02 9.99823990e-01 -2.19790284e-05 2.62363585e+00] [ 1.09910522e-02 -1.84261849e-04 9.99939580e-01 1.80613597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.039254154 meters 0.01689748972427022 Centerline is valid? [True, True] Translation: X:423.79, Y:2.62, Z:1.81 [[ 9.99592606e-01 -2.58873044e-02 -1.20195682e-02 4.23785953e+02] [ 2.58888793e-02 9.99664826e-01 -2.45703492e-05 2.61851998e+00] [ 1.20161756e-02 -2.86612812e-04 9.99927762e-01 1.80617208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.099254154 meters 0.01790005195100489 Centerline is valid? [True, True] Translation: X:423.85, Y:2.61, Z:1.81 [[ 9.99470495e-01 -3.00662807e-02 -1.24398235e-02 4.23846480e+02] [ 3.00682890e-02 9.99547846e-01 -2.55970598e-05 2.61436910e+00] [ 1.24349683e-02 -3.48460701e-04 9.99922622e-01 1.80604148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.159254154 meters 0.018573195707038966 Centerline is valid? [True, True] Translation: X:423.91, Y:2.61, Z:1.81 [[ 9.99355789e-01 -3.36201779e-02 -1.25575292e-02 4.23907606e+02] [ 3.36225085e-02 9.99434603e-01 -2.55368442e-05 2.61172336e+00] [ 1.25512878e-02 -3.96695241e-04 9.99921151e-01 1.80684587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.219254154 meters 0.018582524681819177 Centerline is valid? [True, True] Translation: X:423.97, Y:2.61, Z:1.81 [[ 9.99378247e-01 -3.27794786e-02 -1.29855645e-02 4.23968704e+02] [ 3.27819062e-02 9.99462529e-01 -2.59226262e-05 2.61175222e+00] [ 1.29794348e-02 -3.99785048e-04 9.99915684e-01 1.80724231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.279254154 meters 0.019169936127609814 Centerline is valid? [True, True] Translation: X:424.03, Y:2.61, Z:1.81 [[ 9.99432239e-01 -3.08875827e-02 -1.34594781e-02 4.24029298e+02] [ 3.08900237e-02 9.99522789e-01 -2.65368600e-05 2.61180736e+00] [ 1.34538747e-02 -3.89241804e-04 9.99909417e-01 1.80755423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.339254154 meters 0.01688728473277579 Centerline is valid? [True, True] Translation: X:424.09, Y:2.62, Z:1.81 [[ 9.99553871e-01 -2.67635007e-02 -1.32579743e-02 4.24090416e+02] [ 2.67655099e-02 9.99641739e-01 -2.58983847e-05 2.61542905e+00] [ 1.32539176e-02 -3.28969611e-04 9.99912109e-01 1.81000469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.399254154 meters 0.01680177914975275 Centerline is valid? [True, True] Translation: X:424.15, Y:2.62, Z:1.81 [[ 9.99633312e-01 -2.31719283e-02 -1.40108399e-02 4.24151490e+02] [ 2.31738233e-02 9.99731451e-01 -2.71045187e-05 2.61837722e+00] [ 1.40077054e-02 -2.97590148e-04 9.99901843e-01 1.81079812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.459254154 meters 0.015895480484673603 Centerline is valid? [True, True] Translation: X:424.21, Y:2.62, Z:1.81 [[ 9.99688976e-01 -2.05016684e-02 -1.41997562e-02 4.24209738e+02] [ 2.05033391e-02 9.99789784e-01 -2.79254422e-05 2.61928343e+00] [ 1.41973437e-02 -2.63225661e-04 9.99899178e-01 1.81061610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.519254154 meters 0.016758499805693185 Centerline is valid? [True, True] Translation: X:424.27, Y:2.62, Z:1.81 [[ 9.99677264e-01 -1.88893559e-02 -1.69870589e-02 4.24268896e+02] [ 1.88914981e-02 9.99821539e-01 -3.43627167e-05 2.61925650e+00] [ 1.69846764e-02 -2.86559364e-04 9.99855709e-01 1.80907810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.579254154 meters 0.017364458506715787 Centerline is valid? [True, True] Translation: X:424.33, Y:2.61, Z:1.81 [[ 9.99582973e-01 -2.25405416e-02 -1.80500638e-02 4.24327392e+02] [ 2.25435381e-02 9.99745861e-01 -3.74717256e-05 2.61484619e+00] [ 1.80463212e-02 -3.69456202e-04 9.99837084e-01 1.80813555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.639254154 meters 0.017535363668526812 Centerline is valid? [True, True] Translation: X:424.39, Y:2.61, Z:1.81 [[ 9.99438684e-01 -2.74698501e-02 -1.91761125e-02 4.24386484e+02] [ 2.74741103e-02 9.99622515e-01 -4.12962381e-05 2.61414885e+00] [ 1.91700082e-02 -4.85573574e-04 9.99816121e-01 1.80951793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.699254154 meters 0.020380549869177422 Centerline is valid? [True, True] Translation: X:424.45, Y:2.61, Z:1.81 [[ 9.99227652e-01 -3.44318053e-02 -1.89354303e-02 4.24446015e+02] [ 3.44371960e-02 9.99406863e-01 -4.14063570e-05 2.60827733e+00] [ 1.89256247e-02 -6.10708747e-04 9.99820708e-01 1.80935043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.759254154 meters 0.02131775452771073 Centerline is valid? [True, True] Translation: X:424.51, Y:2.61, Z:1.81 [[ 9.99109188e-01 -3.79523408e-02 -1.84513035e-02 4.24505774e+02] [ 3.79580480e-02 9.99279333e-01 -4.09332109e-05 2.60704416e+00] [ 1.84395598e-02 -6.59478718e-04 9.99829759e-01 1.81101712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.819254154 meters 0.021619470067719245 Centerline is valid? [True, True] Translation: X:424.57, Y:2.61, Z:1.81 [[ 9.99112194e-01 -3.79474460e-02 -1.82979571e-02 4.24566508e+02] [ 3.79530550e-02 9.99279522e-01 -4.07508119e-05 2.60735552e+00] [ 1.82863202e-02 -6.53748740e-04 9.99832578e-01 1.81169679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.87925415399997 meters 0.0201315281737402 Centerline is valid? [True, True] Translation: X:424.63, Y:2.61, Z:1.81 [[ 9.99190011e-01 -3.65810239e-02 -1.67675605e-02 4.24626941e+02] [ 3.65855415e-02 9.99330524e-01 -3.73425130e-05 2.61055568e+00] [ 1.67577010e-02 -5.76138013e-04 9.99859414e-01 1.81420632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.93925415399997 meters 0.019915565362714036 Centerline is valid? [True, True] Translation: X:424.69, Y:2.61, Z:1.82 [[ 9.99296429e-01 -3.40797500e-02 -1.56594092e-02 4.24687403e+02] [ 3.40833834e-02 9.99418992e-01 -3.48745837e-05 2.61342966e+00] [ 1.56514995e-02 -4.98875599e-04 9.99877383e-01 1.81682989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.99925415399997 meters 0.01990775229070584 Centerline is valid? [True, True] Translation: X:424.75, Y:2.61, Z:1.82 [[ 9.99307046e-01 -3.32746849e-02 -1.66800220e-02 4.24749104e+02] [ 3.32787028e-02 9.99446110e-01 -3.67021355e-05 2.61428632e+00] [ 1.66720044e-02 -5.18412792e-04 9.99860878e-01 1.81731467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.059254154 meters 0.019825440222369855 Centerline is valid? [True, True] Translation: X:424.81, Y:2.61, Z:1.82 [[ 9.99210686e-01 -3.51318083e-02 -1.85407878e-02 4.24809563e+02] [ 3.51370955e-02 9.99382501e-01 -4.06190355e-05 2.61413206e+00] [ 1.85307659e-02 -6.10882458e-04 9.99828104e-01 1.81703127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.119254154 meters 0.021920620065882582 Centerline is valid? [True, True] Translation: X:424.87, Y:2.61, Z:1.82 [[ 9.99079279e-01 -3.83454330e-02 -1.92411506e-02 4.24869259e+02] [ 3.83517172e-02 9.99264301e-01 -4.24236560e-05 2.60957040e+00] [ 1.92286217e-02 -6.95546573e-04 9.99814871e-01 1.81551505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.179254154 meters 0.022361385693783965 Centerline is valid? [True, True] Translation: X:424.93, Y:2.61, Z:1.82 [[ 9.98995632e-01 -3.97497652e-02 -2.06805041e-02 4.24928918e+02] [ 3.97573117e-02 9.99209364e-01 -4.62691801e-05 2.60938679e+00] [ 2.06659925e-02 -7.75978538e-04 9.99786134e-01 1.81583626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.239254154 meters 0.02201329019801125 Centerline is valid? [True, True] Translation: X:424.99, Y:2.61, Z:1.82 [[ 9.98997790e-01 -3.92631450e-02 -2.14900294e-02 4.24988669e+02] [ 3.92711649e-02 9.99228589e-01 -4.88607398e-05 2.61169877e+00] [ 2.14753702e-02 -7.95126718e-04 9.99769061e-01 1.81549086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.299254154 meters 0.0225411617545052 Centerline is valid? [True, True] Translation: X:425.05, Y:2.61, Z:1.81 [[ 9.99075959e-01 -3.71719985e-02 -2.15747797e-02 4.25047919e+02] [ 3.71795784e-02 9.99308599e-01 -4.98217080e-05 2.61256382e+00] [ 2.15617148e-02 -7.52365542e-04 9.99767236e-01 1.81464817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.359254154 meters 0.019303415330165805 Centerline is valid? [True, True] Translation: X:425.11, Y:2.62, Z:1.82 [[ 9.99290535e-01 -3.21036167e-02 -1.96922627e-02 4.25107693e+02] [ 3.21089320e-02 9.99484374e-01 -4.62864997e-05 2.62139023e+00] [ 1.96835948e-02 -5.86043863e-04 9.99806088e-01 1.81770203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.419254154 meters 0.01760298587168466 Centerline is valid? [True, True] Translation: X:425.17, Y:2.63, Z:1.82 [[ 9.99443101e-01 -2.78185548e-02 -1.84286585e-02 4.25167697e+02] [ 2.78224737e-02 9.99612879e-01 -4.37547742e-05 2.62652534e+00] [ 1.84227416e-02 -4.69000459e-04 9.99830177e-01 1.81834284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.479254154 meters 0.01675889066123056 Centerline is valid? [True, True] Translation: X:425.23, Y:2.63, Z:1.82 [[ 9.99570101e-01 -2.37889785e-02 -1.71376143e-02 4.25226724e+02] [ 2.37917220e-02 9.99716936e-01 -4.38052477e-05 2.63080207e+00] [ 1.71338053e-02 -3.63946940e-04 9.99853139e-01 1.81876061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.539254154 meters 0.016444810291382072 Centerline is valid? [True, True] Translation: X:425.29, Y:2.63, Z:1.82 [[ 9.99603742e-01 -2.27415044e-02 -1.65886521e-02 4.25285362e+02] [ 2.27438621e-02 9.99741324e-01 -4.65439106e-05 2.63129287e+00] [ 1.65854195e-02 -3.30764549e-04 9.99862398e-01 1.81870085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.599254154 meters 0.016805731937006324 Centerline is valid? [True, True] Translation: X:425.34, Y:2.63, Z:1.82 [[ 9.99581559e-01 -2.38534401e-02 -1.63621681e-02 4.25344329e+02] [ 2.38558150e-02 9.99715408e-01 -5.00459744e-05 2.62982033e+00] [ 1.63587053e-02 -3.40307821e-04 9.99866130e-01 1.81812944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.659254154 meters 0.017600525386855054 Centerline is valid? [True, True] Translation: X:425.40, Y:2.63, Z:1.82 [[ 9.99537857e-01 -2.55698969e-02 -1.64393503e-02 4.25402688e+02] [ 2.55724585e-02 9.99672970e-01 -5.44027531e-05 2.62734194e+00] [ 1.64353653e-02 -3.66016993e-04 9.99864863e-01 1.81754670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.719254154 meters 0.017626238024590842 Centerline is valid? [True, True] Translation: X:425.46, Y:2.62, Z:1.82 [[ 9.99474905e-01 -2.79408894e-02 -1.64079586e-02 4.25461879e+02] [ 2.79437318e-02 9.99609496e-01 -5.60519937e-05 2.62434334e+00] [ 1.64031174e-02 -4.02477035e-04 9.99865379e-01 1.81744690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.779254154 meters 0.01955881542733274 Centerline is valid? [True, True] Translation: X:425.52, Y:2.62, Z:1.82 [[ 9.99451030e-01 -2.84058022e-02 -1.70513499e-02 4.25521243e+02] [ 2.84089273e-02 9.99596383e-01 -5.89660381e-05 2.62122880e+00] [ 1.70461427e-02 -4.25476893e-04 9.99854613e-01 1.81678252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.839254154 meters 0.017996203715773203 Centerline is valid? [True, True] Translation: X:425.58, Y:2.62, Z:1.82 [[ 9.99416061e-01 -3.01563214e-02 -1.60665372e-02 4.25579647e+02] [ 3.01592715e-02 9.99545104e-01 -5.86992089e-05 2.61888598e+00] [ 1.60609987e-02 -4.25890125e-04 9.99870923e-01 1.81721806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.899254154 meters 0.018898034867168168 Centerline is valid? [True, True] Translation: X:425.64, Y:2.61, Z:1.82 [[ 9.99350919e-01 -3.31558129e-02 -1.40865866e-02 4.25639564e+02] [ 3.31583594e-02 9.99450109e-01 -5.28058268e-05 2.61333009e+00] [ 1.40805914e-02 -4.14316551e-04 9.99900778e-01 1.81766666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.959254154 meters 0.019411795067443765 Centerline is valid? [True, True] Translation: X:425.70, Y:2.61, Z:1.82 [[ 9.99266781e-01 -3.61937261e-02 -1.24865810e-02 4.25700435e+02] [ 3.61959663e-02 9.99344710e-01 -4.66093699e-05 2.60822197e+00] [ 1.24800857e-02 -4.05388670e-04 9.99922039e-01 1.81778224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.019254154 meters 0.020517949006930353 Centerline is valid? [True, True] Translation: X:425.76, Y:2.61, Z:1.82 [[ 9.99237338e-01 -3.75190458e-02 -1.08196147e-02 4.25762164e+02] [ 3.75208108e-02 9.99295846e-01 -3.98744381e-05 2.60546597e+00] [ 1.08134920e-02 -3.66116687e-04 9.99941465e-01 1.81857876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.079254154 meters 0.02123134417627131 Centerline is valid? [True, True] Translation: X:425.82, Y:2.60, Z:1.82 [[ 9.99245662e-01 -3.77231211e-02 -9.22352587e-03 4.25823250e+02] [ 3.77244168e-02 9.99288180e-01 -3.35261429e-05 2.60140201e+00] [ 9.21822509e-03 -3.14451281e-04 9.99957462e-01 1.81898510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.139254154 meters 0.02177649455169199 Centerline is valid? [True, True] Translation: X:425.89, Y:2.60, Z:1.82 [[ 9.99262777e-01 -3.73444985e-02 -8.90458838e-03 4.25885070e+02] [ 3.73456959e-02 9.99302406e-01 -3.18187795e-05 2.59818682e+00] [ 8.89956484e-03 -3.00752728e-04 9.99960353e-01 1.81857094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.199254154 meters 0.020496469291519204 Centerline is valid? [True, True] Translation: X:425.95, Y:2.60, Z:1.82 [[ 9.99322194e-01 -3.58669566e-02 -8.28938575e-03 4.25947630e+02] [ 3.58679483e-02 9.99356538e-01 -2.90483372e-05 2.59782930e+00] [ 8.28509372e-03 -2.68294611e-04 9.99965642e-01 1.81889722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.259254154 meters 0.01977201158632519 Centerline is valid? [True, True] Translation: X:426.01, Y:2.60, Z:1.82 [[ 9.99346595e-01 -3.51588777e-02 -8.38076937e-03 4.26009531e+02] [ 3.51598717e-02 9.99381700e-01 -2.87522166e-05 2.59799665e+00] [ 8.37659844e-03 -2.65933346e-04 9.99964880e-01 1.81911064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.319254154 meters 0.020022319538563395 Centerline is valid? [True, True] Translation: X:426.07, Y:2.60, Z:1.82 [[ 9.99292851e-01 -3.64525159e-02 -9.22020604e-03 4.26072148e+02] [ 3.64537806e-02 9.99335340e-01 -3.09180901e-05 2.59509344e+00] [ 9.21520477e-03 -3.05215141e-04 9.99957493e-01 1.81800635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.37925415399997 meters 0.02194559185465118 Centerline is valid? [True, True] Translation: X:426.13, Y:2.59, Z:1.82 [[ 9.99239326e-01 -3.77502630e-02 -9.78198442e-03 4.26133955e+02] [ 3.77517559e-02 9.99287148e-01 -3.20569722e-05 2.59315111e+00] [ 9.77622147e-03 -3.37254501e-04 9.99952155e-01 1.81660746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.43925415399997 meters 0.022181552422341273 Centerline is valid? [True, True] Translation: X:426.19, Y:2.59, Z:1.82 [[ 9.99104458e-01 -4.09089841e-02 -1.08044453e-02 4.26194365e+02] [ 4.09109949e-02 9.99162794e-01 -3.49307671e-05 2.59163176e+00] [ 1.07968287e-02 -4.07121121e-04 9.99941630e-01 1.81771473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.49925415399997 meters 0.021794015105552803 Centerline is valid? [True, True] Translation: X:426.26, Y:2.59, Z:1.82 [[ 9.99001091e-01 -4.37175471e-02 -9.25183834e-03 4.26256327e+02] [ 4.37191458e-02 9.99043861e-01 -2.94790696e-05 2.59266581e+00] [ 9.24428105e-03 -3.75032846e-04 9.99957200e-01 1.81960365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.559254154 meters 0.02271283337801982 Centerline is valid? [True, True] Translation: X:426.32, Y:2.59, Z:1.82 [[ 9.98911255e-01 -4.59927471e-02 -7.80849177e-03 4.26318795e+02] [ 4.59939593e-02 9.98941718e-01 -2.43472208e-05 2.59184409e+00] [ 7.80134797e-03 -3.34822740e-04 9.99969513e-01 1.82102081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.619254154 meters 0.025269853032872398 Centerline is valid? [True, True] Translation: X:426.38, Y:2.59, Z:1.82 [[ 9.98680515e-01 -5.09725739e-02 -6.24706058e-03 4.26379495e+02] [ 5.09734489e-02 9.98700009e-01 -1.91816616e-05 2.58956984e+00] [ 6.23991719e-03 -2.99277871e-04 9.99980487e-01 1.82276928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.679254154 meters 0.028647896240151325 Centerline is valid? [True, True] Translation: X:426.44, Y:2.59, Z:1.82 [[ 9.98481048e-01 -5.47403744e-02 -6.25202852e-03 4.26439621e+02] [ 5.47413249e-02 9.98500569e-01 -1.91159967e-05 2.58604557e+00] [ 6.24370046e-03 -3.23157364e-04 9.99980456e-01 1.82313680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.739254154 meters 0.030532452158475044 Centerline is valid? [True, True] Translation: X:426.50, Y:2.58, Z:1.82 [[ 9.98245417e-01 -5.88523271e-02 -6.51844350e-03 4.26501033e+02] [ 5.88534483e-02 9.98266633e-01 -1.98552055e-05 2.58369897e+00] [ 6.50831318e-03 -3.63812510e-04 9.99978755e-01 1.82264801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.799254154 meters 0.03182844223702244 Centerline is valid? [True, True] Translation: X:426.56, Y:2.58, Z:1.82 [[ 9.97981616e-01 -6.31169017e-02 -6.99643301e-03 4.26562144e+02] [ 6.31182993e-02 9.98006052e-01 -2.10842915e-05 2.58234982e+00] [ 6.98381326e-03 -4.20561218e-04 9.99975524e-01 1.82240740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.859254154 meters 0.03451777065763433 Centerline is valid? [True, True] Translation: X:426.62, Y:2.58, Z:1.82 [[ 9.97654307e-01 -6.80152865e-02 -7.73329051e-03 4.26622672e+02] [ 6.80171415e-02 9.97684152e-01 -2.31843655e-05 2.58167428e+00] [ 7.71695827e-03 -5.02866333e-04 9.99970097e-01 1.82282818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.919254154 meters 0.03476451475924149 Centerline is valid? [True, True] Translation: X:426.68, Y:2.58, Z:1.82 [[ 9.97514074e-01 -6.98439886e-02 -9.35362243e-03 4.26683653e+02] [ 6.98467834e-02 9.97557731e-01 -2.79356926e-05 2.58241667e+00] [ 9.33272950e-03 -6.25454193e-04 9.99956254e-01 1.82197575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.979254154 meters 0.03484237295110015 Centerline is valid? [True, True] Translation: X:426.75, Y:2.58, Z:1.82 [[ 9.97511439e-01 -6.95307817e-02 -1.16789983e-02 4.26746599e+02] [ 6.95351281e-02 9.97579503e-01 -3.39879915e-05 2.58302047e+00] [ 1.16530925e-02 -7.78197233e-04 9.99931798e-01 1.82018362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.039254154 meters 0.03518412036249622 Centerline is valid? [True, True] Translation: X:426.81, Y:2.59, Z:1.82 [[ 9.97732749e-01 -6.61811063e-02 -1.22238447e-02 4.26806035e+02] [ 6.61856218e-02 9.97807327e-01 -3.52103377e-05 2.58533582e+00] [ 1.21993721e-02 -7.73912259e-04 9.99925285e-01 1.82040803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.099254154 meters 0.02648067027104847 Centerline is valid? [True, True] Translation: X:426.87, Y:2.60, Z:1.82 [[ 9.98356000e-01 -5.59821436e-02 -1.23002886e-02 4.26866760e+02] [ 5.59859431e-02 9.98431556e-01 -3.54961508e-05 2.60360075e+00] [ 1.22829835e-02 -6.53205465e-04 9.99924348e-01 1.82237755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.159254154 meters 0.023194882162553696 Centerline is valid? [True, True] Translation: X:426.93, Y:2.61, Z:1.82 [[ 9.98982044e-01 -4.33268136e-02 -1.25563654e-02 4.26926704e+02] [ 4.33297751e-02 9.99060824e-01 -3.62224310e-05 2.61346403e+00] [ 1.25461422e-02 -5.07878932e-04 9.99921165e-01 1.82161363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.219254154 meters 0.02162307823375923 Centerline is valid? [True, True] Translation: X:426.99, Y:2.62, Z:1.82 [[ 9.99326564e-01 -3.46272800e-02 -1.21396069e-02 4.26985953e+02] [ 3.46294052e-02 9.99400222e-01 -3.51569128e-05 2.62074497e+00] [ 1.21335432e-02 -3.85254129e-04 9.99926312e-01 1.82182922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.279254154 meters 0.01724100800885547 Centerline is valid? [True, True] Translation: X:427.05, Y:2.64, Z:1.83 [[ 9.99670580e-01 -2.31004959e-02 -1.11847609e-02 4.27046819e+02] [ 2.31015779e-02 9.99733122e-01 -3.24604377e-05 2.63612054e+00] [ 1.11825258e-02 -2.25935881e-04 9.99937448e-01 1.82516571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.339254154 meters 0.01628384275812453 Centerline is valid? [True, True] Translation: X:427.11, Y:2.64, Z:1.83 [[ 9.99771003e-01 -1.82282224e-02 -1.12104525e-02 4.27107476e+02] [ 1.82290032e-02 9.99833837e-01 -3.25322014e-05 2.64189954e+00] [ 1.12091828e-02 -1.71830624e-04 9.99937160e-01 1.82599542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.399254154 meters 0.015800772778733665 Centerline is valid? [True, True] Translation: X:427.17, Y:2.64, Z:1.83 [[ 9.99792420e-01 -1.60711842e-02 -1.25232985e-02 4.27166816e+02] [ 1.60719858e-02 9.99870837e-01 -3.66355050e-05 2.64497765e+00] [ 1.25222698e-02 -1.64646376e-04 9.99921580e-01 1.82559494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.459254154 meters 0.016235703932500272 Centerline is valid? [True, True] Translation: X:427.23, Y:2.64, Z:1.83 [[ 9.99739730e-01 -1.82083479e-02 -1.37451378e-02 4.27225976e+02] [ 1.82094811e-02 9.99834193e-01 -4.27123229e-05 2.64398022e+00] [ 1.37436365e-02 -2.07590621e-04 9.99905530e-01 1.82518089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.519254154 meters 0.01757985697743917 Centerline is valid? [True, True] Translation: X:427.28, Y:2.64, Z:1.82 [[ 9.99621999e-01 -2.36897746e-02 -1.39518456e-02 4.27284193e+02] [ 2.36914509e-02 9.99719317e-01 -4.51379026e-05 2.63858617e+00] [ 1.39489989e-02 -2.85418625e-04 9.99902667e-01 1.82454656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.579254154 meters 0.02004884961712464 Centerline is valid? [True, True] Translation: X:427.34, Y:2.63, Z:1.83 [[ 9.99411892e-01 -3.14902699e-02 -1.35732771e-02 4.27344278e+02] [ 3.14925690e-02 9.99503985e-01 -4.43731186e-05 2.63050715e+00] [ 1.35679418e-02 -3.83110341e-04 9.99907878e-01 1.82519205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.639254154 meters 0.022539668995488066 Centerline is valid? [True, True] Translation: X:427.41, Y:2.62, Z:1.83 [[ 9.99219741e-01 -3.70631081e-02 -1.36467872e-02 4.27405759e+02] [ 3.70659546e-02 9.99312820e-01 -4.43725124e-05 2.62430836e+00] [ 1.36390540e-02 -4.61493305e-04 9.99906877e-01 1.82584477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.699254154 meters 0.027592072364825745 Centerline is valid? [True, True] Translation: X:427.47, Y:2.62, Z:1.83 [[ 9.98895126e-01 -4.48616546e-02 -1.39985195e-02 4.27465469e+02] [ 4.48654144e-02 9.98993039e-01 -4.54964650e-05 2.61501860e+00] [ 1.39864645e-02 -5.82603179e-04 9.99902015e-01 1.82623414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.759254154 meters 0.030608293837517498 Centerline is valid? [True, True] Translation: X:427.53, Y:2.61, Z:1.83 [[ 9.98698343e-01 -4.90485887e-02 -1.39948490e-02 4.27526607e+02] [ 4.90527580e-02 9.98796188e-01 -4.53884821e-05 2.60796485e+00] [ 1.39802281e-02 -6.41156542e-04 9.99902066e-01 1.82623322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.819254154 meters 0.03419815481512547 Centerline is valid? [True, True] Translation: X:427.59, Y:2.60, Z:1.83 [[ 9.98486735e-01 -5.31968605e-02 -1.39403710e-02 4.27587025e+02] [ 5.32014039e-02 9.98583801e-01 -4.49843909e-05 2.60059714e+00] [ 1.39230217e-02 -6.96730989e-04 9.99902827e-01 1.82624858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.87925415399997 meters 0.033750756386649365 Centerline is valid? [True, True] Translation: X:427.65, Y:2.60, Z:1.83 [[ 9.98476669e-01 -5.33134960e-02 -1.42130853e-02 4.27649523e+02] [ 5.33182409e-02 9.98577570e-01 -4.51481549e-05 2.60054103e+00] [ 1.41952752e-02 -7.12737327e-04 9.99898988e-01 1.82610766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.93925415399997 meters 0.03516565185155728 Centerline is valid? [True, True] Translation: X:427.71, Y:2.60, Z:1.83 [[ 9.98609107e-01 -5.08101727e-02 -1.40775785e-02 4.27710201e+02] [ 5.08145877e-02 9.98708103e-01 -4.41182043e-05 2.59870058e+00] [ 1.40616333e-02 -6.71289505e-04 9.99900905e-01 1.82511213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.99925415399997 meters 0.031976280999154776 Centerline is valid? [True, True] Translation: X:427.77, Y:2.60, Z:1.83 [[ 9.98803838e-01 -4.68560376e-02 -1.39787263e-02 4.27771311e+02] [ 4.68600085e-02 9.98901465e-01 -4.35145464e-05 2.60320271e+00] [ 1.39654091e-02 -6.11580738e-04 9.99902292e-01 1.82538362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.059254154 meters 0.02893551419835337 Centerline is valid? [True, True] Translation: X:427.83, Y:2.61, Z:1.82 [[ 9.99091563e-01 -4.01106469e-02 -1.43938943e-02 4.27830978e+02] [ 4.01141571e-02 9.99195102e-01 -4.48862371e-05 2.60983786e+00] [ 1.43841091e-02 -5.32553476e-04 9.99896402e-01 1.82473884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.119254154 meters 0.0273621681126766 Centerline is valid? [True, True] Translation: X:427.89, Y:2.61, Z:1.82 [[ 9.99226433e-01 -3.65114815e-02 -1.46098118e-02 4.27892185e+02] [ 3.65147148e-02 9.99333114e-01 -4.54702631e-05 2.61351562e+00] [ 1.46017289e-02 -4.88038022e-04 9.99893270e-01 1.82436406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.179254154 meters 0.025166561601169413 Centerline is valid? [True, True] Translation: X:427.95, Y:2.62, Z:1.82 [[ 9.99331442e-01 -3.29689426e-02 -1.58024624e-02 4.27952359e+02] [ 3.29722841e-02 9.99456265e-01 -4.91089754e-05 2.61819263e+00] [ 1.57954891e-02 -4.71967137e-04 9.99875132e-01 1.82234224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.239254154 meters 0.018095725466433225 Centerline is valid? [True, True] Translation: X:428.01, Y:2.63, Z:1.83 [[ 9.99419275e-01 -2.91892514e-02 -1.75812548e-02 4.28013278e+02] [ 2.91928032e-02 9.99573798e-01 -5.46432895e-05 2.63091879e+00] [ 1.75753566e-02 -4.58634555e-04 9.99845436e-01 1.82507943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.299254154 meters 0.01784423613878502 Centerline is valid? [True, True] Translation: X:428.07, Y:2.63, Z:1.83 [[ 9.99477083e-01 -2.74069898e-02 -1.71586072e-02 4.28073137e+02] [ 2.74101024e-02 9.99624271e-01 -5.37933965e-05 2.63268781e+00] [ 1.71536345e-02 -4.16553912e-04 9.99852779e-01 1.82532865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.359254154 meters 0.017918713880941378 Centerline is valid? [True, True] Translation: X:428.13, Y:2.63, Z:1.83 [[ 9.99532069e-01 -2.63806634e-02 -1.54823528e-02 4.28132438e+02] [ 2.63830314e-02 9.99651906e-01 -5.13161688e-05 2.63381757e+00] [ 1.54783172e-02 -3.57179243e-04 9.99880140e-01 1.82733249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.419254154 meters 0.016739646600436642 Centerline is valid? [True, True] Translation: X:428.19, Y:2.64, Z:1.83 [[ 9.99595318e-01 -2.49271976e-02 -1.37052636e-02 4.28192015e+02] [ 2.49288991e-02 9.99689226e-01 -4.66984593e-05 2.63586547e+00] [ 1.37021684e-02 -2.94977572e-04 9.99906077e-01 1.82928145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.479254154 meters 0.016409591703303406 Centerline is valid? [True, True] Translation: X:428.25, Y:2.64, Z:1.83 [[ 9.99704139e-01 -2.05819909e-02 -1.29621204e-02 4.28251211e+02] [ 2.05831437e-02 9.99788144e-01 -4.44777231e-05 2.63764504e+00] [ 1.29602897e-02 -2.22336623e-04 9.99915987e-01 1.83008023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.539254154 meters 0.01568120211333824 Centerline is valid? [True, True] Translation: X:428.31, Y:2.64, Z:1.83 [[ 9.99791115e-01 -1.64330307e-02 -1.21524037e-02 4.28310598e+02] [ 1.64337332e-02 9.99864956e-01 -4.20523840e-05 2.64043891e+00] [ 1.21514536e-02 -1.57665760e-04 9.99926156e-01 1.83133242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.599254154 meters 0.01660613418277374 Centerline is valid? [True, True] Translation: X:428.37, Y:2.64, Z:1.83 [[ 9.99807384e-01 -1.52047027e-02 -1.24101822e-02 4.28369706e+02] [ 1.52053323e-02 9.99884391e-01 -4.36308499e-05 2.63982576e+00] [ 1.24094108e-02 -1.45078497e-04 9.99922990e-01 1.83072888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.659254154 meters 0.015395428275366324 Centerline is valid? [True, True] Translation: X:428.43, Y:2.64, Z:1.83 [[ 9.99796536e-01 -1.56759465e-02 -1.26945257e-02 4.28428799e+02] [ 1.56766123e-02 9.99877113e-01 -4.70622426e-05 2.63936264e+00] [ 1.26937035e-02 -1.51954490e-04 9.99919420e-01 1.83196051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.719254154 meters 0.01587581306526559 Centerline is valid? [True, True] Translation: X:428.49, Y:2.63, Z:1.83 [[ 9.99748353e-01 -1.80206466e-02 -1.33598750e-02 4.28486335e+02] [ 1.80215666e-02 9.99837597e-01 -5.15326032e-05 2.63478185e+00] [ 1.33586339e-02 -1.89246241e-04 9.99910752e-01 1.83160209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.779254154 meters 0.01585094384958361 Centerline is valid? [True, True] Translation: X:428.55, Y:2.63, Z:1.83 [[ 9.99722596e-01 -1.93800564e-02 -1.33844982e-02 4.28545261e+02] [ 1.93810656e-02 9.99812168e-01 -5.43202004e-05 2.63251057e+00] [ 1.33830369e-02 -2.05100706e-04 9.99910422e-01 1.83205002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.839254154 meters 0.01591799929349279 Centerline is valid? [True, True] Translation: X:428.60, Y:2.63, Z:1.83 [[ 9.99716037e-01 -1.95588205e-02 -1.36123962e-02 4.28603619e+02] [ 1.95598334e-02 9.99808686e-01 -5.87328276e-05 2.62983874e+00] [ 1.36109407e-02 -2.07540052e-04 9.99907345e-01 1.83224243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.899254154 meters 0.017173493390424132 Centerline is valid? [True, True] Translation: X:428.66, Y:2.63, Z:1.83 [[ 9.99721701e-01 -1.95320627e-02 -1.32294664e-02 4.28662231e+02] [ 1.95329964e-02 9.99809211e-01 -5.86424198e-05 2.62560433e+00] [ 1.32280878e-02 -1.99785020e-04 9.99912485e-01 1.83195734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.959254154 meters 0.016587628756461477 Centerline is valid? [True, True] Translation: X:428.72, Y:2.62, Z:1.83 [[ 9.99678089e-01 -2.18413240e-02 -1.29102513e-02 4.28721159e+02] [ 2.18423752e-02 9.99761425e-01 -5.95890385e-05 2.62329466e+00] [ 1.29084727e-02 -2.22420697e-04 9.99916657e-01 1.83314758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.019254154 meters 0.01724278228953876 Centerline is valid? [True, True] Translation: X:428.78, Y:2.62, Z:1.83 [[ 9.99542333e-01 -2.68548120e-02 -1.39263864e-02 4.28780723e+02] [ 2.68565002e-02 9.99639297e-01 -6.58152263e-05 2.61789702e+00] [ 1.39231305e-02 -3.08228893e-04 9.99903021e-01 1.83344217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.079254154 meters 0.018205777520770516 Centerline is valid? [True, True] Translation: X:428.84, Y:2.61, Z:1.83 [[ 9.99426551e-01 -3.03934929e-02 -1.49266778e-02 4.28840704e+02] [ 3.03958213e-02 9.99537938e-01 -7.09057077e-05 2.61363725e+00] [ 1.49219358e-02 -3.82843582e-04 9.99888588e-01 1.83349572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.139254154 meters 0.020121467856525962 Centerline is valid? [True, True] Translation: X:428.90, Y:2.61, Z:1.83 [[ 9.99282774e-01 -3.46504174e-02 -1.52736965e-02 4.28899854e+02] [ 3.46533449e-02 9.99399390e-01 -7.30255688e-05 2.60745650e+00] [ 1.52670533e-02 -4.56311478e-04 9.99883348e-01 1.83444112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.199254154 meters 0.021000786758532043 Centerline is valid? [True, True] Translation: X:428.96, Y:2.61, Z:1.84 [[ 9.99232298e-01 -3.63355215e-02 -1.46473382e-02 4.28960771e+02] [ 3.63383951e-02 9.99339540e-01 -7.00012148e-05 2.60555062e+00] [ 1.46402077e-02 -4.62313287e-04 9.99892720e-01 1.83548332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.259254154 meters 0.020815179689785943 Centerline is valid? [True, True] Translation: X:429.02, Y:2.60, Z:1.84 [[ 9.99112715e-01 -3.91749511e-02 -1.54630327e-02 4.29022031e+02] [ 3.91785009e-02 9.99232225e-01 -7.34156520e-05 2.60413893e+00] [ 1.54540366e-02 -5.32467928e-04 9.99880437e-01 1.83680303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.319254154 meters 0.02190186954120779 Centerline is valid? [True, True] Translation: X:429.08, Y:2.60, Z:1.84 [[ 9.98964909e-01 -4.27394380e-02 -1.55708512e-02 4.29083400e+02] [ 4.27434786e-02 9.99086077e-01 -7.33595426e-05 2.60002898e+00] [ 1.55597560e-02 -5.92268735e-04 9.99878764e-01 1.83698712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.37925415399997 meters 0.024461445190939714 Centerline is valid? [True, True] Translation: X:429.14, Y:2.59, Z:1.84 [[ 9.98862448e-01 -4.51589969e-02 -1.53125776e-02 4.29143700e+02] [ 4.51631938e-02 9.98979620e-01 -7.17893211e-05 2.59448356e+00] [ 1.53001949e-02 -6.19857254e-04 9.99882753e-01 1.83615255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.43925415399997 meters 0.025244779749030406 Centerline is valid? [True, True] Translation: X:429.20, Y:2.59, Z:1.84 [[ 9.98581886e-01 -5.05438283e-02 -1.67194247e-02 4.29204506e+02] [ 5.05495873e-02 9.98721549e-01 -7.82478675e-05 2.59152874e+00] [ 1.67020047e-02 -7.67023118e-04 9.99860218e-01 1.83593273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.49925415399997 meters 0.02887533976709481 Centerline is valid? [True, True] Translation: X:429.26, Y:2.59, Z:1.83 [[ 9.98323657e-01 -5.49554182e-02 -1.81597772e-02 4.29264007e+02] [ 5.49629386e-02 9.98488392e-01 -8.50900563e-05 2.58627439e+00] [ 1.81370029e-02 -9.13167306e-04 9.99835094e-01 1.83497342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.559254154 meters 0.030603016836517956 Centerline is valid? [True, True] Translation: X:429.32, Y:2.58, Z:1.84 [[ 9.97916065e-01 -6.17126301e-02 -1.88435404e-02 4.29323985e+02] [ 6.17219275e-02 9.98093380e-01 -8.83398887e-05 2.58490596e+00] [ 1.88130647e-02 -1.07490384e-03 9.99822441e-01 1.83546589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.619254154 meters 0.03162379516333723 Centerline is valid? [True, True] Translation: X:429.38, Y:2.58, Z:1.84 [[ 9.97646997e-01 -6.65165644e-02 -1.66137179e-02 4.29384473e+02] [ 6.65244554e-02 9.97784792e-01 -7.78353386e-05 2.58488080e+00] [ 1.65820924e-02 -1.02756634e-03 9.99861980e-01 1.83770975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.679254154 meters 0.034723345586500205 Centerline is valid? [True, True] Translation: X:429.45, Y:2.58, Z:1.84 [[ 9.97573723e-01 -6.77262553e-02 -1.61189721e-02 4.29445934e+02] [ 6.77338511e-02 9.97703423e-01 -7.48652084e-05 2.58420293e+00] [ 1.60870240e-02 -1.01711649e-03 9.99870078e-01 1.83827658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.739254154 meters 0.034561491101585906 Centerline is valid? [True, True] Translation: X:429.51, Y:2.59, Z:1.84 [[ 9.97574120e-01 -6.78891712e-02 -1.53927064e-02 4.29508005e+02] [ 6.78961326e-02 9.97692393e-01 -7.04812586e-05 2.59021344e+00] [ 1.53619710e-02 -9.74794954e-04 9.99881523e-01 1.83881808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.799254154 meters 0.030903575899811526 Centerline is valid? [True, True] Translation: X:429.57, Y:2.60, Z:1.84 [[ 9.97618130e-01 -6.70680435e-02 -1.61227764e-02 4.29569929e+02] [ 6.70755935e-02 9.97747894e-01 -7.26253025e-05 2.60000194e+00] [ 1.60913370e-02 -1.00899248e-03 9.99870017e-01 1.83950809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.859254154 meters 0.03065916384491572 Centerline is valid? [True, True] Translation: X:429.63, Y:2.61, Z:1.84 [[ 9.97536639e-01 -6.79921717e-02 -1.72545079e-02 4.29631967e+02] [ 6.80009794e-02 9.97685251e-01 -7.64124876e-05 2.60517709e+00] [ 1.72197635e-02 -1.09709918e-03 9.99851127e-01 1.83846513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.919254154 meters 0.03102391079280257 Centerline is valid? [True, True] Translation: X:429.69, Y:2.61, Z:1.84 [[ 9.97335188e-01 -7.05774599e-02 -1.84755256e-02 4.29692954e+02] [ 7.05880116e-02 9.97505552e-01 -8.12033747e-05 2.60745321e+00] [ 1.84351705e-02 -1.22316363e-03 9.99829310e-01 1.83822251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.979254154 meters 0.033434702629959054 Centerline is valid? [True, True] Translation: X:429.75, Y:2.61, Z:1.84 [[ 9.96982559e-01 -7.52489338e-02 -1.90623846e-02 4.29753657e+02] [ 7.52610187e-02 9.97163864e-01 -8.36515849e-05 2.60972686e+00] [ 1.90146158e-02 -1.35125531e-03 9.99818293e-01 1.83754618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.039254154 meters 0.03494074321921717 Centerline is valid? [True, True] Translation: X:429.82, Y:2.61, Z:1.84 [[ 9.96880128e-01 -7.65927317e-02 -1.90673324e-02 4.29815937e+02] [ 7.66050883e-02 9.97061509e-01 -8.25707155e-05 2.61089194e+00] [ 1.90176275e-02 -1.37834158e-03 9.99818198e-01 1.83695961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.099254154 meters 0.03391569754183242 Centerline is valid? [True, True] Translation: X:429.88, Y:2.62, Z:1.84 [[ 9.97048669e-01 -7.45440519e-02 -1.83612462e-02 4.29877219e+02] [ 7.45551798e-02 9.97216887e-01 -7.86765217e-05 2.61810222e+00] [ 1.83160096e-02 -1.29048169e-03 9.99831415e-01 1.83831118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.159254154 meters 0.03294369615369982 Centerline is valid? [True, True] Translation: X:429.94, Y:2.62, Z:1.84 [[ 9.97320348e-01 -7.12604397e-02 -1.65551542e-02 4.29938270e+02] [ 7.12690413e-02 9.97457126e-01 -7.05722916e-05 2.62378941e+00] [ 1.65180856e-02 -1.10948679e-03 9.99862952e-01 1.84020321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.219254154 meters 0.03300314874851653 Centerline is valid? [True, True] Translation: X:430.00, Y:2.63, Z:1.84 [[ 9.97786830e-01 -6.46447288e-02 -1.55724115e-02 4.29997806e+02] [ 6.46515342e-02 9.97907899e-01 -6.65320514e-05 2.62984755e+00] [ 1.55441334e-02 -9.40395492e-04 9.99878740e-01 1.84138000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.279254154 meters 0.03063040049832368 Centerline is valid? [True, True] Translation: X:430.06, Y:2.64, Z:1.84 [[ 9.98099292e-01 -5.94574462e-02 -1.62054104e-02 4.30057921e+02] [ 5.94641340e-02 9.98230440e-01 -6.92780099e-05 2.63673331e+00] [ 1.61808531e-02 -8.94494363e-04 9.99868681e-01 1.84108371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.339254154 meters 0.026890549042956895 Centerline is valid? [True, True] Translation: X:430.12, Y:2.65, Z:1.84 [[ 9.98529232e-01 -5.07101751e-02 -1.91794198e-02 4.30118546e+02] [ 5.07179335e-02 9.98713014e-01 -8.19929722e-05 2.64830668e+00] [ 1.91588940e-02 -8.90868156e-04 9.99816055e-01 1.83884616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.399254154 meters 0.024781342678597246 Centerline is valid? [True, True] Translation: X:430.18, Y:2.65, Z:1.84 [[ 9.98804149e-01 -4.41605877e-02 -2.09788986e-02 4.30178887e+02] [ 4.41684303e-02 9.99024095e-01 -8.96001690e-05 2.65454614e+00] [ 2.09623820e-02 -8.37112000e-04 9.99779915e-01 1.83725377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.459254154 meters 0.01856616052292923 Centerline is valid? [True, True] Translation: X:430.24, Y:2.67, Z:1.84 [[ 9.99245119e-01 -3.30571261e-02 -2.04063539e-02 4.30239057e+02] [ 3.30622331e-02 9.99453291e-01 -8.71502654e-05 2.67005854e+00] [ 2.03980785e-02 -5.87595153e-04 9.99791765e-01 1.84026189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.519254154 meters 0.017615916155224974 Centerline is valid? [True, True] Translation: X:430.30, Y:2.67, Z:1.84 [[ 9.99371514e-01 -2.92363894e-02 -2.00452319e-02 4.30298591e+02] [ 2.92405374e-02 9.99572400e-01 -8.61921631e-05 2.67389604e+00] [ 2.00391805e-02 -4.99995360e-04 9.99799070e-01 1.84151799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.579254154 meters 0.01559616177972027 Centerline is valid? [True, True] Translation: X:430.36, Y:2.68, Z:1.84 [[ 9.99682906e-01 -1.76622092e-02 -1.79481078e-02 4.30358042e+02] [ 1.76636612e-02 9.99843982e-01 -7.76360264e-05 2.68381971e+00] [ 1.79466788e-02 -2.39417886e-04 9.99838917e-01 1.84410624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.639254154 meters 0.015312296032992423 Centerline is valid? [True, True] Translation: X:430.42, Y:2.69, Z:1.84 [[ 9.99782417e-01 -1.16138588e-02 -1.73273723e-02 4.30416011e+02] [ 1.16142822e-02 9.99932549e-01 -7.61972057e-05 2.68706139e+00] [ 1.73270885e-02 -1.25064365e-04 9.99849867e-01 1.84254021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.699254154 meters 0.014854630383579169 Centerline is valid? [True, True] Translation: X:430.47, Y:2.69, Z:1.84 [[ 9.99839075e-01 -6.29980761e-03 -1.67969446e-02 4.30473525e+02] [ 6.29943243e-03 9.99980156e-01 -7.52456483e-05 2.69061643e+00] [ 1.67970853e-02 -3.05776783e-05 9.99858919e-01 1.84245252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.759254154 meters 0.014510981247476427 Centerline is valid? [True, True] Translation: X:430.53, Y:2.69, Z:1.85 [[ 9.99824289e-01 -6.68673953e-03 -1.75122430e-02 4.30532002e+02] [ 6.68632715e-03 9.99977643e-01 -8.20994364e-05 2.68996731e+00] [ 1.75124005e-02 -3.50075753e-05 9.99846646e-01 1.84540611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.819254154 meters 0.014541779071052842 Centerline is valid? [True, True] Translation: X:430.59, Y:2.68, Z:1.85 [[ 9.99755106e-01 -1.19734910e-02 -1.86108442e-02 4.30591145e+02] [ 1.19738999e-02 9.99928306e-01 -8.94646281e-05 2.68425791e+00] [ 1.86105811e-02 -1.33401667e-04 9.99826799e-01 1.84651632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.87925415399997 meters 0.015032190538226815 Centerline is valid? [True, True] Translation: X:430.65, Y:2.68, Z:1.85 [[ 9.99647099e-01 -1.79068344e-02 -1.96220105e-02 4.30649682e+02] [ 1.79084029e-02 9.99839627e-01 -9.57943919e-05 2.67800602e+00] [ 1.96205790e-02 -2.55638283e-04 9.99807465e-01 1.84659312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.93925415399997 meters 0.016792060068798312 Centerline is valid? [True, True] Translation: X:430.71, Y:2.67, Z:1.85 [[ 9.99430843e-01 -2.77580325e-02 -1.91697893e-02 4.30710280e+02] [ 2.77613343e-02 9.99614575e-01 -9.39051730e-05 2.66606192e+00] [ 1.91650074e-02 -4.38327201e-04 9.99816238e-01 1.84611767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.99925415399997 meters 0.018166950258388846 Centerline is valid? [True, True] Translation: X:430.77, Y:2.66, Z:1.85 [[ 9.99259316e-01 -3.37813797e-02 -1.84292722e-02 4.30769409e+02] [ 3.37854404e-02 9.99429105e-01 -9.10505918e-05 2.65944960e+00] [ 1.84218269e-02 -5.31657926e-04 9.99830162e-01 1.84717047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.059254154 meters 0.022356861263723375 Centerline is valid? [True, True] Translation: X:430.83, Y:2.65, Z:1.85 [[ 9.98960443e-01 -4.20247411e-02 -1.76622111e-02 4.30828394e+02] [ 4.20297473e-02 9.99116356e-01 -8.78233268e-05 2.64727998e+00] [ 1.76502947e-02 -6.54606239e-04 9.99844007e-01 1.84672415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.119254154 meters 0.022922938355505858 Centerline is valid? [True, True] Translation: X:430.89, Y:2.64, Z:1.85 [[ 9.98717323e-01 -4.75917368e-02 -1.72839561e-02 4.30889877e+02] [ 4.75973690e-02 9.98866599e-01 -8.55888752e-05 2.64340564e+00] [ 1.72684398e-02 -7.37191744e-04 9.99850618e-01 1.84730993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.179254154 meters 0.02707859131720788 Centerline is valid? [True, True] Translation: X:430.95, Y:2.63, Z:1.85 [[ 9.98178183e-01 -5.77845353e-02 -1.73569338e-02 4.30950440e+02] [ 5.77917538e-02 9.98328656e-01 -8.58312778e-05 2.63267128e+00] [ 1.73328841e-02 -9.17412735e-04 9.99849353e-01 1.84616411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.239254154 meters 0.03351960250546881 Centerline is valid? [True, True] Translation: X:431.01, Y:2.62, Z:1.85 [[ 9.97753611e-01 -6.50222379e-02 -1.61195789e-02 4.31010477e+02] [ 6.50294067e-02 9.97883345e-01 -7.95899727e-05 2.62087856e+00] [ 1.60906345e-02 -9.68835471e-04 9.99870068e-01 1.84545327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.299254154 meters 0.03187421474809935 Centerline is valid? [True, True] Translation: X:431.07, Y:2.62, Z:1.85 [[ 9.97360411e-01 -7.09334298e-02 -1.55131601e-02 4.31071176e+02] [ 7.09407833e-02 9.97480526e-01 -7.64484377e-05 2.62166305e+00] [ 1.54794979e-02 -1.02426908e-03 9.99879661e-01 1.84646069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.359254154 meters 0.03364589948337189 Centerline is valid? [True, True] Translation: X:431.13, Y:2.62, Z:1.85 [[ 9.97066288e-01 -7.47587670e-02 -1.64299849e-02 4.31131337e+02] [ 7.47675339e-02 9.97200987e-01 -8.08799476e-05 2.61889762e+00] [ 1.63900437e-02 -1.14778678e-03 9.99865015e-01 1.84544936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.419254154 meters 0.03094792240248667 Centerline is valid? [True, True] Translation: X:431.19, Y:2.63, Z:1.85 [[ 9.97243182e-01 -7.22597717e-02 -1.68689368e-02 4.31193367e+02] [ 7.22686697e-02 9.97385198e-01 -8.23157608e-05 2.62549421e+00] [ 1.68307760e-02 -1.13700679e-03 9.99857706e-01 1.84573867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.479254154 meters 0.03160448570850313 Centerline is valid? [True, True] Translation: X:431.25, Y:2.63, Z:1.85 [[ 9.97521932e-01 -6.83034300e-02 -1.68711537e-02 4.31253409e+02] [ 6.83117689e-02 9.97664019e-01 -8.21962403e-05 2.62782216e+00] [ 1.68373573e-02 -1.07050580e-03 9.99857669e-01 1.84571912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.539254154 meters 0.02704644792237663 Centerline is valid? [True, True] Translation: X:431.31, Y:2.64, Z:1.85 [[ 9.97999987e-01 -6.10476256e-02 -1.64077027e-02 4.31314325e+02] [ 6.10545378e-02 9.98134428e-01 -7.97769092e-05 2.63884069e+00] [ 1.63819631e-02 -9.22147349e-04 9.99865381e-01 1.84694354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.599254154 meters 0.024967995052668203 Centerline is valid? [True, True] Translation: X:431.37, Y:2.65, Z:1.85 [[ 9.98335656e-01 -5.53409559e-02 -1.62264057e-02 4.31374647e+02] [ 5.53469657e-02 9.98467179e-01 -7.88065646e-05 2.64533824e+00] [ 1.62058947e-02 -8.19406917e-04 9.99868340e-01 1.84720528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.659254154 meters 0.02158290907419869 Centerline is valid? [True, True] Translation: X:431.44, Y:2.66, Z:1.85 [[ 9.98845154e-01 -4.53095365e-02 -1.59813654e-02 4.31435784e+02] [ 4.53140875e-02 9.98972786e-01 -7.74157010e-05 2.65618811e+00] [ 1.59684568e-02 -6.46854694e-04 9.99872287e-01 1.84792615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.719254154 meters 0.01912823431243865 Centerline is valid? [True, True] Translation: X:431.50, Y:2.67, Z:1.85 [[ 9.99253901e-01 -3.56757168e-02 -1.47947548e-02 4.31495682e+02] [ 3.56785629e-02 9.99363315e-01 -7.16071876e-05 2.66539998e+00] [ 1.47878898e-02 -4.56301829e-04 9.99890549e-01 1.84840581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.779254154 meters 0.017618457622608004 Centerline is valid? [True, True] Translation: X:431.56, Y:2.67, Z:1.85 [[ 9.99472221e-01 -2.93432651e-02 -1.39374337e-02 4.31556735e+02] [ 2.93451779e-02 9.99569335e-01 -6.72892373e-05 2.67148689e+00] [ 1.39334058e-02 -3.41742748e-04 9.99902867e-01 1.84950926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.839254154 meters 0.01601851902736434 Centerline is valid? [True, True] Translation: X:431.62, Y:2.68, Z:1.85 [[ 9.99683319e-01 -2.20112073e-02 -1.21970509e-02 4.31617611e+02] [ 2.20121292e-02 9.99757702e-01 -5.86788863e-05 2.67832808e+00] [ 1.21953872e-02 -2.09822757e-04 9.99925611e-01 1.85056378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.899254154 meters 0.015598113823471737 Centerline is valid? [True, True] Translation: X:431.68, Y:2.68, Z:1.85 [[ 9.99745251e-01 -1.96021193e-02 -1.11888230e-02 4.31678080e+02] [ 1.96027450e-02 9.99807846e-01 -5.37566678e-05 2.68066597e+00] [ 1.11877268e-02 -1.65588671e-04 9.99937402e-01 1.85091891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.959254154 meters 0.015896899942832294 Centerline is valid? [True, True] Translation: X:431.74, Y:2.68, Z:1.85 [[ 9.99752694e-01 -1.99185915e-02 -9.88940722e-03 4.31738135e+02] [ 1.99190958e-02 9.99801594e-01 -4.75136283e-05 2.68015483e+00] [ 9.88839150e-03 -1.49486171e-04 9.99951097e-01 1.85138953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.019254154 meters 0.01548749921535478 Centerline is valid? [True, True] Translation: X:431.80, Y:2.68, Z:1.85 [[ 9.99716691e-01 -2.17782059e-02 -9.60457633e-03 4.31799316e+02] [ 2.17787692e-02 9.99762813e-01 -4.59539397e-05 2.68026000e+00] [ 9.60329905e-03 -1.63234930e-04 9.99953874e-01 1.85229256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.079254154 meters 0.017131592762411364 Centerline is valid? [True, True] Translation: X:431.86, Y:2.68, Z:1.85 [[ 9.99646456e-01 -2.53684490e-02 -7.96265939e-03 4.31860515e+02] [ 2.53689526e-02 9.99678156e-01 -3.77698578e-05 2.67526015e+00] [ 7.96105482e-03 -1.64247824e-04 9.99968297e-01 1.85353481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.139254154 meters 0.018345738265973757 Centerline is valid? [True, True] Translation: X:431.92, Y:2.67, Z:1.85 [[ 9.99581562e-01 -2.81222584e-02 -6.77048288e-03 4.31922741e+02] [ 2.81226881e-02 9.99604478e-01 -3.17461433e-05 2.67115508e+00] [ 6.76869778e-03 -1.58671319e-04 9.99977080e-01 1.85473310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.199254154 meters 0.018640209465399724 Centerline is valid? [True, True] Translation: X:431.98, Y:2.67, Z:1.86 [[ 9.99403593e-01 -3.40685725e-02 -5.63831448e-03 4.31983412e+02] [ 3.40689666e-02 9.99419484e-01 -2.61596813e-05 2.66606649e+00] [ 5.63593257e-03 -1.65947468e-04 9.99984104e-01 1.85532493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.259254154 meters 0.020698012654583316 Centerline is valid? [True, True] Translation: X:432.04, Y:2.66, Z:1.85 [[ 9.99216046e-01 -3.91387682e-02 -5.95396065e-03 4.32044607e+02] [ 3.91392982e-02 9.99233764e-01 -2.75099657e-05 2.65935405e+00] [ 5.95047521e-03 -2.05545442e-04 9.99982275e-01 1.85454362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.319254154 meters 0.022383897513847246 Centerline is valid? [True, True] Translation: X:432.11, Y:2.65, Z:1.85 [[ 9.98950002e-01 -4.50520312e-02 -8.31916120e-03 4.32106055e+02] [ 4.50532729e-02 9.98984585e-01 -3.81832396e-05 2.65189859e+00] [ 8.31243403e-03 -3.36662292e-04 9.99965394e-01 1.85289175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.37925415399997 meters 0.025068353985993042 Centerline is valid? [True, True] Translation: X:432.17, Y:2.65, Z:1.85 [[ 9.98826513e-01 -4.74497161e-02 -9.70158207e-03 4.32167095e+02] [ 4.74515223e-02 9.98873541e-01 -4.40529357e-05 2.64522948e+00] [ 9.69274394e-03 -4.16353598e-04 9.99952938e-01 1.85149712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.43925415399997 meters 0.024017540172046072 Centerline is valid? [True, True] Translation: X:432.23, Y:2.65, Z:1.85 [[ 9.98796554e-01 -4.79904986e-02 -1.01171404e-02 4.32229062e+02] [ 4.79924973e-02 9.98847695e-01 -4.52724878e-05 2.64602611e+00] [ 1.01076550e-02 -4.40328827e-04 9.99948819e-01 1.85192997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.49925415399997 meters 0.022764738302234605 Centerline is valid? [True, True] Translation: X:432.29, Y:2.65, Z:1.85 [[ 9.98899333e-01 -4.58066193e-02 -1.00933321e-02 4.32290220e+02] [ 4.58085026e-02 9.98950239e-01 -4.46344930e-05 2.64506862e+00] [ 1.00847810e-02 -4.17775063e-04 9.99949060e-01 1.85271502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.559254154 meters 0.020495909072987553 Centerline is valid? [True, True] Translation: X:432.35, Y:2.65, Z:1.85 [[ 9.99224148e-01 -3.81869683e-02 -9.63621477e-03 4.32351216e+02] [ 3.81883326e-02 9.99270559e-01 -4.24456571e-05 2.64780406e+00] [ 9.63080659e-03 -3.25578249e-04 9.99953570e-01 1.85406663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.619254154 meters 0.01804831387200751 Centerline is valid? [True, True] Translation: X:432.41, Y:2.65, Z:1.85 [[ 9.99460818e-01 -3.13816243e-02 -9.65746510e-03 4.32411756e+02] [ 3.13826772e-02 9.99507442e-01 -4.25293478e-05 2.65177163e+00] [ 9.65404287e-03 -2.60570693e-04 9.99953365e-01 1.85479289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.679254154 meters 0.01670981746006679 Centerline is valid? [True, True] Translation: X:432.47, Y:2.65, Z:1.85 [[ 9.99706152e-01 -2.22378628e-02 -9.64816275e-03 4.32471702e+02] [ 2.22384880e-02 9.99752693e-01 -4.24883823e-05 2.65214747e+00] [ 9.64672155e-03 -1.72084654e-04 9.99953454e-01 1.85426566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.739254154 meters 0.015931376847343585 Centerline is valid? [True, True] Translation: X:432.53, Y:2.65, Z:1.85 [[ 9.99762350e-01 -1.91882153e-02 -1.03468027e-02 4.32532538e+02] [ 1.91887711e-02 9.99815878e-01 -4.55650386e-05 2.65187591e+00] [ 1.03457719e-02 -1.52988218e-04 9.99946469e-01 1.85420349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.799254154 meters 0.015541215863864605 Centerline is valid? [True, True] Translation: X:432.59, Y:2.65, Z:1.85 [[ 9.99709046e-01 -2.00965789e-02 -1.33398296e-02 4.32593053e+02] [ 2.00975836e-02 9.99798021e-01 -5.87456695e-05 2.64930623e+00] [ 1.33383158e-02 -2.09369764e-04 9.99911019e-01 1.85295754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.859254154 meters 0.01668017461279228 Centerline is valid? [True, True] Translation: X:432.65, Y:2.64, Z:1.85 [[ 9.99615545e-01 -2.32785651e-02 -1.50622100e-02 4.32651824e+02] [ 2.32801985e-02 9.99728977e-01 -6.69093608e-05 2.64278586e+00] [ 1.50596854e-02 -2.83767601e-04 9.99886556e-01 1.85142989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.919254154 meters 0.017889744848629045 Centerline is valid? [True, True] Translation: X:432.71, Y:2.63, Z:1.85 [[ 9.99444848e-01 -2.92568826e-02 -1.59383442e-02 4.32711566e+02] [ 2.92594605e-02 9.99571848e-01 -7.14700574e-05 2.63432165e+00] [ 1.59336112e-02 -3.94916973e-04 9.99872974e-01 1.85186638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.979254154 meters 0.019481041673571536 Centerline is valid? [True, True] Translation: X:432.77, Y:2.63, Z:1.85 [[ 9.99298662e-01 -3.44324007e-02 -1.47171300e-02 4.32771522e+02] [ 3.44351518e-02 9.99406932e-01 -6.65117179e-05 2.62798092e+00] [ 1.47106919e-02 -4.40321537e-04 9.99891695e-01 1.85391439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.039254154 meters 0.01949147204637244 Centerline is valid? [True, True] Translation: X:432.83, Y:2.63, Z:1.86 [[ 9.99259251e-01 -3.60764097e-02 -1.33955608e-02 4.32832431e+02] [ 3.60788410e-02 9.99348945e-01 -6.01970780e-05 2.62609565e+00] [ 1.33890113e-02 -4.23143821e-04 9.99910274e-01 1.85604526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.099254154 meters 0.019928319647809015 Centerline is valid? [True, True] Translation: X:432.89, Y:2.62, Z:1.86 [[ 9.99296038e-01 -3.56556942e-02 -1.16661569e-02 4.32893027e+02] [ 3.56575134e-02 9.99364067e-01 -5.20872617e-05 2.62262278e+00] [ 1.16605952e-02 -3.63935552e-04 9.99931947e-01 1.85787283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.159254154 meters 0.01959679055662981 Centerline is valid? [True, True] Translation: X:432.95, Y:2.62, Z:1.86 [[ 9.99366037e-01 -3.40023067e-02 -1.05530421e-02 4.32954325e+02] [ 3.40037063e-02 9.99421706e-01 -4.68260300e-05 2.62188445e+00] [ 1.05485315e-02 -3.12046200e-04 9.99944314e-01 1.85928242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.219254154 meters 0.017900063816517445 Centerline is valid? [True, True] Translation: X:433.02, Y:2.62, Z:1.86 [[ 9.99449027e-01 -3.15639451e-02 -1.02645074e-02 4.33015920e+02] [ 3.15651445e-02 9.99501696e-01 -4.51766465e-05 2.62241483e+00] [ 1.02608185e-02 -2.78848905e-04 9.99947318e-01 1.86039743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.279254154 meters 0.01770620180960146 Centerline is valid? [True, True] Translation: X:433.08, Y:2.62, Z:1.86 [[ 9.99473630e-01 -3.08541958e-02 -1.00240505e-02 4.33077790e+02] [ 3.08553079e-02 9.99523861e-01 -4.37312829e-05 2.62012291e+00] [ 1.00206269e-02 -2.65586900e-04 9.99949757e-01 1.85976929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.339254154 meters 0.018074561775782403 Centerline is valid? [True, True] Translation: X:433.14, Y:2.62, Z:1.86 [[ 9.99469690e-01 -3.05106525e-02 -1.13770863e-02 4.33138628e+02] [ 3.05120665e-02 9.99534397e-01 -4.93039514e-05 2.61636642e+00] [ 1.13732934e-02 -2.97860609e-04 9.99935278e-01 1.85846684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.399254154 meters 0.01874302691742395 Centerline is valid? [True, True] Translation: X:433.20, Y:2.61, Z:1.86 [[ 9.99455250e-01 -3.01944388e-02 -1.33228904e-02 4.33199639e+02] [ 3.01963554e-02 9.99543984e-01 -5.73246438e-05 2.61420141e+00] [ 1.33185459e-02 -3.45009319e-04 9.99911245e-01 1.85646012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.459254154 meters 0.018983897805425 Centerline is valid? [True, True] Translation: X:433.26, Y:2.61, Z:1.85 [[ 9.99364893e-01 -3.18071938e-02 -1.60658833e-02 4.33259960e+02] [ 3.18101923e-02 9.99493925e-01 -6.89379428e-05 2.61161262e+00] [ 1.60599455e-02 -4.42164677e-04 9.99870933e-01 1.85436435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.519254154 meters 0.020293889884694844 Centerline is valid? [True, True] Translation: X:433.32, Y:2.61, Z:1.85 [[ 9.99278271e-01 -3.44192293e-02 -1.60703018e-02 4.33318820e+02] [ 3.44225569e-02 9.99407366e-01 -6.95743790e-05 2.60834339e+00] [ 1.60631727e-02 -4.83656713e-04 9.99870862e-01 1.85410036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.579254154 meters 0.020217187630682098 Centerline is valid? [True, True] Translation: X:433.38, Y:2.61, Z:1.86 [[ 9.99111985e-01 -3.96168579e-02 -1.43438404e-02 4.33378913e+02] [ 3.96200382e-02 9.99214816e-01 -6.24921601e-05 2.60758454e+00] [ 1.43350536e-02 -5.05866840e-04 9.99897120e-01 1.85681485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.639254154 meters 0.02441278320665148 Centerline is valid? [True, True] Translation: X:433.44, Y:2.60, Z:1.86 [[ 9.98818797e-01 -4.68401230e-02 -1.29233653e-02 4.33438088e+02] [ 4.68433054e-02 9.98902248e-01 -5.65012270e-05 2.59905539e+00] [ 1.29118252e-02 -5.48938660e-04 9.99916488e-01 1.85681719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.699254154 meters 0.02701238681057191 Centerline is valid? [True, True] Translation: X:433.50, Y:2.59, Z:1.86 [[ 9.98575525e-01 -5.18523254e-02 -1.25800584e-02 4.33498921e+02] [ 5.18557388e-02 9.98654585e-01 -5.49206535e-05 2.59476445e+00] [ 1.25659808e-02 -5.97505803e-04 9.99920866e-01 1.85695403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.759254154 meters 0.028423611624652883 Centerline is valid? [True, True] Translation: X:433.56, Y:2.59, Z:1.86 [[ 9.98235668e-01 -5.82897009e-02 -1.13076304e-02 4.33559691e+02] [ 5.82928714e-02 9.98299524e-01 -4.92842807e-05 2.59252955e+00] [ 1.12912748e-02 -6.09956915e-04 9.99936065e-01 1.85823947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.819254154 meters 0.02882652535536834 Centerline is valid? [True, True] Translation: X:433.62, Y:2.59, Z:1.86 [[ 9.98066906e-01 -6.11977137e-02 -1.08300819e-02 4.33620772e+02] [ 6.12007940e-02 9.98125473e-01 -4.70766774e-05 2.59243946e+00] [ 1.08126616e-02 -6.15823937e-04 9.99941352e-01 1.85914412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.87925415399997 meters 0.02904940221792533 Centerline is valid? [True, True] Translation: X:433.68, Y:2.59, Z:1.86 [[ 9.97968708e-01 -6.27883229e-02 -1.07742445e-02 4.33682838e+02] [ 6.27914698e-02 9.98026668e-01 -4.62787498e-05 2.59293018e+00] [ 1.07558891e-02 -6.30345907e-04 9.99941955e-01 1.85951222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.93925415399997 meters 0.030166512217310884 Centerline is valid? [True, True] Translation: X:433.74, Y:2.59, Z:1.86 [[ 9.98019014e-01 -6.18309591e-02 -1.16180918e-02 4.33744203e+02] [ 6.18345625e-02 9.98086411e-01 -4.91524100e-05 2.59362368e+00] [ 1.15988987e-02 -6.69344582e-04 9.99932506e-01 1.85844736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.99925415399997 meters 0.03129166048222453 Centerline is valid? [True, True] Translation: X:433.81, Y:2.59, Z:1.86 [[ 9.98139178e-01 -5.94973147e-02 -1.33510380e-02 4.33805027e+02] [ 5.95018732e-02 9.98228192e-01 -5.58824192e-05 2.59422980e+00] [ 1.33307074e-02 -7.38633337e-04 9.99910869e-01 1.85698967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.059254154 meters 0.027420257766867653 Centerline is valid? [True, True] Translation: X:433.87, Y:2.60, Z:1.86 [[ 9.98402335e-01 -5.43646801e-02 -1.54032092e-02 4.33866182e+02] [ 5.43701436e-02 9.98520848e-01 -6.41508409e-05 2.60451933e+00] [ 1.53839130e-02 -7.73426345e-04 9.99881361e-01 1.85619680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.119254154 meters 0.025157315859371032 Centerline is valid? [True, True] Translation: X:433.93, Y:2.61, Z:1.86 [[ 9.98666642e-01 -4.91576996e-02 -1.57625689e-02 4.33927159e+02] [ 4.91627778e-02 9.98790777e-01 -6.53909582e-05 2.61280002e+00] [ 1.57467229e-02 -7.09627905e-04 9.99875761e-01 1.85715436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.179254154 meters 0.022189138831748143 Centerline is valid? [True, True] Translation: X:433.99, Y:2.63, Z:1.86 [[ 9.99112125e-01 -3.94414837e-02 -1.48098379e-02 4.33987466e+02] [ 3.94449013e-02 9.99221745e-01 -6.13796565e-05 2.62582070e+00] [ 1.48007330e-02 -5.22847436e-04 9.99890326e-01 1.85882192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.239254154 meters 0.019523388364650264 Centerline is valid? [True, True] Translation: X:434.05, Y:2.64, Z:1.86 [[ 9.99372265e-01 -3.24630370e-02 -1.41854540e-02 4.34048131e+02] [ 3.24654724e-02 9.99472856e-01 -5.86205769e-05 2.63562459e+00] [ 1.41798792e-02 -4.01953688e-04 9.99899380e-01 1.86027376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.299254154 meters 0.017302695094645975 Centerline is valid? [True, True] Translation: X:434.11, Y:2.65, Z:1.86 [[ 9.99681954e-01 -2.21865473e-02 -1.19894757e-02 4.34107388e+02] [ 2.21875479e-02 9.99753825e-01 -4.95669665e-05 2.64798902e+00] [ 1.19876240e-02 -2.16465865e-04 9.99928122e-01 1.86221170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.359254154 meters 0.016159395267479174 Centerline is valid? [True, True] Translation: X:434.17, Y:2.65, Z:1.86 [[ 9.99751493e-01 -1.89845485e-02 -1.16849625e-02 4.34168036e+02] [ 1.89852796e-02 9.99819762e-01 -4.83580268e-05 2.65351347e+00] [ 1.16837745e-02 -1.73496271e-04 9.99931727e-01 1.86343325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.419254154 meters 0.016963003865143586 Centerline is valid? [True, True] Translation: X:434.23, Y:2.66, Z:1.86 [[ 9.99810719e-01 -1.39298025e-02 -1.35825943e-02 4.34227581e+02] [ 1.39303218e-02 9.99902967e-01 -5.63790248e-05 2.66047036e+00] [ 1.35820616e-02 -1.32841556e-04 9.99907751e-01 1.86269420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.479254154 meters 0.015669804585351266 Centerline is valid? [True, True] Translation: X:434.29, Y:2.66, Z:1.86 [[ 9.99798863e-01 -1.46238338e-02 -1.37250753e-02 4.34285614e+02] [ 1.46243912e-02 9.99893056e-01 -5.97527112e-05 2.66152017e+00] [ 1.37244813e-02 -1.40980178e-04 9.99905805e-01 1.86243323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.539254154 meters 0.015907704603546027 Centerline is valid? [True, True] Translation: X:434.34, Y:2.66, Z:1.86 [[ 9.99731488e-01 -1.73808612e-02 -1.53250723e-02 4.34344498e+02] [ 1.73818163e-02 9.99848922e-01 -7.08803569e-05 2.65958128e+00] [ 1.53239889e-02 -1.95516266e-04 9.99882562e-01 1.86129421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.599254154 meters 0.016437413810366872 Centerline is valid? [True, True] Translation: X:434.40, Y:2.66, Z:1.86 [[ 9.99676796e-01 -1.89704250e-02 -1.69241523e-02 4.34403270e+02] [ 1.89717447e-02 9.99820017e-01 -8.25873687e-05 2.65847287e+00] [ 1.69226730e-02 -2.38520021e-04 9.99856773e-01 1.86037611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.659254154 meters 0.016301956837209215 Centerline is valid? [True, True] Translation: X:434.46, Y:2.66, Z:1.86 [[ 9.99673355e-01 -1.93611447e-02 -1.66831925e-02 4.34461256e+02] [ 1.93624043e-02 9.99812527e-01 -8.60311822e-05 2.65793979e+00] [ 1.66817306e-02 -2.37023639e-04 9.99860822e-01 1.86109831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.719254154 meters 0.018711389501607816 Centerline is valid? [True, True] Translation: X:434.52, Y:2.66, Z:1.86 [[ 9.99624906e-01 -1.96249805e-02 -1.91025347e-02 4.34519532e+02] [ 1.96266271e-02 9.99807374e-01 -1.01292536e-04 2.65545816e+00] [ 1.91008430e-02 -2.73663784e-04 9.99817525e-01 1.86059487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.779254154 meters 0.016143028871965715 Centerline is valid? [True, True] Translation: X:434.58, Y:2.65, Z:1.86 [[ 9.99635953e-01 -2.09417093e-02 -1.70119459e-02 4.34578202e+02] [ 2.09431457e-02 9.99780664e-01 -9.37357717e-05 2.65401126e+00] [ 1.70101776e-02 -2.62582014e-04 9.99855282e-01 1.86244783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.839254154 meters 0.017973570722986817 Centerline is valid? [True, True] Translation: X:434.64, Y:2.65, Z:1.86 [[ 9.99620719e-01 -2.10815929e-02 -1.77196062e-02 4.34635799e+02] [ 2.10830845e-02 9.99777722e-01 -1.02642852e-04 2.65138934e+00] [ 1.77178314e-02 -2.70980032e-04 9.99842990e-01 1.86255234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.899254154 meters 0.01599118867624452 Centerline is valid? [True, True] Translation: X:434.69, Y:2.65, Z:1.86 [[ 9.99643142e-01 -2.10366072e-02 -1.64636048e-02 4.34694590e+02] [ 2.10378190e-02 9.99778676e-01 -9.96064191e-05 2.64948743e+00] [ 1.64620564e-02 -2.46787464e-04 9.99864461e-01 1.86335505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.959254154 meters 0.016160814921395726 Centerline is valid? [True, True] Translation: X:434.75, Y:2.65, Z:1.86 [[ 9.99655633e-01 -1.99950371e-02 -1.69945247e-02 4.34752689e+02] [ 1.99961392e-02 9.99800052e-01 -1.05088720e-04 2.64540022e+00] [ 1.69932280e-02 -2.34772352e-04 9.99855577e-01 1.86235323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.019254154 meters 0.01597277856160043 Centerline is valid? [True, True] Translation: X:434.81, Y:2.64, Z:1.86 [[ 9.99673152e-01 -1.88777964e-02 -1.72399890e-02 4.34811022e+02] [ 1.88787033e-02 9.99821775e-01 -1.10154330e-04 2.64430350e+00] [ 1.72389959e-02 -2.15350312e-04 9.99851374e-01 1.86213854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.079254154 meters 0.015554510554318533 Centerline is valid? [True, True] Translation: X:434.87, Y:2.64, Z:1.86 [[ 9.99684653e-01 -1.69053737e-02 -1.85688756e-02 4.34868989e+02] [ 1.69059891e-02 9.99857076e-01 -1.23849477e-04 2.64287554e+00] [ 1.85683153e-02 -1.90114785e-04 9.99827576e-01 1.86167534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.139254154 meters 0.015005295021076327 Centerline is valid? [True, True] Translation: X:434.93, Y:2.64, Z:1.86 [[ 9.99688709e-01 -1.62849273e-02 -1.89020104e-02 4.34926630e+02] [ 1.62853487e-02 9.99867376e-01 -1.31645201e-04 2.64201341e+00] [ 1.89016473e-02 -1.76221608e-04 9.99821332e-01 1.86239502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.199254154 meters 0.015065717841129908 Centerline is valid? [True, True] Translation: X:434.98, Y:2.64, Z:1.86 [[ 9.99674075e-01 -1.74143226e-02 -1.86677456e-02 4.34984835e+02] [ 1.74148287e-02 9.99848341e-01 -1.35464267e-04 2.63894154e+00] [ 1.86672735e-02 -1.89675477e-04 9.99825733e-01 1.86294369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.259254154 meters 0.015528397502990687 Centerline is valid? [True, True] Translation: X:435.04, Y:2.63, Z:1.86 [[ 9.99608357e-01 -2.13170172e-02 -1.81305864e-02 4.35043720e+02] [ 2.13180490e-02 9.99772735e-01 -1.36383929e-04 2.63445395e+00] [ 1.81293733e-02 -2.50178215e-04 9.99835618e-01 1.86420552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.319254154 meters 0.016221831303371008 Centerline is valid? [True, True] Translation: X:435.10, Y:2.63, Z:1.86 [[ 9.99505563e-01 -2.58501581e-02 -1.78997017e-02 4.35102739e+02] [ 2.58518076e-02 9.99665776e-01 -1.39270883e-04 2.63102186e+00] [ 1.78973193e-02 -3.23537620e-04 9.99839778e-01 1.86422903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.37925415399997 meters 0.01933849664406089 Centerline is valid? [True, True] Translation: X:435.16, Y:2.62, Z:1.86 [[ 9.99299133e-01 -3.28117676e-02 -1.80175065e-02 4.35162383e+02] [ 3.28145398e-02 9.99461448e-01 -1.41836086e-04 2.62457466e+00] [ 1.80124570e-02 -4.49499505e-04 9.99837661e-01 1.86474133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.43925415399997 meters 0.019765744947470444 Centerline is valid? [True, True] Translation: X:435.22, Y:2.62, Z:1.87 [[ 9.99138732e-01 -3.83009458e-02 -1.59634542e-02 4.35220425e+02] [ 3.83038061e-02 9.99266132e-01 -1.26650491e-04 2.61945773e+00] [ 1.59565899e-02 -4.84919642e-04 9.99872568e-01 1.86613593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.49925415399997 meters 0.02211608668961266 Centerline is valid? [True, True] Translation: X:435.28, Y:2.61, Z:1.87 [[ 9.98831981e-01 -4.60794429e-02 -1.45381755e-02 4.35280747e+02] [ 4.60826315e-02 9.98937625e-01 -1.15769127e-04 2.61353950e+00] [ 1.45280651e-02 -5.54323480e-04 9.99894308e-01 1.86761412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.559254154 meters 0.02535853470289504 Centerline is valid? [True, True] Translation: X:435.34, Y:2.61, Z:1.87 [[ 9.98566555e-01 -5.16916285e-02 -1.38856523e-02 4.35341145e+02] [ 5.16950802e-02 9.98662909e-01 -1.10470020e-04 2.60846309e+00] [ 1.38727963e-02 -6.07508245e-04 9.99903584e-01 1.86849868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.619254154 meters 0.02717809749444145 Centerline is valid? [True, True] Translation: X:435.40, Y:2.61, Z:1.87 [[ 9.98462849e-01 -5.36906308e-02 -1.37570131e-02 4.35401388e+02] [ 5.36942141e-02 9.98557419e-01 -1.09015461e-04 2.60631168e+00] [ 1.37430206e-02 -6.29824117e-04 9.99905362e-01 1.86857354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.679254154 meters 0.028320421441134145 Centerline is valid? [True, True] Translation: X:435.46, Y:2.61, Z:1.87 [[ 9.98430988e-01 -5.39235041e-02 -1.50936155e-02 4.35462888e+02] [ 5.39278554e-02 9.98544827e-01 -1.18867359e-04 2.60771126e+00] [ 1.50780614e-02 -6.95285456e-04 9.99886078e-01 1.86814349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.739254154 meters 0.02848875309730409 Centerline is valid? [True, True] Translation: X:435.52, Y:2.61, Z:1.87 [[ 9.98488470e-01 -5.23483912e-02 -1.67457578e-02 4.35524023e+02] [ 5.23535376e-02 9.98628605e-01 -1.31205594e-04 2.61117398e+00] [ 1.67296612e-02 -7.45692390e-04 9.99859771e-01 1.86750919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.799254154 meters 0.021952544830406744 Centerline is valid? [True, True] Translation: X:435.58, Y:2.63, Z:1.87 [[ 9.98708070e-01 -4.76392216e-02 -1.76831946e-02 4.35584710e+02] [ 4.76442307e-02 9.98864359e-01 -1.38146508e-04 2.62542257e+00] [ 1.76696940e-02 -7.04534169e-04 9.99843631e-01 1.86991443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.859254154 meters 0.020726170645222412 Centerline is valid? [True, True] Translation: X:435.64, Y:2.63, Z:1.87 [[ 9.98979327e-01 -4.19709681e-02 -1.66955717e-02 4.35644814e+02] [ 4.19746438e-02 9.99118668e-01 -1.30353902e-04 2.63286335e+00] [ 1.66863285e-02 -5.70569822e-04 9.99860611e-01 1.87135377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.919254154 meters 0.020293080048037586 Centerline is valid? [True, True] Translation: X:435.71, Y:2.64, Z:1.87 [[ 9.99170776e-01 -3.71591068e-02 -1.66421337e-02 4.35705485e+02] [ 3.71620958e-02 9.99309242e-01 -1.29711438e-04 2.63943613e+00] [ 1.66354579e-02 -4.88852688e-04 9.99861502e-01 1.87234002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.979254154 meters 0.018291194555730715 Centerline is valid? [True, True] Translation: X:435.77, Y:2.65, Z:1.87 [[ 9.99443552e-01 -2.94882364e-02 -1.55894302e-02 4.35765623e+02] [ 2.94899277e-02 9.99565070e-01 -1.21430644e-04 2.64700566e+00] [ 1.55862307e-02 -3.38368097e-04 9.99878470e-01 1.87354277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.039254154 meters 0.01653967720133929 Centerline is valid? [True, True] Translation: X:435.83, Y:2.65, Z:1.87 [[ 9.99582746e-01 -2.46109739e-02 -1.51206425e-02 4.35825670e+02] [ 2.46120042e-02 9.99697072e-01 -1.17969358e-04 2.65191276e+00] [ 1.51189654e-02 -2.54229182e-04 9.99885670e-01 1.87407527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.099254154 meters 0.015549424936323678 Centerline is valid? [True, True] Translation: X:435.89, Y:2.66, Z:1.87 [[ 9.99683211e-01 -2.04971150e-02 -1.46063412e-02 4.35885146e+02] [ 2.04976309e-02 9.99789895e-01 -1.14403997e-04 2.65695522e+00] [ 1.46056173e-02 -1.85027636e-04 9.99893315e-01 1.87447510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.159254154 meters 0.01539382673221041 Centerline is valid? [True, True] Translation: X:435.94, Y:2.66, Z:1.87 [[ 9.99719708e-01 -1.91972365e-02 -1.38553949e-02 4.35944179e+02] [ 1.91975401e-02 9.99815704e-01 -1.11095652e-04 2.65839901e+00] [ 1.38549742e-02 -1.54924988e-04 9.99904003e-01 1.87479724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.219254154 meters 0.015113762156638417 Centerline is valid? [True, True] Translation: X:436.00, Y:2.66, Z:1.88 [[ 9.99743325e-01 -1.81172251e-02 -1.36033356e-02 4.36003048e+02] [ 1.81173705e-02 9.99835861e-01 -1.12550798e-04 2.65905791e+00] [ 1.36031419e-02 -1.33934763e-04 9.99907464e-01 1.87514875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.279254154 meters 0.015180210772061269 Centerline is valid? [True, True] Translation: X:436.06, Y:2.66, Z:1.87 [[ 9.99757909e-01 -1.69398039e-02 -1.40415839e-02 4.36060605e+02] [ 1.69398141e-02 9.99856504e-01 -1.18217225e-04 2.65979842e+00] [ 1.40415716e-02 -1.19673215e-04 9.99901405e-01 1.87495241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.339254154 meters 0.01488251909660873 Centerline is valid? [True, True] Translation: X:436.12, Y:2.66, Z:1.88 [[ 9.99781954e-01 -1.50873461e-02 -1.44366641e-02 4.36119611e+02] [ 1.50871201e-02 9.99886175e-01 -1.24565001e-04 2.66032982e+00] [ 1.44369002e-02 -9.32698455e-05 9.99895778e-01 1.87524222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.399254154 meters 0.014691469573226727 Centerline is valid? [True, True] Translation: X:436.18, Y:2.66, Z:1.87 [[ 9.99800314e-01 -1.34430779e-02 -1.47856818e-02 4.36177795e+02] [ 1.34425987e-02 9.99909635e-01 -1.31797280e-04 2.65874112e+00] [ 1.47861175e-02 -6.69870258e-05 9.99890677e-01 1.87492859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.459254154 meters 0.01480841901241097 Centerline is valid? [True, True] Translation: X:436.24, Y:2.66, Z:1.87 [[ 9.99785907e-01 -1.38246658e-02 -1.53953888e-02 4.36236090e+02] [ 1.38241556e-02 9.99904432e-01 -1.39566520e-04 2.65644751e+00] [ 1.53958469e-02 -7.32916094e-05 9.99881474e-01 1.87456403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.519254154 meters 0.014795296858951389 Centerline is valid? [True, True] Translation: X:436.29, Y:2.65, Z:1.88 [[ 9.99740567e-01 -1.70270379e-02 -1.51287438e-02 4.36294958e+02] [ 1.70268639e-02 9.99855023e-01 -1.40315924e-04 2.65166464e+00] [ 1.51289397e-02 -1.17315540e-04 9.99885544e-01 1.87578806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.579254154 meters 0.014963224759947387 Centerline is valid? [True, True] Translation: X:436.35, Y:2.65, Z:1.88 [[ 9.99690705e-01 -1.93852416e-02 -1.55790183e-02 4.36352783e+02] [ 1.93853093e-02 9.99812076e-01 -1.46680173e-04 2.64756351e+00] [ 1.55789340e-02 -1.55369282e-04 9.99878629e-01 1.87563599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.639254154 meters 0.015546510408722328 Centerline is valid? [True, True] Translation: X:436.41, Y:2.64, Z:1.88 [[ 9.99615091e-01 -2.26135279e-02 -1.60716428e-02 4.36411383e+02] [ 2.26139632e-02 9.99744260e-01 -1.54669644e-04 2.64273980e+00] [ 1.60710303e-02 -2.08833429e-04 9.99870831e-01 1.87564672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.699254154 meters 0.01616108211524032 Centerline is valid? [True, True] Translation: X:436.47, Y:2.64, Z:1.88 [[ 9.99506445e-01 -2.66931975e-02 -1.65631926e-02 4.36470087e+02] [ 2.66941502e-02 9.99643634e-01 -1.63601195e-04 2.63714059e+00] [ 1.65616571e-02 -2.78619902e-04 9.99862808e-01 1.87602673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.759254154 meters 0.01707111275387111 Centerline is valid? [True, True] Translation: X:436.53, Y:2.63, Z:1.88 [[ 9.99412577e-01 -3.02304605e-02 -1.61437123e-02 4.36528768e+02] [ 3.02317622e-02 9.99542902e-01 -1.63459121e-04 2.63279992e+00] [ 1.61412745e-02 -3.24689770e-04 9.99869668e-01 1.87664312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.819254154 meters 0.01831412863815952 Centerline is valid? [True, True] Translation: X:436.59, Y:2.63, Z:1.88 [[ 9.99229884e-01 -3.57797860e-02 -1.61073205e-02 4.36588237e+02] [ 3.57817746e-02 9.99359614e-01 -1.64812029e-04 2.62642974e+00] [ 1.61029026e-02 -4.11663409e-04 9.99870255e-01 1.87776196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.87925415399997 meters 0.01830648860480898 Centerline is valid? [True, True] Translation: X:436.65, Y:2.62, Z:1.88 [[ 9.99111601e-01 -3.90713217e-02 -1.57937045e-02 4.36647663e+02] [ 3.90736341e-02 9.99236321e-01 -1.62257990e-04 2.62465160e+00] [ 1.57879828e-02 -4.55003589e-04 9.99875259e-01 1.87914659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.93925415399997 meters 0.0212186098873924 Centerline is valid? [True, True] Translation: X:436.71, Y:2.62, Z:1.88 [[ 9.99050592e-01 -4.07084920e-02 -1.55155818e-02 4.36707650e+02] [ 4.07109184e-02 9.99170954e-01 -1.59561281e-04 2.61677917e+00] [ 1.55092142e-02 -4.72243794e-04 9.99879613e-01 1.87924833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.99925415399997 meters 0.020009538922198505 Centerline is valid? [True, True] Translation: X:436.77, Y:2.62, Z:1.88 [[ 9.99077921e-01 -4.00618124e-02 -1.54388607e-02 4.36768244e+02] [ 4.00641377e-02 9.99197098e-01 -1.58772286e-04 2.61756143e+00] [ 1.54328255e-02 -4.59918756e-04 9.99880801e-01 1.88068372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.059254154 meters 0.018148344576077953 Centerline is valid? [True, True] Translation: X:436.83, Y:2.62, Z:1.88 [[ 9.99182127e-01 -3.74582720e-02 -1.52300926e-02 4.36828693e+02] [ 3.74602326e-02 9.99298107e-01 -1.56625327e-04 2.61909245e+00] [ 1.52252696e-02 -4.14025583e-04 9.99884003e-01 1.88356025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.119254154 meters 0.019314321247264447 Centerline is valid? [True, True] Translation: X:436.89, Y:2.62, Z:1.88 [[ 9.99292101e-01 -3.36434153e-02 -1.68350128e-02 4.36889498e+02] [ 3.36452700e-02 9.99433823e-01 -1.73130227e-04 2.62004688e+00] [ 1.68313059e-02 -3.93410883e-04 9.99858266e-01 1.88278299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.179254154 meters 0.017473049378933667 Centerline is valid? [True, True] Translation: X:436.95, Y:2.62, Z:1.88 [[ 9.99360040e-01 -3.14978821e-02 -1.69527139e-02 4.36948101e+02] [ 3.14994410e-02 9.99503754e-01 -1.75117321e-04 2.62024559e+00] [ 1.69498170e-02 -3.58995758e-04 9.99856277e-01 1.88327517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.239254154 meters 0.016636775358277834 Centerline is valid? [True, True] Translation: X:437.01, Y:2.62, Z:1.88 [[ 9.99446526e-01 -2.79411775e-02 -1.80535780e-02 4.37007359e+02] [ 2.79423032e-02 9.99609520e-01 -1.89941598e-04 2.62254503e+00] [ 1.80518356e-02 -3.14622080e-04 9.99837003e-01 1.88337216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.299254154 meters 0.0158271742606668 Centerline is valid? [True, True] Translation: X:437.07, Y:2.62, Z:1.88 [[ 9.99492881e-01 -2.61838730e-02 -1.81213995e-02 4.37066155e+02] [ 2.61846362e-02 9.99657105e-01 -1.95192641e-04 2.62499084e+00] [ 1.81202967e-02 -2.79408599e-04 9.99835775e-01 1.88472935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.359254154 meters 0.017702438578547777 Centerline is valid? [True, True] Translation: X:437.12, Y:2.62, Z:1.88 [[ 9.99455330e-01 -2.74544082e-02 -1.83111746e-02 4.37124011e+02] [ 2.74553438e-02 9.99623011e-01 -2.00342471e-04 2.62278675e+00] [ 1.83097718e-02 -3.02506243e-04 9.99832316e-01 1.88456299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.419254154 meters 0.018765116914045463 Centerline is valid? [True, True] Translation: X:437.18, Y:2.62, Z:1.89 [[ 9.99287896e-01 -3.38022475e-02 -1.67662969e-02 4.37183466e+02] [ 3.38039078e-02 9.99428468e-01 -1.84449914e-04 2.61693719e+00] [ 1.67629492e-02 -3.82447786e-04 9.99859419e-01 1.88594102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.479254154 meters 0.01970857359965886 Centerline is valid? [True, True] Translation: X:437.24, Y:2.61, Z:1.89 [[ 9.99121610e-01 -3.89235116e-02 -1.55231785e-02 4.37241912e+02] [ 3.89255370e-02 9.99242099e-01 -1.71753926e-04 2.61291152e+00] [ 1.55180988e-02 -4.32645002e-04 9.99879493e-01 1.88699623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.539254154 meters 0.021440130891573976 Centerline is valid? [True, True] Translation: X:437.30, Y:2.61, Z:1.89 [[ 9.98952503e-01 -4.30162364e-02 -1.56045036e-02 4.37302009e+02] [ 4.30187737e-02 9.99074249e-01 -1.73181928e-04 2.60981958e+00] [ 1.55975074e-02 -4.98286091e-04 9.99878227e-01 1.88739713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.599254154 meters 0.024329324833047054 Centerline is valid? [True, True] Translation: X:437.36, Y:2.60, Z:1.89 [[ 9.98720416e-01 -4.83465570e-02 -1.48371386e-02 4.37360864e+02] [ 4.83494318e-02 9.98830469e-01 -1.65098765e-04 2.60289734e+00] [ 1.48277681e-02 -5.52479714e-04 9.99889910e-01 1.88773363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.659254154 meters 0.026386031336431345 Centerline is valid? [True, True] Translation: X:437.42, Y:2.60, Z:1.89 [[ 9.98588863e-01 -5.09753691e-02 -1.48927551e-02 4.37421201e+02] [ 5.09785550e-02 9.98699734e-01 -1.65869991e-04 2.59990244e+00] [ 1.48818458e-02 -5.93575208e-04 9.99889083e-01 1.88810018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.719254154 meters 0.028933664155183336 Centerline is valid? [True, True] Translation: X:437.48, Y:2.60, Z:1.89 [[ 9.98428856e-01 -5.36824390e-02 -1.60628230e-02 4.37481051e+02] [ 5.36865071e-02 9.98557824e-01 -1.78149608e-04 2.59667091e+00] [ 1.60492211e-02 -6.84487153e-04 9.99870969e-01 1.88673255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.779254154 meters 0.024185109115383286 Centerline is valid? [True, True] Translation: X:437.54, Y:2.61, Z:1.89 [[ 9.98333676e-01 -5.49266071e-02 -1.76900923e-02 4.37541665e+02] [ 5.49317419e-02 9.98490093e-01 -1.95884728e-04 2.60566226e+00] [ 1.76741412e-02 -7.76189265e-04 9.99843499e-01 1.88762658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.839254154 meters 0.025481031603367947 Centerline is valid? [True, True] Translation: X:437.60, Y:2.61, Z:1.89 [[ 9.98331857e-01 -5.43171269e-02 -1.95743073e-02 4.37601898e+02] [ 5.43232972e-02 9.98523376e-01 -2.16748890e-04 2.60805657e+00] [ 1.95571766e-02 -8.46953594e-04 9.99808381e-01 1.88638618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.899254154 meters 0.023972062929620258 Centerline is valid? [True, True] Translation: X:437.66, Y:2.61, Z:1.89 [[ 9.98422013e-01 -5.26702495e-02 -1.94763681e-02 4.37661145e+02] [ 5.26760350e-02 9.98611631e-01 -2.16204512e-04 2.61364509e+00] [ 1.94607153e-02 -8.10074504e-04 9.99810294e-01 1.88745261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.959254154 meters 0.024929537975009106 Centerline is valid? [True, True] Translation: X:437.72, Y:2.62, Z:1.89 [[ 9.98407843e-01 -5.31691009e-02 -1.88367985e-02 4.37721469e+02] [ 5.31745982e-02 9.98585208e-01 -2.09257223e-04 2.61692893e+00] [ 1.88212744e-02 -7.92715139e-04 9.99822550e-01 1.88773094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.019254154 meters 0.02600908674011883 Centerline is valid? [True, True] Translation: X:437.78, Y:2.62, Z:1.89 [[ 9.98319668e-01 -5.51578937e-02 -1.77608193e-02 4.37782055e+02] [ 5.51630949e-02 9.98477338e-01 -1.97304214e-04 2.61977774e+00] [ 1.77446584e-02 -7.82769082e-04 9.99842245e-01 1.88898538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.079254154 meters 0.02494924353974475 Centerline is valid? [True, True] Translation: X:437.84, Y:2.63, Z:1.89 [[ 9.98137578e-01 -5.87842556e-02 -1.63029612e-02 4.37843163e+02] [ 5.87891274e-02 9.98270407e-01 -1.80670865e-04 2.62669689e+00] [ 1.62853843e-02 -7.78102485e-04 9.99867082e-01 1.89122732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.139254154 meters 0.02573262357322567 Centerline is valid? [True, True] Translation: X:437.90, Y:2.63, Z:1.89 [[ 9.98046908e-01 -6.02934397e-02 -1.63423078e-02 4.37904497e+02] [ 6.02985467e-02 9.98180371e-01 -1.80505881e-04 2.62871154e+00] [ 1.63234541e-02 -8.05264071e-04 9.99866439e-01 1.89086379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.199254154 meters 0.025986275137405382 Centerline is valid? [True, True] Translation: X:437.97, Y:2.63, Z:1.89 [[ 9.97963502e-01 -6.15549032e-02 -1.67284993e-02 4.37966277e+02] [ 6.15604456e-02 9.98103340e-01 -1.83914222e-04 2.63217897e+00] [ 1.67080918e-02 -8.46274187e-04 9.99860052e-01 1.89088571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.259254154 meters 0.025491177440395297 Centerline is valid? [True, True] Translation: X:438.03, Y:2.64, Z:1.89 [[ 9.97910107e-01 -6.25356576e-02 -1.62698825e-02 4.38028758e+02] [ 6.25410485e-02 9.98042377e-01 -1.77741927e-04 2.63673989e+00] [ 1.62491474e-02 -8.40165043e-04 9.99867621e-01 1.89189545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.319254154 meters 0.024644607176833287 Centerline is valid? [True, True] Translation: X:438.09, Y:2.65, Z:1.89 [[ 9.98034318e-01 -6.04696242e-02 -1.64598089e-02 4.38090084e+02] [ 6.04748745e-02 9.98169704e-01 -1.79028322e-04 2.64533063e+00] [ 1.64405083e-02 -8.16728468e-04 9.99864512e-01 1.89245071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.37925415399997 meters 0.024045463564208214 Centerline is valid? [True, True] Translation: X:438.15, Y:2.65, Z:1.89 [[ 9.98318609e-01 -5.57219513e-02 -1.59693041e-02 4.38149761e+02] [ 5.57262896e-02 9.98446068e-01 -1.73532288e-04 2.65285928e+00] [ 1.59541584e-02 -7.16669551e-04 9.99872467e-01 1.89207237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.43925415399997 meters 0.02433539875797922 Centerline is valid? [True, True] Translation: X:438.21, Y:2.66, Z:1.89 [[ 9.98518747e-01 -5.19979059e-02 -1.60165492e-02 4.38209935e+02] [ 5.20017951e-02 9.98646976e-01 -1.73834517e-04 2.65723966e+00] [ 1.60039175e-02 -6.59312286e-04 9.99871712e-01 1.89141300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.49925415399997 meters 0.021617524259861513 Centerline is valid? [True, True] Translation: X:438.27, Y:2.67, Z:1.89 [[ 9.98745068e-01 -4.75853741e-02 -1.56179844e-02 4.38270880e+02] [ 4.75885377e-02 9.98867009e-01 -1.69226880e-04 2.66833567e+00] [ 1.56083421e-02 -5.74222528e-04 9.99878018e-01 1.89239738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.559254154 meters 0.02108032344307481 Centerline is valid? [True, True] Translation: X:438.33, Y:2.67, Z:1.89 [[ 9.98864437e-01 -4.55720166e-02 -1.38934331e-02 4.38331817e+02] [ 4.55743312e-02 9.98960939e-01 -1.50124187e-04 2.67336829e+00] [ 1.38858385e-02 -4.83230212e-04 9.99903470e-01 1.89372569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.619254154 meters 0.021731416866986618 Centerline is valid? [True, True] Translation: X:438.39, Y:2.68, Z:1.90 [[ 9.98852942e-01 -4.65786549e-02 -1.11008294e-02 4.38394369e+02] [ 4.65802013e-02 9.98914546e-01 -1.19338454e-04 2.67671477e+00] [ 1.10943386e-02 -3.97877303e-04 9.99938377e-01 1.89556644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.679254154 meters 0.022752575777049075 Centerline is valid? [True, True] Translation: X:438.46, Y:2.68, Z:1.90 [[ 9.98606482e-01 -5.18825385e-02 -9.65898665e-03 4.38455136e+02] [ 5.18839606e-02 9.98653115e-01 -1.03465938e-04 2.67992259e+00] [ 9.65134518e-03 -3.97824726e-04 9.99953346e-01 1.89627802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.739254154 meters 0.02431686142359787 Centerline is valid? [True, True] Translation: X:438.52, Y:2.68, Z:1.90 [[ 9.98399607e-01 -5.56069538e-02 -1.03000417e-02 4.38515753e+02] [ 5.56087706e-02 9.98452629e-01 -1.10139072e-04 2.68010136e+00] [ 1.02902283e-02 -4.62809852e-04 9.99946947e-01 1.89540981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.799254154 meters 0.027164513537924772 Centerline is valid? [True, True] Translation: X:438.58, Y:2.68, Z:1.89 [[ 9.98141202e-01 -5.99182476e-02 -1.11330653e-02 4.38576689e+02] [ 5.99206401e-02 9.98203137e-01 -1.18837155e-04 2.68124422e+00] [ 1.11201812e-02 -5.48484139e-04 9.99938018e-01 1.89391841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.859254154 meters 0.0282128476621983 Centerline is valid? [True, True] Translation: X:438.64, Y:2.68, Z:1.90 [[ 9.98034236e-01 -6.18009928e-02 -1.04068131e-02 4.38638955e+02] [ 6.18031906e-02 9.98088349e-01 -1.10575278e-04 2.68477857e+00] [ 1.03937525e-02 -5.32816338e-04 9.99945842e-01 1.89558427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.919254154 meters 0.030109958060526226 Centerline is valid? [True, True] Translation: X:438.70, Y:2.69, Z:1.90 [[ 9.98094417e-01 -6.09470308e-02 -9.64330605e-03 4.38700041e+02] [ 6.09488881e-02 9.98140883e-01 -1.01437185e-04 2.68636741e+00] [ 9.63156032e-03 -4.86504894e-04 9.99953497e-01 1.89508254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.979254154 meters 0.02799049195563428 Centerline is valid? [True, True] Translation: X:438.76, Y:2.69, Z:1.90 [[ 9.98212379e-01 -5.90271161e-02 -9.37263761e-03 4.38761862e+02] [ 5.90287942e-02 9.98256276e-01 -9.77303647e-05 2.69312634e+00] [ 9.36206306e-03 -4.55699837e-04 9.99956071e-01 1.89687485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.039254154 meters 0.02452811844024971 Centerline is valid? [True, True] Translation: X:438.82, Y:2.70, Z:1.90 [[ 9.98340257e-01 -5.67615105e-02 -9.73968741e-03 4.38823517e+02] [ 5.67632203e-02 9.98387663e-01 -1.01019579e-04 2.70293297e+00] [ 9.72971778e-03 -4.52004110e-04 9.99952563e-01 1.89729532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.099254154 meters 0.02758790087605335 Centerline is valid? [True, True] Translation: X:438.88, Y:2.71, Z:1.90 [[ 9.98496881e-01 -5.39453764e-02 -9.68886640e-03 4.38884014e+02] [ 5.39469393e-02 9.98543799e-01 -1.00153176e-04 2.70525183e+00] [ 9.68016026e-03 -4.22682054e-04 9.99953057e-01 1.89622637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.159254154 meters 0.022418215683570324 Centerline is valid? [True, True] Translation: X:438.95, Y:2.72, Z:1.90 [[ 9.98511817e-01 -5.38054922e-02 -8.89495609e-03 4.38946068e+02] [ 5.38068076e-02 9.98551360e-01 -9.15334287e-05 2.71868517e+00] [ 8.88699551e-03 -3.87211981e-04 9.99960435e-01 1.89837548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.219254154 meters 0.025039843940740988 Centerline is valid? [True, True] Translation: X:439.01, Y:2.72, Z:1.90 [[ 9.98537212e-01 -5.34337599e-02 -8.26252683e-03 4.39006920e+02] [ 5.34348895e-02 9.98571332e-01 -8.41511406e-05 2.71873564e+00] [ 8.25521894e-03 -3.57479163e-04 9.99965861e-01 1.89874086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.279254154 meters 0.022632098169808598 Centerline is valid? [True, True] Translation: X:439.07, Y:2.73, Z:1.90 [[ 9.98665343e-01 -5.11236220e-02 -7.34226942e-03 4.39068492e+02] [ 5.11244574e-02 9.98692287e-01 -7.39880989e-05 2.72802887e+00] [ 7.33645038e-03 -3.01480190e-04 9.99973042e-01 1.89924520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.339254154 meters 0.021983229121603585 Centerline is valid? [True, True] Translation: X:439.13, Y:2.73, Z:1.90 [[ 9.98797497e-01 -4.86708420e-02 -5.89144438e-03 4.39130404e+02] [ 4.86713395e-02 9.98814846e-01 -5.89964808e-05 2.73262088e+00] [ 5.88733352e-03 -2.27818952e-04 9.99982644e-01 1.89996143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.399254154 meters 0.0204645450463206 Centerline is valid? [True, True] Translation: X:439.19, Y:2.74, Z:1.90 [[ 9.98928423e-01 -4.60548194e-02 -4.57821761e-03 4.39191741e+02] [ 4.60550936e-02 9.98938900e-01 -4.55855083e-05 2.73927109e+00] [ 4.57545909e-03 -1.65313580e-04 9.99989519e-01 1.90188094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.459254154 meters 0.02023368396027834 Centerline is valid? [True, True] Translation: X:439.25, Y:2.74, Z:1.90 [[ 9.98934619e-01 -4.58606911e-02 -5.14047503e-03 4.39254511e+02] [ 4.58610355e-02 9.98947828e-01 -5.09139415e-05 2.74245565e+00] [ 5.13740131e-03 -1.84887809e-04 9.99986786e-01 1.90183948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.519254154 meters 0.022908384991165896 Centerline is valid? [True, True] Translation: X:439.32, Y:2.74, Z:1.90 [[ 9.98883464e-01 -4.69078081e-02 -5.61097722e-03 4.39315782e+02] [ 4.69082384e-02 9.98899201e-01 -5.49627403e-05 2.73898743e+00] [ 5.60737884e-03 -2.08299685e-04 9.99984257e-01 1.90122892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.579254154 meters 0.021756182876255577 Centerline is valid? [True, True] Translation: X:439.38, Y:2.74, Z:1.90 [[ 9.98821742e-01 -4.81765311e-02 -5.84374323e-03 4.39377831e+02] [ 4.81770217e-02 9.98838811e-01 -5.68817838e-05 2.74055849e+00] [ 5.83969791e-03 -2.24719382e-04 9.99982924e-01 1.90131103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.639254154 meters 0.02205388706287594 Centerline is valid? [True, True] Translation: X:439.44, Y:2.74, Z:1.90 [[ 9.98924771e-01 -4.58746208e-02 -6.69482991e-03 4.39440227e+02] [ 4.58752165e-02 9.98947176e-01 -6.46260636e-05 2.74324399e+00] [ 6.69074612e-03 -2.42570196e-04 9.99977587e-01 1.89970680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.699254154 meters 0.020915729553833133 Centerline is valid? [True, True] Translation: X:439.50, Y:2.75, Z:1.90 [[ 9.98998605e-01 -4.40271357e-02 -7.96231948e-03 4.39502652e+02] [ 4.40279249e-02 9.99030298e-01 -7.62181587e-05 2.74540384e+00] [ 7.95795407e-03 -2.74422570e-04 9.99968297e-01 1.89992518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.759254154 meters 0.018546169512676815 Centerline is valid? [True, True] Translation: X:439.56, Y:2.75, Z:1.90 [[ 9.99119257e-01 -4.10615008e-02 -8.64082752e-03 4.39564273e+02] [ 4.10623246e-02 9.99156584e-01 -8.21254820e-05 2.75187257e+00] [ 8.63691190e-03 -2.72759314e-04 9.99962664e-01 1.89935328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.819254154 meters 0.018920445911552262 Centerline is valid? [True, True] Translation: X:439.63, Y:2.75, Z:1.90 [[ 9.99222955e-01 -3.85521225e-02 -8.19879095e-03 4.39625068e+02] [ 3.85527834e-02 9.99256562e-01 -7.74745974e-05 2.75363443e+00] [ 8.19568247e-03 -2.38671816e-04 9.99966386e-01 1.89998754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.87925415399997 meters 0.018093570957254595 Centerline is valid? [True, True] Translation: X:439.69, Y:2.76, Z:1.90 [[ 9.99415916e-01 -3.36496334e-02 -5.96063139e-03 4.39686590e+02] [ 3.36498971e-02 9.99433680e-01 -5.60592518e-05 2.76024542e+00] [ 5.95914214e-03 -1.44548125e-04 9.99982234e-01 1.90116544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.93925415399997 meters 0.01711137311861354 Centerline is valid? [True, True] Translation: X:439.75, Y:2.76, Z:1.90 [[ 9.99501491e-01 -3.11965002e-02 -4.85270816e-03 4.39748194e+02] [ 3.11966473e-02 9.99513265e-01 -4.54061134e-05 2.76315726e+00] [ 4.85176269e-03 -1.06004747e-04 9.99988225e-01 1.90243332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.99925415399997 meters 0.01815824207404615 Centerline is valid? [True, True] Translation: X:439.81, Y:2.76, Z:1.90 [[ 9.99512523e-01 -3.07657412e-02 -5.30898793e-03 4.39810145e+02] [ 3.07659133e-02 9.99526616e-01 -4.92577206e-05 2.76408164e+00] [ 5.30799019e-03 -1.14102154e-04 9.99985906e-01 1.90094330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.059254154 meters 0.016870914410193626 Centerline is valid? [True, True] Translation: X:439.87, Y:2.77, Z:1.90 [[ 9.99462753e-01 -3.21994581e-02 -6.11550776e-03 4.39872518e+02] [ 3.21997164e-02 9.99481453e-01 -5.62436041e-05 2.76587338e+00] [ 6.11414760e-03 -1.40704228e-04 9.99981299e-01 1.90141771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.119254154 meters 0.017824145519515236 Centerline is valid? [True, True] Translation: X:439.93, Y:2.76, Z:1.90 [[ 9.99377988e-01 -3.45549111e-02 -7.04234226e-03 4.39934614e+02] [ 3.45553161e-02 9.99402785e-01 -6.41904597e-05 2.76383702e+00] [ 7.04035456e-03 -1.79199830e-04 9.99975200e-01 1.90043485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.179254154 meters 0.02078908478630442 Centerline is valid? [True, True] Translation: X:440.00, Y:2.76, Z:1.90 [[ 9.99199052e-01 -3.89560032e-02 -9.14795841e-03 4.39995227e+02] [ 3.89568771e-02 9.99240889e-01 -8.27068498e-05 2.75880635e+00] [ 9.14423603e-03 -2.73735286e-04 9.99958153e-01 1.89687394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.239254154 meters 0.02015767381729537 Centerline is valid? [True, True] Translation: X:440.06, Y:2.76, Z:1.90 [[ 9.99080609e-01 -4.14998050e-02 -1.07565345e-02 4.40057343e+02] [ 4.15011685e-02 9.99138451e-01 -9.65126752e-05 2.75826836e+00] [ 1.07512725e-02 -3.49984809e-04 9.99942142e-01 1.89762900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.299254154 meters 0.02320711874208097 Centerline is valid? [True, True] Translation: X:440.12, Y:2.75, Z:1.90 [[ 9.99061660e-01 -4.19181378e-02 -1.08935411e-02 4.40118547e+02] [ 4.19195685e-02 9.99120984e-01 -9.70698254e-05 2.75379213e+00] [ 1.08880345e-02 -3.59673801e-04 9.99940659e-01 1.89726320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.359254154 meters 0.01981172454088503 Centerline is valid? [True, True] Translation: X:440.18, Y:2.76, Z:1.90 [[ 9.99164382e-01 -3.97902573e-02 -9.34199184e-03 4.40180581e+02] [ 3.97912217e-02 9.99208012e-01 -8.26823880e-05 2.76058884e+00] [ 9.33788305e-03 -2.89115971e-04 9.99956359e-01 1.89976016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.419254154 meters 0.018147716154152022 Centerline is valid? [True, True] Translation: X:440.24, Y:2.77, Z:1.90 [[ 9.99318106e-01 -3.60370436e-02 -8.04076887e-03 4.40241880e+02] [ 3.60376400e-02 9.99350431e-01 -7.07539993e-05 2.76557256e+00] [ 8.03809559e-03 -2.19064581e-04 9.99967670e-01 1.90134278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.479254154 meters 0.01768589632326913 Centerline is valid? [True, True] Translation: X:440.30, Y:2.77, Z:1.90 [[ 9.99515368e-01 -3.02016592e-02 -7.54241703e-03 4.40302764e+02] [ 3.02020199e-02 9.99543813e-01 -6.60990352e-05 2.76871248e+00] [ 7.54097257e-03 -1.61729227e-04 9.99971553e-01 1.90219443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.539254154 meters 0.016393908245761975 Centerline is valid? [True, True] Translation: X:440.37, Y:2.77, Z:1.90 [[ 9.99595430e-01 -2.76335648e-02 -6.73510981e-03 4.40365169e+02] [ 2.76337963e-02 9.99618112e-01 -5.87071568e-05 2.77149066e+00] [ 6.73416004e-03 -1.27433247e-04 9.99977317e-01 1.90315282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.599254154 meters 0.01650091529019859 Centerline is valid? [True, True] Translation: X:440.43, Y:2.77, Z:1.90 [[ 9.99581205e-01 -2.81200333e-02 -6.83217266e-03 4.40426895e+02] [ 2.81202870e-02 9.99604545e-01 -5.89439895e-05 2.76980218e+00] [ 6.83112835e-03 -1.33203352e-04 9.99976659e-01 1.90335772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.659254154 meters 0.01699765020474396 Centerline is valid? [True, True] Translation: X:440.49, Y:2.77, Z:1.90 [[ 9.99515186e-01 -2.98979287e-02 -8.68944618e-03 4.40487701e+02] [ 2.98984132e-02 9.99552940e-01 -7.41697718e-05 2.76667504e+00] [ 8.68777900e-03 -1.85666839e-04 9.99962243e-01 1.90240650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.719254154 meters 0.017175859377565595 Centerline is valid? [True, True] Translation: X:440.55, Y:2.77, Z:1.90 [[ 9.99512315e-01 -2.93029663e-02 -1.07920427e-02 4.40548424e+02] [ 2.93036848e-02 9.99570551e-01 -9.15771167e-05 2.76578533e+00] [ 1.07900915e-02 -2.24714161e-04 9.99941760e-01 1.90107254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.779254154 meters 0.015932490421918778 Centerline is valid? [True, True] Translation: X:440.61, Y:2.77, Z:1.90 [[ 9.99567530e-01 -2.69622728e-02 -1.17383788e-02 4.40610647e+02] [ 2.69629709e-02 9.99636428e-01 -9.88099406e-05 2.76745888e+00] [ 1.17367752e-02 -2.17734357e-04 9.99931098e-01 1.90147448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.839254154 meters 0.016303737996861342 Centerline is valid? [True, True] Translation: X:440.67, Y:2.77, Z:1.90 [[ 9.99616385e-01 -2.60164789e-02 -9.49868266e-03 4.40671984e+02] [ 2.60168984e-02 9.99661500e-01 -7.94153959e-05 2.76607954e+00] [ 9.49753346e-03 -1.67741331e-04 9.99954883e-01 1.90267934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.899254154 meters 0.01584438704810034 Centerline is valid? [True, True] Translation: X:440.73, Y:2.77, Z:1.90 [[ 9.99673012e-01 -2.43685367e-02 -7.74877842e-03 4.40734540e+02] [ 2.43687697e-02 9.99703035e-01 -6.43473078e-05 2.76803318e+00] [ 7.74804535e-03 -1.24501930e-04 9.99969976e-01 1.90421461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.959254154 meters 0.015238216153939877 Centerline is valid? [True, True] Translation: X:440.80, Y:2.77, Z:1.90 [[ 9.99763452e-01 -2.04597726e-02 -7.37824902e-03 4.40796491e+02] [ 2.04598813e-02 9.99790673e-01 -6.07553281e-05 2.76976904e+00] [ 7.37794759e-03 -9.02171427e-05 9.99972779e-01 1.90442848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.019254154 meters 0.014825127663329699 Centerline is valid? [True, True] Translation: X:440.86, Y:2.77, Z:1.90 [[ 9.99792999e-01 -1.89007768e-02 -7.53123463e-03 4.40858243e+02] [ 1.89008499e-02 9.99821361e-01 -6.14665635e-05 2.77034290e+00] [ 7.53105102e-03 -8.08928956e-05 9.99971638e-01 1.90407206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.079254154 meters 0.01534934005124776 Centerline is valid? [True, True] Translation: X:440.92, Y:2.77, Z:1.90 [[ 9.99757150e-01 -2.03642600e-02 -8.42248413e-03 4.40920416e+02] [ 2.03644089e-02 9.99792622e-01 -6.80894740e-05 2.76673046e+00] [ 8.42212408e-03 -1.03445972e-04 9.99964528e-01 1.90307899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.139254154 meters 0.01592079340186536 Centerline is valid? [True, True] Translation: X:440.98, Y:2.76, Z:1.90 [[ 9.99670999e-01 -2.39203019e-02 -9.25814079e-03 4.40982509e+02] [ 2.39206408e-02 9.99713858e-01 -7.41388211e-05 2.76214128e+00] [ 9.25726507e-03 -1.47346231e-04 9.99957140e-01 1.90239465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.199254154 meters 0.01624542445100381 Centerline is valid? [True, True] Translation: X:441.04, Y:2.76, Z:1.90 [[ 9.99602083e-01 -2.64969216e-02 -9.67415153e-03 4.41044399e+02] [ 2.64974193e-02 9.99648879e-01 -7.67478553e-05 2.75868962e+00] [ 9.67278831e-03 -1.79622733e-04 9.99953201e-01 1.90226949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.259254154 meters 0.01689717176376958 Centerline is valid? [True, True] Translation: X:441.11, Y:2.75, Z:1.90 [[ 9.99506458e-01 -2.96097426e-02 -1.04930687e-02 4.41106919e+02] [ 2.96105079e-02 9.99561509e-01 -8.24490044e-05 2.75472331e+00] [ 1.04909089e-02 -2.28296781e-04 9.99944943e-01 1.90209805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.319254154 meters 0.017174310010432303 Centerline is valid? [True, True] Translation: X:441.17, Y:2.75, Z:1.90 [[ 9.99442714e-01 -3.15979077e-02 -1.07625763e-02 4.41169490e+02] [ 3.15988366e-02 9.99500629e-01 -8.37663288e-05 2.75378737e+00] [ 1.07598486e-02 -2.56365244e-04 9.99942078e-01 1.90245390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.37925415399997 meters 0.017446861511444527 Centerline is valid? [True, True] Translation: X:441.23, Y:2.75, Z:1.90 [[ 9.99411351e-01 -3.27406120e-02 -1.02471049e-02 4.41231868e+02] [ 3.27415217e-02 9.99463850e-01 -7.90114356e-05 2.75331137e+00] [ 1.02441978e-02 -2.56540882e-04 9.99947494e-01 1.90332190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.43925415399997 meters 0.01804971274185254 Centerline is valid? [True, True] Translation: X:441.29, Y:2.75, Z:1.90 [[ 9.99387539e-01 -3.37281775e-02 -9.32501791e-03 4.41294283e+02] [ 3.37289799e-02 9.99431014e-01 -7.12449486e-05 2.75276445e+00] [ 9.32211507e-03 -2.43322028e-04 9.99956519e-01 1.90412704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.49925415399997 meters 0.019229022149315284 Centerline is valid? [True, True] Translation: X:441.36, Y:2.75, Z:1.90 [[ 9.99386150e-01 -3.37993310e-02 -9.21561954e-03 4.41356727e+02] [ 3.38001239e-02 9.99428610e-01 -6.97383687e-05 2.75304155e+00] [ 9.21271094e-03 -2.41793523e-04 9.99957533e-01 1.90326811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.559254154 meters 0.01834802165103024 Centerline is valid? [True, True] Translation: X:441.42, Y:2.75, Z:1.91 [[ 9.99343305e-01 -3.52313642e-02 -8.46814347e-03 4.41418861e+02] [ 3.52320901e-02 9.99379155e-01 -6.34869090e-05 2.75282186e+00] [ 8.46512280e-03 -2.34905176e-04 9.99964143e-01 1.90519305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.619254154 meters 0.01945822331371631 Centerline is valid? [True, True] Translation: X:441.48, Y:2.75, Z:1.91 [[ 9.99292526e-01 -3.67390652e-02 -8.04291021e-03 4.41479612e+02] [ 3.67397724e-02 9.99324865e-01 -5.98595251e-05 2.75063528e+00] [ 8.03967934e-03 -2.35677514e-04 9.99967653e-01 1.90586835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.679254154 meters 0.01989346825658862 Centerline is valid? [True, True] Translation: X:441.54, Y:2.75, Z:1.91 [[ 9.99251390e-01 -3.79090708e-02 -7.71757846e-03 4.41541853e+02] [ 3.79097598e-02 9.99281165e-01 -5.70462944e-05 2.75027298e+00] [ 7.71419337e-03 -2.35567957e-04 9.99970217e-01 1.90677918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.739254154 meters 0.019740125793622897 Centerline is valid? [True, True] Translation: X:441.60, Y:2.75, Z:1.91 [[ 9.99265554e-01 -3.73436996e-02 -8.59071651e-03 4.41604107e+02] [ 3.73445381e-02 9.99302447e-01 -6.28472094e-05 2.75031433e+00] [ 8.58707098e-03 -2.58015288e-04 9.99963097e-01 1.90593866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.799254154 meters 0.01816745319738296 Centerline is valid? [True, True] Translation: X:441.67, Y:2.75, Z:1.91 [[ 9.99307860e-01 -3.56288855e-02 -1.06950460e-02 4.41666326e+02] [ 3.56300962e-02 9.99365044e-01 -7.73795978e-05 2.75309057e+00] [ 1.06910121e-02 -3.03739479e-04 9.99942803e-01 1.90517808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.859254154 meters 0.018492120052204852 Centerline is valid? [True, True] Translation: X:441.73, Y:2.75, Z:1.91 [[ 9.99329218e-01 -3.48762860e-02 -1.11695809e-02 4.41727909e+02] [ 3.48775675e-02 9.99391589e-01 -8.00978366e-05 2.75263673e+00] [ 1.11655788e-02 -3.09523705e-04 9.99937615e-01 1.90508024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.919254154 meters 0.018354709481559695 Centerline is valid? [True, True] Translation: X:441.79, Y:2.75, Z:1.91 [[ 9.99387975e-01 -3.35393452e-02 -9.93923199e-03 4.41790440e+02] [ 3.35402999e-02 9.99437363e-01 -7.06583804e-05 2.75362739e+00] [ 9.93600965e-03 -2.62749686e-04 9.99950602e-01 1.90685688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.979254154 meters 0.01802035475466453 Centerline is valid? [True, True] Translation: X:441.85, Y:2.75, Z:1.91 [[ 9.99438439e-01 -3.21945221e-02 -9.29083384e-03 4.41852395e+02] [ 3.21953043e-02 9.99481595e-01 -6.53964582e-05 2.75486154e+00] [ 9.28812283e-03 -2.33761489e-04 9.99956837e-01 1.90794572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.039254154 meters 0.016540481003362605 Centerline is valid? [True, True] Translation: X:441.91, Y:2.76, Z:1.91 [[ 9.99638846e-01 -2.60193352e-02 -6.72105571e-03 4.41914038e+02] [ 2.60196074e-02 9.99661432e-01 -4.69516217e-05 2.75959523e+00] [ 6.72000182e-03 -1.27944566e-04 9.99977412e-01 1.91063035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.099254154 meters 0.017845457667999852 Centerline is valid? [True, True] Translation: X:441.98, Y:2.76, Z:1.91 [[ 9.99777762e-01 -2.02451261e-02 -5.87893125e-03 4.41975738e+02] [ 2.02452362e-02 9.99795043e-01 -4.07810406e-05 2.76286663e+00] [ 5.87855194e-03 -7.82483743e-05 9.99982718e-01 1.90978642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.159254154 meters 0.01531930185976462 Centerline is valid? [True, True] Translation: X:442.04, Y:2.76, Z:1.91 [[ 9.99769719e-01 -2.07474784e-02 -5.48190523e-03 4.42038314e+02] [ 2.07475833e-02 9.99784745e-01 -3.77282930e-05 2.76136079e+00] [ 5.48150799e-03 -7.60166807e-05 9.99984974e-01 1.91136206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.219254154 meters 0.015826889415216098 Centerline is valid? [True, True] Translation: X:442.10, Y:2.76, Z:1.91 [[ 9.99671495e-01 -2.45794418e-02 -7.26308965e-03 4.42100827e+02] [ 2.45797318e-02 9.99697872e-01 -4.93452409e-05 2.75666135e+00] [ 7.26210814e-03 -1.29195765e-04 9.99973622e-01 1.90879165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.279254154 meters 0.01709865539886261 Centerline is valid? [True, True] Translation: X:442.16, Y:2.75, Z:1.91 [[ 9.99502245e-01 -3.02098138e-02 -9.09004391e-03 4.42162391e+02] [ 3.02105061e-02 9.99543557e-01 -6.11709603e-05 2.74919447e+00] [ 9.08774279e-03 -2.13474315e-04 9.99958683e-01 1.90705767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.339254154 meters 0.018944906933926836 Centerline is valid? [True, True] Translation: X:442.22, Y:2.74, Z:1.91 [[ 9.99386355e-01 -3.36299255e-02 -9.79501413e-03 4.42224307e+02] [ 3.36308982e-02 9.99434319e-01 -6.54422213e-05 2.74455415e+00] [ 9.79167409e-03 -2.64013060e-04 9.99952026e-01 1.90564236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.399254154 meters 0.02034045460366087 Centerline is valid? [True, True] Translation: X:442.28, Y:2.74, Z:1.91 [[ 9.99222767e-01 -3.83956903e-02 -8.92368141e-03 4.42284234e+02] [ 3.83966929e-02 9.99262573e-01 -5.89992827e-05 2.73828143e+00] [ 8.91936617e-03 -2.83686428e-04 9.99960181e-01 1.90689977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.459254154 meters 0.02267369240604066 Centerline is valid? [True, True] Translation: X:442.35, Y:2.73, Z:1.91 [[ 9.99152929e-01 -4.02978881e-02 -8.33691766e-03 4.42345490e+02] [ 4.02988356e-02 9.99187671e-01 -5.43720762e-05 2.73488835e+00] [ 8.33233642e-03 -2.81642055e-04 9.99965246e-01 1.90674618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.519254154 meters 0.02135983869793686 Centerline is valid? [True, True] Translation: X:442.41, Y:2.74, Z:1.91 [[ 9.99085743e-01 -4.22069363e-02 -6.80091677e-03 4.42407537e+02] [ 4.22076146e-02 9.99108861e-01 -4.38309051e-05 2.73623857e+00] [ 6.79670617e-03 -2.43259641e-04 9.99976873e-01 1.90919116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.579254154 meters 0.02025485980439533 Centerline is valid? [True, True] Translation: X:442.47, Y:2.74, Z:1.91 [[ 9.99057664e-01 -4.29553276e-02 -6.21478071e-03 4.42470034e+02] [ 4.29559111e-02 9.99076968e-01 -3.96271828e-05 2.73887044e+00] [ 6.21074647e-03 -2.27371727e-04 9.99980687e-01 1.90969730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.639254154 meters 0.02227757694051765 Centerline is valid? [True, True] Translation: X:442.53, Y:2.74, Z:1.91 [[ 9.99031089e-01 -4.34085876e-02 -7.25109998e-03 4.42531017e+02] [ 4.34093978e-02 9.99057367e-01 -4.56939092e-05 2.73739741e+00] [ 7.24624837e-03 -2.69116248e-04 9.99973709e-01 1.90864217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.699254154 meters 0.020072791666077585 Centerline is valid? [True, True] Translation: X:442.59, Y:2.74, Z:1.91 [[ 9.99009831e-01 -4.39139056e-02 -7.13627635e-03 4.42593432e+02] [ 4.39147064e-02 9.99035283e-01 -4.45243162e-05 2.74176500e+00] [ 7.13134710e-03 -2.68907251e-04 9.99974535e-01 1.90897225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.759254154 meters 0.02105843282487709 Centerline is valid? [True, True] Translation: X:442.65, Y:2.74, Z:1.91 [[ 9.99038473e-01 -4.33891387e-02 -6.28586171e-03 4.42654215e+02] [ 4.33897521e-02 9.99058220e-01 -3.88200914e-05 2.74171838e+00] [ 6.28162619e-03 -2.33959217e-04 9.99980243e-01 1.90959145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.819254154 meters 0.02220156973832491 Centerline is valid? [True, True] Translation: X:442.72, Y:2.74, Z:1.91 [[ 9.99077602e-01 -4.24258458e-02 -6.63271669e-03 4.42715286e+02] [ 4.24265101e-02 9.99099589e-01 -4.05818690e-05 2.74179582e+00] [ 6.62846625e-03 -2.40858585e-04 9.99978002e-01 1.90985753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.87925415399997 meters 0.019845419735215954 Centerline is valid? [True, True] Translation: X:442.78, Y:2.75, Z:1.91 [[ 9.99138703e-01 -4.07922197e-02 -7.60569260e-03 4.42777764e+02] [ 4.07930498e-02 9.99167616e-01 -4.60224812e-05 2.74873338e+00] [ 7.60123911e-03 -2.64276555e-04 9.99971075e-01 1.90936624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.93925415399997 meters 0.020750958274725815 Centerline is valid? [True, True] Translation: X:442.84, Y:2.75, Z:1.91 [[ 9.99143985e-01 -4.02474885e-02 -9.56222707e-03 4.42838827e+02] [ 4.02487824e-02 9.99189688e-01 -5.71667807e-05 2.74945558e+00] [ 9.55677950e-03 -3.27750151e-04 9.99954279e-01 1.90786690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.99925415399997 meters 0.02157411024693499 Centerline is valid? [True, True] Translation: X:442.90, Y:2.75, Z:1.91 [[ 9.99110711e-01 -4.09677252e-02 -9.97158184e-03 4.42900737e+02] [ 4.09691745e-02 9.99160409e-01 -5.89655216e-05 2.74952334e+00] [ 9.96562547e-03 -3.49614392e-04 9.99950281e-01 1.90739338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.059254154 meters 0.022235318979054612 Centerline is valid? [True, True] Translation: X:442.96, Y:2.75, Z:1.91 [[ 9.99110552e-01 -4.11059374e-02 -9.40252836e-03 4.42962613e+02] [ 4.11072382e-02 9.99154739e-01 -5.49540565e-05 2.75150534e+00] [ 9.39683970e-03 -3.31606795e-04 9.99955794e-01 1.90825552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.119254154 meters 0.020879603900413584 Centerline is valid? [True, True] Translation: X:443.02, Y:2.76, Z:1.91 [[ 9.99266978e-01 -3.73628402e-02 -8.33815956e-03 4.43024050e+02] [ 3.73637365e-02 9.99301731e-01 -4.83157303e-05 2.75925472e+00] [ 8.33414250e-03 -2.63264483e-04 9.99965236e-01 1.90809963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.179254154 meters 0.01774915263813686 Centerline is valid? [True, True] Translation: X:443.09, Y:2.77, Z:1.91 [[ 9.99387770e-01 -3.41229134e-02 -7.72737989e-03 4.43085613e+02] [ 3.41235885e-02 9.99417620e-01 -4.45027739e-05 2.76605650e+00] [ 7.72439818e-03 -2.19210404e-04 9.99970142e-01 1.91141006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.239254154 meters 0.01692217711333455 Centerline is valid? [True, True] Translation: X:443.15, Y:2.77, Z:1.91 [[ 9.99558950e-01 -2.88585302e-02 -7.00650389e-03 4.43147068e+02] [ 2.88589577e-02 9.99583493e-01 -4.01047358e-05 2.77133068e+00] [ 7.00474299e-03 -1.62113352e-04 9.99975453e-01 1.91242178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.299254154 meters 0.016465557654006462 Centerline is valid? [True, True] Translation: X:443.21, Y:2.77, Z:1.91 [[ 9.99619373e-01 -2.65375371e-02 -7.54105793e-03 4.43209269e+02] [ 2.65379693e-02 9.99647805e-01 -4.27597853e-05 2.77342789e+00] [ 7.53953675e-03 -1.57380854e-04 9.99971565e-01 1.91203157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.359254154 meters 0.016823474354832856 Centerline is valid? [True, True] Translation: X:443.27, Y:2.77, Z:1.91 [[ 9.99568521e-01 -2.81466627e-02 -8.39869206e-03 4.43271726e+02] [ 2.81472611e-02 9.99603786e-01 -4.69715162e-05 2.77394220e+00] [ 8.39668647e-03 -1.89448929e-04 9.99964729e-01 1.91172875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.419254154 meters 0.01774319137117469 Centerline is valid? [True, True] Translation: X:443.33, Y:2.77, Z:1.91 [[ 9.99521250e-01 -2.95713273e-02 -9.09980536e-03 4.43332376e+02] [ 2.95720935e-02 9.99562649e-01 -5.03722654e-05 2.77204225e+00] [ 9.09731513e-03 -2.18752145e-04 9.99958595e-01 1.91126692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.479254154 meters 0.018017561392076366 Centerline is valid? [True, True] Translation: X:443.39, Y:2.77, Z:1.91 [[ 9.99460267e-01 -3.13409041e-02 -9.84490340e-03 4.43394257e+02] [ 3.13418923e-02 9.99508721e-01 -5.39290446e-05 2.77121030e+00] [ 9.84175698e-03 -2.54657964e-04 9.99951536e-01 1.91080085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.539254154 meters 0.018309801427259974 Centerline is valid? [True, True] Translation: X:443.46, Y:2.77, Z:1.91 [[ 9.99460634e-01 -3.12958802e-02 -9.95035512e-03 4.43456553e+02] [ 3.12968946e-02 9.99510131e-01 -5.37859292e-05 2.77091176e+00] [ 9.94716402e-03 -2.57658296e-04 9.99950493e-01 1.91193620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.599254154 meters 0.017321058643242015 Centerline is valid? [True, True] Translation: X:443.52, Y:2.77, Z:1.91 [[ 9.99530728e-01 -2.91407951e-02 -9.44129917e-03 4.43518516e+02] [ 2.91416186e-02 9.99575292e-01 -5.03657651e-05 2.77399846e+00] [ 9.43875706e-03 -2.24792609e-04 9.99955429e-01 1.91294576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.659254154 meters 0.017923762344855026 Centerline is valid? [True, True] Translation: X:443.58, Y:2.78, Z:1.91 [[ 9.99656922e-01 -2.46215814e-02 -8.93395825e-03 4.43579508e+02] [ 2.46221425e-02 9.99696828e-01 -4.71907397e-05 2.77568236e+00] [ 8.93241163e-03 -1.72798644e-04 9.99960090e-01 1.91165945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.719254154 meters 0.015819982323242113 Centerline is valid? [True, True] Translation: X:443.64, Y:2.78, Z:1.91 [[ 9.99773859e-01 -1.94478035e-02 -8.60314107e-03 4.43639570e+02] [ 1.94481343e-02 9.99810866e-01 -4.52164258e-05 2.78043557e+00] [ 8.60239329e-03 -1.22108842e-04 9.99962991e-01 1.91359463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.779254154 meters 0.01491005951212472 Centerline is valid? [True, True] Translation: X:443.70, Y:2.78, Z:1.91 [[ 9.99861044e-01 -1.32656351e-02 -1.00953408e-02 4.43700724e+02] [ 1.32657784e-02 9.99912004e-01 -5.27631136e-05 2.78491296e+00] [ 1.00951524e-02 -8.11667725e-05 9.99949039e-01 1.91343572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.839254154 meters 0.014703837029733373 Centerline is valid? [True, True] Translation: X:443.76, Y:2.79, Z:1.91 [[ 9.99879120e-01 -1.14069016e-02 -1.05654166e-02 4.43760104e+02] [ 1.14069542e-02 9.99934937e-01 -5.52816810e-05 2.78627277e+00] [ 1.05653598e-02 -6.52442250e-05 9.99944183e-01 1.91349226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.899254154 meters 0.014669017341795439 Centerline is valid? [True, True] Translation: X:443.82, Y:2.79, Z:1.91 [[ 9.99891723e-01 -8.85274434e-03 -1.17546464e-02 4.43819219e+02] [ 8.85260871e-03 9.99960813e-01 -6.35708527e-05 2.78732077e+00] [ 1.17547485e-02 -4.04953153e-05 9.99930910e-01 1.91304692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.959254154 meters 0.014548794496158698 Centerline is valid? [True, True] Translation: X:443.88, Y:2.79, Z:1.91 [[ 9.99896978e-01 -7.72680366e-03 -1.20966855e-02 4.43877093e+02] [ 7.72653662e-03 9.99970147e-01 -6.88104759e-05 2.78727699e+00] [ 1.20968561e-02 -2.46620965e-05 9.99926830e-01 1.91322951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.019254154 meters 0.014482629824318593 Centerline is valid? [True, True] Translation: X:443.93, Y:2.79, Z:1.91 [[ 9.99883629e-01 -8.79364955e-03 -1.24659840e-02 4.43934621e+02] [ 8.79340308e-03 9.99961334e-01 -7.45836561e-05 2.78522606e+00] [ 1.24661579e-02 -3.50434457e-05 9.99922294e-01 1.91300168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.079254154 meters 0.014521312387556698 Centerline is valid? [True, True] Translation: X:443.99, Y:2.78, Z:1.91 [[ 9.99819753e-01 -1.37481109e-02 -1.30939638e-02 4.43993366e+02] [ 1.37482378e-02 9.99905485e-01 -8.03232703e-05 2.77945760e+00] [ 1.30938305e-02 -9.97101366e-05 9.99914267e-01 1.91299013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.139254154 meters 0.01570980321810526 Centerline is valid? [True, True] Translation: X:444.05, Y:2.77, Z:1.91 [[ 9.99648848e-01 -2.31993477e-02 -1.28051014e-02 4.44052920e+02] [ 2.32002363e-02 9.99730835e-01 -7.91713187e-05 2.77103165e+00] [ 1.28034914e-02 -2.17937861e-04 9.99918008e-01 1.91432232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.199254154 meters 0.01875144928146651 Centerline is valid? [True, True] Translation: X:444.11, Y:2.76, Z:1.92 [[ 9.99369269e-01 -3.38536305e-02 -1.07235982e-02 4.44112579e+02] [ 3.38548650e-02 9.99426758e-01 -6.64377437e-05 2.75987325e+00] [ 1.07197002e-02 -2.96650131e-04 9.99942498e-01 1.91600149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.259254154 meters 0.02297214122695644 Centerline is valid? [True, True] Translation: X:444.17, Y:2.75, Z:1.92 [[ 9.99144449e-01 -4.01574966e-02 -9.88663298e-03 4.44173156e+02] [ 4.01588551e-02 9.99193306e-01 -6.11555644e-05 2.75091105e+00] [ 9.88111335e-03 -3.35932618e-04 9.99951124e-01 1.91577762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.319254154 meters 0.022848635322392726 Centerline is valid? [True, True] Translation: X:444.23, Y:2.75, Z:1.92 [[ 9.98740236e-01 -4.94276941e-02 -8.65126200e-03 4.44233566e+02] [ 4.94290821e-02 9.98777634e-01 -5.34329700e-05 2.74667359e+00] [ 8.64332806e-03 -3.74258283e-04 9.99962576e-01 1.91768184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.37925415399997 meters 0.024599594009705204 Centerline is valid? [True, True] Translation: X:444.29, Y:2.74, Z:1.92 [[ 9.98504112e-01 -5.39737352e-02 -8.73919797e-03 4.44294776e+02] [ 5.39753261e-02 9.98542268e-01 -5.38826663e-05 2.74219366e+00] [ 8.72936681e-03 -4.17898996e-04 9.99961811e-01 1.91724801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.43925415399997 meters 0.02759749490860308 Centerline is valid? [True, True] Translation: X:444.35, Y:2.74, Z:1.92 [[ 9.98265966e-01 -5.82063696e-02 -8.77952784e-03 4.44354392e+02] [ 5.82081417e-02 9.98304467e-01 -5.37597338e-05 2.73578808e+00] [ 8.76777102e-03 -4.57373488e-04 9.99961458e-01 1.91694492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.49925415399997 meters 0.02722879844776089 Centerline is valid? [True, True] Translation: X:444.42, Y:2.74, Z:1.92 [[ 9.98182231e-01 -5.95157962e-02 -9.49224501e-03 4.44416430e+02] [ 5.95179333e-02 9.98227235e-01 -5.74324872e-05 2.73600688e+00] [ 9.47883563e-03 -5.07630717e-04 9.99954946e-01 1.91671487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.559254154 meters 0.0279801430445258 Centerline is valid? [True, True] Translation: X:444.48, Y:2.74, Z:1.91 [[ 9.98337996e-01 -5.64580061e-02 -1.15645806e-02 4.44476819e+02] [ 5.64609798e-02 9.98404804e-01 -6.94429288e-05 2.73585124e+00] [ 1.15500535e-02 -5.83620039e-04 9.99933126e-01 1.91403601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.619254154 meters 0.024143473289282926 Centerline is valid? [True, True] Translation: X:444.54, Y:2.74, Z:1.91 [[ 9.98528875e-01 -5.27003887e-02 -1.27575557e-02 4.44537520e+02] [ 5.27037048e-02 9.98610191e-01 -7.63618778e-05 2.74313329e+00] [ 1.27438494e-02 -5.96120907e-04 9.99918616e-01 1.91350544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.679254154 meters 0.022620878600911686 Centerline is valid? [True, True] Translation: X:444.60, Y:2.75, Z:1.91 [[ 9.98901519e-01 -4.50199292e-02 -1.29985447e-02 4.44596889e+02] [ 4.50227215e-02 9.98985960e-01 -7.78789743e-05 2.74965144e+00] [ 1.29888697e-02 -5.07436431e-04 9.99915512e-01 1.91335118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.739254154 meters 0.01901750214173759 Centerline is valid? [True, True] Translation: X:444.66, Y:2.76, Z:1.91 [[ 9.99330190e-01 -3.43619742e-02 -1.25867439e-02 4.44657623e+02] [ 3.43637466e-02 9.99409389e-01 -7.54963307e-05 2.76119732e+00] [ 1.25819042e-02 -3.57081914e-04 9.99920781e-01 1.91467235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.799254154 meters 0.016595761272428403 Centerline is valid? [True, True] Translation: X:444.72, Y:2.77, Z:1.92 [[ 9.99672862e-01 -2.31404709e-02 -1.08944277e-02 4.44718007e+02] [ 2.31411329e-02 9.99732206e-01 -6.53099488e-05 2.77177790e+00] [ 1.08930216e-02 -1.86820816e-04 9.99940652e-01 1.91665662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.859254154 meters 0.01770277834413512 Centerline is valid? [True, True] Translation: X:444.78, Y:2.78, Z:1.92 [[ 9.99813091e-01 -1.58232030e-02 -1.11090095e-02 4.44778828e+02] [ 1.58234413e-02 9.99874799e-01 -6.64462548e-05 2.77742224e+00] [ 1.11086700e-02 -1.09348924e-04 9.99938291e-01 1.91628392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.919254154 meters 0.014965972339057672 Centerline is valid? [True, True] Translation: X:444.84, Y:2.78, Z:1.92 [[ 9.99908860e-01 -9.47520828e-03 -9.61732790e-03 4.44838393e+02] [ 9.47509211e-03 9.99955109e-01 -5.76436300e-05 2.78252989e+00] [ 9.61744235e-03 -3.34866913e-05 9.99953751e-01 1.91732673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.979254154 meters 0.014634566789398501 Centerline is valid? [True, True] Translation: X:444.90, Y:2.78, Z:1.92 [[ 9.99903931e-01 -8.85000022e-03 -1.06679797e-02 4.44896773e+02] [ 8.84980236e-03 9.99960838e-01 -6.57546466e-05 2.78278968e+00] [ 1.06681439e-02 -2.86611827e-05 9.99943093e-01 1.91633771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.039254154 meters 0.014558383445406204 Centerline is valid? [True, True] Translation: X:444.95, Y:2.78, Z:1.92 [[ 9.99863174e-01 -1.21134047e-02 -1.12648902e-02 4.44954683e+02] [ 1.21133704e-02 9.99926628e-01 -7.12758496e-05 2.77997456e+00] [ 1.12649271e-02 -6.51896912e-05 9.99936547e-01 1.91545152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.099254154 meters 0.015487112327397775 Centerline is valid? [True, True] Translation: X:445.01, Y:2.77, Z:1.92 [[ 9.99694724e-01 -2.16432043e-02 -1.19176517e-02 4.45014087e+02] [ 2.16438328e-02 9.99765742e-01 -7.62479294e-05 2.77143394e+00] [ 1.19165101e-02 -1.81719008e-04 9.99928979e-01 1.91537016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.159254154 meters 0.01829196034380672 Centerline is valid? [True, True] Translation: X:445.07, Y:2.76, Z:1.92 [[ 9.99414693e-01 -3.20496942e-02 -1.19619504e-02 4.45073796e+02] [ 3.20510677e-02 9.99486230e-01 -7.69128009e-05 2.76038280e+00] [ 1.19582698e-02 -3.06525500e-04 9.99928450e-01 1.91533040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.219254154 meters 0.021722213891801758 Centerline is valid? [True, True] Translation: X:445.13, Y:2.75, Z:1.92 [[ 9.99159694e-01 -3.94709206e-02 -1.10431886e-02 4.45133659e+02] [ 3.94725431e-02 9.99220653e-01 -7.10791228e-05 2.75186779e+00] [ 1.10373877e-02 -3.64883344e-04 9.99939020e-01 1.91582789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.279254154 meters 0.02162383643500115 Centerline is valid? [True, True] Translation: X:445.19, Y:2.75, Z:1.92 [[ 9.98986853e-01 -4.37202247e-02 -1.06681367e-02 4.45194660e+02] [ 4.37219839e-02 9.99043734e-01 -6.83702299e-05 2.74966913e+00] [ 1.06609243e-02 -3.98131139e-04 9.99943091e-01 1.91631506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.339254154 meters 0.022193717712049373 Centerline is valid? [True, True] Translation: X:445.26, Y:2.75, Z:1.92 [[ 9.98848513e-01 -4.67103871e-02 -1.09447389e-02 4.45256537e+02] [ 4.67124243e-02 9.98908376e-01 -6.95704629e-05 2.74818120e+00] [ 1.09360410e-02 -4.41764934e-04 9.99940102e-01 1.91592000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.399254154 meters 0.02323284385471692 Centerline is valid? [True, True] Translation: X:445.32, Y:2.75, Z:1.92 [[ 9.98672378e-01 -5.04416381e-02 -1.04462097e-02 4.45317826e+02] [ 5.04437024e-02 9.98726904e-01 -6.59471287e-05 2.74590949e+00] [ 1.04362372e-02 -4.61085919e-04 9.99945435e-01 1.91600677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.459254154 meters 0.026981276365292923 Centerline is valid? [True, True] Translation: X:445.38, Y:2.74, Z:1.92 [[ 9.98413150e-01 -5.52532943e-02 -1.08745660e-02 4.45378110e+02] [ 5.52558178e-02 9.98472228e-01 -6.84841860e-05 2.74117968e+00] [ 1.08617361e-02 -5.32507523e-04 9.99940868e-01 1.91509964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.519254154 meters 0.02791606188324008 Centerline is valid? [True, True] Translation: X:445.44, Y:2.74, Z:1.91 [[ 9.98219527e-01 -5.84422347e-02 -1.19281449e-02 4.45439328e+02] [ 5.84455012e-02 9.98290598e-01 -7.48495587e-05 2.74171845e+00] [ 1.19121292e-02 -6.22430114e-04 9.99928854e-01 1.91428490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.579254154 meters 0.02699103276306261 Centerline is valid? [True, True] Translation: X:445.50, Y:2.75, Z:1.91 [[ 9.98203467e-01 -5.85430391e-02 -1.27495886e-02 4.45501375e+02] [ 5.85467893e-02 9.98284662e-01 -7.92203322e-05 2.74702721e+00] [ 1.27323565e-02 -6.67369466e-04 9.99918718e-01 1.91425264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.639254154 meters 0.026169221146620625 Centerline is valid? [True, True] Translation: X:445.56, Y:2.75, Z:1.91 [[ 9.98272251e-01 -5.71761975e-02 -1.35423547e-02 4.45563727e+02] [ 5.71803171e-02 9.98363864e-01 -8.31213206e-05 2.75212341e+00] [ 1.35249501e-02 -6.91378428e-04 9.99908295e-01 1.91399727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.699254154 meters 0.02591484799188574 Centerline is valid? [True, True] Translation: X:445.62, Y:2.76, Z:1.91 [[ 9.98371554e-01 -5.54671158e-02 -1.33281557e-02 4.45624171e+02] [ 5.54709606e-02 9.98460298e-01 -8.13210806e-05 2.75721153e+00] [ 1.33121449e-02 -6.58136944e-04 9.99911173e-01 1.91444369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.759254154 meters 0.02542715209791343 Centerline is valid? [True, True] Translation: X:445.68, Y:2.76, Z:1.91 [[ 9.98580365e-01 -5.10329504e-02 -1.52608172e-02 4.45683650e+02] [ 5.10374730e-02 9.98696735e-01 -9.32154574e-05 2.76413354e+00] [ 1.52456854e-02 -6.85790421e-04 9.99883543e-01 1.91269674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.819254154 meters 0.023950901214726483 Centerline is valid? [True, True] Translation: X:445.75, Y:2.77, Z:1.91 [[ 9.98712439e-01 -4.79386371e-02 -1.65937292e-02 4.45745173e+02] [ 4.79435640e-02 9.98850041e-01 -1.00994947e-04 2.77020136e+00] [ 1.65794886e-02 -6.94697606e-04 9.99862309e-01 1.91246322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.87925415399997 meters 0.019811386947088505 Centerline is valid? [True, True] Translation: X:445.80, Y:2.78, Z:1.92 [[ 9.99195671e-01 -3.73299628e-02 -1.46453362e-02 4.45804797e+02] [ 3.73326656e-02 9.99302889e-01 -8.88944176e-05 2.78408873e+00] [ 1.46384452e-02 -4.57926522e-04 9.99892747e-01 1.91580655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.93925415399997 meters 0.015634551646630857 Centerline is valid? [True, True] Translation: X:445.87, Y:2.80, Z:1.92 [[ 9.99654931e-01 -2.30313082e-02 -1.26323996e-02 4.45865424e+02] [ 2.30321779e-02 9.99734721e-01 -7.66477264e-05 2.79994634e+00] [ 1.26308138e-02 -2.14330398e-04 9.99920205e-01 1.91866554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.99925415399997 meters 0.014125332254979295 Centerline is valid? [True, True] Translation: X:445.93, Y:2.81, Z:1.92 [[ 9.99835024e-01 -1.42032641e-02 -1.13222054e-02 4.45925617e+02] [ 1.42033967e-02 9.99899124e-01 -6.87020141e-05 2.81037132e+00] [ 1.13220391e-02 -9.21230949e-05 9.99935899e-01 1.92066182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.059254154 meters 0.01387224471754543 Centerline is valid? [True, True] Translation: X:445.98, Y:2.82, Z:1.92 [[ 9.99938739e-01 -4.91608433e-03 -9.91719512e-03 4.45984929e+02] [ 4.91572725e-03 9.99987916e-01 -6.03813519e-05 2.81804707e+00] [ 9.91737212e-03 1.16274266e-05 9.99950822e-01 1.92155716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.119254154 meters 0.014138697162896842 Centerline is valid? [True, True] Translation: X:446.04, Y:2.82, Z:1.92 [[ 9.99936085e-01 -2.79482194e-03 -1.09551467e-02 4.46043866e+02] [ 2.79423852e-03 9.99996094e-01 -6.85611731e-05 2.82051806e+00] [ 1.09552955e-02 3.79454980e-05 9.99939988e-01 1.92080726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.179254154 meters 0.01443551720103462 Centerline is valid? [True, True] Translation: X:446.10, Y:2.82, Z:1.92 [[ 9.99902282e-01 -5.58790874e-03 -1.28141253e-02 4.46101565e+02] [ 5.58731325e-03 9.99984387e-01 -8.22709867e-05 2.81820177e+00] [ 1.28143849e-02 1.06664155e-05 9.99917892e-01 1.91913784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.239254154 meters 0.01425955369880159 Centerline is valid? [True, True] Translation: X:446.16, Y:2.81, Z:1.92 [[ 9.99856604e-01 -9.73336027e-03 -1.38576029e-02 4.46159461e+02] [ 9.73304445e-03 9.99952629e-01 -9.02331259e-05 2.81271965e+00] [ 1.38578247e-02 -4.46564784e-05 9.99903975e-01 1.91800486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.299254154 meters 0.014417308378954712 Centerline is valid? [True, True] Translation: X:446.22, Y:2.81, Z:1.92 [[ 9.99839816e-01 -1.21032849e-02 -1.31853289e-02 4.46216926e+02] [ 1.21031676e-02 9.99926750e-01 -8.86910258e-05 2.80920851e+00] [ 1.31854366e-02 -7.09074271e-05 9.99913066e-01 1.91803791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.359254154 meters 0.014468786825591589 Centerline is valid? [True, True] Translation: X:446.27, Y:2.81, Z:1.92 [[ 9.99843683e-01 -1.36480740e-02 -1.12401152e-02 4.46274654e+02] [ 1.36480528e-02 9.99906858e-01 -7.85992234e-05 2.80520768e+00] [ 1.12401410e-02 -7.48187486e-05 9.99936825e-01 1.91936357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.419254154 meters 0.014474832369655915 Centerline is valid? [True, True] Translation: X:446.33, Y:2.80, Z:1.92 [[ 9.99862719e-01 -1.29902809e-02 -1.02857080e-02 4.46334510e+02] [ 1.29902145e-02 9.99915621e-01 -7.32728983e-05 2.80268864e+00] [ 1.02857920e-02 -6.03507137e-05 9.99947098e-01 1.91984731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.479254154 meters 0.014193509398646866 Centerline is valid? [True, True] Translation: X:446.39, Y:2.80, Z:1.92 [[ 9.99902254e-01 -1.13029287e-02 -8.22963804e-03 4.46394394e+02] [ 1.13028269e-02 9.99936119e-01 -5.88845790e-05 2.79813524e+00] [ 8.22977789e-03 -3.41393511e-05 9.99966134e-01 1.92069622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.539254154 meters 0.013984505501762662 Centerline is valid? [True, True] Translation: X:446.45, Y:2.79, Z:1.92 [[ 9.99907684e-01 -1.15497347e-02 -7.15733999e-03 4.46453845e+02] [ 1.15496624e-02 9.99933299e-01 -5.14476583e-05 2.79203969e+00] [ 7.15745680e-03 -3.12219515e-05 9.99974385e-01 1.92144593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.599254154 meters 0.014018247961660488 Centerline is valid? [True, True] Translation: X:446.51, Y:2.78, Z:1.92 [[ 9.99860653e-01 -1.43218348e-02 -8.57667009e-03 4.46514775e+02] [ 1.43218312e-02 9.99897435e-01 -6.18410575e-05 2.78230966e+00] [ 8.57667610e-03 -6.10011812e-05 9.99963218e-01 1.91908334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.659254154 meters 0.014369995013296255 Centerline is valid? [True, True] Translation: X:446.57, Y:2.77, Z:1.92 [[ 9.99786119e-01 -1.75410547e-02 -1.09557015e-02 4.46574542e+02] [ 1.75412408e-02 9.99846137e-01 -7.91097746e-05 2.77309537e+00] [ 1.09554035e-02 -1.13083744e-04 9.99939981e-01 1.91621703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.719254154 meters 0.01467071091910806 Centerline is valid? [True, True] Translation: X:446.63, Y:2.77, Z:1.92 [[ 9.99760951e-01 -1.84906967e-02 -1.16677091e-02 4.46634404e+02] [ 1.84909685e-02 9.99829024e-01 -8.45844990e-05 2.76878192e+00] [ 1.16672782e-02 -1.31182963e-04 9.99931926e-01 1.91537384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.779254154 meters 0.014412548567099417 Centerline is valid? [True, True] Translation: X:446.69, Y:2.77, Z:1.92 [[ 9.99773246e-01 -1.70923591e-02 -1.27006654e-02 4.46693768e+02] [ 1.70925646e-02 9.99853907e-01 -9.23799047e-05 2.76504374e+00] [ 1.27003889e-02 -1.24727986e-04 9.99919339e-01 1.91503620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.839254154 meters 0.014447535724414453 Centerline is valid? [True, True] Translation: X:446.75, Y:2.76, Z:1.92 [[ 9.99784705e-01 -1.65797723e-02 -1.24761426e-02 4.46752148e+02] [ 1.65799060e-02 9.99862540e-01 -9.27240789e-05 2.76306330e+00] [ 1.24759649e-02 -1.14149155e-04 9.99922166e-01 1.91521270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.899254154 meters 0.014810437109876916 Centerline is valid? [True, True] Translation: X:446.81, Y:2.76, Z:1.92 [[ 9.99783614e-01 -1.77205058e-02 -1.08953901e-02 4.46810763e+02] [ 1.77206621e-02 9.99842973e-01 -8.22047654e-05 2.75783439e+00] [ 1.08951359e-02 -1.10886548e-04 9.99940640e-01 1.91636980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.959254154 meters 0.015034195854953164 Centerline is valid? [True, True] Translation: X:446.87, Y:2.75, Z:1.92 [[ 9.99769897e-01 -1.88680687e-02 -1.02053161e-02 4.46870023e+02] [ 1.88682616e-02 9.99821976e-01 -7.73964371e-05 2.75194456e+00] [ 1.02049596e-02 -1.15177946e-04 9.99947921e-01 1.91700360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.019254154 meters 0.014659640504428193 Centerline is valid? [True, True] Translation: X:446.93, Y:2.75, Z:1.92 [[ 9.99803004e-01 -1.72703254e-02 -9.78205152e-03 4.46930831e+02] [ 1.72704247e-02 9.99850852e-01 -7.43268720e-05 2.75080243e+00] [ 9.78187620e-03 -9.46279546e-05 9.99952152e-01 1.91862651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.079254154 meters 0.013989125806784158 Centerline is valid? [True, True] Translation: X:446.99, Y:2.75, Z:1.92 [[ 9.99872619e-01 -1.42556844e-02 -7.17787391e-03 4.46990935e+02] [ 1.42556598e-02 9.99898381e-01 -5.45901512e-05 2.74785057e+00] [ 7.17792273e-03 -4.77421313e-05 9.99974237e-01 1.92061655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.139254154 meters 0.014035309884533758 Centerline is valid? [True, True] Translation: X:447.05, Y:2.74, Z:1.92 [[ 9.99902356e-01 -1.30979362e-02 -4.87060976e-03 4.47051215e+02] [ 1.30979109e-02 9.99914218e-01 -3.70970328e-05 2.74359905e+00] [ 4.87067785e-03 -2.67014020e-05 9.99988138e-01 1.92191929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.199254154 meters 0.013917171539794677 Centerline is valid? [True, True] Translation: X:447.11, Y:2.74, Z:1.92 [[ 9.99887986e-01 -1.40896474e-02 -5.04942321e-03 4.47112584e+02] [ 1.40896330e-02 9.99900735e-01 -3.84352279e-05 2.73995778e+00] [ 5.04946352e-03 -3.27135973e-05 9.99987251e-01 1.92120624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.259254154 meters 0.014378114847515716 Centerline is valid? [True, True] Translation: X:447.17, Y:2.73, Z:1.92 [[ 9.99810630e-01 -1.82391100e-02 -6.78524246e-03 4.47173092e+02] [ 1.82391812e-02 9.99833651e-01 -5.13882992e-05 2.73187041e+00] [ 6.78505102e-03 -7.23786990e-05 9.99976979e-01 1.91920934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.319254154 meters 0.015645824210025014 Centerline is valid? [True, True] Translation: X:447.23, Y:2.72, Z:1.92 [[ 9.99700448e-01 -2.30913747e-02 -8.11183336e-03 4.47233561e+02] [ 2.30916375e-02 9.99733351e-01 -6.12749699e-05 2.72387018e+00] [ 8.11108526e-03 -1.26058901e-04 9.99967097e-01 1.91781093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.37925415399997 meters 0.016858377620765735 Centerline is valid? [True, True] Translation: X:447.29, Y:2.72, Z:1.92 [[ 9.99605063e-01 -2.70410906e-02 -7.64835308e-03 4.47294172e+02] [ 2.70414415e-02 9.99634312e-01 -5.75527255e-05 2.71639990e+00] [ 7.64711246e-03 -1.49292496e-04 9.99970749e-01 1.91805722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.43925415399997 meters 0.01778755580400071 Centerline is valid? [True, True] Translation: X:447.35, Y:2.71, Z:1.92 [[ 9.99558098e-01 -2.89826560e-02 -6.60409196e-03 4.47354976e+02] [ 2.89829614e-02 9.99579905e-01 -4.94841910e-05 2.71288091e+00] [ 6.60275179e-03 -1.41943818e-04 9.99978192e-01 1.91897925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.49925415399997 meters 0.01802120247923202 Centerline is valid? [True, True] Translation: X:447.42, Y:2.71, Z:1.92 [[ 9.99509189e-01 -3.07405053e-02 -6.03346964e-03 4.47417569e+02] [ 3.07407933e-02 9.99527389e-01 -4.50208716e-05 2.71244220e+00] [ 6.03200212e-03 -1.40474868e-04 9.99981797e-01 1.91915465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.559254154 meters 0.01767664654518186 Centerline is valid? [True, True] Translation: X:447.48, Y:2.71, Z:1.92 [[ 9.99472304e-01 -3.20452085e-02 -5.31215777e-03 4.47479254e+02] [ 3.20454519e-02 9.99486412e-01 -3.93053057e-05 2.70973427e+00] [ 5.31068905e-03 -1.30945932e-04 9.99985890e-01 1.91964709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.619254154 meters 0.017603031407436787 Centerline is valid? [True, True] Translation: X:447.54, Y:2.71, Z:1.92 [[ 9.99396011e-01 -3.44997455e-02 -4.16900900e-03 4.47541399e+02] [ 3.44999175e-02 9.99404700e-01 -3.06773476e-05 2.70783362e+00] [ 4.16758555e-03 -1.13171648e-04 9.99991309e-01 1.92051709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.679254154 meters 0.019401570180606884 Centerline is valid? [True, True] Translation: X:447.60, Y:2.70, Z:1.92 [[ 9.99355848e-01 -3.56097458e-02 -4.45366145e-03 4.47602413e+02] [ 3.56099546e-02 9.99365764e-01 -3.24161462e-05 2.70470195e+00] [ 4.45199111e-03 -1.26199417e-04 9.99990082e-01 1.92079962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.739254154 meters 0.01928492714044143 Centerline is valid? [True, True] Translation: X:447.66, Y:2.71, Z:1.92 [[ 9.99242342e-01 -3.84193772e-02 -6.22042396e-03 4.47664011e+02] [ 3.84198438e-02 9.99261684e-01 -4.45062823e-05 2.70531291e+00] [ 6.21754123e-03 -1.94515156e-04 9.99980652e-01 1.91976946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.799254154 meters 0.020128659891206685 Centerline is valid? [True, True] Translation: X:447.73, Y:2.70, Z:1.92 [[ 9.99098626e-01 -4.17925054e-02 -7.43793400e-03 4.47725876e+02] [ 4.17932693e-02 9.99126278e-01 -5.27607812e-05 2.70462823e+00] [ 7.43364032e-03 -2.58142355e-04 9.99972337e-01 1.91810378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.859254154 meters 0.020310899819486878 Centerline is valid? [True, True] Translation: X:447.79, Y:2.70, Z:1.92 [[ 9.99035931e-01 -4.31372313e-02 -8.14792809e-03 4.47787561e+02] [ 4.31381966e-02 9.99069113e-01 -5.73202285e-05 2.70479470e+00] [ 8.14281592e-03 -2.94221956e-04 9.99966803e-01 1.91785714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.919254154 meters 0.021322212387512036 Centerline is valid? [True, True] Translation: X:447.85, Y:2.71, Z:1.92 [[ 9.99021281e-01 -4.32527085e-02 -9.25655274e-03 4.47848455e+02] [ 4.32539644e-02 9.99064107e-01 -6.45724745e-05 2.70663013e+00] [ 9.25068253e-03 -3.35873326e-04 9.99957155e-01 1.91745137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.979254154 meters 0.02056449358361112 Centerline is valid? [True, True] Translation: X:447.91, Y:2.71, Z:1.92 [[ 9.99037804e-01 -4.24469117e-02 -1.10329069e-02 4.47911031e+02] [ 4.24486553e-02 9.99098647e-01 -7.61893707e-05 2.71031204e+00] [ 1.10261963e-02 -3.92216000e-04 9.99939133e-01 1.91676458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.039254154 meters 0.02145426299316829 Centerline is valid? [True, True] Translation: X:447.97, Y:2.71, Z:1.92 [[ 9.99055571e-01 -4.21088411e-02 -1.07150270e-02 4.47972328e+02] [ 4.21104734e-02 9.99112958e-01 -7.33389937e-05 2.71123570e+00] [ 1.07086105e-02 -3.77945128e-04 9.99942590e-01 1.91692527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.099254154 meters 0.021148558680484247 Centerline is valid? [True, True] Translation: X:448.03, Y:2.72, Z:1.92 [[ 9.99196550e-01 -3.89351759e-02 -9.50294021e-03 4.48032960e+02] [ 3.89363200e-02 9.99241692e-01 -6.46509179e-05 2.71648982e+00] [ 9.49825125e-03 -3.05410547e-04 9.99954844e-01 1.91870782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.159254154 meters 0.017750439821072297 Centerline is valid? [True, True] Translation: X:448.09, Y:2.73, Z:1.92 [[ 9.99381124e-01 -3.42369739e-02 -8.07462103e-03 4.48094934e+02] [ 3.42376494e-02 9.99413718e-01 -5.45960686e-05 2.72731976e+00] [ 8.07175623e-03 -2.21893764e-04 9.99967398e-01 1.92031192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.219254154 meters 0.017776279862953704 Centerline is valid? [True, True] Translation: X:448.16, Y:2.73, Z:1.92 [[ 9.99442159e-01 -3.21775440e-02 -8.94291291e-03 4.48156185e+02] [ 3.21782949e-02 9.99482143e-01 -5.99451052e-05 2.73037622e+00] [ 8.94021065e-03 -2.27856023e-04 9.99960010e-01 1.91994996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.279254154 meters 0.018686911497612195 Centerline is valid? [True, True] Translation: X:448.22, Y:2.73, Z:1.92 [[ 9.99406699e-01 -3.28922925e-02 -1.02150886e-02 4.48217152e+02] [ 3.28933156e-02 9.99458866e-01 -6.78848931e-05 2.73020690e+00] [ 1.02117938e-02 -2.68163517e-04 9.99947822e-01 1.91898099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.339254154 meters 0.01824633991560175 Centerline is valid? [True, True] Translation: X:448.28, Y:2.73, Z:1.92 [[ 9.99327217e-01 -3.50940213e-02 -1.06546879e-02 4.48278645e+02] [ 3.50952644e-02 9.99383969e-01 -7.03298366e-05 2.73337084e+00] [ 1.06505924e-02 -3.03646569e-04 9.99943235e-01 1.91942133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.399254154 meters 0.018583331245071312 Centerline is valid? [True, True] Translation: X:448.34, Y:2.74, Z:1.92 [[ 9.99270275e-01 -3.62805865e-02 -1.19430170e-02 4.48340523e+02] [ 3.62822420e-02 9.99341580e-01 -7.80932252e-05 2.73543842e+00] [ 1.19379867e-02 -3.55283192e-04 9.99928677e-01 1.91937299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.459254154 meters 0.019870470478784055 Centerline is valid? [True, True] Translation: X:448.40, Y:2.74, Z:1.92 [[ 9.99261733e-01 -3.61186405e-02 -1.30932148e-02 4.48401444e+02] [ 3.61206273e-02 9.99347434e-01 -8.47811703e-05 2.73606160e+00] [ 1.30877328e-02 -3.88216553e-04 9.99914277e-01 1.91836341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.519254154 meters 0.018894131269474108 Centerline is valid? [True, True] Translation: X:448.46, Y:2.74, Z:1.92 [[ 9.99244088e-01 -3.65624518e-02 -1.32075835e-02 4.48462533e+02] [ 3.65645196e-02 9.99331291e-01 -8.49544743e-05 2.74006031e+00] [ 1.32018576e-02 -3.98038689e-04 9.99912772e-01 1.91883051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.579254154 meters 0.018977882031979577 Centerline is valid? [True, True] Translation: X:448.52, Y:2.74, Z:1.92 [[ 9.99165799e-01 -3.91969740e-02 -1.14587384e-02 4.48523810e+02] [ 3.91987082e-02 9.99231433e-01 -7.33001166e-05 2.74201818e+00] [ 1.14528048e-02 -3.75928775e-04 9.99934344e-01 1.92066967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.639254154 meters 0.02203421283668355 Centerline is valid? [True, True] Translation: X:448.59, Y:2.74, Z:1.92 [[ 9.99062856e-01 -4.20555752e-02 -1.02342100e-02 4.48585291e+02] [ 4.20571157e-02 9.99115206e-01 -6.47421476e-05 2.73931085e+00] [ 1.02278776e-02 -3.65739878e-04 9.99947627e-01 1.92076129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.699254154 meters 0.02246978037213388 Centerline is valid? [True, True] Translation: X:448.65, Y:2.74, Z:1.92 [[ 9.98878556e-01 -4.62976565e-02 -9.90746037e-03 4.48646238e+02] [ 4.62993151e-02 9.98927610e-01 -6.20044789e-05 2.74027863e+00] [ 9.89970636e-03 -3.96773685e-04 9.99950918e-01 1.92147690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.759254154 meters 0.025074445335154395 Centerline is valid? [True, True] Translation: X:448.71, Y:2.74, Z:1.92 [[ 9.98739790e-01 -4.90967619e-02 -1.04086774e-02 4.48706571e+02] [ 4.90987499e-02 9.98793927e-01 -6.46148489e-05 2.73703780e+00] [ 1.03992961e-02 -4.46519627e-04 9.99945826e-01 1.92095939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.819254154 meters 0.027724844296054568 Centerline is valid? [True, True] Translation: X:448.77, Y:2.74, Z:1.92 [[ 9.98556681e-01 -5.26171215e-02 -1.07699894e-02 4.48766216e+02] [ 5.26194568e-02 9.98614635e-01 -6.66171572e-05 2.73564504e+00] [ 1.07585742e-02 -5.00189984e-04 9.99942000e-01 1.92057160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.87925415399997 meters 0.027805973521117393 Centerline is valid? [True, True] Translation: X:448.83, Y:2.74, Z:1.92 [[ 9.98545821e-01 -5.29327650e-02 -1.02159273e-02 4.48827982e+02] [ 5.29348868e-02 9.98597964e-01 -6.27829644e-05 2.73796330e+00] [ 1.02049275e-02 -4.78087289e-04 9.99947814e-01 1.92123474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.93925415399997 meters 0.027030783992434203 Centerline is valid? [True, True] Translation: X:448.89, Y:2.74, Z:1.92 [[ 9.98717466e-01 -4.95844910e-02 -1.02372891e-02 4.48889294e+02] [ 4.95864513e-02 9.98769833e-01 -6.24032433e-05 2.74232516e+00] [ 1.02277898e-02 -4.45307629e-04 9.99947596e-01 1.92121696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.99925415399997 meters 0.02529132573206002 Centerline is valid? [True, True] Translation: X:448.95, Y:2.75, Z:1.92 [[ 9.98854654e-01 -4.67972958e-02 -9.96961674e-03 4.48950946e+02] [ 4.67990207e-02 9.98904324e-01 -6.03318290e-05 2.74806093e+00] [ 9.96151664e-03 -4.06305573e-04 9.99950300e-01 1.92188934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.059254154 meters 0.025755439660455362 Centerline is valid? [True, True] Translation: X:449.01, Y:2.75, Z:1.92 [[ 9.98976418e-01 -4.41310998e-02 -9.92786690e-03 4.49011797e+02] [ 4.41326830e-02 9.99025677e-01 -5.96597101e-05 2.74932361e+00] [ 9.92082680e-03 -3.78544759e-04 9.99950716e-01 1.92125265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.119254154 meters 0.02570216334662164 Centerline is valid? [True, True] Translation: X:449.07, Y:2.75, Z:1.92 [[ 9.99085193e-01 -4.16324224e-02 -9.77339742e-03 4.49072198e+02] [ 4.16338396e-02 9.99132934e-01 -5.84935470e-05 2.75148177e+00] [ 9.76735847e-03 -3.48464024e-04 9.99952237e-01 1.92128621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.179254154 meters 0.023083248565471334 Centerline is valid? [True, True] Translation: X:449.13, Y:2.76, Z:1.92 [[ 9.99311743e-01 -3.56834657e-02 -1.01355936e-02 4.49132955e+02] [ 3.56846861e-02 9.99363097e-01 -6.04677720e-05 2.75807543e+00] [ 1.01312959e-02 -3.01259322e-04 9.99948632e-01 1.92134710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.239254154 meters 0.019996582516360883 Centerline is valid? [True, True] Translation: X:449.19, Y:2.76, Z:1.92 [[ 9.99565778e-01 -2.79145069e-02 -9.43584826e-03 4.49192545e+02] [ 2.79152194e-02 9.99610293e-01 -5.62087931e-05 2.76481991e+00] [ 9.43374009e-03 -2.07219389e-04 9.99955480e-01 1.92174133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.299254154 meters 0.01586920596035663 Centerline is valid? [True, True] Translation: X:449.25, Y:2.77, Z:1.92 [[ 9.99688053e-01 -2.31442226e-02 -9.38834609e-03 4.49253926e+02] [ 2.31447194e-02 9.99732124e-01 -5.57402651e-05 2.77474391e+00] [ 9.38712124e-03 -1.61567759e-04 9.99955927e-01 1.92337013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.359254154 meters 0.016655150735898978 Centerline is valid? [True, True] Translation: X:449.32, Y:2.78, Z:1.92 [[ 9.99795915e-01 -1.74394222e-02 -1.01977689e-02 4.49315431e+02] [ 1.74397157e-02 9.99847915e-01 -6.01550835e-05 2.77812254e+00] [ 1.01972670e-02 -1.17703383e-04 9.99948000e-01 1.92227176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.419254154 meters 0.016417702231957907 Centerline is valid? [True, True] Translation: X:449.38, Y:2.78, Z:1.92 [[ 9.99810984e-01 -1.59002042e-02 -1.11883552e-02 4.49375753e+02] [ 1.59004631e-02 9.99873577e-01 -6.58209743e-05 2.77780072e+00] [ 1.11879873e-02 -1.12091496e-04 9.99937406e-01 1.92139714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.479254154 meters 0.015513805760412464 Centerline is valid? [True, True] Translation: X:449.43, Y:2.77, Z:1.92 [[ 9.99767962e-01 -1.83066552e-02 -1.13529124e-02 4.49434153e+02] [ 1.83070727e-02 9.99832409e-01 -6.71587546e-05 2.77455743e+00] [ 1.13522392e-02 -1.40695422e-04 9.99935551e-01 1.92173302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.539254154 meters 0.016720182232652245 Centerline is valid? [True, True] Translation: X:449.49, Y:2.77, Z:1.92 [[ 9.99607636e-01 -2.56129091e-02 -1.13381015e-02 4.49493549e+02] [ 2.56137884e-02 9.99671911e-01 -6.76805731e-05 2.76725611e+00] [ 1.13361151e-02 -2.22757715e-04 9.99935719e-01 1.92282460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.599254154 meters 0.020134552002560722 Centerline is valid? [True, True] Translation: X:449.55, Y:2.76, Z:1.92 [[ 9.99448581e-01 -3.12518712e-02 -1.12184492e-02 4.49554566e+02] [ 3.12530871e-02 9.99511501e-01 -6.69536299e-05 2.76050648e+00] [ 1.12150614e-02 -2.83694459e-04 9.99937069e-01 1.92207620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.659254154 meters 0.0217102886820474 Centerline is valid? [True, True] Translation: X:449.61, Y:2.75, Z:1.92 [[ 9.99176513e-01 -3.88076618e-02 -1.18431534e-02 4.49614943e+02] [ 3.88095505e-02 9.99246623e-01 -7.03868471e-05 2.75153508e+00] [ 1.18369626e-02 -3.89298578e-04 9.99929865e-01 1.92293167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.719254154 meters 0.023103644901492224 Centerline is valid? [True, True] Translation: X:449.68, Y:2.75, Z:1.92 [[ 9.99024570e-01 -4.25326040e-02 -1.18695101e-02 4.49676328e+02] [ 4.25347677e-02 9.99094985e-01 -7.02069022e-05 2.74720327e+00] [ 1.18617541e-02 -4.34728434e-04 9.99929552e-01 1.92333616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.779254154 meters 0.02666044483282311 Centerline is valid? [True, True] Translation: X:449.74, Y:2.74, Z:1.92 [[ 9.98843742e-01 -4.66020905e-02 -1.18077619e-02 4.49736823e+02] [ 4.66045207e-02 9.98913417e-01 -6.94095176e-05 2.73983592e+00] [ 1.17981664e-02 -4.80965820e-04 9.99930284e-01 1.92336108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.839254154 meters 0.023702054012854152 Centerline is valid? [True, True] Translation: X:449.80, Y:2.74, Z:1.92 [[ 9.98697527e-01 -4.93742677e-02 -1.28620237e-02 4.49797558e+02] [ 4.93773851e-02 9.98780190e-01 -7.52712068e-05 2.74236989e+00] [ 1.28500510e-02 -5.59919931e-04 9.99917278e-01 1.92418901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.899254154 meters 0.030194653133945874 Centerline is valid? [True, True] Translation: X:449.86, Y:2.73, Z:1.92 [[ 9.98654145e-01 -5.01767074e-02 -1.31223502e-02 4.49858822e+02] [ 5.01800350e-02 9.98740186e-01 -7.57549038e-05 2.73260597e+00] [ 1.31096196e-02 -5.82827042e-04 9.99913895e-01 1.92226254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.959254154 meters 0.024176103247800344 Centerline is valid? [True, True] Translation: X:449.92, Y:2.74, Z:1.92 [[ 9.98650880e-01 -4.99437252e-02 -1.42142184e-02 4.49920897e+02] [ 4.99476238e-02 9.98751835e-01 -8.08154729e-05 2.74048487e+00] [ 1.42005130e-02 -6.29259993e-04 9.99898970e-01 1.92362948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.019254154 meters 0.02546793711884914 Centerline is valid? [True, True] Translation: X:449.98, Y:2.74, Z:1.92 [[ 9.98629125e-01 -5.01743957e-02 -1.49130944e-02 4.49982701e+02] [ 5.01787292e-02 9.98740251e-01 -8.36929379e-05 2.73940044e+00] [ 1.48985069e-02 -6.64741919e-04 9.99888790e-01 1.92292964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.079254154 meters 0.025538477069469184 Centerline is valid? [True, True] Translation: X:450.04, Y:2.74, Z:1.92 [[ 9.98537543e-01 -5.17096013e-02 -1.57763458e-02 4.50044035e+02] [ 5.17146541e-02 9.98661898e-01 -8.77920438e-05 2.73947773e+00] [ 1.57597751e-02 -7.28204611e-04 9.99875542e-01 1.92291631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.139254154 meters 0.028727475972502806 Centerline is valid? [True, True] Translation: X:450.10, Y:2.74, Z:1.92 [[ 9.98306839e-01 -5.54360562e-02 -1.76152814e-02 4.50104289e+02] [ 5.54429375e-02 9.98461853e-01 -9.78482183e-05 2.73537982e+00] [ 1.75936109e-02 -8.78960402e-04 9.99844834e-01 1.92093601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.199254154 meters 0.028213764463148435 Centerline is valid? [True, True] Translation: X:450.17, Y:2.74, Z:1.92 [[ 9.98181510e-01 -5.74893576e-02 -1.81286460e-02 4.50165704e+02] [ 5.74969926e-02 9.98345674e-01 -1.00207083e-04 2.73828786e+00] [ 1.81044162e-02 -9.42317768e-04 9.99835658e-01 1.92174910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.259254154 meters 0.025466453934113165 Centerline is valid? [True, True] Translation: X:450.23, Y:2.75, Z:1.92 [[ 9.98345829e-01 -5.49668595e-02 -1.68597092e-02 4.50226842e+02] [ 5.49731144e-02 9.98487831e-01 -9.25813660e-05 2.74539913e+00] [ 1.68393033e-02 -8.34402500e-04 9.99857861e-01 1.92477840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.319254154 meters 0.025008255810093256 Centerline is valid? [True, True] Translation: X:450.29, Y:2.75, Z:1.93 [[ 9.98647982e-01 -4.93650118e-02 -1.62881675e-02 4.50286904e+02] [ 4.93701059e-02 9.98780549e-01 -8.94446330e-05 2.75157896e+00] [ 1.62727203e-02 -7.14824854e-04 9.99867335e-01 1.92562899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.37925415399997 meters 0.022007732980100884 Centerline is valid? [True, True] Translation: X:450.35, Y:2.76, Z:1.93 [[ 9.98824598e-01 -4.59705924e-02 -1.53664179e-02 4.50348551e+02] [ 4.59747337e-02 9.98942599e-01 -8.38250545e-05 2.75811423e+00] [ 1.53540230e-02 -6.22740446e-04 9.99881926e-01 1.92743932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.43925415399997 meters 0.021728525211199258 Centerline is valid? [True, True] Translation: X:450.41, Y:2.76, Z:1.93 [[ 9.98990509e-01 -4.23609208e-02 -1.49504554e-02 4.50409029e+02] [ 4.23644438e-02 9.99102221e-01 -8.11208764e-05 2.76309060e+00] [ 1.49404696e-02 -5.52328743e-04 9.99888232e-01 1.92788122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.49925415399997 meters 0.020830084924861467 Centerline is valid? [True, True] Translation: X:450.47, Y:2.77, Z:1.93 [[ 9.99035528e-01 -4.15208525e-02 -1.42840316e-02 4.50470147e+02] [ 4.15239889e-02 9.99137504e-01 -7.70648676e-05 2.76712147e+00] [ 1.42749115e-02 -5.16139431e-04 9.99897975e-01 1.92834097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.559254154 meters 0.02188056255957655 Centerline is valid? [True, True] Translation: X:450.53, Y:2.77, Z:1.93 [[ 9.99001794e-01 -4.21398359e-02 -1.48206150e-02 4.50531043e+02] [ 4.21432913e-02 9.99111574e-01 -7.92262103e-05 2.76755703e+00] [ 1.48107866e-02 -5.45442370e-04 9.99890166e-01 1.92827304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.619254154 meters 0.022352302687591506 Centerline is valid? [True, True] Translation: X:450.59, Y:2.77, Z:1.93 [[ 9.98891900e-01 -4.41906331e-02 -1.61913763e-02 4.50591822e+02] [ 4.41950390e-02 9.99022918e-01 -8.57669781e-05 2.76989832e+00] [ 1.61793461e-02 -6.29906570e-04 9.99868907e-01 1.92768861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.679254154 meters 0.022645700718397572 Centerline is valid? [True, True] Translation: X:450.65, Y:2.77, Z:1.93 [[ 9.98819095e-01 -4.54559174e-02 -1.71515225e-02 4.50653239e+02] [ 4.54610593e-02 9.98966108e-01 -9.01825914e-05 2.77173963e+00] [ 1.71378890e-02 -6.89650285e-04 9.99852898e-01 1.92683918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.739254154 meters 0.021710687587907618 Centerline is valid? [True, True] Translation: X:450.72, Y:2.78, Z:1.93 [[ 9.98932012e-01 -4.33980132e-02 -1.58571270e-02 4.50715189e+02] [ 4.34021613e-02 9.99057679e-01 -8.26187007e-05 2.77720519e+00] [ 1.58457700e-02 -6.05703120e-04 9.99874264e-01 1.92818121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.799254154 meters 0.020780822087169956 Centerline is valid? [True, True] Translation: X:450.78, Y:2.78, Z:1.93 [[ 9.99146269e-01 -3.87005308e-02 -1.44568796e-02 4.50775965e+02] [ 3.87034930e-02 9.99250736e-01 -7.49286606e-05 2.78168175e+00] [ 1.44489474e-02 -4.84667049e-04 9.99895491e-01 1.92944911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.859254154 meters 0.017786954378555042 Centerline is valid? [True, True] Translation: X:450.84, Y:2.79, Z:1.93 [[ 9.99462387e-01 -2.96016958e-02 -1.40952508e-02 4.50836638e+02] [ 2.96036092e-02 9.99561714e-01 -7.29221033e-05 2.79293880e+00] [ 1.40912317e-02 -3.44387398e-04 9.99900654e-01 1.93002734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.919254154 meters 0.016842118307253982 Centerline is valid? [True, True] Translation: X:450.90, Y:2.80, Z:1.93 [[ 9.99540751e-01 -2.72365874e-02 -1.32836580e-02 4.50897348e+02] [ 2.72380783e-02 9.99628972e-01 -6.86997085e-05 2.79755571e+00] [ 1.32806005e-02 -2.93153157e-04 9.99911766e-01 1.93024145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.979254154 meters 0.01696858986370992 Centerline is valid? [True, True] Translation: X:450.96, Y:2.80, Z:1.93 [[ 9.99539603e-01 -2.71774730e-02 -1.34895364e-02 4.50959105e+02] [ 2.71790097e-02 9.99630580e-01 -6.94303158e-05 2.79948902e+00] [ 1.34864400e-02 -2.97233890e-04 9.99909010e-01 1.93026060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.039254154 meters 0.017066034275716728 Centerline is valid? [True, True] Translation: X:451.02, Y:2.80, Z:1.93 [[ 9.99485377e-01 -2.85428318e-02 -1.46385859e-02 4.51020141e+02] [ 2.85447959e-02 9.99592511e-01 -7.47883835e-05 2.80092825e+00] [ 1.46347555e-02 -3.43105551e-04 9.99892847e-01 1.92949911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.099254154 meters 0.018049316192934917 Centerline is valid? [True, True] Translation: X:451.08, Y:2.80, Z:1.93 [[ 9.99386709e-01 -3.07186011e-02 -1.68099040e-02 4.51080784e+02] [ 3.07215111e-02 9.99527979e-01 -8.51557357e-05 2.80188257e+00] [ 1.68045852e-02 -4.31322140e-04 9.99858700e-01 1.92760203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.159254154 meters 0.018231568087458853 Centerline is valid? [True, True] Translation: X:451.14, Y:2.80, Z:1.93 [[ 9.99319206e-01 -3.25550696e-02 -1.73577682e-02 4.51141695e+02] [ 3.25584526e-02 9.99469829e-01 -8.77340548e-05 2.80339180e+00] [ 1.73514218e-02 -4.77467749e-04 9.99849339e-01 1.92734086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.219254154 meters 0.019408581500082348 Centerline is valid? [True, True] Translation: X:451.20, Y:2.80, Z:1.93 [[ 9.99221887e-01 -3.57726503e-02 -1.66114108e-02 4.51202275e+02] [ 3.57761927e-02 9.99359824e-01 -8.39616247e-05 2.80442420e+00] [ 1.66037801e-02 -5.10396740e-04 9.99862017e-01 1.92795691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.279254154 meters 0.01985237683002729 Centerline is valid? [True, True] Translation: X:451.26, Y:2.81, Z:1.93 [[ 9.99178309e-01 -3.73534508e-02 -1.57297662e-02 4.51263169e+02] [ 3.73568260e-02 9.99301987e-01 -7.92986210e-05 2.80544188e+00] [ 1.57217487e-02 -5.08380677e-04 9.99876276e-01 1.92909969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.339254154 meters 0.020408842115642627 Centerline is valid? [True, True] Translation: X:451.33, Y:2.81, Z:1.93 [[ 9.99185540e-01 -3.78334612e-02 -1.40316169e-02 4.51325245e+02] [ 3.78362050e-02 9.99283952e-01 -6.99657189e-05 2.80834677e+00] [ 1.40242166e-02 -4.60994398e-04 9.99901550e-01 1.93069643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.399254154 meters 0.020715582242404006 Centerline is valid? [True, True] Translation: X:451.39, Y:2.81, Z:1.93 [[ 9.99234623e-01 -3.70312433e-02 -1.26038134e-02 4.51387639e+02] [ 3.70334043e-02 9.99314026e-01 -6.19722928e-05 2.81135430e+00] [ 1.25974624e-02 -4.04837257e-04 9.99920567e-01 1.93232632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.459254154 meters 0.02165434923109938 Centerline is valid? [True, True] Translation: X:451.45, Y:2.81, Z:1.93 [[ 9.99263525e-01 -3.62964096e-02 -1.24490130e-02 4.51450201e+02] [ 3.62984718e-02 9.99340991e-01 -6.03269516e-05 2.81220867e+00] [ 1.24429987e-02 -3.91597627e-04 9.99922506e-01 1.93225624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.519254154 meters 0.01960326913519542 Centerline is valid? [True, True] Translation: X:451.51, Y:2.82, Z:1.93 [[ 9.99219939e-01 -3.76150515e-02 -1.20259012e-02 4.51512686e+02] [ 3.76170818e-02 9.99292225e-01 -5.74073913e-05 2.81586991e+00] [ 1.20195490e-02 -3.95016699e-04 9.99927685e-01 1.93383708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.579254154 meters 0.02060129099296274 Centerline is valid? [True, True] Translation: X:451.57, Y:2.82, Z:1.93 [[ 9.99171531e-01 -3.89472907e-02 -1.18050921e-02 4.51574234e+02] [ 3.89493485e-02 9.99241185e-01 -5.56265189e-05 2.81635353e+00] [ 1.17983007e-02 -4.04220213e-04 9.99930316e-01 1.93444019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.639254154 meters 0.020549644296930663 Centerline is valid? [True, True] Translation: X:451.64, Y:2.82, Z:1.93 [[ 9.99115779e-01 -3.99504760e-02 -1.31003942e-02 4.51636413e+02] [ 3.99531083e-02 9.99201554e-01 -6.08207645e-05 2.81936461e+00] [ 1.30923641e-02 -4.62634483e-04 9.99914184e-01 1.93400842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.699254154 meters 0.022339913330487175 Centerline is valid? [True, True] Translation: X:451.70, Y:2.82, Z:1.93 [[ 9.99081183e-01 -4.03973406e-02 -1.43124081e-02 4.51697094e+02] [ 4.04005514e-02 9.99183562e-01 -6.48371517e-05 2.81814916e+00] [ 1.43033422e-02 -5.13451602e-04 9.99897570e-01 1.93259637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.759254154 meters 0.022143229657896876 Centerline is valid? [True, True] Translation: X:451.76, Y:2.82, Z:1.93 [[ 9.99003731e-01 -4.20362789e-02 -1.49832112e-02 4.51759005e+02] [ 4.20400022e-02 9.99115926e-01 -6.65164219e-05 2.82171184e+00] [ 1.49727610e-02 -5.63444078e-04 9.99887743e-01 1.93212521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.819254154 meters 0.02266091002090753 Centerline is valid? [True, True] Translation: X:451.82, Y:2.82, Z:1.93 [[ 9.98849059e-01 -4.58938373e-02 -1.39395911e-02 4.51820631e+02] [ 4.58974440e-02 9.98946155e-01 -6.12326990e-05 2.82216069e+00] [ 1.39277111e-02 -5.78629379e-04 9.99902837e-01 1.93334711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.87925415399997 meters 0.024904032270134296 Centerline is valid? [True, True] Translation: X:451.88, Y:2.82, Z:1.93 [[ 9.98704801e-01 -4.95450617e-02 -1.15761537e-02 4.51880919e+02] [ 4.95477994e-02 9.98771752e-01 -5.03606107e-05 2.82114344e+00] [ 1.15644304e-02 -5.23277557e-04 9.99932993e-01 1.93485218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.93925415399997 meters 0.025943387932372584 Centerline is valid? [True, True] Translation: X:451.94, Y:2.82, Z:1.94 [[ 9.98631206e-01 -5.12218799e-02 -1.05846193e-02 4.51943260e+02] [ 5.12242694e-02 9.98687174e-01 -4.54004825e-05 2.82309651e+00] [ 1.05730491e-02 -4.96851054e-04 9.99943980e-01 1.93633428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.99925415399997 meters 0.024517432493147362 Centerline is valid? [True, True] Translation: X:452.01, Y:2.83, Z:1.94 [[ 9.98612510e-01 -5.17539639e-02 -9.72532138e-03 4.52005191e+02] [ 5.17560131e-02 9.98659759e-01 -4.10247018e-05 2.82754152e+00] [ 9.71441030e-03 -4.62376080e-04 9.99952707e-01 1.93760437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.059254154 meters 0.027297202130712697 Centerline is valid? [True, True] Translation: X:452.07, Y:2.82, Z:1.94 [[ 9.98523802e-01 -5.35523367e-02 -9.07551272e-03 4.52066041e+02] [ 5.35541996e-02 9.98564943e-01 -3.78047806e-05 2.82441778e+00] [ 9.06451338e-03 -4.48282846e-04 9.99958816e-01 1.93823486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.119254154 meters 0.029110354922245934 Centerline is valid? [True, True] Translation: X:452.13, Y:2.82, Z:1.94 [[ 9.98464098e-01 -5.46215223e-02 -9.27010654e-03 4.52127015e+02] [ 5.46235190e-02 9.98507020e-01 -3.78456653e-05 2.82219269e+00] [ 9.25833365e-03 -4.68578303e-04 9.99957031e-01 1.93818832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.179254154 meters 0.028223462451439706 Centerline is valid? [True, True] Translation: X:452.19, Y:2.82, Z:1.94 [[ 9.98467017e-01 -5.40120447e-02 -1.20960758e-02 4.52189392e+02] [ 5.40154151e-02 9.98540101e-01 -4.81245728e-05 2.82404245e+00] [ 1.20810161e-02 -6.05323757e-04 9.99926839e-01 1.93596052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.239254154 meters 0.024263677259080307 Centerline is valid? [True, True] Translation: X:452.25, Y:2.83, Z:1.93 [[ 9.98737050e-01 -4.82885004e-02 -1.38753432e-02 4.52250545e+02] [ 4.82923904e-02 9.98833240e-01 -5.47542113e-05 2.83243724e+00] [ 1.38617980e-02 -6.15388431e-04 9.99903731e-01 1.93483057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.299254154 meters 0.019474700347240012 Centerline is valid? [True, True] Translation: X:452.31, Y:2.84, Z:1.94 [[ 9.99250686e-01 -3.66584506e-02 -1.24186793e-02 4.52310931e+02] [ 3.66606698e-02 9.99327770e-01 -4.89816398e-05 2.84462210e+00] [ 1.24121267e-02 -4.06332165e-04 9.99922884e-01 1.93773069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.359254154 meters 0.017264534208103192 Centerline is valid? [True, True] Translation: X:452.37, Y:2.85, Z:1.94 [[ 9.99581873e-01 -2.68243008e-02 -1.07951910e-02 4.52371638e+02] [ 2.68254047e-02 9.99640133e-01 -4.25482237e-05 2.85316070e+00] [ 1.07924475e-02 -2.47054935e-04 9.99941729e-01 1.93939499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.419254154 meters 0.01460345086818566 Centerline is valid? [True, True] Translation: X:452.43, Y:2.86, Z:1.94 [[ 9.99871706e-01 -1.30574937e-02 -9.27757327e-03 4.52432921e+02] [ 1.30577175e-02 9.99914744e-01 -3.64553747e-05 2.86455878e+00] [ 9.27725832e-03 -8.46932329e-05 9.99956962e-01 1.94049631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.479254154 meters 0.014209235640874517 Centerline is valid? [True, True] Translation: X:452.49, Y:2.87, Z:1.94 [[ 9.99932718e-01 -5.38130633e-03 -1.02762263e-02 4.52493033e+02] [ 5.38117644e-03 9.99985521e-01 -4.02898401e-05 2.86981233e+00] [ 1.02762943e-02 -1.50110576e-05 9.99947197e-01 1.93933651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.539254154 meters 0.014388573973847933 Centerline is valid? [True, True] Translation: X:452.55, Y:2.87, Z:1.94 [[ 9.99907189e-01 -7.26600080e-03 -1.15246913e-02 4.52552221e+02] [ 7.26595655e-03 9.99973602e-01 -4.57098805e-05 2.86759338e+00] [ 1.15247192e-02 -3.80322683e-05 9.99933587e-01 1.93782312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.599254154 meters 0.014603074378354786 Centerline is valid? [True, True] Translation: X:452.61, Y:2.86, Z:1.94 [[ 9.99847758e-01 -1.27729775e-02 -1.18874260e-02 4.52611435e+02] [ 1.27733092e-02 9.99918417e-01 -4.80306813e-05 2.86309137e+00] [ 1.18870697e-02 -1.03818399e-04 9.99929341e-01 1.93759405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.659254154 meters 0.01663939629552711 Centerline is valid? [True, True] Translation: X:452.67, Y:2.85, Z:1.94 [[ 9.99621884e-01 -2.48873217e-02 -1.16923109e-02 4.52671942e+02] [ 2.48884670e-02 9.99690233e-01 -4.75588651e-05 2.85273680e+00] [ 1.16898727e-02 -2.43462813e-04 9.99931641e-01 1.93706743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.719254154 meters 0.021484523695818568 Centerline is valid? [True, True] Translation: X:452.73, Y:2.84, Z:1.94 [[ 9.99208107e-01 -3.77998862e-02 -1.24228598e-02 4.52732380e+02] [ 3.78021767e-02 9.99285241e-01 -5.04619861e-05 2.83909638e+00] [ 1.24158880e-02 -4.19189118e-04 9.99922832e-01 1.93659253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.779254154 meters 0.02423643428972192 Centerline is valid? [True, True] Translation: X:452.79, Y:2.83, Z:1.94 [[ 9.98921602e-01 -4.49610651e-02 -1.15816817e-02 4.52793224e+02] [ 4.49635372e-02 9.98988628e-01 -4.69850060e-05 2.83352224e+00] [ 1.15720808e-02 -4.73819036e-04 9.99932929e-01 1.93743178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.839254154 meters 0.0260111021844255 Centerline is valid? [True, True] Translation: X:452.85, Y:2.83, Z:1.94 [[ 9.98527675e-01 -5.32471753e-02 -1.03546897e-02 4.52854178e+02] [ 5.32495975e-02 9.98581233e-01 -4.18308485e-05 2.82895244e+00] [ 1.03422262e-02 -5.09613800e-04 9.99946388e-01 1.93850487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.899254154 meters 0.02559202903890046 Centerline is valid? [True, True] Translation: X:452.91, Y:2.83, Z:1.94 [[ 9.98271173e-01 -5.79506877e-02 -9.81751937e-03 4.52914946e+02] [ 5.79530939e-02 9.98319306e-01 -3.94475052e-05 2.82954442e+00] [ 9.80330513e-03 -5.29576315e-04 9.99951806e-01 1.93926660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.959254154 meters 0.026629437950085443 Centerline is valid? [True, True] Translation: X:452.98, Y:2.83, Z:1.94 [[ 9.98235253e-01 -5.85529465e-02 -9.89607709e-03 4.52977493e+02] [ 5.85554258e-02 9.98284158e-01 -3.92688623e-05 2.83004998e+00] [ 9.88139630e-03 -5.40269445e-04 9.99951032e-01 1.93939512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.019254154 meters 0.02930344270512463 Centerline is valid? [True, True] Translation: X:453.04, Y:2.83, Z:1.94 [[ 9.98311588e-01 -5.70611711e-02 -1.08626156e-02 4.53038912e+02] [ 5.70640782e-02 9.98370517e-01 -4.23821623e-05 2.82803652e+00] [ 1.08473336e-02 -5.77554544e-04 9.99940999e-01 1.93748688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.079254154 meters 0.026321231819873586 Centerline is valid? [True, True] Translation: X:453.10, Y:2.83, Z:1.94 [[ 9.98368815e-01 -5.58720505e-02 -1.17483541e-02 4.53101130e+02] [ 5.58753785e-02 9.98437750e-01 -4.50270895e-05 2.83346420e+00] [ 1.17325160e-02 -6.11490092e-04 9.99930985e-01 1.93725392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.139254154 meters 0.027337912719267866 Centerline is valid? [True, True] Translation: X:453.16, Y:2.84, Z:1.94 [[ 9.98417018e-01 -5.45250395e-02 -1.38014129e-02 4.53162236e+02] [ 5.45295165e-02 9.98512158e-01 -5.19947301e-05 2.83510435e+00] [ 1.37837136e-02 -7.00671949e-04 9.99904755e-01 1.93614166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.199254154 meters 0.02680489479172945 Centerline is valid? [True, True] Translation: X:453.22, Y:2.84, Z:1.94 [[ 9.98471491e-01 -5.33223213e-02 -1.45400033e-02 4.53224247e+02] [ 5.33271777e-02 9.98577092e-01 -5.37800790e-05 2.83971846e+00] [ 1.45221819e-02 -7.21679465e-04 9.99894287e-01 1.93508805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.259254154 meters 0.02751725952471004 Centerline is valid? [True, True] Translation: X:453.29, Y:2.84, Z:1.94 [[ 9.98500221e-01 -5.26488923e-02 -1.50134119e-02 4.53285956e+02] [ 5.26540107e-02 9.98612814e-01 -5.44258284e-05 2.84174783e+00] [ 1.49954509e-02 -7.36172148e-04 9.99887291e-01 1.93515769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.319254154 meters 0.026737250761880514 Centerline is valid? [True, True] Translation: X:453.35, Y:2.85, Z:1.94 [[ 9.98606663e-01 -5.07553219e-02 -1.44440035e-02 4.53347169e+02] [ 5.07598714e-02 9.98710885e-01 -5.16934071e-05 2.84740798e+00] [ 1.44280072e-02 -6.81554378e-04 9.99895679e-01 1.93601033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.37925415399997 meters 0.025934929513153106 Centerline is valid? [True, True] Translation: X:453.41, Y:2.85, Z:1.94 [[ 9.98636788e-01 -5.02746150e-02 -1.40366691e-02 4.53409776e+02] [ 5.02788760e-02 9.98735216e-01 -4.93886150e-05 2.85015266e+00] [ 1.40213987e-02 -6.56426655e-04 9.99901480e-01 1.93726112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.43925415399997 meters 0.024896898428628387 Centerline is valid? [True, True] Translation: X:453.47, Y:2.86, Z:1.94 [[ 9.98812204e-01 -4.72024376e-02 -1.20876083e-02 4.53471471e+02] [ 4.72053810e-02 9.98885204e-01 -4.18433673e-05 2.85658013e+00] [ 1.20761082e-02 -5.28806491e-04 9.99926941e-01 1.93968328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.49925415399997 meters 0.02208544453333658 Centerline is valid? [True, True] Translation: X:453.53, Y:2.86, Z:1.94 [[ 9.99069188e-01 -4.16890038e-02 -1.10808334e-02 4.53532496e+02] [ 4.16911425e-02 9.99130546e-01 -3.80187688e-05 2.86461102e+00] [ 1.10727841e-02 -4.23989225e-04 9.99938605e-01 1.94105078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.559254154 meters 0.01936600729249427 Centerline is valid? [True, True] Translation: X:453.59, Y:2.87, Z:1.94 [[ 9.99353062e-01 -3.43440913e-02 -1.06742690e-02 4.53593141e+02] [ 3.43456593e-02 9.99410013e-01 -3.64373166e-05 2.87297179e+00] [ 1.06692227e-02 -3.30201062e-04 9.99943028e-01 1.94258958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.619254154 meters 0.018691167469850285 Centerline is valid? [True, True] Translation: X:453.65, Y:2.88, Z:1.94 [[ 9.99497670e-01 -3.00052738e-02 -1.02025485e-02 4.53654239e+02] [ 3.00064833e-02 9.99549703e-01 -3.45418388e-05 2.87700625e+00] [ 1.01989907e-02 -2.71618113e-04 9.99947952e-01 1.94387582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.679254154 meters 0.0190120713163809 Centerline is valid? [True, True] Translation: X:453.71, Y:2.88, Z:1.95 [[ 9.99651995e-01 -2.47249790e-02 -9.19588267e-03 4.53714891e+02] [ 2.47257412e-02 9.99694272e-01 -3.08164716e-05 2.87792128e+00] [ 9.19383316e-03 -1.96569268e-04 9.99957717e-01 1.94500801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.739254154 meters 0.016305294277456642 Centerline is valid? [True, True] Translation: X:453.78, Y:2.88, Z:1.95 [[ 9.99766104e-01 -1.97292678e-02 -8.85959932e-03 4.53776555e+02] [ 1.97297826e-02 9.99805348e-01 -2.92935881e-05 2.88392737e+00] [ 8.85845273e-03 -1.45511232e-04 9.99960753e-01 1.94607822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.799254154 meters 0.01591715306135034 Centerline is valid? [True, True] Translation: X:453.84, Y:2.89, Z:1.95 [[ 9.99821802e-01 -1.68164612e-02 -8.57740174e-03 4.53838670e+02] [ 1.68168412e-02 9.99858587e-01 -2.78232307e-05 2.88543288e+00] [ 8.57665667e-03 -1.16426531e-04 9.99963213e-01 1.94667937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.859254154 meters 0.015619791015366827 Centerline is valid? [True, True] Translation: X:453.90, Y:2.89, Z:1.95 [[ 9.99848755e-01 -1.44873715e-02 -9.62204777e-03 4.53900300e+02] [ 1.44877472e-02 9.99895047e-01 -3.06585473e-05 2.88580515e+00] [ 9.62148206e-03 -1.08747886e-04 9.99953707e-01 1.94667810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.919254154 meters 0.015928124085282915 Centerline is valid? [True, True] Translation: X:453.96, Y:2.88, Z:1.95 [[ 9.99838804e-01 -1.45061713e-02 -1.05800393e-02 4.53960850e+02] [ 1.45066297e-02 9.99894773e-01 -3.34189380e-05 2.88107563e+00] [ 1.05794108e-02 -1.20067162e-04 9.99944029e-01 1.94534252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.979254154 meters 0.015738901340598348 Centerline is valid? [True, True] Translation: X:454.02, Y:2.88, Z:1.95 [[ 9.99841437e-01 -1.47222543e-02 -1.00177394e-02 4.54021513e+02] [ 1.47226768e-02 9.99891615e-01 -3.15667504e-05 2.87855250e+00] [ 1.00171184e-02 -1.15926195e-04 9.99949821e-01 1.94628285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.039254154 meters 0.017354612665001965 Centerline is valid? [True, True] Translation: X:454.08, Y:2.87, Z:1.95 [[ 9.99839507e-01 -1.45076856e-02 -1.05113342e-02 4.54081542e+02] [ 1.45081390e-02 9.99894751e-01 -3.31221095e-05 2.87375166e+00] [ 1.05107084e-02 -1.19383103e-04 9.99944754e-01 1.94617150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.099254154 meters 0.016224851534090395 Centerline is valid? [True, True] Translation: X:454.14, Y:2.87, Z:1.95 [[ 9.99793709e-01 -1.76600990e-02 -1.00329955e-02 4.54141851e+02] [ 1.76606707e-02 9.99844038e-01 -3.16148235e-05 2.86540324e+00] [ 1.00319890e-02 -1.45581128e-04 9.99949668e-01 1.94687387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.159254154 meters 0.0170712780226166 Centerline is valid? [True, True] Translation: X:454.20, Y:2.86, Z:1.95 [[ 9.99723895e-01 -2.11074372e-02 -1.03252368e-02 4.54202678e+02] [ 2.11082288e-02 9.99777196e-01 -3.23196015e-05 2.85699081e+00] [ 1.03236185e-02 -1.85636783e-04 9.99946693e-01 1.94610662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.219254154 meters 0.018049265558727115 Centerline is valid? [True, True] Translation: X:454.26, Y:2.85, Z:1.95 [[ 9.99554483e-01 -2.78534958e-02 -1.07246289e-02 4.54263911e+02] [ 2.78547422e-02 9.99611981e-01 -3.31697311e-05 2.84700713e+00] [ 1.07213914e-02 -2.65576818e-04 9.99942489e-01 1.94618556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.279254154 meters 0.020435949316555676 Centerline is valid? [True, True] Translation: X:454.32, Y:2.84, Z:1.95 [[ 9.99267583e-01 -3.65980861e-02 -1.11748968e-02 4.54324291e+02] [ 3.65999877e-02 9.99329995e-01 -3.43633375e-05 2.83542695e+00] [ 1.11686672e-02 -3.74662915e-04 9.99937558e-01 1.94581027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.339254154 meters 0.023254391140623252 Centerline is valid? [True, True] Translation: X:454.39, Y:2.82, Z:1.95 [[ 9.98841164e-01 -4.66887149e-02 -1.16830467e-02 4.54385027e+02] [ 4.66914860e-02 9.98909357e-01 -3.56071376e-05 2.82200548e+00] [ 1.16719671e-02 -5.09932937e-04 9.99931750e-01 1.94516930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.399254154 meters 0.025819077297122173 Centerline is valid? [True, True] Translation: X:454.45, Y:2.81, Z:1.94 [[ 9.98531023e-01 -5.27117173e-02 -1.25407521e-02 4.54445978e+02] [ 5.27153868e-02 9.98609577e-01 -3.79983617e-05 2.81354918e+00] [ 1.25253181e-02 -6.23148053e-04 9.99921361e-01 1.94407578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.459254154 meters 0.02868011790962292 Centerline is valid? [True, True] Translation: X:454.51, Y:2.81, Z:1.94 [[ 9.98177487e-01 -5.88079062e-02 -1.35400994e-02 4.54506309e+02] [ 5.88127437e-02 9.98269032e-01 -4.09802638e-05 2.80582888e+00] [ 1.35190719e-02 -7.55424821e-04 9.99908328e-01 1.94365444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.519254154 meters 0.029927954324392547 Centerline is valid? [True, True] Translation: X:454.57, Y:2.80, Z:1.94 [[ 9.98132669e-01 -5.92639934e-02 -1.47971087e-02 4.54567959e+02] [ 5.92698295e-02 9.98241997e-01 -4.42041715e-05 2.80140998e+00] [ 1.47737150e-02 -8.32900479e-04 9.99890516e-01 1.94256479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.579254154 meters 0.03030689833363918 Centerline is valid? [True, True] Translation: X:454.63, Y:2.80, Z:1.94 [[ 9.98328743e-01 -5.59216821e-02 -1.45769297e-02 4.54627768e+02] [ 5.59269939e-02 9.98434860e-01 -4.33106830e-05 2.80062139e+00] [ 1.45565367e-02 -7.72005557e-04 9.99893750e-01 1.94277187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.639254154 meters 0.028521281021842877 Centerline is valid? [True, True] Translation: X:454.69, Y:2.80, Z:1.94 [[ 9.98532306e-01 -5.23445847e-02 -1.39024789e-02 4.54688170e+02] [ 5.23490704e-02 9.98628847e-01 -4.13067684e-05 2.80405940e+00] [ 1.38855787e-02 -6.86535704e-04 9.99903355e-01 1.94403119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.699254154 meters 0.022498555489169715 Centerline is valid? [True, True] Translation: X:454.75, Y:2.81, Z:1.95 [[ 9.98882321e-01 -4.51304202e-02 -1.40482809e-02 4.54748210e+02] [ 4.51342883e-02 9.98980928e-01 -4.17375157e-05 2.81420248e+00] [ 1.40358483e-02 -5.92368296e-04 9.99901317e-01 1.94553958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.759254154 meters 0.021841210540850694 Centerline is valid? [True, True] Translation: X:454.81, Y:2.82, Z:1.94 [[ 9.99233865e-01 -3.61181823e-02 -1.50718078e-02 4.54807422e+02] [ 3.61216078e-02 9.99347401e-01 -4.49735286e-05 2.81849606e+00] [ 1.50635963e-02 -4.99478858e-04 9.99886413e-01 1.94408398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.819254154 meters 0.018183520281020753 Centerline is valid? [True, True] Translation: X:454.87, Y:2.83, Z:1.95 [[ 9.99523720e-01 -2.66257084e-02 -1.56014376e-02 4.54868102e+02] [ 2.66282229e-02 9.99645405e-01 -4.65797149e-05 2.82949684e+00] [ 1.55971456e-02 -3.68881026e-04 9.99878289e-01 1.94536917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.87925415399997 meters 0.01650550342462991 Centerline is valid? [True, True] Translation: X:454.93, Y:2.84, Z:1.95 [[ 9.99663525e-01 -2.05004641e-02 -1.58924032e-02 4.54928660e+02] [ 2.05022998e-02 9.99789805e-01 -4.74251993e-05 2.83551002e+00] [ 1.58900349e-02 -2.78421572e-04 9.99873707e-01 1.94625724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.93925415399997 meters 0.015161610269263106 Centerline is valid? [True, True] Translation: X:454.99, Y:2.84, Z:1.95 [[ 9.99824547e-01 -1.14430251e-02 -1.48301325e-02 4.54988047e+02] [ 1.14435898e-02 9.99934519e-01 -4.67808317e-05 2.84287952e+00] [ 1.48296967e-02 -1.22937329e-04 9.99890026e-01 1.94838870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.99925415399997 meters 0.015038491687461202 Centerline is valid? [True, True] Translation: X:455.05, Y:2.85, Z:1.95 [[ 9.99891564e-01 -3.00351796e-03 -1.44166541e-02 4.55047175e+02] [ 3.00312212e-03 9.99995489e-01 -4.91060307e-05 2.84898385e+00] [ 1.44167366e-02 5.80573289e-06 9.99896073e-01 1.94971314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.059254154 meters 0.015357588580651092 Centerline is valid? [True, True] Translation: X:455.11, Y:2.85, Z:1.95 [[ 9.99898006e-01 2.98137725e-03 -1.39674157e-02 4.55105598e+02] [-2.98238232e-03 9.99995551e-01 -5.11298724e-05 2.85164464e+00] [ 1.39672011e-02 9.27808311e-05 9.99902450e-01 1.95006946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.119254154 meters 0.015588449144498194 Centerline is valid? [True, True] Translation: X:455.16, Y:2.85, Z:1.95 [[ 9.99909070e-01 4.89511615e-03 -1.25654481e-02 4.55163407e+02] [-4.89610262e-03 9.99988013e-01 -4.77453497e-05 2.85275137e+00] [ 1.25650638e-02 1.09262732e-04 9.99921050e-01 1.95123881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.179254154 meters 0.01506419358269116 Centerline is valid? [True, True] Translation: X:455.22, Y:2.85, Z:1.95 [[ 9.99941683e-01 2.55491180e-03 -1.04929931e-02 4.55222737e+02] [-2.55547784e-03 9.99996734e-01 -4.05375077e-05 2.84786796e+00] [ 1.04928552e-02 6.73497550e-05 9.99944946e-01 1.95365985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.239254154 meters 0.014860206044263007 Centerline is valid? [True, True] Translation: X:455.28, Y:2.84, Z:1.95 [[ 9.99945307e-01 -3.45008249e-03 -9.87315506e-03 4.55281856e+02] [ 3.44986786e-03 9.99994048e-01 -3.87701737e-05 2.84156489e+00] [ 9.87323006e-03 4.70697293e-06 9.99951258e-01 1.95370143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.299254154 meters 0.015206184839853852 Centerline is valid? [True, True] Translation: X:455.34, Y:2.83, Z:1.95 [[ 9.99883172e-01 -1.21306935e-02 -9.29989789e-03 4.55340888e+02] [ 1.21308724e-02 9.99926418e-01 -3.71720595e-05 2.83252308e+00] [ 9.29966450e-03 -7.56481583e-05 9.99956754e-01 1.95361951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.359254154 meters 0.017884586135861726 Centerline is valid? [True, True] Translation: X:455.40, Y:2.82, Z:1.95 [[ 9.99584538e-01 -2.67735616e-02 -1.06736686e-02 4.55401403e+02] [ 2.67746265e-02 9.99641494e-01 -4.31378676e-05 2.81662618e+00] [ 1.06709970e-02 -2.42663546e-04 9.99943034e-01 1.95164764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.419254154 meters 0.02185503011584086 Centerline is valid? [True, True] Translation: X:455.46, Y:2.81, Z:1.95 [[ 9.99337441e-01 -3.42754552e-02 -1.22422309e-02 4.55462766e+02] [ 3.42774208e-02 9.99412355e-01 -4.92891877e-05 2.80721017e+00] [ 1.22367262e-02 -3.70375568e-04 9.99925060e-01 1.95015079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.479254154 meters 0.023086727159717903 Centerline is valid? [True, True] Translation: X:455.52, Y:2.80, Z:1.95 [[ 9.99051733e-01 -4.20617687e-02 -1.12446234e-02 4.55523406e+02] [ 4.20639214e-02 9.99114921e-01 -4.51014690e-05 2.79914698e+00] [ 1.12365681e-02 -4.27934256e-04 9.99936776e-01 1.95116504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.539254154 meters 0.02493918920990663 Centerline is valid? [True, True] Translation: X:455.58, Y:2.79, Z:1.95 [[ 9.98952695e-01 -4.43961583e-02 -1.10677302e-02 4.55584180e+02] [ 4.43983896e-02 9.99013904e-01 -4.41386194e-05 2.79357554e+00] [ 1.10587760e-02 -4.47297006e-04 9.99938750e-01 1.95072994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.599254154 meters 0.025638917960198866 Centerline is valid? [True, True] Translation: X:455.65, Y:2.79, Z:1.95 [[ 9.98956096e-01 -4.42927558e-02 -1.11745265e-02 4.55646570e+02] [ 4.42950309e-02 9.99018492e-01 -4.39370843e-05 2.79232877e+00] [ 1.11655047e-02 -4.51084777e-04 9.99937562e-01 1.95059641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.659254154 meters 0.02558222102102298 Centerline is valid? [True, True] Translation: X:455.71, Y:2.79, Z:1.95 [[ 9.99054839e-01 -4.19797637e-02 -1.12751118e-02 4.55707263e+02] [ 4.19819390e-02 9.99118369e-01 -4.37882168e-05 2.79286799e+00] [ 1.12670095e-02 -4.29604224e-04 9.99936433e-01 1.95037350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.719254154 meters 0.02032384652215399 Centerline is valid? [True, True] Translation: X:455.77, Y:2.80, Z:1.95 [[ 9.99205853e-01 -3.79133570e-02 -1.22572333e-02 4.55768767e+02] [ 3.79156278e-02 9.99280943e-01 -4.71439579e-05 2.80263841e+00] [ 1.22502070e-02 -4.17634176e-04 9.99924876e-01 1.95101200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.779254154 meters 0.01948086646005669 Centerline is valid? [True, True] Translation: X:455.83, Y:2.81, Z:1.95 [[ 9.99355710e-01 -3.34384977e-02 -1.30396474e-02 4.55830251e+02] [ 3.34406936e-02 9.99440702e-01 -4.96594402e-05 2.80662313e+00] [ 1.30340149e-02 -3.86427409e-04 9.99914979e-01 1.95058545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.839254154 meters 0.018528609356114237 Centerline is valid? [True, True] Translation: X:455.89, Y:2.81, Z:1.95 [[ 9.99434352e-01 -2.98244944e-02 -1.55394703e-02 4.55891757e+02] [ 2.98271859e-02 9.99555069e-01 -5.85801100e-05 2.81065168e+00] [ 1.55343034e-02 -4.04951695e-04 9.99879253e-01 1.94977975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.899254154 meters 0.01758014926830908 Centerline is valid? [True, True] Translation: X:455.95, Y:2.81, Z:1.95 [[ 9.99473720e-01 -2.78299924e-02 -1.66665419e-02 4.55952164e+02] [ 2.78328144e-02 9.99612590e-01 -6.26568038e-05 2.81387456e+00] [ 1.66618289e-02 -4.01252939e-04 9.99861102e-01 1.94925584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.959254154 meters 0.017170755836388902 Centerline is valid? [True, True] Translation: X:456.01, Y:2.82, Z:1.95 [[ 9.99516610e-01 -2.51889608e-02 -1.82225630e-02 4.56011652e+02] [ 2.51918865e-02 9.99682632e-01 -6.90173414e-05 2.81708540e+00] [ 1.82185183e-02 -3.90076760e-04 9.99833953e-01 1.94850470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.019254154 meters 0.01669735609165996 Centerline is valid? [True, True] Translation: X:456.07, Y:2.82, Z:1.95 [[ 9.99587438e-01 -2.22182782e-02 -1.82017122e-02 4.56070544e+02] [ 2.22206379e-02 9.99753088e-01 -7.26188348e-05 2.82148499e+00] [ 1.81988314e-02 -3.31864780e-04 9.99834332e-01 1.94908425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.079254154 meters 0.01620932193038418 Centerline is valid? [True, True] Translation: X:456.13, Y:2.82, Z:1.95 [[ 9.99660092e-01 -1.96795261e-02 -1.71002060e-02 4.56128948e+02] [ 1.96811645e-02 9.99806304e-01 -7.24878657e-05 2.82475601e+00] [ 1.70983203e-02 -2.64088742e-04 9.99853778e-01 1.95037955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.139254154 meters 0.015764818671827108 Centerline is valid? [True, True] Translation: X:456.19, Y:2.83, Z:1.95 [[ 9.99754658e-01 -1.61882675e-02 -1.51183163e-02 4.56187029e+02] [ 1.61891139e-02 9.99868945e-01 -6.64029372e-05 2.82864702e+00] [ 1.51174100e-02 -1.78365499e-04 9.99885710e-01 1.95229693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.199254154 meters 0.015424676435377127 Centerline is valid? [True, True] Translation: X:456.25, Y:2.83, Z:1.95 [[ 9.99802266e-01 -1.59514476e-02 -1.18735199e-02 4.56246026e+02] [ 1.59519249e-02 9.99872758e-01 -5.45121856e-05 2.82998128e+00] [ 1.18728786e-02 -1.34904091e-04 9.99929506e-01 1.95492180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.259254154 meters 0.016510822264750456 Centerline is valid? [True, True] Translation: X:456.31, Y:2.82, Z:1.95 [[ 9.99761002e-01 -1.91110021e-02 -1.06163855e-02 4.56305056e+02] [ 1.91115486e-02 9.99817356e-01 -4.99831194e-05 2.82484308e+00] [ 1.06154017e-02 -1.52924393e-04 9.99943643e-01 1.95437688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.319254154 meters 0.016499595217423488 Centerline is valid? [True, True] Translation: X:456.37, Y:2.82, Z:1.95 [[ 9.99698455e-01 -2.21914337e-02 -1.05137434e-02 4.56365812e+02] [ 2.21921383e-02 9.99753723e-01 -4.96579758e-05 2.82473917e+00] [ 1.05122561e-02 -1.83679446e-04 9.99944728e-01 1.95487795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.37925415399997 meters 0.019099366325730616 Centerline is valid? [True, True] Translation: X:456.43, Y:2.82, Z:1.95 [[ 9.99606924e-01 -2.58349347e-02 -1.08882504e-02 4.56426550e+02] [ 2.58359090e-02 9.99666196e-01 -5.11909712e-05 2.81742119e+00] [ 1.08859384e-02 -2.30136997e-04 9.99940720e-01 1.95330287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.43925415399997 meters 0.020716792902410575 Centerline is valid? [True, True] Translation: X:456.49, Y:2.81, Z:1.95 [[ 9.99508875e-01 -2.90190076e-02 -1.18281786e-02 4.56486334e+02] [ 2.90203823e-02 9.99578818e-01 -5.54361906e-05 2.81411888e+00] [ 1.18248055e-02 -2.87849299e-04 9.99930043e-01 1.95235173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.49925415399997 meters 0.018016552979455484 Centerline is valid? [True, True] Translation: X:456.55, Y:2.82, Z:1.95 [[ 9.99451322e-01 -3.09753465e-02 -1.17295473e-02 4.56548060e+02] [ 3.09768362e-02 9.99520101e-01 -5.47008975e-05 2.81817853e+00] [ 1.17256127e-02 -3.08673382e-04 9.99931205e-01 1.95384526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.559254154 meters 0.01983941500955664 Centerline is valid? [True, True] Translation: X:456.61, Y:2.81, Z:1.95 [[ 9.99415793e-01 -3.24733092e-02 -1.06563091e-02 4.56609116e+02] [ 3.24746290e-02 9.99472559e-01 -4.92008742e-05 2.81381758e+00] [ 1.06522863e-02 -2.96887556e-04 9.99943219e-01 1.95306130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.619254154 meters 0.01845889836360282 Centerline is valid? [True, True] Translation: X:456.67, Y:2.82, Z:1.95 [[ 9.99452022e-01 -3.16190490e-02 -9.79243718e-03 4.56671323e+02] [ 3.16201287e-02 9.99499958e-01 -4.45895147e-05 2.81721054e+00] [ 9.78895042e-03 -2.65073043e-04 9.99952052e-01 1.95325966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.679254154 meters 0.0182282376851308 Centerline is valid? [True, True] Translation: X:456.73, Y:2.82, Z:1.95 [[ 9.99511952e-01 -2.99293760e-02 -8.94934245e-03 4.56733100e+02] [ 2.99302149e-02 9.99551990e-01 -4.02052318e-05 2.81860131e+00] [ 8.94653637e-03 -2.27670133e-04 9.99959953e-01 1.95368096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.739254154 meters 0.018128219349965162 Centerline is valid? [True, True] Translation: X:456.80, Y:2.82, Z:1.95 [[ 9.99510477e-01 -2.99782329e-02 -8.95055145e-03 4.56795057e+02] [ 2.99790791e-02 9.99550526e-01 -3.96374905e-05 2.81965541e+00] [ 8.94771667e-03 -2.28711203e-04 9.99959942e-01 1.95352223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.799254154 meters 0.019323059534010645 Centerline is valid? [True, True] Translation: X:456.86, Y:2.82, Z:1.95 [[ 9.99438161e-01 -3.22944253e-02 -8.96843258e-03 4.56856340e+02] [ 3.22953732e-02 9.99478368e-01 -3.91461839e-05 2.81685617e+00] [ 8.96501856e-03 -2.50514687e-04 9.99959782e-01 1.95246963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.859254154 meters 0.020622016801983473 Centerline is valid? [True, True] Translation: X:456.92, Y:2.82, Z:1.95 [[ 9.99278770e-01 -3.66493298e-02 -9.93818046e-03 4.56917314e+02] [ 3.66507142e-02 9.99328136e-01 -4.28415782e-05 2.81552350e+00] [ 9.93307347e-03 -3.21430733e-04 9.99950614e-01 1.95146243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.919254154 meters 0.022834734840629495 Centerline is valid? [True, True] Translation: X:456.98, Y:2.81, Z:1.95 [[ 9.99179390e-01 -3.89882066e-02 -1.09757527e-02 4.56978225e+02] [ 3.89900427e-02 9.99239598e-01 -4.67244596e-05 2.81277676e+00] [ 1.09692285e-02 -3.81258951e-04 9.99939764e-01 1.94978022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.979254154 meters 0.020825414991524467 Centerline is valid? [True, True] Translation: X:457.04, Y:2.82, Z:1.95 [[ 9.99173592e-01 -3.92532470e-02 -1.05506513e-02 4.57040549e+02] [ 3.92549655e-02 9.99229226e-01 -4.42389202e-05 2.81915183e+00] [ 1.05442556e-02 -3.69963091e-04 9.99944339e-01 1.95132594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.039254154 meters 0.020401973969465283 Centerline is valid? [True, True] Translation: X:457.10, Y:2.82, Z:1.95 [[ 9.99259508e-01 -3.72673730e-02 -9.56962625e-03 4.57102718e+02] [ 3.72687022e-02 9.99305280e-01 -3.94557232e-05 2.82221469e+00] [ 9.56444845e-03 -3.17221044e-04 9.99954209e-01 1.95242067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.099254154 meters 0.017925083386667914 Centerline is valid? [True, True] Translation: X:457.16, Y:2.83, Z:1.95 [[ 9.99526447e-01 -2.97720341e-02 -7.77864202e-03 4.57163461e+02] [ 2.97726880e-02 9.99556695e-01 -3.17485841e-05 2.83183244e+00] [ 7.77613892e-03 -1.99857532e-04 9.99969745e-01 1.95352970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.159254154 meters 0.017227090770135383 Centerline is valid? [True, True] Translation: X:457.23, Y:2.84, Z:1.95 [[ 9.99623370e-01 -2.65487411e-02 -6.94853606e-03 4.57225293e+02] [ 2.65491865e-02 9.99647508e-01 -2.81486921e-05 2.83635977e+00] [ 6.94683406e-03 -1.56339889e-04 9.99975858e-01 1.95433910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.219254154 meters 0.01706496846288515 Centerline is valid? [True, True] Translation: X:457.29, Y:2.84, Z:1.95 [[ 9.99654072e-01 -2.54069308e-02 -6.79883092e-03 4.57287955e+02] [ 2.54073341e-02 9.99677181e-01 -2.70643836e-05 2.83796020e+00] [ 6.79732375e-03 -1.45685147e-04 9.99976887e-01 1.95455280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.279254154 meters 0.01655515877537524 Centerline is valid? [True, True] Translation: X:457.35, Y:2.84, Z:1.95 [[ 9.99658808e-01 -2.50603214e-02 -7.36525552e-03 4.57350122e+02] [ 2.50607905e-02 9.99685929e-01 -2.86192010e-05 2.84085846e+00] [ 7.36365951e-03 -1.55969689e-04 9.99972876e-01 1.95394744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.339254154 meters 0.018254506011591006 Centerline is valid? [True, True] Translation: X:457.41, Y:2.84, Z:1.95 [[ 9.99532244e-01 -2.89457204e-02 -9.87108273e-03 4.57411399e+02] [ 2.89467595e-02 9.99580954e-01 -3.76190032e-05 2.83882230e+00] [ 9.86803520e-03 -2.48134451e-04 9.99951279e-01 1.95238468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.399254154 meters 0.019006224074249997 Centerline is valid? [True, True] Translation: X:457.47, Y:2.84, Z:1.95 [[ 9.99429720e-01 -3.21126176e-02 -1.04410198e-02 4.57473250e+02] [ 3.21139588e-02 9.99484213e-01 -3.92103750e-05 2.83759069e+00] [ 1.04368936e-02 -2.96114465e-04 9.99945490e-01 1.95195835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.459254154 meters 0.01987877161100108 Centerline is valid? [True, True] Translation: X:457.54, Y:2.84, Z:1.95 [[ 9.99361843e-01 -3.38701810e-02 -1.13453731e-02 4.57535271e+02] [ 3.38718864e-02 9.99426182e-01 -4.18563538e-05 2.83686171e+00] [ 1.13402806e-02 -3.42459545e-04 9.99935638e-01 1.95135578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.519254154 meters 0.020948987177250158 Centerline is valid? [True, True] Translation: X:457.60, Y:2.84, Z:1.95 [[ 9.99321269e-01 -3.50097448e-02 -1.14594130e-02 4.57596115e+02] [ 3.50115673e-02 9.99386906e-01 -4.15917295e-05 2.83709988e+00] [ 1.14538434e-02 -3.59648510e-04 9.99934338e-01 1.95158904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.579254154 meters 0.021956170507413122 Centerline is valid? [True, True] Translation: X:457.66, Y:2.84, Z:1.95 [[ 9.99314451e-01 -3.54303733e-02 -1.07385917e-02 4.57657420e+02] [ 3.54320039e-02 9.99372089e-01 -3.84324847e-05 2.83702579e+00] [ 1.07332105e-02 -3.42083685e-04 9.99942339e-01 1.95133993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.639254154 meters 0.019008796212351214 Centerline is valid? [True, True] Translation: X:457.72, Y:2.84, Z:1.95 [[ 9.99325020e-01 -3.49780304e-02 -1.12268654e-02 4.57719380e+02] [ 3.49797924e-02 9.99388019e-01 -3.94402699e-05 2.84422714e+00] [ 1.12213743e-02 -3.53299771e-04 9.99936976e-01 1.95292524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.699254154 meters 0.022495608502705527 Centerline is valid? [True, True] Translation: X:457.78, Y:2.84, Z:1.95 [[ 9.99325371e-01 -3.43582570e-02 -1.29735388e-02 4.57780206e+02] [ 3.43605687e-02 9.99409500e-01 -4.47359079e-05 2.84201996e+00] [ 1.29674150e-02 -4.01072444e-04 9.99915839e-01 1.95128689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.759254154 meters 0.023353176200299152 Centerline is valid? [True, True] Translation: X:457.84, Y:2.84, Z:1.95 [[ 9.99285022e-01 -3.52715586e-02 -1.36147672e-02 4.57842137e+02] [ 3.52742008e-02 9.99377671e-01 -4.60915334e-05 2.84239624e+00] [ 1.36079200e-02 -4.34191452e-04 9.99907314e-01 1.95058707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.819254154 meters 0.018678495495021354 Centerline is valid? [True, True] Translation: X:457.90, Y:2.85, Z:1.95 [[ 9.99228348e-01 -3.68942187e-02 -1.34731139e-02 4.57904072e+02] [ 3.68969666e-02 9.99319074e-01 -4.46424543e-05 2.85168073e+00] [ 1.34655868e-02 -4.52509029e-04 9.99909232e-01 1.95338182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.87925415399997 meters 0.019636343627508487 Centerline is valid? [True, True] Translation: X:457.97, Y:2.85, Z:1.95 [[ 9.99149690e-01 -3.88404531e-02 -1.38317000e-02 4.57966279e+02] [ 3.88435499e-02 9.99245304e-01 -4.47868625e-05 2.85372020e+00] [ 1.38230008e-02 -4.92523552e-04 9.99904336e-01 1.95374433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.93925415399997 meters 0.020303907243108377 Centerline is valid? [True, True] Translation: X:458.03, Y:2.86, Z:1.95 [[ 9.99097037e-01 -4.00383402e-02 -1.42141237e-02 4.58027936e+02] [ 4.00417509e-02 9.99198006e-01 -4.46740672e-05 2.85504547e+00] [ 1.42045127e-02 -5.24524671e-04 9.99898973e-01 1.95395247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.99925415399997 meters 0.02193972382781645 Centerline is valid? [True, True] Translation: X:458.09, Y:2.85, Z:1.95 [[ 9.99007153e-01 -4.23536728e-02 -1.38157315e-02 4.58088896e+02] [ 4.23571293e-02 9.99102533e-01 -4.24657426e-05 2.85472380e+00] [ 1.38051309e-02 -5.42771145e-04 9.99904557e-01 1.95398320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.059254154 meters 0.024246198218987155 Centerline is valid? [True, True] Translation: X:458.15, Y:2.85, Z:1.95 [[ 9.98837169e-01 -4.63050533e-02 -1.34220471e-02 4.58150127e+02] [ 4.63086790e-02 9.98927177e-01 -4.06996906e-05 2.85317929e+00] [ 1.34095322e-02 -5.80904909e-04 9.99909919e-01 1.95363033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.119254154 meters 0.02569684355814503 Centerline is valid? [True, True] Translation: X:458.21, Y:2.85, Z:1.95 [[ 9.98739609e-01 -4.84782260e-02 -1.30021498e-02 4.58212372e+02] [ 4.84818221e-02 9.98824064e-01 -3.86624301e-05 2.85254572e+00] [ 1.29887344e-02 -5.91754215e-04 9.99915468e-01 1.95385689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.179254154 meters 0.023997073209066196 Centerline is valid? [True, True] Translation: X:458.28, Y:2.86, Z:1.95 [[ 9.98742659e-01 -4.82352806e-02 -1.36550227e-02 4.58275489e+02] [ 4.82392430e-02 9.98835809e-01 -3.92341111e-05 2.85814004e+00] [ 1.36410181e-02 -6.19523177e-04 9.99906765e-01 1.95322496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.239254154 meters 0.022578102016878463 Centerline is valid? [True, True] Translation: X:458.34, Y:2.86, Z:1.95 [[ 9.98837678e-01 -4.61741289e-02 -1.38290230e-02 4.58336846e+02] [ 4.61780075e-02 9.98933226e-01 -3.88823127e-05 2.86276615e+00] [ 1.38160659e-02 -5.99759607e-04 9.99904374e-01 1.95408244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.299254154 meters 0.022559502464134136 Centerline is valid? [True, True] Translation: X:458.40, Y:2.87, Z:1.95 [[ 9.99013254e-01 -4.23194876e-02 -1.34751646e-02 4.58398696e+02] [ 4.23228291e-02 9.99103987e-01 -3.72231830e-05 2.86715444e+00] [ 1.34646660e-02 -5.33120637e-04 9.99909205e-01 1.95440838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.359254154 meters 0.019834408277638528 Centerline is valid? [True, True] Translation: X:458.46, Y:2.87, Z:1.96 [[ 9.99186821e-01 -3.82321217e-02 -1.28063117e-02 4.58460578e+02] [ 3.82348133e-02 9.99268782e-01 -3.46776623e-05 2.87283711e+00] [ 1.27982732e-02 -4.54997472e-04 9.99917995e-01 1.95633281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.419254154 meters 0.018892333320941312 Centerline is valid? [True, True] Translation: X:458.52, Y:2.88, Z:1.96 [[ 9.99308219e-01 -3.50295869e-02 -1.24904237e-02 4.58521586e+02] [ 3.50319042e-02 9.99386194e-01 -3.32845324e-05 2.87575476e+00] [ 1.24839229e-02 -4.04301818e-04 9.99921991e-01 1.95633662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.479254154 meters 0.019338058128376297 Centerline is valid? [True, True] Translation: X:458.58, Y:2.88, Z:1.96 [[ 9.99460571e-01 -3.02566973e-02 -1.27710306e-02 4.58582747e+02] [ 3.02587366e-02 9.99542099e-01 -3.35559540e-05 2.87939233e+00] [ 1.27661980e-02 -3.52897399e-04 9.99918446e-01 1.95532901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.539254154 meters 0.01694376659331907 Centerline is valid? [True, True] Translation: X:458.64, Y:2.88, Z:1.96 [[ 9.99561946e-01 -2.66828976e-02 -1.28039009e-02 4.58643060e+02] [ 2.66846655e-02 9.99643900e-01 -3.27729051e-05 2.88263196e+00] [ 1.28002159e-02 -3.08909265e-04 9.99918026e-01 1.95633017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.599254154 meters 0.015466686657545189 Centerline is valid? [True, True] Translation: X:458.70, Y:2.88, Z:1.96 [[ 9.99647083e-01 -2.32472915e-02 -1.28558777e-02 4.58704092e+02] [ 2.32487987e-02 9.99729710e-01 -3.22211626e-05 2.88438284e+00] [ 1.28531520e-02 -2.66673922e-04 9.99917359e-01 1.95643585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.659254154 meters 0.014699083277122585 Centerline is valid? [True, True] Translation: X:458.76, Y:2.88, Z:1.96 [[ 9.99744317e-01 -1.82297698e-02 -1.33781970e-02 4.58764418e+02] [ 1.82309551e-02 9.99833802e-01 -3.33605414e-05 2.88416816e+00] [ 1.33765817e-02 -2.10545297e-04 9.99910507e-01 1.95585090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.719254154 meters 0.014246883019166491 Centerline is valid? [True, True] Translation: X:458.82, Y:2.89, Z:1.96 [[ 9.99801330e-01 -1.40190029e-02 -1.41692788e-02 4.58824221e+02] [ 1.40199046e-02 9.99901716e-01 -3.56940024e-05 2.88564055e+00] [ 1.41683865e-02 -1.62965025e-04 9.99899610e-01 1.95630930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.779254154 meters 0.014213653087882748 Centerline is valid? [True, True] Translation: X:458.88, Y:2.89, Z:1.96 [[ 9.99796903e-01 -1.23775400e-02 -1.59043673e-02 4.58882465e+02] [ 1.23784110e-02 9.99923384e-01 -4.36767179e-05 2.88515405e+00] [ 1.59036893e-02 -1.53202947e-04 9.99873517e-01 1.95623570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.839254154 meters 0.01420533510055736 Centerline is valid? [True, True] Translation: X:458.94, Y:2.88, Z:1.96 [[ 9.99782123e-01 -1.29436609e-02 -1.63758537e-02 4.58941238e+02] [ 1.29445872e-02 9.99916214e-01 -4.94305118e-05 2.88332332e+00] [ 1.63751214e-02 -1.62558924e-04 9.99865905e-01 1.95761211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.899254154 meters 0.014860808301946197 Centerline is valid? [True, True] Translation: X:459.00, Y:2.88, Z:1.96 [[ 9.99741363e-01 -1.70294855e-02 -1.50732836e-02 4.59000286e+02] [ 1.70307069e-02 9.99854966e-01 -4.73378388e-05 2.87795843e+00] [ 1.50719036e-02 -2.09383079e-04 9.99886390e-01 1.95990450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.959254154 meters 0.016666890829846664 Centerline is valid? [True, True] Translation: X:459.06, Y:2.87, Z:1.96 [[ 9.99582822e-01 -2.44059989e-02 -1.54443934e-02 4.59059402e+02] [ 2.44081467e-02 9.99702076e-01 -4.94414632e-05 2.87140192e+00] [ 1.54409988e-02 -3.27548183e-04 9.99880727e-01 1.96055354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.019254154 meters 0.019416273913567848 Centerline is valid? [True, True] Translation: X:459.12, Y:2.86, Z:1.96 [[ 9.99238016e-01 -3.50511471e-02 -1.71698906e-02 4.59119760e+02] [ 3.50553667e-02 9.99385370e-01 -5.52437161e-05 2.86187255e+00] [ 1.71612739e-02 -5.46695192e-04 9.99852585e-01 1.95978869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.079254154 meters 0.02442001952387139 Centerline is valid? [True, True] Translation: X:459.18, Y:2.85, Z:1.96 [[ 9.98913207e-01 -4.32927550e-02 -1.72667954e-02 4.59179251e+02] [ 4.32982483e-02 9.99062190e-01 -5.57499579e-05 2.85081974e+00] [ 1.72530159e-02 -6.91932623e-04 9.99850916e-01 1.95839090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.139254154 meters 0.024253797538240668 Centerline is valid? [True, True] Translation: X:459.24, Y:2.85, Z:1.96 [[ 9.98554994e-01 -5.08517970e-02 -1.73787005e-02 4.59239606e+02] [ 5.08585029e-02 9.98705867e-01 -5.61613957e-05 2.84825132e+00] [ 1.73590661e-02 -8.27774447e-04 9.99848977e-01 1.95927477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.199254154 meters 0.02830122990313223 Centerline is valid? [True, True] Translation: X:459.30, Y:2.84, Z:1.96 [[ 9.98041966e-01 -6.01958992e-02 -1.69908139e-02 4.59300519e+02] [ 6.02036619e-02 9.98186113e-01 -5.47128838e-05 2.83952700e+00] [ 1.69632880e-02 -9.68303463e-04 9.99855644e-01 1.95847571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.259254154 meters 0.031529451864053926 Centerline is valid? [True, True] Translation: X:459.36, Y:2.83, Z:1.96 [[ 9.97773441e-01 -6.44856799e-02 -1.70222799e-02 4.59360257e+02] [ 6.44940997e-02 9.97918087e-01 -5.44331761e-05 2.83406068e+00] [ 1.69903511e-02 -1.04352464e-03 9.99855109e-01 1.95830504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.319254154 meters 0.030321459415042867 Centerline is valid? [True, True] Translation: X:459.42, Y:2.83, Z:1.96 [[ 9.97561152e-01 -6.78297967e-02 -1.64579979e-02 4.59420878e+02] [ 6.78381260e-02 9.97696340e-01 -5.22967645e-05 2.83369471e+00] [ 1.64236316e-02 -1.06431052e-03 9.99864557e-01 1.95959907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.37925415399997 meters 0.030764287770374692 Centerline is valid? [True, True] Translation: X:459.48, Y:2.83, Z:1.96 [[ 9.97594962e-01 -6.73875169e-02 -1.62238613e-02 4.59483297e+02] [ 6.73955683e-02 9.97726333e-01 -5.05884088e-05 2.83141052e+00] [ 1.61903827e-02 -1.04294961e-03 9.99868383e-01 1.95922507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.43925415399997 meters 0.029420050834548947 Centerline is valid? [True, True] Translation: X:459.54, Y:2.83, Z:1.96 [[ 9.97887051e-01 -6.26735074e-02 -1.71308401e-02 4.59543784e+02] [ 6.26817996e-02 9.98033561e-01 -5.29876717e-05 2.83405714e+00] [ 1.71004742e-02 -1.02091617e-03 9.99853255e-01 1.95799010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.49925415399997 meters 0.028288988904467457 Centerline is valid? [True, True] Translation: X:459.60, Y:2.84, Z:1.95 [[ 9.98336332e-01 -5.41981058e-02 -1.96756989e-02 4.59603803e+02] [ 5.42074039e-02 9.98529696e-01 -6.08540203e-05 2.83798728e+00] [ 1.96500678e-02 -1.00581578e-03 9.99806413e-01 1.95467425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.559254154 meters 0.023816254601706558 Centerline is valid? [True, True] Translation: X:459.66, Y:2.85, Z:1.95 [[ 9.98872286e-01 -4.20659540e-02 -2.20139137e-02 4.59664367e+02] [ 4.20746566e-02 9.99114467e-01 -6.79034946e-05 2.84822606e+00] [ 2.19972761e-02 -8.58400942e-04 9.99757662e-01 1.95345536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.619254154 meters 0.018557468701413855 Centerline is valid? [True, True] Translation: X:459.72, Y:2.86, Z:1.95 [[ 9.99399398e-01 -2.56670571e-02 -2.32818702e-02 4.59724750e+02] [ 2.56723452e-02 9.99670408e-01 -7.17791929e-05 2.86216511e+00] [ 2.32760391e-02 -5.25964127e-04 9.99728938e-01 1.95358124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.679254154 meters 0.015976283407864143 Centerline is valid? [True, True] Translation: X:459.78, Y:2.87, Z:1.95 [[ 9.99642851e-01 -1.32413116e-02 -2.32128808e-02 4.59784685e+02] [ 1.32432113e-02 9.99912302e-01 -7.18920218e-05 2.87255228e+00] [ 2.32117970e-02 -2.35546741e-04 9.99730542e-01 1.95384849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.739254154 meters 0.01613591391654283 Centerline is valid? [True, True] Translation: X:459.84, Y:2.89, Z:1.96 [[ 9.99770790e-01 4.88298871e-03 -2.08452524e-02 4.59842300e+02] [-4.88542622e-03 9.99988064e-01 -6.60102757e-05 2.88873293e+00] [ 2.08446813e-02 1.67833088e-04 9.99782712e-01 1.95733794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.799254154 meters 0.019965942884958458 Centerline is valid? [True, True] Translation: X:459.90, Y:2.90, Z:1.96 [[ 9.99663854e-01 1.97382251e-02 -1.68101329e-02 4.59902335e+02] [-1.97419178e-02 9.99805108e-01 -5.37356996e-05 2.90161765e+00] [ 1.68057961e-02 3.85581898e-04 9.99858698e-01 1.96152094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.859254154 meters 0.01939777030269222 Centerline is valid? [True, True] Translation: X:459.96, Y:2.90, Z:1.97 [[ 9.99565078e-01 2.51874452e-02 -1.53377657e-02 4.59961850e+02] [-2.51911671e-02 9.99682651e-01 -4.94829117e-05 2.90117140e+00] [ 1.53316519e-02 4.35837609e-04 9.99882368e-01 1.96501845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.919254154 meters 0.019215960228565296 Centerline is valid? [True, True] Translation: X:460.02, Y:2.90, Z:1.97 [[ 9.99579090e-01 2.48046952e-02 -1.50455922e-02 4.60020223e+02] [-2.48082814e-02 9.99692226e-01 -5.17306534e-05 2.89764039e+00] [ 1.50396784e-02 4.24964164e-04 9.99886807e-01 1.96588301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.979254154 meters 0.017442835245164653 Centerline is valid? [True, True] Translation: X:460.08, Y:2.89, Z:1.97 [[ 9.99695835e-01 1.91160427e-02 -1.55825326e-02 4.60080340e+02] [-1.91192222e-02 9.99817209e-01 -5.50801197e-05 2.88813071e+00] [ 1.55786313e-02 3.52989269e-04 9.99878583e-01 1.96549547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.039254154 meters 0.015961818804889536 Centerline is valid? [True, True] Translation: X:460.14, Y:2.88, Z:1.97 [[ 9.99803020e-01 1.14223414e-02 -1.62311863e-02 4.60140602e+02] [-1.14247825e-02 9.99934733e-01 -5.76725019e-05 2.87651755e+00] [ 1.62294682e-02 2.43098915e-04 9.99868264e-01 1.96560615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.099254154 meters 0.015356239631419829 Centerline is valid? [True, True] Translation: X:460.20, Y:2.87, Z:1.97 [[ 9.99861501e-01 5.33732102e-03 -1.57636095e-02 4.60199567e+02] [-5.33888150e-03 9.99985746e-01 -5.69113155e-05 2.86768232e+00] [ 1.57630811e-02 1.41063477e-04 9.99875745e-01 1.96601886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.159254154 meters 0.014728057010089538 Centerline is valid? [True, True] Translation: X:460.26, Y:2.85, Z:1.97 [[ 9.99882935e-01 -3.89837252e-03 -1.47959150e-02 4.60258533e+02] [ 3.89799319e-03 9.99992401e-01 -5.44762205e-05 2.85315928e+00] [ 1.47960150e-02 -3.20453279e-06 9.99890533e-01 1.96746397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.219254154 meters 0.015105750800394856 Centerline is valid? [True, True] Translation: X:460.32, Y:2.84, Z:1.97 [[ 9.99816541e-01 -1.20927265e-02 -1.48543023e-02 4.60317067e+02] [ 1.20932324e-02 9.99926873e-01 -5.57696924e-05 2.83818458e+00] [ 1.48538904e-02 -1.23877068e-04 9.99889667e-01 1.96763585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.279254154 meters 0.015760056522813266 Centerline is valid? [True, True] Translation: X:460.38, Y:2.83, Z:1.97 [[ 9.99739962e-01 -1.74391747e-02 -1.46929966e-02 4.60376245e+02] [ 1.74402313e-02 9.99847906e-01 -5.62277358e-05 2.82722240e+00] [ 1.46917424e-02 -2.00036144e-04 9.99892051e-01 1.96735471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.339254154 meters 0.017746065886913236 Centerline is valid? [True, True] Translation: X:460.44, Y:2.81, Z:1.97 [[ 9.99534785e-01 -2.61244095e-02 -1.57394111e-02 4.60436745e+02] [ 2.61266927e-02 9.99658638e-01 -6.05753067e-05 2.80981894e+00] [ 1.57356208e-02 -3.50671632e-04 9.99876126e-01 1.96550651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.399254154 meters 0.02016463432124933 Centerline is valid? [True, True] Translation: X:460.50, Y:2.79, Z:1.96 [[ 9.99290478e-01 -3.37124683e-02 -1.67931679e-02 4.60496619e+02] [ 3.37161330e-02 9.99431447e-01 -6.49272918e-05 2.79449375e+00] [ 1.67858089e-02 -5.01319458e-04 9.99858983e-01 1.96452220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.459254154 meters 0.021904863809010997 Centerline is valid? [True, True] Translation: X:460.56, Y:2.78, Z:1.96 [[ 9.99160003e-01 -3.68232082e-02 -1.79816642e-02 4.60555609e+02] [ 3.68279122e-02 9.99321620e-01 -6.95805295e-05 2.78437067e+00] [ 1.79720279e-02 -5.92705067e-04 9.99838314e-01 1.96351943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.519254154 meters 0.022216360467760102 Centerline is valid? [True, True] Translation: X:460.62, Y:2.78, Z:1.96 [[ 9.99150204e-01 -3.62989664e-02 -1.95257684e-02 4.60615368e+02] [ 3.63044035e-02 9.99340775e-01 -7.60555765e-05 2.78004020e+00] [ 1.95156573e-02 -6.32880431e-04 9.99809351e-01 1.96296423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.579254154 meters 0.019946287751380708 Centerline is valid? [True, True] Translation: X:460.67, Y:2.78, Z:1.97 [[ 9.99192657e-01 -3.51106077e-02 -1.95263787e-02 4.60674120e+02] [ 3.51157399e-02 9.99383249e-01 -8.00872491e-05 2.78391299e+00] [ 1.95171477e-02 -6.05660643e-04 9.99809339e-01 1.96500485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.639254154 meters 0.019726811345312418 Centerline is valid? [True, True] Translation: X:460.73, Y:2.78, Z:1.97 [[ 9.99160338e-01 -3.54507908e-02 -2.05392285e-02 4.60733252e+02] [ 3.54564321e-02 9.99371219e-01 -8.95528375e-05 2.78386693e+00] [ 2.05294886e-02 -6.38770119e-04 9.99789044e-01 1.96572731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.699254154 meters 0.020367313516435753 Centerline is valid? [True, True] Translation: X:460.79, Y:2.78, Z:1.97 [[ 9.99068273e-01 -3.72558110e-02 -2.17850999e-02 4.60792062e+02] [ 3.72624638e-02 9.99305508e-01 -1.00609450e-04 2.78333562e+00] [ 2.17737187e-02 -7.11250788e-04 9.99762671e-01 1.96548730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.759254154 meters 0.02464585571838895 Centerline is valid? [True, True] Translation: X:460.85, Y:2.78, Z:1.96 [[ 9.98892105e-01 -4.04448392e-02 -2.40578022e-02 4.60850395e+02] [ 4.04538043e-02 9.99181403e-01 -1.14117091e-04 2.77938693e+00] [ 2.40427240e-02 -8.59238961e-04 9.99710563e-01 1.96311578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.819254154 meters 0.02426106078281373 Centerline is valid? [True, True] Translation: X:460.91, Y:2.78, Z:1.97 [[ 9.98795885e-01 -4.33308295e-02 -2.30047544e-02 4.60909142e+02] [ 4.33397511e-02 9.99060385e-01 -1.10852944e-04 2.77905173e+00] [ 2.29879422e-02 -8.86300868e-04 9.99735349e-01 1.96582168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.87925415399997 meters 0.021944139923731943 Centerline is valid? [True, True] Translation: X:460.97, Y:2.79, Z:1.97 [[ 9.98905472e-01 -4.09956995e-02 -2.25213526e-02 4.60968257e+02] [ 4.10035988e-02 9.99158993e-01 -1.11120799e-04 2.78500048e+00] [ 2.25069675e-02 -8.12457333e-04 9.99746356e-01 1.96856025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.93925415399997 meters 0.020306212346198865 Centerline is valid? [True, True] Translation: X:461.03, Y:2.79, Z:1.97 [[ 9.99085947e-01 -3.68746103e-02 -2.16225461e-02 4.61028271e+02] [ 3.68809092e-02 9.99319662e-01 -1.07527488e-04 2.79093203e+00] [ 2.16118005e-02 -6.90029957e-04 9.99766200e-01 1.97047963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.99925415399997 meters 0.01913381308887038 Centerline is valid? [True, True] Translation: X:461.09, Y:2.80, Z:1.97 [[ 9.99281902e-01 -3.18116942e-02 -2.05838691e-02 4.61087762e+02] [ 3.18163156e-02 9.99493728e-01 -1.03010792e-04 2.79701358e+00] [ 2.05767250e-02 -5.51966057e-04 9.99788124e-01 1.97204134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.059254154 meters 0.01729094193576759 Centerline is valid? [True, True] Translation: X:461.15, Y:2.81, Z:1.97 [[ 9.99483597e-01 -2.53382140e-02 -1.97614447e-02 4.61148048e+02] [ 2.53411918e-02 9.99678855e-01 -9.97493592e-05 2.80509230e+00] [ 1.97576259e-02 -4.01080712e-04 9.99804719e-01 1.97357857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.119254154 meters 0.016488811843592757 Centerline is valid? [True, True] Translation: X:461.21, Y:2.81, Z:1.98 [[ 9.99540389e-01 -2.31447826e-02 -1.95788099e-02 4.61207298e+02] [ 2.31472126e-02 9.99732062e-01 -1.02528096e-04 2.80922507e+00] [ 1.95759370e-02 -3.50713900e-04 9.99808311e-01 1.97509258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.179254154 meters 0.0163825210880089 Centerline is valid? [True, True] Translation: X:461.27, Y:2.81, Z:1.98 [[ 9.99546901e-01 -2.26757088e-02 -1.97940625e-02 4.61265416e+02] [ 2.26779936e-02 9.99742815e-01 -1.09059874e-04 2.81313907e+00] [ 1.97914448e-02 -3.39879164e-04 9.99804072e-01 1.97574321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.239254154 meters 0.017686400856498575 Centerline is valid? [True, True] Translation: X:461.32, Y:2.81, Z:1.98 [[ 9.99461228e-01 -2.59825503e-02 -2.00539674e-02 4.61323370e+02] [ 2.59855081e-02 9.99662313e-01 -1.13124785e-04 2.81215113e+00] [ 2.00501347e-02 -4.08048696e-04 9.99798893e-01 1.97502032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.299254154 meters 0.020266297088575507 Centerline is valid? [True, True] Translation: X:461.38, Y:2.81, Z:1.97 [[ 9.99283238e-01 -3.20714492e-02 -2.01105160e-02 4.61381643e+02] [ 3.20756232e-02 9.99485438e-01 -1.15057362e-04 2.80886728e+00] [ 2.01038579e-02 -5.30082440e-04 9.99797757e-01 1.97496455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.359254154 meters 0.02107318033040229 Centerline is valid? [True, True] Translation: X:461.44, Y:2.81, Z:1.98 [[ 9.99155683e-01 -3.64497123e-02 -1.89562299e-02 4.61441125e+02] [ 3.64541922e-02 9.99335319e-01 -1.09281390e-04 2.80824546e+00] [ 1.89476134e-02 -5.81844928e-04 9.99820309e-01 1.97692217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.419254154 meters 0.025439993966536414 Centerline is valid? [True, True] Translation: X:461.50, Y:2.80, Z:1.98 [[ 9.98998630e-01 -4.14420166e-02 -1.68610776e-02 4.61500559e+02] [ 4.14462649e-02 9.99140730e-01 -9.75510086e-05 2.80227359e+00] [ 1.68506321e-02 -6.01375367e-04 9.99857837e-01 1.97750794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.479254154 meters 0.021960308651199245 Centerline is valid? [True, True] Translation: X:461.56, Y:2.81, Z:1.98 [[ 9.98912917e-01 -4.37576995e-02 -1.60700884e-02 4.61561825e+02] [ 4.37618633e-02 9.99041986e-01 -9.26235756e-05 2.80956185e+00] [ 1.60587460e-02 -6.10734126e-04 9.99870864e-01 1.98035959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.539254154 meters 0.022641262700882372 Centerline is valid? [True, True] Translation: X:461.62, Y:2.81, Z:1.98 [[ 9.98897366e-01 -4.39859013e-02 -1.64101610e-02 4.61624423e+02] [ 4.39902908e-02 9.99031954e-01 -9.35598552e-05 2.81021461e+00] [ 1.63983905e-02 -6.28431061e-04 9.99865340e-01 1.98006349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.599254154 meters 0.023309182832400004 Centerline is valid? [True, True] Translation: X:461.69, Y:2.81, Z:1.98 [[ 9.98874771e-01 -4.38579710e-02 -1.80463351e-02 4.61686325e+02] [ 4.38632825e-02 9.99037538e-01 -1.01575617e-04 2.81137302e+00] [ 1.80334211e-02 -6.90110176e-04 9.99837146e-01 1.97873789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.659254154 meters 0.023491702413598013 Centerline is valid? [True, True] Translation: X:461.75, Y:2.81, Z:1.98 [[ 9.98924694e-01 -4.26410275e-02 -1.81988710e-02 4.61747193e+02] [ 4.26462420e-02 9.99090230e-01 -1.01640873e-04 2.81304858e+00] [ 1.81866483e-02 -6.74581881e-04 9.99834382e-01 1.97893751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.719254154 meters 0.02179404773622746 Centerline is valid? [True, True] Translation: X:461.81, Y:2.82, Z:1.98 [[ 9.99123496e-01 -3.69746338e-02 -1.96243535e-02 4.61808424e+02] [ 3.69796122e-02 9.99316014e-01 -1.09263490e-04 2.81970937e+00] [ 1.96149707e-02 -6.16533263e-04 9.99807418e-01 1.97859572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.779254154 meters 0.01776114642211883 Centerline is valid? [True, True] Translation: X:461.87, Y:2.83, Z:1.98 [[ 9.99403173e-01 -2.80421856e-02 -2.01726119e-02 4.61868619e+02] [ 2.80456237e-02 9.99606638e-01 -1.12507376e-04 2.83247859e+00] [ 2.01678317e-02 -4.53313254e-04 9.99796506e-01 1.98097511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.839254154 meters 0.017843333928901705 Centerline is valid? [True, True] Translation: X:461.93, Y:2.84, Z:1.98 [[ 9.99567428e-01 -2.24822713e-02 -1.89606181e-02 4.61927737e+02] [ 2.24842977e-02 9.99747191e-01 -1.06326984e-04 2.83551258e+00] [ 1.89582151e-02 -3.20035190e-04 9.99820226e-01 1.97979533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.899254154 meters 0.017602549135108704 Centerline is valid? [True, True] Translation: X:461.99, Y:2.84, Z:1.98 [[ 9.99610648e-01 -2.11611980e-02 -1.81867283e-02 4.61986921e+02] [ 2.11627879e-02 9.99776038e-01 -1.05051465e-04 2.83769742e+00] [ 1.81848782e-02 -2.79871312e-04 9.99834602e-01 1.98001095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.959254154 meters 0.01691884544463685 Centerline is valid? [True, True] Translation: X:462.05, Y:2.84, Z:1.98 [[ 9.99621929e-01 -2.08741186e-02 -1.78960846e-02 4.62045415e+02] [ 2.08755391e-02 9.99782076e-01 -1.07452617e-04 2.84075941e+00] [ 1.78944276e-02 -2.66178422e-04 9.99839846e-01 1.98194566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.019254154 meters 0.016333279255640633 Centerline is valid? [True, True] Translation: X:462.10, Y:2.84, Z:1.98 [[ 9.99618185e-01 -2.15815373e-02 -1.72546260e-02 4.62103165e+02] [ 2.15828820e-02 9.99767057e-01 -1.08300208e-04 2.84318594e+00] [ 1.72529439e-02 -2.64145698e-04 9.99851122e-01 1.98446509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.079254154 meters 0.016419423803215392 Centerline is valid? [True, True] Translation: X:462.16, Y:2.84, Z:1.99 [[ 9.99564017e-01 -2.50249254e-02 -1.56693481e-02 4.62162090e+02] [ 2.50263932e-02 9.99686786e-01 -1.02434874e-04 2.84188094e+00] [ 1.56670037e-02 -2.89757053e-04 9.99877223e-01 1.98673608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.139254154 meters 0.017816579429902297 Centerline is valid? [True, True] Translation: X:462.22, Y:2.84, Z:1.99 [[ 9.99373114e-01 -3.14616997e-02 -1.62339582e-02 4.62222189e+02] [ 3.14641010e-02 9.99504877e-01 -1.07531293e-04 2.83589140e+00] [ 1.62293035e-02 -4.03323018e-04 9.99868215e-01 1.98606380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.199254154 meters 0.020716327687673577 Centerline is valid? [True, True] Translation: X:462.28, Y:2.83, Z:1.98 [[ 9.99126384e-01 -3.82828634e-02 -1.67598006e-02 4.62282189e+02] [ 3.82863801e-02 9.99266802e-01 -1.11098313e-04 2.82789815e+00] [ 1.67517655e-02 -5.30670841e-04 9.99859539e-01 1.98465964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.259254154 meters 0.02000666449331451 Centerline is valid? [True, True] Translation: X:462.34, Y:2.83, Z:1.99 [[ 9.99024218e-01 -4.08879308e-02 -1.66969474e-02 4.62343064e+02] [ 4.08917883e-02 9.99163575e-01 -1.10452468e-04 2.82747146e+00] [ 1.66874979e-02 -5.72423349e-04 9.99860590e-01 1.98585563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.319254154 meters 0.021250809043664682 Centerline is valid? [True, True] Translation: X:462.40, Y:2.82, Z:1.99 [[ 9.99015365e-01 -4.14829386e-02 -1.57310659e-02 4.62404355e+02] [ 4.14864474e-02 9.99139061e-01 -1.03359566e-04 2.82376067e+00] [ 1.57218101e-02 -5.49368245e-04 9.99876254e-01 1.98615375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.37925415399997 meters 0.021003637867897655 Centerline is valid? [True, True] Translation: X:462.47, Y:2.82, Z:1.99 [[ 9.99106846e-01 -3.91947547e-02 -1.57886268e-02 4.62465335e+02] [ 3.91980142e-02 9.99231457e-01 -1.03085018e-04 2.82389101e+00] [ 1.57805329e-02 -5.15889870e-04 9.99875347e-01 1.98609862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.43925415399997 meters 0.018519525379060445 Centerline is valid? [True, True] Translation: X:462.53, Y:2.83, Z:1.99 [[ 9.99341274e-01 -3.25043348e-02 -1.61395889e-02 4.62525645e+02] [ 3.25068714e-02 9.99471506e-01 -1.05215038e-04 2.82900261e+00] [ 1.61344791e-02 -4.19501810e-04 9.99869743e-01 1.98598333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.49925415399997 meters 0.016988351804763643 Centerline is valid? [True, True] Translation: X:462.59, Y:2.83, Z:1.99 [[ 9.99539496e-01 -2.55804571e-02 -1.63228901e-02 4.62585757e+02] [ 2.55821254e-02 9.99672718e-01 -1.06623388e-04 2.83406602e+00] [ 1.63202754e-02 -3.10999932e-04 9.99866767e-01 1.98635934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.559254154 meters 0.015334522397215257 Centerline is valid? [True, True] Translation: X:462.64, Y:2.84, Z:1.99 [[ 9.99751344e-01 -1.52981130e-02 -1.62239836e-02 4.62644377e+02] [ 1.52983959e-02 9.99882967e-01 -1.06680404e-04 2.84144019e+00] [ 1.62237169e-02 -1.41547048e-04 9.99868377e-01 1.98662210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.619254154 meters 0.014929410477537333 Centerline is valid? [True, True] Translation: X:462.70, Y:2.85, Z:1.99 [[ 9.99830952e-01 -8.12495965e-03 -1.64940048e-02 4.62702798e+02] [ 8.12422197e-03 9.99966992e-01 -1.11729371e-04 2.84708672e+00] [ 1.64943682e-02 -2.22904732e-05 9.99863958e-01 1.98791630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.679254154 meters 0.0148938336929269 Centerline is valid? [True, True] Translation: X:462.76, Y:2.85, Z:1.99 [[ 9.99851352e-01 -5.87754495e-03 -1.62089013e-02 4.62760759e+02] [ 5.87646536e-03 9.99982727e-01 -1.14232988e-04 2.84920394e+00] [ 1.62092927e-02 1.89649606e-05 9.99868621e-01 1.98782301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.739254154 meters 0.01491274576262119 Centerline is valid? [True, True] Translation: X:462.82, Y:2.85, Z:1.99 [[ 9.99850447e-01 -6.71880012e-03 -1.59355373e-02 4.62818901e+02] [ 6.71779196e-03 9.99977429e-01 -1.16793932e-04 2.84934695e+00] [ 1.59359623e-02 9.72484095e-06 9.99873014e-01 1.98853130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.799254154 meters 0.015702717811693342 Centerline is valid? [True, True] Translation: X:462.88, Y:2.84, Z:1.99 [[ 9.99785547e-01 -1.34616201e-02 -1.57367470e-02 4.62878209e+02] [ 1.34614399e-02 9.99909384e-01 -1.17383297e-04 2.84305643e+00] [ 1.57369012e-02 -9.44811496e-05 9.99876163e-01 1.98855178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.859254154 meters 0.016477098514568567 Centerline is valid? [True, True] Translation: X:462.94, Y:2.84, Z:1.99 [[ 9.99554484e-01 -2.51618981e-02 -1.60534395e-02 4.62937378e+02] [ 2.51632035e-02 9.99683349e-01 -1.20706146e-04 2.83541323e+00] [ 1.60513934e-02 -2.83303594e-04 9.99871128e-01 1.98951892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.919254154 meters 0.01728309104285831 Centerline is valid? [True, True] Translation: X:463.00, Y:2.83, Z:1.99 [[ 9.99444404e-01 -2.92127938e-02 -1.60466999e-02 4.62996671e+02] [ 2.92146058e-02 9.99573155e-01 -1.21529770e-04 2.83285361e+00] [ 1.60434006e-02 -3.47335763e-04 9.99871236e-01 1.98982432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.979254154 meters 0.021007756460616256 Centerline is valid? [True, True] Translation: X:463.06, Y:2.82, Z:1.99 [[ 9.99038874e-01 -4.10316905e-02 -1.54184193e-02 4.63057533e+02] [ 4.10347656e-02 9.99157712e-01 -1.16999999e-04 2.82358695e+00] [ 1.54102333e-02 -5.15803676e-04 9.99881122e-01 1.99033875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.039254154 meters 0.024076855078311372 Centerline is valid? [True, True] Translation: X:463.12, Y:2.82, Z:1.99 [[ 9.98687829e-01 -4.93680115e-02 -1.36168708e-02 4.63118602e+02] [ 4.93711838e-02 9.98780494e-01 -1.03299291e-04 2.81734095e+00] [ 1.36053646e-02 -5.69117285e-04 9.99907281e-01 1.99121233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.099254154 meters 0.024417970190059948 Centerline is valid? [True, True] Translation: X:463.18, Y:2.82, Z:1.99 [[ 9.98487694e-01 -5.34193532e-02 -1.29883457e-02 4.63180120e+02] [ 5.34225856e-02 9.98571989e-01 -9.82009451e-05 2.81524482e+00] [ 1.29750440e-02 -5.95818575e-04 9.99915643e-01 1.99300208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.159254154 meters 0.025094653063012416 Centerline is valid? [True, True] Translation: X:463.24, Y:2.81, Z:1.99 [[ 9.98307468e-01 -5.66855093e-02 -1.29981410e-02 4.63241288e+02] [ 5.66890303e-02 9.98391879e-01 -9.77001454e-05 2.81451025e+00] [ 1.29827766e-02 -6.39317221e-04 9.99915516e-01 1.99380232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.219254154 meters 0.025483954718921637 Centerline is valid? [True, True] Translation: X:463.30, Y:2.81, Z:1.99 [[ 9.98245671e-01 -5.76761184e-02 -1.33807835e-02 4.63303161e+02] [ 5.76799504e-02 9.98335121e-01 -9.96885200e-05 2.81443223e+00] [ 1.33642558e-02 -6.72289296e-04 9.99910468e-01 1.99372829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.279254154 meters 0.02948304592604737 Centerline is valid? [True, True] Translation: X:463.36, Y:2.81, Z:1.99 [[ 9.98196031e-01 -5.85443447e-02 -1.33132782e-02 4.63364495e+02] [ 5.85482260e-02 9.98284576e-01 -9.83670542e-05 2.81061161e+00] [ 1.32961991e-02 -6.81279219e-04 9.99911370e-01 1.99359821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.339254154 meters 0.02724501302503195 Centerline is valid? [True, True] Translation: X:463.43, Y:2.82, Z:1.99 [[ 9.98172262e-01 -5.88210318e-02 -1.38644281e-02 4.63426971e+02] [ 5.88252809e-02 9.98268289e-01 -1.01483547e-04 2.81863958e+00] [ 1.38463883e-02 -7.14280818e-04 9.99903879e-01 1.99434763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.399254154 meters 0.02841857490351929 Centerline is valid? [True, True] Translation: X:463.49, Y:2.82, Z:1.99 [[ 9.98164408e-01 -5.85058067e-02 -1.56487859e-02 4.63487871e+02] [ 5.85112087e-02 9.98286745e-01 -1.12810262e-04 2.82058793e+00] [ 1.56285756e-02 -8.03026188e-04 9.99877544e-01 1.99314638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.459254154 meters 0.02525591705065367 Centerline is valid? [True, True] Translation: X:463.55, Y:2.83, Z:1.99 [[ 9.98247811e-01 -5.68991618e-02 -1.62416818e-02 4.63550288e+02] [ 5.69047922e-02 9.98379603e-01 -1.15644510e-04 2.82911158e+00] [ 1.62219439e-02 -8.08787647e-04 9.99868088e-01 1.99451444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.519254154 meters 0.02440027775134207 Centerline is valid? [True, True] Translation: X:463.61, Y:2.84, Z:2.00 [[ 9.98551539e-01 -5.18145252e-02 -1.44940792e-02 4.63611276e+02] [ 5.18184799e-02 9.98656515e-01 -1.02819483e-04 2.83628702e+00] [ 1.44799342e-02 -6.48390600e-04 9.99894950e-01 1.99708025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.579254154 meters 0.023409712712603184 Centerline is valid? [True, True] Translation: X:463.67, Y:2.84, Z:2.00 [[ 9.98821658e-01 -4.64220112e-02 -1.41524481e-02 4.63671743e+02] [ 4.64252443e-02 9.98921762e-01 -1.00179443e-04 2.84485778e+00] [ 1.41418389e-02 -5.56969463e-04 9.99899844e-01 1.99811235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.639254154 meters 0.020844383553080284 Centerline is valid? [True, True] Translation: X:463.73, Y:2.85, Z:2.00 [[ 9.98987731e-01 -4.25634232e-02 -1.45557269e-02 4.63733237e+02] [ 4.25664408e-02 9.99093633e-01 -1.02573491e-04 2.85135004e+00] [ 1.45468999e-02 -5.17115826e-04 9.99894055e-01 1.99916202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.699254154 meters 0.02039716286535305 Centerline is valid? [True, True] Translation: X:463.79, Y:2.86, Z:2.00 [[ 9.99099508e-01 -3.94560485e-02 -1.56010690e-02 4.63794412e+02] [ 3.94591459e-02 9.99221179e-01 -1.09354638e-04 2.85500496e+00] [ 1.55932333e-02 -5.06348694e-04 9.99878290e-01 1.99899232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.759254154 meters 0.018911083113154276 Centerline is valid? [True, True] Translation: X:463.86, Y:2.86, Z:2.00 [[ 9.99221390e-01 -3.58524534e-02 -1.64686227e-02 4.63855712e+02] [ 3.58554261e-02 9.99356981e-01 -1.14817052e-04 2.86009134e+00] [ 1.64621495e-02 -4.75761828e-04 9.99864376e-01 1.99918400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.81925415399996 meters 0.018904670138383577 Centerline is valid? [True, True] Translation: X:463.92, Y:2.86, Z:2.00 [[ 9.99342554e-01 -3.23834696e-02 -1.63024940e-02 4.63915716e+02] [ 3.23859275e-02 9.99475432e-01 -1.13280967e-04 2.86201292e+00] [ 1.62976106e-02 -4.14764898e-04 9.99867099e-01 1.99954548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.87925415399997 meters 0.01689947230481705 Centerline is valid? [True, True] Translation: X:463.98, Y:2.87, Z:2.00 [[ 9.99495798e-01 -2.72691763e-02 -1.62647546e-02 4.63976810e+02] [ 2.72709545e-02 9.99628072e-01 -1.12493835e-04 2.86759586e+00] [ 1.62617729e-02 -3.31118269e-04 9.99867714e-01 2.00073722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.93925415399997 meters 0.01645530575486844 Centerline is valid? [True, True] Translation: X:464.04, Y:2.87, Z:2.00 [[ 9.99600610e-01 -2.32404931e-02 -1.60779199e-02 4.64037494e+02] [ 2.32417124e-02 9.99729869e-01 -1.11038337e-04 2.87051779e+00] [ 1.60761574e-02 -2.62684401e-04 9.99870736e-01 2.00102353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.99925415399997 meters 0.01579614429475496 Centerline is valid? [True, True] Translation: X:464.10, Y:2.87, Z:2.00 [[ 9.99722715e-01 -1.75456932e-02 -1.57048424e-02 4.64097331e+02] [ 1.75461474e-02 9.99846049e-01 -1.08877165e-04 2.87473353e+00] [ 1.57043349e-02 -1.66712504e-04 9.99876665e-01 2.00188934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.059254154 meters 0.015623959698674987 Centerline is valid? [True, True] Translation: X:464.16, Y:2.87, Z:2.00 [[ 9.99769071e-01 -1.61238085e-02 -1.42065884e-02 4.64155947e+02] [ 1.61239990e-02 9.99869995e-01 -1.01140210e-04 2.87497495e+00] [ 1.42063722e-02 -1.27950162e-04 9.99899076e-01 2.00271335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.119254154 meters 0.016020938535801804 Centerline is valid? [True, True] Translation: X:464.21, Y:2.87, Z:2.00 [[ 9.99689854e-01 -2.02536055e-02 -1.44909674e-02 4.64214709e+02] [ 2.02541840e-02 9.99794857e-01 -1.06849648e-04 2.87068729e+00] [ 1.44901588e-02 -1.86686211e-04 9.99894995e-01 2.00223282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.179254154 meters 0.017032713012085927 Centerline is valid? [True, True] Translation: X:464.27, Y:2.86, Z:2.00 [[ 9.99552288e-01 -2.57614345e-02 -1.52174693e-02 4.64274408e+02] [ 2.57626869e-02 9.99668080e-01 -1.13757597e-04 2.86483064e+00] [ 1.52153489e-02 -2.78336232e-04 9.99884201e-01 2.00156895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.239254154 meters 0.019637161599919694 Centerline is valid? [True, True] Translation: X:464.34, Y:2.86, Z:2.00 [[ 9.99222470e-01 -3.59302367e-02 -1.62318656e-02 4.64335055e+02] [ 3.59329978e-02 9.99354194e-01 -1.21608992e-04 2.85528115e+00] [ 1.62257524e-02 -4.61745152e-04 9.99868247e-01 2.00138465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.299254154 meters 0.024298463395057975 Centerline is valid? [True, True] Translation: X:464.39, Y:2.84, Z:2.00 [[ 9.98859191e-01 -4.47816886e-02 -1.65806200e-02 4.64394423e+02] [ 4.47857890e-02 9.98996605e-01 -1.24117569e-04 2.84420786e+00] [ 1.65695413e-02 -6.18600174e-04 9.99862524e-01 2.00027849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.359254154 meters 0.026314137063849805 Centerline is valid? [True, True] Translation: X:464.46, Y:2.84, Z:2.00 [[ 9.98613108e-01 -4.94861529e-02 -1.79716580e-02 4.64455413e+02] [ 4.94917360e-02 9.98774524e-01 -1.34238901e-04 2.83948875e+00] [ 1.79562771e-02 -7.55395827e-04 9.99838488e-01 1.99948191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.419254154 meters 0.028767466694182342 Centerline is valid? [True, True] Translation: X:464.52, Y:2.83, Z:2.00 [[ 9.98349232e-01 -5.42205374e-02 -1.89458362e-02 4.64515900e+02] [ 5.42275967e-02 9.98528591e-01 -1.41313734e-04 2.83461271e+00] [ 1.89256212e-02 -8.86306704e-04 9.99820502e-01 1.99914912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.479254154 meters 0.030763921643947697 Centerline is valid? [True, True] Translation: X:464.58, Y:2.83, Z:2.00 [[ 9.98250230e-01 -5.64348748e-02 -1.76517214e-02 4.64576848e+02] [ 5.64413523e-02 9.98405908e-01 -1.31402395e-04 2.83243002e+00] [ 1.76309986e-02 -8.65114554e-04 9.99844188e-01 2.00056571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.539254154 meters 0.027256945164777505 Centerline is valid? [True, True] Translation: X:464.64, Y:2.84, Z:2.00 [[ 9.98236679e-01 -5.70015600e-02 -1.65636489e-02 4.64638945e+02] [ 5.70073568e-02 9.98373751e-01 -1.22355659e-04 2.83839871e+00] [ 1.65436867e-02 -8.22109935e-04 9.99862806e-01 2.00308828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.599254154 meters 0.027459711916033438 Centerline is valid? [True, True] Translation: X:464.70, Y:2.84, Z:2.00 [[ 9.98289760e-01 -5.62373597e-02 -1.59660288e-02 4.64701379e+02] [ 5.62426665e-02 9.98417122e-01 -1.16790593e-04 2.84226568e+00] [ 1.59473246e-02 -7.81381184e-04 9.99872528e-01 2.00367902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.659254154 meters 0.026534990936237648 Centerline is valid? [True, True] Translation: X:464.76, Y:2.84, Z:2.00 [[ 9.98265908e-01 -5.64945816e-02 -1.65390214e-02 4.64763970e+02] [ 5.65003316e-02 9.98402573e-01 -1.19765006e-04 2.84491664e+00] [ 1.65193676e-02 -8.14902872e-04 9.99863214e-01 2.00442631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.719254154 meters 0.027976631480361117 Centerline is valid? [True, True] Translation: X:464.83, Y:2.85, Z:2.00 [[ 9.98263830e-01 -5.62772928e-02 -1.73836517e-02 4.64825454e+02] [ 5.62836304e-02 9.98414812e-01 -1.24845233e-04 2.84529550e+00] [ 1.73631213e-02 -8.53786546e-04 9.99848885e-01 2.00376530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.779254154 meters 0.02919906247838998 Centerline is valid? [True, True] Translation: X:464.89, Y:2.85, Z:2.00 [[ 9.98285110e-01 -5.55574897e-02 -1.84446068e-02 4.64887495e+02] [ 5.55645251e-02 9.98455090e-01 -1.31220816e-04 2.84707346e+00] [ 1.84234018e-02 -8.93870027e-04 9.99829875e-01 2.00301989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.839254154 meters 0.02851823762081009 Centerline is valid? [True, True] Translation: X:464.95, Y:2.85, Z:2.00 [[ 9.98349313e-01 -5.43558926e-02 -1.85495601e-02 4.64949399e+02] [ 5.43628254e-02 9.98521240e-01 -1.30669030e-04 2.84893338e+00] [ 1.85292324e-02 -8.77953160e-04 9.99827934e-01 2.00313529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.899254154 meters 0.025271608725296286 Centerline is valid? [True, True] Translation: X:465.01, Y:2.86, Z:2.00 [[ 9.98709888e-01 -4.71838965e-02 -1.87680690e-02 4.65009929e+02] [ 4.71897365e-02 9.98885935e-01 -1.31826821e-04 2.85784425e+00] [ 1.87533802e-02 -7.54003480e-04 9.99823856e-01 2.00363617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.959254154 meters 0.02355975971023698 Centerline is valid? [True, True] Translation: X:465.07, Y:2.87, Z:2.00 [[ 9.99076765e-01 -3.88788537e-02 -1.82771022e-02 4.65069168e+02] [ 3.88829998e-02 9.99243762e-01 -1.28595390e-04 2.86512045e+00] [ 1.82682800e-02 -5.82191896e-04 9.99832952e-01 2.00420605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.019254154 meters 0.017810870550709193 Centerline is valid? [True, True] Translation: X:465.13, Y:2.88, Z:2.01 [[ 9.99567548e-01 -2.50358669e-02 -1.54247277e-02 4.65129264e+02] [ 2.50371722e-02 9.99686515e-01 -1.08504468e-04 2.88410152e+00] [ 1.54226088e-02 -2.77734019e-04 9.99881026e-01 2.00976442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.079254154 meters 0.016569835983189424 Centerline is valid? [True, True] Translation: X:465.19, Y:2.89, Z:2.01 [[ 9.99822465e-01 -1.41937459e-02 -1.23925864e-02 4.65189272e+02] [ 1.41937541e-02 9.99899260e-01 -8.72947032e-05 2.89292767e+00] [ 1.23925770e-02 -8.86181178e-05 9.99923205e-01 2.01157289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.139254154 meters 0.015998526234047027 Centerline is valid? [True, True] Translation: X:465.25, Y:2.90, Z:2.01 [[ 9.99873875e-01 -1.06268074e-02 -1.18027328e-02 4.65248227e+02] [ 1.06265428e-02 9.99943533e-01 -8.51254246e-05 2.89639701e+00] [ 1.18029710e-02 -4.03075582e-05 9.99930342e-01 2.01177357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.199254154 meters 0.015168178105919713 Centerline is valid? [True, True] Translation: X:465.31, Y:2.90, Z:2.01 [[ 9.99855745e-01 -1.11524891e-02 -1.28105591e-02 4.65306387e+02] [ 1.11521901e-02 9.99937808e-01 -9.47747408e-05 2.89617160e+00] [ 1.28108193e-02 -4.81047211e-05 9.99917937e-01 2.01008177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.259254154 meters 0.015541962720815816 Centerline is valid? [True, True] Translation: X:465.36, Y:2.89, Z:2.01 [[ 9.99797925e-01 -1.44338298e-02 -1.39919348e-02 4.65364925e+02] [ 1.44337756e-02 9.99895822e-01 -1.04860147e-04 2.89315888e+00] [ 1.39919907e-02 -9.71174905e-05 9.99902103e-01 2.00796900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.31925415399996 meters 0.01606209909914311 Centerline is valid? [True, True] Translation: X:465.42, Y:2.89, Z:2.01 [[ 9.99671926e-01 -2.04163702e-02 -1.54665070e-02 4.65423686e+02] [ 2.04170021e-02 9.99791544e-01 -1.17059181e-04 2.88825132e+00] [ 1.54656729e-02 -1.98758929e-04 9.99880380e-01 2.00718247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.37925415399997 meters 0.016519068868902313 Centerline is valid? [True, True] Translation: X:465.48, Y:2.89, Z:2.01 [[ 9.99583443e-01 -2.43879856e-02 -1.54326447e-02 4.65482903e+02] [ 2.43890735e-02 9.99702535e-01 -1.17731675e-04 2.88507339e+00] [ 1.54309253e-02 -2.58705273e-04 9.99880903e-01 2.00845508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.43925415399997 meters 0.017034389052695477 Centerline is valid? [True, True] Translation: X:465.54, Y:2.88, Z:2.01 [[ 9.99553147e-01 -2.59234995e-02 -1.48821559e-02 4.65543086e+02] [ 2.59246778e-02 9.99663893e-01 -1.13767506e-04 2.88218337e+00] [ 1.48801031e-02 -2.72098427e-04 9.99889248e-01 2.00835862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.49925415399997 meters 0.018169035750549553 Centerline is valid? [True, True] Translation: X:465.60, Y:2.88, Z:2.01 [[ 9.99534576e-01 -2.71404082e-02 -1.39294257e-02 4.65603415e+02] [ 2.71415586e-02 9.99631594e-01 -1.06484305e-04 2.87959377e+00] [ 1.39271841e-02 -2.71631580e-04 9.99902975e-01 2.00911486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.559254154 meters 0.017475229232950855 Centerline is valid? [True, True] Translation: X:465.66, Y:2.88, Z:2.01 [[ 9.99516497e-01 -2.82442738e-02 -1.30012953e-02 4.65663764e+02] [ 2.82453714e-02 9.99601015e-01 -9.92334189e-05 2.87762019e+00] [ 1.29989108e-02 -2.68040976e-04 9.99915475e-01 2.01018731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.619254154 meters 0.018047715782292723 Centerline is valid? [True, True] Translation: X:465.72, Y:2.88, Z:2.01 [[ 9.99438868e-01 -3.05137596e-02 -1.38151780e-02 4.65724600e+02] [ 3.05152191e-02 9.99534297e-01 -1.05187396e-04 2.87572548e+00] [ 1.38119539e-02 -3.16444811e-04 9.99904560e-01 2.01057790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.679254154 meters 0.01805309969257961 Centerline is valid? [True, True] Translation: X:465.79, Y:2.87, Z:2.01 [[ 9.99342071e-01 -3.37351981e-02 -1.33177457e-02 4.65786431e+02] [ 3.37368479e-02 9.99430745e-01 -1.00819881e-04 2.87365405e+00] [ 1.33135657e-02 -3.48545212e-04 9.99911310e-01 2.01131974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.739254154 meters 0.01982303867993785 Centerline is valid? [True, True] Translation: X:465.85, Y:2.87, Z:2.01 [[ 9.99205728e-01 -3.74464970e-02 -1.36262009e-02 4.65847903e+02] [ 3.74485770e-02 9.99298551e-01 -1.02562441e-04 2.86945172e+00] [ 1.36204834e-02 -4.07800854e-04 9.99907154e-01 2.01118998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.799254154 meters 0.02008160231780355 Centerline is valid? [True, True] Translation: X:465.91, Y:2.87, Z:2.01 [[ 9.99158588e-01 -3.80439340e-02 -1.53223717e-02 4.65908853e+02] [ 3.80466463e-02 9.99275958e-01 -1.14552420e-04 2.86799581e+00] [ 1.53156357e-02 -4.68508822e-04 9.99882599e-01 2.01082543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.859254154 meters 0.020338139254756187 Centerline is valid? [True, True] Translation: X:465.97, Y:2.87, Z:2.01 [[ 9.99228325e-01 -3.56292667e-02 -1.65321052e-02 4.65970490e+02] [ 3.56321055e-02 9.99364967e-01 -1.22903264e-04 2.86984098e+00] [ 1.65259858e-02 -4.66265295e-04 9.99863328e-01 2.01016855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.919254154 meters 0.018849049162609058 Centerline is valid? [True, True] Translation: X:466.03, Y:2.87, Z:2.01 [[ 9.99347173e-01 -3.21621397e-02 -1.64567344e-02 4.66031847e+02] [ 3.21644926e-02 9.99482581e-01 -1.21756328e-04 2.87335353e+00] [ 1.64521353e-02 -4.07645668e-04 9.99864571e-01 2.01158795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.979254154 meters 0.018291793977252092 Centerline is valid? [True, True] Translation: X:466.09, Y:2.88, Z:2.01 [[ 9.99432507e-01 -2.95105726e-02 -1.62416038e-02 4.66092380e+02] [ 2.95125203e-02 9.99564404e-01 -1.19803721e-04 2.87566100e+00] [ 1.62380645e-02 -3.59594926e-04 9.99868089e-01 2.01237748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.039254154 meters 0.016654017124470316 Centerline is valid? [True, True] Translation: X:466.15, Y:2.88, Z:2.01 [[ 9.99504893e-01 -2.66186739e-02 -1.67754486e-02 4.66153415e+02] [ 2.66203497e-02 9.99645608e-01 -1.23434396e-04 2.88100312e+00] [ 1.67727892e-02 -3.23195026e-04 9.99859275e-01 2.01411842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.099254154 meters 0.01764172775033239 Centerline is valid? [True, True] Translation: X:466.21, Y:2.88, Z:2.01 [[ 9.99532032e-01 -2.43690961e-02 -1.84895907e-02 4.66214358e+02] [ 2.43707489e-02 9.99702980e-01 -1.35957742e-04 2.88239992e+00] [ 1.84874121e-02 -3.14711054e-04 9.99829044e-01 2.01365393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.159254154 meters 0.01636441606984155 Centerline is valid? [True, True] Translation: X:466.27, Y:2.88, Z:2.02 [[ 9.99529146e-01 -2.52864462e-02 -1.73805220e-02 4.66273517e+02] [ 2.52879866e-02 9.99680199e-01 -1.31174669e-04 2.88276162e+00] [ 1.73782806e-02 -3.08405503e-04 9.99848939e-01 2.01520708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.219254154 meters 0.0165916619594655 Centerline is valid? [True, True] Translation: X:466.33, Y:2.88, Z:2.02 [[ 9.99529250e-01 -2.59719460e-02 -1.63320530e-02 4.66332899e+02] [ 2.59733728e-02 9.99662627e-01 -1.24779054e-04 2.88335845e+00] [ 1.63297838e-02 -2.99478189e-04 9.99866615e-01 2.01720931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.279254154 meters 0.017612339580830774 Centerline is valid? [True, True] Translation: X:466.39, Y:2.88, Z:2.02 [[ 9.99466937e-01 -2.92730713e-02 -1.44543954e-02 4.66392945e+02] [ 2.92745308e-02 9.99571403e-01 -1.10649061e-04 2.88185499e+00] [ 1.44514393e-02 -3.12555566e-04 9.99895524e-01 2.01829902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.339254154 meters 0.018870471840793313 Centerline is valid? [True, True] Translation: X:466.45, Y:2.88, Z:2.02 [[ 9.99318135e-01 -3.47068748e-02 -1.25975126e-02 4.66453590e+02] [ 3.47084163e-02 9.99397477e-01 -9.63098161e-05 2.87755789e+00] [ 1.25932649e-02 -3.40995564e-04 9.99920644e-01 2.01897298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.399254154 meters 0.021734277455669283 Centerline is valid? [True, True] Translation: X:466.51, Y:2.87, Z:2.02 [[ 9.98905646e-01 -4.55463491e-02 -1.06320246e-02 4.66514530e+02] [ 4.55480610e-02 9.98962145e-01 -8.11955875e-05 2.87214962e+00] [ 1.06246883e-02 -4.03161376e-04 9.99943475e-01 2.02015581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.459254154 meters 0.02492313040766558 Centerline is valid? [True, True] Translation: X:466.57, Y:2.87, Z:2.02 [[ 9.98533111e-01 -5.32422396e-02 -9.84332009e-03 4.66574750e+02] [ 5.32440803e-02 9.98581525e-01 -7.51424877e-05 2.86659308e+00] [ 9.83335835e-03 -4.49066264e-04 9.99951551e-01 2.02003961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.519254154 meters 0.030099561679228264 Centerline is valid? [True, True] Translation: X:466.64, Y:2.86, Z:2.02 [[ 9.97975469e-01 -6.27386200e-02 -1.04321432e-02 4.66635285e+02] [ 6.27412054e-02 9.98029827e-01 -7.95762741e-05 2.85848874e+00] [ 1.04165826e-02 -5.75110073e-04 9.99945581e-01 2.01841537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.579254154 meters 0.03370130401425849 Centerline is valid? [True, True] Translation: X:466.70, Y:2.85, Z:2.02 [[ 9.97514264e-01 -6.93757782e-02 -1.23407864e-02 4.66695425e+02] [ 6.93799064e-02 9.97590307e-01 -9.38037863e-05 2.85355461e+00] [ 1.23175566e-02 -7.62631988e-04 9.99923845e-01 2.01721567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.639254154 meters 0.03495410140716039 Centerline is valid? [True, True] Translation: X:466.76, Y:2.85, Z:2.02 [[ 9.97440040e-01 -7.03021016e-02 -1.30760115e-02 4.66757511e+02] [ 7.03068259e-02 9.97525408e-01 -9.86079517e-05 2.85316449e+00] [ 1.30505861e-02 -8.20977348e-04 9.99914500e-01 2.01626558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.699254154 meters 0.034490667562575315 Centerline is valid? [True, True] Translation: X:466.82, Y:2.86, Z:2.02 [[ 9.97648980e-01 -6.73394412e-02 -1.27244809e-02 4.66818360e+02] [ 6.73436807e-02 9.97729833e-01 -9.54891126e-05 2.85620064e+00] [ 1.27020244e-02 -7.61648762e-04 9.99919036e-01 2.01633693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.759254154 meters 0.03350606107665153 Centerline is valid? [True, True] Translation: X:466.88, Y:2.86, Z:2.02 [[ 9.97765919e-01 -6.56743440e-02 -1.22495275e-02 4.66879439e+02] [ 6.56781522e-02 9.97840855e-01 -9.15651705e-05 2.85959916e+00] [ 1.22290925e-02 -7.13165725e-04 9.99924968e-01 2.01710368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.81925415399996 meters 0.030598407377588226 Centerline is valid? [True, True] Translation: X:466.94, Y:2.87, Z:2.02 [[ 9.98044205e-01 -6.14235028e-02 -1.16154251e-02 4.66940322e+02] [ 6.14266426e-02 9.98111597e-01 -8.65868932e-05 2.86780403e+00] [ 1.15988090e-02 -6.27079019e-04 9.99932535e-01 2.01795342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.87925415399997 meters 0.0254863317838173 Centerline is valid? [True, True] Translation: X:467.00, Y:2.88, Z:2.02 [[ 9.98510425e-01 -5.34460852e-02 -1.09748397e-02 4.67001210e+02] [ 5.34484092e-02 9.98570609e-01 -8.16441985e-05 2.88381320e+00] [ 1.09635159e-02 -5.05065138e-04 9.99939771e-01 2.01838716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.93925415399997 meters 0.022702620613033023 Centerline is valid? [True, True] Translation: X:467.06, Y:2.89, Z:2.02 [[ 9.98827195e-01 -4.75551963e-02 -9.09602373e-03 4.67062072e+02] [ 4.75565498e-02 9.98868545e-01 -6.75571939e-05 2.89177353e+00] [ 9.08894469e-03 -3.65097543e-04 9.99958628e-01 2.01994719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.99925415399997 meters 0.021426574755573368 Centerline is valid? [True, True] Translation: X:467.12, Y:2.90, Z:2.02 [[ 9.99060321e-01 -4.22888750e-02 -9.49343004e-03 4.67123151e+02] [ 4.22901132e-02 9.99105371e-01 -7.03712889e-05 2.89969032e+00] [ 9.48791286e-03 -3.31173068e-04 9.99954934e-01 2.01974614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.059254154 meters 0.02084446061350872 Centerline is valid? [True, True] Translation: X:467.18, Y:2.90, Z:2.02 [[ 9.99173631e-01 -3.93463862e-02 -1.01939870e-02 4.67184207e+02] [ 3.93476639e-02 9.99225578e-01 -7.52707333e-05 2.90409487e+00] [ 1.01890542e-02 -3.25901044e-04 9.99948037e-01 2.01917468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.119254154 meters 0.02002609756805176 Centerline is valid? [True, True] Translation: X:467.25, Y:2.91, Z:2.02 [[ 9.99318314e-01 -3.49109111e-02 -1.20056843e-02 4.67245111e+02] [ 3.49123690e-02 9.99390374e-01 -8.81926578e-05 2.90886143e+00] [ 1.20014442e-02 -3.31014343e-04 9.99927925e-01 2.01640593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.179254154 meters 0.017891533160736266 Centerline is valid? [True, True] Translation: X:467.31, Y:2.92, Z:2.02 [[ 9.99470529e-01 -3.04613478e-02 -1.14353685e-02 4.67306736e+02] [ 3.04623862e-02 9.99535910e-01 -8.33984847e-05 2.91635384e+00] [ 1.14326019e-02 -2.64994285e-04 9.99934611e-01 2.01774723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.239254154 meters 0.017054848234298262 Centerline is valid? [True, True] Translation: X:467.37, Y:2.92, Z:2.02 [[ 9.99553876e-01 -2.80933957e-02 -1.01395334e-02 4.67369461e+02] [ 2.80940983e-02 9.99605280e-01 -7.31642110e-05 2.91992270e+00] [ 1.01375865e-02 -2.11729476e-04 9.99948591e-01 2.01938300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.299254154 meters 0.018550668052749013 Centerline is valid? [True, True] Translation: X:467.43, Y:2.92, Z:2.02 [[ 9.99620309e-01 -2.62009719e-02 -8.52921735e-03 4.67430847e+02] [ 2.62014078e-02 9.99656682e-01 -6.06499612e-05 2.91739191e+00] [ 8.52787821e-03 -1.62850569e-04 9.99963624e-01 2.01914773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.359254154 meters 0.017049978765076614 Centerline is valid? [True, True] Translation: X:467.49, Y:2.92, Z:2.02 [[ 9.99562825e-01 -2.81639495e-02 -8.99726201e-03 4.67492734e+02] [ 2.81645227e-02 9.99603299e-01 -6.30150809e-05 2.92014818e+00] [ 8.99546754e-03 -1.90416057e-04 9.99959522e-01 2.01974521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.419254154 meters 0.018458302835685735 Centerline is valid? [True, True] Translation: X:467.55, Y:2.92, Z:2.02 [[ 9.99391816e-01 -3.29399750e-02 -1.14436494e-02 4.67552993e+02] [ 3.29412215e-02 9.99457288e-01 -7.96043760e-05 2.91659383e+00] [ 1.14400609e-02 -2.97411827e-04 9.99934516e-01 2.01837502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.479254154 meters 0.01930398935526387 Centerline is valid? [True, True] Translation: X:467.61, Y:2.91, Z:2.02 [[ 9.99246007e-01 -3.68830830e-02 -1.21266848e-02 4.67614747e+02] [ 3.68847790e-02 9.99319521e-01 -8.38450008e-05 2.91439183e+00] [ 1.21215253e-02 -3.63508304e-04 9.99926466e-01 2.01830974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.539254154 meters 0.021110067020600237 Centerline is valid? [True, True] Translation: X:467.68, Y:2.91, Z:2.02 [[ 9.99146014e-01 -3.93383991e-02 -1.26385522e-02 4.67676386e+02] [ 3.93404507e-02 9.99225861e-01 -8.63394730e-05 2.91204688e+00] [ 1.26321646e-02 -4.10940599e-04 9.99920127e-01 2.01804597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.599254154 meters 0.020022651251845897 Centerline is valid? [True, True] Translation: X:467.74, Y:2.91, Z:2.02 [[ 9.99168734e-01 -3.91689267e-02 -1.12976511e-02 4.67738976e+02] [ 3.91705652e-02 9.99232536e-01 -7.62918918e-05 2.91269458e+00] [ 1.12919688e-02 -3.66306905e-04 9.99936177e-01 2.01939795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.659254154 meters 0.01781896020665365 Centerline is valid? [True, True] Translation: X:467.80, Y:2.92, Z:2.02 [[ 9.99396331e-01 -3.31799169e-02 -1.02988887e-02 4.67799709e+02] [ 3.31809649e-02 9.99449358e-01 -6.91402100e-05 2.91817661e+00] [ 1.02955118e-02 -2.72628593e-04 9.99946963e-01 2.02025340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.719254154 meters 0.017302701528821424 Centerline is valid? [True, True] Translation: X:467.86, Y:2.92, Z:2.02 [[ 9.99570361e-01 -2.76967568e-02 -9.59080618e-03 4.67859761e+02] [ 2.76974151e-02 9.99616351e-01 -6.42119634e-05 2.92012534e+00] [ 9.58890514e-03 -2.01456164e-04 9.99954005e-01 2.02055650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.779254154 meters 0.018429494088084978 Centerline is valid? [True, True] Translation: X:467.92, Y:2.92, Z:2.02 [[ 9.99704313e-01 -2.17640807e-02 -1.08448625e-02 4.67921705e+02] [ 2.17645782e-02 9.99763121e-01 -7.21613882e-05 2.92291017e+00] [ 1.08438641e-02 -1.63893806e-04 9.99941190e-01 2.01924671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.839254154 meters 0.01624389294496356 Centerline is valid? [True, True] Translation: X:467.98, Y:2.92, Z:2.02 [[ 9.99691283e-01 -2.17129583e-02 -1.20783294e-02 4.67984127e+02] [ 2.17135816e-02 9.99764229e-01 -7.95461878e-05 2.92293893e+00] [ 1.20772089e-02 -1.82742161e-04 9.99927051e-01 2.01889879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.899254154 meters 0.01655522749288743 Centerline is valid? [True, True] Translation: X:468.05, Y:2.92, Z:2.02 [[ 9.99578526e-01 -2.45209204e-02 -1.55401137e-02 4.68045665e+02] [ 2.45223042e-02 9.99699278e-01 -1.01529305e-04 2.91979577e+00] [ 1.55379300e-02 -2.79592882e-04 9.99879240e-01 2.01606889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.959254154 meters 0.01737768982736417 Centerline is valid? [True, True] Translation: X:468.11, Y:2.92, Z:2.02 [[ 9.99456754e-01 -2.80321977e-02 -1.73318571e-02 4.68105593e+02] [ 2.80344457e-02 9.99606951e-01 -1.13292739e-04 2.91715965e+00] [ 1.73282206e-02 -3.72657813e-04 9.99849786e-01 2.01561231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.019254154 meters 0.018313675543709215 Centerline is valid? [True, True] Translation: X:468.17, Y:2.92, Z:2.02 [[ 9.99394832e-01 -3.02986435e-02 -1.70868897e-02 4.68166370e+02] [ 3.03011620e-02 9.99540808e-01 -1.11542427e-04 2.91546458e+00] [ 1.70824231e-02 -4.06277687e-04 9.99854002e-01 2.01626724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.079254154 meters 0.01810064303497751 Centerline is valid? [True, True] Translation: X:468.23, Y:2.92, Z:2.02 [[ 9.99319079e-01 -3.32605957e-02 -1.59722231e-02 4.68227986e+02] [ 3.32631824e-02 9.99446622e-01 -1.03759737e-04 2.91616980e+00] [ 1.59668355e-02 -4.27597885e-04 9.99872431e-01 2.01954758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.139254154 meters 0.01957760490288272 Centerline is valid? [True, True] Translation: X:468.29, Y:2.91, Z:2.02 [[ 9.99244442e-01 -3.57226392e-02 -1.53113427e-02 4.68289103e+02] [ 3.57253166e-02 9.99361642e-01 -9.87051028e-05 2.91337638e+00] [ 1.53050946e-02 -4.48372041e-04 9.99882770e-01 2.01981374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.199254154 meters 0.025711601632739625 Centerline is valid? [True, True] Translation: X:468.35, Y:2.90, Z:2.02 [[ 9.98958568e-01 -4.32701407e-02 -1.44732343e-02 4.68349125e+02] [ 4.32733253e-02 9.99063267e-01 -9.32077928e-05 2.90307071e+00] [ 1.44637099e-02 -5.33194254e-04 9.99895253e-01 2.01861870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.259254154 meters 0.025038173149012383 Centerline is valid? [True, True] Translation: X:468.41, Y:2.90, Z:2.02 [[ 9.98634015e-01 -5.01445479e-02 -1.46842756e-02 4.68409546e+02] [ 5.01485674e-02 9.98741765e-01 -9.45905075e-05 2.90402666e+00] [ 1.46705425e-02 -6.41934085e-04 9.99892176e-01 2.01972586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.31925415399996 meters 0.02879479869468947 Centerline is valid? [True, True] Translation: X:468.47, Y:2.90, Z:2.02 [[ 9.98077328e-01 -6.06144791e-02 -1.29434187e-02 4.68470303e+02] [ 6.06184799e-02 9.98161006e-01 -8.33597865e-05 2.89634492e+00] [ 1.29246686e-02 -7.01410853e-04 9.99916227e-01 2.02190218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.37925415399997 meters 0.032551639110585645 Centerline is valid? [True, True] Translation: X:468.53, Y:2.89, Z:2.02 [[ 9.97588787e-01 -6.82719986e-02 -1.24718397e-02 4.68531320e+02] [ 6.82763110e-02 9.97666447e-01 -8.01774299e-05 2.89025092e+00] [ 1.24482099e-02 -7.71547102e-04 9.99922220e-01 2.02249995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.43925415399997 meters 0.035533240006633555 Centerline is valid? [True, True] Translation: X:468.59, Y:2.89, Z:2.02 [[ 9.97224689e-01 -7.29002336e-02 -1.51154151e-02 4.68592105e+02] [ 7.29070995e-02 9.97338732e-01 -9.70459886e-05 2.88575476e+00] [ 1.50822636e-02 -1.00524442e-03 9.99885751e-01 2.01933337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.49925415399997 meters 0.0342594063243376 Centerline is valid? [True, True] Translation: X:468.65, Y:2.89, Z:2.02 [[ 9.97115899e-01 -7.41349266e-02 -1.62448853e-02 4.68654062e+02] [ 7.41430345e-02 9.97247612e-01 -1.03418058e-04 2.88763264e+00] [ 1.62078400e-02 -1.10132530e-03 9.99868038e-01 2.01910170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.559254154 meters 0.030951915960800398 Centerline is valid? [True, True] Translation: X:468.72, Y:2.89, Z:2.02 [[ 9.97308943e-01 -7.16653113e-02 -1.54581887e-02 4.68715668e+02] [ 7.16723716e-02 9.97428224e-01 -9.74879297e-05 2.89436760e+00] [ 1.54254202e-02 -1.01069946e-03 9.99880510e-01 2.02061544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.619254154 meters 0.03607981516088036 Centerline is valid? [True, True] Translation: X:468.78, Y:2.89, Z:2.02 [[ 9.97480534e-01 -6.93698640e-02 -1.48460924e-02 4.68775923e+02] [ 6.93761293e-02 9.97590569e-01 -9.31975468e-05 2.88939963e+00] [ 1.48167868e-02 -9.37001683e-04 9.99889786e-01 2.01929243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.679254154 meters 0.02891911285687507 Centerline is valid? [True, True] Translation: X:468.84, Y:2.90, Z:2.02 [[ 9.98101993e-01 -6.00147357e-02 -1.38073343e-02 4.68836338e+02] [ 6.00192640e-02 9.98197215e-01 -8.65468725e-05 2.90336242e+00] [ 1.37876367e-02 -7.42323434e-04 9.99904670e-01 2.02238879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.739254154 meters 0.027043952982372534 Centerline is valid? [True, True] Translation: X:468.90, Y:2.91, Z:2.02 [[ 9.98805835e-01 -4.73770816e-02 -1.19296575e-02 4.68896287e+02] [ 4.73795622e-02 9.98876955e-01 -7.47628554e-05 2.90937712e+00] [ 1.19198020e-02 -4.90548371e-04 9.99928836e-01 2.02264315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.799254154 meters 0.019986128007903153 Centerline is valid? [True, True] Translation: X:468.96, Y:2.92, Z:2.02 [[ 9.99194406e-01 -3.85843111e-02 -1.10358691e-02 4.68956549e+02] [ 3.85858980e-02 9.99255285e-01 -6.91655773e-05 2.92395998e+00] [ 1.10303192e-02 -3.56719061e-04 9.99939101e-01 2.02458811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.859254154 meters 0.016945365228430584 Centerline is valid? [True, True] Translation: X:469.02, Y:2.93, Z:2.02 [[ 9.99601965e-01 -2.62429418e-02 -1.03546725e-02 4.69016994e+02] [ 2.62436769e-02 9.99655573e-01 -6.48964508e-05 2.93352958e+00] [ 1.03528092e-02 -2.06874060e-04 9.99946387e-01 2.02499122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.919254154 meters 0.016329396180872154 Centerline is valid? [True, True] Translation: X:469.08, Y:2.94, Z:2.02 [[ 9.99791410e-01 -1.68916476e-02 -1.14807619e-02 4.69078492e+02] [ 1.68919378e-02 9.99857318e-01 -7.16938707e-05 2.93985703e+00] [ 1.14803348e-02 -1.22253400e-04 9.99934091e-01 2.02284710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.979254154 meters 0.015839332464182697 Centerline is valid? [True, True] Translation: X:469.14, Y:2.94, Z:2.02 [[ 9.99831824e-01 -1.36998616e-02 -1.21917115e-02 4.69138540e+02] [ 1.36999538e-02 9.99906148e-01 -7.59617300e-05 2.94290726e+00] [ 1.21916079e-02 -9.10769284e-05 9.99925675e-01 2.02239775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.039254154 meters 0.01487750569642448 Centerline is valid? [True, True] Translation: X:469.20, Y:2.94, Z:2.02 [[ 9.99845138e-01 -1.25428252e-02 -1.23441646e-02 4.69197904e+02] [ 1.25428279e-02 9.99921333e-01 -7.72060720e-05 2.94321510e+00] [ 1.23441619e-02 -7.76366161e-05 9.99923805e-01 2.02322776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.099254154 meters 0.015233997163441652 Centerline is valid? [True, True] Translation: X:469.26, Y:2.94, Z:2.02 [[ 9.99824486e-01 -1.53997245e-02 -1.06698425e-02 4.69256798e+02] [ 1.53998840e-02 9.99881412e-01 -6.72177760e-05 2.93879749e+00] [ 1.06696123e-02 -9.71083581e-05 9.99943073e-01 2.02317131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.159254154 meters 0.015445382404953608 Centerline is valid? [True, True] Translation: X:469.32, Y:2.94, Z:2.02 [[ 9.99773435e-01 -1.86480076e-02 -1.02631109e-02 4.69317123e+02] [ 1.86483239e-02 9.99826103e-01 -6.48868617e-05 2.93610079e+00] [ 1.02625362e-02 -1.26517656e-04 9.99947331e-01 2.02379131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.219254154 meters 0.01774527519049393 Centerline is valid? [True, True] Translation: X:469.38, Y:2.93, Z:2.02 [[ 9.99605106e-01 -2.62330857e-02 -1.00725723e-02 4.69378758e+02] [ 2.62337774e-02 9.99655833e-01 -6.34710282e-05 2.93054458e+00] [ 1.00707707e-02 -2.00795655e-04 9.99949268e-01 2.02341288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.279254154 meters 0.01926438019900543 Centerline is valid? [True, True] Translation: X:469.44, Y:2.92, Z:2.02 [[ 9.99248023e-01 -3.74046807e-02 -1.02116773e-02 4.69438048e+02] [ 3.74059751e-02 9.99300150e-01 -6.42679096e-05 2.92021973e+00] [ 1.02069346e-02 -3.17758166e-04 9.99947857e-01 2.02439245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.339254154 meters 0.02435734696217176 Centerline is valid? [True, True] Translation: X:469.50, Y:2.91, Z:2.02 [[ 9.98803120e-01 -4.80381300e-02 -9.20140272e-03 4.69498968e+02] [ 4.80396326e-02 9.98845429e-01 -5.77696355e-05 2.90947320e+00] [ 9.19355419e-03 -3.84331514e-04 9.99957665e-01 2.02289249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.399254154 meters 0.024419942768964937 Centerline is valid? [True, True] Translation: X:469.56, Y:2.90, Z:2.03 [[ 9.98463697e-01 -5.46234738e-02 -9.30174126e-03 4.69559463e+02] [ 5.46252963e-02 9.98506922e-01 -5.81989437e-05 2.90493145e+00] [ 9.29103206e-03 -4.50000840e-04 9.99956736e-01 2.02518209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.459254154 meters 0.028475805514707492 Centerline is valid? [True, True] Translation: X:469.62, Y:2.90, Z:2.02 [[ 9.98104721e-01 -6.07510644e-02 -9.81192505e-03 4.69619435e+02] [ 6.07533869e-02 9.98152805e-01 -6.14572412e-05 2.89590678e+00] [ 9.79753410e-03 -5.34766916e-04 9.99951860e-01 2.02394204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.519254154 meters 0.029123339627463874 Centerline is valid? [True, True] Translation: X:469.68, Y:2.89, Z:2.02 [[ 9.98002908e-01 -6.24145321e-02 -9.72738997e-03 4.69681350e+02] [ 6.24168994e-02 9.98050163e-01 -6.03248055e-05 2.89487012e+00] [ 9.71218828e-03 -5.46949190e-04 9.99952686e-01 2.02201111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.579254154 meters 0.030492213990319934 Centerline is valid? [True, True] Translation: X:469.74, Y:2.89, Z:2.02 [[ 9.97964711e-01 -6.30112409e-02 -9.79896858e-03 4.69742132e+02] [ 6.30136840e-02 9.98012661e-01 -5.95221805e-05 2.89161267e+00] [ 9.78324527e-03 -5.58068074e-04 9.99951987e-01 2.02376397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.639254154 meters 0.02745347300023527 Centerline is valid? [True, True] Translation: X:469.80, Y:2.90, Z:2.02 [[ 9.98052691e-01 -6.13736870e-02 -1.11398410e-02 4.69804758e+02] [ 6.13767570e-02 9.98114667e-01 -6.64001172e-05 2.89692128e+00] [ 1.11229139e-02 -6.17456499e-04 9.99937948e-01 2.02471333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.699254154 meters 0.029574117879684787 Centerline is valid? [True, True] Translation: X:469.87, Y:2.89, Z:2.02 [[ 9.98205642e-01 -5.81657774e-02 -1.42210546e-02 4.69865249e+02] [ 5.81704663e-02 9.98306661e-01 -8.40602566e-05 2.89454845e+00] [ 1.42018630e-02 -7.43335955e-04 9.99898872e-01 2.02095126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.759254154 meters 0.02521714925609994 Centerline is valid? [True, True] Translation: X:469.93, Y:2.90, Z:2.02 [[ 9.98372211e-01 -5.48129347e-02 -1.57629550e-02 4.69926999e+02] [ 5.48182902e-02 9.98496343e-01 -9.24509069e-05 2.90189055e+00] [ 1.57443204e-02 -7.71797825e-04 9.99875753e-01 2.02038658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.81925415399996 meters 0.022073828857706954 Centerline is valid? [True, True] Translation: X:469.99, Y:2.91, Z:2.02 [[ 9.98764620e-01 -4.70142603e-02 -1.60901480e-02 4.69987485e+02] [ 4.70188340e-02 9.98893999e-01 -9.41270734e-05 2.91040057e+00] [ 1.60767776e-02 -6.62529208e-04 9.99870541e-01 2.02258553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.87925415399997 meters 0.01940343458838696 Centerline is valid? [True, True] Translation: X:470.05, Y:2.92, Z:2.03 [[ 9.99123561e-01 -3.91414033e-02 -1.48344348e-02 4.70048483e+02] [ 3.91444271e-02 9.99233559e-01 -8.65760969e-05 2.91882718e+00] [ 1.48264538e-02 -4.94185234e-04 9.99889960e-01 2.02536831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.93925415399997 meters 0.016679983057299237 Centerline is valid? [True, True] Translation: X:470.11, Y:2.93, Z:2.03 [[ 9.99531297e-01 -2.81588829e-02 -1.20109634e-02 4.70109292e+02] [ 2.81600734e-02 9.99603424e-01 -7.00265993e-05 2.92842376e+00] [ 1.20081720e-02 -2.68235834e-04 9.99927863e-01 2.02899919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.99925415399997 meters 0.015276997568085673 Centerline is valid? [True, True] Translation: X:470.17, Y:2.93, Z:2.03 [[ 9.99718663e-01 -2.11154624e-02 -1.08042539e-02 4.70171149e+02] [ 2.11160184e-02 9.99777030e-01 -6.26298164e-05 2.93461442e+00] [ 1.08031674e-02 -1.65530628e-04 9.99941630e-01 2.03021613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.059254154 meters 0.014938115844365591 Centerline is valid? [True, True] Translation: X:470.23, Y:2.94, Z:2.03 [[ 9.99797996e-01 -1.67955768e-02 -1.10396936e-02 4.70231601e+02] [ 1.67959020e-02 9.99858937e-01 -6.32571866e-05 2.93758194e+00] [ 1.10391988e-02 -1.22177204e-04 9.99939059e-01 2.03064957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.119254154 meters 0.014831115297939934 Centerline is valid? [True, True] Translation: X:470.29, Y:2.94, Z:2.03 [[ 9.99823090e-01 -1.43638921e-02 -1.21436181e-02 4.70292589e+02] [ 1.43641123e-02 9.99896828e-01 -6.90896592e-05 2.93984378e+00] [ 1.21433577e-02 -1.05354858e-04 9.99926261e-01 2.03061104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.179254154 meters 0.016297908809647696 Centerline is valid? [True, True] Translation: X:470.35, Y:2.94, Z:2.03 [[ 9.99846796e-01 -1.18126978e-02 -1.29168199e-02 4.70351658e+02] [ 1.18127293e-02 9.99930225e-01 -7.38586287e-05 2.94066149e+00] [ 1.29167911e-02 -7.87355848e-05 9.99916572e-01 2.02925802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.239254154 meters 0.014677237268290946 Centerline is valid? [True, True] Translation: X:470.41, Y:2.94, Z:2.03 [[ 9.99804726e-01 -1.46192781e-02 -1.32961118e-02 4.70410379e+02] [ 1.46195261e-02 9.99893126e-01 -7.85473897e-05 2.93765214e+00] [ 1.32958391e-02 -1.15850802e-04 9.99911600e-01 2.03124835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.299254154 meters 0.015404840311093555 Centerline is valid? [True, True] Translation: X:470.47, Y:2.93, Z:2.03 [[ 9.99737131e-01 -1.83217503e-02 -1.37834412e-02 4.70468607e+02] [ 1.83223432e-02 9.99832128e-01 -8.32695255e-05 2.93259307e+00] [ 1.37826530e-02 -1.69297304e-04 9.99905000e-01 2.03025885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.359254154 meters 0.017967730251701904 Centerline is valid? [True, True] Translation: X:470.53, Y:2.92, Z:2.03 [[ 9.99553639e-01 -2.60456625e-02 -1.46337206e-02 4.70528562e+02] [ 2.60471480e-02 9.99660712e-01 -8.91028282e-05 2.92403408e+00] [ 1.46310763e-02 -2.92103631e-04 9.99892917e-01 2.02866904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.419254154 meters 0.018727504464791225 Centerline is valid? [True, True] Translation: X:470.59, Y:2.92, Z:2.03 [[ 9.99243506e-01 -3.60115433e-02 -1.46827824e-02 4.70589627e+02] [ 3.60141139e-02 9.99351277e-01 -8.93762989e-05 2.91685472e+00] [ 1.46764759e-02 -4.39478711e-04 9.99892198e-01 2.03128894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.479254154 meters 0.022816377509165958 Centerline is valid? [True, True] Translation: X:470.65, Y:2.91, Z:2.03 [[ 9.98760776e-01 -4.75565362e-02 -1.46727332e-02 4.70650929e+02] [ 4.75603527e-02 9.98868362e-01 -8.89238229e-05 2.90534965e+00] [ 1.46603578e-02 -6.09026737e-04 9.99892346e-01 2.03257244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.539254154 meters 0.023248091589115942 Centerline is valid? [True, True] Translation: X:470.71, Y:2.90, Z:2.03 [[ 9.98580623e-01 -5.12240707e-02 -1.45888108e-02 4.70711840e+02] [ 5.12282388e-02 9.98686968e-01 -8.80921006e-05 2.90301972e+00] [ 1.45741676e-02 -6.59392017e-04 9.99893574e-01 2.03349829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.599254154 meters 0.02683719482898637 Centerline is valid? [True, True] Translation: X:470.77, Y:2.89, Z:2.03 [[ 9.98284735e-01 -5.66543704e-02 -1.47604330e-02 4.70771737e+02] [ 5.66592281e-02 9.98393572e-01 -8.92010993e-05 2.89446411e+00] [ 1.47417750e-02 -7.47266644e-04 9.99891055e-01 2.03330819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.659254154 meters 0.028309996421328847 Centerline is valid? [True, True] Translation: X:470.83, Y:2.89, Z:2.03 [[ 9.98289659e-01 -5.63549704e-02 -1.55522906e-02 4.70833003e+02] [ 5.63603355e-02 9.98410489e-01 -9.34545142e-05 2.88910876e+00] [ 1.55328367e-02 -7.83237640e-04 9.99879051e-01 2.03216254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.719254154 meters 0.02258083003100207 Centerline is valid? [True, True] Translation: X:470.89, Y:2.90, Z:2.03 [[ 9.98825633e-01 -4.59182419e-02 -1.54554422e-02 4.70893612e+02] [ 4.59222996e-02 9.98945010e-01 -9.24427843e-05 2.89851331e+00] [ 1.54433817e-02 -6.17415225e-04 9.99880553e-01 2.03462475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.779254154 meters 0.018471521501436022 Centerline is valid? [True, True] Translation: X:470.95, Y:2.91, Z:2.04 [[ 9.99370401e-01 -3.19984290e-02 -1.53265460e-02 4.70954387e+02] [ 3.20007873e-02 9.99487839e-01 -9.14171642e-05 2.90861917e+00] [ 1.53216216e-02 -3.99101931e-04 9.99882537e-01 2.03621692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.839254154 meters 0.016702596922939083 Centerline is valid? [True, True] Translation: X:471.02, Y:2.91, Z:2.04 [[ 9.99566700e-01 -2.48502071e-02 -1.57759054e-02 4.71015289e+02] [ 2.48518201e-02 9.99691141e-01 -9.38213763e-05 2.91371200e+00] [ 1.57733643e-02 -2.98279239e-04 9.99875548e-01 2.03594768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.899254154 meters 0.015285638177819253 Centerline is valid? [True, True] Translation: X:471.08, Y:2.92, Z:2.04 [[ 9.99669179e-01 -2.07627744e-02 -1.51802650e-02 4.71076095e+02] [ 2.07637979e-02 9.99784405e-01 -9.02037497e-05 2.91712170e+00] [ 1.51788651e-02 -2.25026046e-04 9.99884769e-01 2.03767731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.959254154 meters 0.01685645925133484 Centerline is valid? [True, True] Translation: X:471.13, Y:2.91, Z:2.04 [[ 9.99612993e-01 -2.34500309e-02 -1.49653060e-02 4.71134577e+02] [ 2.34513179e-02 9.99724976e-01 -8.95081747e-05 2.91138553e+00] [ 1.49632891e-02 -2.61482613e-04 9.99888010e-01 2.03589855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.019254154 meters 0.017274178652132533 Centerline is valid? [True, True] Translation: X:471.19, Y:2.91, Z:2.04 [[ 9.99487480e-01 -2.81209145e-02 -1.52967983e-02 4.71194086e+02] [ 2.81227960e-02 9.99604472e-01 -9.21321333e-05 2.90968386e+00] [ 1.52933389e-02 -3.38103826e-04 9.99882993e-01 2.03700475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.079254154 meters 0.01977659193994773 Centerline is valid? [True, True] Translation: X:471.25, Y:2.90, Z:2.04 [[ 9.99154953e-01 -3.78635615e-02 -1.59916008e-02 4.71254403e+02] [ 3.78668624e-02 9.99282789e-01 -9.64391580e-05 2.90281890e+00] [ 1.59837830e-02 -5.09194085e-04 9.99872122e-01 2.03721794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.139254154 meters 0.02387786417413967 Centerline is valid? [True, True] Translation: X:471.32, Y:2.89, Z:2.04 [[ 9.98721397e-01 -4.80922653e-02 -1.55789862e-02 4.71315101e+02] [ 4.80966473e-02 9.98842682e-01 -9.34910233e-05 2.89384490e+00] [ 1.55654526e-02 -6.55925520e-04 9.99878636e-01 2.03802265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.199254154 meters 0.027209271578804376 Centerline is valid? [True, True] Translation: X:471.38, Y:2.89, Z:2.04 [[ 9.98408021e-01 -5.44841467e-02 -1.45911321e-02 4.71376020e+02] [ 5.44886743e-02 9.98514385e-01 -8.73672829e-05 2.88811180e+00] [ 1.45742154e-02 -7.07823248e-04 9.99893540e-01 2.03910270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.259254154 meters 0.030950197144169415 Centerline is valid? [True, True] Translation: X:471.44, Y:2.88, Z:2.04 [[ 9.98000488e-01 -6.19388967e-02 -1.25935945e-02 4.71436566e+02] [ 6.19428621e-02 9.98079694e-01 -7.53168250e-05 2.88289761e+00] [ 1.25740760e-02 -7.04917062e-04 9.99920695e-01 2.03941127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.31925415399996 meters 0.032332720718910066 Centerline is valid? [True, True] Translation: X:471.50, Y:2.88, Z:2.04 [[ 9.97573118e-01 -6.85028971e-02 -1.24590640e-02 4.71497139e+02] [ 6.85072925e-02 9.97650613e-01 -7.41534237e-05 2.88092388e+00] [ 1.24348725e-02 -7.79563279e-04 9.99922380e-01 2.04187446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.37925415399997 meters 0.03482733539912457 Centerline is valid? [True, True] Translation: X:471.56, Y:2.88, Z:2.04 [[ 9.97359862e-01 -7.14534626e-02 -1.29502511e-02 4.71557852e+02] [ 7.14584634e-02 9.97443573e-01 -7.67431641e-05 2.87839900e+00] [ 1.29226283e-02 -8.48864493e-04 9.99916139e-01 2.04182403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.43925415399997 meters 0.03356079859956715 Centerline is valid? [True, True] Translation: X:471.62, Y:2.88, Z:2.04 [[ 9.97161147e-01 -7.41521341e-02 -1.30807947e-02 4.71619180e+02] [ 7.41574726e-02 9.97246541e-01 -7.71149537e-05 2.88039578e+00] [ 1.30504955e-02 -8.93142641e-04 9.99914440e-01 2.04199135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.49925415399997 meters 0.03341000013037864 Centerline is valid? [True, True] Translation: X:471.68, Y:2.88, Z:2.04 [[ 9.97195915e-01 -7.38094154e-02 -1.23481300e-02 4.71681813e+02] [ 7.38141556e-02 9.97272012e-01 -7.20515911e-05 2.88087933e+00] [ 1.23197626e-02 -8.39617240e-04 9.99923756e-01 2.04293880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.559254154 meters 0.04257777929569926 Centerline is valid? [True, True] Translation: X:471.74, Y:2.87, Z:2.04 [[ 9.97402241e-01 -7.09462499e-02 -1.24659078e-02 4.71741920e+02] [ 7.09508624e-02 9.97479809e-01 -7.24089697e-05 2.87086312e+00] [ 1.24396285e-02 -8.12246042e-04 9.99922295e-01 2.04102148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.619254154 meters 0.031019891635623693 Centerline is valid? [True, True] Translation: X:471.80, Y:2.89, Z:2.04 [[ 9.97941717e-01 -6.25590935e-02 -1.40957062e-02 4.71802510e+02] [ 6.25641596e-02 9.98040941e-01 -8.17011028e-05 2.89151903e+00] [ 1.40732030e-02 -8.00353071e-04 9.99900647e-01 2.04195256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.679254154 meters 0.024938566967585823 Centerline is valid? [True, True] Translation: X:471.86, Y:2.91, Z:2.04 [[ 9.98597928e-01 -5.08136308e-02 -1.48375729e-02 4.71862622e+02] [ 5.08179518e-02 9.98707929e-01 -8.59103509e-05 2.90604914e+00] [ 1.48227671e-02 -6.68225164e-04 9.99889913e-01 2.04222870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.739254154 meters 0.020751090453049768 Centerline is valid? [True, True] Translation: X:471.92, Y:2.92, Z:2.04 [[ 9.99179961e-01 -3.76462321e-02 -1.49052887e-02 4.71923654e+02] [ 3.76491309e-02 9.99291016e-01 -8.61702581e-05 2.91992731e+00] [ 1.48979651e-02 -4.75071571e-04 9.99888906e-01 2.04368401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.799254154 meters 0.01759120082486199 Centerline is valid? [True, True] Translation: X:471.98, Y:2.93, Z:2.05 [[ 9.99482795e-01 -2.89580871e-02 -1.39847172e-02 4.71983995e+02] [ 2.89597895e-02 9.99580574e-01 -8.08016750e-05 2.93038625e+00] [ 1.39811915e-02 -3.24234583e-04 9.99902206e-01 2.04513996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.859254154 meters 0.015660851264026023 Centerline is valid? [True, True] Translation: X:472.04, Y:2.94, Z:2.05 [[ 9.99751690e-01 -1.79765221e-02 -1.31682745e-02 4.72044707e+02] [ 1.79770812e-02 9.99838396e-01 -7.59248768e-05 2.93997084e+00] [ 1.31675113e-02 -1.60821116e-04 9.99913292e-01 2.04570166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.919254154 meters 0.015069763817922886 Centerline is valid? [True, True] Translation: X:472.10, Y:2.95, Z:2.05 [[ 9.99869820e-01 -9.74895079e-03 -1.28569576e-02 4.72104158e+02] [ 9.74880614e-03 9.99952477e-01 -7.39244544e-05 2.94747086e+00] [ 1.28570673e-02 -5.14251565e-05 9.99917343e-01 2.04594527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.979254154 meters 0.015084417657914023 Centerline is valid? [True, True] Translation: X:472.16, Y:2.95, Z:2.05 [[ 9.99882558e-01 -7.61149227e-03 -1.33016924e-02 4.72162008e+02] [ 7.61111508e-03 9.99971032e-01 -7.89793637e-05 2.94976104e+00] [ 1.33019082e-02 -2.22706231e-05 9.99911525e-01 2.04590383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.039254154 meters 0.014855766097640211 Centerline is valid? [True, True] Translation: X:472.22, Y:2.95, Z:2.05 [[ 9.99852106e-01 -8.66893911e-03 -1.48531659e-02 4.72220690e+02] [ 8.66852480e-03 9.99962423e-01 -9.22756230e-05 2.94904699e+00] [ 1.48534077e-02 -3.64930613e-05 9.99889681e-01 2.04550026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.099254154 meters 0.01507885580025548 Centerline is valid? [True, True] Translation: X:472.28, Y:2.95, Z:2.05 [[ 9.99776973e-01 -1.41039100e-02 -1.57189295e-02 4.72279652e+02] [ 1.41040859e-02 9.99900527e-01 -9.96723648e-05 2.94523031e+00] [ 1.57187716e-02 -1.22050996e-04 9.99876445e-01 2.04558295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.159254154 meters 0.015470804339410433 Centerline is valid? [True, True] Translation: X:472.34, Y:2.94, Z:2.05 [[ 9.99701082e-01 -1.87838907e-02 -1.56496476e-02 4.72338794e+02] [ 1.87846203e-02 9.99823548e-01 -1.00385976e-04 2.94126639e+00] [ 1.56487718e-02 -1.93616719e-04 9.99877532e-01 2.04598326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.219254154 meters 0.016596111806376594 Centerline is valid? [True, True] Translation: X:472.40, Y:2.94, Z:2.05 [[ 9.99587708e-01 -2.43421311e-02 -1.52274059e-02 4.72397992e+02] [ 2.43434495e-02 9.99703649e-01 -9.87947164e-05 2.93553476e+00] [ 1.52252981e-02 -2.71933602e-04 9.99884051e-01 2.04645584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.279254154 meters 0.01689625317790111 Centerline is valid? [True, True] Translation: X:472.46, Y:2.93, Z:2.05 [[ 9.99536675e-01 -2.67975661e-02 -1.44334946e-02 4.72458173e+02] [ 2.67990020e-02 9.99640838e-01 -9.39523396e-05 2.93290755e+00] [ 1.44308284e-02 -2.92894443e-04 9.99895827e-01 2.04798567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.339254154 meters 0.01744128730072288 Centerline is valid? [True, True] Translation: X:472.52, Y:2.93, Z:2.05 [[ 9.99502727e-01 -2.81781192e-02 -1.41524402e-02 4.72518749e+02] [ 2.81796458e-02 9.99602871e-01 -9.15716543e-05 2.92956072e+00] [ 1.41494002e-02 -3.07284634e-04 9.99899845e-01 2.04907598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.399254154 meters 0.01729088670871798 Centerline is valid? [True, True] Translation: X:472.58, Y:2.93, Z:2.05 [[ 9.99516081e-01 -2.79519553e-02 -1.36488903e-02 4.72580622e+02] [ 2.79533644e-02 9.99609225e-01 -8.75624763e-05 2.92715412e+00] [ 1.36460042e-02 -2.94012300e-04 9.99906846e-01 2.04869948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.459254154 meters 0.017070569198269218 Centerline is valid? [True, True] Translation: X:472.64, Y:2.93, Z:2.05 [[ 9.99517973e-01 -2.79359605e-02 -1.35426742e-02 4.72642143e+02] [ 2.79373541e-02 9.99609672e-01 -8.63042314e-05 2.92639264e+00] [ 1.35397991e-02 -2.92083854e-04 9.99908290e-01 2.04917158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.519254154 meters 0.017093087062682328 Centerline is valid? [True, True] Translation: X:472.70, Y:2.92, Z:2.05 [[ 9.99532198e-01 -2.65180043e-02 -1.52374982e-02 4.72703179e+02] [ 2.65196127e-02 9.99648289e-01 -9.65303046e-05 2.92432016e+00] [ 1.52346988e-02 -3.07607403e-04 9.99883898e-01 2.04793220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.579254154 meters 0.016376030377017545 Centerline is valid? [True, True] Translation: X:472.76, Y:2.92, Z:2.05 [[ 9.99587398e-01 -2.32214238e-02 -1.69055867e-02 4.72763488e+02] [ 2.32229353e-02 9.99730306e-01 -1.06920685e-04 2.92474926e+00] [ 1.69035102e-02 -2.85720777e-04 9.99857085e-01 2.04718403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.639254154 meters 0.015836881337420606 Centerline is valid? [True, True] Translation: X:472.82, Y:2.93, Z:2.05 [[ 9.99699609e-01 -1.67262642e-02 -1.79143549e-02 4.72823288e+02] [ 1.67269102e-02 9.99860089e-01 -1.13789970e-04 2.92677863e+00] [ 1.79137518e-02 -1.85896017e-04 9.99839519e-01 2.04643408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.699254154 meters 0.015087041601080072 Centerline is valid? [True, True] Translation: X:472.88, Y:2.93, Z:2.05 [[ 9.99772942e-01 -1.18504623e-02 -1.77096427e-02 4.72880762e+02] [ 1.18503049e-02 9.99929776e-01 -1.13830648e-04 2.92858189e+00] [ 1.77097480e-02 -9.60598633e-05 9.99843166e-01 2.04682830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.759254154 meters 0.01512529893831245 Centerline is valid? [True, True] Translation: X:472.94, Y:2.93, Z:2.05 [[ 9.99831528e-01 -6.07860959e-03 -1.73195507e-02 4.72938629e+02] [ 6.07755697e-03 9.99981525e-01 -1.13410604e-04 2.93097766e+00] [ 1.73199201e-02 8.13094192e-06 9.99849999e-01 2.04801911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.81925415399996 meters 0.015163230757045816 Centerline is valid? [True, True] Translation: X:473.00, Y:2.93, Z:2.05 [[ 9.99875095e-01 -2.70673409e-03 -1.55713805e-02 4.72997137e+02] [ 2.70542332e-03 9.99996335e-01 -1.05242253e-04 2.93075675e+00] [ 1.55716083e-02 6.31019316e-05 9.99878753e-01 2.04976902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.87925415399997 meters 0.015038916342254712 Centerline is valid? [True, True] Translation: X:473.05, Y:2.93, Z:2.05 [[ 9.99892276e-01 -2.05274035e-03 -1.45334882e-02 4.73054704e+02] [ 2.05147142e-03 9.99997890e-01 -1.02218530e-04 2.92780627e+00] [ 1.45336673e-02 7.23924829e-05 9.99894378e-01 2.05184146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.93925415399997 meters 0.01481624775315373 Centerline is valid? [True, True] Translation: X:473.11, Y:2.92, Z:2.05 [[ 9.99906454e-01 -4.87235627e-03 -1.27805620e-02 4.73112577e+02] [ 4.87158111e-03 9.99988130e-01 -9.17826338e-05 2.92321235e+00] [ 1.27808575e-02 2.95125032e-05 9.99918321e-01 2.05360093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.99925415399997 meters 0.014710439375476697 Centerline is valid? [True, True] Translation: X:473.17, Y:2.92, Z:2.05 [[ 9.99898239e-01 -7.97830594e-03 -1.18262039e-02 4.73171465e+02] [ 7.97784869e-03 9.99968173e-01 -8.58404972e-05 2.91874706e+00] [ 1.18265123e-02 -8.51590316e-06 9.99930064e-01 2.05431336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.059254154 meters 0.016285062037997667 Centerline is valid? [True, True] Translation: X:473.23, Y:2.91, Z:2.05 [[ 9.99843866e-01 -1.31485571e-02 -1.18050308e-02 4.73229031e+02] [ 1.31484490e-02 9.99913552e-01 -8.67744652e-05 2.91013932e+00] [ 1.18051512e-02 -6.84569281e-05 9.99930314e-01 2.05249435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.119254154 meters 0.016165784887835558 Centerline is valid? [True, True] Translation: X:473.29, Y:2.90, Z:2.05 [[ 9.99797191e-01 -1.67031640e-02 -1.12508600e-02 4.73287393e+02] [ 1.67032791e-02 9.99860487e-01 -8.37471702e-05 2.90493178e+00] [ 1.12506892e-02 -1.04196069e-04 9.99936704e-01 2.05343220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.179254154 meters 0.015349848527215488 Centerline is valid? [True, True] Translation: X:473.35, Y:2.90, Z:2.05 [[ 9.99772968e-01 -1.82668641e-02 -1.09697068e-02 4.73347196e+02] [ 1.82670607e-02 9.99833140e-01 -8.22796547e-05 2.90112138e+00] [ 1.09693794e-02 -1.18123326e-04 9.99939828e-01 2.05489716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.239254154 meters 0.015372156241106492 Centerline is valid? [True, True] Translation: X:473.41, Y:2.89, Z:2.06 [[ 9.99760417e-01 -1.94032112e-02 -1.01303112e-02 4.73406830e+02] [ 1.94034336e-02 9.99811733e-01 -7.63409581e-05 2.89364520e+00] [ 1.01298853e-02 -1.20240153e-04 9.99948684e-01 2.05559966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.299254154 meters 0.01526903835193086 Centerline is valid? [True, True] Translation: X:473.47, Y:2.89, Z:2.06 [[ 9.99772704e-01 -1.91464642e-02 -9.37833024e-03 4.73467786e+02] [ 1.91466421e-02 9.99816684e-01 -7.08218981e-05 2.88911022e+00] [ 9.37796702e-03 -1.08757732e-04 9.99956020e-01 2.05562611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.359254154 meters 0.01497750122596698 Centerline is valid? [True, True] Translation: X:473.53, Y:2.89, Z:2.06 [[ 9.99776881e-01 -1.88586971e-02 -9.51515355e-03 4.73528541e+02] [ 1.88588672e-02 9.99822153e-01 -7.18551403e-05 2.88857028e+00] [ 9.51481640e-03 -1.07605909e-04 9.99954727e-01 2.05585806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.419254154 meters 0.015881373446799886 Centerline is valid? [True, True] Translation: X:473.59, Y:2.88, Z:2.05 [[ 9.99819986e-01 -1.63499581e-02 -9.62674713e-03 4.73589316e+02] [ 1.63500194e-02 9.99866327e-01 -7.23425256e-05 2.88257398e+00] [ 9.62664309e-03 -8.50679992e-05 9.99953659e-01 2.05392182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.479254154 meters 0.014428513745993805 Centerline is valid? [True, True] Translation: X:473.65, Y:2.88, Z:2.06 [[ 9.99860650e-01 -1.39723654e-02 -9.13533272e-03 4.73649215e+02] [ 1.39723223e-02 9.99902380e-01 -6.85413632e-05 2.87934725e+00] [ 9.13539861e-03 -5.91100016e-05 9.99958270e-01 2.05579931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.539254154 meters 0.014310703337678456 Centerline is valid? [True, True] Translation: X:473.71, Y:2.87, Z:2.06 [[ 9.99890732e-01 -1.18561471e-02 -8.82929060e-03 4.73707574e+02] [ 1.18560209e-02 9.99929713e-01 -6.66454219e-05 2.87121135e+00] [ 8.82946017e-03 -3.80421138e-05 9.99961019e-01 2.05550728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.599254154 meters 0.014147257228759038 Centerline is valid? [True, True] Translation: X:473.77, Y:2.87, Z:2.06 [[ 9.99892519e-01 -1.15907327e-02 -8.97799467e-03 4.73767376e+02] [ 1.15905877e-02 9.99932825e-01 -6.81796186e-05 2.86916131e+00] [ 8.97818182e-03 -3.58879442e-05 9.99959695e-01 2.05581522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.659254154 meters 0.01512671001587395 Centerline is valid? [True, True] Translation: X:473.83, Y:2.86, Z:2.06 [[ 9.99890531e-01 -1.20887624e-02 -8.53161792e-03 4.73826687e+02] [ 1.20886393e-02 9.99926928e-01 -6.59988001e-05 2.86195564e+00] [ 8.53179233e-03 -3.71440764e-05 9.99963603e-01 2.05500681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.719254154 meters 0.015071843436435979 Centerline is valid? [True, True] Translation: X:473.89, Y:2.85, Z:2.06 [[ 9.99854647e-01 -1.51483234e-02 -7.82392706e-03 4.73885272e+02] [ 1.51483040e-02 9.99885256e-01 -6.17411237e-05 2.85216214e+00] [ 7.82396458e-03 -5.67870763e-05 9.99969391e-01 2.05515604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.779254154 meters 0.015368108615302524 Centerline is valid? [True, True] Translation: X:473.94, Y:2.84, Z:2.06 [[ 9.99726831e-01 -2.21241281e-02 -7.53562346e-03 4.73944736e+02] [ 2.21243061e-02 9.99755226e-01 -5.97497409e-05 2.83944243e+00] [ 7.53510085e-03 -1.06987021e-04 9.99971605e-01 2.05650581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.839254154 meters 0.01707263760853379 Centerline is valid? [True, True] Translation: X:474.00, Y:2.83, Z:2.06 [[ 9.99567119e-01 -2.84552925e-02 -7.47468444e-03 4.74004974e+02] [ 2.84556444e-02 9.99595054e-01 -5.92902485e-05 2.82924084e+00] [ 7.47334472e-03 -1.53432380e-04 9.99972062e-01 2.05683373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.899254154 meters 0.020544133423686595 Centerline is valid? [True, True] Translation: X:474.07, Y:2.81, Z:2.06 [[ 9.99243367e-01 -3.80866331e-02 -7.88044205e-03 4.74065724e+02] [ 3.80873242e-02 9.99274413e-01 -6.24152764e-05 2.81448919e+00] [ 7.87710129e-03 -2.37776900e-04 9.99968947e-01 2.05711609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.959254154 meters 0.023506956856505033 Centerline is valid? [True, True] Translation: X:474.13, Y:2.80, Z:2.06 [[ 9.98908609e-01 -4.60918368e-02 -7.55865164e-03 4.74125910e+02] [ 4.60927019e-02 9.98937165e-01 -5.98006469e-05 2.80412920e+00] [ 7.55337436e-03 -2.88663296e-04 9.99971431e-01 2.05737970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.019254154 meters 0.027179309810890485 Centerline is valid? [True, True] Translation: X:474.19, Y:2.80, Z:2.06 [[ 9.98695607e-01 -5.04048389e-02 -8.15092622e-03 4.74186561e+02] [ 5.04059900e-02 9.98728808e-01 -6.42827544e-05 2.79777672e+00] [ 8.14380499e-03 -3.46656601e-04 9.99966779e-01 2.05604195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.079254154 meters 0.031075581231034724 Centerline is valid? [True, True] Translation: X:474.25, Y:2.79, Z:2.05 [[ 9.98397174e-01 -5.57316752e-02 -9.85206764e-03 4.74246164e+02] [ 5.57336167e-02 9.98445671e-01 -7.75917794e-05 2.79108978e+00] [ 9.84107861e-03 -4.71623948e-04 9.99951464e-01 2.05468812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.139254154 meters 0.027638435162791446 Centerline is valid? [True, True] Translation: X:474.31, Y:2.79, Z:2.06 [[ 9.98119135e-01 -6.05080690e-02 -9.84714411e-03 4.74306689e+02] [ 6.05102406e-02 9.98167573e-01 -7.75321022e-05 2.79305057e+00] [ 9.83379126e-03 -5.18466784e-04 9.99951513e-01 2.05680951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.199254154 meters 0.02856632369279392 Centerline is valid? [True, True] Translation: X:474.37, Y:2.79, Z:2.06 [[ 9.97961456e-01 -6.30172517e-02 -1.00874936e-02 4.74368207e+02] [ 6.30196611e-02 9.98012283e-01 -7.91511975e-05 2.79236447e+00] [ 1.00724304e-02 -5.56720585e-04 9.99949117e-01 2.05689331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.259254154 meters 0.029020168420270376 Centerline is valid? [True, True] Translation: X:474.43, Y:2.79, Z:2.06 [[ 9.97785936e-01 -6.58067965e-02 -9.62760604e-03 4.74429261e+02] [ 6.58091230e-02 9.97832227e-01 -7.52943213e-05 2.79438777e+00] [ 9.61169045e-03 -5.58456695e-04 9.99953651e-01 2.05744800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.31925415399996 meters 0.028977394318558176 Centerline is valid? [True, True] Translation: X:474.49, Y:2.80, Z:2.06 [[ 9.97725205e-01 -6.66470254e-02 -1.01286600e-02 4.74491082e+02] [ 6.66496487e-02 9.97776437e-01 -7.87025197e-05 2.79657248e+00] [ 1.01113836e-02 -5.96548144e-04 9.99948701e-01 2.05745685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.37925415399997 meters 0.029231740794259376 Centerline is valid? [True, True] Translation: X:474.55, Y:2.80, Z:2.06 [[ 9.97707404e-01 -6.69233220e-02 -1.00600576e-02 4.74553302e+02] [ 6.69259313e-02 9.97757943e-01 -7.74244886e-05 2.79886159e+00] [ 1.00426838e-02 -5.96031735e-04 9.99949393e-01 2.05830127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.43925415399997 meters 0.032317419426819656 Centerline is valid? [True, True] Translation: X:474.61, Y:2.80, Z:2.06 [[ 9.97713991e-01 -6.65904260e-02 -1.15111914e-02 4.74614472e+02] [ 6.65938292e-02 9.97780163e-01 -8.78290337e-05 2.80226734e+00] [ 1.14914870e-02 -6.78946060e-04 9.99933740e-01 2.05720521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.49925415399997 meters 0.031051206172589284 Centerline is valid? [True, True] Translation: X:474.68, Y:2.81, Z:2.06 [[ 9.97726083e-01 -6.62558294e-02 -1.23624150e-02 4.74676725e+02] [ 6.62597394e-02 9.97802404e-01 -9.34786009e-05 2.80834786e+00] [ 1.23414409e-02 -7.25864360e-04 9.99923578e-01 2.05760738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.559254154 meters 0.02837592507104122 Centerline is valid? [True, True] Translation: X:474.74, Y:2.82, Z:2.06 [[ 9.97806684e-01 -6.51751471e-02 -1.15767305e-02 4.74738713e+02] [ 6.51785131e-02 9.97873616e-01 -8.66999197e-05 2.81669541e+00] [ 1.15577646e-02 -6.68044324e-04 9.99932984e-01 2.05987792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.619254154 meters 0.028848030115451586 Centerline is valid? [True, True] Translation: X:474.80, Y:2.82, Z:2.06 [[ 9.97977906e-01 -6.25453015e-02 -1.13218789e-02 4.74798811e+02] [ 6.25483572e-02 9.98041931e-01 -8.43428296e-05 2.82125215e+00] [ 1.13049851e-02 -6.23992647e-04 9.99935902e-01 2.06024155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.679254154 meters 0.0283016566815466 Centerline is valid? [True, True] Translation: X:474.86, Y:2.83, Z:2.06 [[ 9.98394013e-01 -5.52850693e-02 -1.23675731e-02 4.74858017e+02] [ 5.52881591e-02 9.98470436e-01 -9.21958104e-05 2.83187496e+00] [ 1.23537531e-02 -5.91732603e-04 9.99923514e-01 2.05901408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.739254154 meters 0.02340344544310382 Centerline is valid? [True, True] Translation: X:474.92, Y:2.85, Z:2.06 [[ 9.98956315e-01 -4.42465710e-02 -1.13367515e-02 4.74918212e+02] [ 4.42484574e-02 9.99020554e-01 -8.44904708e-05 2.84698461e+00] [ 1.13293862e-02 -4.17231477e-04 9.99935733e-01 2.06118173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.799254154 meters 0.01944636898639316 Centerline is valid? [True, True] Translation: X:474.98, Y:2.86, Z:2.06 [[ 9.99372599e-01 -3.39052124e-02 -1.02393383e-02 4.74977890e+02] [ 3.39062083e-02 9.99425016e-01 -7.63599516e-05 2.86016885e+00] [ 1.02360398e-02 -2.70865093e-04 9.99947574e-01 2.06288755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.859254154 meters 0.01775909456531858 Centerline is valid? [True, True] Translation: X:475.04, Y:2.87, Z:2.06 [[ 9.99532455e-01 -2.85542670e-02 -1.09327858e-02 4.75038629e+02] [ 2.85550828e-02 9.99592217e-01 -8.15042950e-05 2.86786786e+00] [ 1.09306549e-02 -2.30720416e-04 9.99940232e-01 2.06248751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.919254154 meters 0.017376375184917747 Centerline is valid? [True, True] Translation: X:475.10, Y:2.87, Z:2.06 [[ 9.99608668e-01 -2.50921154e-02 -1.23651581e-02 4.75098900e+02] [ 2.50928969e-02 9.99685119e-01 -9.19648687e-05 2.87394294e+00] [ 1.23635721e-02 -2.18348757e-04 9.99923544e-01 2.06111678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.979254154 meters 0.016347777470870732 Centerline is valid? [True, True] Translation: X:475.16, Y:2.88, Z:2.06 [[ 9.99589453e-01 -2.50338432e-02 -1.39367385e-02 4.75159299e+02] [ 2.50348315e-02 9.99686574e-01 -1.03570426e-04 2.87996706e+00] [ 1.39349631e-02 -2.45375995e-04 9.99902874e-01 2.06196217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.039254154 meters 0.016533613237023778 Centerline is valid? [True, True] Translation: X:475.22, Y:2.88, Z:2.06 [[ 9.99602481e-01 -2.46447421e-02 -1.36936394e-02 4.75218391e+02] [ 2.46456575e-02 9.99696244e-01 -1.01927027e-04 2.88284581e+00] [ 1.36919919e-02 -2.35602238e-04 9.99906233e-01 2.06237455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.099254154 meters 0.01585993065230504 Centerline is valid? [True, True] Translation: X:475.28, Y:2.89, Z:2.06 [[ 9.99628266e-01 -2.40169232e-02 -1.29041193e-02 4.75278265e+02] [ 2.40176788e-02 9.99711529e-01 -9.64317325e-05 2.88646939e+00] [ 1.29027128e-02 -2.13531107e-04 9.99916734e-01 2.06364506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.159254154 meters 0.01564263192512143 Centerline is valid? [True, True] Translation: X:475.34, Y:2.89, Z:2.06 [[ 9.99645708e-01 -2.37981054e-02 -1.19209587e-02 4.75339063e+02] [ 2.37987330e-02 9.99716766e-01 -8.92321823e-05 2.88913698e+00] [ 1.19197058e-02 -1.94503144e-04 9.99928939e-01 2.06430332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.219254154 meters 0.015704916342019676 Centerline is valid? [True, True] Translation: X:475.40, Y:2.89, Z:2.06 [[ 9.99610351e-01 -2.53182282e-02 -1.17530457e-02 4.75399159e+02] [ 2.53189432e-02 9.99679420e-01 -8.79752998e-05 2.88912932e+00] [ 1.17515052e-02 -2.09633676e-04 9.99930927e-01 2.06441849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.279254154 meters 0.0163877835356242 Centerline is valid? [True, True] Translation: X:475.46, Y:2.89, Z:2.06 [[ 9.99506409e-01 -2.91655626e-02 -1.16751353e-02 4.75459586e+02] [ 2.91665305e-02 9.99574562e-01 -8.73921160e-05 2.88577432e+00] [ 1.16727171e-02 -2.53174210e-04 9.99931839e-01 2.06325297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.339254154 meters 0.016925749342058823 Centerline is valid? [True, True] Translation: X:475.52, Y:2.88, Z:2.06 [[ 9.99421261e-01 -3.15566477e-02 -1.27012126e-02 4.75520749e+02] [ 3.15579902e-02 9.99501918e-01 -9.47617866e-05 2.88382146e+00] [ 1.26978767e-02 -3.06117798e-04 9.99919332e-01 2.06237961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.399254154 meters 0.01887834059561499 Centerline is valid? [True, True] Translation: X:475.58, Y:2.88, Z:2.06 [[ 9.99419264e-01 -3.08494190e-02 -1.44723302e-02 4.75580992e+02] [ 3.08510933e-02 9.99523986e-01 -1.07602550e-04 2.88194402e+00] [ 1.44687606e-02 -3.38947148e-04 9.99895265e-01 2.06053209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.459254154 meters 0.016040856602890646 Centerline is valid? [True, True] Translation: X:475.64, Y:2.88, Z:2.06 [[ 9.99575878e-01 -2.55377142e-02 -1.39960385e-02 4.75641753e+02] [ 2.55387631e-02 9.99673827e-01 -1.03805971e-04 2.88446248e+00] [ 1.39941243e-02 -2.53679567e-04 9.99902045e-01 2.06172372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.519254154 meters 0.01572673146589196 Centerline is valid? [True, True] Translation: X:475.70, Y:2.89, Z:2.06 [[ 9.99769135e-01 -1.69114898e-02 -1.32543793e-02 4.75700524e+02] [ 1.69116671e-02 9.99856983e-01 -9.87092073e-05 2.88818025e+00] [ 1.32541530e-02 -1.25467231e-04 9.99912152e-01 2.06212855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.579254154 meters 0.014313000140680677 Centerline is valid? [True, True] Translation: X:475.76, Y:2.89, Z:2.06 [[ 9.99895537e-01 -9.71266373e-03 -1.07042094e-02 4.75759250e+02] [ 9.71234739e-03 9.99952831e-01 -8.15371845e-05 2.89135785e+00] [ 1.07044965e-02 -2.24343337e-05 9.99942705e-01 2.06401439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.639254154 meters 0.01407331888488527 Centerline is valid? [True, True] Translation: X:475.82, Y:2.89, Z:2.06 [[ 9.99923337e-01 -6.44165798e-03 -1.05747854e-02 4.75816956e+02] [ 6.44113526e-03 9.99979252e-01 -8.34882830e-05 2.88934866e+00] [ 1.05751038e-02 1.53682595e-05 9.99944082e-01 2.06407665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.699254154 meters 0.014089935987097417 Centerline is valid? [True, True] Translation: X:475.87, Y:2.89, Z:2.06 [[ 9.99918604e-01 -7.37419051e-03 -1.04118085e-02 4.75874745e+02] [ 7.37370258e-03 9.99972810e-01 -8.52501748e-05 2.88581088e+00] [ 1.04121541e-02 8.46965619e-06 9.99945792e-01 2.06392871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.759254154 meters 0.014231053020621302 Centerline is valid? [True, True] Translation: X:475.93, Y:2.88, Z:2.06 [[ 9.99848719e-01 -1.38582846e-02 -1.05112809e-02 4.75932494e+02] [ 1.38581259e-02 9.99903968e-01 -8.79299874e-05 2.87548627e+00] [ 1.05114900e-02 -5.77499690e-05 9.99944751e-01 2.06252459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.81925415399996 meters 0.0167777227218074 Centerline is valid? [True, True] Translation: X:475.99, Y:2.86, Z:2.06 [[ 9.99652140e-01 -2.40972917e-02 -1.07200188e-02 4.75991767e+02] [ 2.40977070e-02 9.99709604e-01 -9.04481020e-05 2.86233113e+00] [ 1.07190853e-02 -1.67911233e-04 9.99942535e-01 2.06141902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.87925415399997 meters 0.017051262009480005 Centerline is valid? [True, True] Translation: X:476.05, Y:2.85, Z:2.06 [[ 9.99460842e-01 -3.13766422e-02 -9.67118689e-03 4.76051053e+02] [ 3.13773192e-02 9.99507607e-01 -8.17572260e-05 2.85441177e+00] [ 9.66899013e-03 -2.21742772e-04 9.99953230e-01 2.06250018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.93925415399997 meters 0.019535064117143335 Centerline is valid? [True, True] Translation: X:476.11, Y:2.85, Z:2.06 [[ 9.99148558e-01 -4.02504286e-02 -9.05880514e-03 4.76111411e+02] [ 4.02513877e-02 9.99189582e-01 -7.64897962e-05 2.84536510e+00] [ 9.05454247e-03 -2.88204808e-04 9.99958965e-01 2.06341425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.99925415399997 meters 0.020760100904246553 Centerline is valid? [True, True] Translation: X:476.17, Y:2.84, Z:2.06 [[ 9.98965942e-01 -4.47811159e-02 -7.85481041e-03 4.76172880e+02] [ 4.47819781e-02 9.98996782e-01 -6.61682083e-05 2.84047268e+00] [ 7.84989341e-03 -2.85654161e-04 9.99969148e-01 2.06451589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.059254154 meters 0.02356274664312903 Centerline is valid? [True, True] Translation: X:476.23, Y:2.83, Z:2.07 [[ 9.98679221e-01 -5.10816488e-02 -5.52083523e-03 4.76233647e+02] [ 5.10821715e-02 9.98694453e-01 -4.63874270e-05 2.83297416e+00] [ 5.51599706e-03 -2.35690093e-04 9.99984759e-01 2.06594589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.119254154 meters 0.026051563037888296 Centerline is valid? [True, True] Translation: X:476.29, Y:2.83, Z:2.06 [[ 9.98427526e-01 -5.57357902e-02 -5.99970674e-03 4.76294910e+02] [ 5.57364917e-02 9.98445512e-01 -5.03562475e-05 2.82867312e+00] [ 5.99318691e-03 -2.84125541e-04 9.99982000e-01 2.06410979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.179254154 meters 0.02588447296556727 Centerline is valid? [True, True] Translation: X:476.36, Y:2.83, Z:2.06 [[ 9.98287157e-01 -5.81334276e-02 -6.57693069e-03 4.76357097e+02] [ 5.81343240e-02 9.98308769e-01 -5.49538822e-05 2.82717974e+00] [ 6.56900224e-03 -3.27485665e-04 9.99978370e-01 2.06371932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.239254154 meters 0.026525810129833186 Centerline is valid? [True, True] Translation: X:476.42, Y:2.83, Z:2.06 [[ 9.98298688e-01 -5.78672954e-02 -7.14888261e-03 4.76419548e+02] [ 5.78683517e-02 9.98324221e-01 -5.91844481e-05 2.82701150e+00] [ 7.14032750e-03 -3.54610296e-04 9.99974445e-01 2.06309251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.299254154 meters 0.025404406245898396 Centerline is valid? [True, True] Translation: X:476.48, Y:2.83, Z:2.06 [[ 9.98484539e-01 -5.43140860e-02 -8.86593415e-03 4.76481390e+02] [ 5.43155766e-02 9.98523817e-01 -7.27534194e-05 2.83291137e+00] [ 8.85679794e-03 -4.08915161e-04 9.99960694e-01 2.06196366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.359254154 meters 0.022489029927966295 Centerline is valid? [True, True] Translation: X:476.54, Y:2.84, Z:2.06 [[ 9.98685300e-01 -5.07202929e-02 -7.42452006e-03 4.76542983e+02] [ 5.07212418e-02 9.98712848e-01 -6.05507258e-05 2.83916455e+00] [ 7.41803472e-03 -3.16109757e-04 9.99972436e-01 2.06399052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.419254154 meters 0.02174195291651811 Centerline is valid? [True, True] Translation: X:476.60, Y:2.84, Z:2.06 [[ 9.99049930e-01 -4.28385515e-02 -8.00603280e-03 4.76602040e+02] [ 4.28394037e-02 9.99081969e-01 -6.50906930e-05 2.84469796e+00] [ 8.00147141e-03 -2.77944819e-04 9.99967949e-01 2.06339250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.479254154 meters 0.018918333807759598 Centerline is valid? [True, True] Translation: X:476.66, Y:2.85, Z:2.06 [[ 9.99280440e-01 -3.70058587e-02 -8.31673917e-03 4.76662642e+02] [ 3.70065765e-02 9.99315020e-01 -6.76264349e-05 2.85314806e+00] [ 8.31354494e-03 -2.40196270e-04 9.99965413e-01 2.06340835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.539254154 meters 0.016877341485418935 Centerline is valid? [True, True] Translation: X:476.72, Y:2.86, Z:2.06 [[ 9.99492465e-01 -3.05062285e-02 -9.17512204e-03 4.76723715e+02] [ 3.05068299e-02 9.99534556e-01 -7.44332108e-05 2.86207294e+00] [ 9.17312220e-03 -2.05508454e-04 9.99957905e-01 2.06350250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.599254154 meters 0.01607079441939232 Centerline is valid? [True, True] Translation: X:476.78, Y:2.87, Z:2.06 [[ 9.99540328e-01 -2.86378091e-02 -9.95025895e-03 4.76784970e+02] [ 2.86384267e-02 9.99589833e-01 -8.04313962e-05 2.86786143e+00] [ 9.94848106e-03 -2.04565338e-04 9.99950492e-01 2.06408903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.659254154 meters 0.016536109676014227 Centerline is valid? [True, True] Translation: X:476.85, Y:2.87, Z:2.06 [[ 9.99519725e-01 -2.93242179e-02 -1.00204370e-02 4.76846101e+02] [ 2.93248824e-02 9.99569930e-01 -8.06316443e-05 2.87006832e+00] [ 1.00184920e-02 -2.13255218e-04 9.99949791e-01 2.06468418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.719254154 meters 0.01627054188891499 Centerline is valid? [True, True] Translation: X:476.91, Y:2.87, Z:2.07 [[ 9.99491919e-01 -3.06047410e-02 -8.90247098e-03 4.76907707e+02] [ 3.06053190e-02 9.99531545e-01 -7.13270926e-05 2.87241904e+00] [ 8.90048352e-03 -2.01172112e-04 9.99960370e-01 2.06656691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.779254154 meters 0.01807564361181752 Centerline is valid? [True, True] Translation: X:476.97, Y:2.87, Z:2.07 [[ 9.99435483e-01 -3.27374252e-02 -7.54826292e-03 4.76968398e+02] [ 3.27379034e-02 9.99463969e-01 -6.02232548e-05 2.87221122e+00] [ 7.54618837e-03 -1.86925045e-04 9.99971510e-01 2.06682798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.839254154 meters 0.017261169736461884 Centerline is valid? [True, True] Translation: X:477.03, Y:2.88, Z:2.07 [[ 9.99472455e-01 -3.17380842e-02 -6.89249852e-03 4.77030803e+02] [ 3.17384615e-02 9.99496207e-01 -5.46628788e-05 2.87831741e+00] [ 6.89076102e-03 -1.64123257e-04 9.99976245e-01 2.06805552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.899254154 meters 0.016502491858512706 Centerline is valid? [True, True] Translation: X:477.09, Y:2.88, Z:2.07 [[ 9.99533986e-01 -2.96804132e-02 -7.13328551e-03 4.77093045e+02] [ 2.96807687e-02 9.99559427e-01 -5.60421086e-05 2.88288876e+00] [ 7.13180613e-03 -1.55705405e-04 9.99974556e-01 2.06829534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.959254154 meters 0.01592312094528112 Centerline is valid? [True, True] Translation: X:477.15, Y:2.89, Z:2.07 [[ 9.99621784e-01 -2.60991437e-02 -8.66741558e-03 4.77154296e+02] [ 2.60995387e-02 9.99659347e-01 -6.75500133e-05 2.88854890e+00] [ 8.66622600e-03 -1.58691083e-04 9.99962435e-01 2.06757373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.019254154 meters 0.015213286433372131 Centerline is valid? [True, True] Translation: X:477.22, Y:2.89, Z:2.07 [[ 9.99701249e-01 -2.30151974e-02 -8.22875751e-03 4.77215642e+02] [ 2.30154514e-02 9.99735107e-01 -6.38403732e-05 2.89381100e+00] [ 8.22804707e-03 -1.25567268e-04 9.99966141e-01 2.06772927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.079254154 meters 0.015075187083808924 Centerline is valid? [True, True] Translation: X:477.28, Y:2.90, Z:2.07 [[ 9.99707796e-01 -2.24455604e-02 -8.97326126e-03 4.77277403e+02] [ 2.24458426e-02 9.99748058e-01 -6.92711283e-05 2.89530411e+00] [ 8.97255535e-03 -1.32161523e-04 9.99959737e-01 2.06706519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.139254154 meters 0.015290580889626563 Centerline is valid? [True, True] Translation: X:477.34, Y:2.90, Z:2.07 [[ 9.99655379e-01 -2.37253036e-02 -1.12353126e-02 4.77339064e+02] [ 2.37258319e-02 9.99718499e-01 -8.62761101e-05 2.89711271e+00] [ 1.12341967e-02 -1.80320760e-04 9.99936878e-01 2.06561321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.199254154 meters 0.01584148191705555 Centerline is valid? [True, True] Translation: X:477.40, Y:2.90, Z:2.06 [[ 9.99540902e-01 -2.72629843e-02 -1.32179882e-02 4.77399231e+02] [ 2.72640252e-02 9.99628262e-01 -1.01471733e-04 2.89606512e+00] [ 1.32158410e-02 -2.58950416e-04 9.99912633e-01 2.06458903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.259254154 meters 0.016795971435289627 Centerline is valid? [True, True] Translation: X:477.46, Y:2.89, Z:2.07 [[ 9.99348383e-01 -3.32176091e-02 -1.41208997e-02 4.77459163e+02] [ 3.32193873e-02 9.99448078e-01 -1.08670183e-04 2.89391085e+00] [ 1.41167159e-02 -3.60488266e-04 9.99900289e-01 2.06503348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.31925415399996 meters 0.018910433613192185 Centerline is valid? [True, True] Translation: X:477.52, Y:2.89, Z:2.07 [[ 9.99205226e-01 -3.74963386e-02 -1.35255349e-02 4.77519563e+02] [ 3.74983629e-02 9.99296684e-01 -1.03997772e-04 2.89033668e+00] [ 1.35199217e-02 -4.03270299e-04 9.99908520e-01 2.06518609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.37925415399997 meters 0.021265628764997217 Centerline is valid? [True, True] Translation: X:477.58, Y:2.89, Z:2.07 [[ 9.98937030e-01 -4.45351168e-02 -1.18925732e-02 4.77580849e+02] [ 4.45371836e-02 9.99007723e-01 -9.11280859e-05 2.88651855e+00] [ 1.18848309e-02 -4.38630497e-04 9.99929277e-01 2.06670977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.43925415399997 meters 0.022756609690542096 Centerline is valid? [True, True] Translation: X:477.64, Y:2.89, Z:2.07 [[ 9.98697221e-01 -4.98580858e-02 -1.08642093e-02 4.77642366e+02] [ 4.98601289e-02 9.98756207e-01 -8.28808425e-05 2.88523542e+00] [ 1.08548287e-02 -4.58918008e-04 9.99940979e-01 2.06777721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.49925415399997 meters 0.02689010322941411 Centerline is valid? [True, True] Translation: X:477.70, Y:2.88, Z:2.07 [[ 9.98248920e-01 -5.82014649e-02 -1.05680430e-02 4.77703840e+02] [ 5.82038683e-02 9.98304715e-01 -8.02629080e-05 2.88046339e+00] [ 1.05547985e-02 -5.34978619e-04 9.99944153e-01 2.06859730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.559254154 meters 0.03265490919786377 Centerline is valid? [True, True] Translation: X:477.76, Y:2.88, Z:2.07 [[ 9.97963465e-01 -6.28242495e-02 -1.10470347e-02 4.77763613e+02] [ 6.28271615e-02 9.98024419e-01 -8.35845101e-05 2.87539050e+00] [ 1.10304616e-02 -6.10639548e-04 9.99938976e-01 2.06801074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.619254154 meters 0.030959536112727382 Centerline is valid? [True, True] Translation: X:477.82, Y:2.88, Z:2.07 [[ 9.97637986e-01 -6.78439322e-02 -1.07540500e-02 4.77824269e+02] [ 6.78469837e-02 9.97695735e-01 -8.12398431e-05 2.87983824e+00] [ 1.07347815e-02 -6.48581904e-04 9.99942170e-01 2.06945785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.679254154 meters 0.0316063077149583 Centerline is valid? [True, True] Translation: X:477.89, Y:2.88, Z:2.07 [[ 9.97681767e-01 -6.71430074e-02 -1.10864004e-02 4.77886356e+02] [ 6.71462128e-02 9.97743143e-01 -8.32543727e-05 2.88316930e+00] [ 1.10669699e-02 -6.61348430e-04 9.99938541e-01 2.06913460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.739254154 meters 0.03134633848570836 Centerline is valid? [True, True] Translation: X:477.95, Y:2.89, Z:2.07 [[ 9.97859042e-01 -6.42639116e-02 -1.21442438e-02 4.77948064e+02] [ 6.42675546e-02 9.97932700e-01 -9.04384058e-05 2.88788865e+00] [ 1.21249499e-02 -6.90236069e-04 9.99926252e-01 2.06802659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.799254154 meters 0.026568454218281565 Centerline is valid? [True, True] Translation: X:478.01, Y:2.90, Z:2.07 [[ 9.98332773e-01 -5.59849746e-02 -1.40483799e-02 4.78008253e+02] [ 5.59890356e-02 9.98431378e-01 -1.04363164e-04 2.90233884e+00] [ 1.40321861e-02 -6.82366079e-04 9.99901311e-01 2.06770402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.859254154 meters 0.023467328804442807 Centerline is valid? [True, True] Translation: X:478.07, Y:2.92, Z:2.07 [[ 9.98888638e-01 -4.48618362e-02 -1.44535257e-02 4.78068000e+02] [ 4.48649716e-02 9.98993054e-01 -1.07401194e-04 2.91571483e+00] [ 1.44437900e-02 -5.41175186e-04 9.99895537e-01 2.06822155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.919254154 meters 0.01747859035085362 Centerline is valid? [True, True] Translation: X:478.13, Y:2.93, Z:2.07 [[ 9.99385179e-01 -3.26376071e-02 -1.28082354e-02 4.78128483e+02] [ 3.26390656e-02 9.99467199e-01 -9.51948549e-05 2.93406839e+00] [ 1.28045181e-02 -3.22912510e-04 9.99917967e-01 2.07215099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.979254154 meters 0.015645863651741008 Centerline is valid? [True, True] Translation: X:478.19, Y:2.94, Z:2.07 [[ 9.99603721e-01 -2.55157783e-02 -1.18889178e-02 4.78189427e+02] [ 2.55165330e-02 9.99674396e-01 -8.82288087e-05 2.94275088e+00] [ 1.18872980e-02 -2.15170118e-04 9.99929320e-01 2.07388395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.039254154 meters 0.014510114845029164 Centerline is valid? [True, True] Translation: X:478.25, Y:2.95, Z:2.07 [[ 9.99781447e-01 -1.76695160e-02 -1.11734327e-02 4.78250661e+02] [ 1.76696955e-02 9.99843875e-01 -8.26568336e-05 2.95093536e+00] [ 1.11731487e-02 -1.14792385e-04 9.99937572e-01 2.07425686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.099254154 meters 0.014044592973683273 Centerline is valid? [True, True] Translation: X:478.31, Y:2.95, Z:2.07 [[ 9.99834409e-01 -1.39248396e-02 -1.17154921e-02 4.78310984e+02] [ 1.39247814e-02 9.99903042e-01 -8.65403561e-05 2.95495860e+00] [ 1.17155613e-02 -7.66096413e-05 9.99931368e-01 2.07465420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.159254154 meters 0.014095029150112253 Centerline is valid? [True, True] Translation: X:478.37, Y:2.96, Z:2.07 [[ 9.99843052e-01 -1.35098958e-02 -1.14609820e-02 4.78369232e+02] [ 1.35098085e-02 9.99908735e-01 -8.50421861e-05 2.95507725e+00] [ 1.14610849e-02 -6.98068333e-05 9.99934317e-01 2.07451293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.219254154 meters 0.01418306877025263 Centerline is valid? [True, True] Translation: X:478.43, Y:2.95, Z:2.08 [[ 9.99834731e-01 -1.46095366e-02 -1.08200153e-02 4.78427674e+02] [ 1.46095026e-02 9.99893272e-01 -8.21784835e-05 2.95314480e+00] [ 1.08200610e-02 -7.59101396e-05 9.99941459e-01 2.07530011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.279254154 meters 0.014303773817432537 Centerline is valid? [True, True] Translation: X:478.49, Y:2.95, Z:2.08 [[ 9.99808778e-01 -1.63682922e-02 -1.06998579e-02 4.78486431e+02] [ 1.63683440e-02 9.99866026e-01 -8.27415724e-05 2.95018438e+00] [ 1.06997787e-02 -9.24132037e-05 9.99942751e-01 2.07508331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.339254154 meters 0.015116260567641798 Centerline is valid? [True, True] Translation: X:478.55, Y:2.95, Z:2.07 [[ 9.99750244e-01 -1.98557152e-02 -1.02566833e-02 4.78546053e+02] [ 1.98559417e-02 9.99802848e-01 -7.97604408e-05 2.94603273e+00] [ 1.02562449e-02 -1.23915585e-04 9.99947396e-01 2.07399451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.399254154 meters 0.01582638386355758 Centerline is valid? [True, True] Translation: X:478.61, Y:2.94, Z:2.07 [[ 9.99681746e-01 -2.32004800e-02 -9.90683590e-03 4.78606455e+02] [ 2.32008539e-02 9.99730821e-01 -7.71958814e-05 2.94090350e+00] [ 9.90596017e-03 -1.52675739e-04 9.99950923e-01 2.07253530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.459254154 meters 0.01775977309202563 Centerline is valid? [True, True] Translation: X:478.67, Y:2.93, Z:2.07 [[ 9.99546757e-01 -2.87794853e-02 -8.83301573e-03 4.78667192e+02] [ 2.87800009e-02 9.99585768e-01 -6.87490268e-05 2.93294287e+00] [ 8.83133537e-03 -1.85496334e-04 9.99960986e-01 2.07200456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.519254154 meters 0.01997382995090847 Centerline is valid? [True, True] Translation: X:478.73, Y:2.93, Z:2.07 [[ 9.99401798e-01 -3.35320370e-02 -8.46449747e-03 4.78727826e+02] [ 3.35326827e-02 9.99437619e-01 -6.56620699e-05 2.92563915e+00] [ 8.46193899e-03 -2.18214517e-04 9.99964173e-01 2.07235884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.579254154 meters 0.021612613854635022 Centerline is valid? [True, True] Translation: X:478.79, Y:2.92, Z:2.07 [[ 9.99275566e-01 -3.68931743e-02 -9.34007325e-03 4.78788565e+02] [ 3.68941104e-02 9.99319178e-01 -7.21112462e-05 2.91829534e+00] [ 9.33637473e-03 -2.72534688e-04 9.99956378e-01 2.07193464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.639254154 meters 0.01991834211021441 Centerline is valid? [True, True] Translation: X:478.85, Y:2.92, Z:2.07 [[ 9.99231588e-01 -3.79688557e-02 -9.72625888e-03 4.78850645e+02] [ 3.79699272e-02 9.99278880e-01 -7.45417989e-05 2.91917065e+00] [ 9.72207535e-03 -2.94820821e-04 9.99952696e-01 2.07287740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.699254154 meters 0.021163158708990035 Centerline is valid? [True, True] Translation: X:478.91, Y:2.91, Z:2.07 [[ 9.99228235e-01 -3.81820676e-02 -9.22301128e-03 4.78912133e+02] [ 3.81830454e-02 9.99270759e-01 -7.01161373e-05 2.91486843e+00] [ 9.21896266e-03 -2.82100634e-04 9.99957465e-01 2.07341028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.759254154 meters 0.022344073020812774 Centerline is valid? [True, True] Translation: X:478.97, Y:2.91, Z:2.07 [[ 9.99299448e-01 -3.63552754e-02 -8.88292033e-03 4.78973566e+02] [ 3.63561144e-02 9.99338896e-01 -6.70677380e-05 2.91105342e+00] [ 8.87948606e-03 -2.55927714e-04 9.99960544e-01 2.07374301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.81925415399996 meters 0.020965032620077158 Centerline is valid? [True, True] Translation: X:479.04, Y:2.91, Z:2.07 [[ 9.99367811e-01 -3.42353948e-02 -9.58728086e-03 4.79035050e+02] [ 3.42362787e-02 9.99413764e-01 -7.19642665e-05 2.91298843e+00] [ 9.58412418e-03 -2.56314048e-04 9.99954038e-01 2.07364098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.87925415399997 meters 0.019012109750741617 Centerline is valid? [True, True] Translation: X:479.10, Y:2.92, Z:2.07 [[ 9.99418724e-01 -3.25623032e-02 -1.00950250e-02 4.79096191e+02] [ 3.25632014e-02 9.99469675e-01 -7.54179099e-05 2.91570073e+00] [ 1.00921271e-02 -2.53352261e-04 9.99949041e-01 2.07428724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.93925415399997 meters 0.018370421144729907 Centerline is valid? [True, True] Translation: X:479.16, Y:2.92, Z:2.07 [[ 9.99339696e-01 -3.47846530e-02 -1.04976407e-02 4.79158117e+02] [ 3.47857534e-02 9.99394790e-01 -7.78090196e-05 2.91619543e+00] [ 1.04939940e-02 -2.87410700e-04 9.99944895e-01 2.07449279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.99925415399997 meters 0.01935909151465981 Centerline is valid? [True, True] Translation: X:479.22, Y:2.91, Z:2.07 [[ 9.99194588e-01 -3.84031430e-02 -1.16350538e-02 4.79219774e+02] [ 3.84047486e-02 9.99262262e-01 -8.54827565e-05 2.91374576e+00] [ 1.16297530e-02 -3.61427407e-04 9.99932307e-01 2.07360639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.059254154 meters 0.021470048169221722 Centerline is valid? [True, True] Translation: X:479.28, Y:2.91, Z:2.07 [[ 9.98984083e-01 -4.32766680e-02 -1.25670991e-02 4.79279808e+02] [ 4.32789295e-02 9.99063024e-01 -9.20723843e-05 2.90966535e+00] [ 1.25593086e-02 -4.51911748e-04 9.99921027e-01 2.07263631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.119254154 meters 0.02195975488008902 Centerline is valid? [True, True] Translation: X:479.34, Y:2.91, Z:2.07 [[ 9.98941519e-01 -4.42257099e-02 -1.26462414e-02 4.79341723e+02] [ 4.42280835e-02 9.99021455e-01 -9.20519553e-05 2.91029716e+00] [ 1.26379375e-02 -4.67364499e-04 9.99920029e-01 2.07326086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.179254154 meters 0.02303724154487857 Centerline is valid? [True, True] Translation: X:479.40, Y:2.91, Z:2.07 [[ 9.99042222e-01 -4.23920698e-02 -1.08421158e-02 4.79402284e+02] [ 4.23937108e-02 9.99100979e-01 -7.85298807e-05 2.91135345e+00] [ 1.08356975e-02 -3.81182853e-04 9.99941219e-01 2.07476041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.239254154 meters 0.02214714372298587 Centerline is valid? [True, True] Translation: X:479.46, Y:2.92, Z:2.08 [[ 9.99213995e-01 -3.87348247e-02 -8.42641989e-03 4.79463524e+02] [ 3.87356877e-02 9.99249490e-01 -6.08276485e-05 2.91599608e+00] [ 8.42245192e-03 -2.65623331e-04 9.99964495e-01 2.07556183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.299254154 meters 0.019369707783107763 Centerline is valid? [True, True] Translation: X:479.53, Y:2.92, Z:2.08 [[ 9.99280563e-01 -3.72617971e-02 -7.06501142e-03 4.79526130e+02] [ 3.72623696e-02 9.99305515e-01 -5.06185223e-05 2.92121113e+00] [ 7.06199101e-03 -2.12676961e-04 9.99975041e-01 2.07707872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.359254154 meters 0.019956309045737117 Centerline is valid? [True, True] Translation: X:479.59, Y:2.92, Z:2.08 [[ 9.99392667e-01 -3.41942561e-02 -6.71186493e-03 4.79586994e+02] [ 3.41947069e-02 9.99415189e-01 -4.76112478e-05 2.92188842e+00] [ 6.70956779e-03 -1.81927922e-04 9.99977474e-01 2.07603121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.419254154 meters 0.018065434456509964 Centerline is valid? [True, True] Translation: X:479.65, Y:2.93, Z:2.08 [[ 9.99549097e-01 -2.90749228e-02 -7.50016210e-03 4.79648320e+02] [ 2.90753440e-02 9.99577221e-01 -5.29048418e-05 2.92768472e+00] [ 7.49852939e-03 -1.65188806e-04 9.99971872e-01 2.07564902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.479254154 meters 0.01760947528098926 Centerline is valid? [True, True] Translation: X:479.71, Y:2.93, Z:2.08 [[ 9.99670426e-01 -2.42600863e-02 -8.39569510e-03 4.79708794e+02] [ 2.42604464e-02 9.99705670e-01 -5.89639643e-05 2.93071065e+00] [ 8.39465447e-03 -1.44738780e-04 9.99964754e-01 2.07504930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.539254154 meters 0.01656635562446671 Centerline is valid? [True, True] Translation: X:479.77, Y:2.94, Z:2.07 [[ 9.99805361e-01 -1.75277230e-02 -9.05644397e-03 4.79770314e+02] [ 1.75278682e-02 9.99846373e-01 -6.33456367e-05 2.93583040e+00] [ 9.05616296e-03 -9.54068494e-05 9.99958988e-01 2.07448864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.599254154 meters 0.016134013252064164 Centerline is valid? [True, True] Translation: X:479.83, Y:2.94, Z:2.07 [[ 9.99831470e-01 -1.47536303e-02 -1.09253081e-02 4.79830827e+02] [ 1.47536781e-02 9.99891156e-01 -7.62213071e-05 2.93811779e+00] [ 1.09252435e-02 -8.49800178e-05 9.99940314e-01 2.07384198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.659254154 meters 0.015834183185960516 Centerline is valid? [True, True] Translation: X:479.89, Y:2.94, Z:2.07 [[ 9.99826702e-01 -1.43747478e-02 -1.18293125e-02 4.79889550e+02] [ 1.43747544e-02 9.99896674e-01 -8.44736351e-05 2.93866560e+00] [ 1.18293045e-02 -8.55844653e-05 9.99930028e-01 2.07359767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.719254154 meters 0.016151932311836585 Centerline is valid? [True, True] Translation: X:479.95, Y:2.94, Z:2.07 [[ 9.99794335e-01 -1.67705730e-02 -1.14033525e-02 4.79947840e+02] [ 1.67707149e-02 9.99859358e-01 -8.31866335e-05 2.93583316e+00] [ 1.14031438e-02 -1.08072850e-04 9.99934976e-01 2.07366313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.779254154 meters 0.016884789433806984 Centerline is valid? [True, True] Translation: X:480.01, Y:2.93, Z:2.08 [[ 9.99656596e-01 -2.41912716e-02 -1.00733181e-02 4.80007702e+02] [ 2.41917533e-02 9.99707334e-01 -7.40492265e-05 2.93028662e+00] [ 1.00721613e-02 -1.69667428e-04 9.99949260e-01 2.07619279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.839254154 meters 0.018842517030317626 Centerline is valid? [True, True] Translation: X:480.07, Y:2.92, Z:2.08 [[ 9.99377771e-01 -3.39480518e-02 -9.57081202e-03 4.80068859e+02] [ 3.39489331e-02 9.99423566e-01 -7.04136985e-05 2.92152697e+00] [ 9.56768549e-03 -2.54548972e-04 9.99954196e-01 2.07759440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.899254154 meters 0.020461904960668752 Centerline is valid? [True, True] Translation: X:480.13, Y:2.92, Z:2.08 [[ 9.99135206e-01 -4.06021756e-02 -8.96118109e-03 4.80129818e+02] [ 4.06032179e-02 9.99175347e-01 -6.56667758e-05 2.91629603e+00] [ 8.95645744e-03 -2.98242801e-04 9.99959846e-01 2.07771486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.959254154 meters 0.023298741737981375 Centerline is valid? [True, True] Translation: X:480.19, Y:2.91, Z:2.08 [[ 9.98788085e-01 -4.83702829e-02 -9.09274072e-03 4.80190923e+02] [ 4.83716791e-02 9.98829403e-01 -6.64257334e-05 2.90885339e+00] [ 9.08530982e-03 -3.73485906e-04 9.99958658e-01 2.07869116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.019254154 meters 0.024776075265425884 Centerline is valid? [True, True] Translation: X:480.25, Y:2.90, Z:2.08 [[ 9.98611805e-01 -5.18163930e-02 -9.46174874e-03 4.80251731e+02] [ 5.18180603e-02 9.98656539e-01 -6.90067003e-05 2.90487679e+00] [ 9.45261293e-03 -4.21378561e-04 9.99955234e-01 2.07896410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.079254154 meters 0.025738403893349977 Centerline is valid? [True, True] Translation: X:480.31, Y:2.90, Z:2.08 [[ 9.98501321e-01 -5.38639136e-02 -9.68451338e-03 4.80313517e+02] [ 5.38657602e-02 9.98548184e-01 -7.02580268e-05 2.90316025e+00] [ 9.67423762e-03 -4.51510942e-04 9.99953102e-01 2.07961050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.139254154 meters 0.025089373643046798 Centerline is valid? [True, True] Translation: X:480.38, Y:2.90, Z:2.08 [[ 9.98478434e-01 -5.41652719e-02 -1.03412164e-02 4.80375337e+02] [ 5.41674007e-02 9.98531866e-01 -7.43224035e-05 2.90444507e+00] [ 1.03300598e-02 -4.85947496e-04 9.99946525e-01 2.08009845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.199254154 meters 0.025465901784131488 Centerline is valid? [True, True] Translation: X:480.44, Y:2.91, Z:2.08 [[ 9.98567309e-01 -5.22665148e-02 -1.14691091e-02 4.80436650e+02] [ 5.22690170e-02 9.98633037e-01 -8.16789608e-05 2.90573036e+00] [ 1.14577003e-02 -5.17917118e-04 9.99934224e-01 2.07938402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.259254154 meters 0.025316038656247684 Centerline is valid? [True, True] Translation: X:480.50, Y:2.91, Z:2.08 [[ 9.98797589e-01 -4.74911497e-02 -1.21641369e-02 4.80496015e+02] [ 4.74936122e-02 9.98871538e-01 -8.65118014e-05 2.90730570e+00] [ 1.21545187e-02 -4.91311024e-04 9.99926010e-01 2.07880173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.31925415399996 meters 0.02215242119382434 Centerline is valid? [True, True] Translation: X:480.56, Y:2.92, Z:2.08 [[ 9.99006529e-01 -4.26290308e-02 -1.29892370e-02 4.80556249e+02] [ 4.26314272e-02 9.99090863e-01 -9.24639839e-05 2.91594466e+00] [ 1.29813696e-02 -4.61377587e-04 9.99915632e-01 2.07950967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.37925415399997 meters 0.022077843332072508 Centerline is valid? [True, True] Translation: X:480.62, Y:2.92, Z:2.08 [[ 9.99099829e-01 -4.01724162e-02 -1.36275173e-02 4.80616844e+02] [ 4.01748358e-02 9.99192661e-01 -9.62687830e-05 2.91768416e+00] [ 1.36203827e-02 -4.51301147e-04 9.99907136e-01 2.07919102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.43925415399997 meters 0.021905673457089218 Centerline is valid? [True, True] Translation: X:480.68, Y:2.92, Z:2.08 [[ 9.99157462e-01 -3.89125658e-02 -1.30452432e-02 4.80678053e+02] [ 3.89146840e-02 9.99242533e-01 -9.15183437e-05 2.91898147e+00] [ 1.30389230e-02 -4.16210280e-04 9.99914903e-01 2.08015757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.49925415399997 meters 0.02194785864347883 Centerline is valid? [True, True] Translation: X:480.74, Y:2.92, Z:2.08 [[ 9.99166061e-01 -3.89672981e-02 -1.21955508e-02 4.80739494e+02] [ 3.89691585e-02 9.99240410e-01 -8.51446925e-05 2.92035951e+00] [ 1.21896050e-02 -3.90176665e-04 9.99925628e-01 2.08176873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.559254154 meters 0.02305682285984215 Centerline is valid? [True, True] Translation: X:480.80, Y:2.92, Z:2.08 [[ 9.99154295e-01 -3.94689433e-02 -1.15281313e-02 4.80800517e+02] [ 3.94706497e-02 9.99220727e-01 -7.95522262e-05 2.92040402e+00] [ 1.15222876e-02 -3.75537885e-04 9.99933546e-01 2.08302008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.619254154 meters 0.021799218160744826 Centerline is valid? [True, True] Translation: X:480.86, Y:2.92, Z:2.08 [[ 9.99015455e-01 -4.28085868e-02 -1.16423781e-02 4.80862078e+02] [ 4.28105624e-02 9.99083204e-01 -7.95874932e-05 2.92322128e+00] [ 1.16351115e-02 -4.18907619e-04 9.99932222e-01 2.08440459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.679254154 meters 0.02439720887768653 Centerline is valid? [True, True] Translation: X:480.92, Y:2.92, Z:2.08 [[ 9.98804641e-01 -4.74198203e-02 -1.18596131e-02 4.80921755e+02] [ 4.74222030e-02 9.98874931e-01 -8.03810434e-05 2.91936160e+00] [ 1.18500819e-02 -4.82124020e-04 9.99929669e-01 2.08399215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.739254154 meters 0.028885578033288124 Centerline is valid? [True, True] Translation: X:480.98, Y:2.91, Z:2.08 [[ 9.98327551e-01 -5.64777432e-02 -1.23436709e-02 4.80982722e+02] [ 5.64810224e-02 9.98403669e-01 -8.30603493e-05 2.91441675e+00] [ 1.23286574e-02 -6.14261719e-04 9.99923811e-01 2.08446487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.799254154 meters 0.03191698288210692 Centerline is valid? [True, True] Translation: X:481.04, Y:2.91, Z:2.09 [[ 9.98049822e-01 -6.12245149e-02 -1.21700896e-02 4.81042883e+02] [ 6.12280566e-02 9.98123799e-01 -8.17121313e-05 2.91169701e+00] [ 1.21522588e-02 -6.63598154e-04 9.99925938e-01 2.08512353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.859254154 meters 0.03492561538789575 Centerline is valid? [True, True] Translation: X:481.10, Y:2.91, Z:2.09 [[ 9.97853149e-01 -6.43468230e-02 -1.21892836e-02 4.81103321e+02] [ 6.43506098e-02 9.97927348e-01 -8.16910256e-05 2.90982316e+00] [ 1.21692760e-02 -7.02872186e-04 9.99925705e-01 2.08521215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.919254154 meters 0.03563959410896767 Centerline is valid? [True, True] Translation: X:481.17, Y:2.91, Z:2.09 [[ 9.97903657e-01 -6.35663875e-02 -1.21492934e-02 4.81165965e+02] [ 6.35701007e-02 9.97977372e-01 -8.06949338e-05 2.91290430e+00] [ 1.21298494e-02 -6.91806038e-04 9.99926191e-01 2.08508450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.979254154 meters 0.029076327633146375 Centerline is valid? [True, True] Translation: X:481.23, Y:2.93, Z:2.09 [[ 9.98029867e-01 -6.15213468e-02 -1.23088657e-02 4.81227830e+02] [ 6.15250131e-02 9.98105539e-01 -8.09476005e-05 2.92552168e+00] [ 1.22905271e-02 -6.76515001e-04 9.99924240e-01 2.08636108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.039254154 meters 0.03414162627409518 Centerline is valid? [True, True] Translation: X:481.29, Y:2.92, Z:2.08 [[ 9.98294066e-01 -5.70950172e-02 -1.22113084e-02 4.81287780e+02] [ 5.70982982e-02 9.98368558e-01 -8.00693267e-05 2.92238336e+00] [ 1.21959579e-02 -6.17312193e-04 9.99925436e-01 2.08461696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.099254154 meters 0.02700509414657918 Centerline is valid? [True, True] Translation: X:481.35, Y:2.94, Z:2.09 [[ 9.98505059e-01 -5.32247283e-02 -1.24408442e-02 4.81348028e+02] [ 5.32278340e-02 9.98582391e-01 -8.15752567e-05 2.93630758e+00] [ 1.24275497e-02 -5.80745882e-04 9.99922606e-01 2.08629912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.159254154 meters 0.02338907499656096 Centerline is valid? [True, True] Translation: X:481.41, Y:2.95, Z:2.09 [[ 9.98859256e-01 -4.62237827e-02 -1.19811697e-02 4.81408196e+02] [ 4.62261603e-02 9.98930997e-01 -7.85575369e-05 2.94819794e+00] [ 1.19719930e-02 -4.75375548e-04 9.99928220e-01 2.08684801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.219254154 meters 0.020363490634832053 Centerline is valid? [True, True] Translation: X:481.47, Y:2.96, Z:2.09 [[ 9.99186806e-01 -3.88096877e-02 -1.09331797e-02 4.81468855e+02] [ 3.88112246e-02 9.99246558e-01 -7.16422008e-05 2.95691987e+00] [ 1.09277226e-02 -3.52746152e-04 9.99940228e-01 2.08612836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.279254154 meters 0.019359684980309676 Centerline is valid? [True, True] Translation: X:481.53, Y:2.96, Z:2.09 [[ 9.99379130e-01 -3.36423078e-02 -1.04665849e-02 4.81529746e+02] [ 3.36434357e-02 9.99433897e-01 -6.83399864e-05 2.96144564e+00] [ 1.04629588e-02 -2.83834320e-04 9.99945221e-01 2.08616671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.339254154 meters 0.017034866165787463 Centerline is valid? [True, True] Translation: X:481.59, Y:2.97, Z:2.09 [[ 9.99611463e-01 -2.62972333e-02 -9.24009553e-03 4.81590738e+02] [ 2.62978007e-02 9.99654151e-01 -6.01057872e-05 2.97012035e+00] [ 9.23848047e-03 -1.82911757e-04 9.99957308e-01 2.08709996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.399254154 meters 0.016647611764720797 Centerline is valid? [True, True] Translation: X:481.65, Y:2.97, Z:2.09 [[ 9.99702063e-01 -2.24734321e-02 -9.52525436e-03 4.81651643e+02] [ 2.24738641e-02 9.99747429e-01 -6.16993749e-05 2.97261332e+00] [ 9.52423515e-03 -1.52388279e-04 9.99954632e-01 2.08655165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.459254154 meters 0.015498806370349406 Centerline is valid? [True, True] Translation: X:481.71, Y:2.98, Z:2.09 [[ 9.99772650e-01 -1.91740523e-02 -9.32755692e-03 4.81713394e+02] [ 1.91743269e-02 9.99816154e-01 -6.00019995e-05 2.97549444e+00] [ 9.32699256e-03 -1.18861267e-04 9.99956496e-01 2.08665026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.519254154 meters 0.015420332448534527 Centerline is valid? [True, True] Translation: X:481.77, Y:2.98, Z:2.09 [[ 9.99788432e-01 -1.81377549e-02 -9.70119346e-03 4.81774927e+02] [ 1.81380073e-02 9.99835491e-01 -6.19711743e-05 2.97668515e+00] [ 9.70072154e-03 -1.14002254e-04 9.99952940e-01 2.08678765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.579254154 meters 0.015463050987347945 Centerline is valid? [True, True] Translation: X:481.84, Y:2.98, Z:2.09 [[ 9.99782449e-01 -1.84600692e-02 -9.70979160e-03 4.81835614e+02] [ 1.84603388e-02 9.99829592e-01 -6.18699701e-05 2.97717518e+00] [ 9.70927909e-03 -1.17389532e-04 9.99952857e-01 2.08695866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.639254154 meters 0.01582279610524254 Centerline is valid? [True, True] Translation: X:481.90, Y:2.97, Z:2.09 [[ 9.99717738e-01 -2.17938350e-02 -9.45900945e-03 4.81896139e+02] [ 2.17942400e-02 9.99762476e-01 -6.02720075e-05 2.97439415e+00] [ 9.45807626e-03 -1.45896928e-04 9.99955261e-01 2.08690749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.699254154 meters 0.017447380281720937 Centerline is valid? [True, True] Translation: X:481.96, Y:2.97, Z:2.09 [[ 9.99527892e-01 -2.93446255e-02 -9.10418214e-03 4.81957092e+02] [ 2.93453145e-02 9.99569332e-01 -5.79259518e-05 2.96915885e+00] [ 9.10196107e-03 -2.09266484e-04 9.99958554e-01 2.08691587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.759254154 meters 0.019438291330519303 Centerline is valid? [True, True] Translation: X:482.02, Y:2.96, Z:2.09 [[ 9.99334020e-01 -3.52301131e-02 -9.50554259e-03 4.82017755e+02] [ 3.52311319e-02 9.99379189e-01 -6.03049963e-05 2.96452551e+00] [ 9.50176600e-03 -2.74626190e-04 9.99954819e-01 2.08666585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.81925415399996 meters 0.02330657186258111 Centerline is valid? [True, True] Translation: X:482.08, Y:2.96, Z:2.09 [[ 9.98972017e-01 -4.43086561e-02 -9.57356481e-03 4.82078552e+02] [ 4.43101067e-02 9.99017823e-01 -6.06411189e-05 2.95673726e+00] [ 9.56684880e-03 -3.63626897e-04 9.99954171e-01 2.08546451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.87925415399997 meters 0.028046760989507594 Centerline is valid? [True, True] Translation: X:482.14, Y:2.95, Z:2.08 [[ 9.98561899e-01 -5.27458205e-02 -9.59230643e-03 4.82138518e+02] [ 5.27476658e-02 9.98607871e-01 -6.06988475e-05 2.94782743e+00] [ 9.58215431e-03 -4.45360217e-04 9.99953991e-01 2.08475862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.93925415399997 meters 0.030694074778449754 Centerline is valid? [True, True] Translation: X:482.20, Y:2.94, Z:2.08 [[ 9.98402027e-01 -5.56788831e-02 -9.65681378e-03 4.82199179e+02] [ 5.56808914e-02 9.98448614e-01 -6.09758903e-05 2.94477482e+00] [ 9.64522740e-03 -4.76821547e-04 9.99953370e-01 2.08413312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.99925415399997 meters 0.03119142863790636 Centerline is valid? [True, True] Translation: X:482.26, Y:2.94, Z:2.08 [[ 9.98061107e-01 -6.13191665e-02 -1.06764343e-02 4.82259231e+02] [ 6.13219446e-02 9.98118036e-01 -6.72654289e-05 2.94273917e+00] [ 1.06604663e-02 -5.87564704e-04 9.99943003e-01 2.08419990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.059254154 meters 0.036193536233178156 Centerline is valid? [True, True] Translation: X:482.32, Y:2.94, Z:2.08 [[ 9.97663657e-01 -6.75144016e-02 -1.04419139e-02 4.82319460e+02] [ 6.75173980e-02 9.97718095e-01 -6.56870457e-05 2.93532992e+00] [ 1.04225213e-02 -6.39477281e-04 9.99945480e-01 2.08387627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.119254154 meters 0.03972773778755181 Centerline is valid? [True, True] Translation: X:482.38, Y:2.93, Z:2.08 [[ 9.97597018e-01 -6.86324058e-02 -9.47534294e-03 4.82380263e+02] [ 6.86349295e-02 9.97641841e-01 -5.89661692e-05 2.93336353e+00] [ 9.45704556e-03 -5.91515020e-04 9.99955106e-01 2.08378275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.179254154 meters 0.03182254502129287 Centerline is valid? [True, True] Translation: X:482.44, Y:2.95, Z:2.09 [[ 9.97733622e-01 -6.65047731e-02 -1.02339934e-02 4.82441903e+02] [ 6.65076146e-02 9.97785916e-01 -6.28048398e-05 2.94732437e+00] [ 1.02155112e-02 -6.17975985e-04 9.99947629e-01 2.08534023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.239254154 meters 0.030691753924111772 Centerline is valid? [True, True] Translation: X:482.50, Y:2.95, Z:2.08 [[ 9.98076928e-01 -6.07839810e-02 -1.21553900e-02 4.82501341e+02] [ 6.07875685e-02 9.98150723e-01 -7.44493015e-05 2.95493010e+00] [ 1.21374367e-02 -6.64590474e-04 9.99926118e-01 2.08359540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.299254154 meters 0.029506446277363436 Centerline is valid? [True, True] Translation: X:482.56, Y:2.96, Z:2.08 [[ 9.98326317e-01 -5.64301363e-02 -1.26572257e-02 4.82561735e+02] [ 5.64336761e-02 9.98406347e-01 -7.76042704e-05 2.96127537e+00] [ 1.26414337e-02 -6.36819391e-04 9.99919891e-01 2.08334891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.359254154 meters 0.028162088878529425 Centerline is valid? [True, True] Translation: X:482.62, Y:2.97, Z:2.08 [[ 9.98607180e-01 -5.11864728e-02 -1.27923961e-02 4.82621124e+02] [ 5.11896581e-02 9.98688947e-01 -7.85291262e-05 2.97142980e+00] [ 1.27796443e-02 -5.76418635e-04 9.99918171e-01 2.08392045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.419254154 meters 0.024433103757332663 Centerline is valid? [True, True] Translation: X:482.68, Y:2.98, Z:2.09 [[ 9.98857381e-01 -4.62968360e-02 -1.18547611e-02 4.82681492e+02] [ 4.62992270e-02 9.98927613e-01 -7.28199417e-05 2.98367785e+00] [ 1.18454195e-02 -4.76129537e-04 9.99929727e-01 2.08630932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.479254154 meters 0.02299456218263078 Centerline is valid? [True, True] Translation: X:482.74, Y:2.99, Z:2.09 [[ 9.99046778e-01 -4.21090663e-02 -1.15048753e-02 4.82742541e+02] [ 4.21110423e-02 9.99112934e-01 -7.05462994e-05 2.99051166e+00] [ 1.14976403e-02 -4.14003235e-04 9.99933814e-01 2.08781896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.539254154 meters 0.02033652650363434 Centerline is valid? [True, True] Translation: X:482.80, Y:3.00, Z:2.09 [[ 9.99349758e-01 -3.43281186e-02 -1.10290795e-02 4.82803569e+02] [ 3.43294622e-02 9.99410568e-01 -6.75197925e-05 3.00087516e+00] [ 1.10248964e-02 -3.11146479e-04 9.99939176e-01 2.08928442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.599254154 meters 0.01760388171387171 Centerline is valid? [True, True] Translation: X:482.86, Y:3.01, Z:2.09 [[ 9.99571046e-01 -2.72128462e-02 -1.08252217e-02 4.82864633e+02] [ 2.72137250e-02 9.99629636e-01 -6.61352863e-05 3.01085217e+00] [ 1.08230122e-02 -2.28487690e-04 9.99941403e-01 2.09015061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.659254154 meters 0.015652149278153553 Centerline is valid? [True, True] Translation: X:482.93, Y:3.02, Z:2.09 [[ 9.99687338e-01 -2.15597727e-02 -1.26649820e-02 4.82925722e+02] [ 2.15605272e-02 9.99767542e-01 -7.69750187e-05 3.01820595e+00] [ 1.26636975e-02 -1.96112738e-04 9.99919793e-01 2.08991197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.719254154 meters 0.016393913865621734 Centerline is valid? [True, True] Translation: X:482.99, Y:3.02, Z:2.09 [[ 9.99751215e-01 -1.81874830e-02 -1.29121253e-02 4.82986336e+02] [ 1.81879902e-02 9.99834582e-01 -7.81540731e-05 3.01965922e+00] [ 1.29114108e-02 -1.56710978e-04 9.99916632e-01 2.08895602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.779254154 meters 0.015418033903238943 Centerline is valid? [True, True] Translation: X:483.05, Y:3.02, Z:2.09 [[ 9.99783899e-01 -1.68455602e-02 -1.21812689e-02 4.83047202e+02] [ 1.68459130e-02 9.99858095e-01 -7.36546254e-05 3.02266613e+00] [ 1.21807810e-02 -1.31565887e-04 9.99925803e-01 2.09083629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.839254154 meters 0.01540602246918029 Centerline is valid? [True, True] Translation: X:483.11, Y:3.02, Z:2.09 [[ 9.99753854e-01 -1.81819587e-02 -1.27140894e-02 4.83106680e+02] [ 1.81824471e-02 9.99834683e-01 -7.71870677e-05 3.02258127e+00] [ 1.27133909e-02 -1.54005188e-04 9.99919170e-01 2.09108470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.899254154 meters 0.016030086383887542 Centerline is valid? [True, True] Translation: X:483.17, Y:3.02, Z:2.09 [[ 9.99683489e-01 -2.20211453e-02 -1.21651426e-02 4.83167410e+02] [ 2.20218746e-02 9.99757486e-01 -7.40118252e-05 3.01916242e+00] [ 1.21638222e-02 -1.93910847e-04 9.99925999e-01 2.09103942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.959254154 meters 0.016549392159444155 Centerline is valid? [True, True] Translation: X:483.23, Y:3.02, Z:2.09 [[ 9.99584600e-01 -2.63446173e-02 -1.16870717e-02 4.83228743e+02] [ 2.63455891e-02 9.99652892e-01 -7.08279354e-05 3.01599152e+00] [ 1.16848810e-02 -2.37104276e-04 9.99931701e-01 2.09171710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.019254154 meters 0.01844084741117769 Centerline is valid? [True, True] Translation: X:483.29, Y:3.01, Z:2.09 [[ 9.99386488e-01 -3.36089095e-02 -9.85332480e-03 4.83288665e+02] [ 3.36099590e-02 9.99435024e-01 -5.91088334e-05 3.00802765e+00] [ 9.84974449e-03 -2.72097273e-04 9.99951453e-01 2.09251757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.079254154 meters 0.019947048302818585 Centerline is valid? [True, True] Translation: X:483.35, Y:3.00, Z:2.09 [[ 9.99170618e-01 -3.93257137e-02 -1.05624187e-02 4.83349951e+02] [ 3.93272453e-02 9.99226383e-01 -6.27315955e-05 3.00162834e+00] [ 1.05567144e-02 -3.52711264e-04 9.99944214e-01 2.09255458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.139254154 meters 0.021832750379382673 Centerline is valid? [True, True] Translation: X:483.41, Y:3.00, Z:2.09 [[ 9.99084715e-01 -4.11288078e-02 -1.17538983e-02 4.83411072e+02] [ 4.11308360e-02 9.99153767e-01 -6.92227892e-05 2.99667971e+00] [ 1.17467988e-02 -4.14288231e-04 9.99930918e-01 2.09139212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.199254154 meters 0.02035601718588508 Centerline is valid? [True, True] Translation: X:483.47, Y:3.00, Z:2.09 [[ 9.99211868e-01 -3.76971821e-02 -1.24324344e-02 4.83472522e+02] [ 3.76991928e-02 9.99289130e-01 -7.26680052e-05 2.99763276e+00] [ 1.24263360e-02 -3.96082010e-04 9.99922712e-01 2.09115277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.259254154 meters 0.018630973144403495 Centerline is valid? [True, True] Translation: X:483.53, Y:3.00, Z:2.09 [[ 9.99420380e-01 -3.15065329e-02 -1.28934971e-02 4.83533521e+02] [ 3.15081848e-02 9.99503491e-01 -7.50405857e-05 3.00121613e+00] [ 1.28894596e-02 -3.31253598e-04 9.99916873e-01 2.09186056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.31925415399996 meters 0.01631535676587295 Centerline is valid? [True, True] Translation: X:483.59, Y:3.01, Z:2.09 [[ 9.99746142e-01 -1.87942014e-02 -1.24270075e-02 4.83593564e+02] [ 1.87947542e-02 9.99823360e-01 -7.23126347e-05 3.00862239e+00] [ 1.24261714e-02 -1.61268273e-04 9.99922779e-01 2.09226061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.37925415399997 meters 0.015549050536297489 Centerline is valid? [True, True] Translation: X:483.65, Y:3.01, Z:2.09 [[ 9.99889411e-01 -8.57164944e-03 -1.21528851e-02 4.83653366e+02] [ 8.57141928e-03 9.99963262e-01 -7.10250418e-05 3.01392282e+00] [ 1.21530474e-02 -3.31502863e-05 9.99926148e-01 2.09205023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.43925415399997 meters 0.01526201572592995 Centerline is valid? [True, True] Translation: X:483.71, Y:3.01, Z:2.09 [[ 9.99904148e-01 -5.71908095e-03 -1.26090165e-02 4.83711378e+02] [ 5.71857427e-03 9.99983646e-01 -7.62381413e-05 3.01416229e+00] [ 1.26092463e-02 4.12523640e-06 9.99920500e-01 2.09272283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.49925415399997 meters 0.015344329922875094 Centerline is valid? [True, True] Translation: X:483.77, Y:3.01, Z:2.09 [[ 9.99906746e-01 -7.09805270e-03 -1.16669241e-02 4.83769693e+02] [ 7.09767430e-03 9.99974808e-01 -7.38391160e-05 3.00929511e+00] [ 1.16671543e-02 -8.97579699e-06 9.99931936e-01 2.09233974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.559254154 meters 0.015454424038098819 Centerline is valid? [True, True] Translation: X:483.83, Y:3.00, Z:2.09 [[ 9.99846185e-01 -1.26927547e-02 -1.21037055e-02 4.83828742e+02] [ 1.26927345e-02 9.99919441e-01 -7.84937934e-05 3.00283738e+00] [ 1.21037267e-02 -7.51473999e-05 9.99926744e-01 2.09182621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.619254154 meters 0.01758266553043937 Centerline is valid? [True, True] Translation: X:483.89, Y:2.99, Z:2.09 [[ 9.99551232e-01 -2.64425352e-02 -1.40757727e-02 4.83887947e+02] [ 2.64438603e-02 9.99650296e-01 -9.20045960e-05 2.98769537e+00] [ 1.40732831e-02 -2.80254458e-04 9.99900927e-01 2.08982140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.679254154 meters 0.022318317802918645 Centerline is valid? [True, True] Translation: X:483.95, Y:2.97, Z:2.09 [[ 9.99045620e-01 -4.14010977e-02 -1.39211424e-02 4.83948493e+02] [ 4.14038422e-02 9.99142489e-01 -9.11269673e-05 2.97167139e+00] [ 1.39129776e-02 -4.85348786e-04 9.99903092e-01 2.08973923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.739254154 meters 0.026756629866230668 Centerline is valid? [True, True] Translation: X:484.01, Y:2.96, Z:2.09 [[ 9.98701597e-01 -4.94638735e-02 -1.21838321e-02 4.84008623e+02] [ 4.94665756e-02 9.98775776e-01 -7.96641431e-05 2.96244703e+00] [ 1.21728569e-02 -5.23131747e-04 9.99925771e-01 2.09064006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.799254154 meters 0.03144312797726554 Centerline is valid? [True, True] Translation: X:484.07, Y:2.95, Z:2.09 [[ 9.98214800e-01 -5.87831509e-02 -1.05713757e-02 4.84068084e+02] [ 5.87857051e-02 9.98270623e-01 -6.92227946e-05 2.95174913e+00] [ 1.05571629e-02 -5.52346555e-04 9.99944119e-01 2.09266602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.859254154 meters 0.03316043495114205 Centerline is valid? [True, True] Translation: X:484.13, Y:2.95, Z:2.09 [[ 9.98101665e-01 -6.06975957e-02 -1.04340027e-02 4.84130456e+02] [ 6.07001915e-02 9.98156041e-01 -6.80088547e-05 2.94868860e+00] [ 1.04188908e-02 -5.65466212e-04 9.99945562e-01 2.09326479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.919254154 meters 0.03620226515302904 Centerline is valid? [True, True] Translation: X:484.19, Y:2.94, Z:2.09 [[ 9.97852494e-01 -6.47596089e-02 -9.82823393e-03 4.84191063e+02] [ 6.47621115e-02 9.97900729e-01 -6.37453194e-05 2.94345351e+00] [ 9.81172993e-03 -5.72888756e-04 9.99951700e-01 2.09365973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.979254154 meters 0.03789661853393866 Centerline is valid? [True, True] Translation: X:484.25, Y:2.94, Z:2.09 [[ 9.97837777e-01 -6.50269842e-02 -9.55311037e-03 4.84252654e+02] [ 6.50293664e-02 9.97883349e-01 -6.13794567e-05 2.94045059e+00] [ 9.53688108e-03 -5.59985974e-04 9.99954366e-01 2.09370070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.039254154 meters 0.030514403023580317 Centerline is valid? [True, True] Translation: X:484.31, Y:2.95, Z:2.09 [[ 9.97929647e-01 -6.35304739e-02 -1.00149027e-02 4.84314667e+02] [ 6.35330259e-02 9.97979735e-01 -6.34406281e-05 2.95159040e+00] [ 9.99870035e-03 -5.72967789e-04 9.99949848e-01 2.09429889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.099254154 meters 0.02939451639561063 Centerline is valid? [True, True] Translation: X:484.38, Y:2.95, Z:2.09 [[ 9.98150102e-01 -5.97015005e-02 -1.14936433e-02 4.84375576e+02] [ 5.97046144e-02 9.98216086e-01 -7.23150725e-05 2.95495412e+00] [ 1.14774570e-02 -6.14042246e-04 9.99933943e-01 2.09270907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.159254154 meters 0.027533758055222773 Centerline is valid? [True, True] Translation: X:484.44, Y:2.96, Z:2.09 [[ 9.98422297e-01 -5.42237244e-02 -1.45844204e-02 4.84436023e+02] [ 5.42281581e-02 9.98528567e-01 -9.15781734e-05 2.96066710e+00] [ 1.45679261e-02 -6.99452567e-04 9.99893637e-01 2.08996446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.219254154 meters 0.02622388240814658 Centerline is valid? [True, True] Translation: X:484.50, Y:2.97, Z:2.09 [[ 9.98679733e-01 -4.91180499e-02 -1.50401947e-02 4.84497086e+02] [ 4.91221918e-02 9.98792772e-01 -9.41374713e-05 2.96623138e+00] [ 1.50266616e-02 -6.44794142e-04 9.99886885e-01 2.08990471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.279254154 meters 0.021463487470623804 Centerline is valid? [True, True] Translation: X:484.56, Y:2.98, Z:2.09 [[ 9.99121753e-01 -3.95069395e-02 -1.39615306e-02 4.84557352e+02] [ 3.95095724e-02 9.99219188e-01 -8.72941919e-05 2.98004204e+00] [ 1.39540780e-02 -4.64396580e-04 9.99902529e-01 2.09265148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.339254154 meters 0.01780850054424666 Centerline is valid? [True, True] Translation: X:484.62, Y:2.99, Z:2.09 [[ 9.99411861e-01 -3.17042666e-02 -1.30679915e-02 4.84618623e+02] [ 3.17059087e-02 9.99497238e-01 -8.15507289e-05 2.99041662e+00] [ 1.30640069e-02 -3.32829779e-04 9.99914607e-01 2.09496423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.399254154 meters 0.015783313220581456 Centerline is valid? [True, True] Translation: X:484.68, Y:3.00, Z:2.10 [[ 9.99728905e-01 -2.04476811e-02 -1.11359145e-02 4.84679027e+02] [ 2.04481761e-02 9.99790912e-01 -6.94239579e-05 3.00076884e+00] [ 1.11350057e-02 -1.58304003e-04 9.99937991e-01 2.09646598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.459254154 meters 0.016332559385612868 Centerline is valid? [True, True] Translation: X:484.74, Y:3.01, Z:2.10 [[ 9.99880979e-01 -1.15612687e-02 -1.02159128e-02 4.84739836e+02] [ 1.15612224e-02 9.99933165e-01 -6.35826960e-05 3.00785093e+00] [ 1.02159652e-02 -5.45333126e-05 9.99947814e-01 2.09667035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.519254154 meters 0.014776856097167864 Centerline is valid? [True, True] Translation: X:484.80, Y:3.01, Z:2.10 [[ 9.99910890e-01 -7.44454470e-03 -1.10810951e-02 4.84799376e+02] [ 7.44423579e-03 9.99972289e-01 -6.91237261e-05 3.01200519e+00] [ 1.10813026e-02 -1.33727180e-05 9.99938600e-01 2.09761070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.579254154 meters 0.014689683209258998 Centerline is valid? [True, True] Translation: X:484.86, Y:3.01, Z:2.10 [[ 9.99905513e-01 -7.14584414e-03 -1.17431362e-02 4.84856875e+02] [ 7.14544912e-03 9.99974468e-01 -7.55952529e-05 3.01222339e+00] [ 1.17433765e-02 -8.32187187e-06 9.99931044e-01 2.09733403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.639254154 meters 0.01482288138542996 Centerline is valid? [True, True] Translation: X:484.92, Y:3.01, Z:2.10 [[ 9.99881114e-01 -9.17542239e-03 -1.23922917e-02 4.84915001e+02] [ 9.17511235e-03 9.99957904e-01 -8.18725439e-05 3.00943124e+00] [ 1.23925212e-02 -3.18378581e-05 9.99923209e-01 2.09666197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.699254154 meters 0.014892381167520327 Centerline is valid? [True, True] Translation: X:484.97, Y:3.01, Z:2.10 [[ 9.99860230e-01 -1.16361598e-02 -1.20050188e-02 4.84973318e+02] [ 1.16360332e-02 9.99932296e-01 -8.03970643e-05 3.00695879e+00] [ 1.20051415e-02 -5.93049706e-05 9.99927934e-01 2.09699799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.759254154 meters 0.014946013963045587 Centerline is valid? [True, True] Translation: X:485.03, Y:3.00, Z:2.10 [[ 9.99842692e-01 -1.31738280e-02 -1.18761170e-02 4.85032199e+02] [ 1.31737850e-02 9.99913219e-01 -8.18502279e-05 3.00431870e+00] [ 1.18761647e-02 -7.46160601e-05 9.99929473e-01 2.09720320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.81925415399996 meters 0.015122026515407002 Centerline is valid? [True, True] Translation: X:485.09, Y:3.00, Z:2.10 [[ 9.99818412e-01 -1.50989061e-02 -1.16261123e-02 4.85091135e+02] [ 1.50989604e-02 9.99886001e-01 -8.31104070e-05 3.00148135e+00] [ 1.16260418e-02 -9.24468947e-05 9.99932411e-01 2.09757475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.87925415399997 meters 0.01568958535384896 Centerline is valid? [True, True] Translation: X:485.15, Y:3.00, Z:2.10 [[ 9.99738101e-01 -1.97160967e-02 -1.16191482e-02 4.85150113e+02] [ 1.97164457e-02 9.99805608e-01 -8.45207835e-05 2.99503949e+00] [ 1.16185559e-02 -1.44589656e-04 9.99932492e-01 2.09797054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.93925415399997 meters 0.016653825094515632 Centerline is valid? [True, True] Translation: X:485.21, Y:2.99, Z:2.10 [[ 9.99624461e-01 -2.51242836e-02 -1.09410482e-02 4.85209941e+02] [ 2.51249136e-02 9.99684316e-01 -7.98874431e-05 2.98661620e+00] [ 1.09396014e-02 -1.95035449e-04 9.99940142e-01 2.09785723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.99925415399997 meters 0.017443932549825174 Centerline is valid? [True, True] Translation: X:485.27, Y:2.98, Z:2.10 [[ 9.99541270e-01 -2.79714468e-02 -1.16123575e-02 4.85271099e+02] [ 2.79723506e-02 9.99608694e-01 -8.46155289e-05 2.98213132e+00] [ 1.16101803e-02 -2.40248222e-04 9.99932571e-01 2.09764657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.059254154 meters 0.017083391122187347 Centerline is valid? [True, True] Translation: X:485.33, Y:2.98, Z:2.10 [[ 9.99521655e-01 -2.81010238e-02 -1.29148900e-02 4.85332498e+02] [ 2.81021588e-02 9.99605052e-01 -9.36217797e-05 2.97999308e+00] [ 1.29124201e-02 -2.69359293e-04 9.99916595e-01 2.09762547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.119254154 meters 0.017314074792114605 Centerline is valid? [True, True] Translation: X:485.39, Y:2.98, Z:2.10 [[ 9.99572839e-01 -2.57583606e-02 -1.38074819e-02 4.85393934e+02] [ 2.57594415e-02 9.99668166e-01 -9.95810999e-05 2.97969613e+00] [ 1.38054651e-02 -2.56134459e-04 9.99904667e-01 2.09745075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.179254154 meters 0.01624106342002027 Centerline is valid? [True, True] Translation: X:485.45, Y:2.98, Z:2.10 [[ 9.99634368e-01 -2.27095611e-02 -1.46766909e-02 4.85454347e+02] [ 2.27104564e-02 9.99742079e-01 -1.05680940e-04 2.97984387e+00] [ 1.46753054e-02 -2.27672049e-04 9.99892286e-01 2.09742647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.239254154 meters 0.015768315276367233 Centerline is valid? [True, True] Translation: X:485.51, Y:2.98, Z:2.10 [[ 9.99636231e-01 -2.17538214e-02 -1.59429163e-02 4.85514351e+02] [ 2.17547496e-02 9.99763331e-01 -1.15223863e-04 2.97920394e+00] [ 1.59416496e-02 -2.31652204e-04 9.99872897e-01 2.09790077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.299254154 meters 0.016845013853532428 Centerline is valid? [True, True] Translation: X:485.57, Y:2.98, Z:2.10 [[ 9.99621392e-01 -2.22236239e-02 -1.62229162e-02 4.85572524e+02] [ 2.22246303e-02 9.99752995e-01 -1.18270602e-04 2.97556087e+00] [ 1.62215374e-02 -2.42322490e-04 9.99868393e-01 2.09624394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.359254154 meters 0.016063796077578064 Centerline is valid? [True, True] Translation: X:485.63, Y:2.98, Z:2.10 [[ 9.99580084e-01 -2.39716652e-02 -1.62792900e-02 4.85630757e+02] [ 2.39728782e-02 9.99712602e-01 -1.20658634e-04 2.97640964e+00] [ 1.62775038e-02 -2.69653469e-04 9.99867476e-01 2.09932939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.419254154 meters 0.01712186631722883 Centerline is valid? [True, True] Translation: X:485.69, Y:2.97, Z:2.10 [[ 9.99510043e-01 -2.65802171e-02 -1.65277327e-02 4.85688980e+02] [ 2.65818009e-02 9.99646634e-01 -1.23888126e-04 2.97314208e+00] [ 1.65251853e-02 -3.15509472e-04 9.99863400e-01 2.09883911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.479254154 meters 0.01685649780106942 Centerline is valid? [True, True] Translation: X:485.75, Y:2.97, Z:2.10 [[ 9.99450970e-01 -2.87562217e-02 -1.64571449e-02 4.85748871e+02] [ 2.87580750e-02 9.99586393e-01 -1.24079512e-04 2.97280089e+00] [ 1.64539061e-02 -3.49264417e-04 9.99864564e-01 2.10045900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.539254154 meters 0.01779961170013795 Centerline is valid? [True, True] Translation: X:485.81, Y:2.97, Z:2.10 [[ 9.99386939e-01 -3.17441936e-02 -1.47665935e-02 4.85807542e+02] [ 3.17459983e-02 9.99495962e-01 -1.12228224e-04 2.96868524e+00] [ 1.47627132e-02 -3.56620832e-04 9.99890962e-01 2.10123359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.599254154 meters 0.018709425133786456 Centerline is valid? [True, True] Translation: X:485.87, Y:2.97, Z:2.10 [[ 9.99356495e-01 -3.34383684e-02 -1.29796384e-02 4.85868060e+02] [ 3.34399018e-02 9.99440725e-01 -9.89267416e-05 2.96655341e+00] [ 1.29756872e-02 -3.35174753e-04 9.99915756e-01 2.10298054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.659254154 meters 0.01750039111085937 Centerline is valid? [True, True] Translation: X:485.93, Y:2.97, Z:2.11 [[ 9.99332852e-01 -3.43995008e-02 -1.22688930e-02 4.85929333e+02] [ 3.44009469e-02 9.99408108e-01 -9.32137371e-05 2.96934999e+00] [ 1.22648376e-02 -3.28909986e-04 9.99924730e-01 2.10505708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.719254154 meters 0.01968797513066978 Centerline is valid? [True, True] Translation: X:485.99, Y:2.97, Z:2.10 [[ 9.99259169e-01 -3.61658153e-02 -1.31585168e-02 4.85990211e+02] [ 3.61676405e-02 9.99345732e-01 -9.93070446e-05 2.96670556e+00] [ 1.31534991e-02 -3.76679030e-04 9.99913418e-01 2.10364114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.779254154 meters 0.019588234229084487 Centerline is valid? [True, True] Translation: X:486.05, Y:2.97, Z:2.10 [[ 9.99199882e-01 -3.78289170e-02 -1.29834409e-02 4.86051786e+02] [ 3.78308435e-02 9.99284153e-01 -9.72739993e-05 2.96543955e+00] [ 1.29778265e-02 -3.93978350e-04 9.99915707e-01 2.10401993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.839254154 meters 0.020486680796168964 Centerline is valid? [True, True] Translation: X:486.11, Y:2.96, Z:2.10 [[ 9.98993619e-01 -4.26138432e-02 -1.39931901e-02 4.86112603e+02] [ 4.26165560e-02 9.99091496e-01 -1.04402962e-04 2.96363035e+00] [ 1.39849262e-02 -4.92043674e-04 9.99902085e-01 2.10323721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.899254154 meters 0.021930540433470883 Centerline is valid? [True, True] Translation: X:486.17, Y:2.96, Z:2.10 [[ 9.98743569e-01 -4.80695092e-02 -1.41635162e-02 4.86173952e+02] [ 4.80728423e-02 9.98843827e-01 -1.05228912e-04 2.96182698e+00] [ 1.41521991e-02 -5.75783783e-04 9.99899687e-01 2.10295351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.959254154 meters 0.02376162097623813 Centerline is valid? [True, True] Translation: X:486.24, Y:2.96, Z:2.10 [[ 9.98623262e-01 -5.04790245e-02 -1.42635148e-02 4.86235405e+02] [ 5.04826602e-02 9.98724932e-01 -1.05263357e-04 2.96012007e+00] [ 1.42506415e-02 -6.14941735e-04 9.99898265e-01 2.10278772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.019254154 meters 0.023526755849478272 Centerline is valid? [True, True] Translation: X:486.30, Y:2.96, Z:2.10 [[ 9.98615084e-01 -5.08100603e-02 -1.36473979e-02 4.86297551e+02] [ 5.08134320e-02 9.98708158e-01 -9.98010578e-05 2.96317935e+00] [ 1.36348385e-02 -5.93808284e-04 9.99906865e-01 2.10393686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.079254154 meters 0.021456983866001443 Centerline is valid? [True, True] Translation: X:486.36, Y:2.97, Z:2.11 [[ 9.98786782e-01 -4.80704436e-02 -1.06862651e-02 4.86358932e+02] [ 4.80723596e-02 9.98843853e-01 -7.76526091e-05 2.97051953e+00] [ 1.06776430e-02 -4.36155577e-04 9.99942897e-01 2.10684396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.139254154 meters 0.021694504504170698 Centerline is valid? [True, True] Translation: X:486.42, Y:2.97, Z:2.11 [[ 9.98964631e-01 -4.43654086e-02 -1.00686079e-02 4.86419368e+02] [ 4.43669241e-02 9.99015301e-01 -7.28995008e-05 2.97237149e+00] [ 1.00619276e-02 -3.73889140e-04 9.99949308e-01 2.10718040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.199254154 meters 0.020864988430835184 Centerline is valid? [True, True] Translation: X:486.48, Y:2.98, Z:2.11 [[ 9.99158857e-01 -3.98550351e-02 -9.65169418e-03 4.86479421e+02] [ 3.98562192e-02 9.99205423e-01 -6.97073598e-05 2.97609561e+00] [ 9.64680336e-03 -3.15031313e-04 9.99953419e-01 2.10689753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.259254154 meters 0.01772643753942757 Centerline is valid? [True, True] Translation: X:486.54, Y:2.99, Z:2.11 [[ 9.99437930e-01 -3.17430495e-02 -1.07797747e-02 4.86540474e+02] [ 3.17440572e-02 9.99496027e-01 -7.76493707e-05 2.98570887e+00] [ 1.07768068e-02 -2.64588058e-04 9.99941894e-01 2.10603223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.31925415399996 meters 0.016936891953765403 Centerline is valid? [True, True] Translation: X:486.60, Y:2.99, Z:2.10 [[ 9.99643791e-01 -2.35966760e-02 -1.24694423e-02 4.86601967e+02] [ 2.35973974e-02 9.99721539e-01 -8.92911496e-05 2.99326396e+00] [ 1.24680770e-02 -2.04987042e-04 9.99922249e-01 2.10452225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.37925415399997 meters 0.015128778699854833 Centerline is valid? [True, True] Translation: X:486.66, Y:3.00, Z:2.10 [[ 9.99753753e-01 -1.79132345e-02 -1.30977109e-02 4.86662349e+02] [ 1.79135460e-02 9.99839535e-01 -9.35403899e-05 2.99950881e+00] [ 1.30972848e-02 -1.41109092e-04 9.99914217e-01 2.10497019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.43925415399997 meters 0.014761549737474665 Centerline is valid? [True, True] Translation: X:486.72, Y:3.00, Z:2.11 [[ 9.99790349e-01 -1.57171758e-02 -1.31235653e-02 4.86721731e+02] [ 1.57172952e-02 9.99876471e-01 -9.40451231e-05 3.00216864e+00] [ 1.31234223e-02 -1.12241544e-04 9.99913878e-01 2.10550583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.49925415399997 meters 0.014902322380891184 Centerline is valid? [True, True] Translation: X:486.78, Y:3.00, Z:2.11 [[ 9.99792061e-01 -1.62614862e-02 -1.23044008e-02 4.86779676e+02] [ 1.62616217e-02 9.99867767e-01 -8.90387957e-05 3.00304666e+00] [ 1.23042217e-02 -1.11069231e-04 9.99924294e-01 2.10601926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.559254154 meters 0.015774383179844205 Centerline is valid? [True, True] Translation: X:486.84, Y:3.00, Z:2.11 [[ 9.99677626e-01 -2.19382806e-02 -1.27810689e-02 4.86838298e+02] [ 2.19388798e-02 9.99759309e-01 -9.33465288e-05 2.99886810e+00] [ 1.27800405e-02 -1.87085897e-04 9.99918314e-01 2.10566536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.619254154 meters 0.0175514903862987 Centerline is valid? [True, True] Translation: X:486.90, Y:3.00, Z:2.11 [[ 9.99521099e-01 -2.82072648e-02 -1.27249075e-02 4.86899142e+02] [ 2.82083635e-02 9.99602061e-01 -9.31697037e-05 2.99544634e+00] [ 1.27224718e-02 -2.65823731e-04 9.99919031e-01 2.10600948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.679254154 meters 0.01952787565317025 Centerline is valid? [True, True] Translation: X:486.96, Y:2.99, Z:2.11 [[ 9.99242166e-01 -3.70695685e-02 -1.18718313e-02 4.86958817e+02] [ 3.70711554e-02 9.99312625e-01 -8.64365656e-05 2.98766001e+00] [ 1.18668751e-02 -3.53731442e-04 9.99929524e-01 2.10787710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.739254154 meters 0.0209062263664282 Centerline is valid? [True, True] Translation: X:487.02, Y:2.98, Z:2.11 [[ 9.99142038e-01 -3.97165034e-02 -1.17383172e-02 4.87021029e+02] [ 3.97182467e-02 9.99210916e-01 -8.46596430e-05 2.98383310e+00] [ 1.17324170e-02 -3.81638370e-04 9.99931100e-01 2.10822239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.799254154 meters 0.021315590498105923 Centerline is valid? [True, True] Translation: X:487.08, Y:2.99, Z:2.11 [[ 9.99282599e-01 -3.60100856e-02 -1.17286797e-02 4.87082659e+02] [ 3.60115794e-02 9.99351369e-01 -8.38725735e-05 2.98707999e+00] [ 1.17240924e-02 -3.38555878e-04 9.99931213e-01 2.10713155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.859254154 meters 0.016385025206657834 Centerline is valid? [True, True] Translation: X:487.14, Y:2.99, Z:2.11 [[ 9.99567436e-01 -2.69069297e-02 -1.18725669e-02 4.87143310e+02] [ 2.69078230e-02 9.99637915e-01 -8.45186273e-05 2.99400433e+00] [ 1.18705422e-02 -2.34982862e-04 9.99929515e-01 2.11017226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.919254154 meters 0.014628494878872019 Centerline is valid? [True, True] Translation: X:487.20, Y:3.00, Z:2.11 [[ 9.99814087e-01 -1.49671436e-02 -1.21563232e-02 4.87203235e+02] [ 1.49671986e-02 9.99887981e-01 -8.64562977e-05 3.00135417e+00] [ 1.21562554e-02 -9.55058792e-05 9.99926105e-01 2.11047844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.979254154 meters 0.014355790267073443 Centerline is valid? [True, True] Translation: X:487.26, Y:3.01, Z:2.11 [[ 9.99874943e-01 -9.00133455e-03 -1.30028868e-02 4.87262355e+02] [ 9.00086548e-03 9.99959487e-01 -9.45966612e-05 3.00511664e+00] [ 1.30032115e-02 -2.24524039e-05 9.99915454e-01 2.11004331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.039254154 meters 0.0143956511359706 Centerline is valid? [True, True] Translation: X:487.32, Y:3.01, Z:2.11 [[ 9.99890827e-01 -4.58852956e-03 -1.40456410e-02 4.87320709e+02] [ 4.58749518e-03 9.99989472e-01 -1.05862284e-04 3.00567613e+00] [ 1.40459789e-02 4.14164164e-05 9.99901350e-01 2.11034756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.099254154 meters 0.014369667552465947 Centerline is valid? [True, True] Translation: X:487.38, Y:3.00, Z:2.11 [[ 9.99878359e-01 -4.61121740e-03 -1.48998008e-02 4.87378924e+02] [ 4.61001532e-03 9.99989367e-01 -1.15022988e-04 3.00255344e+00] [ 1.49001728e-02 4.63206864e-05 9.99888985e-01 2.10958272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.159254154 meters 0.014408965193039735 Centerline is valid? [True, True] Translation: X:487.44, Y:3.00, Z:2.11 [[ 9.99867131e-01 -6.21451430e-03 -1.50698349e-02 4.87436661e+02] [ 6.21343980e-03 9.99980689e-01 -1.18121056e-04 2.99896313e+00] [ 1.50702780e-02 2.44698490e-05 9.99886437e-01 2.10952772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.219254154 meters 0.014417930268475208 Centerline is valid? [True, True] Translation: X:487.50, Y:2.99, Z:2.11 [[ 9.99862332e-01 -8.92754590e-03 -1.39862623e-02 4.87495571e+02] [ 8.92687020e-03 9.99960149e-01 -1.10742460e-04 2.99228438e+00] [ 1.39866935e-02 -1.41263332e-05 9.99902181e-01 2.11046194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.279254154 meters 0.014540005289856802 Centerline is valid? [True, True] Translation: X:487.55, Y:2.98, Z:2.11 [[ 9.99837619e-01 -1.27868722e-02 -1.26977360e-02 4.87553195e+02] [ 1.27866119e-02 9.99918243e-01 -1.01685980e-04 2.98382161e+00] [ 1.26979981e-02 -6.06915550e-05 9.99919375e-01 2.11164424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.339254154 meters 0.015102027994453602 Centerline is valid? [True, True] Translation: X:487.61, Y:2.97, Z:2.11 [[ 9.99761780e-01 -1.82978943e-02 -1.18983374e-02 4.87612513e+02] [ 1.82980447e-02 9.99832572e-01 -9.62313864e-05 2.97298620e+00] [ 1.18981061e-02 -1.21507848e-04 9.99929208e-01 2.11312187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.399254154 meters 0.018277164359629245 Centerline is valid? [True, True] Translation: X:487.67, Y:2.96, Z:2.11 [[ 9.99664633e-01 -2.26091279e-02 -1.26272834e-02 4.87671463e+02] [ 2.26096106e-02 9.99744365e-01 -1.04543097e-04 2.96444122e+00] [ 1.26264191e-02 -1.80989925e-04 9.99920267e-01 2.11252964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.459254154 meters 0.017518469023588834 Centerline is valid? [True, True] Translation: X:487.73, Y:2.96, Z:2.11 [[ 9.99599008e-01 -2.57809409e-02 -1.17117951e-02 4.87731376e+02] [ 2.57815585e-02 9.99667596e-01 -9.82727702e-05 2.95973047e+00] [ 1.17104357e-02 -2.03714968e-04 9.99931410e-01 2.11321119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.519254154 meters 0.01719611505218609 Centerline is valid? [True, True] Translation: X:487.79, Y:2.95, Z:2.11 [[ 9.99488147e-01 -2.96868075e-02 -1.19221818e-02 4.87791389e+02] [ 2.96877314e-02 9.99559217e-01 -9.95193701e-05 2.95046636e+00] [ 1.19198812e-02 -2.54474101e-04 9.99928923e-01 2.11373272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.579254154 meters 0.017220954106446407 Centerline is valid? [True, True] Translation: X:487.85, Y:2.95, Z:2.11 [[ 9.99433191e-01 -3.13665475e-02 -1.22244008e-02 4.87852131e+02] [ 3.13676494e-02 9.99507909e-01 -1.01631515e-04 2.94749756e+00] [ 1.22215731e-02 -2.81876809e-04 9.99925274e-01 2.11408692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.639254154 meters 0.01751784206091857 Centerline is valid? [True, True] Translation: X:487.91, Y:2.94, Z:2.11 [[ 9.99398137e-01 -3.21463826e-02 -1.30374195e-02 4.87912978e+02] [ 3.21477023e-02 9.99483123e-01 -1.08390809e-04 2.94290856e+00] [ 1.30341651e-02 -3.10797507e-04 9.99915003e-01 2.11466463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.699254154 meters 0.017566981831497835 Centerline is valid? [True, True] Translation: X:487.97, Y:2.94, Z:2.11 [[ 9.99407988e-01 -3.19132060e-02 -1.28538485e-02 4.87973966e+02] [ 3.19144694e-02 9.99490598e-01 -1.06864632e-04 2.94171203e+00] [ 1.28507111e-02 -3.03422389e-04 9.99917380e-01 2.11463370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.759254154 meters 0.017662447013597902 Centerline is valid? [True, True] Translation: X:488.03, Y:2.94, Z:2.11 [[ 9.99466534e-01 -2.96541324e-02 -1.36850358e-02 4.88033760e+02] [ 2.96553506e-02 9.99560177e-01 -1.13940976e-04 2.93752448e+00] [ 1.36823956e-02 -2.91954343e-04 9.99906349e-01 2.11426615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.81925415399996 meters 0.01733715764295929 Centerline is valid? [True, True] Translation: X:488.09, Y:2.94, Z:2.12 [[ 9.99531013e-01 -2.73957673e-02 -1.36830710e-02 4.88092913e+02] [ 2.73967739e-02 9.99624631e-01 -1.13908031e-04 2.93740750e+00] [ 1.36810554e-02 -2.61017393e-04 9.99906376e-01 2.11525332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.87925415399997 meters 0.01676518589495984 Centerline is valid? [True, True] Translation: X:488.15, Y:2.94, Z:2.12 [[ 9.99583302e-01 -2.50751476e-02 -1.42989208e-02 4.88152481e+02] [ 2.50760051e-02 9.99685540e-01 -1.19347317e-04 2.93780239e+00] [ 1.42974170e-02 -2.39262224e-04 9.99897758e-01 2.11683239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.93925415399997 meters 0.01799613142528395 Centerline is valid? [True, True] Translation: X:488.21, Y:2.93, Z:2.12 [[ 9.99542124e-01 -2.55561590e-02 -1.61995534e-02 4.88211155e+02] [ 2.55572710e-02 9.99673350e-01 -1.38410622e-04 2.93461158e+00] [ 1.61977991e-02 -2.75669131e-04 9.99868769e-01 2.11699572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.99925415399997 meters 0.016273759430453325 Centerline is valid? [True, True] Translation: X:488.27, Y:2.93, Z:2.12 [[ 9.99518797e-01 -2.71249550e-02 -1.50469515e-02 4.88269864e+02] [ 2.71260351e-02 9.99632013e-01 -1.32344605e-04 2.93302911e+00] [ 1.50450043e-02 -2.75883214e-04 9.99886779e-01 2.11811871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.059254154 meters 0.01821718900985591 Centerline is valid? [True, True] Translation: X:488.33, Y:2.93, Z:2.12 [[ 9.99399599e-01 -3.04331201e-02 -1.65609725e-02 4.88328533e+02] [ 3.04348092e-02 9.99536743e-01 -1.50087147e-04 2.92928048e+00] [ 1.65578681e-02 -3.54033004e-04 9.99862846e-01 2.11796975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.119254154 meters 0.0195725633841044 Centerline is valid? [True, True] Translation: X:488.39, Y:2.92, Z:2.12 [[ 9.99229147e-01 -3.51427209e-02 -1.74957590e-02 4.88387208e+02] [ 3.51452936e-02 9.99382200e-01 -1.60496346e-04 2.92332275e+00] [ 1.74905904e-02 -4.54520959e-04 9.99846925e-01 2.11712476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.179254154 meters 0.01972593073587981 Centerline is valid? [True, True] Translation: X:488.45, Y:2.92, Z:2.12 [[ 9.99055359e-01 -4.00233975e-02 -1.69268074e-02 4.88447083e+02] [ 4.00264937e-02 9.99198607e-01 -1.55963205e-04 2.91935980e+00] [ 1.69194845e-02 -5.21704872e-04 9.99856719e-01 2.11752884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.239254154 meters 0.02197159211933469 Centerline is valid? [True, True] Translation: X:488.51, Y:2.91, Z:2.12 [[ 9.98651953e-01 -4.87592970e-02 -1.77990803e-02 4.88508047e+02] [ 4.87641027e-02 9.98810310e-01 -1.64174517e-04 2.91483195e+00] [ 1.77859100e-02 -7.04002979e-04 9.99841570e-01 2.11872495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.299254154 meters 0.02628684210183455 Centerline is valid? [True, True] Translation: X:488.57, Y:2.91, Z:2.12 [[ 9.98088461e-01 -5.88186804e-02 -1.89680654e-02 4.88568698e+02] [ 5.88259464e-02 9.98268239e-01 -1.75147379e-04 2.90722623e+00] [ 1.89455192e-02 -9.41001823e-04 9.99820075e-01 2.11841903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.359254154 meters 0.030693101463253915 Centerline is valid? [True, True] Translation: X:488.63, Y:2.90, Z:2.12 [[ 9.97630303e-01 -6.58876154e-02 -1.98141724e-02 4.88628244e+02] [ 6.58969276e-02 9.97826418e-01 -1.83274912e-04 2.90199045e+00] [ 1.97831802e-02 -1.12285248e-03 9.99803663e-01 2.11843643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.419254154 meters 0.030421629737115534 Centerline is valid? [True, True] Translation: X:488.69, Y:2.90, Z:2.12 [[ 9.96993538e-01 -7.46388483e-02 -2.08069276e-02 4.88688452e+02] [ 7.46510109e-02 9.97209702e-01 -1.92638947e-04 2.90434691e+00] [ 2.07632484e-02 -1.36119839e-03 9.99783494e-01 2.12058675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.479254154 meters 0.034154868300166834 Centerline is valid? [True, True] Translation: X:488.75, Y:2.90, Z:2.12 [[ 9.96576415e-01 -7.99219321e-02 -2.11644588e-02 4.88748073e+02] [ 7.99356948e-02 9.96800003e-01 -1.96274711e-04 2.90337928e+00] [ 2.11124192e-02 -1.49619297e-03 9.99775988e-01 2.12079910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.539254154 meters 0.036604484671266965 Centerline is valid? [True, True] Translation: X:488.81, Y:2.91, Z:2.12 [[ 9.96500439e-01 -8.09219804e-02 -2.09405872e-02 4.88808369e+02] [ 8.09356777e-02 9.96719308e-01 -1.93975645e-04 2.90602621e+00] [ 2.08875845e-02 -1.50154380e-03 9.99780703e-01 2.12175551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.599254154 meters 0.037006764537996645 Centerline is valid? [True, True] Translation: X:488.87, Y:2.91, Z:2.12 [[ 9.96657046e-01 -7.88383749e-02 -2.14299845e-02 4.88868732e+02] [ 7.88522426e-02 9.96886295e-01 -1.98427298e-04 2.91268610e+00] [ 2.13789016e-02 -1.49203837e-03 9.99770332e-01 2.12123471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.659254154 meters 0.030982768707170677 Centerline is valid? [True, True] Translation: X:488.93, Y:2.93, Z:2.12 [[ 9.96863249e-01 -7.61494613e-02 -2.15620559e-02 4.88929636e+02] [ 7.61628813e-02 9.97095369e-01 -1.99328250e-04 2.92634554e+00] [ 2.15146048e-02 -1.44352529e-03 9.99767492e-01 2.12294246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.719254154 meters 0.02877268944696503 Centerline is valid? [True, True] Translation: X:488.99, Y:2.94, Z:2.12 [[ 9.97299027e-01 -7.01070510e-02 -2.19009832e-02 4.88990052e+02] [ 7.01194464e-02 9.97538582e-01 -2.02396070e-04 2.93823169e+00] [ 2.18612651e-02 -1.33383541e-03 9.99760124e-01 2.12330290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.779254154 meters 0.027136721507454872 Centerline is valid? [True, True] Translation: X:489.05, Y:2.95, Z:2.12 [[ 9.97865113e-01 -6.17465894e-02 -2.12738026e-02 4.89050095e+02] [ 6.17563893e-02 9.98091233e-01 -1.96635014e-04 2.94969371e+00] [ 2.12453374e-02 -1.11757801e-03 9.99773668e-01 2.12315124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.839254154 meters 0.024201207006410815 Centerline is valid? [True, True] Translation: X:489.11, Y:2.96, Z:2.12 [[ 9.98251851e-01 -5.51105793e-02 -2.13557163e-02 4.89110808e+02] [ 5.51189393e-02 9.98479776e-01 -1.97401763e-04 2.95944977e+00] [ 2.13341297e-02 -9.80047755e-04 9.99771921e-01 2.12382241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.899254154 meters 0.021366777347047828 Centerline is valid? [True, True] Translation: X:489.17, Y:2.97, Z:2.12 [[ 9.98807479e-01 -4.46457136e-02 -1.97580383e-02 4.89170199e+02] [ 4.46508181e-02 9.99002638e-01 -1.82944840e-04 2.97230446e+00] [ 1.97465001e-02 -6.99485899e-04 9.99804774e-01 2.12435019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.959254154 meters 0.01901425917386654 Centerline is valid? [True, True] Translation: X:489.23, Y:2.98, Z:2.13 [[ 9.99124976e-01 -3.74080371e-02 -1.87061931e-02 4.89230095e+02] [ 3.74113422e-02 9.99299936e-01 -1.73349566e-04 2.98092595e+00] [ 1.86995822e-02 -5.26625910e-04 9.99825009e-01 2.12504693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.019254154 meters 0.016133903145362345 Centerline is valid? [True, True] Translation: X:489.29, Y:2.99, Z:2.13 [[ 9.99505698e-01 -2.69302838e-02 -1.62209448e-02 4.89290581e+02] [ 2.69313881e-02 9.99637273e-01 -1.50396114e-04 2.99204857e+00] [ 1.62191113e-02 -2.86530787e-04 9.99868421e-01 2.12556011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.079254154 meters 0.014774606310016166 Centerline is valid? [True, True] Translation: X:489.35, Y:3.00, Z:2.12 [[ 9.99688933e-01 -1.97929141e-02 -1.51748831e-02 4.89349457e+02] [ 1.97930524e-02 9.99804088e-01 -1.41086355e-04 3.00049655e+00] [ 1.51747026e-02 -1.59314788e-04 9.99884845e-01 2.12481287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.139254154 meters 0.014068215066284757 Centerline is valid? [True, True] Translation: X:489.41, Y:3.00, Z:2.13 [[ 9.99713551e-01 -1.89694789e-02 -1.45936272e-02 4.89408215e+02] [ 1.89694784e-02 9.99820054e-01 -1.38464850e-04 3.00486272e+00] [ 1.45936277e-02 -1.38408309e-04 9.99893498e-01 2.12594935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.199254154 meters 0.015735688293794677 Centerline is valid? [True, True] Translation: X:489.47, Y:3.00, Z:2.13 [[ 9.99654510e-01 -2.27377224e-02 -1.31854847e-02 4.89467067e+02] [ 2.27380065e-02 9.99741450e-01 -1.28386080e-04 3.00311426e+00] [ 1.31849948e-02 -1.71469911e-04 9.99913059e-01 2.12534157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.259254154 meters 0.01564375416856702 Centerline is valid? [True, True] Translation: X:489.53, Y:3.00, Z:2.13 [[ 9.99504665e-01 -2.95222047e-02 -1.09024953e-02 4.89526859e+02] [ 2.95227895e-02 9.99564102e-01 -1.07332805e-04 3.00080204e+00] [ 1.09009116e-02 -2.14592433e-04 9.99940560e-01 2.12591934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.31925415399996 meters 0.01709620419938343 Centerline is valid? [True, True] Translation: X:489.59, Y:3.00, Z:2.13 [[ 9.99363431e-01 -3.42234628e-02 -1.00741310e-02 4.89587665e+02] [ 3.42242014e-02 9.99414176e-01 -9.91194774e-05 2.99795832e+00] [ 1.00716215e-02 -2.45722707e-04 9.99949250e-01 2.12602019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.37925415399997 meters 0.019898980002068023 Centerline is valid? [True, True] Translation: X:489.65, Y:2.99, Z:2.13 [[ 9.99138554e-01 -4.05384413e-02 -8.87611088e-03 4.89647657e+02] [ 4.05392648e-02 9.99177942e-01 -8.71884717e-05 2.99281676e+00] [ 8.87234869e-03 -2.72717646e-04 9.99960603e-01 2.12520543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.43925415399997 meters 0.02003008406242387 Centerline is valid? [True, True] Translation: X:489.71, Y:2.99, Z:2.13 [[ 9.98978672e-01 -4.46522301e-02 -6.91317543e-03 4.89708543e+02] [ 4.46528289e-02 9.99002563e-01 -6.77770194e-05 2.99370932e+00] [ 6.90930637e-03 -2.40985043e-04 9.99976101e-01 2.12582581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.49925415399997 meters 0.021193531424997074 Centerline is valid? [True, True] Translation: X:489.77, Y:2.99, Z:2.13 [[ 9.98895328e-01 -4.66227840e-02 -5.86860892e-03 4.89770969e+02] [ 4.66232513e-02 9.98912543e-01 -5.72351464e-05 2.99282370e+00] [ 5.86489552e-03 -2.16441708e-04 9.99982778e-01 2.12568520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.559254154 meters 0.021625736478628175 Centerline is valid? [True, True] Translation: X:489.83, Y:2.99, Z:2.13 [[ 9.98807883e-01 -4.85234077e-02 -5.31892510e-03 4.89832723e+02] [ 4.85238203e-02 9.98822024e-01 -5.15306085e-05 2.99331557e+00] [ 5.31515998e-03 -2.06625388e-04 9.99985853e-01 2.12589798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.619254154 meters 0.023236746681845253 Centerline is valid? [True, True] Translation: X:489.89, Y:2.99, Z:2.13 [[ 9.98714195e-01 -5.04528955e-02 -4.94592883e-03 4.89894242e+02] [ 5.04532772e-02 9.98726421e-01 -4.76609070e-05 2.99228523e+00] [ 4.94203443e-03 -2.01938694e-04 9.99987768e-01 2.12510246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.679254154 meters 0.02491856869595994 Centerline is valid? [True, True] Translation: X:489.96, Y:2.99, Z:2.12 [[ 9.98586522e-01 -5.28707911e-02 -5.44397241e-03 4.89956420e+02] [ 5.28712912e-02 9.98601334e-01 -5.21222321e-05 2.99164727e+00] [ 5.43911385e-03 -2.35781292e-04 9.99985180e-01 2.12382232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.739254154 meters 0.02476474308980999 Centerline is valid? [True, True] Translation: X:490.02, Y:3.00, Z:2.12 [[ 9.98612889e-01 -5.24190995e-02 -4.95341535e-03 4.90018798e+02] [ 5.24195096e-02 9.98625151e-01 -4.71000999e-05 2.99595452e+00] [ 4.94907410e-03 -2.12620837e-04 9.99987731e-01 2.12347606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.799254154 meters 0.02420718611974448 Centerline is valid? [True, True] Translation: X:490.08, Y:3.00, Z:2.12 [[ 9.98737278e-01 -5.00303346e-02 -4.56239701e-03 4.90080198e+02] [ 5.00306589e-02 9.98747681e-01 -4.30868577e-05 2.99997770e+00] [ 4.55883909e-03 -1.85227278e-04 9.99989591e-01 2.12363487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.859254154 meters 0.02426374221284961 Centerline is valid? [True, True] Translation: X:490.14, Y:3.00, Z:2.12 [[ 9.98880538e-01 -4.70790322e-02 -4.60825070e-03 4.90140952e+02] [ 4.70793325e-02 9.98891153e-01 -4.33546627e-05 3.00463416e+00] [ 4.60518195e-03 -1.73647238e-04 9.99989381e-01 2.12383326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.919254154 meters 0.02281048335158173 Centerline is valid? [True, True] Translation: X:490.20, Y:3.01, Z:2.12 [[ 9.98918137e-01 -4.62382640e-02 -4.95758978e-03 4.90202997e+02] [ 4.62386022e-02 9.98930423e-01 -4.64368652e-05 3.00974978e+00] [ 4.95443442e-03 -1.82845395e-04 9.99987710e-01 2.12356980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.979254154 meters 0.0236728406034656 Centerline is valid? [True, True] Translation: X:490.26, Y:3.01, Z:2.12 [[ 9.98906978e-01 -4.63518066e-02 -6.02990720e-03 4.90263859e+02] [ 4.63523125e-02 9.98925152e-01 -5.58980009e-05 3.01294454e+00] [ 6.02601695e-03 -2.23663240e-04 9.99981818e-01 2.12287755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.039254154 meters 0.024946987960595916 Centerline is valid? [True, True] Translation: X:490.33, Y:3.01, Z:2.12 [[ 9.98868010e-01 -4.71187955e-02 -6.52062286e-03 4.90325367e+02] [ 4.71194081e-02 9.98889262e-01 -5.97357682e-05 3.01430829e+00] [ 6.51619484e-03 -2.47579742e-04 9.99978739e-01 2.12308220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.099254154 meters 0.020463281138657297 Centerline is valid? [True, True] Translation: X:490.39, Y:3.02, Z:2.12 [[ 9.98864258e-01 -4.73486970e-02 -5.31928340e-03 4.90387300e+02] [ 4.73491092e-02 9.98878401e-01 -4.84778209e-05 3.02429578e+00] [ 5.31561266e-03 -2.03440568e-04 9.99985851e-01 2.12464853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.159254154 meters 0.021724548576412234 Centerline is valid? [True, True] Translation: X:490.45, Y:3.03, Z:2.13 [[ 9.98912077e-01 -4.64316575e-02 -4.33180194e-03 4.90448526e+02] [ 4.64319234e-02 9.98921456e-01 -3.92132437e-05 3.02710551e+00] [ 4.32895064e-03 -1.61963313e-04 9.99990617e-01 2.12644040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.219254154 meters 0.02046587167315209 Centerline is valid? [True, True] Translation: X:490.51, Y:3.03, Z:2.13 [[ 9.98997902e-01 -4.46849843e-02 -2.53858109e-03 4.90510961e+02] [ 4.46850700e-02 9.99001123e-01 -2.29747097e-05 3.03299525e+00] [ 2.53707199e-03 -9.04849869e-05 9.99996778e-01 2.12815264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.279254154 meters 0.019678334929714266 Centerline is valid? [True, True] Translation: X:490.57, Y:3.04, Z:2.13 [[ 9.99189580e-01 -4.02189366e-02 -1.61881056e-03 4.90571441e+02] [ 4.02189659e-02 9.99190890e-01 -1.44946550e-05 3.03789084e+00] [ 1.61808373e-03 -5.06239786e-05 9.99998690e-01 2.12897411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.339254154 meters 0.018311072809195802 Centerline is valid? [True, True] Translation: X:490.63, Y:3.04, Z:2.13 [[ 9.99363514e-01 -3.55864825e-02 -2.48388102e-03 4.90632814e+02] [ 3.55865372e-02 9.99366598e-01 -2.21860045e-05 3.04328585e+00] [ 2.48309725e-03 -6.62208410e-05 9.99996915e-01 2.12839594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.399254154 meters 0.01563854809897276 Centerline is valid? [True, True] Translation: X:490.69, Y:3.05, Z:2.13 [[ 9.99601627e-01 -2.79435701e-02 -3.96799764e-03 4.90693453e+02] [ 2.79436505e-02 9.99609499e-01 -3.51968911e-05 3.05318952e+00] [ 3.96743166e-03 -7.56974695e-05 9.99992127e-01 2.12743130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.459254154 meters 0.015056298059612758 Centerline is valid? [True, True] Translation: X:490.76, Y:3.06, Z:2.13 [[ 9.99706982e-01 -2.37070306e-02 -4.89141977e-03 4.90755342e+02] [ 2.37071028e-02 9.99718946e-01 -4.32400073e-05 3.05662601e+00] [ 4.89107011e-03 -7.27340538e-05 9.99988036e-01 2.12724948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.519254154 meters 0.014449463636910895 Centerline is valid? [True, True] Translation: X:490.82, Y:3.06, Z:2.13 [[ 9.99781268e-01 -2.01634394e-02 -5.55441739e-03 4.90817576e+02] [ 2.01634803e-02 9.99796695e-01 -4.86469531e-05 3.05986863e+00] [ 5.55426904e-03 -6.33600730e-05 9.99984573e-01 2.12629939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.579254154 meters 0.01605268012563125 Centerline is valid? [True, True] Translation: X:490.88, Y:3.06, Z:2.12 [[ 9.99769624e-01 -2.05134583e-02 -6.31637865e-03 4.90880082e+02] [ 2.05135214e-02 9.99789574e-01 -5.48072599e-05 3.05973505e+00] [ 6.31617381e-03 -7.47765349e-05 9.99980050e-01 2.12490656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.639254154 meters 0.015984880782550587 Centerline is valid? [True, True] Translation: X:490.94, Y:3.06, Z:2.13 [[ 9.99639487e-01 -2.60078841e-02 -6.66977900e-03 4.90942470e+02] [ 2.60080800e-02 9.99661731e-01 -5.73681206e-05 3.05680170e+00] [ 6.66901484e-03 -1.16120707e-04 9.99977755e-01 2.12544492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.699254154 meters 0.017590161308995947 Centerline is valid? [True, True] Translation: X:491.00, Y:3.05, Z:2.13 [[ 9.99390880e-01 -3.41781955e-02 -7.05119619e-03 4.91003134e+02] [ 3.41786204e-02 9.99415738e-01 -6.02637433e-05 3.05139796e+00] [ 7.04913615e-03 -1.80773123e-04 9.99975138e-01 2.12594827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.759254154 meters 0.021163337305826833 Centerline is valid? [True, True] Translation: X:491.06, Y:3.05, Z:2.13 [[ 9.99038213e-01 -4.33794384e-02 -6.39321623e-03 4.91064000e+02] [ 4.33799764e-02 9.99058644e-01 -5.45613832e-05 3.04501230e+00] [ 6.38956479e-03 -2.22828662e-04 9.99979562e-01 2.12686632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.81925415399996 meters 0.023880930649417348 Centerline is valid? [True, True] Translation: X:491.12, Y:3.04, Z:2.13 [[ 9.98818001e-01 -4.82137523e-02 -6.16721203e-03 4.91124311e+02] [ 4.82143452e-02 9.98837011e-01 -5.25877783e-05 3.04041956e+00] [ 6.16257508e-03 -2.44822470e-04 9.99980981e-01 2.12708924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.87925415399997 meters 0.026415301596373158 Centerline is valid? [True, True] Translation: X:491.19, Y:3.04, Z:2.13 [[ 9.98564966e-01 -5.32224334e-02 -5.94820678e-03 4.91185231e+02] [ 5.32230742e-02 9.98582646e-01 -5.06181016e-05 3.03640905e+00] [ 5.94247009e-03 -2.66036388e-04 9.99982308e-01 2.12701827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.93925415399997 meters 0.029097502515201264 Centerline is valid? [True, True] Translation: X:491.25, Y:3.04, Z:2.13 [[ 9.98462477e-01 -5.51262182e-02 -5.81218041e-03 4.91246980e+02] [ 5.51268636e-02 9.98479357e-01 -4.92229162e-05 3.03510644e+00] [ 5.80605564e-03 -2.71260042e-04 9.99983108e-01 2.12598942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.99925415399997 meters 0.029762806235255013 Centerline is valid? [True, True] Translation: X:491.31, Y:3.03, Z:2.13 [[ 9.98421885e-01 -5.58795895e-02 -5.58661094e-03 4.91308286e+02] [ 5.58802006e-02 9.98437480e-01 -4.67649677e-05 3.03341002e+00] [ 5.58049495e-03 -2.65489773e-04 9.99984394e-01 2.12784580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.059254154 meters 0.029219655156114514 Centerline is valid? [True, True] Translation: X:491.37, Y:3.04, Z:2.13 [[ 9.98546558e-01 -5.36346357e-02 -5.30068157e-03 4.91369910e+02] [ 5.36351556e-02 9.98560598e-01 -4.41105250e-05 3.03518069e+00] [ 5.29541761e-03 -2.40256468e-04 9.99985950e-01 2.12813047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.119254154 meters 0.02781765038452567 Centerline is valid? [True, True] Translation: X:491.43, Y:3.04, Z:2.13 [[ 9.98777617e-01 -4.91369512e-02 -5.36948570e-03 4.91429208e+02] [ 4.91374210e-02 9.98792026e-01 -4.44730635e-05 3.03863353e+00] [ 5.36518477e-03 -2.19423979e-04 9.99985583e-01 2.12839158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.179254154 meters 0.023105288104273116 Centerline is valid? [True, True] Translation: X:491.49, Y:3.05, Z:2.13 [[ 9.98959200e-01 -4.51886890e-02 -6.20482379e-03 4.91490370e+02] [ 4.51892402e-02 9.98978443e-01 -5.14125650e-05 3.04786005e+00] [ 6.20080847e-03 -2.29032218e-04 9.99980749e-01 2.12771536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.239254154 meters 0.020050843342375477 Centerline is valid? [True, True] Translation: X:491.55, Y:3.06, Z:2.13 [[ 9.99203518e-01 -3.89202220e-02 -8.80605801e-03 4.91551103e+02] [ 3.89210916e-02 9.99242285e-01 -7.26676660e-05 3.05681651e+00] [ 8.80221376e-03 -2.70131603e-04 9.99961223e-01 2.12566524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.299254154 meters 0.01828870720289557 Centerline is valid? [True, True] Translation: X:491.61, Y:3.06, Z:2.13 [[ 9.99376320e-01 -3.40241204e-02 -9.45148520e-03 4.91612882e+02] [ 3.40249066e-02 9.99420982e-01 -7.76392747e-05 3.06368129e+00] [ 9.44865423e-03 -2.43995049e-04 9.99955331e-01 2.12559760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.359254154 meters 0.017997220308999577 Centerline is valid? [True, True] Translation: X:491.68, Y:3.07, Z:2.13 [[ 9.99458799e-01 -3.16508536e-02 -8.96289354e-03 4.91675218e+02] [ 3.16514702e-02 9.99498964e-01 -7.30805536e-05 3.06666554e+00] [ 8.96071587e-03 -2.10647756e-04 9.99959830e-01 2.12643720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.419254154 meters 0.016332870009718354 Centerline is valid? [True, True] Translation: X:491.74, Y:3.07, Z:2.13 [[ 9.99538108e-01 -2.91517340e-02 -8.58756514e-03 4.91737196e+02] [ 2.91522131e-02 9.99574981e-01 -6.94122002e-05 3.07206431e+00] [ 8.58593875e-03 -1.80966389e-04 9.99963124e-01 2.12792340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.479254154 meters 0.015960432403446606 Centerline is valid? [True, True] Translation: X:491.80, Y:3.08, Z:2.13 [[ 9.99597698e-01 -2.73030961e-02 -7.68007220e-03 4.91799544e+02] [ 2.73034288e-02 9.99627190e-01 -6.15402010e-05 3.07551633e+00] [ 7.67888923e-03 -1.48176861e-04 9.99970506e-01 2.12902608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.539254154 meters 0.01577701041654993 Centerline is valid? [True, True] Translation: X:491.86, Y:3.08, Z:2.13 [[ 9.99622175e-01 -2.65341188e-02 -7.17265103e-03 4.91862013e+02] [ 2.65343929e-02 9.99647899e-01 -5.69608967e-05 3.07696604e+00] [ 7.17163694e-03 -1.33382565e-04 9.99974275e-01 2.12925644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.599254154 meters 0.01598061757004543 Centerline is valid? [True, True] Translation: X:491.92, Y:3.08, Z:2.13 [[ 9.99624052e-01 -2.66058175e-02 -6.62461792e-03 4.91923869e+02] [ 2.66060559e-02 9.99645995e-01 -5.21415498e-05 3.07760322e+00] [ 6.62366004e-03 -1.24133008e-04 9.99978056e-01 2.12975187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.659254154 meters 0.016281249330933865 Centerline is valid? [True, True] Translation: X:491.99, Y:3.08, Z:2.13 [[ 9.99602479e-01 -2.72893749e-02 -7.08331111e-03 4.91986340e+02] [ 2.72896686e-02 9.99627566e-01 -5.52091663e-05 3.07716971e+00] [ 7.08217967e-03 -1.38113993e-04 9.99974912e-01 2.12966571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.719254154 meters 0.01667629160150821 Centerline is valid? [True, True] Translation: X:492.05, Y:3.08, Z:2.13 [[ 9.99581359e-01 -2.78826914e-02 -7.72413224e-03 4.92048750e+02] [ 2.78830629e-02 9.99611190e-01 -5.96149541e-05 3.07648177e+00] [ 7.72279125e-03 -1.55782468e-04 9.99970167e-01 2.12945275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.779254154 meters 0.017195884482791298 Centerline is valid? [True, True] Translation: X:492.11, Y:3.08, Z:2.13 [[ 9.99574683e-01 -2.80770131e-02 -7.88251775e-03 4.92109961e+02] [ 2.80774116e-02 9.99605750e-01 -6.01292328e-05 3.07551843e+00] [ 7.88109831e-03 -1.61217036e-04 9.99968931e-01 2.12916228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.839254154 meters 0.016855332040211876 Centerline is valid? [True, True] Translation: X:492.17, Y:3.08, Z:2.13 [[ 9.99577080e-01 -2.76803534e-02 -8.91396532e-03 4.92172587e+02] [ 2.76808551e-02 9.99616809e-01 -6.71183998e-05 3.07698659e+00] [ 8.91240744e-03 -1.79656168e-04 9.99960268e-01 2.12847518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.899254154 meters 0.016518200896531852 Centerline is valid? [True, True] Translation: X:492.23, Y:3.08, Z:2.13 [[ 9.99570888e-01 -2.75269855e-02 -1.00152671e-02 4.92234614e+02] [ 2.75276187e-02 9.99621041e-01 -7.46427872e-05 3.07753442e+00] [ 1.00135264e-02 -2.01085697e-04 9.99949843e-01 2.12792098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.959254154 meters 0.016859652000933076 Centerline is valid? [True, True] Translation: X:492.30, Y:3.08, Z:2.13 [[ 9.99539924e-01 -2.82508105e-02 -1.10377537e-02 4.92297145e+02] [ 2.82516329e-02 9.99600840e-01 -8.14355032e-05 3.07641183e+00] [ 1.10356485e-02 -2.30436529e-04 9.99939079e-01 2.12745539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.019254154 meters 0.017439973468332284 Centerline is valid? [True, True] Translation: X:492.36, Y:3.07, Z:2.13 [[ 9.99488923e-01 -2.97781054e-02 -1.16256864e-02 4.92359202e+02] [ 2.97791308e-02 9.99556500e-01 -8.49318314e-05 3.07449755e+00] [ 1.16230595e-02 -2.61314411e-04 9.99932416e-01 2.12823918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.079254154 meters 0.01918531474952832 Centerline is valid? [True, True] Translation: X:492.42, Y:3.07, Z:2.13 [[ 9.99365527e-01 -3.36542281e-02 -1.16591580e-02 4.92420219e+02] [ 3.36555311e-02 9.99433489e-01 -8.44866120e-05 3.07021363e+00] [ 1.16553963e-02 -3.07962148e-04 9.99932026e-01 2.12904141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.139254154 meters 0.021009493067506053 Centerline is valid? [True, True] Translation: X:492.48, Y:3.07, Z:2.13 [[ 9.99249684e-01 -3.69905903e-02 -1.14789067e-02 4.92481805e+02] [ 3.69920800e-02 9.99315555e-01 -8.25914661e-05 3.06536781e+00] [ 1.14741051e-02 -3.42099139e-04 9.99934112e-01 2.12952846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.199254154 meters 0.01929628314413148 Centerline is valid? [True, True] Translation: X:492.54, Y:3.07, Z:2.13 [[ 9.99178022e-01 -3.86931860e-02 -1.20878865e-02 4.92544382e+02] [ 3.86949721e-02 9.99251065e-01 -8.61716591e-05 3.06704800e+00] [ 1.20821677e-02 -3.81639604e-04 9.99926935e-01 2.13072335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.259254154 meters 0.019758371614990066 Centerline is valid? [True, True] Translation: X:492.61, Y:3.07, Z:2.13 [[ 9.99168646e-01 -3.84282183e-02 -1.36120498e-02 4.92606147e+02] [ 3.84304727e-02 9.99261272e-01 -9.60067989e-05 3.06640694e+00] [ 1.36056836e-02 -4.27190526e-04 9.99907347e-01 2.13028546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.31925415399996 meters 0.02215033072441818 Centerline is valid? [True, True] Translation: X:492.67, Y:3.06, Z:2.13 [[ 9.99272129e-01 -3.52194460e-02 -1.46561261e-02 4.92666202e+02] [ 3.52217344e-02 9.99379517e-01 -1.02029380e-04 3.06333990e+00] [ 1.46506256e-02 -4.14259064e-04 9.99892588e-01 2.12967204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.37925415399997 meters 0.018093730412626328 Centerline is valid? [True, True] Translation: X:492.73, Y:3.07, Z:2.13 [[ 9.99440234e-01 -3.05708564e-02 -1.35883086e-02 4.92727484e+02] [ 3.05724039e-02 9.99532550e-01 -9.38683656e-05 3.07245172e+00] [ 1.35848264e-02 -3.21611439e-04 9.99907670e-01 2.13408131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.43925415399997 meters 0.01727276369187139 Centerline is valid? [True, True] Translation: X:492.79, Y:3.07, Z:2.14 [[ 9.99543028e-01 -2.70114487e-02 -1.35689929e-02 4.92788188e+02] [ 2.70126706e-02 9.99635087e-01 -9.32541976e-05 3.07411925e+00] [ 1.35665603e-02 -2.73323151e-04 9.99907933e-01 2.13519881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.49925415399997 meters 0.016149103598892423 Centerline is valid? [True, True] Translation: X:492.85, Y:3.08, Z:2.14 [[ 9.99619817e-01 -2.37199004e-02 -1.40566119e-02 4.92849265e+02] [ 2.37208936e-02 9.99718615e-01 -9.60916925e-05 3.07770581e+00] [ 1.40549359e-02 -2.37380235e-04 9.99901196e-01 2.13566830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.559254154 meters 0.015618379400904991 Centerline is valid? [True, True] Translation: X:492.91, Y:3.08, Z:2.14 [[ 9.99653984e-01 -2.10264593e-02 -1.58050439e-02 4.92909680e+02] [ 2.10273812e-02 9.99778894e-01 -1.07863054e-04 3.07877524e+00] [ 1.58038173e-02 -2.24512953e-04 9.99875087e-01 2.13557144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.619254154 meters 0.01589171661722976 Centerline is valid? [True, True] Translation: X:492.97, Y:3.08, Z:2.14 [[ 9.99607298e-01 -2.19393478e-02 -1.74331260e-02 4.92969483e+02] [ 2.19406001e-02 9.99759269e-01 -1.19445440e-04 3.07625374e+00] [ 1.74315498e-02 -2.63094712e-04 9.99848024e-01 2.13545924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.679254154 meters 0.017638599920265095 Centerline is valid? [True, True] Translation: X:493.03, Y:3.07, Z:2.14 [[ 9.99487942e-01 -2.65663577e-02 -1.78348477e-02 4.93028474e+02] [ 2.65683842e-02 9.99646991e-01 -1.23344566e-04 3.06975780e+00] [ 1.78318287e-02 -3.50561680e-04 9.99840939e-01 2.13520231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.739254154 meters 0.01945416884340453 Centerline is valid? [True, True] Translation: X:493.09, Y:3.06, Z:2.14 [[ 9.99285754e-01 -3.36667036e-02 -1.71620229e-02 4.93087788e+02] [ 3.36696093e-02 9.99433011e-01 -1.19684773e-04 3.06232445e+00] [ 1.71563216e-02 -4.58239315e-04 9.99852714e-01 2.13683027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.799254154 meters 0.020217010523323895 Centerline is valid? [True, True] Translation: X:493.15, Y:3.06, Z:2.14 [[ 9.99103273e-01 -3.88500276e-02 -1.68322559e-02 4.93148522e+02] [ 3.88535574e-02 9.99244909e-01 -1.17388645e-04 3.05765489e+00] [ 1.68241066e-02 -5.36709641e-04 9.99858321e-01 2.13834480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.859254154 meters 0.026017377030861086 Centerline is valid? [True, True] Translation: X:493.21, Y:3.04, Z:2.14 [[ 9.98691925e-01 -4.84089092e-02 -1.64625496e-02 4.93208873e+02] [ 4.84135911e-02 9.98827368e-01 -1.14251738e-04 3.04360958e+00] [ 1.64487759e-02 -6.82908855e-04 9.99864477e-01 2.13756736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.919254154 meters 0.027186205602879234 Centerline is valid? [True, True] Translation: X:493.27, Y:3.04, Z:2.14 [[ 9.98137312e-01 -5.86761342e-02 -1.67038110e-02 4.93269698e+02] [ 5.86823938e-02 9.98276697e-01 -1.15581019e-04 3.03816966e+00] [ 1.66818071e-02 -8.64853889e-04 9.99860475e-01 2.13893572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.979254154 meters 0.02857393742599234 Centerline is valid? [True, True] Translation: X:493.33, Y:3.03, Z:2.14 [[ 9.97779314e-01 -6.44065858e-02 -1.69773756e-02 4.93330239e+02] [ 6.44138805e-02 9.97923263e-01 -1.17373649e-04 3.03413679e+00] [ 1.69496777e-02 -9.76465648e-04 9.99855867e-01 2.13956766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.039254154 meters 0.031253676222347586 Centerline is valid? [True, True] Translation: X:493.39, Y:3.03, Z:2.14 [[ 9.97430214e-01 -6.94234152e-02 -1.77018988e-02 4.93390804e+02] [ 6.94321338e-02 9.97586670e-01 -1.22334349e-04 3.02699429e+00] [ 1.76676711e-02 -1.10706063e-03 9.99843302e-01 2.13933198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.099254154 meters 0.03254889953955902 Centerline is valid? [True, True] Translation: X:493.45, Y:3.02, Z:2.14 [[ 9.97423301e-01 -6.94782402e-02 -1.78754566e-02 4.93452911e+02] [ 6.94871571e-02 9.97582839e-01 -1.22541459e-04 3.02378602e+00] [ 1.78407627e-02 -1.11988896e-03 9.99840214e-01 2.13888657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.159254154 meters 0.030426272292031514 Centerline is valid? [True, True] Translation: X:493.51, Y:3.03, Z:2.14 [[ 9.97620338e-01 -6.64292211e-02 -1.84612991e-02 4.93513335e+02] [ 6.64382181e-02 9.97790533e-01 -1.26226680e-04 3.02710425e+00] [ 1.84288946e-02 -1.10060951e-03 9.99829568e-01 2.13841963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.219254154 meters 0.028310121262366122 Centerline is valid? [True, True] Translation: X:493.57, Y:3.03, Z:2.14 [[ 9.98083417e-01 -5.86922991e-02 -1.96139590e-02 4.93573198e+02] [ 5.87009647e-02 9.98275603e-01 -1.34132580e-04 3.03283469e+00] [ 1.95880093e-02 -1.01748281e-03 9.99807619e-01 2.13712089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.279254154 meters 0.023862074205052954 Centerline is valid? [True, True] Translation: X:493.63, Y:3.04, Z:2.14 [[ 9.98618803e-01 -4.94186009e-02 -1.78406495e-02 4.93634184e+02] [ 4.94242967e-02 9.98777865e-01 -1.21785302e-04 3.04248773e+00] [ 1.78248642e-02 -7.60144460e-04 9.99840836e-01 2.13844739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.339254154 meters 0.022782509004267777 Centerline is valid? [True, True] Translation: X:493.69, Y:3.05, Z:2.14 [[ 9.98965156e-01 -4.24308025e-02 -1.63781341e-02 4.93693349e+02] [ 4.24346624e-02 9.99099238e-01 -1.11933361e-04 3.04595233e+00] [ 1.63681307e-02 -5.83183062e-04 9.99865863e-01 2.13903599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.399254154 meters 0.020085184761301157 Centerline is valid? [True, True] Translation: X:493.75, Y:3.05, Z:2.14 [[ 9.99270748e-01 -3.52359407e-02 -1.47105802e-02 4.93754189e+02] [ 3.52382773e-02 9.99378934e-01 -1.00414297e-04 3.05378814e+00] [ 1.47049821e-02 -4.18034434e-04 9.99891789e-01 2.13993284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.459254154 meters 0.018151753996011592 Centerline is valid? [True, True] Translation: X:493.81, Y:3.06, Z:2.14 [[ 9.99525118e-01 -2.75192669e-02 -1.38646740e-02 4.93814981e+02] [ 2.75206038e-02 9.99621232e-01 -9.43945855e-05 3.06093954e+00] [ 1.38620202e-02 -2.87214441e-04 9.99903876e-01 2.14030180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.519254154 meters 0.015732197321930767 Centerline is valid? [True, True] Translation: X:493.88, Y:3.07, Z:2.14 [[ 9.99778687e-01 -1.62710506e-02 -1.33352813e-02 4.93875457e+02] [ 1.62712878e-02 9.99867610e-01 -9.07143979e-05 3.06942632e+00] [ 1.33349918e-02 -1.26287878e-04 9.99911077e-01 2.14031841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.579254154 meters 0.015504939897378122 Centerline is valid? [True, True] Translation: X:493.93, Y:3.07, Z:2.14 [[ 9.99879787e-01 -9.45074274e-03 -1.22921093e-02 4.93934124e+02] [ 9.45040363e-03 9.99955340e-01 -8.56735437e-05 3.07408956e+00] [ 1.22923701e-02 -3.05021500e-05 9.99924445e-01 2.14015185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.639254154 meters 0.01517548529762836 Centerline is valid? [True, True] Translation: X:493.99, Y:3.07, Z:2.14 [[ 9.99908069e-01 -7.85830182e-03 -1.10499168e-02 4.93993135e+02] [ 7.85789999e-03 9.99969123e-01 -7.97810008e-05 3.07441139e+00] [ 1.10502026e-02 -7.05547460e-06 9.99938945e-01 2.14070519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.699254154 meters 0.015103112759552301 Centerline is valid? [True, True] Translation: X:494.05, Y:3.07, Z:2.14 [[ 9.99905472e-01 -9.78987035e-03 -9.65427390e-03 4.94051458e+02] [ 9.78962891e-03 9.99952078e-01 -7.22661437e-05 3.07170568e+00] [ 9.65451872e-03 -2.22524464e-05 9.99953394e-01 2.14122438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.759254154 meters 0.01554269618089574 Centerline is valid? [True, True] Translation: X:494.11, Y:3.06, Z:2.14 [[ 9.99841192e-01 -1.57775034e-02 -8.28624038e-03 4.94110629e+02] [ 1.57775195e-02 9.99875525e-01 -6.34363112e-05 3.06418789e+00] [ 8.28620982e-03 -6.73100818e-05 9.99965667e-01 2.14124056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.81925415399996 meters 0.016283721968314666 Centerline is valid? [True, True] Translation: X:494.17, Y:3.06, Z:2.14 [[ 9.99735813e-01 -2.15702571e-02 -7.93902755e-03 4.94171625e+02] [ 2.15704525e-02 9.99767329e-01 -6.10269158e-05 3.05898072e+00] [ 7.93849673e-03 -1.10237623e-04 9.99968484e-01 2.14143435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.87925415399997 meters 0.01933715355550351 Centerline is valid? [True, True] Translation: X:494.23, Y:3.05, Z:2.14 [[ 9.99435536e-01 -3.27396394e-02 -7.53158846e-03 4.94231248e+02] [ 3.27401327e-02 9.99463896e-01 -5.78173740e-05 3.04619833e+00] [ 7.52944367e-03 -1.88800467e-04 9.99971636e-01 2.14123323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.93925415399997 meters 0.024052927323753175 Centerline is valid? [True, True] Translation: X:494.29, Y:3.03, Z:2.14 [[ 9.98982185e-01 -4.45741254e-02 -6.90957559e-03 4.94291343e+02] [ 4.45748240e-02 9.99006047e-01 -5.29428044e-05 3.03242440e+00] [ 6.90506767e-03 -2.55104197e-04 9.99976127e-01 2.14187857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.99925415399997 meters 0.02703042461673947 Centerline is valid? [True, True] Translation: X:494.35, Y:3.03, Z:2.14 [[ 9.98738235e-01 -4.96569819e-02 -7.49140208e-03 4.94352802e+02] [ 4.96579480e-02 9.98766281e-01 -5.71025008e-05 3.02717269e+00] [ 7.48499534e-03 -3.14977204e-04 9.99971937e-01 2.14159511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.059254154 meters 0.02546817327839288 Centerline is valid? [True, True] Translation: X:494.41, Y:3.03, Z:2.14 [[ 9.98352234e-01 -5.68344450e-02 -7.91598140e-03 4.94413444e+02] [ 5.68357502e-02 9.98383540e-01 -6.01638004e-05 3.02504648e+00] [ 7.90660492e-03 -3.89846077e-04 9.99968666e-01 2.14193069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.119254154 meters 0.027032123460274896 Centerline is valid? [True, True] Translation: X:494.47, Y:3.02, Z:2.14 [[ 9.98118146e-01 -6.07130210e-02 -8.60792940e-03 4.94474850e+02] [ 6.07147096e-02 9.98155158e-01 -6.52516478e-05 3.02119357e+00] [ 8.59601076e-03 -4.57499080e-04 9.99962949e-01 2.14118154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.179254154 meters 0.028000306987982386 Centerline is valid? [True, True] Translation: X:494.54, Y:3.02, Z:2.14 [[ 9.98002327e-01 -6.25163806e-02 -9.11353710e-03 4.94536705e+02] [ 6.25183523e-02 9.98043812e-01 -6.86489416e-05 3.02001473e+00] [ 9.10000099e-03 -5.01251520e-04 9.99958469e-01 2.14103465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.239254154 meters 0.030274411931033064 Centerline is valid? [True, True] Translation: X:494.60, Y:3.02, Z:2.14 [[ 9.97823657e-01 -6.51959729e-02 -9.87088766e-03 4.94597210e+02] [ 6.51984203e-02 9.97872317e-01 -7.39887737e-05 3.01772448e+00] [ 9.85470931e-03 -5.69738534e-04 9.99951279e-01 2.14014990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.299254154 meters 0.03337267829265572 Centerline is valid? [True, True] Translation: X:494.66, Y:3.01, Z:2.14 [[ 9.97531399e-01 -6.95098056e-02 -9.97467709e-03 4.94657471e+02] [ 6.95125206e-02 9.97581076e-01 -7.46642479e-05 3.01473549e+00] [ 9.95573901e-03 -6.18885015e-04 9.99950249e-01 2.13943287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.359254154 meters 0.037422724878458 Centerline is valid? [True, True] Translation: X:494.72, Y:3.01, Z:2.14 [[ 9.97157103e-01 -7.45748528e-02 -1.07844339e-02 4.94716557e+02] [ 7.45783194e-02 9.97215156e-01 -8.09129521e-05 3.01243699e+00] [ 1.07604350e-02 -7.23602031e-04 9.99941843e-01 2.13818308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.419254154 meters 0.04066093977661984 Centerline is valid? [True, True] Translation: X:494.78, Y:3.01, Z:2.14 [[ 9.96864260e-01 -7.81945999e-02 -1.21347436e-02 4.94776851e+02] [ 7.81992543e-02 9.96937745e-01 -9.11767046e-05 3.01334971e+00] [ 1.21047135e-02 -8.58037102e-04 9.99926367e-01 2.13728912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.479254154 meters 0.036200377822865205 Centerline is valid? [True, True] Translation: X:494.84, Y:3.02, Z:2.14 [[ 9.96716954e-01 -8.01031569e-02 -1.17812167e-02 4.94837715e+02] [ 8.01076783e-02 9.96786212e-01 -8.83696546e-05 3.02242191e+00] [ 1.17504331e-02 -8.55686388e-04 9.99930595e-01 2.13903004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.539254154 meters 0.03524617594082011 Centerline is valid? [True, True] Translation: X:494.90, Y:3.03, Z:2.14 [[ 9.96505806e-01 -8.29740513e-02 -9.56479348e-03 4.94898673e+02] [ 8.29771645e-02 9.96551446e-01 -7.15816481e-05 3.02813676e+00] [ 9.53774819e-03 -7.22327914e-04 9.99954254e-01 2.14198785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.599254154 meters 0.036693996853548905 Centerline is valid? [True, True] Translation: X:494.96, Y:3.03, Z:2.14 [[ 9.96456663e-01 -8.38003060e-02 -7.18522809e-03 4.94961151e+02] [ 8.38020861e-02 9.96482417e-01 -5.35035729e-05 3.03191512e+00] [ 7.16443707e-03 -5.48823111e-04 9.99974184e-01 2.14461058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.659254154 meters 0.03757469159850533 Centerline is valid? [True, True] Translation: X:495.02, Y:3.03, Z:2.15 [[ 9.96473882e-01 -8.36885482e-02 -6.00246948e-03 4.95023516e+02] [ 8.36897908e-02 9.96491855e-01 -4.43038661e-05 3.03428441e+00] [ 5.98511968e-03 -4.58197770e-04 9.99981984e-01 2.14571833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.719254154 meters 0.03752114559270512 Centerline is valid? [True, True] Translation: X:495.09, Y:3.04, Z:2.15 [[ 9.96506891e-01 -8.33319141e-02 -5.45975145e-03 4.95085221e+02] [ 8.33329389e-02 9.96521761e-01 -3.99239362e-05 3.03882885e+00] [ 5.44408807e-03 -4.15192656e-04 9.99985095e-01 2.14626352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.779254154 meters 0.041736192909013065 Centerline is valid? [True, True] Translation: X:495.15, Y:3.04, Z:2.15 [[ 9.96340051e-01 -8.52214402e-02 -6.61884368e-03 4.95145472e+02] [ 8.52229906e-02 9.96361902e-01 -4.79652239e-05 3.03688543e+00] [ 6.59885135e-03 -5.16287979e-04 9.99978094e-01 2.14576406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.839254154 meters 0.03909203589324327 Centerline is valid? [True, True] Translation: X:495.21, Y:3.04, Z:2.14 [[ 9.96105190e-01 -8.78003190e-02 -8.09658233e-03 4.95206364e+02] [ 8.78027255e-02 9.96137881e-01 -5.84337509e-05 3.04249666e+00] [ 8.07044287e-03 -6.52695833e-04 9.99967220e-01 2.14486229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.899254154 meters 0.043742533960335055 Centerline is valid? [True, True] Translation: X:495.27, Y:3.04, Z:2.14 [[ 9.95780728e-01 -9.12239100e-02 -9.94684415e-03 4.95265632e+02] [ 9.12277130e-02 9.95830055e-01 -7.16630281e-05 3.03883698e+00] [ 9.91190374e-03 -8.36067181e-04 9.99950526e-01 2.14316896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.959254154 meters 0.049326688071114566 Centerline is valid? [True, True] Translation: X:495.33, Y:3.03, Z:2.14 [[ 9.95743039e-01 -9.15442325e-02 -1.07449761e-02 4.95327028e+02] [ 9.15486918e-02 9.95800598e-01 -7.71467683e-05 3.03470392e+00] [ 1.07069160e-02 -9.06870147e-04 9.99942268e-01 2.14265864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.019254154 meters 0.04470743750763811 Centerline is valid? [True, True] Translation: X:495.39, Y:3.04, Z:2.14 [[ 9.96122469e-01 -8.73867508e-02 -1.01775607e-02 4.95387673e+02] [ 8.73905381e-02 9.96174126e-01 -7.28556804e-05 3.04452160e+00] [ 1.01449893e-02 -8.16849327e-04 9.99948205e-01 2.14445150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.079254154 meters 0.04359589008639983 Centerline is valid? [True, True] Translation: X:495.45, Y:3.05, Z:2.15 [[ 9.96460513e-01 -8.35856275e-02 -8.93806387e-03 4.95447868e+02] [ 8.35883963e-02 9.96500364e-01 -6.39859419e-05 3.04927015e+00] [ 8.91213220e-03 -6.83358960e-04 9.99960053e-01 2.14630598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.139254154 meters 0.04248577174034164 Centerline is valid? [True, True] Translation: X:495.51, Y:3.05, Z:2.15 [[ 9.96949208e-01 -7.77147745e-02 -7.25887456e-03 4.95507499e+02] [ 7.77164458e-02 9.96975502e-01 -5.19689887e-05 3.05396083e+00] [ 7.24095886e-03 -5.12323489e-04 9.99973653e-01 2.14840244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.199254154 meters 0.0424371900645161 Centerline is valid? [True, True] Translation: X:495.57, Y:3.06, Z:2.15 [[ 9.97260109e-01 -7.36068368e-02 -7.36948938e-03 4.95567455e+02] [ 7.36084478e-02 9.97287217e-01 -5.27653877e-05 3.05649550e+00] [ 7.35338145e-03 -4.89835858e-04 9.99972844e-01 2.14814735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.259254154 meters 0.04239376920346527 Centerline is valid? [True, True] Translation: X:495.63, Y:3.06, Z:2.15 [[ 9.97442529e-01 -7.09886745e-02 -8.30713202e-03 4.95627045e+02] [ 7.09906305e-02 9.97476981e-01 -5.95386501e-05 3.05818471e+00] [ 8.29039954e-03 -5.30342158e-04 9.99965493e-01 2.14700479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.31925415399996 meters 0.033956781497804754 Centerline is valid? [True, True] Translation: X:495.69, Y:3.07, Z:2.15 [[ 9.97670817e-01 -6.75631259e-02 -9.38965706e-03 4.95687482e+02] [ 6.75654731e-02 9.97714840e-01 -6.73789907e-05 3.07120346e+00] [ 9.37275253e-03 -5.67194569e-04 9.99955914e-01 2.14694949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.37925415399997 meters 0.029309775517925896 Centerline is valid? [True, True] Translation: X:495.75, Y:3.08, Z:2.15 [[ 9.98132520e-01 -6.01864618e-02 -1.04432863e-02 4.95748040e+02] [ 6.01889626e-02 9.98186998e-01 -7.49478673e-05 3.08080383e+00] [ 1.04288635e-02 -5.53762668e-04 9.99945465e-01 2.14654898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.43925415399997 meters 0.028626783706136593 Centerline is valid? [True, True] Translation: X:495.81, Y:3.08, Z:2.15 [[ 9.98477103e-01 -5.41483321e-02 -1.05561949e-02 4.95807255e+02] [ 5.41505493e-02 9.98532780e-01 -7.58709537e-05 3.08432022e+00] [ 1.05448149e-02 -4.95868343e-04 9.99944279e-01 2.14629545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.49925415399997 meters 0.024776465171174638 Centerline is valid? [True, True] Translation: X:495.87, Y:3.09, Z:2.15 [[ 9.98990377e-01 -4.38384095e-02 -9.81941938e-03 4.95867337e+02] [ 4.38398306e-02 9.99038570e-01 -7.05798138e-05 3.09298013e+00] [ 9.81307280e-03 -3.59973128e-04 9.99951786e-01 2.14722799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.559254154 meters 0.01967042035326305 Centerline is valid? [True, True] Translation: X:495.93, Y:3.10, Z:2.15 [[ 9.99387454e-01 -3.37113099e-02 -9.39486712e-03 4.95927867e+02] [ 3.37121641e-02 9.99431581e-01 -6.74775147e-05 3.10417882e+00] [ 9.39180166e-03 -2.49285120e-04 9.99955865e-01 2.14801007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.619254154 meters 0.01798194066069779 Centerline is valid? [True, True] Translation: X:495.99, Y:3.11, Z:2.15 [[ 9.99544996e-01 -2.84033541e-02 -1.01514124e-02 4.95989675e+02] [ 2.84040809e-02 9.99596520e-01 -7.26083897e-05 3.10886297e+00] [ 1.01493788e-02 -2.15766185e-04 9.99948470e-01 2.14774197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.679254154 meters 0.017391315414751893 Centerline is valid? [True, True] Translation: X:496.05, Y:3.11, Z:2.15 [[ 9.99601078e-01 -2.57498037e-02 -1.16031438e-02 4.96051827e+02] [ 2.57505834e-02 9.99668395e-01 -8.22163432e-05 3.11084500e+00] [ 1.16014132e-02 -2.16604177e-04 9.99932678e-01 2.14740294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.739254154 meters 0.01772460784948052 Centerline is valid? [True, True] Translation: X:496.11, Y:3.11, Z:2.15 [[ 9.99547161e-01 -2.76741766e-02 -1.18158267e-02 4.96112796e+02] [ 2.76751265e-02 9.99616967e-01 -8.31428147e-05 3.10907747e+00] [ 1.18136018e-02 -2.43899334e-04 9.99930187e-01 2.14811152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.799254154 meters 0.018293428516923643 Centerline is valid? [True, True] Translation: X:496.17, Y:3.10, Z:2.15 [[ 9.99406193e-01 -3.24674675e-02 -1.15379666e-02 4.96174606e+02] [ 3.24686987e-02 9.99472750e-01 -8.06390497e-05 3.10473906e+00] [ 1.15345014e-02 -2.94031596e-04 9.99933432e-01 2.15012276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.859254154 meters 0.020456290290312863 Centerline is valid? [True, True] Translation: X:496.24, Y:3.10, Z:2.15 [[ 9.99268743e-01 -3.62993481e-02 -1.20140359e-02 4.96235327e+02] [ 3.63009745e-02 9.99340899e-01 -8.27432928e-05 3.09699934e+00] [ 1.20091210e-02 -3.53438426e-04 9.99927825e-01 2.15084567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.919254154 meters 0.020430867322475694 Centerline is valid? [True, True] Translation: X:496.30, Y:3.09, Z:2.15 [[ 9.99222271e-01 -3.75945662e-02 -1.18954203e-02 4.96297372e+02] [ 3.75962653e-02 9.99293007e-01 -8.08307931e-05 3.09499457e+00] [ 1.18900492e-02 -3.66455450e-04 9.99929244e-01 2.15249933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.979254154 meters 0.020600264318956427 Centerline is valid? [True, True] Translation: X:496.36, Y:3.09, Z:2.16 [[ 9.99214808e-01 -3.79909913e-02 -1.12450493e-02 4.96359789e+02] [ 3.79925437e-02 9.99278020e-01 -7.56162798e-05 3.09166768e+00] [ 1.12398033e-02 -3.51671119e-04 9.99936770e-01 2.15503968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.039254154 meters 0.022456526508630375 Centerline is valid? [True, True] Translation: X:496.42, Y:3.08, Z:2.16 [[ 9.99164058e-01 -3.89174098e-02 -1.25147869e-02 4.96420662e+02] [ 3.89194151e-02 9.99242349e-01 -8.33667873e-05 3.08463237e+00] [ 1.25085495e-02 -4.03771087e-04 9.99921684e-01 2.15569693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.099254154 meters 0.022217907600860023 Centerline is valid? [True, True] Translation: X:496.48, Y:3.08, Z:2.16 [[ 9.99117966e-01 -3.97154029e-02 -1.36373497e-02 4.96483310e+02] [ 3.97178706e-02 9.99210930e-01 -8.99417867e-05 3.08254916e+00] [ 1.36301609e-02 -4.51784035e-04 9.99907003e-01 2.15556717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.159254154 meters 0.02135210899786881 Centerline is valid? [True, True] Translation: X:496.55, Y:3.08, Z:2.15 [[ 9.99099034e-01 -3.91829012e-02 -1.63039774e-02 4.96545309e+02] [ 3.91863776e-02 9.99231913e-01 -1.06309780e-04 3.08051082e+00] [ 1.62956200e-02 -5.32679814e-04 9.99867076e-01 2.15468128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.219254154 meters 0.02015691673033407 Centerline is valid? [True, True] Translation: X:496.61, Y:3.08, Z:2.15 [[ 9.99211218e-01 -3.50810216e-02 -1.86081421e-02 4.96606465e+02] [ 3.50848559e-02 9.99384330e-01 -1.20466152e-04 3.08136136e+00] [ 1.86009117e-02 -5.32492855e-04 9.99826846e-01 2.15417531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.279254154 meters 0.01920390323266621 Centerline is valid? [True, True] Translation: X:496.67, Y:3.08, Z:2.15 [[ 9.99341359e-01 -3.07277465e-02 -1.93042350e-02 4.96666954e+02] [ 3.07310646e-02 9.99527681e-01 -1.24809013e-04 3.08320596e+00] [ 1.92989524e-02 -4.68512885e-04 9.99813648e-01 2.15473399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.339254154 meters 0.017963687771979518 Centerline is valid? [True, True] Translation: X:496.73, Y:3.09, Z:2.15 [[ 9.99533744e-01 -2.36894986e-02 -1.92640251e-02 4.96726219e+02] [ 2.36914863e-02 9.99719310e-01 -1.25060296e-04 3.08593437e+00] [ 1.92615805e-02 -3.31391402e-04 9.99814424e-01 2.15454876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.399254154 meters 0.016963191706312487 Centerline is valid? [True, True] Translation: X:496.78, Y:3.09, Z:2.16 [[ 9.99624031e-01 -1.93522188e-02 -1.94239029e-02 4.96785000e+02] [ 1.93533491e-02 9.99812698e-01 -1.29801480e-04 3.08761259e+00] [ 1.94227767e-02 -2.46164895e-04 9.99811330e-01 2.15539609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.459254154 meters 0.016032721720652676 Centerline is valid? [True, True] Translation: X:496.84, Y:3.09, Z:2.16 [[ 9.99663446e-01 -1.73594780e-02 -1.92780389e-02 4.96843743e+02] [ 1.73601263e-02 9.99849293e-01 -1.33733326e-04 3.08844968e+00] [ 1.92774551e-02 -2.00980874e-04 9.99814152e-01 2.15852774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.519254154 meters 0.016405052058275808 Centerline is valid? [True, True] Translation: X:496.90, Y:3.08, Z:2.16 [[ 9.99605714e-01 -1.97961592e-02 -1.99130091e-02 4.96902175e+02] [ 1.97972316e-02 9.99804005e-01 -1.43294825e-04 3.08314148e+00] [ 1.99119429e-02 -2.50984126e-04 9.99801706e-01 2.15718697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.579254154 meters 0.016830631282272066 Centerline is valid? [True, True] Translation: X:496.96, Y:3.08, Z:2.16 [[ 9.99508437e-01 -2.38868153e-02 -2.03052942e-02 4.96961041e+02] [ 2.38886682e-02 9.99714614e-01 -1.51331866e-04 3.07869550e+00] [ 2.03031142e-02 -3.33808960e-04 9.99793815e-01 2.15721918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.639254154 meters 0.018778258366590497 Centerline is valid? [True, True] Translation: X:497.02, Y:3.07, Z:2.16 [[ 9.99323519e-01 -3.15863482e-02 -1.88363317e-02 4.97019405e+02] [ 3.15892702e-02 9.99500924e-01 -1.42465014e-04 3.06971218e+00] [ 1.88314309e-02 -4.52657335e-04 9.99822570e-01 2.15775272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.699254154 meters 0.021218385602991198 Centerline is valid? [True, True] Translation: X:497.08, Y:3.06, Z:2.16 [[ 9.99042212e-01 -4.03829712e-02 -1.68485506e-02 4.97079774e+02] [ 4.03865498e-02 9.99184122e-01 -1.27935647e-04 3.06055655e+00] [ 1.68399707e-02 -5.52641717e-04 9.99858045e-01 2.15925482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.759254154 meters 0.024022775711393118 Centerline is valid? [True, True] Translation: X:497.14, Y:3.05, Z:2.16 [[ 9.98803137e-01 -4.58925193e-02 -1.69165933e-02 4.97139541e+02] [ 4.58969241e-02 9.98946173e-01 -1.27968394e-04 3.05325479e+00] [ 1.69046389e-02 -6.48604364e-04 9.99856896e-01 2.15865922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.81925415399996 meters 0.025661512417219024 Centerline is valid? [True, True] Translation: X:497.20, Y:3.05, Z:2.16 [[ 9.98393583e-01 -5.43238397e-02 -1.60988534e-02 4.97200537e+02] [ 5.43289312e-02 9.98523086e-01 -1.21233787e-04 3.04844703e+00] [ 1.60816626e-02 -7.53594461e-04 9.99870398e-01 2.16024657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.87925415399997 meters 0.029445453830558157 Centerline is valid? [True, True] Translation: X:497.26, Y:3.04, Z:2.16 [[ 9.97862023e-01 -6.33668736e-02 -1.60007272e-02 4.97261455e+02] [ 6.33730664e-02 9.97989900e-01 -1.20222301e-04 3.04048365e+00] [ 1.59761822e-02 -8.94049878e-04 9.99871973e-01 2.16029002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.93925415399997 meters 0.03399817265662474 Centerline is valid? [True, True] Translation: X:497.32, Y:3.03, Z:2.16 [[ 9.97293698e-01 -7.16428731e-02 -1.65099364e-02 4.97321777e+02] [ 7.16505982e-02 9.97429785e-01 -1.23892246e-04 3.03176749e+00] [ 1.64763784e-02 -1.05938987e-03 9.99863694e-01 2.15882410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.99925415399997 meters 0.034286816150075686 Centerline is valid? [True, True] Translation: X:497.38, Y:3.03, Z:2.16 [[ 9.97043003e-01 -7.50779080e-02 -1.63877277e-02 4.97382820e+02] [ 7.50859884e-02 9.97177055e-01 -1.22517989e-04 3.03110071e+00] [ 1.63506644e-02 -1.10833303e-03 9.99865705e-01 2.15926478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.059254154 meters 0.03670144325043162 Centerline is valid? [True, True] Translation: X:497.44, Y:3.03, Z:2.16 [[ 9.96956545e-01 -7.63261814e-02 -1.58732992e-02 4.97443445e+02] [ 7.63339287e-02 9.97082302e-01 -1.18107870e-04 3.02964840e+00] [ 1.58360004e-02 -1.09392287e-03 9.99874004e-01 2.15929446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.119254154 meters 0.0339957819222567 Centerline is valid? [True, True] Translation: X:497.50, Y:3.04, Z:2.16 [[ 9.97299843e-01 -7.18379291e-02 -1.52425348e-02 4.97503999e+02] [ 7.18445539e-02 9.97415835e-01 -1.13214176e-04 3.03643292e+00] [ 1.52112786e-02 -9.82184631e-04 9.99883819e-01 2.15928099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.179254154 meters 0.03298615894715337 Centerline is valid? [True, True] Translation: X:497.57, Y:3.04, Z:2.16 [[ 9.97473085e-01 -6.94301458e-02 -1.50631539e-02 4.97565300e+02] [ 6.94363481e-02 9.97586378e-01 -1.11477107e-04 3.03973666e+00] [ 1.50345370e-02 -9.34734981e-04 9.99886538e-01 2.15943500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.239254154 meters 0.029428448123879285 Centerline is valid? [True, True] Translation: X:497.63, Y:3.05, Z:2.16 [[ 9.97952621e-01 -6.22037680e-02 -1.48747492e-02 4.97626026e+02] [ 6.22090207e-02 9.98063137e-01 -1.09754485e-04 3.05052801e+00] [ 1.48527660e-02 -8.15813808e-04 9.99889359e-01 2.16007738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.299254154 meters 0.02827921514735996 Centerline is valid? [True, True] Translation: X:497.69, Y:3.06, Z:2.16 [[ 9.98249360e-01 -5.71830516e-02 -1.51100783e-02 4.97686744e+02] [ 5.71879005e-02 9.98363427e-01 -1.11331464e-04 3.05624223e+00] [ 1.50917158e-02 -7.52977093e-04 9.99885830e-01 2.15964930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.359254154 meters 0.02495937109447737 Centerline is valid? [True, True] Translation: X:497.75, Y:3.07, Z:2.16 [[ 9.98755700e-01 -4.76358552e-02 -1.47606695e-02 4.97747726e+02] [ 4.76394444e-02 9.98864591e-01 -1.08558153e-04 3.06711641e+00] [ 1.47490813e-02 -5.94767018e-04 9.99891049e-01 2.15928959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.419254154 meters 0.018979806313831424 Centerline is valid? [True, True] Translation: X:497.81, Y:3.08, Z:2.16 [[ 9.99270216e-01 -3.52853134e-02 -1.46280938e-02 4.97808202e+02] [ 3.52875168e-02 9.99377196e-01 -1.07532040e-04 3.08498580e+00] [ 1.46227776e-02 -4.08735539e-04 9.99892998e-01 2.16081177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.479254154 meters 0.01622747444812219 Centerline is valid? [True, True] Translation: X:497.87, Y:3.10, Z:2.16 [[ 9.99661912e-01 -2.31949792e-02 -1.17496301e-02 4.97868943e+02] [ 2.31955660e-02 9.99730943e-01 -8.63542117e-05 3.09861684e+00] [ 1.17484717e-02 -1.86214303e-04 9.99930967e-01 2.16374472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.539254154 meters 0.01553194362591598 Centerline is valid? [True, True] Translation: X:497.93, Y:3.10, Z:2.17 [[ 9.99816480e-01 -1.65243457e-02 -9.69290796e-03 4.97929355e+02] [ 1.65244358e-02 9.99863460e-01 -7.07902410e-05 3.10416800e+00] [ 9.69275425e-03 -8.93925862e-05 9.99953020e-01 2.16529765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.599254154 meters 0.01513229061311649 Centerline is valid? [True, True] Translation: X:497.99, Y:3.11, Z:2.17 [[ 9.99895681e-01 -1.12623204e-02 -9.04365064e-03 4.97989742e+02] [ 1.12621867e-02 9.99936577e-01 -6.57101445e-05 3.10937729e+00] [ 9.04381711e-03 -3.61479922e-05 9.99959103e-01 2.16560757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.659254154 meters 0.015277217020556328 Centerline is valid? [True, True] Translation: X:498.05, Y:3.11, Z:2.16 [[ 9.99867818e-01 -1.31578677e-02 -9.55077370e-03 4.98049261e+02] [ 1.31578033e-02 9.99913430e-01 -6.95853164e-05 3.10718450e+00] [ 9.55086248e-03 -5.60910830e-05 9.99954388e-01 2.16427092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.719254154 meters 0.0162817874149601 Centerline is valid? [True, True] Translation: X:498.11, Y:3.10, Z:2.16 [[ 9.99703125e-01 -2.18150495e-02 -1.08520004e-02 4.98108703e+02] [ 2.18154729e-02 9.99762011e-01 -7.93681851e-05 3.09843168e+00] [ 1.08511492e-02 -1.57396898e-04 9.99941112e-01 2.16191399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.779254154 meters 0.01747801286031305 Centerline is valid? [True, True] Translation: X:498.17, Y:3.09, Z:2.16 [[ 9.99524953e-01 -2.85643168e-02 -1.15736097e-02 4.98169745e+02] [ 2.85652512e-02 9.99591926e-01 -8.46010454e-05 3.09194637e+00] [ 1.15713034e-02 -2.46042211e-04 9.99933020e-01 2.16104820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.839254154 meters 0.019318778044563056 Centerline is valid? [True, True] Translation: X:498.23, Y:3.08, Z:2.16 [[ 9.99341252e-01 -3.43028184e-02 -1.18481484e-02 4.98230104e+02] [ 3.43042031e-02 9.99411434e-01 -8.63929594e-05 3.08414027e+00] [ 1.18441385e-02 -3.20105241e-04 9.99929804e-01 2.15990337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.899254154 meters 0.019034507030712976 Centerline is valid? [True, True] Translation: X:498.29, Y:3.08, Z:2.16 [[ 9.99381301e-01 -3.37052252e-02 -1.00485457e-02 4.98291870e+02] [ 3.37061958e-02 9.99431782e-01 -7.27963974e-05 3.08139779e+00] [ 1.00452895e-02 -2.65946890e-04 9.99949509e-01 2.16109764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.959254154 meters 0.017844306713106155 Centerline is valid? [True, True] Translation: X:498.35, Y:3.08, Z:2.16 [[ 9.99509405e-01 -3.05007356e-02 -7.11720174e-03 4.98353598e+02] [ 3.05011439e-02 9.99534731e-01 -5.11843348e-05 3.08072004e+00] [ 7.11545149e-03 -1.65923571e-04 9.99974671e-01 2.16212498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.019254154 meters 0.0182353506849668 Centerline is valid? [True, True] Translation: X:498.42, Y:3.08, Z:2.16 [[ 9.99548035e-01 -2.92744680e-02 -6.83606565e-03 4.98415254e+02] [ 2.92748186e-02 9.99571399e-01 -4.87946738e-05 3.07707650e+00] [ 6.83456415e-03 -1.51351962e-04 9.99976633e-01 2.16195603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.079254154 meters 0.017483450279568727 Centerline is valid? [True, True] Translation: X:498.48, Y:3.07, Z:2.16 [[ 9.99526505e-01 -2.96732933e-02 -8.14011228e-03 4.98477069e+02] [ 2.96738082e-02 9.99559634e-01 -5.75433755e-05 3.07371579e+00] [ 8.13823516e-03 -1.84032002e-04 9.99966867e-01 2.16024641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.139254154 meters 0.018542677281977463 Centerline is valid? [True, True] Translation: X:498.54, Y:3.07, Z:2.16 [[ 9.99471169e-01 -3.07922323e-02 -1.04508998e-02 4.98539226e+02] [ 3.07931511e-02 9.99525776e-01 -7.30242646e-05 3.06814140e+00] [ 1.04481923e-02 -2.48830489e-04 9.99945385e-01 2.15745298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.199254154 meters 0.018034001558400656 Centerline is valid? [True, True] Translation: X:498.60, Y:3.07, Z:2.16 [[ 9.99444085e-01 -3.13910676e-02 -1.12303920e-02 4.98600356e+02] [ 3.13921730e-02 9.99507141e-01 -7.78784508e-05 3.06521619e+00] [ 1.12273017e-02 -2.74711251e-04 9.99936934e-01 2.15732556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.259254154 meters 0.01791598833077357 Centerline is valid? [True, True] Translation: X:498.66, Y:3.06, Z:2.16 [[ 9.99462638e-01 -3.06828943e-02 -1.15323681e-02 4.98661974e+02] [ 3.06840177e-02 9.99529131e-01 -7.95533992e-05 3.06252325e+00] [ 1.15293788e-02 -2.74348735e-04 9.99933497e-01 2.15819142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.31925415399996 meters 0.016958552940386666 Centerline is valid? [True, True] Translation: X:498.72, Y:3.06, Z:2.16 [[ 9.99520315e-01 -2.81014456e-02 -1.30172220e-02 4.98723696e+02] [ 2.81026645e-02 9.99605038e-01 -8.93042164e-05 3.06241016e+00] [ 1.30145903e-02 -2.76557245e-04 9.99915268e-01 2.15809910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.37925415399997 meters 0.01709446325943608 Centerline is valid? [True, True] Translation: X:498.78, Y:3.06, Z:2.16 [[ 9.99565652e-01 -2.59562981e-02 -1.39562519e-02 4.98783744e+02] [ 2.59574950e-02 9.99663043e-01 -9.54026766e-05 3.05935290e+00] [ 1.39540255e-02 -2.66908100e-04 9.99902602e-01 2.15680353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.43925415399997 meters 0.016675773270028414 Centerline is valid? [True, True] Translation: X:498.84, Y:3.06, Z:2.16 [[ 9.99553334e-01 -2.66644108e-02 -1.34959940e-02 4.98843300e+02] [ 2.66655912e-02 9.99644406e-01 -9.25096953e-05 3.05859894e+00] [ 1.34936616e-02 -2.67410285e-04 9.99908921e-01 2.15838147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.49925415399997 meters 0.01755908185908913 Centerline is valid? [True, True] Translation: X:498.90, Y:3.06, Z:2.16 [[ 9.99482874e-01 -2.94997160e-02 -1.27965558e-02 4.98903335e+02] [ 2.95010069e-02 9.99564747e-01 -8.79193270e-05 3.05541970e+00] [ 1.27935797e-02 -2.89637419e-04 9.99918117e-01 2.15905664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.559254154 meters 0.018839661262658694 Centerline is valid? [True, True] Translation: X:498.96, Y:3.05, Z:2.16 [[ 9.99314457e-01 -3.51114443e-02 -1.17388977e-02 4.98964493e+02] [ 3.51129199e-02 9.99383348e-01 -8.04361017e-05 3.04972192e+00] [ 1.17344831e-02 -3.31806016e-04 9.99931094e-01 2.16045957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.619254154 meters 0.02131340359146819 Centerline is valid? [True, True] Translation: X:499.02, Y:3.04, Z:2.16 [[ 9.99147754e-01 -4.00688614e-02 -9.91219628e-03 4.99024952e+02] [ 4.00701593e-02 9.99196866e-01 -6.76981969e-05 3.04341006e+00] [ 9.90694805e-03 -3.29542783e-04 9.99950871e-01 2.16175178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.679254154 meters 0.021043115109411252 Centerline is valid? [True, True] Translation: X:499.09, Y:3.04, Z:2.16 [[ 9.99004276e-01 -4.37576080e-02 -8.70225187e-03 4.99085756e+02] [ 4.37587495e-02 9.99042125e-01 -5.92860517e-05 3.04353318e+00] [ 8.69651042e-03 -3.21572641e-04 9.99962133e-01 2.16264515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.739254154 meters 0.023279996155526273 Centerline is valid? [True, True] Translation: X:499.15, Y:3.04, Z:2.16 [[ 9.98869074e-01 -4.65955323e-02 -9.45667142e-03 4.99146811e+02] [ 4.65970106e-02 9.98913767e-01 -6.40620205e-05 3.04078595e+00] [ 9.44938428e-03 -3.76663048e-04 9.99955283e-01 2.16203518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.799254154 meters 0.024333433041584675 Centerline is valid? [True, True] Translation: X:499.21, Y:3.04, Z:2.16 [[ 9.98766575e-01 -4.85586316e-02 -1.03628008e-02 4.99208583e+02] [ 4.85605209e-02 9.98820240e-01 -6.93764200e-05 3.04069272e+00] [ 1.03539440e-02 -4.33932154e-04 9.99946302e-01 2.16141960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.859254154 meters 0.023417695579429486 Centerline is valid? [True, True] Translation: X:499.27, Y:3.04, Z:2.16 [[ 9.98593586e-01 -5.18100256e-02 -1.12504311e-02 4.99269946e+02] [ 5.18124662e-02 9.98656829e-01 -7.46146645e-05 3.04300222e+00] [ 1.12391857e-02 -5.08402857e-04 9.99936709e-01 2.16145841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.919254154 meters 0.025462560807596183 Centerline is valid? [True, True] Translation: X:499.33, Y:3.04, Z:2.16 [[ 9.98464022e-01 -5.40510469e-02 -1.21688726e-02 4.99331257e+02] [ 5.40540793e-02 9.98538006e-01 -7.98061600e-05 3.04106969e+00] [ 1.21553954e-02 -5.78093626e-04 9.99925953e-01 2.16107025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.979254154 meters 0.025739686313181194 Centerline is valid? [True, True] Translation: X:499.39, Y:3.04, Z:2.16 [[ 9.98445387e-01 -5.42731236e-02 -1.26979104e-02 4.99393891e+02] [ 5.42764565e-02 9.98525943e-01 -8.22429287e-05 3.04255461e+00] [ 1.26836565e-02 -6.07082508e-04 9.99919375e-01 2.16088013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.039254154 meters 0.024227904584404325 Centerline is valid? [True, True] Translation: X:499.46, Y:3.05, Z:2.16 [[ 9.98594279e-01 -5.13875437e-02 -1.29917531e-02 4.99455319e+02] [ 5.13907974e-02 9.98678616e-01 -8.35001565e-05 3.04914513e+00] [ 1.29788769e-02 -5.84273774e-04 9.99915600e-01 2.16175113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.099254154 meters 0.02273412392580192 Centerline is valid? [True, True] Translation: X:499.52, Y:3.05, Z:2.16 [[ 9.98827895e-01 -4.70638357e-02 -1.13062355e-02 4.99515818e+02] [ 4.70660249e-02 9.98891778e-01 -7.25255422e-05 3.05456743e+00] [ 1.12971190e-02 -4.59699024e-04 9.99936080e-01 2.16289399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.159254154 meters 0.019766498498988545 Centerline is valid? [True, True] Translation: X:499.58, Y:3.07, Z:2.16 [[ 9.99252571e-01 -3.74466094e-02 -9.59434401e-03 4.99575852e+02] [ 3.74477428e-02 9.99298585e-01 -6.15485110e-05 3.06572501e+00] [ 9.58991918e-03 -2.97784019e-04 9.99953971e-01 2.16466440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.219254154 meters 0.01803751529468139 Centerline is valid? [True, True] Translation: X:499.64, Y:3.07, Z:2.17 [[ 9.99481312e-01 -3.08621292e-02 -9.19974383e-03 4.99636742e+02] [ 3.08628933e-02 9.99523626e-01 -5.89340640e-05 3.07411762e+00] [ 9.19718014e-03 -2.25027217e-04 9.99957680e-01 2.16555129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.279254154 meters 0.016890723123272795 Centerline is valid? [True, True] Translation: X:499.70, Y:3.08, Z:2.16 [[ 9.99646604e-01 -2.44337362e-02 -1.04718746e-02 4.99697145e+02] [ 2.44343807e-02 9.99701434e-01 -6.64036490e-05 3.08218183e+00] [ 1.04703705e-02 -1.89493588e-04 9.99945166e-01 2.16383979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.339254154 meters 0.015914953813487603 Centerline is valid? [True, True] Translation: X:499.76, Y:3.09, Z:2.16 [[ 9.99622807e-01 -2.39123953e-02 -1.35070593e-02 4.99758006e+02] [ 2.39134322e-02 9.99714029e-01 -8.47559154e-05 3.08893855e+00] [ 1.35052234e-02 -2.38276200e-04 9.99908772e-01 2.16214096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.399254154 meters 0.016691296372046794 Centerline is valid? [True, True] Translation: X:499.82, Y:3.09, Z:2.16 [[ 9.99513423e-01 -2.72964630e-02 -1.50936917e-02 4.99818604e+02] [ 2.72981464e-02 9.99627332e-01 -9.45266821e-05 3.09018064e+00] [ 1.50906470e-02 -3.17549118e-04 9.99886079e-01 2.16144852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.459254154 meters 0.018242653494420946 Centerline is valid? [True, True] Translation: X:499.88, Y:3.09, Z:2.16 [[ 9.99397558e-01 -3.11112315e-02 -1.53821891e-02 4.99878416e+02] [ 3.11134313e-02 9.99515855e-01 -9.63334439e-05 3.08917760e+00] [ 1.53777390e-02 -3.82317277e-04 9.99881682e-01 2.16162801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.519254154 meters 0.018574740428439623 Centerline is valid? [True, True] Translation: X:499.94, Y:3.09, Z:2.16 [[ 9.99331998e-01 -3.34390440e-02 -1.47440725e-02 4.99939543e+02] [ 3.34413238e-02 9.99440678e-01 -9.19586567e-05 3.08976503e+00] [ 1.47389008e-02 -4.01164073e-04 9.99891296e-01 2.16323542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.579254154 meters 0.02153600017665971 Centerline is valid? [True, True] Translation: X:500.00, Y:3.09, Z:2.16 [[ 9.99244494e-01 -3.63265325e-02 -1.38139168e-02 4.99999324e+02] [ 3.63288231e-02 9.99339887e-01 -8.51594010e-05 3.08762309e+00] [ 1.38078916e-02 -4.16748276e-04 9.99904580e-01 2.16340321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.639254154 meters 0.01943686495804512 Centerline is valid? [True, True] Translation: X:500.06, Y:3.09, Z:2.16 [[ 9.99182666e-01 -3.83323508e-02 -1.28308341e-02 5.00061290e+02] [ 3.83345049e-02 9.99264960e-01 -7.81023390e-05 3.09074395e+00] [ 1.28243968e-02 -4.13825171e-04 9.99917678e-01 2.16450232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.699254154 meters 0.018973693622116046 Centerline is valid? [True, True] Translation: X:500.12, Y:3.10, Z:2.16 [[ 9.99260037e-01 -3.58844044e-02 -1.38451465e-02 5.00123203e+02] [ 3.58866896e-02 9.99355862e-01 -8.34296475e-05 3.09509440e+00] [ 1.38392222e-02 -4.13488564e-04 9.99904148e-01 2.16468411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.759254154 meters 0.017982160378018145 Centerline is valid? [True, True] Translation: X:500.19, Y:3.10, Z:2.16 [[ 9.99388488e-01 -3.17462198e-02 -1.46570047e-02 5.00185174e+02] [ 3.17483481e-02 9.99495890e-01 -8.75084023e-05 3.09912374e+00] [ 1.46523940e-02 -3.77880796e-04 9.99892577e-01 2.16453477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.81925415399996 meters 0.016076031984452545 Centerline is valid? [True, True] Translation: X:500.25, Y:3.11, Z:2.16 [[ 9.99644682e-01 -2.23040439e-02 -1.45958613e-02 5.00246061e+02] [ 2.23051545e-02 9.99751205e-01 -8.67125542e-05 3.10604424e+00] [ 1.45941640e-02 -2.38881197e-04 9.99893471e-01 2.16477150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.87925415399997 meters 0.014954125125581662 Centerline is valid? [True, True] Translation: X:500.31, Y:3.11, Z:2.17 [[ 9.99805910e-01 -1.32952992e-02 -1.45388009e-02 5.00305892e+02] [ 1.32954444e-02 9.99911608e-01 -8.66716783e-05 3.11293214e+00] [ 1.45386681e-02 -1.06644963e-04 9.99894302e-01 2.16536993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.93925415399997 meters 0.014958734928188753 Centerline is valid? [True, True] Translation: X:500.36, Y:3.12, Z:2.17 [[ 9.99837920e-01 -9.48353636e-03 -1.53034470e-02 5.00364617e+02] [ 9.48320475e-03 9.99955029e-01 -9.42374657e-05 3.11592214e+00] [ 1.53036525e-02 -5.09035297e-05 9.99882891e-01 2.16537243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.99925415399997 meters 0.015228398493710089 Centerline is valid? [True, True] Translation: X:500.42, Y:3.11, Z:2.16 [[ 9.99792553e-01 -1.17432049e-02 -1.66417388e-02 5.00422589e+02] [ 1.17430766e-02 9.99931042e-01 -1.05433721e-04 3.11395437e+00] [ 1.66418294e-02 -9.00133648e-05 9.99861511e-01 2.16476654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.059254154 meters 0.015552208152610287 Centerline is valid? [True, True] Translation: X:500.48, Y:3.11, Z:2.17 [[ 9.99722408e-01 -1.66639255e-02 -1.66559169e-02 5.00481796e+02] [ 1.66644547e-02 9.99861133e-01 -1.07028226e-04 3.11052284e+00] [ 1.66553875e-02 -1.70563257e-04 9.99861275e-01 2.16505994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.119254154 meters 0.018250919461692484 Centerline is valid? [True, True] Translation: X:500.54, Y:3.10, Z:2.17 [[ 9.99485422e-01 -2.78322678e-02 -1.59454345e-02 5.00540659e+02] [ 2.78341670e-02 9.99612549e-01 -1.02847661e-04 3.09989851e+00] [ 1.59421189e-02 -3.41033149e-04 9.99872858e-01 2.16558103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.179254154 meters 0.019444175857591027 Centerline is valid? [True, True] Translation: X:500.60, Y:3.09, Z:2.17 [[ 9.99131174e-01 -3.87919976e-02 -1.52340961e-02 5.00601224e+02] [ 3.87950026e-02 9.99247186e-01 -9.83239727e-05 3.09416745e+00] [ 1.52264418e-02 -4.92768250e-04 9.99883950e-01 2.16777424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.239254154 meters 0.021757511478310315 Centerline is valid? [True, True] Translation: X:500.66, Y:3.09, Z:2.17 [[ 9.98984108e-01 -4.27691904e-02 -1.41967382e-02 5.00661841e+02] [ 4.27722034e-02 9.99084846e-01 -9.14615649e-05 3.08976729e+00] [ 1.41876577e-02 -5.15857125e-04 9.99899217e-01 2.16889480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.299254154 meters 0.02369666722805762 Centerline is valid? [True, True] Translation: X:500.72, Y:3.09, Z:2.17 [[ 9.98913123e-01 -4.50133222e-02 -1.20984532e-02 5.00723322e+02] [ 4.50156805e-02 9.98986277e-01 -7.74602149e-05 3.08607403e+00] [ 1.20896755e-02 -4.67244080e-04 9.99926808e-01 2.17082452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.359254154 meters 0.023346524666615222 Centerline is valid? [True, True] Translation: X:500.79, Y:3.09, Z:2.17 [[ 9.98932055e-01 -4.47601042e-02 -1.14578789e-02 5.00785094e+02] [ 4.47622111e-02 9.98997667e-01 -7.26312234e-05 3.08658679e+00] [ 1.14496453e-02 -4.40326336e-04 9.99934354e-01 2.17135261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.419254154 meters 0.023391068187256153 Centerline is valid? [True, True] Translation: X:500.85, Y:3.09, Z:2.17 [[ 9.98980697e-01 -4.36083100e-02 -1.16568953e-02 5.00847310e+02] [ 4.36104221e-02 9.99048610e-01 -7.30603558e-05 3.08681815e+00] [ 1.16489911e-02 -4.35376239e-04 9.99932053e-01 2.17099305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.479254154 meters 0.02158770769418019 Centerline is valid? [True, True] Translation: X:500.91, Y:3.09, Z:2.17 [[ 9.98992409e-01 -4.29908005e-02 -1.28824809e-02 5.00909449e+02] [ 4.29933413e-02 9.99075356e-01 -7.97753373e-05 3.09033359e+00] [ 1.28739988e-02 -4.74165943e-04 9.99917014e-01 2.17063369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.539254154 meters 0.021286458000577428 Centerline is valid? [True, True] Translation: X:500.97, Y:3.09, Z:2.17 [[ 9.99018218e-01 -4.20622126e-02 -1.39057385e-02 5.00971182e+02] [ 4.20650978e-02 9.99114868e-01 -8.50632136e-05 3.09151676e+00] [ 1.38970080e-02 -4.99966549e-04 9.99903307e-01 2.16944743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.599254154 meters 0.02465007040054022 Centerline is valid? [True, True] Translation: X:501.03, Y:3.09, Z:2.17 [[ 9.99053445e-01 -4.06106905e-02 -1.55880251e-02 5.01032649e+02] [ 4.06141550e-02 9.99174900e-01 -9.43820634e-05 3.08751128e+00] [ 1.55789963e-02 -5.38801740e-04 9.99878495e-01 2.16670856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.659254154 meters 0.020601713861853298 Centerline is valid? [True, True] Translation: X:501.09, Y:3.10, Z:2.17 [[ 9.99096096e-01 -3.94140292e-02 -1.59225034e-02 5.01094295e+02] [ 3.94175027e-02 9.99222824e-01 -9.57412293e-05 3.09630802e+00] [ 1.59139023e-02 -5.31970631e-04 9.99873224e-01 2.16920723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.719254154 meters 0.020162611072240433 Centerline is valid? [True, True] Translation: X:501.16, Y:3.10, Z:2.17 [[ 9.99168224e-01 -3.81069211e-02 -1.45162925e-02 5.01156039e+02] [ 3.81096805e-02 9.99273559e-01 -8.65832722e-05 3.09927425e+00] [ 1.45090467e-02 -4.66700017e-04 9.99894629e-01 2.17067937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.779254154 meters 0.019027547850648745 Centerline is valid? [True, True] Translation: X:501.22, Y:3.10, Z:2.17 [[ 9.99242223e-01 -3.63571728e-02 -1.38973183e-02 5.01217769e+02] [ 3.63595434e-02 9.99338770e-01 -8.21277654e-05 3.10289540e+00] [ 1.38911149e-02 -4.23234615e-04 9.99903424e-01 2.17190268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.839254154 meters 0.01910643637942274 Centerline is valid? [True, True] Translation: X:501.28, Y:3.11, Z:2.17 [[ 9.99341574e-01 -3.37731482e-02 -1.32586606e-02 5.01278080e+02] [ 3.37750839e-02 9.99429456e-01 -7.79565904e-05 3.10558812e+00] [ 1.32537288e-02 -3.69907113e-04 9.99912097e-01 2.17184191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.899254154 meters 0.019172584009227202 Centerline is valid? [True, True] Translation: X:501.34, Y:3.11, Z:2.17 [[ 9.99387488e-01 -3.24362506e-02 -1.31353690e-02 5.01339092e+02] [ 3.24380403e-02 9.99473745e-01 -7.68343975e-05 3.10898203e+00] [ 1.31309487e-02 -3.49298294e-04 9.99913724e-01 2.17220116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.959254154 meters 0.018586027404344743 Centerline is valid? [True, True] Translation: X:501.40, Y:3.11, Z:2.17 [[ 9.99348499e-01 -3.38844026e-02 -1.24267524e-02 5.01401550e+02] [ 3.38861255e-02 9.99425698e-01 -7.19429871e-05 3.11077509e+00] [ 1.24220534e-02 -3.49198374e-04 9.99922782e-01 2.17388064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.019254154 meters 0.01888224083557597 Centerline is valid? [True, True] Translation: X:501.46, Y:3.11, Z:2.17 [[ 9.99313805e-01 -3.49206510e-02 -1.23477809e-02 5.01463798e+02] [ 3.49224424e-02 9.99390023e-01 -7.05741512e-05 3.11064200e+00] [ 1.23427136e-02 -3.60688945e-04 9.99923761e-01 2.17425856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.079254154 meters 0.019907979138812374 Centerline is valid? [True, True] Translation: X:501.53, Y:3.11, Z:2.17 [[ 9.99190674e-01 -3.84490647e-02 -1.18180442e-02 5.01526282e+02] [ 3.84509623e-02 9.99260486e-01 -6.66887659e-05 3.10920185e+00] [ 1.18118687e-02 -3.87780380e-04 9.99930162e-01 2.17436125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.139254154 meters 0.020257149849132662 Centerline is valid? [True, True] Translation: X:501.59, Y:3.11, Z:2.17 [[ 9.99077817e-01 -4.11203673e-02 -1.23543950e-02 5.01588121e+02] [ 4.11226548e-02 9.99154103e-01 -6.89294040e-05 3.10895622e+00] [ 1.23467789e-02 -4.39179682e-04 9.99923679e-01 2.17409789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.199254154 meters 0.021962436249886405 Centerline is valid? [True, True] Translation: X:501.65, Y:3.11, Z:2.17 [[ 9.98880213e-01 -4.53300569e-02 -1.35464034e-02 5.01648877e+02] [ 4.53332028e-02 9.98971919e-01 -7.49021444e-05 3.10689139e+00] [ 1.35358719e-02 -5.39283582e-04 9.99908240e-01 2.17243743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.259254154 meters 0.024138695231045216 Centerline is valid? [True, True] Translation: X:501.71, Y:3.10, Z:2.17 [[ 9.98631645e-01 -5.03951135e-02 -1.39703406e-02 5.01710230e+02] [ 5.03989617e-02 9.98729162e-01 -7.66942624e-05 3.10471370e+00] [ 1.39564515e-02 -6.27501342e-04 9.99902407e-01 2.17185261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.31925415399996 meters 0.0260642522014119 Centerline is valid? [True, True] Translation: X:501.77, Y:3.10, Z:2.17 [[ 9.98443103e-01 -5.43706725e-02 -1.24579677e-02 5.01771392e+02] [ 5.43740448e-02 9.98520635e-01 -6.81014056e-05 3.10355551e+00] [ 1.24432405e-02 -6.09394715e-04 9.99922394e-01 2.17304537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.37925415399997 meters 0.025401190273509705 Centerline is valid? [True, True] Translation: X:501.83, Y:3.11, Z:2.17 [[ 9.98411052e-01 -5.50852237e-02 -1.18739180e-02 5.01833862e+02] [ 5.50883451e-02 9.98481482e-01 -6.42778435e-05 3.10594639e+00] [ 1.18594280e-02 -5.89938785e-04 9.99929500e-01 2.17428701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.43925415399997 meters 0.02412536190824015 Centerline is valid? [True, True] Translation: X:501.90, Y:3.11, Z:2.17 [[ 9.98523772e-01 -5.29896702e-02 -1.19319620e-02 5.01895578e+02] [ 5.29926819e-02 9.98594899e-01 -6.38394569e-05 3.11129860e+00] [ 1.19185792e-02 -5.68561449e-04 9.99928810e-01 2.17499129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.49925415399997 meters 0.024716004265019548 Centerline is valid? [True, True] Translation: X:501.96, Y:3.11, Z:2.18 [[ 9.98716234e-01 -4.90437541e-02 -1.26725688e-02 5.01955024e+02] [ 4.90468357e-02 9.98796477e-01 -6.76905399e-05 3.11411632e+00] [ 1.26606369e-02 -5.53945760e-04 9.99919697e-01 2.17536121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.559254154 meters 0.022538822488437835 Centerline is valid? [True, True] Translation: X:502.02, Y:3.12, Z:2.18 [[ 9.98849783e-01 -4.59578441e-02 -1.36743151e-02 5.02016883e+02] [ 4.59611493e-02 9.98943225e-01 -7.26158669e-05 3.11982379e+00] [ 1.36632017e-02 -5.55954893e-04 9.99906500e-01 2.17570612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.619254154 meters 0.020511073295843285 Centerline is valid? [True, True] Translation: X:502.08, Y:3.13, Z:2.18 [[ 9.99063964e-01 -4.05124333e-02 -1.51637109e-02 5.02077674e+02] [ 4.05158785e-02 9.99178891e-01 -8.00574861e-05 3.12656527e+00] [ 1.51545032e-02 -5.34388518e-04 9.99885021e-01 2.17575088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.679254154 meters 0.020019588513695622 Centerline is valid? [True, True] Translation: X:502.14, Y:3.13, Z:2.17 [[ 9.99229369e-01 -3.52462924e-02 -1.72732910e-02 5.02137774e+02] [ 3.52500028e-02 9.99378522e-01 -8.97044913e-05 3.13114756e+00] [ 1.72657177e-02 -5.19248193e-04 9.99850802e-01 2.17422628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.739254154 meters 0.01738889194384431 Centerline is valid? [True, True] Translation: X:502.20, Y:3.14, Z:2.18 [[ 9.99382036e-01 -3.02484513e-02 -1.79046450e-02 5.02198097e+02] [ 3.02516454e-02 9.99542310e-01 -9.24876449e-05 3.13953272e+00] [ 1.78992478e-02 -4.49214479e-04 9.99839695e-01 2.17563053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.799254154 meters 0.01664994582059416 Centerline is valid? [True, True] Translation: X:502.26, Y:3.14, Z:2.18 [[ 9.99485861e-01 -2.69398910e-02 -1.73855054e-02 5.02259083e+02] [ 2.69424011e-02 9.99636984e-01 -8.98693032e-05 3.14331700e+00] [ 1.73816153e-02 -3.78584163e-04 9.99848857e-01 2.17667305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.859254154 meters 0.016057259724128577 Centerline is valid? [True, True] Translation: X:502.32, Y:3.15, Z:2.18 [[ 9.99595882e-01 -2.36086949e-02 -1.58335737e-02 5.02319275e+02] [ 2.36103587e-02 9.99721233e-01 -8.18665872e-05 3.14810497e+00] [ 1.58310926e-02 -2.92002851e-04 9.99874638e-01 2.17847082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.919254154 meters 0.015990007973739475 Centerline is valid? [True, True] Translation: X:502.38, Y:3.15, Z:2.18 [[ 9.99614189e-01 -2.33712543e-02 -1.50085663e-02 5.02380158e+02] [ 2.33727224e-02 9.99726818e-01 -7.76009337e-05 3.14868408e+00] [ 1.50062799e-02 -2.73220061e-04 9.99887362e-01 2.17893056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.979254154 meters 0.016390790913943448 Centerline is valid? [True, True] Translation: X:502.44, Y:3.15, Z:2.18 [[ 9.99599855e-01 -2.48408264e-02 -1.35300796e-02 5.02440751e+02] [ 2.48421540e-02 9.99691384e-01 -6.99565028e-05 3.14738653e+00] [ 1.35276418e-02 -2.66187813e-04 9.99908462e-01 2.18016103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.039254154 meters 0.016765778173462982 Centerline is valid? [True, True] Translation: X:502.50, Y:3.15, Z:2.18 [[ 9.99617049e-01 -2.44251976e-02 -1.30063650e-02 5.02501069e+02] [ 2.44263913e-02 9.99701629e-01 -6.70930566e-05 3.14714275e+00] [ 1.30041231e-02 -2.50631198e-04 9.99915411e-01 2.18070671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.099254154 meters 0.01594889457867533 Centerline is valid? [True, True] Translation: X:502.56, Y:3.15, Z:2.18 [[ 9.99697482e-01 -2.06133426e-02 -1.34176992e-02 5.02561947e+02] [ 2.06142730e-02 9.99787501e-01 -6.89699582e-05 3.14884101e+00] [ 1.34162696e-02 -2.07647021e-04 9.99909976e-01 2.18040361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.159254154 meters 0.015588858182094824 Centerline is valid? [True, True] Translation: X:502.62, Y:3.15, Z:2.18 [[ 9.99736015e-01 -1.79447593e-02 -1.43487058e-02 5.02622873e+02] [ 1.79455498e-02 9.99838963e-01 -7.36705314e-05 3.14915478e+00] [ 1.43477171e-02 -1.83844331e-04 9.99897049e-01 2.17975315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.219254154 meters 0.015499623691258967 Centerline is valid? [True, True] Translation: X:502.68, Y:3.15, Z:2.18 [[ 9.99757424e-01 -1.62404996e-02 -1.48775016e-02 5.02682464e+02] [ 1.62411553e-02 9.99868101e-01 -7.67559517e-05 3.14826171e+00] [ 1.48767859e-02 -1.64890482e-04 9.99889321e-01 2.17838782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.279254154 meters 0.01588131947337181 Centerline is valid? [True, True] Translation: X:502.74, Y:3.15, Z:2.18 [[ 9.99721369e-01 -1.81780860e-02 -1.50579700e-02 5.02739996e+02] [ 1.81789611e-02 9.99834746e-01 -7.87711565e-05 3.14564513e+00] [ 1.50569135e-02 -1.94989043e-04 9.99886619e-01 2.17783171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.339254154 meters 0.01675462134693219 Centerline is valid? [True, True] Translation: X:502.80, Y:3.14, Z:2.18 [[ 9.99613466e-01 -2.38031954e-02 -1.43640840e-02 5.02799073e+02] [ 2.38045568e-02 9.99716628e-01 -7.62097895e-05 3.14058872e+00] [ 1.43618277e-02 -2.65750322e-04 9.99896828e-01 2.17798141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.399254154 meters 0.018856192928848953 Centerline is valid? [True, True] Translation: X:502.86, Y:3.13, Z:2.18 [[ 9.99430653e-01 -3.12193939e-02 -1.27952947e-02 5.02859440e+02] [ 3.12210780e-02 9.99512501e-01 -6.81632602e-05 3.13445843e+00] [ 1.27911850e-02 -3.31358441e-04 9.99918135e-01 2.17915441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.459254154 meters 0.022775013232730658 Centerline is valid? [True, True] Translation: X:502.92, Y:3.13, Z:2.18 [[ 9.99107431e-01 -4.07358739e-02 -1.11772142e-02 5.02918868e+02] [ 4.07377525e-02 9.99169871e-01 -5.96428312e-05 3.12580302e+00] [ 1.11703653e-02 -3.95744990e-04 9.99937531e-01 2.18019266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.519254154 meters 0.025314670965142876 Centerline is valid? [True, True] Translation: X:502.98, Y:3.12, Z:2.18 [[ 9.98808810e-01 -4.77418830e-02 -1.00833320e-02 5.02979895e+02] [ 4.77437678e-02 9.98859615e-01 -5.38439047e-05 3.12065992e+00] [ 1.00744037e-02 -4.27636495e-04 9.99949160e-01 2.18070136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.579254154 meters 0.026284745991590433 Centerline is valid? [True, True] Translation: X:503.04, Y:3.12, Z:2.18 [[ 9.98436806e-01 -5.50656191e-02 -9.57716334e-03 5.03040446e+02] [ 5.50676558e-02 9.98482624e-01 -5.11100931e-05 3.11741649e+00] [ 9.56544560e-03 -4.76361736e-04 9.99954137e-01 2.18070861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.639254154 meters 0.03394440983031101 Centerline is valid? [True, True] Translation: X:503.10, Y:3.11, Z:2.18 [[ 9.98294179e-01 -5.76285608e-02 -9.36380071e-03 5.03100786e+02] [ 5.76306212e-02 9.98337973e-01 -4.98690875e-05 3.10688238e+00] [ 9.35111171e-03 -4.89857632e-04 9.99956157e-01 2.18035276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.699254154 meters 0.026986418621952234 Centerline is valid? [True, True] Translation: X:503.16, Y:3.12, Z:2.18 [[ 9.98346986e-01 -5.67044052e-02 -9.37584005e-03 5.03162695e+02] [ 5.67064344e-02 9.98390894e-01 -4.94895659e-05 3.11754857e+00] [ 9.36355961e-03 -4.82262700e-04 9.99956045e-01 2.18183775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.759254154 meters 0.02405620442759226 Centerline is valid? [True, True] Translation: X:503.22, Y:3.12, Z:2.18 [[ 9.98599862e-01 -5.21539290e-02 -8.84783741e-03 5.03223704e+02] [ 5.21555612e-02 9.98638971e-01 -4.63153106e-05 3.12379311e+00] [ 8.83821078e-03 -4.15213463e-04 9.99960856e-01 2.18258325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.81925415399996 meters 0.021449272535676356 Centerline is valid? [True, True] Translation: X:503.28, Y:3.13, Z:2.18 [[ 9.99009040e-01 -4.34516289e-02 -9.63818790e-03 5.03284400e+02] [ 4.34531626e-02 9.99055464e-01 -5.03275218e-05 3.13120939e+00] [ 9.63127110e-03 -3.68532097e-04 9.99953550e-01 2.18185256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.87925415399997 meters 0.019423029703473614 Centerline is valid? [True, True] Translation: X:503.34, Y:3.14, Z:2.18 [[ 9.99297135e-01 -3.59592108e-02 -1.05911224e-02 5.03344764e+02] [ 3.59606435e-02 9.99353205e-01 -5.51962640e-05 3.13850022e+00] [ 1.05862569e-02 -3.25706107e-04 9.99943911e-01 2.18147959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.93925415399997 meters 0.017283582929197565 Centerline is valid? [True, True] Translation: X:503.41, Y:3.15, Z:2.18 [[ 9.99536515e-01 -2.84438008e-02 -1.08492212e-02 5.03405155e+02] [ 2.84448623e-02 9.99595361e-01 -5.64873369e-05 3.14711045e+00] [ 1.08464379e-02 -2.52143448e-04 9.99941144e-01 2.18193674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.99925415399997 meters 0.015443999417405256 Centerline is valid? [True, True] Translation: X:503.46, Y:3.16, Z:2.18 [[ 9.99766356e-01 -1.87548530e-02 -1.07465582e-02 5.03464765e+02] [ 1.87553348e-02 9.99824102e-01 -5.59528137e-05 3.15564499e+00] [ 1.07457173e-02 -1.45615557e-04 9.99942253e-01 2.18291799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.059254154 meters 0.01458308078814403 Centerline is valid? [True, True] Translation: X:503.53, Y:3.16, Z:2.18 [[ 9.99868385e-01 -1.16757041e-02 -1.12646018e-02 5.03525053e+02] [ 1.16757843e-02 9.99931834e-01 -5.86500490e-05 3.16373269e+00] [ 1.12645187e-02 -7.28807314e-05 9.99936551e-01 2.18376062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.119254154 meters 0.014438554771103151 Centerline is valid? [True, True] Translation: X:503.58, Y:3.17, Z:2.18 [[ 9.99902394e-01 -8.55183857e-03 -1.10484902e-02 5.03584046e+02] [ 8.55170604e-03 9.99963432e-01 -5.92396103e-05 3.16741350e+00] [ 1.10485928e-02 -3.52496127e-05 9.99938962e-01 2.18418174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.179254154 meters 0.014353700641194364 Centerline is valid? [True, True] Translation: X:503.64, Y:3.17, Z:2.18 [[ 9.99927300e-01 -5.45892869e-03 -1.07514934e-02 5.03641626e+02] [ 5.45859252e-03 9.99985100e-01 -6.06117890e-05 3.16964667e+00] [ 1.07516641e-02 1.91936080e-06 9.99942199e-01 2.18464538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.239254154 meters 0.014150552493767354 Centerline is valid? [True, True] Translation: X:503.70, Y:3.17, Z:2.18 [[ 9.99916599e-01 -5.57717968e-03 -1.16486384e-02 5.03699456e+02] [ 5.57675205e-03 9.99984447e-01 -6.91925596e-05 3.16966677e+00] [ 1.16488431e-02 4.22522087e-06 9.99932150e-01 2.18487588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.299254154 meters 0.014226550441996668 Centerline is valid? [True, True] Translation: X:503.76, Y:3.17, Z:2.19 [[ 9.99883268e-01 -9.46319219e-03 -1.19957796e-02 5.03758594e+02] [ 9.46299574e-03 9.99955222e-01 -7.31379726e-05 3.16604793e+00] [ 1.19959346e-02 -4.03865766e-05 9.99928045e-01 2.18528548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.359254154 meters 0.014316841826305576 Centerline is valid? [True, True] Translation: X:503.82, Y:3.16, Z:2.19 [[ 9.99847136e-01 -1.28562393e-02 -1.18499303e-02 5.03817526e+02] [ 1.28562756e-02 9.99917352e-01 -7.31109493e-05 3.16232807e+00] [ 1.18498909e-02 -7.92461968e-05 9.99929784e-01 2.18556856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.419254154 meters 0.014778268732692557 Centerline is valid? [True, True] Translation: X:503.88, Y:3.16, Z:2.19 [[ 9.99777474e-01 -1.79045300e-02 -1.11548115e-02 5.03876659e+02] [ 1.79048688e-02 9.99839693e-01 -6.94995909e-05 3.15697212e+00] [ 1.11542676e-02 -1.30241311e-04 9.99937781e-01 2.18622184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.479254154 meters 0.014954545256619068 Centerline is valid? [True, True] Translation: X:503.94, Y:3.15, Z:2.19 [[ 9.99744692e-01 -2.00646449e-02 -1.03904475e-02 5.03937279e+02] [ 2.00650532e-02 9.99798674e-01 -6.49642882e-05 3.15310042e+00] [ 1.03896591e-02 -1.43537178e-04 9.99946016e-01 2.18670668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.539254154 meters 0.015511290040074312 Centerline is valid? [True, True] Translation: X:504.00, Y:3.15, Z:2.19 [[ 9.99696024e-01 -2.17958284e-02 -1.15239853e-02 5.03997695e+02] [ 2.17964471e-02 9.99762427e-01 -7.19199292e-05 3.14774549e+00] [ 1.15228150e-02 -1.79283868e-04 9.99933594e-01 2.18535378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.599254154 meters 0.016315161921172352 Centerline is valid? [True, True] Translation: X:504.06, Y:3.14, Z:2.18 [[ 9.99648401e-01 -2.36381119e-02 -1.20130856e-02 5.04058259e+02] [ 2.36389199e-02 9.99720559e-01 -7.47496321e-05 3.14194590e+00] [ 1.20114956e-02 -2.09253018e-04 9.99927837e-01 2.18404052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.659254154 meters 0.015962410490856217 Centerline is valid? [True, True] Translation: X:504.12, Y:3.14, Z:2.18 [[ 9.99613437e-01 -2.47858891e-02 -1.25951238e-02 5.04119079e+02] [ 2.47868714e-02 9.99692755e-01 -7.81366287e-05 3.14032225e+00] [ 1.25931907e-02 -2.34087290e-04 9.99920675e-01 2.18423222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.719254154 meters 0.01594515360376132 Centerline is valid? [True, True] Translation: X:504.18, Y:3.14, Z:2.18 [[ 9.99628410e-01 -2.46041541e-02 -1.17336000e-02 5.04180256e+02] [ 2.46049981e-02 9.99697249e-01 -7.24460622e-05 3.13694651e+00] [ 1.17318301e-02 -2.16286064e-04 9.99931156e-01 2.18450169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.779254154 meters 0.015453261318276667 Centerline is valid? [True, True] Translation: X:504.24, Y:3.14, Z:2.19 [[ 9.99720667e-01 -2.07819599e-02 -1.12560009e-02 5.04241854e+02] [ 2.07824989e-02 9.99784018e-01 -6.90893095e-05 3.13705713e+00] [ 1.12550056e-02 -1.64857816e-04 9.99936647e-01 2.18502654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.839254154 meters 0.01505565511937233 Centerline is valid? [True, True] Translation: X:504.30, Y:3.14, Z:2.19 [[ 9.99815089e-01 -1.59407741e-02 -1.07554038e-02 5.04301002e+02] [ 1.59409866e-02 9.99872932e-01 -6.59769570e-05 3.13761792e+00] [ 1.07550888e-02 -1.05486990e-04 9.99942157e-01 2.18551948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.899254154 meters 0.015638539369526284 Centerline is valid? [True, True] Translation: X:504.36, Y:3.14, Z:2.19 [[ 9.99841365e-01 -1.45038487e-02 -1.03384560e-02 5.04360849e+02] [ 1.45039652e-02 9.99894810e-01 -6.37111265e-05 3.13699314e+00] [ 1.03382925e-02 -8.62475855e-05 9.99946555e-01 2.18561131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.959254154 meters 0.015271167601275736 Centerline is valid? [True, True] Translation: X:504.42, Y:3.13, Z:2.18 [[ 9.99805296e-01 -1.61212883e-02 -1.13786830e-02 5.04420989e+02] [ 1.61215293e-02 9.99870037e-01 -7.05462387e-05 3.13284261e+00] [ 1.13783415e-02 -1.12909268e-04 9.99935258e-01 2.18453939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.019254154 meters 0.015540059593002278 Centerline is valid? [True, True] Translation: X:504.48, Y:3.13, Z:2.18 [[ 9.99733548e-01 -1.96731943e-02 -1.20746960e-02 5.04480531e+02] [ 1.96737193e-02 9.99806451e-01 -7.53125216e-05 3.12799416e+00] [ 1.20738405e-02 -1.62261724e-04 9.99927095e-01 2.18428197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.079254154 meters 0.016288732896187492 Centerline is valid? [True, True] Translation: X:504.54, Y:3.12, Z:2.18 [[ 9.99654223e-01 -2.29871697e-02 -1.27680961e-02 5.04539890e+02] [ 2.29880208e-02 9.99735737e-01 -8.01174602e-05 3.12229560e+00] [ 1.27665637e-02 -2.13423502e-04 9.99918481e-01 2.18400906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.139254154 meters 0.016691910879204835 Centerline is valid? [True, True] Translation: X:504.60, Y:3.12, Z:2.18 [[ 9.99617581e-01 -2.49398996e-02 -1.19454165e-02 5.04600483e+02] [ 2.49407821e-02 9.99688927e-01 -7.51066626e-05 3.11867841e+00] [ 1.19435738e-02 -2.22850089e-04 9.99928648e-01 2.18464154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.199254154 meters 0.01721040445677417 Centerline is valid? [True, True] Translation: X:504.66, Y:3.11, Z:2.19 [[ 9.99548279e-01 -2.86028053e-02 -9.22591113e-03 5.04661332e+02] [ 2.86034899e-02 9.99590835e-01 -5.77560290e-05 3.11383656e+00] [ 9.22378819e-03 -2.06163317e-04 9.99957439e-01 2.18669175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.259254154 meters 0.018053644022342722 Centerline is valid? [True, True] Translation: X:504.72, Y:3.11, Z:2.19 [[ 9.99452494e-01 -3.23067098e-02 -7.14065439e-03 5.04723699e+02] [ 3.23072171e-02 9.99477985e-01 -4.43198166e-05 3.10768936e+00] [ 7.13835869e-03 -1.86399121e-04 9.99974504e-01 2.18731423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.31925415399996 meters 0.018530595791159402 Centerline is valid? [True, True] Translation: X:504.79, Y:3.10, Z:2.19 [[ 9.99358771e-01 -3.51929911e-02 -6.59541399e-03 5.04785657e+02] [ 3.51934898e-02 9.99380516e-01 -4.04669013e-05 3.10422999e+00] [ 6.59275239e-03 -1.91674682e-04 9.99978249e-01 2.18734856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.37925415399997 meters 0.020731877333849118 Centerline is valid? [True, True] Translation: X:504.85, Y:3.10, Z:2.19 [[ 9.99042553e-01 -4.29810262e-02 -8.16139204e-03 5.04846466e+02] [ 4.29820528e-02 9.99075843e-01 -4.96491675e-05 3.09565074e+00] [ 8.15598361e-03 -3.01191753e-04 9.99966694e-01 2.18586725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.43925415399997 meters 0.023059288621160256 Centerline is valid? [True, True] Translation: X:504.91, Y:3.09, Z:2.18 [[ 9.98904796e-01 -4.58396111e-02 -9.37755014e-03 5.04907746e+02] [ 4.58410950e-02 9.98948743e-01 -5.67521251e-05 3.08963424e+00] [ 9.37029342e-03 -3.73187197e-04 9.99956028e-01 2.18471745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.49925415399997 meters 0.02524503085956758 Centerline is valid? [True, True] Translation: X:504.97, Y:3.09, Z:2.18 [[ 9.98816677e-01 -4.73996454e-02 -1.08866647e-02 5.04970291e+02] [ 4.74017463e-02 9.98875903e-01 -6.51235561e-05 3.08824592e+00] [ 1.08775138e-02 -4.51000423e-04 9.99940736e-01 2.18233876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.559254154 meters 0.02228233069396441 Centerline is valid? [True, True] Translation: X:505.03, Y:3.09, Z:2.18 [[ 9.98896683e-01 -4.56721943e-02 -1.09301034e-02 5.05032755e+02] [ 4.56742175e-02 9.98956386e-01 -6.45716345e-05 3.09001641e+00] [ 1.09216457e-02 -4.34723530e-04 9.99940263e-01 2.18401859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.619254154 meters 0.021565051926391837 Centerline is valid? [True, True] Translation: X:505.09, Y:3.09, Z:2.18 [[ 9.99046752e-01 -4.22089187e-02 -1.11352675e-02 5.05094034e+02] [ 4.22108102e-02 9.99108724e-01 -6.52013609e-05 3.09221047e+00] [ 1.11280950e-02 -4.04889456e-04 9.99937999e-01 2.18421074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.679254154 meters 0.020322077646590234 Centerline is valid? [True, True] Translation: X:505.15, Y:3.10, Z:2.19 [[ 9.99300821e-01 -3.59625162e-02 -1.02257647e-02 5.05153559e+02] [ 3.59637861e-02 9.99353092e-01 -5.97264545e-05 3.09632516e+00] [ 1.02212975e-02 -3.08072521e-04 9.99947714e-01 2.18559832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.739254154 meters 0.01907190781051733 Centerline is valid? [True, True] Translation: X:505.22, Y:3.10, Z:2.19 [[ 9.99465186e-01 -3.12754942e-02 -9.54907186e-03 5.05215559e+02] [ 3.12763904e-02 9.99510772e-01 -5.54984108e-05 3.10090984e+00] [ 9.54613593e-03 -2.43191770e-04 9.99954405e-01 2.18696009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.799254154 meters 0.01866305094926262 Centerline is valid? [True, True] Translation: X:505.28, Y:3.10, Z:2.19 [[ 9.99553588e-01 -2.83983529e-02 -9.28211175e-03 5.05277437e+02] [ 2.83990802e-02 9.99596663e-01 -5.34722300e-05 3.10325025e+00] [ 9.27988646e-03 -2.10155077e-04 9.99956919e-01 2.18765408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.859254154 meters 0.017983967771771896 Centerline is valid? [True, True] Translation: X:505.34, Y:3.11, Z:2.19 [[ 9.99643144e-01 -2.52077390e-02 -8.84049075e-03 5.05338838e+02] [ 2.52082771e-02 9.99682220e-01 -5.05638771e-05 3.10581321e+00] [ 8.83895602e-03 -1.72307708e-04 9.99960921e-01 2.18803436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.919254154 meters 0.01641257346688669 Centerline is valid? [True, True] Translation: X:505.40, Y:3.11, Z:2.19 [[ 9.99756277e-01 -1.99632851e-02 -9.42624073e-03 5.05399908e+02] [ 1.99636672e-02 9.99800705e-01 -5.35679670e-05 3.11238456e+00] [ 9.42543152e-03 -1.34627421e-04 9.99955571e-01 2.18916234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.979254154 meters 0.01607710715280084 Centerline is valid? [True, True] Translation: X:505.46, Y:3.11, Z:2.19 [[ 9.99824409e-01 -1.51857641e-02 -1.09792058e-02 5.05459533e+02] [ 1.51859952e-02 9.99884684e-01 -6.23230238e-05 3.11498170e+00] [ 1.09788861e-02 -1.04418086e-04 9.99939725e-01 2.18808940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.039254154 meters 0.015497887818414874 Centerline is valid? [True, True] Translation: X:505.52, Y:3.12, Z:2.19 [[ 9.99836603e-01 -1.31450651e-02 -1.24086387e-02 5.05519434e+02] [ 1.31451984e-02 9.99913596e-01 -7.08239976e-05 3.11830713e+00] [ 1.24084975e-02 -9.23015923e-05 9.99923007e-01 2.18922318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.099254154 meters 0.01629574124536031 Centerline is valid? [True, True] Translation: X:505.58, Y:3.11, Z:2.19 [[ 9.99823199e-01 -1.48775001e-02 -1.14992022e-02 5.05577726e+02] [ 1.48777161e-02 9.99889318e-01 -6.67664682e-05 3.11392124e+00] [ 1.14989228e-02 -1.04327202e-04 9.99933880e-01 2.18727369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.159254154 meters 0.01593453999940553 Centerline is valid? [True, True] Translation: X:505.64, Y:3.11, Z:2.19 [[ 9.99769004e-01 -1.80927974e-02 -1.16012431e-02 5.05636607e+02] [ 1.80932048e-02 9.99836302e-01 -6.98452106e-05 3.11390021e+00] [ 1.16006077e-02 -1.40074591e-04 9.99932701e-01 2.18898493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.219254154 meters 0.016894819930731563 Centerline is valid? [True, True] Translation: X:505.70, Y:3.11, Z:2.19 [[ 9.99618613e-01 -2.44530294e-02 -1.28326889e-02 5.05696384e+02] [ 2.44540316e-02 9.99700952e-01 -7.88330852e-05 3.10833336e+00] [ 1.28307790e-02 -2.35007960e-04 9.99917655e-01 2.18788184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.279254154 meters 0.01804137270738384 Centerline is valid? [True, True] Translation: X:505.76, Y:3.10, Z:2.19 [[ 9.99483194e-01 -2.96008094e-02 -1.25354012e-02 5.05756729e+02] [ 2.96021683e-02 9.99561757e-01 -7.71638277e-05 3.10401275e+00] [ 1.25321917e-02 -2.93951106e-04 9.99921426e-01 2.18876707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.339254154 meters 0.020015477756818993 Centerline is valid? [True, True] Translation: X:505.82, Y:3.10, Z:2.19 [[ 9.99192917e-01 -3.82901638e-02 -1.21399730e-02 5.05817572e+02] [ 3.82920807e-02 9.99266587e-01 -7.45875377e-05 3.09790030e+00] [ 1.21339253e-02 -3.90337486e-04 9.99926305e-01 2.19002498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.399254154 meters 0.02282317267866153 Centerline is valid? [True, True] Translation: X:505.88, Y:3.09, Z:2.19 [[ 9.98848312e-01 -4.61726113e-02 -1.30437748e-02 5.05878546e+02] [ 4.61754967e-02 9.98933340e-01 -8.00252687e-05 3.09160190e+00] [ 1.30335565e-02 -5.22369677e-04 9.99914923e-01 2.18991346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.459254154 meters 0.026029463363596662 Centerline is valid? [True, True] Translation: X:505.94, Y:3.09, Z:2.19 [[ 9.98482595e-01 -5.32719628e-02 -1.39501156e-02 5.05938000e+02] [ 5.32759527e-02 9.98579824e-01 -8.57154124e-05 3.08511389e+00] [ 1.39348702e-02 -6.57620349e-04 9.99902689e-01 2.18849025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.519254154 meters 0.028374436039679117 Centerline is valid? [True, True] Translation: X:506.00, Y:3.08, Z:2.19 [[ 9.98246372e-01 -5.74621864e-02 -1.42224465e-02 5.05998782e+02] [ 5.74667619e-02 9.98347416e-01 -8.71035070e-05 3.08205080e+00] [ 1.42039479e-02 -7.30367187e-04 9.99898852e-01 2.18832439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.579254154 meters 0.03181087735204269 Centerline is valid? [True, True] Translation: X:506.06, Y:3.08, Z:2.19 [[ 9.97974981e-01 -6.21610273e-02 -1.34886596e-02 5.06058926e+02] [ 6.21655731e-02 9.98065847e-01 -8.24216484e-05 3.07866881e+00] [ 1.34676939e-02 -7.56275511e-04 9.99909020e-01 2.18945661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.639254154 meters 0.030227121384045267 Centerline is valid? [True, True] Translation: X:506.12, Y:3.08, Z:2.19 [[ 9.97850710e-01 -6.41580634e-02 -1.33305573e-02 5.06121155e+02] [ 6.41626897e-02 9.97939448e-01 -8.07904341e-05 3.08418390e+00] [ 1.33082724e-02 -7.74707619e-04 9.99911141e-01 2.19045297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.699254154 meters 0.03219590342896565 Centerline is valid? [True, True] Translation: X:506.18, Y:3.09, Z:2.19 [[ 9.97835691e-01 -6.40937232e-02 -1.46945137e-02 5.06181854e+02] [ 6.40993484e-02 9.97943518e-01 -8.83341577e-05 3.08569391e+00] [ 1.46699564e-02 -8.53765779e-04 9.99892026e-01 2.18914848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.759254154 meters 0.032550858383749784 Centerline is valid? [True, True] Translation: X:506.24, Y:3.09, Z:2.19 [[ 9.97907450e-01 -6.28486132e-02 -1.51911837e-02 5.06244559e+02] [ 6.28545006e-02 9.98022697e-01 -9.00534764e-05 3.08875989e+00] [ 1.51668059e-02 -8.64969231e-04 9.99884603e-01 2.18863086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.81925415399996 meters 0.026158936994608962 Centerline is valid? [True, True] Translation: X:506.31, Y:3.10, Z:2.19 [[ 9.98089427e-01 -5.95454761e-02 -1.64873260e-02 5.06305593e+02] [ 5.95519774e-02 9.98225201e-01 -9.67932715e-05 3.10427942e+00] [ 1.64638279e-02 -8.85244523e-04 9.99864070e-01 2.18965901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.87925415399997 meters 0.030192539214380528 Centerline is valid? [True, True] Translation: X:506.37, Y:3.10, Z:2.19 [[ 9.98274709e-01 -5.60712689e-02 -1.74246195e-02 5.06365103e+02] [ 5.60780016e-02 9.98426385e-01 -1.02361056e-04 3.10415216e+00] [ 1.74029394e-02 -8.74953387e-04 9.99848175e-01 2.18804460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.93925415399997 meters 0.022825392168958496 Centerline is valid? [True, True] Translation: X:506.43, Y:3.12, Z:2.19 [[ 9.98702103e-01 -4.79652507e-02 -1.71302004e-02 5.06425208e+02] [ 4.79705659e-02 9.98848745e-01 -1.00723128e-04 3.12436992e+00] [ 1.71153103e-02 -7.21153006e-04 9.99853262e-01 2.19042065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.99925415399997 meters 0.020304358239343845 Centerline is valid? [True, True] Translation: X:506.48, Y:3.14, Z:2.19 [[ 9.99190599e-01 -3.68202736e-02 -1.61992007e-02 5.06484611e+02] [ 3.68235595e-02 9.99321778e-01 -9.54875231e-05 3.13776911e+00] [ 1.61917299e-02 -5.01101995e-04 9.99868780e-01 2.19121098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.059254154 meters 0.01674611652929784 Centerline is valid? [True, True] Translation: X:506.54, Y:3.15, Z:2.19 [[ 9.99577602e-01 -2.51344945e-02 -1.45902111e-02 5.06544581e+02] [ 2.51359146e-02 9.99684039e-01 -8.60729578e-05 3.15379013e+00] [ 1.45877645e-02 -2.80701698e-04 9.99893553e-01 2.19288517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.119254154 meters 0.017327507986235426 Centerline is valid? [True, True] Translation: X:506.60, Y:3.16, Z:2.19 [[ 9.99711872e-01 -1.82692344e-02 -1.55694463e-02 5.06604881e+02] [ 1.82700191e-02 9.99833085e-01 -9.18456281e-05 3.16137080e+00] [ 1.55685255e-02 -1.92634918e-04 9.99878785e-01 2.19366984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.179254154 meters 0.015389586026784226 Centerline is valid? [True, True] Translation: X:506.66, Y:3.17, Z:2.19 [[ 9.99821656e-01 -1.22369485e-02 -1.43844832e-02 5.06663693e+02] [ 1.22369863e-02 9.99925122e-01 -8.53909684e-05 3.16887052e+00] [ 1.43844511e-02 -9.06469855e-05 9.99896534e-01 2.19251789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.239254154 meters 0.015187366067041835 Centerline is valid? [True, True] Translation: X:506.72, Y:3.17, Z:2.19 [[ 9.99822793e-01 -1.10233680e-02 -1.52600311e-02 5.06721699e+02] [ 1.10232175e-02 9.99939238e-01 -9.39768977e-05 3.17172166e+00] [ 1.52601399e-02 -7.42543985e-05 9.99883555e-01 2.19197531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.299254154 meters 0.01530535500485649 Centerline is valid? [True, True] Translation: X:506.78, Y:3.17, Z:2.19 [[ 9.99807877e-01 -1.21079070e-02 -1.54145380e-02 5.06779434e+02] [ 1.21078133e-02 9.99926693e-01 -9.94028620e-05 3.17292855e+00] [ 1.54146116e-02 -8.72525846e-05 9.99881184e-01 2.19151031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.359254154 meters 0.015458406302710745 Centerline is valid? [True, True] Translation: X:506.84, Y:3.17, Z:2.19 [[ 9.99792571e-01 -1.38565767e-02 -1.49268179e-02 5.06837455e+02] [ 1.38566193e-02 9.99903987e-01 -1.00573912e-04 3.17281043e+00] [ 1.49267783e-02 -1.06282183e-04 9.99888584e-01 2.19192534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.419254154 meters 0.015866428312148084 Centerline is valid? [True, True] Translation: X:506.90, Y:3.17, Z:2.19 [[ 9.99760886e-01 -1.57866122e-02 -1.51312359e-02 5.06895694e+02] [ 1.57868427e-02 9.99875375e-01 -1.04222067e-04 3.17214119e+00] [ 1.51309955e-02 -1.34677295e-04 9.99885511e-01 2.19128386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.479254154 meters 0.015861778813175614 Centerline is valid? [True, True] Translation: X:506.95, Y:3.17, Z:2.19 [[ 9.99725394e-01 -1.79768108e-02 -1.50323398e-02 5.06954178e+02] [ 1.79772386e-02 9.99838391e-01 -1.06677808e-04 3.17130357e+00] [ 1.50318281e-02 -1.63591446e-04 9.99887002e-01 2.19145014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.539254154 meters 0.016444974795033953 Centerline is valid? [True, True] Translation: X:507.01, Y:3.17, Z:2.19 [[ 9.99635285e-01 -2.23835020e-02 -1.51087948e-02 5.07013466e+02] [ 2.23844112e-02 9.99749432e-01 -1.08953379e-04 3.16768123e+00] [ 1.51074478e-02 -2.29287834e-04 9.99885850e-01 2.19119644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.599254154 meters 0.01784879044805136 Centerline is valid? [True, True] Translation: X:507.07, Y:3.16, Z:2.19 [[ 9.99555859e-01 -2.51902080e-02 -1.59228974e-02 5.07072472e+02] [ 2.51915631e-02 9.99682636e-01 -1.15497947e-04 3.16495569e+00] [ 1.59207534e-02 -2.85676025e-04 9.99873216e-01 2.19124160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.659254154 meters 0.017298500386504757 Centerline is valid? [True, True] Translation: X:507.13, Y:3.16, Z:2.19 [[ 9.99545615e-01 -2.55104364e-02 -1.60555483e-02 5.07132109e+02] [ 2.55118495e-02 9.99674513e-01 -1.16827546e-04 3.16306117e+00] [ 1.60533028e-02 -2.92832272e-04 9.99871095e-01 2.19068422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.719254154 meters 0.0166076800415732 Centerline is valid? [True, True] Translation: X:507.19, Y:3.16, Z:2.19 [[ 9.99614575e-01 -2.23889947e-02 -1.64144341e-02 5.07192172e+02] [ 2.23900497e-02 9.99749304e-01 -1.19518692e-04 3.16476082e+00] [ 1.64129950e-02 -2.48047368e-04 9.99865267e-01 2.19099903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.779254154 meters 0.016472040335037068 Centerline is valid? [True, True] Translation: X:507.25, Y:3.17, Z:2.19 [[ 9.99723173e-01 -1.68096371e-02 -1.64624646e-02 5.07251432e+02] [ 1.68099346e-02 9.99858696e-01 -1.20313104e-04 3.16887287e+00] [ 1.64621608e-02 -1.56453154e-04 9.99864477e-01 2.19283208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.839254154 meters 0.015395251831262152 Centerline is valid? [True, True] Translation: X:507.31, Y:3.17, Z:2.19 [[ 9.99841349e-01 -8.71058043e-03 -1.55371228e-02 5.07309941e+02] [ 8.70982021e-03 9.99962062e-01 -1.16596729e-04 3.17360356e+00] [ 1.55375490e-02 -1.87473154e-05 9.99879285e-01 2.19372284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.899254154 meters 0.015973118726992124 Centerline is valid? [True, True] Translation: X:507.37, Y:3.18, Z:2.19 [[ 9.99862050e-01 -3.86926815e-03 -1.61526969e-02 5.07367304e+02] [ 3.86777829e-03 9.99992512e-01 -1.23474695e-04 3.17512407e+00] [ 1.61530537e-02 6.09826119e-05 9.99869529e-01 2.19257442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.959254154 meters 0.01604110107331456 Centerline is valid? [True, True] Translation: X:507.43, Y:3.17, Z:2.19 [[ 9.99838758e-01 -3.86662503e-03 -1.75358633e-02 5.07425630e+02] [ 3.86480162e-03 9.99992522e-01 -1.37869763e-04 3.17436566e+00] [ 1.75362653e-02 7.00748993e-05 9.99846225e-01 2.19283835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.019254154 meters 0.016906342477586878 Centerline is valid? [True, True] Translation: X:507.48, Y:3.17, Z:2.19 [[ 9.99798205e-01 -6.38298346e-03 -1.90475077e-02 5.07483781e+02] [ 6.38123995e-03 9.99979628e-01 -1.52313087e-04 3.17121732e+00] [ 1.90480919e-02 3.07356337e-05 9.99818568e-01 2.19148625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.079254154 meters 0.01610919509547706 Centerline is valid? [True, True] Translation: X:507.54, Y:3.17, Z:2.19 [[ 9.99760193e-01 -1.08469557e-02 -1.90236803e-02 5.07541355e+02] [ 1.08459871e-02 9.99941169e-01 -1.54090837e-04 3.16687864e+00] [ 1.90242326e-02 -5.22767074e-05 9.99819022e-01 2.19184504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.139254154 meters 0.016473748505271068 Centerline is valid? [True, True] Translation: X:507.60, Y:3.16, Z:2.19 [[ 9.99676950e-01 -1.86755891e-02 -1.72399855e-02 5.07600500e+02] [ 1.86759340e-02 9.99825580e-01 -1.41005723e-04 3.15847490e+00] [ 1.72396119e-02 -1.81012661e-04 9.99851370e-01 2.19384621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.199254154 meters 0.017096360248290407 Centerline is valid? [True, True] Translation: X:507.66, Y:3.15, Z:2.20 [[ 9.99571682e-01 -2.50393846e-02 -1.51486660e-02 5.07658767e+02] [ 2.50403621e-02 9.99686433e-01 -1.25178108e-04 3.15131164e+00] [ 1.51470503e-02 -2.54203591e-04 9.99885245e-01 2.19621779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.259254154 meters 0.01736374993413544 Centerline is valid? [True, True] Translation: X:507.72, Y:3.15, Z:2.20 [[ 9.99564699e-01 -2.62349575e-02 -1.34958950e-02 5.07718549e+02] [ 2.62358327e-02 9.99655775e-01 -1.12221221e-04 3.14743972e+00] [ 1.34941935e-02 -2.41903672e-04 9.99908920e-01 2.19706887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.31925415399996 meters 0.01761170444702369 Centerline is valid? [True, True] Translation: X:507.78, Y:3.14, Z:2.20 [[ 9.99642992e-01 -2.38249777e-02 -1.20937494e-02 5.07778653e+02] [ 2.38255041e-02 9.99716127e-01 -1.00567902e-04 3.14215996e+00] [ 1.20927124e-02 -1.87607678e-04 9.99926863e-01 2.19773217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.37925415399997 meters 0.01651905531062998 Centerline is valid? [True, True] Translation: X:507.84, Y:3.14, Z:2.20 [[ 9.99736493e-01 -1.95580602e-02 -1.20178089e-02 5.07839135e+02] [ 1.95582727e-02 9.99808714e-01 -9.98565828e-05 3.14132234e+00] [ 1.20174631e-02 -1.35217315e-04 9.99927779e-01 2.19952654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.43925415399997 meters 0.01643451676717467 Centerline is valid? [True, True] Translation: X:507.90, Y:3.14, Z:2.20 [[ 9.99765288e-01 -1.75673959e-02 -1.26789465e-02 5.07898894e+02] [ 1.75674685e-02 9.99845675e-01 -1.05655335e-04 3.13891920e+00] [ 1.26788459e-02 -1.17106457e-04 9.99919613e-01 2.19895430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.49925415399997 meters 0.016283305080316286 Centerline is valid? [True, True] Translation: X:507.96, Y:3.13, Z:2.20 [[ 9.99734182e-01 -1.69968721e-02 -1.55779038e-02 5.07957325e+02] [ 1.69968650e-02 9.99855534e-01 -1.32864815e-04 3.13258968e+00] [ 1.55779116e-02 -1.31946030e-04 9.99878648e-01 2.19658955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.559254154 meters 0.018168912362802804 Centerline is valid? [True, True] Translation: X:508.02, Y:3.13, Z:2.20 [[ 9.99687282e-01 -1.89265485e-02 -1.63439091e-02 5.08015986e+02] [ 1.89267289e-02 9.99820863e-01 -1.43653317e-04 3.12725966e+00] [ 1.63437002e-02 -1.65728343e-04 9.99866419e-01 2.19637501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.619254154 meters 0.01705824857313153 Centerline is valid? [True, True] Translation: X:508.07, Y:3.12, Z:2.20 [[ 9.99622215e-01 -2.27980223e-02 -1.53517961e-02 5.08074229e+02] [ 2.27985986e-02 9.99740069e-01 -1.37494119e-04 3.12164435e+00] [ 1.53509403e-02 -2.12557260e-04 9.99882145e-01 2.19659559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.679254154 meters 0.017892410389287825 Centerline is valid? [True, True] Translation: X:508.13, Y:3.11, Z:2.20 [[ 9.99408777e-01 -3.13162457e-02 -1.41911894e-02 5.08133352e+02] [ 3.13175807e-02 9.99509476e-01 -1.28197938e-04 3.11348670e+00] [ 1.41882429e-02 -3.16311574e-04 9.99899292e-01 2.19862364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.739254154 meters 0.02014647932059582 Centerline is valid? [True, True] Translation: X:508.19, Y:3.10, Z:2.20 [[ 9.99051874e-01 -4.15860447e-02 -1.28823493e-02 5.08193484e+02] [ 4.15879946e-02 9.99134838e-01 -1.16599812e-04 3.10370053e+00] [ 1.28760530e-02 -4.19261814e-04 9.99917012e-01 2.20002101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.799254154 meters 0.023718788652178965 Centerline is valid? [True, True] Translation: X:508.25, Y:3.10, Z:2.20 [[ 9.98727143e-01 -4.89269871e-02 -1.22573837e-02 5.08253104e+02] [ 4.89293029e-02 9.98802238e-01 -1.11061954e-04 3.09517655e+00] [ 1.22481362e-02 -4.88824654e-04 9.99924869e-01 2.20071455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.859254154 meters 0.026958331745868983 Centerline is valid? [True, True] Translation: X:508.31, Y:3.09, Z:2.20 [[ 9.98138644e-01 -5.98303830e-02 -1.18141145e-02 5.08313318e+02] [ 5.98332951e-02 9.98208378e-01 -1.07122966e-04 3.08618250e+00] [ 1.17993573e-02 -5.99953829e-04 9.99930205e-01 2.20124954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.919254154 meters 0.03231640587243881 Centerline is valid? [True, True] Translation: X:508.37, Y:3.08, Z:2.20 [[ 9.97555168e-01 -6.88016894e-02 -1.22480371e-02 5.08372946e+02] [ 6.88054913e-02 9.97630088e-01 -1.11203627e-04 3.07630684e+00] [ 1.22266613e-02 -7.31800456e-04 9.99924984e-01 2.20090610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.979254154 meters 0.03448482748638182 Centerline is valid? [True, True] Translation: X:508.43, Y:3.07, Z:2.20 [[ 9.97341845e-01 -7.16197506e-02 -1.34110293e-02 5.08434354e+02] [ 7.16245658e-02 9.97431655e-01 -1.21528100e-04 3.07418076e+00] [ 1.33852889e-02 -8.39354090e-04 9.99910061e-01 2.20055693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.039254154 meters 0.030894054119827683 Centerline is valid? [True, True] Translation: X:508.50, Y:3.08, Z:2.20 [[ 9.97328253e-01 -7.15805379e-02 -1.45802210e-02 5.08496574e+02] [ 7.15862387e-02 9.97434405e-01 -1.31196133e-04 3.08158413e+00] [ 1.45522052e-02 -9.12897575e-04 9.99893694e-01 2.20106933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.099254154 meters 0.02794189715619275 Centerline is valid? [True, True] Translation: X:508.56, Y:3.09, Z:2.20 [[ 9.97600573e-01 -6.76034861e-02 -1.49286835e-02 5.08557768e+02] [ 6.76090270e-02 9.97711883e-01 -1.33797205e-04 3.08911908e+00] [ 1.49035701e-02 -8.75837597e-04 9.99888552e-01 2.20082232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.159254154 meters 0.03080819918734382 Centerline is valid? [True, True] Translation: X:508.62, Y:3.09, Z:2.20 [[ 9.97861451e-01 -6.35216248e-02 -1.54119222e-02 5.08617362e+02] [ 6.35270462e-02 9.97980108e-01 -1.38042262e-04 3.08983178e+00] [ 1.53895604e-02 -8.41326840e-04 9.99881220e-01 2.19981602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.219254154 meters 0.02492753503094769 Centerline is valid? [True, True] Translation: X:508.68, Y:3.10, Z:2.20 [[ 9.98202205e-01 -5.76541773e-02 -1.63815129e-02 5.08677329e+02] [ 5.76595147e-02 9.98336295e-01 -1.46694602e-04 3.10369772e+00] [ 1.63627165e-02 -7.98119210e-04 9.99865803e-01 2.20089536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.279254154 meters 0.0284766686044699 Centerline is valid? [True, True] Translation: X:508.74, Y:3.10, Z:2.20 [[ 9.98461601e-01 -5.28530128e-02 -1.67627417e-02 5.08737279e+02] [ 5.28579264e-02 9.98602031e-01 -1.50096383e-04 3.10447120e+00] [ 1.67472409e-02 -7.36178292e-04 9.99859484e-01 2.19907119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.339254154 meters 0.021601869378600584 Centerline is valid? [True, True] Translation: X:508.80, Y:3.12, Z:2.20 [[ 9.98793757e-01 -4.70835144e-02 -1.39346250e-02 5.08797940e+02] [ 4.70863499e-02 9.98890815e-01 -1.24708513e-04 3.11901503e+00] [ 1.39250406e-02 -5.31572542e-04 9.99902901e-01 2.20408506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.399254154 meters 0.020313897987384855 Centerline is valid? [True, True] Translation: X:508.86, Y:3.13, Z:2.20 [[ 9.99098922e-01 -4.02468271e-02 -1.34735441e-02 5.08857681e+02] [ 4.02488573e-02 9.99189679e-01 -1.20557198e-04 3.12742939e+00] [ 1.34674782e-02 -4.21846187e-04 9.99909220e-01 2.20489099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.459254154 meters 0.01907901677969258 Centerline is valid? [True, True] Translation: X:508.92, Y:3.13, Z:2.21 [[ 9.99251559e-01 -3.63171916e-02 -1.33185365e-02 5.08918652e+02] [ 3.63188308e-02 9.99340247e-01 -1.18850044e-04 3.13393963e+00] [ 1.33140659e-02 -3.64952582e-04 9.99911297e-01 2.20567125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.519254154 meters 0.018054551792762722 Centerline is valid? [True, True] Translation: X:508.98, Y:3.14, Z:2.21 [[ 9.99437324e-01 -3.11915912e-02 -1.23336791e-02 5.08979061e+02] [ 3.11926104e-02 9.99513386e-01 -1.09772460e-04 3.14059844e+00] [ 1.23311014e-02 -2.75008955e-04 9.99923931e-01 2.20630460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.579254154 meters 0.017382261958807186 Centerline is valid? [True, True] Translation: X:509.04, Y:3.15, Z:2.21 [[ 9.99533854e-01 -2.81206080e-02 -1.18872610e-02 5.09040165e+02] [ 2.81213415e-02 9.99604511e-01 -1.05465412e-04 3.14614569e+00] [ 1.18855255e-02 -2.28869478e-04 9.99929338e-01 2.20712677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.639254154 meters 0.017335765501221262 Centerline is valid? [True, True] Translation: X:509.10, Y:3.15, Z:2.21 [[ 9.99583099e-01 -2.63280038e-02 -1.18517680e-02 5.09101801e+02] [ 2.63286118e-02 9.99653337e-01 -1.04743897e-04 3.14930611e+00] [ 1.18504171e-02 -2.07340369e-04 9.99929760e-01 2.20718182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.699254154 meters 0.01574640310664173 Centerline is valid? [True, True] Translation: X:509.16, Y:3.16, Z:2.21 [[ 9.99664672e-01 -2.29956300e-02 -1.19056867e-02 5.09162764e+02] [ 2.29960083e-02 9.99735551e-01 -1.05139765e-04 3.15673283e+00] [ 1.19049560e-02 -1.68678762e-04 9.99929119e-01 2.20754343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.759254154 meters 0.016458948449984228 Centerline is valid? [True, True] Translation: X:509.22, Y:3.16, Z:2.21 [[ 9.99699229e-01 -2.15726618e-02 -1.16650118e-02 5.09222727e+02] [ 2.15729277e-02 9.99767272e-01 -1.03055091e-04 3.15742157e+00] [ 1.16645201e-02 -1.48624360e-04 9.99931956e-01 2.20584342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.81925415399996 meters 0.01595450433696771 Centerline is valid? [True, True] Translation: X:509.28, Y:3.16, Z:2.21 [[ 9.99698142e-01 -2.20362032e-02 -1.08642292e-02 5.09283671e+02] [ 2.20364612e-02 9.99757163e-01 -9.59805400e-05 3.16066704e+00] [ 1.08637060e-02 -1.43457597e-04 9.99940978e-01 2.20746054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.87925415399997 meters 0.016688218803127285 Centerline is valid? [True, True] Translation: X:509.34, Y:3.16, Z:2.21 [[ 9.99641333e-01 -2.45193782e-02 -1.07705803e-02 5.09344999e+02] [ 2.45197782e-02 9.99699341e-01 -9.49312559e-05 3.15964777e+00] [ 1.07696697e-02 -1.69195033e-04 9.99941991e-01 2.20716515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.93925415399997 meters 0.017879675643870965 Centerline is valid? [True, True] Translation: X:509.41, Y:3.16, Z:2.21 [[ 9.99559595e-01 -2.72770827e-02 -1.16865758e-02 5.09405519e+02] [ 2.72777479e-02 9.99627888e-01 -1.02502712e-04 3.15658285e+00] [ 1.16850230e-02 -2.16325899e-04 9.99931704e-01 2.20579978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.99925415399997 meters 0.018107737515286097 Centerline is valid? [True, True] Translation: X:509.47, Y:3.16, Z:2.21 [[ 9.99524328e-01 -2.83465180e-02 -1.21488038e-02 5.09466794e+02] [ 2.83473215e-02 9.99598128e-01 -1.06084623e-04 3.15630488e+00] [ 1.21469286e-02 -2.38351886e-04 9.99926195e-01 2.20600261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.059254154 meters 0.019960193556193037 Centerline is valid? [True, True] Translation: X:509.53, Y:3.16, Z:2.21 [[ 9.99546812e-01 -2.74725410e-02 -1.23056957e-02 5.09527042e+02] [ 2.74733027e-02 9.99622532e-01 -1.07172829e-04 3.15679118e+00] [ 1.23039950e-02 -2.30953843e-04 9.99924276e-01 2.20513436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.119254154 meters 0.01788966317444359 Centerline is valid? [True, True] Translation: X:509.59, Y:3.16, Z:2.21 [[ 9.99590448e-01 -2.60311391e-02 -1.18876554e-02 5.09587825e+02] [ 2.60317489e-02 9.99661111e-01 -1.03461389e-04 3.15774331e+00] [ 1.18863200e-02 -2.06037444e-04 9.99929334e-01 2.20616821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.179254154 meters 0.01679659298531528 Centerline is valid? [True, True] Translation: X:509.65, Y:3.16, Z:2.21 [[ 9.99685738e-01 -2.19736865e-02 -1.20657242e-02 5.09648098e+02] [ 2.19740207e-02 9.99758537e-01 -1.04887186e-04 3.16100664e+00] [ 1.20651155e-02 -1.60278251e-04 9.99927201e-01 2.20621455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.239254154 meters 0.015198804070532312 Centerline is valid? [True, True] Translation: X:509.71, Y:3.17, Z:2.21 [[ 9.99778437e-01 -1.72621115e-02 -1.20456123e-02 5.09708598e+02] [ 1.72621036e-02 9.99850993e-01 -1.04641278e-04 3.16700553e+00] [ 1.20456238e-02 -1.03314514e-04 9.99927444e-01 2.20835666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.299254154 meters 0.014907861035679105 Centerline is valid? [True, True] Translation: X:509.77, Y:3.17, Z:2.21 [[ 9.99825428e-01 -1.41777904e-02 -1.21697798e-02 5.09768666e+02] [ 1.41775504e-02 9.99899488e-01 -1.05997108e-04 3.16869710e+00] [ 1.21700594e-02 -6.65590634e-05 9.99925940e-01 2.20858382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.359254154 meters 0.015380404353197326 Centerline is valid? [True, True] Translation: X:509.83, Y:3.17, Z:2.21 [[ 9.99853861e-01 -1.14962261e-02 -1.26527749e-02 5.09827166e+02] [ 1.14957234e-02 9.99933916e-01 -1.12462050e-04 3.17001890e+00] [ 1.26532316e-02 -3.30071853e-05 9.99919944e-01 2.20907019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.419254154 meters 0.014707014694746811 Centerline is valid? [True, True] Translation: X:509.88, Y:3.17, Z:2.21 [[ 9.99836461e-01 -1.20969904e-02 -1.34429927e-02 5.09884788e+02] [ 1.20964265e-02 9.99926828e-01 -1.23258913e-04 3.16944593e+00] [ 1.34435001e-02 -3.93734190e-05 9.99909631e-01 2.20962194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.479254154 meters 0.015041148638279964 Centerline is valid? [True, True] Translation: X:509.94, Y:3.17, Z:2.21 [[ 9.99771711e-01 -1.50639625e-02 -1.51526815e-02 5.09943693e+02] [ 1.50635237e-02 9.99886528e-01 -1.43098677e-04 3.16559866e+00] [ 1.51531178e-02 -8.51867681e-05 9.99885181e-01 2.20891901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.539254154 meters 0.015360294160981988 Centerline is valid? [True, True] Translation: X:510.00, Y:3.16, Z:2.21 [[ 9.99689090e-01 -1.92609805e-02 -1.58347019e-02 5.10002077e+02] [ 1.92609839e-02 9.99814478e-01 -1.52303128e-04 3.16058116e+00] [ 1.58346977e-02 -1.52736163e-04 9.99874612e-01 2.20897158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.599254154 meters 0.016480766318743834 Centerline is valid? [True, True] Translation: X:510.06, Y:3.16, Z:2.21 [[ 9.99619970e-01 -2.23650479e-02 -1.61158150e-02 5.10059865e+02] [ 2.23654278e-02 9.99749850e-01 -1.56679447e-04 3.15606970e+00] [ 1.61152877e-02 -2.03817191e-04 9.99870120e-01 2.20854564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.659254154 meters 0.01751888316607295 Centerline is valid? [True, True] Translation: X:510.12, Y:3.15, Z:2.21 [[ 9.99479568e-01 -2.76708577e-02 -1.65806019e-02 5.10118856e+02] [ 2.76719688e-02 9.99617045e-01 -1.62449205e-04 3.14889125e+00] [ 1.65787474e-02 -2.96453238e-04 9.99862519e-01 2.20904952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.719254154 meters 0.019040961527539924 Centerline is valid? [True, True] Translation: X:510.18, Y:3.14, Z:2.21 [[ 9.99299672e-01 -3.37603543e-02 -1.61370470e-02 5.10177922e+02] [ 3.37621856e-02 9.99429882e-01 -1.59012774e-04 3.14269711e+00] [ 1.61332153e-02 -3.85920562e-04 9.99869777e-01 2.21105015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.779254154 meters 0.021807778333412756 Centerline is valid? [True, True] Translation: X:510.24, Y:3.13, Z:2.21 [[ 9.99083438e-01 -4.01151724e-02 -1.49351167e-02 5.10237716e+02] [ 4.01174471e-02 9.99194960e-01 -1.47381499e-04 3.13428915e+00] [ 1.49290056e-02 -4.51912339e-04 9.99888454e-01 2.21237893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.839254154 meters 0.023352693601474787 Centerline is valid? [True, True] Translation: X:510.30, Y:3.13, Z:2.21 [[ 9.98915209e-01 -4.41982611e-02 -1.46600984e-02 5.10298911e+02] [ 4.42008971e-02 9.99022652e-01 -1.44314016e-04 3.12970883e+00] [ 1.46521489e-02 -5.03832036e-04 9.99892525e-01 2.21269360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.899254154 meters 0.026591047499585414 Centerline is valid? [True, True] Translation: X:510.36, Y:3.12, Z:2.21 [[ 9.98668917e-01 -4.92565026e-02 -1.53033113e-02 5.10358806e+02] [ 4.92599703e-02 9.98785979e-01 -1.50487472e-04 3.12160760e+00] [ 1.52921452e-02 -6.03553500e-04 9.99882886e-01 2.21189398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.959254154 meters 0.02824171977416308 Centerline is valid? [True, True] Translation: X:510.42, Y:3.12, Z:2.21 [[ 9.98581588e-01 -5.08822364e-02 -1.56783428e-02 5.10419705e+02] [ 5.08860792e-02 9.98704452e-01 -1.53988807e-04 3.11830877e+00] [ 1.56658661e-02 -6.44039007e-04 9.99877075e-01 2.21187922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.019254154 meters 0.028867230874713993 Centerline is valid? [True, True] Translation: X:510.48, Y:3.12, Z:2.21 [[ 9.98595303e-01 -5.06702631e-02 -1.54901528e-02 5.10480712e+02] [ 5.06739955e-02 9.98715236e-01 -1.51706244e-04 3.11694641e+00] [ 1.54779386e-02 -6.33454788e-04 9.99880009e-01 2.21267407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.079254154 meters 0.02881289224300408 Centerline is valid? [True, True] Translation: X:510.54, Y:3.12, Z:2.21 [[ 9.98669791e-01 -4.92256028e-02 -1.53456262e-02 5.10541898e+02] [ 4.92291031e-02 9.98787501e-01 -1.49795330e-04 3.11815106e+00] [ 1.53343934e-02 -6.05855343e-04 9.99882238e-01 2.21331513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.139254154 meters 0.028106609278538225 Centerline is valid? [True, True] Translation: X:510.60, Y:3.12, Z:2.21 [[ 9.98804660e-01 -4.61986404e-02 -1.59667446e-02 5.10602136e+02] [ 4.62020489e-02 9.98932103e-01 -1.55524474e-04 3.12089520e+00] [ 1.59568788e-02 -5.82357748e-04 9.99872511e-01 2.21240720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.199254154 meters 0.020603244009891053 Centerline is valid? [True, True] Translation: X:510.66, Y:3.13, Z:2.22 [[ 9.98904028e-01 -4.38618663e-02 -1.63364757e-02 5.10663858e+02] [ 4.38651336e-02 9.99037449e-01 -1.58444700e-04 3.13401147e+00] [ 1.63277007e-02 -5.58330639e-04 9.99866538e-01 2.21595182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.259254154 meters 0.020657946383864315 Centerline is valid? [True, True] Translation: X:510.73, Y:3.14, Z:2.22 [[ 9.98977392e-01 -4.19460226e-02 -1.68731143e-02 5.10725012e+02] [ 4.19492468e-02 9.99119730e-01 -1.62952542e-04 3.13669239e+00] [ 1.68650966e-02 -5.45028529e-04 9.99857626e-01 2.21647797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.31925415399996 meters 0.026853388124141977 Centerline is valid? [True, True] Translation: X:510.79, Y:3.13, Z:2.21 [[ 9.99057444e-01 -4.04576175e-02 -1.57291146e-02 5.10785171e+02] [ 4.04602375e-02 9.99181138e-01 -1.51751343e-04 3.12676162e+00] [ 1.57223742e-02 -4.84795405e-04 9.99876278e-01 2.21349078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.37925415399997 meters 0.019444500186288547 Centerline is valid? [True, True] Translation: X:510.85, Y:3.14, Z:2.22 [[ 9.99136401e-01 -3.85904819e-02 -1.54021697e-02 5.10845983e+02] [ 3.85927786e-02 9.99255010e-01 -1.48196137e-04 3.14032019e+00] [ 1.53964142e-02 -4.46344368e-04 9.99881369e-01 2.21841947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.43925415399997 meters 0.018592031521966052 Centerline is valid? [True, True] Translation: X:510.91, Y:3.14, Z:2.22 [[ 9.99237590e-01 -3.63651654e-02 -1.42061157e-02 5.10907138e+02] [ 3.63669016e-02 9.99338496e-01 -1.36180736e-04 3.14301057e+00] [ 1.42016705e-02 -3.80555500e-04 9.99899079e-01 2.21945418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.49925415399997 meters 0.018913228717707547 Centerline is valid? [True, True] Translation: X:510.97, Y:3.14, Z:2.22 [[ 9.99256569e-01 -3.57976159e-02 -1.43122071e-02 5.10968515e+02] [ 3.57993274e-02 9.99358989e-01 -1.36678160e-04 3.14366820e+00] [ 1.43079256e-02 -3.75790839e-04 9.99897566e-01 2.21972522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.559254154 meters 0.019164965161044788 Centerline is valid? [True, True] Translation: X:511.03, Y:3.14, Z:2.22 [[ 9.99260546e-01 -3.55768051e-02 -1.45825918e-02 5.11030355e+02] [ 3.55785661e-02 9.99366873e-01 -1.38735224e-04 3.14407449e+00] [ 1.45782949e-02 -3.80195070e-04 9.99893659e-01 2.21951242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.619254154 meters 0.01853021462556326 Centerline is valid? [True, True] Translation: X:511.09, Y:3.15, Z:2.22 [[ 9.99237725e-01 -3.56851284e-02 -1.58284862e-02 5.11092071e+02] [ 3.56872260e-02 9.99362997e-01 -1.50000394e-04 3.14693768e+00] [ 1.58237562e-02 -4.14988713e-04 9.99874710e-01 2.21963256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.679254154 meters 0.01868512592997118 Centerline is valid? [True, True] Translation: X:511.15, Y:3.15, Z:2.22 [[ 9.99250947e-01 -3.49137205e-02 -1.66906269e-02 5.11151992e+02] [ 3.49159520e-02 9.99390240e-01 -1.57780020e-04 3.14733133e+00] [ 1.66859584e-02 -4.25107295e-04 9.99860689e-01 2.21920957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.739254154 meters 0.019994025098274727 Centerline is valid? [True, True] Translation: X:511.21, Y:3.15, Z:2.22 [[ 9.99376137e-01 -3.04764447e-02 -1.78472081e-02 5.11211599e+02] [ 3.04782862e-02 9.99535415e-01 -1.68866323e-04 3.14914065e+00] [ 1.78440630e-02 -3.75191344e-04 9.99840712e-01 2.21780756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.799254154 meters 0.017312346402521984 Centerline is valid? [True, True] Translation: X:511.27, Y:3.15, Z:2.22 [[ 9.99489689e-01 -2.74581121e-02 -1.63222046e-02 5.11270863e+02] [ 2.74592421e-02 9.99622912e-01 -1.54921686e-04 3.15306827e+00] [ 1.63203035e-02 -2.93352738e-04 9.99866772e-01 2.22035466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.859254154 meters 0.015671734460333625 Centerline is valid? [True, True] Translation: X:511.33, Y:3.16, Z:2.22 [[ 9.99643949e-01 -2.19653076e-02 -1.51492405e-02 5.11331056e+02] [ 2.19656452e-02 9.99758716e-01 -1.44127664e-04 3.15937625e+00] [ 1.51487510e-02 -1.88686493e-04 9.99885233e-01 2.22210381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.919254154 meters 0.015342996123063434 Centerline is valid? [True, True] Translation: X:511.39, Y:3.16, Z:2.22 [[ 9.99677345e-01 -2.02586580e-02 -1.53229332e-02 5.11390232e+02] [ 2.02587586e-02 9.99794759e-01 -1.48667118e-04 3.15954476e+00] [ 1.53228001e-02 -1.61804454e-04 9.99882586e-01 2.22153504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.979254154 meters 0.015390560660853822 Centerline is valid? [True, True] Translation: X:511.45, Y:3.16, Z:2.22 [[ 9.99672183e-01 -2.09115568e-02 -1.47727097e-02 5.11448663e+02] [ 2.09116659e-02 9.99781316e-01 -1.47103683e-04 3.15957408e+00] [ 1.47725553e-02 -1.61866510e-04 9.99890867e-01 2.22228641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.039254154 meters 0.017227750516940667 Centerline is valid? [True, True] Translation: X:511.51, Y:3.16, Z:2.22 [[ 9.99644949e-01 -2.13139445e-02 -1.59903410e-02 5.11507089e+02] [ 2.13140940e-02 9.99772816e-01 -1.61094862e-04 3.15854096e+00] [ 1.59901418e-02 -1.79781966e-04 9.99872133e-01 2.22144149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.099254154 meters 0.015556970819677829 Centerline is valid? [True, True] Translation: X:511.57, Y:3.16, Z:2.22 [[ 9.99625287e-01 -2.23376228e-02 -1.58213753e-02 5.11565885e+02] [ 2.23378469e-02 9.99750466e-01 -1.62578839e-04 3.15772341e+00] [ 1.58210590e-02 -1.90897541e-04 9.99874821e-01 2.22227783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.159254154 meters 0.015532596660784928 Centerline is valid? [True, True] Translation: X:511.62, Y:3.16, Z:2.22 [[ 9.99652950e-01 -2.17486327e-02 -1.48653058e-02 5.11624133e+02] [ 2.17487355e-02 9.99763456e-01 -1.54769233e-04 3.15584228e+00] [ 1.48651555e-02 -1.68586083e-04 9.99889493e-01 2.22249192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.219254154 meters 0.015333080587035525 Centerline is valid? [True, True] Translation: X:511.68, Y:3.16, Z:2.22 [[ 9.99697708e-01 -1.99232191e-02 -1.44068966e-02 5.11683074e+02] [ 1.99230845e-02 9.99801504e-01 -1.52879722e-04 3.15638458e+00] [ 1.44070828e-02 -1.34196311e-04 9.99896204e-01 2.22296638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.279254154 meters 0.014690733408308811 Centerline is valid? [True, True] Translation: X:511.74, Y:3.16, Z:2.22 [[ 9.99804601e-01 -1.41853429e-02 -1.37672226e-02 5.11741706e+02] [ 1.41846292e-02 9.99899382e-01 -1.49489416e-04 3.15966986e+00] [ 1.37679580e-02 -4.58227426e-05 9.99905216e-01 2.22367676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.339254154 meters 0.014670864128757202 Centerline is valid? [True, True] Translation: X:511.80, Y:3.16, Z:2.22 [[ 9.99890781e-01 -7.84918330e-03 -1.25226525e-02 5.11799122e+02] [ 7.84805404e-03 9.99969194e-01 -1.39316459e-04 3.16126049e+00] [ 1.25233602e-02 4.10227897e-05 9.99921579e-01 2.22460750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.399254154 meters 0.014957205609568971 Centerline is valid? [True, True] Translation: X:511.86, Y:3.16, Z:2.23 [[ 9.99923019e-01 -4.53942921e-03 -1.15476898e-02 5.11857589e+02] [ 4.53821345e-03 9.99989694e-01 -1.31483831e-04 3.16093755e+00] [ 1.15481677e-02 7.90678282e-05 9.99933315e-01 2.22532228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.459254154 meters 0.015131239360244207 Centerline is valid? [True, True] Translation: X:511.92, Y:3.16, Z:2.22 [[ 9.99932744e-01 -2.72377276e-03 -1.12733577e-02 5.11916117e+02] [ 2.72246636e-03 9.99996285e-01 -1.31228191e-04 3.15783852e+00] [ 1.12736733e-02 1.00528028e-04 9.99936445e-01 2.22451086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.519254154 meters 0.014900201844582154 Centerline is valid? [True, True] Translation: X:511.97, Y:3.15, Z:2.22 [[ 9.99920788e-01 -3.58554430e-03 -1.20648996e-02 5.11973230e+02] [ 3.58408456e-03 9.99993567e-01 -1.42610489e-04 3.15426803e+00] [ 1.20653334e-02 9.93575719e-05 9.99927206e-01 2.22348174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.579254154 meters 0.014826228691479273 Centerline is valid? [True, True] Translation: X:512.03, Y:3.15, Z:2.22 [[ 9.99890303e-01 -6.85094609e-03 -1.31318668e-02 5.12030660e+02] [ 6.84948029e-03 9.99976530e-01 -1.56593601e-04 3.14670706e+00] [ 1.31326315e-02 6.66299600e-05 9.99913761e-01 2.22176775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.639254154 meters 0.014654760073684416 Centerline is valid? [True, True] Translation: X:512.09, Y:3.14, Z:2.22 [[ 9.99868855e-01 -1.00737946e-02 -1.26803401e-02 5.12088851e+02] [ 1.00726732e-02 9.99949258e-01 -1.52301371e-04 3.14239362e+00] [ 1.26812309e-02 2.45564761e-05 9.99919590e-01 2.22256615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.699254154 meters 0.01467255117766824 Centerline is valid? [True, True] Translation: X:512.15, Y:3.13, Z:2.23 [[ 9.99806837e-01 -1.68951034e-02 -1.00421444e-02 5.12147690e+02] [ 1.68947372e-02 9.99857266e-01 -1.21302351e-04 3.13255339e+00] [ 1.00427605e-02 -4.83804716e-05 9.99949569e-01 2.22517478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.759254154 meters 0.01544668595870186 Centerline is valid? [True, True] Translation: X:512.21, Y:3.12, Z:2.23 [[ 9.99695692e-01 -2.31112489e-02 -8.62514025e-03 5.12206137e+02] [ 2.31112060e-02 9.99732895e-01 -1.04657968e-04 3.12428654e+00] [ 8.62525520e-03 -9.47112732e-05 9.99962797e-01 2.22653275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.81925415399996 meters 0.017952627959703933 Centerline is valid? [True, True] Translation: X:512.27, Y:3.11, Z:2.23 [[ 9.99471609e-01 -3.17969362e-02 -6.74226388e-03 5.12266849e+02] [ 3.17971063e-02 9.99494341e-01 -8.19849876e-05 3.11146382e+00] [ 6.74146146e-03 -1.32442814e-04 9.99977267e-01 2.22836497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.87925415399997 meters 0.017324213520523206 Centerline is valid? [True, True] Translation: X:512.33, Y:3.11, Z:2.23 [[ 9.99287322e-01 -3.71928665e-02 -6.44504971e-03 5.12327680e+02] [ 3.71931344e-02 9.99308093e-01 -7.83327468e-05 3.10936991e+00] [ 6.44350376e-03 -1.61434679e-04 9.99979227e-01 2.22902762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.93925415399997 meters 0.021959392599918023 Centerline is valid? [True, True] Translation: X:512.39, Y:3.09, Z:2.23 [[ 9.99003135e-01 -4.40316297e-02 -7.34520450e-03 5.12387851e+02] [ 4.40321629e-02 9.99030110e-01 -8.91795346e-05 3.09484042e+00] [ 7.34200718e-03 -2.34334607e-04 9.99973020e-01 2.22717892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.99925415399997 meters 0.020706848388813124 Centerline is valid? [True, True] Translation: X:512.45, Y:3.09, Z:2.23 [[ 9.98813330e-01 -4.80322413e-02 -8.05206775e-03 5.12448637e+02] [ 4.80330125e-02 9.98845744e-01 -9.76944301e-05 3.09356358e+00] [ 8.04746608e-03 -2.89186572e-04 9.99967577e-01 2.22779963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.059254154 meters 0.021765848567538132 Centerline is valid? [True, True] Translation: X:512.51, Y:3.09, Z:2.23 [[ 9.98709217e-01 -5.00289970e-02 -8.77487656e-03 5.12510375e+02] [ 5.00299927e-02 9.98747710e-01 -1.06135516e-04 3.08936074e+00] [ 8.76919772e-03 -3.33008492e-04 9.99961494e-01 2.22801917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.119254154 meters 0.02118041644947609 Centerline is valid? [True, True] Translation: X:512.57, Y:3.09, Z:2.23 [[ 9.98915270e-01 -4.57307008e-02 -8.77421101e-03 5.12571221e+02] [ 4.57315343e-02 9.98953760e-01 -1.05727895e-04 3.08960210e+00] [ 8.76986609e-03 -2.95644922e-04 9.99961500e-01 2.22849595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.179254154 meters 0.018778590700500912 Centerline is valid? [True, True] Translation: X:512.63, Y:3.09, Z:2.23 [[ 9.99134459e-01 -4.04970973e-02 -9.50353907e-03 5.12632071e+02] [ 4.04978410e-02 9.99179619e-01 -1.14251867e-04 3.09455224e+00] [ 9.50036942e-03 -2.70719836e-04 9.99954834e-01 2.22886786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.239254154 meters 0.01728403436101658 Centerline is valid? [True, True] Translation: X:512.69, Y:3.10, Z:2.23 [[ 9.99423257e-01 -3.19933360e-02 -1.13832995e-02 5.12691942e+02] [ 3.19938527e-02 9.99488056e-01 -1.36755065e-04 3.09925404e+00] [ 1.13818471e-02 -2.27519414e-04 9.99935199e-01 2.22798967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.299254154 meters 0.015536054571590007 Centerline is valid? [True, True] Translation: X:512.75, Y:3.10, Z:2.23 [[ 9.99551814e-01 -2.77034014e-02 -1.13442579e-02 5.12752384e+02] [ 2.77036383e-02 9.99616171e-01 -1.36286033e-04 3.10483327e+00] [ 1.13436793e-02 -1.78052267e-04 9.99935643e-01 2.22952816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.359254154 meters 0.015491272191511047 Centerline is valid? [True, True] Translation: X:512.81, Y:3.11, Z:2.23 [[ 9.99615718e-01 -2.53376055e-02 -1.12437431e-02 5.12811523e+02] [ 2.53376894e-02 9.99678940e-01 -1.35007169e-04 3.10582670e+00] [ 1.12435540e-02 -1.49935183e-04 9.99936778e-01 2.23004348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.419254154 meters 0.016899224487881424 Centerline is valid? [True, True] Translation: X:512.87, Y:3.11, Z:2.23 [[ 9.99642614e-01 -2.44020233e-02 -1.09172228e-02 5.12870899e+02] [ 2.44020446e-02 9.99702217e-01 -1.31272621e-04 3.10554406e+00] [ 1.09171751e-02 -1.35176851e-04 9.99940397e-01 2.22981244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.479254154 meters 0.016336550285337776 Centerline is valid? [True, True] Translation: X:512.93, Y:3.10, Z:2.23 [[ 9.99633196e-01 -2.50185686e-02 -1.03704194e-02 5.12930721e+02] [ 2.50186184e-02 9.99686978e-01 -1.24949534e-04 3.10383079e+00] [ 1.03702993e-02 -1.34549864e-04 9.99946218e-01 2.23071226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.539254154 meters 0.015793823224365306 Centerline is valid? [True, True] Translation: X:512.99, Y:3.10, Z:2.23 [[ 9.99597045e-01 -2.61901564e-02 -1.09463989e-02 5.12990612e+02] [ 2.61902787e-02 9.99656967e-01 -1.32194459e-04 3.10160709e+00] [ 1.09461061e-02 -1.54548047e-04 9.99940078e-01 2.23160429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.599254154 meters 0.01587532161049207 Centerline is valid? [True, True] Translation: X:513.05, Y:3.10, Z:2.23 [[ 9.99593683e-01 -2.59471555e-02 -1.17988760e-02 5.13050135e+02] [ 2.59472759e-02 9.99663303e-01 -1.42901869e-04 3.10063123e+00] [ 1.17986113e-02 -1.63304886e-04 9.99930381e-01 2.23090315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.659254154 meters 0.016755464820577878 Centerline is valid? [True, True] Translation: X:513.11, Y:3.10, Z:2.23 [[ 9.99624280e-01 -2.39996536e-02 -1.32406598e-02 5.13109596e+02] [ 2.39996280e-02 9.99711954e-01 -1.60846516e-04 3.10058460e+00] [ 1.32407062e-02 -1.56984828e-04 9.99912326e-01 2.23033737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.719254154 meters 0.014480112564048318 Centerline is valid? [True, True] Translation: X:513.17, Y:3.10, Z:2.23 [[ 9.99704509e-01 -2.11538746e-02 -1.19753205e-02 5.13168420e+02] [ 2.11536253e-02 9.99776226e-01 -1.47496219e-04 3.10029195e+00] [ 1.19757608e-02 -1.05868806e-04 9.99928282e-01 2.23331079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.779254154 meters 0.014286321735968468 Centerline is valid? [True, True] Translation: X:513.23, Y:3.10, Z:2.23 [[ 9.99760500e-01 -1.84258153e-02 -1.18081326e-02 5.13226131e+02] [ 1.84253623e-02 9.99830228e-01 -1.47157588e-04 3.10129239e+00] [ 1.18088395e-02 -7.04467791e-05 9.99930271e-01 2.23448693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.839254154 meters 0.016576399359296105 Centerline is valid? [True, True] Translation: X:513.28, Y:3.10, Z:2.23 [[ 9.99821073e-01 -1.29262742e-02 -1.38106339e-02 5.13284656e+02] [ 1.29250905e-02 9.99916452e-01 -1.74968564e-04 3.10238432e+00] [ 1.38117418e-02 -3.56643592e-06 9.99904613e-01 2.23354339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.899254154 meters 0.014205287764940419 Centerline is valid? [True, True] Translation: X:513.34, Y:3.10, Z:2.24 [[ 9.99863902e-01 -9.46697712e-03 -1.35112328e-02 5.13342417e+02] [ 9.46547792e-03 9.99955186e-01 -1.74904290e-04 3.10334410e+00] [ 1.35122831e-02 4.69902103e-05 9.99908704e-01 2.23505167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.959254154 meters 0.014422374529730378 Centerline is valid? [True, True] Translation: X:513.40, Y:3.10, Z:2.24 [[ 9.99885369e-01 -5.14239735e-03 -1.42409690e-02 5.13401217e+02] [ 5.14023903e-03 9.99986771e-01 -1.88156139e-04 3.10260205e+00] [ 1.42417481e-02 1.14932586e-04 9.99898575e-01 2.23609305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.019254154 meters 0.014370627943570347 Centerline is valid? [True, True] Translation: X:513.46, Y:3.10, Z:2.24 [[ 9.99868573e-01 -5.34162716e-03 -1.53069682e-02 5.13459989e+02] [ 5.33909756e-03 9.99985726e-01 -2.06118644e-04 3.09953629e+00] [ 1.53078508e-02 1.24366157e-04 9.99882820e-01 2.23649516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.079254154 meters 0.01385990370337548 Centerline is valid? [True, True] Translation: X:513.52, Y:3.09, Z:2.24 [[ 9.99839323e-01 -8.35912835e-03 -1.58572515e-02 5.13518948e+02] [ 8.35676225e-03 9.99965058e-01 -2.15469633e-04 3.09457607e+00] [ 1.58584986e-02 8.29197308e-05 9.99874243e-01 2.23701283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.139254154 meters 0.013661649302331116 Centerline is valid? [True, True] Translation: X:513.58, Y:3.09, Z:2.24 [[ 9.99773901e-01 -1.49105866e-02 -1.51598736e-02 5.13576769e+02] [ 1.49091584e-02 9.99888831e-01 -2.07233364e-04 3.08517335e+00] [ 1.51612783e-02 -1.88344477e-05 9.99885061e-01 2.23637198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.199254154 meters 0.01373205074053263 Centerline is valid? [True, True] Translation: X:513.64, Y:3.08, Z:2.24 [[ 9.99703570e-01 -1.95105968e-02 -1.45639250e-02 5.13635630e+02] [ 1.95097505e-02 9.99809647e-01 -2.00194372e-04 3.07995091e+00] [ 1.45650586e-02 -8.40035149e-05 9.99893920e-01 2.23820043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.259254154 meters 0.016428427652184257 Centerline is valid? [True, True] Translation: X:513.69, Y:3.07, Z:2.24 [[ 9.99531027e-01 -2.69206599e-02 -1.45946399e-02 5.13694271e+02] [ 2.69205840e-02 9.99637555e-01 -2.01689638e-04 3.07104150e+00] [ 1.45947798e-02 -1.91301180e-04 9.99893472e-01 2.23815172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.31925415399996 meters 0.015751755927169 Centerline is valid? [True, True] Translation: X:513.75, Y:3.07, Z:2.24 [[ 9.99378290e-01 -3.27169999e-02 -1.31389261e-02 5.13751592e+02] [ 3.27174227e-02 9.99464625e-01 -1.82820975e-04 3.06508404e+00] [ 1.31378732e-02 -2.47164484e-04 9.99913664e-01 2.24082130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.37925415399997 meters 0.021218993136480756 Centerline is valid? [True, True] Translation: X:513.81, Y:3.06, Z:2.24 [[ 9.98990502e-01 -4.26986894e-02 -1.39570065e-02 5.13812344e+02] [ 4.27001327e-02 9.99087914e-01 -1.94710847e-04 3.05611960e+00] [ 1.39525904e-02 -4.01451741e-04 9.99902577e-01 2.23911317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.43925415399997 meters 0.02204618765822183 Centerline is valid? [True, True] Translation: X:513.87, Y:3.05, Z:2.24 [[ 9.98335325e-01 -5.60796784e-02 -1.34777311e-02 5.13873087e+02] [ 5.60822414e-02 9.98426135e-01 -1.88004336e-04 3.04736365e+00] [ 1.34670622e-02 -5.68170001e-04 9.99909154e-01 2.24145055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.49925415399997 meters 0.026364083771812156 Centerline is valid? [True, True] Translation: X:513.93, Y:3.04, Z:2.24 [[ 9.97749747e-01 -6.55726061e-02 -1.39884242e-02 5.13933467e+02] [ 6.55762953e-02 9.97847539e-01 -1.95277653e-04 3.03981650e+00] [ 1.39711195e-02 -7.22470807e-04 9.99902138e-01 2.24117729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.559254154 meters 0.029309714975603106 Centerline is valid? [True, True] Translation: X:513.99, Y:3.04, Z:2.24 [[ 9.96885567e-01 -7.76720060e-02 -1.36464860e-02 5.13994044e+02] [ 7.76766451e-02 9.96978587e-01 -1.90556477e-04 3.03731033e+00] [ 1.36200552e-02 -8.70050245e-04 9.99906864e-01 2.24265270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.619254154 meters 0.03663063910357025 Centerline is valid? [True, True] Translation: X:514.05, Y:3.03, Z:2.24 [[ 9.96371644e-01 -8.39797110e-02 -1.38186789e-02 5.14053369e+02] [ 8.39850719e-02 9.96466994e-01 -1.92930083e-04 3.03287557e+00] [ 1.37860596e-02 -9.68332673e-04 9.99904499e-01 2.24151184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.679254154 meters 0.03682694182219202 Centerline is valid? [True, True] Translation: X:514.11, Y:3.04, Z:2.24 [[ 9.96358114e-01 -8.41992970e-02 -1.34531310e-02 5.14112743e+02] [ 8.42043937e-02 9.96448486e-01 -1.88141646e-04 3.03703896e+00] [ 1.34211934e-02 -9.45356286e-04 9.99909485e-01 2.24269283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.739254154 meters 0.032286178977793484 Centerline is valid? [True, True] Translation: X:514.17, Y:3.05, Z:2.24 [[ 9.96707256e-01 -7.99781058e-02 -1.33472466e-02 5.14172918e+02] [ 7.99827434e-02 9.96796231e-01 -1.86838163e-04 3.05253164e+00] [ 1.33194280e-02 -8.81326444e-04 9.99910904e-01 2.24346360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.799254154 meters 0.030012439019687785 Centerline is valid? [True, True] Translation: X:514.23, Y:3.06, Z:2.24 [[ 9.97054679e-01 -7.56510191e-02 -1.26052117e-02 5.14233622e+02] [ 7.56548110e-02 9.97134052e-01 -1.76430952e-04 3.06239366e+00] [ 1.25824330e-02 -7.77733604e-04 9.99920536e-01 2.24456056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.859254154 meters 0.029161955121121755 Centerline is valid? [True, True] Translation: X:514.29, Y:3.07, Z:2.24 [[ 9.97510121e-01 -6.92612096e-02 -1.32831617e-02 5.14293541e+02] [ 6.92648558e-02 9.97598288e-01 -1.85912898e-04 3.07421667e+00] [ 1.32641359e-02 -7.34606282e-04 9.99911758e-01 2.24344985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.919254154 meters 0.027493395185044265 Centerline is valid? [True, True] Translation: X:514.35, Y:3.08, Z:2.24 [[ 9.97715706e-01 -6.60941130e-02 -1.39620024e-02 5.14354296e+02] [ 6.60978345e-02 9.97813128e-01 -1.95244886e-04 3.08366860e+00] [ 1.39443739e-02 -7.28059236e-04 9.99902507e-01 2.24402498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.979254154 meters 0.0270145693842791 Centerline is valid? [True, True] Translation: X:514.42, Y:3.10, Z:2.24 [[ 9.97913601e-01 -6.28827376e-02 -1.46357524e-02 5.14415088e+02] [ 6.28864865e-02 9.98020665e-01 -2.04393524e-04 3.09628774e+00] [ 1.46196362e-02 -7.16423968e-04 9.99892871e-01 2.24279089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.039254154 meters 0.026018940531657396 Centerline is valid? [True, True] Translation: X:514.48, Y:3.10, Z:2.24 [[ 9.97924046e-01 -6.29127247e-02 -1.37690942e-02 5.14475923e+02] [ 6.29160512e-02 9.98018804e-01 -1.91871908e-04 3.10212211e+00] [ 1.37538861e-02 -6.74823447e-04 9.99905183e-01 2.24443385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.099254154 meters 0.02892130277257389 Centerline is valid? [True, True] Translation: X:514.54, Y:3.11, Z:2.24 [[ 9.97863389e-01 -6.36974662e-02 -1.45357999e-02 5.14537366e+02] [ 6.37012644e-02 9.97968992e-01 -2.02019527e-04 3.10942616e+00] [ 1.45191457e-02 -7.24360942e-04 9.99894329e-01 2.24300830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.159254154 meters 0.02633127259967488 Centerline is valid? [True, True] Translation: X:514.60, Y:3.12, Z:2.25 [[ 9.97786879e-01 -6.52364521e-02 -1.28665828e-02 5.14598463e+02] [ 6.52395614e-02 9.97869615e-01 -1.78366582e-04 3.11691179e+00] [ 1.28508080e-02 -6.61438384e-04 9.99917206e-01 2.24600866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.219254154 meters 0.028978563270078115 Centerline is valid? [True, True] Translation: X:514.66, Y:3.12, Z:2.25 [[ 9.97607652e-01 -6.77849223e-02 -1.35711763e-02 5.14658972e+02] [ 6.77886212e-02 9.97699688e-01 -1.87795858e-04 3.12125269e+00] [ 1.35526881e-02 -7.32624748e-04 9.99907890e-01 2.24608358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.279254154 meters 0.03263874731471875 Centerline is valid? [True, True] Translation: X:514.72, Y:3.12, Z:2.25 [[ 9.97229176e-01 -7.32431202e-02 -1.30159559e-02 5.14719681e+02] [ 7.32469871e-02 9.97313815e-01 -1.80009925e-04 3.12370385e+00] [ 1.29941771e-02 -7.73868405e-04 9.99915273e-01 2.24701786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.339254154 meters 0.032855535601489114 Centerline is valid? [True, True] Translation: X:514.78, Y:3.13, Z:2.25 [[ 9.97084475e-01 -7.52922092e-02 -1.23948995e-02 5.14780861e+02] [ 7.52958773e-02 9.97161221e-01 -1.71121558e-04 3.12634983e+00] [ 1.23725972e-02 -7.62662181e-04 9.99923166e-01 2.24777260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.399254154 meters 0.036627532000252386 Centerline is valid? [True, True] Translation: X:514.84, Y:3.13, Z:2.25 [[ 9.96629512e-01 -8.11061122e-02 -1.23050589e-02 5.14841863e+02] [ 8.11101730e-02 9.96705127e-01 -1.69503129e-04 3.12883986e+00] [ 1.22782630e-02 -8.29133633e-04 9.99924276e-01 2.24844449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.459254154 meters 0.039688742294417635 Centerline is valid? [True, True] Translation: X:514.90, Y:3.13, Z:2.25 [[ 9.96477663e-01 -8.28686314e-02 -1.28474443e-02 5.14901572e+02] [ 8.28732149e-02 9.96560083e-01 -1.76114799e-04 3.12998927e+00] [ 1.28178446e-02 -8.89214551e-04 9.99917453e-01 2.24800668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.519254154 meters 0.04056801118232142 Centerline is valid? [True, True] Translation: X:514.96, Y:3.14, Z:2.25 [[ 9.96470045e-01 -8.27879185e-02 -1.39143509e-02 5.14963221e+02] [ 8.27933021e-02 9.96566723e-01 -1.89670587e-04 3.13612272e+00] [ 1.38822815e-02 -9.63014002e-04 9.99903173e-01 2.24729155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.579254154 meters 0.033658054890438376 Centerline is valid? [True, True] Translation: X:515.02, Y:3.15, Z:2.25 [[ 9.96591759e-01 -8.11995259e-02 -1.45431197e-02 5.15024487e+02] [ 8.12052488e-02 9.96697381e-01 -1.97548524e-04 3.15331841e+00] [ 1.45111301e-02 -9.84102421e-04 9.99894224e-01 2.24873467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.639254154 meters 0.033787499500153646 Centerline is valid? [True, True] Translation: X:515.09, Y:3.16, Z:2.25 [[ 9.96734967e-01 -7.93268489e-02 -1.50551412e-02 5.15085906e+02] [ 7.93327777e-02 9.96848167e-01 -2.03945169e-04 3.15865969e+00] [ 1.50238682e-02 -9.91086889e-04 9.99886644e-01 2.24875486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.699254154 meters 0.03258498776182206 Centerline is valid? [True, True] Translation: X:515.15, Y:3.17, Z:2.25 [[ 9.97075470e-01 -7.49518024e-02 -1.49242686e-02 5.15146250e+02] [ 7.49571431e-02 9.97186736e-01 -2.01983044e-04 3.16723670e+00] [ 1.48974217e-02 -9.17288199e-04 9.99888606e-01 2.24950230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.759254154 meters 0.03125130881129645 Centerline is valid? [True, True] Translation: X:515.21, Y:3.17, Z:2.25 [[ 9.97364981e-01 -7.10772910e-02 -1.45297526e-02 5.15206994e+02] [ 7.10819460e-02 9.97470460e-01 -1.96451428e-04 3.17397371e+00] [ 1.45069622e-02 -8.36869313e-04 9.99894418e-01 2.24990244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.81925415399996 meters 0.027628037278544935 Centerline is valid? [True, True] Translation: X:515.27, Y:3.19, Z:2.25 [[ 9.97821197e-01 -6.42879003e-02 -1.48298272e-02 5.15267084e+02] [ 6.42920027e-02 9.97931109e-01 -2.00439915e-04 3.18633337e+00] [ 1.48120318e-02 -7.53436098e-04 9.99890012e-01 2.25007593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.87925415399997 meters 0.02526228960521109 Centerline is valid? [True, True] Translation: X:515.33, Y:3.19, Z:2.25 [[ 9.98176476e-01 -5.83502413e-02 -1.54587189e-02 5.15327795e+02] [ 5.83539889e-02 9.98295932e-01 -2.08913080e-04 3.19447023e+00] [ 1.54445663e-02 -6.93545789e-04 9.99880485e-01 2.24991148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.93925415399997 meters 0.023027646849314756 Centerline is valid? [True, True] Translation: X:515.39, Y:3.20, Z:2.25 [[ 9.98716239e-01 -4.79756606e-02 -1.62545586e-02 5.15387822e+02] [ 4.79784315e-02 9.98848348e-01 -2.19674097e-04 3.20415422e+00] [ 1.62463780e-02 -5.60476136e-04 9.99867862e-01 2.24969803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.99925415399997 meters 0.019605900543303387 Centerline is valid? [True, True] Translation: X:515.45, Y:3.21, Z:2.25 [[ 9.99012668e-01 -4.12034872e-02 -1.66121173e-02 5.15448202e+02] [ 4.12054456e-02 9.99150670e-01 -2.24513639e-04 3.21463968e+00] [ 1.66072588e-02 -4.60217725e-04 9.99861984e-01 2.25134235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.059254154 meters 0.017018811133110507 Centerline is valid? [True, True] Translation: X:515.51, Y:3.22, Z:2.25 [[ 9.99319103e-01 -3.29901655e-02 -1.65220708e-02 5.15508688e+02] [ 3.29909826e-02 9.99455624e-01 -2.23171105e-04 3.22498352e+00] [ 1.65204390e-02 -3.22060202e-04 9.99863476e-01 2.25297732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.119254154 meters 0.018134848965173405 Centerline is valid? [True, True] Translation: X:515.57, Y:3.23, Z:2.25 [[ 9.99435071e-01 -2.90911237e-02 -1.68298916e-02 5.15568758e+02] [ 2.90914197e-02 9.99576729e-01 -2.27282548e-04 3.22753293e+00] [ 1.68293799e-02 -2.62451290e-04 9.99858342e-01 2.25138327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.179254154 meters 0.016305489475146116 Centerline is valid? [True, True] Translation: X:515.63, Y:3.23, Z:2.25 [[ 9.99431307e-01 -2.96161490e-02 -1.61228312e-02 5.15629697e+02] [ 2.96164889e-02 9.99561312e-01 -2.17733913e-04 3.23017876e+00] [ 1.61222067e-02 -2.59891562e-04 9.99869995e-01 2.25358111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.239254154 meters 0.017688587434496528 Centerline is valid? [True, True] Translation: X:515.69, Y:3.22, Z:2.25 [[ 9.99233523e-01 -3.55312416e-02 -1.64285297e-02 5.15689688e+02] [ 3.55324084e-02 9.99368500e-01 -2.20955677e-04 3.22491055e+00] [ 1.64260059e-02 -3.62958908e-04 9.99865018e-01 2.25388908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.299254154 meters 0.020759405109996503 Centerline is valid? [True, True] Translation: X:515.75, Y:3.22, Z:2.25 [[ 9.98982843e-01 -4.21431687e-02 -1.60384940e-02 5.15750716e+02] [ 4.21451405e-02 9.99111476e-01 -2.15179114e-04 3.21877806e+00] [ 1.60333118e-02 -4.60984341e-04 9.99871352e-01 2.25428263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.359254154 meters 0.02415033874837176 Centerline is valid? [True, True] Translation: X:515.81, Y:3.21, Z:2.26 [[ 9.98434537e-01 -5.38186947e-02 -1.52323008e-02 5.15811391e+02] [ 5.38218325e-02 9.98550534e-01 -2.04165328e-04 3.20800945e+00] [ 1.52212100e-02 -6.15984625e-04 9.99883961e-01 2.25521072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.419254154 meters 0.02430891229767518 Centerline is valid? [True, True] Translation: X:515.87, Y:3.21, Z:2.26 [[ 9.98043812e-01 -6.05781691e-02 -1.54543027e-02 5.15872192e+02] [ 6.05822088e-02 9.98163190e-01 -2.07055717e-04 3.20577403e+00] [ 1.54384592e-02 -7.29605119e-04 9.99880554e-01 2.25518765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.479254154 meters 0.027362165513637047 Centerline is valid? [True, True] Translation: X:515.93, Y:3.20, Z:2.25 [[ 9.97569837e-01 -6.77846061e-02 -1.61141962e-02 5.15933583e+02] [ 6.77899419e-02 9.97699593e-01 -2.15501094e-04 3.19817401e+00] [ 1.60917346e-02 -8.77403032e-04 9.99870135e-01 2.25461144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.539254154 meters 0.02847138204182566 Centerline is valid? [True, True] Translation: X:515.99, Y:3.20, Z:2.25 [[ 9.97381646e-01 -7.04553516e-02 -1.63063330e-02 5.15994553e+02] [ 7.04611771e-02 9.97514499e-01 -2.17701983e-04 3.19676500e+00] [ 1.62811419e-02 -9.31831459e-04 9.99867019e-01 2.25472490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5992541539999 meters 0.03239094696778914 Centerline is valid? [True, True] Translation: X:516.05, Y:3.19, Z:2.26 [[ 9.97170577e-01 -7.36477251e-02 -1.50616416e-02 5.16054943e+02] [ 7.36530620e-02 9.97283904e-01 -2.00811264e-04 3.18870427e+00] [ 1.50355221e-02 -9.09092940e-04 9.99886547e-01 2.25569138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.659254154 meters 0.03428921556586931 Centerline is valid? [True, True] Translation: X:516.12, Y:3.19, Z:2.26 [[ 9.96950612e-01 -7.64382977e-02 -1.57055055e-02 5.16115969e+02] [ 7.64444500e-02 9.97073820e-01 -2.09110283e-04 3.18526232e+00] [ 1.56755324e-02 -9.92126106e-04 9.99876639e-01 2.25517771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7192541539999 meters 0.03686469426739143 Centerline is valid? [True, True] Translation: X:516.18, Y:3.18, Z:2.25 [[ 9.96780859e-01 -7.84488671e-02 -1.65437318e-02 5.16176200e+02] [ 7.84559744e-02 9.96917555e-01 -2.19976435e-04 3.18212070e+00] [ 1.65099935e-02 -1.07868630e-03 9.99863119e-01 2.25450911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.779254154 meters 0.03589535094394501 Centerline is valid? [True, True] Translation: X:516.24, Y:3.18, Z:2.25 [[ 9.96536883e-01 -8.08711008e-02 -1.93417958e-02 5.16237526e+02] [ 8.08812826e-02 9.96723709e-01 -2.56557361e-04 3.18367249e+00] [ 1.92991745e-02 -1.30872038e-03 9.99812897e-01 2.25364217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.839254154 meters 0.03736816993537431 Centerline is valid? [True, True] Translation: X:516.30, Y:3.18, Z:2.25 [[ 9.96469313e-01 -8.14697613e-02 -2.02875838e-02 5.16299951e+02] [ 8.14811132e-02 9.96674850e-01 -2.67810798e-04 3.18320669e+00] [ 2.02419430e-02 -1.38618967e-03 9.99794150e-01 2.25325184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.899254154 meters 0.037277133266491486 Centerline is valid? [True, True] Translation: X:516.36, Y:3.19, Z:2.25 [[ 9.96551333e-01 -8.04526470e-02 -2.03177690e-02 5.16361584e+02] [ 8.04638400e-02 9.96757493e-01 -2.67337061e-04 3.18644364e+00] [ 2.02733964e-02 -1.36843061e-03 9.99793537e-01 2.25401877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.959254154 meters 0.031242719472097436 Centerline is valid? [True, True] Translation: X:516.42, Y:3.20, Z:2.26 [[ 9.96877639e-01 -7.67111272e-02 -1.87183373e-02 5.16421988e+02] [ 7.67199742e-02 9.97052649e-01 -2.46061132e-04 3.19920289e+00] [ 1.86820434e-02 -1.19077751e-03 9.99824766e-01 2.25742771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.019254154 meters 0.028902359481606986 Centerline is valid? [True, True] Translation: X:516.48, Y:3.21, Z:2.26 [[ 9.97165537e-01 -7.32576010e-02 -1.71526917e-02 5.16482348e+02] [ 7.32645209e-02 9.97312518e-01 -2.25455105e-04 3.20609146e+00] [ 1.71231105e-02 -1.03186768e-03 9.99852856e-01 2.25951414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.079254154 meters 0.028468222456693067 Centerline is valid? [True, True] Translation: X:516.54, Y:3.21, Z:2.26 [[ 9.97378853e-01 -7.07147565e-02 -1.53247344e-02 5.16544056e+02] [ 7.07199899e-02 9.97496187e-01 -2.00827561e-04 3.20958844e+00] [ 1.53005656e-02 -8.83463898e-04 9.99882549e-01 2.26059615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.139254154 meters 0.027683048620526687 Centerline is valid? [True, True] Translation: X:516.61, Y:3.21, Z:2.26 [[ 9.97572156e-01 -6.79002879e-02 -1.54707893e-02 5.16605426e+02] [ 6.79052942e-02 9.97691751e-01 -2.02086019e-04 3.21454519e+00] [ 1.54488006e-02 -8.48953114e-04 9.99880300e-01 2.26080794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.199254154 meters 0.030466175036579383 Centerline is valid? [True, True] Translation: X:516.67, Y:3.21, Z:2.26 [[ 9.97622717e-01 -6.67662412e-02 -1.70641289e-02 5.16666981e+02] [ 6.67721815e-02 9.97768223e-01 -2.22025461e-04 3.21386912e+00] [ 1.70408694e-02 -9.17911472e-04 9.99854372e-01 2.25895245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.259254154 meters 0.029875551756836576 Centerline is valid? [True, True] Translation: X:516.73, Y:3.22, Z:2.26 [[ 9.97723736e-01 -6.49628234e-02 -1.80880644e-02 5.16728279e+02] [ 6.49692161e-02 9.97887241e-01 -2.34611237e-04 3.21722532e+00] [ 1.80650897e-02 -9.41090163e-04 9.99836370e-01 2.25864104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.319254154 meters 0.024092222138255247 Centerline is valid? [True, True] Translation: X:516.79, Y:3.23, Z:2.26 [[ 9.98111338e-01 -5.87011959e-02 -1.81087402e-02 5.16788551e+02] [ 5.87065788e-02 9.98275254e-01 -2.34656286e-04 3.22958972e+00] [ 1.80912819e-02 -8.28889086e-04 9.99835996e-01 2.26082771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.379254154 meters 0.022062184171406027 Centerline is valid? [True, True] Translation: X:516.85, Y:3.24, Z:2.26 [[ 9.98493817e-01 -5.17986376e-02 -1.80831156e-02 5.16849256e+02] [ 5.18028759e-02 9.98657302e-01 -2.34273794e-04 3.23646505e+00] [ 1.80709705e-02 -7.02836460e-04 9.99836460e-01 2.26220857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.439254154 meters 0.018626010148821242 Centerline is valid? [True, True] Translation: X:516.91, Y:3.25, Z:2.26 [[ 9.99075175e-01 -3.91317635e-02 -1.78185192e-02 5.16909183e+02] [ 3.91338651e-02 9.99233950e-01 -2.30859116e-04 3.24688230e+00] [ 1.78139032e-02 -4.66661913e-04 9.99841211e-01 2.26298460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.499254154 meters 0.016921004199974204 Centerline is valid? [True, True] Translation: X:516.97, Y:3.25, Z:2.26 [[ 9.99358126e-01 -3.13543512e-02 -1.73274297e-02 5.16970277e+02] [ 3.13551735e-02 9.99508280e-01 -2.24277294e-04 3.25248284e+00] [ 1.73259415e-02 -3.19171228e-04 9.99849844e-01 2.26321001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.559254154 meters 0.015215371690694942 Centerline is valid? [True, True] Translation: X:517.03, Y:3.26, Z:2.26 [[ 9.99571677e-01 -2.36652447e-02 -1.72167954e-02 5.17030286e+02] [ 2.36649134e-02 9.99719922e-01 -2.23004501e-04 3.25753979e+00] [ 1.72172508e-02 -1.84524989e-04 9.99851755e-01 2.26462931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.619254154 meters 0.016487989676792908 Centerline is valid? [True, True] Translation: X:517.09, Y:3.26, Z:2.26 [[ 9.99613904e-01 -2.14823417e-02 -1.76224586e-02 5.17089811e+02] [ 2.14816455e-02 9.99769217e-01 -2.28820107e-04 3.25716525e+00] [ 1.76233073e-02 -1.49827649e-04 9.99844686e-01 2.26402379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.679254154 meters 0.015271771150499765 Centerline is valid? [True, True] Translation: X:517.15, Y:3.25, Z:2.27 [[ 9.99646126e-01 -2.04187713e-02 -1.70498317e-02 5.17148877e+02] [ 2.04179067e-02 9.99791508e-01 -2.24801587e-04 3.25453153e+00] [ 1.70508672e-02 -1.23399839e-04 9.99854616e-01 2.26518438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.739254154 meters 0.015249267020948691 Centerline is valid? [True, True] Translation: X:517.21, Y:3.25, Z:2.27 [[ 9.99664186e-01 -2.04709360e-02 -1.58888477e-02 5.17207600e+02] [ 2.04701278e-02 9.99790442e-01 -2.13513821e-04 3.25149200e+00] [ 1.58898889e-02 -1.11804623e-04 9.99873741e-01 2.26559324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.799254154 meters 0.015647001563137832 Centerline is valid? [True, True] Translation: X:517.27, Y:3.25, Z:2.27 [[ 9.99687311e-01 -2.01963108e-02 -1.47441476e-02 5.17266117e+02] [ 2.01955299e-02 9.99796029e-01 -2.01862376e-04 3.24733602e+00] [ 1.47452171e-02 -9.59666190e-05 9.99891279e-01 2.26697717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.859254154 meters 0.01533485526427661 Centerline is valid? [True, True] Translation: X:517.33, Y:3.24, Z:2.27 [[ 9.99700300e-01 -1.96341933e-02 -1.46221761e-02 5.17325401e+02] [ 1.96333431e-02 9.99807227e-01 -2.01700459e-04 3.24494146e+00] [ 1.46233175e-02 -8.54421909e-05 9.99893070e-01 2.26868356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.919254154 meters 0.015531443773434803 Centerline is valid? [True, True] Translation: X:517.38, Y:3.24, Z:2.27 [[ 9.99722283e-01 -1.89615324e-02 -1.39934948e-02 5.17384009e+02] [ 1.89606514e-02 9.99820212e-01 -1.95634366e-04 3.23957102e+00] [ 1.39946885e-02 -6.97457418e-05 9.99902067e-01 2.26911532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.979254154 meters 0.015377164319181336 Centerline is valid? [True, True] Translation: X:517.44, Y:3.23, Z:2.27 [[ 9.99750714e-01 -1.70348657e-02 -1.44334015e-02 5.17442304e+02] [ 1.70337032e-02 9.99854895e-01 -2.03483132e-04 3.23404370e+00] [ 1.44347735e-02 -4.24218708e-05 9.99895812e-01 2.26856749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.039254154 meters 0.016798239740332847 Centerline is valid? [True, True] Translation: X:517.50, Y:3.23, Z:2.27 [[ 9.99752914e-01 -1.60792725e-02 -1.53482111e-02 5.17501476e+02] [ 1.60778005e-02 9.99870720e-01 -2.19300997e-04 3.23104243e+00] [ 1.53497531e-02 -2.75186644e-05 9.99882185e-01 2.26753849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0992541539999 meters 0.015579112264679193 Centerline is valid? [True, True] Translation: X:517.56, Y:3.23, Z:2.27 [[ 9.99769057e-01 -1.44786232e-02 -1.58808567e-02 5.17559008e+02] [ 1.44767745e-02 9.99895179e-01 -2.31370562e-04 3.22612244e+00] [ 1.58825420e-02 1.41354738e-06 9.99873864e-01 2.26871733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.159254154 meters 0.015693704838844535 Centerline is valid? [True, True] Translation: X:517.62, Y:3.22, Z:2.27 [[ 9.99761074e-01 -1.45787635e-02 -1.62866600e-02 5.17617392e+02] [ 1.45767538e-02 9.99893724e-01 -2.42106264e-04 3.22304011e+00] [ 1.62884587e-02 4.64178514e-06 9.99867334e-01 2.26957978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2192541539999 meters 0.015641922307971092 Centerline is valid? [True, True] Translation: X:517.68, Y:3.22, Z:2.27 [[ 9.99749872e-01 -1.43560829e-02 -1.71492402e-02 5.17675501e+02] [ 1.43537787e-02 9.99896946e-01 -2.57448674e-04 3.21810125e+00] [ 1.71511689e-02 1.12278791e-05 9.99852908e-01 2.27030279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.279254154 meters 0.015625836721698372 Centerline is valid? [True, True] Translation: X:517.73, Y:3.21, Z:2.27 [[ 9.99731533e-01 -1.47747443e-02 -1.78484970e-02 5.17734487e+02] [ 1.47722476e-02 9.99890847e-01 -2.71722761e-04 3.21278418e+00] [ 1.78505635e-02 7.98739507e-06 9.99840666e-01 2.27170835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.339254154 meters 0.015750084632765442 Centerline is valid? [True, True] Translation: X:517.79, Y:3.21, Z:2.27 [[ 9.99724170e-01 -1.45690127e-02 -1.84208471e-02 5.17791974e+02] [ 1.45662631e-02 9.99893866e-01 -2.83438644e-04 3.20994337e+00] [ 1.84230215e-02 1.50375573e-05 9.99830282e-01 2.27285397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.399254154 meters 0.015906568300757082 Centerline is valid? [True, True] Translation: X:517.85, Y:3.21, Z:2.27 [[ 9.99717560e-01 -1.40873552e-02 -1.91401979e-02 5.17850008e+02] [ 1.40842624e-02 9.99900768e-01 -2.96384968e-04 3.20533506e+00] [ 1.91424739e-02 2.67256879e-05 9.99816766e-01 2.27410477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.459254154 meters 0.016759572941989855 Centerline is valid? [True, True] Translation: X:517.91, Y:3.20, Z:2.28 [[ 9.99712550e-01 -1.34206163e-02 -1.98671540e-02 5.17908395e+02] [ 1.34171184e-02 9.99909939e-01 -3.09352220e-04 3.20214625e+00] [ 1.98695165e-02 4.27033392e-05 9.99802581e-01 2.27521002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.519254154 meters 0.015931090235855507 Centerline is valid? [True, True] Translation: X:517.97, Y:3.20, Z:2.28 [[ 9.99747156e-01 -1.26648974e-02 -1.85802265e-02 5.17966845e+02] [ 1.26616335e-02 9.99919795e-01 -2.93298750e-04 3.19550903e+00] [ 1.85824509e-02 5.79685738e-05 9.99827330e-01 2.27886591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.579254154 meters 0.0163512061302809 Centerline is valid? [True, True] Translation: X:518.02, Y:3.19, Z:2.28 [[ 9.99736150e-01 -1.27723791e-02 -1.90917903e-02 5.18024546e+02] [ 1.27689052e-02 9.99918428e-01 -3.03855323e-04 3.19236740e+00] [ 1.90941139e-02 5.99938902e-05 9.99817689e-01 2.27670979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.639254154 meters 0.01621586479248133 Centerline is valid? [True, True] Translation: X:518.08, Y:3.18, Z:2.28 [[ 9.99670131e-01 -1.62224703e-02 -1.99113321e-02 5.18082614e+02] [ 1.62192796e-02 9.99868407e-01 -3.21733979e-04 3.18419213e+00] [ 1.99139312e-02 -1.31961407e-06 9.99801698e-01 2.27965993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.699254154 meters 0.016620298685750517 Centerline is valid? [True, True] Translation: X:518.14, Y:3.17, Z:2.28 [[ 9.99519882e-01 -2.40182312e-02 -1.95737127e-02 5.18142042e+02] [ 2.40165969e-02 9.99711509e-01 -3.18592494e-04 3.17327685e+00] [ 1.95757178e-02 -1.51654434e-04 9.99808366e-01 2.28089584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.759254154 meters 0.017758619441148416 Centerline is valid? [True, True] Translation: X:518.20, Y:3.17, Z:2.28 [[ 9.99324438e-01 -3.13847099e-02 -1.91224127e-02 5.18200409e+02] [ 3.13844675e-02 9.99507337e-01 -3.12850156e-04 3.16500463e+00] [ 1.91228105e-02 -2.87507933e-04 9.99817101e-01 2.28102619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.819254154 meters 0.021046647891676568 Centerline is valid? [True, True] Translation: X:518.26, Y:3.15, Z:2.28 [[ 9.98954936e-01 -4.09451835e-02 -2.03107676e-02 5.18260309e+02] [ 4.09468705e-02 9.99161270e-01 -3.32981619e-04 3.15306092e+00] [ 2.03073664e-02 -4.99028740e-04 9.99793660e-01 2.28019345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.879254154 meters 0.022323264844786927 Centerline is valid? [True, True] Translation: X:518.32, Y:3.15, Z:2.28 [[ 9.98742070e-01 -4.58811958e-02 -2.02285388e-02 5.18318385e+02] [ 4.58838569e-02 9.98946726e-01 -3.32800194e-04 3.14603675e+00] [ 2.02225019e-02 -5.95781826e-04 9.99795327e-01 2.27952501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.939254154 meters 0.02162016986932869 Centerline is valid? [True, True] Translation: X:518.38, Y:3.14, Z:2.28 [[ 9.98507865e-01 -5.09974397e-02 -1.95270241e-02 5.18378309e+02] [ 5.10008798e-02 9.98698556e-01 -3.22107378e-04 3.14326219e+00] [ 1.95180374e-02 -6.74268660e-04 9.99809278e-01 2.28244466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.999254154 meters 0.02273355203272425 Centerline is valid? [True, True] Translation: X:518.44, Y:3.14, Z:2.28 [[ 9.98367510e-01 -5.39235555e-02 -1.88299040e-02 5.18437910e+02] [ 5.39272611e-02 9.98544818e-01 -3.11291151e-04 3.14035299e+00] [ 1.88192890e-02 -7.04662177e-04 9.99822653e-01 2.28344639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.059254154 meters 0.023072383140415226 Centerline is valid? [True, True] Translation: X:518.50, Y:3.14, Z:2.28 [[ 9.98260790e-01 -5.60012933e-02 -1.84187655e-02 5.18497163e+02] [ 5.60051695e-02 9.98430432e-01 -3.05704504e-04 3.13762617e+00] [ 1.84069758e-02 -7.26373263e-04 9.99830313e-01 2.28356078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.119254154 meters 0.02289438025662275 Centerline is valid? [True, True] Translation: X:518.56, Y:3.14, Z:2.28 [[ 9.98330693e-01 -5.47095937e-02 -1.85118344e-02 5.18557074e+02] [ 5.47132718e-02 9.98502060e-01 -3.08097924e-04 3.13796709e+00] [ 1.85009607e-02 -7.05259415e-04 9.99828594e-01 2.28297578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.179254154 meters 0.022510527840716603 Centerline is valid? [True, True] Translation: X:518.62, Y:3.14, Z:2.28 [[ 9.98419117e-01 -5.30457250e-02 -1.85854135e-02 5.18616338e+02] [ 5.30491319e-02 9.98591855e-01 -3.10001277e-04 3.13917445e+00] [ 1.85756868e-02 -6.76428851e-04 9.99827228e-01 2.28293152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.239254154 meters 0.0202291952694013 Centerline is valid? [True, True] Translation: X:518.68, Y:3.14, Z:2.28 [[ 9.98797507e-01 -4.56380949e-02 -1.79082323e-02 5.18677127e+02] [ 4.56400644e-02 9.98957905e-01 -2.98916657e-04 3.14362259e+00] [ 1.79032122e-02 -5.18775662e-04 9.99839590e-01 2.28281581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.299254154 meters 0.01923303222855764 Centerline is valid? [True, True] Translation: X:518.74, Y:3.15, Z:2.28 [[ 9.99073653e-01 -3.95600143e-02 -1.69364100e-02 5.18735716e+02] [ 3.95608913e-02 9.99217121e-01 -2.83381961e-04 3.14694375e+00] [ 1.69343614e-02 -3.86900024e-04 9.99856529e-01 2.28302791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.359254154 meters 0.017290167798570483 Centerline is valid? [True, True] Translation: X:518.80, Y:3.15, Z:2.28 [[ 9.99326041e-01 -3.32169533e-02 -1.56235970e-02 5.18795708e+02] [ 3.32169180e-02 9.99448132e-01 -2.61829000e-04 3.15090751e+00] [ 1.56236720e-02 -2.57315204e-04 9.99877910e-01 2.28340680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.419254154 meters 0.017484584956910274 Centerline is valid? [True, True] Translation: X:518.85, Y:3.15, Z:2.28 [[ 9.99388761e-01 -3.14909530e-02 -1.51797289e-02 5.18854982e+02] [ 3.14906827e-02 9.99504012e-01 -2.56888553e-04 3.15161876e+00] [ 1.51802896e-02 -2.21288492e-04 9.99884748e-01 2.28393397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.479254154 meters 0.01647189947812173 Centerline is valid? [True, True] Translation: X:518.91, Y:3.15, Z:2.29 [[ 9.99314921e-01 -3.44324359e-02 -1.35682010e-02 5.18913746e+02] [ 3.44324474e-02 9.99407000e-01 -2.32825938e-04 3.15002419e+00] [ 1.35681718e-02 -2.34519932e-04 9.99907921e-01 2.28508060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.539254154 meters 0.01968579258428471 Centerline is valid? [True, True] Translation: X:518.97, Y:3.14, Z:2.28 [[ 9.99111422e-01 -4.02390449e-02 -1.25373825e-02 5.18972227e+02] [ 4.02394908e-02 9.99190040e-01 -2.16791881e-04 3.14182444e+00] [ 1.25359513e-02 -2.87898645e-04 9.99921380e-01 2.28391440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5992541539999 meters 0.021135760232322755 Centerline is valid? [True, True] Translation: X:519.03, Y:3.14, Z:2.29 [[ 9.98991329e-01 -4.29304952e-02 -1.31642382e-02 5.19031946e+02] [ 4.29312116e-02 9.99078004e-01 -2.28297147e-04 3.14262847e+00] [ 1.31619017e-02 -3.37089824e-04 9.99913322e-01 2.28552479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.659254154 meters 0.020277919166643607 Centerline is valid? [True, True] Translation: X:519.09, Y:3.14, Z:2.29 [[ 9.98769577e-01 -4.86592309e-02 -9.57133509e-03 5.19092284e+02] [ 4.86598703e-02 9.98815393e-01 -1.66195224e-04 3.13918340e+00] [ 9.56808375e-03 -2.99749191e-04 9.99954180e-01 2.28666484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7192541539999 meters 0.022986297569332605 Centerline is valid? [True, True] Translation: X:519.15, Y:3.14, Z:2.29 [[ 9.98746608e-01 -4.89016084e-02 -1.06698799e-02 5.19153904e+02] [ 4.89024183e-02 9.98803544e-01 -1.85129125e-04 3.13942426e+00] [ 1.06661670e-02 -3.36885845e-04 9.99943058e-01 2.28768947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.779254154 meters 0.021890442235535188 Centerline is valid? [True, True] Translation: X:519.21, Y:3.14, Z:2.29 [[ 9.98695971e-01 -5.02373939e-02 -9.08638125e-03 5.19214816e+02] [ 5.02380378e-02 9.98737260e-01 -1.57517316e-04 3.13927893e+00] [ 9.08282077e-03 -2.99170056e-04 9.99958706e-01 2.28661365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.839254154 meters 0.019825667667739317 Centerline is valid? [True, True] Translation: X:519.28, Y:3.14, Z:2.29 [[ 9.98728916e-01 -4.97877528e-02 -7.85691740e-03 5.19275702e+02] [ 4.97882213e-02 9.98759788e-01 -1.36077039e-04 3.14170689e+00] [ 7.85394812e-03 -2.55277868e-04 9.99969125e-01 2.28579594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.899254154 meters 0.020663907473437704 Centerline is valid? [True, True] Translation: X:519.34, Y:3.15, Z:2.29 [[ 9.99064408e-01 -4.23080093e-02 -8.96330491e-03 5.19335869e+02] [ 4.23083198e-02 9.99104590e-01 -1.55054722e-04 3.14621896e+00] [ 8.96183913e-03 -2.24312716e-04 9.99959817e-01 2.28584358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.959254154 meters 0.0168460509906791 Centerline is valid? [True, True] Translation: X:519.40, Y:3.15, Z:2.29 [[ 9.99248783e-01 -3.82109110e-02 -6.46505458e-03 5.19396376e+02] [ 3.82109868e-02 9.99269687e-01 -1.11837905e-04 3.15151442e+00] [ 6.46460650e-03 -1.35282225e-04 9.99979095e-01 2.28619598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.019254154 meters 0.015523285657335947 Centerline is valid? [True, True] Translation: X:519.46, Y:3.16, Z:2.29 [[ 9.99536203e-01 -3.01625828e-02 -4.19486540e-03 5.19457261e+02] [ 3.01625438e-02 9.99545004e-01 -7.25724834e-05 3.15686775e+00] [ 4.19514573e-03 -5.39889868e-05 9.99991199e-01 2.28700294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.079254154 meters 0.015408198710164737 Centerline is valid? [True, True] Translation: X:519.52, Y:3.16, Z:2.29 [[ 9.99649198e-01 -2.61710636e-02 -4.06895362e-03 5.19518935e+02] [ 2.61709943e-02 9.99657478e-01 -7.02778372e-05 3.16013061e+00] [ 4.06939916e-03 -3.62353786e-05 9.99991719e-01 2.28617752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.139254154 meters 0.015026761959764354 Centerline is valid? [True, True] Translation: X:519.58, Y:3.16, Z:2.29 [[ 9.99669747e-01 -2.54905035e-02 -3.26055473e-03 5.19579187e+02] [ 2.54904558e-02 9.99675064e-01 -5.62056927e-05 3.15938292e+00] [ 3.26092797e-03 -2.69258956e-05 9.99994683e-01 2.28504716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.199254154 meters 0.016231801806072334 Centerline is valid? [True, True] Translation: X:519.64, Y:3.15, Z:2.29 [[ 9.99524105e-01 -3.07829012e-02 -1.99417905e-03 5.19641289e+02] [ 3.07828936e-02 9.99526094e-01 -3.45022074e-05 3.15411104e+00] [ 1.99429607e-03 -2.69008136e-05 9.99998011e-01 2.28550328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.259254154 meters 0.019226560136096048 Centerline is valid? [True, True] Translation: X:519.70, Y:3.15, Z:2.29 [[ 9.99324664e-01 -3.66734842e-02 -2.29612268e-03 5.19702880e+02] [ 3.66734902e-02 9.99327301e-01 -3.94705332e-05 3.14745191e+00] [ 2.29602560e-03 -4.47629553e-05 9.99997363e-01 2.28622582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.319254154 meters 0.020485086509173956 Centerline is valid? [True, True] Translation: X:519.76, Y:3.14, Z:2.29 [[ 9.98835044e-01 -4.82420222e-02 -1.12323525e-03 5.19763465e+02] [ 4.82420310e-02 9.98835675e-01 -1.92017629e-05 3.13877852e+00] [ 1.12285378e-03 -3.50077563e-05 9.99999369e-01 2.28542035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.379254154 meters 0.022524010372639888 Centerline is valid? [True, True] Translation: X:519.82, Y:3.13, Z:2.28 [[ 9.98490236e-01 -5.48996850e-02 -1.80899713e-03 5.19824683e+02] [ 5.48997189e-02 9.98491873e-01 -3.09505813e-05 3.13413847e+00] [ 1.80796811e-03 -6.84095807e-05 9.99998363e-01 2.28463142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.439254154 meters 0.0260964147053336 Centerline is valid? [True, True] Translation: X:519.89, Y:3.13, Z:2.28 [[ 9.98058934e-01 -6.22342201e-02 -2.29472706e-03 5.19885756e+02] [ 6.22342942e-02 9.98061567e-01 -3.91693811e-05 3.12795132e+00] [ 2.29271656e-03 -1.03717368e-04 9.99997366e-01 2.28426839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.499254154 meters 0.028415399758353308 Centerline is valid? [True, True] Translation: X:519.95, Y:3.13, Z:2.28 [[ 9.97810967e-01 -6.60807636e-02 -2.57025391e-03 5.19947066e+02] [ 6.60808692e-02 9.97814270e-01 -4.39217629e-05 3.12504886e+00] [ 2.56753841e-03 -1.26018996e-04 9.99996696e-01 2.28460464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.559254154 meters 0.03156069956505985 Centerline is valid? [True, True] Translation: X:520.01, Y:3.12, Z:2.29 [[ 9.97421514e-01 -7.16774499e-02 -3.55907009e-03 5.20008004e+02] [ 7.16776886e-02 9.97427845e-01 -6.06061654e-05 3.12277534e+00] [ 3.55425970e-03 -1.94656024e-04 9.99993665e-01 2.28523772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.619254154 meters 0.036123536527788096 Centerline is valid? [True, True] Translation: X:520.07, Y:3.12, Z:2.29 [[ 9.97103164e-01 -7.59261282e-02 -4.52814555e-03 5.20067417e+02] [ 7.59265583e-02 9.97113410e-01 -7.70881870e-05 3.12132031e+00] [ 4.52092766e-03 -2.66941632e-04 9.99989745e-01 2.28614405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.679254154 meters 0.03777209491785067 Centerline is valid? [True, True] Translation: X:520.13, Y:3.12, Z:2.29 [[ 9.96878838e-01 -7.88501400e-02 -3.90367657e-03 5.20128323e+02] [ 7.88504823e-02 9.96886451e-01 -6.63726606e-05 3.12162930e+00] [ 3.89675578e-03 -2.41641279e-04 9.99992378e-01 2.28670847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.739254154 meters 0.04297971502444638 Centerline is valid? [True, True] Translation: X:520.19, Y:3.12, Z:2.28 [[ 9.96613217e-01 -8.18179372e-02 -8.24138338e-03 5.20187917e+02] [ 8.18195654e-02 9.96647149e-01 -1.39966746e-04 3.12421118e+00] [ 8.22520304e-03 -5.34813697e-04 9.99966029e-01 2.28475385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.799254154 meters 0.04337503476944234 Centerline is valid? [True, True] Translation: X:520.25, Y:3.13, Z:2.28 [[ 9.96518490e-01 -8.29144586e-02 -8.72302528e-03 5.20248504e+02] [ 8.29163245e-02 9.96556502e-01 -1.48146665e-04 3.12845947e+00] [ 8.70527106e-03 -5.75650304e-04 9.99961943e-01 2.28455300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.859254154 meters 0.04379058903415535 Centerline is valid? [True, True] Translation: X:520.31, Y:3.14, Z:2.29 [[ 9.96620786e-01 -8.17369051e-02 -8.12942820e-03 5.20309450e+02] [ 8.17384872e-02 9.96653802e-01 -1.38004397e-04 3.13829418e+00] [ 8.11350557e-03 -5.26949112e-04 9.99966946e-01 2.28602045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.919254154 meters 0.042814066638233866 Centerline is valid? [True, True] Translation: X:520.37, Y:3.15, Z:2.29 [[ 9.96809843e-01 -7.94543588e-02 -7.55926552e-03 5.20370505e+02] [ 7.94556622e-02 9.96838393e-01 -1.28207304e-04 3.14752052e+00] [ 7.54555272e-03 -4.72828146e-04 9.99971420e-01 2.28714109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.979254154 meters 0.04168501833276148 Centerline is valid? [True, True] Translation: X:520.43, Y:3.16, Z:2.29 [[ 9.97161440e-01 -7.49095824e-02 -7.59062101e-03 5.20429970e+02] [ 7.49107656e-02 9.97190233e-01 -1.28717171e-04 3.16092521e+00] [ 7.57893529e-03 -4.40267432e-04 9.99971183e-01 2.28725161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.039254154 meters 0.04117197036954055 Centerline is valid? [True, True] Translation: X:520.49, Y:3.17, Z:2.29 [[ 9.97260380e-01 -7.35153810e-02 -8.19891929e-03 5.20491080e+02] [ 7.35167149e-02 9.97293975e-01 -1.38985376e-04 3.16612321e+00] [ 8.18695038e-03 -4.64153003e-04 9.99966379e-01 2.28700388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0992541539999 meters 0.04042299008317907 Centerline is valid? [True, True] Translation: X:520.55, Y:3.17, Z:2.29 [[ 9.97430753e-01 -7.10384257e-02 -9.24311940e-03 5.20551782e+02] [ 7.10400165e-02 9.97473454e-01 -1.56509117e-04 3.17480085e+00] [ 9.23088439e-03 -5.00524349e-04 9.99957269e-01 2.28634570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.159254154 meters 0.039517737868929814 Centerline is valid? [True, True] Translation: X:520.61, Y:3.19, Z:2.29 [[ 9.97643340e-01 -6.77817507e-02 -1.06489550e-02 5.20612871e+02] [ 6.77836786e-02 9.97700025e-01 -1.80197118e-04 3.18656611e+00] [ 1.06366767e-02 -5.42052888e-04 9.99943282e-01 2.28553001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2192541539999 meters 0.038047657320005146 Centerline is valid? [True, True] Translation: X:520.67, Y:3.20, Z:2.29 [[ 9.97852322e-01 -6.45745480e-02 -1.09941113e-02 5.20673998e+02] [ 6.45764099e-02 9.97912748e-01 -1.85919905e-04 3.19612744e+00] [ 1.09831695e-02 -5.24439630e-04 9.99939546e-01 2.28591987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.279254154 meters 0.03433429418529706 Centerline is valid? [True, True] Translation: X:520.73, Y:3.21, Z:2.29 [[ 9.98274297e-01 -5.73705634e-02 -1.25318537e-02 5.20733737e+02] [ 5.73724170e-02 9.98352824e-01 -2.11839685e-04 3.21163442e+00] [ 1.25233649e-02 -5.07508621e-04 9.99921451e-01 2.28525304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.339254154 meters 0.03134266809053778 Centerline is valid? [True, True] Translation: X:520.79, Y:3.22, Z:2.29 [[ 9.98554981e-01 -5.21384536e-02 -1.30204626e-02 5.20794221e+02] [ 5.21400119e-02 9.98639760e-01 -2.19977467e-04 3.22277165e+00] [ 1.30142210e-02 -4.59227481e-04 9.99915206e-01 2.28509788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.399254154 meters 0.027109829697785 Centerline is valid? [True, True] Translation: X:520.85, Y:3.24, Z:2.28 [[ 9.98904340e-01 -4.50122889e-02 -1.28067723e-02 5.20854764e+02] [ 4.50132120e-02 9.98986368e-01 -2.16303610e-04 3.23720119e+00] [ 1.28035272e-02 -3.60407340e-04 9.99917967e-01 2.28497493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.459254154 meters 0.01927310847315305 Centerline is valid? [True, True] Translation: X:520.92, Y:3.26, Z:2.29 [[ 9.98995123e-01 -4.23427450e-02 -1.46913364e-02 5.20915988e+02] [ 4.23436769e-02 9.99103074e-01 -2.47760832e-04 3.25584937e+00] [ 1.46886502e-02 -3.74573338e-04 9.99892046e-01 2.28803932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.519254154 meters 0.022132906367205534 Centerline is valid? [True, True] Translation: X:520.98, Y:3.26, Z:2.29 [[ 9.98996101e-01 -4.18545205e-02 -1.59683852e-02 5.20975921e+02] [ 4.18555651e-02 9.99123636e-01 -2.68928249e-04 3.25592103e+00] [ 1.59656470e-02 -3.99707516e-04 9.99872461e-01 2.28706077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.579254154 meters 0.021136716584540555 Centerline is valid? [True, True] Translation: X:521.04, Y:3.26, Z:2.29 [[ 9.98983489e-01 -4.17626370e-02 -1.69667344e-02 5.21036747e+02] [ 4.17638045e-02 9.99127471e-01 -2.85660672e-04 3.26198961e+00] [ 1.69638603e-02 -4.23225082e-04 9.99856014e-01 2.29001315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.639254154 meters 0.02022097100720971 Centerline is valid? [True, True] Translation: X:521.10, Y:3.26, Z:2.29 [[ 9.99003057e-01 -4.16931622e-02 -1.59553034e-02 5.21097188e+02] [ 4.16941858e-02 9.99130383e-01 -2.68631700e-04 3.26303782e+00] [ 1.59526285e-02 -3.96879496e-04 9.99872670e-01 2.29069148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.699254154 meters 0.02078070992850242 Centerline is valid? [True, True] Translation: X:521.16, Y:3.26, Z:2.29 [[ 9.98962040e-01 -4.23553255e-02 -1.67591383e-02 5.21158069e+02] [ 4.23565479e-02 9.99102519e-01 -2.82165477e-04 3.26351207e+00] [ 1.67560485e-02 -4.27986643e-04 9.99859516e-01 2.29139052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.759254154 meters 0.02225653856740814 Centerline is valid? [True, True] Translation: X:521.22, Y:3.26, Z:2.29 [[ 9.98809492e-01 -4.50571657e-02 -1.86936070e-02 5.21218489e+02] [ 4.50591640e-02 9.98984271e-01 -3.14500337e-04 3.26183595e+00] [ 1.86887899e-02 -5.28192383e-04 9.99825210e-01 2.29165540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.819254154 meters 0.02397081206285697 Centerline is valid? [True, True] Translation: X:521.28, Y:3.26, Z:2.29 [[ 9.98624398e-01 -4.84903869e-02 -1.99497946e-02 5.21278391e+02] [ 4.84933438e-02 9.98823449e-01 -3.35803062e-04 3.25902818e+00] [ 1.99426058e-02 -6.32091117e-04 9.99800927e-01 2.29198947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.879254154 meters 0.02853841948338031 Centerline is valid? [True, True] Translation: X:521.34, Y:3.25, Z:2.29 [[ 9.98368209e-01 -5.23235125e-02 -2.28728993e-02 5.21338116e+02] [ 5.23283959e-02 9.98629857e-01 -3.85383062e-04 3.25461200e+00] [ 2.28617248e-02 -8.12147936e-04 9.99738307e-01 2.29198183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.939254154 meters 0.029748596040908095 Centerline is valid? [True, True] Translation: X:521.40, Y:3.25, Z:2.29 [[ 9.98012561e-01 -5.85454510e-02 -2.33100395e-02 5.21398778e+02] [ 5.85522138e-02 9.98284270e-01 -3.92874648e-04 3.25022086e+00] [ 2.32930468e-02 -9.72760584e-04 9.99728207e-01 2.29333967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.999254154 meters 0.027334740856116126 Centerline is valid? [True, True] Translation: X:521.46, Y:3.25, Z:2.30 [[ 9.97777919e-01 -6.18360334e-02 -2.48098617e-02 5.21459171e+02] [ 6.18447098e-02 9.98085696e-01 -4.18166511e-04 3.25328364e+00] [ 2.47882259e-02 -1.11712139e-03 9.99692101e-01 2.29669473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.059254154 meters 0.03368583393385468 Centerline is valid? [True, True] Translation: X:521.52, Y:3.24, Z:2.29 [[ 9.97847184e-01 -6.10225656e-02 -2.40258982e-02 5.21518396e+02] [ 6.10304505e-02 9.98135822e-01 -4.05627009e-04 3.24417994e+00] [ 2.40058620e-02 -1.06155762e-03 9.99711254e-01 2.29293151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.119254154 meters 0.024944589389403346 Centerline is valid? [True, True] Translation: X:521.58, Y:3.26, Z:2.30 [[ 9.98208046e-01 -5.47000677e-02 -2.42610504e-02 5.21578107e+02] [ 5.47062378e-02 9.98502408e-01 -4.09815580e-04 3.25801839e+00] [ 2.42471342e-02 -9.18149582e-04 9.99705573e-01 2.29755446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.179254154 meters 0.022656534566932205 Centerline is valid? [True, True] Translation: X:521.64, Y:3.26, Z:2.30 [[ 9.98514495e-01 -4.84984500e-02 -2.48335365e-02 5.21638493e+02] [ 4.85029902e-02 9.98822949e-01 -4.19841347e-04 3.26355541e+00] [ 2.48246678e-02 -7.85283105e-04 9.99691512e-01 2.29767963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.239254154 meters 0.018730820003785037 Centerline is valid? [True, True] Translation: X:521.70, Y:3.27, Z:2.30 [[ 9.98952794e-01 -3.88526128e-02 -2.41617459e-02 5.21697658e+02] [ 3.88540793e-02 9.99244811e-01 -4.08938696e-04 3.27055778e+00] [ 2.41593876e-02 -5.30271940e-04 9.99707979e-01 2.29840741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.299254154 meters 0.015223590625737565 Centerline is valid? [True, True] Translation: X:521.76, Y:3.28, Z:2.30 [[ 9.99271265e-01 -3.02184625e-02 -2.33191456e-02 5.21757220e+02] [ 3.02174610e-02 9.99543270e-01 -3.95398904e-04 3.27899417e+00] [ 2.33204434e-02 -3.09534608e-04 9.99727994e-01 2.30011293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.359254154 meters 0.016441886368086744 Centerline is valid? [True, True] Translation: X:521.81, Y:3.28, Z:2.30 [[ 9.99422399e-01 -2.52398717e-02 -2.27555870e-02 5.21814900e+02] [ 2.52375897e-02 9.99681406e-01 -3.87511199e-04 3.28121077e+00] [ 2.27581179e-02 -1.87008795e-04 9.99740983e-01 2.29818454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.419254154 meters 0.013793281734872534 Centerline is valid? [True, True] Translation: X:521.87, Y:3.28, Z:2.30 [[ 9.99516495e-01 -2.26274598e-02 -2.13254408e-02 5.21874204e+02] [ 2.26247765e-02 9.99743960e-01 -3.67119756e-04 3.28304495e+00] [ 2.13282876e-02 -1.15541079e-04 9.99772520e-01 2.29987173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.479254154 meters 0.013364169587150634 Centerline is valid? [True, True] Translation: X:521.93, Y:3.28, Z:2.30 [[ 9.99636923e-01 -1.92551062e-02 -1.88483969e-02 5.21931803e+02] [ 1.92523621e-02 9.99814603e-01 -3.27046372e-04 3.28336256e+00] [ 1.88511998e-02 -3.59485330e-05 9.99822300e-01 2.30098388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.539254154 meters 0.01313265978031117 Centerline is valid? [True, True] Translation: X:521.99, Y:3.28, Z:2.30 [[ 9.99708234e-01 -1.75227024e-02 -1.66253596e-02 5.21989671e+02] [ 1.75202960e-02 9.99846466e-01 -2.90392443e-04 3.28153366e+00] [ 1.66278955e-02 -9.73506519e-07 9.99861747e-01 2.30226319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5992541539999 meters 0.012663536691676568 Centerline is valid? [True, True] Translation: X:522.05, Y:3.28, Z:2.31 [[ 9.99733097e-01 -1.78639681e-02 -1.46497042e-02 5.22048241e+02] [ 1.78620934e-02 9.99840427e-01 -2.58816504e-04 3.27817367e+00] [ 1.46519900e-02 -2.92695922e-06 9.99892654e-01 2.30513741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.659254154 meters 0.01344805731264396 Centerline is valid? [True, True] Translation: X:522.11, Y:3.27, Z:2.31 [[ 9.99702866e-01 -2.02743897e-02 -1.35325095e-02 5.22106478e+02] [ 2.02729639e-02 9.99794453e-01 -2.42546161e-04 3.27084984e+00] [ 1.35346454e-02 -3.18699857e-05 9.99908402e-01 2.30530143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7192541539999 meters 0.01295431340308818 Centerline is valid? [True, True] Translation: X:522.16, Y:3.27, Z:2.30 [[ 9.99621863e-01 -2.38626261e-02 -1.36640697e-02 5.22164900e+02] [ 2.38614804e-02 9.99715244e-01 -2.46893260e-04 3.26500192e+00] [ 1.36660703e-02 -7.92450323e-05 9.99906612e-01 2.30459953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.779254154 meters 0.013839911447698023 Centerline is valid? [True, True] Translation: X:522.22, Y:3.25, Z:2.30 [[ 9.99475108e-01 -2.92744007e-02 -1.38750865e-02 5.22223613e+02] [ 2.92737289e-02 9.99571401e-01 -2.51553175e-04 3.25434498e+00] [ 1.38765038e-02 -1.54754385e-04 9.99903705e-01 2.30340835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.839254154 meters 0.015721331345835803 Centerline is valid? [True, True] Translation: X:522.28, Y:3.25, Z:2.31 [[ 9.99340485e-01 -3.37720332e-02 -1.33433189e-02 5.22283621e+02] [ 3.37718057e-02 9.99429540e-01 -2.42437499e-04 3.24625051e+00] [ 1.33438947e-02 -2.08350366e-04 9.99910945e-01 2.30508266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.899254154 meters 0.01527677797875272 Centerline is valid? [True, True] Translation: X:522.34, Y:3.24, Z:2.31 [[ 9.99201638e-01 -3.80522341e-02 -1.21701960e-02 5.22343689e+02] [ 3.80523588e-02 9.99275722e-01 -2.21399834e-04 3.24086276e+00] [ 1.21698061e-02 -2.41881586e-04 9.99925916e-01 2.30509031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.959254154 meters 0.018604613844814 Centerline is valid? [True, True] Translation: X:522.41, Y:3.24, Z:2.31 [[ 9.99187123e-01 -3.85406760e-02 -1.18198406e-02 5.22405236e+02] [ 3.85408299e-02 9.99257003e-01 -2.14842086e-04 3.23917909e+00] [ 1.18193387e-02 -2.40879022e-04 9.99930120e-01 2.30593732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.019254154 meters 0.01845359416625664 Centerline is valid? [True, True] Translation: X:522.47, Y:3.23, Z:2.30 [[ 9.98928862e-01 -4.50955970e-02 -1.03689389e-02 5.22465350e+02] [ 4.50960697e-02 9.98982637e-01 -1.88335265e-04 3.22919527e+00] [ 1.03668830e-02 -2.79464860e-04 9.99946223e-01 2.30450337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.079254154 meters 0.021603523396378485 Centerline is valid? [True, True] Translation: X:522.53, Y:3.22, Z:2.30 [[ 9.98677058e-01 -5.05920611e-02 -9.19662483e-03 5.22525655e+02] [ 5.05926657e-02 9.98719357e-01 -1.67042046e-04 3.21918078e+00] [ 9.19329824e-03 -2.98460706e-04 9.99957696e-01 2.30414372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.139254154 meters 0.024181601862325073 Centerline is valid? [True, True] Translation: X:522.59, Y:3.21, Z:2.30 [[ 9.98500037e-01 -5.40050883e-02 -9.00704554e-03 5.22585942e+02] [ 5.40058076e-02 9.98540608e-01 -1.63522405e-04 3.21348577e+00] [ 9.00273177e-03 -3.23155641e-04 9.99959422e-01 2.30393108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.199254154 meters 0.0268562574108437 Centerline is valid? [True, True] Translation: X:522.65, Y:3.21, Z:2.30 [[ 9.98319353e-01 -5.72729113e-02 -8.84782400e-03 5.22645798e+02] [ 5.72737341e-02 9.98358500e-01 -1.60560204e-04 3.20634015e+00] [ 8.84249604e-03 -3.46457560e-04 9.99960844e-01 2.30367855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.259254154 meters 0.028223110501012314 Centerline is valid? [True, True] Translation: X:522.71, Y:3.21, Z:2.30 [[ 9.98376368e-01 -5.61434995e-02 -9.61949098e-03 5.22706820e+02] [ 5.61444214e-02 9.98422643e-01 -1.74394548e-04 3.20524245e+00] [ 9.61410873e-03 -3.65969361e-04 9.99953716e-01 2.30427146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.319254154 meters 0.026563859958476096 Centerline is valid? [True, True] Translation: X:522.77, Y:3.21, Z:2.30 [[ 9.98465784e-01 -5.47968073e-02 -7.96170431e-03 5.22767814e+02] [ 5.47973974e-02 9.98497483e-01 -1.44165164e-04 3.20567987e+00] [ 7.95764151e-03 -2.92336692e-04 9.99968295e-01 2.30343204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.379254154 meters 0.024841345213274236 Centerline is valid? [True, True] Translation: X:522.83, Y:3.21, Z:2.30 [[ 9.98720815e-01 -4.99877599e-02 -7.61296682e-03 5.22827826e+02] [ 4.99881604e-02 9.98749801e-01 -1.37783165e-04 3.20872195e+00] [ 7.61033657e-03 -2.42951292e-04 9.99971011e-01 2.30246146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.439254154 meters 0.023829627477378722 Centerline is valid? [True, True] Translation: X:522.89, Y:3.21, Z:2.30 [[ 9.98837940e-01 -4.78108109e-02 -6.07422854e-03 5.22889126e+02] [ 4.78110260e-02 9.98856393e-01 -1.09881924e-04 3.21046412e+00] [ 6.07253556e-03 -1.80660864e-04 9.99981546e-01 2.30280606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.499254154 meters 0.017993261698864085 Centerline is valid? [True, True] Translation: X:522.95, Y:3.22, Z:2.30 [[ 9.98875166e-01 -4.72412692e-02 -4.08240198e-03 5.22950884e+02] [ 4.72413619e-02 9.98883501e-01 -7.37805138e-05 3.21957761e+00] [ 4.08132947e-03 -1.19160707e-04 9.99991664e-01 2.30312183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.559254154 meters 0.02074292593685846 Centerline is valid? [True, True] Translation: X:523.01, Y:3.22, Z:2.30 [[ 9.98772603e-01 -4.94419420e-02 -2.96328570e-03 5.23011851e+02] [ 4.94420008e-02 9.98776995e-01 -5.34594161e-05 3.21677367e+00] [ 2.96230473e-03 -9.31169739e-05 9.99995608e-01 2.30378903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.619254154 meters 0.029664427822403947 Centerline is valid? [True, True] Translation: X:523.07, Y:3.20, Z:2.30 [[ 9.98655936e-01 -5.17909830e-02 -2.00381940e-03 5.23073035e+02] [ 5.17910150e-02 9.98657944e-01 -3.59933845e-05 3.20361026e+00] [ 2.00299429e-03 -6.78348332e-05 9.99997992e-01 2.30407740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.679254154 meters 0.030940192646202482 Centerline is valid? [True, True] Translation: X:523.13, Y:3.20, Z:2.30 [[ 9.98591593e-01 -5.30410120e-02 -1.21685360e-03 5.23134063e+02] [ 5.30410247e-02 9.98592334e-01 -2.18118771e-05 3.20223493e+00] [ 1.21629760e-03 -4.27620048e-05 9.99999259e-01 2.30316400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.739254154 meters 0.03231841660454561 Centerline is valid? [True, True] Translation: X:523.20, Y:3.20, Z:2.30 [[ 9.98577433e-01 -5.33122866e-02 -9.54238710e-04 5.23195088e+02] [ 5.33122945e-02 9.98577888e-01 -1.71535594e-05 3.20267812e+00] [ 9.53796172e-04 -3.37434979e-05 9.99999545e-01 2.30252929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.799254154 meters 0.031614582685641324 Centerline is valid? [True, True] Translation: X:523.26, Y:3.21, Z:2.30 [[ 9.98694727e-01 -5.10759938e-02 -2.91117807e-04 5.23255385e+02] [ 5.10759944e-02 9.98694770e-01 -5.23309976e-06 3.20704938e+00] [ 2.91005117e-04 -9.64286235e-06 9.99999958e-01 2.30287621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.859254154 meters 0.021783924266239173 Centerline is valid? [True, True] Translation: X:523.32, Y:3.23, Z:2.30 [[ 9.98892113e-01 -4.70571303e-02 4.15342134e-04 5.23316108e+02] [ 4.70571313e-02 9.98892200e-01 7.20508623e-06 3.22701321e+00] [-4.15221069e-04 1.23477056e-05 9.99999914e-01 2.30214560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.919254154 meters 0.018044269266739833 Centerline is valid? [True, True] Translation: X:523.38, Y:3.24, Z:2.30 [[ 9.99143966e-01 -4.12858671e-02 2.60995679e-03 5.23377829e+02] [ 4.12858883e-02 9.99147373e-01 4.57872411e-05 3.23546034e+00] [-2.60962184e-03 6.20063388e-05 9.99996593e-01 2.30422171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.979254154 meters 0.01736325689993966 Centerline is valid? [True, True] Translation: X:523.44, Y:3.24, Z:2.30 [[ 9.99320734e-01 -3.68063242e-02 1.83445371e-03 5.23439097e+02] [ 3.68063272e-02 9.99322417e-01 3.21677788e-05 3.24307478e+00] [-1.83439470e-03 3.53735753e-05 9.99998317e-01 2.30403642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.039254154 meters 0.01582295401024272 Centerline is valid? [True, True] Translation: X:523.50, Y:3.25, Z:2.30 [[ 9.99472268e-01 -3.24494615e-02 1.48931114e-03 5.23500800e+02] [ 3.24494591e-02 9.99473377e-01 2.58093804e-05 3.25073538e+00] [-1.48936433e-03 2.25315808e-05 9.99998891e-01 2.30282978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0992541539999 meters 0.015925875054472505 Centerline is valid? [True, True] Translation: X:523.56, Y:3.25, Z:2.30 [[ 9.99504044e-01 -3.14685967e-02 1.18046576e-03 5.23562437e+02] [ 3.14685947e-02 9.99504741e-01 2.03096122e-05 3.25326142e+00] [-1.18052024e-03 1.68480591e-05 9.99999303e-01 2.30268153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.159254154 meters 0.01815084665745359 Centerline is valid? [True, True] Translation: X:523.62, Y:3.25, Z:2.30 [[ 9.99484710e-01 -3.20907081e-02 7.08375290e-04 5.23624605e+02] [ 3.20907076e-02 9.99484961e-01 1.20170380e-05 3.25441749e+00] [-7.08396084e-04 1.07214186e-05 9.99999749e-01 2.30278805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2192541539999 meters 0.017308391473325614 Centerline is valid? [True, True] Translation: X:523.69, Y:3.25, Z:2.30 [[ 9.99399266e-01 -3.46479771e-02 7.90463812e-04 5.23686968e+02] [ 3.46479773e-02 9.99399578e-01 1.33921673e-05 3.25492523e+00] [-7.90453212e-04 1.40038501e-05 9.99999687e-01 2.30347253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.279254154 meters 0.01979819223704469 Centerline is valid? [True, True] Translation: X:523.75, Y:3.25, Z:2.30 [[ 9.99306496e-01 -3.72161849e-02 1.21786191e-03 5.23748366e+02] [ 3.72161871e-02 9.99307238e-01 2.08176366e-05 3.25339510e+00] [-1.21779298e-03 2.45209773e-05 9.99999258e-01 2.30329315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.339254154 meters 0.019494157981184798 Centerline is valid? [True, True] Translation: X:523.81, Y:3.25, Z:2.30 [[ 9.99207934e-01 -3.97908495e-02 4.39931467e-04 5.23810598e+02] [ 3.97908502e-02 9.99208030e-01 7.27198978e-06 3.25278404e+00] [-4.39872414e-04 1.02390172e-05 9.99999903e-01 2.30312757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.399254154 meters 0.01902548183571545 Centerline is valid? [True, True] Translation: X:523.87, Y:3.25, Z:2.30 [[ 9.99091983e-01 -4.26010882e-02 5.97503445e-04 5.23872712e+02] [ 4.26010899e-02 9.99092161e-01 9.92516234e-06 3.25434494e+00] [-5.97383831e-04 1.55381479e-05 9.99999821e-01 2.30286078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.459254154 meters 0.019660137737502366 Centerline is valid? [True, True] Translation: X:523.93, Y:3.26, Z:2.30 [[ 9.99044703e-01 -4.36663699e-02 1.71148853e-03 5.23934612e+02] [ 4.36663844e-02 9.99046168e-01 2.88863435e-05 3.25560609e+00] [-1.71111742e-03 4.58757677e-05 9.99998535e-01 2.30310278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.519254154 meters 0.01930460876323873 Centerline is valid? [True, True] Translation: X:524.00, Y:3.26, Z:2.30 [[ 9.99028940e-01 -4.40123834e-02 2.02153192e-03 5.23996385e+02] [ 4.40124046e-02 9.99030984e-01 3.40345499e-05 3.25667265e+00] [-2.02107096e-03 5.49709803e-05 9.99997956e-01 2.30404160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.579254154 meters 0.020536877595213002 Centerline is valid? [True, True] Translation: X:524.06, Y:3.26, Z:2.30 [[ 9.99161797e-01 -4.08207032e-02 3.06161693e-03 5.24059125e+02] [ 4.08207374e-02 9.99166485e-01 5.13414448e-05 3.26069587e+00] [-3.06116082e-03 7.36790503e-05 9.99995312e-01 2.30195415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.639254154 meters 0.017902473081970644 Centerline is valid? [True, True] Translation: X:524.12, Y:3.27, Z:2.30 [[ 9.99351777e-01 -3.59560711e-02 1.78510349e-03 5.24119294e+02] [ 3.59560757e-02 9.99353371e-01 2.94982541e-05 3.26536605e+00] [-1.78500983e-03 3.47061834e-05 9.99998406e-01 2.30211557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.699254154 meters 0.018399085005804793 Centerline is valid? [True, True] Translation: X:524.18, Y:3.27, Z:2.30 [[ 9.99488245e-01 -3.19402666e-02 1.75158260e-03 5.24181860e+02] [ 3.19402651e-02 9.99489779e-01 2.88668553e-05 3.26990013e+00] [-1.75161092e-03 2.70939301e-05 9.99998466e-01 2.30087047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.759254154 meters 0.01996199521667847 Centerline is valid? [True, True] Translation: X:524.24, Y:3.27, Z:2.30 [[ 9.99533981e-01 -3.05112556e-02 9.40694002e-04 5.24244231e+02] [ 3.05112547e-02 9.99534423e-01 1.53283721e-05 3.27281954e+00] [-9.40723725e-04 1.33805256e-05 9.99999557e-01 2.29918293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.819254154 meters 0.01991941570705377 Centerline is valid? [True, True] Translation: X:524.31, Y:3.27, Z:2.30 [[ 9.99466939e-01 -3.26433665e-02 4.98869114e-04 5.24305962e+02] [ 3.26433666e-02 9.99467063e-01 8.02319693e-06 3.27313752e+00] [-4.98865153e-04 8.26584729e-06 9.99999876e-01 2.29901823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.879254154 meters 0.0191593892629798 Centerline is valid? [True, True] Translation: X:524.37, Y:3.27, Z:2.30 [[ 9.99401154e-01 -3.46000452e-02 4.12979700e-04 5.24367745e+02] [ 3.46000455e-02 9.99401239e-01 6.48833566e-06 3.27284321e+00] [-4.12956920e-04 7.80466624e-06 9.99999915e-01 2.29989072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.939254154 meters 0.01872089548268188 Centerline is valid? [True, True] Translation: X:524.43, Y:3.27, Z:2.30 [[ 9.99164415e-01 -4.08714057e-02 -2.04007742e-05 5.24429371e+02] [ 4.08714057e-02 9.99164415e-01 -4.97222995e-07 3.27000392e+00] [ 2.04040499e-05 -3.37000798e-07 1.00000000e+00 2.30281646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.999254154 meters 0.019688267247980677 Centerline is valid? [True, True] Translation: X:524.49, Y:3.27, Z:2.30 [[ 9.98952824e-01 -4.57521070e-02 -2.23178366e-05 5.24490160e+02] [ 4.57521070e-02 9.98952824e-01 -4.48264420e-07 3.26755021e+00] [ 2.23149751e-05 -5.73293044e-07 1.00000000e+00 2.30394724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.059254154 meters 0.021063483827125844 Centerline is valid? [True, True] Translation: X:524.55, Y:3.26, Z:2.30 [[ 9.98809478e-01 -4.87760167e-02 -7.25964495e-04 5.24552614e+02] [ 4.87760207e-02 9.98809741e-01 -1.22078068e-05 3.26478048e+00] [ 7.25695858e-04 -2.32163862e-05 9.99999736e-01 2.30444695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.119254154 meters 0.02322691291128984 Centerline is valid? [True, True] Translation: X:524.61, Y:3.26, Z:2.30 [[ 9.98673200e-01 -5.14599950e-02 -1.92589003e-03 5.24614473e+02] [ 5.14600295e-02 9.98675054e-01 -3.16683246e-05 3.26294516e+00] [ 1.92496798e-03 -6.74800507e-05 9.99998145e-01 2.30309779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.179254154 meters 0.022411351596895054 Centerline is valid? [True, True] Translation: X:524.68, Y:3.26, Z:2.30 [[ 9.98705924e-01 -5.07735735e-02 -2.91921988e-03 5.24676910e+02] [ 5.07736506e-02 9.98710185e-01 -4.77468991e-05 3.26460317e+00] [ 2.91787891e-03 -1.00534339e-04 9.99995738e-01 2.30417340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.239254154 meters 0.021875924218963887 Centerline is valid? [True, True] Translation: X:524.74, Y:3.27, Z:2.30 [[ 9.98888732e-01 -4.70164933e-02 -3.27885740e-03 5.24738764e+02] [ 4.70165712e-02 9.98894108e-01 -5.33452424e-05 3.26886079e+00] [ 3.27773945e-03 -1.00874671e-04 9.99994623e-01 2.30327043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.299254154 meters 0.020233159654238445 Centerline is valid? [True, True] Translation: X:524.80, Y:3.28, Z:2.30 [[ 9.99239697e-01 -3.86887904e-02 -4.81720893e-03 5.24798154e+02] [ 3.86888640e-02 9.99251303e-01 -7.79475291e-05 3.27603052e+00] [ 4.81661799e-03 -1.08484076e-04 9.99988394e-01 2.30310090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.359254154 meters 0.016814723502650643 Centerline is valid? [True, True] Translation: X:524.86, Y:3.28, Z:2.31 [[ 9.99478040e-01 -3.19502727e-02 -4.77777890e-03 5.24859470e+02] [ 3.19502697e-02 9.99489457e-01 -7.69873610e-05 3.28412458e+00] [ 4.77779940e-03 -7.57041474e-05 9.99988583e-01 2.30567289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.419254154 meters 0.016533674481795498 Centerline is valid? [True, True] Translation: X:524.92, Y:3.29, Z:2.31 [[ 9.99559405e-01 -2.92027208e-02 -5.31016605e-03 5.24920620e+02] [ 2.92026794e-02 9.99573507e-01 -8.53433282e-05 3.28634208e+00] [ 5.31039356e-03 -6.97653504e-05 9.99985897e-01 2.30571450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.479254154 meters 0.019828373834142925 Centerline is valid? [True, True] Translation: X:524.98, Y:3.28, Z:2.30 [[ 9.99501736e-01 -3.08144680e-02 -6.83726661e-03 5.24982079e+02] [ 3.08144400e-02 9.99525116e-01 -1.09465379e-04 3.28421206e+00] [ 6.83739282e-03 -1.01275705e-04 9.99976620e-01 2.30321388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.539254154 meters 0.017248807696288983 Centerline is valid? [True, True] Translation: X:525.04, Y:3.28, Z:2.31 [[ 9.99309972e-01 -3.64121612e-02 -7.33036669e-03 5.25043446e+02] [ 3.64122821e-02 9.99336846e-01 -1.17014850e-04 3.28448765e+00] [ 7.32976629e-03 -1.49981273e-04 9.99973126e-01 2.30679134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5992541539999 meters 0.020282645713577116 Centerline is valid? [True, True] Translation: X:525.10, Y:3.28, Z:2.31 [[ 9.98857948e-01 -4.71688426e-02 -7.60914560e-03 5.25103891e+02] [ 4.71692860e-02 9.98886902e-01 -1.21289026e-04 3.27607577e+00] [ 7.60639694e-03 -2.37767458e-04 9.99971043e-01 2.30736712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.659254154 meters 0.026106906917183245 Centerline is valid? [True, True] Translation: X:525.16, Y:3.27, Z:2.30 [[ 9.98321647e-01 -5.70814394e-02 -9.77741132e-03 5.25164849e+02] [ 5.70826482e-02 9.98369444e-01 -1.55620065e-04 3.26830045e+00] [ 9.77035172e-03 -4.02761651e-04 9.99952188e-01 2.30460263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7192541539999 meters 0.027158469799643713 Centerline is valid? [True, True] Translation: X:525.22, Y:3.26, Z:2.31 [[ 9.97989226e-01 -6.27530262e-02 -8.91977989e-03 5.25224355e+02] [ 6.27542606e-02 9.98028999e-01 -1.41698257e-04 3.26477376e+00] [ 8.91109099e-03 -4.18340858e-04 9.99960208e-01 2.30661828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.779254154 meters 0.02993936995719375 Centerline is valid? [True, True] Translation: X:525.28, Y:3.26, Z:2.31 [[ 9.97669587e-01 -6.76874248e-02 -8.59116228e-03 5.25284579e+02] [ 6.76887534e-02 9.97706477e-01 -1.36354942e-04 3.26189634e+00] [ 8.58068777e-03 -4.45487887e-04 9.99963086e-01 2.30670734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.839254154 meters 0.03467464564855777 Centerline is valid? [True, True] Translation: X:525.35, Y:3.26, Z:2.31 [[ 9.97175147e-01 -7.47252848e-02 -7.60645707e-03 5.25345081e+02] [ 7.47265307e-02 9.97204057e-01 -1.20673411e-04 3.25732937e+00] [ 7.59420720e-03 -4.48071622e-04 9.99971063e-01 2.30755584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.899254154 meters 0.03921935910644729 Centerline is valid? [True, True] Translation: X:525.41, Y:3.26, Z:2.31 [[ 9.96873765e-01 -7.84992108e-02 -8.97611912e-03 5.25405112e+02] [ 7.85010982e-02 9.96914017e-01 -1.42405262e-04 3.25550827e+00] [ 8.95959767e-03 -5.62675139e-04 9.99959704e-01 2.30591197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.959254154 meters 0.03510047911023425 Centerline is valid? [True, True] Translation: X:525.47, Y:3.27, Z:2.31 [[ 9.96552719e-01 -8.24462882e-02 -9.23518787e-03 5.25465333e+02] [ 8.24484545e-02 9.96595320e-01 -1.46557633e-04 3.26601937e+00] [ 9.21582814e-03 -6.15374558e-04 9.99957344e-01 2.30748487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.019254154 meters 0.04369827823200887 Centerline is valid? [True, True] Translation: X:525.53, Y:3.26, Z:2.31 [[ 9.96568660e-01 -8.21959799e-02 -9.73276238e-03 5.25526979e+02] [ 8.21983805e-02 9.96615975e-01 -1.53790118e-04 3.25891839e+00] [ 9.71246741e-03 -6.46754894e-04 9.99952624e-01 2.30645511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.079254154 meters 0.03419187815309544 Centerline is valid? [True, True] Translation: X:525.59, Y:3.28, Z:2.31 [[ 9.96749297e-01 -7.98521142e-02 -1.06995211e-02 5.25588109e+02] [ 7.98548896e-02 9.96806485e-01 -1.68251475e-04 3.28024089e+00] [ 1.06787872e-02 -6.86704537e-04 9.99942744e-01 2.30729655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.139254154 meters 0.03342087610055478 Centerline is valid? [True, True] Translation: X:525.65, Y:3.29, Z:2.31 [[ 9.96959927e-01 -7.72596699e-02 -1.00919899e-02 5.25649549e+02] [ 7.72620113e-02 9.97010811e-01 -1.58245364e-04 3.28829961e+00] [ 1.00740490e-02 -6.21963148e-04 9.99949062e-01 2.30818180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.199254154 meters 0.028633387088384872 Centerline is valid? [True, True] Translation: X:525.71, Y:3.31, Z:2.31 [[ 9.97262907e-01 -7.32837777e-02 -9.80728664e-03 5.25710585e+02] [ 7.32858004e-02 9.97310969e-01 -1.53453359e-04 3.30521129e+00] [ 9.79216018e-03 -5.65701509e-04 9.99951896e-01 2.30931733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.259254154 meters 0.029267375990831034 Centerline is valid? [True, True] Translation: X:525.77, Y:3.31, Z:2.31 [[ 9.97434604e-01 -7.08992892e-02 -9.87424209e-03 5.25770656e+02] [ 7.09012249e-02 9.97483329e-01 -1.54317002e-04 3.31410804e+00] [ 9.86033284e-03 -5.46174741e-04 9.99951237e-01 2.30935282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.319254154 meters 0.02781087240841292 Centerline is valid? [True, True] Translation: X:525.83, Y:3.32, Z:2.31 [[ 9.97414009e-01 -7.11782646e-02 -9.94729013e-03 5.25832984e+02] [ 7.11802479e-02 9.97463457e-01 -1.54961650e-04 3.32370281e+00] [ 9.93308830e-03 -5.53489657e-04 9.99950512e-01 2.30983095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.379254154 meters 0.029326339760465153 Centerline is valid? [True, True] Translation: X:525.89, Y:3.33, Z:2.31 [[ 9.97311520e-01 -7.25492606e-02 -1.03119476e-02 5.25894770e+02] [ 7.25514730e-02 9.97364657e-01 -1.59865565e-04 3.33026494e+00] [ 1.02963702e-02 -5.88711219e-04 9.99946818e-01 2.30986083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.439254154 meters 0.03261026398037276 Centerline is valid? [True, True] Translation: X:525.96, Y:3.33, Z:2.31 [[ 9.97292725e-01 -7.28513639e-02 -9.99500605e-03 5.25955987e+02] [ 7.28534637e-02 9.97342644e-01 -1.54333018e-04 3.33184462e+00] [ 9.97968913e-03 -5.74255614e-04 9.99950037e-01 2.30983101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.499254154 meters 0.030274460896177285 Centerline is valid? [True, True] Translation: X:526.02, Y:3.34, Z:2.31 [[ 9.97532904e-01 -6.94686617e-02 -1.01099401e-02 5.26016554e+02] [ 6.94706404e-02 9.97583984e-01 -1.55763850e-04 3.34481921e+00] [ 1.00963350e-02 -5.46964447e-04 9.99948881e-01 2.31037549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.559254154 meters 0.029544120651041002 Centerline is valid? [True, True] Translation: X:526.08, Y:3.35, Z:2.31 [[ 9.97829766e-01 -6.50427667e-02 -1.02565369e-02 5.26076759e+02] [ 6.50445707e-02 9.97882347e-01 -1.57943625e-04 3.35267275e+00] [ 1.02450902e-02 -5.09531187e-04 9.99947388e-01 2.31088828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.619254154 meters 0.026424721729195483 Centerline is valid? [True, True] Translation: X:526.14, Y:3.37, Z:2.31 [[ 9.98306331e-01 -5.72332814e-02 -1.04317745e-02 5.26137013e+02] [ 5.72347223e-02 9.98360737e-01 -1.60599548e-04 3.36677967e+00] [ 1.04238657e-02 -4.36732173e-04 9.99945575e-01 2.31030055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.679254154 meters 0.02424710797632142 Centerline is valid? [True, True] Translation: X:526.20, Y:3.38, Z:2.31 [[ 9.98533232e-01 -5.30097106e-02 -1.10161121e-02 5.26197732e+02] [ 5.30110626e-02 9.98593911e-01 -1.69433953e-04 3.37631765e+00] [ 1.10096041e-02 -4.14790377e-04 9.99939306e-01 2.30988532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.739254154 meters 0.02283319390411214 Centerline is valid? [True, True] Translation: X:526.26, Y:3.39, Z:2.31 [[ 9.98800102e-01 -4.76155052e-02 -1.14507773e-02 5.26257157e+02] [ 4.76166115e-02 9.98865670e-01 -1.76150985e-04 3.38631770e+00] [ 1.14461758e-02 -3.69307590e-04 9.99934422e-01 2.30950676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.799254154 meters 0.02224404050439769 Centerline is valid? [True, True] Translation: X:526.32, Y:3.39, Z:2.31 [[ 9.98861297e-01 -4.63117193e-02 -1.14600785e-02 5.26319208e+02] [ 4.63127464e-02 9.98926974e-01 -1.75883034e-04 3.39065472e+00] [ 1.14559269e-02 -3.55064953e-04 9.99934316e-01 2.30975944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.859254154 meters 0.021681518419665112 Centerline is valid? [True, True] Translation: X:526.38, Y:3.40, Z:2.31 [[ 9.99031889e-01 -4.26373714e-02 -1.08323255e-02 5.26379570e+02] [ 4.26380776e-02 9.99090570e-01 -1.65851980e-04 3.39650805e+00] [ 1.08295457e-02 -2.96178118e-04 9.99941315e-01 2.30991098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.919254154 meters 0.018912274697888958 Centerline is valid? [True, True] Translation: X:526.44, Y:3.41, Z:2.31 [[ 9.99227705e-01 -3.72232042e-02 -1.25867413e-02 5.26441342e+02] [ 3.72237347e-02 9.99306938e-01 -1.92204313e-04 3.40620008e+00] [ 1.25851724e-02 -2.76469644e-04 9.99920765e-01 2.30807058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.979254154 meters 0.017964057687483735 Centerline is valid? [True, True] Translation: X:526.50, Y:3.41, Z:2.31 [[ 9.99355648e-01 -3.32086615e-02 -1.36188529e-02 5.26502658e+02] [ 3.32089175e-02 9.99448410e-01 -2.07408960e-04 3.41118608e+00] [ 1.36182287e-02 -2.44992046e-04 9.99907238e-01 2.30686860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.039254154 meters 0.017005630592373765 Centerline is valid? [True, True] Translation: X:526.56, Y:3.42, Z:2.31 [[ 9.99544956e-01 -2.75277546e-02 -1.23330227e-02 5.26563551e+02] [ 2.75275370e-02 9.99621028e-01 -1.87427464e-04 3.41544104e+00] [ 1.23335083e-02 -1.52155562e-04 9.99923928e-01 2.30643708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0992541539999 meters 0.016819032877903813 Centerline is valid? [True, True] Translation: X:526.62, Y:3.42, Z:2.31 [[ 9.99634606e-01 -2.44488689e-02 -1.15285335e-02 5.26624906e+02] [ 2.44484783e-02 9.99701076e-01 -1.74831503e-04 3.41919217e+00] [ 1.15293617e-02 -1.07087480e-04 9.99933529e-01 2.30776319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.159254154 meters 0.015350677281740381 Centerline is valid? [True, True] Translation: X:526.69, Y:3.42, Z:2.31 [[ 9.99708866e-01 -2.19814994e-02 -9.94974241e-03 5.26685601e+02] [ 2.19810884e-02 9.99758375e-01 -1.50675649e-04 3.42084212e+00] [ 9.95065039e-03 -6.80743854e-05 9.99950489e-01 2.30886082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2192541539999 meters 0.016539008837982712 Centerline is valid? [True, True] Translation: X:526.75, Y:3.42, Z:2.31 [[ 9.99735815e-01 -2.04684991e-02 -1.04566399e-02 5.26746648e+02] [ 2.04679652e-02 9.99790497e-01 -1.58085486e-04 3.42093078e+00] [ 1.04576849e-02 -5.59824184e-05 9.99945315e-01 2.30776834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.279254154 meters 0.014948459815589102 Centerline is valid? [True, True] Translation: X:526.81, Y:3.42, Z:2.31 [[ 9.99747040e-01 -2.04013863e-02 -9.46779670e-03 5.26807675e+02] [ 2.04009484e-02 9.99791869e-01 -1.42828512e-04 3.41969334e+00] [ 9.46874006e-03 -5.03596498e-05 9.99955169e-01 2.30965663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.339254154 meters 0.015192605299811012 Centerline is valid? [True, True] Translation: X:526.87, Y:3.42, Z:2.31 [[ 9.99748674e-01 -2.04790225e-02 -9.12126506e-03 5.26868488e+02] [ 2.04786258e-02 9.99790282e-01 -1.36902329e-04 3.41595804e+00] [ 9.12215578e-03 -4.99230519e-05 9.99958391e-01 2.30867152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.399254154 meters 0.014982786064262595 Centerline is valid? [True, True] Translation: X:526.93, Y:3.41, Z:2.31 [[ 9.99759092e-01 -2.02240267e-02 -8.52915304e-03 5.26930348e+02] [ 2.02236758e-02 9.99795472e-01 -1.27392057e-04 3.41356830e+00] [ 8.52998498e-03 -4.51294581e-05 9.99963618e-01 2.31039045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.459254154 meters 0.015053849222019385 Centerline is valid? [True, True] Translation: X:526.99, Y:3.41, Z:2.31 [[ 9.99774917e-01 -1.95641352e-02 -8.20731148e-03 5.26990601e+02] [ 1.95637911e-02 9.99808603e-01 -1.22204522e-04 3.40937705e+00] [ 8.20813146e-03 -3.83891116e-05 9.99966312e-01 2.30899357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.519254154 meters 0.016216391406858027 Centerline is valid? [True, True] Translation: X:527.05, Y:3.40, Z:2.31 [[ 9.99789522e-01 -1.85606906e-02 -8.74137622e-03 5.27052347e+02] [ 1.85602656e-02 9.99827735e-01 -1.29744391e-04 3.40484072e+00] [ 8.74227853e-03 -3.25251820e-05 9.99961785e-01 2.30789714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.579254154 meters 0.014870021334186884 Centerline is valid? [True, True] Translation: X:527.11, Y:3.40, Z:2.31 [[ 9.99789650e-01 -1.88420192e-02 -8.10146464e-03 5.27113419e+02] [ 1.88416655e-02 9.99822473e-01 -1.19990083e-04 3.40339060e+00] [ 8.10228727e-03 -3.26802432e-05 9.99967175e-01 2.31039690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.639254154 meters 0.014984215463809408 Centerline is valid? [True, True] Translation: X:527.17, Y:3.40, Z:2.31 [[ 9.99721206e-01 -2.24879397e-02 -7.19742906e-03 5.27174942e+02] [ 2.24877567e-02 9.99747113e-01 -1.06355543e-04 3.39599994e+00] [ 7.19800064e-03 -5.55281419e-05 9.99974093e-01 2.31091876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.699254154 meters 0.01807704412318924 Centerline is valid? [True, True] Translation: X:527.24, Y:3.38, Z:2.31 [[ 9.99510533e-01 -3.03905512e-02 -7.42359732e-03 5.27237360e+02] [ 3.03905773e-02 9.99538094e-01 -1.09312419e-04 3.38463260e+00] [ 7.42349038e-03 -1.16348494e-04 9.99972439e-01 2.30934756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.759254154 meters 0.018254088989632315 Centerline is valid? [True, True] Translation: X:527.30, Y:3.38, Z:2.31 [[ 9.99274523e-01 -3.76401115e-02 -5.80090767e-03 5.27297442e+02] [ 3.76402517e-02 9.99291351e-01 -8.50450681e-05 3.37536832e+00] [ 5.79999796e-03 -1.33364255e-04 9.99983171e-01 2.31035651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.819254154 meters 0.02222035855995898 Centerline is valid? [True, True] Translation: X:527.36, Y:3.37, Z:2.31 [[ 9.98869472e-01 -4.72825103e-02 -4.91342469e-03 5.27358300e+02] [ 4.72827290e-02 9.98881544e-01 -7.17051336e-05 3.36558428e+00] [ 4.91131964e-03 -1.60696059e-04 9.99987926e-01 2.30882407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.879254154 meters 0.02181243836824896 Centerline is valid? [True, True] Translation: X:527.42, Y:3.36, Z:2.31 [[ 9.98561918e-01 -5.34762129e-02 -3.79337538e-03 5.27418996e+02] [ 5.34763878e-02 9.98569113e-01 -5.53573278e-05 3.36046433e+00] [ 3.79090779e-03 -1.47578294e-04 9.99992804e-01 2.30992748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.939254154 meters 0.025551991001365626 Centerline is valid? [True, True] Translation: X:527.48, Y:3.35, Z:2.31 [[ 9.98159735e-01 -6.05317395e-02 -3.61271705e-03 5.27478815e+02] [ 6.05319445e-02 9.98166259e-01 -5.26532390e-05 3.35087338e+00] [ 3.60927946e-03 -1.66128445e-04 9.99993473e-01 2.30965347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.999254154 meters 0.029383993155728646 Centerline is valid? [True, True] Translation: X:527.54, Y:3.34, Z:2.31 [[ 9.97886196e-01 -6.49221785e-02 -2.87247913e-03 5.27538670e+02] [ 6.49223261e-02 9.97890320e-01 -4.19159309e-05 3.34367134e+00] [ 2.86914039e-03 -1.44660698e-04 9.99995874e-01 2.30958047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.059254154 meters 0.03154578386648033 Centerline is valid? [True, True] Translation: X:527.60, Y:3.34, Z:2.31 [[ 9.97788334e-01 -6.63797226e-02 -3.48887812e-03 5.27600551e+02] [ 6.63799503e-02 9.97794418e-01 -5.06195370e-05 3.34158330e+00] [ 3.48454322e-03 -1.81083973e-04 9.99993913e-01 2.30839014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.119254154 meters 0.03231434904520359 Centerline is valid? [True, True] Translation: X:527.66, Y:3.34, Z:2.31 [[ 9.97736344e-01 -6.71005403e-02 -4.43911483e-03 5.27661542e+02] [ 6.71009173e-02 9.97746192e-01 -6.41079371e-05 3.34033585e+00] [ 4.43341159e-03 -2.33905858e-04 9.99990145e-01 2.30732676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.179254154 meters 0.031338549596627935 Centerline is valid? [True, True] Translation: X:527.72, Y:3.34, Z:2.31 [[ 9.97826616e-01 -6.57181169e-02 -4.81378947e-03 5.27723862e+02] [ 6.57185455e-02 9.97838197e-01 -6.92414789e-05 3.34414813e+00] [ 4.80793343e-03 -2.47264252e-04 9.99988411e-01 2.30641836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.239254154 meters 0.026985284095267466 Centerline is valid? [True, True] Translation: X:527.78, Y:3.35, Z:2.31 [[ 9.98095878e-01 -6.15506184e-02 -4.01744959e-03 5.27784999e+02] [ 6.15508843e-02 9.98103945e-01 -5.75413183e-05 3.35483637e+00] [ 4.01337399e-03 -1.89845822e-04 9.99991928e-01 2.30717109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.299254154 meters 0.02486244589204017 Centerline is valid? [True, True] Translation: X:527.85, Y:3.36, Z:2.31 [[ 9.98336853e-01 -5.74902730e-02 -4.28904331e-03 5.27845951e+02] [ 5.74905391e-02 9.98346049e-01 -6.13238428e-05 3.36360901e+00] [ 4.28547497e-03 -1.85357560e-04 9.99990800e-01 2.30687976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.359254154 meters 0.02296213412983489 Centerline is valid? [True, True] Translation: X:527.91, Y:3.37, Z:2.31 [[ 9.98617775e-01 -5.24918759e-02 -2.67241834e-03 5.27905429e+02] [ 5.24919611e-02 9.98621346e-01 -3.82848911e-05 3.36989245e+00] [ 2.67074365e-03 -1.02048507e-04 9.99996428e-01 2.30823260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.419254154 meters 0.023000787781399874 Centerline is valid? [True, True] Translation: X:527.97, Y:3.38, Z:2.31 [[ 9.98814199e-01 -4.85891157e-02 -3.04864004e-03 5.27966467e+02] [ 4.85892094e-02 9.98818846e-01 -4.33592227e-05 3.37699931e+00] [ 3.04714591e-03 -1.04823202e-04 9.99995352e-01 2.30613500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.479254154 meters 0.019017443321967246 Centerline is valid? [True, True] Translation: X:528.03, Y:3.39, Z:2.31 [[ 9.99020544e-01 -4.41251331e-02 -3.30525703e-03 5.28027544e+02] [ 4.41252193e-02 9.99026007e-01 -4.68703883e-05 3.38500761e+00] [ 3.30410590e-03 -9.90207106e-05 9.99994537e-01 2.30721577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.539254154 meters 0.01994685165729517 Centerline is valid? [True, True] Translation: X:528.09, Y:3.39, Z:2.31 [[ 9.99163462e-01 -4.06341817e-02 -4.60868200e-03 5.28087987e+02] [ 4.06343133e-02 9.99174083e-01 -6.51180940e-05 3.38577451e+00] [ 4.60752163e-03 -1.22207008e-04 9.99989378e-01 2.30655947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5992541539999 meters 0.019778111001865953 Centerline is valid? [True, True] Translation: X:528.15, Y:3.39, Z:2.30 [[ 9.99343998e-01 -3.57295626e-02 -5.91374267e-03 5.28149547e+02] [ 3.57296945e-02 9.99361487e-01 -8.33704029e-05 3.39285039e+00] [ 5.91294545e-03 -1.27980507e-04 9.99982510e-01 2.30485469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.659254154 meters 0.016989887075068103 Centerline is valid? [True, True] Translation: X:528.21, Y:3.40, Z:2.31 [[ 9.99385280e-01 -3.47473454e-02 -4.65663340e-03 5.28212178e+02] [ 3.47474176e-02 9.99396124e-01 -6.54330112e-05 3.39577816e+00] [ 4.65609499e-03 -9.64131971e-05 9.99989156e-01 2.30680922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7192541539999 meters 0.016541227619344078 Centerline is valid? [True, True] Translation: X:528.27, Y:3.40, Z:2.31 [[ 9.99476434e-01 -3.20376046e-02 -4.52212390e-03 5.28274830e+02] [ 3.20376467e-02 9.99486661e-01 -6.31360031e-05 3.39835494e+00] [ 4.52182524e-03 -8.17752606e-05 9.99989773e-01 2.30713612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.779254154 meters 0.01823980711633701 Centerline is valid? [True, True] Translation: X:528.34, Y:3.40, Z:2.31 [[ 9.99555228e-01 -2.91243079e-02 -6.41254636e-03 5.28337353e+02] [ 2.91243373e-02 9.99575793e-01 -8.88055585e-05 3.39925606e+00] [ 6.41241251e-03 -9.79951030e-05 9.99979435e-01 2.30582850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.839254154 meters 0.01666400005426874 Centerline is valid? [True, True] Translation: X:528.40, Y:3.40, Z:2.31 [[ 9.99473060e-01 -3.18956417e-02 -6.02253267e-03 5.28398601e+02] [ 3.18957203e-02 9.99491199e-01 -8.30135950e-05 3.39616969e+00] [ 6.02211617e-03 -1.09123166e-04 9.99981861e-01 2.30666390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.899254154 meters 0.021031054153727958 Centerline is valid? [True, True] Translation: X:528.46, Y:3.39, Z:2.30 [[ 9.99337777e-01 -3.53934447e-02 -8.44456955e-03 5.28459527e+02] [ 3.53937282e-02 9.99373439e-01 -1.15920989e-04 3.39113099e+00] [ 8.44338136e-03 -1.83040576e-04 9.99964337e-01 2.30495274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.959254154 meters 0.01996323844282157 Centerline is valid? [True, True] Translation: X:528.52, Y:3.39, Z:2.31 [[ 9.99073091e-01 -4.23787149e-02 -7.55001157e-03 5.28520912e+02] [ 4.23791426e-02 9.99101595e-01 -1.03389891e-04 3.38541655e+00] [ 7.54761013e-03 -2.16668959e-04 9.99971493e-01 2.30657148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.019254154 meters 0.019182517647634414 Centerline is valid? [True, True] Translation: X:528.58, Y:3.38, Z:2.31 [[ 9.98898064e-01 -4.60647686e-02 -8.98300495e-03 5.28583421e+02] [ 4.60655278e-02 9.98938413e-01 -1.22485183e-04 3.38468614e+00] [ 8.97911096e-03 -2.91456652e-04 9.99959644e-01 2.30664323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.079254154 meters 0.020231759674617152 Centerline is valid? [True, True] Translation: X:528.64, Y:3.38, Z:2.31 [[ 9.98860643e-01 -4.65855509e-02 -1.03539013e-02 5.28644952e+02] [ 4.65865948e-02 9.98914245e-01 -1.40466636e-04 3.38100818e+00] [ 1.03492032e-02 -3.42046408e-04 9.99946387e-01 2.30617683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.139254154 meters 0.018406805782880478 Centerline is valid? [True, True] Translation: X:528.71, Y:3.38, Z:2.31 [[ 9.99126404e-01 -4.05835943e-02 -9.97003419e-03 5.28705513e+02] [ 4.05842660e-02 9.99176110e-01 -1.35022880e-04 3.38348806e+00] [ 9.96729970e-03 -2.69721595e-04 9.99950289e-01 2.30764804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.199254154 meters 0.017031531087890264 Centerline is valid? [True, True] Translation: X:528.77, Y:3.39, Z:2.31 [[ 9.99379778e-01 -3.39452682e-02 -9.36895224e-03 5.28767461e+02] [ 3.39455723e-02 9.99423675e-01 -1.26613829e-04 3.38680903e+00] [ 9.36785062e-03 -1.91499145e-04 9.99956102e-01 2.30843736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.259254154 meters 0.01555908492616556 Centerline is valid? [True, True] Translation: X:528.83, Y:3.39, Z:2.31 [[ 9.99620067e-01 -2.60369363e-02 -9.04427082e-03 5.28828987e+02] [ 2.60369002e-02 9.99660975e-01 -1.21747735e-04 3.39059281e+00] [ 9.04437452e-03 -1.13783298e-04 9.99959092e-01 2.30918130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.319254154 meters 0.014359932679989125 Centerline is valid? [True, True] Translation: X:528.89, Y:3.39, Z:2.31 [[ 9.99803910e-01 -1.67763355e-02 -1.05212080e-02 5.28890021e+02] [ 1.67757793e-02 9.99859267e-01 -1.41128356e-04 3.39424343e+00] [ 1.05220949e-02 -3.54007809e-05 9.99944641e-01 2.30881612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.379254154 meters 0.014343335575620921 Centerline is valid? [True, True] Translation: X:528.95, Y:3.39, Z:2.31 [[ 9.99835406e-01 -1.36494902e-02 -1.19520682e-02 5.28949409e+02] [ 1.36485478e-02 9.99906841e-01 -1.60416424e-04 3.39344769e+00] [ 1.19531444e-02 -2.73835385e-06 9.99928559e-01 2.30769736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.439254154 meters 0.014304116362504223 Centerline is valid? [True, True] Translation: X:529.01, Y:3.39, Z:2.31 [[ 9.99798056e-01 -1.46728804e-02 -1.37314847e-02 5.29008461e+02] [ 1.46716970e-02 9.99892347e-01 -1.86922745e-04 3.38726267e+00] [ 1.37327492e-02 -1.45791860e-05 9.99905701e-01 2.30617124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.499254154 meters 0.014299292903458945 Centerline is valid? [True, True] Translation: X:529.07, Y:3.38, Z:2.30 [[ 9.99738261e-01 -1.78384501e-02 -1.43248008e-02 5.29065915e+02] [ 1.78374569e-02 9.99840880e-01 -1.97106905e-04 3.38107159e+00] [ 1.43260375e-02 -5.84627026e-05 9.99897375e-01 2.30494193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.559254154 meters 0.014801070518417295 Centerline is valid? [True, True] Translation: X:529.12, Y:3.37, Z:2.31 [[ 9.99590399e-01 -2.42211683e-02 -1.52436507e-02 5.29124753e+02] [ 2.42207672e-02 9.99706612e-01 -2.10953953e-04 3.37030843e+00] [ 1.52442879e-02 -1.58345368e-04 9.99883787e-01 2.30526339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.619254154 meters 0.015275589713154765 Centerline is valid? [True, True] Translation: X:529.18, Y:3.36, Z:2.31 [[ 9.99471733e-01 -2.90775553e-02 -1.45172615e-02 5.29183317e+02] [ 2.90776622e-02 9.99577135e-01 -2.03755548e-04 3.36328255e+00] [ 1.45170474e-02 -2.18480116e-04 9.99894598e-01 2.30616001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.679254154 meters 0.01714932373821839 Centerline is valid? [True, True] Translation: X:529.24, Y:3.35, Z:2.31 [[ 9.99243950e-01 -3.67639801e-02 -1.26466814e-02 5.29242954e+02] [ 3.67646604e-02 9.99323935e-01 -1.78763758e-04 3.35182744e+00] [ 1.26447035e-02 -2.86322346e-04 9.99920012e-01 2.30830664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.739254154 meters 0.01888661827668664 Centerline is valid? [True, True] Translation: X:529.30, Y:3.34, Z:2.31 [[ 9.98993922e-01 -4.32493433e-02 -1.18590696e-02 5.29303694e+02] [ 4.32503963e-02 9.99064250e-01 -1.67778078e-04 3.34421655e+00] [ 1.18552288e-02 -3.45300179e-04 9.99929665e-01 2.30909379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.799254154 meters 0.024395282425654818 Centerline is valid? [True, True] Translation: X:529.36, Y:3.33, Z:2.31 [[ 9.98359002e-01 -5.59415991e-02 -1.22409038e-02 5.29363709e+02] [ 5.59436720e-02 9.98433911e-01 -1.73276264e-04 3.32829654e+00] [ 1.22314268e-02 -5.11809191e-04 9.99925062e-01 2.30859046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.859254154 meters 0.02727585995156237 Centerline is valid? [True, True] Translation: X:529.42, Y:3.32, Z:2.31 [[ 9.97484973e-01 -6.96673733e-02 -1.30455590e-02 5.29424329e+02] [ 6.96708967e-02 9.97570014e-01 -1.84736894e-04 3.31876448e+00] [ 1.30267286e-02 -7.24623519e-04 9.99914886e-01 2.30807313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.919254154 meters 0.030075699623682006 Centerline is valid? [True, True] Translation: X:529.48, Y:3.31, Z:2.31 [[ 9.96921492e-01 -7.72989865e-02 -1.31303106e-02 5.29484372e+02] [ 7.73032132e-02 9.97007612e-01 -1.86079841e-04 3.31281354e+00] [ 1.31054034e-02 -8.29508204e-04 9.99913776e-01 2.30797518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.979254154 meters 0.0336266686629919 Centerline is valid? [True, True] Translation: X:529.55, Y:3.31, Z:2.31 [[ 9.96422488e-01 -8.35435585e-02 -1.27553574e-02 5.29545915e+02] [ 8.35480587e-02 9.96503733e-01 -1.80581860e-04 3.30803485e+00] [ 1.27258477e-02 -8.85749523e-04 9.99918631e-01 2.30751845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.039254154 meters 0.03482612426074026 Centerline is valid? [True, True] Translation: X:529.61, Y:3.31, Z:2.31 [[ 9.96386323e-01 -8.39839371e-02 -1.26883475e-02 5.29607146e+02] [ 8.39884311e-02 9.96466714e-01 -1.79198928e-04 3.30882491e+00] [ 1.26585658e-02 -8.87123041e-04 9.99919484e-01 2.30721949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0992541539999 meters 0.03538445995313932 Centerline is valid? [True, True] Translation: X:529.67, Y:3.31, Z:2.31 [[ 9.96618303e-01 -8.12539354e-02 -1.22374951e-02 5.29667107e+02] [ 8.12579127e-02 9.96693093e-01 -1.72676430e-04 3.31416653e+00] [ 1.22110574e-02 -8.22300814e-04 9.99925104e-01 2.30678397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.159254154 meters 0.0336171690680233 Centerline is valid? [True, True] Translation: X:529.73, Y:3.32, Z:2.31 [[ 9.96938493e-01 -7.73107126e-02 -1.16916849e-02 5.29727909e+02] [ 7.73140734e-02 9.97006774e-01 -1.64934811e-04 3.32149398e+00] [ 1.16694403e-02 -7.39501922e-04 9.99931636e-01 2.30722920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2192541539999 meters 0.03191599154630612 Centerline is valid? [True, True] Translation: X:529.79, Y:3.33, Z:2.31 [[ 9.97381384e-01 -7.15828087e-02 -1.03090623e-02 5.29788845e+02] [ 7.15851178e-02 9.97434484e-01 -1.45308713e-04 3.33189765e+00] [ 1.02930158e-02 -5.93047233e-04 9.99946850e-01 2.30823439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.279254154 meters 0.02587687254762598 Centerline is valid? [True, True] Translation: X:529.85, Y:3.35, Z:2.31 [[ 9.97674200e-01 -6.74449091e-02 -9.86789530e-03 5.29849783e+02] [ 6.74468247e-02 9.97722861e-01 -1.38916780e-04 3.34587065e+00] [ 9.85479395e-03 -5.26964516e-04 9.99951301e-01 2.30927876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.339254154 meters 0.02570464173043347 Centerline is valid? [True, True] Translation: X:529.91, Y:3.36, Z:2.31 [[ 9.97973460e-01 -6.27276829e-02 -1.06869261e-02 5.29910073e+02] [ 6.27296608e-02 9.98030544e-01 -1.50357721e-04 3.35553314e+00] [ 1.06753102e-02 -5.20334231e-04 9.99942882e-01 2.30889903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.399254154 meters 0.024501007673349433 Centerline is valid? [True, True] Translation: X:529.97, Y:3.36, Z:2.31 [[ 9.98138037e-01 -6.00918532e-02 -1.04607879e-02 5.29971801e+02] [ 6.00936073e-02 9.98192735e-01 -1.46843000e-04 3.36157328e+00] [ 1.04507065e-02 -4.82056895e-04 9.99945274e-01 2.30883705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.459254154 meters 0.023818080148087815 Centerline is valid? [True, True] Translation: X:530.03, Y:3.37, Z:2.31 [[ 9.98472455e-01 -5.43080505e-02 -1.01682310e-02 5.30031359e+02] [ 5.43094102e-02 9.98524145e-01 -1.42554859e-04 3.37074287e+00] [ 1.01609661e-02 -4.09893530e-04 9.99948292e-01 2.30889867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.519254154 meters 0.01885707299648842 Centerline is valid? [True, True] Translation: X:530.09, Y:3.39, Z:2.31 [[ 9.98852226e-01 -4.71291980e-02 -8.54802995e-03 5.30092203e+02] [ 4.71298963e-02 9.98888762e-01 -1.19844419e-04 3.38694143e+00] [ 8.54417922e-03 -2.83160900e-04 9.99963458e-01 2.31039118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.579254154 meters 0.018374485517444545 Centerline is valid? [True, True] Translation: X:530.15, Y:3.39, Z:2.31 [[ 9.98962851e-01 -4.47834593e-02 -8.22586359e-03 5.30154364e+02] [ 4.47840291e-02 9.98996685e-01 -1.15011003e-04 3.39119983e+00] [ 8.22276105e-03 -2.53495595e-04 9.99966160e-01 2.31080266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.639254154 meters 0.017663108711558028 Centerline is valid? [True, True] Translation: X:530.22, Y:3.40, Z:2.31 [[ 9.99145160e-01 -4.05974896e-02 -7.79702575e-03 5.30215496e+02] [ 4.05978776e-02 9.99175560e-01 -1.08578404e-04 3.39795172e+00] [ 7.79500559e-03 -2.08057110e-04 9.99969597e-01 2.31028641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.699254154 meters 0.016504492639785623 Centerline is valid? [True, True] Translation: X:530.28, Y:3.40, Z:2.31 [[ 9.99278494e-01 -3.73852353e-02 -6.69588488e-03 5.30276847e+02] [ 3.73854508e-02 9.99300915e-01 -9.30192257e-05 3.40447211e+00] [ 6.69468143e-03 -1.57376563e-04 9.99977578e-01 2.31011368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.759254154 meters 0.016533333697355213 Centerline is valid? [True, True] Translation: X:530.34, Y:3.41, Z:2.31 [[ 9.99373543e-01 -3.50377628e-02 -4.98758827e-03 5.30338205e+02] [ 3.50378539e-02 9.99385983e-01 -6.91327515e-05 3.40962283e+00] [ 4.98694806e-03 -1.05664946e-04 9.99987560e-01 2.31060558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.819254154 meters 0.016728391628410513 Centerline is valid? [True, True] Translation: X:530.40, Y:3.41, Z:2.31 [[ 9.99384933e-01 -3.48649289e-02 -3.76730020e-03 5.30400503e+02] [ 3.48649802e-02 9.99392030e-01 -5.20807149e-05 3.41234839e+00] [ 3.76682559e-03 -7.92981653e-05 9.99992902e-01 2.31096326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.879254154 meters 0.01650145236565082 Centerline is valid? [True, True] Translation: X:530.46, Y:3.42, Z:2.31 [[ 9.99353169e-01 -3.58456570e-02 -2.88655681e-03 5.30463058e+02] [ 3.58456916e-02 9.99357336e-01 -3.97761958e-05 3.41566894e+00] [ 2.88612753e-03 -6.37201578e-05 9.99995833e-01 2.31003808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.939254154 meters 0.016948736230661683 Centerline is valid? [True, True] Translation: X:530.53, Y:3.42, Z:2.31 [[ 9.99310172e-01 -3.70655110e-02 -2.30832304e-03 5.30525330e+02] [ 3.70655366e-02 9.99312836e-01 -3.17003069e-05 3.41626059e+00] [ 2.30791184e-03 -5.38807932e-05 9.99997335e-01 2.30975611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.999254154 meters 0.017532635131208646 Centerline is valid? [True, True] Translation: X:530.59, Y:3.42, Z:2.31 [[ 9.99203593e-01 -3.98502949e-02 -2.03305479e-03 5.30587364e+02] [ 3.98503207e-02 9.99205660e-01 -2.78095332e-05 3.41659044e+00] [ 2.03254807e-03 -5.32304997e-05 9.99997933e-01 2.30841721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.059254154 meters 0.0194259001129472 Centerline is valid? [True, True] Translation: X:530.65, Y:3.41, Z:2.31 [[ 9.99117308e-01 -4.19503325e-02 -2.18491411e-03 5.30648826e+02] [ 4.19503678e-02 9.99119695e-01 -2.96586328e-05 3.41457502e+00] [ 2.18423491e-03 -6.20254974e-05 9.99997613e-01 2.30827657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.119254154 meters 0.019213218383994736 Centerline is valid? [True, True] Translation: X:530.71, Y:3.42, Z:2.31 [[ 9.98986935e-01 -4.49815845e-02 -1.32663029e-03 5.30710638e+02] [ 4.49816001e-02 9.98987815e-01 -1.80328164e-05 3.41668595e+00] [ 1.32609864e-03 -4.16594051e-05 9.99999120e-01 2.30755655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.179254154 meters 0.019880375861378398 Centerline is valid? [True, True] Translation: X:530.77, Y:3.42, Z:2.31 [[ 9.98888553e-01 -4.71142246e-02 -1.38123429e-03 5.30772614e+02] [ 4.71142437e-02 9.98889507e-01 -1.87440018e-05 3.41792944e+00] [ 1.38058355e-03 -4.63526402e-05 9.99999046e-01 2.30730154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.239254154 meters 0.020641937075053712 Centerline is valid? [True, True] Translation: X:530.83, Y:3.42, Z:2.31 [[ 9.98853374e-01 -4.78386620e-02 -1.84363943e-03 5.30834949e+02] [ 4.78386977e-02 9.98855074e-01 -2.47736573e-05 3.41850032e+00] [ 1.84271373e-03 -6.34520580e-05 9.99998300e-01 2.30653588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.299254154 meters 0.02045350081979042 Centerline is valid? [True, True] Translation: X:530.90, Y:3.42, Z:2.31 [[ 9.98829566e-01 -4.83263524e-02 -2.01523038e-03 5.30897092e+02] [ 4.83263964e-02 9.98831597e-01 -2.69005911e-05 3.42020443e+00] [ 2.01417578e-03 -7.05197162e-05 9.99997969e-01 2.30597047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.359254154 meters 0.020509941190597538 Centerline is valid? [True, True] Translation: X:530.96, Y:3.42, Z:2.31 [[ 9.98839744e-01 -4.80658980e-02 -2.97236717e-03 5.30959757e+02] [ 4.80659936e-02 9.98844161e-01 -3.93288980e-05 3.42212050e+00] [ 2.97082197e-03 -1.03586515e-04 9.99995582e-01 2.30541784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.419254154 meters 0.020957888859343674 Centerline is valid? [True, True] Translation: X:531.02, Y:3.42, Z:2.31 [[ 9.98893067e-01 -4.69077894e-02 -3.50717367e-03 5.31020760e+02] [ 4.69079167e-02 9.98899217e-01 -4.59766139e-05 3.42480719e+00] [ 3.50546970e-03 -1.18588490e-04 9.99993849e-01 2.30539373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.479254154 meters 0.020695390417506076 Centerline is valid? [True, True] Translation: X:531.08, Y:3.43, Z:2.31 [[ 9.99007395e-01 -4.44064690e-02 -3.50586193e-03 5.31082329e+02] [ 4.44065815e-02 9.99013540e-01 -4.57831814e-05 3.42747441e+00] [ 3.50443660e-03 -1.09945606e-04 9.99993853e-01 2.30540528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.539254154 meters 0.01944580000019088 Centerline is valid? [True, True] Translation: X:531.14, Y:3.43, Z:2.31 [[ 9.99208265e-01 -3.96381657e-02 -3.41459786e-03 5.31143897e+02] [ 3.96382454e-02 9.99214095e-01 -4.43405584e-05 3.43232570e+00] [ 3.41367188e-03 -9.10432155e-05 9.99994169e-01 2.30543651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5992541539999 meters 0.01755078565163066 Centerline is valid? [True, True] Translation: X:531.21, Y:3.44, Z:2.31 [[ 9.99433864e-01 -3.34089110e-02 -3.97432715e-03 5.31205737e+02] [ 3.34089708e-02 9.99441763e-01 -5.13710975e-05 3.43943016e+00] [ 3.97382479e-03 -8.14361653e-05 9.99992101e-01 2.30583165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.659254154 meters 0.015481627310919918 Centerline is valid? [True, True] Translation: X:531.27, Y:3.45, Z:2.31 [[ 9.99564083e-01 -2.92197807e-02 -4.22483989e-03 5.31267572e+02] [ 2.92198121e-02 9.99573009e-01 -5.43062367e-05 3.44630070e+00] [ 4.22462274e-03 -6.91664640e-05 9.99991074e-01 2.30600116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7192541539999 meters 0.01489580081057754 Centerline is valid? [True, True] Translation: X:531.33, Y:3.45, Z:2.31 [[ 9.99663934e-01 -2.55838966e-02 -4.18127701e-03 5.31329374e+02] [ 2.55838968e-02 9.99672677e-01 -5.34448021e-05 3.44976012e+00] [ 4.18127571e-03 -5.35465185e-05 9.99991257e-01 2.30605278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.779254154 meters 0.014497896265160364 Centerline is valid? [True, True] Translation: X:531.39, Y:3.45, Z:2.31 [[ 9.99718886e-01 -2.34095818e-02 -3.76039078e-03 5.31391645e+02] [ 2.34095675e-02 9.99725957e-01 -4.78223397e-05 3.45215972e+00] [ 3.76047978e-03 -4.02202258e-05 9.99992929e-01 2.30653213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.839254154 meters 0.014975484346237923 Centerline is valid? [True, True] Translation: X:531.45, Y:3.45, Z:2.31 [[ 9.99673860e-01 -2.53135124e-02 -3.37623157e-03 5.31452688e+02] [ 2.53135126e-02 9.99679561e-01 -4.27008561e-05 3.45060226e+00] [ 3.37623060e-03 -4.27773507e-05 9.99994300e-01 2.30695825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.899254154 meters 0.015819388934498045 Centerline is valid? [True, True] Translation: X:531.52, Y:3.45, Z:2.31 [[ 9.99570589e-01 -2.91770156e-02 -2.70929285e-03 5.31515288e+02] [ 2.91770300e-02 9.99574259e-01 -3.41942353e-05 3.44727362e+00] [ 2.70913708e-03 -4.48695671e-05 9.99996329e-01 2.30717772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.959254154 meters 0.017485508783946627 Centerline is valid? [True, True] Translation: X:531.58, Y:3.44, Z:2.31 [[ 9.99270436e-01 -3.80792323e-02 -2.92709536e-03 5.31576930e+02] [ 3.80792882e-02 9.99274720e-01 -3.66568254e-05 3.44127817e+00] [ 2.92636826e-03 -7.48316258e-05 9.99995715e-01 2.30667554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.019254154 meters 0.01990428591907473 Centerline is valid? [True, True] Translation: X:531.64, Y:3.44, Z:2.31 [[ 9.98982805e-01 -4.49647617e-02 -3.39506940e-03 5.31637680e+02] [ 4.49648772e-02 9.98988568e-01 -4.23480336e-05 3.43554037e+00] [ 3.39353968e-03 -1.10353921e-04 9.99994236e-01 2.30683902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.079254154 meters 0.02546195384843766 Centerline is valid? [True, True] Translation: X:531.70, Y:3.43, Z:2.31 [[ 9.98438748e-01 -5.57036074e-02 -4.14423803e-03 5.31697990e+02] [ 5.57038722e-02 9.98447333e-01 -5.15984130e-05 3.42571408e+00] [ 4.14067762e-03 -1.79332251e-04 9.99991411e-01 2.30584354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.139254154 meters 0.026971897263972058 Centerline is valid? [True, True] Translation: X:531.76, Y:3.42, Z:2.30 [[ 9.98024932e-01 -6.25976796e-02 -5.26932918e-03 5.31758995e+02] [ 6.25982039e-02 9.98038807e-01 -6.55357526e-05 3.42358635e+00] [ 5.26309739e-03 -2.64444227e-04 9.99986115e-01 2.30495798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.199254154 meters 0.03116861374553737 Centerline is valid? [True, True] Translation: X:531.82, Y:3.42, Z:2.30 [[ 9.97474007e-01 -7.07822002e-02 -5.95700750e-03 5.31819845e+02] [ 7.07830159e-02 9.97491734e-01 -7.40543528e-05 3.41972141e+00] [ 5.94730747e-03 -3.47787664e-04 9.99982254e-01 2.30473396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.259254154 meters 0.033269752527184074 Centerline is valid? [True, True] Translation: X:531.88, Y:3.42, Z:2.30 [[ 9.97231109e-01 -7.40880890e-02 -6.40862547e-03 5.31881037e+02] [ 7.40891017e-02 9.97251623e-01 -7.95717157e-05 3.41976877e+00] [ 6.39690747e-03 -3.95457914e-04 9.99979461e-01 2.30492191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.319254154 meters 0.03473367678549423 Centerline is valid? [True, True] Translation: X:531.94, Y:3.42, Z:2.31 [[ 9.97137135e-01 -7.54116231e-02 -5.53366909e-03 5.31943527e+02] [ 7.54123992e-02 9.97152428e-01 -6.85596047e-05 3.42364331e+00] [ 5.52308177e-03 -3.48943935e-04 9.99984687e-01 2.30608099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.379254154 meters 0.035523292326226516 Centerline is valid? [True, True] Translation: X:532.01, Y:3.43, Z:2.31 [[ 9.97211863e-01 -7.44619564e-02 -4.89056112e-03 5.32005882e+02] [ 7.44625527e-02 9.97223809e-01 -6.02806073e-05 3.42796105e+00] [ 4.88147260e-03 -3.04051129e-04 9.99988039e-01 2.30759042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.439254154 meters 0.03596064057379252 Centerline is valid? [True, True] Translation: X:532.07, Y:3.43, Z:2.31 [[ 9.97410385e-01 -7.17834183e-02 -4.43449768e-03 5.32065882e+02] [ 7.17838835e-02 9.97420208e-01 -5.43786719e-05 3.43478014e+00] [ 4.42696108e-03 -2.64087612e-04 9.99990166e-01 2.30819130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.499254154 meters 0.0351515826019473 Centerline is valid? [True, True] Translation: X:532.13, Y:3.44, Z:2.31 [[ 9.97470037e-01 -7.09136812e-02 -4.97752745e-03 5.32128178e+02] [ 7.09142567e-02 9.97482413e-01 -6.09979362e-05 3.43892786e+00] [ 4.96932168e-03 -2.92134045e-04 9.99987610e-01 2.30838527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.559254154 meters 0.03454656936145162 Centerline is valid? [True, True] Translation: X:532.19, Y:3.44, Z:2.31 [[ 9.97642067e-01 -6.83357099e-02 -6.36686045e-03 5.32189579e+02] [ 6.83366021e-02 9.97662319e-01 -7.75685900e-05 3.44489875e+00] [ 6.35727747e-03 -3.57703921e-04 9.99979728e-01 2.30708646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.619254154 meters 0.02822301512579518 Centerline is valid? [True, True] Translation: X:532.25, Y:3.46, Z:2.31 [[ 9.98028127e-01 -6.23114500e-02 -7.55911848e-03 5.32249530e+02] [ 6.23125366e-02 9.98056681e-01 -9.19148618e-05 3.46271098e+00] [ 7.55015605e-03 -3.79294229e-04 9.99971425e-01 2.30662838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.679254154 meters 0.0248477674357738 Centerline is valid? [True, True] Translation: X:532.31, Y:3.48, Z:2.31 [[ 9.98601625e-01 -5.23738143e-02 -7.19571485e-03 5.32308725e+02] [ 5.23745410e-02 9.98627508e-01 -8.75489494e-05 3.47773280e+00] [ 7.19042406e-03 -2.89445739e-04 9.99974107e-01 2.30795622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.739254154 meters 0.02123687931422183 Centerline is valid? [True, True] Translation: X:532.37, Y:3.49, Z:2.31 [[ 9.99027336e-01 -4.36622380e-02 -6.16371664e-03 5.32369102e+02] [ 4.36626051e-02 9.99046331e-01 -7.50651331e-05 3.49067399e+00] [ 6.16111601e-03 -1.94131806e-04 9.99981001e-01 2.30937699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.799254154 meters 0.01761335369120599 Centerline is valid? [True, True] Translation: X:532.43, Y:3.51, Z:2.31 [[ 9.99511458e-01 -3.10361570e-02 -3.68810438e-03 5.32429396e+02] [ 3.10362025e-02 9.99518260e-01 -4.49159137e-05 3.50666865e+00] [ 3.68772169e-03 -6.95707840e-05 9.99993198e-01 2.31126552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.859254154 meters 0.015937184967188628 Centerline is valid? [True, True] Translation: X:532.49, Y:3.52, Z:2.31 [[ 9.99718297e-01 -2.35549917e-02 -2.91371846e-03 5.32490605e+02] [ 2.35549882e-02 9.99722542e-01 -3.55406492e-05 3.51748010e+00] [ 2.91374719e-03 -3.31019666e-05 9.99995754e-01 2.31029329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.919254154 meters 0.015512670776618586 Centerline is valid? [True, True] Translation: X:532.55, Y:3.52, Z:2.31 [[ 9.99728087e-01 -2.28105994e-02 -4.84036138e-03 5.32552390e+02] [ 2.28105823e-02 9.99739803e-01 -5.87389445e-05 3.51996957e+00] [ 4.84044180e-03 -5.16884893e-05 9.99988284e-01 2.30883652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.979254154 meters 0.015923067685812527 Centerline is valid? [True, True] Translation: X:532.61, Y:3.52, Z:2.31 [[ 9.99584592e-01 -2.78426148e-02 -7.44525540e-03 5.32615000e+02] [ 2.78427194e-02 9.99612312e-01 -8.96157311e-05 3.51800862e+00] [ 7.44486410e-03 -1.17717653e-04 9.99972280e-01 2.30688742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.039254154 meters 0.017270326717593338 Centerline is valid? [True, True] Translation: X:532.68, Y:3.51, Z:2.31 [[ 9.99441644e-01 -3.25338648e-02 -7.61231846e-03 5.32675694e+02] [ 3.25341137e-02 9.99470621e-01 -9.11692330e-05 3.51376631e+00] [ 7.61125475e-03 -1.56541706e-04 9.99971022e-01 2.30640269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0992541539999 meters 0.0184215159185084 Centerline is valid? [True, True] Translation: X:532.74, Y:3.51, Z:2.31 [[ 9.99300579e-01 -3.67369845e-02 -6.98191452e-03 5.32738082e+02] [ 3.67372987e-02 9.99324954e-01 -8.32818828e-05 3.50962972e+00] [ 6.98026093e-03 -1.73273046e-04 9.99975623e-01 2.30788169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.159254154 meters 0.018283871306332328 Centerline is valid? [True, True] Translation: X:532.80, Y:3.51, Z:2.31 [[ 9.99337315e-01 -3.59122340e-02 -5.93645600e-03 5.32800675e+02] [ 3.59124489e-02 9.99354937e-01 -7.04287075e-05 3.50748879e+00] [ 5.93515586e-03 -1.42810637e-04 9.99982377e-01 2.30854273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2192541539999 meters 0.018180939176710487 Centerline is valid? [True, True] Translation: X:532.86, Y:3.51, Z:2.31 [[ 9.99392463e-01 -3.43911398e-02 -5.65277717e-03 5.32862517e+02] [ 3.43913126e-02 9.99408442e-01 -6.66698428e-05 3.50638028e+00] [ 5.65172608e-03 -1.27777088e-04 9.99984021e-01 2.30845031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.279254154 meters 0.017730938358507628 Centerline is valid? [True, True] Translation: X:532.92, Y:3.50, Z:2.31 [[ 9.99439620e-01 -3.29655054e-02 -5.80699688e-03 5.32924325e+02] [ 3.29656661e-02 9.99456482e-01 -6.80609579e-05 3.50444800e+00] [ 5.80608434e-03 -1.23408703e-04 9.99983137e-01 2.30856595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.339254154 meters 0.017705737637621243 Centerline is valid? [True, True] Translation: X:532.99, Y:3.50, Z:2.31 [[ 9.99489813e-01 -3.12263193e-02 -6.71053770e-03 5.32986056e+02] [ 3.12264984e-02 9.99512331e-01 -7.81205120e-05 3.50041733e+00] [ 6.70970459e-03 -1.31465938e-04 9.99977481e-01 2.30793560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.399254154 meters 0.016734908306128893 Centerline is valid? [True, True] Translation: X:533.05, Y:3.50, Z:2.31 [[ 9.99549551e-01 -2.89966312e-02 -7.73884907e-03 5.33047896e+02] [ 2.89968072e-02 9.99579500e-01 -8.94842041e-05 3.50058163e+00] [ 7.73818963e-03 -1.34958019e-04 9.99970051e-01 2.30704998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.459254154 meters 0.016255697114222385 Centerline is valid? [True, True] Translation: X:533.11, Y:3.50, Z:2.31 [[ 9.99671489e-01 -2.37886706e-02 -9.54008153e-03 5.33109200e+02] [ 2.37887116e-02 9.99717003e-01 -1.09188625e-04 3.49820483e+00] [ 9.53997916e-03 -1.17793493e-04 9.99954486e-01 2.30608113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.519254154 meters 0.015410160952636394 Centerline is valid? [True, True] Translation: X:533.17, Y:3.50, Z:2.31 [[ 9.99792101e-01 -1.76355760e-02 -1.02343080e-02 5.33170915e+02] [ 1.76353098e-02 9.99844479e-01 -1.16255909e-04 3.49938332e+00] [ 1.02347666e-02 -6.42534532e-05 9.99947621e-01 2.30667523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.579254154 meters 0.015395810279942784 Centerline is valid? [True, True] Translation: X:533.23, Y:3.50, Z:2.31 [[ 9.99835580e-01 -1.47216906e-02 -1.05870022e-02 5.33231722e+02] [ 1.47212442e-02 9.99891629e-01 -1.20094055e-04 3.49897681e+00] [ 1.05876229e-02 -3.57795369e-05 9.99943949e-01 2.30676440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.639254154 meters 0.015176798686707816 Centerline is valid? [True, True] Translation: X:533.29, Y:3.49, Z:2.31 [[ 9.99823082e-01 -1.48862147e-02 -1.14980346e-02 5.33290556e+02] [ 1.48856946e-02 9.99889193e-01 -1.30813504e-04 3.49371235e+00] [ 1.14987079e-02 -4.03658706e-05 9.99933887e-01 2.30672349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.699254154 meters 0.015742079992442915 Centerline is valid? [True, True] Translation: X:533.35, Y:3.49, Z:2.31 [[ 9.99757622e-01 -1.80001306e-02 -1.26764243e-02 5.33349329e+02] [ 1.79997181e-02 9.99837981e-01 -1.46641189e-04 3.48840793e+00] [ 1.26770101e-02 -8.15664178e-05 9.99919640e-01 2.30719562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.759254154 meters 0.015900176627806007 Centerline is valid? [True, True] Translation: X:533.41, Y:3.48, Z:2.31 [[ 9.99577817e-01 -2.56917892e-02 -1.35691071e-02 5.33409131e+02] [ 2.56920038e-02 9.99669893e-01 -1.58533193e-04 3.47822423e+00] [ 1.35687008e-02 -1.90151287e-04 9.99907923e-01 2.30739632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.819254154 meters 0.01695247817513227 Centerline is valid? [True, True] Translation: X:533.47, Y:3.47, Z:2.31 [[ 9.99358875e-01 -3.34964029e-02 -1.26423841e-02 5.33469920e+02] [ 3.34972114e-02 9.99438800e-01 -1.47856673e-04 3.46795949e+00] [ 1.26402419e-02 -2.75722734e-04 9.99920071e-01 2.30948217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.879254154 meters 0.01751314293060749 Centerline is valid? [True, True] Translation: X:533.53, Y:3.46, Z:2.31 [[ 9.99256339e-01 -3.67972239e-02 -1.15209988e-02 5.33530876e+02] [ 3.67981160e-02 9.99322711e-01 -1.34608666e-04 3.46385189e+00] [ 1.15181490e-02 -2.89442488e-04 9.99933622e-01 2.31074569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.939254154 meters 0.018181756511047684 Centerline is valid? [True, True] Translation: X:533.59, Y:3.46, Z:2.31 [[ 9.99235421e-01 -3.75831175e-02 -1.07741262e-02 5.33592136e+02] [ 3.75839480e-02 9.99293466e-01 -1.25452220e-04 3.45872579e+00] [ 1.07712288e-02 -2.79577899e-04 9.99941950e-01 2.31165523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.999254154 meters 0.01742395317408297 Centerline is valid? [True, True] Translation: X:533.65, Y:3.46, Z:2.31 [[ 9.99330967e-01 -3.50473181e-02 -1.04548753e-02 5.33653973e+02] [ 3.50479674e-02 9.99385624e-01 -1.21163382e-04 3.45875951e+00] [ 1.04526986e-02 -2.45339810e-04 9.99945339e-01 2.31220709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.059254154 meters 0.016314739791916347 Centerline is valid? [True, True] Translation: X:533.71, Y:3.46, Z:2.31 [[ 9.99573242e-01 -2.78695169e-02 -8.75346435e-03 5.33714450e+02] [ 2.78696994e-02 9.99611559e-01 -1.01161906e-04 3.46066665e+00] [ 8.75288349e-03 -1.42837686e-04 9.99961683e-01 2.31355869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.119254154 meters 0.014983020267351547 Centerline is valid? [True, True] Translation: X:533.78, Y:3.46, Z:2.31 [[ 9.99793440e-01 -1.84945734e-02 -8.42782457e-03 5.33775356e+02] [ 1.84944107e-02 9.99828959e-01 -9.72484653e-05 3.46472624e+00] [ 8.42818164e-03 -5.86392709e-05 9.99964481e-01 2.31422607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.179254154 meters 0.014770248730910476 Centerline is valid? [True, True] Translation: X:533.84, Y:3.47, Z:2.31 [[ 9.99860802e-01 -1.37424600e-02 -9.46161425e-03 5.33835617e+02] [ 1.37420429e-02 9.99905568e-01 -1.09088419e-04 3.46685137e+00] [ 9.46221991e-03 -2.09486751e-05 9.99955232e-01 2.31348211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.239254154 meters 0.01467835702670113 Centerline is valid? [True, True] Translation: X:533.90, Y:3.47, Z:2.31 [[ 9.99881177e-01 -1.05520235e-02 -1.12377166e-02 5.33895557e+02] [ 1.05512310e-02 9.99944326e-01 -1.29812548e-04 3.46646724e+00] [ 1.12384608e-02 1.12253794e-05 9.99936846e-01 2.31156924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.299254154 meters 0.014719652749321443 Centerline is valid? [True, True] Translation: X:533.95, Y:3.46, Z:2.31 [[ 9.99863123e-01 -1.15534816e-02 -1.18428041e-02 5.33953274e+02] [ 1.15526619e-02 9.99933256e-01 -1.37629351e-04 3.46445344e+00] [ 1.18436038e-02 7.94600925e-07 9.99929862e-01 2.31095581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.359254154 meters 0.0148150563385706 Centerline is valid? [True, True] Translation: X:534.01, Y:3.46, Z:2.31 [[ 9.99792975e-01 -1.62932617e-02 -1.21875837e-02 5.34012552e+02] [ 1.62927340e-02 9.99867254e-01 -1.42584281e-04 3.45835612e+00] [ 1.21882890e-02 -5.60142973e-05 9.99925718e-01 2.31151695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.419254154 meters 0.014990355236424531 Centerline is valid? [True, True] Translation: X:534.07, Y:3.46, Z:2.31 [[ 9.99732865e-01 -1.95672547e-02 -1.23012853e-02 5.34071167e+02] [ 1.95669363e-02 9.99808538e-01 -1.46247416e-04 3.45679951e+00] [ 1.23017917e-02 -9.44901173e-05 9.99924326e-01 2.31256076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.479254154 meters 0.01697057759862613 Centerline is valid? [True, True] Translation: X:534.13, Y:3.45, Z:2.31 [[ 9.99415234e-01 -3.19636911e-02 -1.21454731e-02 5.34130310e+02] [ 3.19642787e-02 9.99489001e-01 -1.45784923e-04 3.44549532e+00] [ 1.21439266e-02 -2.42521612e-04 9.99926230e-01 2.31353421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.539254154 meters 0.019063219116856624 Centerline is valid? [True, True] Translation: X:534.19, Y:3.44, Z:2.31 [[ 9.99061248e-01 -4.18994303e-02 -1.10027763e-02 5.34191326e+02] [ 4.19005138e-02 9.99121779e-01 -1.32125541e-04 3.43842251e+00] [ 1.09986494e-02 -3.29020474e-04 9.99939459e-01 2.31490571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5992541539999 meters 0.024259605648964552 Centerline is valid? [True, True] Translation: X:534.25, Y:3.43, Z:2.32 [[ 9.98344578e-01 -5.67360710e-02 -9.44042266e-03 5.34252128e+02] [ 5.67375313e-02 9.98389122e-01 -1.13281206e-04 3.42580237e+00] [ 9.43164242e-03 -4.22532598e-04 9.99955432e-01 2.31633371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.659254154 meters 0.026181241012377413 Centerline is valid? [True, True] Translation: X:534.31, Y:3.42, Z:2.32 [[ 9.97803535e-01 -6.56528545e-02 -8.82088752e-03 5.34313046e+02] [ 6.56544785e-02 9.97842412e-01 -1.05649768e-04 3.42162399e+00] [ 8.80879188e-03 -4.73713058e-04 9.99961090e-01 2.31750349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7192541539999 meters 0.03195507260275236 Centerline is valid? [True, True] Translation: X:534.37, Y:3.41, Z:2.32 [[ 9.97051771e-01 -7.61089131e-02 -9.75703888e-03 5.34373532e+02] [ 7.61114006e-02 9.97099314e-01 -1.16662303e-04 3.41344819e+00] [ 9.73761581e-03 -6.26303539e-04 9.99952392e-01 2.31609584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.779254154 meters 0.03249036272492578 Centerline is valid? [True, True] Translation: X:534.43, Y:3.41, Z:2.32 [[ 9.96620518e-01 -8.13791665e-02 -1.11791929e-02 5.34434268e+02] [ 8.13827624e-02 9.96682913e-01 -1.33632342e-04 3.41422238e+00] [ 1.11529854e-02 -7.76612866e-04 9.99937502e-01 2.31670133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.839254154 meters 0.033143714231051204 Centerline is valid? [True, True] Translation: X:534.50, Y:3.42, Z:2.32 [[ 9.96608828e-01 -8.15388848e-02 -1.10568559e-02 5.34496415e+02] [ 8.15424178e-02 9.96669863e-01 -1.31656771e-04 3.41577499e+00] [ 1.10307703e-02 -7.70392467e-04 9.99938862e-01 2.31682351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.899254154 meters 0.03252098910757596 Centerline is valid? [True, True] Translation: X:534.56, Y:3.42, Z:2.32 [[ 9.96903482e-01 -7.76718139e-02 -1.22693814e-02 5.34557415e+02] [ 7.76758786e-02 9.96978654e-01 -1.45616179e-04 3.42137129e+00] [ 1.22436217e-02 -8.07869708e-04 9.99924718e-01 2.31589245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.959254154 meters 0.031119208041306457 Centerline is valid? [True, True] Translation: X:534.62, Y:3.43, Z:2.31 [[ 9.97239868e-01 -7.30303928e-02 -1.33868577e-02 5.34618190e+02] [ 7.30348163e-02 9.97329379e-01 -1.58788896e-04 3.42751392e+00] [ 1.33627029e-02 -8.19356073e-04 9.99910379e-01 2.31482901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.019254154 meters 0.029452845717471574 Centerline is valid? [True, True] Translation: X:534.68, Y:3.44, Z:2.31 [[ 9.97797965e-01 -6.48029829e-02 -1.41348653e-02 5.34677363e+02] [ 6.48070889e-02 9.97897797e-01 -1.67845448e-04 3.43725437e+00] [ 1.41160278e-02 -7.48563624e-04 9.99900084e-01 2.31424183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.079254154 meters 0.022577837862140397 Centerline is valid? [True, True] Translation: X:534.74, Y:3.46, Z:2.32 [[ 9.98405655e-01 -5.49338775e-02 -1.29775436e-02 5.34737940e+02] [ 5.49365071e-02 9.98489838e-01 -1.54040009e-04 3.45573674e+00] [ 1.29664074e-02 -5.59146500e-04 9.99915776e-01 2.31680951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.139254154 meters 0.02103972681803484 Centerline is valid? [True, True] Translation: X:534.80, Y:3.47, Z:2.32 [[ 9.98831368e-01 -4.69014338e-02 -1.16684736e-02 5.34798452e+02] [ 4.69030129e-02 9.98899438e-01 -1.38433414e-04 3.46514646e+00] [ 1.16621245e-02 -4.09014933e-04 9.99931911e-01 2.31739659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.199254154 meters 0.018312402533782437 Centerline is valid? [True, True] Translation: X:534.86, Y:3.48, Z:2.32 [[ 9.99369694e-01 -3.42084539e-02 -9.48666651e-03 5.34857954e+02] [ 3.42089251e-02 9.99414697e-01 -1.12647208e-04 3.47761098e+00] [ 9.48496742e-03 -2.11952458e-04 9.99954994e-01 2.31937443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.259254154 meters 0.015726651714919715 Centerline is valid? [True, True] Translation: X:534.92, Y:3.49, Z:2.32 [[ 9.99591242e-01 -2.73537903e-02 -8.31381673e-03 5.34919726e+02] [ 2.73539163e-02 9.99625807e-01 -9.85772738e-05 3.48902404e+00] [ 8.31340222e-03 -1.28878467e-04 9.99965435e-01 2.32095529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.319254154 meters 0.014995052682560872 Centerline is valid? [True, True] Translation: X:534.98, Y:3.50, Z:2.32 [[ 9.99692957e-01 -2.34594809e-02 -7.97779736e-03 5.34980673e+02] [ 2.34594758e-02 9.99724784e-01 -9.42256883e-05 3.49513970e+00] [ 7.97781223e-03 -9.29581874e-05 9.99968172e-01 2.32103085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.379254154 meters 0.015577618286318954 Centerline is valid? [True, True] Translation: X:535.04, Y:3.50, Z:2.32 [[ 9.99658095e-01 -2.45903062e-02 -8.88879880e-03 5.35041968e+02] [ 2.45903509e-02 9.99697606e-01 -1.04282584e-04 3.49646880e+00] [ 8.88867523e-03 -1.14331752e-04 9.99960488e-01 2.32076376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.439254154 meters 0.01653478994219479 Centerline is valid? [True, True] Translation: X:535.10, Y:3.50, Z:2.32 [[ 9.99524262e-01 -2.92452396e-02 -9.79616931e-03 5.35103865e+02] [ 2.92455267e-02 9.99572252e-01 -1.13975511e-04 3.49610119e+00] [ 9.79531225e-03 -1.72572843e-04 9.99952010e-01 2.32037699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.499254154 meters 0.01696645937670097 Centerline is valid? [True, True] Translation: X:535.17, Y:3.50, Z:2.32 [[ 9.99423784e-01 -3.25321777e-02 -9.68283615e-03 5.35166390e+02] [ 3.25326191e-02 9.99470668e-01 -1.11958567e-04 3.49553055e+00] [ 9.68135297e-03 -2.03113965e-04 9.99953114e-01 2.32044334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.559254154 meters 0.018296523729882313 Centerline is valid? [True, True] Translation: X:535.23, Y:3.49, Z:2.32 [[ 9.99353733e-01 -3.46800761e-02 -9.45560627e-03 5.35227594e+02] [ 3.46805986e-02 9.99398441e-01 -1.08744049e-04 3.49405825e+00] [ 9.45368942e-03 -2.19252315e-04 9.99955289e-01 2.32044757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.619254154 meters 0.017776993893984704 Centerline is valid? [True, True] Translation: X:535.29, Y:3.50, Z:2.32 [[ 9.99390436e-01 -3.37358199e-02 -8.98053808e-03 5.35290277e+02] [ 3.37362589e-02 9.99430765e-01 -1.02644703e-04 3.49618850e+00] [ 8.97888885e-03 -2.00387623e-04 9.99959669e-01 2.32077718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.679254154 meters 0.017451531056407142 Centerline is valid? [True, True] Translation: X:535.35, Y:3.50, Z:2.32 [[ 9.99457653e-01 -3.17812339e-02 -8.62277061e-03 5.35352898e+02] [ 3.17815724e-02 9.99494833e-01 -9.78034932e-05 3.49799571e+00] [ 8.62152299e-03 -1.76294759e-04 9.99962818e-01 2.32106352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.739254154 meters 0.01686010088669669 Centerline is valid? [True, True] Translation: X:535.41, Y:3.50, Z:2.32 [[ 9.99467448e-01 -3.13187674e-02 -9.16270549e-03 5.35414930e+02] [ 3.13191372e-02 9.99509430e-01 -1.03164052e-04 3.49976400e+00] [ 9.16144152e-03 -1.83858919e-04 9.99958016e-01 2.32090713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.799254154 meters 0.017018224683658403 Centerline is valid? [True, True] Translation: X:535.48, Y:3.50, Z:2.32 [[ 9.99472309e-01 -3.11030549e-02 -9.36506644e-03 5.35476315e+02] [ 3.11034374e-02 9.99516166e-01 -1.04842382e-04 3.49958642e+00] [ 9.36379621e-03 -1.86498700e-04 9.99956141e-01 2.32045794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.859254154 meters 0.016474523822904895 Centerline is valid? [True, True] Translation: X:535.54, Y:3.50, Z:2.32 [[ 9.99559291e-01 -2.81328695e-02 -9.47446016e-03 5.35538233e+02] [ 2.81331324e-02 9.99604180e-01 -1.05552267e-04 3.50133517e+00] [ 9.47367946e-03 -1.61040492e-04 9.99955111e-01 2.32007482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.919254154 meters 0.015361172900307092 Centerline is valid? [True, True] Translation: X:535.60, Y:3.50, Z:2.32 [[ 9.99671451e-01 -2.37245144e-02 -9.70241240e-03 5.35599254e+02] [ 2.37245867e-02 9.99718527e-01 -1.07656270e-04 3.50495132e+00] [ 9.70223552e-03 -1.22564825e-04 9.99952925e-01 2.32014325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.979254154 meters 0.014899077345415426 Centerline is valid? [True, True] Translation: X:535.66, Y:3.51, Z:2.32 [[ 9.99797900e-01 -1.69394505e-02 -1.08265632e-02 5.35659553e+02] [ 1.69391459e-02 9.99856515e-01 -1.19835710e-04 3.50967479e+00] [ 1.08270397e-02 -6.35812434e-05 9.99941384e-01 2.31938153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.039254154 meters 0.014654451262818023 Centerline is valid? [True, True] Translation: X:535.72, Y:3.51, Z:2.32 [[ 9.99835916e-01 -1.41651799e-02 -1.12910763e-02 5.35718715e+02] [ 1.41646701e-02 9.99899668e-01 -1.25130831e-04 3.51181276e+00] [ 1.12917160e-02 -3.48240717e-05 9.99936246e-01 2.31900586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0992541539999 meters 0.01463476056864733 Centerline is valid? [True, True] Translation: X:535.78, Y:3.51, Z:2.32 [[ 9.99822781e-01 -1.43575779e-02 -1.21765095e-02 5.35777237e+02] [ 1.43569734e-02 9.99896924e-01 -1.37063198e-04 3.51060756e+00] [ 1.21772223e-02 -3.77789145e-05 9.99925854e-01 2.31951716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.159254154 meters 0.015014061103800998 Centerline is valid? [True, True] Translation: X:535.84, Y:3.51, Z:2.32 [[ 9.99756657e-01 -1.75728430e-02 -1.33349985e-02 5.35835964e+02] [ 1.75723581e-02 9.99845582e-01 -1.53543435e-04 3.50764950e+00] [ 1.33356375e-02 -8.08212959e-05 9.99911073e-01 2.31913320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2192541539999 meters 0.015427700416147607 Centerline is valid? [True, True] Translation: X:535.89, Y:3.50, Z:2.32 [[ 9.99628812e-01 -2.23253640e-02 -1.56146068e-02 5.35894347e+02] [ 2.23252353e-02 9.99750744e-01 -1.82577173e-04 3.50361583e+00] [ 1.56147908e-02 -1.66090368e-04 9.99878068e-01 2.31892376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.279254154 meters 0.017039497102127446 Centerline is valid? [True, True] Translation: X:535.95, Y:3.50, Z:2.32 [[ 9.99450569e-01 -2.87406378e-02 -1.65086377e-02 5.35952523e+02] [ 2.87413444e-02 9.99586863e-01 -1.94497964e-04 3.49791884e+00] [ 1.65074074e-02 -2.80089342e-04 9.99863704e-01 2.31819878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.339254154 meters 0.01843241604665228 Centerline is valid? [True, True] Translation: X:536.01, Y:3.49, Z:2.32 [[ 9.99119577e-01 -3.85603320e-02 -1.65278993e-02 5.36012773e+02] [ 3.85623739e-02 9.99256176e-01 -1.95254112e-04 3.49073130e+00] [ 1.65231346e-02 -4.42272830e-04 9.99863386e-01 2.32014744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.399254154 meters 0.023104112947196522 Centerline is valid? [True, True] Translation: X:536.07, Y:3.48, Z:2.32 [[ 9.98883561e-01 -4.46227563e-02 -1.55061474e-02 5.36073108e+02] [ 4.46252850e-02 9.99003779e-01 -1.83058829e-04 3.48115092e+00] [ 1.54988685e-02 -5.09111792e-04 9.99879756e-01 2.31990604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.459254154 meters 0.02775049392426265 Centerline is valid? [True, True] Translation: X:536.13, Y:3.47, Z:2.32 [[ 9.98490247e-01 -5.28712133e-02 -1.48950274e-02 5.36132326e+02] [ 5.28744721e-02 9.98601151e-01 -1.75209876e-04 3.47247522e+00] [ 1.48834551e-02 -6.12621360e-04 9.99889048e-01 2.32082401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.519254154 meters 0.03174381641847303 Centerline is valid? [True, True] Translation: X:536.19, Y:3.47, Z:2.32 [[ 9.98156023e-01 -5.88671743e-02 -1.48057239e-02 5.36192851e+02] [ 5.88710561e-02 9.98265580e-01 -1.73897186e-04 3.46689913e+00] [ 1.47902814e-02 -6.98052079e-04 9.99890374e-01 2.32102969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.579254154 meters 0.03086921691158738 Centerline is valid? [True, True] Translation: X:536.25, Y:3.47, Z:2.32 [[ 9.97595523e-01 -6.77060824e-02 -1.48006528e-02 5.36253662e+02] [ 6.77109316e-02 9.97704966e-01 -1.73804561e-04 3.46871336e+00] [ 1.47784524e-02 -8.28779337e-04 9.99890449e-01 2.32347144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.639254154 meters 0.03255719829538629 Centerline is valid? [True, True] Translation: X:536.31, Y:3.47, Z:2.32 [[ 9.97214948e-01 -7.29894060e-02 -1.53262238e-02 5.36313772e+02] [ 7.29952250e-02 9.97332274e-01 -1.80130444e-04 3.46773040e+00] [ 1.52984853e-02 -9.39112384e-04 9.99882530e-01 2.32440606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.699254154 meters 0.036228209439873184 Centerline is valid? [True, True] Translation: X:536.37, Y:3.47, Z:2.32 [[ 9.96772572e-01 -7.84091169e-02 -1.72177378e-02 5.36374352e+02] [ 7.84172671e-02 9.96920604e-01 -2.02304485e-04 3.46577224e+00] [ 1.71805801e-02 -1.14851638e-03 9.99851743e-01 2.32388532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.759254154 meters 0.0390239887745227 Centerline is valid? [True, True] Translation: X:536.43, Y:3.46, Z:2.32 [[ 9.96624845e-01 -8.00775434e-02 -1.80694589e-02 5.36434754e+02] [ 8.00867982e-02 9.96787871e-01 -2.12025698e-04 3.46467049e+00] [ 1.80283959e-02 -1.23581503e-03 9.99836712e-01 2.32295386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.819254154 meters 0.03467699407233935 Centerline is valid? [True, True] Translation: X:536.50, Y:3.48, Z:2.32 [[ 9.96696909e-01 -7.87840152e-02 -1.97065942e-02 5.36497362e+02] [ 7.87948008e-02 9.96890830e-01 -2.29760862e-04 3.47566532e+00] [ 1.96634245e-02 -1.32377522e-03 9.99805780e-01 2.32422848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.879254154 meters 0.03449545818129937 Centerline is valid? [True, True] Translation: X:536.56, Y:3.48, Z:2.32 [[ 9.96944521e-01 -7.54753267e-02 -2.01270098e-02 5.36558186e+02] [ 7.54859200e-02 9.97146840e-01 -2.33973509e-04 3.48063731e+00] [ 2.00872435e-02 -1.28604724e-03 9.99797404e-01 2.32453164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.939254154 meters 0.031616361526798566 Centerline is valid? [True, True] Translation: X:536.62, Y:3.49, Z:2.33 [[ 9.97553302e-01 -6.68758933e-02 -2.03721492e-02 5.36619138e+02] [ 6.68849624e-02 9.97760666e-01 -2.36633401e-04 3.49146584e+00] [ 2.03423542e-02 -1.12653600e-03 9.99792438e-01 2.32514814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.999254154 meters 0.027414221147345135 Centerline is valid? [True, True] Translation: X:536.68, Y:3.51, Z:2.33 [[ 9.98226266e-01 -5.61901328e-02 -1.96720842e-02 5.36679207e+02] [ 5.61965204e-02 9.98419701e-01 -2.28388887e-04 3.50550661e+00] [ 1.96538296e-02 -8.77518894e-04 9.99806460e-01 2.32676598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.059254154 meters 0.025231454938416473 Centerline is valid? [True, True] Translation: X:536.74, Y:3.51, Z:2.33 [[ 9.98610430e-01 -4.92736521e-02 -1.86899932e-02 5.36738392e+02] [ 4.92782039e-02 9.98785068e-01 -2.17204383e-04 3.51416071e+00] [ 1.86779886e-02 -7.04106734e-04 9.99825303e-01 2.32726443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.119254154 meters 0.018571328659182266 Centerline is valid? [True, True] Translation: X:536.80, Y:3.53, Z:2.33 [[ 9.99059699e-01 -3.93503373e-02 -1.82008010e-02 5.36799230e+02] [ 3.93530117e-02 9.99225348e-01 -2.11335892e-04 3.53188596e+00] [ 1.81950179e-02 -5.05119164e-04 9.99834329e-01 2.32993447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.179254154 meters 0.016799867787204048 Centerline is valid? [True, True] Translation: X:536.86, Y:3.54, Z:2.33 [[ 9.99309687e-01 -3.27800437e-02 -1.74819273e-02 5.36860350e+02] [ 3.27815116e-02 9.99462521e-01 -2.02668275e-04 3.53885597e+00] [ 1.74791746e-02 -3.70555630e-04 9.99847159e-01 2.33072765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.239254154 meters 0.01566389136761806 Centerline is valid? [True, True] Translation: X:536.92, Y:3.55, Z:2.33 [[ 9.99552952e-01 -2.38829052e-02 -1.79861791e-02 5.36920496e+02] [ 2.38830203e-02 9.99714738e-01 -2.08430216e-04 3.54831850e+00] [ 1.79860262e-02 -2.21227244e-04 9.99838214e-01 2.33047509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.299254154 meters 0.015036125603842668 Centerline is valid? [True, True] Translation: X:536.98, Y:3.55, Z:2.33 [[ 9.99674263e-01 -1.78803168e-02 -1.82116092e-02 5.36978720e+02] [ 1.78793756e-02 9.99840128e-01 -2.14512913e-04 3.55396254e+00] [ 1.82125332e-02 -1.11169163e-04 9.99834132e-01 2.32938554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.359254154 meters 0.015105715210890746 Centerline is valid? [True, True] Translation: X:537.04, Y:3.56, Z:2.33 [[ 9.99810528e-01 -9.01806202e-03 -1.72506125e-02 5.37037417e+02] [ 9.01582314e-03 9.99959335e-01 -2.07553002e-04 3.56113524e+00] [ 1.72517827e-02 5.19852045e-05 9.99851176e-01 2.33076477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.419254154 meters 0.01548655711597418 Centerline is valid? [True, True] Translation: X:537.09, Y:3.56, Z:2.33 [[ 9.99852921e-01 -4.97796150e-03 -1.64120768e-02 5.37094891e+02] [ 4.97535527e-03 9.99987603e-01 -1.99626169e-04 3.56471907e+00] [ 1.64128671e-02 1.17940895e-04 9.99865293e-01 2.33109280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.479254154 meters 0.015392583516386706 Centerline is valid? [True, True] Translation: X:537.15, Y:3.56, Z:2.33 [[ 9.99846662e-01 -5.09157719e-03 -1.67549250e-02 5.37152970e+02] [ 5.08880942e-03 9.99987030e-01 -2.07821787e-04 3.56363741e+00] [ 1.67557659e-02 1.22527300e-04 9.99859605e-01 2.33238899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.539254154 meters 0.015038283604522988 Centerline is valid? [True, True] Translation: X:537.21, Y:3.56, Z:2.33 [[ 9.99747607e-01 -1.28468646e-02 -1.84304275e-02 5.37211431e+02] [ 1.28447882e-02 9.99917476e-01 -2.31039191e-04 3.55737183e+00] [ 1.84318747e-02 -5.75406076e-06 9.99830119e-01 2.33219841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5992541539999 meters 0.015457712492966838 Centerline is valid? [True, True] Translation: X:537.27, Y:3.55, Z:2.33 [[ 9.99608542e-01 -2.09851113e-02 -1.85037466e-02 5.37269915e+02] [ 2.09843875e-02 9.99779776e-01 -2.33297935e-04 3.55048076e+00] [ 1.85045675e-02 -1.55083180e-04 9.99828764e-01 2.33233673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.659254154 meters 0.016495162277659375 Centerline is valid? [True, True] Translation: X:537.33, Y:3.54, Z:2.33 [[ 9.99430805e-01 -2.83692387e-02 -1.82551802e-02 5.37328842e+02] [ 2.83697463e-02 9.99597471e-01 -2.31218029e-04 3.54203123e+00] [ 1.82543915e-02 -2.86808411e-04 9.99833334e-01 2.33279851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7192541539999 meters 0.018435458953722797 Centerline is valid? [True, True] Translation: X:537.39, Y:3.53, Z:2.33 [[ 9.99183004e-01 -3.59822004e-02 -1.84012667e-02 5.37388517e+02] [ 3.59839927e-02 9.99352339e-01 -2.33800185e-04 3.53348191e+00] [ 1.83977616e-02 -4.28541876e-04 9.99830655e-01 2.33429657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.779254154 meters 0.018573758613654005 Centerline is valid? [True, True] Translation: X:537.45, Y:3.53, Z:2.34 [[ 9.99057670e-01 -3.90729846e-02 -1.88963803e-02 5.37449074e+02] [ 3.90754240e-02 9.99236235e-01 -2.40250653e-04 3.52933477e+00] [ 1.88913352e-02 -4.98359813e-04 9.99821419e-01 2.33508846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.839254154 meters 0.018826525511832577 Centerline is valid? [True, True] Translation: X:537.51, Y:3.53, Z:2.34 [[ 9.99031261e-01 -3.99475449e-02 -1.84589390e-02 5.37510782e+02] [ 3.99500314e-02 9.99201651e-01 -2.34173929e-04 3.52647377e+00] [ 1.84535570e-02 -5.03488115e-04 9.99829592e-01 2.33543786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.899254154 meters 0.019570418064989235 Centerline is valid? [True, True] Translation: X:537.57, Y:3.52, Z:2.34 [[ 9.99073431e-01 -3.90126880e-02 -1.81738539e-02 5.37571806e+02] [ 3.90149441e-02 9.99238601e-01 -2.30534142e-04 3.52348810e+00] [ 1.81690101e-02 -4.78731359e-04 9.99834815e-01 2.33604197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.959254154 meters 0.018409903669336525 Centerline is valid? [True, True] Translation: X:537.63, Y:3.52, Z:2.34 [[ 9.99149226e-01 -3.64905866e-02 -1.92161927e-02 5.37632538e+02] [ 3.64926420e-02 9.99333892e-01 -2.43801950e-04 3.52428875e+00] [ 1.92122891e-02 -4.57655112e-04 9.99815322e-01 2.33624169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.019254154 meters 0.01768183429311633 Centerline is valid? [True, True] Translation: X:537.69, Y:3.52, Z:2.33 [[ 9.99237333e-01 -3.27767366e-02 -2.12235258e-02 5.37692648e+02] [ 3.27783822e-02 9.99462608e-01 -2.70425680e-04 3.52445326e+00] [ 2.12209841e-02 -4.25453405e-04 9.99774719e-01 2.33427656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.079254154 meters 0.01737644836119131 Centerline is valid? [True, True] Translation: X:537.75, Y:3.52, Z:2.33 [[ 9.99221485e-01 -3.27505007e-02 -2.19961179e-02 5.37751116e+02] [ 3.27521543e-02 9.99463464e-01 -2.85166063e-04 3.52474955e+00] [ 2.19936555e-02 -4.35476190e-04 9.99758015e-01 2.33479831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.139254154 meters 0.017795641236991563 Centerline is valid? [True, True] Translation: X:537.81, Y:3.52, Z:2.33 [[ 9.99166658e-01 -3.40163768e-02 -2.25582715e-02 5.37808896e+02] [ 3.40183746e-02 9.99421164e-01 -2.95290846e-04 3.52012055e+00] [ 2.25552587e-02 -4.72350961e-04 9.99745486e-01 2.33300497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.199254154 meters 0.01776119883764832 Centerline is valid? [True, True] Translation: X:537.87, Y:3.52, Z:2.33 [[ 9.99118692e-01 -3.54066004e-02 -2.25435361e-02 5.37867738e+02] [ 3.54088360e-02 9.99372865e-01 -3.00118557e-04 3.52083137e+00] [ 2.25400244e-02 -4.98386312e-04 9.99745817e-01 2.33419284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.259254154 meters 0.017969502689853582 Centerline is valid? [True, True] Translation: X:537.93, Y:3.52, Z:2.34 [[ 9.99022369e-01 -3.84599759e-02 -2.17976414e-02 5.37926177e+02] [ 3.84626708e-02 9.99259994e-01 -2.95757083e-04 3.51933990e+00] [ 2.17928858e-02 -5.42927562e-04 9.99762359e-01 2.33622085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.319254154 meters 0.018525941202094796 Centerline is valid? [True, True] Translation: X:537.99, Y:3.52, Z:2.34 [[ 9.98972318e-01 -4.03867007e-02 -2.05723734e-02 5.37985337e+02] [ 4.03894022e-02 9.99183975e-01 -2.84333874e-04 3.51776056e+00] [ 2.05670691e-02 -5.46864194e-04 9.99788326e-01 2.33746435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.379254154 meters 0.018761250178659237 Centerline is valid? [True, True] Translation: X:538.05, Y:3.52, Z:2.34 [[ 9.98918195e-01 -4.23160415e-02 -1.92818965e-02 5.38045063e+02] [ 4.23187428e-02 9.99104125e-01 -2.68097166e-04 3.51624174e+00] [ 1.92759671e-02 -5.48178480e-04 9.99814051e-01 2.33961480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.439254154 meters 0.018880990776539146 Centerline is valid? [True, True] Translation: X:538.11, Y:3.52, Z:2.34 [[ 9.98904727e-01 -4.32238346e-02 -1.79177710e-02 5.38105598e+02] [ 4.32263103e-02 9.99065275e-01 -2.49280185e-04 3.51513961e+00] [ 1.79117977e-02 -5.25511974e-04 9.99839433e-01 2.34063857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.499254154 meters 0.01870850645875834 Centerline is valid? [True, True] Translation: X:538.17, Y:3.51, Z:2.34 [[ 9.98954930e-01 -4.21289204e-02 -1.77257653e-02 5.38166278e+02] [ 4.21311710e-02 9.99112058e-01 -2.46608915e-04 3.51425609e+00] [ 1.77204152e-02 -5.00456059e-04 9.99842856e-01 2.34118110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.559254154 meters 0.01809529257356708 Centerline is valid? [True, True] Translation: X:538.23, Y:3.52, Z:2.34 [[ 9.99081498e-01 -3.89803585e-02 -1.77958356e-02 5.38226968e+02] [ 3.89821278e-02 9.99239877e-01 -2.47583764e-04 3.51542522e+00] [ 1.77919595e-02 -4.46363180e-04 9.99841611e-01 2.34130042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.619254154 meters 0.016199255053204506 Centerline is valid? [True, True] Translation: X:538.29, Y:3.52, Z:2.34 [[ 9.99332448e-01 -3.19531564e-02 -1.77102576e-02 5.38287249e+02] [ 3.19538055e-02 9.99489316e-01 -2.46393164e-04 3.51950241e+00] [ 1.77090863e-02 -3.19681443e-04 9.99843131e-01 2.34215825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.679254154 meters 0.014970781865353118 Centerline is valid? [True, True] Translation: X:538.35, Y:3.52, Z:2.34 [[ 9.99520686e-01 -2.59230878e-02 -1.69230856e-02 5.38346860e+02] [ 2.59228086e-02 9.99663920e-01 -2.35900583e-04 3.52371108e+00] [ 1.69235134e-02 -2.02906395e-04 9.99856767e-01 2.34310640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.739254154 meters 0.014155724792041868 Centerline is valid? [True, True] Translation: X:538.41, Y:3.53, Z:2.34 [[ 9.99715918e-01 -1.75489776e-02 -1.61281033e-02 5.38405236e+02] [ 1.75476215e-02 9.99846003e-01 -2.25605770e-04 3.52673050e+00] [ 1.61295788e-02 -5.74681724e-05 9.99869908e-01 2.34219008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.799254154 meters 0.013908090234200286 Centerline is valid? [True, True] Translation: X:538.46, Y:3.53, Z:2.34 [[ 9.99769399e-01 -1.48767309e-02 -1.54865072e-02 5.38463599e+02] [ 1.48751132e-02 9.99889335e-01 -2.19650553e-04 3.52784552e+00] [ 1.54880610e-02 -1.07636451e-05 9.99880053e-01 2.34299011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.859254154 meters 0.014112168499878423 Centerline is valid? [True, True] Translation: X:538.52, Y:3.53, Z:2.34 [[ 9.99751903e-01 -1.64931488e-02 -1.49702494e-02 5.38521476e+02] [ 1.64917552e-02 9.99863978e-01 -2.16548297e-04 3.52503412e+00] [ 1.49717846e-02 -3.03911152e-05 9.99887916e-01 2.34355853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.919254154 meters 0.014474138860760988 Centerline is valid? [True, True] Translation: X:538.58, Y:3.52, Z:2.34 [[ 9.99609866e-01 -2.41256547e-02 -1.40736498e-02 5.38580238e+02] [ 2.41251518e-02 9.99708925e-01 -2.05527008e-04 3.51786171e+00] [ 1.40745118e-02 -1.34082113e-04 9.99900940e-01 2.34387782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.979254154 meters 0.01741536902815404 Centerline is valid? [True, True] Translation: X:538.64, Y:3.51, Z:2.34 [[ 9.99391484e-01 -3.22189771e-02 -1.33640802e-02 5.38639085e+02] [ 3.22192366e-02 9.99480806e-01 -1.95940634e-04 3.50723909e+00] [ 1.33634547e-02 -2.34759061e-04 9.99910677e-01 2.34223176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.039254154 meters 0.018377165217049962 Centerline is valid? [True, True] Translation: X:538.70, Y:3.50, Z:2.35 [[ 9.98923748e-01 -4.47894896e-02 -1.20518263e-02 5.38699365e+02] [ 4.47906123e-02 9.98996381e-01 -1.76881424e-04 3.50061665e+00] [ 1.20476533e-02 -3.63117623e-04 9.99927358e-01 2.34509931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0992541539999 meters 0.020792686425530896 Centerline is valid? [True, True] Translation: X:538.76, Y:3.49, Z:2.35 [[ 9.98580678e-01 -5.20880222e-02 -1.11115932e-02 5.38760476e+02] [ 5.20894287e-02 9.98642411e-01 -1.62987117e-04 3.49404856e+00] [ 1.11049979e-02 -4.16040754e-04 9.99938251e-01 2.34528886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.159254154 meters 0.024289300959639326 Centerline is valid? [True, True] Translation: X:538.82, Y:3.49, Z:2.34 [[ 9.98110451e-01 -6.04994579e-02 -1.07398136e-02 5.38821103e+02] [ 6.05012584e-02 9.98168109e-01 -1.57461403e-04 3.48663880e+00] [ 1.07296657e-02 -4.92608363e-04 9.99942314e-01 2.34451788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2192541539999 meters 0.025298564056841652 Centerline is valid? [True, True] Translation: X:538.88, Y:3.49, Z:2.34 [[ 9.97868373e-01 -6.42703272e-02 -1.13152536e-02 5.38882192e+02] [ 6.42725694e-02 9.97932367e-01 -1.65754269e-04 3.48516425e+00] [ 1.13025109e-02 -5.61859479e-04 9.99935967e-01 2.34418361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.279254154 meters 0.02810485992073475 Centerline is valid? [True, True] Translation: X:538.94, Y:3.48, Z:2.34 [[ 9.97569306e-01 -6.88400283e-02 -1.07949198e-02 5.38943728e+02] [ 6.88423390e-02 9.97627539e-01 -1.57824870e-04 3.48126743e+00] [ 1.07801739e-02 -5.85706282e-04 9.99941721e-01 2.34368780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.339254154 meters 0.030695677461212247 Centerline is valid? [True, True] Translation: X:539.00, Y:3.48, Z:2.34 [[ 9.97378135e-01 -7.16645811e-02 -1.00520037e-02 5.39004275e+02] [ 7.16667301e-02 9.97428623e-01 -1.46714453e-04 3.47854146e+00] [ 1.00366705e-02 -5.74064449e-04 9.99949467e-01 2.34356460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.399254154 meters 0.03309921880392837 Centerline is valid? [True, True] Translation: X:539.06, Y:3.48, Z:2.34 [[ 9.97186471e-01 -7.43727145e-02 -9.37238895e-03 5.39064967e+02] [ 7.43747034e-02 9.97230357e-01 -1.36632920e-04 3.47826402e+00] [ 9.35659254e-03 -5.60820149e-04 9.99956069e-01 2.34400614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.459254154 meters 0.0340003115198267 Centerline is valid? [True, True] Translation: X:539.13, Y:3.48, Z:2.34 [[ 9.97141543e-01 -7.49651999e-02 -9.43201401e-03 5.39127290e+02] [ 7.49672447e-02 9.97185987e-01 -1.37067359e-04 3.48021250e+00] [ 9.41574748e-03 -5.70416544e-04 9.99955508e-01 2.34360157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.519254154 meters 0.031747289010480455 Centerline is valid? [True, True] Translation: X:539.19, Y:3.49, Z:2.34 [[ 9.97157955e-01 -7.46854701e-02 -9.90419557e-03 5.39189319e+02] [ 7.46877183e-02 9.97206962e-01 -1.43201450e-04 3.48856459e+00] [ 9.88722784e-03 -5.96927303e-04 9.99950942e-01 2.34335217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.579254154 meters 0.030206234644958075 Centerline is valid? [True, True] Translation: X:539.25, Y:3.50, Z:2.34 [[ 9.97328518e-01 -7.22708309e-02 -1.06185474e-02 5.39250949e+02] [ 7.22732861e-02 9.97384855e-01 -1.52834975e-04 3.49721949e+00] [ 1.06018239e-02 -6.15010636e-04 9.99943610e-01 2.34287028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.639254154 meters 0.027521151857596404 Centerline is valid? [True, True] Translation: X:539.31, Y:3.51, Z:2.35 [[ 9.97517752e-01 -6.98221540e-02 -9.12147123e-03 5.39312407e+02] [ 6.98238688e-02 9.97559327e-01 -1.30711878e-04 3.50513732e+00] [ 9.10833528e-03 -5.06508992e-04 9.99958390e-01 2.34542036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.699254154 meters 0.02777533568410696 Centerline is valid? [True, True] Translation: X:539.37, Y:3.51, Z:2.35 [[ 9.97827296e-01 -6.53846419e-02 -8.09540230e-03 5.39371792e+02] [ 6.53858488e-02 9.97860049e-01 -1.15777895e-04 3.51100362e+00] [ 8.08564863e-03 -4.13798407e-04 9.99967225e-01 2.34624685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.759254154 meters 0.026782529928018675 Centerline is valid? [True, True] Translation: X:539.43, Y:3.52, Z:2.35 [[ 9.98013223e-01 -6.24694819e-02 -8.19570731e-03 5.39432932e+02] [ 6.24706212e-02 9.98046796e-01 -1.17157192e-04 3.51679153e+00] [ 8.18701818e-03 -3.95066500e-04 9.99966408e-01 2.34613098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.819254154 meters 0.02598065828196613 Centerline is valid? [True, True] Translation: X:539.49, Y:3.52, Z:2.35 [[ 9.98248225e-01 -5.84870786e-02 -8.92993008e-03 5.39493701e+02] [ 5.84882745e-02 9.98288087e-01 -1.27397601e-04 3.52340734e+00] [ 8.92209393e-03 -3.95121772e-04 9.99960119e-01 2.34564835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.879254154 meters 0.023324814100395247 Centerline is valid? [True, True] Translation: X:539.56, Y:3.53, Z:2.35 [[ 9.98387208e-01 -5.60207363e-02 -9.20106026e-03 5.39555536e+02] [ 5.60219045e-02 9.98429531e-01 -1.30918928e-04 3.53131168e+00] [ 9.19394446e-03 -3.84753137e-04 9.99957661e-01 2.34573450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.939254154 meters 0.022215019537333004 Centerline is valid? [True, True] Translation: X:539.62, Y:3.54, Z:2.35 [[ 9.98650646e-01 -5.12157297e-02 -8.59285578e-03 5.39616162e+02] [ 5.12165736e-02 9.98687563e-01 -1.21960960e-04 3.53770014e+00] [ 8.58782452e-03 -3.18300239e-04 9.99963073e-01 2.34653299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.999254154 meters 0.020770758006785704 Centerline is valid? [True, True] Translation: X:539.68, Y:3.54, Z:2.35 [[ 9.98822579e-01 -4.77815838e-02 -8.38903441e-03 5.39677888e+02] [ 4.77822697e-02 9.98857768e-01 -1.18767426e-04 3.54375917e+00] [ 8.38512708e-03 -2.82219518e-04 9.99964804e-01 2.34709949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.059254154 meters 0.018944201750110662 Centerline is valid? [True, True] Translation: X:539.74, Y:3.55, Z:2.35 [[ 9.99044761e-01 -4.28226681e-02 -8.70540191e-03 5.39739317e+02] [ 4.28232221e-02 9.99082658e-01 -1.22829939e-04 3.55007893e+00] [ 8.70267598e-03 -2.50080753e-04 9.99962100e-01 2.34748347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.119254154 meters 0.020098908925752137 Centerline is valid? [True, True] Translation: X:539.80, Y:3.55, Z:2.35 [[ 9.99150745e-01 -4.02236011e-02 -8.93589366e-03 5.39802061e+02] [ 4.02240863e-02 9.99190676e-01 -1.25495933e-04 3.55159125e+00] [ 8.93370952e-03 -2.34048803e-04 9.99960066e-01 2.34665639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.179254154 meters 0.017471364509496448 Centerline is valid? [True, True] Translation: X:539.86, Y:3.56, Z:2.35 [[ 9.99376010e-01 -3.40323663e-02 -9.45452679e-03 5.39863252e+02] [ 3.40326383e-02 9.99420713e-01 -1.32165423e-04 3.55705242e+00] [ 9.45354781e-03 -1.89679537e-04 9.99955296e-01 2.34764186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.239254154 meters 0.017070115169156064 Centerline is valid? [True, True] Translation: X:539.92, Y:3.56, Z:2.35 [[ 9.99489506e-01 -3.04877741e-02 -9.55107913e-03 5.39924484e+02] [ 3.04878941e-02 9.99535127e-01 -1.33071636e-04 3.55920813e+00] [ 9.55069616e-03 -1.58188585e-04 9.99954379e-01 2.34801855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.299254154 meters 0.01654495709383361 Centerline is valid? [True, True] Translation: X:539.99, Y:3.56, Z:2.35 [[ 9.99554045e-01 -2.81579068e-02 -9.94197023e-03 5.39986779e+02] [ 2.81579280e-02 9.99603477e-01 -1.37869853e-04 3.55982328e+00] [ 9.94191014e-03 -1.42136913e-04 9.99950568e-01 2.34852888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.359254154 meters 0.019294013395571172 Centerline is valid? [True, True] Translation: X:540.05, Y:3.56, Z:2.35 [[ 9.99547887e-01 -2.84084141e-02 -9.84805187e-03 5.40048150e+02] [ 2.84084531e-02 9.99596389e-01 -1.35963183e-04 3.55735671e+00] [ 9.84793959e-03 -1.43866207e-04 9.99951498e-01 2.34678930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.419254154 meters 0.018252221017065928 Centerline is valid? [True, True] Translation: X:540.11, Y:3.55, Z:2.35 [[ 9.99381709e-01 -3.38112355e-02 -9.64361323e-03 5.40109582e+02] [ 3.38115291e-02 9.99428218e-01 -1.32642543e-04 3.55120816e+00] [ 9.64258400e-03 -1.93504777e-04 9.99953490e-01 2.34812326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.479254154 meters 0.019064654425105854 Centerline is valid? [True, True] Translation: X:540.17, Y:3.55, Z:2.35 [[ 9.99160967e-01 -3.96305228e-02 -1.03336601e-02 5.40170482e+02] [ 3.96311745e-02 9.99214366e-01 -1.41785302e-04 3.54614596e+00] [ 1.03311606e-02 -2.67868747e-04 9.99946596e-01 2.34856068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.539254154 meters 0.01967858066076218 Centerline is valid? [True, True] Translation: X:540.23, Y:3.54, Z:2.35 [[ 9.99010677e-01 -4.32165903e-02 -1.04877909e-02 5.40232848e+02] [ 4.32174644e-02 9.99065679e-01 -1.43372611e-04 3.54308366e+00] [ 1.04841880e-02 -3.10024962e-04 9.99944991e-01 2.34966491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5992541539999 meters 0.021710802766120203 Centerline is valid? [True, True] Translation: X:540.29, Y:3.54, Z:2.35 [[ 9.98849528e-01 -4.67756665e-02 -1.05667781e-02 5.40293180e+02] [ 4.67767598e-02 9.98905358e-01 -1.43791756e-04 3.53707004e+00] [ 1.05619372e-02 -3.50653313e-04 9.99944160e-01 2.34977587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.659254154 meters 0.02227710057926016 Centerline is valid? [True, True] Translation: X:540.36, Y:3.53, Z:2.35 [[ 9.98800435e-01 -4.78572708e-02 -1.03621138e-02 5.40355485e+02] [ 4.78583871e-02 9.98854121e-01 -1.40347872e-04 3.53456698e+00] [ 1.03569568e-02 -3.55734540e-04 9.99946302e-01 2.35012566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7192541539999 meters 0.022433874960859853 Centerline is valid? [True, True] Translation: X:540.42, Y:3.53, Z:2.35 [[ 9.98783640e-01 -4.80599362e-02 -1.10219404e-02 5.40417856e+02] [ 4.80612204e-02 9.98844381e-01 -1.48479285e-04 3.53113651e+00] [ 1.10163391e-02 -3.81429227e-04 9.99939246e-01 2.34920354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.779254154 meters 0.024473301846674133 Centerline is valid? [True, True] Translation: X:540.48, Y:3.53, Z:2.35 [[ 9.98838152e-01 -4.67261387e-02 -1.17904389e-02 5.40479330e+02] [ 4.67275298e-02 9.98907660e-01 -1.57614184e-04 3.52868427e+00] [ 1.17849245e-02 -3.93507027e-04 9.99930478e-01 2.34763789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.839254154 meters 0.019917134627113784 Centerline is valid? [True, True] Translation: X:540.54, Y:3.53, Z:2.35 [[ 9.98999908e-01 -4.31161747e-02 -1.18397591e-02 5.40540715e+02] [ 4.31173337e-02 9.99070003e-01 -1.57471045e-04 3.53279264e+00] [ 1.18355377e-02 -3.53185284e-04 9.99929895e-01 2.35023221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.899254154 meters 0.018836045055421104 Centerline is valid? [True, True] Translation: X:540.60, Y:3.53, Z:2.35 [[ 9.99197385e-01 -3.82635534e-02 -1.18526919e-02 5.40601854e+02] [ 3.82643789e-02 9.99267638e-01 -1.57203901e-04 3.53480649e+00] [ 1.18500267e-02 -2.96458169e-04 9.99929742e-01 2.35072161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.959254154 meters 0.017186826126137877 Centerline is valid? [True, True] Translation: X:540.66, Y:3.54, Z:2.35 [[ 9.99480202e-01 -2.99503950e-02 -1.19289697e-02 5.40661938e+02] [ 2.99506412e-02 9.99551366e-01 -1.58051363e-04 3.53572377e+00] [ 1.19283517e-02 -1.99311083e-04 9.99928835e-01 2.35183755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.019254154 meters 0.01587051993073413 Centerline is valid? [True, True] Translation: X:540.72, Y:3.54, Z:2.35 [[ 9.99672003e-01 -2.20608314e-02 -1.30079396e-02 5.40722528e+02] [ 2.20604562e-02 9.99756624e-01 -1.72347038e-04 3.54000115e+00] [ 1.30085759e-02 -1.14670574e-04 9.99915378e-01 2.35249217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.079254154 meters 0.01561676520713303 Centerline is valid? [True, True] Translation: X:540.78, Y:3.54, Z:2.35 [[ 9.99740586e-01 -1.78850584e-02 -1.41026976e-02 5.40781420e+02] [ 1.78841947e-02 9.99840047e-01 -1.87366043e-04 3.54121481e+00] [ 1.41037929e-02 -6.48979519e-05 9.99900534e-01 2.35197612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.139254154 meters 0.015351215613762638 Centerline is valid? [True, True] Translation: X:540.84, Y:3.54, Z:2.35 [[ 9.99775915e-01 -1.52530502e-02 -1.46787249e-02 5.40839045e+02] [ 1.52517839e-02 9.99883665e-01 -1.98214459e-04 3.54114029e+00] [ 1.46800406e-02 -2.57066989e-05 9.99892242e-01 2.35297445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.199254154 meters 0.015485292916081075 Centerline is valid? [True, True] Translation: X:540.90, Y:3.54, Z:2.35 [[ 9.99776485e-01 -1.60016445e-02 -1.38176180e-02 5.40897163e+02] [ 1.60005405e-02 9.99871965e-01 -1.90446619e-04 3.53995307e+00] [ 1.38188963e-02 -3.06853049e-05 9.99904514e-01 2.35446317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.259254154 meters 0.01564211059432111 Centerline is valid? [True, True] Translation: X:540.96, Y:3.54, Z:2.36 [[ 9.99726185e-01 -1.90750026e-02 -1.35535722e-02 5.40955545e+02] [ 1.90741760e-02 9.99818053e-01 -1.90266896e-04 3.53631318e+00] [ 1.35547355e-02 -6.83084237e-05 9.99908128e-01 2.35552565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.319254154 meters 0.015885683139340658 Centerline is valid? [True, True] Translation: X:541.01, Y:3.53, Z:2.35 [[ 9.99623854e-01 -2.33443527e-02 -1.43941239e-02 5.41013632e+02] [ 2.33438341e-02 9.99727475e-01 -2.04065969e-04 3.53006501e+00] [ 1.43949649e-02 -1.32024831e-04 9.99896378e-01 2.35493225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.379254154 meters 0.016548680241965673 Centerline is valid? [True, True] Translation: X:541.07, Y:3.53, Z:2.35 [[ 9.99528761e-01 -2.65829128e-02 -1.53494304e-02 5.41071341e+02] [ 2.65826845e-02 9.99646594e-01 -2.18934448e-04 3.52590697e+00] [ 1.53498257e-02 -1.89197787e-04 9.99882167e-01 2.35363001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.439254154 meters 0.01734919467410444 Centerline is valid? [True, True] Translation: X:541.13, Y:3.52, Z:2.35 [[ 9.99406657e-01 -3.04372213e-02 -1.61217269e-02 5.41130519e+02] [ 3.04374199e-02 9.99536647e-01 -2.33108252e-04 3.52158384e+00] [ 1.61213520e-02 -2.57733831e-04 9.99870009e-01 2.35313083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.499254154 meters 0.019200657064307312 Centerline is valid? [True, True] Translation: X:541.19, Y:3.52, Z:2.35 [[ 9.99250874e-01 -3.53657794e-02 -1.57146955e-02 5.41188888e+02] [ 3.53665497e-02 9.99374382e-01 -2.28965485e-04 3.51509147e+00] [ 1.57129616e-02 -3.26980599e-04 9.99876490e-01 2.35356177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.559254154 meters 0.01761399192284113 Centerline is valid? [True, True] Translation: X:541.25, Y:3.52, Z:2.36 [[ 9.99258120e-01 -3.51802467e-02 -1.56703268e-02 5.41248230e+02] [ 3.51809792e-02 9.99380931e-01 -2.29002721e-04 3.51768550e+00] [ 1.56686822e-02 -3.22464614e-04 9.99877187e-01 2.35622077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.619254154 meters 0.01662914593435514 Centerline is valid? [True, True] Translation: X:541.31, Y:3.52, Z:2.36 [[ 9.99361036e-01 -3.22579843e-02 -1.53929399e-02 5.41308390e+02] [ 3.22583391e-02 9.99479539e-01 -2.25301496e-04 3.52047196e+00] [ 1.53921962e-02 -2.71393137e-04 9.99881496e-01 2.35733008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.679254154 meters 0.016236781836867397 Centerline is valid? [True, True] Translation: X:541.37, Y:3.52, Z:2.36 [[ 9.99585859e-01 -2.46445764e-02 -1.48578650e-02 5.41368324e+02] [ 2.46440620e-02 9.99696265e-01 -2.17734979e-04 3.52473730e+00] [ 1.48587181e-02 -1.48513340e-04 9.99889592e-01 2.35723939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.739254154 meters 0.014905349206783798 Centerline is valid? [True, True] Translation: X:541.43, Y:3.53, Z:2.36 [[ 9.99706325e-01 -1.94005299e-02 -1.45218441e-02 5.41425791e+02] [ 1.93994647e-02 9.99811790e-01 -2.14225218e-04 3.52821166e+00] [ 1.45232670e-02 -6.75536974e-05 9.99894530e-01 2.35794390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.799254154 meters 0.015567136459308751 Centerline is valid? [True, True] Translation: X:541.48, Y:3.53, Z:2.36 [[ 9.99771130e-01 -1.54638853e-02 -1.47836408e-02 5.41484057e+02] [ 1.54622987e-02 9.99880427e-01 -2.21623091e-04 3.53090767e+00] [ 1.47853003e-02 -7.01670233e-06 9.99890691e-01 2.35739479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.859254154 meters 0.01483863202452687 Centerline is valid? [True, True] Translation: X:541.54, Y:3.53, Z:2.36 [[ 9.99767549e-01 -1.62435571e-02 -1.41772809e-02 5.41541642e+02] [ 1.62421473e-02 9.99868065e-01 -2.14579984e-04 3.52982845e+00] [ 1.41788960e-02 -1.57393812e-05 9.99899474e-01 2.35744198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.919254154 meters 0.015023438166704014 Centerline is valid? [True, True] Translation: X:541.60, Y:3.52, Z:2.36 [[ 9.99673280e-01 -2.18049997e-02 -1.33369604e-02 5.41600041e+02] [ 2.18042293e-02 9.99762239e-01 -2.03184884e-04 3.52367506e+00] [ 1.33382198e-02 -8.76836430e-05 9.99911038e-01 2.35873748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.979254154 meters 0.017001892216065594 Centerline is valid? [True, True] Translation: X:541.66, Y:3.52, Z:2.36 [[ 9.99473092e-01 -2.95610077e-02 -1.34046970e-02 5.41660124e+02] [ 2.95609160e-02 9.99562960e-01 -2.05021116e-04 3.51701971e+00] [ 1.34048993e-02 -1.91342034e-04 9.99910132e-01 2.35966096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.039254154 meters 0.016795004537465442 Centerline is valid? [True, True] Translation: X:541.72, Y:3.51, Z:2.36 [[ 9.99400050e-01 -3.23156377e-02 -1.24595032e-02 5.41718846e+02] [ 3.23157652e-02 9.99477691e-01 -1.91146347e-04 3.51364483e+00] [ 1.24591725e-02 -2.11606712e-04 9.99922359e-01 2.36013232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0992541539999 meters 0.020655724148201673 Centerline is valid? [True, True] Translation: X:541.78, Y:3.50, Z:2.36 [[ 9.99174478e-01 -3.84909050e-02 -1.29928214e-02 5.41777858e+02] [ 3.84915621e-02 9.99258905e-01 -1.99581639e-04 3.50492404e+00] [ 1.29908745e-02 -3.00697110e-04 9.99915570e-01 2.35771548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.159254154 meters 0.020064603852499353 Centerline is valid? [True, True] Translation: X:541.84, Y:3.50, Z:2.36 [[ 9.99014650e-01 -4.24355689e-02 -1.29981509e-02 5.41838706e+02] [ 4.24365622e-02 9.99099143e-01 -1.99510527e-04 3.50362696e+00] [ 1.29949078e-02 -3.52282902e-04 9.99915501e-01 2.35906693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2192541539999 meters 0.020313620177921113 Centerline is valid? [True, True] Translation: X:541.90, Y:3.50, Z:2.36 [[ 9.98805860e-01 -4.74245159e-02 -1.17375068e-02 5.41899382e+02] [ 4.74256707e-02 9.98874754e-01 -1.80088376e-04 3.49749866e+00] [ 1.17328398e-02 -3.76785806e-04 9.99931097e-01 2.36166889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.279254154 meters 0.023023948591835427 Centerline is valid? [True, True] Translation: X:541.96, Y:3.49, Z:2.36 [[ 9.98685436e-01 -5.00044400e-02 -1.12675030e-02 5.41961114e+02] [ 5.00056709e-02 9.98748919e-01 -1.72633166e-04 3.49368591e+00] [ 1.12620389e-02 -3.91032820e-04 9.99936505e-01 2.36104190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.339254154 meters 0.023159518780137427 Centerline is valid? [True, True] Translation: X:542.02, Y:3.49, Z:2.36 [[ 9.98593686e-01 -5.20808197e-02 -9.91154660e-03 5.42022462e+02] [ 5.20818776e-02 9.98642807e-01 -1.51527678e-04 3.49052304e+00] [ 9.90598640e-03 -3.64897374e-04 9.99950868e-01 2.36352757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.399254154 meters 0.02302998706773127 Centerline is valid? [True, True] Translation: X:542.08, Y:3.49, Z:2.36 [[ 9.98606280e-01 -5.17425501e-02 -1.04022361e-02 5.42084006e+02] [ 5.17437009e-02 9.98660385e-01 -1.58657589e-04 3.49065517e+00] [ 1.03965105e-02 -3.79813730e-04 9.99945883e-01 2.36350051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.459254154 meters 0.02398293895265074 Centerline is valid? [True, True] Translation: X:542.14, Y:3.49, Z:2.36 [[ 9.98610113e-01 -5.14223721e-02 -1.15577239e-02 5.42144326e+02] [ 5.14237747e-02 9.98676907e-01 -1.75986813e-04 3.48992930e+00] [ 1.15514816e-02 -4.18599580e-04 9.99933192e-01 2.36253663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.519254154 meters 0.020835848034838917 Centerline is valid? [True, True] Translation: X:542.21, Y:3.50, Z:2.36 [[ 9.98595118e-01 -5.18266727e-02 -1.10356964e-02 5.42205752e+02] [ 5.18279796e-02 9.98656013e-01 -1.67719736e-04 3.49587151e+00] [ 1.10295569e-02 -4.04473737e-04 9.99939091e-01 2.36393439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.579254154 meters 0.021377520225734265 Centerline is valid? [True, True] Translation: X:542.27, Y:3.50, Z:2.36 [[ 9.98515348e-01 -5.33761327e-02 -1.08668762e-02 5.42266531e+02] [ 5.33774946e-02 9.98574392e-01 -1.64874088e-04 3.49585996e+00] [ 1.08601847e-02 -4.15417319e-04 9.99940940e-01 2.36488902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.639254154 meters 0.022175385862693058 Centerline is valid? [True, True] Translation: X:542.33, Y:3.50, Z:2.37 [[ 9.98458493e-01 -5.45401598e-02 -1.02960763e-02 5.42328295e+02] [ 5.45414472e-02 9.98511495e-01 -1.55921164e-04 3.49600021e+00] [ 1.02892545e-02 -4.05882090e-04 9.99946982e-01 2.36608641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.699254154 meters 0.022996122554546628 Centerline is valid? [True, True] Translation: X:542.39, Y:3.50, Z:2.37 [[ 9.98484671e-01 -5.40546924e-02 -1.03175920e-02 5.42389527e+02] [ 5.40559631e-02 9.98537895e-01 -1.55872089e-04 3.49672951e+00] [ 1.03109322e-02 -4.02091483e-04 9.99946760e-01 2.36588212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.759254154 meters 0.02385770525021251 Centerline is valid? [True, True] Translation: X:542.45, Y:3.50, Z:2.37 [[ 9.98482025e-01 -5.40180728e-02 -1.07560761e-02 5.42450521e+02] [ 5.40194571e-02 9.98539870e-01 -1.61990739e-04 3.49813953e+00] [ 1.07491213e-02 -4.19292553e-04 9.99942139e-01 2.36568064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.819254154 meters 0.024925235414955716 Centerline is valid? [True, True] Translation: X:542.51, Y:3.50, Z:2.37 [[ 9.98402958e-01 -5.53823692e-02 -1.11502003e-02 5.42510960e+02] [ 5.53839459e-02 9.98465117e-01 -1.67564415e-04 3.50000733e+00] [ 1.11423661e-02 -4.50245281e-04 9.99937821e-01 2.36630182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.879254154 meters 0.026722880964994034 Centerline is valid? [True, True] Translation: X:542.57, Y:3.50, Z:2.36 [[ 9.98332270e-01 -5.65215790e-02 -1.17469298e-02 5.42572175e+02] [ 5.65234116e-02 9.98401258e-01 -1.76197196e-04 3.50128854e+00] [ 1.17381084e-02 -4.88073201e-04 9.99930987e-01 2.36490572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.939254154 meters 0.02320480871319305 Centerline is valid? [True, True] Translation: X:542.63, Y:3.51, Z:2.37 [[ 9.98255788e-01 -5.79648953e-02 -1.12005618e-02 5.42633780e+02] [ 5.79666618e-02 9.98318505e-01 -1.67125464e-04 3.50961774e+00] [ 1.11914155e-02 -4.82425216e-04 9.99937258e-01 2.36787090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.999254154 meters 0.02297236400219413 Centerline is valid? [True, True] Translation: X:542.70, Y:3.51, Z:2.37 [[ 9.98312123e-01 -5.70366974e-02 -1.09416320e-02 5.42695591e+02] [ 5.70383366e-02 9.98371976e-01 -1.62438393e-04 3.51365501e+00] [ 1.09330837e-02 -4.61928272e-04 9.99940125e-01 2.36927020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.059254154 meters 0.022850121490860804 Centerline is valid? [True, True] Translation: X:542.76, Y:3.52, Z:2.37 [[ 9.98527919e-01 -5.31166927e-02 -1.09823194e-02 5.42757018e+02] [ 5.31181126e-02 9.98588223e-01 -1.62557213e-04 3.51958677e+00] [ 1.09754494e-02 -4.21042165e-04 9.99939679e-01 2.36918148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.119254154 meters 0.021332739900120776 Centerline is valid? [True, True] Translation: X:542.82, Y:3.53, Z:2.37 [[ 9.98739571e-01 -4.88703506e-02 -1.14436601e-02 5.42818261e+02] [ 4.88716188e-02 9.98805054e-01 -1.68963602e-04 3.52645956e+00] [ 1.14382428e-02 -3.90519557e-04 9.99934505e-01 2.37039372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.179254154 meters 0.020713400742528205 Centerline is valid? [True, True] Translation: X:542.88, Y:3.53, Z:2.37 [[ 9.98881561e-01 -4.58037201e-02 -1.17323151e-02 5.42879392e+02] [ 4.58048467e-02 9.98950392e-01 -1.72802875e-04 3.53113933e+00] [ 1.17279158e-02 -3.64787289e-04 9.99931159e-01 2.37054168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.239254154 meters 0.019972809693688556 Centerline is valid? [True, True] Translation: X:542.94, Y:3.54, Z:2.37 [[ 9.99042250e-01 -4.22263756e-02 -1.14680203e-02 5.42939976e+02] [ 4.22272211e-02 9.99108019e-01 -1.68511088e-04 3.53619169e+00] [ 1.14649067e-02 -3.15912934e-04 9.99934226e-01 2.37144683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.299254154 meters 0.019698941704371236 Centerline is valid? [True, True] Translation: X:543.00, Y:3.54, Z:2.37 [[ 9.99100556e-01 -4.08563342e-02 -1.13507593e-02 5.43001425e+02] [ 4.08570785e-02 9.99164987e-01 -1.66398425e-04 3.53853950e+00] [ 1.13480797e-02 -2.97510103e-04 9.99935564e-01 2.37233662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.359254154 meters 0.017465462019178323 Centerline is valid? [True, True] Translation: X:543.06, Y:3.55, Z:2.37 [[ 9.99181159e-01 -3.87946065e-02 -1.14887066e-02 5.43063081e+02] [ 3.87952385e-02 9.99247167e-01 -1.67932500e-04 3.54581587e+00] [ 1.14865724e-02 -2.77912122e-04 9.99933989e-01 2.37444753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.419254154 meters 0.016986188192062324 Centerline is valid? [True, True] Translation: X:543.12, Y:3.55, Z:2.37 [[ 9.99218432e-01 -3.78560770e-02 -1.13773166e-02 5.43124906e+02] [ 3.78566427e-02 9.99283167e-01 -1.65710178e-04 3.54853407e+00] [ 1.13754341e-02 -2.65126347e-04 9.99935263e-01 2.37462595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.479254154 meters 0.019030500633862787 Centerline is valid? [True, True] Translation: X:543.19, Y:3.55, Z:2.37 [[ 9.99238767e-01 -3.68783042e-02 -1.27231167e-02 5.43185826e+02] [ 3.68789398e-02 9.99319723e-01 -1.84734242e-04 3.54823153e+00] [ 1.27212742e-02 -2.84621439e-04 9.99919041e-01 2.37189088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.539254154 meters 0.017311252562937772 Centerline is valid? [True, True] Translation: X:543.25, Y:3.55, Z:2.38 [[ 9.99211170e-01 -3.82193736e-02 -1.07850267e-02 5.43247511e+02] [ 3.82199124e-02 9.99269340e-01 -1.56223181e-04 3.54848050e+00] [ 1.07831173e-02 -2.56102829e-04 9.99941828e-01 2.37504556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5992541539999 meters 0.017492866724993856 Centerline is valid? [True, True] Translation: X:543.31, Y:3.55, Z:2.38 [[ 9.99166054e-01 -3.94302065e-02 -1.06045066e-02 5.43308649e+02] [ 3.94307996e-02 9.99222292e-01 -1.53220797e-04 3.54829422e+00] [ 1.06023009e-02 -2.65051157e-04 9.99943759e-01 2.37548108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.659254154 meters 0.018897871702477517 Centerline is valid? [True, True] Translation: X:543.37, Y:3.55, Z:2.37 [[ 9.99110913e-01 -4.06031725e-02 -1.13475036e-02 5.43369984e+02] [ 4.06039322e-02 9.99175307e-01 -1.63525353e-04 3.54636631e+00] [ 1.13447851e-02 -2.97373303e-04 9.99935602e-01 2.37397426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7192541539999 meters 0.018052002938780273 Centerline is valid? [True, True] Translation: X:543.43, Y:3.55, Z:2.38 [[ 9.99105061e-01 -4.09993021e-02 -1.03987376e-02 5.43431174e+02] [ 4.09999653e-02 9.99159137e-01 -1.49483903e-04 3.54566718e+00] [ 1.03961225e-02 -2.76997759e-04 9.99945920e-01 2.37562717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.779254154 meters 0.017425901204725668 Centerline is valid? [True, True] Translation: X:543.49, Y:3.55, Z:2.38 [[ 9.99174018e-01 -3.93206691e-02 -1.02550999e-02 5.43492367e+02] [ 3.93212297e-02 9.99226611e-01 -1.47042267e-04 3.54743630e+00] [ 1.02529506e-02 -2.56322327e-04 9.99947404e-01 2.37631786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.839254154 meters 0.016961948401440923 Centerline is valid? [True, True] Translation: X:543.55, Y:3.55, Z:2.38 [[ 9.99260734e-01 -3.71923737e-02 -9.73200437e-03 5.43553944e+02] [ 3.71927810e-02 9.99308099e-01 -1.39189241e-04 3.54849145e+00] [ 9.73044757e-03 -2.22873965e-04 9.99952633e-01 2.37680035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.899254154 meters 0.01675313763685044 Centerline is valid? [True, True] Translation: X:543.62, Y:3.55, Z:2.38 [[ 9.99328067e-01 -3.52274300e-02 -1.01214039e-02 5.43615161e+02] [ 3.52277737e-02 9.99379299e-01 -1.44380072e-04 3.54937214e+00] [ 1.01202076e-02 -2.12271467e-04 9.99948767e-01 2.37658533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.959254154 meters 0.01614688523963917 Centerline is valid? [True, True] Translation: X:543.68, Y:3.55, Z:2.38 [[ 9.99360769e-01 -3.41557765e-02 -1.05562974e-02 5.43676115e+02] [ 3.41560948e-02 9.99416499e-01 -1.50184195e-04 3.55008153e+00] [ 1.05552674e-02 -2.10473701e-04 9.99944269e-01 2.37657323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.019254154 meters 0.01759501622538712 Centerline is valid? [True, True] Translation: X:543.74, Y:3.55, Z:2.38 [[ 9.99323961e-01 -3.50672739e-02 -1.10411983e-02 5.43736500e+02] [ 3.50676811e-02 9.99384927e-01 -1.56786605e-04 3.54773344e+00] [ 1.10399053e-02 -2.30508611e-04 9.99939032e-01 2.37568018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.079254154 meters 0.01881154376162727 Centerline is valid? [True, True] Translation: X:543.80, Y:3.54, Z:2.38 [[ 9.99171820e-01 -3.93569968e-02 -1.03295794e-02 5.43797208e+02] [ 3.93575854e-02 9.99225179e-01 -1.46368883e-04 3.54182902e+00] [ 1.03273365e-02 -2.60299641e-04 9.99946638e-01 2.37607937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.139254154 meters 0.01935973261616953 Centerline is valid? [True, True] Translation: X:543.86, Y:3.54, Z:2.38 [[ 9.98890382e-01 -4.57949492e-02 -1.09921678e-02 5.43858472e+02] [ 4.57960085e-02 9.98950800e-01 -1.55449661e-04 3.53943830e+00] [ 1.09877537e-02 -3.48120239e-04 9.99939572e-01 2.37691820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.199254154 meters 0.02001649990220967 Centerline is valid? [True, True] Translation: X:543.92, Y:3.54, Z:2.38 [[ 9.98662245e-01 -5.06001030e-02 -1.06465545e-02 5.43919701e+02] [ 5.06013728e-02 9.98718919e-01 -1.50248905e-04 3.53748510e+00] [ 1.06405180e-02 -3.88682366e-04 9.99943313e-01 2.37716411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.259254154 meters 0.024294512806905703 Centerline is valid? [True, True] Translation: X:543.98, Y:3.53, Z:2.38 [[ 9.98337419e-01 -5.68111259e-02 -9.74137628e-03 5.43979741e+02] [ 5.68124876e-02 9.98384857e-01 -1.37100491e-04 3.53086995e+00] [ 9.73343140e-03 -4.16559269e-04 9.99952542e-01 2.37619093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.319254154 meters 0.024347081291069175 Centerline is valid? [True, True] Translation: X:544.04, Y:3.53, Z:2.38 [[ 9.98118446e-01 -6.05887101e-02 -9.41151865e-03 5.44040951e+02] [ 6.05901521e-02 9.98162720e-01 -1.32095718e-04 3.53059161e+00] [ 9.40223057e-03 -4.38398174e-04 9.99955702e-01 2.37807732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.379254154 meters 0.025549782082857846 Centerline is valid? [True, True] Translation: X:544.10, Y:3.53, Z:2.38 [[ 9.97886091e-01 -6.43484995e-02 -9.08956263e-03 5.44101746e+02] [ 6.43500023e-02 9.97927383e-01 -1.27333077e-04 3.53066709e+00] [ 9.07891714e-03 -4.57849470e-04 9.99958681e-01 2.37858848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.439254154 meters 0.030808819677727108 Centerline is valid? [True, True] Translation: X:544.16, Y:3.53, Z:2.38 [[ 9.97679705e-01 -6.71514372e-02 -1.12201230e-02 5.44162362e+02] [ 6.71539085e-02 9.97742616e-01 -1.56768952e-04 3.52917150e+00] [ 1.12053221e-02 -5.97069912e-04 9.99937040e-01 2.37545643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.499254154 meters 0.02919059610892214 Centerline is valid? [True, True] Translation: X:544.22, Y:3.53, Z:2.38 [[ 9.97589420e-01 -6.84783933e-02 -1.12276091e-02 5.44223965e+02] [ 6.84809582e-02 9.97652411e-01 -1.56294146e-04 3.53271907e+00] [ 1.12119541e-02 -6.12960042e-04 9.99936956e-01 2.37586310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.559254154 meters 0.03043019387521422 Centerline is valid? [True, True] Translation: X:544.29, Y:3.53, Z:2.38 [[ 9.97563183e-01 -6.89131872e-02 -1.08935491e-02 5.44285296e+02] [ 6.89156341e-02 9.97622480e-01 -1.51051064e-04 3.53379790e+00] [ 1.08780589e-02 -6.00052866e-04 9.99940652e-01 2.37767121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.619254154 meters 0.03084442114404785 Centerline is valid? [True, True] Translation: X:544.35, Y:3.54, Z:2.38 [[ 9.97619395e-01 -6.80469651e-02 -1.11871600e-02 5.44347748e+02] [ 6.80494995e-02 9.97681934e-01 -1.54396051e-04 3.53696476e+00] [ 1.11717336e-02 -6.07252142e-04 9.99937410e-01 2.37806882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.679254154 meters 0.030583883105996617 Centerline is valid? [True, True] Translation: X:544.41, Y:3.54, Z:2.38 [[ 9.97793256e-01 -6.52406577e-02 -1.23400059e-02 5.44408724e+02] [ 6.52435349e-02 9.97869356e-01 -1.69687521e-04 3.54335566e+00] [ 1.23247843e-02 -6.35792542e-04 9.99923845e-01 2.37828777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.739254154 meters 0.026486556438824384 Centerline is valid? [True, True] Translation: X:544.47, Y:3.55, Z:2.38 [[ 9.97948161e-01 -6.26302763e-02 -1.33010213e-02 5.44469744e+02] [ 6.26333945e-02 9.98036585e-01 -1.82409456e-04 3.55467118e+00] [ 1.32863302e-02 -6.51052934e-04 9.99911521e-01 2.37881868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.799254154 meters 0.024444500059161812 Centerline is valid? [True, True] Translation: X:544.53, Y:3.57, Z:2.38 [[ 9.98188847e-01 -5.85394177e-02 -1.38622522e-02 5.44530826e+02] [ 5.85424161e-02 9.98284904e-01 -1.89736172e-04 3.56568521e+00] [ 1.38495841e-02 -6.22137203e-04 9.99903896e-01 2.37925531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.859254154 meters 0.023570749573915382 Centerline is valid? [True, True] Translation: X:544.59, Y:3.57, Z:2.38 [[ 9.98382653e-01 -5.54105642e-02 -1.27179742e-02 5.44591128e+02] [ 5.54128375e-02 9.98463513e-01 -1.73833199e-04 3.57068475e+00] [ 1.27080654e-02 -5.31186985e-04 9.99919108e-01 2.38075285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.919254154 meters 0.020651498350578973 Centerline is valid? [True, True] Translation: X:544.65, Y:3.58, Z:2.38 [[ 9.98705612e-01 -4.92102673e-02 -1.28627239e-02 5.44652208e+02] [ 4.92120829e-02 9.98788336e-01 -1.75515728e-04 3.58398556e+00] [ 1.28557758e-02 -4.57712892e-04 9.99917256e-01 2.38138198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.979254154 meters 0.020137895450801115 Centerline is valid? [True, True] Translation: X:544.71, Y:3.59, Z:2.38 [[ 9.98925228e-01 -4.44961700e-02 -1.29800060e-02 5.44713056e+02] [ 4.44976267e-02 9.99009474e-01 -1.76692118e-04 3.59048195e+00] [ 1.29750111e-02 -4.01077250e-04 9.99915741e-01 2.38115607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.039254154 meters 0.01927809105014996 Centerline is valid? [True, True] Translation: X:544.77, Y:3.60, Z:2.38 [[ 9.99223953e-01 -3.70221719e-02 -1.34480885e-02 5.44773923e+02] [ 3.70230636e-02 9.99314395e-01 -1.82735285e-04 3.60274023e+00] [ 1.34456337e-02 -3.15295962e-04 9.99909554e-01 2.38094440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0992541539999 meters 0.015861256539698134 Centerline is valid? [True, True] Translation: X:544.83, Y:3.61, Z:2.38 [[ 9.99448386e-01 -3.10306171e-02 -1.18331999e-02 5.44834960e+02] [ 3.10308917e-02 9.99518413e-01 -1.60446366e-04 3.61469727e+00] [ 1.18324799e-02 -2.06836882e-04 9.99929972e-01 2.38319731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.159254154 meters 0.01576431516924543 Centerline is valid? [True, True] Translation: X:544.90, Y:3.62, Z:2.38 [[ 9.99513218e-01 -2.87441021e-02 -1.21286244e-02 5.44896160e+02] [ 2.87442277e-02 9.99586786e-01 -1.63999406e-04 3.61976195e+00] [ 1.21283267e-02 -1.84708368e-04 9.99926432e-01 2.38288750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2192541539999 meters 0.015994343689389158 Centerline is valid? [True, True] Translation: X:544.96, Y:3.62, Z:2.38 [[ 9.99517555e-01 -2.84824276e-02 -1.23858390e-02 5.44956569e+02] [ 2.84825424e-02 9.99594276e-01 -1.67166628e-04 3.62329324e+00] [ 1.23855751e-02 -1.85694205e-04 9.99923279e-01 2.38206071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.279254154 meters 0.016560007815037754 Centerline is valid? [True, True] Translation: X:545.02, Y:3.62, Z:2.38 [[ 9.99410108e-01 -3.22630154e-02 -1.17700210e-02 5.45017623e+02] [ 3.22633851e-02 9.99479389e-01 -1.58510735e-04 3.62434842e+00] [ 1.17690075e-02 -2.21323491e-04 9.99930718e-01 2.38249256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.339254154 meters 0.017492635433785143 Centerline is valid? [True, True] Translation: X:545.08, Y:3.62, Z:2.38 [[ 9.99265188e-01 -3.63491899e-02 -1.21581516e-02 5.45079452e+02] [ 3.63498939e-02 9.99339111e-01 -1.63147354e-04 3.62335829e+00] [ 1.21560467e-02 -2.78920049e-04 9.99926074e-01 2.38247780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.399254154 meters 0.021705670469661483 Centerline is valid? [True, True] Translation: X:545.14, Y:3.62, Z:2.38 [[ 9.99005436e-01 -4.28221396e-02 -1.24259019e-02 5.45140103e+02] [ 4.28233820e-02 9.99082644e-01 -1.66193021e-04 3.61653618e+00] [ 1.24216197e-02 -3.66091411e-04 9.99922782e-01 2.38139815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.459254154 meters 0.019616408789792414 Centerline is valid? [True, True] Translation: X:545.20, Y:3.62, Z:2.38 [[ 9.98832953e-01 -4.67367654e-02 -1.21821938e-02 5.45201536e+02] [ 4.67382575e-02 9.98907157e-01 -1.62339845e-04 3.62108028e+00] [ 1.21764678e-02 -4.07224122e-04 9.99925781e-01 2.38327777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.519254154 meters 0.021698958670939746 Centerline is valid? [True, True] Translation: X:545.26, Y:3.62, Z:2.38 [[ 9.98839936e-01 -4.65657671e-02 -1.22642424e-02 5.45262496e+02] [ 4.65672749e-02 9.98915143e-01 -1.62750841e-04 3.61942343e+00] [ 1.22585161e-02 -4.08550307e-04 9.99924778e-01 2.38295146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.579254154 meters 0.020942373810586997 Centerline is valid? [True, True] Translation: X:545.32, Y:3.63, Z:2.38 [[ 9.99058372e-01 -4.16212287e-02 -1.22491700e-02 5.45323942e+02] [ 4.16223680e-02 9.99133401e-01 -1.62016136e-04 3.62616045e+00] [ 1.22452982e-02 -3.47975885e-04 9.99924963e-01 2.38240213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.639254154 meters 0.017253858000250612 Centerline is valid? [True, True] Translation: X:545.39, Y:3.63, Z:2.38 [[ 9.99245684e-01 -3.72266247e-02 -1.10562830e-02 5.45385379e+02] [ 3.72272884e-02 9.99306814e-01 -1.45841486e-04 3.63191481e+00] [ 1.10540481e-02 -2.65863961e-04 9.99938867e-01 2.38463477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.699254154 meters 0.017390844451012043 Centerline is valid? [True, True] Translation: X:545.45, Y:3.64, Z:2.38 [[ 9.99460806e-01 -3.06300779e-02 -1.18277353e-02 5.45447118e+02] [ 3.06303829e-02 9.99530768e-01 -1.55401335e-04 3.63795661e+00] [ 1.18269453e-02 -2.06970518e-04 9.99930038e-01 2.38387382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.759254154 meters 0.019086056206855256 Centerline is valid? [True, True] Translation: X:545.51, Y:3.64, Z:2.38 [[ 9.99527295e-01 -2.75625938e-02 -1.36194441e-02 5.45508319e+02] [ 2.75627222e-02 9.99620060e-01 -1.78306065e-04 3.64080725e+00] [ 1.36191841e-02 -1.97167175e-04 9.99907235e-01 2.38204443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.819254154 meters 0.01575533184424654 Centerline is valid? [True, True] Translation: X:545.57, Y:3.64, Z:2.38 [[ 9.99572635e-01 -2.60185346e-02 -1.33260429e-02 5.45568842e+02] [ 2.60185247e-02 9.99661446e-01 -1.74147806e-04 3.64264218e+00] [ 1.33260624e-02 -1.72650594e-04 9.99911189e-01 2.38286867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.879254154 meters 0.015536026621313707 Centerline is valid? [True, True] Translation: X:545.63, Y:3.64, Z:2.38 [[ 9.99621590e-01 -2.38866408e-02 -1.36420073e-02 5.45628971e+02] [ 2.38864329e-02 9.99714663e-01 -1.78196091e-04 3.64431127e+00] [ 1.36423713e-02 -1.47730234e-04 9.99906928e-01 2.38255587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.939254154 meters 0.015990900049171967 Centerline is valid? [True, True] Translation: X:545.69, Y:3.65, Z:2.38 [[ 9.99725490e-01 -1.89445944e-02 -1.37857520e-02 5.45689711e+02] [ 1.89439123e-02 9.99820532e-01 -1.80073728e-04 3.64860428e+00] [ 1.37866894e-02 -8.11317807e-05 9.99904956e-01 2.38322571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.999254154 meters 0.01454143261696144 Centerline is valid? [True, True] Translation: X:545.75, Y:3.65, Z:2.39 [[ 9.99791248e-01 -1.55745530e-02 -1.32247226e-02 5.45749055e+02] [ 1.55736261e-02 9.99878709e-01 -1.73069345e-04 3.65111333e+00] [ 1.32258140e-02 -3.29236683e-05 9.99912535e-01 2.38505491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.059254154 meters 0.014853018155526124 Centerline is valid? [True, True] Translation: X:545.81, Y:3.65, Z:2.39 [[ 9.99848106e-01 -1.26707238e-02 -1.19673527e-02 5.45807564e+02] [ 1.26697321e-02 9.99919723e-01 -1.58684799e-04 3.65116822e+00] [ 1.19684026e-02 7.03754381e-06 9.99928376e-01 2.38603971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.119254154 meters 0.01439667786477496 Centerline is valid? [True, True] Translation: X:545.87, Y:3.65, Z:2.39 [[ 9.99836011e-01 -1.50483506e-02 -1.00746247e-02 5.45866795e+02] [ 1.50477444e-02 9.99886767e-01 -1.35981018e-04 3.64704449e+00] [ 1.00755302e-02 -1.56416574e-05 9.99949240e-01 2.38760177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.179254154 meters 0.014670290595969042 Centerline is valid? [True, True] Translation: X:545.93, Y:3.64, Z:2.39 [[ 9.99771041e-01 -1.90299212e-02 -9.78401991e-03 5.45926437e+02] [ 1.90295292e-02 9.99818913e-01 -1.33166442e-04 3.64135056e+00] [ 9.78478230e-03 -5.30493409e-05 9.99952126e-01 2.38715327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.239254154 meters 0.016097852391410285 Centerline is valid? [True, True] Translation: X:545.99, Y:3.63, Z:2.39 [[ 9.99635615e-01 -2.47102658e-02 -1.08646112e-02 5.45987360e+02] [ 2.47101177e-02 9.99694647e-01 -1.47887183e-04 3.63374370e+00] [ 1.08649480e-02 -1.20632526e-04 9.99940967e-01 2.38579465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.299254154 meters 0.016741079523494663 Centerline is valid? [True, True] Translation: X:546.05, Y:3.62, Z:2.39 [[ 9.99297387e-01 -3.56217386e-02 -1.16543552e-02 5.46048064e+02] [ 3.56223098e-02 9.99365312e-01 -1.58637040e-04 3.62262718e+00] [ 1.16526093e-02 -2.56629472e-04 9.99932073e-01 2.38587644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.359254154 meters 0.02112457313227081 Centerline is valid? [True, True] Translation: X:546.11, Y:3.61, Z:2.38 [[ 9.98919410e-01 -4.51023972e-02 -1.12154801e-02 5.46108020e+02] [ 4.51035220e-02 9.98982307e-01 -1.52759430e-04 3.60945475e+00] [ 1.12109560e-02 -3.53263295e-04 9.99937093e-01 2.38483507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.419254154 meters 0.022553827445703015 Centerline is valid? [True, True] Translation: X:546.17, Y:3.60, Z:2.39 [[ 9.98698162e-01 -4.98595163e-02 -1.07707455e-02 5.46169143e+02] [ 4.98608304e-02 9.98756164e-01 -1.46649671e-04 3.60263447e+00] [ 1.07646603e-02 -3.90579557e-04 9.99941983e-01 2.38555763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.479254154 meters 0.024811049938703703 Centerline is valid? [True, True] Translation: X:546.23, Y:3.59, Z:2.39 [[ 9.98381302e-01 -5.58966990e-02 -1.05040792e-02 5.46230354e+02] [ 5.58982847e-02 9.98436458e-01 -1.42797473e-04 3.59494935e+00] [ 1.04956376e-02 -4.44593686e-04 9.99944820e-01 2.38550005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.539254154 meters 0.02599936755088477 Centerline is valid? [True, True] Translation: X:546.29, Y:3.59, Z:2.38 [[ 9.98055330e-01 -6.14408358e-02 -1.05158292e-02 5.46291010e+02] [ 6.14427336e-02 9.98110600e-01 -1.42806559e-04 3.59403242e+00] [ 1.05047348e-02 -5.03592447e-04 9.99944697e-01 2.38452935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5992541539999 meters 0.03204286999292566 Centerline is valid? [True, True] Translation: X:546.35, Y:3.58, Z:2.39 [[ 9.97755517e-01 -6.62335435e-02 -9.85121954e-03 5.46350975e+02] [ 6.62354422e-02 9.97804013e-01 -1.33753888e-04 3.58182186e+00] [ 9.83844538e-03 -5.19046202e-04 9.99951467e-01 2.38550931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.659254154 meters 0.02924143286889355 Centerline is valid? [True, True] Translation: X:546.41, Y:3.58, Z:2.39 [[ 9.97273755e-01 -7.31268084e-02 -9.87559278e-03 5.46411426e+02] [ 7.31290538e-02 9.97322477e-01 -1.34031224e-04 3.58499897e+00] [ 9.85895193e-03 -5.88526933e-04 9.99951226e-01 2.38725861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7192541539999 meters 0.04116689670497252 Centerline is valid? [True, True] Translation: X:546.47, Y:3.57, Z:2.38 [[ 9.97052176e-01 -7.59550273e-02 -1.08532005e-02 5.46471584e+02] [ 7.59579067e-02 9.97111014e-01 -1.47249525e-04 3.57184352e+00] [ 1.08330301e-02 -6.77570935e-04 9.99941091e-01 2.38423892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.779254154 meters 0.036352009037029995 Centerline is valid? [True, True] Translation: X:546.53, Y:3.58, Z:2.39 [[ 9.96894691e-01 -7.78421351e-02 -1.18986544e-02 5.46532158e+02] [ 7.78457315e-02 9.96965404e-01 -1.61298794e-04 3.58129584e+00] [ 1.18751026e-02 -7.65461545e-04 9.99929195e-01 2.38500778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.839254154 meters 0.0327708310897015 Centerline is valid? [True, True] Translation: X:546.59, Y:3.59, Z:2.39 [[ 9.96923598e-01 -7.75436099e-02 -1.14161024e-02 5.46594695e+02] [ 7.75469077e-02 9.96988693e-01 -1.54169220e-04 3.58714691e+00] [ 1.13936799e-02 -7.31588506e-04 9.99934822e-01 2.38771162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.899254154 meters 0.03338009993380277 Centerline is valid? [True, True] Translation: X:546.65, Y:3.59, Z:2.39 [[ 9.97249970e-01 -7.28992378e-02 -1.33491021e-02 5.46654234e+02] [ 7.29033357e-02 9.97338995e-01 -1.80030819e-04 3.59256847e+00] [ 1.33267042e-02 -7.93658342e-04 9.99910881e-01 2.38756180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.959254154 meters 0.02706509619329231 Centerline is valid? [True, True] Translation: X:546.71, Y:3.61, Z:2.39 [[ 9.97757365e-01 -6.56314855e-02 -1.31434173e-02 5.46714650e+02] [ 6.56348282e-02 9.97843694e-01 -1.77333064e-04 3.60771577e+00] [ 1.31267147e-02 -6.85730567e-04 9.99913606e-01 2.38979114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.019254154 meters 0.02444030696092557 Centerline is valid? [True, True] Translation: X:546.77, Y:3.62, Z:2.39 [[ 9.98135213e-01 -5.97025758e-02 -1.27160792e-02 5.46774793e+02] [ 5.97052246e-02 9.98216037e-01 -1.71556238e-04 3.61645854e+00] [ 1.27036366e-02 -5.87980043e-04 9.99919133e-01 2.39153962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.079254154 meters 0.02082820328479647 Centerline is valid? [True, True] Translation: X:546.84, Y:3.63, Z:2.39 [[ 9.98625572e-01 -5.08956908e-02 -1.25137929e-02 5.46835360e+02] [ 5.08975663e-02 9.98703865e-01 -1.68761189e-04 3.62860192e+00] [ 1.25061625e-02 -4.68392362e-04 9.99921685e-01 2.39293148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.139254154 meters 0.019143451846913958 Centerline is valid? [True, True] Translation: X:546.90, Y:3.63, Z:2.39 [[ 9.98910092e-01 -4.48046201e-02 -1.30833857e-02 5.46896376e+02] [ 4.48061508e-02 9.98995685e-01 -1.76249691e-04 3.63478865e+00] [ 1.30781427e-02 -4.10158559e-04 9.99914393e-01 2.39294829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.199254154 meters 0.017261479267714475 Centerline is valid? [True, True] Translation: X:546.96, Y:3.64, Z:2.39 [[ 9.99183779e-01 -3.78110629e-02 -1.42161791e-02 5.46957392e+02] [ 3.78121666e-02 9.99284846e-01 -1.91240255e-04 3.64263229e+00] [ 1.42132433e-02 -3.46460371e-04 9.99898927e-01 2.39263977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.259254154 meters 0.01646385652220382 Centerline is valid? [True, True] Translation: X:547.02, Y:3.65, Z:2.39 [[ 9.99285914e-01 -3.50186563e-02 -1.41900206e-02 5.47018613e+02] [ 3.50194808e-02 9.99386612e-01 -1.90444077e-04 3.64653252e+00] [ 1.41879857e-02 -3.06619072e-04 9.99899298e-01 2.39355190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.319254154 meters 0.016280665062827007 Centerline is valid? [True, True] Translation: X:547.08, Y:3.65, Z:2.39 [[ 9.99387312e-01 -3.22236129e-02 -1.36615800e-02 5.47078868e+02] [ 3.22241205e-02 9.99480651e-01 -1.83025871e-04 3.64851581e+00] [ 1.36603826e-02 -2.57318666e-04 9.99906660e-01 2.39431603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.379254154 meters 0.01638321121774542 Centerline is valid? [True, True] Translation: X:547.14, Y:3.65, Z:2.39 [[ 9.99405612e-01 -3.16585761e-02 -1.36439612e-02 5.47139512e+02] [ 3.16590331e-02 9.99498710e-01 -1.82544146e-04 3.64877904e+00] [ 1.36429007e-02 -2.49518975e-04 9.99906900e-01 2.39469843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.439254154 meters 0.01589665077673656 Centerline is valid? [True, True] Translation: X:547.20, Y:3.65, Z:2.40 [[ 9.99388895e-01 -3.18728223e-02 -1.43512753e-02 5.47200335e+02] [ 3.18733597e-02 9.99491897e-01 -1.91334944e-04 3.64990935e+00] [ 1.43500817e-02 -2.66205341e-04 9.99896997e-01 2.39560421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.499254154 meters 0.01672235293435585 Centerline is valid? [True, True] Translation: X:547.26, Y:3.65, Z:2.39 [[ 9.99326189e-01 -3.31739387e-02 -1.57053386e-02 5.47260237e+02] [ 3.31747474e-02 9.99449545e-01 -2.09102339e-04 3.64734709e+00] [ 1.57036303e-02 -3.12059198e-04 9.99876642e-01 2.39487634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.559254154 meters 0.018589522736129453 Centerline is valid? [True, True] Translation: X:547.32, Y:3.65, Z:2.40 [[ 9.99265612e-01 -3.35880506e-02 -1.84412716e-02 5.47321014e+02] [ 3.35892363e-02 9.99435692e-01 -2.45528805e-04 3.64674014e+00] [ 1.84391119e-02 -3.74079738e-04 9.99829915e-01 2.39512566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.619254154 meters 0.016641566813625688 Centerline is valid? [True, True] Translation: X:547.38, Y:3.65, Z:2.40 [[ 9.99240672e-01 -3.50994985e-02 -1.69146434e-02 5.47380639e+02] [ 3.51007046e-02 9.99383755e-01 -2.25660451e-04 3.64532785e+00] [ 1.69121404e-02 -3.68226800e-04 9.99856912e-01 2.39502546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.679254154 meters 0.016746232149687307 Centerline is valid? [True, True] Translation: X:547.44, Y:3.64, Z:2.39 [[ 9.99225463e-01 -3.53716396e-02 -1.72429859e-02 5.47441081e+02] [ 3.53729307e-02 9.99374156e-01 -2.30204854e-04 3.64424928e+00] [ 1.72403372e-02 -3.79908393e-04 9.99851302e-01 2.39477194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.739254154 meters 0.017449712231169867 Centerline is valid? [True, True] Translation: X:547.50, Y:3.64, Z:2.39 [[ 9.99224426e-01 -3.51854492e-02 -1.76785405e-02 5.47501072e+02] [ 3.51867781e-02 9.99380726e-01 -2.35972331e-04 3.64125509e+00] [ 1.76758954e-02 -3.86261565e-04 9.99843695e-01 2.39356236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.799254154 meters 0.016793295983212525 Centerline is valid? [True, True] Translation: X:547.56, Y:3.64, Z:2.39 [[ 9.99278764e-01 -3.38261607e-02 -1.72552200e-02 5.47561212e+02] [ 3.38272243e-02 9.99427669e-01 -2.30306517e-04 3.64163825e+00] [ 1.72531347e-02 -3.53555786e-04 9.99851091e-01 2.39402543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.859254154 meters 0.016054363959711125 Centerline is valid? [True, True] Translation: X:547.62, Y:3.64, Z:2.39 [[ 9.99395380e-01 -3.01319818e-02 -1.73475537e-02 5.47621639e+02] [ 3.01325005e-02 9.99545886e-01 -2.31538901e-04 3.64312231e+00] [ 1.73466527e-02 -2.91326263e-04 9.99849493e-01 2.39428798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.919254154 meters 0.01590697239141779 Centerline is valid? [True, True] Translation: X:547.68, Y:3.64, Z:2.39 [[ 9.99457989e-01 -2.75859590e-02 -1.79650372e-02 5.47681183e+02] [ 2.75860955e-02 9.99619402e-01 -2.40264097e-04 3.64411296e+00] [ 1.79648276e-02 -2.55451360e-04 9.99838587e-01 2.39443195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.979254154 meters 0.015394667528204663 Centerline is valid? [True, True] Translation: X:547.74, Y:3.64, Z:2.39 [[ 9.99478118e-01 -2.72768229e-02 -1.73050915e-02 5.47738944e+02] [ 2.72768810e-02 9.99627890e-01 -2.32719794e-04 3.64137390e+00] [ 1.73049999e-02 -2.39430579e-04 9.99850229e-01 2.39451192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.039254154 meters 0.016781136955701204 Centerline is valid? [True, True] Translation: X:547.80, Y:3.64, Z:2.39 [[ 9.99394634e-01 -3.01178306e-02 -1.74149931e-02 5.47797727e+02] [ 3.01182589e-02 9.99546314e-01 -2.37742865e-04 3.63729842e+00] [ 1.74142525e-02 -2.86910327e-04 9.99848319e-01 2.39435791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0992541539999 meters 0.01785548430606206 Centerline is valid? [True, True] Translation: X:547.86, Y:3.63, Z:2.39 [[ 9.99166974e-01 -3.64355748e-02 -1.83795176e-02 5.47856846e+02] [ 3.64370859e-02 9.99335917e-01 -2.52763340e-04 3.63111734e+00] [ 1.83765217e-02 -4.17143281e-04 9.99831050e-01 2.39387395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.159254154 meters 0.017446491181246252 Centerline is valid? [True, True] Translation: X:547.92, Y:3.63, Z:2.40 [[ 9.99019190e-01 -4.01601144e-02 -1.86500064e-02 5.47915891e+02] [ 4.01622998e-02 9.99193136e-01 -2.57502308e-04 3.63042607e+00] [ 1.86452997e-02 -4.91777403e-04 9.99826040e-01 2.39532839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2192541539999 meters 0.018579497136273583 Centerline is valid? [True, True] Translation: X:547.98, Y:3.63, Z:2.40 [[ 9.98865782e-01 -4.37801916e-02 -1.87201457e-02 5.47975715e+02] [ 4.37830142e-02 9.99041030e-01 -2.59240256e-04 3.62644354e+00] [ 1.87135433e-02 -5.60678186e-04 9.99824729e-01 2.39620191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.279254154 meters 0.01888469839552452 Centerline is valid? [True, True] Translation: X:548.04, Y:3.62, Z:2.40 [[ 9.98817298e-01 -4.55059470e-02 -1.71235008e-02 5.48036005e+02] [ 4.55085593e-02 9.98963921e-01 -2.37277340e-04 3.62473243e+00] [ 1.71165571e-02 -5.42269141e-04 9.99853354e-01 2.39858049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.339254154 meters 0.01927367880801339 Centerline is valid? [True, True] Translation: X:548.10, Y:3.62, Z:2.40 [[ 9.98803057e-01 -4.59764685e-02 -1.66918729e-02 5.48096978e+02] [ 4.59790239e-02 9.98942379e-01 -2.30845396e-04 3.62428539e+00] [ 1.66848327e-02 -5.36906935e-04 9.99860654e-01 2.39898341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.399254154 meters 0.020174674784578125 Centerline is valid? [True, True] Translation: X:548.16, Y:3.62, Z:2.40 [[ 9.98833975e-01 -4.56183151e-02 -1.58006142e-02 5.48157411e+02] [ 4.56205746e-02 9.98958816e-01 -2.17594321e-04 3.62194614e+00] [ 1.57940891e-02 -5.03492497e-04 9.99875139e-01 2.39856463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.459254154 meters 0.01906760673674741 Centerline is valid? [True, True] Translation: X:548.22, Y:3.62, Z:2.40 [[ 9.98831331e-01 -4.55946122e-02 -1.60344479e-02 5.48218957e+02] [ 4.55969479e-02 9.98959894e-01 -2.20082770e-04 3.62486840e+00] [ 1.60278050e-02 -5.11296319e-04 9.99871416e-01 2.39911473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.519254154 meters 0.019498935768669033 Centerline is valid? [True, True] Translation: X:548.28, Y:3.63, Z:2.40 [[ 9.98837552e-01 -4.53015721e-02 -1.64715883e-02 5.48280792e+02] [ 4.53040069e-02 9.98973221e-01 -2.25478059e-04 3.62502749e+00] [ 1.64648901e-02 -5.21012999e-04 9.99864309e-01 2.39829389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.579254154 meters 0.021578998882883622 Centerline is valid? [True, True] Translation: X:548.34, Y:3.62, Z:2.40 [[ 9.98842347e-01 -4.50397818e-02 -1.68933082e-02 5.48341565e+02] [ 4.50423121e-02 9.98985053e-01 -2.30864112e-04 3.62373006e+00] [ 1.68865604e-02 -5.30316808e-04 9.99857271e-01 2.39769489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.639254154 meters 0.01869965895600976 Centerline is valid? [True, True] Translation: X:548.40, Y:3.63, Z:2.40 [[ 9.98902570e-01 -4.41799915e-02 -1.55494037e-02 5.48402393e+02] [ 4.41820322e-02 9.99023475e-01 -2.12425970e-04 3.62781957e+00] [ 1.55436042e-02 -4.74811406e-04 9.99879078e-01 2.39901552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.699254154 meters 0.01908382800464104 Centerline is valid? [True, True] Translation: X:548.46, Y:3.63, Z:2.40 [[ 9.98997176e-01 -4.22742069e-02 -1.47490131e-02 5.48463284e+02] [ 4.22758408e-02 9.99105957e-01 -2.01118556e-04 3.62895091e+00] [ 1.47443290e-02 -4.22610061e-04 9.99891207e-01 2.39868011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.759254154 meters 0.017689101517066423 Centerline is valid? [True, True] Translation: X:548.52, Y:3.63, Z:2.40 [[ 9.99079110e-01 -4.06543726e-02 -1.37169183e-02 5.48524241e+02] [ 4.06556400e-02 9.99173200e-01 -1.86554412e-04 3.63280255e+00] [ 1.37131614e-02 -3.71287474e-04 9.99905901e-01 2.39989061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.819254154 meters 0.01751863389081004 Centerline is valid? [True, True] Translation: X:548.58, Y:3.63, Z:2.40 [[ 9.99163968e-01 -3.87291285e-02 -1.30927494e-02 5.48584741e+02] [ 3.87301287e-02 9.99249691e-01 -1.77240964e-04 3.63391374e+00] [ 1.30897902e-02 -3.29991086e-04 9.99914271e-01 2.40064801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.879254154 meters 0.017210877230558006 Centerline is valid? [True, True] Translation: X:548.65, Y:3.64, Z:2.40 [[ 9.99199924e-01 -3.81964820e-02 -1.18549697e-02 5.48645737e+02] [ 3.81972672e-02 9.99270205e-01 -1.60258703e-04 3.63609305e+00] [ 1.18524393e-02 -2.92696961e-04 9.99929715e-01 2.40177864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.939254154 meters 0.017902191715693773 Centerline is valid? [True, True] Translation: X:548.71, Y:3.64, Z:2.40 [[ 9.99173133e-01 -3.90867542e-02 -1.11926970e-02 5.48707169e+02] [ 3.90875122e-02 9.99235780e-01 -1.51108340e-04 3.63556700e+00] [ 1.11900496e-02 -2.86511286e-04 9.99937348e-01 2.40223927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.999254154 meters 0.018215432214319375 Centerline is valid? [True, True] Translation: X:548.77, Y:3.64, Z:2.40 [[ 9.99114863e-01 -4.06090794e-02 -1.09723512e-02 5.48769331e+02] [ 4.06099064e-02 9.99175067e-01 -1.47505492e-04 3.63559407e+00] [ 1.09692898e-02 -2.98211228e-04 9.99939791e-01 2.40253926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.059254154 meters 0.020517893898597556 Centerline is valid? [True, True] Translation: X:548.83, Y:3.63, Z:2.40 [[ 9.98976143e-01 -4.38529341e-02 -1.11169157e-02 5.48830223e+02] [ 4.38539900e-02 9.99037940e-01 -1.48887962e-04 3.63293066e+00] [ 1.11127497e-02 -3.38785586e-04 9.99938194e-01 2.40163495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.119254154 meters 0.018779372999279512 Centerline is valid? [True, True] Translation: X:548.89, Y:3.64, Z:2.40 [[ 9.98838925e-01 -4.68790143e-02 -1.10977189e-02 5.48892638e+02] [ 4.68802604e-02 9.98900505e-01 -1.47970334e-04 3.63783412e+00] [ 1.10924537e-02 -3.72465421e-04 9.99938407e-01 2.40236655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.179254154 meters 0.022716084036273256 Centerline is valid? [True, True] Translation: X:548.95, Y:3.63, Z:2.40 [[ 9.98662269e-01 -5.05052883e-02 -1.10855048e-02 5.48952817e+02] [ 5.05067585e-02 9.98723708e-01 -1.47476708e-04 3.63215345e+00] [ 1.10788048e-02 -4.12613490e-04 9.99938543e-01 2.40171084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.239254154 meters 0.02510184095311565 Centerline is valid? [True, True] Translation: X:549.01, Y:3.63, Z:2.40 [[ 9.98325451e-01 -5.71348608e-02 -9.04995040e-03 5.49013080e+02] [ 5.71361125e-02 9.98366391e-01 -1.20378809e-04 3.63063943e+00] [ 9.04204414e-03 -3.96901756e-04 9.99959041e-01 2.40248454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.299254154 meters 0.025793802224856183 Centerline is valid? [True, True] Translation: X:549.07, Y:3.63, Z:2.40 [[ 9.98052000e-01 -6.18993014e-02 -7.78990741e-03 5.49073783e+02] [ 6.19003742e-02 9.98082328e-01 -1.03542304e-04 3.63269955e+00] [ 7.78137811e-03 -3.78857580e-04 9.99969653e-01 2.40289226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.359254154 meters 0.02701437083368885 Centerline is valid? [True, True] Translation: X:549.14, Y:3.63, Z:2.40 [[ 9.97930548e-01 -6.39007168e-02 -7.16375579e-03 5.49135741e+02] [ 6.39016775e-02 9.97956195e-01 -9.49464489e-05 3.63396159e+00] [ 7.15518162e-03 -3.63026050e-04 9.99974335e-01 2.40291475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.419254154 meters 0.02692928358584219 Centerline is valid? [True, True] Translation: X:549.20, Y:3.64, Z:2.40 [[ 9.97789009e-01 -6.60870018e-02 -7.04284610e-03 5.49198019e+02] [ 6.60879882e-02 9.97813795e-01 -9.28376455e-05 3.63924299e+00] [ 7.03358436e-03 -3.72815148e-04 9.99975195e-01 2.40290325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.479254154 meters 0.029807689429399663 Centerline is valid? [True, True] Translation: X:549.26, Y:3.64, Z:2.40 [[ 9.97758615e-01 -6.65674399e-02 -6.82074040e-03 5.49259598e+02] [ 6.65683793e-02 9.97781861e-01 -8.94662145e-05 3.63950645e+00] [ 6.81156659e-03 -3.64779947e-04 9.99976734e-01 2.40327221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.539254154 meters 0.031851179127793894 Centerline is valid? [True, True] Translation: X:549.32, Y:3.64, Z:2.40 [[ 9.97754897e-01 -6.66173472e-02 -6.87703527e-03 5.49320640e+02] [ 6.66183058e-02 9.97778529e-01 -8.98334087e-05 3.64295065e+00] [ 6.86774260e-03 -3.68504715e-04 9.99976349e-01 2.40360788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5992541539999 meters 0.027699709536415682 Centerline is valid? [True, True] Translation: X:549.38, Y:3.65, Z:2.40 [[ 9.97838684e-01 -6.52559618e-02 -7.72144465e-03 5.49382518e+02] [ 6.52571336e-02 9.97868477e-01 -1.00363869e-04 3.65363330e+00] [ 7.71153555e-03 -4.03732394e-04 9.99970184e-01 2.40387427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.659254154 meters 0.02391119965740717 Centerline is valid? [True, True] Translation: X:549.44, Y:3.67, Z:2.40 [[ 9.98032390e-01 -6.21589704e-02 -8.22261702e-03 5.49444152e+02] [ 6.21601989e-02 9.98066179e-01 -1.06321949e-04 3.66506031e+00] [ 8.21332482e-03 -4.05006761e-04 9.99966188e-01 2.40417600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7192541539999 meters 0.02553538961322075 Centerline is valid? [True, True] Translation: X:549.50, Y:3.67, Z:2.40 [[ 9.98334502e-01 -5.70328477e-02 -8.68771799e-03 5.49503566e+02] [ 5.70340270e-02 9.98372229e-01 -1.12151666e-04 3.66878998e+00] [ 8.67997271e-03 -3.83530665e-04 9.99962255e-01 2.40392004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.779254154 meters 0.020238262571122153 Centerline is valid? [True, True] Translation: X:549.56, Y:3.69, Z:2.40 [[ 9.98775228e-01 -4.87439783e-02 -8.48932591e-03 5.49564224e+02] [ 4.87448048e-02 9.98811259e-01 -1.09647280e-04 3.68643637e+00] [ 8.48457894e-03 -3.04297547e-04 9.99963959e-01 2.40465400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.839254154 meters 0.018593277084291655 Centerline is valid? [True, True] Translation: X:549.63, Y:3.70, Z:2.41 [[ 9.99109646e-01 -4.14545290e-02 -7.83814837e-03 5.49625418e+02] [ 4.14550101e-02 9.99140366e-01 -1.01152449e-04 3.69829611e+00] [ 7.83560366e-03 -2.23868132e-04 9.99969276e-01 2.40555658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.899254154 meters 0.01737314147424533 Centerline is valid? [True, True] Translation: X:549.69, Y:3.71, Z:2.41 [[ 9.99293828e-01 -3.69356322e-02 -6.89956415e-03 5.49686930e+02] [ 3.69358987e-02 9.99317633e-01 -8.88356008e-05 3.70556808e+00] [ 6.89813732e-03 -1.66068735e-04 9.99976194e-01 2.40617842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.959254154 meters 0.0171453471968808 Centerline is valid? [True, True] Translation: X:549.75, Y:3.71, Z:2.41 [[ 9.99447379e-01 -3.23529301e-02 -7.63048402e-03 5.49748509e+02] [ 3.23531259e-02 9.99476496e-01 -9.78113199e-05 3.71236666e+00] [ 7.62965391e-03 -1.49112743e-04 9.99970883e-01 2.40626662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.019254154 meters 0.015278886278439699 Centerline is valid? [True, True] Translation: X:549.81, Y:3.72, Z:2.41 [[ 9.99571262e-01 -2.80493660e-02 -8.39792857e-03 5.49810554e+02] [ 2.80494559e-02 9.99606531e-01 -1.07097268e-04 3.72150451e+00] [ 8.39762825e-03 -1.28505976e-04 9.99964731e-01 2.40638628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.079254154 meters 0.015934499100323615 Centerline is valid? [True, True] Translation: X:549.87, Y:3.72, Z:2.41 [[ 9.99570591e-01 -2.77317308e-02 -9.46496315e-03 5.49871549e+02] [ 2.77318368e-02 9.99615391e-01 -1.20068165e-04 3.72335666e+00] [ 9.46465254e-03 -1.42464207e-04 9.99955199e-01 2.40523131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.139254154 meters 0.01586946028826367 Centerline is valid? [True, True] Translation: X:549.93, Y:3.72, Z:2.41 [[ 9.99506811e-01 -2.96454046e-02 -1.03578597e-02 5.49933771e+02] [ 2.96456414e-02 9.99560463e-01 -1.30705670e-04 3.72477621e+00] [ 1.03571819e-02 -1.76424187e-04 9.99946347e-01 2.40500536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.199254154 meters 0.017792301860204394 Centerline is valid? [True, True] Translation: X:550.00, Y:3.72, Z:2.41 [[ 9.99337294e-01 -3.49044074e-02 -1.03274007e-02 5.49995266e+02] [ 3.49049301e-02 9.99390629e-01 -1.29689182e-04 3.72106386e+00] [ 1.03256342e-02 -2.30873963e-04 9.99946663e-01 2.40508579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.259254154 meters 0.018200371387245444 Centerline is valid? [True, True] Translation: X:550.06, Y:3.72, Z:2.41 [[ 9.99183475e-01 -3.90783248e-02 -1.02600450e-02 5.50057548e+02] [ 3.90790672e-02 9.99236113e-01 -1.28187538e-04 3.72018464e+00] [ 1.02572169e-02 -2.72870120e-04 9.99947356e-01 2.40653681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.319254154 meters 0.02175300014978815 Centerline is valid? [True, True] Translation: X:550.12, Y:3.71, Z:2.41 [[ 9.98900809e-01 -4.57154904e-02 -1.03570171e-02 5.50117254e+02] [ 4.57166066e-02 9.98954441e-01 -1.29078608e-04 3.71343792e+00] [ 1.03520891e-02 -3.44550949e-04 9.99946356e-01 2.40652005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.379254154 meters 0.02389414005195062 Centerline is valid? [True, True] Translation: X:550.18, Y:3.71, Z:2.41 [[ 9.98679594e-01 -5.02781161e-02 -1.05441761e-02 5.50178772e+02] [ 5.02795292e-02 9.98735176e-01 -1.31198972e-04 3.70972949e+00] [ 1.05374360e-02 -3.99130475e-04 9.99944400e-01 2.40625080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.439254154 meters 0.027151735273000268 Centerline is valid? [True, True] Translation: X:550.24, Y:3.70, Z:2.41 [[ 9.98367746e-01 -5.60488311e-02 -1.09714116e-02 5.50239383e+02] [ 5.60507108e-02 9.98427914e-01 -1.36328498e-04 3.70380715e+00] [ 1.09618047e-02 -4.78849446e-04 9.99939803e-01 2.40571775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.499254154 meters 0.02475700447950887 Centerline is valid? [True, True] Translation: X:550.30, Y:3.71, Z:2.41 [[ 9.98219620e-01 -5.86946072e-02 -1.06081509e-02 5.50301090e+02] [ 5.86965173e-02 9.98275864e-01 -1.31459032e-04 3.70813419e+00] [ 1.05975770e-02 -4.91436528e-04 9.99943723e-01 2.40757500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.559254154 meters 0.025545819445174766 Centerline is valid? [True, True] Translation: X:550.36, Y:3.71, Z:2.41 [[ 9.98214320e-01 -5.87946441e-02 -1.05527420e-02 5.50363709e+02] [ 5.87965471e-02 9.98269978e-01 -1.30090076e-04 3.70837333e+00] [ 1.05421342e-02 -4.90607017e-04 9.99944310e-01 2.40765077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.619254154 meters 0.023577703534289653 Centerline is valid? [True, True] Translation: X:550.43, Y:3.71, Z:2.41 [[ 9.98307482e-01 -5.70361559e-02 -1.13599182e-02 5.50426327e+02] [ 5.70382587e-02 9.98371984e-01 -1.39054944e-04 3.71349203e+00] [ 1.13493552e-02 -5.09130363e-04 9.99935464e-01 2.40731387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.679254154 meters 0.02530801486004209 Centerline is valid? [True, True] Translation: X:550.49, Y:3.71, Z:2.41 [[ 9.98442105e-01 -5.46382261e-02 -1.13148761e-02 5.50486886e+02] [ 5.46401716e-02 9.98506101e-01 -1.37349108e-04 3.71254689e+00] [ 1.13054773e-02 -4.81111641e-04 9.99935975e-01 2.40689205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.739254154 meters 0.023346564542601166 Centerline is valid? [True, True] Translation: X:550.55, Y:3.72, Z:2.41 [[ 9.98717365e-01 -4.93731574e-02 -1.12212352e-02 5.50548046e+02] [ 4.93747456e-02 9.98780314e-01 -1.35620507e-04 3.71849716e+00] [ 1.12142448e-02 -4.18599077e-04 9.99937031e-01 2.40690012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.799254154 meters 0.02116564161550073 Centerline is valid? [True, True] Translation: X:550.61, Y:3.73, Z:2.41 [[ 9.98962885e-01 -4.38511724e-02 -1.22567937e-02 5.50609058e+02] [ 4.38526548e-02 9.99037999e-01 -1.47911727e-04 3.72612243e+00] [ 1.22514888e-02 -3.89734619e-04 9.99924872e-01 2.40696991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.859254154 meters 0.01749568036657111 Centerline is valid? [True, True] Translation: X:550.67, Y:3.74, Z:2.41 [[ 9.99294743e-01 -3.54262991e-02 -1.24496259e-02 5.50669999e+02] [ 3.54271778e-02 9.99372249e-01 -1.50014768e-04 3.73505525e+00] [ 1.24471251e-02 -2.91146140e-04 9.99922489e-01 2.40601080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.919254154 meters 0.01644567205083153 Centerline is valid? [True, True] Translation: X:550.73, Y:3.74, Z:2.41 [[ 9.99466443e-01 -3.00948499e-02 -1.26936609e-02 5.50731948e+02] [ 3.00953402e-02 9.99547021e-01 -1.52430041e-04 3.74042117e+00] [ 1.26924983e-02 -2.29671334e-04 9.99919421e-01 2.40626066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.979254154 meters 0.015466223495853505 Centerline is valid? [True, True] Translation: X:550.79, Y:3.74, Z:2.41 [[ 9.99649100e-01 -2.39695617e-02 -1.12754820e-02 5.50792224e+02] [ 2.39695680e-02 9.99712680e-01 -1.34599883e-04 3.74498173e+00] [ 1.12754686e-02 -1.35715781e-04 9.99936421e-01 2.40684132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.039254154 meters 0.014839583968430548 Centerline is valid? [True, True] Translation: X:550.85, Y:3.75, Z:2.41 [[ 9.99743994e-01 -1.98453035e-02 -1.08678356e-02 5.50853347e+02] [ 1.98450722e-02 9.99803059e-01 -1.29134095e-04 3.74930315e+00] [ 1.08682580e-02 -8.65719468e-05 9.99940935e-01 2.40806710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0992541539999 meters 0.014504942618281176 Centerline is valid? [True, True] Translation: X:550.91, Y:3.75, Z:2.41 [[ 9.99781913e-01 -1.79389210e-02 -1.06921535e-02 5.50914658e+02] [ 1.79385922e-02 9.99839082e-01 -1.26661483e-04 3.75063723e+00] [ 1.06927052e-02 -6.51683223e-05 9.99942829e-01 2.40796497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.159254154 meters 0.01453814806383944 Centerline is valid? [True, True] Translation: X:550.97, Y:3.75, Z:2.41 [[ 9.99793464e-01 -1.72725732e-02 -1.07092153e-02 5.50974752e+02] [ 1.72722068e-02 9.99850816e-01 -1.26704132e-04 3.75097595e+00] [ 1.07098061e-02 -5.82938182e-05 9.99942647e-01 2.40805441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2192541539999 meters 0.014655478006314476 Centerline is valid? [True, True] Translation: X:551.03, Y:3.75, Z:2.41 [[ 9.99793669e-01 -1.74752615e-02 -1.03554148e-02 5.51034977e+02] [ 1.74749298e-02 9.99847294e-01 -1.22518206e-04 3.74874944e+00] [ 1.03559745e-02 -5.84672205e-05 9.99946374e-01 2.40761885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.279254154 meters 0.014730013283230797 Centerline is valid? [True, True] Translation: X:551.10, Y:3.75, Z:2.41 [[ 9.99787643e-01 -1.79726334e-02 -1.00823172e-02 5.51095014e+02] [ 1.79723442e-02 9.99838477e-01 -1.19287101e-04 3.74773686e+00] [ 1.00828325e-02 -6.19411055e-05 9.99949165e-01 2.40764207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.339254154 meters 0.015205846793057354 Centerline is valid? [True, True] Translation: X:551.16, Y:3.75, Z:2.41 [[ 9.99742428e-01 -1.97881692e-02 -1.11133095e-02 5.51155905e+02] [ 1.97879315e-02 9.99804191e-01 -1.31362176e-04 3.74515783e+00] [ 1.11137328e-02 -8.85810655e-05 9.99938237e-01 2.40667398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.399254154 meters 0.01540833862604919 Centerline is valid? [True, True] Translation: X:551.22, Y:3.74, Z:2.41 [[ 9.99707772e-01 -2.10143365e-02 -1.19485447e-02 5.51216880e+02] [ 2.10141502e-02 9.99779168e-01 -1.41148217e-04 3.74174307e+00] [ 1.19488722e-02 -1.09981543e-04 9.99928604e-01 2.40556030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.459254154 meters 0.017089577486823295 Centerline is valid? [True, True] Translation: X:551.28, Y:3.74, Z:2.41 [[ 9.99726203e-01 -2.01934413e-02 -1.18213195e-02 5.51277139e+02] [ 2.01932032e-02 9.99796087e-01 -1.39511660e-04 3.73919444e+00] [ 1.18217262e-02 -9.92368457e-05 9.99930116e-01 2.40587813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.519254154 meters 0.015634251768621016 Centerline is valid? [True, True] Translation: X:551.34, Y:3.74, Z:2.41 [[ 9.99739882e-01 -2.00889867e-02 -1.07981663e-02 5.51337210e+02] [ 2.00887828e-02 9.99798192e-01 -1.27364309e-04 3.73929066e+00] [ 1.07985458e-02 -8.95908389e-05 9.99941690e-01 2.40652390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.579254154 meters 0.015513418624022855 Centerline is valid? [True, True] Translation: X:551.40, Y:3.74, Z:2.41 [[ 9.99779243e-01 -1.81558189e-02 -1.05750468e-02 5.51398273e+02] [ 1.81555175e-02 9.99835167e-01 -1.24510982e-04 3.73840461e+00] [ 1.05755642e-02 -6.75119515e-05 9.99944075e-01 2.40646614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.639254154 meters 0.015393559883849646 Centerline is valid? [True, True] Translation: X:551.46, Y:3.74, Z:2.41 [[ 9.99836110e-01 -1.37591859e-02 -1.17659715e-02 5.51458225e+02] [ 1.37585120e-02 9.99905338e-01 -1.38226997e-04 3.73849504e+00] [ 1.17667596e-02 -2.36779169e-05 9.99930769e-01 2.40581748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.699254154 meters 0.01538708983370761 Centerline is valid? [True, True] Translation: X:551.52, Y:3.74, Z:2.41 [[ 9.99874091e-01 -1.12273144e-02 -1.12137790e-02 5.51517016e+02] [ 1.12265248e-02 9.99936972e-01 -1.33366681e-04 3.73858372e+00] [ 1.12145696e-02 7.45812089e-06 9.99937115e-01 2.40634174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.759254154 meters 0.015503378396077044 Centerline is valid? [True, True] Translation: X:551.58, Y:3.74, Z:2.41 [[ 9.99922591e-01 -7.16145886e-03 -1.01747423e-02 5.51575255e+02] [ 7.16058002e-03 9.99974355e-01 -1.22801417e-04 3.73809509e+00] [ 1.01753608e-02 4.99348547e-05 9.99948228e-01 2.40695535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.819254154 meters 0.015704765683983896 Centerline is valid? [True, True] Translation: X:551.63, Y:3.74, Z:2.41 [[ 9.99932164e-01 -5.22691387e-03 -1.04089865e-02 5.51633975e+02] [ 5.22586735e-03 9.99986337e-01 -1.27737158e-04 3.73828479e+00] [ 1.04095120e-02 7.33325105e-05 9.99945817e-01 2.40725223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.879254154 meters 0.015835309166400396 Centerline is valid? [True, True] Translation: X:551.69, Y:3.74, Z:2.41 [[ 9.99929041e-01 -4.17926929e-03 -1.11555327e-02 5.51692484e+02] [ 4.17796992e-03 9.99991262e-01 -1.39780224e-04 3.73558162e+00] [ 1.11560194e-02 9.31628258e-05 9.99937765e-01 2.40647426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.939254154 meters 0.015518823963291174 Centerline is valid? [True, True] Translation: X:551.75, Y:3.73, Z:2.41 [[ 9.99918756e-01 -5.52192570e-03 -1.14887036e-02 5.51751457e+02] [ 5.52061697e-03 9.99984751e-01 -1.45625276e-04 3.73227597e+00] [ 1.14893325e-02 8.21887126e-05 9.99933992e-01 2.40668061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.999254154 meters 0.015321725675275781 Centerline is valid? [True, True] Translation: X:551.81, Y:3.72, Z:2.41 [[ 9.99880256e-01 -1.11205002e-02 -1.07614606e-02 5.51809037e+02] [ 1.11196667e-02 9.99938165e-01 -1.37284839e-04 3.72475976e+00] [ 1.07623219e-02 1.76045451e-05 9.99942084e-01 2.40690342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.059254154 meters 0.015194994218694781 Centerline is valid? [True, True] Translation: X:551.87, Y:3.72, Z:2.41 [[ 9.99820407e-01 -1.62488478e-02 -9.75341445e-03 5.51868408e+02] [ 1.62483999e-02 9.99867978e-01 -1.25169296e-04 3.71910630e+00] [ 9.75416065e-03 -3.33305620e-05 9.99952426e-01 2.40820624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.119254154 meters 0.01612445018576326 Centerline is valid? [True, True] Translation: X:551.93, Y:3.71, Z:2.41 [[ 9.99651297e-01 -2.45237971e-02 -9.79122552e-03 5.51928080e+02] [ 2.45237376e-02 9.99699240e-01 -1.26161901e-04 3.70835978e+00] [ 9.79137468e-03 -1.13999537e-04 9.99952057e-01 2.40777163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.179254154 meters 0.017229241551084223 Centerline is valid? [True, True] Translation: X:551.99, Y:3.70, Z:2.41 [[ 9.99388981e-01 -3.32648676e-02 -1.07290765e-02 5.51989169e+02] [ 3.32653014e-02 9.99446547e-01 -1.38079487e-04 3.69867879e+00] [ 1.07277317e-02 -2.18910847e-04 9.99942432e-01 2.40762040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.239254154 meters 0.019004541664532117 Centerline is valid? [True, True] Translation: X:552.05, Y:3.69, Z:2.41 [[ 9.99174103e-01 -3.92367649e-02 -1.05635722e-02 5.52050434e+02] [ 3.92375236e-02 9.99229903e-01 -1.35495453e-04 3.69197374e+00] [ 1.05607536e-02 -2.79104868e-04 9.99944195e-01 2.40806877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.299254154 meters 0.02086005023976648 Centerline is valid? [True, True] Translation: X:552.11, Y:3.68, Z:2.41 [[ 9.98860299e-01 -4.65624582e-02 -1.04900263e-02 5.52111594e+02] [ 4.65636128e-02 9.98915318e-01 -1.34281833e-04 3.68410054e+00] [ 1.04849004e-02 -3.54324730e-04 9.99944969e-01 2.40895184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.359254154 meters 0.021951793392132123 Centerline is valid? [True, True] Translation: X:552.17, Y:3.68, Z:2.41 [[ 9.98695673e-01 -4.99593117e-02 -1.05366063e-02 5.52173216e+02] [ 4.99606685e-02 9.98751177e-01 -1.34572497e-04 3.67958036e+00] [ 1.05301711e-02 -3.92018923e-04 9.99944479e-01 2.40863910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.419254154 meters 0.02293144051469648 Centerline is valid? [True, True] Translation: X:552.24, Y:3.68, Z:2.41 [[ 9.98583291e-01 -5.19878599e-02 -1.13434113e-02 5.52235766e+02] [ 5.19895708e-02 9.98647617e-01 -1.44198076e-04 3.67570872e+00] [ 1.13355672e-02 -4.45745295e-04 9.99935651e-01 2.40835277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.479254154 meters 0.023683951518826785 Centerline is valid? [True, True] Translation: X:552.30, Y:3.68, Z:2.41 [[ 9.98653624e-01 -5.05538124e-02 -1.16297308e-02 5.52296783e+02] [ 5.05555220e-02 9.98721241e-01 -1.47119266e-04 3.67500336e+00] [ 1.16222967e-02 -4.41025926e-04 9.99932362e-01 2.40801421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.539254154 meters 0.021261732108992924 Centerline is valid? [True, True] Translation: X:552.36, Y:3.68, Z:2.41 [[ 9.98852386e-01 -4.64283311e-02 -1.17609920e-02 5.52358588e+02] [ 4.64298014e-02 9.98921544e-01 -1.48138486e-04 3.68032886e+00] [ 1.17551862e-02 -3.98092045e-04 9.99930826e-01 2.40823622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5992541539999 meters 0.020754368651475074 Centerline is valid? [True, True] Translation: X:552.42, Y:3.68, Z:2.41 [[ 9.98982142e-01 -4.34801068e-02 -1.20067153e-02 5.52420503e+02] [ 4.34814344e-02 9.99054224e-01 -1.50579698e-04 3.68268063e+00] [ 1.20019068e-02 -3.71642772e-04 9.99927905e-01 2.40814829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.659254154 meters 0.02001705905048272 Centerline is valid? [True, True] Translation: X:552.48, Y:3.69, Z:2.41 [[ 9.99096170e-01 -4.06891366e-02 -1.22978329e-02 5.52482243e+02] [ 4.06903258e-02 9.99171794e-01 -1.53594887e-04 3.68599674e+00] [ 1.22938974e-02 -3.46946765e-04 9.99924367e-01 2.40870179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7192541539999 meters 0.020424840221138926 Centerline is valid? [True, True] Translation: X:552.54, Y:3.69, Z:2.41 [[ 9.99115489e-01 -4.03090882e-02 -1.19756591e-02 5.52542994e+02] [ 4.03102019e-02 9.99187202e-01 -1.48466058e-04 3.68624434e+00] [ 1.19719099e-02 -3.34406500e-04 9.99928278e-01 2.40846654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.779254154 meters 0.020874916861990486 Centerline is valid? [True, True] Translation: X:552.60, Y:3.69, Z:2.41 [[ 9.99078299e-01 -4.08482326e-02 -1.31899198e-02 5.52604877e+02] [ 4.08496463e-02 9.99165292e-01 -1.62326869e-04 3.68747498e+00] [ 1.31855408e-02 -3.76626306e-04 9.99912996e-01 2.40883862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.839254154 meters 0.020685993402670955 Centerline is valid? [True, True] Translation: X:552.67, Y:3.69, Z:2.41 [[ 9.98984741e-01 -4.28963910e-02 -1.37617722e-02 5.52666130e+02] [ 4.28981333e-02 9.99079437e-01 -1.68700659e-04 3.68790309e+00] [ 1.37563403e-02 -4.21824955e-04 9.99905288e-01 2.40930036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.899254154 meters 0.022754735688401917 Centerline is valid? [True, True] Translation: X:552.73, Y:3.68, Z:2.41 [[ 9.98859026e-01 -4.56828104e-02 -1.39186098e-02 5.52726824e+02] [ 4.56848674e-02 9.98955887e-01 -1.70292608e-04 3.68456230e+00] [ 1.39118567e-02 -4.65771536e-04 9.99903117e-01 2.40871741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.959254154 meters 0.02247877517721857 Centerline is valid? [True, True] Translation: X:552.79, Y:3.69, Z:2.41 [[ 9.98539047e-01 -5.20194609e-02 -1.46200795e-02 5.52787676e+02] [ 5.20224111e-02 9.98645902e-01 -1.78702711e-04 3.68524536e+00] [ 1.46095785e-02 -5.82130153e-04 9.99893105e-01 2.40996156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.019254154 meters 0.02619413021674934 Centerline is valid? [True, True] Translation: X:552.85, Y:3.68, Z:2.41 [[ 9.98283435e-01 -5.68424371e-02 -1.41110083e-02 5.52847847e+02] [ 5.68456667e-02 9.98382963e-01 -1.72442895e-04 3.68049393e+00] [ 1.40979923e-02 -6.30002786e-04 9.99900420e-01 2.41024726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.079254154 meters 0.02969892508646376 Centerline is valid? [True, True] Translation: X:552.91, Y:3.68, Z:2.41 [[ 9.97958403e-01 -6.23845137e-02 -1.36820426e-02 5.52907481e+02] [ 6.23880718e-02 9.98051953e-01 -1.67022648e-04 3.67722597e+00] [ 1.36658089e-02 -6.86914598e-04 9.99906383e-01 2.41094488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.139254154 meters 0.026975572282531488 Centerline is valid? [True, True] Translation: X:552.97, Y:3.68, Z:2.41 [[ 9.97729691e-01 -6.59889159e-02 -1.34509078e-02 5.52968055e+02] [ 6.59926848e-02 9.97820093e-01 -1.63949665e-04 3.68376234e+00] [ 1.34324049e-02 -7.24084066e-04 9.99909519e-01 2.41270428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.199254154 meters 0.028786887201284833 Centerline is valid? [True, True] Translation: X:553.03, Y:3.68, Z:2.41 [[ 9.97599611e-01 -6.80451378e-02 -1.28404159e-02 5.53030097e+02] [ 6.80487510e-02 9.97681985e-01 -1.55809581e-04 3.68360060e+00] [ 1.28212537e-02 -7.18338684e-04 9.99917546e-01 2.41363705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.259254154 meters 0.0286398861445069 Centerline is valid? [True, True] Translation: X:553.09, Y:3.69, Z:2.41 [[ 9.97427133e-01 -7.04932254e-02 -1.30314444e-02 5.53091196e+02] [ 7.04971636e-02 9.97511967e-01 -1.57477492e-04 3.68791914e+00] [ 1.30101229e-02 -7.61607547e-04 9.99915075e-01 2.41463555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.319254154 meters 0.028872315829446788 Centerline is valid? [True, True] Translation: X:553.15, Y:3.69, Z:2.42 [[ 9.97372630e-01 -7.12352076e-02 -1.31674771e-02 5.53152939e+02] [ 7.12393016e-02 9.97459241e-01 -1.58462104e-04 3.69098766e+00] [ 1.31453098e-02 -7.79996110e-04 9.99913292e-01 2.41522112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.379254154 meters 0.028974450352490976 Centerline is valid? [True, True] Translation: X:553.21, Y:3.70, Z:2.41 [[ 9.97337148e-01 -7.16280790e-02 -1.37124745e-02 5.53214537e+02] [ 7.16325666e-02 9.97431075e-01 -1.64238484e-04 3.69547047e+00] [ 1.36890123e-02 -8.18458603e-04 9.99905966e-01 2.41437985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.439254154 meters 0.029196426274044708 Centerline is valid? [True, True] Translation: X:553.28, Y:3.70, Z:2.41 [[ 9.97338019e-01 -7.15227311e-02 -1.41906812e-02 5.53276264e+02] [ 7.15275406e-02 9.97438611e-01 -1.68978601e-04 3.69736343e+00] [ 1.41664192e-02 -8.46495742e-04 9.99899293e-01 2.41401188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.499254154 meters 0.031058440244002023 Centerline is valid? [True, True] Translation: X:553.34, Y:3.70, Z:2.41 [[ 9.97337899e-01 -7.12315291e-02 -1.55943519e-02 5.53338562e+02] [ 7.12373236e-02 9.97459377e-01 -1.84298468e-04 3.70158729e+00] [ 1.55678604e-02 -9.27092046e-04 9.99878384e-01 2.41296096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.559254154 meters 0.03170428334547506 Centerline is valid? [True, True] Translation: X:553.40, Y:3.71, Z:2.41 [[ 9.97366775e-01 -7.09202627e-02 -1.51602505e-02 5.53401112e+02] [ 7.09257209e-02 9.97481584e-01 -1.77997377e-04 3.70570930e+00] [ 1.51346944e-02 -8.97723029e-04 9.99885061e-01 2.41332621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.619254154 meters 0.03220705451765445 Centerline is valid? [True, True] Translation: X:553.46, Y:3.71, Z:2.41 [[ 9.97537483e-01 -6.87051142e-02 -1.40917678e-02 5.53462025e+02] [ 6.87096187e-02 9.97636688e-01 -1.64812676e-04 3.71281364e+00] [ 1.40697881e-02 -8.03833172e-04 9.99900693e-01 2.41466171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.679254154 meters 0.03137560552816717 Centerline is valid? [True, True] Translation: X:553.52, Y:3.72, Z:2.42 [[ 9.97813290e-01 -6.48940619e-02 -1.25458694e-02 5.53523158e+02] [ 6.48973353e-02 9.97891935e-01 -1.46451186e-04 3.72015785e+00] [ 1.25289258e-02 -6.68062556e-04 9.99921287e-01 2.41638504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.739254154 meters 0.024223606972378478 Centerline is valid? [True, True] Translation: X:553.58, Y:3.74, Z:2.42 [[ 9.98347608e-01 -5.64818380e-02 -1.05761415e-02 5.53583815e+02] [ 5.64836945e-02 9.98403514e-01 -1.23315839e-04 3.73933746e+00] [ 1.05662220e-02 -4.74267475e-04 9.99944063e-01 2.41860791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.799254154 meters 0.025901691671154466 Centerline is valid? [True, True] Translation: X:553.64, Y:3.74, Z:2.42 [[ 9.98683452e-01 -5.02279291e-02 -1.04172305e-02 5.53643372e+02] [ 5.02293903e-02 9.98737700e-01 -1.21480872e-04 3.74197452e+00] [ 1.04101826e-02 -4.01930201e-04 9.99945732e-01 2.41741039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.859254154 meters 0.019649546764168524 Centerline is valid? [True, True] Translation: X:553.70, Y:3.76, Z:2.42 [[ 9.99012283e-01 -4.30301052e-02 -1.10846365e-02 5.53703653e+02] [ 4.30313163e-02 9.99073716e-01 -1.29323278e-04 3.75873606e+00] [ 1.10799338e-02 -3.47790957e-04 9.99938555e-01 2.41763766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.919254154 meters 0.018621854532143566 Centerline is valid? [True, True] Translation: X:553.77, Y:3.76, Z:2.42 [[ 9.99122756e-01 -4.01999706e-02 -1.17337082e-02 5.53765676e+02] [ 4.02011392e-02 9.99191598e-01 -1.36347897e-04 3.76477426e+00] [ 1.17297038e-02 -3.35480151e-04 9.99931148e-01 2.41747572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.979254154 meters 0.019106495021855754 Centerline is valid? [True, True] Translation: X:553.83, Y:3.77, Z:2.42 [[ 9.99150467e-01 -3.91049414e-02 -1.30056706e-02 5.53826548e+02] [ 3.91063036e-02 9.99235045e-01 -1.49657422e-04 3.76753059e+00] [ 1.30015742e-02 -3.59073422e-04 9.99915411e-01 2.41600191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.039254154 meters 0.01846450306747595 Centerline is valid? [True, True] Translation: X:553.89, Y:3.77, Z:2.42 [[ 9.99145588e-01 -3.91109751e-02 -1.33576021e-02 5.53888811e+02] [ 3.91124293e-02 9.99234805e-01 -1.52456982e-04 3.77138512e+00] [ 1.33533437e-02 -3.70121548e-04 9.99910772e-01 2.41623665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0992541539999 meters 0.018483584875225365 Centerline is valid? [True, True] Translation: X:553.95, Y:3.77, Z:2.42 [[ 9.99130227e-01 -3.96174338e-02 -1.30095458e-02 5.53951364e+02] [ 3.96188686e-02 9.99214854e-01 -1.47520859e-04 3.77408071e+00] [ 1.30051758e-02 -3.68030935e-04 9.99915361e-01 2.41688670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.159254154 meters 0.019224547527013094 Centerline is valid? [True, True] Translation: X:554.01, Y:3.77, Z:2.42 [[ 9.99068633e-01 -4.10280600e-02 -1.33628317e-02 5.54013399e+02] [ 4.10297132e-02 9.99157915e-01 -1.50528469e-04 3.77498648e+00] [ 1.33577550e-02 -3.97884881e-04 9.99910702e-01 2.41696643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2192541539999 meters 0.019724322471995633 Centerline is valid? [True, True] Translation: X:554.08, Y:3.78, Z:2.42 [[ 9.98984874e-01 -4.31356414e-02 -1.29822112e-02 5.54075862e+02] [ 4.31373918e-02 9.99069139e-01 -1.45288531e-04 3.77526196e+00] [ 1.29763937e-02 -4.14877687e-04 9.99915717e-01 2.41744803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.279254154 meters 0.02134646179450899 Centerline is valid? [True, True] Translation: X:554.14, Y:3.77, Z:2.42 [[ 9.98835621e-01 -4.64931187e-02 -1.28760061e-02 5.54136606e+02] [ 4.64951274e-02 9.98918506e-01 -1.43464754e-04 3.77291390e+00] [ 1.28687509e-02 -4.55373835e-04 9.99917091e-01 2.41788138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.339254154 meters 0.020743032727264653 Centerline is valid? [True, True] Translation: X:554.20, Y:3.77, Z:2.42 [[ 9.98739686e-01 -4.85302396e-02 -1.28006320e-02 5.54198599e+02] [ 4.85324021e-02 9.98821599e-01 -1.41834991e-04 3.77429234e+00] [ 1.27924310e-02 -4.79589185e-04 9.99918058e-01 2.41855545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.399254154 meters 0.023391512356545466 Centerline is valid? [True, True] Translation: X:554.26, Y:3.77, Z:2.42 [[ 9.98726695e-01 -4.87966697e-02 -1.28013527e-02 5.54259661e+02] [ 4.87988643e-02 9.98808616e-01 -1.41047862e-04 3.77036587e+00] [ 1.27929840e-02 -4.83823207e-04 9.99918049e-01 2.41755809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.459254154 meters 0.023155514005202278 Centerline is valid? [True, True] Translation: X:554.32, Y:3.77, Z:2.42 [[ 9.98832799e-01 -4.65749225e-02 -1.27991064e-02 5.54321742e+02] [ 4.65769447e-02 9.98914695e-01 -1.40200927e-04 3.77178575e+00] [ 1.27917453e-02 -4.56105987e-04 9.99918078e-01 2.41793931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.519254154 meters 0.018916916881655598 Centerline is valid? [True, True] Translation: X:554.38, Y:3.78, Z:2.42 [[ 9.99092462e-01 -4.08153086e-02 -1.21804161e-02 5.54382882e+02] [ 4.08167177e-02 9.99166642e-01 -1.32992476e-04 3.78066086e+00] [ 1.21756935e-02 -3.64292824e-04 9.99925807e-01 2.41978231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.579254154 meters 0.017769202391169508 Centerline is valid? [True, True] Translation: X:554.44, Y:3.78, Z:2.42 [[ 9.99253564e-01 -3.66272192e-02 -1.22785127e-02 5.54444262e+02] [ 3.66283396e-02 9.99328948e-01 -1.33690467e-04 3.78409252e+00] [ 1.22751699e-02 -3.16150857e-04 9.99924607e-01 2.42038954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.639254154 meters 0.01699838512723819 Centerline is valid? [True, True] Translation: X:554.51, Y:3.79, Z:2.42 [[ 9.99418514e-01 -3.16202388e-02 -1.27590557e-02 5.54505116e+02] [ 3.16210468e-02 9.99499920e-01 -1.38449598e-04 3.78733973e+00] [ 1.27570529e-02 -2.65085605e-04 9.99918590e-01 2.42005765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.699254154 meters 0.015987247578140854 Centerline is valid? [True, True] Translation: X:554.57, Y:3.79, Z:2.42 [[ 9.99464373e-01 -2.99879820e-02 -1.31029422e-02 5.54567392e+02] [ 2.99887048e-02 9.99550228e-01 -1.41360183e-04 3.79090662e+00] [ 1.31012879e-02 -2.51655798e-04 9.99914143e-01 2.42111313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.759254154 meters 0.01696406162905032 Centerline is valid? [True, True] Translation: X:554.63, Y:3.79, Z:2.42 [[ 9.99436718e-01 -3.04885004e-02 -1.40248934e-02 5.54628942e+02] [ 3.04893902e-02 9.99535079e-01 -1.50415180e-04 3.78844665e+00] [ 1.40229589e-02 -2.77279994e-04 9.99901635e-01 2.42039505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.819254154 meters 0.016615430136878623 Centerline is valid? [True, True] Translation: X:554.69, Y:3.79, Z:2.42 [[ 9.99366847e-01 -3.25179903e-02 -1.44390404e-02 5.54689979e+02] [ 3.25191542e-02 9.99471101e-01 -1.54230881e-04 3.78881666e+00] [ 1.44364189e-02 -3.15412151e-04 9.99895740e-01 2.42188974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.879254154 meters 0.017582948877006378 Centerline is valid? [True, True] Translation: X:554.75, Y:3.79, Z:2.42 [[ 9.99211405e-01 -3.68362995e-02 -1.48207392e-02 5.54750698e+02] [ 3.68380057e-02 9.99321238e-01 -1.57945696e-04 3.78558640e+00] [ 1.48164976e-02 -3.88145335e-04 9.99890154e-01 2.42282514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.939254154 meters 0.018974374419771692 Centerline is valid? [True, True] Translation: X:554.81, Y:3.78, Z:2.42 [[ 9.99090138e-01 -3.98861795e-02 -1.50993211e-02 5.54812014e+02] [ 3.98883087e-02 9.99204132e-01 -1.60239703e-04 3.78288383e+00] [ 1.50936954e-02 -4.42192474e-04 9.99885986e-01 2.42304602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.999254154 meters 0.02040794732096862 Centerline is valid? [True, True] Translation: X:554.87, Y:3.78, Z:2.42 [[ 9.98919594e-01 -4.38515399e-02 -1.53846640e-02 5.54872798e+02] [ 4.38542270e-02 9.99037927e-01 -1.62819813e-04 3.78001279e+00] [ 1.53770027e-02 -5.12038646e-04 9.99881636e-01 2.42452154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.059254154 meters 0.020196711017012155 Centerline is valid? [True, True] Translation: X:554.94, Y:3.78, Z:2.43 [[ 9.98855088e-01 -4.52693033e-02 -1.54661977e-02 5.54935327e+02] [ 4.52722027e-02 9.98974675e-01 -1.62780437e-04 3.77949670e+00] [ 1.54577088e-02 -5.37594770e-04 9.99880378e-01 2.42630352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.119254154 meters 0.020700063460746525 Centerline is valid? [True, True] Translation: X:555.00, Y:3.78, Z:2.43 [[ 9.98867760e-01 -4.43974831e-02 -1.70897982e-02 5.54997975e+02] [ 4.44009184e-02 9.99013777e-01 -1.78552939e-04 3.78087621e+00] [ 1.70808712e-02 -5.80451962e-04 9.99853943e-01 2.42781733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.179254154 meters 0.018989920009172635 Centerline is valid? [True, True] Translation: X:555.06, Y:3.78, Z:2.43 [[ 9.98934791e-01 -4.28353326e-02 -1.71586212e-02 5.55059880e+02] [ 4.28385875e-02 9.99081990e-01 -1.77979175e-04 3.78280975e+00] [ 1.71504933e-02 -5.57261508e-04 9.99852764e-01 2.42903934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.239254154 meters 0.017852560064775664 Centerline is valid? [True, True] Translation: X:555.12, Y:3.78, Z:2.43 [[ 9.99052222e-01 -3.88252797e-02 -1.96788220e-02 5.55121738e+02] [ 3.88288085e-02 9.99245857e-01 -2.02880733e-04 3.78477100e+00] [ 1.96718582e-02 -5.61416764e-04 9.99806333e-01 2.42914185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.299254154 meters 0.017113297937348962 Centerline is valid? [True, True] Translation: X:555.18, Y:3.79, Z:2.43 [[ 9.99157654e-01 -3.55238487e-02 -2.05435809e-02 5.55182709e+02] [ 3.55270149e-02 9.99368694e-01 -2.10939000e-04 3.78708944e+00] [ 2.05381049e-02 -5.19090786e-04 9.99788936e-01 2.42898276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.359254154 meters 0.0169728079534121 Centerline is valid? [True, True] Translation: X:555.24, Y:3.79, Z:2.43 [[ 9.99214843e-01 -3.40268489e-02 -2.02945869e-02 5.55243068e+02] [ 3.40296335e-02 9.99420803e-01 -2.08221155e-04 3.78849659e+00] [ 2.02899175e-02 -4.82559686e-04 9.99794022e-01 2.42945009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.419254154 meters 0.016528032842647682 Centerline is valid? [True, True] Translation: X:555.30, Y:3.79, Z:2.43 [[ 9.99304927e-01 -3.08923563e-02 -2.08644575e-02 5.55303059e+02] [ 3.08946166e-02 9.99522624e-01 -2.14067991e-04 3.78971252e+00] [ 2.08611104e-02 -4.30680218e-04 9.99782291e-01 2.42910184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.479254154 meters 0.01634472789220389 Centerline is valid? [True, True] Translation: X:555.36, Y:3.79, Z:2.43 [[ 9.99296054e-01 -3.07109943e-02 -2.15460315e-02 5.55362911e+02] [ 3.07133493e-02 9.99528209e-01 -2.21679914e-04 3.78983506e+00] [ 2.15426743e-02 -4.40226929e-04 9.99767833e-01 2.42948502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.539254154 meters 0.017414209789310117 Centerline is valid? [True, True] Translation: X:555.42, Y:3.79, Z:2.43 [[ 9.99234103e-01 -3.30811987e-02 -2.09007448e-02 5.55421617e+02] [ 3.30839113e-02 9.99452554e-01 -2.16074459e-04 3.78668074e+00] [ 2.08964507e-02 -4.75569418e-04 9.99781532e-01 2.42981672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5992541539999 meters 0.01828086406488347 Centerline is valid? [True, True] Translation: X:555.48, Y:3.79, Z:2.43 [[ 9.99152009e-01 -3.56386530e-02 -2.06191630e-02 5.55481455e+02] [ 3.56418207e-02 9.99364606e-01 -2.13962405e-04 3.78517181e+00] [ 2.06136870e-02 -5.21123543e-04 9.99787380e-01 2.43060754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.659254154 meters 0.021970357599419666 Centerline is valid? [True, True] Translation: X:555.54, Y:3.78, Z:2.43 [[ 9.98972291e-01 -4.03729283e-02 -2.06006793e-02 5.55540969e+02] [ 4.03770869e-02 9.99184490e-01 -2.14203830e-04 3.77960240e+00] [ 2.05925273e-02 -6.17811730e-04 9.99787761e-01 2.43031109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7192541539999 meters 0.019431340685604485 Centerline is valid? [True, True] Translation: X:555.60, Y:3.78, Z:2.43 [[ 9.98704960e-01 -4.68677408e-02 -1.97943811e-02 5.55601996e+02] [ 4.68728582e-02 9.98900842e-01 -2.05603055e-04 3.78103925e+00] [ 1.97822601e-02 -7.22482425e-04 9.99804051e-01 2.43348945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.779254154 meters 0.02240008871693485 Centerline is valid? [True, True] Translation: X:555.66, Y:3.78, Z:2.43 [[ 9.98563625e-01 -5.00051387e-02 -1.92398986e-02 5.55662968e+02] [ 5.00105718e-02 9.98748669e-01 -1.98952297e-04 3.77612751e+00] [ 1.92257717e-02 -7.63531803e-04 9.99814876e-01 2.43283139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.839254154 meters 0.022298663005724285 Centerline is valid? [True, True] Translation: X:555.72, Y:3.78, Z:2.43 [[ 9.98431725e-01 -5.29752835e-02 -1.81027496e-02 5.55724295e+02] [ 5.29805937e-02 9.98595525e-01 -1.86462495e-04 3.77661062e+00] [ 1.80872026e-02 -7.72924350e-04 9.99836114e-01 2.43471088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.899254154 meters 0.02474320536648404 Centerline is valid? [True, True] Translation: X:555.79, Y:3.78, Z:2.43 [[ 9.98458954e-01 -5.25175307e-02 -1.79339561e-02 5.55785050e+02] [ 5.25227014e-02 9.98619714e-01 -1.82890270e-04 3.77542166e+00] [ 1.79188070e-02 -7.59331391e-04 9.99839157e-01 2.43399063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.959254154 meters 0.023556136149352834 Centerline is valid? [True, True] Translation: X:555.85, Y:3.78, Z:2.43 [[ 9.98509772e-01 -5.12358127e-02 -1.87916755e-02 5.55846971e+02] [ 5.12412935e-02 9.98686284e-01 -1.90039159e-04 3.77733595e+00] [ 1.87767254e-02 -7.73153803e-04 9.99823403e-01 2.43250960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.019254154 meters 0.023140452447490006 Centerline is valid? [True, True] Translation: X:555.91, Y:3.78, Z:2.43 [[ 9.98620257e-01 -4.88946466e-02 -1.91545500e-02 5.55908485e+02] [ 4.88999274e-02 9.98803664e-01 -1.92859495e-04 3.78040972e+00] [ 1.91410645e-02 -7.44062704e-04 9.99816516e-01 2.43232755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.079254154 meters 0.019449558296520893 Centerline is valid? [True, True] Translation: X:555.97, Y:3.79, Z:2.43 [[ 9.98818930e-01 -4.44766724e-02 -1.95594016e-02 5.55969659e+02] [ 4.44813470e-02 9.99010196e-01 -1.96210851e-04 3.78857046e+00] [ 1.95487684e-02 -6.74049417e-04 9.99808677e-01 2.43333653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.139254154 meters 0.017596980393604467 Centerline is valid? [True, True] Translation: X:556.03, Y:3.80, Z:2.43 [[ 9.99073880e-01 -3.83830774e-02 -1.94453599e-02 5.56030288e+02] [ 3.83865530e-02 9.99262946e-01 -1.94624647e-04 3.79638115e+00] [ 1.94384980e-02 -5.51995938e-04 9.99810902e-01 2.43459562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.199254154 meters 0.016604905380495534 Centerline is valid? [True, True] Translation: X:556.09, Y:3.80, Z:2.44 [[ 9.99239924e-01 -3.40735177e-02 -1.89359336e-02 5.56090980e+02] [ 3.40760417e-02 9.99419225e-01 -1.89446299e-04 3.80174822e+00] [ 1.89313912e-02 -4.55959357e-04 9.99820681e-01 2.43525698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.259254154 meters 0.015504768563337398 Centerline is valid? [True, True] Translation: X:556.15, Y:3.81, Z:2.44 [[ 9.99435975e-01 -2.89794280e-02 -1.69683586e-02 5.56151263e+02] [ 2.89807206e-02 9.99579956e-01 -1.69761513e-04 3.80806374e+00] [ 1.69661507e-02 -3.22089496e-04 9.99856013e-01 2.43638925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.319254154 meters 0.014747089500563408 Centerline is valid? [True, True] Translation: X:556.21, Y:3.81, Z:2.44 [[ 9.99560760e-01 -2.47073449e-02 -1.63656401e-02 5.56211400e+02] [ 2.47079749e-02 9.99694698e-01 -1.63731560e-04 3.81315551e+00] [ 1.63646890e-02 -2.40702182e-04 9.99866061e-01 2.43691663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.379254154 meters 0.014360577984279244 Centerline is valid? [True, True] Translation: X:556.27, Y:3.82, Z:2.44 [[ 9.99631021e-01 -2.21554401e-02 -1.57148853e-02 5.56271700e+02] [ 2.21557057e-02 9.99754520e-01 -1.57221024e-04 3.81686123e+00] [ 1.57145109e-02 -1.91011361e-04 9.99876501e-01 2.43747451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.439254154 meters 0.014179652646012208 Centerline is valid? [True, True] Translation: X:556.33, Y:3.82, Z:2.44 [[ 9.99723648e-01 -1.84551709e-02 -1.45613853e-02 5.56331771e+02] [ 1.84550064e-02 9.99829681e-01 -1.45680726e-04 3.82098442e+00] [ 1.45615938e-02 -1.23089992e-04 9.99893967e-01 2.43961479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.499254154 meters 0.014470726908127122 Centerline is valid? [True, True] Translation: X:556.39, Y:3.82, Z:2.44 [[ 9.99768943e-01 -1.64937020e-02 -1.37847248e-02 5.56390376e+02] [ 1.64933594e-02 9.99863966e-01 -1.38543220e-04 3.82123780e+00] [ 1.37851347e-02 -8.88452117e-05 9.99904977e-01 2.43909588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.559254154 meters 0.013811253961089976 Centerline is valid? [True, True] Translation: X:556.45, Y:3.82, Z:2.44 [[ 9.99769649e-01 -1.62704878e-02 -1.39971553e-02 5.56449827e+02] [ 1.62701037e-02 9.99867623e-01 -1.41323342e-04 3.82133033e+00] [ 1.39976018e-02 -8.64443815e-05 9.99902025e-01 2.43937776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.619254154 meters 0.014297306417677905 Centerline is valid? [True, True] Translation: X:556.51, Y:3.82, Z:2.44 [[ 9.99735955e-01 -1.80272141e-02 -1.42492032e-02 5.56508860e+02] [ 1.80269848e-02 9.99837490e-01 -1.44549135e-04 3.81821673e+00] [ 1.42494934e-02 -1.12359201e-04 9.99898465e-01 2.43801223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.679254154 meters 0.01420076214585669 Centerline is valid? [True, True] Translation: X:556.57, Y:3.82, Z:2.44 [[ 9.99682751e-01 -2.09040293e-02 -1.40505939e-02 5.56568371e+02] [ 2.09040822e-02 9.99781476e-01 -1.43116668e-04 3.81732438e+00] [ 1.40505152e-02 -1.50643505e-04 9.99901275e-01 2.44012876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.739254154 meters 0.014997745311597841 Centerline is valid? [True, True] Translation: X:556.63, Y:3.81, Z:2.44 [[ 9.99526337e-01 -2.73061895e-02 -1.41941269e-02 5.56629202e+02] [ 2.73068864e-02 9.99627087e-01 -1.44741288e-04 3.81264981e+00] [ 1.41927861e-02 -2.42924682e-04 9.99899248e-01 2.44088922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.799254154 meters 0.016701937022684594 Centerline is valid? [True, True] Translation: X:556.69, Y:3.81, Z:2.44 [[ 9.99408687e-01 -3.16559439e-02 -1.34230366e-02 5.56690448e+02] [ 3.16569638e-02 9.99498783e-01 -1.36547473e-04 3.80860600e+00] [ 1.34206313e-02 -2.88465853e-04 9.99909898e-01 2.44064055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.859254154 meters 0.019433683804001838 Centerline is valid? [True, True] Translation: X:556.75, Y:3.80, Z:2.44 [[ 9.99178806e-01 -3.88128854e-02 -1.16307232e-02 5.56751204e+02] [ 3.88141386e-02 9.99246440e-01 -1.18042547e-04 3.80186964e+00] [ 1.16265403e-02 -3.33490890e-04 9.99932354e-01 2.44087014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.919254154 meters 0.019282197341666852 Centerline is valid? [True, True] Translation: X:556.81, Y:3.80, Z:2.44 [[ 9.98936348e-01 -4.48958495e-02 -1.05135425e-02 5.56812731e+02] [ 4.48972131e-02 9.98991606e-01 -1.06403599e-04 3.79874444e+00] [ 1.05077178e-02 -3.65738336e-04 9.99944726e-01 2.44194477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.979254154 meters 0.024787336177229332 Centerline is valid? [True, True] Translation: X:556.87, Y:3.79, Z:2.44 [[ 9.98444495e-01 -5.48416127e-02 -1.00492462e-02 5.56873334e+02] [ 5.48433634e-02 9.98494965e-01 -1.01486948e-04 3.78788904e+00] [ 1.00396875e-02 -4.49805379e-04 9.99949500e-01 2.44068029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.039254154 meters 0.030927471812184346 Centerline is valid? [True, True] Translation: X:556.93, Y:3.78, Z:2.44 [[ 9.97920243e-01 -6.38643713e-02 -8.74819126e-03 5.56932592e+02] [ 6.38660433e-02 9.97958476e-01 -8.83901772e-05 3.77808892e+00] [ 8.73597660e-03 -4.70506014e-04 9.99961730e-01 2.44028053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0992541539999 meters 0.033376055089793716 Centerline is valid? [True, True] Translation: X:556.99, Y:3.77, Z:2.44 [[ 9.97665706e-01 -6.78939021e-02 -7.31827179e-03 5.56993298e+02] [ 6.78951800e-02 9.97692457e-01 -7.39648344e-05 3.77475593e+00] [ 7.30640632e-03 -4.23083202e-04 9.99973218e-01 2.44042963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.159254154 meters 0.03708462983959419 Centerline is valid? [True, True] Translation: X:557.05, Y:3.77, Z:2.44 [[ 9.97484915e-01 -7.06706865e-02 -5.43127960e-03 5.57053208e+02] [ 7.06714321e-02 9.97499647e-01 -5.47597878e-05 3.77004017e+00] [ 5.42156940e-03 -3.29214245e-04 9.99985249e-01 2.44000080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2192541539999 meters 0.03585443501859254 Centerline is valid? [True, True] Translation: X:557.12, Y:3.77, Z:2.44 [[ 9.97494743e-01 -7.05209500e-02 -5.57073870e-03 5.57115080e+02] [ 7.05217345e-02 9.97510241e-01 -5.57400074e-05 3.77261157e+00] [ 5.56079975e-03 -3.37257791e-04 9.99984482e-01 2.43917909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.279254154 meters 0.03755895420405597 Centerline is valid? [True, True] Translation: X:557.18, Y:3.77, Z:2.44 [[ 9.97647801e-01 -6.83038846e-02 -5.78306524e-03 5.57175995e+02] [ 6.83046950e-02 9.97664505e-01 -5.75027979e-05 3.77231038e+00] [ 5.77348658e-03 -3.37642967e-04 9.99983276e-01 2.43791103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.339254154 meters 0.026478468639802175 Centerline is valid? [True, True] Translation: X:557.24, Y:3.79, Z:2.44 [[ 9.97947401e-01 -6.37204357e-02 -6.37898178e-03 5.57236992e+02] [ 6.37213295e-02 9.97967729e-01 -6.32350771e-05 3.78958001e+00] [ 6.37004733e-03 -3.43371919e-04 9.99979652e-01 2.43742430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.399254154 meters 0.022098076361325384 Centerline is valid? [True, True] Translation: X:557.30, Y:3.80, Z:2.44 [[ 9.98629717e-01 -5.20378917e-02 -5.54499559e-03 5.57297641e+02] [ 5.20383876e-02 9.98645084e-01 -5.49087473e-05 3.80130984e+00] [ 5.54033992e-03 -2.33719123e-04 9.99984625e-01 2.43808743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.459254154 meters 0.019021093304040733 Centerline is valid? [True, True] Translation: X:557.36, Y:3.81, Z:2.44 [[ 9.99109419e-01 -4.20110804e-02 -3.92912979e-03 5.57358491e+02] [ 4.20112520e-02 9.99117137e-01 -3.89026182e-05 3.81080790e+00] [ 3.92729525e-03 -1.26199689e-04 9.99992280e-01 2.43917414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.519254154 meters 0.01508280896054995 Centerline is valid? [True, True] Translation: X:557.42, Y:3.83, Z:2.44 [[ 9.99675204e-01 -2.54230703e-02 -1.77591746e-03 5.57419296e+02] [ 2.54230791e-02 9.99676781e-01 -1.75944798e-05 3.82552996e+00] [ 1.77579076e-03 -2.75605250e-05 9.99998423e-01 2.44012602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.579254154 meters 0.013745665906409797 Centerline is valid? [True, True] Translation: X:557.48, Y:3.83, Z:2.44 [[ 9.99878271e-01 -1.55446499e-02 -1.34434852e-03 5.57480718e+02] [ 1.55446460e-02 9.99879175e-01 -1.33721570e-05 3.83376622e+00] [ 1.34439395e-03 -7.52689253e-06 9.99999096e-01 2.44010361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.639254154 meters 0.01369669182514357 Centerline is valid? [True, True] Translation: X:557.54, Y:3.84, Z:2.44 [[ 9.99983994e-01 -5.46559823e-03 -1.46218080e-03 5.57542877e+02] [ 5.46558275e-03 9.99985063e-01 -1.45843514e-05 3.84239890e+00] [ 1.46223867e-03 6.59244779e-06 9.99998931e-01 2.43905789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.699254154 meters 0.01396050874542195 Centerline is valid? [True, True] Translation: X:557.60, Y:3.84, Z:2.44 [[ 9.99994627e-01 -2.46776151e-03 -2.15783739e-03 5.57603941e+02] [ 2.46772166e-03 9.99996955e-01 -2.11300372e-05 3.84495132e+00] [ 2.15788296e-03 1.58049816e-05 9.99997672e-01 2.43815534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.759254154 meters 0.014006685982293429 Centerline is valid? [True, True] Translation: X:557.66, Y:3.85, Z:2.44 [[ 9.99993331e-01 -2.21613011e-03 -2.90275359e-03 5.57663537e+02] [ 2.21605765e-03 9.99997544e-01 -2.81818239e-05 3.84505536e+00] [ 2.90280892e-03 2.17489667e-05 9.99995787e-01 2.43701448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.819254154 meters 0.013676345118976444 Centerline is valid? [True, True] Translation: X:557.72, Y:3.84, Z:2.44 [[ 9.99989753e-01 -4.07617321e-03 -1.96962235e-03 5.57722886e+02] [ 4.07614352e-03 9.99991692e-01 -1.90861375e-05 3.84291306e+00] [ 1.96968379e-03 1.10574785e-05 9.99998060e-01 2.43729993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.879254154 meters 0.013578909098594131 Centerline is valid? [True, True] Translation: X:557.78, Y:3.84, Z:2.44 [[ 9.99972677e-01 -7.38947181e-03 2.03173409e-04 5.57783275e+02] [ 7.38947158e-03 9.99972697e-01 1.90197816e-06 3.83849479e+00] [-2.03181916e-04 -4.00582068e-07 9.99999979e-01 2.43781473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.939254154 meters 0.013616181628010196 Centerline is valid? [True, True] Translation: X:557.85, Y:3.83, Z:2.44 [[ 9.99944824e-01 -1.04661928e-02 8.99295906e-04 5.57845618e+02] [ 1.04661903e-02 9.99945228e-01 7.44811474e-06 3.83313532e+00] [-8.99324603e-04 1.96449834e-06 9.99999596e-01 2.43779241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.999254154 meters 0.013783090222612562 Centerline is valid? [True, True] Translation: X:557.91, Y:3.83, Z:2.44 [[ 9.99917733e-01 -1.27394731e-02 1.49443244e-03 5.57907679e+02] [ 1.27394668e-02 9.99918850e-01 1.37736011e-05 3.82889257e+00] [-1.49448663e-03 5.26580441e-06 9.99998883e-01 2.43757059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.059254154 meters 0.014012647883526956 Centerline is valid? [True, True] Translation: X:557.97, Y:3.82, Z:2.44 [[ 9.99880826e-01 -1.53044464e-02 2.02684710e-03 5.57968997e+02] [ 1.53044397e-02 9.99882880e-01 1.87698159e-05 3.82223541e+00] [-2.02689698e-03 1.22521804e-05 9.99997946e-01 2.43754317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.119254154 meters 0.014129686450524061 Centerline is valid? [True, True] Translation: X:558.03, Y:3.82, Z:2.44 [[ 9.99871923e-01 -1.58954532e-02 1.86345960e-03 5.58031267e+02] [ 1.58954491e-02 9.99873659e-01 1.70155877e-05 3.81799593e+00] [-1.86349464e-03 1.26071187e-05 9.99998264e-01 2.43644352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.179254154 meters 0.014118265652913839 Centerline is valid? [True, True] Translation: X:558.09, Y:3.81, Z:2.43 [[ 9.99901190e-01 -1.40342382e-02 8.05857289e-04 5.58093974e+02] [ 1.40342370e-02 9.99901515e-01 7.11807672e-06 3.81262265e+00] [-8.05877821e-04 4.19221883e-06 9.99999675e-01 2.43491014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.239254154 meters 0.014287871954592971 Centerline is valid? [True, True] Translation: X:558.16, Y:3.81, Z:2.43 [[ 9.99951878e-01 -9.80796244e-03 2.14185131e-04 5.58155933e+02] [ 9.80796232e-03 9.99951901e-01 1.63904514e-06 3.80843176e+00] [-2.14190904e-04 4.61753423e-07 9.99999977e-01 2.43418284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.299254154 meters 0.01419579890534674 Centerline is valid? [True, True] Translation: X:558.22, Y:3.81, Z:2.43 [[ 9.99973700e-01 -7.24209568e-03 -3.89724949e-04 5.58217143e+02] [ 7.24209475e-03 9.99973776e-01 -3.78618105e-06 3.80584240e+00] [ 3.89742149e-04 9.63656465e-07 9.99999924e-01 2.43420418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.359254154 meters 0.014216622702069004 Centerline is valid? [True, True] Translation: X:558.28, Y:3.80, Z:2.43 [[ 9.99979609e-01 -6.29092850e-03 -1.09815723e-03 5.58278152e+02] [ 6.29092090e-03 9.99980212e-01 -1.03694839e-05 3.79856228e+00] [ 1.09820074e-03 3.46085212e-06 9.99999397e-01 2.43365394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.419254154 meters 0.014188757844441006 Centerline is valid? [True, True] Translation: X:558.34, Y:3.79, Z:2.43 [[ 9.99966491e-01 -7.96978282e-03 -1.87042829e-03 5.58339483e+02] [ 7.96976505e-03 9.99968241e-01 -1.69492335e-05 3.79229140e+00] [ 1.87050397e-03 2.04179151e-06 9.99998251e-01 2.43346065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4792541539999 meters 0.014227701112023398 Centerline is valid? [True, True] Translation: X:558.40, Y:3.78, Z:2.43 [[ 9.99903651e-01 -1.34061579e-02 -3.60051268e-03 5.58401108e+02] [ 1.34061288e-02 9.99910133e-01 -3.22146760e-05 3.78019835e+00] [ 3.60062099e-03 -1.60573645e-05 9.99993518e-01 2.43191083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.539254154 meters 0.01447604949131621 Centerline is valid? [True, True] Translation: X:558.46, Y:3.77, Z:2.43 [[ 9.99819949e-01 -1.85289007e-02 -4.09257374e-03 5.58462136e+02] [ 1.85289066e-02 9.99828324e-01 -3.64579022e-05 3.77203064e+00] [ 4.09254667e-03 -3.93795788e-05 9.99991625e-01 2.43165906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5992541539999 meters 0.016016837027034818 Centerline is valid? [True, True] Translation: X:558.52, Y:3.76, Z:2.43 [[ 9.99644804e-01 -2.63964952e-02 -3.67303224e-03 5.58523335e+02] [ 2.63965530e-02 9.99651550e-01 -3.27469154e-05 3.75746879e+00] [ 3.67261677e-03 -6.42201064e-05 9.99993254e-01 2.43176905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.659254154 meters 0.01978725995559006 Centerline is valid? [True, True] Translation: X:558.58, Y:3.74, Z:2.43 [[ 9.99531199e-01 -3.04847061e-02 -2.83981066e-03 5.58584151e+02] [ 3.04847593e-02 9.99535231e-01 -2.45647871e-05 3.74484479e+00] [ 2.83923965e-03 -6.20176734e-05 9.99995967e-01 2.43252308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7192541539999 meters 0.02026592496323109 Centerline is valid? [True, True] Translation: X:558.65, Y:3.74, Z:2.43 [[ 9.99465462e-01 -3.26097271e-02 -2.32303369e-03 5.58646424e+02] [ 3.26097684e-02 9.99468160e-01 -2.01010002e-05 3.73749384e+00] [ 2.32245369e-03 -5.56633351e-05 9.99997302e-01 2.43269791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.779254154 meters 0.016746921511558804 Centerline is valid? [True, True] Translation: X:558.71, Y:3.74, Z:2.43 [[ 9.99556004e-01 -2.96834998e-02 -2.58555020e-03 5.58708969e+02] [ 2.96835416e-02 9.99559346e-01 -2.21870933e-05 3.73882100e+00] [ 2.58506946e-03 -5.45710448e-05 9.99996657e-01 2.43180636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.839254154 meters 0.016206249918884058 Centerline is valid? [True, True] Translation: X:558.77, Y:3.74, Z:2.43 [[ 9.99668109e-01 -2.56174561e-02 -2.72351722e-03 5.58770229e+02] [ 2.56174877e-02 9.99671818e-01 -2.32678705e-05 3.73751332e+00] [ 2.72321947e-03 -4.65095208e-05 9.99996291e-01 2.43200899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.899254154 meters 0.014728029747291359 Centerline is valid? [True, True] Translation: X:558.83, Y:3.74, Z:2.43 [[ 9.99814200e-01 -1.88769320e-02 -3.90217653e-03 5.58831901e+02] [ 1.88769490e-02 9.99821814e-01 -3.24712924e-05 3.73723216e+00] [ 3.90209417e-03 -4.11959282e-05 9.99992386e-01 2.43106014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.959254154 meters 0.01422710897150248 Centerline is valid? [True, True] Translation: X:558.89, Y:3.74, Z:2.43 [[ 9.99877054e-01 -1.46839364e-02 -5.50078033e-03 5.58892824e+02] [ 1.46839088e-02 9.99892185e-01 -4.53980415e-05 3.73721293e+00] [ 5.50085389e-03 -3.53804970e-05 9.99984870e-01 2.43026536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.019254154 meters 0.015929807084310767 Centerline is valid? [True, True] Translation: X:558.95, Y:3.73, Z:2.43 [[ 9.99913118e-01 -1.13642364e-02 -6.67914964e-03 5.58953011e+02] [ 1.13641233e-02 9.99935425e-01 -5.48907675e-05 3.73351788e+00] [ 6.67934212e-03 -2.10166816e-05 9.99977693e-01 2.42860410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.079254154 meters 0.01409472432875864 Centerline is valid? [True, True] Translation: X:559.01, Y:3.73, Z:2.43 [[ 9.99876823e-01 -1.34329329e-02 -8.11752459e-03 5.59012718e+02] [ 1.34328337e-02 9.99909773e-01 -6.67479326e-05 3.72782060e+00] [ 8.11768879e-03 -4.23016468e-05 9.99967050e-01 2.42898524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.139254154 meters 0.014255316087945183 Centerline is valid? [True, True] Translation: X:559.07, Y:3.73, Z:2.43 [[ 9.99848801e-01 -1.51645974e-02 -8.50942706e-03 5.59072567e+02] [ 1.51645484e-02 9.99885009e-01 -7.02796065e-05 3.72567619e+00] [ 8.50951432e-03 -5.87726385e-05 9.99963792e-01 2.42933242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.199254154 meters 0.017911819238943957 Centerline is valid? [True, True] Translation: X:559.13, Y:3.72, Z:2.43 [[ 9.99776121e-01 -1.93991394e-02 -8.44868797e-03 5.59132242e+02] [ 1.93992398e-02 9.99811815e-01 -7.00767319e-05 3.71909187e+00] [ 8.44845747e-03 -9.38370807e-05 9.99964307e-01 2.42895480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.259254154 meters 0.0158748187996264 Centerline is valid? [True, True] Translation: X:559.19, Y:3.71, Z:2.43 [[ 9.99569224e-01 -2.81107567e-02 -8.43519388e-03 5.59192401e+02] [ 2.81111648e-02 9.99604801e-01 -7.01934743e-05 3.71054896e+00] [ 8.43383348e-03 -1.66959889e-04 9.99964421e-01 2.43134916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.319254154 meters 0.018217429916976863 Centerline is valid? [True, True] Translation: X:559.25, Y:3.70, Z:2.43 [[ 9.99423430e-01 -3.32805905e-02 -6.72388417e-03 5.59252509e+02] [ 3.32809664e-02 9.99446034e-01 -5.60169129e-05 3.70252429e+00] [ 6.72202364e-03 -1.67792748e-04 9.99977393e-01 2.43247310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.379254154 meters 0.02082472880933749 Centerline is valid? [True, True] Translation: X:559.31, Y:3.69, Z:2.43 [[ 9.99159234e-01 -4.05172441e-02 -6.25928144e-03 5.59313810e+02] [ 4.05177119e-02 9.99178819e-01 -5.21137860e-05 3.69414573e+00] [ 6.25625295e-03 -2.01541791e-04 9.99980409e-01 2.43354443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.439254154 meters 0.02478742648933417 Centerline is valid? [True, True] Translation: X:559.37, Y:3.68, Z:2.43 [[ 9.98808261e-01 -4.82437005e-02 -7.38934762e-03 5.59373562e+02] [ 4.82445639e-02 9.98835551e-01 -6.14741189e-05 3.68497911e+00] [ 7.38370884e-03 -2.95094995e-04 9.99972697e-01 2.43246959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.499254154 meters 0.025112686371261354 Centerline is valid? [True, True] Translation: X:559.44, Y:3.69, Z:2.43 [[ 9.98583070e-01 -5.26148700e-02 -7.97040469e-03 5.59435009e+02] [ 5.26160139e-02 9.98614816e-01 -6.62449717e-05 3.68557716e+00] [ 7.96284968e-03 -3.53219817e-04 9.99968234e-01 2.43191542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.559254154 meters 0.026652611032165777 Centerline is valid? [True, True] Translation: X:559.49, Y:3.68, Z:2.43 [[ 9.98310852e-01 -5.73803821e-02 -9.10686573e-03 5.59494956e+02] [ 5.73820749e-02 9.98352288e-01 -7.55089016e-05 3.68226016e+00] [ 9.09619297e-03 -4.47189496e-04 9.99958529e-01 2.43233226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.619254154 meters 0.028629482475119893 Centerline is valid? [True, True] Translation: X:559.56, Y:3.68, Z:2.43 [[ 9.98267417e-01 -5.79814050e-02 -1.00160229e-02 5.59556596e+02] [ 5.79834859e-02 9.98317539e-01 -8.27466953e-05 3.68295401e+00] [ 1.00039691e-02 -4.98160590e-04 9.99949835e-01 2.43154892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.679254154 meters 0.026863753713997955 Centerline is valid? [True, True] Translation: X:559.62, Y:3.69, Z:2.43 [[ 9.98424128e-01 -5.51379110e-02 -1.04436914e-02 5.59617438e+02] [ 5.51400220e-02 9.98478628e-01 -8.59258756e-05 3.68889594e+00] [ 1.04325404e-02 -4.90074906e-04 9.99945459e-01 2.43250838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.739254154 meters 0.023929311032945058 Centerline is valid? [True, True] Translation: X:559.68, Y:3.70, Z:2.43 [[ 9.98577985e-01 -5.22157513e-02 -1.07481311e-02 5.59679380e+02] [ 5.22178228e-02 9.98635715e-01 -8.80034820e-05 3.69743780e+00] [ 1.07380628e-02 -4.73365668e-04 9.99942233e-01 2.43299183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.799254154 meters 0.02375842980757831 Centerline is valid? [True, True] Translation: X:559.74, Y:3.70, Z:2.43 [[ 9.98787697e-01 -4.81037417e-02 -1.04482656e-02 5.59738996e+02] [ 4.81054769e-02 9.98842258e-01 -8.53140472e-05 3.70379843e+00] [ 1.04402732e-02 -4.17408181e-04 9.99945412e-01 2.43327606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.859254154 meters 0.022226123496566386 Centerline is valid? [True, True] Translation: X:559.80, Y:3.71, Z:2.43 [[ 9.98970816e-01 -4.42459287e-02 -9.98029740e-03 5.59799943e+02] [ 4.42473207e-02 9.99020604e-01 -8.13941825e-05 3.71293934e+00] [ 9.97412410e-03 -3.60291007e-04 9.99950192e-01 2.43410887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.919254154 meters 0.023013547958569528 Centerline is valid? [True, True] Translation: X:559.86, Y:3.72, Z:2.43 [[ 9.99117882e-01 -4.08096100e-02 -9.90121364e-03 5.59860737e+02] [ 4.08108142e-02 9.99166888e-01 -8.04792615e-05 3.71704231e+00] [ 9.89624915e-03 -3.23668320e-04 9.99950979e-01 2.43418151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9792541539999 meters 0.01812846658958192 Centerline is valid? [True, True] Translation: X:559.92, Y:3.73, Z:2.44 [[ 9.99354255e-01 -3.45242810e-02 -9.95721860e-03 5.59921613e+02] [ 3.45251896e-02 9.99403825e-01 -8.06784632e-05 3.73264031e+00] [ 9.95406772e-03 -2.63148494e-04 9.99950422e-01 2.43571012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.039254154 meters 0.019252897831869942 Centerline is valid? [True, True] Translation: X:559.98, Y:3.74, Z:2.44 [[ 9.99523344e-01 -2.90967695e-02 -1.03180603e-02 5.59982038e+02] [ 2.90974570e-02 9.99576576e-01 -8.35193173e-05 3.73985779e+00] [ 1.03161215e-02 -2.16749807e-04 9.99946764e-01 2.43528339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0992541539999 meters 0.015266992885384266 Centerline is valid? [True, True] Translation: X:560.04, Y:3.75, Z:2.44 [[ 9.99727921e-01 -2.14360841e-02 -9.19660613e-03 5.60042650e+02] [ 2.14363061e-02 9.99770213e-01 -7.44417309e-05 3.75094180e+00] [ 9.19608861e-03 -1.22719788e-04 9.99957708e-01 2.43680924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.159254154 meters 0.014466529279168782 Centerline is valid? [True, True] Translation: X:560.10, Y:3.76, Z:2.44 [[ 9.99834805e-01 -1.57117622e-02 -9.13797490e-03 5.60103138e+02] [ 1.57117423e-02 9.99876560e-01 -7.39671416e-05 3.75892028e+00] [ 9.13800906e-03 -6.96185842e-05 9.99958245e-01 2.43730096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2192541539999 meters 0.01436206234630203 Centerline is valid? [True, True] Translation: X:560.16, Y:3.76, Z:2.44 [[ 9.99850316e-01 -1.45758806e-02 -9.32139454e-03 5.60162863e+02] [ 1.45758089e-02 9.99893764e-01 -7.56302902e-05 3.76111992e+00] [ 9.32150666e-03 -6.02478956e-05 9.99956552e-01 2.43760768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.279254154 meters 0.014524516192965214 Centerline is valid? [True, True] Translation: X:560.22, Y:3.76, Z:2.44 [[ 9.99848389e-01 -1.49144064e-02 -8.98667948e-03 5.60221074e+02] [ 1.49143491e-02 9.99888772e-01 -7.33887203e-05 3.76146540e+00] [ 8.98677447e-03 -6.06528815e-05 9.99959616e-01 2.43730907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.339254154 meters 0.014605830094013927 Centerline is valid? [True, True] Translation: X:560.28, Y:3.76, Z:2.44 [[ 9.99815092e-01 -1.67729345e-02 -9.40476927e-03 5.60280456e+02] [ 1.67729493e-02 9.99859321e-01 -7.73057965e-05 3.76167781e+00] [ 9.40474287e-03 -8.04542158e-05 9.99955771e-01 2.43725926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.399254154 meters 0.014767672283413526 Centerline is valid? [True, True] Translation: X:560.34, Y:3.76, Z:2.44 [[ 9.99788218e-01 -1.84081144e-02 -9.20113461e-03 5.60340482e+02] [ 1.84081955e-02 9.99830552e-01 -7.58756483e-05 3.76120407e+00] [ 9.20097222e-03 -9.35167057e-05 9.99957666e-01 2.43736420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.459254154 meters 0.015862000393265338 Centerline is valid? [True, True] Translation: X:560.40, Y:3.76, Z:2.44 [[ 9.99710921e-01 -2.19521939e-02 -9.80695080e-03 5.60399620e+02] [ 2.19524579e-02 9.99759012e-01 -8.07349246e-05 3.75558206e+00] [ 9.80635976e-03 -1.34575089e-04 9.99951907e-01 2.43572251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.519254154 meters 0.016311426210184003 Centerline is valid? [True, True] Translation: X:560.46, Y:3.75, Z:2.44 [[ 9.99559177e-01 -2.76238322e-02 -1.08800688e-02 5.60460464e+02] [ 2.76244952e-02 9.99618367e-01 -8.93684318e-05 3.75420014e+00] [ 1.08783853e-02 -2.11227372e-04 9.99940806e-01 2.43595862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.579254154 meters 0.01665771038766496 Centerline is valid? [True, True] Translation: X:560.52, Y:3.75, Z:2.44 [[ 9.99449389e-01 -3.12609669e-02 -1.11207225e-02 5.60521122e+02] [ 3.12618846e-02 9.99511224e-01 -9.13451518e-05 3.75303194e+00] [ 1.11181425e-02 -2.56359889e-04 9.99938159e-01 2.43646890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.639254154 meters 0.01921516963043675 Centerline is valid? [True, True] Translation: X:560.58, Y:3.75, Z:2.44 [[ 9.99344670e-01 -3.41784920e-02 -1.19189376e-02 5.60580908e+02] [ 3.41797535e-02 9.99415697e-01 -9.79016569e-05 3.75005105e+00] [ 1.19153194e-02 -3.09548850e-04 9.99928962e-01 2.43635626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.699254154 meters 0.018956422114307443 Centerline is valid? [True, True] Translation: X:560.64, Y:3.75, Z:2.44 [[ 9.99328927e-01 -3.47951792e-02 -1.14451586e-02 5.60641930e+02] [ 3.47963858e-02 9.99394418e-01 -9.37475188e-05 3.75132004e+00] [ 1.14414896e-02 -3.04565549e-04 9.99934498e-01 2.43778260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.759254154 meters 0.017981447223138814 Centerline is valid? [True, True] Translation: X:560.70, Y:3.75, Z:2.44 [[ 9.99366766e-01 -3.42448340e-02 -9.66216413e-03 5.60702077e+02] [ 3.42456705e-02 9.99413442e-01 -7.89078440e-05 3.75215877e+00] [ 9.65919890e-03 -2.52029412e-04 9.99953317e-01 2.43983045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.819254154 meters 0.017692629322771363 Centerline is valid? [True, True] Translation: X:560.76, Y:3.75, Z:2.44 [[ 9.99358459e-01 -3.46006654e-02 -9.24464541e-03 5.60763201e+02] [ 3.46014487e-02 9.99401188e-01 -7.52444670e-05 3.75438151e+00] [ 9.24171311e-03 -2.44681929e-04 9.99957265e-01 2.44063599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.879254154 meters 0.01812359385381829 Centerline is valid? [True, True] Translation: X:560.83, Y:3.76, Z:2.44 [[ 9.99335200e-01 -3.53132961e-02 -9.06253827e-03 5.60825189e+02] [ 3.53140826e-02 9.99376261e-01 -7.32648142e-05 3.75562136e+00] [ 9.05947283e-03 -2.46819118e-04 9.99958932e-01 2.44104216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.939254154 meters 0.01828102221467375 Centerline is valid? [True, True] Translation: X:560.89, Y:3.76, Z:2.44 [[ 9.99287338e-01 -3.67249187e-02 -8.72330404e-03 5.60887759e+02] [ 3.67257067e-02 9.99325381e-01 -6.98959330e-05 3.75796252e+00] [ 8.71998606e-03 -2.50523385e-04 9.99961949e-01 2.44181086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.999254154 meters 0.0199099120472207 Centerline is valid? [True, True] Translation: X:560.95, Y:3.76, Z:2.44 [[ 9.99231284e-01 -3.81269361e-02 -9.12019611e-03 5.60949411e+02] [ 3.81278612e-02 9.99272866e-01 -7.24814753e-05 3.75896631e+00] [ 9.11632801e-03 -2.75307814e-04 9.99958408e-01 2.44123219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.059254154 meters 0.020607441539048546 Centerline is valid? [True, True] Translation: X:561.01, Y:3.76, Z:2.44 [[ 9.99129989e-01 -4.07029333e-02 -9.08496216e-03 5.61010192e+02] [ 4.07039651e-02 9.99171248e-01 -7.13786096e-05 3.75857597e+00] [ 9.08033830e-03 -2.98477473e-04 9.99958728e-01 2.44143321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.119254154 meters 0.021757220040716056 Centerline is valid? [True, True] Translation: X:561.07, Y:3.76, Z:2.44 [[ 9.99011820e-01 -4.35930486e-02 -8.66193269e-03 5.61072009e+02] [ 4.35941029e-02 9.99049323e-01 -6.71468798e-05 3.75923245e+00] [ 8.65662513e-03 -3.10528659e-04 9.99962483e-01 2.44235734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.179254154 meters 0.024697983939872964 Centerline is valid? [True, True] Translation: X:561.13, Y:3.76, Z:2.44 [[ 9.98847347e-01 -4.74646093e-02 -7.14765535e-03 5.61132205e+02] [ 4.74654288e-02 9.98872880e-01 -5.50321563e-05 3.75932009e+00] [ 7.14221117e-03 -2.84297803e-04 9.99974454e-01 2.44446358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.239254154 meters 0.025130407247556392 Centerline is valid? [True, True] Translation: X:561.19, Y:3.76, Z:2.45 [[ 9.98581680e-01 -5.29093337e-02 -5.93552877e-03 5.61193195e+02] [ 5.29099955e-02 9.98599284e-01 -4.55838391e-05 3.76368898e+00] [ 5.92962659e-03 -2.68529614e-04 9.99982384e-01 2.44588979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.299254154 meters 0.032540125984835626 Centerline is valid? [True, True] Translation: X:561.25, Y:3.76, Z:2.45 [[ 9.98341045e-01 -5.72753273e-02 -5.89028115e-03 5.61252902e+02] [ 5.72760563e-02 9.98358378e-01 -4.49938935e-05 3.75840054e+00] [ 5.88318858e-03 -2.92452824e-04 9.99982651e-01 2.44531349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.359254154 meters 0.027343601957622504 Centerline is valid? [True, True] Translation: X:561.31, Y:3.77, Z:2.45 [[ 9.97944049e-01 -6.38728146e-02 -5.28561455e-03 5.61313007e+02] [ 6.38734951e-02 9.97958003e-01 -4.01200573e-05 3.77088718e+00] [ 5.27738392e-03 -2.97573103e-04 9.99986030e-01 2.44753534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.419254154 meters 0.03026809447116424 Centerline is valid? [True, True] Translation: X:561.37, Y:3.77, Z:2.45 [[ 9.97814509e-01 -6.58502557e-02 -5.47265454e-03 5.61374504e+02] [ 6.58510153e-02 9.97829465e-01 -4.14653880e-05 3.77137663e+00] [ 5.46350646e-03 -3.19005092e-04 9.99985024e-01 2.44797469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4792541539999 meters 0.030282543221689134 Centerline is valid? [True, True] Translation: X:561.44, Y:3.78, Z:2.45 [[ 9.97828228e-01 -6.56185648e-02 -5.74737529e-03 5.61436876e+02] [ 6.56194008e-02 9.97844724e-01 -4.31920882e-05 3.77852424e+00] [ 5.73782231e-03 -3.34041038e-04 9.99983483e-01 2.44790366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.539254154 meters 0.030178635609915083 Centerline is valid? [True, True] Translation: X:561.50, Y:3.79, Z:2.45 [[ 9.98024329e-01 -6.24693069e-02 -6.70997906e-03 5.61496504e+02] [ 6.24703779e-02 9.98046817e-01 -5.00503682e-05 3.78521452e+00] [ 6.69999986e-03 -3.69223443e-04 9.99977487e-01 2.44715867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5992541539999 meters 0.027579401094240272 Centerline is valid? [True, True] Translation: X:561.56, Y:3.79, Z:2.45 [[ 9.98218819e-01 -5.91034470e-02 -8.12234881e-03 5.61557099e+02] [ 5.91049059e-02 9.98251775e-01 -6.05178785e-05 3.79474373e+00] [ 8.11172593e-03 -4.19660577e-04 9.99967011e-01 2.44636705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.659254154 meters 0.023215869976841365 Centerline is valid? [True, True] Translation: X:561.62, Y:3.81, Z:2.45 [[ 9.98573373e-01 -5.26282532e-02 -9.02698874e-03 5.61618004e+02] [ 5.26297928e-02 9.98614090e-01 -6.70745908e-05 3.80979387e+00] [ 9.01800816e-03 -4.08109646e-04 9.99959254e-01 2.44597857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7192541539999 meters 0.022297441329834418 Centerline is valid? [True, True] Translation: X:561.68, Y:3.82, Z:2.45 [[ 9.98811754e-01 -4.78684256e-02 -9.14845274e-03 5.61679222e+02] [ 4.78698092e-02 9.98853581e-01 -6.77974946e-05 3.81647480e+00] [ 9.14121014e-03 -3.70217752e-04 9.99958150e-01 2.44553543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.779254154 meters 0.020574451772216014 Centerline is valid? [True, True] Translation: X:561.74, Y:3.83, Z:2.45 [[ 9.99092068e-01 -4.17321533e-02 -8.57127466e-03 5.61739872e+02] [ 4.17331438e-02 9.99128791e-01 -6.33385907e-05 3.82586796e+00] [ 8.56645054e-03 -2.94425154e-04 9.99963264e-01 2.44532569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.839254154 meters 0.019670480079312925 Centerline is valid? [True, True] Translation: X:561.80, Y:3.83, Z:2.44 [[ 9.99261167e-01 -3.74455238e-02 -8.65757644e-03 5.61801707e+02] [ 3.74463766e-02 9.99298636e-01 -6.36286193e-05 3.83151842e+00] [ 8.65388694e-03 -2.60613260e-04 9.99962520e-01 2.44460760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.899254154 meters 0.017763525676155235 Centerline is valid? [True, True] Translation: X:561.86, Y:3.84, Z:2.44 [[ 9.99497608e-01 -3.05343945e-02 -8.49601540e-03 5.61862901e+02] [ 3.05349689e-02 9.99533697e-01 -6.21275719e-05 3.83740930e+00] [ 8.49395071e-03 -1.97329207e-04 9.99963906e-01 2.44397620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.959254154 meters 0.016243340510187523 Centerline is valid? [True, True] Translation: X:561.92, Y:3.84, Z:2.44 [[ 9.99614780e-01 -2.65944505e-02 -7.93893773e-03 5.61924486e+02] [ 2.65948295e-02 9.99646293e-01 -5.78454241e-05 3.84112038e+00] [ 7.93766804e-03 -1.53311554e-04 9.99968484e-01 2.44433500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.019254154 meters 0.01564112582790592 Centerline is valid? [True, True] Translation: X:561.98, Y:3.84, Z:2.44 [[ 9.99733952e-01 -2.16550585e-02 -7.94246133e-03 5.61984658e+02] [ 2.16552838e-02 9.99765495e-01 -5.76392025e-05 3.84192229e+00] [ 7.94184697e-03 -1.14372387e-04 9.99968456e-01 2.44342885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.079254154 meters 0.015195749890707107 Centerline is valid? [True, True] Translation: X:562.05, Y:3.84, Z:2.44 [[ 9.99777734e-01 -1.86010968e-02 -9.92383934e-03 5.62045970e+02] [ 1.86013012e-02 9.99826978e-01 -7.17109933e-05 3.83901534e+00] [ 9.92345621e-03 -1.12901270e-04 9.99950755e-01 2.44103666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.139254154 meters 0.01494444299845374 Centerline is valid? [True, True] Translation: X:562.11, Y:3.83, Z:2.44 [[ 9.99791772e-01 -1.79755680e-02 -9.65874817e-03 5.62107018e+02] [ 1.79757350e-02 9.99838421e-01 -6.95383000e-05 3.83482807e+00] [ 9.65843751e-03 -1.04099277e-04 9.99953351e-01 2.44056270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.199254154 meters 0.01512984364262755 Centerline is valid? [True, True] Translation: X:562.17, Y:3.83, Z:2.44 [[ 9.99770838e-01 -1.88102413e-02 -1.02199093e-02 5.62167235e+02] [ 1.88104761e-02 9.99823065e-01 -7.31537893e-05 3.82652718e+00] [ 1.02194770e-02 -1.19104334e-04 9.99947773e-01 2.44019860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.259254154 meters 0.01643920843168375 Centerline is valid? [True, True] Translation: X:562.23, Y:3.82, Z:2.44 [[ 9.99661916e-01 -2.28275640e-02 -1.24481585e-02 5.62227357e+02] [ 2.28282258e-02 9.99739398e-01 -8.89367940e-05 3.81613837e+00] [ 1.24469447e-02 -1.95262649e-04 9.99922515e-01 2.43816794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.319254154 meters 0.016976929183658174 Centerline is valid? [True, True] Translation: X:562.29, Y:3.81, Z:2.44 [[ 9.99549299e-01 -2.70264821e-02 -1.30678096e-02 5.62286769e+02] [ 2.70275651e-02 9.99634684e-01 -9.37546558e-05 3.80713866e+00] [ 1.30655696e-02 -2.59478673e-04 9.99914608e-01 2.43736197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.379254154 meters 0.018010746806304722 Centerline is valid? [True, True] Translation: X:562.35, Y:3.80, Z:2.44 [[ 9.99365334e-01 -3.31166109e-02 -1.31232219e-02 5.62346952e+02] [ 3.31182236e-02 9.99451437e-01 -9.44668696e-05 3.79559241e+00] [ 1.31191514e-02 -3.40210884e-04 9.99913882e-01 2.43782440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.439254154 meters 0.01998000467604471 Centerline is valid? [True, True] Translation: X:562.41, Y:3.78, Z:2.44 [[ 9.99245398e-01 -3.67036567e-02 -1.27073357e-02 5.62407196e+02] [ 3.67054616e-02 9.99326123e-01 -9.12360939e-05 3.78428480e+00] [ 1.27021213e-02 -3.75261377e-04 9.99919254e-01 2.43798230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.499254154 meters 0.020858538561738558 Centerline is valid? [True, True] Translation: X:562.47, Y:3.78, Z:2.44 [[ 9.99188266e-01 -3.83235298e-02 -1.24143315e-02 5.62468031e+02] [ 3.83253810e-02 9.99265309e-01 -8.88303065e-05 3.77797032e+00] [ 1.24086151e-02 -3.87025784e-04 9.99922935e-01 2.43803953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.559254154 meters 0.019537186767059154 Centerline is valid? [True, True] Translation: X:562.53, Y:3.78, Z:2.44 [[ 9.99169249e-01 -3.87460370e-02 -1.26315922e-02 5.62528995e+02] [ 3.87479923e-02 9.99249010e-01 -8.99996152e-05 3.77585357e+00] [ 1.26255931e-02 -3.99523989e-04 9.99920214e-01 2.43891849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.619254154 meters 0.01927527097837313 Centerline is valid? [True, True] Translation: X:562.59, Y:3.77, Z:2.44 [[ 9.99188180e-01 -3.80935682e-02 -1.31095836e-02 5.62590290e+02] [ 3.80956246e-02 9.99274094e-01 -9.29137622e-05 3.77328331e+00] [ 1.31036067e-02 -4.06579444e-04 9.99914061e-01 2.43931168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.679254154 meters 0.018672491152035828 Centerline is valid? [True, True] Translation: X:562.65, Y:3.77, Z:2.44 [[ 9.99239532e-01 -3.65504091e-02 -1.35803457e-02 5.62651031e+02] [ 3.65524757e-02 9.99331730e-01 -9.60822455e-05 3.77106873e+00] [ 1.35747823e-02 -4.00386080e-04 9.99907778e-01 2.43954704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.739254154 meters 0.019920102028634232 Centerline is valid? [True, True] Translation: X:562.71, Y:3.77, Z:2.44 [[ 9.99247468e-01 -3.60100977e-02 -1.44142532e-02 5.62711395e+02] [ 3.60123725e-02 9.99351339e-01 -1.01799298e-04 3.76666998e+00] [ 1.44085690e-02 -4.17368764e-04 9.99896104e-01 2.43828742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.799254154 meters 0.01851212421040018 Centerline is valid? [True, True] Translation: X:562.77, Y:3.77, Z:2.44 [[ 9.99212259e-01 -3.64282584e-02 -1.57430650e-02 5.62771712e+02] [ 3.64310252e-02 9.99336164e-01 -1.11096093e-04 3.76709085e+00] [ 1.57366612e-02 -4.62527420e-04 9.99876064e-01 2.43910132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.859254154 meters 0.019161834197175452 Centerline is valid? [True, True] Translation: X:562.83, Y:3.76, Z:2.44 [[ 9.99178241e-01 -3.71246234e-02 -1.62666636e-02 5.62830995e+02] [ 3.71276625e-02 9.99310524e-01 -1.15225026e-04 3.76376855e+00] [ 1.62597258e-02 -4.88812858e-04 9.99867682e-01 2.43878852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.919254154 meters 0.020019148722581138 Centerline is valid? [True, True] Translation: X:562.89, Y:3.76, Z:2.44 [[ 9.99188688e-01 -3.70462917e-02 -1.57967800e-02 5.62890227e+02] [ 3.70491423e-02 9.99313439e-01 -1.12257989e-04 3.76096912e+00] [ 1.57900933e-02 -4.73090236e-04 9.99875217e-01 2.43954741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9792541539999 meters 0.019694070734617198 Centerline is valid? [True, True] Translation: X:562.95, Y:3.76, Z:2.44 [[ 9.99220342e-01 -3.67382482e-02 -1.44571304e-02 5.62949615e+02] [ 3.67405972e-02 9.99324831e-01 -1.03167909e-04 3.76089914e+00] [ 1.44511596e-02 -4.28076130e-04 9.99895485e-01 2.44124989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.039254154 meters 0.019395021935823216 Centerline is valid? [True, True] Translation: X:563.01, Y:3.76, Z:2.44 [[ 9.99243159e-01 -3.67684327e-02 -1.26961404e-02 5.63010014e+02] [ 3.67702450e-02 9.99323742e-01 -9.07386675e-05 3.76175880e+00] [ 1.26908908e-02 -3.76170199e-04 9.99919397e-01 2.44364938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0992541539999 meters 0.020326028051737204 Centerline is valid? [True, True] Translation: X:563.07, Y:3.76, Z:2.45 [[ 9.99207783e-01 -3.82439409e-02 -1.10094638e-02 5.63071332e+02] [ 3.82453956e-02 9.99268374e-01 -7.84495475e-05 3.75924632e+00] [ 1.10044092e-02 -3.42673900e-04 9.99939391e-01 2.44512336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.159254154 meters 0.019756462724416318 Centerline is valid? [True, True] Translation: X:563.13, Y:3.76, Z:2.45 [[ 9.99098870e-01 -4.11981229e-02 -1.02059602e-02 5.63132159e+02] [ 4.11995313e-02 9.99150936e-01 -7.23071299e-05 3.75887041e+00] [ 1.02002736e-02 -3.48238804e-04 9.99947915e-01 2.44562924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2192541539999 meters 0.025277485400657433 Centerline is valid? [True, True] Translation: X:563.19, Y:3.75, Z:2.44 [[ 9.98792544e-01 -4.82156012e-02 -9.41860699e-03 5.63192314e+02] [ 4.82171142e-02 9.98836876e-01 -6.64949709e-05 3.75012201e+00] [ 9.41085808e-03 -3.87723368e-04 9.99955642e-01 2.44474465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.279254154 meters 0.02924272254745915 Centerline is valid? [True, True] Translation: X:563.25, Y:3.75, Z:2.44 [[ 9.98488339e-01 -5.41524454e-02 -9.41011023e-03 5.63252041e+02] [ 5.41542185e-02 9.98532581e-01 -6.64659252e-05 3.74546013e+00] [ 9.39990095e-03 -4.43231714e-04 9.99955722e-01 2.44468248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.339254154 meters 0.02868653688709283 Centerline is valid? [True, True] Translation: X:563.31, Y:3.75, Z:2.45 [[ 9.98031518e-01 -6.20185009e-02 -9.31633836e-03 5.63313425e+02] [ 6.20205814e-02 9.98074869e-01 -6.57016609e-05 3.74838065e+00] [ 9.30247791e-03 -5.12232393e-04 9.99956600e-01 2.44535643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.399254154 meters 0.039049080661146596 Centerline is valid? [True, True] Translation: X:563.37, Y:3.74, Z:2.44 [[ 9.97859234e-01 -6.48048389e-02 -8.79106062e-03 5.63373651e+02] [ 6.48068035e-02 9.97897828e-01 -6.15018923e-05 3.73749485e+00] [ 8.77656591e-03 -5.08350307e-04 9.99961356e-01 2.44408312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.459254154 meters 0.031249390681564553 Centerline is valid? [True, True] Translation: X:563.44, Y:3.75, Z:2.45 [[ 9.97772269e-01 -6.64120635e-02 -6.31949691e-03 5.63435132e+02] [ 6.64131131e-02 9.97792211e-01 -4.38477993e-05 3.75314355e+00] [ 6.30845682e-03 -3.75947345e-04 9.99980031e-01 2.44766506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.519254154 meters 0.031925026983486544 Centerline is valid? [True, True] Translation: X:563.50, Y:3.76, Z:2.45 [[ 9.97781492e-01 -6.62141602e-02 -6.91225795e-03 5.63497756e+02] [ 6.62154143e-02 9.97805350e-01 -4.75171328e-05 3.75641455e+00] [ 6.90023427e-03 -4.10286308e-04 9.99976109e-01 2.44742180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.579254154 meters 0.031552510349077044 Centerline is valid? [True, True] Translation: X:563.56, Y:3.76, Z:2.45 [[ 9.97681787e-01 -6.75460692e-02 -8.28133059e-03 5.63559672e+02] [ 6.75479205e-02 9.97716029e-01 -5.62660895e-05 3.76259060e+00] [ 8.26621682e-03 -5.03251008e-04 9.99965708e-01 2.44566715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.639254154 meters 0.03416282329486612 Centerline is valid? [True, True] Translation: X:563.62, Y:3.76, Z:2.45 [[ 9.97512707e-01 -6.98777183e-02 -9.24679596e-03 5.63620167e+02] [ 6.98801303e-02 9.97555394e-01 -6.23801839e-05 3.76321613e+00] [ 9.22855017e-03 -5.83942280e-04 9.99957246e-01 2.44555133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.699254154 meters 0.033327122657340856 Centerline is valid? [True, True] Translation: X:563.68, Y:3.77, Z:2.45 [[ 9.97224799e-01 -7.38718615e-02 -9.25467506e-03 5.63680442e+02] [ 7.38744497e-02 9.97267548e-01 -6.23335796e-05 3.77129556e+00] [ 9.23399180e-03 -6.21523436e-04 9.99957173e-01 2.44719938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.759254154 meters 0.035444210806283356 Centerline is valid? [True, True] Translation: X:563.74, Y:3.77, Z:2.45 [[ 9.97117508e-01 -7.53235239e-02 -9.11275561e-03 5.63742280e+02] [ 7.53260963e-02 9.97158952e-01 -6.11012944e-05 3.77489494e+00] [ 9.09146819e-03 -6.25503136e-04 9.99958476e-01 2.44710736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.819254154 meters 0.03517908732890921 Centerline is valid? [True, True] Translation: X:563.80, Y:3.78, Z:2.45 [[ 9.97254635e-01 -7.34457041e-02 -9.42984173e-03 5.63803568e+02] [ 7.34483791e-02 9.97299018e-01 -6.27955499e-05 3.78078710e+00] [ 9.40898396e-03 -6.29983437e-04 9.99955536e-01 2.44701066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.879254154 meters 0.031240052118789625 Centerline is valid? [True, True] Translation: X:563.86, Y:3.80, Z:2.45 [[ 9.97785728e-01 -6.58099965e-02 -9.62736645e-03 5.63863813e+02] [ 6.58124319e-02 9.97832010e-01 -6.39573539e-05 3.79634407e+00] [ 9.61070344e-03 -5.69784664e-04 9.99953654e-01 2.44831387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.939254154 meters 0.029130295816188107 Centerline is valid? [True, True] Translation: X:563.92, Y:3.81, Z:2.45 [[ 9.98181181e-01 -5.95493133e-02 -9.39194729e-03 5.63924337e+02] [ 5.95513546e-02 9.98225241e-01 -6.24047792e-05 3.80619187e+00] [ 9.37899502e-03 -4.97011908e-04 9.99955893e-01 2.44951871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.999254154 meters 0.026732970901216322 Centerline is valid? [True, True] Translation: X:563.98, Y:3.82, Z:2.45 [[ 9.98578684e-01 -5.23869068e-02 -9.80942398e-03 5.63984687e+02] [ 5.23887888e-02 9.98626762e-01 -6.51861466e-05 3.81860069e+00] [ 9.79936821e-03 -4.48810344e-04 9.99951884e-01 2.44996765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.059254154 meters 0.0250837973345912 Centerline is valid? [True, True] Translation: X:564.05, Y:3.83, Z:2.45 [[ 9.98701054e-01 -4.98807883e-02 -1.03977069e-02 5.64046557e+02] [ 4.98827705e-02 9.98755077e-01 -6.87752852e-05 3.82608361e+00] [ 1.03881931e-02 -4.49980479e-04 9.99945940e-01 2.45004256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.119254154 meters 0.025149487738370287 Centerline is valid? [True, True] Translation: X:564.11, Y:3.83, Z:2.45 [[ 9.98791423e-01 -4.78135772e-02 -1.13822419e-02 5.64107941e+02] [ 4.78158257e-02 9.98856166e-01 -7.46569044e-05 3.83251519e+00] [ 1.13727921e-02 -4.69684620e-04 9.99935217e-01 2.44893421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.179254154 meters 0.025271858641174948 Centerline is valid? [True, True] Translation: X:564.17, Y:3.84, Z:2.45 [[ 9.98859214e-01 -4.62075553e-02 -1.20470813e-02 5.64168891e+02] [ 4.62099655e-02 9.98931746e-01 -7.83716874e-05 3.83648501e+00] [ 1.20378333e-02 -4.78412929e-04 9.99927428e-01 2.44848322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.239254154 meters 0.02530909650824024 Centerline is valid? [True, True] Translation: X:564.23, Y:3.84, Z:2.45 [[ 9.98925425e-01 -4.47059421e-02 -1.22218467e-02 5.64231336e+02] [ 4.47083198e-02 9.99000080e-01 -7.87413328e-05 3.84233298e+00] [ 1.22131460e-02 -4.67761510e-04 9.99925307e-01 2.44863286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.299254154 meters 0.023709296007294673 Centerline is valid? [True, True] Translation: X:564.29, Y:3.85, Z:2.45 [[ 9.98863268e-01 -4.63033292e-02 -1.13214126e-02 5.64293035e+02] [ 4.63054793e-02 9.98927323e-01 -7.22876791e-05 3.85074520e+00] [ 1.13126156e-02 -4.52037931e-04 9.99935908e-01 2.45062868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.359254154 meters 0.023154588569791544 Centerline is valid? [True, True] Translation: X:564.36, Y:3.85, Z:2.45 [[ 9.98783737e-01 -4.81455925e-02 -1.06324339e-02 5.64355300e+02] [ 4.81476003e-02 9.98840229e-01 -6.72043708e-05 3.85484626e+00] [ 1.06233383e-02 -4.44803545e-04 9.99943472e-01 2.45158702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.419254154 meters 0.025253360829188394 Centerline is valid? [True, True] Translation: X:564.42, Y:3.86, Z:2.45 [[ 9.98623350e-01 -5.13559937e-02 -1.06755144e-02 5.64415908e+02] [ 5.13582055e-02 9.98680294e-01 -6.70361830e-05 3.85549117e+00] [ 1.06648686e-02 -4.81331364e-04 9.99943013e-01 2.45171562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4792541539999 meters 0.027822076347571438 Centerline is valid? [True, True] Translation: X:564.48, Y:3.86, Z:2.45 [[ 9.98432773e-01 -5.48302230e-02 -1.12090959e-02 5.64475721e+02] [ 5.48328870e-02 9.98495543e-01 -6.97548348e-05 3.85578276e+00] [ 1.11960570e-02 -5.44981576e-04 9.99937174e-01 2.45170906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.539254154 meters 0.03726418533479254 Centerline is valid? [True, True] Translation: X:564.54, Y:3.84, Z:2.45 [[ 9.98268412e-01 -5.73910821e-02 -1.29012435e-02 5.64535793e+02] [ 5.73948297e-02 9.98351555e-01 -7.98772397e-05 3.84495564e+00] [ 1.28845607e-02 -6.60725749e-04 9.99916772e-01 2.44945737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5992541539999 meters 0.03200236814508304 Centerline is valid? [True, True] Translation: X:564.60, Y:3.85, Z:2.45 [[ 9.98132727e-01 -5.95442786e-02 -1.36212220e-02 5.64597290e+02] [ 5.95486605e-02 9.98225400e-01 -8.40169408e-05 3.85495027e+00] [ 1.36020525e-02 -7.27265467e-04 9.99907223e-01 2.45093896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.659254154 meters 0.032451921692228027 Centerline is valid? [True, True] Translation: X:564.66, Y:3.86, Z:2.45 [[ 9.98156607e-01 -5.92244269e-02 -1.32610235e-02 5.64659649e+02] [ 5.92285620e-02 9.98244444e-01 -8.10396593e-05 3.85617066e+00] [ 1.32425426e-02 -7.04541082e-04 9.99912065e-01 2.45200718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7192541539999 meters 0.027830089304259845 Centerline is valid? [True, True] Translation: X:564.72, Y:3.87, Z:2.45 [[ 9.98452624e-01 -5.41259100e-02 -1.27570979e-02 5.64720031e+02] [ 5.41293261e-02 9.98533930e-01 -7.76066611e-05 3.86636095e+00] [ 1.27425957e-02 -6.13046539e-04 9.99918622e-01 2.45381942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.779254154 meters 0.025033284621070913 Centerline is valid? [True, True] Translation: X:564.78, Y:3.87, Z:2.45 [[ 9.98712548e-01 -4.90772659e-02 -1.28323306e-02 5.64781020e+02] [ 4.90803087e-02 9.98794832e-01 -7.78805493e-05 3.87299254e+00] [ 1.28206877e-02 -5.52034466e-04 9.99917659e-01 2.45409539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.839254154 meters 0.02162935221470102 Centerline is valid? [True, True] Translation: X:564.84, Y:3.88, Z:2.45 [[ 9.99016353e-01 -4.19292511e-02 -1.44313755e-02 5.64841183e+02] [ 4.19323568e-02 9.99120448e-01 -8.74448879e-05 3.88210856e+00] [ 1.44223489e-02 -5.17782715e-04 9.99895858e-01 2.45302638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.899254154 meters 0.020759894101999587 Centerline is valid? [True, True] Translation: X:564.90, Y:3.88, Z:2.45 [[ 9.99105610e-01 -3.96499365e-02 -1.46922669e-02 5.64903074e+02] [ 3.96529207e-02 9.99213510e-01 -8.82573753e-05 3.88440086e+00] [ 1.46842109e-02 -4.94412853e-04 9.99892059e-01 2.45261051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.959254154 meters 0.019209135553357588 Centerline is valid? [True, True] Translation: X:564.96, Y:3.89, Z:2.45 [[ 9.99347787e-01 -3.28415310e-02 -1.50145063e-02 5.64963271e+02] [ 3.28438846e-02 9.99460490e-01 -8.98674635e-05 3.89037134e+00] [ 1.50093572e-02 -4.03325861e-04 9.99887272e-01 2.45221265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.019254154 meters 0.01770647181342736 Centerline is valid? [True, True] Translation: X:565.03, Y:3.90, Z:2.45 [[ 9.99524390e-01 -2.70233452e-02 -1.48571057e-02 5.65025033e+02] [ 2.70250153e-02 9.99634754e-01 -8.83772391e-05 3.89589721e+00] [ 1.48540674e-02 -3.13178302e-04 9.99889623e-01 2.45252383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.079254154 meters 0.015118107491622693 Centerline is valid? [True, True] Translation: X:565.09, Y:3.91, Z:2.46 [[ 9.99744517e-01 -1.79907195e-02 -1.36833687e-02 5.65086092e+02] [ 1.79912955e-02 9.99838140e-01 -8.10086579e-05 3.90603557e+00] [ 1.36826113e-02 -1.65193569e-04 9.99906375e-01 2.45505279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.139254154 meters 0.014397662865750028 Centerline is valid? [True, True] Translation: X:565.15, Y:3.91, Z:2.46 [[ 9.99830955e-01 -1.27352441e-02 -1.32618127e-02 5.65145566e+02] [ 1.27353218e-02 9.99918899e-01 -7.85962595e-05 3.90832725e+00] [ 1.32617381e-02 -9.03104788e-05 9.99912055e-01 2.45522174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.199254154 meters 0.014241709247777339 Centerline is valid? [True, True] Translation: X:565.20, Y:3.91, Z:2.46 [[ 9.99821764e-01 -1.38047688e-02 -1.28790046e-02 5.65204289e+02] [ 1.38049016e-02 9.99904705e-01 -7.85949014e-05 3.90721512e+00] [ 1.28788623e-02 -9.92124979e-05 9.99917059e-01 2.45605581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.259254154 meters 0.016027767851292462 Centerline is valid? [True, True] Translation: X:565.26, Y:3.90, Z:2.45 [[ 9.99706760e-01 -2.07032419e-02 -1.25606185e-02 5.65262592e+02] [ 2.07038912e-02 9.99785648e-01 -7.83516828e-05 3.89757440e+00] [ 1.25595482e-02 -1.81724971e-04 9.99921109e-01 2.45460508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.319254154 meters 0.016449021073086063 Centerline is valid? [True, True] Translation: X:565.32, Y:3.89, Z:2.46 [[ 9.99526329e-01 -2.80247280e-02 -1.27174227e-02 5.65323484e+02] [ 2.80259837e-02 9.99607192e-01 -7.95013710e-05 3.89363316e+00] [ 1.27146552e-02 -2.76954567e-04 9.99919127e-01 2.45572961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.379254154 meters 0.021627134141668416 Centerline is valid? [True, True] Translation: X:565.38, Y:3.88, Z:2.45 [[ 9.99094516e-01 -3.98416261e-02 -1.49262576e-02 5.65383568e+02] [ 3.98446808e-02 9.99205881e-01 -9.27899862e-05 3.87992332e+00] [ 1.49181013e-02 -5.02026005e-04 9.99888593e-01 2.45382452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.439254154 meters 0.02548240856978105 Centerline is valid? [True, True] Translation: X:565.44, Y:3.87, Z:2.45 [[ 9.98762943e-01 -4.74046881e-02 -1.50126151e-02 5.65443915e+02] [ 4.74086343e-02 9.98875574e-01 -9.31165727e-05 3.87186260e+00] [ 1.50001487e-02 -6.18726195e-04 9.99887300e-01 2.45305277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.499254154 meters 0.029284268462225913 Centerline is valid? [True, True] Translation: X:565.50, Y:3.86, Z:2.45 [[ 9.98316575e-01 -5.63118337e-02 -1.38922436e-02 5.65504559e+02] [ 5.63160747e-02 9.98412987e-01 -8.60430361e-05 3.86325179e+00] [ 1.38750417e-02 -6.96458439e-04 9.99903494e-01 2.45401264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.559254154 meters 0.03168501706437695 Centerline is valid? [True, True] Translation: X:565.57, Y:3.86, Z:2.45 [[ 9.98137145e-01 -5.94591183e-02 -1.36694175e-02 5.65565774e+02] [ 5.94635246e-02 9.98230475e-01 -8.42198778e-05 3.85892949e+00] [ 1.36502367e-02 -7.28768754e-04 9.99906566e-01 2.45417169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.619254154 meters 0.02942558092674738 Centerline is valid? [True, True] Translation: X:565.63, Y:3.86, Z:2.46 [[ 9.98109540e-01 -6.00822160e-02 -1.29411703e-02 5.65627988e+02] [ 6.00862276e-02 9.98193187e-01 -7.89478486e-05 3.86314806e+00] [ 1.29225314e-02 -6.98787503e-04 9.99916256e-01 2.45599292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.679254154 meters 0.02771755450936964 Centerline is valid? [True, True] Translation: X:565.69, Y:3.87, Z:2.46 [[ 9.98352751e-01 -5.60120526e-02 -1.24272013e-02 5.65689241e+02] [ 5.60154428e-02 9.98429900e-01 -7.53682483e-05 3.86795319e+00] [ 1.24119109e-02 -6.20871085e-04 9.99922777e-01 2.45672356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.739254154 meters 0.027589187933887788 Centerline is valid? [True, True] Translation: X:565.75, Y:3.87, Z:2.46 [[ 9.98544253e-01 -5.24292967e-02 -1.26705699e-02 5.65749415e+02] [ 5.24325342e-02 9.98624466e-01 -7.67644291e-05 3.87099277e+00] [ 1.26571658e-02 -5.87697411e-04 9.99919722e-01 2.45683558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.799254154 meters 0.026146165558306577 Centerline is valid? [True, True] Translation: X:565.81, Y:3.88, Z:2.46 [[ 9.98805494e-01 -4.67724914e-02 -1.41392531e-02 5.65810014e+02] [ 4.67759596e-02 9.98905402e-01 -8.54975202e-05 3.87781293e+00] [ 1.41277753e-02 -5.75981741e-04 9.99900032e-01 2.45505241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.859254154 meters 0.024279856538030147 Centerline is valid? [True, True] Translation: X:565.87, Y:3.88, Z:2.46 [[ 9.98864612e-01 -4.49974541e-02 -1.56434185e-02 5.65871816e+02] [ 4.50014958e-02 9.98986915e-01 -9.37269707e-05 3.88236001e+00] [ 1.56317879e-02 -6.10356679e-04 9.99877630e-01 2.45524571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.919254154 meters 0.020084641132504345 Centerline is valid? [True, True] Translation: X:565.93, Y:3.89, Z:2.46 [[ 9.99026285e-01 -3.98536752e-02 -1.89253016e-02 5.65933063e+02] [ 3.98586865e-02 9.99205320e-01 -1.12481737e-04 3.89395287e+00] [ 1.89147449e-02 -6.41965453e-04 9.99820894e-01 2.45544632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9792541539999 meters 0.01888156496026537 Centerline is valid? [True, True] Translation: X:565.99, Y:3.90, Z:2.46 [[ 9.99260829e-01 -3.31210254e-02 -1.95139043e-02 5.65992614e+02] [ 3.31250740e-02 9.99451207e-01 -1.15812162e-04 3.90168012e+00] [ 1.95070310e-02 -5.30672965e-04 9.99809579e-01 2.45635600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.039254154 meters 0.017666323958725486 Centerline is valid? [True, True] Translation: X:566.05, Y:3.91, Z:2.46 [[ 9.99458240e-01 -2.71349018e-02 -1.86259096e-02 5.66052925e+02] [ 2.71375512e-02 9.99631703e-01 -1.10542043e-04 3.90754621e+00] [ 1.86220492e-02 -3.94979419e-04 9.99826517e-01 2.45840018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0992541539999 meters 0.015761203255258663 Centerline is valid? [True, True] Translation: X:566.11, Y:3.92, Z:2.46 [[ 9.99725041e-01 -1.62076778e-02 -1.69456227e-02 5.66111966e+02] [ 1.62082936e-02 9.99868632e-01 -1.01009919e-04 3.91708296e+00] [ 1.69450338e-02 -1.73677484e-04 9.99856408e-01 2.46158861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.159254154 meters 0.01506405759829379 Centerline is valid? [True, True] Translation: X:566.17, Y:3.92, Z:2.46 [[ 9.99842458e-01 -6.36082995e-03 -1.65710356e-02 5.66169504e+02] [ 6.36004651e-03 9.99979770e-01 -9.99779102e-05 3.92495321e+00] [ 1.65713363e-02 -5.43039765e-06 9.99862686e-01 2.46363425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2192541539999 meters 0.015196172783842433 Centerline is valid? [True, True] Translation: X:566.23, Y:3.93, Z:2.46 [[ 9.99850437e-01 -3.31623637e-03 -1.69736982e-02 5.66228264e+02] [ 3.31491828e-03 9.99994500e-01 -1.05789544e-04 3.92597848e+00] [ 1.69739557e-02 4.95072992e-05 9.99855931e-01 2.46396780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.279254154 meters 0.014774607443165553 Centerline is valid? [True, True] Translation: X:566.29, Y:3.92, Z:2.46 [[ 9.99829882e-01 -4.60325987e-03 -1.78610574e-02 5.66286361e+02] [ 4.60196588e-03 9.99989404e-01 -1.13548187e-04 3.92152516e+00] [ 1.78613908e-02 3.13328938e-05 9.99840472e-01 2.46381308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.339254154 meters 0.014751630488774994 Centerline is valid? [True, True] Translation: X:566.35, Y:3.91, Z:2.46 [[ 9.99757331e-01 -1.11393781e-02 -1.90050706e-02 5.66345274e+02] [ 1.11390674e-02 9.99937951e-01 -1.22210687e-04 3.91206242e+00] [ 1.90052527e-02 -8.95177325e-05 9.99819380e-01 2.46415599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.399254154 meters 0.015326094856493404 Centerline is valid? [True, True] Translation: X:566.40, Y:3.90, Z:2.46 [[ 9.99678649e-01 -1.64131937e-02 -1.93185119e-02 5.66403821e+02] [ 1.64138316e-02 9.99865276e-01 -1.25547500e-04 3.90395545e+00] [ 1.93179699e-02 -1.91583646e-04 9.99813372e-01 2.46375102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.459254154 meters 0.017151319642562182 Centerline is valid? [True, True] Translation: X:566.46, Y:3.89, Z:2.46 [[ 9.99548961e-01 -2.33063631e-02 -1.89390629e-02 5.66462340e+02] [ 2.33081937e-02 9.99728319e-01 -1.24106782e-04 3.89105843e+00] [ 1.89368100e-02 -3.17384540e-04 9.99820632e-01 2.46404098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.519254154 meters 0.01968048085799774 Centerline is valid? [True, True] Translation: X:566.52, Y:3.88, Z:2.46 [[ 9.99455382e-01 -2.73207063e-02 -1.85072786e-02 5.66520123e+02] [ 2.73231169e-02 9.99626646e-01 -1.22643907e-04 3.88069365e+00] [ 1.85037196e-02 -3.83099425e-04 9.99828718e-01 2.46365846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.579254154 meters 0.01956350047202207 Centerline is valid? [True, True] Translation: X:566.58, Y:3.87, Z:2.47 [[ 9.99408134e-01 -2.94437045e-02 -1.77890648e-02 5.66579406e+02] [ 2.94462538e-02 9.99566358e-01 -1.18665046e-04 3.87305567e+00] [ 1.77848446e-02 -4.05226504e-04 9.99841755e-01 2.46634221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.639254154 meters 0.019397973788069775 Centerline is valid? [True, True] Translation: X:566.64, Y:3.87, Z:2.47 [[ 9.99443481e-01 -2.79986783e-02 -1.81329048e-02 5.66638812e+02] [ 2.80010827e-02 9.99607885e-01 -1.21324931e-04 3.86893228e+00] [ 1.81291916e-02 -3.86483557e-04 9.99835578e-01 2.46624658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.699254154 meters 0.017966184676814656 Centerline is valid? [True, True] Translation: X:566.70, Y:3.87, Z:2.47 [[ 9.99584746e-01 -2.27263965e-02 -1.77156891e-02 5.66697984e+02] [ 2.27278140e-02 9.99741683e-01 -1.21342812e-04 3.86568361e+00] [ 1.77138705e-02 -2.81346463e-04 9.99843058e-01 2.46590073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.759254154 meters 0.015087891193412943 Centerline is valid? [True, True] Translation: X:566.76, Y:3.87, Z:2.47 [[ 9.99610261e-01 -2.10617003e-02 -1.83229620e-02 5.66756963e+02] [ 2.10628530e-02 9.99778145e-01 -1.30088928e-04 3.86984475e+00] [ 1.83216368e-02 -2.55895628e-04 9.99832112e-01 2.47041768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.819254154 meters 0.014298713575418828 Centerline is valid? [True, True] Translation: X:566.82, Y:3.87, Z:2.47 [[ 9.99727239e-01 -1.43908842e-02 -1.83943053e-02 5.66815423e+02] [ 1.43908283e-02 9.99896437e-01 -1.35412560e-04 3.86610552e+00] [ 1.83943490e-02 -1.29333665e-04 9.99830801e-01 2.47067254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.879254154 meters 0.014140320173878809 Centerline is valid? [True, True] Translation: X:566.87, Y:3.86, Z:2.47 [[ 9.99803499e-01 -9.00056911e-03 -1.76621816e-02 5.66873342e+02] [ 8.99963548e-03 9.99959494e-01 -1.32343961e-04 3.86482016e+00] [ 1.76626573e-02 -2.66352408e-05 9.99844003e-01 2.47048621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.939254154 meters 0.014814668227292792 Centerline is valid? [True, True] Translation: X:566.93, Y:3.86, Z:2.47 [[ 9.99826439e-01 3.42751466e-04 -1.86272379e-02 5.66932356e+02] [-3.45487024e-04 9.99999930e-01 -1.43640158e-04 3.86353731e+00] [ 1.86271874e-02 1.50050697e-04 9.99826488e-01 2.46929893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.999254154 meters 0.01542455564015533 Centerline is valid? [True, True] Translation: X:566.99, Y:3.86, Z:2.47 [[ 9.99808247e-01 4.51268480e-03 -1.90553272e-02 5.66991277e+02] [-4.51639715e-03 9.99989789e-01 -1.51789364e-04 3.86198384e+00] [ 1.90544477e-02 2.37821684e-04 9.99818419e-01 2.46868762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.059254154 meters 0.01540939430427667 Centerline is valid? [True, True] Translation: X:567.05, Y:3.85, Z:2.47 [[ 9.99805789e-01 3.57732626e-03 -1.93800662e-02 5.67047956e+02] [-3.58106880e-03 9.99993575e-01 -1.58412082e-04 3.85315234e+00] [ 1.93793750e-02 2.27782667e-04 9.99812176e-01 2.46779860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.119254154 meters 0.014498652220287305 Centerline is valid? [True, True] Translation: X:567.11, Y:3.84, Z:2.47 [[ 9.99778475e-01 -5.89957960e-03 -2.02038671e-02 5.67107472e+02] [ 5.89741213e-03 9.99982596e-01 -1.66860488e-04 3.83833910e+00] [ 2.02044998e-02 4.76729935e-05 9.99795867e-01 2.46822349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.179254154 meters 0.01489237439392085 Centerline is valid? [True, True] Translation: X:567.17, Y:3.83, Z:2.47 [[ 9.99707227e-01 -1.38170677e-02 -1.98632498e-02 5.67166776e+02] [ 1.38165096e-02 9.99904534e-01 -1.65334953e-04 3.82705143e+00] [ 1.98636380e-02 -1.09154235e-04 9.99802693e-01 2.46899575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.239254154 meters 0.016649760651525333 Centerline is valid? [True, True] Translation: X:567.23, Y:3.81, Z:2.47 [[ 9.99504660e-01 -2.52896760e-02 -1.87314457e-02 5.67225363e+02] [ 2.52911696e-02 9.99680115e-01 -1.57190145e-04 3.80979153e+00] [ 1.87294290e-02 -3.16627886e-04 9.99824539e-01 2.47116415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.299254154 meters 0.018947991720629342 Centerline is valid? [True, True] Translation: X:567.28, Y:3.80, Z:2.47 [[ 9.99348088e-01 -3.18118398e-02 -1.70706312e-02 5.67284478e+02] [ 3.18140154e-02 9.99493796e-01 -1.44164890e-04 3.79671278e+00] [ 1.70665761e-02 -3.99014416e-04 9.99854276e-01 2.47316408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.359254154 meters 0.018574077483597087 Centerline is valid? [True, True] Translation: X:567.34, Y:3.79, Z:2.47 [[ 9.99302910e-01 -3.29517479e-02 -1.75464004e-02 5.67343083e+02] [ 3.29541614e-02 9.99456853e-01 -1.51645807e-04 3.79270164e+00] [ 1.75418671e-02 -4.26686814e-04 9.99846039e-01 2.47421664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.419254154 meters 0.018120191627095113 Centerline is valid? [True, True] Translation: X:567.40, Y:3.79, Z:2.47 [[ 9.99311076e-01 -3.24096889e-02 -1.80827564e-02 5.67400678e+02] [ 3.24121220e-02 9.99474577e-01 -1.58580735e-04 3.78901370e+00] [ 1.80783949e-02 -4.27629022e-04 9.99836481e-01 2.47407402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4792541539999 meters 0.017762012992756617 Centerline is valid? [True, True] Translation: X:567.46, Y:3.79, Z:2.47 [[ 9.99352995e-01 -3.11984252e-02 -1.78955182e-02 5.67459530e+02] [ 3.12005499e-02 9.99513131e-01 -1.60523387e-04 3.78657692e+00] [ 1.78918136e-02 -3.97930482e-04 9.99839850e-01 2.47392345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.539254154 meters 0.01662204447053852 Centerline is valid? [True, True] Translation: X:567.52, Y:3.78, Z:2.47 [[ 9.99441930e-01 -2.83020834e-02 -1.77431676e-02 5.67518728e+02] [ 2.83036455e-02 9.99599358e-01 -1.63121394e-04 3.78499498e+00] [ 1.77406757e-02 -3.39165967e-04 9.99842564e-01 2.47387523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5992541539999 meters 0.015467087842945133 Centerline is valid? [True, True] Translation: X:567.58, Y:3.79, Z:2.47 [[ 9.99570058e-01 -2.25057021e-02 -1.87934295e-02 5.67577050e+02] [ 2.25063932e-02 9.99746684e-01 -1.74753891e-04 3.78567850e+00] [ 1.87926018e-02 -2.48293558e-04 9.99823373e-01 2.47179647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.659254154 meters 0.013802417427828841 Centerline is valid? [True, True] Translation: X:567.64, Y:3.79, Z:2.47 [[ 9.99655482e-01 -1.71659204e-02 -1.98557132e-02 5.67636051e+02] [ 1.71655557e-02 9.99852643e-01 -1.88812639e-04 3.78923719e+00] [ 1.98560284e-02 -1.52086761e-04 9.99802838e-01 2.47387083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7192541539999 meters 0.013195247955647629 Centerline is valid? [True, True] Translation: X:567.69, Y:3.79, Z:2.47 [[ 9.99771607e-01 -9.65334668e-03 -1.90668821e-02 5.67694402e+02] [ 9.65155517e-03 9.99953405e-01 -1.85979576e-04 3.79151099e+00] [ 1.90677890e-02 1.91203440e-06 9.99818193e-01 2.47469074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.779254154 meters 0.013173481278514513 Centerline is valid? [True, True] Translation: X:567.75, Y:3.79, Z:2.48 [[ 9.99812720e-01 -6.66961053e-03 -1.81670552e-02 5.67751878e+02] [ 6.66740097e-03 9.99977756e-01 -1.82190960e-04 3.79167266e+00] [ 1.81678662e-02 6.10297979e-05 9.99834949e-01 2.47660736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.839254154 meters 0.013211745300001658 Centerline is valid? [True, True] Translation: X:567.81, Y:3.79, Z:2.48 [[ 9.99831686e-01 -6.33492564e-03 -1.72182538e-02 5.67809756e+02] [ 6.33285114e-03 9.99979932e-01 -1.75004575e-04 3.78876709e+00] [ 1.72190170e-02 6.59344811e-05 9.99851740e-01 2.47666488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.899254154 meters 0.013322195122042566 Centerline is valid? [True, True] Translation: X:567.87, Y:3.78, Z:2.48 [[ 9.99784638e-01 -1.16144390e-02 -1.71983047e-02 5.67869095e+02] [ 1.16131285e-02 9.99932550e-01 -1.76074512e-04 3.78040741e+00] [ 1.71991896e-02 -2.36895290e-05 9.99852083e-01 2.47679397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.959254154 meters 0.0132720958201616 Centerline is valid? [True, True] Translation: X:567.93, Y:3.77, Z:2.48 [[ 9.99684350e-01 -1.85889801e-02 -1.69012165e-02 5.67927886e+02] [ 1.85886913e-02 9.99827200e-01 -1.74197468e-04 3.77270532e+00] [ 1.69015341e-02 -1.40029014e-04 9.99857149e-01 2.47718008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.019254154 meters 0.01704041043191703 Centerline is valid? [True, True] Translation: X:567.99, Y:3.76, Z:2.48 [[ 9.99337911e-01 -3.23649187e-02 -1.66208313e-02 5.67987570e+02] [ 3.23665349e-02 9.99476052e-01 -1.71815761e-04 3.75772020e+00] [ 1.66176837e-02 -3.66256714e-04 9.99861850e-01 2.47695356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.079254154 meters 0.01787407876104386 Centerline is valid? [True, True] Translation: X:568.05, Y:3.75, Z:2.48 [[ 9.98978784e-01 -4.23155068e-02 -1.58362248e-02 5.68047474e+02] [ 4.23182200e-02 9.99104169e-01 -1.63888023e-04 3.75220047e+00] [ 1.58289732e-02 -5.06440185e-04 9.99874586e-01 2.47909067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.139254154 meters 0.023379250968600856 Centerline is valid? [True, True] Translation: X:568.11, Y:3.74, Z:2.48 [[ 9.98356729e-01 -5.56112891e-02 -1.38284420e-02 5.68107008e+02] [ 5.56146286e-02 9.98452299e-01 -1.43239863e-04 3.73898115e+00] [ 1.38150054e-02 -6.26059183e-04 9.99904372e-01 2.48035734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.199254154 meters 0.025939216985580348 Centerline is valid? [True, True] Translation: X:568.17, Y:3.73, Z:2.48 [[ 9.97873747e-01 -6.39848427e-02 -1.24066771e-02 5.68167755e+02] [ 6.39881756e-02 9.97950649e-01 -1.28541950e-04 3.73371241e+00] [ 1.23894762e-02 -6.65611997e-04 9.99923026e-01 2.48127634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.259254154 meters 0.028669569071840435 Centerline is valid? [True, True] Translation: X:568.23, Y:3.73, Z:2.48 [[ 9.97659587e-01 -6.68447749e-02 -1.43917951e-02 5.68228504e+02] [ 6.68495608e-02 9.97763055e-01 -1.48808217e-04 3.73257099e+00] [ 1.43695485e-02 -8.13625236e-04 9.99896422e-01 2.48058315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.319254154 meters 0.029532333389566623 Centerline is valid? [True, True] Translation: X:568.29, Y:3.73, Z:2.48 [[ 9.97542875e-01 -6.87727257e-02 -1.33613003e-02 5.68288258e+02] [ 6.87770224e-02 9.97632047e-01 -1.38194982e-04 3.73278948e+00] [ 1.33391655e-02 -7.81095033e-04 9.99910724e-01 2.48036315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.379254154 meters 0.028728141843425408 Centerline is valid? [True, True] Translation: X:568.35, Y:3.74, Z:2.48 [[ 9.97555199e-01 -6.87480892e-02 -1.25429186e-02 5.68349818e+02] [ 6.87518764e-02 9.97633782e-01 -1.29507429e-04 3.73808486e+00] [ 1.25221427e-02 -7.33158381e-04 9.99921326e-01 2.48078541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.439254154 meters 0.02951038579603082 Centerline is valid? [True, True] Translation: X:568.41, Y:3.74, Z:2.48 [[ 9.97508286e-01 -6.94228224e-02 -1.25575385e-02 5.68410693e+02] [ 6.94266756e-02 9.97587049e-01 -1.29348791e-04 3.74072507e+00] [ 1.25362175e-02 -7.42801662e-04 9.99921143e-01 2.48055864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.499254154 meters 0.03242132727026718 Centerline is valid? [True, True] Translation: X:568.47, Y:3.74, Z:2.48 [[ 9.97396573e-01 -7.07676989e-02 -1.38567214e-02 5.68470599e+02] [ 7.07725321e-02 9.97492470e-01 -1.41866884e-04 3.74323406e+00] [ 1.38320149e-02 -8.39177719e-04 9.99903981e-01 2.47835566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.559254154 meters 0.027748798957415804 Centerline is valid? [True, True] Translation: X:568.53, Y:3.75, Z:2.48 [[ 9.97288504e-01 -7.19704140e-02 -1.53590052e-02 5.68531998e+02] [ 7.19765068e-02 9.97406315e-01 -1.56434220e-04 3.75443820e+00] [ 1.53304274e-02 -9.49477492e-04 9.99882031e-01 2.47873291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.619254154 meters 0.03216699491247632 Centerline is valid? [True, True] Translation: X:568.59, Y:3.76, Z:2.48 [[ 9.97211284e-01 -7.30217807e-02 -1.54102121e-02 5.68592522e+02] [ 7.30280502e-02 9.97329875e-01 -1.56240639e-04 3.75706525e+00] [ 1.53804738e-02 -9.69572811e-04 9.99881243e-01 2.47802247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.679254154 meters 0.030440423902426194 Centerline is valid? [True, True] Translation: X:568.65, Y:3.76, Z:2.48 [[ 9.97229387e-01 -7.28466646e-02 -1.50636546e-02 5.68653882e+02] [ 7.28526444e-02 9.97342704e-01 -1.52121220e-04 3.76246714e+00] [ 1.50347075e-02 -9.45727321e-04 9.99886525e-01 2.47928160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.739254154 meters 0.03100661364722511 Centerline is valid? [True, True] Translation: X:568.71, Y:3.77, Z:2.48 [[ 9.97414707e-01 -7.06769856e-02 -1.29871804e-02 5.68713954e+02] [ 7.06812488e-02 9.97498944e-01 -1.31012564e-04 3.77044457e+00] [ 1.29639583e-02 -7.87276270e-04 9.99915654e-01 2.48102378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.799254154 meters 0.03333576695507808 Centerline is valid? [True, True] Translation: X:568.77, Y:3.77, Z:2.48 [[ 9.97680440e-01 -6.70330890e-02 -1.18450527e-02 5.68774175e+02] [ 6.70363793e-02 9.97750525e-01 -1.19490965e-04 3.77335475e+00] [ 1.18264174e-02 -6.74835646e-04 9.99929838e-01 2.48114343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.859254154 meters 0.024318988788707523 Centerline is valid? [True, True] Translation: X:568.83, Y:3.79, Z:2.48 [[ 9.98193898e-01 -5.90184521e-02 -1.12144914e-02 5.68834750e+02] [ 5.90208981e-02 9.98256741e-01 -1.13014493e-04 3.79480255e+00] [ 1.12016116e-02 -5.49078975e-04 9.99937109e-01 2.48270014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.919254154 meters 0.022775858801161387 Centerline is valid? [True, True] Translation: X:568.90, Y:3.80, Z:2.48 [[ 9.98500605e-01 -5.36160573e-02 -1.10390758e-02 5.68895276e+02] [ 5.36180995e-02 9.98561509e-01 -1.11088671e-04 3.80288635e+00] [ 1.10291524e-02 -4.80972161e-04 9.99939061e-01 2.48289693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9792541539999 meters 0.02122914124258513 Centerline is valid? [True, True] Translation: X:568.96, Y:3.81, Z:2.48 [[ 9.98815283e-01 -4.73593538e-02 -1.11858175e-02 5.68955266e+02] [ 4.73610587e-02 9.98877829e-01 -1.12575193e-04 3.81282454e+00] [ 1.11785966e-02 -4.17330338e-04 9.99937430e-01 2.48311169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.039254154 meters 0.020848219753172102 Centerline is valid? [True, True] Translation: X:569.02, Y:3.82, Z:2.48 [[ 9.98980376e-01 -4.34080597e-02 -1.24075784e-02 5.69015689e+02] [ 4.34098618e-02 9.99057340e-01 -1.24164091e-04 3.81876725e+00] [ 1.24012720e-02 -4.14573773e-04 9.99923015e-01 2.48135759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0992541539999 meters 0.017757150870251877 Centerline is valid? [True, True] Translation: X:569.08, Y:3.83, Z:2.48 [[ 9.99029048e-01 -4.22911171e-02 -1.23459902e-02 5.69076686e+02] [ 4.22928249e-02 9.99105251e-01 -1.22839783e-04 3.82620224e+00] [ 1.23401386e-02 -3.99426289e-04 9.99923778e-01 2.48181382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.159254154 meters 0.018984639167040348 Centerline is valid? [True, True] Translation: X:569.14, Y:3.83, Z:2.48 [[ 9.99088724e-01 -4.09317991e-02 -1.20958521e-02 5.69137880e+02] [ 4.09333531e-02 9.99161872e-01 -1.19167668e-04 3.82877666e+00] [ 1.20905920e-02 -3.76064713e-04 9.99926835e-01 2.48187453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2192541539999 meters 0.01919929942981621 Centerline is valid? [True, True] Translation: X:569.20, Y:3.83, Z:2.48 [[ 9.99138785e-01 -3.99020430e-02 -1.13804997e-02 5.69199114e+02] [ 3.99033610e-02 9.99203538e-01 -1.11322970e-04 3.83130252e+00] [ 1.13758776e-02 -3.42893093e-04 9.99935234e-01 2.48202918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.279254154 meters 0.01923473769581864 Centerline is valid? [True, True] Translation: X:569.26, Y:3.83, Z:2.48 [[ 9.99164254e-01 -3.94445327e-02 -1.07202132e-02 5.69261540e+02] [ 3.94456822e-02 9.99221711e-01 -1.04270922e-04 3.83274856e+00] [ 1.07159827e-02 -3.18682347e-04 9.99942531e-01 2.48245750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.339254154 meters 0.020991006229301296 Centerline is valid? [True, True] Translation: X:569.32, Y:3.83, Z:2.48 [[ 9.99117581e-01 -4.09705697e-02 -9.24505640e-03 5.69322254e+02] [ 4.09714939e-02 9.99160312e-01 -8.94852620e-05 3.83086709e+00] [ 9.24095969e-03 -2.89377473e-04 9.99957260e-01 2.48361590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.399254154 meters 0.0218550577516296 Centerline is valid? [True, True] Translation: X:569.38, Y:3.83, Z:2.48 [[ 9.99010147e-01 -4.37322319e-02 -8.13747614e-03 5.69384387e+02] [ 4.37330426e-02 9.99043250e-01 -7.83688358e-05 3.82890975e+00] [ 8.13311785e-03 -2.77585328e-04 9.99966887e-01 2.48311264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.459254154 meters 0.024399149712048037 Centerline is valid? [True, True] Translation: X:569.45, Y:3.82, Z:2.48 [[ 9.98937373e-01 -4.53514129e-02 -8.20816035e-03 5.69445440e+02] [ 4.53522965e-02 9.98971052e-01 -7.85436474e-05 3.82456829e+00] [ 8.20327664e-03 -2.93798737e-04 9.99966309e-01 2.48215554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.519254154 meters 0.021622117248876572 Centerline is valid? [True, True] Translation: X:569.51, Y:3.83, Z:2.48 [[ 9.98864942e-01 -4.66730721e-02 -9.51059126e-03 5.69507653e+02] [ 4.66743243e-02 9.98910156e-01 -9.03727651e-05 3.82974355e+00] [ 9.50444417e-03 -3.53630234e-04 9.99954769e-01 2.48097139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.579254154 meters 0.020743206135524595 Centerline is valid? [True, True] Translation: X:569.57, Y:3.83, Z:2.48 [[ 9.98872594e-01 -4.63879527e-02 -1.00846306e-02 5.69570103e+02] [ 4.63893537e-02 9.98923430e-01 -9.50660949e-05 3.83198632e+00] [ 1.00781837e-02 -3.72860578e-04 9.99949144e-01 2.48067630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.639254154 meters 0.023556964737088938 Centerline is valid? [True, True] Translation: X:569.63, Y:3.83, Z:2.48 [[ 9.98889056e-01 -4.61076674e-02 -9.73331735e-03 5.69631333e+02] [ 4.61089652e-02 9.98936412e-01 -9.11458599e-05 3.82881815e+00] [ 9.72716763e-03 -3.57748589e-04 9.99952626e-01 2.48017708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.699254154 meters 0.021764479788255523 Centerline is valid? [True, True] Translation: X:569.69, Y:3.83, Z:2.48 [[ 9.98910414e-01 -4.56718580e-02 -9.59511000e-03 5.69693734e+02] [ 4.56731050e-02 9.98956435e-01 -8.92362630e-05 3.83341683e+00] [ 9.58917247e-03 -3.49099434e-04 9.99953962e-01 2.48016570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.759254154 meters 0.022783373394983465 Centerline is valid? [True, True] Translation: X:569.76, Y:3.83, Z:2.48 [[ 9.98887037e-01 -4.61936754e-02 -9.53055612e-03 5.69756274e+02] [ 4.61949359e-02 9.98932440e-01 -8.79516010e-05 3.83241723e+00] [ 9.52444449e-03 -3.52409715e-04 9.99954579e-01 2.47996013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.819254154 meters 0.023405092037860117 Centerline is valid? [True, True] Translation: X:569.82, Y:3.83, Z:2.48 [[ 9.98823233e-01 -4.73920487e-02 -1.03026051e-02 5.69818188e+02] [ 4.73935933e-02 9.98876288e-01 -9.43135613e-05 3.83248435e+00] [ 1.02954976e-02 -3.94074899e-04 9.99946922e-01 2.47946156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.879254154 meters 0.023839181433853253 Centerline is valid? [True, True] Translation: X:569.88, Y:3.83, Z:2.48 [[ 9.98811798e-01 -4.75265841e-02 -1.07803068e-02 5.69880758e+02] [ 4.75282915e-02 9.98869887e-01 -9.79019288e-05 3.83318037e+00] [ 1.07727768e-02 -4.14583963e-04 9.99941886e-01 2.47925670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.939254154 meters 0.024024930339083674 Centerline is valid? [True, True] Translation: X:569.94, Y:3.83, Z:2.48 [[ 9.98862995e-01 -4.66536626e-02 -9.80579393e-03 5.69943277e+02] [ 4.66550397e-02 9.98911057e-01 -8.83859844e-05 3.83345071e+00] [ 9.79923951e-03 -3.69204216e-04 9.99951918e-01 2.48021552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.999254154 meters 0.02094952627226752 Centerline is valid? [True, True] Translation: X:570.00, Y:3.84, Z:2.48 [[ 9.99052172e-01 -4.28221145e-02 -7.81177417e-03 5.70004740e+02] [ 4.28228744e-02 9.99082678e-01 -7.00391490e-05 3.84065779e+00] [ 7.80760748e-03 -2.64549860e-04 9.99969485e-01 2.48168998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.059254154 meters 0.01879560411520614 Centerline is valid? [True, True] Translation: X:570.06, Y:3.85, Z:2.48 [[ 9.99382244e-01 -3.44153296e-02 -7.12146157e-03 5.70064949e+02] [ 3.44157488e-02 9.99407601e-01 -6.37158247e-05 3.84608998e+00] [ 7.11943562e-03 -1.81413968e-04 9.99974640e-01 2.48096506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.119254154 meters 0.017575189526220527 Centerline is valid? [True, True] Translation: X:570.13, Y:3.85, Z:2.48 [[ 9.99573765e-01 -2.83871766e-02 -6.81583082e-03 5.70126915e+02] [ 2.83874212e-02 9.99596994e-01 -6.08728576e-05 3.85026902e+00] [ 6.81481201e-03 -1.32636949e-04 9.99976770e-01 2.48059398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.179254154 meters 0.016668178917990117 Centerline is valid? [True, True] Translation: X:570.19, Y:3.85, Z:2.48 [[ 9.99728540e-01 -2.23651266e-02 -6.53046824e-03 5.70186900e+02] [ 2.23652244e-02 9.99749865e-01 -5.80565476e-05 3.85325351e+00] [ 6.53013319e-03 -8.80146001e-05 9.99978675e-01 2.48055400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.239254154 meters 0.016585281681562678 Centerline is valid? [True, True] Translation: X:570.25, Y:3.85, Z:2.48 [[ 9.99739324e-01 -2.19099972e-02 -6.42152624e-03 5.70248592e+02] [ 2.19100834e-02 9.99759944e-01 -5.69387716e-05 3.85350456e+00] [ 6.42123224e-03 -8.37722464e-05 9.99979380e-01 2.48022241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.299254154 meters 0.01759625923628536 Centerline is valid? [True, True] Translation: X:570.31, Y:3.85, Z:2.48 [[ 9.99639667e-01 -2.56936618e-02 -7.76989033e-03 5.70309729e+02] [ 2.56939051e-02 9.99669855e-01 -6.85250081e-05 3.84741614e+00] [ 7.76908580e-03 -1.31138509e-04 9.99969812e-01 2.47721400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.359254154 meters 0.018573782139227297 Centerline is valid? [True, True] Translation: X:570.37, Y:3.84, Z:2.48 [[ 9.99388488e-01 -3.36478564e-02 -9.51167901e-03 5.70370619e+02] [ 3.36485859e-02 9.99433723e-01 -8.33689274e-05 3.84186006e+00] [ 9.50909794e-03 -2.36736602e-04 9.99954759e-01 2.47545924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.419254154 meters 0.02043489042175544 Centerline is valid? [True, True] Translation: X:570.43, Y:3.84, Z:2.47 [[ 9.99196968e-01 -3.88876764e-02 -9.65229256e-03 5.70430623e+02] [ 3.88886773e-02 9.99243546e-01 -8.40442403e-05 3.83679613e+00] [ 9.64825933e-03 -2.91388140e-04 9.99953412e-01 2.47473916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4792541539999 meters 0.021438843657010462 Centerline is valid? [True, True] Translation: X:570.49, Y:3.83, Z:2.48 [[ 9.98976121e-01 -4.44509682e-02 -8.41553432e-03 5.70491965e+02] [ 4.44519296e-02 9.99011522e-01 -7.28673897e-05 3.83338218e+00] [ 8.41045477e-03 -3.01293957e-04 9.99964586e-01 2.47641669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.539254154 meters 0.023907052961005884 Centerline is valid? [True, True] Translation: X:570.55, Y:3.83, Z:2.48 [[ 9.98945711e-01 -4.54721488e-02 -6.30472773e-03 5.70553012e+02] [ 4.54727109e-02 9.98965580e-01 -5.42489196e-05 3.82992075e+00] [ 6.30067281e-03 -2.32501336e-04 9.99980124e-01 2.47800046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5992541539999 meters 0.02389437617825173 Centerline is valid? [True, True] Translation: X:570.62, Y:3.83, Z:2.48 [[ 9.98957986e-01 -4.52284817e-02 -6.10961570e-03 5.70615645e+02] [ 4.52290087e-02 9.98976643e-01 -5.19572901e-05 3.83071011e+00] [ 6.10571333e-03 -2.24428712e-04 9.99981335e-01 2.47849140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.659254154 meters 0.02387982309607211 Centerline is valid? [True, True] Translation: X:570.68, Y:3.83, Z:2.48 [[ 9.99089880e-01 -4.23043984e-02 -5.45431603e-03 5.70676619e+02] [ 4.23047766e-02 9.99104751e-01 -4.60693472e-05 3.83219369e+00] [ 5.45138200e-03 -1.84716203e-04 9.99985124e-01 2.47888023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7192541539999 meters 0.019944829182513408 Centerline is valid? [True, True] Translation: X:570.74, Y:3.84, Z:2.48 [[ 9.99237905e-01 -3.85984523e-02 -5.81114846e-03 5.70738260e+02] [ 3.85988204e-02 9.99254787e-01 -4.88400845e-05 3.84014239e+00] [ 5.80870306e-03 -1.75500612e-04 9.99983114e-01 2.47892119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.779254154 meters 0.02033115805609041 Centerline is valid? [True, True] Translation: X:570.80, Y:3.84, Z:2.48 [[ 9.99475685e-01 -3.17661513e-02 -6.26630025e-03 5.70797531e+02] [ 3.17664465e-02 9.99495318e-01 -5.24329438e-05 3.84446123e+00] [ 6.26480335e-03 -1.46652639e-04 9.99980365e-01 2.47857682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.839254154 meters 0.01809966828441064 Centerline is valid? [True, True] Translation: X:570.86, Y:3.85, Z:2.48 [[ 9.99557889e-01 -2.86967025e-02 -7.77978174e-03 5.70859822e+02] [ 2.86970658e-02 9.99588152e-01 -6.49530568e-05 3.84595422e+00] [ 7.77844159e-03 -1.58332568e-04 9.99969735e-01 2.47697816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.899254154 meters 0.017390049684875 Centerline is valid? [True, True] Translation: X:570.92, Y:3.85, Z:2.48 [[ 9.99627866e-01 -2.57038332e-02 -9.13471425e-03 5.70921666e+02] [ 2.57042147e-02 9.99669589e-01 -7.56642876e-05 3.84625176e+00] [ 9.13364091e-03 -1.59164526e-04 9.99958275e-01 2.47582701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.959254154 meters 0.017434853743803262 Centerline is valid? [True, True] Translation: X:570.98, Y:3.85, Z:2.47 [[ 9.99630144e-01 -2.51791570e-02 -1.02754841e-02 5.70981952e+02] [ 2.51796179e-02 9.99682940e-01 -8.45317559e-05 3.84506870e+00] [ 1.02743546e-02 -1.74232271e-04 9.99947202e-01 2.47480591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.019254154 meters 0.01777159865739772 Centerline is valid? [True, True] Translation: X:571.04, Y:3.84, Z:2.47 [[ 9.99585226e-01 -2.65840448e-02 -1.10753989e-02 5.71042877e+02] [ 2.65846708e-02 9.99646561e-01 -9.07191121e-05 3.84298654e+00] [ 1.10738961e-02 -2.03754349e-04 9.99938662e-01 2.47444187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.079254154 meters 0.018733734078778447 Centerline is valid? [True, True] Translation: X:571.10, Y:3.84, Z:2.48 [[ 9.99455253e-01 -3.11219002e-02 -1.09829102e-02 5.71103831e+02] [ 3.11227917e-02 9.99515565e-01 -8.97667552e-05 3.83962747e+00] [ 1.09803834e-02 -2.52100973e-04 9.99939682e-01 2.47557239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.139254154 meters 0.019839656030284626 Centerline is valid? [True, True] Translation: X:571.16, Y:3.83, Z:2.48 [[ 9.99147127e-01 -4.00820117e-02 -9.92227315e-03 5.71164452e+02] [ 4.00831820e-02 9.99196343e-01 -8.09645825e-05 3.83242452e+00] [ 9.91754427e-03 -3.16820751e-04 9.99950770e-01 2.47769247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.199254154 meters 0.02297551483974773 Centerline is valid? [True, True] Translation: X:571.22, Y:3.82, Z:2.48 [[ 9.98811055e-01 -4.78580365e-02 -9.27816437e-03 5.71224512e+02] [ 4.78593945e-02 9.98854080e-01 -7.57349076e-05 3.82484122e+00] [ 9.27115686e-03 -3.68402466e-04 9.99956954e-01 2.47873604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.259254154 meters 0.02682146279263103 Centerline is valid? [True, True] Translation: X:571.29, Y:3.82, Z:2.48 [[ 9.98239383e-01 -5.88099589e-02 -7.71508682e-03 5.71285078e+02] [ 5.88112236e-02 9.98269120e-01 -6.30407788e-05 3.81695991e+00] [ 7.70544036e-03 -3.90803908e-04 9.99970236e-01 2.48099245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.319254154 meters 0.029934214232239523 Centerline is valid? [True, True] Translation: X:571.35, Y:3.81, Z:2.48 [[ 9.97880218e-01 -6.45715671e-02 -8.09839083e-03 5.71346070e+02] [ 6.45731497e-02 9.97912974e-01 -6.61764579e-05 3.81242775e+00] [ 8.08576239e-03 -4.56902425e-04 9.99967205e-01 2.48202163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.379254154 meters 0.03385076698841992 Centerline is valid? [True, True] Translation: X:571.41, Y:3.81, Z:2.48 [[ 9.97560195e-01 -6.92126157e-02 -9.12528134e-03 5.71407105e+02] [ 6.92148188e-02 9.97601776e-01 -7.45377019e-05 3.80929993e+00] [ 9.10855582e-03 -5.57248850e-04 9.99958361e-01 2.48164390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.439254154 meters 0.031167783967992423 Centerline is valid? [True, True] Translation: X:571.47, Y:3.81, Z:2.48 [[ 9.97449653e-01 -7.06607169e-02 -1.00624848e-02 5.71468729e+02] [ 7.06634725e-02 9.97500209e-01 -8.18630453e-05 3.81388554e+00] [ 1.00431152e-02 -6.29395854e-04 9.99949369e-01 2.48344563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.499254154 meters 0.030492067046905273 Centerline is valid? [True, True] Translation: X:571.53, Y:3.82, Z:2.48 [[ 9.97581966e-01 -6.86364061e-02 -1.09208572e-02 5.71530147e+02] [ 6.86395366e-02 9.97641522e-01 -8.83395783e-05 3.81723567e+00] [ 1.09011639e-02 -6.61476608e-04 9.99940362e-01 2.48379309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.559254154 meters 0.032770627648689425 Centerline is valid? [True, True] Translation: X:571.59, Y:3.82, Z:2.48 [[ 9.97899915e-01 -6.35002326e-02 -1.27859510e-02 5.71589243e+02] [ 6.35041043e-02 9.97981572e-01 -1.03369701e-04 3.81862807e+00] [ 1.27667075e-02 -7.08807749e-04 9.99918251e-01 2.48266560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.619254154 meters 0.026140814589776892 Centerline is valid? [True, True] Translation: X:571.65, Y:3.83, Z:2.48 [[ 9.98102667e-01 -5.99129534e-02 -1.41952119e-02 5.71649779e+02] [ 5.99173654e-02 9.98203334e-01 -1.14659374e-04 3.83121827e+00] [ 1.41765774e-02 -7.36097871e-04 9.99899236e-01 2.48358917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.679254154 meters 0.02501310565979504 Centerline is valid? [True, True] Translation: X:571.71, Y:3.84, Z:2.48 [[ 9.98357245e-01 -5.53095222e-02 -1.49555433e-02 5.71710586e+02] [ 5.53139084e-02 9.98469007e-01 -1.20521343e-04 3.83702772e+00] [ 1.49393125e-02 -7.06926199e-04 9.99888152e-01 2.48377138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.739254154 meters 0.025428448357435404 Centerline is valid? [True, True] Translation: X:571.77, Y:3.84, Z:2.48 [[ 9.98567421e-01 -5.14502733e-02 -1.46960571e-02 5.71770671e+02] [ 5.14540926e-02 9.98675354e-01 -1.18350962e-04 3.84045910e+00] [ 1.46826792e-02 -6.37990867e-04 9.99892000e-01 2.48450574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.799254154 meters 0.022969847186829487 Centerline is valid? [True, True] Translation: X:571.83, Y:3.85, Z:2.49 [[ 9.98734542e-01 -4.81214993e-02 -1.46163041e-02 5.71831857e+02] [ 4.81249268e-02 9.98841318e-01 -1.17336475e-04 3.84662366e+00] [ 1.46050149e-02 -5.86220576e-04 9.99893169e-01 2.48598056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.859254154 meters 0.02054113015177778 Centerline is valid? [True, True] Translation: X:571.89, Y:3.85, Z:2.49 [[ 9.99022817e-01 -4.16694608e-02 -1.47331792e-02 5.71892238e+02] [ 4.16722449e-02 9.99131328e-01 -1.18113284e-04 3.85330266e+00] [ 1.47253026e-02 -4.95966785e-04 9.99891454e-01 2.48676942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.919254154 meters 0.019730974725912363 Centerline is valid? [True, True] Translation: X:571.95, Y:3.86, Z:2.49 [[ 9.99304219e-01 -3.39300611e-02 -1.54864180e-02 5.71951831e+02] [ 3.39322085e-02 9.99424129e-01 -1.24151958e-04 3.85825790e+00] [ 1.54817123e-02 -4.01422789e-04 9.99880071e-01 2.48551860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9792541539999 meters 0.01689252166183935 Centerline is valid? [True, True] Translation: X:572.01, Y:3.87, Z:2.49 [[ 9.99446937e-01 -2.91476493e-02 -1.60073190e-02 5.72012107e+02] [ 2.91493305e-02 9.99575060e-01 -1.28327932e-04 3.86535591e+00] [ 1.60042573e-02 -3.38345673e-04 9.99871866e-01 2.48631764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.039254154 meters 0.015967823054900503 Centerline is valid? [True, True] Translation: X:572.07, Y:3.87, Z:2.49 [[ 9.99515981e-01 -2.66763003e-02 -1.60056017e-02 5.72071979e+02] [ 2.66776576e-02 9.99644080e-01 -1.28738019e-04 3.86795410e+00] [ 1.60033393e-02 -2.98316256e-04 9.99871894e-01 2.48648597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0992541539999 meters 0.01616880352155347 Centerline is valid? [True, True] Translation: X:572.13, Y:3.87, Z:2.49 [[ 9.99481057e-01 -2.81329386e-02 -1.56893274e-02 5.72130363e+02] [ 2.81343746e-02 9.99604142e-01 -1.29230074e-04 3.86691088e+00] [ 1.56867523e-02 -3.12246404e-04 9.99876907e-01 2.48657643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.159254154 meters 0.016666278792383762 Centerline is valid? [True, True] Translation: X:572.19, Y:3.86, Z:2.49 [[ 9.99347944e-01 -3.32409535e-02 -1.40970160e-02 5.72190194e+02] [ 3.32426013e-02 9.99447305e-01 -1.17484681e-04 3.86410854e+00] [ 1.40931300e-02 -3.51213407e-04 9.99900625e-01 2.48726969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2192541539999 meters 0.019599594764523998 Centerline is valid? [True, True] Translation: X:572.25, Y:3.86, Z:2.49 [[ 9.99052542e-01 -4.12033183e-02 -1.40108846e-02 5.72250374e+02] [ 4.12057263e-02 9.99150677e-01 -1.16891506e-04 3.85621480e+00] [ 1.40038012e-02 -4.60547922e-04 9.99901836e-01 2.48690280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.279254154 meters 0.020999012837037843 Centerline is valid? [True, True] Translation: X:572.31, Y:3.85, Z:2.49 [[ 9.98798547e-01 -4.70076988e-02 -1.38469959e-02 5.72311547e+02] [ 4.70106103e-02 9.98894383e-01 -1.15332040e-04 3.85222033e+00] [ 1.38371079e-02 -5.35762253e-04 9.99904119e-01 2.48687228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.339254154 meters 0.02544419128339662 Centerline is valid? [True, True] Translation: X:572.37, Y:3.85, Z:2.49 [[ 9.98352014e-01 -5.54888651e-02 -1.46370211e-02 5.72372751e+02] [ 5.54930332e-02 9.98459067e-01 -1.21541794e-04 3.84504444e+00] [ 1.46212107e-02 -6.90911205e-04 9.99892866e-01 2.48675735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.399254154 meters 0.0280609569672751 Centerline is valid? [True, True] Translation: X:572.43, Y:3.84, Z:2.49 [[ 9.98022073e-01 -6.15241114e-02 -1.29122025e-02 5.72433100e+02] [ 6.15278604e-02 9.98105361e-01 -1.07083583e-04 3.83884470e+00] [ 1.28943267e-02 -6.87588412e-04 9.99916628e-01 2.48765240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.459254154 meters 0.027781095142847597 Centerline is valid? [True, True] Translation: X:572.49, Y:3.84, Z:2.49 [[ 9.97968420e-01 -6.24064339e-02 -1.28245567e-02 5.72494968e+02] [ 6.24102129e-02 9.98050577e-01 -1.05721410e-04 3.83984410e+00] [ 1.28061539e-02 -6.94876683e-04 9.99917756e-01 2.48865635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.519254154 meters 0.02988325717602561 Centerline is valid? [True, True] Translation: X:572.56, Y:3.84, Z:2.49 [[ 9.97980984e-01 -6.23129286e-02 -1.22904443e-02 5.72555784e+02] [ 6.23164013e-02 9.98056439e-01 -1.00577685e-04 3.83732161e+00] [ 1.22728244e-02 -6.65521643e-04 9.99924465e-01 2.48886278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.579254154 meters 0.026340824811775472 Centerline is valid? [True, True] Translation: X:572.62, Y:3.84, Z:2.49 [[ 9.98164435e-01 -5.94311777e-02 -1.16488317e-02 5.72616872e+02] [ 5.94341073e-02 9.98232226e-01 -9.48327401e-05 3.84447166e+00] [ 1.16338752e-02 -5.97679244e-04 9.99932146e-01 2.49005489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.639254154 meters 0.025216233070964583 Centerline is valid? [True, True] Translation: X:572.68, Y:3.85, Z:2.49 [[ 9.98375177e-01 -5.54680971e-02 -1.30497586e-02 5.72677364e+02] [ 5.54714384e-02 9.98460269e-01 -1.06055905e-04 3.84979628e+00] [ 1.30355482e-02 -6.18005295e-04 9.99914843e-01 2.48966368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.699254154 meters 0.02796718580154972 Centerline is valid? [True, True] Translation: X:572.74, Y:3.85, Z:2.49 [[ 9.98481553e-01 -5.31182640e-02 -1.45958278e-02 5.72737641e+02] [ 5.31221962e-02 9.98588012e-01 -1.18435839e-04 3.84869022e+00] [ 1.45815098e-02 -6.57106430e-04 9.99893468e-01 2.48844229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.759254154 meters 0.025638069147478546 Centerline is valid? [True, True] Translation: X:572.80, Y:3.85, Z:2.49 [[ 9.98607300e-01 -5.09193355e-02 -1.38087416e-02 5.72799315e+02] [ 5.09226529e-02 9.98702594e-01 -1.11481497e-04 3.85346452e+00] [ 1.37965026e-02 -5.91851521e-04 9.99904649e-01 2.48911277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.819254154 meters 0.023333785709637907 Centerline is valid? [True, True] Translation: X:572.86, Y:3.86, Z:2.49 [[ 9.98684103e-01 -4.90953565e-02 -1.48225833e-02 5.72860678e+02] [ 4.90989877e-02 9.98793910e-01 -1.19047513e-04 3.85886530e+00] [ 1.48105506e-02 -6.08882976e-04 9.99890132e-01 2.48919684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.879254154 meters 0.02072495881951922 Centerline is valid? [True, True] Translation: X:572.92, Y:3.87, Z:2.49 [[ 9.98783703e-01 -4.68449582e-02 -1.53839139e-02 5.72921958e+02] [ 4.68486120e-02 9.98901993e-01 -1.22982956e-04 3.86573431e+00] [ 1.53727834e-02 -5.97881644e-04 9.99881653e-01 2.48945363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.939254154 meters 0.01953424231460866 Centerline is valid? [True, True] Translation: X:572.98, Y:3.87, Z:2.49 [[ 9.98960768e-01 -4.34613628e-02 -1.37293445e-02 5.72983536e+02] [ 4.34639628e-02 9.99054989e-01 -1.09084117e-04 3.87102053e+00] [ 1.37211111e-02 -4.87760965e-04 9.99905742e-01 2.49111096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.999254154 meters 0.020332067304259304 Centerline is valid? [True, True] Translation: X:573.05, Y:3.87, Z:2.49 [[ 9.99080131e-01 -4.08256391e-02 -1.31209023e-02 5.73045334e+02] [ 4.08277960e-02 9.99166193e-01 -1.03546394e-04 3.87299675e+00] [ 1.31141893e-02 -4.32246375e-04 9.99913912e-01 2.49211559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.059254154 meters 0.019259543800681515 Centerline is valid? [True, True] Translation: X:573.11, Y:3.87, Z:2.49 [[ 9.99142103e-01 -3.97374256e-02 -1.16617069e-02 5.73106745e+02] [ 3.97390608e-02 9.99210087e-01 -9.15573829e-05 3.87445932e+00] [ 1.16561334e-02 -3.71946444e-04 9.99931996e-01 2.49239926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.119254154 meters 0.021550525541897396 Centerline is valid? [True, True] Translation: X:573.17, Y:3.87, Z:2.49 [[ 9.99124363e-01 -4.01066916e-02 -1.19147121e-02 5.73167957e+02] [ 4.01084316e-02 9.99195329e-01 -9.29748309e-05 3.87292234e+00] [ 1.19088536e-02 -3.84986995e-04 9.99929013e-01 2.49174708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.179254154 meters 0.021916506424153506 Centerline is valid? [True, True] Translation: X:573.23, Y:3.87, Z:2.49 [[ 9.99015393e-01 -4.31569672e-02 -1.02820820e-02 5.73229079e+02] [ 4.31584285e-02 9.99068238e-01 -7.98225480e-05 3.87058560e+00] [ 1.02759465e-02 -3.64014547e-04 9.99947135e-01 2.49239310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.239254154 meters 0.023622253567151915 Centerline is valid? [True, True] Translation: X:573.29, Y:3.87, Z:2.49 [[ 9.98951794e-01 -4.46411430e-02 -1.01233015e-02 5.73290023e+02] [ 4.46426432e-02 9.99003017e-01 -7.78370627e-05 3.86846190e+00] [ 1.01166834e-02 -3.74175462e-04 9.99948755e-01 2.49243499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.299254154 meters 0.02343673923136663 Centerline is valid? [True, True] Translation: X:573.35, Y:3.87, Z:2.49 [[ 9.98887393e-01 -4.57960112e-02 -1.12561471e-02 5.73351702e+02] [ 4.57979491e-02 9.98950720e-01 -8.56728219e-05 3.86863146e+00] [ 1.12482597e-02 -4.29930949e-04 9.99936644e-01 2.49212547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.359254154 meters 0.024344812937076812 Centerline is valid? [True, True] Translation: X:573.41, Y:3.87, Z:2.49 [[ 9.98902360e-01 -4.51463893e-02 -1.24851338e-02 5.73413981e+02] [ 4.51487331e-02 9.98980272e-01 -9.42040769e-05 3.86949199e+00] [ 1.24766554e-02 -4.69587300e-04 9.99922053e-01 2.49172748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.419254154 meters 0.022360500094697058 Centerline is valid? [True, True] Translation: X:573.47, Y:3.87, Z:2.49 [[ 9.98976130e-01 -4.35204947e-02 -1.23554672e-02 5.73474908e+02] [ 4.35226732e-02 9.99052435e-01 -9.26420732e-05 3.87311994e+00] [ 1.23477914e-02 -4.45195739e-04 9.99923664e-01 2.49166258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4792541539999 meters 0.02126789190912316 Centerline is valid? [True, True] Translation: X:573.54, Y:3.88, Z:2.49 [[ 9.99077086e-01 -4.12919999e-02 -1.18298915e-02 5.73536753e+02] [ 4.12938473e-02 9.99147041e-01 -8.81589347e-05 3.87647145e+00] [ 1.18234413e-02 -4.00424161e-04 9.99930020e-01 2.49228762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.539254154 meters 0.021580437288934044 Centerline is valid? [True, True] Translation: X:573.60, Y:3.88, Z:2.49 [[ 9.99141432e-01 -3.97763006e-02 -1.15863817e-02 5.73599246e+02] [ 3.97779793e-02 9.99208539e-01 -8.56118111e-05 3.87805816e+00] [ 1.15806169e-02 -3.75344545e-04 9.99932872e-01 2.49290104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5992541539999 meters 0.021659210308498912 Centerline is valid? [True, True] Translation: X:573.66, Y:3.88, Z:2.49 [[ 9.99153815e-01 -3.94715467e-02 -1.15607107e-02 5.73660423e+02] [ 3.94732055e-02 9.99220626e-01 -8.47439350e-05 3.87993996e+00] [ 1.15550456e-02 -3.71666085e-04 9.99933169e-01 2.49392198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.659254154 meters 0.022359620314501925 Centerline is valid? [True, True] Translation: X:573.72, Y:3.88, Z:2.49 [[ 9.99118238e-01 -4.00991158e-02 -1.24421777e-02 5.73722827e+02] [ 4.01010957e-02 9.99195623e-01 -9.04143508e-05 3.87990535e+00] [ 1.24357950e-02 -4.08610330e-04 9.99922589e-01 2.49367839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7192541539999 meters 0.024106925092189625 Centerline is valid? [True, True] Translation: X:573.78, Y:3.88, Z:2.49 [[ 9.98988097e-01 -4.26464309e-02 -1.42850806e-02 5.73783209e+02] [ 4.26493082e-02 9.99090099e-01 -1.03298434e-04 3.87795906e+00] [ 1.42764879e-02 -5.06054899e-04 9.99897958e-01 2.49330458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.779254154 meters 0.021875213296952828 Centerline is valid? [True, True] Translation: X:573.84, Y:3.88, Z:2.50 [[ 9.98845110e-01 -4.53256799e-02 -1.59382576e-02 5.73844096e+02] [ 4.53296070e-02 9.98972078e-01 -1.14963373e-04 3.88335519e+00] [ 1.59270851e-02 -6.07644349e-04 9.99872971e-01 2.49507570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.839254154 meters 0.021637294256930874 Centerline is valid? [True, True] Translation: X:573.91, Y:3.89, Z:2.50 [[ 9.98858344e-01 -4.47406723e-02 -1.67415619e-02 5.73905951e+02] [ 4.47449396e-02 9.98998436e-01 -1.19783064e-04 3.88584887e+00] [ 1.67301533e-02 -6.29453862e-04 9.99859843e-01 2.49568049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.899254154 meters 0.019085280218256732 Centerline is valid? [True, True] Translation: X:573.97, Y:3.89, Z:2.50 [[ 9.99083612e-01 -3.92315727e-02 -1.71119731e-02 5.73967077e+02] [ 3.92352333e-02 9.99229994e-01 -1.21875927e-04 3.89343135e+00] [ 1.71035782e-02 -5.49628017e-04 9.99853572e-01 2.49812698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.959254154 meters 0.01681727710787537 Centerline is valid? [True, True] Translation: X:574.03, Y:3.90, Z:2.50 [[ 9.99391054e-01 -3.12804933e-02 -1.54613342e-02 5.74027725e+02] [ 3.12825338e-02 9.99510576e-01 -1.09914384e-04 3.90096412e+00] [ 1.54572053e-02 -3.73822259e-04 9.99880460e-01 2.50096182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.019254154 meters 0.015950063210349124 Centerline is valid? [True, True] Translation: X:574.09, Y:3.90, Z:2.50 [[ 9.99521810e-01 -2.72350241e-02 -1.46425545e-02 5.74087743e+02] [ 2.72364210e-02 9.99629014e-01 -1.04043742e-04 3.90422556e+00] [ 1.46399559e-02 -2.94816788e-04 9.99892787e-01 2.50211494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.079254154 meters 0.015283524883445868 Centerline is valid? [True, True] Translation: X:574.15, Y:3.90, Z:2.50 [[ 9.99537293e-01 -2.54961621e-02 -1.65875338e-02 5.74147922e+02] [ 2.54977156e-02 9.99674873e-01 -1.17863935e-04 3.90497629e+00] [ 1.65851458e-02 -3.05134820e-04 9.99862410e-01 2.50175195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.139254154 meters 0.01626024840918412 Centerline is valid? [True, True] Translation: X:574.21, Y:3.90, Z:2.50 [[ 9.99438851e-01 -2.77053154e-02 -1.88254547e-02 5.74206381e+02] [ 2.77076935e-02 9.99616059e-01 -1.34541497e-04 3.90227798e+00] [ 1.88219544e-02 -3.87143929e-04 9.99822776e-01 2.50010745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.199254154 meters 0.018021826737564636 Centerline is valid? [True, True] Translation: X:574.27, Y:3.90, Z:2.50 [[ 9.99188250e-01 -3.37506315e-02 -2.19939794e-02 5.74266949e+02] [ 3.37553351e-02 9.99430114e-01 -1.57462813e-04 3.89689718e+00] [ 2.19867598e-02 -5.85079152e-04 9.99758091e-01 2.49930422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.259254154 meters 0.020692567668480887 Centerline is valid? [True, True] Translation: X:574.33, Y:3.89, Z:2.50 [[ 9.98904156e-01 -4.07693496e-02 -2.29857995e-02 5.74327073e+02] [ 4.07763355e-02 9.99168286e-01 -1.64891878e-04 3.88929939e+00] [ 2.29734044e-02 -7.72565488e-04 9.99735778e-01 2.49934596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.319254154 meters 0.02272919848952497 Centerline is valid? [True, True] Translation: X:574.39, Y:3.88, Z:2.50 [[ 9.98711646e-01 -4.55818262e-02 -2.23012583e-02 5.74386097e+02] [ 4.55895775e-02 9.98960242e-01 -1.60983213e-04 3.88453855e+00] [ 2.22854083e-02 -8.55929135e-04 9.99751283e-01 2.50049876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.379254154 meters 0.025210662915210662 Centerline is valid? [True, True] Translation: X:574.45, Y:3.88, Z:2.50 [[ 9.98494157e-01 -5.04372919e-02 -2.15754153e-02 5.74446311e+02] [ 5.04456667e-02 9.98726795e-01 -1.56263504e-04 3.87976667e+00] [ 2.15558269e-02 -9.32358016e-04 9.99767211e-01 2.50126699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.439254154 meters 0.026034793752710773 Centerline is valid? [True, True] Translation: X:574.51, Y:3.88, Z:2.50 [[ 9.98240458e-01 -5.54847919e-02 -2.09147506e-02 5.74506636e+02] [ 5.54937588e-02 9.98459023e-01 -1.51848185e-04 3.87836608e+00] [ 2.08909467e-02 -1.00905712e-03 9.99781251e-01 2.50303032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.499254154 meters 0.03126113225977496 Centerline is valid? [True, True] Translation: X:574.57, Y:3.87, Z:2.50 [[ 9.97810537e-01 -6.33671014e-02 -1.89404949e-02 5.74566550e+02] [ 6.33758863e-02 9.97989719e-01 -1.36665821e-04 3.87048647e+00] [ 1.89110793e-02 -1.06400405e-03 9.99820603e-01 2.50427916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.559254154 meters 0.03436491683482069 Centerline is valid? [True, True] Translation: X:574.63, Y:3.87, Z:2.51 [[ 9.97524037e-01 -6.77852002e-02 -1.87339611e-02 5.74626811e+02] [ 6.77945768e-02 9.97699292e-01 -1.34851245e-04 3.86741827e+00] [ 1.87000006e-02 -1.13554361e-03 9.99824495e-01 2.50523316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.619254154 meters 0.03720910193426981 Centerline is valid? [True, True] Translation: X:574.69, Y:3.86, Z:2.51 [[ 9.97158789e-01 -7.34838562e-02 -1.65671875e-02 5.74687087e+02] [ 7.34919726e-02 9.97295802e-01 -1.19205827e-04 3.86346937e+00] [ 1.65311462e-02 -1.09868815e-03 9.99862748e-01 2.50619780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.679254154 meters 0.039109681049907474 Centerline is valid? [True, True] Translation: X:574.75, Y:3.86, Z:2.51 [[ 9.97029244e-01 -7.52765439e-02 -1.63134759e-02 5.74748702e+02] [ 7.52846592e-02 9.97162076e-01 -1.16956888e-04 3.86155262e+00] [ 1.62759836e-02 -1.11154504e-03 9.99866920e-01 2.50565941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.739254154 meters 0.0401942120085874 Centerline is valid? [True, True] Translation: X:574.81, Y:3.86, Z:2.50 [[ 9.97152497e-01 -7.34479977e-02 -1.70964581e-02 5.74810619e+02] [ 7.34566571e-02 9.97298403e-01 -1.21761361e-04 3.86265897e+00] [ 1.70592135e-02 -1.13443401e-03 9.99853837e-01 2.50371008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.799254154 meters 0.03841414131796419 Centerline is valid? [True, True] Translation: X:574.87, Y:3.87, Z:2.50 [[ 9.97538702e-01 -6.78167101e-02 -1.78165984e-02 5.74870518e+02] [ 6.78252237e-02 9.97697210e-01 -1.26669125e-04 3.87061269e+00] [ 1.77841608e-02 -1.08205742e-03 9.99841264e-01 2.50226220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.859254154 meters 0.026716645356327166 Centerline is valid? [True, True] Translation: X:574.93, Y:3.89, Z:2.51 [[ 9.97909308e-01 -6.21976463e-02 -1.75632108e-02 5.74930648e+02] [ 6.22050517e-02 9.98063383e-01 -1.24873655e-04 3.89135117e+00] [ 1.75369645e-02 -9.67907856e-04 9.99845747e-01 2.50507956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.919254154 meters 0.02339853328906297 Centerline is valid? [True, True] Translation: X:574.99, Y:3.90, Z:2.51 [[ 9.98434809e-01 -5.36670588e-02 -1.57409760e-02 5.74991631e+02] [ 5.36719520e-02 9.98558616e-01 -1.11729403e-04 3.90257007e+00] [ 1.57242834e-02 -7.33294385e-04 9.99876097e-01 2.50624058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9792541539999 meters 0.02763972016457921 Centerline is valid? [True, True] Translation: X:575.05, Y:3.90, Z:2.51 [[ 9.98901674e-01 -4.50717883e-02 -1.28054832e-02 5.75051709e+02] [ 4.50743218e-02 9.98983632e-01 -9.08452330e-05 3.90323485e+00] [ 1.27965627e-02 -4.86453015e-04 9.99918002e-01 2.50577883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.039254154 meters 0.024643507149641683 Centerline is valid? [True, True] Translation: X:575.11, Y:3.91, Z:2.51 [[ 9.99186244e-01 -3.88281673e-02 -1.09189456e-02 5.75112352e+02] [ 3.88296370e-02 9.99245842e-01 -7.74365843e-05 3.91261486e+00] [ 1.09137178e-02 -3.46605126e-04 9.99940384e-01 2.50690815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0992541539999 meters 0.01658977540460014 Centerline is valid? [True, True] Translation: X:575.17, Y:3.93, Z:2.51 [[ 9.99470873e-01 -3.10777003e-02 -9.59946537e-03 5.75172589e+02] [ 3.10784792e-02 9.99516945e-01 -6.80609477e-05 3.92917959e+00] [ 9.59694348e-03 -2.30311850e-04 9.99953922e-01 2.50778822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.159254154 meters 0.015555317649273426 Centerline is valid? [True, True] Translation: X:575.23, Y:3.93, Z:2.51 [[ 9.99584315e-01 -2.71866448e-02 -9.59598204e-03 5.75233702e+02] [ 2.71872457e-02 9.99630356e-01 -6.78461191e-05 3.93351547e+00] [ 9.59427945e-03 -1.93070405e-04 9.99953955e-01 2.50692120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2192541539999 meters 0.015223392414283525 Centerline is valid? [True, True] Translation: X:575.30, Y:3.93, Z:2.51 [[ 9.99612415e-01 -2.61606535e-02 -9.52052990e-03 5.75296067e+02] [ 2.61612036e-02 9.99657735e-01 -6.67777278e-05 3.93486024e+00] [ 9.51901831e-03 -1.82316675e-04 9.99954676e-01 2.50677946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.279254154 meters 0.01581755314971381 Centerline is valid? [True, True] Translation: X:575.36, Y:3.93, Z:2.51 [[ 9.99605760e-01 -2.66592726e-02 -8.80952039e-03 5.75356893e+02] [ 2.66597676e-02 9.99644563e-01 -6.12536486e-05 3.93404121e+00] [ 8.80802214e-03 -1.73630266e-04 9.99961194e-01 2.50690844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.339254154 meters 0.016574513079283135 Centerline is valid? [True, True] Translation: X:575.42, Y:3.93, Z:2.51 [[ 9.99573631e-01 -2.80151571e-02 -8.22847196e-03 5.75419514e+02] [ 2.80156390e-02 9.99607483e-01 -5.67186211e-05 3.93185906e+00] [ 8.22683113e-03 -1.73831462e-04 9.99966144e-01 2.50619199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.399254154 meters 0.017904507974742342 Centerline is valid? [True, True] Translation: X:575.48, Y:3.93, Z:2.51 [[ 9.99542610e-01 -2.95118998e-02 -6.60447763e-03 5.75481264e+02] [ 2.95122453e-02 9.99564418e-01 -4.51571276e-05 3.92950850e+00] [ 6.60293351e-03 -1.49776491e-04 9.99978189e-01 2.50646204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.459254154 meters 0.018104512855692846 Centerline is valid? [True, True] Translation: X:575.54, Y:3.93, Z:2.51 [[ 9.99483020e-01 -3.16135668e-02 -5.85452568e-03 5.75543807e+02] [ 3.16138761e-02 9.99500156e-01 -3.97226527e-05 3.92715566e+00] [ 5.85285510e-03 -1.45382133e-04 9.99982861e-01 2.50770078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.519254154 meters 0.01915884361101264 Centerline is valid? [True, True] Translation: X:575.61, Y:3.92, Z:2.51 [[ 9.99426632e-01 -3.34909001e-02 -4.97664424e-03 5.75605591e+02] [ 3.34911483e-02 9.99439014e-01 -3.34748347e-05 3.92391354e+00] [ 4.97497352e-03 -1.33217889e-04 9.99987616e-01 2.50813738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.579254154 meters 0.01913408367771904 Centerline is valid? [True, True] Translation: X:575.67, Y:3.92, Z:2.51 [[ 9.99289705e-01 -3.73441314e-02 -5.04990113e-03 5.75667520e+02] [ 3.73444375e-02 9.99302453e-01 -3.36996826e-05 3.92034711e+00] [ 5.04763707e-03 -1.54909971e-04 9.99987249e-01 2.50744807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.639254154 meters 0.024793876405895917 Centerline is valid? [True, True] Translation: X:575.73, Y:3.91, Z:2.51 [[ 9.99128629e-01 -4.14569317e-02 -4.82756677e-03 5.75727830e+02] [ 4.14572606e-02 9.99140278e-01 -3.19795292e-05 3.90796735e+00] [ 4.82474218e-03 -1.68186030e-04 9.99988347e-01 2.50738160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.699254154 meters 0.02102207553420803 Centerline is valid? [True, True] Translation: X:575.79, Y:3.91, Z:2.51 [[ 9.99082298e-01 -4.26482192e-02 -3.96128067e-03 5.75789670e+02] [ 4.26484501e-02 9.99090141e-01 -2.62088428e-05 3.91175055e+00] [ 3.95879422e-03 -1.42757690e-04 9.99992154e-01 2.50780993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.759254154 meters 0.02089684237718123 Centerline is valid? [True, True] Translation: X:575.85, Y:3.91, Z:2.51 [[ 9.99110486e-01 -4.20242989e-02 -3.49208907e-03 5.75851518e+02] [ 4.20244753e-02 9.99116581e-01 -2.28881489e-05 3.90873935e+00] [ 3.48996595e-03 -1.23885421e-04 9.99993902e-01 2.50796404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.819254154 meters 0.020578862081447907 Centerline is valid? [True, True] Translation: X:575.91, Y:3.91, Z:2.51 [[ 9.99169722e-01 -4.06005340e-02 -3.38569755e-03 5.75913823e+02] [ 4.06006924e-02 9.99175452e-01 -2.19542154e-05 3.90817529e+00] [ 3.38379723e-03 -1.15525678e-04 9.99994268e-01 2.50794507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.879254154 meters 0.021901798515099873 Centerline is valid? [True, True] Translation: X:575.98, Y:3.91, Z:2.51 [[ 9.99275890e-01 -3.79059175e-02 -3.29208417e-03 5.75975354e+02] [ 3.79060535e-02 9.99281307e-01 -2.10785009e-05 3.90745937e+00] [ 3.29051717e-03 -1.03726681e-04 9.99994581e-01 2.50594338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.939254154 meters 0.020601538614112486 Centerline is valid? [True, True] Translation: X:576.04, Y:3.91, Z:2.51 [[ 9.99317178e-01 -3.67468816e-02 -3.85278371e-03 5.76036257e+02] [ 3.67470599e-02 9.99324598e-01 -2.45109109e-05 3.90502870e+00] [ 3.85108224e-03 -1.17084300e-04 9.99992578e-01 2.50681342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.999254154 meters 0.01831194319214699 Centerline is valid? [True, True] Translation: X:576.10, Y:3.91, Z:2.51 [[ 9.99461449e-01 -3.26010290e-02 -3.73965610e-03 5.76098185e+02] [ 3.26011687e-02 9.99468440e-01 -2.35981692e-05 3.90737965e+00] [ 3.73843757e-03 -9.83316989e-05 9.99993007e-01 2.50679378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.059254154 meters 0.017553280976267578 Centerline is valid? [True, True] Translation: X:576.16, Y:3.91, Z:2.51 [[ 9.99573271e-01 -2.89943567e-02 -3.55012720e-03 5.76159434e+02] [ 2.89944606e-02 9.99579572e-01 -2.22085180e-05 3.90904756e+00] [ 3.54927855e-03 -8.07349823e-05 9.99993698e-01 2.50682564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.119254154 meters 0.018507054579147704 Centerline is valid? [True, True] Translation: X:576.22, Y:3.90, Z:2.51 [[ 9.99598150e-01 -2.82255310e-02 -2.61888695e-03 5.76220698e+02] [ 2.82255847e-02 9.99601579e-01 -1.64725653e-05 3.90481373e+00] [ 2.61830848e-03 -5.74536696e-05 9.99996571e-01 2.50760791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.179254154 meters 0.018724419416701388 Centerline is valid? [True, True] Translation: X:576.28, Y:3.90, Z:2.51 [[ 9.99514110e-01 -3.11308832e-02 -1.55317247e-03 5.76282365e+02] [ 3.11309058e-02 9.99515316e-01 -9.62380463e-06 3.90307583e+00] [ 1.55271927e-03 -3.87325375e-05 9.99998794e-01 2.50764572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.239254154 meters 0.020062660643305592 Centerline is valid? [True, True] Translation: X:576.34, Y:3.89, Z:2.51 [[ 9.99185547e-01 -4.03361647e-02 -1.11227838e-03 5.76343030e+02] [ 4.03361822e-02 9.99186165e-01 -6.72764715e-06 3.89320112e+00] [ 1.11164454e-03 -3.81428956e-05 9.99999381e-01 2.50903742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.299254154 meters 0.023112259379057545 Centerline is valid? [True, True] Translation: X:576.40, Y:3.89, Z:2.51 [[ 9.99027288e-01 -4.40561170e-02 -1.88034212e-03 5.76402982e+02] [ 4.40561736e-02 9.99029055e-01 -1.13480689e-05 3.88671130e+00] [ 1.87901636e-03 -7.15036483e-05 9.99998232e-01 2.50941968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.359254154 meters 0.027867912685078378 Centerline is valid? [True, True] Translation: X:576.46, Y:3.87, Z:2.51 [[ 9.98406969e-01 -5.63440182e-02 -2.97922468e-03 5.76463675e+02] [ 5.63442148e-02 9.98411403e-01 -1.79841385e-05 3.87469373e+00] [ 2.97550519e-03 -1.49906586e-04 9.99995562e-01 2.50853434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.419254154 meters 0.031005980337781992 Centerline is valid? [True, True] Translation: X:576.52, Y:3.87, Z:2.51 [[ 9.98054474e-01 -6.22116171e-02 -4.12081112e-03 5.76524544e+02] [ 6.22120430e-02 9.98062954e-01 -2.48579286e-05 3.86750442e+00] [ 4.11437537e-03 -2.31554512e-04 9.99991509e-01 2.50871113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4792541539999 meters 0.030850889972628717 Centerline is valid? [True, True] Translation: X:576.59, Y:3.87, Z:2.51 [[ 9.97826206e-01 -6.57599266e-02 -4.30057023e-03 5.76585086e+02] [ 6.57604234e-02 9.97835440e-01 -2.59373206e-05 3.86595709e+00] [ 4.29296703e-03 -2.56926381e-04 9.99990752e-01 2.50953587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.539254154 meters 0.03064459283030722 Centerline is valid? [True, True] Translation: X:576.65, Y:3.87, Z:2.51 [[ 9.97918086e-01 -6.43298794e-02 -4.59994871e-03 5.76647712e+02] [ 6.43304335e-02 9.97928652e-01 -2.75445652e-05 3.86598780e+00] [ 4.59219256e-03 -2.68429475e-04 9.99989420e-01 2.50899433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5992541539999 meters 0.029997639677123787 Centerline is valid? [True, True] Translation: X:576.71, Y:3.87, Z:2.51 [[ 9.98208764e-01 -5.95058294e-02 -6.19035468e-03 5.76707409e+02] [ 5.95067437e-02 9.98227903e-01 -3.65500854e-05 3.86703229e+00] [ 6.18155971e-03 -3.31883234e-04 9.99980839e-01 2.50855259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.659254154 meters 0.024052326606685704 Centerline is valid? [True, True] Translation: X:576.77, Y:3.88, Z:2.51 [[ 9.98607392e-01 -5.21286079e-02 -8.11697739e-03 5.76768056e+02] [ 5.21299360e-02 9.98640309e-01 -4.80083747e-05 3.87872168e+00] [ 8.10844342e-03 -3.75195994e-04 9.99967056e-01 2.50799180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7192541539999 meters 0.022512458483019835 Centerline is valid? [True, True] Translation: X:576.83, Y:3.89, Z:2.51 [[ 9.98964995e-01 -4.44526510e-02 -9.63846811e-03 5.76827924e+02] [ 4.44541660e-02 9.99011423e-01 -5.71054089e-05 3.88519088e+00] [ 9.63147824e-03 -3.71423757e-04 9.99953547e-01 2.50771567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.779254154 meters 0.02190252506783404 Centerline is valid? [True, True] Translation: X:576.89, Y:3.89, Z:2.51 [[ 9.99140386e-01 -4.02821313e-02 -9.78977474e-03 5.76888680e+02] [ 4.02834954e-02 9.99188289e-01 -5.78887249e-05 3.88855260e+00] [ 9.78416015e-03 -3.36527382e-04 9.99952077e-01 2.50770443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.839254154 meters 0.020336262529059852 Centerline is valid? [True, True] Translation: X:576.95, Y:3.90, Z:2.51 [[ 9.99369889e-01 -3.37405620e-02 -1.10181450e-02 5.76949356e+02] [ 3.37418962e-02 9.99430578e-01 -6.48302153e-05 3.89899404e+00] [ 1.10140584e-02 -3.06983739e-04 9.99939296e-01 2.50783324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.899254154 meters 0.018635205348631678 Centerline is valid? [True, True] Translation: X:577.01, Y:3.91, Z:2.51 [[ 9.99543656e-01 -2.76559872e-02 -1.21501157e-02 5.77010579e+02] [ 2.76571651e-02 9.99617465e-01 -7.11015442e-05 3.90670188e+00] [ 1.21474342e-02 -2.64968658e-04 9.99926182e-01 2.50774024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.959254154 meters 0.01748275603827634 Centerline is valid? [True, True] Translation: X:577.07, Y:3.91, Z:2.51 [[ 9.99618901e-01 -2.44060946e-02 -1.28994686e-02 5.77069881e+02] [ 2.44071520e-02 9.99702098e-01 -7.54674268e-05 3.90959319e+00] [ 1.28974677e-02 -2.39400625e-04 9.99916796e-01 2.50718696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.019254154 meters 0.016754418801261176 Centerline is valid? [True, True] Translation: X:577.13, Y:3.91, Z:2.51 [[ 9.99646972e-01 -2.21842839e-02 -1.46215016e-02 5.77130668e+02] [ 2.21854037e-02 9.99753870e-01 -8.56310966e-05 3.91425723e+00] [ 1.46198024e-02 -2.38783048e-04 9.99893096e-01 2.50785623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.079254154 meters 0.017438116854559337 Centerline is valid? [True, True] Translation: X:577.19, Y:3.91, Z:2.51 [[ 9.99624405e-01 -2.27559661e-02 -1.52713909e-02 5.77189567e+02] [ 2.27572457e-02 9.99741016e-01 -9.00077856e-05 3.91382551e+00] [ 1.52694841e-02 -2.57560817e-04 9.99883381e-01 2.50757846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.139254154 meters 0.01703698334215948 Centerline is valid? [True, True] Translation: X:577.25, Y:3.91, Z:2.51 [[ 9.99535851e-01 -2.63690016e-02 -1.52564122e-02 5.77248771e+02] [ 2.63706867e-02 9.99652229e-01 -9.07439159e-05 3.91378899e+00] [ 1.52534993e-02 -3.11620268e-04 9.99883610e-01 2.51041562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.199254154 meters 0.018645544358390304 Centerline is valid? [True, True] Translation: X:577.31, Y:3.91, Z:2.51 [[ 9.99330898e-01 -3.30257770e-02 -1.57179341e-02 5.77308691e+02] [ 3.30283780e-02 9.99454410e-01 -9.41422979e-05 3.90887618e+00] [ 1.57124677e-02 -4.25058564e-04 9.99876461e-01 2.51125738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.259254154 meters 0.020694833366343937 Centerline is valid? [True, True] Translation: X:577.37, Y:3.90, Z:2.51 [[ 9.99127457e-01 -3.85375258e-02 -1.60991698e-02 5.77368211e+02] [ 3.85409633e-02 9.99257016e-01 -9.67965146e-05 3.90388464e+00] [ 1.60909387e-02 -5.23765458e-04 9.99870395e-01 2.51087950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.319254154 meters 0.02374535936956281 Centerline is valid? [True, True] Translation: X:577.43, Y:3.90, Z:2.51 [[ 9.98773387e-01 -4.63308148e-02 -1.74693087e-02 5.77428942e+02] [ 4.63360502e-02 9.98925903e-01 -1.05168783e-04 3.89741816e+00] [ 1.74554175e-02 -7.04418984e-04 9.99847394e-01 2.51042423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.379254154 meters 0.024911970636050856 Centerline is valid? [True, True] Translation: X:577.49, Y:3.89, Z:2.51 [[ 9.98429140e-01 -5.30166346e-02 -1.81242666e-02 5.77489399e+02] [ 5.30233695e-02 9.98593266e-01 -1.09081647e-04 3.89456346e+00] [ 1.81045538e-02 -8.52099392e-04 9.99835736e-01 2.51104481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.439254154 meters 0.02541090463390147 Centerline is valid? [True, True] Translation: X:577.55, Y:3.89, Z:2.51 [[ 9.98188184e-01 -5.71606557e-02 -1.87885057e-02 5.77550523e+02] [ 5.71686309e-02 9.98364530e-01 -1.12795499e-04 3.89357498e+00] [ 1.87642251e-02 -9.61522013e-04 9.99823474e-01 2.51150858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.499254154 meters 0.030724707447102963 Centerline is valid? [True, True] Translation: X:577.61, Y:3.89, Z:2.51 [[ 9.97852604e-01 -6.27572672e-02 -1.87538289e-02 5.77609866e+02] [ 6.27662032e-02 9.98028252e-01 -1.12317866e-04 3.88638850e+00] [ 1.87238998e-02 -1.06502996e-03 9.99824125e-01 2.51041356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.559254154 meters 0.0322223554219182 Centerline is valid? [True, True] Translation: X:577.67, Y:3.89, Z:2.51 [[ 9.97587667e-01 -6.69292420e-02 -1.84207499e-02 5.77670921e+02] [ 6.69385761e-02 9.97757092e-01 -1.10090272e-04 3.88578454e+00] [ 1.83868021e-02 -1.12323407e-03 9.99830318e-01 2.51108117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.619254154 meters 0.032250342359390075 Centerline is valid? [True, True] Translation: X:577.73, Y:3.89, Z:2.51 [[ 9.97423114e-01 -6.91313410e-02 -1.91830385e-02 5.77731534e+02] [ 6.91418757e-02 9.97606830e-01 -1.14319611e-04 3.88740719e+00] [ 1.91450333e-02 -1.21232624e-03 9.99815982e-01 2.51142511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.679254154 meters 0.03430903684392584 Centerline is valid? [True, True] Translation: X:577.79, Y:3.89, Z:2.51 [[ 9.97345397e-01 -7.00523090e-02 -1.98704096e-02 5.77792859e+02] [ 7.00638126e-02 9.97542505e-01 -1.17499561e-04 3.88800766e+00] [ 1.98298092e-02 -1.27500901e-03 9.99802557e-01 2.51110859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.739254154 meters 0.0350624325832156 Centerline is valid? [True, True] Translation: X:577.85, Y:3.89, Z:2.51 [[ 9.97505349e-01 -6.79326323e-02 -1.91894968e-02 5.77853181e+02] [ 6.79430038e-02 9.97689198e-01 -1.11712643e-04 3.89149286e+00] [ 1.91527426e-02 -1.19235809e-03 9.99815858e-01 2.51169610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.799254154 meters 0.03231739453096974 Centerline is valid? [True, True] Translation: X:577.91, Y:3.90, Z:2.51 [[ 9.97800884e-01 -6.33201266e-02 -1.95948166e-02 5.77914003e+02] [ 6.33300647e-02 9.97992630e-01 -1.13555333e-04 3.90019261e+00] [ 1.95626729e-02 -1.12763539e-03 9.99807997e-01 2.51211721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.859254154 meters 0.030790049527045733 Centerline is valid? [True, True] Translation: X:577.97, Y:3.91, Z:2.51 [[ 9.98138806e-01 -5.76305957e-02 -1.99408502e-02 5.77973632e+02] [ 5.76397507e-02 9.98337441e-01 -1.15811636e-04 3.90638516e+00] [ 1.99143716e-02 -1.03378955e-03 9.99801155e-01 2.51159855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.919254154 meters 0.02190069129526851 Centerline is valid? [True, True] Translation: X:578.03, Y:3.93, Z:2.51 [[ 9.98765783e-01 -4.56415355e-02 -1.95898298e-02 5.78033907e+02] [ 4.56480685e-02 9.98957577e-01 -1.13775534e-04 3.92663898e+00] [ 1.95746018e-02 -7.80602784e-04 9.99808094e-01 2.51496862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9792541539999 meters 0.018434188898037253 Centerline is valid? [True, True] Translation: X:578.09, Y:3.94, Z:2.52 [[ 9.99329556e-01 -3.19187610e-02 -1.79340532e-02 5.78093869e+02] [ 3.19220276e-02 9.99490357e-01 -1.04166742e-04 3.93998711e+00] [ 1.79282381e-02 -4.68394438e-04 9.99839167e-01 2.51667753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.039254154 meters 0.016547951853251846 Centerline is valid? [True, True] Translation: X:578.15, Y:3.95, Z:2.52 [[ 9.99580248e-01 -2.37847052e-02 -1.65413223e-02 5.78153314e+02] [ 2.37863634e-02 9.99717060e-01 -9.65206131e-05 3.94745632e+00] [ 1.65389378e-02 -2.96977805e-04 9.99863178e-01 2.51759243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0992541539999 meters 0.015087744009769003 Centerline is valid? [True, True] Translation: X:578.21, Y:3.95, Z:2.52 [[ 9.99748143e-01 -1.59734543e-02 -1.57638356e-02 5.78212695e+02] [ 1.59739805e-02 9.99872404e-01 -9.25443405e-05 3.95438286e+00] [ 1.57633024e-02 -1.59290169e-04 9.99875739e-01 2.51785178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.159254154 meters 0.014659984908833901 Centerline is valid? [True, True] Translation: X:578.27, Y:3.96, Z:2.52 [[ 9.99762985e-01 -1.43090446e-02 -1.64080584e-02 5.78270392e+02] [ 1.43093287e-02 9.99897611e-01 -1.00093746e-04 3.95690806e+00] [ 1.64078107e-02 -1.34718279e-04 9.99865374e-01 2.51814684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2192541539999 meters 0.016237361060063196 Centerline is valid? [True, True] Translation: X:578.33, Y:3.96, Z:2.52 [[ 9.99733641e-01 -1.43491852e-02 -1.80761748e-02 5.78328104e+02] [ 1.43494875e-02 9.99897034e-01 -1.12982392e-04 3.95584995e+00] [ 1.80759348e-02 -1.46431547e-04 9.99836606e-01 2.51669643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.279254154 meters 0.014854449193561435 Centerline is valid? [True, True] Translation: X:578.39, Y:3.95, Z:2.52 [[ 9.99700043e-01 -1.85659749e-02 -1.59727243e-02 5.78386731e+02] [ 1.85667297e-02 9.99827618e-01 -1.01041743e-04 3.95213192e+00] [ 1.59718469e-02 -1.95549821e-04 9.99872423e-01 2.51835625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.339254154 meters 0.015603845555688273 Centerline is valid? [True, True] Translation: X:578.44, Y:3.95, Z:2.52 [[ 9.99645368e-01 -2.20018913e-02 -1.50018522e-02 5.78444276e+02] [ 2.20029251e-02 9.99757902e-01 -9.61589907e-05 3.94705651e+00] [ 1.50003359e-02 -2.33959740e-04 9.99887461e-01 2.51838766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.399254154 meters 0.015998596068817088 Centerline is valid? [True, True] Translation: X:578.50, Y:3.94, Z:2.52 [[ 9.99547499e-01 -2.57979074e-02 -1.54682028e-02 5.78504033e+02] [ 2.57994482e-02 9.99667134e-01 -9.99617293e-05 3.94264374e+00] [ 1.54656328e-02 -2.99154600e-04 9.99880355e-01 2.51928402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.459254154 meters 0.01633997279022383 Centerline is valid? [True, True] Translation: X:578.56, Y:3.94, Z:2.52 [[ 9.99518255e-01 -2.72555689e-02 -1.48455700e-02 5.78563780e+02] [ 2.72571409e-02 9.99628450e-01 -9.64729951e-05 3.93828578e+00] [ 1.48426835e-02 -3.08221272e-04 9.99889794e-01 2.51907873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.519254154 meters 0.017590058756507577 Centerline is valid? [True, True] Translation: X:578.62, Y:3.93, Z:2.52 [[ 9.99502816e-01 -2.81632434e-02 -1.41757497e-02 5.78624164e+02] [ 2.81647657e-02 9.99603290e-01 -9.22733573e-05 3.93371420e+00] [ 1.41727248e-02 -3.07029189e-04 9.99899515e-01 2.51988591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.579254154 meters 0.0167615701304489 Centerline is valid? [True, True] Translation: X:578.68, Y:3.93, Z:2.52 [[ 9.99447957e-01 -3.04864979e-02 -1.32043407e-02 5.78684425e+02] [ 3.04880214e-02 9.99535129e-01 -8.59502227e-05 3.92818374e+00] [ 1.32008227e-02 -3.16671446e-04 9.99912815e-01 2.52079947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.639254154 meters 0.017578930838307437 Centerline is valid? [True, True] Translation: X:578.75, Y:3.92, Z:2.52 [[ 9.99403880e-01 -3.17166365e-02 -1.36359793e-02 5.78745229e+02] [ 3.17183780e-02 9.99496842e-01 -8.85930222e-05 3.92164164e+00] [ 1.36319281e-02 -3.43970936e-04 9.99907022e-01 2.51994814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.699254154 meters 0.017509359257319376 Centerline is valid? [True, True] Translation: X:578.81, Y:3.92, Z:2.52 [[ 9.99440991e-01 -3.08259835e-02 -1.29407736e-02 5.78806498e+02] [ 3.08274822e-02 9.99524717e-01 -8.36976113e-05 3.91848976e+00] [ 1.29372032e-02 -3.15280645e-04 9.99916261e-01 2.51998961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.759254154 meters 0.015834869877403044 Centerline is valid? [True, True] Translation: X:578.87, Y:3.92, Z:2.52 [[ 9.99609952e-01 -2.49944709e-02 -1.24587571e-02 5.78866893e+02] [ 2.49954090e-02 9.99687563e-01 -8.04296089e-05 3.91781534e+00] [ 1.24568748e-02 -2.31013493e-04 9.99922383e-01 2.52028588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.819254154 meters 0.01485762157518757 Centerline is valid? [True, True] Translation: X:578.93, Y:3.92, Z:2.52 [[ 9.99722369e-01 -1.95825236e-02 -1.31038230e-02 5.78927096e+02] [ 1.95830966e-02 9.99808229e-01 -8.45939407e-05 3.91863047e+00] [ 1.31029666e-02 -1.72042978e-04 9.99914138e-01 2.52036820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.879254154 meters 0.013795750531351073 Centerline is valid? [True, True] Translation: X:578.99, Y:3.92, Z:2.52 [[ 9.99816756e-01 -1.32984678e-02 -1.37697446e-02 5.78985816e+02] [ 1.32984725e-02 9.99911567e-01 -9.12212476e-05 3.91810680e+00] [ 1.37697400e-02 -9.19120380e-05 9.99905188e-01 2.52035547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.939254154 meters 0.015951224215064647 Centerline is valid? [True, True] Translation: X:579.04, Y:3.91, Z:2.52 [[ 9.99825140e-01 -1.00106827e-02 -1.57947669e-02 5.79044138e+02] [ 1.00102075e-02 9.99949891e-01 -1.09150561e-04 3.91452441e+00] [ 1.57950681e-02 -4.89774183e-05 9.99875249e-01 2.51962925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.999254154 meters 0.014344138755134399 Centerline is valid? [True, True] Translation: X:579.10, Y:3.91, Z:2.52 [[ 9.99789260e-01 -1.30706435e-02 -1.58301322e-02 5.79103331e+02] [ 1.30705169e-02 9.99914571e-01 -1.11461371e-04 3.90680416e+00] [ 1.58302367e-02 -9.54701294e-05 9.99874689e-01 2.52066603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.059254154 meters 0.01460192733860478 Centerline is valid? [True, True] Translation: X:579.16, Y:3.90, Z:2.52 [[ 9.99718562e-01 -1.84182539e-02 -1.49521129e-02 5.79161841e+02] [ 1.84187236e-02 9.99830355e-01 -1.06307290e-04 3.89857295e+00] [ 1.49515343e-02 -1.69121463e-04 9.99888205e-01 2.52128218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.119254154 meters 0.016614757165328366 Centerline is valid? [True, True] Translation: X:579.22, Y:3.89, Z:2.52 [[ 9.99439487e-01 -3.01281657e-02 -1.45947089e-02 5.79222233e+02] [ 3.01298538e-02 9.99545987e-01 -1.04252010e-04 3.88565565e+00] [ 1.45912237e-02 -3.35542872e-04 9.99893486e-01 2.52304807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.179254154 meters 0.01995157876989086 Centerline is valid? [True, True] Translation: X:579.28, Y:3.87, Z:2.52 [[ 9.98939006e-01 -4.39588947e-02 -1.37287413e-02 5.79282755e+02] [ 4.39616917e-02 9.99033213e-01 -9.81311299e-05 3.87239901e+00] [ 1.37197823e-02 -5.05511680e-04 9.99905752e-01 2.52362118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.239254154 meters 0.025018524742204114 Centerline is valid? [True, True] Translation: X:579.34, Y:3.86, Z:2.52 [[ 9.98527191e-01 -5.27281295e-02 -1.27747445e-02 5.79342148e+02] [ 5.27312657e-02 9.98608735e-01 -9.14378720e-05 3.86049839e+00] [ 1.27617928e-02 -5.82325245e-04 9.99918395e-01 2.52395680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.299254154 meters 0.02889449099759552 Centerline is valid? [True, True] Translation: X:579.40, Y:3.85, Z:2.53 [[ 9.97879503e-01 -6.39365797e-02 -1.21906255e-02 5.79402453e+02] [ 6.39402689e-02 9.97953724e-01 -8.72833368e-05 3.84952378e+00] [ 1.21712607e-02 -6.92373620e-04 9.99925688e-01 2.52514059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.359254154 meters 0.033699893929356864 Centerline is valid? [True, True] Translation: X:579.46, Y:3.84, Z:2.53 [[ 9.97412123e-01 -7.09445476e-02 -1.16587768e-02 5.79462513e+02] [ 7.09484046e-02 9.97479983e-01 -8.29603195e-05 3.83905951e+00] [ 1.16352820e-02 -7.44425983e-04 9.99932031e-01 2.52505863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.419254154 meters 0.03183034792827348 Centerline is valid? [True, True] Translation: X:579.52, Y:3.84, Z:2.53 [[ 9.97232371e-01 -7.32722802e-02 -1.26004400e-02 5.79523588e+02] [ 7.32769765e-02 9.97311625e-01 -8.91850529e-05 3.84046954e+00] [ 1.25731001e-02 -8.34383922e-04 9.99920607e-01 2.52563423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4792541539999 meters 0.03324505383126178 Centerline is valid? [True, True] Translation: X:579.59, Y:3.84, Z:2.53 [[ 9.97187649e-01 -7.38087520e-02 -1.30023316e-02 5.79586036e+02] [ 7.38138074e-02 9.97272036e-01 -9.13136992e-05 3.83833716e+00] [ 1.29736015e-02 -8.68694709e-04 9.99915462e-01 2.52521091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.539254154 meters 0.03329146794609743 Centerline is valid? [True, True] Translation: X:579.65, Y:3.84, Z:2.52 [[ 9.97361010e-01 -7.14839565e-02 -1.26909256e-02 5.79647397e+02] [ 7.14885929e-02 9.97441413e-01 -8.85178065e-05 3.84049732e+00] [ 1.26647824e-02 -8.18972205e-04 9.99919463e-01 2.52498414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5992541539999 meters 0.029880492097066592 Centerline is valid? [True, True] Translation: X:579.71, Y:3.85, Z:2.53 [[ 9.97525192e-01 -6.89990033e-02 -1.35140109e-02 5.79708456e+02] [ 6.90040404e-02 9.97616376e-01 -9.37521480e-05 3.84737528e+00] [ 1.34882674e-02 -8.39001227e-04 9.99908677e-01 2.52537004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.659254154 meters 0.028073363029740405 Centerline is valid? [True, True] Translation: X:579.77, Y:3.85, Z:2.53 [[ 9.97658057e-01 -6.70923978e-02 -1.33045987e-02 5.79770298e+02] [ 6.70971199e-02 9.97746445e-01 -9.16331559e-05 3.85434641e+00] [ 1.32807639e-02 -8.01281696e-04 9.99911486e-01 2.52552883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7192541539999 meters 0.03061853020420875 Centerline is valid? [True, True] Translation: X:579.83, Y:3.86, Z:2.53 [[ 9.97712045e-01 -6.62896773e-02 -1.32798406e-02 5.79831409e+02] [ 6.62943208e-02 9.97800108e-01 -9.07184815e-05 3.85559609e+00] [ 1.32566401e-02 -7.89867090e-04 9.99911815e-01 2.52533295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.779254154 meters 0.030242548968873524 Centerline is valid? [True, True] Translation: X:579.89, Y:3.86, Z:2.53 [[ 9.97734824e-01 -6.62281026e-02 -1.17923413e-02 5.79893679e+02] [ 6.62317687e-02 9.97804263e-01 -7.97980802e-05 3.85965446e+00] [ 1.17717332e-02 -7.01410294e-04 9.99930465e-01 2.52646572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.839254154 meters 0.026973335335127663 Centerline is valid? [True, True] Translation: X:579.96, Y:3.87, Z:2.53 [[ 9.97766739e-01 -6.59180121e-02 -1.07865641e-02 5.79956300e+02] [ 6.59210711e-02 9.97824838e-01 -7.20896944e-05 3.86957590e+00] [ 1.07678536e-02 -6.39133161e-04 9.99941821e-01 2.52727837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.899254154 meters 0.029031483971420156 Centerline is valid? [True, True] Translation: X:580.02, Y:3.87, Z:2.53 [[ 9.97904176e-01 -6.37347071e-02 -1.11867178e-02 5.80016765e+02] [ 6.37378736e-02 9.97966672e-01 -7.35961801e-05 3.87221105e+00] [ 1.11686621e-02 -6.39575667e-04 9.99937424e-01 2.52612508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.959254154 meters 0.028876672256248154 Centerline is valid? [True, True] Translation: X:580.08, Y:3.88, Z:2.53 [[ 9.98050872e-01 -6.16067707e-02 -9.95303875e-03 5.80076877e+02] [ 6.16091769e-02 9.98100348e-01 -6.49547872e-05 3.87603794e+00] [ 9.93813310e-03 -5.48370344e-04 9.99950465e-01 2.52642608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.019254154 meters 0.025161660668006517 Centerline is valid? [True, True] Translation: X:580.14, Y:3.89, Z:2.53 [[ 9.98398735e-01 -5.57863281e-02 -9.37289363e-03 5.80137737e+02] [ 5.57882069e-02 9.98442623e-01 -6.10880862e-05 3.88683501e+00] [ 9.36170439e-03 -4.61906661e-04 9.99956072e-01 2.52664189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.079254154 meters 0.023416360267173135 Centerline is valid? [True, True] Translation: X:580.20, Y:3.89, Z:2.53 [[ 9.98629343e-01 -5.14469971e-02 -9.62505168e-03 5.80198128e+02] [ 5.14487773e-02 9.98675633e-01 -6.27274335e-05 3.89350070e+00] [ 9.61553171e-03 -4.32555684e-04 9.99953676e-01 2.52706988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.139254154 meters 0.022612679608961187 Centerline is valid? [True, True] Translation: X:580.26, Y:3.90, Z:2.53 [[ 9.98848014e-01 -4.71233630e-02 -9.05726300e-03 5.80259233e+02] [ 4.71247626e-02 9.98889009e-01 -5.89426616e-05 3.89830597e+00] [ 9.04997804e-03 -3.67946608e-04 9.99958980e-01 2.52720209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.199254154 meters 0.020305058534734147 Centerline is valid? [True, True] Translation: X:580.32, Y:3.91, Z:2.53 [[ 9.99112468e-01 -4.12610449e-02 -8.47364773e-03 5.80320291e+02] [ 4.12620606e-02 9.99148357e-01 -5.49958523e-05 3.90833047e+00] [ 8.46870039e-03 -2.94693124e-04 9.99964096e-01 2.52817258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.259254154 meters 0.01841130931013158 Centerline is valid? [True, True] Translation: X:580.38, Y:3.92, Z:2.53 [[ 9.99231644e-01 -3.81167432e-02 -9.12331068e-03 5.80381985e+02] [ 3.81177929e-02 9.99273251e-01 -5.88606124e-05 3.91512260e+00] [ 9.11892390e-03 -2.88945080e-04 9.99958380e-01 2.52819864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.319254154 meters 0.01861236128128416 Centerline is valid? [True, True] Translation: X:580.44, Y:3.92, Z:2.53 [[ 9.99319306e-01 -3.55180501e-02 -9.96959850e-03 5.80443328e+02] [ 3.55191802e-02 9.99368993e-01 -6.37425738e-05 3.91853540e+00] [ 9.96557163e-03 -2.90412781e-04 9.99950300e-01 2.52738623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.379254154 meters 0.019129067304482255 Centerline is valid? [True, True] Translation: X:580.50, Y:3.92, Z:2.53 [[ 9.99348341e-01 -3.46392015e-02 -1.01498629e-02 5.80504405e+02] [ 3.46403372e-02 9.99399841e-01 -6.39324064e-05 3.91938638e+00] [ 1.01459860e-02 -2.87703931e-04 9.99948487e-01 2.52678456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.439254154 meters 0.017950992415074463 Centerline is valid? [True, True] Translation: X:580.57, Y:3.93, Z:2.53 [[ 9.99412884e-01 -3.25355057e-02 -1.07391098e-02 5.80565596e+02] [ 3.25366645e-02 9.99470540e-01 -6.68380675e-05 3.92512927e+00] [ 1.07355985e-02 -2.82615986e-04 9.99942332e-01 2.52695957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.499254154 meters 0.017479299794520065 Centerline is valid? [True, True] Translation: X:580.63, Y:3.93, Z:2.53 [[ 9.99487160e-01 -2.98609306e-02 -1.15646483e-02 5.80626518e+02] [ 2.98621004e-02 9.99554025e-01 -7.15547878e-05 3.92722494e+00] [ 1.15616275e-02 -2.73826597e-04 9.99933125e-01 2.52617613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.559254154 meters 0.01714627100925038 Centerline is valid? [True, True] Translation: X:580.69, Y:3.93, Z:2.53 [[ 9.99550282e-01 -2.78383229e-02 -1.11472419e-02 5.80687851e+02] [ 2.78392882e-02 9.99612410e-01 -6.85898978e-05 3.92895206e+00] [ 1.11448307e-02 -2.41772228e-04 9.99937865e-01 2.52683201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.619254154 meters 0.016063375850640996 Centerline is valid? [True, True] Translation: X:580.75, Y:3.93, Z:2.53 [[ 9.99576485e-01 -2.68464636e-02 -1.12302486e-02 5.80748801e+02] [ 2.68473854e-02 9.99639542e-01 -6.87002818e-05 3.93249525e+00] [ 1.12280450e-02 -2.32831627e-04 9.99936936e-01 2.52829816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.679254154 meters 0.016659553973836057 Centerline is valid? [True, True] Translation: X:580.81, Y:3.93, Z:2.53 [[ 9.99629772e-01 -2.44139921e-02 -1.20114828e-02 5.80809426e+02] [ 2.44148746e-02 9.99701910e-01 -7.31734404e-05 3.93185256e+00] [ 1.20096887e-02 -2.20112496e-04 9.99927857e-01 2.52710341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.739254154 meters 0.01506242670121847 Centerline is valid? [True, True] Translation: X:580.87, Y:3.94, Z:2.53 [[ 9.99713264e-01 -2.07778141e-02 -1.19026268e-02 5.80870161e+02] [ 2.07784240e-02 9.99784103e-01 -7.24325741e-05 3.93653926e+00] [ 1.19015621e-02 -1.74906021e-04 9.99929159e-01 2.52806558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.799254154 meters 0.014417079533566328 Centerline is valid? [True, True] Translation: X:580.93, Y:3.94, Z:2.53 [[ 9.99768403e-01 -1.80062950e-02 -1.17861611e-02 5.80929948e+02] [ 1.80066974e-02 9.99837864e-01 -7.19919159e-05 3.93920091e+00] [ 1.17855465e-02 -1.40254594e-04 9.99930538e-01 2.52921929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.859254154 meters 0.014595246120284785 Centerline is valid? [True, True] Translation: X:580.99, Y:3.94, Z:2.53 [[ 9.99771045e-01 -1.76473374e-02 -1.21007977e-02 5.80989322e+02] [ 1.76477299e-02 9.99844264e-01 -7.43551551e-05 3.93910875e+00] [ 1.21002253e-02 -1.39213478e-04 9.99926780e-01 2.52947107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.919254154 meters 0.015232280068113589 Centerline is valid? [True, True] Translation: X:581.05, Y:3.94, Z:2.53 [[ 9.99700983e-01 -2.08422009e-02 -1.27885670e-02 5.81048207e+02] [ 2.08428718e-02 9.99782760e-01 -8.08346973e-05 3.93529969e+00] [ 1.27874736e-02 -1.85739936e-04 9.99918220e-01 2.52901769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9792541539999 meters 0.01607119829805445 Centerline is valid? [True, True] Translation: X:581.11, Y:3.93, Z:2.53 [[ 9.99617667e-01 -2.46269256e-02 -1.25711764e-02 5.81107698e+02] [ 2.46278559e-02 9.99696685e-01 -8.08259411e-05 3.93160130e+00] [ 1.25693539e-02 -2.28806082e-04 9.99920976e-01 2.52953497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.039254154 meters 0.020621219437209928 Centerline is valid? [True, True] Translation: X:581.17, Y:3.92, Z:2.53 [[ 9.99421465e-01 -3.15032985e-02 -1.28170705e-02 5.81166544e+02] [ 3.15048247e-02 9.99503596e-01 -8.28597296e-05 3.92238074e+00] [ 1.28133184e-02 -3.20987768e-04 9.99917855e-01 2.52884825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0992541539999 meters 0.020444870304835844 Centerline is valid? [True, True] Translation: X:581.23, Y:3.92, Z:2.53 [[ 9.99141385e-01 -3.95127543e-02 -1.24593674e-02 5.81227005e+02] [ 3.95148178e-02 9.99218981e-01 -8.06032185e-05 3.91694387e+00] [ 1.24528212e-02 -4.11795620e-04 9.99922376e-01 2.53087795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.159254154 meters 0.021999023932692215 Centerline is valid? [True, True] Translation: X:581.29, Y:3.91, Z:2.53 [[ 9.98851485e-01 -4.62366933e-02 -1.25650028e-02 5.81287710e+02] [ 4.62393243e-02 9.98930387e-01 -8.11951024e-05 3.91192240e+00] [ 1.25553173e-02 -4.99895392e-04 9.99921054e-01 2.53158758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2192541539999 meters 0.023588619924252825 Centerline is valid? [True, True] Translation: X:581.35, Y:3.91, Z:2.53 [[ 9.98668432e-01 -5.01032307e-02 -1.22894004e-02 5.81349234e+02] [ 5.01060434e-02 9.98743900e-01 -7.91066418e-05 3.90857046e+00] [ 1.22779272e-02 -5.36771926e-04 9.99924479e-01 2.53233887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.279254154 meters 0.029718072787219618 Centerline is valid? [True, True] Translation: X:581.41, Y:3.90, Z:2.53 [[ 9.98333404e-01 -5.63499739e-02 -1.24537303e-02 5.81408837e+02] [ 5.63533477e-02 9.98410884e-01 -8.01222633e-05 3.89829135e+00] [ 1.24384547e-02 -6.21820660e-04 9.99922446e-01 2.53207498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.339254154 meters 0.02755066696117863 Centerline is valid? [True, True] Translation: X:581.47, Y:3.90, Z:2.53 [[ 9.98049520e-01 -6.11536188e-02 -1.25455188e-02 5.81469720e+02] [ 6.11574205e-02 9.98128130e-01 -8.07421350e-05 3.90050027e+00] [ 1.25269729e-02 -6.86666920e-04 9.99921299e-01 2.53320422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.399254154 meters 0.030570217464597566 Centerline is valid? [True, True] Translation: X:581.53, Y:3.90, Z:2.53 [[ 9.97607437e-01 -6.79706110e-02 -1.26252611e-02 5.81531013e+02] [ 6.79750084e-02 9.97687021e-01 -8.09910717e-05 3.89730949e+00] [ 1.26015641e-02 -7.77404931e-04 9.99920295e-01 2.53348011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.459254154 meters 0.031157753003221822 Centerline is valid? [True, True] Translation: X:581.59, Y:3.90, Z:2.53 [[ 9.97307422e-01 -7.20629734e-02 -1.35953465e-02 5.81591590e+02] [ 7.20684536e-02 9.97399684e-01 -8.70350557e-05 3.89753525e+00] [ 1.35662663e-02 -8.92994893e-04 9.99907575e-01 2.53373838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.519254154 meters 0.034868577215853194 Centerline is valid? [True, True] Translation: X:581.65, Y:3.90, Z:2.53 [[ 9.97270005e-01 -7.24741764e-02 -1.41432179e-02 5.81652665e+02] [ 7.24801562e-02 9.97369851e-01 -8.99852416e-05 3.89562706e+00] [ 1.41125408e-02 -9.35363063e-04 9.99899976e-01 2.53391087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.579254154 meters 0.03482076097596599 Centerline is valid? [True, True] Translation: X:581.72, Y:3.90, Z:2.53 [[ 9.97322603e-01 -7.17241589e-02 -1.42573035e-02 5.81715065e+02] [ 7.17301729e-02 9.97424069e-01 -8.97592984e-05 3.89886054e+00] [ 1.42270155e-02 -9.33159865e-04 9.99898355e-01 2.53468333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.639254154 meters 0.032020476358466436 Centerline is valid? [True, True] Translation: X:581.78, Y:3.91, Z:2.54 [[ 9.97464206e-01 -6.94645684e-02 -1.54865192e-02 5.81776360e+02] [ 6.94714046e-02 9.97583939e-01 -9.67477549e-05 3.90829876e+00] [ 1.54558233e-02 -9.79367817e-04 9.99880072e-01 2.53538844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.699254154 meters 0.03008639735827028 Centerline is valid? [True, True] Translation: X:581.84, Y:3.92, Z:2.54 [[ 9.97662520e-01 -6.65206778e-02 -1.56363643e-02 5.81837014e+02] [ 6.65272926e-02 9.97784601e-01 -9.73119523e-05 3.91610056e+00] [ 1.56081968e-02 -9.43160495e-04 9.99877740e-01 2.53644226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.759254154 meters 0.027731014636601048 Centerline is valid? [True, True] Translation: X:581.90, Y:3.93, Z:2.54 [[ 9.98026687e-01 -6.11542014e-02 -1.42441326e-02 5.81897162e+02] [ 6.11591467e-02 9.98128023e-01 -8.85711240e-05 3.92711067e+00] [ 1.42228844e-02 -7.82762647e-04 9.99898543e-01 2.53922562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.819254154 meters 0.02653955713273575 Centerline is valid? [True, True] Translation: X:581.96, Y:3.94, Z:2.54 [[ 9.98413334e-01 -5.43545489e-02 -1.47104731e-02 5.81956374e+02] [ 5.43590841e-02 9.98521448e-01 -9.16634246e-05 3.93767524e+00] [ 1.46937053e-02 -7.08129862e-04 9.99891791e-01 2.53989598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.879254154 meters 0.024224994259363645 Centerline is valid? [True, True] Translation: X:582.02, Y:3.95, Z:2.54 [[ 9.98744977e-01 -4.74288925e-02 -1.60925599e-02 5.82016755e+02] [ 4.74334216e-02 9.98874397e-01 -1.00350112e-04 3.94923072e+00] [ 1.60792056e-02 -6.63101008e-04 9.99870501e-01 2.53923739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.939254154 meters 0.022414810951511353 Centerline is valid? [True, True] Translation: X:582.08, Y:3.96, Z:2.54 [[ 9.98961908e-01 -4.23468769e-02 -1.67883421e-02 5.82077599e+02] [ 4.23510932e-02 9.99102784e-01 -1.04464429e-04 3.95754348e+00] [ 1.67777031e-02 -6.06648654e-04 9.99859060e-01 2.53910664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.999254154 meters 0.019420759594293638 Centerline is valid? [True, True] Translation: X:582.14, Y:3.97, Z:2.54 [[ 9.99158981e-01 -3.71058168e-02 -1.74496214e-02 5.82138250e+02] [ 3.71095789e-02 9.99311196e-01 -1.08261828e-04 3.96723298e+00] [ 1.74416192e-02 -5.39377326e-04 9.99847738e-01 2.53999171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.059254154 meters 0.017075935310367624 Centerline is valid? [True, True] Translation: X:582.20, Y:3.98, Z:2.54 [[ 9.99394627e-01 -3.01904781e-02 -1.72891387e-02 5.82198491e+02] [ 3.01931385e-02 9.99544078e-01 -1.07187034e-04 3.97795822e+00] [ 1.72844922e-02 -4.14891212e-04 9.99850526e-01 2.54156816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.119254154 meters 0.016218607216756272 Centerline is valid? [True, True] Translation: X:582.26, Y:3.98, Z:2.54 [[ 9.99502688e-01 -2.65366441e-02 -1.70347859e-02 5.82259511e+02] [ 2.65387003e-02 9.99647781e-01 -1.05378000e-04 3.98258217e+00] [ 1.70315823e-02 -3.46755484e-04 9.99854892e-01 2.54142377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.179254154 meters 0.016157856262724413 Centerline is valid? [True, True] Translation: X:582.32, Y:3.99, Z:2.54 [[ 9.99535074e-01 -2.50144431e-02 -1.74331222e-02 5.82319061e+02] [ 2.50163686e-02 9.99687036e-01 -1.07649023e-04 3.98580963e+00] [ 1.74303590e-02 -3.28514436e-04 9.99848026e-01 2.54084638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.239254154 meters 0.016142542683070336 Centerline is valid? [True, True] Translation: X:582.38, Y:3.99, Z:2.54 [[ 9.99467412e-01 -2.75672371e-02 -1.74625205e-02 5.82378624e+02] [ 2.75695506e-02 9.99619882e-01 -1.08281391e-04 3.98817450e+00] [ 1.74588677e-02 -3.73210121e-04 9.99847513e-01 2.54182746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.299254154 meters 0.017495477559779114 Centerline is valid? [True, True] Translation: X:582.44, Y:3.99, Z:2.54 [[ 9.99308652e-01 -3.26718463e-02 -1.77417028e-02 5.82438070e+02] [ 3.26750265e-02 9.99466023e-01 -1.10670755e-04 3.98616666e+00] [ 1.77358449e-02 -4.69116365e-04 9.99842597e-01 2.54180292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.359254154 meters 0.020917714790420858 Centerline is valid? [True, True] Translation: X:582.50, Y:3.98, Z:2.54 [[ 9.99192107e-01 -3.62600430e-02 -1.73303969e-02 5.82497847e+02] [ 3.62636140e-02 9.99342253e-01 -1.08263328e-04 3.98085034e+00] [ 1.73229235e-02 -5.20286959e-04 9.99849812e-01 2.54094107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.419254154 meters 0.020594010360488867 Centerline is valid? [True, True] Translation: X:582.56, Y:3.98, Z:2.54 [[ 9.99160070e-01 -3.71356860e-02 -1.73232457e-02 5.82559230e+02] [ 3.71393933e-02 9.99310089e-01 -1.07765617e-04 3.98250719e+00] [ 1.73152961e-02 -5.35699734e-04 9.99849936e-01 2.54205777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4792541539999 meters 0.018362542376382428 Centerline is valid? [True, True] Translation: X:582.62, Y:3.99, Z:2.54 [[ 9.99252158e-01 -3.51404153e-02 -1.61330530e-02 5.82620983e+02] [ 3.51433836e-02 9.99382276e-01 -9.95635726e-05 3.98716895e+00] [ 1.61265859e-02 -4.67480955e-04 9.99869849e-01 2.54420340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.539254154 meters 0.016802824892433246 Centerline is valid? [True, True] Translation: X:582.68, Y:3.99, Z:2.55 [[ 9.99472785e-01 -2.91111314e-02 -1.43768880e-02 5.82681610e+02] [ 2.91128709e-02 9.99576127e-01 -8.83223458e-05 3.99171119e+00] [ 1.43733651e-02 -3.30276702e-04 9.99896643e-01 2.54580090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5992541539999 meters 0.015846317431248938 Centerline is valid? [True, True] Translation: X:582.74, Y:4.00, Z:2.55 [[ 9.99643849e-01 -2.28579192e-02 -1.37728141e-02 5.82741529e+02] [ 2.28589233e-02 9.99738697e-01 -8.45333321e-05 3.99603998e+00] [ 1.37711475e-02 -2.30328475e-04 9.99905147e-01 2.54653791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.659254154 meters 0.01516286903379046 Centerline is valid? [True, True] Translation: X:582.80, Y:4.00, Z:2.55 [[ 9.99700236e-01 -1.99477041e-02 -1.41960038e-02 5.82801981e+02] [ 1.99484775e-02 9.99801006e-01 -8.71307412e-05 3.99788694e+00] [ 1.41949169e-02 -1.96084039e-04 9.99899228e-01 2.54637943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7192541539999 meters 0.01534812561222799 Centerline is valid? [True, True] Translation: X:582.86, Y:3.99, Z:2.55 [[ 9.99684647e-01 -2.01962303e-02 -1.49237936e-02 5.82861947e+02] [ 2.01971070e-02 9.99796013e-01 -9.19847201e-05 3.99496625e+00] [ 1.49226071e-02 -2.09461743e-04 9.99888630e-01 2.54502981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.779254154 meters 0.016284895357871053 Centerline is valid? [True, True] Translation: X:582.92, Y:3.99, Z:2.54 [[ 9.99568136e-01 -2.43813494e-02 -1.64040292e-02 5.82921715e+02] [ 2.43829620e-02 9.99702686e-01 -1.01721026e-04 3.99006233e+00] [ 1.64016321e-02 -2.98301723e-04 9.99865440e-01 2.54393971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.839254154 meters 0.016525799714225246 Centerline is valid? [True, True] Translation: X:582.98, Y:3.99, Z:2.54 [[ 9.99465605e-01 -2.79321771e-02 -1.69793130e-02 5.82981200e+02] [ 2.79344062e-02 9.99609753e-01 -1.05918189e-04 3.98787794e+00] [ 1.69756454e-02 -3.68445440e-04 9.99855835e-01 2.54387613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.899254154 meters 0.019543668585948748 Centerline is valid? [True, True] Translation: X:583.04, Y:3.98, Z:2.54 [[ 9.99311368e-01 -3.37214715e-02 -1.54806966e-02 5.83040190e+02] [ 3.37240162e-02 9.99431179e-01 -9.67207990e-05 3.97993585e+00] [ 1.54751524e-02 -4.25417069e-04 9.99880162e-01 2.54318172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.959254154 meters 0.022489564769785957 Centerline is valid? [True, True] Translation: X:583.10, Y:3.97, Z:2.55 [[ 9.99066910e-01 -4.14891279e-02 -1.19984339e-02 5.83101188e+02] [ 4.14912179e-02 9.99138866e-01 -7.47887486e-05 3.97427096e+00] [ 1.19912046e-02 -4.23110671e-04 9.99928013e-01 2.54553996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.019254154 meters 0.025482074633165132 Centerline is valid? [True, True] Translation: X:583.16, Y:3.97, Z:2.55 [[ 9.98652846e-01 -5.10574317e-02 -9.25373866e-03 5.83162654e+02] [ 5.10590867e-02 9.98695632e-01 -5.74694376e-05 3.97173983e+00] [ 9.24460263e-03 -4.15095427e-04 9.99957182e-01 2.54726875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.079254154 meters 0.02721520055582693 Centerline is valid? [True, True] Translation: X:583.22, Y:3.97, Z:2.55 [[ 9.98063563e-01 -6.17768941e-02 -7.26219496e-03 5.83222886e+02] [ 6.17781970e-02 9.98089902e-01 -4.49838981e-05 3.96670828e+00] [ 7.25110242e-03 -4.03748522e-04 9.99973629e-01 2.54849571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.139254154 meters 0.031153885049908864 Centerline is valid? [True, True] Translation: X:583.28, Y:3.96, Z:2.55 [[ 9.97743527e-01 -6.67755130e-02 -6.99183550e-03 5.83282806e+02] [ 6.67768430e-02 9.97767935e-01 -4.33138913e-05 3.96232805e+00] [ 6.97912157e-03 -4.23676547e-04 9.99975556e-01 2.54815112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.199254154 meters 0.03144443985914169 Centerline is valid? [True, True] Translation: X:583.34, Y:3.96, Z:2.55 [[ 9.97467997e-01 -7.07450972e-02 -7.26125406e-03 5.83343101e+02] [ 7.07466360e-02 9.97494316e-01 -4.50351942e-05 3.96466169e+00] [ 7.24624567e-03 -4.68788133e-04 9.99973636e-01 2.54790897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.259254154 meters 0.03279041207208064 Centerline is valid? [True, True] Translation: X:583.40, Y:3.97, Z:2.55 [[ 9.97523522e-01 -6.98732031e-02 -8.03482099e-03 5.83404199e+02] [ 6.98750610e-02 9.97555750e-01 -4.96053664e-05 3.96659370e+00] [ 8.01864796e-03 -5.11951087e-04 9.99967719e-01 2.54646021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.319254154 meters 0.033151888583919306 Centerline is valid? [True, True] Translation: X:583.46, Y:3.97, Z:2.55 [[ 9.97967310e-01 -6.31815324e-02 -8.32718339e-03 5.83463336e+02] [ 6.31832971e-02 9.98001938e-01 -5.12362882e-05 3.97386237e+00] [ 8.31378234e-03 -4.75006762e-04 9.99965327e-01 2.54620341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.379254154 meters 0.024773871993176384 Centerline is valid? [True, True] Translation: X:583.52, Y:4.00, Z:2.55 [[ 9.98651504e-01 -5.12659972e-02 -8.18362072e-03 5.83523953e+02] [ 5.12673016e-02 9.98684966e-01 -5.04375787e-05 3.99561532e+00] [ 8.17544472e-03 -3.69182588e-04 9.99966512e-01 2.54732722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.439254154 meters 0.020195126517571122 Centerline is valid? [True, True] Translation: X:583.58, Y:4.01, Z:2.55 [[ 9.99222705e-01 -3.87370232e-02 -7.30948666e-03 5.83584241e+02] [ 3.87377289e-02 9.99249411e-01 -4.50563313e-05 4.01185140e+00] [ 7.30574560e-03 -2.38131604e-04 9.99973284e-01 2.54804709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.499254154 meters 0.017842177268286435 Centerline is valid? [True, True] Translation: X:583.64, Y:4.02, Z:2.55 [[ 9.99500472e-01 -3.09539854e-02 -6.37637226e-03 5.83644826e+02] [ 3.09543643e-02 9.99520798e-01 -3.92768713e-05 4.02225782e+00] [ 6.37453247e-03 -1.58119299e-04 9.99979670e-01 2.54896179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.559254154 meters 0.015525085914444571 Centerline is valid? [True, True] Translation: X:583.71, Y:4.03, Z:2.55 [[ 9.99757314e-01 -2.13799242e-02 -5.31145818e-03 5.83705526e+02] [ 2.13800525e-02 9.99771420e-01 -3.26344285e-05 4.03456135e+00] [ 5.31094180e-03 -8.09327462e-05 9.99985894e-01 2.55028249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.619254154 meters 0.014606717350684393 Centerline is valid? [True, True] Translation: X:583.77, Y:4.04, Z:2.55 [[ 9.99874393e-01 -1.46771741e-02 -5.98159578e-03 5.83767212e+02] [ 1.46772179e-02 9.99892283e-01 -3.65783966e-05 4.04238528e+00] [ 5.98148833e-03 -5.12193826e-05 9.99982109e-01 2.54965676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.679254154 meters 0.014359346219968443 Centerline is valid? [True, True] Translation: X:583.83, Y:4.05, Z:2.55 [[ 9.99910109e-01 -1.15634629e-02 -6.78678205e-03 5.83828518e+02] [ 1.15634499e-02 9.99933140e-01 -4.11480348e-05 4.04707866e+00] [ 6.78680410e-03 -3.73342784e-05 9.99976969e-01 2.54949515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.739254154 meters 0.014285947270058304 Centerline is valid? [True, True] Translation: X:583.89, Y:4.05, Z:2.55 [[ 9.99928864e-01 -9.61111369e-03 -7.06358753e-03 5.83889416e+02] [ 9.61105283e-03 9.99953812e-01 -4.25606036e-05 4.05028395e+00] [ 7.06367033e-03 -2.53309370e-05 9.99975052e-01 2.54968366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.799254154 meters 0.0143305560573644 Centerline is valid? [True, True] Translation: X:583.95, Y:4.05, Z:2.55 [[ 9.99907662e-01 -1.19430167e-02 -6.48318410e-03 5.83948918e+02] [ 1.19430151e-02 9.99928679e-01 -3.89536782e-05 4.04958521e+00] [ 6.48318694e-03 -3.84786846e-05 9.99978983e-01 2.55037099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.859254154 meters 0.015170413437089776 Centerline is valid? [True, True] Translation: X:584.01, Y:4.05, Z:2.55 [[ 9.99834597e-01 -1.75013096e-02 -4.94806418e-03 5.84009906e+02] [ 1.75013765e-02 9.99846839e-01 -2.97708414e-05 4.04620432e+00] [ 4.94782736e-03 -5.68320171e-05 9.99987758e-01 2.55164826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.919254154 meters 0.015467430373109185 Centerline is valid? [True, True] Translation: X:584.07, Y:4.04, Z:2.55 [[ 9.99794936e-01 -1.98089606e-02 -4.20615500e-03 5.84071937e+02] [ 1.98090299e-02 9.99803782e-01 -2.51890273e-05 4.04466166e+00] [ 4.20582864e-03 -5.81359883e-05 9.99991154e-01 2.55243595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9792541539999 meters 0.017626610392429232 Centerline is valid? [True, True] Translation: X:584.13, Y:4.04, Z:2.55 [[ 9.99583196e-01 -2.88074869e-02 -1.88776820e-03 5.84133412e+02] [ 2.88075170e-02 9.99584977e-01 -1.12549269e-05 4.03837907e+00] [ 1.88730896e-03 -4.31316787e-05 9.99998218e-01 2.55431955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.039254154 meters 0.022580016505596934 Centerline is valid? [True, True] Translation: X:584.19, Y:4.03, Z:2.56 [[ 9.99273950e-01 -3.80986898e-02 -2.50873725e-04 5.84192684e+02] [ 3.80986907e-02 9.99273981e-01 -1.41487798e-06 4.02797798e+00] [ 2.50745491e-04 -8.14410974e-06 9.99999969e-01 2.55590162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0992541539999 meters 0.027157868599609638 Centerline is valid? [True, True] Translation: X:584.25, Y:4.02, Z:2.56 [[ 9.98914953e-01 -4.65715857e-02 6.48278622e-05 5.84252788e+02] [ 4.65715858e-02 9.98914955e-01 3.57374674e-07 4.01908511e+00] [-6.47741644e-05 2.66214944e-06 9.99999998e-01 2.55586480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.159254154 meters 0.022916589694122552 Centerline is valid? [True, True] Translation: X:584.31, Y:4.02, Z:2.55 [[ 9.98707091e-01 -5.08325350e-02 4.47768954e-04 5.84313354e+02] [ 5.08325390e-02 9.98707191e-01 2.54499377e-06 4.02461486e+00] [-4.47319442e-04 2.02195295e-05 9.99999900e-01 2.55461103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2192541539999 meters 0.024520028562628065 Centerline is valid? [True, True] Translation: X:584.37, Y:4.02, Z:2.55 [[ 9.98605538e-01 -5.27832740e-02 9.51401199e-04 5.84374931e+02] [ 5.27832929e-02 9.98605990e-01 5.28391576e-06 4.02248255e+00] [-9.50353839e-04 4.49415406e-05 9.99999547e-01 2.55452507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.279254154 meters 0.02567765256777155 Centerline is valid? [True, True] Translation: X:584.44, Y:4.02, Z:2.56 [[ 9.98684894e-01 -5.12496122e-02 1.39957117e-03 5.84436331e+02] [ 5.12496522e-02 9.98685873e-01 7.28338343e-06 4.02342485e+00] [-1.39810523e-03 6.44537308e-05 9.99999021e-01 2.55518475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.339254154 meters 0.024380548764627485 Centerline is valid? [True, True] Translation: X:584.50, Y:4.03, Z:2.56 [[ 9.98874145e-01 -4.74256731e-02 1.11683540e-03 5.84497519e+02] [ 4.74256957e-02 9.98874769e-01 6.22835974e-06 4.02814116e+00] [-1.11587409e-03 4.67453486e-05 9.99999376e-01 2.55586941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.399254154 meters 0.020111491300168566 Centerline is valid? [True, True] Translation: X:584.56, Y:4.04, Z:2.56 [[ 9.99103941e-01 -4.23139369e-02 9.19176353e-04 5.84558126e+02] [ 4.23139501e-02 9.99104364e-01 5.08949627e-06 4.03811221e+00] [-9.18568462e-04 3.38090465e-05 9.99999578e-01 2.55572257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.459254154 meters 0.021261200562254324 Centerline is valid? [True, True] Translation: X:584.62, Y:4.04, Z:2.56 [[ 9.99268588e-01 -3.82347633e-02 6.26811399e-04 5.84618572e+02] [ 3.82347686e-02 9.99268784e-01 3.43237751e-06 4.03848740e+00] [-6.26484301e-04 2.05361218e-05 9.99999804e-01 2.55633594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.519254154 meters 0.01855082938052967 Centerline is valid? [True, True] Translation: X:584.68, Y:4.05, Z:2.55 [[ 9.99518829e-01 -3.09902344e-02 -1.30973073e-03 5.84679019e+02] [ 3.09902513e-02 9.99519687e-01 -7.34722068e-06 4.04626320e+00] [ 1.30932934e-03 -3.32451992e-05 9.99999142e-01 2.55464556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.579254154 meters 0.016886506204010283 Centerline is valid? [True, True] Translation: X:584.74, Y:4.06, Z:2.55 [[ 9.99745154e-01 -2.22264816e-02 -3.95104266e-03 5.84740087e+02] [ 2.22265675e-02 9.99752959e-01 -2.21725074e-05 4.05569181e+00] [ 3.95055941e-03 -6.56512597e-05 9.99992194e-01 2.55241260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.639254154 meters 0.014608934281329818 Centerline is valid? [True, True] Translation: X:584.80, Y:4.06, Z:2.55 [[ 9.99881767e-01 -1.45103041e-02 -5.08942492e-03 5.84801453e+02] [ 1.45103473e-02 9.99894719e-01 -2.84317350e-05 4.06250475e+00] [ 5.08930165e-03 -4.54209497e-05 9.99987048e-01 2.55193358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.699254154 meters 0.01416172468068532 Centerline is valid? [True, True] Translation: X:584.86, Y:4.07, Z:2.55 [[ 9.99936644e-01 -9.81479261e-03 -5.51160039e-03 5.84863330e+02] [ 9.81477338e-03 9.99951833e-01 -3.05376679e-05 4.06632303e+00] [ 5.51163464e-03 -2.35593756e-05 9.99984811e-01 2.55165869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.759254154 meters 0.015068788952208733 Centerline is valid? [True, True] Translation: X:584.92, Y:4.07, Z:2.55 [[ 9.99957641e-01 -4.01837829e-03 -8.28058630e-03 5.84924967e+02] [ 4.01814116e-03 9.99991926e-01 -4.52730180e-05 4.07001882e+00] [ 8.28070137e-03 1.19985356e-05 9.99965714e-01 2.54882841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.819254154 meters 0.01505674966505515 Centerline is valid? [True, True] Translation: X:584.98, Y:4.07, Z:2.55 [[ 9.99952298e-01 -1.95550777e-03 -9.56965253e-03 5.84983368e+02] [ 1.95508594e-03 9.99998087e-01 -5.34355334e-05 4.07006775e+00] [ 9.56973872e-03 3.47234914e-05 9.99954208e-01 2.54770050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.879254154 meters 0.014126458037522266 Centerline is valid? [True, True] Translation: X:585.04, Y:4.07, Z:2.55 [[ 9.99925031e-01 -4.33055199e-03 -1.14532935e-02 5.85042004e+02] [ 4.33008250e-03 9.99990623e-01 -6.57894512e-05 4.06574839e+00] [ 1.14534710e-02 1.61908134e-05 9.99934407e-01 2.54768702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.939254154 meters 0.014192722597638983 Centerline is valid? [True, True] Translation: X:585.10, Y:4.06, Z:2.54 [[ 9.99864207e-01 -6.67487766e-03 -1.50669781e-02 5.85099660e+02] [ 6.67431032e-03 9.99977723e-01 -8.79384350e-05 4.05962854e+00] [ 1.50672294e-02 -1.26351938e-05 9.99886483e-01 2.54492454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.999254154 meters 0.01621679391942585 Centerline is valid? [True, True] Translation: X:585.16, Y:4.06, Z:2.54 [[ 9.99815026e-01 -6.96676025e-03 -1.79269926e-02 5.85158101e+02] [ 6.96593349e-03 9.99975732e-01 -1.08562627e-04 4.05510550e+00] [ 1.79273139e-02 -1.63356922e-05 9.99839293e-01 2.54377131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.059254154 meters 0.014130049996159782 Centerline is valid? [True, True] Translation: X:585.22, Y:4.05, Z:2.54 [[ 9.99795672e-01 -7.49000809e-03 -1.87753699e-02 5.85217266e+02] [ 7.48910298e-03 9.99971949e-01 -1.18519230e-04 4.04771694e+00] [ 1.87757310e-02 -2.21156654e-05 9.99823720e-01 2.54355184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.119254154 meters 0.014161020988466876 Centerline is valid? [True, True] Translation: X:585.28, Y:4.04, Z:2.54 [[ 9.99774701e-01 -7.74531392e-03 -1.97625095e-02 5.85275657e+02] [ 7.74426032e-03 9.99970004e-01 -1.29844368e-04 4.03965522e+00] [ 1.97629223e-02 -2.32309030e-05 9.99804694e-01 2.54352378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.179254154 meters 0.014308605579295957 Centerline is valid? [True, True] Translation: X:585.33, Y:4.03, Z:2.54 [[ 9.99741308e-01 -9.56114042e-03 -2.06373721e-02 5.85334764e+02] [ 9.56026884e-03 9.99954290e-01 -1.40894822e-04 4.02955773e+00] [ 2.06377759e-02 -5.64404523e-05 9.99787017e-01 2.54357665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.239254154 meters 0.015033599130264724 Centerline is valid? [True, True] Translation: X:585.39, Y:4.02, Z:2.54 [[ 9.99699366e-01 -1.14544252e-02 -2.16788850e-02 5.85392203e+02] [ 1.14538496e-02 9.99934391e-01 -1.50723909e-04 4.02132416e+00] [ 2.16791891e-02 -9.76280916e-05 9.99764974e-01 2.54185668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.299254154 meters 0.015379645217421536 Centerline is valid? [True, True] Translation: X:585.45, Y:4.01, Z:2.54 [[ 9.99611907e-01 -1.62361511e-02 -2.26367451e-02 5.85451441e+02] [ 1.62367107e-02 9.99868163e-01 -1.59089801e-04 4.00808603e+00] [ 2.26363437e-02 -2.08518220e-04 9.99743743e-01 2.54129630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.359254154 meters 0.01680562631644997 Centerline is valid? [True, True] Translation: X:585.51, Y:4.00, Z:2.54 [[ 9.99517126e-01 -2.05822091e-02 -2.32784659e-02 5.85510322e+02] [ 2.05838613e-02 9.99788116e-01 -1.68662385e-04 3.99599305e+00] [ 2.32770050e-02 -3.10579771e-04 9.99729006e-01 2.54124172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.419254154 meters 0.015684576817793294 Centerline is valid? [True, True] Translation: X:585.57, Y:3.99, Z:2.54 [[ 9.99496624e-01 -2.14512927e-02 -2.33739146e-02 5.85568211e+02] [ 2.14531310e-02 9.99769840e-01 -1.72136353e-04 3.98574921e+00] [ 2.33722274e-02 -3.29393948e-04 9.99726778e-01 2.54176377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4792541539999 meters 0.014890266946451578 Centerline is valid? [True, True] Translation: X:585.63, Y:3.98, Z:2.54 [[ 9.99584430e-01 -1.71989924e-02 -2.31335584e-02 5.85626947e+02] [ 1.71995374e-02 9.99852062e-01 -1.75424943e-04 3.98286050e+00] [ 2.31331532e-02 -2.22534461e-04 9.99732368e-01 2.54386636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.539254154 meters 0.014496238751371019 Centerline is valid? [True, True] Translation: X:585.69, Y:3.98, Z:2.55 [[ 9.99711714e-01 -1.05101808e-02 -2.15876051e-02 5.85685851e+02] [ 1.05089812e-02 9.99944765e-01 -1.69014467e-04 3.98230289e+00] [ 2.15881890e-02 -5.78979937e-05 9.99766946e-01 2.54693829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5992541539999 meters 0.015039846515836997 Centerline is valid? [True, True] Translation: X:585.74, Y:3.98, Z:2.55 [[ 9.99755986e-01 -7.20825700e-03 -2.08808475e-02 5.85744149e+02] [ 7.20630286e-03 9.99974020e-01 -1.68829775e-04 3.98115466e+00] [ 2.08815220e-02 1.83148670e-05 9.99781957e-01 2.54989666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.659254154 meters 0.014491520553373135 Centerline is valid? [True, True] Translation: X:585.80, Y:3.98, Z:2.55 [[ 9.99769969e-01 -6.99824323e-03 -2.02739446e-02 5.85801696e+02] [ 6.99630599e-03 9.99975512e-01 -1.66481086e-04 3.97831849e+00] [ 2.02746132e-02 2.46000699e-05 9.99794449e-01 2.55028857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7192541539999 meters 0.017142911537096916 Centerline is valid? [True, True] Translation: X:585.86, Y:3.97, Z:2.55 [[ 9.99725598e-01 -1.00314963e-02 -2.11683140e-02 5.85860376e+02] [ 1.00300310e-02 9.99949683e-01 -1.75394129e-04 3.97211050e+00] [ 2.11690083e-02 -3.69728448e-05 9.99775911e-01 2.54958765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.779254154 meters 0.01451214528822022 Centerline is valid? [True, True] Translation: X:585.92, Y:3.97, Z:2.56 [[ 9.99691428e-01 -1.63614536e-02 -1.86909565e-02 5.85919676e+02] [ 1.63613934e-02 9.99866131e-01 -1.56152363e-04 3.96678046e+00] [ 1.86910092e-02 -1.49705913e-04 9.99825297e-01 2.55500581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.839254154 meters 0.016955736530967887 Centerline is valid? [True, True] Translation: X:585.98, Y:3.97, Z:2.56 [[ 9.99653324e-01 -1.76078487e-02 -1.95753879e-02 5.85978306e+02] [ 1.76079395e-02 9.99844954e-01 -1.67729250e-04 3.96632114e+00] [ 1.95753061e-02 -1.77011144e-04 9.99808370e-01 2.55552959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.899254154 meters 0.01550105712681501 Centerline is valid? [True, True] Translation: X:586.04, Y:3.96, Z:2.56 [[ 9.99562740e-01 -2.43441395e-02 -1.67836927e-02 5.86036556e+02] [ 2.43451208e-02 9.99703603e-01 -1.45874305e-04 3.96174937e+00] [ 1.67822692e-02 -2.62790506e-04 9.99859133e-01 2.55866970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.959254154 meters 0.018005475262293996 Centerline is valid? [True, True] Translation: X:586.09, Y:3.95, Z:2.56 [[ 9.99338280e-01 -3.22441293e-02 -1.68320883e-02 5.86094937e+02] [ 3.22462148e-02 9.99479945e-01 -1.47558429e-04 3.95470844e+00] [ 1.68280926e-02 -3.95310349e-04 9.99858319e-01 2.55788720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.019254154 meters 0.019973787651297915 Centerline is valid? [True, True] Translation: X:586.16, Y:3.95, Z:2.56 [[ 9.99053219e-01 -4.02445094e-02 -1.65240795e-02 5.86155479e+02] [ 4.02476074e-02 9.99189726e-01 -1.45160426e-04 3.95167280e+00] [ 1.65165324e-02 -5.20031672e-04 9.99863458e-01 2.55945500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.079254154 meters 0.02115571558847329 Centerline is valid? [True, True] Translation: X:586.22, Y:3.95, Z:2.56 [[ 9.98877973e-01 -4.45295225e-02 -1.61219315e-02 5.86216538e+02] [ 4.45330322e-02 9.99007902e-01 -1.41416643e-04 3.94935839e+00] [ 1.61122342e-02 -5.76700527e-04 9.99870023e-01 2.56033226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.139254154 meters 0.023506861087424395 Centerline is valid? [True, True] Translation: X:586.28, Y:3.95, Z:2.56 [[ 9.98755101e-01 -4.76935174e-02 -1.46142708e-02 5.86276921e+02] [ 4.76967432e-02 9.98861854e-01 -1.27938988e-04 3.94710830e+00] [ 1.46037395e-02 -5.69273404e-04 9.99893198e-01 2.56162755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.199254154 meters 0.022170744009552264 Centerline is valid? [True, True] Translation: X:586.34, Y:3.95, Z:2.56 [[ 9.98925215e-01 -4.42755742e-02 -1.37145001e-02 5.86338199e+02] [ 4.42780987e-02 9.99019237e-01 -1.19658369e-04 3.95230405e+00] [ 1.37063474e-02 -4.87722230e-04 9.99905945e-01 2.56316017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.259254154 meters 0.020485454180391844 Centerline is valid? [True, True] Translation: X:586.40, Y:3.96, Z:2.56 [[ 9.99121313e-01 -3.93939703e-02 -1.43079435e-02 5.86398973e+02] [ 3.93962228e-02 9.99223660e-01 -1.24499716e-04 3.95868766e+00] [ 1.43017402e-02 -4.39288609e-04 9.99897628e-01 2.56266808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.319254154 meters 0.01695697238027522 Centerline is valid? [True, True] Translation: X:586.46, Y:3.97, Z:2.56 [[ 9.99375834e-01 -3.23991237e-02 -1.40797283e-02 5.86459215e+02] [ 3.24006122e-02 9.99474955e-01 -1.22438065e-04 3.96766018e+00] [ 1.40763027e-02 -3.33830173e-04 9.99900868e-01 2.56331962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.379254154 meters 0.016071453992320506 Centerline is valid? [True, True] Translation: X:586.52, Y:3.97, Z:2.56 [[ 9.99468577e-01 -2.98768591e-02 -1.30359902e-02 5.86520113e+02] [ 2.98779196e-02 9.99553549e-01 -1.13430361e-04 3.97206874e+00] [ 1.30335593e-02 -2.76118187e-04 9.99915021e-01 2.56372497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.439254154 meters 0.017407291752309345 Centerline is valid? [True, True] Translation: X:586.58, Y:3.97, Z:2.56 [[ 9.99402352e-01 -3.18725328e-02 -1.33821001e-02 5.86580717e+02] [ 3.18738353e-02 9.99491893e-01 -1.15992396e-04 3.97148023e+00] [ 1.33789975e-02 -3.10615781e-04 9.99910449e-01 2.56179880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.499254154 meters 0.018245720380406238 Centerline is valid? [True, True] Translation: X:586.64, Y:3.97, Z:2.56 [[ 9.99330366e-01 -3.41401266e-02 -1.31632664e-02 5.86642358e+02] [ 3.41415906e-02 9.99416999e-01 -1.13551430e-04 3.96935543e+00] [ 1.31594689e-02 -3.35939460e-04 9.99913354e-01 2.56043668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.559254154 meters 0.018134020013290862 Centerline is valid? [True, True] Translation: X:586.70, Y:3.97, Z:2.56 [[ 9.99305755e-01 -3.56150690e-02 -1.09349988e-02 5.86703521e+02] [ 3.56161715e-02 9.99365538e-01 -9.39640705e-05 3.96919569e+00] [ 1.09314075e-02 -2.95563955e-04 9.99940207e-01 2.56057321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.619254154 meters 0.017808877214255784 Centerline is valid? [True, True] Translation: X:586.76, Y:3.97, Z:2.56 [[ 9.99378224e-01 -3.41551795e-02 -8.75153601e-03 5.86764724e+02] [ 3.41558322e-02 9.99416517e-01 -7.49176596e-05 3.97102182e+00] [ 8.74898846e-03 -2.24044918e-04 9.99961702e-01 2.56044772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.679254154 meters 0.016702275480833587 Centerline is valid? [True, True] Translation: X:586.83, Y:3.97, Z:2.56 [[ 9.99483018e-01 -3.14107492e-02 -6.86011603e-03 5.86826268e+02] [ 3.14110871e-02 9.99506548e-01 -5.85120155e-05 3.97357225e+00] [ 6.85856880e-03 -1.57001936e-04 9.99976467e-01 2.55996326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.739254154 meters 0.01658729145930546 Centerline is valid? [True, True] Translation: X:586.89, Y:3.97, Z:2.56 [[ 9.99579852e-01 -2.85083386e-02 -5.23390372e-03 5.86887487e+02] [ 2.85084968e-02 9.99593549e-01 -4.44051276e-05 3.97436744e+00] [ 5.23304231e-03 -1.04824256e-04 9.99986302e-01 2.55972592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.799254154 meters 0.015718864484003774 Centerline is valid? [True, True] Translation: X:586.95, Y:3.98, Z:2.56 [[ 9.99714351e-01 -2.36876613e-02 -3.17987758e-03 5.86947786e+02] [ 2.36876961e-02 9.99719407e-01 -2.67330357e-05 3.97640614e+00] [ 3.17961857e-03 -4.85985743e-05 9.99994944e-01 2.56021826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.859254154 meters 0.014483848809749306 Centerline is valid? [True, True] Translation: X:587.01, Y:3.98, Z:2.56 [[ 9.99829014e-01 -1.81826942e-02 -3.36636527e-03 5.87009459e+02] [ 1.81827034e-02 9.99834681e-01 -2.78812769e-05 3.98077645e+00] [ 3.36631570e-03 -3.33331115e-05 9.99994333e-01 2.55878362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.919254154 meters 0.014409364137387564 Centerline is valid? [True, True] Translation: X:587.07, Y:3.98, Z:2.56 [[ 9.99867235e-01 -1.57220830e-02 -4.28114594e-03 5.87071272e+02] [ 1.57220762e-02 9.99876400e-01 -3.52593447e-05 3.98221665e+00] [ 4.28117114e-03 -3.20538391e-05 9.99990835e-01 2.55769444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9792541539999 meters 0.01592407495130557 Centerline is valid? [True, True] Translation: X:587.13, Y:3.98, Z:2.56 [[ 9.99868342e-01 -1.49179154e-02 -6.38391855e-03 5.87132504e+02] [ 1.49178867e-02 9.99888721e-01 -5.21080404e-05 3.98116398e+00] [ 6.38398550e-03 -4.31333938e-05 9.99979621e-01 2.55525926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.039254154 meters 0.014749959614909217 Centerline is valid? [True, True] Translation: X:587.19, Y:3.98, Z:2.55 [[ 9.99817207e-01 -1.78045460e-02 -6.96777239e-03 5.87194052e+02] [ 1.78045845e-02 9.99841484e-01 -5.65197675e-05 3.97877169e+00] [ 6.96767419e-03 -6.75488559e-05 9.99975723e-01 2.55474283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0992541539999 meters 0.016009855147965317 Centerline is valid? [True, True] Translation: X:587.25, Y:3.97, Z:2.55 [[ 9.99705532e-01 -2.29850015e-02 -7.78070461e-03 5.87254905e+02] [ 2.29852109e-02 9.99735803e-01 -6.25198253e-05 3.97352026e+00] [ 7.78008599e-03 -1.16339721e-04 9.99969728e-01 2.55435920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.159254154 meters 0.016401796870138666 Centerline is valid? [True, True] Translation: X:587.32, Y:3.97, Z:2.56 [[ 9.99598919e-01 -2.74923575e-02 -6.79500168e-03 5.87316509e+02] [ 2.74926262e-02 9.99622005e-01 -5.38897805e-05 3.97113278e+00] [ 6.79391476e-03 -1.32944275e-04 9.99976912e-01 2.55505594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2192541539999 meters 0.018785428143277938 Centerline is valid? [True, True] Translation: X:587.38, Y:3.96, Z:2.56 [[ 9.99367203e-01 -3.50623714e-02 -5.98528201e-03 5.87376251e+02] [ 3.50627185e-02 9.99385113e-01 -4.69619828e-05 3.96446304e+00] [ 5.98324833e-03 -1.62927993e-04 9.99982087e-01 2.55672981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.279254154 meters 0.020841435050862733 Centerline is valid? [True, True] Translation: X:587.44, Y:3.96, Z:2.56 [[ 9.99035700e-01 -4.35486568e-02 -5.58439454e-03 5.87436412e+02] [ 4.35490932e-02 9.99051287e-01 -4.34835407e-05 3.95957595e+00] [ 5.58099020e-03 -1.99753709e-04 9.99984406e-01 2.55812373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.339254154 meters 0.023482106176819114 Centerline is valid? [True, True] Translation: X:587.50, Y:3.95, Z:2.56 [[ 9.98757734e-01 -4.94804463e-02 -5.88845402e-03 5.87497038e+02] [ 4.94810347e-02 9.98775062e-01 -4.58061503e-05 3.95432910e+00] [ 5.88350754e-03 -2.45617551e-04 9.99982662e-01 2.55873660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.399254154 meters 0.02726868625472755 Centerline is valid? [True, True] Translation: X:587.56, Y:3.95, Z:2.56 [[ 9.98246661e-01 -5.88521072e-02 -6.32712938e-03 5.87557261e+02] [ 5.88529748e-02 9.98266660e-01 -4.91431332e-05 3.94721486e+00] [ 6.31905450e-03 -3.23313417e-04 9.99979982e-01 2.55885885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.459254154 meters 0.030582801538560765 Centerline is valid? [True, True] Translation: X:587.62, Y:3.94, Z:2.56 [[ 9.97791402e-01 -6.60434933e-02 -7.11168041e-03 5.87617844e+02] [ 6.60447720e-02 9.97816659e-01 -5.51529026e-05 3.94260204e+00] [ 7.09979568e-03 -4.14658219e-04 9.99974710e-01 2.55883434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.519254154 meters 0.03140273287516725 Centerline is valid? [True, True] Translation: X:587.68, Y:3.94, Z:2.56 [[ 9.97640573e-01 -6.81624307e-02 -8.19572019e-03 5.87678494e+02] [ 6.81642034e-02 9.97674114e-01 -6.31614796e-05 3.94395627e+00] [ 8.18096311e-03 -4.95642283e-04 9.99966413e-01 2.55874696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.579254154 meters 0.028859898777305062 Centerline is valid? [True, True] Translation: X:587.74, Y:3.95, Z:2.56 [[ 9.97726108e-01 -6.67389228e-02 -9.40897681e-03 5.87741193e+02] [ 6.67412031e-02 9.97770318e-01 -7.17748948e-05 3.95243018e+00] [ 9.39278795e-03 -5.56354746e-04 9.99955732e-01 2.55876367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.639254154 meters 0.027818728970950456 Centerline is valid? [True, True] Translation: X:587.80, Y:3.96, Z:2.56 [[ 9.98122280e-01 -6.03576902e-02 -1.04337312e-02 5.87800640e+02] [ 6.03601502e-02 9.98176661e-01 -7.92504458e-05 3.96144793e+00] [ 1.04194903e-02 -5.50679947e-04 9.99945564e-01 2.55872920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.699254154 meters 0.02658733042762287 Centerline is valid? [True, True] Translation: X:587.86, Y:3.97, Z:2.56 [[ 9.98372754e-01 -5.60093294e-02 -1.07144141e-02 5.87861465e+02] [ 5.60116740e-02 9.98430111e-01 -8.13540550e-05 3.96817707e+00] [ 1.07021503e-02 -5.18910601e-04 9.99942596e-01 2.55902382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.759254154 meters 0.02410693142085263 Centerline is valid? [True, True] Translation: X:587.92, Y:3.98, Z:2.56 [[ 9.98522650e-01 -5.30798297e-02 -1.16210858e-02 5.87923161e+02] [ 5.30823970e-02 9.98590132e-01 -8.76320189e-05 3.97676274e+00] [ 1.16093531e-02 -5.29372535e-04 9.99932469e-01 2.55947238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.819254154 meters 0.02328576855150158 Centerline is valid? [True, True] Translation: X:587.99, Y:3.98, Z:2.56 [[ 9.98620219e-01 -5.09178197e-02 -1.28465674e-02 5.87985118e+02] [ 5.09207911e-02 9.98702690e-01 -9.59013876e-05 3.98282022e+00] [ 1.28347845e-02 -5.58388308e-04 9.99917475e-01 2.55847150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.879254154 meters 0.024479799500184012 Centerline is valid? [True, True] Translation: X:588.05, Y:3.99, Z:2.56 [[ 9.98710204e-01 -4.88303038e-02 -1.39115214e-02 5.88046820e+02] [ 4.88336006e-02 9.98806923e-01 -1.02810567e-04 3.98662955e+00] [ 1.38999442e-02 -5.76671719e-04 9.99903225e-01 2.55864615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.939254154 meters 0.021125993773479908 Centerline is valid? [True, True] Translation: X:588.11, Y:4.00, Z:2.56 [[ 9.98884469e-01 -4.52266033e-02 -1.35783258e-02 5.88108067e+02] [ 4.52294205e-02 9.98976621e-01 -9.96948293e-05 3.99684032e+00] [ 1.35689389e-02 -5.14556190e-04 9.99907805e-01 2.56042507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.999254154 meters 0.020513160447047665 Centerline is valid? [True, True] Translation: X:588.17, Y:4.00, Z:2.56 [[ 9.99116484e-01 -3.99200290e-02 -1.31393191e-02 5.88168115e+02] [ 3.99222106e-02 9.99202786e-01 -9.63130846e-05 4.00313054e+00] [ 1.31326891e-02 -4.28322676e-04 9.99913671e-01 2.56039221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.059254154 meters 0.018440371713688314 Centerline is valid? [True, True] Translation: X:588.23, Y:4.01, Z:2.56 [[ 9.99271117e-01 -3.57355267e-02 -1.34241124e-02 5.88229679e+02] [ 3.57374333e-02 9.99361209e-01 -9.79009684e-05 4.01056743e+00] [ 1.34190358e-02 -3.81913714e-04 9.99909888e-01 2.56096435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.119254154 meters 0.018090233680536246 Centerline is valid? [True, True] Translation: X:588.29, Y:4.02, Z:2.56 [[ 9.99466195e-01 -2.93208663e-02 -1.44087737e-02 5.88289940e+02] [ 2.93224155e-02 9.99570000e-01 -1.03773001e-04 4.01667252e+00] [ 1.44056206e-02 -3.18782443e-04 9.99896183e-01 2.56019507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.179254154 meters 0.017034270843558245 Centerline is valid? [True, True] Translation: X:588.35, Y:4.02, Z:2.56 [[ 9.99565516e-01 -2.45498237e-02 -1.63121095e-02 5.88350538e+02] [ 2.45511828e-02 9.99698567e-01 -1.16959492e-04 4.02343710e+00] [ 1.63100638e-02 -2.83572907e-04 9.99866942e-01 2.56011678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.239254154 meters 0.01657065014306284 Centerline is valid? [True, True] Translation: X:588.41, Y:4.03, Z:2.56 [[ 9.99597895e-01 -2.23122072e-02 -1.74989494e-02 5.88410160e+02] [ 2.23134204e-02 9.99751017e-01 -1.25939127e-04 4.02683571e+00] [ 1.74974025e-02 -2.64572928e-04 9.99846874e-01 2.56032504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.299254154 meters 0.016571928970776587 Centerline is valid? [True, True] Translation: X:588.47, Y:4.03, Z:2.56 [[ 9.99579768e-01 -2.33648447e-02 -1.71572617e-02 5.88468485e+02] [ 2.33661088e-02 9.99726967e-01 -1.26808706e-04 4.02660255e+00] [ 1.71555400e-02 -2.74143027e-04 9.99852795e-01 2.56074684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.359254154 meters 0.017200075304376766 Centerline is valid? [True, True] Translation: X:588.53, Y:4.02, Z:2.56 [[ 9.99483928e-01 -2.77402398e-02 -1.61974335e-02 5.88527571e+02] [ 2.77419136e-02 9.99615112e-01 -1.21384093e-04 4.02346557e+00] [ 1.61945665e-02 -3.28026350e-04 9.99868806e-01 2.56197685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.419254154 meters 0.019475249460899995 Centerline is valid? [True, True] Translation: X:588.59, Y:4.02, Z:2.56 [[ 9.99248658e-01 -3.49866735e-02 -1.66749054e-02 5.88588018e+02] [ 3.49894515e-02 9.99387674e-01 -1.25206440e-04 4.01689456e+00] [ 1.66690755e-02 -4.58333429e-04 9.99860956e-01 2.56189185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4792541539999 meters 0.019969858206557382 Centerline is valid? [True, True] Translation: X:588.65, Y:4.02, Z:2.56 [[ 9.99038923e-01 -4.01620362e-02 -1.75568197e-02 5.88649422e+02] [ 4.01659226e-02 9.99193015e-01 -1.31346303e-04 4.01526328e+00] [ 1.75479268e-02 -5.73965794e-04 9.99845859e-01 2.56247340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.539254154 meters 0.021940676481822824 Centerline is valid? [True, True] Translation: X:588.71, Y:4.01, Z:2.56 [[ 9.98725245e-01 -4.72978748e-02 -1.76294250e-02 5.88710037e+02] [ 4.73029070e-02 9.98880582e-01 -1.31676701e-04 4.00948845e+00] [ 1.76159184e-02 -7.02414206e-04 9.99844581e-01 2.56290373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5992541539999 meters 0.024730331439496142 Centerline is valid? [True, True] Translation: X:588.77, Y:4.00, Z:2.56 [[ 9.98391686e-01 -5.39766555e-02 -1.73367270e-02 5.88771117e+02] [ 5.39825277e-02 9.98541872e-01 -1.29426465e-04 4.00326053e+00] [ 1.73184338e-02 -8.06662038e-04 9.99849699e-01 2.56295689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.659254154 meters 0.025985718290738126 Centerline is valid? [True, True] Translation: X:588.83, Y:4.00, Z:2.56 [[ 9.98219652e-01 -5.72803147e-02 -1.66280179e-02 5.88831923e+02] [ 5.72861831e-02 9.98357791e-01 -1.23568164e-04 3.99970435e+00] [ 1.66077892e-02 -8.29207505e-04 9.99861737e-01 2.56335641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7192541539999 meters 0.026684040074579488 Centerline is valid? [True, True] Translation: X:588.89, Y:4.00, Z:2.56 [[ 9.98276502e-01 -5.63152355e-02 -1.65112208e-02 5.88893039e+02] [ 5.63209040e-02 9.98412711e-01 -1.21845985e-04 3.99893332e+00] [ 1.64918745e-02 -8.08290896e-04 9.99863673e-01 2.56370877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.779254154 meters 0.0243378230437598 Centerline is valid? [True, True] Translation: X:588.95, Y:4.00, Z:2.57 [[ 9.98571164e-01 -5.12521949e-02 -1.51275236e-02 5.88953657e+02] [ 5.12563784e-02 9.98685522e-01 -1.11293564e-04 4.00360939e+00] [ 1.51133428e-02 -6.64247528e-04 9.99885566e-01 2.56607789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.839254154 meters 0.021284629121624862 Centerline is valid? [True, True] Translation: X:589.01, Y:4.01, Z:2.57 [[ 9.99027442e-01 -4.21294909e-02 -1.30106368e-02 5.89014650e+02] [ 4.21318150e-02 9.99112056e-01 -9.55316756e-05 4.01106213e+00] [ 1.30031088e-02 -4.52722977e-04 9.99915354e-01 2.56865529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.899254154 meters 0.018651453721103294 Centerline is valid? [True, True] Translation: X:589.07, Y:4.02, Z:2.57 [[ 9.99390928e-01 -3.23788507e-02 -1.30147382e-02 5.89073664e+02] [ 3.23803490e-02 9.99475614e-01 -9.56314509e-05 4.01803349e+00] [ 1.30110099e-02 -3.25848561e-04 9.99915300e-01 2.56839755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.959254154 meters 0.017475930472200904 Centerline is valid? [True, True] Translation: X:589.14, Y:4.02, Z:2.57 [[ 9.99531419e-01 -2.75768972e-02 -1.32836981e-02 5.89135241e+02] [ 2.75780373e-02 9.99619649e-01 -9.73741918e-05 4.02229451e+00] [ 1.32813309e-02 -2.69009759e-04 9.99911763e-01 2.56794260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.019254154 meters 0.01619337445311035 Centerline is valid? [True, True] Translation: X:589.20, Y:4.03, Z:2.57 [[ 9.99648986e-01 -2.18264283e-02 -1.50170720e-02 5.89195872e+02] [ 2.18272518e-02 9.99761751e-01 -1.09078939e-04 4.02558715e+00] [ 1.50158750e-02 -2.18740761e-04 9.99887231e-01 2.56635464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.079254154 meters 0.015470936228126385 Centerline is valid? [True, True] Translation: X:589.26, Y:4.03, Z:2.57 [[ 9.99716261e-01 -1.79906868e-02 -1.56119424e-02 5.89255775e+02] [ 1.79911087e-02 9.99838140e-01 -1.13430535e-04 4.02770548e+00] [ 1.56114561e-02 -1.67477803e-04 9.99878120e-01 2.56612916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.139254154 meters 0.014968688073098478 Centerline is valid? [True, True] Translation: X:589.32, Y:4.03, Z:2.57 [[ 9.99763636e-01 -1.68721693e-02 -1.37113490e-02 5.89315002e+02] [ 1.68723578e-02 9.99857646e-01 -1.01938103e-04 4.02877302e+00] [ 1.37111170e-02 -1.29428777e-04 9.99905990e-01 2.56822505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.199254154 meters 0.01574000193330831 Centerline is valid? [True, True] Translation: X:589.37, Y:4.03, Z:2.57 [[ 9.99786929e-01 -1.80155779e-02 -1.00765264e-02 5.89373964e+02] [ 1.80157156e-02 9.99837701e-01 -7.71085225e-05 4.02598362e+00] [ 1.00762801e-02 -1.04443741e-04 9.99949228e-01 2.57031590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.259254154 meters 0.015712473268537103 Centerline is valid? [True, True] Translation: X:589.43, Y:4.02, Z:2.57 [[ 9.99704279e-01 -2.29082898e-02 -8.15869244e-03 5.89434487e+02] [ 2.29085356e-02 9.99737563e-01 -6.33340357e-05 4.01925651e+00] [ 8.15800217e-03 -1.23588390e-04 9.99966715e-01 2.57046679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.319254154 meters 0.016579917414167613 Centerline is valid? [True, True] Translation: X:589.50, Y:4.01, Z:2.57 [[ 9.99578076e-01 -2.81861200e-02 -7.01521071e-03 5.89496431e+02] [ 2.81864331e-02 9.99602682e-01 -5.42647385e-05 4.01455903e+00] [ 7.01395295e-03 -1.43491924e-04 9.99975392e-01 2.57079107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.379254154 meters 0.021055907291783173 Centerline is valid? [True, True] Translation: X:589.56, Y:4.01, Z:2.57 [[ 9.99331239e-01 -3.59627686e-02 -6.61470024e-03 5.89557612e+02] [ 3.59632194e-02 9.99353113e-01 -5.08196787e-05 4.00606278e+00] [ 6.61224889e-03 -1.87100223e-04 9.99978121e-01 2.57086853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.439254154 meters 0.02028407765004141 Centerline is valid? [True, True] Translation: X:589.62, Y:4.00, Z:2.57 [[ 9.99019435e-01 -4.35413555e-02 -8.01992236e-03 5.89618546e+02] [ 4.35422630e-02 9.99051584e-01 -6.14973551e-05 4.00030441e+00] [ 8.01499381e-03 -2.87768516e-04 9.99967838e-01 2.56887643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.499254154 meters 0.022385692598175563 Centerline is valid? [True, True] Translation: X:589.68, Y:4.00, Z:2.57 [[ 9.98843896e-01 -4.73078104e-02 -8.53480705e-03 5.89678609e+02] [ 4.73089756e-02 9.98880301e-01 -6.54202885e-05 3.99595385e+00] [ 8.52834553e-03 -3.38428323e-04 9.99963576e-01 2.56852147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.559254154 meters 0.022299341319607167 Centerline is valid? [True, True] Translation: X:589.74, Y:4.00, Z:2.57 [[ 9.98857147e-01 -4.70488474e-02 -8.41456363e-03 5.89740755e+02] [ 4.70499733e-02 9.98892535e-01 -6.42057711e-05 3.99701360e+00] [ 8.40826560e-03 -3.31772601e-04 9.99964595e-01 2.56921469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.619254154 meters 0.022753239159182526 Centerline is valid? [True, True] Translation: X:589.80, Y:4.00, Z:2.57 [[ 9.98900964e-01 -4.61486519e-02 -8.19553385e-03 5.89802533e+02] [ 4.61496945e-02 9.98934533e-01 -6.19491578e-05 3.99718020e+00] [ 8.18966065e-03 -3.16340310e-04 9.99966414e-01 2.56926249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.679254154 meters 0.021168903677501877 Centerline is valid? [True, True] Translation: X:589.86, Y:4.00, Z:2.57 [[ 9.99109672e-01 -4.13303896e-02 -8.46531557e-03 5.89863673e+02] [ 4.13313326e-02 9.99145493e-01 -6.35891034e-05 4.00320085e+00] [ 8.46071006e-03 -2.86350285e-04 9.99964167e-01 2.56982431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.739254154 meters 0.020211056937897074 Centerline is valid? [True, True] Translation: X:589.93, Y:4.01, Z:2.57 [[ 9.99264697e-01 -3.73590821e-02 -8.62344147e-03 5.89925169e+02] [ 3.73599150e-02 9.99301873e-01 -6.45465155e-05 4.00904163e+00] [ 8.61983261e-03 -2.57671986e-04 9.99962815e-01 2.56997194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.799254154 meters 0.02046509257056541 Centerline is valid? [True, True] Translation: X:589.99, Y:4.01, Z:2.57 [[ 9.99288321e-01 -3.63774628e-02 -9.97654228e-03 5.89985909e+02] [ 3.63785334e-02 9.99338079e-01 -7.42014571e-05 4.01140057e+00] [ 9.97263786e-03 -2.88783327e-04 9.99950230e-01 2.56835018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.859254154 meters 0.020868801152934272 Centerline is valid? [True, True] Translation: X:590.05, Y:4.01, Z:2.57 [[ 9.99267837e-01 -3.66090431e-02 -1.11161077e-02 5.90048371e+02] [ 3.66103945e-02 9.99329611e-01 -8.19588603e-05 4.01231550e+00] [ 1.11116560e-02 -3.25066236e-04 9.99938211e-01 2.56776102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.919254154 meters 0.02081222452005933 Centerline is valid? [True, True] Translation: X:590.11, Y:4.02, Z:2.57 [[ 9.99279909e-01 -3.59274113e-02 -1.22018320e-02 5.90110522e+02] [ 3.59289994e-02 9.99354341e-01 -8.90995892e-05 4.01592217e+00] [ 1.21971549e-02 -3.49364184e-04 9.99925551e-01 2.56777028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9792541539999 meters 0.020235062683868914 Centerline is valid? [True, True] Translation: X:590.17, Y:4.02, Z:2.57 [[ 9.99367448e-01 -3.34001411e-02 -1.22120276e-02 5.90171995e+02] [ 3.34015502e-02 9.99442009e-01 -8.86114037e-05 4.01975743e+00] [ 1.22081730e-02 -3.19345299e-04 9.99925426e-01 2.56833421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.039254154 meters 0.017841721086211782 Centerline is valid? [True, True] Translation: X:590.23, Y:4.03, Z:2.57 [[ 9.99582250e-01 -2.61713200e-02 -1.22632740e-02 5.90232481e+02] [ 2.61721989e-02 9.99657445e-01 -8.88349776e-05 4.02854442e+00] [ 1.22613981e-02 -2.32158979e-04 9.99924799e-01 2.56935037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0992541539999 meters 0.01540608907534613 Centerline is valid? [True, True] Translation: X:590.29, Y:4.04, Z:2.57 [[ 9.99754500e-01 -1.88120371e-02 -1.17067282e-02 5.90293430e+02] [ 1.88123351e-02 9.99823029e-01 -8.46760510e-05 4.03846705e+00] [ 1.17062494e-02 -1.35575631e-04 9.99931470e-01 2.57064908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.159254154 meters 0.015286523935106494 Centerline is valid? [True, True] Translation: X:590.35, Y:4.04, Z:2.57 [[ 9.99803743e-01 -1.60041104e-02 -1.16766802e-02 5.90352865e+02] [ 1.60042148e-02 9.99871921e-01 -8.45068555e-05 4.04101614e+00] [ 1.16765371e-02 -1.02385828e-04 9.99931822e-01 2.57014179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2192541539999 meters 0.015158536358226364 Centerline is valid? [True, True] Translation: X:590.41, Y:4.04, Z:2.57 [[ 9.99799428e-01 -1.64037420e-02 -1.14900354e-02 5.90412787e+02] [ 1.64038659e-02 9.99865444e-01 -8.34687763e-05 4.04287041e+00] [ 1.14898585e-02 -1.05028965e-04 9.99933984e-01 2.57071571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.279254154 meters 0.016183859250194117 Centerline is valid? [True, True] Translation: X:590.47, Y:4.04, Z:2.57 [[ 9.99714023e-01 -2.04940560e-02 -1.23233596e-02 5.90472917e+02] [ 2.04945056e-02 9.99789962e-01 -8.98131727e-05 4.03961520e+00] [ 1.23226119e-02 -1.62773675e-04 9.99924060e-01 2.57003281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.339254154 meters 0.017091533063681812 Centerline is valid? [True, True] Translation: X:590.53, Y:4.04, Z:2.57 [[ 9.99621462e-01 -2.46329601e-02 -1.22536004e-02 5.90533707e+02] [ 2.46337146e-02 9.99696540e-01 -8.93776433e-05 4.03623885e+00] [ 1.22520835e-02 -2.12507883e-04 9.99924918e-01 2.56949148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.399254154 meters 0.019679103549553538 Centerline is valid? [True, True] Translation: X:590.59, Y:4.03, Z:2.57 [[ 9.99449951e-01 -3.10432367e-02 -1.16667269e-02 5.90594624e+02] [ 3.10443585e-02 9.99518004e-01 -8.49789296e-05 4.03063685e+00] [ 1.16637416e-02 -2.77253865e-04 9.99931938e-01 2.56965984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.459254154 meters 0.022331415781399425 Centerline is valid? [True, True] Translation: X:590.66, Y:4.03, Z:2.57 [[ 9.99288979e-01 -3.59987963e-02 -1.12082053e-02 5.90656270e+02] [ 3.60001462e-02 9.99351781e-01 -8.13518459e-05 4.02641627e+00] [ 1.12038685e-02 -3.22203026e-04 9.99937183e-01 2.57041720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.519254154 meters 0.0256847568475782 Centerline is valid? [True, True] Translation: X:590.72, Y:4.02, Z:2.57 [[ 9.99123887e-01 -4.05673702e-02 -1.02833130e-02 5.90716250e+02] [ 4.05687495e-02 9.99176747e-01 -7.45090999e-05 4.02185151e+00] [ 1.02778699e-02 -3.42737328e-04 9.99947123e-01 2.57065575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.579254154 meters 0.029103002857576755 Centerline is valid? [True, True] Translation: X:590.78, Y:4.02, Z:2.57 [[ 9.98911502e-01 -4.55255906e-02 -1.01602667e-02 5.90777200e+02] [ 4.55271942e-02 9.98963097e-01 -7.35275767e-05 4.01736229e+00] [ 1.01530788e-02 -3.89120891e-04 9.99948380e-01 2.57049210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.639254154 meters 0.03641790136203221 Centerline is valid? [True, True] Translation: X:590.84, Y:4.01, Z:2.57 [[ 9.98431302e-01 -5.51604544e-02 -9.60513178e-03 5.90837452e+02] [ 5.51623328e-02 9.98477397e-01 -6.94583710e-05 4.00747815e+00] [ 9.59433834e-03 -4.60492064e-04 9.99953867e-01 2.57005024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.699254154 meters 0.041796843817112066 Centerline is valid? [True, True] Translation: X:590.90, Y:4.00, Z:2.57 [[ 9.98073962e-01 -6.13306443e-02 -9.32303264e-03 5.90898735e+02] [ 6.13326835e-02 9.98117377e-01 -6.72956261e-05 4.00114926e+00] [ 9.30960817e-03 -5.04640598e-04 9.99956537e-01 2.56983110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.759254154 meters 0.04711786495947855 Centerline is valid? [True, True] Translation: X:590.96, Y:4.00, Z:2.57 [[ 9.97725494e-01 -6.66190016e-02 -1.02833235e-02 5.90958894e+02] [ 6.66217642e-02 9.97778300e-01 -7.40498464e-05 3.99741592e+00] [ 1.02654101e-02 -6.11211733e-04 9.99947122e-01 2.56927531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.819254154 meters 0.03313148509557896 Centerline is valid? [True, True] Translation: X:591.02, Y:4.02, Z:2.57 [[ 9.97821768e-01 -6.52127876e-02 -9.95043954e-03 5.91020614e+02] [ 6.52153087e-02 9.97871213e-01 -7.12362810e-05 4.02024252e+00] [ 9.93390269e-03 -5.77839874e-04 9.99950491e-01 2.57195772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.879254154 meters 0.028460000793348927 Centerline is valid? [True, True] Translation: X:591.08, Y:4.03, Z:2.57 [[ 9.98146296e-01 -5.99306827e-02 -1.05964184e-02 5.91081183e+02] [ 5.99332486e-02 9.98202384e-01 -7.55252483e-05 4.03333497e+00] [ 1.05818964e-02 -5.59692533e-04 9.99943854e-01 2.57318612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.939254154 meters 0.026145797463183344 Centerline is valid? [True, True] Translation: X:591.14, Y:4.04, Z:2.57 [[ 9.98406982e-01 -5.54385564e-02 -1.04911528e-02 5.91142459e+02] [ 5.54408253e-02 9.98461972e-01 -7.46571524e-05 4.04137046e+00] [ 1.04791560e-02 -5.07099947e-04 9.99944964e-01 2.57392915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.999254154 meters 0.02474701579976823 Centerline is valid? [True, True] Translation: X:591.20, Y:4.05, Z:2.57 [[ 9.98783537e-01 -4.83826540e-02 -9.51653322e-03 5.91201492e+02] [ 4.83842009e-02 9.98828796e-01 -6.77420393e-05 4.05052188e+00] [ 9.50866496e-03 -3.92790222e-04 9.99954714e-01 2.57478469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.059254154 meters 0.02247889177465096 Centerline is valid? [True, True] Translation: X:591.26, Y:4.06, Z:2.58 [[ 9.99138932e-01 -4.07568411e-02 -7.76369859e-03 5.91260544e+02] [ 4.07576397e-02 9.99169061e-01 -5.53861341e-05 4.06058540e+00] [ 7.75950479e-03 -2.61091587e-04 9.99969861e-01 2.57619749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.119254154 meters 0.020129433066130457 Centerline is valid? [True, True] Translation: X:591.32, Y:4.07, Z:2.58 [[ 9.99357937e-01 -3.50846806e-02 -7.26494837e-03 5.91321422e+02] [ 3.50852300e-02 9.99384322e-01 -5.18482545e-05 4.06884122e+00] [ 7.26229458e-03 -2.03077420e-04 9.99973609e-01 2.57721771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.179254154 meters 0.01629063844666088 Centerline is valid? [True, True] Translation: X:591.38, Y:4.08, Z:2.58 [[ 9.99601815e-01 -2.74658049e-02 -6.46840459e-03 5.91382615e+02] [ 2.74660816e-02 9.99622735e-01 -4.60578304e-05 4.08038802e+00] [ 6.46722931e-03 -1.31622238e-04 9.99979079e-01 2.57849774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.239254154 meters 0.015629141287195714 Centerline is valid? [True, True] Translation: X:591.44, Y:4.08, Z:2.58 [[ 9.99712783e-01 -2.29313932e-02 -6.96442518e-03 5.91444660e+02] [ 2.29316060e-02 9.99737035e-01 -4.93127491e-05 4.08285781e+00] [ 6.96372459e-03 -1.10406868e-04 9.99975747e-01 2.57761875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.299254154 meters 0.015593777762454167 Centerline is valid? [True, True] Translation: X:591.51, Y:4.08, Z:2.58 [[ 9.99728260e-01 -2.16432682e-02 -8.65878846e-03 5.91507254e+02] [ 2.16435549e-02 9.99765749e-01 -6.05970956e-05 4.08301595e+00] [ 8.65807165e-03 -1.26826335e-04 9.99962510e-01 2.57647005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.359254154 meters 0.015608804881528299 Centerline is valid? [True, True] Translation: X:591.57, Y:4.08, Z:2.58 [[ 9.99719848e-01 -2.09422947e-02 -1.10293044e-02 5.91569736e+02] [ 2.09427271e-02 9.99780674e-01 -7.63000523e-05 4.08223548e+00] [ 1.10284833e-02 -1.54705035e-04 9.99939172e-01 2.57517111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.419254154 meters 0.015931935169099565 Centerline is valid? [True, True] Translation: X:591.63, Y:4.08, Z:2.58 [[ 9.99720748e-01 -2.12630399e-02 -1.03106554e-02 5.91631386e+02] [ 2.12634401e-02 9.99773905e-01 -7.08213751e-05 4.08002476e+00] [ 1.03098301e-02 -1.48438406e-04 9.99946841e-01 2.57625661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4792541539999 meters 0.01664849137473402 Centerline is valid? [True, True] Translation: X:591.69, Y:4.07, Z:2.58 [[ 9.99663719e-01 -2.39410684e-02 -9.96362396e-03 5.91692425e+02] [ 2.39415795e-02 9.99713357e-01 -6.79936013e-05 4.07483191e+00] [ 9.96239579e-03 -1.70574158e-04 9.99950360e-01 2.57716155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.539254154 meters 0.017425231749919157 Centerline is valid? [True, True] Translation: X:591.75, Y:4.07, Z:2.58 [[ 9.99635890e-01 -2.52810735e-02 -9.43161805e-03 5.91754188e+02] [ 2.52815965e-02 9.99680367e-01 -6.37927924e-05 4.07276562e+00] [ 9.43021614e-03 -1.74676797e-04 9.99955519e-01 2.57755598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5992541539999 meters 0.017518678642219385 Centerline is valid? [True, True] Translation: X:591.82, Y:4.07, Z:2.58 [[ 9.99567313e-01 -2.79963724e-02 -9.02161562e-03 5.91816618e+02] [ 2.79969670e-02 9.99608006e-01 -6.04006222e-05 4.06994264e+00] [ 9.01977021e-03 -1.92203387e-04 9.99959303e-01 2.57814596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.659254154 meters 0.01841718792303724 Centerline is valid? [True, True] Translation: X:591.88, Y:4.06, Z:2.58 [[ 9.99408272e-01 -3.32700570e-02 -8.72981942e-03 5.91877373e+02] [ 3.32708181e-02 9.99446371e-01 -5.80690503e-05 4.06490415e+00] [ 8.72691830e-03 -2.32413544e-04 9.99961893e-01 2.57801403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7192541539999 meters 0.019695203360096704 Centerline is valid? [True, True] Translation: X:591.94, Y:4.06, Z:2.58 [[ 9.99166960e-01 -3.98883217e-02 -8.62014379e-03 5.91938875e+02] [ 3.98893118e-02 9.99204103e-01 -5.71071274e-05 4.05899361e+00] [ 8.61556095e-03 -2.86792049e-04 9.99962844e-01 2.57753344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.779254154 meters 0.021186606791206777 Centerline is valid? [True, True] Translation: X:592.00, Y:4.05, Z:2.58 [[ 9.98862908e-01 -4.68371461e-02 -8.89785911e-03 5.91999747e+02] [ 4.68384780e-02 9.98902474e-01 -5.87591843e-05 4.05443770e+00] [ 8.89084560e-03 -3.58069808e-04 9.99960412e-01 2.57648586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.839254154 meters 0.02695586847215255 Centerline is valid? [True, True] Translation: X:592.06, Y:4.04, Z:2.57 [[ 9.98539198e-01 -5.30931987e-02 -1.00290875e-02 5.92059854e+02] [ 5.30952069e-02 9.98589452e-01 -6.60997380e-05 4.04354534e+00] [ 1.00184505e-02 -4.66493298e-04 9.99949705e-01 2.57394239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.899254154 meters 0.024794765042987995 Centerline is valid? [True, True] Translation: X:592.12, Y:4.05, Z:2.57 [[ 9.98316396e-01 -5.70669473e-02 -1.03796178e-02 5.92120900e+02] [ 5.70693146e-02 9.98370216e-01 -6.82128254e-05 4.04623887e+00] [ 1.03665939e-02 -5.24259691e-04 9.99946128e-01 2.57417483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.959254154 meters 0.027681654926484563 Centerline is valid? [True, True] Translation: X:592.18, Y:4.04, Z:2.57 [[ 9.98043743e-01 -6.16411892e-02 -1.04427770e-02 5.92181047e+02] [ 6.16438363e-02 9.98098208e-01 -6.85006674e-05 4.04241960e+00] [ 1.04271395e-02 -5.75366173e-04 9.99945470e-01 2.57359216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.019254154 meters 0.02890637804795047 Centerline is valid? [True, True] Translation: X:592.24, Y:4.04, Z:2.57 [[ 9.97805945e-01 -6.50793968e-02 -1.21642462e-02 5.92242412e+02] [ 6.50832473e-02 9.97879835e-01 -7.94698936e-05 4.04209127e+00] [ 1.21436278e-02 -7.12393109e-04 9.99926010e-01 2.57245186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.079254154 meters 0.029062196665752472 Centerline is valid? [True, True] Translation: X:592.30, Y:4.04, Z:2.57 [[ 9.97705709e-01 -6.64137244e-02 -1.31352742e-02 5.92304074e+02] [ 6.64183381e-02 9.97791861e-01 -8.51525688e-05 4.04270944e+00] [ 1.31119250e-02 -7.87465881e-04 9.99913725e-01 2.57191782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.139254154 meters 0.03075853266530685 Centerline is valid? [True, True] Translation: X:592.36, Y:4.04, Z:2.57 [[ 9.97754428e-01 -6.57159205e-02 -1.29429524e-02 5.92364856e+02] [ 6.57203507e-02 9.97838077e-01 -8.31965326e-05 4.04271379e+00] [ 1.29204380e-02 -7.67605660e-04 9.99916233e-01 2.57176364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.199254154 meters 0.026310534486968074 Centerline is valid? [True, True] Translation: X:592.43, Y:4.05, Z:2.57 [[ 9.98195795e-01 -5.87576545e-02 -1.23569327e-02 5.92425558e+02] [ 5.87611654e-02 9.98272067e-01 -7.90616829e-05 4.05402661e+00] [ 1.23402262e-02 -6.47188728e-04 9.99923647e-01 2.57388669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.259254154 meters 0.026520514571196172 Centerline is valid? [True, True] Translation: X:592.48, Y:4.06, Z:2.57 [[ 9.98617398e-01 -5.13432221e-02 -1.12767742e-02 5.92484989e+02] [ 5.13456734e-02 9.98680938e-01 -7.22149479e-05 4.05795321e+00] [ 1.12656072e-02 -5.06898463e-04 9.99936413e-01 2.57462380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.319254154 meters 0.019573852480678045 Centerline is valid? [True, True] Translation: X:592.55, Y:4.07, Z:2.58 [[ 9.99246428e-01 -3.73424640e-02 -1.05884620e-02 5.92545567e+02] [ 3.73438394e-02 9.99302473e-01 -6.78519669e-05 4.07467481e+00] [ 1.05836101e-02 -3.27612990e-04 9.99943938e-01 2.57707254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.379254154 meters 0.016084900557506575 Centerline is valid? [True, True] Translation: X:592.61, Y:4.09, Z:2.58 [[ 9.99677690e-01 -2.37047764e-02 -9.08847733e-03 5.92605889e+02] [ 2.37052264e-02 9.99718990e-01 -5.82186864e-05 4.08704583e+00] [ 9.08730343e-03 -1.57244491e-04 9.99958697e-01 2.57879833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.439254154 meters 0.015008129607089275 Centerline is valid? [True, True] Translation: X:592.67, Y:4.09, Z:2.58 [[ 9.99829450e-01 -1.61008140e-02 -9.04630589e-03 5.92667287e+02] [ 1.61009502e-02 9.99870370e-01 -5.77788364e-05 4.09400574e+00] [ 9.04606350e-03 -8.78851380e-05 9.99959080e-01 2.57953810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.499254154 meters 0.014803357916596292 Centerline is valid? [True, True] Translation: X:592.73, Y:4.10, Z:2.58 [[ 9.99923476e-01 -7.92052320e-03 -9.50305751e-03 5.92727617e+02] [ 7.92030566e-03 9.99968632e-01 -6.05267051e-05 4.10075818e+00] [ 9.50323883e-03 -1.47450469e-05 9.99954843e-01 2.57895763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.559254154 meters 0.014866777032280764 Centerline is valid? [True, True] Translation: X:592.79, Y:4.10, Z:2.58 [[ 9.99934712e-01 -3.52988108e-03 -1.08679542e-02 5.92786781e+02] [ 3.52931909e-03 9.99993769e-01 -7.08897787e-05 4.10390909e+00] [ 1.08681367e-02 3.25286722e-05 9.99940940e-01 2.57734567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.619254154 meters 0.014973242798713841 Centerline is valid? [True, True] Translation: X:592.85, Y:4.11, Z:2.58 [[ 9.99920614e-01 -3.02926917e-03 -1.22306643e-02 5.92845516e+02] [ 3.02847991e-03 9.99995411e-01 -8.30519825e-05 4.10515524e+00] [ 1.22308597e-02 4.60050683e-05 9.99925199e-01 2.57674008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.679254154 meters 0.01489933074312836 Centerline is valid? [True, True] Translation: X:592.90, Y:4.10, Z:2.58 [[ 9.99926245e-01 -3.76050137e-03 -1.15483108e-02 5.92903423e+02] [ 3.75980992e-03 9.99992929e-01 -8.15844654e-05 4.10467298e+00] [ 1.15485359e-02 3.81589948e-05 9.99933313e-01 2.57725268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.739254154 meters 0.014620801480570352 Centerline is valid? [True, True] Translation: X:592.96, Y:4.10, Z:2.58 [[ 9.99927938e-01 -5.97011364e-03 -1.04151609e-02 5.92961912e+02] [ 5.96965428e-03 9.99982179e-01 -7.51932296e-05 4.10254440e+00] [ 1.04154242e-02 1.30129013e-05 9.99945758e-01 2.57788873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.799254154 meters 0.014612691031701985 Centerline is valid? [True, True] Translation: X:593.02, Y:4.10, Z:2.58 [[ 9.99899667e-01 -1.03572551e-02 -9.66347131e-03 5.93020285e+02] [ 1.03570579e-02 9.99946362e-01 -7.04549129e-05 4.09764543e+00] [ 9.66368270e-03 -2.96372877e-05 9.99953305e-01 2.57764662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.859254154 meters 0.014809731934993749 Centerline is valid? [True, True] Translation: X:593.08, Y:4.09, Z:2.58 [[ 9.99844537e-01 -1.49749101e-02 -9.30885607e-03 5.93080168e+02] [ 1.49749226e-02 9.99887867e-01 -6.83612004e-05 4.09258331e+00] [ 9.30883594e-03 -7.10488266e-05 9.99956669e-01 2.57705384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.919254154 meters 0.01606131490938923 Centerline is valid? [True, True] Translation: X:593.14, Y:4.08, Z:2.58 [[ 9.99673036e-01 -2.38365937e-02 -9.25404607e-03 5.93141047e+02] [ 2.38369842e-02 9.99715856e-01 -6.81188777e-05 4.08283574e+00] [ 9.25304031e-03 -1.52491944e-04 9.99957178e-01 2.57602916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9792541539999 meters 0.01757547679871493 Centerline is valid? [True, True] Translation: X:593.20, Y:4.08, Z:2.58 [[ 9.99436432e-01 -3.22365943e-02 -9.36058754e-03 5.93202361e+02] [ 3.22373636e-02 9.99480239e-01 -6.87199352e-05 4.07500167e+00] [ 9.35793756e-03 -2.33079457e-04 9.99956186e-01 2.57533203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.039254154 meters 0.02003430073971271 Centerline is valid? [True, True] Translation: X:593.26, Y:4.07, Z:2.57 [[ 9.99266435e-01 -3.69320835e-02 -1.01298008e-02 5.93262236e+02] [ 3.69332326e-02 9.99317733e-01 -7.36727878e-05 4.06766457e+00] [ 1.01256104e-02 -3.00507543e-04 9.99948690e-01 2.57429622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0992541539999 meters 0.019517177709725 Centerline is valid? [True, True] Translation: X:593.32, Y:4.07, Z:2.57 [[ 9.99132123e-01 -4.04719859e-02 -9.84980682e-03 5.93324500e+02] [ 4.04732519e-02 9.99180620e-01 -7.08406090e-05 4.06602713e+00] [ 9.84460314e-03 -3.27874585e-04 9.99951487e-01 2.57453698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.159254154 meters 0.02049685063704183 Centerline is valid? [True, True] Translation: X:593.39, Y:4.06, Z:2.57 [[ 9.99134542e-01 -4.04174666e-02 -9.82825076e-03 5.93386970e+02] [ 4.04187327e-02 9.99182827e-01 -6.98530852e-05 4.06464851e+00] [ 9.82304267e-03 -3.27452810e-04 9.99951699e-01 2.57429893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2192541539999 meters 0.02007511261675321 Centerline is valid? [True, True] Translation: X:593.45, Y:4.07, Z:2.57 [[ 9.99228222e-01 -3.81414723e-02 -9.39091117e-03 5.93449016e+02] [ 3.81425349e-02 9.99272307e-01 -6.59919834e-05 4.06632478e+00] [ 9.38659450e-03 -2.92252105e-04 9.99955902e-01 2.57490321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.279254154 meters 0.019053049455455995 Centerline is valid? [True, True] Translation: X:593.51, Y:4.07, Z:2.58 [[ 9.99263382e-01 -3.70890301e-02 -9.85377657e-03 5.93511495e+02] [ 3.70901562e-02 9.99311921e-01 -6.85024414e-05 4.06912699e+00] [ 9.84953708e-03 -2.97026131e-04 9.99951448e-01 2.57531599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.339254154 meters 0.019908087011326243 Centerline is valid? [True, True] Translation: X:593.57, Y:4.07, Z:2.57 [[ 9.99241685e-01 -3.73719418e-02 -1.09267240e-02 5.93573585e+02] [ 3.73733526e-02 9.99301369e-01 -7.51173871e-05 4.06947546e+00] [ 1.09218975e-02 -3.33307885e-04 9.99940299e-01 2.57389991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.399254154 meters 0.020492173701968267 Centerline is valid? [True, True] Translation: X:593.64, Y:4.07, Z:2.57 [[ 9.99122533e-01 -4.00797593e-02 -1.21563472e-02 5.93635550e+02] [ 4.00817170e-02 9.99196402e-01 -8.26494732e-05 4.06781554e+00] [ 1.21498910e-02 -4.04670318e-04 9.99926105e-01 2.57260946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.459254154 meters 0.021074320521965274 Centerline is valid? [True, True] Translation: X:593.70, Y:4.07, Z:2.57 [[ 9.99085851e-01 -4.11124429e-02 -1.17145024e-02 5.93697797e+02] [ 4.11143414e-02 9.99154445e-01 -7.88112730e-05 4.06745812e+00] [ 1.17078373e-02 -4.02894824e-04 9.99931380e-01 2.57263281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.519254154 meters 0.022857028276964654 Centerline is valid? [True, True] Translation: X:593.76, Y:4.07, Z:2.57 [[ 9.98969790e-01 -4.39204425e-02 -1.14172214e-02 5.93758782e+02] [ 4.39224368e-02 9.99034941e-01 -7.61274780e-05 4.06677885e+00] [ 1.14095467e-02 -4.25423136e-04 9.99934819e-01 2.57379605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.579254154 meters 0.02417245809124478 Centerline is valid? [True, True] Translation: X:593.82, Y:4.07, Z:2.57 [[ 9.98915724e-01 -4.53122613e-02 -1.06852486e-02 5.93821236e+02] [ 4.53140946e-02 9.98972786e-01 -7.05877009e-05 4.06707220e+00] [ 1.06774710e-02 -4.13681201e-04 9.99942909e-01 2.57484743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.639254154 meters 0.02496694167349862 Centerline is valid? [True, True] Translation: X:593.88, Y:4.07, Z:2.58 [[ 9.98848484e-01 -4.70664106e-02 -9.29833899e-03 5.93883073e+02] [ 4.70678804e-02 9.98891691e-01 -6.08151812e-05 4.06888372e+00] [ 9.29089591e-03 -3.76907956e-04 9.99956768e-01 2.57571211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.699254154 meters 0.026387467103751863 Centerline is valid? [True, True] Translation: X:593.94, Y:4.07, Z:2.58 [[ 9.98793097e-01 -4.82531500e-02 -9.16417894e-03 5.93944164e+02] [ 4.82546326e-02 9.98835065e-01 -5.93873564e-05 4.06941524e+00] [ 9.15636889e-03 -3.82898406e-04 9.99958006e-01 2.57506979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.759254154 meters 0.027527573145660917 Centerline is valid? [True, True] Translation: X:594.01, Y:4.07, Z:2.58 [[ 9.98765424e-01 -4.88305836e-02 -9.12150579e-03 5.94005780e+02] [ 4.88320807e-02 9.98807001e-01 -5.86430644e-05 4.07199627e+00] [ 9.11348742e-03 -3.86851442e-04 9.99958396e-01 2.57604742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.819254154 meters 0.027803419307632242 Centerline is valid? [True, True] Translation: X:594.07, Y:4.07, Z:2.58 [[ 9.98814287e-01 -4.80426680e-02 -7.86904835e-03 5.94068135e+02] [ 4.80437611e-02 9.98845230e-01 -5.01651292e-05 4.07450684e+00] [ 7.86237148e-03 -3.27953031e-04 9.99969037e-01 2.57744401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.879254154 meters 0.02786865612501513 Centerline is valid? [True, True] Translation: X:594.13, Y:4.08, Z:2.58 [[ 9.98913286e-01 -4.59809877e-02 -7.61553896e-03 5.94128768e+02] [ 4.59819548e-02 9.98942269e-01 -4.81576921e-05 4.07881141e+00] [ 7.60969811e-03 -3.02072010e-04 9.99971000e-01 2.57805637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.939254154 meters 0.022386045308622066 Centerline is valid? [True, True] Translation: X:594.19, Y:4.09, Z:2.58 [[ 9.99020751e-01 -4.33938307e-02 -8.63220920e-03 5.94190153e+02] [ 4.33949794e-02 9.99057993e-01 -5.42702219e-05 4.09191423e+00] [ 8.62643259e-03 -3.20377463e-04 9.99962740e-01 2.57804717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.999254154 meters 0.02212357880036507 Centerline is valid? [True, True] Translation: X:594.25, Y:4.10, Z:2.58 [[ 9.99131848e-01 -4.07247159e-02 -8.77766655e-03 5.94252087e+02] [ 4.07258042e-02 9.99170359e-01 -5.47932578e-05 4.09713562e+00] [ 8.77261567e-03 -3.02731840e-04 9.99961474e-01 2.57733956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.059254154 meters 0.02170238625423832 Centerline is valid? [True, True] Translation: X:594.31, Y:4.10, Z:2.58 [[ 9.99188936e-01 -3.93711970e-02 -8.44865225e-03 5.94314458e+02] [ 3.93721612e-02 9.99224614e-01 -5.22324556e-05 4.10038869e+00] [ 8.44415774e-03 -2.80451607e-04 9.99964308e-01 2.57761949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.119254154 meters 0.02108722405542443 Centerline is valid? [True, True] Translation: X:594.38, Y:4.11, Z:2.58 [[ 9.99250072e-01 -3.77807250e-02 -8.47995536e-03 5.94376905e+02] [ 3.77816442e-02 9.99286017e-01 -5.18315852e-05 4.10611222e+00] [ 8.47585905e-03 -2.68593941e-04 9.99964043e-01 2.57841494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.179254154 meters 0.018762456395493215 Centerline is valid? [True, True] Translation: X:594.44, Y:4.11, Z:2.58 [[ 9.99329701e-01 -3.53105087e-02 -9.66006232e-03 5.94439510e+02] [ 3.53115943e-02 9.99376349e-01 -5.82127734e-05 4.11490104e+00] [ 9.65609334e-03 -2.82938448e-04 9.99953339e-01 2.57891276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.239254154 meters 0.017868234705025406 Centerline is valid? [True, True] Translation: X:594.50, Y:4.12, Z:2.58 [[ 9.99404657e-01 -3.28029566e-02 -1.06910072e-02 5.94501927e+02] [ 3.28041526e-02 9.99461797e-01 -6.35149913e-05 4.11925377e+00] [ 1.06873368e-02 -2.87232255e-04 9.99942848e-01 2.57864151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.299254154 meters 0.01668145280573732 Centerline is valid? [True, True] Translation: X:594.56, Y:4.13, Z:2.58 [[ 9.99558646e-01 -2.75546140e-02 -1.11021182e-02 5.94562531e+02] [ 2.75555867e-02 9.99620271e-01 -6.53758285e-05 4.12617164e+00] [ 1.10997038e-02 -2.40578405e-04 9.99938367e-01 2.57903519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.359254154 meters 0.016085443533616947 Centerline is valid? [True, True] Translation: X:594.62, Y:4.13, Z:2.58 [[ 9.99739599e-01 -2.03386509e-02 -1.03476766e-02 5.94622964e+02] [ 2.03391120e-02 9.99793137e-01 -6.06770590e-05 4.13234194e+00] [ 1.03467701e-02 -1.49801294e-04 9.99946460e-01 2.57980895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.419254154 meters 0.014023252648413283 Centerline is valid? [True, True] Translation: X:594.68, Y:4.14, Z:2.58 [[ 9.99818208e-01 -1.52329910e-02 -1.14676484e-02 5.94684793e+02] [ 1.52332271e-02 9.99883965e-01 -6.67707781e-05 4.14228629e+00] [ 1.14673349e-02 -1.07930652e-04 9.99934242e-01 2.58147218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4792541539999 meters 0.013995690285503104 Centerline is valid? [True, True] Translation: X:594.75, Y:4.14, Z:2.58 [[ 9.99819889e-01 -1.47702853e-02 -1.19175255e-02 5.94745403e+02] [ 1.47705103e-02 9.99890908e-01 -6.91403438e-05 4.14314975e+00] [ 1.19172466e-02 -1.06900043e-04 9.99928981e-01 2.58099158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.539254154 meters 0.014275793270269854 Centerline is valid? [True, True] Translation: X:594.81, Y:4.14, Z:2.58 [[ 9.99754918e-01 -1.82974263e-02 -1.24622685e-02 5.94805178e+02] [ 1.82979427e-02 9.99832576e-01 -7.25984487e-05 4.14248852e+00] [ 1.24615103e-02 -1.55453218e-04 9.99922340e-01 2.58090549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5992541539999 meters 0.01596533187168736 Centerline is valid? [True, True] Translation: X:594.87, Y:4.14, Z:2.58 [[ 9.99590472e-01 -2.52988472e-02 -1.33737370e-02 5.94865669e+02] [ 2.53000680e-02 9.99679899e-01 -7.79196931e-05 4.13813105e+00] [ 1.33714273e-02 -2.60468672e-04 9.99910565e-01 2.57983488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.659254154 meters 0.01750836054174553 Centerline is valid? [True, True] Translation: X:594.93, Y:4.13, Z:2.58 [[ 9.99363185e-01 -3.27475919e-02 -1.41711086e-02 5.94926438e+02] [ 3.27497147e-02 9.99463581e-01 -8.23008457e-05 4.13407946e+00] [ 1.41662021e-02 -3.81851329e-04 9.99899581e-01 2.57968607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.7192541539999 meters 0.018658807796878576 Centerline is valid? [True, True] Translation: X:594.99, Y:4.13, Z:2.58 [[ 9.99167918e-01 -3.81655794e-02 -1.43826685e-02 5.94987769e+02] [ 3.81683332e-02 9.99271320e-01 -8.30757366e-05 4.13182947e+00] [ 1.43753588e-02 -4.65955874e-04 9.99896561e-01 2.58074301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.779254154 meters 0.021715464027776438 Centerline is valid? [True, True] Translation: X:595.05, Y:4.13, Z:2.58 [[ 9.98817370e-01 -4.61793817e-02 -1.52094336e-02 5.95048703e+02] [ 4.61833920e-02 9.98932974e-01 -8.76402227e-05 4.12657697e+00] [ 1.51972519e-02 -6.14886659e-04 9.99884326e-01 2.58080251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.839254154 meters 0.023714081298915963 Centerline is valid? [True, True] Translation: X:595.11, Y:4.12, Z:2.58 [[ 9.98557256e-01 -5.15667900e-02 -1.49757561e-02 5.95109944e+02] [ 5.15712856e-02 9.98669312e-01 -8.60884878e-05 4.12412357e+00] [ 1.49602673e-02 -6.86354710e-04 9.99887853e-01 2.58211043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.899254154 meters 0.02427985896792178 Centerline is valid? [True, True] Translation: X:595.17, Y:4.12, Z:2.58 [[ 9.98569266e-01 -5.16518698e-02 -1.38385207e-02 5.95172501e+02] [ 5.16557272e-02 9.98664949e-01 -7.87877312e-05 4.12439444e+00] [ 1.38241151e-02 -6.36163842e-04 9.99904240e-01 2.58317726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.959254154 meters 0.023603438346663903 Centerline is valid? [True, True] Translation: X:595.23, Y:4.13, Z:2.58 [[ 9.98736962e-01 -4.84018484e-02 -1.34811944e-02 5.95234190e+02] [ 4.84052274e-02 9.98827777e-01 -7.57345419e-05 4.12937711e+00] [ 1.34690572e-02 -5.76921396e-04 9.99909122e-01 2.58498789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.019254154 meters 0.02177478112325945 Centerline is valid? [True, True] Translation: X:595.29, Y:4.14, Z:2.59 [[ 9.98957481e-01 -4.33662466e-02 -1.42590007e-02 5.95294978e+02] [ 4.33695228e-02 9.99059096e-01 -7.95177620e-05 4.13612415e+00] [ 1.42490327e-02 -5.38971191e-04 9.99898332e-01 2.58589614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.079254154 meters 0.019585893221781826 Centerline is valid? [True, True] Translation: X:595.36, Y:4.14, Z:2.59 [[ 9.99160622e-01 -3.86945513e-02 -1.34455579e-02 5.95356153e+02] [ 3.86970453e-02 9.99250986e-01 -7.47214350e-05 4.14343711e+00] [ 1.34383783e-02 -4.45644646e-04 9.99909602e-01 2.58764125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.139254154 meters 0.018170706876575377 Centerline is valid? [True, True] Translation: X:595.42, Y:4.15, Z:2.59 [[ 9.99283979e-01 -3.52050353e-02 -1.38612718e-02 5.95417732e+02] [ 3.52073565e-02 9.99380026e-01 -7.65985658e-05 4.14880152e+00] [ 1.38553748e-02 -4.11475018e-04 9.99903925e-01 2.58822151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.199254154 meters 0.017839668089474327 Centerline is valid? [True, True] Translation: X:595.48, Y:4.15, Z:2.59 [[ 9.99330184e-01 -3.34662213e-02 -1.48052506e-02 5.95480158e+02] [ 3.34686928e-02 9.99439763e-01 -8.08737978e-05 4.15110356e+00] [ 1.47996627e-02 -4.14692756e-04 9.99890393e-01 2.58730588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.259254154 meters 0.018068608471187967 Centerline is valid? [True, True] Translation: X:595.54, Y:4.15, Z:2.59 [[ 9.99342541e-01 -3.26408554e-02 -1.57816205e-02 5.95541810e+02] [ 3.26435760e-02 9.99467053e-01 -8.52424698e-05 4.15308792e+00] [ 1.57759921e-02 -4.29982103e-04 9.99875459e-01 2.58712805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.319254154 meters 0.01818464302605654 Centerline is valid? [True, True] Translation: X:595.60, Y:4.15, Z:2.59 [[ 9.99339275e-01 -3.28530734e-02 -1.55463591e-02 5.95603787e+02] [ 3.28557554e-02 9.99460100e-01 -8.29314221e-05 4.15458386e+00] [ 1.55406902e-02 -4.27910745e-04 9.99879145e-01 2.58765804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.379254154 meters 0.018545806541867032 Centerline is valid? [True, True] Translation: X:595.67, Y:4.15, Z:2.59 [[ 9.99327780e-01 -3.36166940e-02 -1.46255359e-02 5.95665641e+02] [ 3.36191645e-02 9.99434713e-01 -7.69876842e-05 4.15442082e+00] [ 1.46198564e-02 -4.14762366e-04 9.99893038e-01 2.58877255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.439254154 meters 0.018121630521109083 Centerline is valid? [True, True] Translation: X:595.73, Y:4.16, Z:2.59 [[ 9.99328452e-01 -3.46771557e-02 -1.18380337e-02 5.95727956e+02] [ 3.46788580e-02 9.99398506e-01 -6.15044377e-05 4.15621274e+00] [ 1.18330460e-02 -3.49066357e-04 9.99929926e-01 2.59123111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.499254154 meters 0.01800609331215957 Centerline is valid? [True, True] Translation: X:595.79, Y:4.16, Z:2.59 [[ 9.99345181e-01 -3.45847567e-02 -1.06350080e-02 5.95790313e+02] [ 3.45861335e-02 9.99401719e-01 -5.44932969e-05 4.15760475e+00] [ 1.06305299e-02 -3.13366193e-04 9.99943445e-01 2.59280997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.559254154 meters 0.017887259173502302 Centerline is valid? [True, True] Translation: X:595.85, Y:4.16, Z:2.59 [[ 9.99385031e-01 -3.36745168e-02 -9.77679904e-03 5.95852376e+02] [ 3.36756436e-02 9.99432813e-01 -4.93942046e-05 4.15911481e+00] [ 9.77291710e-03 -2.79876172e-04 9.99952205e-01 2.59439975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.619254154 meters 0.018140038674176115 Centerline is valid? [True, True] Translation: X:595.91, Y:4.16, Z:2.59 [[ 9.99388201e-01 -3.31523032e-02 -1.11422187e-02 5.95914983e+02] [ 3.31537468e-02 9.99450262e-01 -5.51786566e-05 4.15833463e+00] [ 1.11379227e-02 -3.14261399e-04 9.99937922e-01 2.59351853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.679254154 meters 0.018557922580880067 Centerline is valid? [True, True] Translation: X:595.98, Y:4.16, Z:2.59 [[ 9.99388060e-01 -3.27850062e-02 -1.21922011e-02 5.95976572e+02] [ 3.27867292e-02 9.99462369e-01 -5.85865953e-05 4.15687135e+00] [ 1.21875670e-02 -3.41191653e-04 9.99925671e-01 2.59207123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.739254154 meters 0.018882051019678978 Centerline is valid? [True, True] Translation: X:596.04, Y:4.16, Z:2.59 [[ 9.99383110e-01 -3.25895621e-02 -1.30889298e-02 5.96038575e+02] [ 3.25915492e-02 9.99468752e-01 -6.15139507e-05 4.15538344e+00] [ 1.30839811e-02 -3.65112498e-04 9.99914334e-01 2.59162565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.799254154 meters 0.019758658626519578 Centerline is valid? [True, True] Translation: X:596.10, Y:4.15, Z:2.59 [[ 9.99378825e-01 -3.28962034e-02 -1.26413784e-02 5.96100174e+02] [ 3.28980908e-02 9.99458710e-01 -5.86766458e-05 4.15296701e+00] [ 1.26364659e-02 -3.57237015e-04 9.99920093e-01 2.59205816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.859254154 meters 0.020007212092210017 Centerline is valid? [True, True] Translation: X:596.16, Y:4.15, Z:2.59 [[ 9.99402126e-01 -3.25505311e-02 -1.16556266e-02 5.96161707e+02] [ 3.25521189e-02 9.99470038e-01 -5.35139504e-05 4.15009095e+00] [ 1.16511915e-02 -3.25933387e-04 9.99932069e-01 2.59274861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.919254154 meters 0.020356185932599954 Centerline is valid? [True, True] Translation: X:596.22, Y:4.15, Z:2.59 [[ 9.99436311e-01 -3.18001064e-02 -1.07616494e-02 5.96223280e+02] [ 3.18014222e-02 9.99494206e-01 -4.88772490e-05 4.14721852e+00] [ 1.07577605e-02 -2.93386060e-04 9.99942091e-01 2.59354687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9792541539999 meters 0.020377994737225603 Centerline is valid? [True, True] Translation: X:596.29, Y:4.15, Z:2.59 [[ 9.99477785e-01 -3.06679134e-02 -1.01801612e-02 5.96285863e+02] [ 3.06690383e-02 9.99529593e-01 -4.56402263e-05 4.14665061e+00] [ 1.01767721e-02 -2.66599362e-04 9.99948180e-01 2.59459613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.039254154 meters 0.0201899695700263 Centerline is valid? [True, True] Translation: X:596.35, Y:4.15, Z:2.60 [[ 9.99529432e-01 -2.89632179e-02 -1.01018439e-02 5.96347189e+02] [ 2.89642443e-02 9.99580447e-01 -4.47174665e-05 4.14550118e+00] [ 1.00989009e-02 -2.47895852e-04 9.99948974e-01 2.59523578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0992541539999 meters 0.020079324902792954 Centerline is valid? [True, True] Translation: X:596.41, Y:4.14, Z:2.59 [[ 9.99567870e-01 -2.76887239e-02 -9.86952744e-03 5.96408835e+02] [ 2.76896470e-02 9.99616567e-01 -4.31247678e-05 4.14330398e+00] [ 9.86693721e-03 -2.30177599e-04 9.99951294e-01 2.59497359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.159254154 meters 0.01723649922159632 Centerline is valid? [True, True] Translation: X:596.47, Y:4.15, Z:2.60 [[ 9.99582279e-01 -2.69101304e-02 -1.05409932e-02 5.96470569e+02] [ 2.69111480e-02 9.99637828e-01 -4.53128475e-05 4.14753065e+00] [ 1.05383949e-02 -2.38376308e-04 9.99944441e-01 2.59647061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.2192541539999 meters 0.016769191158760764 Centerline is valid? [True, True] Translation: X:596.53, Y:4.15, Z:2.60 [[ 9.99597576e-01 -2.58395987e-02 -1.17047899e-02 5.96532975e+02] [ 2.58407904e-02 9.99666070e-01 -4.94327315e-05 4.14671005e+00] [ 1.17021586e-02 -2.53048183e-04 9.99931495e-01 2.59537890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.279254154 meters 0.01676916590170358 Centerline is valid? [True, True] Translation: X:596.60, Y:4.15, Z:2.59 [[ 9.99579215e-01 -2.58084840e-02 -1.32406347e-02 5.96595110e+02] [ 2.58100197e-02 9.99666864e-01 -5.49094305e-05 4.14521221e+00] [ 1.32376409e-02 -2.86854716e-04 9.99912337e-01 2.59443799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.339254154 meters 0.017193046605041205 Centerline is valid? [True, True] Translation: X:596.66, Y:4.14, Z:2.59 [[ 9.99528948e-01 -2.74814144e-02 -1.36621521e-02 5.96657313e+02] [ 2.74832195e-02 9.99622263e-01 -5.56428506e-05 4.14265348e+00] [ 1.36585205e-02 -3.19863284e-04 9.99906667e-01 2.59426945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.399254154 meters 0.017751923268821013 Centerline is valid? [True, True] Translation: X:596.72, Y:4.14, Z:2.59 [[ 9.99481271e-01 -2.92893719e-02 -1.33910694e-02 5.96719893e+02] [ 2.92912812e-02 9.99570917e-01 -5.35685984e-05 4.14040489e+00] [ 1.33868925e-02 -3.38700769e-04 9.99910334e-01 2.59470263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.459254154 meters 0.018494749331334805 Centerline is valid? [True, True] Translation: X:596.78, Y:4.14, Z:2.60 [[ 9.99392344e-01 -3.21694110e-02 -1.34191039e-02 5.96782446e+02] [ 3.21716008e-02 9.99482359e-01 -5.27058752e-05 4.13910917e+00] [ 1.34138532e-02 -3.79040206e-04 9.99909958e-01 2.59500628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.519254154 meters 0.019102462661221162 Centerline is valid? [True, True] Translation: X:596.84, Y:4.14, Z:2.60 [[ 9.99298826e-01 -3.52699947e-02 -1.25651949e-02 5.96844581e+02] [ 3.52721708e-02 9.99377742e-01 -4.84517907e-05 4.13883576e+00] [ 1.25590850e-02 -3.94783881e-04 9.99921054e-01 2.59648147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.579254154 meters 0.020725829650847023 Centerline is valid? [True, True] Translation: X:596.91, Y:4.14, Z:2.60 [[ 9.99188968e-01 -3.89346193e-02 -1.02714423e-02 5.96906377e+02] [ 3.89362728e-02 9.99241695e-01 -3.90219181e-05 4.13662316e+00] [ 1.02651727e-02 -3.60941408e-04 9.99947247e-01 2.59882651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.639254154 meters 0.021533686491464334 Centerline is valid? [True, True] Translation: X:596.97, Y:4.14, Z:2.60 [[ 9.99092574e-01 -4.18013574e-02 -8.16552104e-03 5.96968699e+02] [ 4.18025017e-02 9.99125893e-01 -3.05567705e-05 4.13629103e+00] [ 8.15966081e-03 -3.10810165e-04 9.99966661e-01 2.60133068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.699254154 meters 0.022571963393874635 Centerline is valid? [True, True] Translation: X:597.03, Y:4.13, Z:2.60 [[ 9.99191554e-01 -3.94515434e-02 -7.73402259e-03 5.97029660e+02] [ 3.94525029e-02 9.99221447e-01 -2.85192728e-05 4.13482683e+00] [ 7.72912637e-03 -2.76630332e-04 9.99970092e-01 2.60145707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.759254154 meters 0.020779571308662443 Centerline is valid? [True, True] Translation: X:597.09, Y:4.14, Z:2.60 [[ 9.99423724e-01 -3.36232203e-02 -4.65822111e-03 5.97089063e+02] [ 3.36235056e-02 9.99434570e-01 -1.70865022e-05 4.13962819e+00] [ 4.65616172e-03 -1.39549068e-04 9.99989150e-01 2.60486544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.819254154 meters 0.01665368289076718 Centerline is valid? [True, True] Translation: X:597.15, Y:4.15, Z:2.61 [[ 9.99631258e-01 -2.71316973e-02 -1.10372228e-03 5.97150875e+02] [ 2.71317091e-02 9.99631867e-01 -4.24885507e-06 4.14970371e+00] [ 1.10343124e-03 -2.56985836e-05 9.99999391e-01 2.60823717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.879254154 meters 0.01590452281339024 Centerline is valid? [True, True] Translation: X:597.21, Y:4.15, Z:2.61 [[ 9.99769134e-01 -2.11787623e-02 3.62470716e-03 5.97211185e+02] [ 2.11788543e-02 9.99775703e-01 1.30075742e-05 4.15427207e+00] [-3.62416963e-03 6.37625738e-05 9.99993431e-01 2.61147317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.939254154 meters 0.015326942259701219 Centerline is valid? [True, True] Translation: X:597.27, Y:4.16, Z:2.61 [[ 9.99831593e-01 -1.75096080e-02 5.49537108e-03 5.97273192e+02] [ 1.75097673e-02 9.99846692e-01 1.91325018e-05 4.15727749e+00] [-5.49486360e-03 7.70933889e-05 9.99984900e-01 2.61299055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.999254154 meters 0.014417919409330024 Centerline is valid? [True, True] Translation: X:597.34, Y:4.16, Z:2.61 [[ 9.99930143e-01 -1.01632118e-02 6.03471718e-03 5.97335164e+02] [ 1.01632727e-02 9.99948352e-01 2.05720842e-05 4.16374226e+00] [-6.03461458e-03 4.07618293e-05 9.99981791e-01 2.61186002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.059254154 meters 0.014076591321886529 Centerline is valid? [True, True] Translation: X:597.40, Y:4.17, Z:2.61 [[ 9.99974806e-01 -2.05475167e-03 6.79453994e-03 5.97397564e+02] [ 2.05464483e-03 9.99997889e-01 2.27049552e-05 4.16707408e+00] [-6.79457225e-03 -8.74401677e-06 9.99976917e-01 2.61105054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.119254154 meters 0.014184025468145841 Centerline is valid? [True, True] Translation: X:597.46, Y:4.17, Z:2.61 [[ 9.99970058e-01 2.17576059e-03 7.42619495e-03 5.97460130e+02] [-2.17600109e-03 9.99997632e-01 2.43069454e-05 4.16819940e+00] [-7.42612448e-03 -4.04656259e-05 9.99972425e-01 2.61122220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.179254154 meters 0.014596071505110192 Centerline is valid? [True, True] Translation: X:597.52, Y:4.17, Z:2.61 [[ 9.99933766e-01 6.59043753e-03 9.43555597e-03 5.97522715e+02] [-6.59101651e-03 9.99978279e-01 3.02662740e-05 4.16782936e+00] [-9.43515155e-03 -9.24541745e-05 9.99955484e-01 2.61057368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.239254154 meters 0.014788575154466625 Centerline is valid? [True, True] Translation: X:597.59, Y:4.17, Z:2.61 [[ 9.99918393e-01 8.27566884e-03 9.73243800e-03 5.97585006e+02] [-8.27633239e-03 9.99965750e-01 2.79047413e-05 4.16548753e+00] [-9.73187374e-03 -1.08451356e-04 9.99952638e-01 2.60958020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.299254154 meters 0.01463982389061254 Centerline is valid? [True, True] Translation: X:597.65, Y:4.16, Z:2.61 [[ 9.99933522e-01 7.55934897e-03 8.70676976e-03 5.97647425e+02] [-7.55983266e-03 9.99971424e-01 2.26429999e-05 4.15840217e+00] [-8.70634979e-03 -8.84632171e-05 9.99962095e-01 2.60700343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.359254154 meters 0.014452491449643747 Centerline is valid? [True, True] Translation: X:597.71, Y:4.15, Z:2.60 [[ 9.99964239e-01 3.78426495e-03 7.56308715e-03 5.97709053e+02] [-3.78452595e-03 9.99992838e-01 2.01984320e-05 4.15072304e+00] [-7.56295655e-03 -4.88204093e-05 9.99971399e-01 2.60345680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.419254154 meters 0.014323224431358028 Centerline is valid? [True, True] Translation: X:597.77, Y:4.14, Z:2.60 [[ 9.99983429e-01 -5.46584631e-03 1.80716930e-03 5.97771699e+02] [ 5.46584933e-03 9.99985062e-01 3.27141462e-06 4.13723201e+00] [-1.80716018e-03 6.60635467e-06 9.99998367e-01 2.59729594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4792541539999 meters 0.015603283520793798 Centerline is valid? [True, True] Translation: X:597.83, Y:4.12, Z:2.59 [[ 9.99842211e-01 -1.70931256e-02 -4.83503484e-03 5.97833063e+02] [ 1.70932690e-02 9.99853899e-01 -1.16739284e-05 4.11901918e+00] [ 4.83452798e-03 -7.09744647e-05 9.99988311e-01 2.58844837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.539254154 meters 0.01884179489681194 Centerline is valid? [True, True] Translation: X:597.89, Y:4.10, Z:2.58 [[ 9.99569096e-01 -2.74364724e-02 -1.04336850e-02 5.97893094e+02] [ 2.74377264e-02 9.99623514e-01 -2.29648257e-05 4.09902917e+00] [ 1.04303870e-02 -2.63321665e-04 9.99945567e-01 2.58127984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5992541539999 meters 0.019305763188370628 Centerline is valid? [True, True] Translation: X:597.95, Y:4.09, Z:2.58 [[ 9.99373924e-01 -3.25889926e-02 -1.37737731e-02 5.97954209e+02] [ 3.25916693e-02 9.99468750e-01 -3.01512093e-05 4.09041873e+00] [ 1.37674384e-02 -4.18777926e-04 9.99905137e-01 2.57780996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.659254154 meters 0.02072355902934533 Centerline is valid? [True, True] Translation: X:598.01, Y:4.08, Z:2.57 [[ 9.99119966e-01 -3.77238722e-02 -1.83358233e-02 5.98014845e+02] [ 3.77294876e-02 9.99287989e-01 -3.97044276e-05 4.07553820e+00] [ 1.83242658e-02 -6.52131733e-04 9.99831884e-01 2.57176307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.7192541539999 meters 0.02097278817209653 Centerline is valid? [True, True] Translation: X:598.07, Y:4.06, Z:2.57 [[ 9.98952928e-01 -4.05168840e-02 -2.12468865e-02 5.98074675e+02] [ 4.05250513e-02 9.99178522e-01 -4.62018678e-05 4.06068753e+00] [ 2.12313046e-02 -8.14877672e-04 9.99774258e-01 2.56739193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.779254154 meters 0.022413018174533 Centerline is valid? [True, True] Translation: X:598.13, Y:4.05, Z:2.56 [[ 9.98817809e-01 -4.12994704e-02 -2.56385956e-02 5.98133626e+02] [ 4.13115780e-02 9.99146311e-01 -5.74779608e-05 4.04508825e+00] [ 2.56190820e-02 -1.00176083e-03 9.99671276e-01 2.56226277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.839254154 meters 0.022979156935796757 Centerline is valid? [True, True] Translation: X:598.19, Y:4.03, Z:2.56 [[ 9.98665641e-01 -4.18443109e-02 -3.02653598e-02 5.98193285e+02] [ 4.18613955e-02 9.99123425e-01 -6.91827528e-05 4.03009805e+00] [ 3.02417249e-02 -1.19785976e-03 9.99541897e-01 2.55690442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.899254154 meters 0.02429702798175874 Centerline is valid? [True, True] Translation: X:598.25, Y:4.02, Z:2.55 [[ 9.98606797e-01 -4.22677809e-02 -3.15895469e-02 5.98250771e+02] [ 4.22865243e-02 9.99105522e-01 -7.47930665e-05 4.01888146e+00] [ 3.15644521e-02 -1.26112328e-03 9.99500923e-01 2.55422518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.959254154 meters 0.023355026067010103 Centerline is valid? [True, True] Translation: X:598.31, Y:4.01, Z:2.55 [[ 9.98593063e-01 -4.12074392e-02 -3.33742571e-02 5.98308465e+02] [ 4.12274808e-02 9.99149782e-01 -8.77203147e-05 4.00854705e+00] [ 3.33494964e-02 -1.28833964e-03 9.99442920e-01 2.55432781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.019254154 meters 0.022344714372262302 Centerline is valid? [True, True] Translation: X:598.37, Y:4.00, Z:2.55 [[ 9.98751193e-01 -3.67134226e-02 -3.38847992e-02 5.98368086e+02] [ 3.67314214e-02 9.99325169e-01 -9.13786364e-05 4.00088545e+00] [ 3.38652876e-02 -1.15337232e-03 9.99425741e-01 2.55459078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.079254154 meters 0.020874445765532983 Centerline is valid? [True, True] Translation: X:598.43, Y:4.00, Z:2.56 [[ 9.98988896e-01 -2.97908243e-02 -3.36703471e-02 5.98427853e+02] [ 2.98046454e-02 9.99555739e-01 -9.14644353e-05 3.99814511e+00] [ 3.36581134e-02 -9.12160799e-04 9.99432989e-01 2.55661711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.139254154 meters 0.01937657475129194 Centerline is valid? [True, True] Translation: X:598.49, Y:4.00, Z:2.56 [[ 9.99211138e-01 -2.43076688e-02 -3.14044286e-02 5.98486700e+02] [ 2.43169529e-02 9.99704295e-01 -8.63151815e-05 3.99722287e+00] [ 3.13972403e-02 -6.77412921e-04 9.99506756e-01 2.55895776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.199254154 meters 0.015974695364411106 Centerline is valid? [True, True] Translation: X:598.55, Y:4.00, Z:2.57 [[ 9.99532849e-01 -1.70526362e-02 -2.53632073e-02 5.98547267e+02] [ 1.70563504e-02 9.99854527e-01 -6.99051928e-05 3.99973535e+00] [ 2.53607097e-02 -3.62731215e-04 9.99678300e-01 2.56742296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.259254154 meters 0.014878392482194828 Centerline is valid? [True, True] Translation: X:598.61, Y:4.00, Z:2.57 [[ 9.99656954e-01 -1.33068709e-02 -2.25588455e-02 5.98605781e+02] [ 1.33088255e-02 9.99911432e-01 -6.34925756e-05 4.00406492e+00] [ 2.25576924e-02 -2.36760945e-04 9.99745515e-01 2.57359216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.319254154 meters 0.014780136365564663 Centerline is valid? [True, True] Translation: X:598.66, Y:4.00, Z:2.58 [[ 9.99696061e-01 -1.37578889e-02 -2.04574358e-02 5.98664977e+02] [ 1.37595086e-02 9.99905332e-01 -6.15914267e-05 4.00294323e+00] [ 2.04563465e-02 -2.19911556e-04 9.99790723e-01 2.57605745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.379254154 meters 0.015415822926947872 Centerline is valid? [True, True] Translation: X:598.72, Y:4.00, Z:2.58 [[ 9.99678957e-01 -1.79914163e-02 -1.78407222e-02 5.98723273e+02] [ 1.79932743e-02 9.99838106e-01 -5.63838845e-05 4.00100482e+00] [ 1.78388483e-02 -2.64647226e-04 9.99840840e-01 2.57986983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.439254154 meters 0.0160250694567804 Centerline is valid? [True, True] Translation: X:598.78, Y:4.00, Z:2.58 [[ 9.99608392e-01 -2.25436650e-02 -1.65784677e-02 5.98782289e+02] [ 2.25458350e-02 9.99745809e-01 -5.60211039e-05 4.00098771e+00] [ 1.65755165e-02 -3.17776232e-04 9.99862566e-01 2.58332121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.499254154 meters 0.017219737998298592 Centerline is valid? [True, True] Translation: X:598.84, Y:4.00, Z:2.58 [[ 9.99510751e-01 -2.64066757e-02 -1.67614295e-02 5.98839900e+02] [ 2.64093994e-02 9.99651209e-01 -5.88614542e-05 3.99916233e+00] [ 1.67571376e-02 -3.83826632e-04 9.99859516e-01 2.58474388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.559254154 meters 0.01815260062462196 Centerline is valid? [True, True] Translation: X:598.90, Y:4.00, Z:2.59 [[ 9.99388685e-01 -3.08352625e-02 -1.64755512e-02 5.98898884e+02] [ 3.08384735e-02 9.99524379e-01 -5.91923675e-05 4.00045162e+00] [ 1.64695403e-02 -4.48924667e-04 9.99864267e-01 2.58731449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.619254154 meters 0.019427890111729806 Centerline is valid? [True, True] Translation: X:598.96, Y:4.00, Z:2.59 [[ 9.99240669e-01 -3.56801469e-02 -1.56528494e-02 5.98958261e+02] [ 3.56836240e-02 9.99363135e-01 -5.71826321e-05 3.99991058e+00] [ 1.56449209e-02 -5.01411182e-04 9.99877485e-01 2.58972584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.679254154 meters 0.023248027403739612 Centerline is valid? [True, True] Translation: X:599.02, Y:3.99, Z:2.59 [[ 9.99123016e-01 -3.89833370e-02 -1.52806742e-02 5.99017132e+02] [ 3.89870341e-02 9.99239715e-01 -5.59867977e-05 3.99411435e+00] [ 1.52712391e-02 -5.39810468e-04 9.99883242e-01 2.59011182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.739254154 meters 0.023223287577179026 Centerline is valid? [True, True] Translation: X:599.08, Y:4.00, Z:2.59 [[ 9.98942930e-01 -4.35368756e-02 -1.47500357e-02 5.99077193e+02] [ 4.35408136e-02 9.99051648e-01 -5.41991567e-05 3.99653614e+00] [ 1.47384072e-02 -5.88086692e-04 9.99891211e-01 2.59341189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.799254154 meters 0.023651272445131336 Centerline is valid? [True, True] Translation: X:599.14, Y:4.00, Z:2.60 [[ 9.98813666e-01 -4.68312832e-02 -1.33450616e-02 5.99138648e+02] [ 4.68348035e-02 9.98902647e-01 -4.87827030e-05 3.99811892e+00] [ 1.33327019e-02 -5.76288507e-04 9.99910950e-01 2.59632749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.859254154 meters 0.024111942168535384 Centerline is valid? [True, True] Translation: X:599.20, Y:4.00, Z:2.60 [[ 9.98739876e-01 -4.83812620e-02 -1.33384208e-02 5.99199578e+02] [ 4.83849210e-02 9.98828763e-01 -4.84362031e-05 3.99940955e+00] [ 1.33251417e-02 -5.97003268e-04 9.99911038e-01 2.59757599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.919254154 meters 0.02478141156338639 Centerline is valid? [True, True] Translation: X:599.26, Y:4.00, Z:2.60 [[ 9.98703292e-01 -4.90334204e-02 -1.36915575e-02 5.99260905e+02] [ 4.90373426e-02 9.98796945e-01 -4.93016411e-05 4.00356760e+00] [ 1.36775033e-02 -6.22159887e-04 9.99906265e-01 2.59832054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9792541539999 meters 0.02628162479659364 Centerline is valid? [True, True] Translation: X:599.32, Y:4.00, Z:2.60 [[ 9.98634208e-01 -5.02805264e-02 -1.41981270e-02 5.99321738e+02] [ 5.02848784e-02 9.98734914e-01 -5.05353232e-05 4.00468442e+00] [ 1.41827061e-02 -6.63484786e-04 9.99899200e-01 2.59790333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.039254154 meters 0.025980112410061734 Centerline is valid? [True, True] Translation: X:599.38, Y:4.01, Z:2.60 [[ 9.98365393e-01 -5.51487911e-02 -1.50051187e-02 5.99382754e+02] [ 5.51542053e-02 9.98477847e-01 -5.30700385e-05 4.00801686e+00] [ 1.49852054e-02 -7.74612109e-04 9.99887415e-01 2.59833516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0992541539999 meters 0.029046042150221267 Centerline is valid? [True, True] Translation: X:599.44, Y:4.01, Z:2.60 [[ 9.98057053e-01 -6.05140917e-02 -1.48378951e-02 5.99443802e+02] [ 6.05199783e-02 9.98166985e-01 -5.23873972e-05 4.00956953e+00] [ 1.48138671e-02 -8.45703475e-04 9.99889911e-01 2.59976341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.159254154 meters 0.03021502874039283 Centerline is valid? [True, True] Translation: X:599.51, Y:4.01, Z:2.60 [[ 9.98016928e-01 -6.12232591e-02 -1.46261462e-02 5.99505973e+02] [ 6.12290657e-02 9.98123739e-01 -5.08865226e-05 4.00949754e+00] [ 1.46018192e-02 -8.44759655e-04 9.99893031e-01 2.60022859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.2192541539999 meters 0.02983074212717139 Centerline is valid? [True, True] Translation: X:599.57, Y:4.01, Z:2.60 [[ 9.97936532e-01 -6.24785077e-02 -1.48025101e-02 5.99567525e+02] [ 6.24846060e-02 9.98045927e-01 -5.06073674e-05 4.01461943e+00] [ 1.47767468e-02 -8.74426069e-04 9.99890436e-01 2.60094775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.279254154 meters 0.031402277753772884 Centerline is valid? [True, True] Translation: X:599.63, Y:4.02, Z:2.60 [[ 9.97979825e-01 -6.17536118e-02 -1.49251581e-02 5.99628769e+02] [ 6.17597429e-02 9.98091044e-01 -5.02144734e-05 4.01675209e+00] [ 1.48997675e-02 -8.71660895e-04 9.99888612e-01 2.60141538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.339254154 meters 0.03153802779709736 Centerline is valid? [True, True] Translation: X:599.69, Y:4.02, Z:2.60 [[ 9.98079072e-01 -6.01950091e-02 -1.46535429e-02 5.99689871e+02] [ 6.02007603e-02 9.98186288e-01 -4.87042960e-05 4.02135688e+00] [ 1.46298973e-02 -8.33543682e-04 9.99892630e-01 2.60246507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.399254154 meters 0.0268124888038118 Centerline is valid? [True, True] Translation: X:599.75, Y:4.03, Z:2.60 [[ 9.98243761e-01 -5.72022404e-02 -1.54044535e-02 5.99751683e+02] [ 5.72082543e-02 9.98362265e-01 -5.03312756e-05 4.03213754e+00] [ 1.53821041e-02 -8.31019009e-04 9.99881343e-01 2.60305507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.459254154 meters 0.02500003306247086 Centerline is valid? [True, True] Translation: X:599.81, Y:4.04, Z:2.60 [[ 9.98386036e-01 -5.41585878e-02 -1.70930211e-02 5.99812845e+02] [ 5.41655614e-02 9.98531967e-01 -5.50600254e-05 4.03745138e+00] [ 1.70709099e-02 -8.70881922e-04 9.99853902e-01 2.60237714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.519254154 meters 0.024752354955921322 Centerline is valid? [True, True] Translation: X:599.87, Y:4.04, Z:2.60 [[ 9.98748489e-01 -4.68052141e-02 -1.76274790e-02 5.99872296e+02] [ 4.68114861e-02 9.98903740e-01 -5.68624266e-05 4.04383321e+00] [ 1.76108162e-02 -7.68377228e-04 9.99844622e-01 2.60179777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.579254154 meters 0.020733478127724303 Centerline is valid? [True, True] Translation: X:599.93, Y:4.05, Z:2.60 [[ 9.99122029e-01 -3.85578593e-02 -1.63848323e-02 5.99932909e+02] [ 3.85621691e-02 9.99256202e-01 -5.29401350e-05 4.05478005e+00] [ 1.63746865e-02 -5.78941016e-04 9.99865758e-01 2.60375624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.639254154 meters 0.016897236355618107 Centerline is valid? [True, True] Translation: X:599.99, Y:4.07, Z:2.61 [[ 9.99416158e-01 -2.94436930e-02 -1.73324136e-02 5.99993169e+02] [ 2.94471475e-02 9.99566337e-01 -5.59295300e-05 4.06788483e+00] [ 1.73265439e-02 -4.54493262e-04 9.99849781e-01 2.60535534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.699254154 meters 0.015409868668063062 Centerline is valid? [True, True] Translation: X:600.05, Y:4.08, Z:2.60 [[ 9.99624287e-01 -2.10223768e-02 -1.75882057e-02 6.00052122e+02] [ 2.10246230e-02 9.99778957e-01 -5.72059922e-05 4.07627172e+00] [ 1.75855206e-02 -3.12600895e-04 9.99845314e-01 2.60430574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.759254154 meters 0.013827065109204511 Centerline is valid? [True, True] Translation: X:600.11, Y:4.08, Z:2.61 [[ 9.99704152e-01 -1.70264173e-02 -1.73697768e-02 6.00110612e+02] [ 1.70279435e-02 9.99855012e-01 -6.00380148e-05 4.08305101e+00] [ 1.73682806e-02 -2.35751325e-04 9.99849132e-01 2.60664960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.819254154 meters 0.014484310067190706 Centerline is valid? [True, True] Translation: X:600.17, Y:4.08, Z:2.61 [[ 9.99698609e-01 -1.75292884e-02 -1.71876333e-02 6.00168721e+02] [ 1.75308175e-02 9.99846321e-01 -6.17133346e-05 4.08328910e+00] [ 1.71860737e-02 -2.39618528e-04 9.99852280e-01 2.60555654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.879254154 meters 0.016041166960333298 Centerline is valid? [True, True] Translation: X:600.23, Y:4.08, Z:2.60 [[ 9.99528232e-01 -2.33584650e-02 -1.99423094e-02 6.00227498e+02] [ 2.33616511e-02 9.99727077e-01 -7.32166743e-05 4.07924921e+00] [ 1.99385769e-02 -3.92703142e-04 9.99801130e-01 2.60303176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.939254154 meters 0.017199067036198598 Centerline is valid? [True, True] Translation: X:600.29, Y:4.08, Z:2.60 [[ 9.99232667e-01 -3.28516982e-02 -2.13270532e-02 6.00287879e+02] [ 3.28574899e-02 9.99460044e-01 -7.88867654e-05 4.07560705e+00] [ 2.13181290e-02 -6.21927201e-04 9.99772549e-01 2.60437107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.999254154 meters 0.020298171267956175 Centerline is valid? [True, True] Translation: X:600.35, Y:4.07, Z:2.61 [[ 9.99031043e-01 -3.96806057e-02 -1.90374455e-02 6.00346618e+02] [ 3.96864542e-02 9.99212180e-01 -7.06398376e-05 4.07065320e+00] [ 1.90252504e-02 -6.84957317e-04 9.99818769e-01 2.60619307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.059254154 meters 0.020583205409954557 Centerline is valid? [True, True] Translation: X:600.41, Y:4.07, Z:2.61 [[ 9.99101790e-01 -3.88654706e-02 -1.68845548e-02 6.00407695e+02] [ 3.88699576e-02 9.99244276e-01 -6.24735334e-05 4.07103602e+00] [ 1.68742228e-02 -5.93884510e-04 9.99857444e-01 2.60772250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.119254154 meters 0.018845324073923888 Centerline is valid? [True, True] Translation: X:600.47, Y:4.08, Z:2.61 [[ 9.99361281e-01 -3.15064258e-02 -1.68634200e-02 6.00468038e+02] [ 3.15098560e-02 9.99503439e-01 -6.23170662e-05 4.07731208e+00] [ 1.68570097e-02 -4.69086674e-04 9.99857800e-01 2.60723896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.179254154 meters 0.017041118938484895 Centerline is valid? [True, True] Translation: X:600.53, Y:4.08, Z:2.61 [[ 9.99497223e-01 -2.70208984e-02 -1.65883006e-02 6.00528702e+02] [ 2.70236001e-02 9.99634794e-01 -6.13003901e-05 4.08167361e+00] [ 1.65838988e-02 -3.87006032e-04 9.99862403e-01 2.60715183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.239254154 meters 0.014285142315632809 Centerline is valid? [True, True] Translation: X:600.59, Y:4.09, Z:2.61 [[ 9.99661339e-01 -2.15881189e-02 -1.45313894e-02 6.00588285e+02] [ 2.15896129e-02 9.99766916e-01 -5.40748290e-05 4.08658314e+00] [ 1.45291697e-02 -2.59670556e-04 9.99894412e-01 2.60864502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.299254154 meters 0.014340153084214966 Centerline is valid? [True, True] Translation: X:600.65, Y:4.09, Z:2.61 [[ 9.99675548e-01 -2.02913595e-02 -1.53967453e-02 6.00647460e+02] [ 2.02928741e-02 9.99794077e-01 -5.78676499e-05 4.08674663e+00] [ 1.53947490e-02 -2.54595341e-04 9.99881461e-01 2.60771915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.359254154 meters 0.013850116469576726 Centerline is valid? [True, True] Translation: X:600.71, Y:4.09, Z:2.61 [[ 9.99676398e-01 -1.81278797e-02 -1.78459775e-02 6.00706515e+02] [ 1.81295059e-02 9.99835644e-01 -7.06636002e-05 4.08612391e+00] [ 1.78443254e-02 -2.52898021e-04 9.99840745e-01 2.60505880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.419254154 meters 0.013408620347419293 Centerline is valid? [True, True] Translation: X:600.77, Y:4.09, Z:2.61 [[ 9.99743570e-01 -1.44210278e-02 -1.74593154e-02 6.00765463e+02] [ 1.44219423e-02 9.99895996e-01 -7.35387475e-05 4.08708453e+00] [ 1.74585601e-02 -1.78277349e-04 9.99847572e-01 2.60560172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4792541539999 meters 0.012942421148409412 Centerline is valid? [True, True] Translation: X:600.82, Y:4.09, Z:2.61 [[ 9.99812351e-01 -1.06313055e-02 -1.61937384e-02 6.00823845e+02] [ 1.06315296e-02 9.99943481e-01 -7.22514455e-05 4.08995736e+00] [ 1.61935913e-02 -9.99263226e-05 9.99868870e-01 2.60745008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.539254154 meters 0.013890211703141524 Centerline is valid? [True, True] Translation: X:600.88, Y:4.09, Z:2.61 [[ 9.99868104e-01 -4.59479804e-03 -1.55776521e-02 6.00881996e+02] [ 4.59423270e-03 9.99989444e-01 -7.20770364e-05 4.09094592e+00] [ 1.55778188e-02 5.00170972e-07 9.99878658e-01 2.60800275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5992541539999 meters 0.012897247004452357 Centerline is valid? [True, True] Translation: X:600.94, Y:4.09, Z:2.61 [[ 9.99890554e-01 -1.88797032e-03 -1.46736442e-02 6.00939710e+02] [ 1.88712673e-03 9.99998217e-01 -7.13367365e-05 4.09149355e+00] [ 1.46737527e-02 4.36379029e-05 9.99892334e-01 2.60904340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.659254154 meters 0.01278628164472063 Centerline is valid? [True, True] Translation: X:601.00, Y:4.09, Z:2.61 [[ 9.99900435e-01 -2.61582402e-03 -1.38664372e-02 6.00998078e+02] [ 2.61511482e-03 9.99996578e-01 -6.92767343e-05 4.08927859e+00] [ 1.38665710e-02 3.30075113e-05 9.99903854e-01 2.61138271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.7192541539999 meters 0.013066059970959512 Centerline is valid? [True, True] Translation: X:601.06, Y:4.08, Z:2.61 [[ 9.99889312e-01 -7.37681248e-03 -1.29207672e-02 6.01056034e+02] [ 7.37657834e-03 9.99972791e-01 -6.57787680e-05 4.08206884e+00] [ 1.29209008e-02 -2.95395641e-05 9.99916521e-01 2.60981563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.779254154 meters 0.013481366176858606 Centerline is valid? [True, True] Translation: X:601.12, Y:4.08, Z:2.61 [[ 9.99849138e-01 -1.18632008e-02 -1.26872306e-02 6.01115251e+02] [ 1.18633231e-02 9.99929626e-01 -6.56195610e-05 4.07607029e+00] [ 1.26871162e-02 -8.49030540e-05 9.99919512e-01 2.61039543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.839254154 meters 0.015340093052457465 Centerline is valid? [True, True] Translation: X:601.17, Y:4.07, Z:2.61 [[ 9.99724853e-01 -1.88375837e-02 -1.39772541e-02 6.01174571e+02] [ 1.88384018e-02 9.99822539e-01 -7.31403419e-05 4.06905657e+00] [ 1.39761514e-02 -1.90188911e-04 9.99902311e-01 2.61174259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.899254154 meters 0.015905290212818043 Centerline is valid? [True, True] Translation: X:601.23, Y:4.06, Z:2.61 [[ 9.99548324e-01 -2.63250353e-02 -1.44962079e-02 6.01233887e+02] [ 2.63266907e-02 9.99653390e-01 -7.66501969e-05 4.05934609e+00] [ 1.44932012e-02 -3.05021606e-04 9.99894922e-01 2.61145357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.959254154 meters 0.01675917976710169 Centerline is valid? [True, True] Translation: X:601.29, Y:4.05, Z:2.61 [[ 9.99395326e-01 -3.13860286e-02 -1.49632965e-02 6.01293575e+02] [ 3.13883497e-02 9.99507261e-01 -7.97585839e-05 4.05367242e+00] [ 1.49584269e-02 -3.89962829e-04 9.99888040e-01 2.61247352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.019254154 meters 0.01739990130158513 Centerline is valid? [True, True] Translation: X:601.35, Y:4.05, Z:2.61 [[ 9.99338581e-01 -3.30375831e-02 -1.51959841e-02 6.01353936e+02] [ 3.30401653e-02 9.99454021e-01 -8.11651324e-05 4.05036112e+00] [ 1.51903689e-02 -4.20966377e-04 9.99884531e-01 2.61294726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.079254154 meters 0.018428582473630016 Centerline is valid? [True, True] Translation: X:601.41, Y:4.05, Z:2.61 [[ 9.99339410e-01 -3.29459666e-02 -1.53397405e-02 6.01413902e+02] [ 3.29485973e-02 9.99457044e-01 -8.12695317e-05 4.04789906e+00] [ 1.53340892e-02 -4.24207085e-04 9.99882336e-01 2.61238038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.139254154 meters 0.017816484739325334 Centerline is valid? [True, True] Translation: X:601.47, Y:4.05, Z:2.61 [[ 9.99381411e-01 -3.16076589e-02 -1.54192060e-02 6.01474715e+02] [ 3.16101619e-02 9.99500271e-01 -8.14222254e-05 4.04724926e+00] [ 1.54140741e-02 -4.06031739e-04 9.99881114e-01 2.61316044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.199254154 meters 0.01791857872734235 Centerline is valid? [True, True] Translation: X:601.53, Y:4.05, Z:2.62 [[ 9.99450824e-01 -2.99070116e-02 -1.42695745e-02 6.01533803e+02] [ 2.99089794e-02 9.99552624e-01 -7.55277161e-05 4.04635223e+00] [ 1.42654494e-02 -3.51302172e-04 9.99898182e-01 2.61533308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.259254154 meters 0.017074508566054334 Centerline is valid? [True, True] Translation: X:601.59, Y:4.05, Z:2.62 [[ 9.99472885e-01 -2.90001063e-02 -1.45926399e-02 6.01594669e+02] [ 2.90020665e-02 9.99579349e-01 -7.73180377e-05 4.04822427e+00] [ 1.45887437e-02 -3.45939429e-04 9.99893519e-01 2.61652236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.319254154 meters 0.018839493346240407 Centerline is valid? [True, True] Translation: X:601.65, Y:4.04, Z:2.61 [[ 9.99397294e-01 -3.01693409e-02 -1.71714732e-02 6.01654055e+02] [ 3.01722239e-02 9.99544711e-01 -9.12108740e-05 4.04393055e+00] [ 1.71664070e-02 -4.26945634e-04 9.99852555e-01 2.61411636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.379254154 meters 0.01955110927560269 Centerline is valid? [True, True] Translation: X:601.71, Y:4.04, Z:2.61 [[ 9.99327442e-01 -3.18055427e-02 -1.82502556e-02 6.01713222e+02] [ 3.18090095e-02 9.99493960e-01 -1.00368655e-04 4.04192593e+00] [ 1.82442125e-02 -4.80221403e-04 9.99833445e-01 2.61408657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.439254154 meters 0.021298578791285046 Centerline is valid? [True, True] Translation: X:601.77, Y:4.04, Z:2.61 [[ 9.99232645e-01 -3.45115868e-02 -1.85221957e-02 6.01771719e+02] [ 3.45155889e-02 9.99404154e-01 -1.03659551e-04 4.03891295e+00] [ 1.85147368e-02 -5.35724485e-04 9.99828444e-01 2.61472657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.499254154 meters 0.023424230077645335 Centerline is valid? [True, True] Translation: X:601.83, Y:4.03, Z:2.62 [[ 9.99125215e-01 -3.74859709e-02 -1.85366447e-02 6.01830033e+02] [ 3.74904694e-02 9.99296980e-01 -1.04884262e-04 4.03440191e+00] [ 1.85275447e-02 -5.90154999e-04 9.99828176e-01 2.61505254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.559254154 meters 0.0212399488701808 Centerline is valid? [True, True] Translation: X:601.89, Y:4.04, Z:2.62 [[ 9.99034333e-01 -3.94371985e-02 -1.93677444e-02 6.01889790e+02] [ 3.94424595e-02 9.99221837e-01 -1.10424065e-04 4.03655339e+00] [ 1.93570280e-02 -6.53594044e-04 9.99812422e-01 2.61736368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.619254154 meters 0.020770040498914445 Centerline is valid? [True, True] Translation: X:601.95, Y:4.04, Z:2.62 [[ 9.99011015e-01 -3.93407311e-02 -2.07195283e-02 6.01949321e+02] [ 3.93467161e-02 9.99225611e-01 -1.18888519e-04 4.03758336e+00] [ 2.07081605e-02 -6.96474457e-04 9.99785320e-01 2.61820059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.679254154 meters 0.01920044629397701 Centerline is valid? [True, True] Translation: X:602.01, Y:4.04, Z:2.62 [[ 9.99171570e-01 -3.54635496e-02 -1.99627220e-02 6.02009511e+02] [ 3.54683233e-02 9.99370794e-01 -1.14985163e-04 4.04132396e+00] [ 1.99542392e-02 -5.93154374e-04 9.99800718e-01 2.62061284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.739254154 meters 0.01893206259771656 Centerline is valid? [True, True] Translation: X:602.07, Y:4.04, Z:2.62 [[ 9.99331905e-01 -3.08627104e-02 -1.95764541e-02 6.02068657e+02] [ 3.08664066e-02 9.99523513e-01 -1.13389056e-04 4.04398860e+00] [ 1.95706256e-02 -4.90941491e-04 9.99808356e-01 2.62169544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.799254154 meters 0.017145600056303643 Centerline is valid? [True, True] Translation: X:602.13, Y:4.05, Z:2.62 [[ 9.99536520e-01 -2.36328922e-02 -1.91893783e-02 6.02128231e+02] [ 2.36350986e-02 9.99720646e-01 -1.11833463e-04 4.04947752e+00] [ 1.91866606e-02 -3.41761218e-04 9.99815861e-01 2.62277476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.859254154 meters 0.017054014196694167 Centerline is valid? [True, True] Translation: X:602.19, Y:4.05, Z:2.62 [[ 9.99589706e-01 -2.07727683e-02 -1.97208606e-02 6.02186169e+02] [ 2.07745124e-02 9.99784180e-01 -1.16441272e-04 4.04952948e+00] [ 1.97190232e-02 -2.93297767e-04 9.99805518e-01 2.62042481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.919254154 meters 0.016765823371762866 Centerline is valid? [True, True] Translation: X:602.24, Y:4.05, Z:2.62 [[ 9.99568318e-01 -2.21076291e-02 -1.93502245e-02 6.02244663e+02] [ 2.21094786e-02 9.99755549e-01 -1.18371828e-04 4.04726454e+00] [ 1.93481112e-02 -3.09502647e-04 9.99812760e-01 2.62101760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9792541539999 meters 0.017639491556671404 Centerline is valid? [True, True] Translation: X:602.30, Y:4.04, Z:2.62 [[ 9.99462363e-01 -2.65096060e-02 -1.92931623e-02 6.02303734e+02] [ 2.65121724e-02 9.99648483e-01 -1.22789802e-04 4.04343885e+00] [ 1.92896355e-02 -3.88779858e-04 9.99813862e-01 2.62145230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.039254154 meters 0.01949445851708847 Centerline is valid? [True, True] Translation: X:602.36, Y:4.04, Z:2.62 [[ 9.99279622e-01 -3.27235340e-02 -1.92199488e-02 6.02363079e+02] [ 3.27271937e-02 9.99464314e-01 -1.24177884e-04 4.03646066e+00] [ 1.92137165e-02 -5.04926559e-04 9.99815272e-01 2.62144549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0992541539999 meters 0.021790612773908005 Centerline is valid? [True, True] Translation: X:602.42, Y:4.03, Z:2.62 [[ 9.99075346e-01 -3.93545388e-02 -1.73110550e-02 6.02423244e+02] [ 3.93584942e-02 9.99225148e-01 -1.12276414e-04 4.02831998e+00] [ 1.73020601e-02 -5.69164461e-04 9.99850146e-01 2.62316196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.159254154 meters 0.02006726955184971 Centerline is valid? [True, True] Translation: X:602.48, Y:4.03, Z:2.63 [[ 9.98983934e-01 -4.20886078e-02 -1.61136167e-02 6.02483417e+02] [ 4.20923888e-02 9.99113717e-01 -1.04581348e-04 4.03069917e+00] [ 1.61037372e-02 -5.73785536e-04 9.99870162e-01 2.62612353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.2192541539999 meters 0.020617612336643082 Centerline is valid? [True, True] Translation: X:602.54, Y:4.03, Z:2.63 [[ 9.99007122e-01 -4.16798746e-02 -1.57339537e-02 6.02543115e+02] [ 4.16834256e-02 9.99130863e-01 -1.02326058e-04 4.02820547e+00] [ 1.57245437e-02 -5.53620628e-04 9.99876208e-01 2.62508198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.279254154 meters 0.022504064585818384 Centerline is valid? [True, True] Translation: X:602.60, Y:4.02, Z:2.62 [[ 9.99143457e-01 -3.87295320e-02 -1.45731269e-02 6.02602357e+02] [ 3.87322678e-02 9.99249620e-01 -9.45729295e-05 4.02332811e+00] [ 1.45658542e-02 -4.69958328e-04 9.99893802e-01 2.62371833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.339254154 meters 0.01929052514424199 Centerline is valid? [True, True] Translation: X:602.66, Y:4.03, Z:2.62 [[ 9.99330497e-01 -3.35407650e-02 -1.46142314e-02 6.02663047e+02] [ 3.35429662e-02 9.99437272e-01 -9.45362857e-05 4.02948026e+00] [ 1.46091784e-02 -3.95731676e-04 9.99893202e-01 2.62474603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.399254154 meters 0.018377994616692147 Centerline is valid? [True, True] Translation: X:602.72, Y:4.03, Z:2.62 [[ 9.99466839e-01 -2.90574475e-02 -1.48896479e-02 6.02723277e+02] [ 2.90592275e-02 9.99577687e-01 -9.68356917e-05 4.03230607e+00] [ 1.48861736e-02 -3.35897605e-04 9.99889138e-01 2.62413144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.459254154 meters 0.01639966393230167 Centerline is valid? [True, True] Translation: X:602.78, Y:4.04, Z:2.62 [[ 9.99641710e-01 -2.24943573e-02 -1.45070701e-02 6.02782673e+02] [ 2.24953473e-02 9.99746943e-01 -9.49580539e-05 4.03544857e+00] [ 1.45055350e-02 -2.31417548e-04 9.99894762e-01 2.62391302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.519254154 meters 0.015917361933250544 Centerline is valid? [True, True] Translation: X:602.84, Y:4.04, Z:2.62 [[ 9.99716782e-01 -1.89323314e-02 -1.44195462e-02 6.02840551e+02] [ 1.89329238e-02 9.99820752e-01 -9.54348668e-05 4.03751653e+00] [ 1.44187683e-02 -1.77596332e-04 9.99896028e-01 2.62481311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.579254154 meters 0.015639389321178674 Centerline is valid? [True, True] Translation: X:602.90, Y:4.04, Z:2.63 [[ 9.99725762e-01 -1.88808994e-02 -1.38532185e-02 6.02898413e+02] [ 1.88813992e-02 9.99821726e-01 -9.47254113e-05 4.03694526e+00] [ 1.38525374e-02 -1.66868715e-04 9.99904035e-01 2.62572094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.639254154 meters 0.01629100192783805 Centerline is valid? [True, True] Translation: X:602.96, Y:4.03, Z:2.63 [[ 9.99599607e-01 -2.46607685e-02 -1.38734518e-02 6.02957714e+02] [ 2.46618018e-02 9.99695847e-01 -9.66188308e-05 4.03326915e+00] [ 1.38716148e-02 -2.45564173e-04 9.99903754e-01 2.62618622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.699254154 meters 0.019276300916601784 Centerline is valid? [True, True] Translation: X:603.02, Y:4.02, Z:2.63 [[ 9.99371214e-01 -3.29658990e-02 -1.30547268e-02 6.03016903e+02] [ 3.29675150e-02 9.99456420e-01 -9.14495457e-05 4.02467299e+00] [ 1.30506452e-02 -3.38989858e-04 9.99914779e-01 2.62614738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.759254154 meters 0.020241586761391154 Centerline is valid? [True, True] Translation: X:603.08, Y:4.02, Z:2.63 [[ 9.99199747e-01 -3.78976400e-02 -1.27919706e-02 6.03077693e+02] [ 3.78995934e-02 9.99281548e-01 -8.97624371e-05 4.02269816e+00] [ 1.27861820e-02 -3.95119881e-04 9.99918175e-01 2.62695574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.819254154 meters 0.02064057580275993 Centerline is valid? [True, True] Translation: X:603.14, Y:4.02, Z:2.63 [[ 9.99018123e-01 -4.25392403e-02 -1.23775499e-02 6.03138637e+02] [ 4.25414267e-02 9.99094700e-01 -8.67082081e-05 4.02168300e+00] [ 1.23700330e-02 -4.39935560e-04 9.99923391e-01 2.62812429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.879254154 meters 0.02260354182086374 Centerline is valid? [True, True] Translation: X:603.20, Y:4.02, Z:2.63 [[ 9.98895428e-01 -4.53943255e-02 -1.21358955e-02 6.03198710e+02] [ 4.53966388e-02 9.98969038e-01 -8.49362565e-05 4.01833470e+00] [ 1.21272395e-02 -4.66086427e-04 9.99926354e-01 2.62811832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.939254154 meters 0.023332861740767194 Centerline is valid? [True, True] Translation: X:603.26, Y:4.02, Z:2.63 [[ 9.98903469e-01 -4.54670800e-02 -1.11625993e-02 6.03260109e+02] [ 4.54690456e-02 9.98965745e-01 -7.77655421e-05 4.01815724e+00] [ 1.11545901e-02 -4.29872468e-04 9.99937693e-01 2.62954863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.999254154 meters 0.023356651857243508 Centerline is valid? [True, True] Translation: X:603.32, Y:4.02, Z:2.63 [[ 9.98911227e-01 -4.53326307e-02 -1.10141833e-02 6.03322291e+02] [ 4.53345439e-02 9.98971858e-01 -7.60352142e-05 4.01876737e+00] [ 1.10063061e-02 -4.23370549e-04 9.99939339e-01 2.63031271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.059254154 meters 0.022246736516454386 Centerline is valid? [True, True] Translation: X:603.38, Y:4.02, Z:2.63 [[ 9.98927079e-01 -4.48036854e-02 -1.17183788e-02 6.03383634e+02] [ 4.48058217e-02 9.98995712e-01 -8.03040343e-05 4.02181804e+00] [ 1.17102081e-02 -4.44833715e-04 9.99931334e-01 2.63041299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.119254154 meters 0.023260053274556925 Centerline is valid? [True, True] Translation: X:603.45, Y:4.02, Z:2.63 [[ 9.98832649e-01 -4.58885049e-02 -1.50858918e-02 6.03445068e+02] [ 4.58921779e-02 9.98946394e-01 -1.02800033e-04 4.02247529e+00] [ 1.50747146e-02 -5.89644404e-04 9.99886196e-01 2.62733836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.179254154 meters 0.02524049763117414 Centerline is valid? [True, True] Translation: X:603.51, Y:4.02, Z:2.63 [[ 9.98702266e-01 -4.86652193e-02 -1.50159715e-02 6.03505282e+02] [ 4.86691767e-02 9.98814948e-01 -1.01983788e-04 4.02206906e+00] [ 1.50031398e-02 -6.28963529e-04 9.99887249e-01 2.62776948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.239254154 meters 0.02320017213119149 Centerline is valid? [True, True] Translation: X:603.57, Y:4.03, Z:2.63 [[ 9.98552129e-01 -5.17224987e-02 -1.47793612e-02 6.03566405e+02] [ 5.17266734e-02 9.98661275e-01 -9.99172574e-05 4.02775391e+00] [ 1.47647436e-02 -6.64714598e-04 9.99890774e-01 2.62992112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.299254154 meters 0.02457704270338138 Centerline is valid? [True, True] Translation: X:603.63, Y:4.03, Z:2.63 [[ 9.98484421e-01 -5.33940393e-02 -1.33393406e-02 6.03627897e+02] [ 5.33975951e-02 9.98573327e-01 -8.97082078e-05 4.02772407e+00] [ 1.33250996e-02 -6.22716459e-04 9.99911023e-01 2.63087838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.359254154 meters 0.023361656800616873 Centerline is valid? [True, True] Translation: X:603.69, Y:4.03, Z:2.63 [[ 9.98618836e-01 -5.12892041e-02 -1.13946357e-02 6.03689550e+02] [ 5.12916678e-02 9.98683713e-01 -7.61037826e-05 4.03118235e+00] [ 1.13835404e-02 -5.08451200e-04 9.99935076e-01 2.63230913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.419254154 meters 0.02143985233658581 Centerline is valid? [True, True] Translation: X:603.75, Y:4.04, Z:2.63 [[ 9.99000776e-01 -4.38000086e-02 -8.88865376e-03 6.03749700e+02] [ 4.38012134e-02 9.99040265e-01 -5.91746520e-05 4.03840966e+00] [ 8.88271485e-03 -3.30218297e-04 9.99960493e-01 2.63455573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4792541539999 meters 0.0186375461517203 Centerline is valid? [True, True] Translation: X:603.81, Y:4.05, Z:2.63 [[ 9.99345310e-01 -3.49294473e-02 -9.42787057e-03 6.03810102e+02] [ 3.49304084e-02 9.99389745e-01 -6.27522162e-05 4.04658103e+00] [ 9.42430907e-03 -2.66608236e-04 9.99955555e-01 2.63333598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.539254154 meters 0.016575764818204133 Centerline is valid? [True, True] Translation: X:603.87, Y:4.05, Z:2.63 [[ 9.99534072e-01 -2.85908598e-02 -1.06865267e-02 6.03871549e+02] [ 2.85917352e-02 9.99591170e-01 -7.08859753e-05 4.05348981e+00] [ 1.06841844e-02 -2.34693393e-04 9.99942895e-01 2.63251694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5992541539999 meters 0.016622090327335876 Centerline is valid? [True, True] Translation: X:603.93, Y:4.05, Z:2.63 [[ 9.99579823e-01 -2.69539587e-02 -1.06612329e-02 6.03931908e+02] [ 2.69547398e-02 9.99636653e-01 -7.04424450e-05 4.05460471e+00] [ 1.06592579e-02 -2.16957912e-04 9.99943165e-01 2.63192035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.659254154 meters 0.016503290512534595 Centerline is valid? [True, True] Translation: X:603.99, Y:4.06, Z:2.63 [[ 9.99616795e-01 -2.58768600e-02 -9.83117351e-03 6.03993670e+02] [ 2.58774748e-02 9.99665120e-01 -6.46887688e-05 4.05687277e+00] [ 9.82955519e-03 -1.89741965e-04 9.99951671e-01 2.63223467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.7192541539999 meters 0.0166596567381749 Centerline is valid? [True, True] Translation: X:604.05, Y:4.06, Z:2.63 [[ 9.99603566e-01 -2.63730655e-02 -9.85764364e-03 6.04054348e+02] [ 2.63737102e-02 9.99652151e-01 -6.46067990e-05 4.05551842e+00] [ 9.85591855e-03 -1.95401450e-04 9.99951410e-01 2.63127504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.779254154 meters 0.017397487417866855 Centerline is valid? [True, True] Translation: X:604.12, Y:4.05, Z:2.63 [[ 9.99569683e-01 -2.80548001e-02 -8.56602015e-03 6.04115211e+02] [ 2.80553499e-02 9.99606370e-01 -5.60003922e-05 4.05329022e+00] [ 8.56421938e-03 -1.84346398e-04 9.99963309e-01 2.63195819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.839254154 meters 0.019593876472070015 Centerline is valid? [True, True] Translation: X:604.18, Y:4.05, Z:2.63 [[ 9.99444717e-01 -3.26125024e-02 -6.83244310e-03 6.04175347e+02] [ 3.26129593e-02 9.99468055e-01 -4.45633672e-05 4.04650553e+00] [ 6.83026194e-03 -1.78287567e-04 9.99976658e-01 2.63302177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.899254154 meters 0.0224064048001776 Centerline is valid? [True, True] Translation: X:604.24, Y:4.04, Z:2.63 [[ 9.99211611e-01 -3.91865052e-02 -6.36973301e-03 6.04236013e+02] [ 3.91870364e-02 9.99231892e-01 -4.14406089e-05 4.03852719e+00] [ 6.36646428e-03 -2.08203021e-04 9.99979712e-01 2.63323850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.959254154 meters 0.025898919243737776 Centerline is valid? [True, True] Translation: X:604.30, Y:4.03, Z:2.63 [[ 9.98945437e-01 -4.52082692e-02 -8.01411596e-03 6.04295684e+02] [ 4.52093055e-02 9.98977535e-01 -5.18925939e-05 4.03072982e+00] [ 8.00826778e-03 -3.10474747e-04 9.99967885e-01 2.63213736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.019254154 meters 0.027094405889424248 Centerline is valid? [True, True] Translation: X:604.36, Y:4.03, Z:2.63 [[ 9.98865724e-01 -4.67539537e-02 -9.01851578e-03 6.04357468e+02] [ 4.67553348e-02 9.98906370e-01 -5.77479331e-05 4.02728465e+00] [ 9.01135280e-03 -3.63981294e-04 9.99959331e-01 2.63157625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.079254154 meters 0.023083173785736377 Centerline is valid? [True, True] Translation: X:604.42, Y:4.03, Z:2.63 [[ 9.98992166e-01 -4.40127236e-02 -8.80521714e-03 6.04418654e+02] [ 4.40139388e-02 9.99030915e-01 -5.58131160e-05 4.03235756e+00] [ 8.79914062e-03 -3.31795423e-04 9.99961232e-01 2.63265571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.139254154 meters 0.021000312777722498 Centerline is valid? [True, True] Translation: X:604.48, Y:4.04, Z:2.63 [[ 9.99154627e-01 -3.97257700e-02 -1.05779875e-02 6.04480686e+02] [ 3.97272894e-02 9.99210557e-01 -6.65242422e-05 4.03655362e+00] [ 1.05722795e-02 -3.53766767e-04 9.99944049e-01 2.63203560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.199254154 meters 0.019824497517756032 Centerline is valid? [True, True] Translation: X:604.54, Y:4.04, Z:2.63 [[ 9.99322016e-01 -3.51428676e-02 -1.09766891e-02 6.04542597e+02] [ 3.51442344e-02 9.99382248e-01 -6.84060754e-05 4.04213827e+00] [ 1.09723122e-02 -3.17407637e-04 9.99939752e-01 2.63248361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.259254154 meters 0.020086049134400662 Centerline is valid? [True, True] Translation: X:604.60, Y:4.04, Z:2.63 [[ 9.99326292e-01 -3.46360298e-02 -1.21370216e-02 6.04604405e+02] [ 3.46376702e-02 9.99399933e-01 -7.50873585e-05 4.04334480e+00] [ 1.21323393e-02 -3.45361379e-04 9.99926341e-01 2.63209406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.319254154 meters 0.021820075792676162 Centerline is valid? [True, True] Translation: X:604.66, Y:4.04, Z:2.63 [[ 9.99203604e-01 -3.78960602e-02 -1.24918498e-02 6.04664209e+02] [ 3.78980544e-02 9.99281608e-01 -7.71240997e-05 4.04389369e+00] [ 1.24857985e-02 -3.96354125e-04 9.99921971e-01 2.63257299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.379254154 meters 0.0228050712614351 Centerline is valid? [True, True] Translation: X:604.72, Y:4.05, Z:2.63 [[ 9.99077355e-01 -4.12212528e-02 -1.20518394e-02 6.04724988e+02] [ 4.12233522e-02 9.99149954e-01 -7.42744197e-05 4.04596326e+00] [ 1.20446564e-02 -4.22611328e-04 9.99927371e-01 2.63389284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.439254154 meters 0.024850268152063447 Centerline is valid? [True, True] Translation: X:604.79, Y:4.04, Z:2.63 [[ 9.98970000e-01 -4.36463101e-02 -1.24072361e-02 6.04785558e+02] [ 4.36487348e-02 9.99046937e-01 -7.54242927e-05 4.04446849e+00] [ 1.23987032e-02 -4.66213553e-04 9.99923024e-01 2.63358184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.499254154 meters 0.023599267582338507 Centerline is valid? [True, True] Translation: X:604.85, Y:4.05, Z:2.63 [[ 9.98815465e-01 -4.69976639e-02 -1.26050041e-02 6.04846955e+02] [ 4.70004434e-02 9.98894866e-01 -7.57931125e-05 4.04968628e+00] [ 1.25946359e-02 -5.16737447e-04 9.99920551e-01 2.63446949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.559254154 meters 0.023353172355212164 Centerline is valid? [True, True] Translation: X:604.91, Y:4.06, Z:2.64 [[ 9.98880759e-01 -4.56815577e-02 -1.22647877e-02 6.04908293e+02] [ 4.56840956e-02 9.98955934e-01 -7.33100607e-05 4.05553281e+00] [ 1.22553314e-02 -4.87077724e-04 9.99924782e-01 2.63597952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.619254154 meters 0.02238772019654323 Centerline is valid? [True, True] Translation: X:604.97, Y:4.06, Z:2.64 [[ 9.99078661e-01 -4.09297546e-02 -1.29067253e-02 6.04968039e+02] [ 4.09321712e-02 9.99161925e-01 -7.69806268e-05 4.06302640e+00] [ 1.28990593e-02 -4.51390589e-04 9.99916702e-01 2.63663803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.679254154 meters 0.019742405422207288 Centerline is valid? [True, True] Translation: X:605.03, Y:4.07, Z:2.64 [[ 9.99326608e-01 -3.45097443e-02 -1.24662579e-02 6.05028749e+02] [ 3.45115014e-02 9.99404298e-01 -7.42105444e-05 4.07142805e+00] [ 1.24613927e-02 -3.56068705e-04 9.99922290e-01 2.63739637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.739254154 meters 0.019128776611855726 Centerline is valid? [True, True] Translation: X:605.09, Y:4.08, Z:2.64 [[ 9.99430482e-01 -3.12922134e-02 -1.26297224e-02 6.05090468e+02] [ 3.12937666e-02 9.99510227e-01 -7.46717282e-05 4.07606206e+00] [ 1.26258733e-02 -3.20602384e-04 9.99920239e-01 2.63765012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.799254154 meters 0.018485090415794932 Centerline is valid? [True, True] Translation: X:605.15, Y:4.08, Z:2.64 [[ 9.99477809e-01 -2.90089854e-02 -1.42333744e-02 6.05151775e+02] [ 2.90107353e-02 9.99579097e-01 -8.35529534e-05 4.08004938e+00] [ 1.42298073e-02 -3.29411335e-04 9.99898697e-01 2.63654524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.859254154 meters 0.019177171368282574 Centerline is valid? [True, True] Translation: X:605.21, Y:4.08, Z:2.64 [[ 9.99468676e-01 -2.94814188e-02 -1.39000380e-02 6.05212133e+02] [ 2.94831377e-02 9.99565274e-01 -8.12866616e-05 4.07974188e+00] [ 1.38963917e-02 -3.28573262e-04 9.99903387e-01 2.63622712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.919254154 meters 0.017875900031142263 Centerline is valid? [True, True] Translation: X:605.27, Y:4.08, Z:2.64 [[ 9.99445968e-01 -3.01012797e-02 -1.42010557e-02 6.05273679e+02] [ 3.01031425e-02 9.99546794e-01 -8.26159967e-05 4.08357973e+00] [ 1.41971065e-02 -3.44926177e-04 9.99899157e-01 2.63816498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9792541539999 meters 0.01824656489197144 Centerline is valid? [True, True] Translation: X:605.33, Y:4.09, Z:2.64 [[ 9.99364106e-01 -3.26669210e-02 -1.42918457e-02 6.05334499e+02] [ 3.26690747e-02 9.99466220e-01 -8.28032677e-05 4.08603832e+00] [ 1.42869219e-02 -3.84150761e-04 9.99897863e-01 2.63900578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.039254154 meters 0.020436791056129874 Centerline is valid? [True, True] Translation: X:605.40, Y:4.08, Z:2.64 [[ 9.99251086e-01 -3.63829796e-02 -1.31736609e-02 6.05395012e+02] [ 3.63851351e-02 9.99337839e-01 -7.60930339e-05 4.08188841e+00] [ 1.31677063e-02 -4.03289386e-04 9.99913221e-01 2.63927794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0992541539999 meters 0.021915215995288544 Centerline is valid? [True, True] Translation: X:605.46, Y:4.08, Z:2.64 [[ 9.99160233e-01 -3.88771610e-02 -1.29381426e-02 6.05456739e+02] [ 3.88794538e-02 9.99243905e-01 -7.43577701e-05 4.07974649e+00] [ 1.29312510e-02 -4.28732592e-04 9.99916296e-01 2.63945031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.159254154 meters 0.021539808487029494 Centerline is valid? [True, True] Translation: X:605.52, Y:4.08, Z:2.64 [[ 9.99108409e-01 -4.01375055e-02 -1.30907542e-02 6.05518664e+02] [ 4.01399709e-02 9.99194064e-01 -7.44579378e-05 4.08288257e+00] [ 1.30831924e-02 -4.51070940e-04 9.99914310e-01 2.63987774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.2192541539999 meters 0.02110488062517059 Centerline is valid? [True, True] Translation: X:605.58, Y:4.09, Z:2.64 [[ 9.99225811e-01 -3.70859943e-02 -1.31304181e-02 6.05578916e+02] [ 3.70882177e-02 9.99311993e-01 -7.42144626e-05 4.08582736e+00] [ 1.31241366e-02 -4.12826798e-04 9.99913790e-01 2.64058923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.279254154 meters 0.019896536044100768 Centerline is valid? [True, True] Translation: X:605.64, Y:4.09, Z:2.64 [[ 9.99372415e-01 -3.28603490e-02 -1.32277320e-02 6.05640759e+02] [ 3.28622427e-02 9.99459888e-01 -7.42287110e-05 4.08892386e+00] [ 1.32230267e-02 -3.60510813e-04 9.99912507e-01 2.64066809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.339254154 meters 0.016356089102325742 Centerline is valid? [True, True] Translation: X:605.70, Y:4.10, Z:2.64 [[ 9.99623829e-01 -2.42031933e-02 -1.28998765e-02 6.05701949e+02] [ 2.42042785e-02 9.99707031e-01 -7.20115080e-05 4.10042716e+00] [ 1.28978402e-02 -2.40247785e-04 9.99916791e-01 2.64340011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.399254154 meters 0.015201263520483028 Centerline is valid? [True, True] Translation: X:605.76, Y:4.11, Z:2.64 [[ 9.99790309e-01 -1.58239375e-02 -1.29977294e-02 6.05762160e+02] [ 1.58243323e-02 9.99874785e-01 -7.24770351e-05 4.10746964e+00] [ 1.29972488e-02 -1.33218551e-04 9.99915523e-01 2.64296777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.459254154 meters 0.014718681283207387 Centerline is valid? [True, True] Translation: X:605.82, Y:4.11, Z:2.64 [[ 9.99842582e-01 -1.10106460e-02 -1.39132045e-02 6.05820599e+02] [ 1.10106237e-02 9.99939378e-01 -7.82080381e-05 4.11138661e+00] [ 1.39132222e-02 -7.49973326e-05 9.99903204e-01 2.64149869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.519254154 meters 0.015059976166422512 Centerline is valid? [True, True] Translation: X:605.88, Y:4.11, Z:2.64 [[ 9.99822492e-01 -1.15903425e-02 -1.48542242e-02 6.05878804e+02] [ 1.15903630e-02 9.99932826e-01 -8.47090700e-05 4.11101548e+00] [ 1.48542082e-02 -8.74718181e-05 9.99889666e-01 2.64096058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.579254154 meters 0.01519077102354437 Centerline is valid? [True, True] Translation: X:605.94, Y:4.11, Z:2.64 [[ 9.99789419e-01 -1.48007042e-02 -1.42146883e-02 6.05937255e+02] [ 1.48010070e-02 9.99890456e-01 -8.39046996e-05 4.10815484e+00] [ 1.42143730e-02 -1.26504670e-04 9.99898963e-01 2.64274934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.639254154 meters 0.01603490453139866 Centerline is valid? [True, True] Translation: X:605.99, Y:4.10, Z:2.64 [[ 9.99747385e-01 -1.77872807e-02 -1.37396482e-02 6.05994988e+02] [ 1.77878194e-02 9.99841781e-01 -8.30046258e-05 4.10203840e+00] [ 1.37389508e-02 -1.61414723e-04 9.99905603e-01 2.64155308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.699254154 meters 0.016588770002271172 Centerline is valid? [True, True] Translation: X:606.05, Y:4.09, Z:2.64 [[ 9.99674936e-01 -2.25326563e-02 -1.19289870e-02 6.06053608e+02] [ 2.25333739e-02 9.99746089e-01 -7.42618484e-05 4.09444995e+00] [ 1.19276314e-02 -1.94562616e-04 9.99928844e-01 2.64279634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.759254154 meters 0.016953572772099686 Centerline is valid? [True, True] Translation: X:606.11, Y:4.09, Z:2.64 [[ 9.99626471e-01 -2.50980586e-02 -1.08169027e-02 6.06114269e+02] [ 2.50987881e-02 9.99684973e-01 -6.83230410e-05 4.08837437e+00] [ 1.08152098e-02 -2.03193628e-04 9.99941493e-01 2.64344931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.819254154 meters 0.017549511420373365 Centerline is valid? [True, True] Translation: X:606.18, Y:4.08, Z:2.64 [[ 9.99553981e-01 -2.75107618e-02 -1.16188023e-02 6.06175655e+02] [ 2.75117694e-02 9.99621477e-01 -7.31301976e-05 4.08171932e+00] [ 1.16164162e-02 -2.46556229e-04 9.99932497e-01 2.64330639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.879254154 meters 0.017832518057064074 Centerline is valid? [True, True] Translation: X:606.24, Y:4.07, Z:2.64 [[ 9.99456967e-01 -3.06395633e-02 -1.21238517e-02 6.06237125e+02] [ 3.06408959e-02 9.99530455e-01 -7.58612503e-05 4.07437711e+00] [ 1.21204834e-02 -2.95665623e-04 9.99926501e-01 2.64307716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.939254154 meters 0.019009032302378995 Centerline is valid? [True, True] Translation: X:606.30, Y:4.07, Z:2.64 [[ 9.99431106e-01 -3.16989908e-02 -1.15168587e-02 6.06297433e+02] [ 3.17002669e-02 9.99497418e-01 -7.17808651e-05 4.06709424e+00] [ 1.15133460e-02 -2.93347466e-04 9.99933676e-01 2.64311780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.999254154 meters 0.01750272981121795 Centerline is valid? [True, True] Translation: X:606.36, Y:4.06, Z:2.64 [[ 9.99466295e-01 -3.09190985e-02 -1.05420105e-02 6.06358859e+02] [ 3.09201274e-02 9.99521856e-01 -6.54057771e-05 4.06459695e+00] [ 1.05389922e-02 -2.60589439e-04 9.99944429e-01 2.64431256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.059254154 meters 0.01694754961151714 Centerline is valid? [True, True] Translation: X:606.42, Y:4.06, Z:2.64 [[ 9.99528481e-01 -2.85554793e-02 -1.12871749e-02 6.06420387e+02] [ 2.85565130e-02 9.99592177e-01 -6.96039382e-05 4.06135944e+00] [ 1.12845593e-02 -2.52751237e-04 9.99936295e-01 2.64374034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.119254154 meters 0.01648622154913628 Centerline is valid? [True, True] Translation: X:606.48, Y:4.06, Z:2.64 [[ 9.99556565e-01 -2.71199598e-02 -1.22956116e-02 6.06481476e+02] [ 2.71210837e-02 9.99632153e-01 -7.53582731e-05 4.05879307e+00] [ 1.22931324e-02 -2.58145454e-04 9.99924403e-01 2.64311691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.179254154 meters 0.017306881036197302 Centerline is valid? [True, True] Translation: X:606.54, Y:4.05, Z:2.64 [[ 9.99496551e-01 -2.95249362e-02 -1.16156333e-02 6.06541693e+02] [ 2.95261032e-02 9.99564007e-01 -7.10384121e-05 4.05226008e+00] [ 1.16126664e-02 -2.71961741e-04 9.99932534e-01 2.64369041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.239254154 meters 0.01848150076414489 Centerline is valid? [True, True] Translation: X:606.60, Y:4.05, Z:2.64 [[ 9.99388979e-01 -3.30576351e-02 -1.13516858e-02 6.06602180e+02] [ 3.30589774e-02 9.99453400e-01 -6.94241727e-05 4.04577456e+00] [ 1.13477760e-02 -3.05893372e-04 9.99935565e-01 2.64350897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.299254154 meters 0.019437701825503133 Centerline is valid? [True, True] Translation: X:606.66, Y:4.04, Z:2.64 [[ 9.99329623e-01 -3.49773975e-02 -1.08113856e-02 6.06663495e+02] [ 3.49787298e-02 9.99388055e-01 -6.58925680e-05 4.04201202e+00] [ 1.08070744e-02 -3.12320140e-04 9.99941553e-01 2.64365762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.359254154 meters 0.02101643763105693 Centerline is valid? [True, True] Translation: X:606.72, Y:4.04, Z:2.64 [[ 9.99236665e-01 -3.76284484e-02 -1.04970004e-02 6.06724768e+02] [ 3.76298542e-02 9.99291744e-01 -6.36120104e-05 4.03651761e+00] [ 1.04919594e-02 -3.31437141e-04 9.99944903e-01 2.64296565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.419254154 meters 0.02157451575338822 Centerline is valid? [True, True] Translation: X:606.79, Y:4.03, Z:2.64 [[ 9.99093691e-01 -4.13778736e-02 -9.98342271e-03 6.06785979e+02] [ 4.13793356e-02 9.99143507e-01 -6.01544785e-05 4.03457328e+00] [ 9.97736104e-03 -3.53007439e-04 9.99950163e-01 2.64335969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4792541539999 meters 0.026632675438412357 Centerline is valid? [True, True] Translation: X:606.85, Y:4.03, Z:2.64 [[ 9.98855026e-01 -4.67905571e-02 -9.96393708e-03 6.06845991e+02] [ 4.67922838e-02 9.98904639e-01 -5.98804710e-05 4.02622568e+00] [ 9.95582482e-03 -4.06423462e-04 9.99950357e-01 2.64261418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.539254154 meters 0.023634168066783715 Centerline is valid? [True, True] Translation: X:606.91, Y:4.03, Z:2.64 [[ 9.98698597e-01 -5.00633668e-02 -9.73510831e-03 6.06907280e+02] [ 5.00651723e-02 9.98745951e-01 -5.83095474e-05 4.03086449e+00] [ 9.72581918e-03 -4.29156211e-04 9.99952611e-01 2.64357676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5992541539999 meters 0.025382735010581973 Centerline is valid? [True, True] Translation: X:606.97, Y:4.03, Z:2.64 [[ 9.98503602e-01 -5.39413994e-02 -8.99346138e-03 6.06968423e+02] [ 5.39430993e-02 9.98544010e-01 -5.36341586e-05 4.02793766e+00] [ 8.98326009e-03 -4.31581279e-04 9.99959557e-01 2.64441989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.659254154 meters 0.02713470282914488 Centerline is valid? [True, True] Translation: X:607.03, Y:4.03, Z:2.64 [[ 9.98511491e-01 -5.36524600e-02 -9.80898530e-03 6.07029930e+02] [ 5.36544719e-02 9.98559560e-01 -5.81165282e-05 4.02862063e+00] [ 9.79797413e-03 -4.68265905e-04 9.99951889e-01 2.64486631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.7192541539999 meters 0.025929204931822068 Centerline is valid? [True, True] Translation: X:607.09, Y:4.03, Z:2.64 [[ 9.98659482e-01 -5.05356427e-02 -1.11976860e-02 6.07091576e+02] [ 5.05380763e-02 9.98722133e-01 -6.57069299e-05 4.03433616e+00] [ 1.11866974e-02 -5.00290663e-04 9.99937302e-01 2.64419458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.779254154 meters 0.02498753875340766 Centerline is valid? [True, True] Translation: X:607.15, Y:4.04, Z:2.64 [[ 9.98710324e-01 -4.95049562e-02 -1.12670805e-02 6.07154140e+02] [ 4.95073628e-02 9.98773757e-01 -6.53845437e-05 4.03651678e+00] [ 1.12565011e-02 -4.92503222e-04 9.99936522e-01 2.64489708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.839254154 meters 0.021581302380348645 Centerline is valid? [True, True] Translation: X:607.22, Y:4.04, Z:2.65 [[ 9.98829718e-01 -4.71216062e-02 -1.08971601e-02 6.07215112e+02] [ 4.71237218e-02 9.98889058e-01 -6.26859029e-05 4.04417870e+00] [ 1.08880078e-02 -4.50902196e-04 9.99940622e-01 2.64614766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.899254154 meters 0.02232868928278021 Centerline is valid? [True, True] Translation: X:607.28, Y:4.05, Z:2.65 [[ 9.99007172e-01 -4.34362349e-02 -9.89768537e-03 6.07275390e+02] [ 4.34378020e-02 9.99056132e-01 -5.66808904e-05 4.04627194e+00] [ 9.89080526e-03 -3.73309082e-04 9.99951015e-01 2.64761324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.959254154 meters 0.021474086921825664 Centerline is valid? [True, True] Translation: X:607.34, Y:4.05, Z:2.65 [[ 9.99107928e-01 -4.07596610e-02 -1.10452862e-02 6.07337329e+02] [ 4.07614543e-02 9.99168905e-01 -6.28016400e-05 4.05135830e+00] [ 1.10386663e-02 -3.87476314e-04 9.99938997e-01 2.64678409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.019254154 meters 0.019982556424169032 Centerline is valid? [True, True] Translation: X:607.40, Y:4.06, Z:2.65 [[ 9.99090574e-01 -4.05143470e-02 -1.32895787e-02 6.07399187e+02] [ 4.05169342e-02 9.99178849e-01 -7.46108343e-05 4.05631162e+00] [ 1.32816887e-02 -4.63910004e-04 9.99911687e-01 2.64620277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.079254154 meters 0.02008889610780569 Centerline is valid? [True, True] Translation: X:607.46, Y:4.06, Z:2.65 [[ 9.99105902e-01 -4.03372197e-02 -1.26611850e-02 6.07460944e+02] [ 4.03395616e-02 9.99186026e-01 -7.04618853e-05 4.05873083e+00] [ 1.26537214e-02 -4.40347768e-04 9.99919842e-01 2.64757040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.139254154 meters 0.018654609197461938 Centerline is valid? [True, True] Translation: X:607.52, Y:4.07, Z:2.65 [[ 9.99410280e-01 -3.28339379e-02 -1.00511087e-02 6.07521395e+02] [ 3.28350369e-02 9.99460783e-01 -5.57029502e-05 4.06584167e+00] [ 1.00475179e-02 -2.74358424e-04 9.99949485e-01 2.64995138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.199254154 meters 0.017112647055020018 Centerline is valid? [True, True] Translation: X:607.58, Y:4.07, Z:2.65 [[ 9.99621941e-01 -2.54664534e-02 -1.03650416e-02 6.07582290e+02] [ 2.54672275e-02 9.99675656e-01 -5.73178925e-05 4.07330988e+00] [ 1.03631394e-02 -2.06672648e-04 9.99946280e-01 2.65018740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.259254154 meters 0.015382153237336934 Centerline is valid? [True, True] Translation: X:607.64, Y:4.08, Z:2.65 [[ 9.99837515e-01 -1.41596793e-02 -1.11555886e-02 6.07642814e+02] [ 1.41598726e-02 9.99899742e-01 -6.16564251e-05 4.08440511e+00] [ 1.11553432e-02 -9.63153068e-05 9.99937773e-01 2.64890983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.319254154 meters 0.014891130053542 Centerline is valid? [True, True] Translation: X:607.70, Y:4.09, Z:2.65 [[ 9.99908651e-01 -8.64075021e-03 -1.03935841e-02 6.07701316e+02] [ 8.64060417e-03 9.99962668e-01 -5.89562945e-05 4.09085341e+00] [ 1.03937055e-02 -3.08559372e-05 9.99945984e-01 2.64985990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.379254154 meters 0.01703710609537302 Centerline is valid? [True, True] Translation: X:607.76, Y:4.09, Z:2.65 [[ 9.99906620e-01 -8.42187327e-03 -1.07620824e-02 6.07759356e+02] [ 8.42168559e-03 9.99964535e-01 -6.27580920e-05 4.09152261e+00] [ 1.07622293e-02 -2.78826426e-05 9.99942085e-01 2.64942625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.439254154 meters 0.015406407203434488 Centerline is valid? [True, True] Translation: X:607.82, Y:4.09, Z:2.65 [[ 9.99844467e-01 -1.39576295e-02 -1.07808300e-02 6.07817843e+02] [ 1.39577540e-02 9.99902584e-01 -6.37016913e-05 4.09014702e+00] [ 1.07806689e-02 -8.67843899e-05 9.99941883e-01 2.64994499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.499254154 meters 0.01693938242290007 Centerline is valid? [True, True] Translation: X:607.88, Y:4.08, Z:2.65 [[ 9.99681684e-01 -2.16475018e-02 -1.29582350e-02 6.07876595e+02] [ 2.16483170e-02 9.99765645e-01 -7.73772509e-05 4.08404076e+00] [ 1.29568732e-02 -2.03171357e-04 9.99916036e-01 2.64735224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.559254154 meters 0.017999918352904577 Centerline is valid? [True, True] Translation: X:607.94, Y:4.08, Z:2.65 [[ 9.99505041e-01 -2.86932209e-02 -1.28985029e-02 6.07936005e+02] [ 2.86946053e-02 9.99588222e-01 -7.77615173e-05 4.08065388e+00] [ 1.28954228e-02 -2.92394421e-04 9.99916808e-01 2.64802787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.619254154 meters 0.018494535286521896 Centerline is valid? [True, True] Translation: X:608.00, Y:4.08, Z:2.65 [[ 9.99333441e-01 -3.42611793e-02 -1.26033458e-02 6.07996594e+02] [ 3.42629402e-02 9.99412850e-01 -7.62428308e-05 4.08078975e+00] [ 1.25985580e-02 -3.55635674e-04 9.99920572e-01 2.65082726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.679254154 meters 0.020432327867918244 Centerline is valid? [True, True] Translation: X:608.06, Y:4.08, Z:2.65 [[ 9.99188352e-01 -3.82548250e-02 -1.26176587e-02 6.08056467e+02] [ 3.82569079e-02 9.99267934e-01 -7.63294152e-05 4.07731872e+00] [ 1.26113417e-02 -4.06445145e-04 9.99920391e-01 2.65062578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.739254154 meters 0.022584408157490462 Centerline is valid? [True, True] Translation: X:608.12, Y:4.07, Z:2.65 [[ 9.98836575e-01 -4.70535580e-02 -1.05573896e-02 6.08117034e+02] [ 4.70555070e-02 9.98892274e-01 -6.38459249e-05 4.07417982e+00] [ 1.05486991e-02 -4.33011675e-04 9.99944267e-01 2.65269913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.799254154 meters 0.02881303245371634 Centerline is valid? [True, True] Translation: X:608.18, Y:4.07, Z:2.65 [[ 9.98638978e-01 -5.10552127e-02 -1.06563236e-02 6.08176859e+02] [ 5.10574260e-02 9.98695717e-01 -6.44297435e-05 4.06635668e+00] [ 1.06457142e-02 -4.79742401e-04 9.99943218e-01 2.65253319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.859254154 meters 0.02782509888144336 Centerline is valid? [True, True] Translation: X:608.24, Y:4.07, Z:2.65 [[ 9.98266792e-01 -5.72173271e-02 -1.37691527e-02 6.08237093e+02] [ 5.72216072e-02 9.98361498e-01 -8.32373321e-05 4.07117961e+00] [ 1.37513545e-02 -7.04799980e-04 9.99905197e-01 2.65052733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.919254154 meters 0.029507582854078153 Centerline is valid? [True, True] Translation: X:608.30, Y:4.07, Z:2.65 [[ 9.97997609e-01 -6.17253086e-02 -1.38115176e-02 6.08297939e+02] [ 6.17300463e-02 9.98092879e-01 -8.34285000e-05 4.06988692e+00] [ 1.37903270e-02 -7.69324178e-04 9.99904613e-01 2.65121679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9792541539999 meters 0.030163905141419412 Centerline is valid? [True, True] Translation: X:608.36, Y:4.07, Z:2.65 [[ 9.97818732e-01 -6.46546593e-02 -1.33249205e-02 6.08359013e+02] [ 6.46593318e-02 9.97907393e-01 -8.03000311e-05 4.07142826e+00] [ 1.33022285e-02 -7.81455582e-04 9.99911216e-01 2.65294105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.039254154 meters 0.03072401235143571 Centerline is valid? [True, True] Translation: X:608.42, Y:4.08, Z:2.65 [[ 9.97891775e-01 -6.34087735e-02 -1.38323089e-02 6.08421553e+02] [ 6.34137024e-02 9.97987322e-01 -8.24186764e-05 4.07728569e+00] [ 1.38096950e-02 -7.94912998e-04 9.99904326e-01 2.65358127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0992541539999 meters 0.027762185333684818 Centerline is valid? [True, True] Translation: X:608.48, Y:4.09, Z:2.66 [[ 9.98310499e-01 -5.67737573e-02 -1.23648164e-02 6.08482209e+02] [ 5.67771933e-02 9.98386871e-01 -7.32568472e-05 4.08767377e+00] [ 1.23490295e-02 -6.28906493e-04 9.99923550e-01 2.65529825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.159254154 meters 0.02360237283658321 Centerline is valid? [True, True] Translation: X:608.54, Y:4.10, Z:2.66 [[ 9.98871607e-01 -4.58618301e-02 -1.23371642e-02 6.08543054e+02] [ 4.58644217e-02 9.98947671e-01 -7.29380659e-05 4.10102866e+00] [ 1.23275265e-02 -4.92981136e-04 9.99923892e-01 2.65608405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.2192541539999 meters 0.02126590965491334 Centerline is valid? [True, True] Translation: X:608.60, Y:4.11, Z:2.66 [[ 9.99190963e-01 -3.79212140e-02 -1.33940903e-02 6.08603416e+02] [ 3.79235572e-02 9.99280640e-01 -7.90935671e-05 4.11187052e+00] [ 1.33874545e-02 -4.28921973e-04 9.99910292e-01 2.65646726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.279254154 meters 0.01775707681653213 Centerline is valid? [True, True] Translation: X:608.66, Y:4.13, Z:2.66 [[ 9.99565290e-01 -2.68032093e-02 -1.22808046e-02 6.08663905e+02] [ 2.68043404e-02 9.99640696e-01 -7.25087556e-05 4.12615856e+00] [ 1.22783355e-02 -2.56701631e-04 9.99924585e-01 2.65785651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.339254154 meters 0.015201443374613887 Centerline is valid? [True, True] Translation: X:608.72, Y:4.14, Z:2.66 [[ 9.99747889e-01 -1.86452790e-02 -1.25105049e-02 6.08724369e+02] [ 1.86458142e-02 9.99826149e-01 -7.38639671e-05 4.13717491e+00] [ 1.25097071e-02 -1.59423205e-04 9.99921738e-01 2.65798247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.399254154 meters 0.015254772595604826 Centerline is valid? [True, True] Translation: X:608.78, Y:4.15, Z:2.66 [[ 9.99814616e-01 -1.39740639e-02 -1.32460625e-02 6.08783932e+02] [ 1.39742518e-02 9.99902352e-01 -7.83678328e-05 4.14578635e+00] [ 1.32458641e-02 -1.06750508e-04 9.99912264e-01 2.65700064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.459254154 meters 0.014832266145205624 Centerline is valid? [True, True] Translation: X:608.84, Y:4.15, Z:2.66 [[ 9.99844847e-01 -1.22130988e-02 -1.26933548e-02 6.08842662e+02] [ 1.22131015e-02 9.99925414e-01 -7.73087554e-05 4.15124456e+00] [ 1.26933522e-02 -7.77284695e-05 9.99919433e-01 2.65883398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.519254154 meters 0.015066807416918236 Centerline is valid? [True, True] Translation: X:608.90, Y:4.15, Z:2.66 [[ 9.99833454e-01 -1.31882031e-02 -1.26149041e-02 6.08900013e+02] [ 1.31882598e-02 9.99913028e-01 -7.86981605e-05 4.15137695e+00] [ 1.26148449e-02 -8.76835795e-05 9.99920426e-01 2.65726635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.579254154 meters 0.015549153910035555 Centerline is valid? [True, True] Translation: X:608.96, Y:4.15, Z:2.66 [[ 9.99783021e-01 -1.84480559e-02 -9.67368243e-03 6.08959155e+02] [ 1.84483286e-02 9.99829813e-01 -6.10517520e-05 4.15189907e+00] [ 9.67316239e-03 -1.17424767e-04 9.99953207e-01 2.66033084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.639254154 meters 0.01724238775167786 Centerline is valid? [True, True] Translation: X:609.02, Y:4.14, Z:2.66 [[ 9.99657269e-01 -2.48858807e-02 -8.12639928e-03 6.09019311e+02] [ 2.48862840e-02 9.99690287e-01 -5.14964445e-05 4.14407356e+00] [ 8.12516396e-03 -1.50757085e-04 9.99966979e-01 2.66039991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.699254154 meters 0.01758238629302447 Centerline is valid? [True, True] Translation: X:609.08, Y:4.14, Z:2.66 [[ 9.99586386e-01 -2.75091071e-02 -8.38484393e-03 6.09081110e+02] [ 2.75096332e-02 9.99621537e-01 -5.26055519e-05 4.14264669e+00] [ 8.38311770e-03 -1.78080187e-04 9.99964845e-01 2.66043671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.759254154 meters 0.019245750105696194 Centerline is valid? [True, True] Translation: X:609.14, Y:4.14, Z:2.66 [[ 9.99366776e-01 -3.44273274e-02 -8.98926571e-03 6.09142180e+02] [ 3.44282183e-02 9.99407172e-01 -5.56686396e-05 4.13552327e+00] [ 8.98585314e-03 -2.53851013e-04 9.99959594e-01 2.66023621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.819254154 meters 0.022099541849240494 Centerline is valid? [True, True] Translation: X:609.20, Y:4.13, Z:2.66 [[ 9.99303545e-01 -3.57613509e-02 -1.06560270e-02 6.09204525e+02] [ 3.57626861e-02 9.99360308e-01 -6.52879225e-05 4.13219473e+00] [ 1.06515453e-02 -3.15845698e-04 9.99943221e-01 2.65921248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.879254154 meters 0.018980043044014714 Centerline is valid? [True, True] Translation: X:609.27, Y:4.13, Z:2.66 [[ 9.99330232e-01 -3.42539223e-02 -1.28746619e-02 6.09266378e+02] [ 3.42557597e-02 9.99413096e-01 -7.78455704e-05 4.12930993e+00] [ 1.28697722e-02 -3.63237893e-04 9.99917115e-01 2.65780339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.939254154 meters 0.017647493843163088 Centerline is valid? [True, True] Translation: X:609.33, Y:4.13, Z:2.66 [[ 9.99536712e-01 -2.74383503e-02 -1.31718660e-02 6.09326554e+02] [ 2.74396885e-02 9.99623458e-01 -7.91489284e-05 4.13203332e+00] [ 1.31690780e-02 -2.82319641e-04 9.99913244e-01 2.65822720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.999254154 meters 0.015181386629897447 Centerline is valid? [True, True] Translation: X:609.39, Y:4.14, Z:2.66 [[ 9.99777132e-01 -1.68562585e-02 -1.27103697e-02 6.09387513e+02] [ 1.68566524e-02 9.99857914e-01 -7.61457136e-05 4.13967526e+00] [ 1.27098473e-02 -1.38125541e-04 9.99919217e-01 2.65980567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.059254154 meters 0.017317419353241405 Centerline is valid? [True, True] Translation: X:609.45, Y:4.14, Z:2.66 [[ 9.99866329e-01 -1.00417170e-02 -1.29030119e-02 6.09446520e+02] [ 1.00415499e-02 9.99949579e-01 -7.77344089e-05 4.14281318e+00] [ 1.29031419e-02 -5.18422197e-05 9.99916750e-01 2.65884401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.119254154 meters 0.014725270569732487 Centerline is valid? [True, True] Translation: X:609.50, Y:4.15, Z:2.66 [[ 9.99944353e-01 -2.01270154e-03 -1.03556595e-02 6.09504207e+02] [ 2.01215562e-03 9.99997974e-01 -6.31352017e-05 4.14667396e+00] [ 1.03557655e-02 4.22944900e-05 9.99946377e-01 2.66194818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.179254154 meters 0.01515292522299487 Centerline is valid? [True, True] Translation: X:609.56, Y:4.15, Z:2.66 [[ 9.99930411e-01 2.42413666e-03 -1.15454419e-02 6.09563354e+02] [-2.42513632e-03 9.99997057e-01 -7.25856529e-05 4.14698648e+00] [ 1.15452320e-02 1.00579872e-04 9.99933347e-01 2.66108345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.239254154 meters 0.015098763585846931 Centerline is valid? [True, True] Translation: X:609.62, Y:4.14, Z:2.66 [[ 9.99911998e-01 8.82408166e-04 -1.32370134e-02 6.09621082e+02] [-8.83615805e-04 9.99999606e-01 -8.53837666e-05 4.14056641e+00] [ 1.32369329e-02 9.70726869e-05 9.99912383e-01 2.65913386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.299254154 meters 0.014623823288412923 Centerline is valid? [True, True] Translation: X:609.68, Y:4.13, Z:2.66 [[ 9.99900885e-01 -2.86913131e-03 -1.37836395e-02 6.09680159e+02] [ 2.86816249e-03 9.99995883e-01 -9.00544907e-05 4.13299512e+00] [ 1.37838412e-02 5.05118470e-05 9.99904997e-01 2.66006978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.359254154 meters 0.014695516719626829 Centerline is valid? [True, True] Translation: X:609.74, Y:4.13, Z:2.66 [[ 9.99861347e-01 -6.35716570e-03 -1.53906645e-02 6.09738810e+02] [ 6.35635336e-03 9.99979793e-01 -1.01698502e-04 4.12914358e+00] [ 1.53910000e-02 3.85589900e-06 9.99881552e-01 2.66138198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.419254154 meters 0.014726523790788246 Centerline is valid? [True, True] Translation: X:609.80, Y:4.12, Z:2.66 [[ 9.99828350e-01 -1.01158459e-02 -1.55222227e-02 6.09797372e+02] [ 1.01154552e-02 9.99948832e-01 -1.03685238e-04 4.12370837e+00] [ 1.55224773e-02 -5.33469081e-05 9.99879518e-01 2.66234586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4792541539999 meters 0.014719141872833172 Centerline is valid? [True, True] Translation: X:609.85, Y:4.12, Z:2.66 [[ 9.99813580e-01 -1.30846792e-02 -1.41984554e-02 6.09853877e+02] [ 1.30846303e-02 9.99914388e-01 -9.63392294e-05 4.12105664e+00] [ 1.41985004e-02 -8.94602706e-05 9.99899192e-01 2.66362175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.539254154 meters 0.01579693894623997 Centerline is valid? [True, True] Translation: X:609.91, Y:4.12, Z:2.66 [[ 9.99647894e-01 -2.22575093e-02 -1.44461493e-02 6.09913048e+02] [ 2.22584000e-02 9.99752246e-01 -9.91425693e-05 4.11545071e+00] [ 1.44447768e-02 -2.22440509e-04 9.99895644e-01 2.66495683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5992541539999 meters 0.017067173447416432 Centerline is valid? [True, True] Translation: X:609.97, Y:4.11, Z:2.66 [[ 9.99476294e-01 -2.78826557e-02 -1.64223856e-02 6.09972464e+02] [ 2.78845504e-02 9.99611144e-01 -1.13636958e-04 4.11153605e+00] [ 1.64191682e-02 -3.44353394e-04 9.99865137e-01 2.66291673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.659254154 meters 0.0209976079911053 Centerline is valid? [True, True] Translation: X:610.03, Y:4.10, Z:2.66 [[ 9.99090684e-01 -3.85076530e-02 -1.83020933e-02 6.10031640e+02] [ 3.85117777e-02 9.99258138e-01 -1.27164806e-04 4.10467878e+00] [ 1.82934125e-02 -5.77796976e-04 9.99832495e-01 2.66149876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.7192541539999 meters 0.023092476680652937 Centerline is valid? [True, True] Translation: X:610.09, Y:4.10, Z:2.66 [[ 9.98604217e-01 -4.98437620e-02 -1.74704728e-02 6.10091976e+02] [ 4.98492508e-02 9.98756746e-01 -1.21434951e-04 4.10302620e+00] [ 1.74548053e-02 -7.49624526e-04 9.99847372e-01 2.66375562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.779254154 meters 0.025656782361365153 Centerline is valid? [True, True] Translation: X:610.15, Y:4.10, Z:2.66 [[ 9.98310727e-01 -5.54457626e-02 -1.73626024e-02 6.10152615e+02] [ 5.54520300e-02 9.98461345e-01 -1.20624999e-04 4.10079411e+00] [ 1.73425755e-02 -8.42370319e-04 9.99849251e-01 2.66362527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.839254154 meters 0.027996719118584756 Centerline is valid? [True, True] Translation: X:610.21, Y:4.10, Z:2.66 [[ 9.98141761e-01 -5.83852048e-02 -1.74411394e-02 6.10213177e+02] [ 5.83919809e-02 9.98293725e-01 -1.20919028e-04 4.10390307e+00] [ 1.74184399e-02 -8.97728349e-04 9.99847884e-01 2.66396013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.899254154 meters 0.02654827849954218 Centerline is valid? [True, True] Translation: X:610.28, Y:4.11, Z:2.66 [[ 9.98217836e-01 -5.68196735e-02 -1.82394396e-02 6.10275745e+02] [ 5.68268481e-02 9.98384041e-01 -1.25108201e-04 4.11335830e+00] [ 1.82170740e-02 -9.11604625e-04 9.99833640e-01 2.66417401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.959254154 meters 0.026384230944038446 Centerline is valid? [True, True] Translation: X:610.34, Y:4.12, Z:2.67 [[ 9.98337075e-01 -5.49454905e-02 -1.74378329e-02 6.10337161e+02] [ 5.49517779e-02 9.98489002e-01 -1.18748017e-04 4.12097574e+00] [ 1.74180091e-02 -8.39689375e-04 9.99847942e-01 2.66524422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.019254154 meters 0.02553475098401356 Centerline is valid? [True, True] Translation: X:610.40, Y:4.13, Z:2.67 [[ 9.98454080e-01 -5.33601148e-02 -1.55611167e-02 6.10398767e+02] [ 5.33649411e-02 9.98575071e-01 -1.05213976e-04 4.12841807e+00] [ 1.55445575e-02 -7.25366754e-04 9.99878913e-01 2.66601828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.079254154 meters 0.023758252646891027 Centerline is valid? [True, True] Translation: X:610.46, Y:4.14, Z:2.67 [[ 9.98557011e-01 -5.14689835e-02 -1.53244807e-02 6.10460694e+02] [ 5.14734578e-02 9.98674358e-01 -1.02574334e-04 4.13643777e+00] [ 1.53094453e-02 -6.86377691e-04 9.99882568e-01 2.66635701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.139254154 meters 0.022149801550129834 Centerline is valid? [True, True] Translation: X:610.52, Y:4.15, Z:2.67 [[ 9.98806866e-01 -4.64125187e-02 -1.51895314e-02 6.10521003e+02] [ 4.64163356e-02 9.98922176e-01 -1.01350469e-04 4.14739151e+00] [ 1.51778637e-02 -6.03812844e-04 9.99884627e-01 2.66658994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.199254154 meters 0.020383313674869136 Centerline is valid? [True, True] Translation: X:610.58, Y:4.16, Z:2.67 [[ 9.99175624e-01 -3.83685244e-02 -1.32637918e-02 6.10580264e+02] [ 3.83707246e-02 9.99263569e-01 -8.86545063e-05 4.15726720e+00] [ 1.32574255e-02 -4.20359881e-04 9.99912028e-01 2.66687821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.259254154 meters 0.018218311398818802 Centerline is valid? [True, True] Translation: X:610.64, Y:4.17, Z:2.67 [[ 9.99461836e-01 -2.97090000e-02 -1.39073568e-02 6.10640621e+02] [ 2.97105800e-02 9.99558539e-01 -9.30358953e-05 4.16929476e+00] [ 1.39039813e-02 -3.20209811e-04 9.99903284e-01 2.66589539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.319254154 meters 0.01668323288242251 Centerline is valid? [True, True] Translation: X:610.70, Y:4.18, Z:2.67 [[ 9.99638557e-01 -2.31478614e-02 -1.36722967e-02 6.10701373e+02] [ 2.31487771e-02 9.99732027e-01 -9.12986900e-05 4.17793406e+00] [ 1.36707463e-02 -2.25231258e-04 9.99906526e-01 2.66609277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.379254154 meters 0.015228082619049 Centerline is valid? [True, True] Translation: X:610.76, Y:4.19, Z:2.67 [[ 9.99844565e-01 -1.26686199e-02 -1.22618158e-02 6.10762020e+02] [ 1.26685699e-02 9.99919747e-01 -8.17607211e-05 4.18985634e+00] [ 1.22618675e-02 -7.35916570e-05 9.99924818e-01 2.66762565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.439254154 meters 0.014900260839050498 Centerline is valid? [True, True] Translation: X:610.82, Y:4.20, Z:2.67 [[ 9.99923496e-01 -6.69021160e-03 -1.04039644e-02 6.10820578e+02] [ 6.68983649e-03 9.99977620e-01 -7.08555108e-05 4.19745679e+00] [ 1.04042056e-02 1.24926948e-06 9.99945875e-01 2.66886256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.499254154 meters 0.014825331867201783 Centerline is valid? [True, True] Translation: X:610.88, Y:4.20, Z:2.67 [[ 9.99925789e-01 -6.53807614e-03 -1.02795548e-02 6.10878048e+02] [ 6.53767351e-03 9.99978627e-01 -7.27709600e-05 4.20011463e+00] [ 1.02798108e-02 5.56118685e-06 9.99947161e-01 2.66886312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.559254154 meters 0.014769153292284998 Centerline is valid? [True, True] Translation: X:610.94, Y:4.20, Z:2.67 [[ 9.99878580e-01 -1.11816118e-02 -1.08534065e-02 6.10936835e+02] [ 1.11814173e-02 9.99937483e-01 -7.86056102e-05 4.19797442e+00] [ 1.08536070e-02 -4.27604018e-05 9.99941097e-01 2.66832872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.619254154 meters 0.01489118162479121 Centerline is valid? [True, True] Translation: X:611.00, Y:4.20, Z:2.67 [[ 9.99843624e-01 -1.37837889e-02 -1.10785509e-02 6.10995994e+02] [ 1.37837387e-02 9.99904996e-01 -8.08955494e-05 4.19603151e+00] [ 1.10786134e-02 -7.18209509e-05 9.99938628e-01 2.66778555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.679254154 meters 0.01649231100202789 Centerline is valid? [True, True] Translation: X:611.06, Y:4.19, Z:2.67 [[ 9.99688642e-01 -2.24871224e-02 -1.08142638e-02 6.11056170e+02] [ 2.24875800e-02 9.99747119e-01 -7.92975755e-05 4.18817099e+00] [ 1.08133122e-02 -1.63913736e-04 9.99941521e-01 2.66842428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.739254154 meters 0.01905706806433428 Centerline is valid? [True, True] Translation: X:611.12, Y:4.18, Z:2.67 [[ 9.99496008e-01 -2.99327662e-02 -1.05716164e-02 6.11116660e+02] [ 2.99336200e-02 9.99551886e-01 -7.74878610e-05 4.17935778e+00] [ 1.05691985e-02 -2.38997939e-04 9.99944116e-01 2.66817303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.799254154 meters 0.020331889779171813 Centerline is valid? [True, True] Translation: X:611.18, Y:4.18, Z:2.67 [[ 9.99402588e-01 -3.28481053e-02 -1.07456864e-02 6.11178900e+02] [ 3.28491613e-02 9.99460318e-01 -7.82655160e-05 4.17659387e+00] [ 1.07424581e-02 -2.74768027e-04 9.99942260e-01 2.66770201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.859254154 meters 0.017602631977280805 Centerline is valid? [True, True] Translation: X:611.24, Y:4.18, Z:2.67 [[ 9.99357156e-01 -3.39398365e-02 -1.15482867e-02 6.11240970e+02] [ 3.39411388e-02 9.99423830e-01 -8.32564079e-05 4.17982597e+00] [ 1.15444587e-02 -3.08759116e-04 9.99933313e-01 2.66804473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.919254154 meters 0.017924342453816494 Centerline is valid? [True, True] Translation: X:611.30, Y:4.18, Z:2.67 [[ 9.99386896e-01 -3.29891059e-02 -1.17282033e-02 6.11303085e+02] [ 3.29903940e-02 9.99455665e-01 -8.36702732e-05 4.17956317e+00] [ 1.17245794e-02 -3.03299073e-04 9.99931219e-01 2.66826399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9792541539999 meters 0.020759949942077496 Centerline is valid? [True, True] Translation: X:611.36, Y:4.17, Z:2.67 [[ 9.99479052e-01 -3.02486000e-02 -1.12537506e-02 6.11363889e+02] [ 3.02496187e-02 9.99542372e-01 -7.97208034e-05 4.17396847e+00] [ 1.12510120e-02 -2.60742391e-04 9.99936671e-01 2.66616561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.039254154 meters 0.016909171422054173 Centerline is valid? [True, True] Translation: X:611.43, Y:4.18, Z:2.67 [[ 9.99578573e-01 -2.67130820e-02 -1.13616496e-02 6.11425020e+02] [ 2.67138968e-02 9.99643117e-01 -8.00708343e-05 4.18217605e+00] [ 1.13597337e-02 -2.23476843e-04 9.99935451e-01 2.66721514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0992541539999 meters 0.01564825616623722 Centerline is valid? [True, True] Translation: X:611.49, Y:4.19, Z:2.67 [[ 9.99730982e-01 -2.00114497e-02 -1.17263022e-02 6.11486945e+02] [ 2.00118633e-02 9.99799739e-01 -8.20729390e-05 4.18651564e+00] [ 1.17255963e-02 -1.52614298e-04 9.99931241e-01 2.66663568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.159254154 meters 0.01487775715830202 Centerline is valid? [True, True] Translation: X:611.55, Y:4.19, Z:2.67 [[ 9.99857836e-01 -1.19117139e-02 -1.19339534e-02 6.11547543e+02] [ 1.19115683e-02 9.99929051e-01 -8.32797438e-05 4.19085910e+00] [ 1.19340987e-02 -5.88841966e-05 9.99928784e-01 2.66645028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.2192541539999 meters 0.014675917958641208 Centerline is valid? [True, True] Translation: X:611.61, Y:4.20, Z:2.67 [[ 9.99913446e-01 -4.87724542e-03 -1.22193530e-02 6.11606613e+02] [ 4.87654366e-03 9.99988106e-01 -8.72250016e-05 4.19550194e+00] [ 1.22196331e-02 2.76292434e-05 9.99925337e-01 2.66685518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.279254154 meters 0.014750452348847873 Centerline is valid? [True, True] Translation: X:611.67, Y:4.20, Z:2.67 [[ 9.99922441e-01 -1.75693277e-03 -1.23298274e-02 6.11665523e+02] [ 1.75594251e-03 9.99998454e-01 -9.11393929e-05 4.19539240e+00] [ 1.23299685e-02 6.94818561e-05 9.99923981e-01 2.66655637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.339254154 meters 0.014460652541738011 Centerline is valid? [True, True] Translation: X:611.72, Y:4.19, Z:2.67 [[ 9.99935738e-01 -3.77174133e-03 -1.06908172e-02 6.11724220e+02] [ 3.77109682e-03 9.99992886e-01 -8.04441610e-05 4.19269074e+00] [ 1.06910446e-02 4.01228847e-05 9.99942848e-01 2.66798888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.399254154 meters 0.014323767056443858 Centerline is valid? [True, True] Translation: X:611.78, Y:4.19, Z:2.67 [[ 9.99901709e-01 -1.04270179e-02 -9.37285381e-03 6.11783335e+02] [ 1.04268090e-02 9.99945637e-01 -7.11527061e-05 4.18635315e+00] [ 9.37308618e-03 -2.65832443e-05 9.99956071e-01 2.66892601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.459254154 meters 0.014938243384638844 Centerline is valid? [True, True] Translation: X:611.84, Y:4.18, Z:2.67 [[ 9.99811198e-01 -1.73609983e-02 -8.72714648e-03 6.11843343e+02] [ 1.73610774e-02 9.99849283e-01 -6.66902607e-05 4.17963821e+00] [ 8.72698896e-03 -8.48349964e-05 9.99961916e-01 2.66905198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.519254154 meters 0.017994545299524142 Centerline is valid? [True, True] Translation: X:611.90, Y:4.17, Z:2.67 [[ 9.99528154e-01 -2.94295910e-02 -8.79597488e-03 6.11904030e+02] [ 2.94301378e-02 9.99566837e-01 -6.72938045e-05 4.16798731e+00] [ 8.79414522e-03 -1.91604701e-04 9.99961312e-01 2.66861888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.579254154 meters 0.02072318453175836 Centerline is valid? [True, True] Translation: X:611.97, Y:4.16, Z:2.67 [[ 9.99242696e-01 -3.81067168e-02 -7.86843426e-03 6.11965230e+02] [ 3.81074241e-02 9.99273647e-01 -6.00705361e-05 4.16055478e+00] [ 7.86500809e-03 -2.39820717e-04 9.99969042e-01 2.66955779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.639254154 meters 0.02228875704210717 Centerline is valid? [True, True] Translation: X:612.03, Y:4.16, Z:2.67 [[ 9.98747682e-01 -4.93779685e-02 -8.05502647e-03 6.12026183e+02] [ 4.93790766e-02 9.98780107e-01 -6.13778331e-05 4.15526070e+00] [ 8.04823092e-03 -3.36448801e-04 9.99967556e-01 2.66972494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.699254154 meters 0.031826306621270783 Centerline is valid? [True, True] Translation: X:612.09, Y:4.14, Z:2.67 [[ 9.98390216e-01 -5.60656294e-02 -8.58028238e-03 6.12086061e+02] [ 5.60671330e-02 9.98426999e-01 -6.53900813e-05 4.14087657e+00] [ 8.57045172e-03 -4.15787016e-04 9.99963187e-01 2.66898522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.759254154 meters 0.024970049852133528 Centerline is valid? [True, True] Translation: X:612.15, Y:4.15, Z:2.67 [[ 9.98338461e-01 -5.69113385e-02 -9.02317305e-03 6.12148050e+02] [ 5.69130383e-02 9.98379137e-01 -6.84911880e-05 4.15247479e+00] [ 9.01244565e-03 -4.45158806e-04 9.99959288e-01 2.67017273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.819254154 meters 0.02555333770657786 Centerline is valid? [True, True] Translation: X:612.21, Y:4.16, Z:2.67 [[ 9.98591494e-01 -5.23902946e-02 -8.38362826e-03 6.12207505e+02] [ 5.23916079e-02 9.98626615e-01 -6.30406533e-05 4.15507589e+00] [ 8.37541703e-03 -3.76279904e-04 9.99964855e-01 2.67071810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.879254154 meters 0.02156530711608881 Centerline is valid? [True, True] Translation: X:612.27, Y:4.16, Z:2.67 [[ 9.98819617e-01 -4.78814817e-02 -8.16922469e-03 6.12268411e+02] [ 4.78825814e-02 9.98852969e-01 -6.10339788e-05 4.16347509e+00] [ 8.16277674e-03 -3.30201631e-04 9.99966629e-01 2.67124726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.939254154 meters 0.02574690897003817 Centerline is valid? [True, True] Translation: X:612.33, Y:4.16, Z:2.67 [[ 9.99156324e-01 -4.00117213e-02 -9.25757124e-03 6.12327632e+02] [ 4.00127964e-02 9.99199165e-01 -6.91332429e-05 4.16332156e+00] [ 9.25292359e-03 -3.01346396e-04 9.99957145e-01 2.67002998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.999254154 meters 0.017971579655812465 Centerline is valid? [True, True] Translation: X:612.39, Y:4.18, Z:2.67 [[ 9.99433027e-01 -3.17121051e-02 -1.13122409e-02 6.12388073e+02] [ 3.17131795e-02 9.99497007e-01 -8.44372580e-05 4.18120385e+00] [ 1.13092286e-02 -2.74357742e-04 9.99936011e-01 2.66997328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.059254154 meters 0.01604108533552532 Centerline is valid? [True, True] Translation: X:612.45, Y:4.19, Z:2.67 [[ 9.99648576e-01 -2.36303043e-02 -1.20138572e-02 6.12449458e+02] [ 2.36309368e-02 9.99720746e-01 -8.93241216e-05 4.19189991e+00] [ 1.20126131e-02 -1.94605970e-04 9.99927827e-01 2.67077051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.119254154 meters 0.014844616340197354 Centerline is valid? [True, True] Translation: X:612.51, Y:4.20, Z:2.67 [[ 9.99766332e-01 -1.85316640e-02 -1.11291774e-02 6.12510528e+02] [ 1.85318952e-02 9.99828266e-01 -8.23631932e-05 4.19832970e+00] [ 1.11287925e-02 -1.23900802e-04 9.99938065e-01 2.67155751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.179254154 meters 0.0142513698306087 Centerline is valid? [True, True] Translation: X:612.57, Y:4.21, Z:2.67 [[ 9.99867727e-01 -1.17992868e-02 -1.11939910e-02 6.12571012e+02] [ 1.17991005e-02 9.99930385e-01 -8.26847217e-05 4.20827603e+00] [ 1.11941873e-02 -4.94052397e-05 9.99937342e-01 2.67246659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.239254154 meters 0.014119628906830687 Centerline is valid? [True, True] Translation: X:612.63, Y:4.22, Z:2.67 [[ 9.99931859e-01 -5.55364509e-03 -1.02681213e-02 6.12630324e+02] [ 5.55315684e-03 9.99984578e-01 -7.60602513e-05 4.21544080e+00] [ 1.02683854e-02 1.90345802e-05 9.99947279e-01 2.67329649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.299254154 meters 0.014192562029538489 Centerline is valid? [True, True] Translation: X:612.69, Y:4.22, Z:2.67 [[ 9.99955355e-01 -2.56685856e-03 -9.09388649e-03 6.12688143e+02] [ 2.56633827e-03 9.99996705e-01 -6.88821919e-05 4.21899524e+00] [ 9.09403333e-03 4.55411278e-05 9.99958647e-01 2.67473172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.359254154 meters 0.014151798018952529 Centerline is valid? [True, True] Translation: X:612.75, Y:4.22, Z:2.68 [[ 9.99954288e-01 -3.03921751e-03 -9.06559183e-03 6.12746418e+02] [ 3.03869582e-03 9.99995381e-01 -7.13196028e-05 4.21927133e+00] [ 9.06576671e-03 4.37687666e-05 9.99958904e-01 2.67507100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.419254154 meters 0.013977535262173404 Centerline is valid? [True, True] Translation: X:612.80, Y:4.21, Z:2.67 [[ 9.99924695e-01 -7.46399014e-03 -9.74135675e-03 6.12803781e+02] [ 7.46357960e-03 9.99972144e-01 -7.84974729e-05 4.21486192e+00] [ 9.74167130e-03 5.78617005e-06 9.99952549e-01 2.67347975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4792541539999 meters 0.013907829568799891 Centerline is valid? [True, True] Translation: X:612.86, Y:4.21, Z:2.67 [[ 9.99897216e-01 -9.93171647e-03 -1.03400894e-02 6.12862770e+02] [ 9.93137693e-03 9.99950679e-01 -8.41849702e-05 4.21295058e+00] [ 1.03404155e-02 -1.85150082e-05 9.99946536e-01 2.67383680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.539254154 meters 0.014180034450054257 Centerline is valid? [True, True] Translation: X:612.92, Y:4.21, Z:2.67 [[ 9.99814842e-01 -1.57164507e-02 -1.11028998e-02 6.12921968e+02] [ 1.57164064e-02 9.99876485e-01 -9.12438558e-05 4.20838387e+00] [ 1.11029625e-02 -8.32707243e-05 9.99938357e-01 2.67335960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5992541539999 meters 0.01667065115211656 Centerline is valid? [True, True] Translation: X:612.98, Y:4.20, Z:2.67 [[ 9.99665120e-01 -2.35690963e-02 -1.06838662e-02 6.12981872e+02] [ 2.35695003e-02 9.99722197e-01 -8.81131047e-05 4.19973894e+00] [ 1.06829749e-02 -1.63729791e-04 9.99942922e-01 2.67273191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.659254154 meters 0.01608646805752552 Centerline is valid? [True, True] Translation: X:613.04, Y:4.20, Z:2.67 [[ 9.99532774e-01 -2.87595360e-02 -1.03500190e-02 6.13044221e+02] [ 2.87601978e-02 9.99586336e-01 -8.49230249e-05 4.19734566e+00] [ 1.03481799e-02 -2.12785248e-04 9.99946434e-01 2.67483037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.7192541539999 meters 0.018193822046042297 Centerline is valid? [True, True] Translation: X:613.11, Y:4.19, Z:2.67 [[ 9.99310203e-01 -3.54516033e-02 -1.10590174e-02 6.13105088e+02] [ 3.54527735e-02 9.99371349e-01 -9.02751102e-05 4.18916776e+00] [ 1.10552655e-02 -3.01859999e-04 9.99938843e-01 2.67330562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.779254154 meters 0.01985533605577266 Centerline is valid? [True, True] Translation: X:613.17, Y:4.18, Z:2.67 [[ 9.99062992e-01 -4.19765554e-02 -1.05407015e-02 6.13166590e+02] [ 4.19779843e-02 9.99118532e-01 -8.57444831e-05 4.18359237e+00] [ 1.05350094e-02 -3.56813261e-04 9.99944442e-01 2.67353240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.839254154 meters 0.023091420999386516 Centerline is valid? [True, True] Translation: X:613.23, Y:4.18, Z:2.67 [[ 9.98767910e-01 -4.86008979e-02 -1.00306626e-02 6.13226588e+02] [ 4.86025262e-02 9.98818196e-01 -8.15195754e-05 4.17741095e+00] [ 1.00227703e-02 -4.06096408e-04 9.99949688e-01 2.67346873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.899254154 meters 0.024603993790985514 Centerline is valid? [True, True] Translation: X:613.29, Y:4.17, Z:2.67 [[ 9.98444344e-01 -5.44578945e-02 -1.19678560e-02 6.13287426e+02] [ 5.44606317e-02 9.98515914e-01 -9.73069658e-05 4.17359220e+00] [ 1.19553938e-02 -5.54621408e-04 9.99928378e-01 2.67176389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.959254154 meters 0.02654325438844809 Centerline is valid? [True, True] Translation: X:613.35, Y:4.17, Z:2.67 [[ 9.98199757e-01 -5.87405542e-02 -1.21158035e-02 6.13348106e+02] [ 5.87436760e-02 9.98273094e-01 -9.83534080e-05 4.17138199e+00] [ 1.21006580e-02 -6.13550489e-04 9.99926596e-01 2.67136179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.019254154 meters 0.030948541046843164 Centerline is valid? [True, True] Translation: X:613.41, Y:4.17, Z:2.67 [[ 9.97895758e-01 -6.38822033e-02 -1.10959619e-02 6.13408195e+02] [ 6.38851407e-02 9.97957254e-01 -8.98755016e-05 4.16602389e+00] [ 1.10790371e-02 -6.19180706e-04 9.99938434e-01 2.67114410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.079254154 meters 0.03315968300792987 Centerline is valid? [True, True] Translation: X:613.47, Y:4.16, Z:2.67 [[ 9.97680991e-01 -6.72513622e-02 -1.04830609e-02 6.13468863e+02] [ 6.72541713e-02 9.97735871e-01 -8.47260705e-05 4.16427843e+00] [ 1.04650239e-02 -6.20499985e-04 9.99945048e-01 2.67088905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.139254154 meters 0.030190755110516276 Centerline is valid? [True, True] Translation: X:613.53, Y:4.17, Z:2.67 [[ 9.97695690e-01 -6.69290162e-02 -1.11273054e-02 6.13531404e+02] [ 6.69321676e-02 9.97757524e-01 -8.93597018e-05 4.17257040e+00] [ 1.11083335e-02 -6.55620884e-04 9.99938086e-01 2.67128059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.199254154 meters 0.028143797062436048 Centerline is valid? [True, True] Translation: X:613.59, Y:4.18, Z:2.67 [[ 9.97925100e-01 -6.35332095e-02 -1.04415558e-02 6.13592640e+02] [ 6.35358035e-02 9.97979556e-01 -8.34402337e-05 4.18030053e+00] [ 1.04257604e-02 -5.80145532e-04 9.99945482e-01 2.67243340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.259254154 meters 0.03382866040582572 Centerline is valid? [True, True] Translation: X:613.65, Y:4.18, Z:2.67 [[ 9.98095005e-01 -6.09808473e-02 -9.36468706e-03 6.13653522e+02] [ 6.09828240e-02 9.98138813e-01 -7.45818613e-05 4.17605094e+00] [ 9.35180569e-03 -4.96645280e-04 9.99956148e-01 2.67329153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.319254154 meters 0.02633627456638415 Centerline is valid? [True, True] Translation: X:613.71, Y:4.19, Z:2.68 [[ 9.98348924e-01 -5.69833100e-02 -7.23379198e-03 6.13714053e+02] [ 5.69843861e-02 9.98375068e-01 -5.74361094e-05 4.19113558e+00] [ 7.22531046e-03 -3.54871917e-04 9.99973834e-01 2.67560631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.379254154 meters 0.02584264255896118 Centerline is valid? [True, True] Translation: X:613.77, Y:4.20, Z:2.68 [[ 9.98628171e-01 -5.19139344e-02 -6.83509917e-03 6.13773660e+02] [ 5.19147771e-02 9.98651517e-01 -5.41960882e-05 4.19632964e+00] [ 6.82869569e-03 -3.00720910e-04 9.99976639e-01 2.67554877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.439254154 meters 0.022242127891885788 Centerline is valid? [True, True] Translation: X:613.83, Y:4.21, Z:2.68 [[ 9.98862525e-01 -4.72524784e-02 -6.39211315e-03 6.13834585e+02] [ 4.72531204e-02 9.98882946e-01 -5.06390237e-05 4.20614715e+00] [ 6.38736564e-03 -2.51465870e-04 9.99979569e-01 2.67509610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.499254154 meters 0.019973045245949127 Centerline is valid? [True, True] Translation: X:613.90, Y:4.21, Z:2.68 [[ 9.99051603e-01 -4.32172749e-02 -5.30680646e-03 6.13896258e+02] [ 4.32176612e-02 9.99065680e-01 -4.19053010e-05 4.21287860e+00] [ 5.30365924e-03 -1.87482206e-04 9.99985918e-01 2.67527096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.559254154 meters 0.019586191479041584 Centerline is valid? [True, True] Translation: X:613.96, Y:4.22, Z:2.67 [[ 9.99261068e-01 -3.80434064e-02 -5.47886502e-03 6.13957698e+02] [ 3.80437421e-02 9.99276074e-01 -4.29685248e-05 4.21828242e+00] [ 5.47653340e-03 -1.65499754e-04 9.99984990e-01 2.67431955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.619254154 meters 0.018370051268285618 Centerline is valid? [True, True] Translation: X:614.02, Y:4.22, Z:2.67 [[ 9.99370047e-01 -3.50005366e-02 -5.87129970e-03 6.14019227e+02] [ 3.50008710e-02 9.99387281e-01 -4.58199222e-05 4.22173949e+00] [ 5.86930596e-03 -1.59709546e-04 9.99982763e-01 2.67494353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.679254154 meters 0.017603740798852213 Centerline is valid? [True, True] Translation: X:614.08, Y:4.22, Z:2.67 [[ 9.99558843e-01 -2.91893173e-02 -5.48659015e-03 6.14079471e+02] [ 2.91895227e-02 9.99573894e-01 -4.26465515e-05 4.22328351e+00] [ 5.48549710e-03 -1.17523210e-04 9.99984948e-01 2.67425652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.739254154 meters 0.015296654503584629 Centerline is valid? [True, True] Translation: X:614.14, Y:4.23, Z:2.68 [[ 9.99765590e-01 -2.10697058e-02 -4.98318466e-03 6.14141166e+02] [ 2.10697749e-02 9.99778007e-01 -3.86181533e-05 4.23131835e+00] [ 4.98289210e-03 -6.63854785e-05 9.99987583e-01 2.67501443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.799254154 meters 0.014327577883309997 Centerline is valid? [True, True] Translation: X:614.20, Y:4.24, Z:2.68 [[ 9.99884556e-01 -1.44031334e-02 -4.83991138e-03 6.14203558e+02] [ 1.44031223e-02 9.99896269e-01 -3.71610087e-05 4.23614212e+00] [ 4.83994457e-03 -3.25531169e-05 9.99988287e-01 2.67589656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.859254154 meters 0.014268787895734443 Centerline is valid? [True, True] Translation: X:614.26, Y:4.24, Z:2.68 [[ 9.99905058e-01 -1.29157863e-02 -4.80188465e-03 6.14264315e+02] [ 1.29157600e-02 9.99916587e-01 -3.64899772e-05 4.23541657e+00] [ 4.80195541e-03 -2.55334768e-05 9.99988470e-01 2.67598730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.919254154 meters 0.014425250987401208 Centerline is valid? [True, True] Translation: X:614.33, Y:4.23, Z:2.68 [[ 9.99882923e-01 -1.46235741e-02 -4.50460541e-03 6.14326904e+02] [ 1.46235706e-02 9.99893069e-01 -3.37044194e-05 4.23298202e+00] [ 4.50461660e-03 -3.21729420e-05 9.99989854e-01 2.67600128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9792541539999 meters 0.014920009121944838 Centerline is valid? [True, True] Translation: X:614.39, Y:4.23, Z:2.68 [[ 9.99839718e-01 -1.74740257e-02 -3.89820074e-03 6.14388404e+02] [ 1.74740458e-02 9.99847317e-01 -2.89187058e-05 4.22793687e+00] [ 3.89811087e-03 -3.92032676e-05 9.99992402e-01 2.67502169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.039254154 meters 0.015493605949159038 Centerline is valid? [True, True] Translation: X:614.45, Y:4.22, Z:2.67 [[ 9.99766961e-01 -2.08601596e-02 -5.55668826e-03 6.14450785e+02] [ 2.08602549e-02 9.99782400e-01 -4.08052313e-05 4.22293339e+00] [ 5.55633033e-03 -7.51182116e-05 9.99984561e-01 2.67307120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0992541539999 meters 0.016250281380621266 Centerline is valid? [True, True] Translation: X:614.51, Y:4.22, Z:2.67 [[ 9.99663789e-01 -2.52349649e-02 -5.95863089e-03 6.14513200e+02] [ 2.52351549e-02 9.99681542e-01 -4.33099236e-05 4.21924626e+00] [ 5.95782624e-03 -1.07071611e-04 9.99982246e-01 2.67297709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.159254154 meters 0.016644884137694015 Centerline is valid? [True, True] Translation: X:614.58, Y:4.22, Z:2.67 [[ 9.99564044e-01 -2.89120135e-02 -5.98468833e-03 6.14575113e+02] [ 2.89122736e-02 9.99581952e-01 -4.30588382e-05 4.21679831e+00] [ 5.98343136e-03 -1.29990880e-04 9.99982091e-01 2.67280911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.2192541539999 meters 0.019710896566964314 Centerline is valid? [True, True] Translation: X:614.64, Y:4.21, Z:2.67 [[ 9.99349394e-01 -3.54898634e-02 -6.42323715e-03 6.14635059e+02] [ 3.54903023e-02 9.99370020e-01 -4.56870616e-05 4.20725868e+00] [ 6.42081206e-03 -1.82305290e-04 9.99979370e-01 2.67155151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.279254154 meters 0.019460599318698132 Centerline is valid? [True, True] Translation: X:614.70, Y:4.21, Z:2.67 [[ 9.99205232e-01 -3.93369602e-02 -6.44266299e-03 6.14697481e+02] [ 3.93374850e-02 9.99225981e-01 -4.52985091e-05 4.20662505e+00] [ 6.43945815e-03 -2.08175652e-04 9.99979245e-01 2.67197460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.339254154 meters 0.02153707720622458 Centerline is valid? [True, True] Translation: X:614.76, Y:4.20, Z:2.67 [[ 9.99006603e-01 -4.39503602e-02 -7.36019507e-03 6.14757896e+02] [ 4.39511732e-02 9.99033679e-01 -5.13241703e-05 4.20179780e+00] [ 7.35533848e-03 -2.72216023e-04 9.99972912e-01 2.67172663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.399254154 meters 0.023214112304505763 Centerline is valid? [True, True] Translation: X:614.82, Y:4.20, Z:2.67 [[ 9.98866395e-01 -4.68784118e-02 -8.26678046e-03 6.14819664e+02] [ 4.68795400e-02 9.98900548e-01 -5.73498301e-05 4.19873160e+00] [ 8.26038000e-03 -3.30258048e-04 9.99965828e-01 2.67084121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.459254154 meters 0.024724104407817724 Centerline is valid? [True, True] Translation: X:614.88, Y:4.20, Z:2.67 [[ 9.98749398e-01 -4.91093153e-02 -9.37629245e-03 6.14881863e+02] [ 4.91108707e-02 9.98793331e-01 -6.44269108e-05 4.19664225e+00] [ 9.36814233e-03 -3.96131548e-04 9.99956040e-01 2.67010777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.519254154 meters 0.026159452321318076 Centerline is valid? [True, True] Translation: X:614.94, Y:4.20, Z:2.67 [[ 9.98582326e-01 -5.20791011e-02 -1.10048106e-02 6.14942807e+02] [ 5.20814290e-02 9.98642839e-01 -7.51329615e-05 4.19650566e+00] [ 1.09937882e-02 -4.98119816e-04 9.99939442e-01 2.66951126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.579254154 meters 0.023003446645214025 Centerline is valid? [True, True] Translation: X:615.01, Y:4.20, Z:2.67 [[ 9.98532833e-01 -5.29115726e-02 -1.15128843e-02 6.15005087e+02] [ 5.29141828e-02 9.98599060e-01 -7.79836897e-05 4.20277276e+00] [ 1.15008816e-02 -5.31325587e-04 9.99933722e-01 2.67019061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.639254154 meters 0.025038175154148926 Centerline is valid? [True, True] Translation: X:615.07, Y:4.20, Z:2.67 [[ 9.98601254e-01 -5.18865286e-02 -1.01647814e-02 6.15066056e+02] [ 5.18885165e-02 9.98652881e-01 -6.82372672e-05 4.20171157e+00] [ 1.01546288e-02 -4.59293608e-04 9.99948335e-01 2.67007860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.699254154 meters 0.021479582011388484 Centerline is valid? [True, True] Translation: X:615.13, Y:4.21, Z:2.67 [[ 9.98839412e-01 -4.72639678e-02 -9.27071426e-03 6.15126775e+02] [ 4.72654255e-02 9.98882363e-01 -6.19203842e-05 4.21181394e+00] [ 9.26327957e-03 -3.76335734e-04 9.99957024e-01 2.67184272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.759254154 meters 0.0205691950814835 Centerline is valid? [True, True] Translation: X:615.19, Y:4.22, Z:2.67 [[ 9.99022050e-01 -4.33333875e-02 -8.78415964e-03 6.15188239e+02] [ 4.33345466e-02 9.99060616e-01 -5.84291767e-05 4.21701529e+00] [ 8.77843987e-03 -3.22285539e-04 9.99961417e-01 2.67273868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.819254154 meters 0.01915081404331526 Centerline is valid? [True, True] Translation: X:615.25, Y:4.22, Z:2.67 [[ 9.99228060e-01 -3.82703693e-02 -8.86922312e-03 6.15248995e+02] [ 3.82713539e-02 9.99267382e-01 -5.87470360e-05 4.22282996e+00] [ 8.86497364e-03 -2.80735490e-04 9.99960666e-01 2.67195218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.879254154 meters 0.01805969572034932 Centerline is valid? [True, True] Translation: X:615.31, Y:4.23, Z:2.67 [[ 9.99439740e-01 -3.19732018e-02 -9.89549470e-03 6.15308639e+02] [ 3.19741199e-02 9.99488695e-01 -6.54544819e-05 4.22889801e+00] [ 9.89252787e-03 -2.50981923e-04 9.99951036e-01 2.67155019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.939254154 meters 0.015655160695708617 Centerline is valid? [True, True] Translation: X:615.37, Y:4.24, Z:2.67 [[ 9.99639176e-01 -2.45559158e-02 -1.08868873e-02 6.15370121e+02] [ 2.45565913e-02 9.99698439e-01 -7.16484920e-05 4.23851606e+00] [ 1.08853636e-02 -1.95722201e-04 9.99940734e-01 2.67175520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.999254154 meters 0.015213431598882493 Centerline is valid? [True, True] Translation: X:615.43, Y:4.24, Z:2.67 [[ 9.99754155e-01 -1.87067598e-02 -1.19032226e-02 6.15430724e+02] [ 1.87071576e-02 9.99825003e-01 -7.79302652e-05 4.24357723e+00] [ 1.19025974e-02 -1.44764355e-04 9.99929151e-01 2.67176115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.059254154 meters 0.014565012131752092 Centerline is valid? [True, True] Translation: X:615.49, Y:4.25, Z:2.67 [[ 9.99876977e-01 -8.54649890e-03 -1.31524622e-02 6.15491728e+02] [ 8.54610629e-03 9.99963478e-01 -8.60555477e-05 4.25396214e+00] [ 1.31527173e-02 -2.63573791e-05 9.99913499e-01 2.67260374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.119254154 meters 0.014641035601795232 Centerline is valid? [True, True] Translation: X:615.55, Y:4.26, Z:2.67 [[ 9.99913011e-01 -3.99126598e-03 -1.25714358e-02 6.15550024e+02] [ 3.99051642e-03 9.99992034e-01 -8.47074203e-05 4.25916782e+00] [ 1.25716737e-02 3.45335307e-05 9.99920973e-01 2.67454926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.179254154 meters 0.015047985469184953 Centerline is valid? [True, True] Translation: X:615.61, Y:4.26, Z:2.67 [[ 9.99909777e-01 -3.15315599e-03 -1.30574162e-02 6.15608097e+02] [ 3.15222477e-03 9.99995027e-01 -9.18975557e-05 4.26118932e+00] [ 1.30576410e-02 5.07293536e-05 9.99914744e-01 2.67490257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.239254154 meters 0.015149663191288965 Centerline is valid? [True, True] Translation: X:615.67, Y:4.26, Z:2.68 [[ 9.99896162e-01 -3.87498247e-03 -1.38798002e-02 6.15665455e+02] [ 3.87395450e-03 9.99992491e-01 -1.00948206e-04 4.26382731e+00] [ 1.38800871e-02 4.71680091e-05 9.99903666e-01 2.67555341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.299254154 meters 0.015082423821530815 Centerline is valid? [True, True] Translation: X:615.72, Y:4.26, Z:2.68 [[ 9.99875190e-01 -5.43221563e-03 -1.48356052e-02 6.15724258e+02] [ 5.43118778e-03 9.99985245e-01 -1.09571352e-04 4.26311730e+00] [ 1.48359815e-02 2.89827188e-05 9.99889940e-01 2.67557778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.359254154 meters 0.01484017041344543 Centerline is valid? [True, True] Translation: X:615.78, Y:4.26, Z:2.68 [[ 9.99856507e-01 -7.10694251e-03 -1.53771573e-02 6.15783481e+02] [ 7.10601944e-03 9.99974745e-01 -1.14666673e-04 4.26274220e+00] [ 1.53775839e-02 5.37984088e-06 9.99881758e-01 2.67590288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.419254154 meters 0.01492422204410413 Centerline is valid? [True, True] Translation: X:615.84, Y:4.26, Z:2.68 [[ 9.99833545e-01 -8.69788555e-03 -1.60383658e-02 6.15841297e+02] [ 8.69702720e-03 9.99962173e-01 -1.23266569e-04 4.26247579e+00] [ 1.60388313e-02 -1.62400530e-05 9.99871370e-01 2.67751309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4792541539999 meters 0.015085124919608178 Centerline is valid? [True, True] Translation: X:615.90, Y:4.26, Z:2.68 [[ 9.99825075e-01 -8.91870892e-03 -1.64400780e-02 6.15898904e+02] [ 8.91779807e-03 9.99960227e-01 -1.28714306e-04 4.26225038e+00] [ 1.64405721e-02 -1.79175056e-05 9.99864844e-01 2.67779847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.539254154 meters 0.015317930380620976 Centerline is valid? [True, True] Translation: X:615.96, Y:4.26, Z:2.68 [[ 9.99830328e-01 -6.73518351e-03 -1.71450594e-02 6.15957204e+02] [ 6.73380963e-03 9.99977318e-01 -1.37861846e-04 4.26193849e+00] [ 1.71455991e-02 2.23868884e-05 9.99853003e-01 2.67826425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5992541539999 meters 0.01562408827760144 Centerline is valid? [True, True] Translation: X:616.01, Y:4.26, Z:2.68 [[ 9.99846206e-01 -3.94590229e-03 -1.70878086e-02 6.16014770e+02] [ 3.94409210e-03 9.99992212e-01 -1.39634183e-04 4.26309817e+00] [ 1.70882265e-02 7.22168175e-05 9.99853983e-01 2.67795135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.659254154 meters 0.015244425177092052 Centerline is valid? [True, True] Translation: X:616.07, Y:4.26, Z:2.68 [[ 9.99834090e-01 -2.74707825e-03 -1.80068465e-02 6.16073386e+02] [ 2.74480599e-03 9.99996222e-01 -1.50902348e-04 4.26310408e+00] [ 1.80071930e-02 1.01452012e-04 9.99837852e-01 2.68069351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.7192541539999 meters 0.015557874747430788 Centerline is valid? [True, True] Translation: X:616.13, Y:4.26, Z:2.68 [[ 9.99805213e-01 -2.74585027e-03 -1.95447234e-02 6.16131721e+02] [ 2.74312445e-03 9.99996224e-01 -1.66274098e-04 4.26003228e+00] [ 1.95451062e-02 1.12628101e-04 9.99808970e-01 2.67937186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.779254154 meters 0.015545912854483344 Centerline is valid? [True, True] Translation: X:616.19, Y:4.25, Z:2.68 [[ 9.99748758e-01 -7.18748741e-03 -2.12311458e-02 6.16190301e+02] [ 7.18523897e-03 9.99974169e-01 -1.82185641e-04 4.25360045e+00] [ 2.12319068e-02 2.95890123e-05 9.99774577e-01 2.67867919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.839254154 meters 0.015589123456413393 Centerline is valid? [True, True] Translation: X:616.25, Y:4.25, Z:2.68 [[ 9.99707229e-01 -1.11449597e-02 -2.14766240e-02 6.16248945e+02] [ 1.11435407e-02 9.99937892e-01 -1.85753236e-04 4.24940612e+00] [ 2.14773604e-02 -5.36267810e-05 9.99769333e-01 2.67962405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.899254154 meters 0.015366441622482806 Centerline is valid? [True, True] Translation: X:616.31, Y:4.24, Z:2.68 [[ 9.99611799e-01 -1.69625589e-02 -2.21025521e-02 6.16307751e+02] [ 1.69624425e-02 9.99856109e-01 -1.92759153e-04 4.24195008e+00] [ 2.21026414e-02 -1.82228945e-04 9.99755690e-01 2.68241747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.959254154 meters 0.0161542381250163 Centerline is valid? [True, True] Translation: X:616.37, Y:4.23, Z:2.68 [[ 9.99507126e-01 -2.27078134e-02 -2.16762738e-02 6.16366569e+02] [ 2.27090179e-02 9.99742099e-01 -1.90612372e-04 4.23488667e+00] [ 2.16750119e-02 -3.01728467e-04 9.99765024e-01 2.68334400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.019254154 meters 0.01692981928421302 Centerline is valid? [True, True] Translation: X:616.42, Y:4.23, Z:2.68 [[ 9.99438042e-01 -2.65830888e-02 -2.04190983e-02 6.16424064e+02] [ 2.65849305e-02 9.99646542e-01 -1.81295061e-04 4.22749140e+00] [ 2.04167004e-02 -3.61647129e-04 9.99791492e-01 2.68409477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.079254154 meters 0.01684902440991046 Centerline is valid? [True, True] Translation: X:616.48, Y:4.22, Z:2.69 [[ 9.99423472e-01 -2.67613998e-02 -2.08937877e-02 6.16482459e+02] [ 2.67632733e-02 9.99641781e-01 -1.90003284e-04 4.22449449e+00] [ 2.08913879e-02 -3.69292408e-04 9.99781683e-01 2.68520001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.139254154 meters 0.01599236570009601 Centerline is valid? [True, True] Translation: X:616.54, Y:4.23, Z:2.69 [[ 9.99473064e-01 -2.45363267e-02 -2.12500262e-02 6.16541244e+02] [ 2.45376433e-02 9.99698887e-01 -1.98823338e-04 4.22723812e+00] [ 2.12485059e-02 -3.22706991e-04 9.99774173e-01 2.68773405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.199254154 meters 0.01549016411635647 Centerline is valid? [True, True] Translation: X:616.60, Y:4.23, Z:2.69 [[ 9.99554407e-01 -1.88020873e-02 -2.31833657e-02 6.16599197e+02] [ 1.88020424e-02 9.99823202e-01 -2.19930036e-04 4.22749978e+00] [ 2.31834021e-02 -2.16062589e-04 9.99731205e-01 2.68661218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.259254154 meters 0.015521464752851863 Centerline is valid? [True, True] Translation: X:616.66, Y:4.23, Z:2.69 [[ 9.99591721e-01 -1.46287894e-02 -2.45436319e-02 6.16656010e+02] [ 1.46273711e-02 9.99892986e-01 -2.37324717e-04 4.22965425e+00] [ 2.45444772e-02 -1.21780991e-04 9.99698732e-01 2.68617803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.319254154 meters 0.015282645642128242 Centerline is valid? [True, True] Translation: X:616.71, Y:4.23, Z:2.69 [[ 9.99629203e-01 -1.09747949e-02 -2.49200932e-02 6.16714183e+02] [ 1.09720247e-02 9.99939775e-01 -2.47900179e-04 4.23139339e+00] [ 2.49213130e-02 -2.56156193e-05 9.99689416e-01 2.68766425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.379254154 meters 0.01549821393528733 Centerline is valid? [True, True] Translation: X:616.77, Y:4.23, Z:2.69 [[ 9.99684339e-01 -6.24432898e-03 -2.43357803e-02 6.16771612e+02] [ 6.24011395e-03 9.99980499e-01 -2.49140126e-04 4.23422992e+00] [ 2.43368615e-02 9.72034404e-05 9.99703810e-01 2.68915893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.439254154 meters 0.015387701293517847 Centerline is valid? [True, True] Translation: X:616.83, Y:4.23, Z:2.69 [[ 9.99731426e-01 -5.57555350e-03 -2.24941919e-02 6.16830365e+02] [ 5.57165374e-03 9.99984450e-01 -2.36037076e-04 4.23228117e+00] [ 2.24951582e-02 1.10643834e-04 9.99746946e-01 2.69066859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.499254154 meters 0.015176967339151139 Centerline is valid? [True, True] Translation: X:616.89, Y:4.23, Z:2.69 [[ 9.99723077e-01 -7.92350496e-03 -2.21582232e-02 6.16889655e+02] [ 7.92021822e-03 9.99968607e-01 -2.36087669e-04 4.22897714e+00] [ 2.21593982e-02 6.05243284e-05 9.99754449e-01 2.69198898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.559254154 meters 0.015178783292970418 Centerline is valid? [True, True] Translation: X:616.95, Y:4.22, Z:2.69 [[ 9.99674004e-01 -1.36193299e-02 -2.15962927e-02 6.16947853e+02] [ 1.36174906e-02 9.99907251e-01 -2.32235301e-04 4.22170403e+00] [ 2.15974525e-02 -6.19277184e-05 9.99766746e-01 2.69170588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.619254154 meters 0.015615152766649956 Centerline is valid? [True, True] Translation: X:617.01, Y:4.21, Z:2.69 [[ 9.99543392e-01 -2.07244007e-02 -2.19887916e-02 6.17006521e+02] [ 2.07241750e-02 9.99785203e-01 -2.38166652e-04 4.21299113e+00] [ 2.19890043e-02 -2.17641661e-04 9.99758189e-01 2.69367955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.679254154 meters 0.01616002959945388 Centerline is valid? [True, True] Translation: X:617.07, Y:4.20, Z:2.69 [[ 9.99350130e-01 -2.81138181e-02 -2.25595014e-02 6.17065848e+02] [ 2.81154320e-02 9.99604653e-01 -2.45695537e-04 4.20413672e+00] [ 2.25574900e-02 -3.88734262e-04 9.99745472e-01 2.69361694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.739254154 meters 0.01704295900140778 Centerline is valid? [True, True] Translation: X:617.12, Y:4.20, Z:2.69 [[ 9.99267667e-01 -3.14917875e-02 -2.17347183e-02 6.17123803e+02] [ 3.14940445e-02 9.99503911e-01 -2.38531267e-04 4.19847525e+00] [ 2.17314477e-02 -4.46157603e-04 9.99763745e-01 2.69386362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.799254154 meters 0.017530143272602352 Centerline is valid? [True, True] Translation: X:617.18, Y:4.19, Z:2.69 [[ 9.99204853e-01 -3.37890780e-02 -2.11650626e-02 6.17183030e+02] [ 3.37916347e-02 9.99428872e-01 -2.36931835e-04 4.19248873e+00] [ 2.11609803e-02 -4.78458623e-04 9.99775967e-01 2.69431438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.859254154 meters 0.017996700728515568 Centerline is valid? [True, True] Translation: X:617.24, Y:4.19, Z:2.69 [[ 9.99232453e-01 -3.30806437e-02 -2.09803854e-02 6.17241486e+02] [ 3.30829548e-02 9.99452581e-01 -2.37014729e-04 4.18864935e+00] [ 2.09767409e-02 -4.57260331e-04 9.99779859e-01 2.69411732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.919254154 meters 0.016905833059505656 Centerline is valid? [True, True] Translation: X:617.30, Y:4.19, Z:2.70 [[ 9.99248066e-01 -3.24866053e-02 -2.11642133e-02 6.17301088e+02] [ 3.24888049e-02 9.99472071e-01 -2.39992149e-04 4.18819482e+00] [ 2.11608366e-02 -4.47788306e-04 9.99775984e-01 2.69646453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9792541539999 meters 0.018124654661531868 Centerline is valid? [True, True] Translation: X:617.36, Y:4.18, Z:2.70 [[ 9.99244288e-01 -3.31033850e-02 -2.03720334e-02 6.17359660e+02] [ 3.31055246e-02 9.99451835e-01 -2.32304651e-04 4.18235140e+00] [ 2.03685562e-02 -4.42297758e-04 9.99792442e-01 2.69514502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.039254154 meters 0.017981204775525478 Centerline is valid? [True, True] Translation: X:617.42, Y:4.18, Z:2.70 [[ 9.99196225e-01 -3.44505584e-02 -2.04954262e-02 6.17418818e+02] [ 3.44529767e-02 9.99406292e-01 -2.35202371e-04 4.17955474e+00] [ 2.04913607e-02 -4.71115120e-04 9.99789919e-01 2.69619376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0992541539999 meters 0.019888151729455402 Centerline is valid? [True, True] Translation: X:617.48, Y:4.17, Z:2.70 [[ 9.99120545e-01 -3.62947698e-02 -2.09958733e-02 6.17478301e+02] [ 3.62976953e-02 9.99340992e-01 -2.41862145e-04 4.17439062e+00] [ 2.09908152e-02 -5.20452376e-04 9.99779533e-01 2.69515436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.159254154 meters 0.01856656342953828 Centerline is valid? [True, True] Translation: X:617.54, Y:4.17, Z:2.70 [[ 9.99053200e-01 -3.86018581e-02 -2.00648762e-02 6.17537769e+02] [ 3.86049803e-02 9.99254523e-01 -2.31858889e-04 4.17197133e+00] [ 2.00588685e-02 -5.42964783e-04 9.99798653e-01 2.69687518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.2192541539999 meters 0.018700174980137842 Centerline is valid? [True, True] Translation: X:617.60, Y:4.17, Z:2.70 [[ 9.99012133e-01 -4.01128817e-02 -1.91236947e-02 6.17598099e+02] [ 4.01159914e-02 9.99195005e-01 -2.21136387e-04 4.16896323e+00] [ 1.91171707e-02 -5.46248040e-04 9.99817101e-01 2.69914510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.279254154 meters 0.019085316986974552 Centerline is valid? [True, True] Translation: X:617.66, Y:4.17, Z:2.70 [[ 9.99050094e-01 -3.96716394e-02 -1.80296977e-02 6.17658152e+02] [ 3.96743316e-02 9.99212642e-01 -2.08485979e-04 4.16627791e+00] [ 1.80237729e-02 -5.07028269e-04 9.99837430e-01 2.69969227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.339254154 meters 0.018505370038725617 Centerline is valid? [True, True] Translation: X:617.72, Y:4.17, Z:2.70 [[ 9.99049815e-01 -3.94381731e-02 -1.85498694e-02 6.17719667e+02] [ 3.94409923e-02 9.99221878e-01 -2.13981432e-04 4.16570957e+00] [ 1.85438743e-02 -5.17847145e-04 9.99827913e-01 2.69989244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.399254154 meters 0.01950081787164551 Centerline is valid? [True, True] Translation: X:617.78, Y:4.16, Z:2.70 [[ 9.98972673e-01 -4.07247143e-02 -1.98770426e-02 6.17780336e+02] [ 4.07282150e-02 9.99170236e-01 -2.28838339e-04 4.16305535e+00] [ 1.98698687e-02 -5.80953217e-04 9.99802406e-01 2.69880332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.459254154 meters 0.021290920860724122 Centerline is valid? [True, True] Translation: X:617.84, Y:4.16, Z:2.70 [[ 9.98903640e-01 -4.23478878e-02 -1.99543017e-02 6.17839801e+02] [ 4.23517353e-02 9.99102736e-01 -2.29923903e-04 4.15957182e+00] [ 1.99461342e-02 -6.15427479e-04 9.99800867e-01 2.69846344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.519254154 meters 0.02211535133847988 Centerline is valid? [True, True] Translation: X:617.90, Y:4.16, Z:2.70 [[ 9.98808509e-01 -4.41329239e-02 -2.08290056e-02 6.17900513e+02] [ 4.41375023e-02 9.99025437e-01 -2.40084178e-04 4.15782451e+00] [ 2.08193020e-02 -6.79542161e-04 9.99783024e-01 2.69843310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.579254154 meters 0.021396401013155857 Centerline is valid? [True, True] Translation: X:617.96, Y:4.16, Z:2.70 [[ 9.98771562e-01 -4.49342334e-02 -2.08873518e-02 6.17961225e+02] [ 4.49390125e-02 9.98989703e-01 -2.40756702e-04 4.15944633e+00] [ 2.08770676e-02 -6.98196018e-04 9.99781806e-01 2.69997368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.639254154 meters 0.02455732798987684 Centerline is valid? [True, True] Translation: X:618.02, Y:4.16, Z:2.70 [[ 9.98725105e-01 -4.61266418e-02 -2.05060478e-02 6.18021195e+02] [ 4.61314932e-02 9.98935348e-01 -2.36642359e-04 4.15506144e+00] [ 2.04951316e-02 -7.09633942e-04 9.99789701e-01 2.69981204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.699254154 meters 0.022292158391506032 Centerline is valid? [True, True] Translation: X:618.08, Y:4.16, Z:2.70 [[ 9.98691649e-01 -4.68942731e-02 -2.03940316e-02 6.18081202e+02] [ 4.68992299e-02 9.98899598e-01 -2.35425963e-04 4.15950990e+00] [ 2.03826301e-02 -7.21346431e-04 9.99791992e-01 2.70331166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.759254154 meters 0.021627355861225755 Centerline is valid? [True, True] Translation: X:618.14, Y:4.16, Z:2.71 [[ 9.98665100e-01 -4.78356025e-02 -1.94877481e-02 6.18141290e+02] [ 4.78403073e-02 9.98854972e-01 -2.24963949e-04 4.15998562e+00] [ 1.94761954e-02 -7.07636215e-04 9.99810070e-01 2.70569200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.819254154 meters 0.02265586197748558 Centerline is valid? [True, True] Translation: X:618.20, Y:4.16, Z:2.71 [[ 9.98573872e-01 -4.98162783e-02 -1.91979084e-02 6.18201628e+02] [ 4.98212097e-02 9.98758128e-01 -2.21618078e-04 4.15730783e+00] [ 1.91851072e-02 -7.35160998e-04 9.99815679e-01 2.70636675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.879254154 meters 0.023930900159853642 Centerline is valid? [True, True] Translation: X:618.26, Y:4.15, Z:2.71 [[ 9.98446312e-01 -5.22457718e-02 -1.93737299e-02 6.18263139e+02] [ 5.22512608e-02 9.98633945e-01 -2.23115626e-04 4.15439024e+00] [ 1.93589212e-02 -7.89532841e-04 9.99812287e-01 2.70692647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.939254154 meters 0.023352147016247014 Centerline is valid? [True, True] Translation: X:618.32, Y:4.15, Z:2.71 [[ 9.98407619e-01 -5.29800311e-02 -1.93737525e-02 6.18324134e+02] [ 5.29856716e-02 9.98595248e-01 -2.22418804e-04 4.15489339e+00] [ 1.93583209e-02 -8.04466659e-04 9.99812287e-01 2.70837540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.999254154 meters 0.025458222714652375 Centerline is valid? [True, True] Translation: X:618.38, Y:4.15, Z:2.71 [[ 9.98421991e-01 -5.23769374e-02 -2.02530159e-02 6.18384327e+02] [ 5.23830010e-02 9.98627041e-01 -2.31364177e-04 4.15254919e+00] [ 2.02373275e-02 -8.29914669e-04 9.99794860e-01 2.70710374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.059254154 meters 0.024985004305836778 Centerline is valid? [True, True] Translation: X:618.44, Y:4.15, Z:2.71 [[ 9.98479450e-01 -5.12783302e-02 -2.02316647e-02 6.18444902e+02] [ 5.12841670e-02 9.98684075e-01 -2.30572927e-04 4.15222992e+00] [ 2.02168648e-02 -8.07341744e-04 9.99795292e-01 2.70827491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.119254154 meters 0.022991750254200322 Centerline is valid? [True, True] Translation: X:618.50, Y:4.15, Z:2.71 [[ 9.98522512e-01 -5.01956621e-02 -2.08131878e-02 6.18504955e+02] [ 5.02016062e-02 9.98739076e-01 -2.37121752e-04 4.15476673e+00] [ 2.07988465e-02 -8.08084052e-04 9.99783354e-01 2.70966750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.179254154 meters 0.02414319399885371 Centerline is valid? [True, True] Translation: X:618.56, Y:4.15, Z:2.71 [[ 9.98647126e-01 -4.74295007e-02 -2.13157375e-02 6.18564844e+02] [ 4.74351062e-02 9.98874292e-01 -2.42847230e-04 4.15354529e+00] [ 2.13032603e-02 -7.68595582e-04 9.99772764e-01 2.70950582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.239254154 meters 0.02128065899972151 Centerline is valid? [True, True] Translation: X:618.62, Y:4.16, Z:2.71 [[ 9.98768635e-01 -4.49669259e-02 -2.09568274e-02 6.18624521e+02] [ 4.49717903e-02 9.98988229e-01 -2.39350015e-04 4.15905451e+00] [ 2.09463868e-02 -7.03410762e-04 9.99780353e-01 2.71271054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.299254154 meters 0.019481763750672003 Centerline is valid? [True, True] Translation: X:618.68, Y:4.16, Z:2.71 [[ 9.98913866e-01 -4.13475063e-02 -2.14818851e-02 6.18684326e+02] [ 4.13517647e-02 9.99144620e-01 -2.46130515e-04 4.16319410e+00] [ 2.14736868e-02 -6.42450674e-04 9.99769207e-01 2.71441977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.359254154 meters 0.020429131152973897 Centerline is valid? [True, True] Translation: X:618.74, Y:4.17, Z:2.71 [[ 9.99152547e-01 -3.39643013e-02 -2.32511061e-02 6.18743711e+02] [ 3.39672725e-02 9.99422910e-01 -2.67257945e-04 4.16758015e+00] [ 2.32467654e-02 -5.22745201e-04 9.99729621e-01 2.71398151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.419254154 meters 0.016043699112505343 Centerline is valid? [True, True] Translation: X:618.80, Y:4.18, Z:2.72 [[ 9.99442811e-01 -2.53502387e-02 -2.17125158e-02 6.18802826e+02] [ 2.53507805e-02 9.99678586e-01 -2.50338141e-04 4.17520884e+00] [ 2.17118832e-02 -3.00230566e-04 9.99764224e-01 2.71755245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4792541539999 meters 0.015441965297502873 Centerline is valid? [True, True] Translation: X:618.86, Y:4.18, Z:2.72 [[ 9.99572012e-01 -2.04042530e-02 -2.09632684e-02 6.18860675e+02] [ 2.04036224e-02 9.99791795e-01 -2.43990324e-04 4.17882369e+00] [ 2.09638822e-02 -1.83840715e-04 9.99780217e-01 2.71869924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.539254154 meters 0.014549371473275617 Centerline is valid? [True, True] Translation: X:618.92, Y:4.18, Z:2.72 [[ 9.99700898e-01 -1.34478176e-02 -2.04272089e-02 6.18919849e+02] [ 1.34456808e-02 9.99909573e-01 -2.41950874e-04 4.18321003e+00] [ 2.04286154e-02 -3.27792250e-05 9.99791314e-01 2.72062299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5992541539999 meters 0.014988138632846825 Centerline is valid? [True, True] Translation: X:618.98, Y:4.18, Z:2.72 [[ 9.99693102e-01 -1.34555489e-02 -2.08002186e-02 6.18977659e+02] [ 1.34532845e-02 9.99909470e-01 -2.48796359e-04 4.18341527e+00] [ 2.08016832e-02 -3.11112541e-05 9.99783621e-01 2.71932578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.659254154 meters 0.01507822055917875 Centerline is valid? [True, True] Translation: X:619.04, Y:4.18, Z:2.72 [[ 9.99615325e-01 -1.70574648e-02 -2.18688339e-02 6.19036082e+02] [ 1.70557237e-02 9.99854505e-01 -2.66140374e-04 4.17958097e+00] [ 2.18701918e-02 -1.06950793e-04 9.99760813e-01 2.71969192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.7192541539999 meters 0.015856536295711703 Centerline is valid? [True, True] Translation: X:619.09, Y:4.17, Z:2.72 [[ 9.99555439e-01 -2.07688526e-02 -2.13911117e-02 6.19093630e+02] [ 2.07679840e-02 9.99784288e-01 -2.62776659e-04 4.17464218e+00] [ 2.13919549e-02 -1.81590427e-04 9.99771149e-01 2.71884307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.779254154 meters 0.016155956841300976 Centerline is valid? [True, True] Translation: X:619.15, Y:4.17, Z:2.72 [[ 9.99429547e-01 -2.66229693e-02 -2.07797422e-02 6.19152418e+02] [ 2.66233239e-02 9.99645503e-01 -2.59626975e-04 4.16959216e+00] [ 2.07792878e-02 -2.93746935e-04 9.99784044e-01 2.72270718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.839254154 meters 0.01928398759555355 Centerline is valid? [True, True] Translation: X:619.21, Y:4.16, Z:2.72 [[ 9.99290133e-01 -3.04195145e-02 -2.22234622e-02 6.19210683e+02] [ 3.04208058e-02 9.99537141e-01 -2.80040471e-04 4.16345769e+00] [ 2.22216946e-02 -3.96213949e-04 9.99752989e-01 2.72121763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.899254154 meters 0.01704343298139549 Centerline is valid? [True, True] Translation: X:619.27, Y:4.16, Z:2.72 [[ 9.99220116e-01 -3.22601425e-02 -2.27693476e-02 6.19269073e+02] [ 3.22619305e-02 9.99479407e-01 -2.88900582e-04 4.16255643e+00] [ 2.27668140e-02 -4.45907838e-04 9.99740703e-01 2.72360079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.959254154 meters 0.01888122283639894 Centerline is valid? [True, True] Translation: X:619.33, Y:4.16, Z:2.72 [[ 9.99284472e-01 -2.99295692e-02 -2.31249855e-02 6.19326624e+02] [ 2.99307417e-02 9.99551931e-01 -2.95494700e-04 4.16133457e+00] [ 2.31234679e-02 -3.96864700e-04 9.99732538e-01 2.72364213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.019254154 meters 0.01561363905682597 Centerline is valid? [True, True] Translation: X:619.38, Y:4.16, Z:2.73 [[ 9.99457619e-01 -2.46237222e-02 -2.18664339e-02 6.19384377e+02] [ 2.46234595e-02 9.99696757e-01 -2.81301228e-04 4.16340880e+00] [ 2.18667298e-02 -2.57278594e-04 9.99760861e-01 2.72538857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.079254154 meters 0.016718037126261912 Centerline is valid? [True, True] Translation: X:619.44, Y:4.17, Z:2.73 [[ 9.99534519e-01 -2.06519979e-02 -2.24552761e-02 6.19443553e+02] [ 2.06506122e-02 9.99786710e-01 -2.93617793e-04 4.16517395e+00] [ 2.24565504e-02 -1.70234079e-04 9.99747805e-01 2.72535631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.139254154 meters 0.016589864562616425 Centerline is valid? [True, True] Translation: X:619.50, Y:4.17, Z:2.73 [[ 9.99640897e-01 -1.34990478e-02 -2.31484915e-02 6.19502471e+02] [ 1.34955226e-02 9.99908884e-01 -3.08507532e-04 4.16857706e+00] [ 2.31505468e-02 -4.00424312e-06 9.99731990e-01 2.72762611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.199254154 meters 0.01505074606736681 Centerline is valid? [True, True] Translation: X:619.56, Y:4.17, Z:2.73 [[ 9.99749196e-01 -6.69975917e-03 -2.13695865e-02 6.19559847e+02] [ 6.69507705e-03 9.99977545e-01 -2.90639255e-04 4.17191087e+00] [ 2.13710539e-02 1.47495334e-04 9.99771602e-01 2.72771504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.259254154 meters 0.014510972791755757 Centerline is valid? [True, True] Translation: X:619.62, Y:4.17, Z:2.73 [[ 9.99776358e-01 -3.90949817e-03 -2.07833793e-02 6.19618934e+02] [ 3.90435372e-03 9.99992336e-01 -2.88098747e-04 4.17011767e+00] [ 2.07843464e-02 2.06888652e-04 9.99783961e-01 2.73151103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.319254154 meters 0.01687277690151989 Centerline is valid? [True, True] Translation: X:619.68, Y:4.17, Z:2.73 [[ 9.99791481e-01 -1.55717022e-03 -2.03609658e-02 6.19676542e+02] [ 1.55169312e-03 9.99998756e-01 -2.84795466e-04 4.16831472e+00] [ 2.03613839e-02 2.53142111e-04 9.99792653e-01 2.73000895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.379254154 meters 0.01594481831013739 Centerline is valid? [True, True] Translation: X:619.73, Y:4.16, Z:2.73 [[ 9.99800173e-01 -1.34074171e-03 -1.99453514e-02 6.19734267e+02] [ 1.33534294e-03 9.99999068e-01 -2.83993684e-04 4.16298631e+00] [ 1.99457136e-02 2.57303050e-04 9.99801031e-01 2.73197687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.439254154 meters 0.014499562975358612 Centerline is valid? [True, True] Translation: X:619.79, Y:4.16, Z:2.73 [[ 9.99841126e-01 -1.13967450e-03 -1.77883260e-02 6.19791818e+02] [ 1.13530621e-03 9.99999323e-01 -2.55667488e-04 4.15760584e+00] [ 1.77886054e-02 2.35431672e-04 9.99841743e-01 2.73405147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.499254154 meters 0.016181282713877324 Centerline is valid? [True, True] Translation: X:619.85, Y:4.15, Z:2.73 [[ 9.99857255e-01 -6.28826375e-05 -1.68957200e-02 6.19850059e+02] [ 5.87199575e-05 9.99999968e-01 -2.46870804e-04 4.15417895e+00] [ 1.68957350e-02 2.45843448e-04 9.99857227e-01 2.73392566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.559254154 meters 0.016541243379515517 Centerline is valid? [True, True] Translation: X:619.91, Y:4.15, Z:2.74 [[ 9.99868914e-01 2.48502303e-03 -1.59993283e-02 6.19909088e+02] [-2.48914813e-03 9.99996874e-01 -2.37921176e-04 4.15106636e+00] [ 1.59986870e-02 2.77714686e-04 9.99871974e-01 2.73509982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.619254154 meters 0.017019184974292847 Centerline is valid? [True, True] Translation: X:619.97, Y:4.15, Z:2.74 [[ 9.99873509e-01 3.09082736e-03 -1.56017010e-02 6.19968339e+02] [-3.09485358e-03 9.99995184e-01 -2.33925410e-04 4.14603699e+00] [ 1.56009029e-02 2.82180800e-04 9.99878259e-01 2.73528981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.679254154 meters 0.014970549904825728 Centerline is valid? [True, True] Translation: X:620.03, Y:4.14, Z:2.74 [[ 9.99882901e-01 2.08476941e-03 -1.51603985e-02 6.20026512e+02] [-2.08847520e-03 9.99997793e-01 -2.28610911e-04 4.13837393e+00] [ 1.51598884e-02 2.60246257e-04 9.99885048e-01 2.73663689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.739254154 meters 0.015118468368916765 Centerline is valid? [True, True] Translation: X:620.09, Y:4.13, Z:2.74 [[ 9.99885467e-01 -9.77033307e-04 -1.51029249e-02 6.20085371e+02] [ 9.73687014e-04 9.99999500e-01 -2.28917479e-04 4.13064088e+00] [ 1.51031411e-02 2.14185739e-04 9.99885918e-01 2.73699363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.799254154 meters 0.015063926975561555 Centerline is valid? [True, True] Translation: X:620.14, Y:4.12, Z:2.74 [[ 9.99856595e-01 -6.49967626e-03 -1.56378866e-02 6.20143045e+02] [ 6.49674322e-03 9.99978868e-01 -2.38353714e-04 4.12022907e+00] [ 1.56391054e-02 1.36724199e-04 9.99877692e-01 2.73552192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.859254154 meters 0.014739690227376414 Centerline is valid? [True, True] Translation: X:620.20, Y:4.11, Z:2.74 [[ 9.99823678e-01 -1.25051285e-02 -1.40083992e-02 6.20202316e+02] [ 1.25033499e-02 9.99921807e-01 -2.14543265e-04 4.10976024e+00] [ 1.40099868e-02 3.93535189e-05 9.99901855e-01 2.73768022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.919254154 meters 0.016677756423547845 Centerline is valid? [True, True] Translation: X:620.26, Y:4.10, Z:2.74 [[ 9.99770296e-01 -1.68822315e-02 -1.32040015e-02 6.20261273e+02] [ 1.68810210e-02 9.99857485e-01 -2.03134218e-04 4.10361443e+00] [ 1.32055491e-02 -1.98094684e-05 9.99912803e-01 2.73756066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9792541539999 meters 0.014708450138846993 Centerline is valid? [True, True] Translation: X:620.32, Y:4.09, Z:2.74 [[ 9.99612711e-01 -2.40335974e-02 -1.40290552e-02 6.20320358e+02] [ 2.40329210e-02 9.99711144e-01 -2.16824701e-04 4.09368689e+00] [ 1.40302139e-02 -1.20418449e-04 9.99901564e-01 2.73853085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.039254154 meters 0.01727643158480642 Centerline is valid? [True, True] Translation: X:620.38, Y:4.09, Z:2.74 [[ 9.99506761e-01 -2.87653533e-02 -1.26011812e-02 6.20379364e+02] [ 2.87651552e-02 9.99586178e-01 -1.97007305e-04 4.08518486e+00] [ 1.26016335e-02 -1.65564800e-04 9.99920583e-01 2.73886444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0992541539999 meters 0.01685286726222642 Centerline is valid? [True, True] Translation: X:620.44, Y:4.08, Z:2.74 [[ 9.99462023e-01 -3.04639657e-02 -1.21495132e-02 6.20438599e+02] [ 3.04638720e-02 9.99535850e-01 -1.92820974e-04 4.08344972e+00] [ 1.21497481e-02 -1.77403973e-04 9.99926173e-01 2.73998558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.159254154 meters 0.014742775276411093 Centerline is valid? [True, True] Translation: X:620.50, Y:4.08, Z:2.74 [[ 9.99361414e-01 -3.34130773e-02 -1.26621504e-02 6.20497541e+02] [ 3.34131714e-02 9.99441603e-01 -2.04170119e-04 4.08082387e+00] [ 1.26619019e-02 -2.19042863e-04 9.99919811e-01 2.74428638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.2192541539999 meters 0.016496982718720087 Centerline is valid? [True, True] Translation: X:620.56, Y:4.08, Z:2.74 [[ 9.99333540e-01 -3.43338028e-02 -1.23962345e-02 6.20556423e+02] [ 3.43339253e-02 9.99410396e-01 -2.02994233e-04 4.07744624e+00] [ 1.23958952e-02 -2.22752443e-04 9.99923143e-01 2.74418054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.279254154 meters 0.015606439023489885 Centerline is valid? [True, True] Translation: X:620.62, Y:4.08, Z:2.75 [[ 9.99297347e-01 -3.51767037e-02 -1.29388069e-02 6.20615173e+02] [ 3.51768648e-02 9.99381079e-01 -2.15197193e-04 4.07701641e+00] [ 1.29383687e-02 -2.40100678e-04 9.99916267e-01 2.74587539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.339254154 meters 0.01664713427227238 Centerline is valid? [True, True] Translation: X:620.67, Y:4.07, Z:2.75 [[ 9.99242192e-01 -3.64889735e-02 -1.35497952e-02 6.20673261e+02] [ 3.64892440e-02 9.99334020e-01 -2.27341108e-04 4.07398933e+00] [ 1.35490668e-02 -2.67252957e-04 9.99908171e-01 2.74641945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.399254154 meters 0.018184928926556095 Centerline is valid? [True, True] Translation: X:620.73, Y:4.07, Z:2.75 [[ 9.99079394e-01 -4.03464326e-02 -1.45784240e-02 6.20732406e+02] [ 4.03471123e-02 9.99185693e-01 -2.47606822e-04 4.07202949e+00] [ 1.45765427e-02 -3.40818435e-04 9.99893698e-01 2.74690665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.459254154 meters 0.020088506301502204 Centerline is valid? [True, True] Translation: X:620.79, Y:4.07, Z:2.75 [[ 9.98846997e-01 -4.57970687e-02 -1.43981247e-02 6.20792141e+02] [ 4.57982761e-02 9.98950678e-01 -2.46021892e-04 4.06968455e+00] [ 1.43942835e-02 -4.13671061e-04 9.99896311e-01 2.74889603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.519254154 meters 0.020838772948197998 Centerline is valid? [True, True] Translation: X:620.85, Y:4.06, Z:2.75 [[ 9.98615332e-01 -5.06522531e-02 -1.42045294e-02 6.20851008e+02] [ 5.06539046e-02 9.98716237e-01 -2.43718499e-04 4.06362840e+00] [ 1.41986390e-02 -4.76133846e-04 9.99899081e-01 2.74980222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.579254154 meters 0.02179808257601414 Centerline is valid? [True, True] Translation: X:620.91, Y:4.06, Z:2.75 [[ 9.98265631e-01 -5.70076249e-02 -1.46921949e-02 6.20911296e+02] [ 5.70100693e-02 9.98373571e-01 -2.52738771e-04 4.05998384e+00] [ 1.46827071e-02 -5.85302621e-04 9.99892032e-01 2.75131268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.639254154 meters 0.023659044966160135 Centerline is valid? [True, True] Translation: X:620.97, Y:4.06, Z:2.75 [[ 9.98042483e-01 -6.08055678e-02 -1.46248393e-02 6.20970911e+02] [ 6.08083897e-02 9.98149426e-01 -2.52060082e-04 4.05735320e+00] [ 1.46131016e-02 -6.37746260e-04 9.99893020e-01 2.75164327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.699254154 meters 0.02617272358461301 Centerline is valid? [True, True] Translation: X:621.03, Y:4.05, Z:2.75 [[ 9.97640361e-01 -6.72066652e-02 -1.40347274e-02 6.21031443e+02] [ 6.72098934e-02 9.97738829e-01 -2.42055029e-04 4.05375961e+00] [ 1.40192602e-02 -7.01788666e-04 9.99901479e-01 2.75397666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.759254154 meters 0.029774833134039117 Centerline is valid? [True, True] Translation: X:621.09, Y:4.05, Z:2.75 [[ 9.97511620e-01 -6.88673402e-02 -1.50949676e-02 6.21090462e+02] [ 6.88712524e-02 9.97625522e-01 -2.61130801e-04 4.04963568e+00] [ 1.50771084e-02 -7.79128318e-04 9.99886030e-01 2.75283838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.819254154 meters 0.028476067264809047 Centerline is valid? [True, True] Translation: X:621.15, Y:4.06, Z:2.75 [[ 9.97493951e-01 -6.87063495e-02 -1.68894955e-02 6.21148872e+02] [ 6.87111653e-02 9.97636551e-01 -2.95676248e-04 4.05606450e+00] [ 1.68698929e-02 -8.65561647e-04 9.99857319e-01 2.75224641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.879254154 meters 0.0276855627805441 Centerline is valid? [True, True] Translation: X:621.21, Y:4.06, Z:2.75 [[ 9.97584771e-01 -6.73147452e-02 -1.71274592e-02 6.21208122e+02] [ 6.73194235e-02 9.97731428e-01 -3.03911976e-04 4.05947952e+00] [ 1.71090621e-02 -8.49832722e-04 9.99853268e-01 2.75305472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.939254154 meters 0.0270924241840187 Centerline is valid? [True, True] Translation: X:621.27, Y:4.07, Z:2.75 [[ 9.97911520e-01 -6.21343577e-02 -1.76612566e-02 6.21268719e+02] [ 6.21385027e-02 9.98067486e-01 -3.14506549e-04 4.06701549e+00] [ 1.76466677e-02 -7.83594333e-04 9.99843978e-01 2.75257376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.999254154 meters 0.02335495225067245 Centerline is valid? [True, True] Translation: X:621.33, Y:4.07, Z:2.75 [[ 9.98295363e-01 -5.59182831e-02 -1.67186566e-02 6.21327652e+02] [ 5.59211221e-02 9.98435145e-01 -2.98003026e-04 4.07488083e+00] [ 1.67091582e-02 -6.37430998e-04 9.99860189e-01 2.75483393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.059254154 meters 0.02387117171264987 Centerline is valid? [True, True] Translation: X:621.39, Y:4.08, Z:2.75 [[ 9.98646198e-01 -4.88143436e-02 -1.79702756e-02 6.21387242e+02] [ 4.88164674e-02 9.98807714e-01 -3.20718866e-04 4.08458740e+00] [ 1.79645056e-02 -5.56960698e-04 9.99838470e-01 2.75351090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.119254154 meters 0.021303321490732656 Centerline is valid? [True, True] Translation: X:621.45, Y:4.09, Z:2.75 [[ 9.98769004e-01 -4.67024844e-02 -1.67139270e-02 6.21445684e+02] [ 4.67040106e-02 9.98908727e-01 -2.99217597e-04 4.08860058e+00] [ 1.67096617e-02 -4.81758163e-04 9.99860268e-01 2.75483963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.179254154 meters 0.024748636044519386 Centerline is valid? [True, True] Translation: X:621.50, Y:4.09, Z:2.75 [[ 9.98819941e-01 -4.50759552e-02 -1.80799492e-02 6.21503349e+02] [ 4.50774487e-02 9.98983442e-01 -3.25126332e-04 4.09433083e+00] [ 1.80762252e-02 -4.90255318e-04 9.99836491e-01 2.75317233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.239254154 meters 0.0191803610223011 Centerline is valid? [True, True] Translation: X:621.56, Y:4.10, Z:2.76 [[ 9.98787956e-01 -4.62589382e-02 -1.68145929e-02 6.21561630e+02] [ 4.62603388e-02 9.98929371e-01 -3.05850992e-04 4.10149791e+00] [ 1.68107390e-02 -4.72368477e-04 9.99858578e-01 2.75654245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.299254154 meters 0.021731335315138874 Centerline is valid? [True, True] Translation: X:621.62, Y:4.10, Z:2.76 [[ 9.98729298e-01 -4.74406475e-02 -1.70051147e-02 6.21619688e+02] [ 4.74422130e-02 9.98873936e-01 -3.11564310e-04 4.10301459e+00] [ 1.70007467e-02 -4.95591870e-04 9.99855354e-01 2.75606735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.359254154 meters 0.019057072919936763 Centerline is valid? [True, True] Translation: X:621.68, Y:4.11, Z:2.76 [[ 9.98644914e-01 -4.99030326e-02 -1.47655827e-02 6.21678369e+02] [ 4.99044375e-02 9.98753960e-01 -2.73520204e-04 4.10601597e+00] [ 1.47608337e-02 -4.63718540e-04 9.99890945e-01 2.75795372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.419254154 meters 0.021106212909076626 Centerline is valid? [True, True] Translation: X:621.74, Y:4.11, Z:2.76 [[ 9.98423748e-01 -5.42292380e-02 -1.44640404e-02 6.21737887e+02] [ 5.42310209e-02 9.98528379e-01 -2.69215867e-04 4.10592551e+00] [ 1.44573542e-02 -5.15608164e-04 9.99895354e-01 2.75772030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4792541539999 meters 0.02456210016165211 Centerline is valid? [True, True] Translation: X:621.80, Y:4.10, Z:2.76 [[ 9.98021310e-01 -6.14145249e-02 -1.34804222e-02 6.21798231e+02] [ 6.14167260e-02 9.98112179e-01 -2.51028439e-04 4.10330190e+00] [ 1.34703904e-02 -5.77391667e-04 9.99909103e-01 2.75794514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.539254154 meters 0.025023413878842302 Centerline is valid? [True, True] Translation: X:621.86, Y:4.10, Z:2.76 [[ 9.97686249e-01 -6.67882352e-02 -1.27075196e-02 6.21858272e+02] [ 6.67906247e-02 9.97766985e-01 -2.36734587e-04 4.10494151e+00] [ 1.26949546e-02 -6.12556332e-04 9.99919228e-01 2.75905428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5992541539999 meters 0.0356365331193014 Centerline is valid? [True, True] Translation: X:621.92, Y:4.10, Z:2.76 [[ 9.97070399e-01 -7.56184169e-02 -1.15097600e-02 6.21917380e+02] [ 7.56209602e-02 9.97136613e-01 -2.14692441e-04 4.09657685e+00] [ 1.14930378e-02 -6.56315627e-04 9.99933737e-01 2.75762734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.659254154 meters 0.030810217490423175 Centerline is valid? [True, True] Translation: X:621.98, Y:4.11, Z:2.76 [[ 9.96827924e-01 -7.88165673e-02 -1.10471405e-02 6.21978700e+02] [ 7.88191071e-02 9.96888914e-01 -2.05956211e-04 4.10902651e+00] [ 1.10290046e-02 -6.65422846e-04 9.99938957e-01 2.75919049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.7192541539999 meters 0.03685664265613492 Centerline is valid? [True, True] Translation: X:622.04, Y:4.11, Z:2.76 [[ 9.96662617e-01 -8.10324509e-02 -9.86765095e-03 6.22038990e+02] [ 8.10345879e-02 9.96711273e-01 -1.83721309e-04 4.10830944e+00] [ 9.85008632e-03 -6.16512868e-04 9.99951297e-01 2.75857722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.779254154 meters 0.03203708982422567 Centerline is valid? [True, True] Translation: X:622.10, Y:4.12, Z:2.76 [[ 9.96605214e-01 -8.19623680e-02 -7.75998368e-03 6.22100472e+02] [ 8.19637196e-02 9.96635303e-01 -1.44228631e-04 4.12202998e+00] [ 7.74569501e-03 -4.92298120e-04 9.99969880e-01 2.76010021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.839254154 meters 0.03238500458138497 Centerline is valid? [True, True] Translation: X:622.16, Y:4.13, Z:2.76 [[ 9.96508781e-01 -8.31762866e-02 -7.20800025e-03 6.22162865e+02] [ 8.31774875e-02 9.96534740e-01 -1.33534251e-04 4.12672705e+00] [ 7.19412953e-03 -4.66475297e-04 9.99974013e-01 2.76099317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.899254154 meters 0.03370380564118281 Centerline is valid? [True, True] Translation: X:622.23, Y:4.14, Z:2.76 [[ 9.96482475e-01 -8.34653713e-02 -7.49724300e-03 6.22225183e+02] [ 8.34666828e-02 9.96510559e-01 -1.38327225e-04 4.13555509e+00] [ 7.48262734e-03 -4.87929348e-04 9.99971886e-01 2.75925456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.959254154 meters 0.03258010177009437 Centerline is valid? [True, True] Translation: X:622.29, Y:4.15, Z:2.76 [[ 9.96411834e-01 -8.44389626e-02 -5.78959504e-03 6.22287205e+02] [ 8.44397631e-02 9.96428580e-01 -1.06466804e-04 4.14518858e+00] [ 5.77790791e-03 -3.82787251e-04 9.99983234e-01 2.76147508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.019254154 meters 0.034374058320614215 Centerline is valid? [True, True] Translation: X:622.35, Y:4.15, Z:2.76 [[ 9.96447351e-01 -8.40500652e-02 -5.31631410e-03 6.22349248e+02] [ 8.40507366e-02 9.96461471e-01 -9.73988703e-05 4.14772132e+00] [ 5.30568855e-03 -3.49787270e-04 9.99985864e-01 2.76109246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.079254154 meters 0.03776712460036395 Centerline is valid? [True, True] Translation: X:622.41, Y:4.16, Z:2.76 [[ 9.96475940e-01 -8.36848667e-02 -5.70476859e-03 6.22410362e+02] [ 8.36856362e-02 9.96492199e-01 -1.04102009e-04 4.15533856e+00] [ 5.69346916e-03 -3.73672041e-04 9.99983722e-01 2.75959236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.139254154 meters 0.037068016482739156 Centerline is valid? [True, True] Translation: X:622.47, Y:4.17, Z:2.76 [[ 9.96600763e-01 -8.22374878e-02 -4.89024396e-03 6.22471439e+02] [ 8.22380370e-02 9.96612712e-01 -8.90181659e-05 4.16649361e+00] [ 4.88099992e-03 -3.13448492e-04 9.99988039e-01 2.76101899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.199254154 meters 0.033030774574099905 Centerline is valid? [True, True] Translation: X:622.53, Y:4.18, Z:2.76 [[ 9.96746102e-01 -8.04744516e-02 -4.59030864e-03 6.22532507e+02] [ 8.04749175e-02 9.96756631e-01 -8.34050164e-05 4.18189556e+00] [ 4.58213255e-03 -2.86271084e-04 9.99989461e-01 2.76153070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.259254154 meters 0.032151877829678245 Centerline is valid? [True, True] Translation: X:622.59, Y:4.20, Z:2.76 [[ 9.97055166e-01 -7.65840684e-02 -3.98460886e-03 6.22593508e+02] [ 7.65843891e-02 9.97063100e-01 -7.22682882e-05 4.19560360e+00] [ 3.97844106e-03 -2.33103365e-04 9.99992059e-01 2.76099438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.319254154 meters 0.03371928869306796 Centerline is valid? [True, True] Translation: X:622.65, Y:4.20, Z:2.76 [[ 9.97413033e-01 -7.17357516e-02 -4.60695816e-03 6.22652960e+02] [ 7.17361290e-02 9.97423642e-01 -8.34682172e-05 4.20375109e+00] [ 4.60107664e-03 -2.47233057e-04 9.99989384e-01 2.75955809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.379254154 meters 0.02682268299259546 Centerline is valid? [True, True] Translation: X:622.71, Y:4.23, Z:2.76 [[ 9.97780246e-01 -6.64590597e-02 -4.21597425e-03 6.22713260e+02] [ 6.64593286e-02 9.97789132e-01 -7.64456170e-05 4.22529563e+00] [ 4.21173379e-03 -2.03914891e-04 9.99991110e-01 2.76042534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.439254154 meters 0.027117022189385043 Centerline is valid? [True, True] Translation: X:622.77, Y:4.23, Z:2.76 [[ 9.98080031e-01 -6.17417621e-02 -4.91996004e-03 6.22774381e+02] [ 6.17420712e-02 9.98092134e-01 -8.91779570e-05 4.23412192e+00] [ 4.91607942e-03 -2.14761785e-04 9.99987893e-01 2.75998853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.499254154 meters 0.02469062464616385 Centerline is valid? [True, True] Translation: X:622.83, Y:4.25, Z:2.76 [[ 9.98400269e-01 -5.64134835e-02 -3.79768570e-03 6.22833586e+02] [ 5.64136295e-02 9.98407481e-01 -6.87646546e-05 4.24624988e+00] [ 3.79551706e-03 -1.45586584e-04 9.99992786e-01 2.76138796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.559254154 meters 0.025260542906846095 Centerline is valid? [True, True] Translation: X:622.89, Y:4.26, Z:2.76 [[ 9.98739121e-01 -4.99357870e-02 -5.15611327e-03 6.22894343e+02] [ 4.99359693e-02 9.98752417e-01 -9.34536688e-05 4.25885596e+00] [ 5.15434728e-03 -1.64139679e-04 9.99986703e-01 2.75991556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.619254154 meters 0.02204420581772196 Centerline is valid? [True, True] Translation: X:622.96, Y:4.27, Z:2.76 [[ 9.98853521e-01 -4.74960450e-02 -5.98070801e-03 6.22956160e+02] [ 4.74962478e-02 9.98871411e-01 -1.08203473e-04 4.26594824e+00] [ 5.97909748e-03 -1.75981769e-04 9.99982110e-01 2.76039441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.679254154 meters 0.021083743331835516 Centerline is valid? [True, True] Translation: X:623.02, Y:4.27, Z:2.76 [[ 9.99015335e-01 -4.39116962e-02 -6.33427385e-03 6.23016044e+02] [ 4.39118539e-02 9.99035403e-01 -1.14249535e-04 4.27397528e+00] [ 6.33318072e-03 -1.64012670e-04 9.99979932e-01 2.76085002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.739254154 meters 0.021833373854826015 Centerline is valid? [True, True] Translation: X:623.08, Y:4.28, Z:2.76 [[ 9.99147534e-01 -4.08726936e-02 -5.79898654e-03 6.23078142e+02] [ 4.08727756e-02 9.99164353e-01 -1.04434632e-04 4.28078358e+00] [ 5.79840916e-03 -1.32675070e-04 9.99983180e-01 2.76090045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.799254154 meters 0.02053462599674469 Centerline is valid? [True, True] Translation: X:623.14, Y:4.29, Z:2.76 [[ 9.99247243e-01 -3.81940254e-02 -6.79440253e-03 6.23139834e+02] [ 3.81940793e-02 9.99270333e-01 -1.21862265e-04 4.28739254e+00] [ 6.79409928e-03 -1.37735417e-04 9.99976910e-01 2.76085176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.859254154 meters 0.02092232040842904 Centerline is valid? [True, True] Translation: X:623.20, Y:4.29, Z:2.76 [[ 9.99326501e-01 -3.57537145e-02 -8.25931600e-03 6.23201361e+02] [ 3.57537153e-02 9.99360621e-01 -1.47596163e-04 4.29009070e+00] [ 8.25931227e-03 -1.47804476e-04 9.99965880e-01 2.75933202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.919254154 meters 0.018613142950896142 Centerline is valid? [True, True] Translation: X:623.26, Y:4.30, Z:2.76 [[ 9.99420946e-01 -3.28146780e-02 -8.99826741e-03 6.23263759e+02] [ 3.28145650e-02 9.99461444e-01 -1.60233848e-04 4.29838819e+00] [ 8.99867936e-03 -1.35133167e-04 9.99959502e-01 2.76003156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9792541539999 meters 0.017223231190995416 Centerline is valid? [True, True] Translation: X:623.33, Y:4.30, Z:2.76 [[ 9.99523638e-01 -2.93297141e-02 -9.60547994e-03 6.23326417e+02] [ 2.93294325e-02 9.99569785e-01 -1.70215063e-04 4.30375668e+00] [ 9.60633988e-03 -1.11589296e-04 9.99953852e-01 2.76136120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.039254154 meters 0.014963921858734719 Centerline is valid? [True, True] Translation: X:623.39, Y:4.31, Z:2.76 [[ 9.99642504e-01 -2.51392993e-02 -9.10380541e-03 6.23388260e+02] [ 2.51388793e-02 9.99683956e-01 -1.60581302e-04 4.30604029e+00] [ 9.10496510e-03 -6.83355709e-05 9.99958547e-01 2.76269854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0992541539999 meters 0.016766023294592487 Centerline is valid? [True, True] Translation: X:623.45, Y:4.31, Z:2.76 [[ 9.99712064e-01 -2.21391207e-02 -9.25459674e-03 6.23449187e+02] [ 2.21385669e-02 9.99754899e-01 -1.62291364e-04 4.30748977e+00] [ 9.25592142e-03 -4.26388748e-05 9.99957162e-01 2.76265110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.159254154 meters 0.016253910885237716 Centerline is valid? [True, True] Translation: X:623.51, Y:4.31, Z:2.76 [[ 9.99755829e-01 -2.01568471e-02 -9.05445445e-03 6.23510560e+02] [ 2.01562455e-02 9.99796830e-01 -1.57708303e-04 4.30719043e+00] [ 9.05579376e-03 -2.48340116e-05 9.99958995e-01 2.76271856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.2192541539999 meters 0.014741082186832857 Centerline is valid? [True, True] Translation: X:623.57, Y:4.30, Z:2.76 [[ 9.99705309e-01 -2.24077272e-02 -9.33754243e-03 6.23573257e+02] [ 2.24071936e-02 9.99748914e-01 -1.61769165e-04 4.30280164e+00] [ 9.33882279e-03 -4.75066278e-05 9.99956391e-01 2.76290469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.279254154 meters 0.016021206269886255 Centerline is valid? [True, True] Translation: X:623.64, Y:4.30, Z:2.76 [[ 9.99595172e-01 -2.68006316e-02 -9.55077534e-03 6.23635479e+02] [ 2.68002805e-02 9.99640794e-01 -1.64767814e-04 4.29540016e+00] [ 9.55176053e-03 -9.12623466e-05 9.99954377e-01 2.76302756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.339254154 meters 0.015494354086488726 Centerline is valid? [True, True] Translation: X:623.70, Y:4.29, Z:2.76 [[ 9.99498773e-01 -3.03677768e-02 -8.94431266e-03 6.23697839e+02] [ 3.03676172e-02 9.99538786e-01 -1.53679306e-04 4.29097012e+00] [ 8.94485432e-03 -1.18015185e-04 9.99959987e-01 2.76461549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.399254154 meters 0.015882673987284473 Centerline is valid? [True, True] Translation: X:623.76, Y:4.28, Z:2.77 [[ 9.99381979e-01 -3.40079386e-02 -8.89489924e-03 6.23760259e+02] [ 3.40079307e-02 9.99421551e-01 -1.52181098e-04 4.28479604e+00] [ 8.89492936e-03 -1.50410069e-04 9.99960428e-01 2.76533288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.459254154 meters 0.018688333325578243 Centerline is valid? [True, True] Translation: X:623.82, Y:4.28, Z:2.76 [[ 9.99346465e-01 -3.48563140e-02 -9.57500235e-03 6.23822523e+02] [ 3.48563508e-02 9.99392319e-01 -1.63088877e-04 4.27915014e+00] [ 9.57486848e-03 -1.70767348e-04 9.99954145e-01 2.76445995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.519254154 meters 0.01611570821032341 Centerline is valid? [True, True] Translation: X:623.89, Y:4.28, Z:2.77 [[ 9.99339415e-01 -3.52550509e-02 -8.82123399e-03 6.23885101e+02] [ 3.52551031e-02 9.99378334e-01 -1.49628886e-04 4.27696760e+00] [ 8.82102531e-03 -1.61463471e-04 9.99961081e-01 2.76557437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.579254154 meters 0.016127559708623417 Centerline is valid? [True, True] Translation: X:623.95, Y:4.27, Z:2.77 [[ 9.99369580e-01 -3.40191598e-02 -1.01557136e-02 6.23946468e+02] [ 3.40191721e-02 9.99421166e-01 -1.71579690e-04 4.27212713e+00] [ 1.01556721e-02 -1.74017447e-04 9.99948415e-01 2.76515893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.639254154 meters 0.016770154424946775 Centerline is valid? [True, True] Translation: X:624.01, Y:4.27, Z:2.76 [[ 9.99399375e-01 -3.27671209e-02 -1.12785573e-02 6.24008927e+02] [ 3.27670650e-02 9.99462998e-01 -1.89800927e-04 4.26964523e+00] [ 1.12787199e-02 -1.79878291e-04 9.99936377e-01 2.76382030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.699254154 meters 0.016083222919757206 Centerline is valid? [True, True] Translation: X:624.07, Y:4.27, Z:2.76 [[ 9.99422731e-01 -3.19832907e-02 -1.14574617e-02 6.24071126e+02] [ 3.19831907e-02 9.99488388e-01 -1.92004340e-04 4.26883876e+00] [ 1.14577409e-02 -1.74552682e-04 9.99934343e-01 2.76472896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.759254154 meters 0.015901126208004414 Centerline is valid? [True, True] Translation: X:624.13, Y:4.27, Z:2.77 [[ 9.99437181e-01 -3.18054128e-02 -1.06647591e-02 6.24133793e+02] [ 3.18053238e-02 9.99494067e-01 -1.77994911e-04 4.26788885e+00] [ 1.06650246e-02 -1.61301384e-04 9.99943114e-01 2.76532876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.819254154 meters 0.016304880043680067 Centerline is valid? [True, True] Translation: X:624.20, Y:4.26, Z:2.77 [[ 9.99376703e-01 -3.36652416e-02 -1.06234327e-02 6.24196242e+02] [ 3.36652662e-02 9.99433149e-01 -1.76561058e-04 4.26451529e+00] [ 1.06233547e-02 -1.81189680e-04 9.99943554e-01 2.76609666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.879254154 meters 0.017578089191605507 Centerline is valid? [True, True] Translation: X:624.26, Y:4.26, Z:2.77 [[ 9.99245722e-01 -3.71183136e-02 -1.14112916e-02 6.24258441e+02] [ 3.71185765e-02 9.99310850e-01 -1.88825960e-04 4.26222370e+00] [ 1.14104364e-02 -2.34887366e-04 9.99934871e-01 2.76656636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.939254154 meters 0.01785898350110644 Centerline is valid? [True, True] Translation: X:624.32, Y:4.26, Z:2.77 [[ 9.99195732e-01 -3.83592198e-02 -1.16815982e-02 6.24320896e+02] [ 3.83595899e-02 9.99263982e-01 -1.92463800e-04 4.26142210e+00] [ 1.16803831e-02 -2.55792307e-04 9.99931749e-01 2.76653623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.999254154 meters 0.01968814295118027 Centerline is valid? [True, True] Translation: X:624.38, Y:4.26, Z:2.77 [[ 9.99003128e-01 -4.32521821e-02 -1.10453597e-02 6.24381587e+02] [ 4.32528162e-02 9.99064143e-01 -1.81571405e-04 4.25547073e+00] [ 1.10428762e-02 -2.96352511e-04 9.99938982e-01 2.76661077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.059254154 meters 0.020477271065013094 Centerline is valid? [True, True] Translation: X:624.44, Y:4.25, Z:2.77 [[ 9.98741187e-01 -4.89612271e-02 -1.09013406e-02 6.24442545e+02] [ 4.89621866e-02 9.98800617e-01 -1.79011801e-04 4.25407272e+00] [ 1.08970304e-02 -3.54967015e-04 9.99940563e-01 2.76715467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.119254154 meters 0.024173350019126683 Centerline is valid? [True, True] Translation: X:624.50, Y:4.25, Z:2.77 [[ 9.98546701e-01 -5.27813107e-02 -1.08912461e-02 6.24504145e+02] [ 5.27824986e-02 9.98606016e-01 -1.78535975e-04 4.25181939e+00] [ 1.08854872e-02 -3.96590674e-04 9.99940673e-01 2.76662844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.179254154 meters 0.026577222083537213 Centerline is valid? [True, True] Translation: X:624.56, Y:4.25, Z:2.77 [[ 9.98078854e-01 -6.12390436e-02 -9.40110009e-03 6.24563981e+02] [ 6.12403046e-02 9.98123039e-01 -1.53953850e-04 4.24654259e+00] [ 9.39288258e-03 -4.22068151e-04 9.99955797e-01 2.76861999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.239254154 meters 0.03217116896411085 Centerline is valid? [True, True] Translation: X:624.62, Y:4.24, Z:2.77 [[ 9.97464377e-01 -7.06306633e-02 -8.72498788e-03 6.24623372e+02] [ 7.06321086e-02 9.97502423e-01 -1.42754061e-04 4.24068321e+00] [ 8.71327937e-03 -4.73872201e-04 9.99961926e-01 2.76939785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.299254154 meters 0.037238727798574296 Centerline is valid? [True, True] Translation: X:624.68, Y:4.24, Z:2.77 [[ 9.97123489e-01 -7.53974785e-02 -7.74393703e-03 6.24684229e+02] [ 7.53987611e-02 9.97153454e-01 -1.26590747e-04 4.23778070e+00] [ 7.73143818e-03 -4.57656652e-04 9.99970007e-01 2.76934708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.359254154 meters 0.04017908317878099 Centerline is valid? [True, True] Translation: X:624.74, Y:4.24, Z:2.77 [[ 9.96841010e-01 -7.91224713e-02 -6.90176830e-03 6.24744537e+02] [ 7.91235793e-02 9.96864809e-01 -1.12798904e-04 4.23761628e+00] [ 6.88905486e-03 -4.33650038e-04 9.99976176e-01 2.77026444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.419254154 meters 0.04042656605466435 Centerline is valid? [True, True] Translation: X:624.81, Y:4.24, Z:2.77 [[ 9.96905199e-01 -7.84369134e-02 -5.26075398e-03 6.24806087e+02] [ 7.84375480e-02 9.96919026e-01 -8.59055791e-05 4.24224616e+00] [ 5.25128390e-03 -3.27000924e-04 9.99986158e-01 2.77257037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4792541539999 meters 0.04056483654328114 Centerline is valid? [True, True] Translation: X:624.87, Y:4.25, Z:2.77 [[ 9.97136116e-01 -7.54919462e-02 -4.53126160e-03 6.24866333e+02] [ 7.54923878e-02 9.97146375e-01 -7.37410417e-05 4.24749208e+00] [ 4.52389793e-03 -2.68545902e-04 9.99989731e-01 2.77309138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.539254154 meters 0.039560345878296196 Centerline is valid? [True, True] Translation: X:624.93, Y:4.26, Z:2.77 [[ 9.97532940e-01 -7.01162626e-02 -3.42674633e-03 6.24926634e+02] [ 7.01164836e-02 9.97538809e-01 -5.57658206e-05 4.25732720e+00] [ 3.42222255e-03 -1.84643160e-04 9.99994127e-01 2.77347259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5992541539999 meters 0.03566840513366903 Centerline is valid? [True, True] Translation: X:624.99, Y:4.27, Z:2.77 [[ 9.97905037e-01 -6.45898379e-02 -3.70000401e-03 6.24985928e+02] [ 6.45900576e-02 9.97911880e-01 -6.02039909e-05 4.26863472e+00] [ 3.69616652e-03 -1.78905606e-04 9.99993153e-01 2.77357158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.659254154 meters 0.03438047161034624 Centerline is valid? [True, True] Translation: X:625.05, Y:4.27, Z:2.77 [[ 9.98086455e-01 -6.16707730e-02 -4.48811392e-03 6.25047114e+02] [ 6.16710664e-02 9.98096525e-01 -7.31104614e-05 4.27437082e+00] [ 4.48407969e-03 -2.03816210e-04 9.99989926e-01 2.77231768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.7192541539999 meters 0.024587166398531757 Centerline is valid? [True, True] Translation: X:625.11, Y:4.30, Z:2.77 [[ 9.98363954e-01 -5.70100825e-02 -4.38925748e-03 6.25107873e+02] [ 5.70103188e-02 9.98373587e-01 -7.13643038e-05 4.29633309e+00] [ 4.38618722e-03 -1.78985420e-04 9.99990365e-01 2.77175300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.779254154 meters 0.023970779157860368 Centerline is valid? [True, True] Translation: X:625.17, Y:4.30, Z:2.77 [[ 9.98615967e-01 -5.23627655e-02 -4.92866464e-03 6.25167845e+02] [ 5.23630074e-02 9.98628113e-01 -8.00450961e-05 4.30394215e+00] [ 4.92609445e-03 -1.78145392e-04 9.99987851e-01 2.77141726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.839254154 meters 0.02052909869306028 Centerline is valid? [True, True] Translation: X:625.23, Y:4.31, Z:2.77 [[ 9.98880103e-01 -4.70250118e-02 -5.21415093e-03 6.25228454e+02] [ 4.70252099e-02 9.98893699e-01 -8.46671092e-05 4.31490430e+00] [ 5.21236398e-03 -1.60624251e-04 9.99986403e-01 2.77243151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.899254154 meters 0.019793353897225016 Centerline is valid? [True, True] Translation: X:625.29, Y:4.32, Z:2.77 [[ 9.99074433e-01 -4.27301905e-02 -4.94044131e-03 6.25290260e+02] [ 4.27303164e-02 9.99086640e-01 -8.01198569e-05 4.32010826e+00] [ 4.93935244e-03 -1.31060920e-04 9.99987793e-01 2.77205127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.959254154 meters 0.019577316554703746 Centerline is valid? [True, True] Translation: X:625.35, Y:4.33, Z:2.77 [[ 9.99303567e-01 -3.68197647e-02 -6.05693157e-03 6.25351485e+02] [ 3.68198475e-02 9.99321915e-01 -9.78830842e-05 4.32803309e+00] [ 6.05642849e-03 -1.25200382e-04 9.99981652e-01 2.76989592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.019254154 meters 0.01832147125197397 Centerline is valid? [True, True] Translation: X:625.41, Y:4.33, Z:2.77 [[ 9.99412664e-01 -3.36390249e-02 -6.53782535e-03 6.25412744e+02] [ 3.36390551e-02 9.99434041e-01 -1.05376242e-04 4.33302873e+00] [ 6.53766996e-03 -1.14611916e-04 9.99978623e-01 2.76975039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.079254154 meters 0.019319528916455397 Centerline is valid? [True, True] Translation: X:625.47, Y:4.33, Z:2.77 [[ 9.99446191e-01 -3.24351948e-02 -7.43429258e-03 6.25474870e+02] [ 3.24352041e-02 9.99473833e-01 -1.19350759e-04 4.33477419e+00] [ 7.43425207e-03 -1.21848135e-04 9.99972358e-01 2.76732077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.139254154 meters 0.01686028245106042 Centerline is valid? [True, True] Translation: X:625.54, Y:4.33, Z:2.77 [[ 9.99392419e-01 -3.41005949e-02 -7.20710542e-03 6.25537140e+02] [ 3.41006505e-02 9.99418397e-01 -1.15204081e-04 4.33473034e+00] [ 7.20684227e-03 -1.30632898e-04 9.99974022e-01 2.76873690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.199254154 meters 0.0184250982909426 Centerline is valid? [True, True] Translation: X:625.60, Y:4.33, Z:2.77 [[ 9.99294978e-01 -3.66749855e-02 -8.03069397e-03 6.25599227e+02] [ 3.66751425e-02 9.99327232e-01 -1.27767224e-04 4.33245899e+00] [ 8.02997704e-03 -1.66849701e-04 9.99967745e-01 2.76673884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.259254154 meters 0.02100599057354224 Centerline is valid? [True, True] Translation: X:625.66, Y:4.33, Z:2.77 [[ 9.99192894e-01 -3.93777739e-02 -7.93425476e-03 6.25659980e+02] [ 3.93780182e-02 9.99224377e-01 -1.25492621e-04 4.32682054e+00] [ 7.93304239e-03 -1.87043894e-04 9.99968515e-01 2.76522526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.319254154 meters 0.01945698871345314 Centerline is valid? [True, True] Translation: X:625.72, Y:4.32, Z:2.77 [[ 9.98951786e-01 -4.51240987e-02 -7.69056072e-03 6.25721396e+02] [ 4.51245032e-02 9.98981363e-01 -1.20996685e-04 4.32410280e+00] [ 7.68818670e-03 -2.26162877e-04 9.99970420e-01 2.76619179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.379254154 meters 0.021738533820867035 Centerline is valid? [True, True] Translation: X:625.78, Y:4.32, Z:2.76 [[ 9.98837746e-01 -4.73269434e-02 -9.12785158e-03 6.25783349e+02] [ 4.73276101e-02 9.98879411e-01 -1.43066901e-04 4.32223492e+00] [ 9.12439393e-03 -2.89098780e-04 9.99958330e-01 2.76412117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.439254154 meters 0.029422625343621302 Centerline is valid? [True, True] Translation: X:625.84, Y:4.31, Z:2.76 [[ 9.98558554e-01 -5.27703202e-02 -9.80345263e-03 6.25843563e+02] [ 5.27713586e-02 9.98606609e-01 -1.52906794e-04 4.30558700e+00] [ 9.79786153e-03 -3.64655128e-04 9.99951933e-01 2.76100113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.499254154 meters 0.024820455555995626 Centerline is valid? [True, True] Translation: X:625.90, Y:4.31, Z:2.76 [[ 9.98283223e-01 -5.77630471e-02 -9.69729935e-03 6.25904941e+02] [ 5.77643031e-02 9.98330237e-01 -1.50741978e-04 4.30865649e+00] [ 9.68981447e-03 -4.09674552e-04 9.99952969e-01 2.76231699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.559254154 meters 0.02445255785459301 Centerline is valid? [True, True] Translation: X:625.97, Y:4.31, Z:2.76 [[ 9.97983953e-01 -6.26588930e-02 -1.00942081e-02 6.25965898e+02] [ 6.26605077e-02 9.98034887e-01 -1.56532175e-04 4.30933210e+00] [ 1.00841800e-02 -4.76291606e-04 9.99949040e-01 2.76273495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.619254154 meters 0.02682531479085024 Centerline is valid? [True, True] Translation: X:626.03, Y:4.30, Z:2.76 [[ 9.97658954e-01 -6.77256286e-02 -9.47897660e-03 6.26025922e+02] [ 6.77272834e-02 9.97703861e-01 -1.46682973e-04 4.30448725e+00] [ 9.46714575e-03 -4.95645753e-04 9.99955063e-01 2.76318065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.679254154 meters 0.03082917405828532 Centerline is valid? [True, True] Translation: X:626.09, Y:4.30, Z:2.76 [[ 9.97345771e-01 -7.23837222e-02 -7.87468476e-03 6.26086101e+02] [ 7.23850100e-02 9.97376757e-01 -1.21731974e-04 4.29941652e+00] [ 7.86283896e-03 -4.48600266e-04 9.99968987e-01 2.76465497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.739254154 meters 0.030427354831604702 Centerline is valid? [True, True] Translation: X:626.15, Y:4.30, Z:2.77 [[ 9.97073207e-01 -7.61433682e-02 -6.87079980e-03 6.26147085e+02] [ 7.61444382e-02 9.97096792e-01 -1.06102293e-04 4.30267423e+00] [ 6.85893143e-03 -4.17381438e-04 9.99976390e-01 2.76631814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.799254154 meters 0.03127683329982235 Centerline is valid? [True, True] Translation: X:626.21, Y:4.30, Z:2.77 [[ 9.97039830e-01 -7.66216572e-02 -6.37958369e-03 6.26209601e+02] [ 7.66225913e-02 9.97060163e-01 -9.82164812e-05 4.30352702e+00] [ 6.36835426e-03 -3.90894490e-04 9.99979645e-01 2.76680609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.859254154 meters 0.033262020453330696 Centerline is valid? [True, True] Translation: X:626.27, Y:4.31, Z:2.77 [[ 9.97139565e-01 -7.52254326e-02 -7.33631855e-03 6.26272353e+02] [ 7.52266350e-02 9.97166456e-01 -1.12305562e-04 4.30548085e+00] [ 7.32397900e-03 -4.39902238e-04 9.99973083e-01 2.76513195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.919254154 meters 0.03067353987399442 Centerline is valid? [True, True] Translation: X:626.33, Y:4.31, Z:2.77 [[ 9.97404428e-01 -7.17351528e-02 -6.20286577e-03 6.26333278e+02] [ 7.17359473e-02 9.97423654e-01 -9.45828130e-05 4.31365060e+00] [ 6.19366995e-03 -3.50631135e-04 9.99980758e-01 2.76648301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9792541539999 meters 0.030192385600802875 Centerline is valid? [True, True] Translation: X:626.39, Y:4.32, Z:2.77 [[ 9.97700069e-01 -6.75596448e-02 -5.50159624e-03 6.26393897e+02] [ 6.75602071e-02 9.97715196e-01 -8.37911401e-05 4.31948350e+00] [ 5.49468706e-03 -2.88090555e-04 9.99984863e-01 2.76694698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.039254154 meters 0.02794222926892377 Centerline is valid? [True, True] Translation: X:626.45, Y:4.33, Z:2.77 [[ 9.98142107e-01 -6.07361984e-02 -4.84231250e-03 6.26453969e+02] [ 6.07365543e-02 9.98153829e-01 -7.36539116e-05 4.32900812e+00] [ 4.83784622e-03 -2.20588306e-04 9.99988273e-01 2.76727767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0992541539999 meters 0.025206741221652895 Centerline is valid? [True, True] Translation: X:626.51, Y:4.34, Z:2.77 [[ 9.98622752e-01 -5.23493511e-02 -3.48494556e-03 6.26514821e+02] [ 5.23494844e-02 9.98628824e-01 -5.30141661e-05 4.34113266e+00] [ 3.48294234e-03 -1.29493951e-04 9.99993926e-01 2.76824081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.159254154 meters 0.02098642901514678 Centerline is valid? [True, True] Translation: X:626.58, Y:4.35, Z:2.77 [[ 9.98925846e-01 -4.62782386e-02 -2.34052192e-03 6.26575759e+02] [ 4.62782820e-02 9.98928586e-01 -3.56268315e-05 4.35285621e+00] [ 2.33966300e-03 -7.27267706e-05 9.99997260e-01 2.76920035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.2192541539999 meters 0.02086933867019281 Centerline is valid? [True, True] Translation: X:626.63, Y:4.36, Z:2.77 [[ 9.99376068e-01 -3.53037761e-02 -1.05785878e-03 6.26634945e+02] [ 3.53037789e-02 9.99376627e-01 -1.60139449e-05 4.36185785e+00] [ 1.05776469e-03 -2.13424592e-05 9.99999440e-01 2.76861678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.279254154 meters 0.01556680367929229 Centerline is valid? [True, True] Translation: X:626.70, Y:4.38, Z:2.77 [[ 9.99666410e-01 -2.58214097e-02 5.68509326e-04 6.26696144e+02] [ 2.58214091e-02 9.99666572e-01 8.46327925e-06 4.37560818e+00] [-5.68538302e-04 6.21925588e-06 9.99999838e-01 2.76927982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.339254154 meters 0.014800541900696436 Centerline is valid? [True, True] Translation: X:626.76, Y:4.38, Z:2.77 [[ 9.99836628e-01 -1.80517476e-02 9.23209156e-04 6.26758152e+02] [ 1.80517427e-02 9.99837054e-01 1.36064602e-05 4.38324390e+00] [-9.23304343e-04 3.06129684e-06 9.99999574e-01 2.76798416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.399254154 meters 0.01465886910038539 Centerline is valid? [True, True] Translation: X:626.82, Y:4.38, Z:2.77 [[ 9.99847146e-01 -1.74027296e-02 1.68223928e-03 6.26821492e+02] [ 1.74027126e-02 9.99848561e-01 2.47033887e-05 4.38450870e+00] [-1.68241443e-03 4.57591407e-06 9.99998585e-01 2.76684521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.459254154 meters 0.014884365493097258 Centerline is valid? [True, True] Translation: X:626.88, Y:4.38, Z:2.77 [[ 9.99778797e-01 -2.10084985e-02 1.00041483e-03 6.26883100e+02] [ 2.10084948e-02 9.99779297e-01 1.42173354e-05 4.38176770e+00] [-1.00049272e-03 6.80301920e-06 9.99999499e-01 2.76583723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.519254154 meters 0.01729857200639622 Centerline is valid? [True, True] Translation: X:626.94, Y:4.37, Z:2.77 [[ 9.99356703e-01 -3.57363731e-02 3.01521662e-03 6.26944127e+02] [ 3.57364011e-02 9.99361250e-01 4.46034581e-05 4.37011066e+00] [-3.01488461e-03 6.31782257e-05 9.99995453e-01 2.76539525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.579254154 meters 0.02108496819820195 Centerline is valid? [True, True] Translation: X:627.00, Y:4.36, Z:2.77 [[ 9.99047536e-01 -4.33928486e-02 4.59155442e-03 6.27004716e+02] [ 4.33929945e-02 9.99058078e-01 6.78825020e-05 4.36234419e+00] [-4.59017515e-03 1.31423449e-04 9.99989456e-01 2.76590989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.639254154 meters 0.021999005895206734 Centerline is valid? [True, True] Translation: X:627.07, Y:4.36, Z:2.77 [[ 9.98498075e-01 -5.44798753e-02 5.79116027e-03 6.27066055e+02] [ 5.44802947e-02 9.98514842e-01 8.54191597e-05 4.35561523e+00] [-5.78721311e-03 2.30213252e-04 9.99983227e-01 2.76532628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.699254154 meters 0.024121980982508305 Centerline is valid? [True, True] Translation: X:627.13, Y:4.35, Z:2.76 [[ 9.98182488e-01 -5.99816931e-02 5.82376634e-03 6.27127622e+02] [ 5.99822122e-02 9.98199442e-01 8.56534272e-05 4.35042042e+00] [-5.81841795e-03 2.63824637e-04 9.99983038e-01 2.76452390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.759254154 meters 0.02695680846762217 Centerline is valid? [True, True] Translation: X:627.19, Y:4.35, Z:2.76 [[ 9.97937790e-01 -6.40459570e-02 4.27589841e-03 6.27187615e+02] [ 6.40462735e-02 9.97946928e-01 6.30069234e-05 4.34559357e+00] [-4.27115503e-03 2.10978370e-04 9.99990856e-01 2.76169812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.819254154 meters 0.028388711112226718 Centerline is valid? [True, True] Translation: X:627.25, Y:4.34, Z:2.76 [[ 9.97846118e-01 -6.55368334e-02 2.83684507e-03 6.27248613e+02] [ 6.55369835e-02 9.97850140e-01 4.01021936e-05 4.34389115e+00] [-2.83337442e-03 1.45902450e-04 9.99995975e-01 2.76016625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.879254154 meters 0.02903725688158334 Centerline is valid? [True, True] Translation: X:627.31, Y:4.34, Z:2.76 [[ 9.97831508e-01 -6.57736705e-02 2.47112497e-03 6.27310447e+02] [ 6.57737841e-02 9.97834559e-01 3.53395430e-05 4.34487605e+00] [-2.46809831e-03 1.27272331e-04 9.99996946e-01 2.76003792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.939254154 meters 0.02990813314274726 Centerline is valid? [True, True] Translation: X:627.37, Y:4.35, Z:2.76 [[ 9.97874224e-01 -6.51415484e-02 1.90063212e-03 6.27372119e+02] [ 6.51416149e-02 9.97876029e-01 2.69786118e-05 4.34660342e+00] [-1.89835266e-03 9.68889843e-05 9.99998193e-01 2.76004986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.999254154 meters 0.03159580710443918 Centerline is valid? [True, True] Translation: X:627.43, Y:4.35, Z:2.76 [[ 9.97975380e-01 -6.35342601e-02 2.92197510e-03 6.27433318e+02] [ 6.35344100e-02 9.97979648e-01 4.15725961e-05 4.35006739e+00] [-2.91871296e-03 1.44157536e-04 9.99995730e-01 2.75951402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.059254154 meters 0.031234456034681644 Centerline is valid? [True, True] Translation: X:627.50, Y:4.35, Z:2.76 [[ 9.97978292e-01 -6.34920604e-02 2.84358233e-03 6.27496577e+02] [ 6.34922037e-02 9.97982334e-01 3.99349945e-05 4.35249834e+00] [-2.84038049e-03 1.40691051e-04 9.99995956e-01 2.76113878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.119254154 meters 0.03280580573626449 Centerline is valid? [True, True] Translation: X:627.56, Y:4.36, Z:2.76 [[ 9.98038964e-01 -6.25763315e-02 1.55832491e-03 6.27558800e+02] [ 6.25763736e-02 9.98040178e-01 2.17314170e-05 4.35640010e+00] [-1.55663074e-03 7.58255209e-05 9.99998786e-01 2.75899117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.179254154 meters 0.0342206954250568 Centerline is valid? [True, True] Translation: X:627.62, Y:4.36, Z:2.76 [[ 9.97940761e-01 -6.41416557e-02 2.93040988e-04 6.27620019e+02] [ 6.41416576e-02 9.97940804e-01 3.13161472e-06 4.35724133e+00] [-2.92638426e-04 1.56709687e-05 9.99999957e-01 2.75838818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.239254154 meters 0.0344742136856803 Centerline is valid? [True, True] Translation: X:627.68, Y:4.36, Z:2.76 [[ 9.97995083e-01 -6.32901623e-02 4.11392454e-04 6.27682634e+02] [ 6.32901655e-02 9.97995168e-01 5.13777438e-06 4.36105849e+00] [-4.10892852e-04 2.09096230e-05 9.99999915e-01 2.75972580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.299254154 meters 0.031772684127163345 Centerline is valid? [True, True] Translation: X:627.74, Y:4.37, Z:2.76 [[ 9.98372686e-01 -5.69782151e-02 2.33706544e-03 6.27743125e+02] [ 5.69782954e-02 9.98375417e-01 3.22456239e-05 4.37207684e+00] [-2.33510598e-03 1.00968855e-04 9.99997269e-01 2.76269367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.359254154 meters 0.02830866267620985 Centerline is valid? [True, True] Translation: X:627.80, Y:4.38, Z:2.76 [[ 9.98748248e-01 -4.99325547e-02 2.94567687e-03 6.27803568e+02] [ 4.99326517e-02 9.98752586e-01 4.06418076e-05 4.38193939e+00] [-2.94403174e-03 1.06494523e-04 9.99995661e-01 2.76353339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.419254154 meters 0.02076180544827329 Centerline is valid? [True, True] Translation: X:627.86, Y:4.40, Z:2.76 [[ 9.99403708e-01 -3.42327648e-02 4.51074579e-03 6.27862843e+02] [ 3.42328324e-02 9.99413883e-01 6.22562945e-05 4.40202716e+00] [-4.51023317e-03 9.21964328e-05 9.99989825e-01 2.76468769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4792541539999 meters 0.017997226666452468 Centerline is valid? [True, True] Translation: X:627.92, Y:4.41, Z:2.77 [[ 9.99608607e-01 -2.75540570e-02 4.83794879e-03 6.27924360e+02] [ 2.75540586e-02 9.99620313e-01 6.63370166e-05 4.41136549e+00] [-4.83793974e-03 6.69940717e-05 9.99988295e-01 2.76513816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.539254154 meters 0.015915128834714114 Centerline is valid? [True, True] Translation: X:627.99, Y:4.42, Z:2.76 [[ 9.99755723e-01 -2.18737599e-02 3.16756170e-03 6.27986259e+02] [ 2.18737327e-02 9.99760740e-01 4.32218586e-05 4.41894002e+00] [-3.16774926e-03 2.60750976e-05 9.99994982e-01 2.76260238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5992541539999 meters 0.014650907575956948 Centerline is valid? [True, True] Translation: X:628.05, Y:4.42, Z:2.76 [[ 9.99795722e-01 -2.01904720e-02 9.27201819e-04 6.28048635e+02] [ 2.01904692e-02 9.99796152e-01 1.23106907e-05 4.42384426e+00] [-9.27261369e-04 6.41246386e-06 9.99999570e-01 2.75621044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.659254154 meters 0.015578634363648295 Centerline is valid? [True, True] Translation: X:628.11, Y:4.42, Z:2.75 [[ 9.99786457e-01 -2.06294476e-02 -1.21101462e-03 6.28110723e+02] [ 2.06294424e-02 9.99787190e-01 -1.67492900e-05 4.42373518e+00] [ 1.21110243e-03 -8.23684305e-06 9.99999267e-01 2.75402780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.7192541539999 meters 0.01643277654090448 Centerline is valid? [True, True] Translation: X:628.17, Y:4.42, Z:2.76 [[ 9.99743291e-01 -2.26250642e-02 -1.20807239e-03 6.28171702e+02] [ 2.26250604e-02 9.99744020e-01 -1.68313166e-05 4.41858577e+00] [ 1.20814396e-03 -1.05057149e-05 9.99999270e-01 2.75651854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.779254154 meters 0.016556444076830743 Centerline is valid? [True, True] Translation: X:628.23, Y:4.42, Z:2.76 [[ 9.99648039e-01 -2.65279031e-02 -2.61277655e-04 6.28233516e+02] [ 2.65279030e-02 9.99648073e-01 -3.80371397e-06 4.41883431e+00] [ 2.61286609e-04 -3.12877308e-06 9.99999966e-01 2.75592150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.839254154 meters 0.01620571456155152 Centerline is valid? [True, True] Translation: X:628.30, Y:4.42, Z:2.76 [[ 9.99540003e-01 -3.02910290e-02 1.49524771e-03 6.28295745e+02] [ 3.02910337e-02 9.99541121e-01 1.95200894e-05 4.41611171e+00] [-1.49515286e-03 2.57814886e-05 9.99998882e-01 2.75778090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.899254154 meters 0.016784607531154745 Centerline is valid? [True, True] Translation: X:628.36, Y:4.41, Z:2.76 [[ 9.99369086e-01 -3.53588295e-02 3.34401723e-03 6.28357574e+02] [ 3.53588803e-02 9.99374678e-01 4.39420302e-05 4.41061891e+00] [-3.34347988e-03 7.43263984e-05 9.99994408e-01 2.75848940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.959254154 meters 0.018410030122932335 Centerline is valid? [True, True] Translation: X:628.42, Y:4.40, Z:2.76 [[ 9.99208582e-01 -3.96031804e-02 3.71442778e-03 6.28418507e+02] [ 3.96032725e-02 9.99215481e-01 4.87843334e-05 4.40420245e+00] [-3.71344575e-03 9.83577710e-05 9.99993100e-01 2.75833490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.019254154 meters 0.021081537293496773 Centerline is valid? [True, True] Translation: X:628.48, Y:4.40, Z:2.76 [[ 9.99102504e-01 -4.23363709e-02 1.34836766e-03 6.28479858e+02] [ 4.23363872e-02 9.99103413e-01 1.64228782e-05 4.39513004e+00] [-1.34785401e-03 4.06768765e-05 9.99999091e-01 2.75650607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.079254154 meters 0.018848773057121425 Centerline is valid? [True, True] Translation: X:628.54, Y:4.40, Z:2.75 [[ 9.99192318e-01 -4.01829305e-02 2.07557176e-04 6.28542197e+02] [ 4.01829309e-02 9.99192340e-01 2.35274311e-06 4.39737522e+00] [-2.07484081e-04 5.98941284e-06 9.99999978e-01 2.75495289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.139254154 meters 0.016596335424807592 Centerline is valid? [True, True] Translation: X:628.60, Y:4.40, Z:2.75 [[ 9.99522077e-01 -3.09085862e-02 -5.25801510e-04 6.28602056e+02] [ 3.09085869e-02 9.99522215e-01 -6.76770217e-06 4.40232134e+00] [ 5.25759470e-04 -9.48731394e-06 9.99999862e-01 2.75402866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.199254154 meters 0.015457189242082605 Centerline is valid? [True, True] Translation: X:628.66, Y:4.41, Z:2.75 [[ 9.99848690e-01 -1.73774420e-02 -7.88897225e-04 6.28663886e+02] [ 1.73774392e-02 9.99849001e-01 -1.03426613e-05 4.41107985e+00] [ 7.88957831e-04 -3.36791724e-06 9.99999689e-01 2.75314028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.259254154 meters 0.014427554368862854 Centerline is valid? [True, True] Translation: X:628.73, Y:4.42, Z:2.75 [[ 9.99952022e-01 -9.78308661e-03 4.94504672e-04 6.28725699e+02] [ 9.78308484e-03 9.99952144e-01 6.00097896e-06 4.41659955e+00] [-4.94539715e-04 -1.16290989e-06 9.99999878e-01 2.75418014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.319254154 meters 0.014951753767268896 Centerline is valid? [True, True] Translation: X:628.79, Y:4.42, Z:2.75 [[ 9.99990767e-01 -4.29587841e-03 1.02355102e-04 6.28787396e+02] [ 4.29587832e-03 9.99990773e-01 1.05412036e-06 4.41744501e+00] [-1.02358686e-04 -6.14405563e-07 9.99999995e-01 2.75284746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.379254154 meters 0.01417491814982156 Centerline is valid? [True, True] Translation: X:628.85, Y:4.41, Z:2.75 [[ 9.99978731e-01 -6.51016824e-03 -3.92788733e-04 6.28848783e+02] [ 6.51016672e-03 9.99978809e-01 -5.13216459e-06 4.41227341e+00] [ 3.92813821e-04 2.57493529e-06 9.99999923e-01 2.75219730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.439254154 meters 0.013902225796619488 Centerline is valid? [True, True] Translation: X:628.91, Y:4.40, Z:2.75 [[ 9.99934705e-01 -1.13776130e-02 -1.06601182e-03 6.28910188e+02] [ 1.13776042e-02 9.99935273e-01 -1.42711759e-05 4.40457510e+00] [ 1.06610519e-03 2.14158346e-06 9.99999432e-01 2.75132429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.499254154 meters 0.014063759708053599 Centerline is valid? [True, True] Translation: X:628.97, Y:4.40, Z:2.75 [[ 9.99884116e-01 -1.52106039e-02 -6.26327714e-04 6.28972302e+02] [ 1.52106014e-02 9.99884312e-01 -8.78219315e-06 4.39916360e+00] [ 6.26388838e-04 -7.45645761e-07 9.99999804e-01 2.75137484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.559254154 meters 0.014495070302692611 Centerline is valid? [True, True] Translation: X:629.03, Y:4.39, Z:2.75 [[ 9.99780740e-01 -2.09396977e-02 -3.42003768e-05 6.29034551e+02] [ 2.09396977e-02 9.99780740e-01 -1.51732736e-06 4.39038996e+00] [ 3.42246506e-05 8.00849117e-07 9.99999999e-01 2.75144645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.619254154 meters 0.015725025109842104 Centerline is valid? [True, True] Translation: X:629.10, Y:4.38, Z:2.75 [[ 9.99642595e-01 -2.67294111e-02 4.69892514e-04 6.29096114e+02] [ 2.67294116e-02 9.99642705e-01 5.33472938e-06 4.38173650e+00] [-4.69867218e-04 7.22712768e-06 9.99999890e-01 2.75172903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.679254154 meters 0.016582211079631384 Centerline is valid? [True, True] Translation: X:629.16, Y:4.37, Z:2.75 [[ 9.99495763e-01 -3.17160539e-02 1.52015265e-03 6.29158033e+02] [ 3.17160636e-02 9.99496919e-01 1.76948594e-05 4.37485878e+00] [-1.51994910e-03 3.05273211e-05 9.99998844e-01 2.75148970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.739254154 meters 0.017157463512188477 Centerline is valid? [True, True] Translation: X:629.22, Y:4.37, Z:2.75 [[ 9.99416528e-01 -3.41265417e-02 1.40843846e-03 6.29219980e+02] [ 3.41265527e-02 9.99417519e-01 1.61922274e-05 4.37122187e+00] [-1.40817066e-03 3.18823697e-05 9.99999008e-01 2.75115740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.799254154 meters 0.01832696870593964 Centerline is valid? [True, True] Translation: X:629.28, Y:4.37, Z:2.75 [[ 9.99353015e-01 -3.59505755e-02 1.05225517e-03 6.29281201e+02] [ 3.59505827e-02 9.99353569e-01 1.20428179e-05 4.36591033e+00] [-1.05200790e-03 2.57941600e-05 9.99999446e-01 2.75030050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.859254154 meters 0.01884644887562623 Centerline is valid? [True, True] Translation: X:629.34, Y:4.36, Z:2.75 [[ 9.99315671e-01 -3.69716709e-02 -1.13403214e-03 6.29343755e+02] [ 3.69716794e-02 9.99316314e-01 -1.34741369e-05 4.36413892e+00] [ 1.13375498e-03 -2.84621565e-05 9.99999357e-01 2.74742099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.919254154 meters 0.017756221452760738 Centerline is valid? [True, True] Translation: X:629.41, Y:4.36, Z:2.75 [[ 9.99298989e-01 -3.73893364e-02 -1.88912350e-03 6.29405503e+02] [ 3.73893614e-02 9.99300773e-01 -2.20973118e-05 4.36262510e+00] [ 1.88862878e-03 -4.85512999e-05 9.99998215e-01 2.74666830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9792541539999 meters 0.017302814882108553 Centerline is valid? [True, True] Translation: X:629.47, Y:4.36, Z:2.75 [[ 9.99321705e-01 -3.67852293e-02 -1.72521533e-03 6.29467269e+02] [ 3.67852494e-02 9.99323193e-01 -2.00838892e-05 4.36274299e+00] [ 1.72478649e-03 -4.33922098e-05 9.99998512e-01 2.74631557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.039254154 meters 0.017213379154581775 Centerline is valid? [True, True] Translation: X:629.53, Y:4.36, Z:2.75 [[ 9.99380653e-01 -3.51571349e-02 -1.51177580e-03 6.29528755e+02] [ 3.51571487e-02 9.99381796e-01 -1.74692570e-05 4.36231263e+00] [ 1.51145538e-03 -3.56912891e-05 9.99998857e-01 2.74638061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0992541539999 meters 0.01648654651491923 Centerline is valid? [True, True] Translation: X:629.59, Y:4.36, Z:2.75 [[ 9.99460583e-01 -3.27874332e-02 -1.87815808e-03 6.29590574e+02] [ 3.27874505e-02 9.99462347e-01 -2.15837481e-05 4.36349236e+00] [ 1.87785596e-03 -4.00079096e-05 9.99998236e-01 2.74555937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.159254154 meters 0.016374141742488427 Centerline is valid? [True, True] Translation: X:629.65, Y:4.36, Z:2.74 [[ 9.99466935e-01 -3.26017363e-02 -1.72409345e-03 6.29653338e+02] [ 3.26017506e-02 9.99468421e-01 -1.98117779e-05 4.36275924e+00] [ 1.72382286e-03 -3.64072477e-05 9.99998514e-01 2.74486092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.2192541539999 meters 0.01763052906028075 Centerline is valid? [True, True] Translation: X:629.72, Y:4.36, Z:2.74 [[ 9.99307523e-01 -3.72051199e-02 -5.04466666e-04 6.29715115e+02] [ 3.72051217e-02 9.99307650e-01 -5.86943366e-06 4.35894575e+00] [ 5.04335772e-04 -1.29033745e-05 9.99999873e-01 2.74418443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.279254154 meters 0.01878304280556145 Centerline is valid? [True, True] Translation: X:629.78, Y:4.36, Z:2.74 [[ 9.99157901e-01 -4.10279074e-02 -4.46512461e-04 6.29776746e+02] [ 4.10279091e-02 9.99158001e-01 -5.44815009e-06 4.35587851e+00] [ 4.46360024e-04 -1.28759104e-05 9.99999900e-01 2.74416252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.339254154 meters 0.022558751516210764 Centerline is valid? [True, True] Translation: X:629.84, Y:4.35, Z:2.74 [[ 9.98830977e-01 -4.83390559e-02 -1.19837759e-04 6.29836885e+02] [ 4.83390561e-02 9.98830985e-01 -1.34196903e-06 4.34873690e+00] [ 1.19762537e-04 -4.45244393e-06 9.99999993e-01 2.74361783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.399254154 meters 0.024996477350876758 Centerline is valid? [True, True] Translation: X:629.90, Y:4.35, Z:2.74 [[ 9.98614851e-01 -5.26091899e-02 -8.07766876e-04 6.29897598e+02] [ 5.26091998e-02 9.98615177e-01 -8.97496950e-06 4.34557428e+00] [ 8.07120428e-04 -3.35334311e-05 9.99999674e-01 2.74303044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.459254154 meters 0.027892677391157722 Centerline is valid? [True, True] Translation: X:629.96, Y:4.34, Z:2.74 [[ 9.98379575e-01 -5.68855492e-02 -1.50279069e-03 6.29957768e+02] [ 5.68855883e-02 9.98380704e-01 -1.67530955e-05 4.34256558e+00] [ 1.50131024e-03 -6.87611842e-05 9.99998871e-01 2.74388769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.519254154 meters 0.02820688448225575 Centerline is valid? [True, True] Translation: X:630.02, Y:4.34, Z:2.74 [[ 9.98388898e-01 -5.67322317e-02 -1.03042491e-03 6.30021284e+02] [ 5.67322499e-02 9.98389429e-01 -1.16284867e-05 4.34428648e+00] [ 1.02942505e-03 -4.68485716e-05 9.99999469e-01 2.74473802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.579254154 meters 0.02371612703178664 Centerline is valid? [True, True] Translation: X:630.08, Y:4.35, Z:2.74 [[ 9.98451042e-01 -5.56349327e-02 -5.21389679e-04 6.30083013e+02] [ 5.56349372e-02 9.98451177e-01 -5.94082964e-06 4.35350541e+00] [ 5.20912656e-04 -2.30758545e-05 9.99999864e-01 2.74461805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.639254154 meters 0.025241241430817473 Centerline is valid? [True, True] Translation: X:630.14, Y:4.36, Z:2.74 [[ 9.98586369e-01 -5.31168234e-02 -1.96628669e-03 6.30143725e+02] [ 5.31168843e-02 9.98588302e-01 -2.12573364e-05 4.35523877e+00] [ 1.96464001e-03 -8.32157366e-05 9.99998067e-01 2.74350840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.699254154 meters 0.028845001487282168 Centerline is valid? [True, True] Translation: X:630.20, Y:4.35, Z:2.74 [[ 9.98642134e-01 -5.20315172e-02 -2.57084003e-03 6.30204974e+02] [ 5.20316180e-02 9.98645438e-01 -2.76800780e-05 4.35331564e+00] [ 2.56879790e-03 -1.06122474e-04 9.99996695e-01 2.74379952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.759254154 meters 0.021582707183568087 Centerline is valid? [True, True] Translation: X:630.27, Y:4.37, Z:2.74 [[ 9.98744978e-01 -5.00126604e-02 -2.68384446e-03 6.30267634e+02] [ 5.00127633e-02 9.98748578e-01 -2.88090850e-05 4.36708202e+00] [ 2.68192666e-03 -1.05453549e-04 9.99996398e-01 2.74380675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.819254154 meters 0.021639445377278667 Centerline is valid? [True, True] Translation: X:630.33, Y:4.37, Z:2.74 [[ 9.98806541e-01 -4.87262551e-02 -3.35350331e-03 6.30330064e+02] [ 4.87264100e-02 9.98812162e-01 -3.55639101e-05 4.37315294e+00] [ 3.35125278e-03 -1.27882711e-04 9.99994376e-01 2.74443074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.879254154 meters 0.020527726968509293 Centerline is valid? [True, True] Translation: X:630.39, Y:4.38, Z:2.74 [[ 9.98838471e-01 -4.80046946e-02 -4.15424027e-03 6.30391790e+02] [ 4.80049276e-02 9.98847098e-01 -4.36715969e-05 4.37933574e+00] [ 4.15154728e-03 -1.55803132e-04 9.99991370e-01 2.74380431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.939254154 meters 0.020318313126626627 Centerline is valid? [True, True] Translation: X:630.45, Y:4.38, Z:2.74 [[ 9.98888142e-01 -4.69831453e-02 -3.88133431e-03 6.30454081e+02] [ 4.69833420e-02 9.98895672e-01 -4.05322089e-05 4.38227252e+00] [ 3.87895237e-03 -1.41870915e-04 9.99992467e-01 2.74390320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.999254154 meters 0.020074852824761562 Centerline is valid? [True, True] Translation: X:630.51, Y:4.39, Z:2.74 [[ 9.99058739e-01 -4.31740618e-02 -4.19953468e-03 6.30514441e+02] [ 4.31742599e-02 9.99067556e-01 -4.35007802e-05 4.38763273e+00] [ 4.19749695e-03 -1.37851967e-04 9.99991181e-01 2.74492320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.059254154 meters 0.01957194238024111 Centerline is valid? [True, True] Translation: X:630.58, Y:4.39, Z:2.74 [[ 9.99231864e-01 -3.87835729e-02 -5.61400795e-03 6.30576004e+02] [ 3.87838588e-02 9.99247621e-01 -5.79746899e-05 4.39487120e+00] [ 5.61203256e-03 -1.59802734e-04 9.99984240e-01 2.74370258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.119254154 meters 0.0171313002260582 Centerline is valid? [True, True] Translation: X:630.64, Y:4.40, Z:2.75 [[ 9.99407545e-01 -3.40259693e-02 -5.17621442e-03 6.30637511e+02] [ 3.40261499e-02 9.99420941e-01 -5.31978424e-05 4.40101743e+00] [ 5.17502720e-03 -1.22960323e-04 9.99986602e-01 2.74519407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.179254154 meters 0.01694979899596623 Centerline is valid? [True, True] Translation: X:630.70, Y:4.40, Z:2.74 [[ 9.99502736e-01 -3.11231144e-02 -5.06281208e-03 6.30699537e+02] [ 3.11232510e-02 9.99515553e-01 -5.18251625e-05 4.40439302e+00] [ 5.06197238e-03 -1.05771779e-04 9.99987183e-01 2.74478816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.239254154 meters 0.01670389412281549 Centerline is valid? [True, True] Translation: X:630.76, Y:4.41, Z:2.74 [[ 9.99494111e-01 -3.13992414e-02 -5.06066962e-03 6.30761940e+02] [ 3.13993832e-02 9.99506916e-01 -5.14355571e-05 4.40735565e+00] [ 5.05978932e-03 -1.07492368e-04 9.99987193e-01 2.74495452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.299254154 meters 0.01694734769281234 Centerline is valid? [True, True] Translation: X:630.82, Y:4.41, Z:2.74 [[ 9.99461711e-01 -3.24284264e-02 -4.96839184e-03 6.30823971e+02] [ 3.24285777e-02 9.99474054e-01 -5.01373827e-05 4.40845899e+00] [ 4.96740461e-03 -1.11007486e-04 9.99987656e-01 2.74475727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.359254154 meters 0.017941862587447344 Centerline is valid? [True, True] Translation: X:630.88, Y:4.41, Z:2.74 [[ 9.99354091e-01 -3.54330367e-02 -5.99173058e-03 6.30884583e+02] [ 3.54333134e-02 9.99372041e-01 -6.00123961e-05 4.40748803e+00] [ 5.99009444e-03 -1.52333234e-04 9.99982048e-01 2.74417530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.419254154 meters 0.020269822688972955 Centerline is valid? [True, True] Translation: X:630.94, Y:4.40, Z:2.74 [[ 9.99146191e-01 -4.07423927e-02 -6.85181694e-03 6.30944757e+02] [ 4.07428819e-02 9.99169662e-01 -6.82371327e-05 4.40331680e+00] [ 6.84890776e-03 -2.10983897e-04 9.99976524e-01 2.74271372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4792541539999 meters 0.02049315931664523 Centerline is valid? [True, True] Translation: X:631.01, Y:4.40, Z:2.74 [[ 9.98958026e-01 -4.51539879e-02 -6.63164626e-03 6.31006222e+02] [ 4.51545461e-02 9.98980011e-01 -6.56056956e-05 4.40272285e+00] [ 6.62784442e-03 -2.33911641e-04 9.99978008e-01 2.74321205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.539254154 meters 0.0220234122763959 Centerline is valid? [True, True] Translation: X:631.07, Y:4.40, Z:2.74 [[ 9.98789097e-01 -4.89175836e-02 -5.23540573e-03 6.31067278e+02] [ 4.89179840e-02 9.98802797e-01 -5.16226185e-05 4.40134088e+00] [ 5.23166315e-03 -2.04545385e-04 9.99986294e-01 2.74439797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5992541539999 meters 0.023257260490385775 Centerline is valid? [True, True] Translation: X:631.13, Y:4.40, Z:2.74 [[ 9.98828484e-01 -4.81723856e-02 -4.59143317e-03 6.31128335e+02] [ 4.81726867e-02 9.98839021e-01 -4.50466291e-05 4.40125660e+00] [ 4.58827262e-03 -1.76187815e-04 9.99989458e-01 2.74467585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.659254154 meters 0.020532308890699333 Centerline is valid? [True, True] Translation: X:631.19, Y:4.41, Z:2.74 [[ 9.98914336e-01 -4.64106388e-02 -4.02508674e-03 6.31190745e+02] [ 4.64108581e-02 9.98922435e-01 -3.89629729e-05 4.40749646e+00] [ 4.02255774e-03 -1.47887057e-04 9.99991899e-01 2.74455069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.7192541539999 meters 0.02199258445350848 Centerline is valid? [True, True] Translation: X:631.25, Y:4.41, Z:2.74 [[ 9.98994281e-01 -4.45732834e-02 -4.86300249e-03 6.31252357e+02] [ 4.45735838e-02 9.99006103e-01 -4.66403977e-05 4.40798896e+00] [ 4.86024809e-03 -1.70167959e-04 9.99988174e-01 2.74431371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.779254154 meters 0.0205150285911576 Centerline is valid? [True, True] Translation: X:631.31, Y:4.41, Z:2.74 [[ 9.98944857e-01 -4.53682745e-02 -7.13385549e-03 6.31314429e+02] [ 4.53689462e-02 9.98970297e-01 -6.77399728e-05 4.41271760e+00] [ 7.12958298e-03 -2.55987008e-04 9.99974551e-01 2.74278153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.839254154 meters 0.021449856938145776 Centerline is valid? [True, True] Translation: X:631.38, Y:4.41, Z:2.74 [[ 9.98910591e-01 -4.58596756e-02 -8.63253092e-03 6.31375474e+02] [ 4.58606828e-02 9.98947842e-01 -8.13443866e-05 4.41323851e+00] [ 8.62717856e-03 -3.14637993e-04 9.99962736e-01 2.74231433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.899254154 meters 0.01984637271783262 Centerline is valid? [True, True] Translation: X:631.44, Y:4.42, Z:2.74 [[ 9.98989241e-01 -4.40533928e-02 -8.93276659e-03 6.31437846e+02] [ 4.40544044e-02 9.99029130e-01 -8.35867146e-05 4.41834911e+00] [ 8.92777631e-03 -3.10025483e-04 9.99960099e-01 2.74307807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.959254154 meters 0.01880424708121375 Centerline is valid? [True, True] Translation: X:631.50, Y:4.42, Z:2.74 [[ 9.99195405e-01 -3.89928623e-02 -9.38609157e-03 6.31498778e+02] [ 3.89937610e-02 9.99239450e-01 -8.73012763e-05 4.42424065e+00] [ 9.38235711e-03 -2.78767977e-04 9.99955946e-01 2.74395369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.019254154 meters 0.01723389651840849 Centerline is valid? [True, True] Translation: X:631.56, Y:4.43, Z:2.74 [[ 9.99406027e-01 -3.33708490e-02 -8.60118484e-03 6.31560260e+02] [ 3.33713996e-02 9.99443017e-01 -7.95443899e-05 4.43129791e+00] [ 8.59904859e-03 -2.07536433e-04 9.99963006e-01 2.74491354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.079254154 meters 0.016239731830562782 Centerline is valid? [True, True] Translation: X:631.62, Y:4.44, Z:2.75 [[ 9.99509142e-01 -3.03651518e-02 -7.70923064e-03 6.31622374e+02] [ 3.03655088e-02 9.99538859e-01 -7.07589595e-05 4.43627586e+00] [ 7.70782421e-03 -1.63370484e-04 9.99970281e-01 2.74574898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.139254154 meters 0.01611523932850744 Centerline is valid? [True, True] Translation: X:631.68, Y:4.44, Z:2.75 [[ 9.99605761e-01 -2.72347467e-02 -6.82581810e-03 6.31683588e+02] [ 2.72349565e-02 9.99629058e-01 -6.22260478e-05 4.43900128e+00] [ 6.82498083e-03 -1.23699343e-04 9.99976702e-01 2.74601852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.199254154 meters 0.01583863139639914 Centerline is valid? [True, True] Translation: X:631.75, Y:4.44, Z:2.75 [[ 9.99626168e-01 -2.69105418e-02 -4.83178401e-03 6.31745720e+02] [ 2.69106441e-02 9.99637842e-01 -4.38443267e-05 4.44053674e+00] [ 4.83121402e-03 -8.61984838e-05 9.99988326e-01 2.74756978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.259254154 meters 0.016271148090072796 Centerline is valid? [True, True] Translation: X:631.81, Y:4.44, Z:2.75 [[ 9.99585557e-01 -2.83042720e-02 -5.25186708e-03 6.31807915e+02] [ 2.83044143e-02 9.99599349e-01 -4.72391982e-05 4.43900722e+00] [ 5.25109999e-03 -1.01431402e-04 9.99986208e-01 2.74716270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.319254154 meters 0.017144072654930217 Centerline is valid? [True, True] Translation: X:631.87, Y:4.43, Z:2.75 [[ 9.99491019e-01 -3.12613705e-02 -6.35842193e-03 6.31869842e+02] [ 3.12616423e-02 9.99511234e-01 -5.66603416e-05 4.43427969e+00] [ 6.35708543e-03 -1.42143209e-04 9.99979783e-01 2.74518552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.379254154 meters 0.017706052979484174 Centerline is valid? [True, True] Translation: X:631.93, Y:4.43, Z:2.75 [[ 9.99410433e-01 -3.38331041e-02 -5.84016671e-03 6.31931978e+02] [ 3.38333796e-02 9.99427486e-01 -5.16455169e-05 4.43167706e+00] [ 5.83857046e-03 -1.45977509e-04 9.99982945e-01 2.74533118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.439254154 meters 0.018917635077763152 Centerline is valid? [True, True] Translation: X:631.99, Y:4.43, Z:2.75 [[ 9.99271201e-01 -3.77861834e-02 -5.41031694e-03 6.31994437e+02] [ 3.77864797e-02 9.99285835e-01 -4.74744285e-05 4.42737274e+00] [ 5.40824696e-03 -1.56997002e-04 9.99985363e-01 2.74521672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.499254154 meters 0.01921626593833605 Centerline is valid? [True, True] Translation: X:632.06, Y:4.43, Z:2.75 [[ 9.99117646e-01 -4.15697784e-02 -5.99027882e-03 6.32056538e+02] [ 4.15702124e-02 9.99135584e-01 -5.20911652e-05 4.42588145e+00] [ 5.98726614e-03 -1.96971960e-04 9.99982057e-01 2.74510092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.559254154 meters 0.02127180766204547 Centerline is valid? [True, True] Translation: X:632.12, Y:4.42, Z:2.74 [[ 9.98981881e-01 -4.47855736e-02 -5.42716777e-03 6.32118054e+02] [ 4.47859792e-02 9.98996604e-01 -4.68424504e-05 4.42183555e+00] [ 5.42382004e-03 -1.96266264e-04 9.99985272e-01 2.74471587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.619254154 meters 0.022950848291260584 Centerline is valid? [True, True] Translation: X:632.18, Y:4.42, Z:2.74 [[ 9.98779326e-01 -4.90567696e-02 -5.76992800e-03 6.32179061e+02] [ 4.90573008e-02 9.98795965e-01 -4.95184101e-05 4.41916858e+00] [ 5.76541001e-03 -2.33599129e-04 9.99983353e-01 2.74441307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.679254154 meters 0.023798029699398194 Centerline is valid? [True, True] Translation: X:632.24, Y:4.42, Z:2.74 [[ 9.98525581e-01 -5.40462331e-02 -5.06640404e-03 6.32240180e+02] [ 5.40467071e-02 9.98538408e-01 -4.33987691e-05 4.41817339e+00] [ 5.06134456e-03 -2.30487674e-04 9.99987165e-01 2.74432554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.739254154 meters 0.029933504439204155 Centerline is valid? [True, True] Translation: X:632.30, Y:4.41, Z:2.74 [[ 9.98173508e-01 -6.01854103e-02 -5.23110455e-03 6.32300216e+02] [ 6.01860001e-02 9.98187179e-01 -4.47384836e-05 4.40903748e+00] [ 5.22431409e-03 -2.70182490e-04 9.99986317e-01 2.74361880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.799254154 meters 0.030170896818540474 Centerline is valid? [True, True] Translation: X:632.36, Y:4.41, Z:2.74 [[ 9.97906075e-01 -6.43385573e-02 -6.63445096e-03 6.32361318e+02] [ 6.43395973e-02 9.97928060e-01 -5.67869007e-05 4.40992709e+00] [ 6.62435836e-03 -3.70189909e-04 9.99977990e-01 2.74320469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.859254154 meters 0.028250415603893023 Centerline is valid? [True, True] Translation: X:632.42, Y:4.41, Z:2.74 [[ 9.97998421e-01 -6.27525951e-02 -7.82713827e-03 6.32423721e+02] [ 6.27539966e-02 9.98029023e-01 -6.66554249e-05 4.41413287e+00] [ 7.81589396e-03 -4.24662199e-04 9.99969365e-01 2.74307333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.919254154 meters 0.025777486736746156 Centerline is valid? [True, True] Translation: X:632.48, Y:4.42, Z:2.74 [[ 9.98286574e-01 -5.79284728e-02 -8.25879033e-03 6.32484455e+02] [ 5.79298718e-02 9.98320652e-01 -6.99244843e-05 4.41940394e+00] [ 8.24897157e-03 -4.08625991e-04 9.99965893e-01 2.74317262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9792541539999 meters 0.02139990908446222 Centerline is valid? [True, True] Translation: X:632.54, Y:4.43, Z:2.74 [[ 9.98880209e-01 -4.63289879e-02 -9.58918439e-03 6.32544922e+02] [ 4.63303419e-02 9.98926170e-01 -8.10141077e-05 4.43209966e+00] [ 9.58264053e-03 -3.63346802e-04 9.99954019e-01 2.74346219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.039254154 meters 0.017373850787466893 Centerline is valid? [True, True] Translation: X:632.61, Y:4.45, Z:2.74 [[ 9.99399280e-01 -3.29003318e-02 -1.08925401e-02 6.32605945e+02] [ 3.29012838e-02 9.99458602e-01 -9.18354380e-05 4.44524035e+00] [ 1.08896643e-02 -2.66598281e-04 9.99940670e-01 2.74308609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0992541539999 meters 0.017288880358167478 Centerline is valid? [True, True] Translation: X:632.67, Y:4.45, Z:2.74 [[ 9.99636410e-01 -2.37818752e-02 -1.27071101e-02 6.32666718e+02] [ 2.37824372e-02 9.99717152e-01 -1.06898143e-04 4.45377480e+00] [ 1.27060582e-02 -1.95346772e-04 9.99919256e-01 2.74212766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.159254154 meters 0.013930296363003776 Centerline is valid? [True, True] Translation: X:632.73, Y:4.47, Z:2.74 [[ 9.99866575e-01 -1.09315353e-02 -1.21380833e-02 6.32727679e+02] [ 1.09311024e-02 9.99940249e-01 -1.02006107e-04 4.46894469e+00] [ 1.21384732e-02 -3.06901359e-05 9.99926326e-01 2.74372778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.2192541539999 meters 0.013894298420575038 Centerline is valid? [True, True] Translation: X:632.79, Y:4.47, Z:2.74 [[ 9.99893491e-01 -7.67671887e-03 -1.24127159e-02 6.32786849e+02] [ 7.67599108e-03 9.99970533e-01 -1.06274446e-04 4.47278047e+00] [ 1.24131660e-02 1.09832300e-05 9.99922954e-01 2.74319439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.279254154 meters 0.013814088401549709 Centerline is valid? [True, True] Translation: X:632.84, Y:4.47, Z:2.74 [[ 9.99904327e-01 -7.11322685e-03 -1.18633708e-02 6.32844632e+02] [ 7.11248485e-03 9.99974700e-01 -1.04735295e-04 4.47468418e+00] [ 1.18638157e-02 2.03472296e-05 9.99929622e-01 2.74388644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.339254154 meters 0.013749437239698412 Centerline is valid? [True, True] Translation: X:632.90, Y:4.47, Z:2.75 [[ 9.99893731e-01 -9.96136336e-03 -1.06441868e-02 6.32903277e+02] [ 9.96091063e-03 9.99950384e-01 -9.55476826e-05 4.47312264e+00] [ 1.06446104e-02 -1.04882644e-05 9.99943344e-01 2.74543669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.399254154 meters 0.013707303186630455 Centerline is valid? [True, True] Translation: X:632.96, Y:4.47, Z:2.75 [[ 9.99864769e-01 -1.30419212e-02 -1.00175580e-02 6.32961828e+02] [ 1.30416678e-02 9.99914950e-01 -9.06314158e-05 4.47035039e+00] [ 1.00178880e-02 -4.00265032e-05 9.99949819e-01 2.74591625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.459254154 meters 0.014213906228562528 Centerline is valid? [True, True] Translation: X:633.02, Y:4.46, Z:2.75 [[ 9.99790952e-01 -1.88092138e-02 -8.01656671e-03 6.33021841e+02] [ 1.88092337e-02 9.99823088e-01 -7.29170575e-05 4.46364297e+00] [ 8.01651999e-03 -7.78836627e-05 9.99967864e-01 2.74641294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.519254154 meters 0.014951439994251864 Centerline is valid? [True, True] Translation: X:633.08, Y:4.46, Z:2.75 [[ 9.99700812e-01 -2.34186184e-02 -7.06073030e-03 6.33084346e+02] [ 2.34187492e-02 9.99725741e-01 -6.41700193e-05 4.45676091e+00] [ 7.06029660e-03 -1.01202651e-04 9.99975071e-01 2.74681600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.579254154 meters 0.01547299333529164 Centerline is valid? [True, True] Translation: X:633.15, Y:4.45, Z:2.75 [[ 9.99663642e-01 -2.46537590e-02 -8.04958420e-03 6.33145704e+02] [ 2.46539735e-02 9.99696042e-01 -7.25921191e-05 4.45144352e+00] [ 8.04892713e-03 -1.25886533e-04 9.99967599e-01 2.74553633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.639254154 meters 0.015399245152598138 Centerline is valid? [True, True] Translation: X:633.21, Y:4.45, Z:2.74 [[ 9.99687722e-01 -2.35826449e-02 -8.26537804e-03 6.33207589e+02] [ 2.35828388e-02 9.99721883e-01 -7.40173621e-05 4.44978762e+00] [ 8.26482483e-03 -1.20926830e-04 9.99965838e-01 2.74469681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.699254154 meters 0.01461874812668846 Centerline is valid? [True, True] Translation: X:633.27, Y:4.45, Z:2.74 [[ 9.99755982e-01 -2.02091752e-02 -8.91992820e-03 6.33269859e+02] [ 2.02092728e-02 9.99795769e-01 -7.92033488e-05 4.44865540e+00] [ 8.91970711e-03 -1.01081240e-04 9.99960214e-01 2.74375483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.759254154 meters 0.014209209465080547 Centerline is valid? [True, True] Translation: X:633.33, Y:4.45, Z:2.74 [[ 9.99819371e-01 -1.61860253e-02 -9.96180182e-03 6.33330037e+02] [ 1.61859520e-02 9.99868995e-01 -8.79878795e-05 4.44720316e+00] [ 9.96192095e-03 -7.32692598e-05 9.99950376e-01 2.74261827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.819254154 meters 0.01420954068348028 Centerline is valid? [True, True] Translation: X:633.39, Y:4.45, Z:2.74 [[ 9.99840240e-01 -1.47843410e-02 -1.00458278e-02 6.33390841e+02] [ 1.47841976e-02 9.99890704e-01 -8.85483332e-05 4.44565727e+00] [ 1.00460390e-02 -5.99853166e-05 9.99949535e-01 2.74238452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.879254154 meters 0.014142289420526487 Centerline is valid? [True, True] Translation: X:633.45, Y:4.44, Z:2.74 [[ 9.99816257e-01 -1.66632297e-02 -9.47574324e-03 6.33450737e+02] [ 1.66631854e-02 9.99861156e-01 -8.36320103e-05 4.44032954e+00] [ 9.47582117e-03 -7.42794233e-05 9.99955101e-01 2.74194715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.939254154 meters 0.014778070948422558 Centerline is valid? [True, True] Translation: X:633.51, Y:4.43, Z:2.74 [[ 9.99730481e-01 -2.11772855e-02 -9.51247676e-03 6.33511606e+02] [ 2.11774445e-02 9.99775729e-01 -8.40236022e-05 4.43265252e+00] [ 9.51212278e-03 -1.17448992e-04 9.99954752e-01 2.74169308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.999254154 meters 0.015521711098937064 Centerline is valid? [True, True] Translation: X:633.57, Y:4.43, Z:2.74 [[ 9.99619215e-01 -2.59002756e-02 -9.51841006e-03 6.33572908e+02] [ 2.59006514e-02 9.99664518e-01 -8.38129625e-05 4.42696352e+00] [ 9.51738759e-03 -1.62751973e-04 9.99954695e-01 2.74203227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.059254154 meters 0.016676235459358566 Centerline is valid? [True, True] Translation: X:633.63, Y:4.42, Z:2.74 [[ 9.99519415e-01 -2.96054189e-02 -9.19008279e-03 6.33634926e+02] [ 2.96059302e-02 9.99561645e-01 -8.04276681e-05 4.42101630e+00] [ 9.18843536e-03 -1.91691934e-04 9.99957767e-01 2.74156379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.119254154 meters 0.016899813731623286 Centerline is valid? [True, True] Translation: X:633.70, Y:4.42, Z:2.74 [[ 9.99453092e-01 -3.18086128e-02 -9.04038856e-03 6.33696956e+02] [ 3.18092036e-02 9.99493956e-01 -7.84714133e-05 4.41963328e+00] [ 9.03830979e-03 -2.09139063e-04 9.99959132e-01 2.74180873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.179254154 meters 0.01860179243670258 Centerline is valid? [True, True] Translation: X:633.76, Y:4.42, Z:2.74 [[ 9.99387592e-01 -3.36437029e-02 -9.61990789e-03 6.33758584e+02] [ 3.36444628e-02 9.99433861e-01 -8.28806362e-05 4.41522339e+00] [ 9.61725010e-03 -2.40826753e-04 9.99953724e-01 2.74177586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.239254154 meters 0.01888348986355167 Centerline is valid? [True, True] Translation: X:633.82, Y:4.41, Z:2.74 [[ 9.99343387e-01 -3.42419240e-02 -1.18442237e-02 6.33820380e+02] [ 3.42431276e-02 9.99413527e-01 -1.01221868e-04 4.41471558e+00] [ 1.18407434e-02 -3.04427858e-04 9.99929850e-01 2.74062723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.299254154 meters 0.017712398816901037 Centerline is valid? [True, True] Translation: X:633.88, Y:4.42, Z:2.74 [[ 9.99296447e-01 -3.58608933e-02 -1.09821818e-02 6.33882970e+02] [ 3.58620343e-02 9.99356746e-01 -9.30801923e-05 4.41503953e+00] [ 1.09784554e-02 -3.00828676e-04 9.99939690e-01 2.74213894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.359254154 meters 0.018367613398641694 Centerline is valid? [True, True] Translation: X:633.95, Y:4.41, Z:2.74 [[ 9.99266277e-01 -3.68931533e-02 -1.02860363e-02 6.33945184e+02] [ 3.68942163e-02 9.99319173e-01 -8.64496164e-05 4.41320538e+00] [ 1.02822227e-02 -2.93109061e-04 9.99947094e-01 2.74268985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.419254154 meters 0.019773205312432474 Centerline is valid? [True, True] Translation: X:634.01, Y:4.41, Z:2.74 [[ 9.99106210e-01 -4.10038530e-02 -1.02696195e-02 6.34006716e+02] [ 4.10051351e-02 9.99158932e-01 -8.57751657e-05 4.41207252e+00] [ 1.02644992e-02 -3.35408635e-04 9.99947262e-01 2.74315870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4792541539999 meters 0.021426538016070085 Centerline is valid? [True, True] Translation: X:634.07, Y:4.41, Z:2.74 [[ 9.99007621e-01 -4.34443806e-02 -9.81627419e-03 6.34067927e+02] [ 4.34456741e-02 9.99055788e-01 -8.15359246e-05 4.40873496e+00] [ 9.81054782e-03 -3.45019639e-04 9.99951816e-01 2.74308204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.539254154 meters 0.023378338197308297 Centerline is valid? [True, True] Translation: X:634.13, Y:4.41, Z:2.74 [[ 9.98565760e-01 -5.28012965e-02 -8.85700856e-03 6.34128940e+02] [ 5.28027198e-02 9.98604961e-01 -7.32276184e-05 4.40508417e+00] [ 8.84851920e-03 -3.94551549e-04 9.99960773e-01 2.74320258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5992541539999 meters 0.03394646137851286 Centerline is valid? [True, True] Translation: X:634.19, Y:4.39, Z:2.74 [[ 9.97947098e-01 -6.33757775e-02 -9.22499338e-03 6.34188305e+02] [ 6.33777741e-02 9.97989605e-01 -7.60360138e-05 4.39179453e+00] [ 9.21126634e-03 -5.08779627e-04 9.99957446e-01 2.74236617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.659254154 meters 0.03192554490565437 Centerline is valid? [True, True] Translation: X:634.25, Y:4.40, Z:2.74 [[ 9.97600924e-01 -6.86349783e-02 -9.03530040e-03 6.34248655e+02] [ 6.86371095e-02 9.97641690e-01 -7.43621244e-05 4.39586126e+00] [ 9.01909620e-03 -5.45973179e-04 9.99959178e-01 2.74251420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.7192541539999 meters 0.029695003313737346 Centerline is valid? [True, True] Translation: X:634.31, Y:4.40, Z:2.74 [[ 9.97617796e-01 -6.83477939e-02 -9.34407965e-03 6.34311304e+02] [ 6.83500652e-02 9.97661397e-01 -7.64314304e-05 4.40097525e+00] [ 9.32745148e-03 -5.62419098e-04 9.99956340e-01 2.74236762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.779254154 meters 0.027367332284649316 Centerline is valid? [True, True] Translation: X:634.37, Y:4.41, Z:2.74 [[ 9.97935657e-01 -6.34464790e-02 -9.94828110e-03 6.34371992e+02] [ 6.34488152e-02 9.97985091e-01 -8.09192342e-05 4.40786006e+00] [ 9.93337026e-03 -5.50454460e-04 9.99950511e-01 2.74213667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.839254154 meters 0.024019962778066964 Centerline is valid? [True, True] Translation: X:634.43, Y:4.42, Z:2.74 [[ 9.98456827e-01 -5.45520408e-02 -1.03941564e-02 6.34432135e+02] [ 5.45541102e-02 9.98510812e-01 -8.45407745e-05 4.41782326e+00] [ 1.03832894e-02 -4.82633638e-04 9.99945976e-01 2.74204035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.899254154 meters 0.0216593111589556 Centerline is valid? [True, True] Translation: X:634.49, Y:4.43, Z:2.74 [[ 9.99044156e-01 -4.22823587e-02 -1.10895132e-02 6.34492507e+02] [ 4.22839601e-02 9.99105629e-01 -9.01119289e-05 4.42804480e+00] [ 1.10834052e-02 -3.78882739e-04 9.99938505e-01 2.74216205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.959254154 meters 0.01767477977072463 Centerline is valid? [True, True] Translation: X:634.55, Y:4.44, Z:2.74 [[ 9.99441737e-01 -3.19408920e-02 -9.79765067e-03 6.34552175e+02] [ 3.19416450e-02 9.99489732e-01 -7.96557940e-05 4.43969080e+00] [ 9.79519552e-03 -2.33341754e-04 9.99951999e-01 2.74278666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.019254154 meters 0.016062960278293133 Centerline is valid? [True, True] Translation: X:634.61, Y:4.45, Z:2.74 [[ 9.99648472e-01 -2.48589833e-02 -9.21754991e-03 6.34613314e+02] [ 2.48593497e-02 9.99690956e-01 -7.48405416e-05 4.44684143e+00] [ 9.21656174e-03 -1.54328064e-04 9.99957515e-01 2.74308694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.079254154 meters 0.014854347970971873 Centerline is valid? [True, True] Translation: X:634.67, Y:4.45, Z:2.74 [[ 9.99823463e-01 -1.63921186e-02 -9.18375210e-03 6.34674423e+02] [ 1.63921281e-02 9.99865637e-01 -7.42388773e-05 4.45463406e+00] [ 9.18373507e-03 -7.63154694e-05 9.99957826e-01 2.74251149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.139254154 meters 0.014651207267740083 Centerline is valid? [True, True] Translation: X:634.74, Y:4.46, Z:2.74 [[ 9.99885730e-01 -1.15668362e-02 -9.73321669e-03 6.34735636e+02] [ 1.15666219e-02 9.99933101e-01 -7.83141371e-05 4.45978750e+00] [ 9.73347139e-03 -3.42752490e-05 9.99952628e-01 2.74209107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.199254154 meters 0.014699235572042842 Centerline is valid? [True, True] Translation: X:634.79, Y:4.46, Z:2.74 [[ 9.99877748e-01 -1.11618480e-02 -1.09499704e-02 6.34794780e+02] [ 1.11615505e-02 9.99937704e-01 -8.82819088e-05 4.46055964e+00] [ 1.09502737e-02 -3.39475316e-05 9.99940043e-01 2.74074938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.259254154 meters 0.014959356718273852 Centerline is valid? [True, True] Translation: X:634.85, Y:4.46, Z:2.74 [[ 9.99843735e-01 -1.42477989e-02 -1.04644841e-02 6.34853973e+02] [ 1.42476891e-02 9.99898493e-01 -8.50458059e-05 4.45804620e+00] [ 1.04646336e-02 -6.40621996e-05 9.99945242e-01 2.74062240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.319254154 meters 0.015444371995094606 Centerline is valid? [True, True] Translation: X:634.91, Y:4.45, Z:2.74 [[ 9.99790719e-01 -1.89866173e-02 -7.61751057e-03 6.34913663e+02] [ 1.89866940e-02 9.99819735e-01 -6.22611540e-05 4.45205234e+00] [ 7.61731953e-03 -8.23832183e-05 9.99970984e-01 2.74270095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.379254154 meters 0.01718711576806797 Centerline is valid? [True, True] Translation: X:634.97, Y:4.44, Z:2.74 [[ 9.99714114e-01 -2.32278390e-02 -5.67076336e-03 6.34974358e+02] [ 2.32279493e-02 9.99730194e-01 -4.64236804e-05 4.44205858e+00] [ 5.67031167e-03 -8.53097953e-05 9.99983920e-01 2.74343914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.439254154 meters 0.016784970419473213 Centerline is valid? [True, True] Translation: X:635.04, Y:4.44, Z:2.74 [[ 9.99641674e-01 -2.63688649e-02 -4.60501363e-03 6.35036414e+02] [ 2.63689716e-02 9.99652277e-01 -3.75541998e-05 4.43874019e+00] [ 4.60440263e-03 -8.38887306e-05 9.99989396e-01 2.74334814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.499254154 meters 0.01835883716760203 Centerline is valid? [True, True] Translation: X:635.10, Y:4.43, Z:2.74 [[ 9.99457271e-01 -3.24873698e-02 -5.45294154e-03 6.35097914e+02] [ 3.24876126e-02 9.99472137e-01 -4.40583365e-05 4.42866407e+00] [ 5.45149448e-03 -1.33118628e-04 9.99985132e-01 2.74098213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.559254154 meters 0.019025841186932946 Centerline is valid? [True, True] Translation: X:635.16, Y:4.42, Z:2.74 [[ 9.99337121e-01 -3.57759596e-02 -6.73789713e-03 6.35160512e+02] [ 3.57764076e-02 9.99359818e-01 -5.40753561e-05 4.42284497e+00] [ 6.73551825e-03 -1.87018243e-04 9.99977299e-01 2.73922372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.619254154 meters 0.018841455573620224 Centerline is valid? [True, True] Translation: X:635.22, Y:4.42, Z:2.74 [[ 9.99368968e-01 -3.46364336e-02 -7.87298638e-03 6.35222460e+02] [ 3.46370148e-02 9.99399957e-01 -6.25579475e-05 4.42195133e+00] [ 7.87042903e-03 -2.10178274e-04 9.99969006e-01 2.73855618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.679254154 meters 0.019388271855834693 Centerline is valid? [True, True] Translation: X:635.28, Y:4.42, Z:2.74 [[ 9.99489617e-01 -3.06855437e-02 -8.88267702e-03 6.35283097e+02] [ 3.06861315e-02 9.99529067e-01 -7.01412553e-05 4.41927807e+00] [ 8.88064620e-03 -2.02469539e-04 9.99960546e-01 2.73686878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.739254154 meters 0.016633479033201427 Centerline is valid? [True, True] Translation: X:635.34, Y:4.42, Z:2.74 [[ 9.99556047e-01 -2.85598740e-02 -8.48781847e-03 6.35344937e+02] [ 2.85603373e-02 9.99592068e-01 -6.66428896e-05 4.42390334e+00] [ 8.48625933e-03 -1.75801656e-04 9.99963976e-01 2.73754501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.799254154 meters 0.017127008067166494 Centerline is valid? [True, True] Translation: X:635.41, Y:4.42, Z:2.74 [[ 9.99514712e-01 -2.95192347e-02 -9.94762073e-03 6.35406828e+02] [ 2.95199266e-02 9.99564189e-01 -7.73054673e-05 4.42049740e+00] [ 9.94556744e-03 -2.16385082e-04 9.99950518e-01 2.73590884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.859254154 meters 0.01761040548005425 Centerline is valid? [True, True] Translation: X:635.47, Y:4.42, Z:2.74 [[ 9.99433974e-01 -3.16953864e-02 -1.12753475e-02 6.35468786e+02] [ 3.16964237e-02 9.99497538e-01 -8.67433908e-05 4.41829484e+00] [ 1.12724314e-02 -2.70693899e-04 9.99936427e-01 2.73549042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.919254154 meters 0.0194899261540453 Centerline is valid? [True, True] Translation: X:635.53, Y:4.41, Z:2.73 [[ 9.99219049e-01 -3.70866859e-02 -1.36334159e-02 6.35528701e+02] [ 3.70887091e-02 9.99311972e-01 -1.04490884e-04 4.41235202e+00] [ 1.36279109e-02 -4.01236514e-04 9.99907055e-01 2.73435796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9792541539999 meters 0.020829754313380727 Centerline is valid? [True, True] Translation: X:635.59, Y:4.41, Z:2.73 [[ 9.99017959e-01 -4.11836335e-02 -1.63409368e-02 6.35589419e+02] [ 4.11870913e-02 9.99151444e-01 -1.25026366e-04 4.40787257e+00] [ 1.63322196e-02 -5.48132070e-04 9.99866470e-01 2.73289587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.039254154 meters 0.023515583726110494 Centerline is valid? [True, True] Translation: X:635.65, Y:4.40, Z:2.73 [[ 9.98712948e-01 -4.73098961e-02 -1.82817106e-02 6.35650387e+02] [ 4.73152516e-02 9.98879997e-01 -1.39726728e-04 4.40192579e+00] [ 1.82678455e-02 -7.25456844e-04 9.99832866e-01 2.73172104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0992541539999 meters 0.025285630895169765 Centerline is valid? [True, True] Translation: X:635.71, Y:4.40, Z:2.73 [[ 9.98567850e-01 -4.95610576e-02 -2.01482135e-02 6.35711484e+02] [ 4.95680321e-02 9.98770738e-01 -1.53403642e-04 4.39979965e+00] [ 2.01310489e-02 -8.45523349e-04 9.99796992e-01 2.73099855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.159254154 meters 0.022943821631377974 Centerline is valid? [True, True] Translation: X:635.77, Y:4.41, Z:2.73 [[ 9.98652746e-01 -4.77602294e-02 -2.02892532e-02 6.35772431e+02] [ 4.77669459e-02 9.98858496e-01 -1.53739187e-04 4.40577118e+00] [ 2.02734355e-02 -8.15623598e-04 9.99794140e-01 2.73434543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.2192541539999 meters 0.02248419119743484 Centerline is valid? [True, True] Translation: X:635.83, Y:4.41, Z:2.74 [[ 9.98793687e-01 -4.47663761e-02 -2.01777698e-02 6.35832925e+02] [ 4.47724122e-02 9.98997201e-01 -1.52735087e-04 4.40936756e+00] [ 2.01643729e-02 -7.50856583e-04 9.99796396e-01 2.73628726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.279254154 meters 0.023462979525318187 Centerline is valid? [True, True] Translation: X:635.89, Y:4.41, Z:2.74 [[ 9.99034027e-01 -4.02146597e-02 -1.77142218e-02 6.35892927e+02] [ 4.02185967e-02 9.99190896e-01 -1.34087327e-04 4.40908839e+00] [ 1.77052814e-02 -5.78483340e-04 9.99843082e-01 2.73663862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.339254154 meters 0.02318958106349593 Centerline is valid? [True, True] Translation: X:635.95, Y:4.41, Z:2.74 [[ 9.99082354e-01 -3.90865995e-02 -1.75125202e-02 6.35953287e+02] [ 3.90902742e-02 9.99235674e-01 -1.32560552e-04 4.41024054e+00] [ 1.75043163e-02 -5.52130307e-04 9.99846635e-01 2.73720865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.399254154 meters 0.01976499185026226 Centerline is valid? [True, True] Translation: X:636.01, Y:4.42, Z:2.74 [[ 9.99132020e-01 -3.78554108e-02 -1.73831787e-02 6.36014204e+02] [ 3.78588435e-02 9.99283088e-01 -1.31682403e-04 4.41802872e+00] [ 1.73757014e-02 -5.26538938e-04 9.99848892e-01 2.74017612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.459254154 meters 0.020065201031636972 Centerline is valid? [True, True] Translation: X:636.08, Y:4.42, Z:2.74 [[ 9.99096965e-01 -3.83584099e-02 -1.82725982e-02 6.36075264e+02] [ 3.83622955e-02 9.99263887e-01 -1.37955763e-04 4.41805010e+00] [ 1.82644393e-02 -5.63147629e-04 9.99833033e-01 2.73923816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.519254154 meters 0.020883799324636264 Centerline is valid? [True, True] Translation: X:636.14, Y:4.42, Z:2.74 [[ 9.99006509e-01 -4.02960317e-02 -1.90321853e-02 6.36136010e+02] [ 4.03006015e-02 9.99187590e-01 -1.43525262e-04 4.41714259e+00] [ 1.90225068e-02 -6.23625844e-04 9.99818861e-01 2.73865870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.579254154 meters 0.020836952016466757 Centerline is valid? [True, True] Translation: X:636.20, Y:4.42, Z:2.74 [[ 9.98821290e-01 -4.42492487e-02 -1.99508064e-02 6.36196911e+02] [ 4.42550636e-02 9.99020253e-01 -1.50165068e-04 4.41905316e+00] [ 1.99379044e-02 -7.32936140e-04 9.99800952e-01 2.73959111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.639254154 meters 0.02168186230224617 Centerline is valid? [True, True] Translation: X:636.26, Y:4.42, Z:2.74 [[ 9.98774698e-01 -4.48051133e-02 -2.10143793e-02 6.36256617e+02] [ 4.48116833e-02 9.98995439e-01 -1.58387032e-04 4.41922718e+00] [ 2.10003657e-02 -7.83496752e-04 9.99779161e-01 2.73865426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.699254154 meters 0.020552403274610657 Centerline is valid? [True, True] Translation: X:636.32, Y:4.42, Z:2.74 [[ 9.98840477e-01 -4.27134256e-02 -2.22095823e-02 6.36316857e+02] [ 4.27202462e-02 9.99087060e-01 -1.67480042e-04 4.42349851e+00] [ 2.21964599e-02 -7.81512980e-04 9.99753323e-01 2.73848636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.759254154 meters 0.019636581908982483 Centerline is valid? [True, True] Translation: X:636.38, Y:4.43, Z:2.74 [[ 9.98987416e-01 -3.97128362e-02 -2.11431679e-02 6.36376268e+02] [ 3.97183331e-02 9.99210903e-01 -1.60053865e-04 4.42772842e+00] [ 2.11328401e-02 -6.79879587e-04 9.99776445e-01 2.74087673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.819254154 meters 0.01963595804871109 Centerline is valid? [True, True] Translation: X:636.44, Y:4.43, Z:2.74 [[ 9.99054868e-01 -3.78772491e-02 -2.13233501e-02 6.36435362e+02] [ 3.78824123e-02 9.99282191e-01 -1.61886968e-04 4.42980963e+00] [ 2.13141759e-02 -6.46045979e-04 9.99772618e-01 2.74214402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.879254154 meters 0.01892542847037678 Centerline is valid? [True, True] Translation: X:636.50, Y:4.43, Z:2.74 [[ 9.99048589e-01 -3.77774070e-02 -2.17895418e-02 6.36495237e+02] [ 3.77827592e-02 9.99285963e-01 -1.66146006e-04 4.43140110e+00] [ 2.17802599e-02 -6.57281080e-04 9.99762566e-01 2.74300011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.939254154 meters 0.019864635697497163 Centerline is valid? [True, True] Translation: X:636.55, Y:4.43, Z:2.74 [[ 9.99017368e-01 -3.82432453e-02 -2.23998319e-02 6.36554128e+02] [ 3.82489931e-02 9.99268225e-01 -1.71940480e-04 4.43026476e+00] [ 2.23900158e-02 -6.84999491e-04 9.99749078e-01 2.74272784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.999254154 meters 0.021237013621657478 Centerline is valid? [True, True] Translation: X:636.61, Y:4.43, Z:2.74 [[ 9.99062407e-01 -3.76720847e-02 -2.13335680e-02 6.36612855e+02] [ 3.76771440e-02 9.99289951e-01 -1.64881340e-04 4.43006063e+00] [ 2.13246316e-02 -6.39061166e-04 9.99772400e-01 2.74417318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.059254154 meters 0.020047653949989832 Centerline is valid? [True, True] Translation: X:636.67, Y:4.43, Z:2.74 [[ 9.99074139e-01 -3.81934145e-02 -1.98022310e-02 6.36672788e+02] [ 3.81978605e-02 9.99270184e-01 -1.53808289e-04 4.43069839e+00] [ 1.97936535e-02 -6.02736975e-04 9.99803905e-01 2.74482183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.119254154 meters 0.01923022408917826 Centerline is valid? [True, True] Translation: X:636.73, Y:4.43, Z:2.74 [[ 9.99031716e-01 -3.87817081e-02 -2.07751914e-02 6.36733291e+02] [ 3.87867255e-02 9.99247499e-01 -1.61529013e-04 4.43382988e+00] [ 2.07658224e-02 -6.44429039e-04 9.99784159e-01 2.74483245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.179254154 meters 0.019050191775526793 Centerline is valid? [True, True] Translation: X:636.79, Y:4.44, Z:2.75 [[ 9.99066793e-01 -3.78197919e-02 -2.08616197e-02 6.36793387e+02] [ 3.78246354e-02 9.99284379e-01 -1.62501114e-04 4.43581397e+00] [ 2.08528365e-02 -6.26733693e-04 9.99782360e-01 2.74516509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.239254154 meters 0.017440179478199553 Centerline is valid? [True, True] Translation: X:636.85, Y:4.44, Z:2.75 [[ 9.99302046e-01 -3.18631817e-02 -1.94976632e-02 6.36853177e+02] [ 3.18662725e-02 9.99492130e-01 -1.52226836e-04 4.44337870e+00] [ 1.94926113e-02 -4.69197258e-04 9.99809891e-01 2.74759442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.299254154 meters 0.016565881373953702 Centerline is valid? [True, True] Translation: X:636.91, Y:4.45, Z:2.75 [[ 9.99374832e-01 -2.97895471e-02 -1.90401924e-02 6.36913036e+02] [ 2.97921064e-02 9.99556106e-01 -1.49283254e-04 4.44719684e+00] [ 1.90361877e-02 -4.18057511e-04 9.99818708e-01 2.74876487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.359254154 meters 0.017569307233980383 Centerline is valid? [True, True] Translation: X:636.97, Y:4.45, Z:2.75 [[ 9.99427852e-01 -2.83136539e-02 -1.85015101e-02 6.36971663e+02] [ 2.83158002e-02 9.99599017e-01 -1.46000897e-04 4.44612307e+00] [ 1.84982252e-02 -3.77967702e-04 9.99828822e-01 2.74745679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.419254154 meters 0.017381600687584584 Centerline is valid? [True, True] Translation: X:637.03, Y:4.45, Z:2.75 [[ 9.99402765e-01 -2.88696108e-02 -1.89909974e-02 6.37030671e+02] [ 2.88718994e-02 9.99583108e-01 -1.53712126e-04 4.44703270e+00] [ 1.89875178e-02 -3.94685843e-04 9.99819643e-01 2.74782754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4792541539999 meters 0.017266786956825105 Centerline is valid? [True, True] Translation: X:637.09, Y:4.45, Z:2.75 [[ 9.99319036e-01 -3.11735760e-02 -1.97401334e-02 6.37089791e+02] [ 3.11763983e-02 9.99513884e-01 -1.64826988e-04 4.44811272e+00] [ 1.97356757e-02 -4.50711515e-04 9.99805131e-01 2.74880016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.539254154 meters 0.019069085308323467 Centerline is valid? [True, True] Translation: X:637.15, Y:4.44, Z:2.75 [[ 9.99071947e-01 -3.75613029e-02 -2.10806399e-02 6.37150036e+02] [ 3.75659106e-02 9.99294136e-01 -1.77523248e-04 4.44315480e+00] [ 2.10724278e-02 -6.14554935e-04 9.99777763e-01 2.74739144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5992541539999 meters 0.020192328165664485 Centerline is valid? [True, True] Translation: X:637.21, Y:4.44, Z:2.75 [[ 9.98840526e-01 -4.31884775e-02 -2.12687430e-02 6.37209796e+02] [ 4.31944335e-02 9.99066669e-01 -1.79498171e-04 4.44101605e+00] [ 2.12566445e-02 -7.39401256e-04 9.99773779e-01 2.74796546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.659254154 meters 0.023627885888887677 Centerline is valid? [True, True] Translation: X:637.27, Y:4.44, Z:2.75 [[ 9.98502782e-01 -5.04575533e-02 -2.11241630e-02 6.37269495e+02] [ 5.04650451e-02 9.98725812e-01 -1.78609994e-04 4.43634946e+00] [ 2.11062591e-02 -8.87689263e-04 9.99776844e-01 2.74732416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.7192541539999 meters 0.023562189807759315 Centerline is valid? [True, True] Translation: X:637.33, Y:4.44, Z:2.75 [[ 9.98336149e-01 -5.43703465e-02 -1.92041573e-02 6.37330591e+02] [ 5.43772643e-02 9.98520449e-01 -1.62160847e-04 4.43911054e+00] [ 1.91845605e-02 -8.82378499e-04 9.99815570e-01 2.74956976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.779254154 meters 0.02375093099742869 Centerline is valid? [True, True] Translation: X:637.39, Y:4.44, Z:2.75 [[ 9.98394057e-01 -5.42023110e-02 -1.64747053e-02 6.37392459e+02] [ 5.42073948e-02 9.98529689e-01 -1.38145789e-04 4.44211385e+00] [ 1.64579702e-02 -7.55126922e-04 9.99864273e-01 2.75219571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.839254154 meters 0.02372069212385999 Centerline is valid? [True, True] Translation: X:637.45, Y:4.45, Z:2.75 [[ 9.98470236e-01 -5.32495319e-02 -1.48887868e-02 6.37454510e+02] [ 5.32535941e-02 9.98581013e-01 -1.23777124e-04 4.44532577e+00] [ 1.48742509e-02 -6.69293634e-04 9.99889148e-01 2.75417516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.899254154 meters 0.0245010441302782 Centerline is valid? [True, True] Translation: X:637.52, Y:4.45, Z:2.75 [[ 9.98525010e-01 -5.25994001e-02 -1.34576507e-02 6.37515365e+02] [ 5.26026704e-02 9.98615515e-01 -1.11091553e-04 4.44618192e+00] [ 1.34448622e-02 -5.96980672e-04 9.99909436e-01 2.75381434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.959254154 meters 0.02523998221316797 Centerline is valid? [True, True] Translation: X:637.58, Y:4.45, Z:2.75 [[ 9.98489956e-01 -5.29937843e-02 -1.44729769e-02 6.37577888e+02] [ 5.29976223e-02 9.98594631e-01 -1.18492224e-04 4.44712005e+00] [ 1.44589164e-02 -6.48720068e-04 9.99895254e-01 2.75241737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.019254154 meters 0.023685620835441616 Centerline is valid? [True, True] Translation: X:637.64, Y:4.45, Z:2.75 [[ 9.98542507e-01 -5.15810796e-02 -1.58825030e-02 6.37640280e+02] [ 5.15855422e-02 9.98668571e-01 -1.28842904e-04 4.45033155e+00] [ 1.58680025e-02 -6.90652416e-04 9.99873857e-01 2.75051923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.079254154 meters 0.023293985144972978 Centerline is valid? [True, True] Translation: X:637.70, Y:4.45, Z:2.75 [[ 9.98720286e-01 -4.73567893e-02 -1.77517678e-02 6.37700759e+02] [ 4.73617304e-02 9.98877793e-01 -1.42201204e-04 4.45470977e+00] [ 1.77385809e-02 -6.98735215e-04 9.99842415e-01 2.74994310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.139254154 meters 0.022030742208283664 Centerline is valid? [True, True] Translation: X:637.76, Y:4.46, Z:2.75 [[ 9.98915884e-01 -4.25087145e-02 -1.89754210e-02 6.37762464e+02] [ 4.25135110e-02 9.99095881e-01 -1.50727999e-04 4.46024047e+00] [ 1.89646722e-02 -6.56147175e-04 9.99819939e-01 2.74923706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.199254154 meters 0.01918731580633168 Centerline is valid? [True, True] Translation: X:637.82, Y:4.47, Z:2.75 [[ 9.99285330e-01 -3.24013437e-02 -1.94674740e-02 6.37822153e+02] [ 3.24044752e-02 9.99474825e-01 -1.54649771e-04 4.47026464e+00] [ 1.94622610e-02 -4.76294030e-04 9.99810479e-01 2.74921205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.259254154 meters 0.017885344717683143 Centerline is valid? [True, True] Translation: X:637.88, Y:4.47, Z:2.75 [[ 9.99420946e-01 -2.81730895e-02 -1.90801106e-02 6.37881943e+02] [ 2.81753163e-02 9.99602985e-01 -1.52152583e-04 4.47469315e+00] [ 1.90768221e-02 -3.85523673e-04 9.99817947e-01 2.75027048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.319254154 meters 0.01529539543480847 Centerline is valid? [True, True] Translation: X:637.94, Y:4.49, Z:2.75 [[ 9.99758279e-01 -1.45902498e-02 -1.64471167e-02 6.37942069e+02] [ 1.45900605e-02 9.99893551e-01 -1.31503200e-04 4.48965741e+00] [ 1.64472846e-02 -1.08493016e-04 9.99864728e-01 2.75491703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.379254154 meters 0.01539030597027856 Centerline is valid? [True, True] Translation: X:638.00, Y:4.50, Z:2.76 [[ 9.99876538e-01 -4.61576850e-03 -1.50200842e-02 6.38000335e+02] [ 4.61444417e-03 9.99989346e-01 -1.22826169e-04 4.49921809e+00] [ 1.50204911e-02 5.35016644e-05 9.99887185e-01 2.75607259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.439254154 meters 0.015320942695200847 Centerline is valid? [True, True] Translation: X:638.06, Y:4.50, Z:2.76 [[ 9.99880235e-01 -4.24985685e-03 -1.48813459e-02 6.38058265e+02] [ 4.24845443e-03 9.99990967e-01 -1.25852070e-04 4.50077886e+00] [ 1.48817463e-02 6.26142777e-05 9.99889259e-01 2.75619795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.499254154 meters 0.014923193018476418 Centerline is valid? [True, True] Translation: X:638.12, Y:4.50, Z:2.76 [[ 9.99850443e-01 -9.11293659e-03 -1.46984850e-02 6.38117423e+02] [ 9.11206420e-03 9.99958476e-01 -1.26323446e-04 4.49705914e+00] [ 1.46990258e-02 -7.62898492e-06 9.99891963e-01 2.75581533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.559254154 meters 0.015618559889192217 Centerline is valid? [True, True] Translation: X:638.18, Y:4.49, Z:2.76 [[ 9.99657919e-01 -2.16450532e-02 -1.46811933e-02 6.38176691e+02] [ 2.16455194e-02 9.99765700e-01 -1.27159606e-04 4.48825804e+00] [ 1.46805059e-02 -1.90665947e-04 9.99892217e-01 2.75575832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.619254154 meters 0.01845359480942546 Centerline is valid? [True, True] Translation: X:638.24, Y:4.48, Z:2.75 [[ 9.99277106e-01 -3.44367346e-02 -1.61051904e-02 6.38235860e+02] [ 3.44389537e-02 9.99406794e-01 -1.39615016e-04 4.47931292e+00] [ 1.61004446e-02 -4.15131817e-04 9.99870293e-01 2.75449025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.679254154 meters 0.02085153669517585 Centerline is valid? [True, True] Translation: X:638.30, Y:4.47, Z:2.75 [[ 9.99020534e-01 -4.10154628e-02 -1.66043597e-02 6.38296456e+02] [ 4.10187340e-02 9.99158367e-01 -1.43650801e-04 4.47337987e+00] [ 1.65962768e-02 -5.37579715e-04 9.99862128e-01 2.75317843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.739254154 meters 0.023441063824846203 Centerline is valid? [True, True] Translation: X:638.36, Y:4.47, Z:2.75 [[ 9.98731189e-01 -4.73621221e-02 -1.71125860e-02 6.38357424e+02] [ 4.73665299e-02 9.98877565e-01 -1.47872880e-04 4.46840779e+00] [ 1.71003818e-02 -6.62878556e-04 9.99853558e-01 2.75231109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.799254154 meters 0.025323989809150793 Centerline is valid? [True, True] Translation: X:638.42, Y:4.47, Z:2.75 [[ 9.98590146e-01 -5.06849740e-02 -1.57719364e-02 6.38418388e+02] [ 5.06891354e-02 9.98714470e-01 -1.36058702e-04 4.46658991e+00] [ 1.57585573e-02 -6.63598943e-04 9.99875606e-01 2.75319550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.859254154 meters 0.027941130365190137 Centerline is valid? [True, True] Translation: X:638.48, Y:4.46, Z:2.75 [[ 9.98445622e-01 -5.40413184e-02 -1.36335936e-02 6.38478782e+02] [ 5.40447430e-02 9.98538508e-01 -1.17385970e-04 4.46424099e+00] [ 1.36200119e-02 -6.19620552e-04 9.99907051e-01 2.75453369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.919254154 meters 0.02544791342133016 Centerline is valid? [True, True] Translation: X:638.54, Y:4.47, Z:2.76 [[ 9.98341655e-01 -5.62494565e-02 -1.22448994e-02 6.38540652e+02] [ 5.62523925e-02 9.98416575e-01 -1.04786835e-04 4.46757637e+00] [ 1.22314047e-02 -5.84191824e-04 9.99925023e-01 2.75586671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9792541539999 meters 0.02816095494394444 Centerline is valid? [True, True] Translation: X:638.60, Y:4.47, Z:2.76 [[ 9.98133690e-01 -5.97837115e-02 -1.24517053e-02 6.38601148e+02] [ 5.97870276e-02 9.98211150e-01 -1.06084388e-04 4.46534412e+00] [ 1.24357732e-02 -6.38564048e-04 9.99922469e-01 2.75510359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.039254154 meters 0.02805697192451762 Centerline is valid? [True, True] Translation: X:638.66, Y:4.47, Z:2.75 [[ 9.97967717e-01 -6.23279436e-02 -1.32537877e-02 6.38662246e+02] [ 6.23319277e-02 9.98055468e-01 -1.12672381e-04 4.46643425e+00] [ 1.32350379e-02 -7.13690738e-04 9.99912158e-01 2.75399053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0992541539999 meters 0.029651934171619817 Centerline is valid? [True, True] Translation: X:638.72, Y:4.47, Z:2.75 [[ 9.97824097e-01 -6.40462821e-02 -1.56571170e-02 6.38723700e+02] [ 6.40520611e-02 9.97946550e-01 -1.32603005e-04 4.46538636e+00] [ 1.56334586e-02 -8.70556139e-04 9.99877411e-01 2.75144854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.159254154 meters 0.03018622957286387 Centerline is valid? [True, True] Translation: X:638.79, Y:4.47, Z:2.75 [[ 9.97794945e-01 -6.41535151e-02 -1.70168786e-02 6.38785921e+02] [ 6.41603756e-02 9.97939590e-01 -1.43042033e-04 4.46727659e+00] [ 1.69909935e-02 -9.49082704e-04 9.99855192e-01 2.75027676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.2192541539999 meters 0.030153338681580714 Centerline is valid? [True, True] Translation: X:638.85, Y:4.47, Z:2.75 [[ 9.97797294e-01 -6.37387921e-02 -1.83827707e-02 6.38849339e+02] [ 6.37467623e-02 9.97966095e-01 -1.52672450e-04 4.47189856e+00] [ 1.83551130e-02 -1.01950595e-03 9.99831011e-01 2.75016172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.279254154 meters 0.028289820914735732 Centerline is valid? [True, True] Translation: X:638.91, Y:4.48, Z:2.75 [[ 9.97976122e-01 -6.13378182e-02 -1.67729486e-02 6.38910493e+02] [ 6.13441300e-02 9.98116666e-01 -1.38417227e-04 4.47917689e+00] [ 1.67498498e-02 -8.90784854e-04 9.99859315e-01 2.75254825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.339254154 meters 0.02960714327831569 Centerline is valid? [True, True] Translation: X:638.97, Y:4.48, Z:2.76 [[ 9.98196608e-01 -5.85383029e-02 -1.32965551e-02 6.38970431e+02] [ 5.85420230e-02 9.98284939e-01 -1.09601253e-04 4.48172153e+00] [ 1.32801666e-02 -6.69003635e-04 9.99911591e-01 2.75568055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.399254154 meters 0.027248794332488155 Centerline is valid? [True, True] Translation: X:639.03, Y:4.49, Z:2.76 [[ 9.98288725e-01 -5.73186186e-02 -1.15843706e-02 6.39033099e+02] [ 5.73213678e-02 9.98355774e-01 -9.48430091e-05 4.48652277e+00] [ 1.15707596e-02 -5.69351263e-04 9.99932894e-01 2.75731298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.459254154 meters 0.0267621168890525 Centerline is valid? [True, True] Translation: X:639.10, Y:4.49, Z:2.76 [[ 9.98290902e-01 -5.67722134e-02 -1.38632884e-02 6.39095931e+02] [ 5.67761190e-02 9.98386929e-01 -1.11999690e-04 4.48874056e+00] [ 1.38472844e-02 -6.75295441e-04 9.99903894e-01 2.75566665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.519254154 meters 0.02806431425221838 Centerline is valid? [True, True] Translation: X:639.16, Y:4.49, Z:2.75 [[ 9.98168062e-01 -5.84325265e-02 -1.56895057e-02 6.39157630e+02] [ 5.84377517e-02 9.98291046e-01 -1.25605707e-04 4.48717994e+00] [ 1.56700325e-02 -7.91483832e-04 9.99876904e-01 2.75413985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.579254154 meters 0.031109140287803025 Centerline is valid? [True, True] Translation: X:639.22, Y:4.48, Z:2.75 [[ 9.97909485e-01 -6.21573119e-02 -1.76954283e-02 6.39217349e+02] [ 6.21645611e-02 9.98065903e-01 -1.40630438e-04 4.48388262e+00] [ 1.76699448e-02 -9.59692084e-04 9.99843414e-01 2.75325010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.639254154 meters 0.03245034352147743 Centerline is valid? [True, True] Translation: X:639.28, Y:4.48, Z:2.75 [[ 9.97852925e-01 -6.29949178e-02 -1.79215158e-02 6.39279753e+02] [ 6.30025095e-02 9.98013359e-01 -1.41230497e-04 4.48313272e+00] [ 1.78948090e-02 -9.88173205e-04 9.99839387e-01 2.75357537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.699254154 meters 0.032155076288927324 Centerline is valid? [True, True] Translation: X:639.34, Y:4.49, Z:2.75 [[ 9.97990518e-01 -6.08234816e-02 -1.77603503e-02 6.39341226e+02] [ 6.08306080e-02 9.98148094e-01 -1.39195122e-04 4.48657654e+00] [ 1.77359261e-02 -9.41457494e-04 9.99842263e-01 2.75489923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.759254154 meters 0.029294168624695152 Centerline is valid? [True, True] Translation: X:639.40, Y:4.50, Z:2.76 [[ 9.98387975e-01 -5.42348058e-02 -1.67343369e-02 6.39402015e+02] [ 5.42402124e-02 9.98527908e-01 -1.30948454e-04 4.49630690e+00] [ 1.67168044e-02 -7.76936627e-04 9.99859963e-01 2.75791608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.819254154 meters 0.0239394217669389 Centerline is valid? [True, True] Translation: X:639.46, Y:4.51, Z:2.76 [[ 9.98609063e-01 -4.99232348e-02 -1.69590824e-02 6.39463186e+02] [ 4.99281713e-02 9.98752802e-01 -1.32457715e-04 4.50628387e+00] [ 1.69445437e-02 -7.14462493e-04 9.99856176e-01 2.75954400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.879254154 meters 0.024355851962102156 Centerline is valid? [True, True] Translation: X:639.52, Y:4.51, Z:2.76 [[ 9.98752736e-01 -4.64102469e-02 -1.84136080e-02 6.39523721e+02] [ 4.64154768e-02 9.98922211e-01 -1.43479360e-04 4.50870542e+00] [ 1.84004209e-02 -7.11375990e-04 9.99830445e-01 2.75898032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.939254154 meters 0.023105054472382744 Centerline is valid? [True, True] Translation: X:639.59, Y:4.51, Z:2.76 [[ 9.98770251e-01 -4.50094652e-02 -2.07878449e-02 6.39586346e+02] [ 4.50158543e-02 9.98986260e-01 -1.60725099e-04 4.51250422e+00] [ 2.07740055e-02 -7.75255148e-04 9.99783896e-01 2.75811420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.999254154 meters 0.024349266360470422 Centerline is valid? [True, True] Translation: X:639.65, Y:4.51, Z:2.76 [[ 9.98774992e-01 -4.43749962e-02 -2.18946224e-02 6.39647661e+02] [ 4.43819822e-02 9.99014620e-01 -1.66981520e-04 4.51254414e+00] [ 2.18804577e-02 -8.04949776e-04 9.99760270e-01 2.75799711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.059254154 meters 0.022785490993499493 Centerline is valid? [True, True] Translation: X:639.71, Y:4.52, Z:2.76 [[ 9.98830669e-01 -4.29659440e-02 -2.21635385e-02 6.39708780e+02] [ 4.29727813e-02 9.99076229e-01 -1.67907436e-04 4.51634280e+00] [ 2.21502787e-02 -7.84717796e-04 9.99754345e-01 2.76042295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.119254154 meters 0.01982996417299542 Centerline is valid? [True, True] Translation: X:639.77, Y:4.52, Z:2.76 [[ 9.99021760e-01 -3.87371540e-02 -2.13296929e-02 6.39769845e+02] [ 3.87425333e-02 9.99249213e-01 -1.61132231e-04 4.52145129e+00] [ 2.13199207e-02 -6.65391732e-04 9.99772483e-01 2.76355049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.179254154 meters 0.01969016780151887 Centerline is valid? [True, True] Translation: X:639.83, Y:4.52, Z:2.76 [[ 9.99082778e-01 -3.73320149e-02 -2.09743664e-02 6.39831434e+02] [ 3.73369213e-02 9.99302722e-01 -1.57766550e-04 4.52234286e+00] [ 2.09656312e-02 -6.25496424e-04 9.99780001e-01 2.76449873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.239254154 meters 0.018570003969601758 Centerline is valid? [True, True] Translation: X:639.89, Y:4.53, Z:2.77 [[ 9.99226303e-01 -3.33870034e-02 -2.07870878e-02 6.39892734e+02] [ 3.33909853e-02 9.99442353e-01 -1.55597086e-04 4.52694899e+00] [ 2.07806909e-02 -5.38624642e-04 9.99783913e-01 2.76703627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.299254154 meters 0.018069641312132814 Centerline is valid? [True, True] Translation: X:639.95, Y:4.53, Z:2.77 [[ 9.99293018e-01 -3.00204887e-02 -2.26325824e-02 6.39952437e+02] [ 3.00243547e-02 9.99549153e-01 -1.69053262e-04 4.52795363e+00] [ 2.26274536e-02 -5.10594936e-04 9.99743836e-01 2.76611860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.359254154 meters 0.017927483128647108 Centerline is valid? [True, True] Translation: X:640.01, Y:4.53, Z:2.76 [[ 9.99224722e-01 -2.93867827e-02 -2.61987025e-02 6.40012097e+02] [ 2.93917272e-02 9.99567951e-01 -1.96411552e-04 4.52776015e+00] [ 2.61931552e-02 -5.73765838e-04 9.99656736e-01 2.76437712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.419254154 meters 0.018287597757755736 Centerline is valid? [True, True] Translation: X:640.07, Y:4.53, Z:2.76 [[ 9.99166731e-01 -2.98696923e-02 -2.78144927e-02 6.40070441e+02] [ 2.98753910e-02 9.99553609e-01 -2.10750146e-04 4.52754704e+00] [ 2.78083716e-02 -6.20394312e-04 9.99613080e-01 2.76457426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4792541539999 meters 0.01889901219706217 Centerline is valid? [True, True] Translation: X:640.13, Y:4.53, Z:2.77 [[ 9.99057489e-01 -3.22041004e-02 -2.91037683e-02 6.40129565e+02] [ 3.22112802e-02 9.99481057e-01 -2.22224204e-04 4.52502513e+00] [ 2.90958217e-02 -7.15454882e-04 9.99576371e-01 2.76574091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.539254154 meters 0.019427237129876648 Centerline is valid? [True, True] Translation: X:640.19, Y:4.52, Z:2.77 [[ 9.98988640e-01 -3.55665647e-02 -2.75084875e-02 6.40187874e+02] [ 3.55741898e-02 9.99367016e-01 -2.12303073e-04 4.52218913e+00] [ 2.74986260e-02 -7.66503799e-04 9.99621547e-01 2.76922397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5992541539999 meters 0.02152899606106868 Centerline is valid? [True, True] Translation: X:640.25, Y:4.52, Z:2.77 [[ 9.98952372e-01 -3.86771348e-02 -2.44588833e-02 6.40246060e+02] [ 3.86840577e-02 9.99251474e-01 -1.90228182e-04 4.51569574e+00] [ 2.44479327e-02 -7.56139959e-04 9.99700819e-01 2.77209183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.659254154 meters 0.019706536966585697 Centerline is valid? [True, True] Translation: X:640.31, Y:4.52, Z:2.78 [[ 9.98874605e-01 -4.07253943e-02 -2.43097805e-02 6.40306963e+02] [ 4.07328417e-02 9.99170056e-01 -1.88949086e-04 4.51756937e+00] [ 2.42972998e-02 -8.01469998e-04 9.99704456e-01 2.77612186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.7192541539999 meters 0.021190646081045404 Centerline is valid? [True, True] Translation: X:640.37, Y:4.51, Z:2.78 [[ 9.98716979e-01 -4.37465290e-02 -2.55076036e-02 6.40366709e+02] [ 4.37557528e-02 9.99042239e-01 -1.96687247e-04 4.51212547e+00] [ 2.54917778e-02 -9.19669505e-04 9.99674609e-01 2.77530527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.779254154 meters 0.021326455547630636 Centerline is valid? [True, True] Translation: X:640.43, Y:4.51, Z:2.77 [[ 9.98549014e-01 -4.60066126e-02 -2.79867409e-02 6.40427297e+02] [ 4.60186136e-02 9.98940559e-01 -2.15463364e-04 4.50872266e+00] [ 2.79670033e-02 -1.07276028e-03 9.99608271e-01 2.77471374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.839254154 meters 0.021430122551718882 Centerline is valid? [True, True] Translation: X:640.49, Y:4.51, Z:2.77 [[ 9.98538012e-01 -4.51396890e-02 -2.97362929e-02 6.40488129e+02] [ 4.51528547e-02 9.98980064e-01 -2.28932756e-04 4.50563980e+00] [ 2.97162977e-02 -1.11408045e-03 9.99557752e-01 2.77463028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.899254154 meters 0.02044993499291613 Centerline is valid? [True, True] Translation: X:640.55, Y:4.51, Z:2.78 [[ 9.98655368e-01 -4.21106620e-02 -3.02348875e-02 6.40547284e+02] [ 4.21227019e-02 9.99112417e-01 -2.38893466e-04 4.50664203e+00] [ 3.02181115e-02 -1.03500291e-03 9.99542793e-01 2.77592038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.959254154 meters 0.017183386936712234 Centerline is valid? [True, True] Translation: X:640.61, Y:4.51, Z:2.78 [[ 9.99058301e-01 -3.19592898e-02 -2.93447529e-02 6.40608024e+02] [ 3.19662229e-02 9.99488923e-01 -2.32948490e-04 4.51245044e+00] [ 2.93372004e-02 -7.05311789e-04 9.99569323e-01 2.77953555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.019254154 meters 0.015235911818310289 Centerline is valid? [True, True] Translation: X:640.67, Y:4.52, Z:2.78 [[ 9.99382676e-01 -1.93385950e-02 -2.93306292e-02 6.40667983e+02] [ 1.93400737e-02 9.99812936e-01 -2.33301894e-04 4.51761970e+00] [ 2.93296543e-02 -3.34098659e-04 9.99569737e-01 2.78022499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.079254154 meters 0.014741927255337635 Centerline is valid? [True, True] Translation: X:640.73, Y:4.52, Z:2.78 [[ 9.99473957e-01 -1.11335218e-02 -3.04606796e-02 6.40726370e+02] [ 1.11311044e-02 9.99938016e-01 -2.48936412e-04 4.52009539e+00] [ 3.04615631e-02 -9.02555429e-05 9.99535935e-01 2.78014070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.139254154 meters 0.014640326628564708 Centerline is valid? [True, True] Translation: X:640.79, Y:4.52, Z:2.78 [[ 9.99477181e-01 -9.45374679e-03 -3.09191175e-02 6.40785136e+02] [ 9.45020969e-03 9.99955312e-01 -2.60530793e-04 4.51822224e+00] [ 3.09201988e-02 -3.17975612e-05 9.99521856e-01 2.78101923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.199254154 meters 0.015891342633534256 Centerline is valid? [True, True] Translation: X:640.84, Y:4.51, Z:2.78 [[ 9.99447572e-01 -1.18549845e-02 -3.10485007e-02 6.40842535e+02] [ 1.18524677e-02 9.99929722e-01 -2.65110655e-04 4.51016364e+00] [ 3.10494615e-02 -1.03037149e-04 9.99517844e-01 2.78011015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.259254154 meters 0.014683188493494754 Centerline is valid? [True, True] Translation: X:640.90, Y:4.50, Z:2.78 [[ 9.99314852e-01 -1.90169063e-02 -3.17518979e-02 6.40901495e+02] [ 1.90178113e-02 9.99819108e-01 -2.73527885e-04 4.50091210e+00] [ 3.17513559e-02 -3.30511126e-04 9.99495744e-01 2.78283838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.319254154 meters 0.016213820666707915 Centerline is valid? [True, True] Translation: X:640.96, Y:4.49, Z:2.78 [[ 9.99173825e-01 -2.76311519e-02 -2.98024485e-02 6.40959762e+02] [ 2.76357005e-02 9.99618027e-01 -2.59340477e-04 4.48816924e+00] [ 2.97982307e-02 -5.64485325e-04 9.99555775e-01 2.78266973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.379254154 meters 0.01802167130580599 Centerline is valid? [True, True] Translation: X:641.02, Y:4.48, Z:2.78 [[ 9.99024011e-01 -3.39229741e-02 -2.82888202e-02 6.41019528e+02] [ 3.39295575e-02 9.99424196e-01 -2.47392439e-04 4.47998818e+00] [ 2.82809237e-02 -7.12676167e-04 9.99599761e-01 2.78326730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.439254154 meters 0.0216666435358604 Centerline is valid? [True, True] Translation: X:641.08, Y:4.47, Z:2.78 [[ 9.98644095e-01 -4.46395573e-02 -2.67821241e-02 6.41080326e+02] [ 4.46492984e-02 9.99002695e-01 -2.34478502e-04 4.46780615e+00] [ 2.67658812e-02 -9.61642479e-04 9.99641267e-01 2.78472558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.499254154 meters 0.02376380603530523 Centerline is valid? [True, True] Translation: X:641.14, Y:4.46, Z:2.79 [[ 9.98144137e-01 -5.55608575e-02 -2.49253261e-02 6.41140520e+02] [ 5.55726817e-02 9.98454621e-01 -2.18590789e-04 4.45842705e+00] [ 2.48989521e-02 -1.16698210e-03 9.99689292e-01 2.78789147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.559254154 meters 0.02786945712454012 Centerline is valid? [True, True] Translation: X:641.20, Y:4.45, Z:2.79 [[ 9.97711976e-01 -6.37867669e-02 -2.24067297e-02 6.41201228e+02] [ 6.37983888e-02 9.97962788e-01 -1.96512086e-04 4.44825235e+00] [ 2.23736173e-02 -1.23345079e-03 9.99748918e-01 2.78943740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.619254154 meters 0.028984459871339362 Centerline is valid? [True, True] Translation: X:641.26, Y:4.44, Z:2.79 [[ 9.97362047e-01 -6.90385000e-02 -2.24194613e-02 6.41261477e+02] [ 6.90514584e-02 9.97613080e-01 -1.96553919e-04 4.44071526e+00] [ 2.23795177e-02 -1.35206108e-03 9.99748633e-01 2.78963958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.679254154 meters 0.03154941410976308 Centerline is valid? [True, True] Translation: X:641.32, Y:4.43, Z:2.79 [[ 9.97257627e-01 -7.03134979e-02 -2.30919316e-02 6.41322652e+02] [ 7.03276102e-02 9.97523928e-01 -2.01411686e-04 4.43485832e+00] [ 2.30489163e-02 -1.42314102e-03 9.99733326e-01 2.78813338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.739254154 meters 0.028785789030518257 Centerline is valid? [True, True] Translation: X:641.38, Y:4.44, Z:2.79 [[ 9.97360811e-01 -6.84691836e-02 -2.41533382e-02 6.41384332e+02] [ 6.84841175e-02 9.97652185e-01 -2.09316703e-04 4.43710440e+00] [ 2.41109624e-02 -1.44535577e-03 9.99708244e-01 2.78781400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.799254154 meters 0.027749176857430197 Centerline is valid? [True, True] Translation: X:641.44, Y:4.44, Z:2.79 [[ 9.97784224e-01 -6.18707522e-02 -2.44673608e-02 6.41444390e+02] [ 6.18841045e-02 9.98083320e-01 -2.11812883e-04 4.43850680e+00] [ 2.44335697e-02 -1.30279716e-03 9.99700607e-01 2.78665491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.859254154 meters 0.021498456803416246 Centerline is valid? [True, True] Translation: X:641.50, Y:4.45, Z:2.79 [[ 9.98500919e-01 -4.96341242e-02 -2.30731035e-02 6.41504551e+02] [ 4.96427381e-02 9.98767019e-01 -1.99652891e-04 4.44994509e+00] [ 2.30545644e-02 -9.46058437e-04 9.99733761e-01 2.78818962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.919254154 meters 0.018035292023228344 Centerline is valid? [True, True] Translation: X:641.56, Y:4.46, Z:2.79 [[ 9.99029256e-01 -3.86607977e-02 -2.11160860e-02 6.41564730e+02] [ 3.86655622e-02 9.99252191e-01 -1.82747934e-04 4.45928635e+00] [ 2.11073604e-02 -6.33894805e-04 9.99777014e-01 2.78950058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9792541539999 meters 0.014353182102660494 Centerline is valid? [True, True] Translation: X:641.62, Y:4.47, Z:2.79 [[ 9.99636212e-01 -2.13717454e-02 -1.64527236e-02 6.41624069e+02] [ 2.13722916e-02 9.99771576e-01 -1.42654511e-04 4.47103297e+00] [ 1.64520141e-02 -2.09029790e-04 9.99864635e-01 2.79103084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.039254154 meters 0.013496989980204639 Centerline is valid? [True, True] Translation: X:641.68, Y:4.48, Z:2.79 [[ 9.99884252e-01 -6.77971667e-03 -1.36204743e-02 6.41682888e+02] [ 6.77872675e-03 9.99977017e-01 -1.18845137e-04 4.48064925e+00] [ 1.36209670e-02 2.65019081e-05 9.99907230e-01 2.79240613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0992541539999 meters 0.013556855817618485 Centerline is valid? [True, True] Translation: X:641.74, Y:4.48, Z:2.79 [[ 9.99917002e-01 -3.85005865e-03 -1.22950041e-02 6.41740407e+02] [ 3.84899878e-03 9.99992587e-01 -1.09864682e-04 4.48289385e+00] [ 1.22953360e-02 6.25321074e-05 9.99924408e-01 2.79294376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.159254154 meters 0.013785215018243695 Centerline is valid? [True, True] Translation: X:641.80, Y:4.48, Z:2.79 [[ 9.99946544e-01 2.88018636e-04 -1.03357185e-02 6.41799416e+02] [-2.89015726e-04 9.99999954e-01 -9.49768023e-05 4.48464679e+00] [ 1.03356906e-02 9.79589104e-05 9.99946581e-01 2.79330519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.2192541539999 meters 0.013802527859338066 Centerline is valid? [True, True] Translation: X:641.86, Y:4.48, Z:2.79 [[ 9.99960076e-01 3.06762315e-04 -8.93036852e-03 6.41858324e+02] [-3.07519257e-04 9.99999949e-01 -8.33873576e-05 4.48098857e+00] [ 8.93034249e-03 8.61302888e-05 9.99960120e-01 2.79112152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.279254154 meters 0.01416874848810626 Centerline is valid? [True, True] Translation: X:641.92, Y:4.47, Z:2.79 [[ 9.99963818e-01 -5.11803388e-03 -6.79469074e-03 6.41916465e+02] [ 5.11771775e-03 9.99986902e-01 -6.39113245e-05 4.47237403e+00] [ 6.79492884e-03 2.91357027e-05 9.99976914e-01 2.79013842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.339254154 meters 0.013510861441357318 Centerline is valid? [True, True] Translation: X:641.98, Y:4.46, Z:2.79 [[ 9.99890665e-01 -1.44227083e-02 -3.26235989e-03 6.41975085e+02] [ 1.44226846e-02 9.99895987e-01 -3.07957584e-05 4.46135383e+00] [ 3.26246472e-03 -1.62595963e-05 9.99994678e-01 2.78983337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.399254154 meters 0.015159018047477204 Centerline is valid? [True, True] Translation: X:642.04, Y:4.45, Z:2.79 [[ 9.99677462e-01 -2.53598789e-02 -1.35974770e-03 6.42035142e+02] [ 2.53598847e-02 9.99678386e-01 -1.29686624e-05 4.44758420e+00] [ 1.35963927e-03 -2.15185656e-05 9.99999075e-01 2.78905424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.459254154 meters 0.01736807597933433 Centerline is valid? [True, True] Translation: X:642.10, Y:4.44, Z:2.79 [[ 9.99462008e-01 -3.27743105e-02 -1.24061202e-03 6.42096752e+02] [ 3.27743209e-02 9.99462778e-01 -1.19441552e-05 4.43716608e+00] [ 1.24033699e-03 -2.87224870e-05 9.99999230e-01 2.78784624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.519254154 meters 0.019272488561162492 Centerline is valid? [True, True] Translation: X:642.16, Y:4.43, Z:2.79 [[ 9.99098440e-01 -4.24535114e-02 8.32858912e-05 6.42156949e+02] [ 4.24535115e-02 9.99098443e-01 7.76481960e-07 4.42778380e+00] [-8.32437685e-05 2.75999662e-06 9.99999997e-01 2.78739860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.579254154 meters 0.02223043222291344 Centerline is valid? [True, True] Translation: X:642.22, Y:4.42, Z:2.79 [[ 9.98757890e-01 -4.97740429e-02 2.28504117e-03 6.42217683e+02] [ 4.97741234e-02 9.98760500e-01 2.16651582e-05 4.41957043e+00] [-2.28328723e-03 9.20976737e-05 9.99997389e-01 2.78874933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.639254154 meters 0.02701885791661253 Centerline is valid? [True, True] Translation: X:642.28, Y:4.41, Z:2.79 [[ 9.98448223e-01 -5.56272579e-02 2.59873152e-03 6.42277784e+02] [ 5.56273815e-02 9.98451598e-01 2.47720657e-05 4.40908947e+00] [-2.59608564e-03 1.19827005e-04 9.99996623e-01 2.78882221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.699254154 meters 0.027873482156927473 Centerline is valid? [True, True] Translation: X:642.34, Y:4.41, Z:2.79 [[ 9.98335947e-01 -5.76046227e-02 2.65404464e-03 6.42339724e+02] [ 5.76047601e-02 9.98339467e-01 2.47334963e-05 4.40810660e+00] [-2.65106228e-03 1.28193266e-04 9.99996478e-01 2.78798922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.759254154 meters 0.025994810087656438 Centerline is valid? [True, True] Translation: X:642.40, Y:4.41, Z:2.79 [[ 9.98334099e-01 -5.76656847e-02 1.92233103e-03 6.42402299e+02] [ 5.76657577e-02 9.98335945e-01 1.74446545e-05 4.41211508e+00] [-1.92013812e-03 9.34370821e-05 9.99998152e-01 2.78672014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.819254154 meters 0.025374228958541845 Centerline is valid? [True, True] Translation: X:642.47, Y:4.41, Z:2.78 [[ 9.98363068e-01 -5.71907136e-02 -6.37386130e-04 6.42465002e+02] [ 5.71907211e-02 9.98363271e-01 -6.45911592e-06 4.41461159e+00] [ 6.36712304e-04 -3.00040297e-05 9.99999797e-01 2.78385913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.879254154 meters 0.025833314147258785 Centerline is valid? [True, True] Translation: X:642.53, Y:4.42, Z:2.78 [[ 9.98254994e-01 -5.88779290e-02 -4.51180364e-03 6.42526886e+02] [ 5.88783415e-02 9.98265165e-01 -4.14551641e-05 4.41787793e+00] [ 4.50641720e-03 -2.24264691e-04 9.99989821e-01 2.78166349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.939254154 meters 0.02746228904816801 Centerline is valid? [True, True] Translation: X:642.59, Y:4.42, Z:2.78 [[ 9.98218503e-01 -5.93653497e-02 -5.96450895e-03 6.42587900e+02] [ 5.93660830e-02 9.98236277e-01 -5.41764696e-05 4.41839580e+00] [ 5.95720541e-03 -3.00009579e-04 9.99982211e-01 2.78124688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.999254154 meters 0.026309990249287284 Centerline is valid? [True, True] Translation: X:642.65, Y:4.43, Z:2.78 [[ 9.98266656e-01 -5.85087983e-02 -6.35645277e-03 6.42649884e+02] [ 5.85096186e-02 9.98286843e-01 -5.69994587e-05 4.42607304e+00] [ 6.34889814e-03 -3.15012968e-04 9.99979796e-01 2.78260072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.059254154 meters 0.02306864042525757 Centerline is valid? [True, True] Translation: X:642.71, Y:4.44, Z:2.79 [[ 9.98610670e-01 -5.24436966e-02 -5.13689674e-03 6.42710418e+02] [ 5.24441536e-02 9.98623857e-01 -4.58002230e-05 4.43816054e+00] [ 5.13222957e-03 -2.23663610e-04 9.99986805e-01 2.78522680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.119254154 meters 0.023909830625202626 Centerline is valid? [True, True] Translation: X:642.77, Y:4.44, Z:2.79 [[ 9.98944161e-01 -4.57785748e-02 -3.85826132e-03 6.42770089e+02] [ 4.57787829e-02 9.98951601e-01 -3.43817519e-05 4.44298440e+00] [ 3.85579027e-03 -1.42281057e-04 9.99992556e-01 2.78744226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.179254154 meters 0.018641939011145716 Centerline is valid? [True, True] Translation: X:642.83, Y:4.46, Z:2.79 [[ 9.99376441e-01 -3.52506495e-02 -2.02985374e-03 6.42830094e+02] [ 3.52506854e-02 9.99378501e-01 -1.81196407e-05 4.45982717e+00] [ 2.02923092e-03 -5.34453935e-05 9.99997940e-01 2.79070604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.239254154 meters 0.016802279641126 Centerline is valid? [True, True] Translation: X:642.89, Y:4.47, Z:2.79 [[ 9.99586069e-01 -2.86865666e-02 -2.18429194e-03 6.42891517e+02] [ 2.86865923e-02 9.99588455e-01 -1.95801274e-05 4.46865346e+00] [ 2.18395469e-03 -4.30878696e-05 9.99997614e-01 2.79103018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.299254154 meters 0.018025370958528842 Centerline is valid? [True, True] Translation: X:642.95, Y:4.47, Z:2.79 [[ 9.99544287e-01 -2.98380624e-02 -4.57262635e-03 6.42953179e+02] [ 2.98381886e-02 9.99554741e-01 -4.06433662e-05 4.46972674e+00] [ 4.57180306e-03 -9.58140428e-05 9.99989545e-01 2.78929696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.359254154 meters 0.01902635492780635 Centerline is valid? [True, True] Translation: X:643.01, Y:4.47, Z:2.79 [[ 9.99349540e-01 -3.52089727e-02 -7.79910365e-03 6.43014682e+02] [ 3.52095073e-02 9.99379951e-01 -6.87948228e-05 4.46830273e+00] [ 7.79669002e-03 -2.05852522e-04 9.99969584e-01 2.78733815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.419254154 meters 0.019963955703571082 Centerline is valid? [True, True] Translation: X:643.08, Y:4.47, Z:2.79 [[ 9.99107055e-01 -4.12735827e-02 -9.03243174e-03 6.43076048e+02] [ 4.12745504e-02 9.99147839e-01 -7.93233163e-05 4.46823957e+00] [ 9.02800862e-03 -2.93557075e-04 9.99959204e-01 2.78792572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4792541539999 meters 0.021282632875417137 Centerline is valid? [True, True] Translation: X:643.14, Y:4.47, Z:2.79 [[ 9.98965745e-01 -4.45824430e-02 -8.93571290e-03 6.43137886e+02] [ 4.45835278e-02 9.99005657e-01 -7.78561741e-05 4.46748097e+00] [ 8.93029876e-03 -3.20609954e-04 9.99960073e-01 2.78893748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.539254154 meters 0.0221966731198542 Centerline is valid? [True, True] Translation: X:643.20, Y:4.47, Z:2.79 [[ 9.98736864e-01 -4.93817048e-02 -9.28030656e-03 6.43198743e+02] [ 4.93830869e-02 9.98779908e-01 -8.03064959e-05 4.46709507e+00] [ 9.27294940e-03 -3.78085128e-04 9.99956934e-01 2.79043914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5992541539999 meters 0.024658365537025675 Centerline is valid? [True, True] Translation: X:643.26, Y:4.46, Z:2.79 [[ 9.98629621e-01 -5.15551020e-02 -8.99731301e-03 6.43260244e+02] [ 5.15564941e-02 9.98670077e-01 -7.73072066e-05 4.46407012e+00] [ 8.98933285e-03 -3.86668648e-04 9.99959520e-01 2.79011623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.659254154 meters 0.0226675303492505 Centerline is valid? [True, True] Translation: X:643.32, Y:4.47, Z:2.79 [[ 9.98577080e-01 -5.23961354e-02 -9.92271741e-03 6.43322672e+02] [ 5.23978790e-02 9.98626284e-01 -8.43461854e-05 4.46816384e+00] [ 9.91350583e-03 -4.35703179e-04 9.99950765e-01 2.79135735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.7192541539999 meters 0.02269087420902229 Centerline is valid? [True, True] Translation: X:643.38, Y:4.47, Z:2.79 [[ 9.98733259e-01 -4.91562139e-02 -1.07491522e-02 6.43383171e+02] [ 4.91580779e-02 9.98791007e-01 -9.08947851e-05 4.47041538e+00] [ 1.07406246e-02 -4.37628016e-04 9.99942222e-01 2.79204784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.779254154 meters 0.021396628090726264 Centerline is valid? [True, True] Translation: X:643.44, Y:4.48, Z:2.79 [[ 9.98947070e-01 -4.43039264e-02 -1.19127550e-02 6.43443615e+02] [ 4.43058723e-02 9.99018008e-01 -1.00643164e-04 4.47506271e+00] [ 1.19055157e-02 -4.27267809e-04 9.99929036e-01 2.79155353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.839254154 meters 0.01839108336877882 Centerline is valid? [True, True] Translation: X:643.50, Y:4.48, Z:2.79 [[ 9.99139965e-01 -3.92573536e-02 -1.33487897e-02 6.43504639e+02] [ 3.92593516e-02 9.99229048e-01 -1.12439443e-04 4.48281563e+00] [ 1.33429125e-02 -4.11722086e-04 9.99910895e-01 2.79103265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.899254154 meters 0.01766366926600341 Centerline is valid? [True, True] Translation: X:643.57, Y:4.49, Z:2.79 [[ 9.99238227e-01 -3.61706491e-02 -1.46509492e-02 6.43565858e+02] [ 3.61727326e-02 9.99345545e-01 -1.22847685e-04 4.48620542e+00] [ 1.46458043e-02 -4.07210765e-04 9.99892662e-01 2.79043397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.959254154 meters 0.017503552910988242 Centerline is valid? [True, True] Translation: X:643.63, Y:4.49, Z:2.79 [[ 9.99305334e-01 -3.39879347e-02 -1.52862733e-02 6.43627515e+02] [ 3.39899563e-02 9.99422166e-01 -1.27608487e-04 4.48922478e+00] [ 1.52817776e-02 -3.92059921e-04 9.99883150e-01 2.78959432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.019254154 meters 0.0173311888964469 Centerline is valid? [True, True] Translation: X:643.69, Y:4.49, Z:2.79 [[ 9.99330342e-01 -3.29730605e-02 -1.58633270e-02 6.43688558e+02] [ 3.29751191e-02 9.99456164e-01 -1.31845006e-04 4.49216771e+00] [ 1.58590473e-02 -3.91338381e-04 9.99874161e-01 2.78996987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.079254154 meters 0.017320525166609632 Centerline is valid? [True, True] Translation: X:643.75, Y:4.49, Z:2.79 [[ 9.99352889e-01 -3.22926017e-02 -1.58426904e-02 6.43749921e+02] [ 3.22945785e-02 9.99478385e-01 -1.31105799e-04 4.49369459e+00] [ 1.58386604e-02 -3.80612051e-04 9.99874488e-01 2.79027583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.139254154 meters 0.017758958375195734 Centerline is valid? [True, True] Translation: X:643.81, Y:4.49, Z:2.79 [[ 9.99382309e-01 -3.20210873e-02 -1.44793066e-02 6.43811702e+02] [ 3.20227171e-02 9.99487134e-01 -1.19325426e-04 4.49496534e+00] [ 1.44757016e-02 -3.44415020e-04 9.99895162e-01 2.79110967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.199254154 meters 0.01776630823228474 Centerline is valid? [True, True] Translation: X:643.87, Y:4.50, Z:2.79 [[ 9.99501940e-01 -2.94828038e-02 -1.12532374e-02 6.43872799e+02] [ 2.94836301e-02 9.99565259e-01 -9.24954989e-05 4.49829964e+00] [ 1.12510722e-02 -2.39336859e-04 9.99936676e-01 2.79368739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.259254154 meters 0.01619804154247997 Centerline is valid? [True, True] Translation: X:643.93, Y:4.50, Z:2.80 [[ 9.99671431e-01 -2.41324121e-02 -8.64045959e-03 6.43932850e+02] [ 2.41327006e-02 9.99708761e-01 -7.08827898e-05 4.50034316e+00] [ 8.63965373e-03 -1.37658124e-04 9.99962668e-01 2.79538555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.319254154 meters 0.015530933947142396 Centerline is valid? [True, True] Translation: X:643.99, Y:4.50, Z:2.80 [[ 9.99720813e-01 -2.18094318e-02 -9.09088957e-03 6.43994344e+02] [ 2.18096574e-02 9.99762138e-01 -7.43359738e-05 4.50290521e+00] [ 9.09034843e-03 -1.23953967e-04 9.99958674e-01 2.79575986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.379254154 meters 0.015251336149118574 Centerline is valid? [True, True] Translation: X:644.06, Y:4.50, Z:2.79 [[ 9.99637530e-01 -2.44297444e-02 -1.13135432e-02 6.44056581e+02] [ 2.44302694e-02 9.99701532e-01 -9.18149224e-05 4.50195974e+00] [ 1.13124094e-02 -1.84611265e-04 9.99935996e-01 2.79477740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.439254154 meters 0.01793203410722442 Centerline is valid? [True, True] Translation: X:644.12, Y:4.49, Z:2.79 [[ 9.99504774e-01 -2.87522369e-02 -1.27873440e-02 6.44117079e+02] [ 2.87532678e-02 9.99586534e-01 -1.03256507e-04 4.49317712e+00] [ 1.27850257e-02 -2.64472556e-04 9.99918233e-01 2.79188510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.499254154 meters 0.01806585420548108 Centerline is valid? [True, True] Translation: X:644.18, Y:4.49, Z:2.79 [[ 9.99236718e-01 -3.63983536e-02 -1.41824457e-02 6.44177869e+02] [ 3.64003951e-02 9.99337279e-01 -1.14255335e-04 4.49055672e+00] [ 1.41772054e-02 -4.02078499e-04 9.99899418e-01 2.79251684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.559254154 meters 0.018297118696655033 Centerline is valid? [True, True] Translation: X:644.24, Y:4.49, Z:2.79 [[ 9.99057974e-01 -4.09446377e-02 -1.43771205e-02 6.44239260e+02] [ 4.09472123e-02 9.99161305e-01 -1.15365185e-04 4.48955677e+00] [ 1.43697861e-02 -4.73446498e-04 9.99896637e-01 2.79347504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.619254154 meters 0.021886564854437237 Centerline is valid? [True, True] Translation: X:644.30, Y:4.48, Z:2.79 [[ 9.98846178e-01 -4.59846847e-02 -1.38463321e-02 6.44299100e+02] [ 4.59875681e-02 9.98942006e-01 -1.10246594e-04 4.48130340e+00] [ 1.38367524e-02 -5.26639750e-04 9.99904129e-01 2.79307955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.679254154 meters 0.02418053571328849 Centerline is valid? [True, True] Translation: X:644.36, Y:4.48, Z:2.79 [[ 9.98669720e-01 -5.01075996e-02 -1.21663292e-02 6.44360106e+02] [ 5.01101362e-02 9.98743693e-01 -9.64460320e-05 4.47748029e+00] [ 1.21558772e-02 -5.13338681e-04 9.99925983e-01 2.79454469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.739254154 meters 0.023591990281705034 Centerline is valid? [True, True] Translation: X:644.42, Y:4.48, Z:2.80 [[ 9.98539579e-01 -5.27816770e-02 -1.15240596e-02 6.44421916e+02] [ 5.27841360e-02 9.98605942e-01 -9.08864975e-05 4.47870766e+00] [ 1.15127915e-02 -5.17533765e-04 9.99933592e-01 2.79623132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.799254154 meters 0.026134713775751717 Centerline is valid? [True, True] Translation: X:644.48, Y:4.47, Z:2.80 [[ 9.98331692e-01 -5.65223136e-02 -1.17923877e-02 6.44481773e+02] [ 5.65251585e-02 9.98401171e-01 -9.21693912e-05 4.47359843e+00] [ 1.17787433e-02 -5.74550961e-04 9.99930463e-01 2.79558878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.859254154 meters 0.027679523122241364 Centerline is valid? [True, True] Translation: X:644.54, Y:4.47, Z:2.80 [[ 9.98166420e-01 -5.93215282e-02 -1.20313717e-02 6.44542476e+02] [ 5.93246983e-02 9.98238735e-01 -9.35453560e-05 4.47187764e+00] [ 1.20157305e-02 -6.20383661e-04 9.99927616e-01 2.79559648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.919254154 meters 0.028934301275015357 Centerline is valid? [True, True] Translation: X:644.60, Y:4.47, Z:2.79 [[ 9.98133298e-01 -5.97497016e-02 -1.26448730e-02 6.44604393e+02] [ 5.97532461e-02 9.98213174e-01 -9.76468734e-05 4.47124474e+00] [ 1.26281131e-02 -6.58107610e-04 9.99920046e-01 2.79435349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9792541539999 meters 0.028491579123026935 Centerline is valid? [True, True] Translation: X:644.66, Y:4.47, Z:2.79 [[ 9.98361225e-01 -5.58020734e-02 -1.26883089e-02 6.44664598e+02] [ 5.58053281e-02 9.98441664e-01 -9.76686637e-05 4.47372811e+00] [ 1.26739864e-02 -6.10566635e-04 9.99919495e-01 2.79469310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.039254154 meters 0.022690778933271465 Centerline is valid? [True, True] Translation: X:644.73, Y:4.49, Z:2.80 [[ 9.98807990e-01 -4.72537062e-02 -1.22346622e-02 6.44725368e+02] [ 4.72560936e-02 9.98882802e-01 -9.40431376e-05 4.48556300e+00] [ 1.22254376e-02 -4.84231306e-04 9.99925149e-01 2.79597576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0992541539999 meters 0.020492754371930537 Centerline is valid? [True, True] Translation: X:644.79, Y:4.49, Z:2.80 [[ 9.99132369e-01 -4.01115130e-02 -1.12060276e-02 6.44785863e+02] [ 4.01130683e-02 9.99195143e-01 -8.60197688e-05 4.49157409e+00] [ 1.12004587e-02 -3.63563014e-04 9.99937207e-01 2.79670539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.159254154 meters 0.018589485716896063 Centerline is valid? [True, True] Translation: X:644.84, Y:4.50, Z:2.80 [[ 9.99501222e-01 -2.94437102e-02 -1.14182158e-02 6.44844970e+02] [ 2.94446282e-02 9.99566409e-01 -8.77312971e-05 4.49767101e+00] [ 1.14158481e-02 -2.48517582e-04 9.99934806e-01 2.79574053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.2192541539999 meters 0.01492367946101607 Centerline is valid? [True, True] Translation: X:644.91, Y:4.51, Z:2.80 [[ 9.99738695e-01 -1.92198514e-02 -1.23749147e-02 6.44905902e+02] [ 1.92201474e-02 9.99815271e-01 -9.50202833e-05 4.50864102e+00] [ 1.23744550e-02 -1.42852230e-04 9.99923423e-01 2.79622469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.279254154 meters 0.014060388292409918 Centerline is valid? [True, True] Translation: X:644.97, Y:4.51, Z:2.80 [[ 9.99858251e-01 -1.28811759e-02 -1.08421588e-02 6.44965074e+02] [ 1.28810287e-02 9.99917033e-01 -8.34050820e-05 4.51236935e+00] [ 1.08423336e-02 -5.62649000e-05 9.99941219e-01 2.79788426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.339254154 meters 0.014355926634771567 Centerline is valid? [True, True] Translation: X:645.02, Y:4.51, Z:2.80 [[ 9.99856420e-01 -1.27955821e-02 -1.11091257e-02 6.45023499e+02] [ 1.27954034e-02 9.99918132e-01 -8.71648952e-05 4.50925291e+00] [ 1.11093315e-02 -5.49933649e-05 9.99938288e-01 2.79713143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.399254154 meters 0.014709353790874364 Centerline is valid? [True, True] Translation: X:645.08, Y:4.50, Z:2.80 [[ 9.99773039e-01 -1.78067940e-02 -1.16956970e-02 6.45082459e+02] [ 1.78069202e-02 9.99841440e-01 -9.33554469e-05 4.50382058e+00] [ 1.16955049e-02 -1.14930084e-04 9.99931599e-01 2.79754144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.459254154 meters 0.014890122746570363 Centerline is valid? [True, True] Translation: X:645.14, Y:4.50, Z:2.80 [[ 9.99674775e-01 -2.27860749e-02 -1.14515821e-02 6.45142468e+02] [ 2.27865174e-02 9.99740349e-01 -9.18438359e-05 4.50050455e+00] [ 1.14507014e-02 -1.69127709e-04 9.99934424e-01 2.79900904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.519254154 meters 0.016002971484431968 Centerline is valid? [True, True] Translation: X:645.20, Y:4.49, Z:2.80 [[ 9.99524667e-01 -2.86758089e-02 -1.13198138e-02 6.45202814e+02] [ 2.86766179e-02 9.99588737e-01 -9.08682654e-05 4.49489004e+00] [ 1.13177641e-02 -2.33788901e-04 9.99935925e-01 2.79917422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.579254154 meters 0.020324144027305584 Centerline is valid? [True, True] Translation: X:645.26, Y:4.48, Z:2.80 [[ 9.99186315e-01 -3.84051366e-02 -1.23188239e-02 6.45262780e+02] [ 3.84068320e-02 9.99262181e-01 -9.90035061e-05 4.48202588e+00] [ 1.23135371e-02 -3.74204051e-04 9.99924116e-01 2.79802845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.639254154 meters 0.020838694823631945 Centerline is valid? [True, True] Translation: X:645.32, Y:4.48, Z:2.80 [[ 9.98762936e-01 -4.77063677e-02 -1.40249737e-02 6.45323710e+02] [ 4.77094802e-02 9.98861248e-01 -1.12760055e-04 4.47777728e+00] [ 1.40143821e-02 -5.56503643e-04 9.99901639e-01 2.79894540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.699254154 meters 0.026733523323230795 Centerline is valid? [True, True] Translation: X:645.38, Y:4.47, Z:2.80 [[ 9.98366244e-01 -5.53355485e-02 -1.42414780e-02 6.45383166e+02] [ 5.53395334e-02 9.98467587e-01 -1.14416603e-04 4.46576659e+00] [ 1.42259855e-02 -6.73887075e-04 9.99898578e-01 2.79805305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.759254154 meters 0.02643851814213423 Centerline is valid? [True, True] Translation: X:645.44, Y:4.46, Z:2.80 [[ 9.97994301e-01 -6.12141071e-02 -1.61309818e-02 6.45443628e+02] [ 6.12199865e-02 9.98124289e-01 -1.29537773e-04 4.46420222e+00] [ 1.61086542e-02 -8.58260527e-04 9.99869879e-01 2.79787401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.819254154 meters 0.030085878305955542 Centerline is valid? [True, True] Translation: X:645.50, Y:4.46, Z:2.80 [[ 9.97699994e-01 -6.56446166e-02 -1.68969029e-02 6.45503359e+02] [ 6.56516979e-02 9.97842591e-01 -1.35862915e-04 4.45936393e+00] [ 1.68693681e-02 -9.73759936e-04 9.99857228e-01 2.79706200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.879254154 meters 0.028443363283129783 Centerline is valid? [True, True] Translation: X:645.57, Y:4.46, Z:2.80 [[ 9.97639455e-01 -6.66381188e-02 -1.65794798e-02 6.45565893e+02] [ 6.66450872e-02 9.97776736e-01 -1.32466079e-04 4.46216591e+00] [ 1.65514465e-02 -9.72787490e-04 9.99862542e-01 2.79822109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.939254154 meters 0.029349719995160443 Centerline is valid? [True, True] Translation: X:645.63, Y:4.46, Z:2.80 [[ 9.97570959e-01 -6.76662858e-02 -1.65364695e-02 6.45627675e+02] [ 6.76733753e-02 9.97707521e-01 -1.31118446e-04 4.46313986e+00] [ 1.65074323e-02 -9.88278756e-04 9.99863255e-01 2.79846541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.999254154 meters 0.030551151479021092 Centerline is valid? [True, True] Translation: X:645.69, Y:4.47, Z:2.80 [[ 9.97683829e-01 -6.56377956e-02 -1.78509493e-02 6.45688213e+02] [ 6.56457428e-02 9.97842982e-01 -1.41031175e-04 4.46544406e+00] [ 1.78217015e-02 -1.03113430e-03 9.99840649e-01 2.79722436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.059254154 meters 0.03005502891281014 Centerline is valid? [True, True] Translation: X:645.75, Y:4.47, Z:2.80 [[ 9.97841915e-01 -6.30772412e-02 -1.82420832e-02 6.45750214e+02] [ 6.30851292e-02 9.98008139e-01 -1.43294317e-04 4.46925683e+00] [ 1.82147861e-02 -1.00781910e-03 9.99833589e-01 2.79676958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.119254154 meters 0.029247018214441232 Centerline is valid? [True, True] Translation: X:645.81, Y:4.48, Z:2.80 [[ 9.98043055e-01 -5.96469283e-02 -1.87697687e-02 6.45811342e+02] [ 5.96546843e-02 9.98219063e-01 -1.46911595e-04 4.47526525e+00] [ 1.87451038e-02 -9.73080532e-04 9.99823822e-01 2.79602065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.179254154 meters 0.029040772466006382 Centerline is valid? [True, True] Translation: X:645.87, Y:4.48, Z:2.80 [[ 9.98193607e-01 -5.67232868e-02 -1.97987677e-02 6.45873172e+02] [ 5.67313613e-02 9.98389468e-01 -1.54044101e-04 4.48268632e+00] [ 1.97756190e-02 -9.69445208e-04 9.99803973e-01 2.79564683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.239254154 meters 0.027235247439983037 Centerline is valid? [True, True] Translation: X:645.93, Y:4.49, Z:2.80 [[ 9.98496408e-01 -5.16355718e-02 -1.84035811e-02 6.45933804e+02] [ 5.16416908e-02 9.98665667e-01 -1.42906536e-04 4.49058552e+00] [ 1.83864037e-02 -8.07700383e-04 9.99830630e-01 2.79603657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.299254154 meters 0.021619678586311007 Centerline is valid? [True, True] Translation: X:645.99, Y:4.50, Z:2.80 [[ 9.98717068e-01 -4.74752281e-02 -1.76159323e-02 6.45994094e+02] [ 4.74801886e-02 9.98872170e-01 -1.36771704e-04 4.50422240e+00] [ 1.76025578e-02 -6.99811551e-04 9.99844818e-01 2.79972750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.359254154 meters 0.022815711827638606 Centerline is valid? [True, True] Translation: X:646.05, Y:4.51, Z:2.80 [[ 9.99124482e-01 -3.87696266e-02 -1.57221568e-02 6.46054076e+02] [ 3.87725008e-02 9.99248056e-01 -1.22070366e-04 4.50983848e+00] [ 1.57150672e-02 -4.87623846e-04 9.99876392e-01 2.79919969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.419254154 meters 0.01848622801581918 Centerline is valid? [True, True] Translation: X:646.11, Y:4.52, Z:2.80 [[ 9.99507192e-01 -2.79240011e-02 -1.43395719e-02 6.46114227e+02] [ 2.79252763e-02 9.99610007e-01 -1.11335157e-04 4.52294193e+00] [ 1.43370885e-02 -2.89156217e-04 9.99897177e-01 2.79976027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4792541539999 meters 0.015078995766836403 Centerline is valid? [True, True] Translation: X:646.17, Y:4.54, Z:2.80 [[ 9.99727461e-01 -1.90679900e-02 -1.34690881e-02 6.46174866e+02] [ 1.90683135e-02 9.99818178e-01 -1.04412852e-04 4.53837368e+00] [ 1.34686300e-02 -1.52448399e-04 9.99909282e-01 2.80296695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.539254154 meters 0.0156735862089339 Centerline is valid? [True, True] Translation: X:646.23, Y:4.54, Z:2.80 [[ 9.99786064e-01 -1.61506935e-02 -1.29221331e-02 6.46234224e+02] [ 1.61507447e-02 9.99869563e-01 -1.00403929e-04 4.54290446e+00] [ 1.29220692e-02 -1.08319624e-04 9.99916501e-01 2.80225317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5992541539999 meters 0.015160167721590404 Centerline is valid? [True, True] Translation: X:646.29, Y:4.54, Z:2.80 [[ 9.99757411e-01 -1.77682295e-02 -1.30156983e-02 6.46292419e+02] [ 1.77684105e-02 9.99842124e-01 -1.01748625e-04 4.54170381e+00] [ 1.30154513e-02 -1.29544328e-04 9.99915287e-01 2.80153113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.659254154 meters 0.015923040120596428 Centerline is valid? [True, True] Translation: X:646.35, Y:4.54, Z:2.80 [[ 9.99655899e-01 -2.27634545e-02 -1.30349166e-02 6.46351983e+02] [ 2.27640534e-02 9.99740860e-01 -1.02436378e-04 4.53929820e+00] [ 1.30338705e-02 -1.94326409e-04 9.99915037e-01 2.80170369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.7192541539999 meters 0.01679346861785914 Centerline is valid? [True, True] Translation: X:646.41, Y:4.54, Z:2.80 [[ 9.99499316e-01 -2.88000802e-02 -1.31023662e-02 6.46412580e+02] [ 2.88012018e-02 9.99585154e-01 -1.03121800e-04 4.53658853e+00] [ 1.30999006e-02 -2.74293724e-04 9.99914155e-01 2.80211730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.779254154 meters 0.017463468788559634 Centerline is valid? [True, True] Translation: X:646.47, Y:4.53, Z:2.80 [[ 9.99383766e-01 -3.23424009e-02 -1.36403151e-02 6.46473837e+02] [ 3.23439509e-02 9.99476792e-01 -1.07016336e-04 4.53437357e+00] [ 1.36366395e-02 -3.34231291e-04 9.99906961e-01 2.80212350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.839254154 meters 0.019464365247570243 Centerline is valid? [True, True] Translation: X:646.53, Y:4.53, Z:2.80 [[ 9.99268860e-01 -3.55571306e-02 -1.40511773e-02 6.46534666e+02] [ 3.55591001e-02 9.99367569e-01 -1.09722194e-04 4.52966782e+00] [ 1.40461923e-02 -3.90005248e-04 9.99901271e-01 2.80187166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.899254154 meters 0.019460248810920962 Centerline is valid? [True, True] Translation: X:646.60, Y:4.53, Z:2.80 [[ 9.99285444e-01 -3.54070845e-02 -1.32264615e-02 6.46596420e+02] [ 3.54088267e-02 9.99372906e-01 -1.02506154e-04 4.52913706e+00] [ 1.32217967e-02 -3.65900574e-04 9.99912521e-01 2.80279206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.959254154 meters 0.018834542789521295 Centerline is valid? [True, True] Translation: X:646.66, Y:4.53, Z:2.80 [[ 9.99394191e-01 -3.20258999e-02 -1.36232748e-02 6.46656996e+02] [ 3.20274409e-02 9.99486984e-01 -1.05100025e-04 4.53097774e+00] [ 1.36196518e-02 -3.31282274e-04 9.99907193e-01 2.80253487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.019254154 meters 0.016350805137315023 Centerline is valid? [True, True] Translation: X:646.72, Y:4.54, Z:2.80 [[ 9.99559120e-01 -2.57848169e-02 -1.47210580e-02 6.46718193e+02] [ 2.57859464e-02 9.99667481e-01 -1.13110501e-04 4.53760682e+00] [ 1.47190795e-02 -2.66535779e-04 9.99891633e-01 2.80285063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.079254154 meters 0.015204152467559467 Centerline is valid? [True, True] Translation: X:646.78, Y:4.54, Z:2.80 [[ 9.99713464e-01 -1.87394729e-02 -1.48936845e-02 6.46779284e+02] [ 1.87398526e-02 9.99824387e-01 -1.14081521e-04 4.54341124e+00] [ 1.48932068e-02 -1.65056620e-04 9.99889076e-01 2.80367149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.139254154 meters 0.014974220644346017 Centerline is valid? [True, True] Translation: X:646.84, Y:4.55, Z:2.80 [[ 9.99811806e-01 -1.21214067e-02 -1.51467325e-02 6.46837554e+02] [ 1.21210323e-02 9.99926531e-01 -1.16519682e-04 4.54737914e+00] [ 1.51470321e-02 -6.70962809e-05 9.99885275e-01 2.80370496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.199254154 meters 0.014874515116004154 Centerline is valid? [True, True] Translation: X:646.90, Y:4.55, Z:2.80 [[ 9.99819653e-01 -8.99018290e-03 -1.67283868e-02 6.46896401e+02] [ 8.98923236e-03 9.99959587e-01 -1.32015440e-04 4.54923446e+00] [ 1.67288976e-02 -1.83837240e-05 9.99860062e-01 2.80308911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.259254154 meters 0.015067501352087755 Centerline is valid? [True, True] Translation: X:646.95, Y:4.55, Z:2.80 [[ 9.99826564e-01 -6.90845178e-03 -1.72949434e-02 6.46954669e+02] [ 6.90704067e-03 9.99976136e-01 -1.41323538e-04 4.54880433e+00] [ 1.72955070e-02 2.18421501e-05 9.99850421e-01 2.80304311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.319254154 meters 0.015120458422184615 Centerline is valid? [True, True] Translation: X:647.01, Y:4.55, Z:2.80 [[ 9.99807073e-01 -7.59178729e-03 -1.81158056e-02 6.47013353e+02] [ 7.59026552e-03 9.99971182e-01 -1.52759172e-04 4.54571420e+00] [ 1.81164433e-02 1.52259259e-05 9.99835884e-01 2.80327967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.379254154 meters 0.01510327237692696 Centerline is valid? [True, True] Translation: X:647.07, Y:4.54, Z:2.80 [[ 9.99790273e-01 -9.39355751e-03 -1.81981020e-02 6.47071339e+02] [ 9.39223013e-03 9.99955879e-01 -1.58408544e-04 4.54054101e+00] [ 1.81987871e-02 -1.25454406e-05 9.99834388e-01 2.80406508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.439254154 meters 0.015047378250644398 Centerline is valid? [True, True] Translation: X:647.13, Y:4.54, Z:2.81 [[ 9.99776921e-01 -1.15907093e-02 -1.76568192e-02 6.47129557e+02] [ 1.15897163e-02 9.99932824e-01 -1.58563692e-04 4.53726439e+00] [ 1.76574709e-02 -4.61092052e-05 9.99844094e-01 2.80526930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.499254154 meters 0.014899084282723088 Centerline is valid? [True, True] Translation: X:647.19, Y:4.53, Z:2.81 [[ 9.99734619e-01 -1.51575145e-02 -1.73476517e-02 6.47188180e+02] [ 1.51570556e-02 9.99885113e-01 -1.57939036e-04 4.53202573e+00] [ 1.73480526e-02 -1.05042199e-04 9.99849506e-01 2.80805383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.559254154 meters 0.014890194217642708 Centerline is valid? [True, True] Translation: X:647.25, Y:4.53, Z:2.81 [[ 9.99671585e-01 -1.91037819e-02 -1.70811840e-02 6.47246549e+02] [ 1.91038874e-02 9.99817492e-01 -1.57011030e-04 4.52610602e+00] [ 1.70810660e-02 -1.69357550e-04 9.99854094e-01 2.80834753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.619254154 meters 0.0153766381013043 Centerline is valid? [True, True] Translation: X:647.30, Y:4.52, Z:2.81 [[ 9.99595420e-01 -2.34947549e-02 -1.60310257e-02 6.47304941e+02] [ 2.34953581e-02 9.99723935e-01 -1.50737339e-04 4.51966707e+00] [ 1.60301416e-02 -2.25978336e-04 9.99871483e-01 2.80917865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.679254154 meters 0.015906952342521315 Centerline is valid? [True, True] Translation: X:647.36, Y:4.51, Z:2.81 [[ 9.99536495e-01 -2.65272014e-02 -1.49366205e-02 6.47363434e+02] [ 2.65280392e-02 9.99648060e-01 -1.42074387e-04 4.51200666e+00] [ 1.49351325e-02 -2.54230719e-04 9.99888432e-01 2.80999106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.739254154 meters 0.016249794787117744 Centerline is valid? [True, True] Translation: X:647.42, Y:4.51, Z:2.81 [[ 9.99514349e-01 -2.72775204e-02 -1.50666359e-02 6.47423484e+02] [ 2.72784516e-02 9.99627863e-01 -1.43741807e-04 4.50712432e+00] [ 1.50649500e-02 -2.67322500e-04 9.99886481e-01 2.80993556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.799254154 meters 0.01611035864370184 Centerline is valid? [True, True] Translation: X:647.48, Y:4.50, Z:2.81 [[ 9.99526880e-01 -2.66864382e-02 -1.52921707e-02 6.47483124e+02] [ 2.66873211e-02 9.99643819e-01 -1.46364517e-04 4.50380243e+00] [ 1.52906299e-02 -2.61811802e-04 9.99883057e-01 2.81004334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.859254154 meters 0.01568961913949888 Centerline is valid? [True, True] Translation: X:647.54, Y:4.50, Z:2.81 [[ 9.99601509e-01 -2.41422935e-02 -1.46278306e-02 6.47542801e+02] [ 2.41428214e-02 9.99708510e-01 -1.40523870e-04 4.49993406e+00] [ 1.46269593e-02 -2.12689230e-04 9.99892998e-01 2.81070826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.919254154 meters 0.016474384975542038 Centerline is valid? [True, True] Translation: X:647.60, Y:4.50, Z:2.81 [[ 9.99631546e-01 -2.23597888e-02 -1.53887311e-02 6.47602676e+02] [ 2.23601532e-02 9.99749969e-01 -1.48401746e-04 4.49818760e+00] [ 1.53882017e-02 -1.95747318e-04 9.99881575e-01 2.81068143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9792541539999 meters 0.015121699630245714 Centerline is valid? [True, True] Translation: X:647.66, Y:4.49, Z:2.81 [[ 9.99620587e-01 -2.19836136e-02 -1.65952485e-02 6.47661671e+02] [ 2.19839308e-02 9.99758311e-01 -1.63336758e-04 4.49442336e+00] [ 1.65948283e-02 -2.01554008e-04 9.99862276e-01 2.81054002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.039254154 meters 0.016135516139853836 Centerline is valid? [True, True] Translation: X:647.72, Y:4.49, Z:2.81 [[ 9.99551072e-01 -2.44953673e-02 -1.72519816e-02 6.47720081e+02] [ 2.44960433e-02 9.99699912e-01 -1.72168117e-04 4.48911537e+00] [ 1.72510218e-02 -2.50514461e-04 9.99851159e-01 2.81024719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0992541539999 meters 0.016477068163665762 Centerline is valid? [True, True] Translation: X:647.78, Y:4.48, Z:2.81 [[ 9.99425845e-01 -3.04943345e-02 -1.47674014e-02 6.47779127e+02] [ 3.04954394e-02 9.99534895e-01 -1.50408283e-04 4.48404218e+00] [ 1.47651196e-02 -3.00016470e-04 9.99890945e-01 2.81246186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.159254154 meters 0.017511267530783206 Centerline is valid? [True, True] Translation: X:647.84, Y:4.48, Z:2.81 [[ 9.99323134e-01 -3.44034946e-02 -1.30258997e-02 6.47839330e+02] [ 3.44046730e-02 9.99407975e-01 -1.33676323e-04 4.48056446e+00] [ 1.30227870e-02 -3.14565977e-04 9.99915150e-01 2.81366904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.2192541539999 meters 0.019101293156045657 Centerline is valid? [True, True] Translation: X:647.90, Y:4.48, Z:2.81 [[ 9.99059172e-01 -4.15982658e-02 -1.22619489e-02 6.47900384e+02] [ 4.15998531e-02 9.99134344e-01 -1.25689501e-04 4.47598563e+00] [ 1.22565628e-02 -3.84524026e-04 9.99924812e-01 2.81426662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.279254154 meters 0.02170975951375053 Centerline is valid? [True, True] Translation: X:647.96, Y:4.47, Z:2.82 [[ 9.98628677e-01 -5.11708036e-02 -1.10595709e-02 6.47960892e+02] [ 5.11726819e-02 9.98689814e-01 -1.13268346e-04 4.46996889e+00] [ 1.10508768e-02 -4.52834884e-04 9.99938835e-01 2.81524908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.339254154 meters 0.027330474703373638 Centerline is valid? [True, True] Translation: X:648.02, Y:4.46, Z:2.81 [[ 9.98038140e-01 -6.16171164e-02 -1.10996848e-02 6.48020264e+02] [ 6.16196547e-02 9.98099697e-01 -1.13483786e-04 4.45955469e+00] [ 1.10855846e-02 -5.70697598e-04 9.99938390e-01 2.81348104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.399254154 meters 0.03131251279562935 Centerline is valid? [True, True] Translation: X:648.08, Y:4.45, Z:2.81 [[ 9.97347981e-01 -7.19073200e-02 -1.12401727e-02 6.48080628e+02] [ 7.19105756e-02 9.97411077e-01 -1.14771513e-04 4.45327327e+00] [ 1.12193257e-02 -6.93820153e-04 9.99936821e-01 2.81443475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.459254154 meters 0.036910759391011724 Centerline is valid? [True, True] Translation: X:648.14, Y:4.45, Z:2.81 [[ 9.96975585e-01 -7.67337925e-02 -1.23128817e-02 6.48140393e+02] [ 7.67380645e-02 9.97051279e-01 -1.25823440e-04 4.44737115e+00] [ 1.22862293e-02 -8.19423809e-04 9.99924186e-01 2.81336408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.519254154 meters 0.03783093108820268 Centerline is valid? [True, True] Translation: X:648.20, Y:4.45, Z:2.81 [[ 9.97020171e-01 -7.60493553e-02 -1.29334251e-02 6.48202224e+02] [ 7.60540182e-02 9.97103690e-01 -1.31638003e-04 4.44971175e+00] [ 1.29059769e-02 -8.52393202e-04 9.99916351e-01 2.81293387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.579254154 meters 0.033549964240541096 Centerline is valid? [True, True] Translation: X:648.26, Y:4.46, Z:2.81 [[ 9.97127222e-01 -7.44477129e-02 -1.39585232e-02 6.48263884e+02] [ 7.44530000e-02 9.97224514e-01 -1.41219043e-04 4.45995816e+00] [ 1.39302949e-02 -8.98440576e-04 9.99902565e-01 2.81392299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.639254154 meters 0.030512958380392304 Centerline is valid? [True, True] Translation: X:648.32, Y:4.47, Z:2.82 [[ 9.97376575e-01 -7.10212834e-02 -1.39980123e-02 6.48324523e+02] [ 7.10262700e-02 9.97474435e-01 -1.41201426e-04 4.47131078e+00] [ 1.39726878e-02 -8.53395611e-04 9.99902013e-01 2.81505859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.699254154 meters 0.031002844599604937 Centerline is valid? [True, True] Translation: X:648.38, Y:4.48, Z:2.82 [[ 9.97675469e-01 -6.67175735e-02 -1.38717073e-02 6.48383930e+02] [ 6.67220558e-02 9.97771591e-01 -1.39939262e-04 4.47732622e+00] [ 1.38501319e-02 -7.85934860e-04 9.99903773e-01 2.81553554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.759254154 meters 0.02611085934967515 Centerline is valid? [True, True] Translation: X:648.44, Y:4.49, Z:2.82 [[ 9.98032888e-01 -6.13131012e-02 -1.30789304e-02 6.48444523e+02] [ 6.13166225e-02 9.98118357e-01 -1.31967136e-04 4.49149299e+00] [ 1.30624119e-02 -6.70248298e-04 9.99914458e-01 2.81819463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.819254154 meters 0.024790563984048372 Centerline is valid? [True, True] Translation: X:648.50, Y:4.50, Z:2.82 [[ 9.98356754e-01 -5.59982559e-02 -1.21649938e-02 6.48504931e+02] [ 5.60009092e-02 9.98430710e-01 -1.22687892e-04 4.49831823e+00] [ 1.21527737e-02 -5.58764427e-04 9.99925996e-01 2.81903252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.879254154 meters 0.021994015777070004 Centerline is valid? [True, True] Translation: X:648.57, Y:4.51, Z:2.82 [[ 9.98816430e-01 -4.70757032e-02 -1.22318218e-02 6.48565392e+02] [ 4.70777186e-02 9.98891222e-01 -1.23274695e-04 4.50852122e+00] [ 1.22240627e-02 -4.52717474e-04 9.99925181e-01 2.81936761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.939254154 meters 0.01972211352756102 Centerline is valid? [True, True] Translation: X:648.63, Y:4.52, Z:2.82 [[ 9.99157138e-01 -3.87703400e-02 -1.34860440e-02 6.48625940e+02] [ 3.87720352e-02 9.99248073e-01 -1.35827586e-04 4.51900334e+00] [ 1.34811696e-02 -3.87168271e-04 9.99909050e-01 2.81874782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.999254154 meters 0.017248277777683018 Centerline is valid? [True, True] Translation: X:648.69, Y:4.53, Z:2.82 [[ 9.99376204e-01 -3.24350191e-02 -1.39704445e-02 6.48687262e+02] [ 3.24362249e-02 9.99473797e-01 -1.40330008e-04 4.52786278e+00] [ 1.39676448e-02 -3.12906008e-04 9.99902399e-01 2.81895003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.059254154 meters 0.017403031578666264 Centerline is valid? [True, True] Translation: X:648.75, Y:4.53, Z:2.82 [[ 9.99435307e-01 -3.08859261e-02 -1.32335282e-02 6.48747855e+02] [ 3.08868764e-02 9.99522878e-01 -1.32617485e-04 4.53060697e+00] [ 1.32313102e-02 -2.76199751e-04 9.99912424e-01 2.81935921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.119254154 meters 0.01827853009716824 Centerline is valid? [True, True] Translation: X:648.81, Y:4.53, Z:2.82 [[ 9.99429759e-01 -3.15936691e-02 -1.19162137e-02 6.48809604e+02] [ 3.15944939e-02 9.99500762e-01 -1.19078352e-04 4.53224432e+00] [ 1.19140268e-02 -2.57476293e-04 9.99928992e-01 2.81926065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.179254154 meters 0.017910316525571672 Centerline is valid? [True, True] Translation: X:648.87, Y:4.53, Z:2.82 [[ 9.99281709e-01 -3.60228742e-02 -1.17651282e-02 6.48871059e+02] [ 3.60239899e-02 9.99350919e-01 -1.17141395e-04 4.53432477e+00] [ 1.17617115e-02 -3.06769607e-04 9.99930782e-01 2.82065756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.239254154 meters 0.0223967546149589 Centerline is valid? [True, True] Translation: X:648.93, Y:4.53, Z:2.82 [[ 9.98998015e-01 -4.31134306e-02 -1.20082659e-02 6.48930816e+02] [ 4.31151065e-02 9.99070104e-01 -1.19395900e-04 4.52561562e+00] [ 1.20022471e-02 -3.98461399e-04 9.99927891e-01 2.81879286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.299254154 meters 0.023998136933109048 Centerline is valid? [True, True] Translation: X:648.99, Y:4.52, Z:2.82 [[ 9.98566668e-01 -5.20822955e-02 -1.23305948e-02 6.48991798e+02] [ 5.20847451e-02 9.98642661e-01 -1.22604798e-04 4.52178838e+00] [ 1.23202436e-02 -5.19806824e-04 9.99923968e-01 2.81934906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.359254154 meters 0.028646063216581762 Centerline is valid? [True, True] Translation: X:649.05, Y:4.51, Z:2.82 [[ 9.98293666e-01 -5.70082510e-02 -1.26418193e-02 6.49051420e+02] [ 5.70112198e-02 9.98373530e-01 -1.25704678e-04 4.51418820e+00] [ 1.26284240e-02 -5.95235357e-04 9.99920081e-01 2.81893354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.419254154 meters 0.029468261605029113 Centerline is valid? [True, True] Translation: X:649.11, Y:4.51, Z:2.82 [[ 9.98082618e-01 -6.05890583e-02 -1.26512463e-02 6.49112568e+02] [ 6.05923203e-02 9.98162589e-01 -1.25655427e-04 4.51364007e+00] [ 1.26356141e-02 -6.41153868e-04 9.99919962e-01 2.81908789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4792541539999 meters 0.02669966350703181 Centerline is valid? [True, True] Translation: X:649.17, Y:4.52, Z:2.82 [[ 9.98094258e-01 -6.04058227e-02 -1.26090947e-02 6.49174926e+02] [ 6.04090571e-02 9.98173697e-01 -1.24550759e-04 4.52050638e+00] [ 1.25935903e-02 -6.37390127e-04 9.99920494e-01 2.81912174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.539254154 meters 0.025768473212366548 Centerline is valid? [True, True] Translation: X:649.24, Y:4.53, Z:2.82 [[ 9.98123750e-01 -5.99035234e-02 -1.26707036e-02 6.49237542e+02] [ 5.99067629e-02 9.98203969e-01 -1.24065107e-04 4.52507835e+00] [ 1.26553786e-02 -6.35228507e-04 9.99919716e-01 2.82028673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5992541539999 meters 0.026475865986238942 Centerline is valid? [True, True] Translation: X:649.30, Y:4.53, Z:2.82 [[ 9.98109426e-01 -6.00765607e-02 -1.29761402e-02 6.49299524e+02] [ 6.00799865e-02 9.98193558e-01 -1.26003179e-04 4.52916877e+00] [ 1.29602694e-02 -6.53841366e-04 9.99915798e-01 2.82031353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.659254154 meters 0.02554875928271848 Centerline is valid? [True, True] Translation: X:649.36, Y:4.53, Z:2.82 [[ 9.98042311e-01 -6.08993719e-02 -1.42411977e-02 6.49361675e+02] [ 6.09035974e-02 9.98143643e-01 -1.37192705e-04 4.53321066e+00] [ 1.42231159e-02 -7.30416045e-04 9.99898580e-01 2.82075633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.7192541539999 meters 0.02623313065884033 Centerline is valid? [True, True] Translation: X:649.42, Y:4.54, Z:2.82 [[ 9.97976296e-01 -6.17768930e-02 -1.50641124e-02 6.49424155e+02] [ 6.17817380e-02 9.98089673e-01 -1.43976504e-04 4.53549263e+00] [ 1.50442295e-02 -7.87001909e-04 9.99886519e-01 2.82067022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.779254154 meters 0.027667971580969425 Centerline is valid? [True, True] Translation: X:649.48, Y:4.54, Z:2.82 [[ 9.97993684e-01 -6.12588713e-02 -1.59986924e-02 6.49484872e+02] [ 6.12642857e-02 9.98121568e-01 -1.51921435e-04 4.53968826e+00] [ 1.59779465e-02 -8.28531828e-04 9.99872001e-01 2.82098822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.839254154 meters 0.027544201675431958 Centerline is valid? [True, True] Translation: X:649.55, Y:4.54, Z:2.82 [[ 9.98081261e-01 -5.98490120e-02 -1.58710988e-02 6.49547162e+02] [ 5.98541795e-02 9.98207120e-01 -1.49640450e-04 4.54426267e+00] [ 1.58515996e-02 -8.00598265e-04 9.99874035e-01 2.82229583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.899254154 meters 0.02474745198647867 Centerline is valid? [True, True] Translation: X:649.61, Y:4.56, Z:2.82 [[ 9.98494270e-01 -5.24367379e-02 -1.61115188e-02 6.49607226e+02] [ 5.24411050e-02 9.98624007e-01 -1.51594099e-04 4.55822806e+00] [ 1.60972985e-02 -6.93540009e-04 9.99870190e-01 2.82381812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.959254154 meters 0.02331930639337179 Centerline is valid? [True, True] Translation: X:649.67, Y:4.57, Z:2.83 [[ 9.98749550e-01 -4.75035018e-02 -1.55805429e-02 6.49668076e+02] [ 4.75069894e-02 9.98870895e-01 -1.46404340e-04 4.56578101e+00] [ 1.55699055e-02 -5.93963415e-04 9.99878605e-01 2.82500589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.019254154 meters 0.019170607635870793 Centerline is valid? [True, True] Translation: X:649.73, Y:4.58, Z:2.83 [[ 9.99132610e-01 -3.88129311e-02 -1.50858981e-02 6.49728034e+02] [ 3.88152123e-02 9.99246396e-01 -1.41666248e-04 4.58146624e+00] [ 1.50800277e-02 -4.44018968e-04 9.99886191e-01 2.82720749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.079254154 meters 0.017590863604689845 Centerline is valid? [True, True] Translation: X:649.79, Y:4.59, Z:2.83 [[ 9.99405792e-01 -3.09471653e-02 -1.51768111e-02 6.49788013e+02] [ 3.09485676e-02 9.99520968e-01 -1.42513805e-04 4.59289184e+00] [ 1.51739513e-02 -3.27271444e-04 9.99884815e-01 2.82784157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.139254154 meters 0.01648287489701965 Centerline is valid? [True, True] Translation: X:649.85, Y:4.60, Z:2.83 [[ 9.99538165e-01 -2.60297568e-02 -1.56814405e-02 6.49849572e+02] [ 2.60306553e-02 9.99661134e-01 -1.46845877e-04 4.60053158e+00] [ 1.56799489e-02 -2.61420113e-04 9.99877028e-01 2.82796403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.199254154 meters 0.01577013498794589 Centerline is valid? [True, True] Translation: X:649.91, Y:4.61, Z:2.83 [[ 9.99692723e-01 -1.93120161e-02 -1.55404579e-02 6.49910049e+02] [ 1.93120894e-02 9.99813494e-01 -1.45368501e-04 4.60965585e+00] [ 1.55403668e-02 -1.54794878e-04 9.99879229e-01 2.82830522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.259254154 meters 0.01508366670866643 Centerline is valid? [True, True] Translation: X:649.97, Y:4.62, Z:2.83 [[ 9.99802271e-01 -1.28051296e-02 -1.52133912e-02 6.49970038e+02] [ 1.28044339e-02 9.99918010e-01 -1.43140140e-04 4.61746306e+00] [ 1.52139767e-02 -5.16870244e-05 9.99884259e-01 2.83040433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.319254154 meters 0.015145097018944897 Centerline is valid? [True, True] Translation: X:650.03, Y:4.62, Z:2.83 [[ 9.99861643e-01 -9.14818126e-03 -1.38926438e-02 6.50029006e+02] [ 9.14721017e-03 9.99958154e-01 -1.33441556e-04 4.62083239e+00] [ 1.38932832e-02 6.34416080e-06 9.99903484e-01 2.83070821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.379254154 meters 0.014892443146586857 Centerline is valid? [True, True] Translation: X:650.09, Y:4.62, Z:2.83 [[ 9.99844565e-01 -1.10441781e-02 -1.37430729e-02 6.50087029e+02] [ 1.10433530e-02 9.99939011e-01 -1.35922046e-04 4.61958819e+00] [ 1.37437359e-02 -1.58686874e-05 9.99905550e-01 2.83095532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.439254154 meters 0.01569614209315026 Centerline is valid? [True, True] Translation: X:650.15, Y:4.62, Z:2.83 [[ 9.99789876e-01 -1.48713157e-02 -1.41084243e-02 6.50145008e+02] [ 1.48707941e-02 9.99889414e-01 -1.41877054e-04 4.61551607e+00] [ 1.41089740e-02 -6.79562314e-05 9.99900461e-01 2.82886233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.499254154 meters 0.0159509348270296 Centerline is valid? [True, True] Translation: X:650.20, Y:4.61, Z:2.83 [[ 9.99630836e-01 -2.30161607e-02 -1.44377312e-02 6.50204814e+02] [ 2.30164521e-02 9.99735076e-01 -1.45999649e-04 4.60627036e+00] [ 1.44372666e-02 -1.86359597e-04 9.99895760e-01 2.82779019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.559254154 meters 0.01760076251950239 Centerline is valid? [True, True] Translation: X:650.27, Y:4.60, Z:2.83 [[ 9.99431172e-01 -3.08202493e-02 -1.36910223e-02 6.50265611e+02] [ 3.08212434e-02 9.99524903e-01 -1.38433256e-04 4.59677872e+00] [ 1.36887843e-02 -2.83619819e-04 9.99906264e-01 2.82828210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.619254154 meters 0.018752023779922307 Centerline is valid? [True, True] Translation: X:650.33, Y:4.59, Z:2.83 [[ 9.99270473e-01 -3.58656868e-02 -1.31215160e-02 6.50327143e+02] [ 3.58670396e-02 9.99356562e-01 -1.32292236e-04 4.58927785e+00] [ 1.31178179e-02 -3.38434208e-04 9.99913900e-01 2.82861300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.679254154 meters 0.01978722453168228 Centerline is valid? [True, True] Translation: X:650.39, Y:4.58, Z:2.83 [[ 9.99190467e-01 -3.79704453e-02 -1.32911879e-02 6.50389654e+02] [ 3.79720297e-02 9.99278794e-01 -1.33220155e-04 4.58496790e+00] [ 1.32866607e-02 -3.71581074e-04 9.99911659e-01 2.82846238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.739254154 meters 0.020153379179378587 Centerline is valid? [True, True] Translation: X:650.45, Y:4.58, Z:2.83 [[ 9.99104347e-01 -4.03139282e-02 -1.28565524e-02 6.50451366e+02] [ 4.03156190e-02 9.99186987e-01 -1.27736881e-04 4.58094385e+00] [ 1.28512495e-02 -3.90697397e-04 9.99917343e-01 2.82882175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.799254154 meters 0.020954421483197816 Centerline is valid? [True, True] Translation: X:650.51, Y:4.58, Z:2.83 [[ 9.98922397e-01 -4.45423236e-02 -1.30394349e-02 6.50512652e+02] [ 4.45444324e-02 9.99007396e-01 -1.28804411e-04 4.57570305e+00] [ 1.30322292e-02 -4.52168617e-04 9.99914975e-01 2.82863076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.859254154 meters 0.02368544493178383 Centerline is valid? [True, True] Translation: X:650.57, Y:4.57, Z:2.83 [[ 9.98604197e-01 -5.08221967e-02 -1.43791988e-02 6.50573440e+02] [ 5.08254142e-02 9.98707543e-01 -1.41821766e-04 4.56676635e+00] [ 1.43678220e-02 -5.89204922e-04 9.99896604e-01 2.82721175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.919254154 meters 0.023652403584325684 Centerline is valid? [True, True] Translation: X:650.63, Y:4.56, Z:2.83 [[ 9.98377506e-01 -5.52607428e-02 -1.37334191e-02 6.50634965e+02] [ 5.52641017e-02 9.98471763e-01 -1.35089306e-04 4.56447510e+00] [ 1.37198963e-02 -6.24094943e-04 9.99905683e-01 2.82864725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9792541539999 meters 0.0275831363380354 Centerline is valid? [True, True] Translation: X:650.70, Y:4.56, Z:2.83 [[ 9.98264167e-01 -5.72252461e-02 -1.39256304e-02 6.50696182e+02] [ 5.72289000e-02 9.98361074e-01 -1.36290958e-04 4.55747966e+00] [ 1.39106066e-02 -6.60894129e-04 9.99903024e-01 2.82794098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.039254154 meters 0.028683589479533866 Centerline is valid? [True, True] Translation: X:650.76, Y:4.55, Z:2.83 [[ 9.98087028e-01 -5.97372483e-02 -1.59294169e-02 6.50757421e+02] [ 5.97423596e-02 9.98213818e-01 -1.55220588e-04 4.55451341e+00] [ 1.59102365e-02 -7.96737298e-04 9.99873107e-01 2.82631404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0992541539999 meters 0.025951530886609862 Centerline is valid? [True, True] Translation: X:650.82, Y:4.56, Z:2.83 [[ 9.98055052e-01 -5.99579574e-02 -1.70633170e-02 6.50819738e+02] [ 5.99638733e-02 9.98200534e-01 -1.65171847e-04 4.55893823e+00] [ 1.70425155e-02 -8.58331980e-04 9.99854397e-01 2.82689130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.159254154 meters 0.02768308395115051 Centerline is valid? [True, True] Translation: X:650.88, Y:4.56, Z:2.83 [[ 9.98122720e-01 -5.88469405e-02 -1.69727312e-02 6.50880964e+02] [ 5.88526507e-02 9.98266667e-01 -1.63289092e-04 4.55829996e+00] [ 1.69529209e-02 -8.35907670e-04 9.99855939e-01 2.82727995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.2192541539999 meters 0.026378099157484052 Centerline is valid? [True, True] Translation: X:650.94, Y:4.56, Z:2.83 [[ 9.98409941e-01 -5.45769372e-02 -1.41048785e-02 6.50941692e+02] [ 5.45804603e-02 9.98509367e-01 -1.35331000e-04 4.56398200e+00] [ 1.40912393e-02 -6.34734946e-04 9.99900512e-01 2.83002005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.279254154 meters 0.02237784154003476 Centerline is valid? [True, True] Translation: X:651.00, Y:4.57, Z:2.83 [[ 9.98794147e-01 -4.74197632e-02 -1.27128812e-02 6.51002241e+02] [ 4.74220471e-02 9.98874934e-01 -1.21903097e-04 4.57441936e+00] [ 1.27043590e-02 -4.81114752e-04 9.99919181e-01 2.83246304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.339254154 meters 0.020040436885406635 Centerline is valid? [True, True] Translation: X:651.06, Y:4.58, Z:2.83 [[ 9.99148686e-01 -3.92812069e-02 -1.26051972e-02 6.51062880e+02] [ 3.92828054e-02 9.99228125e-01 -1.20846541e-04 4.58418707e+00] [ 1.26002146e-02 -3.74423848e-04 9.99920544e-01 2.83304721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.399254154 meters 0.019039372632616892 Centerline is valid? [True, True] Translation: X:651.12, Y:4.59, Z:2.83 [[ 9.99311307e-01 -3.46779040e-02 -1.32043595e-02 6.51124012e+02] [ 3.46792609e-02 9.99398486e-01 -1.26259844e-04 4.59003823e+00] [ 1.32007953e-02 -3.31744537e-04 9.99912811e-01 2.83216123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.459254154 meters 0.01674440231385929 Centerline is valid? [True, True] Translation: X:651.19, Y:4.60, Z:2.83 [[ 9.99406950e-01 -3.13773705e-02 -1.41848008e-02 6.51185633e+02] [ 3.13786117e-02 9.99507561e-01 -1.35104892e-04 4.59649881e+00] [ 1.41820548e-02 -3.10074586e-04 9.99899382e-01 2.83287723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.519254154 meters 0.01789439023468 Centerline is valid? [True, True] Translation: X:651.25, Y:4.60, Z:2.83 [[ 9.99389058e-01 -3.16068212e-02 -1.49170923e-02 6.51247695e+02] [ 3.16082334e-02 9.99500325e-01 -1.41141813e-04 4.59784041e+00] [ 1.49140997e-02 -3.30447353e-04 9.99888724e-01 2.83208292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.579254154 meters 0.016801865524303603 Centerline is valid? [True, True] Translation: X:651.31, Y:4.60, Z:2.83 [[ 9.99380082e-01 -3.21493413e-02 -1.43482472e-02 6.51310034e+02] [ 3.21507187e-02 9.99483023e-01 -1.34712894e-04 4.59936162e+00] [ 1.43451604e-02 -3.26677078e-04 9.99897050e-01 2.83321257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.639254154 meters 0.016766037837022314 Centerline is valid? [True, True] Translation: X:651.37, Y:4.60, Z:2.83 [[ 9.99348129e-01 -3.32708388e-02 -1.40131368e-02 6.51371819e+02] [ 3.32722775e-02 9.99446316e-01 -1.30520196e-04 4.60005215e+00] [ 1.40097204e-02 -3.35813862e-04 9.99901803e-01 2.83344248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.699254154 meters 0.017942059993532565 Centerline is valid? [True, True] Translation: X:651.43, Y:4.60, Z:2.83 [[ 9.99313371e-01 -3.45807092e-02 -1.33026593e-02 6.51432632e+02] [ 3.45821325e-02 9.99401852e-01 -1.23088315e-04 4.59845285e+00] [ 1.32989588e-02 -3.37030528e-04 9.99911508e-01 2.83341257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.759254154 meters 0.018572321030522417 Centerline is valid? [True, True] Translation: X:651.50, Y:4.60, Z:2.83 [[ 9.99239275e-01 -3.72464372e-02 -1.15574393e-02 6.51495200e+02] [ 3.72476982e-02 9.99306058e-01 -1.06201168e-04 4.59688032e+00] [ 1.15533747e-02 -3.24367631e-04 9.99933205e-01 2.83487310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.819254154 meters 0.019805306001097724 Centerline is valid? [True, True] Translation: X:651.56, Y:4.59, Z:2.84 [[ 9.99116205e-01 -4.07047074e-02 -1.04849905e-02 6.51556998e+02] [ 4.07059420e-02 9.99171165e-01 -9.57209810e-05 4.59328731e+00] [ 1.04801964e-02 -3.31165030e-04 9.99945026e-01 2.83503619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.879254154 meters 0.02129999341834656 Centerline is valid? [True, True] Translation: X:651.62, Y:4.59, Z:2.83 [[ 9.99027892e-01 -4.28418706e-02 -1.03848102e-02 6.51618412e+02] [ 4.28432029e-02 9.99081804e-01 -9.42459557e-05 4.59073120e+00] [ 1.03793126e-02 -3.50764193e-04 9.99946072e-01 2.83469150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.939254154 meters 0.022968525931694586 Centerline is valid? [True, True] Translation: X:651.68, Y:4.59, Z:2.83 [[ 9.98909021e-01 -4.55385903e-02 -1.03443217e-02 6.51680829e+02] [ 4.55400633e-02 9.98962509e-01 -9.32236254e-05 4.58777785e+00] [ 1.03378349e-02 -3.77959147e-04 9.99946492e-01 2.83381097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.999254154 meters 0.023284327408527355 Centerline is valid? [True, True] Translation: X:651.74, Y:4.59, Z:2.83 [[ 9.98839829e-01 -4.70797682e-02 -1.01238115e-02 6.51743183e+02] [ 4.70812653e-02 9.98891058e-01 -9.05254269e-05 4.58762074e+00] [ 1.01168467e-02 -3.86221454e-04 9.99948749e-01 2.83370771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.059254154 meters 0.022942580022336526 Centerline is valid? [True, True] Translation: X:651.81, Y:4.59, Z:2.83 [[ 9.98798453e-01 -4.78794582e-02 -1.04502927e-02 6.51805716e+02] [ 4.78811051e-02 9.98853038e-01 -9.26852172e-05 4.58877593e+00] [ 1.04427444e-02 -4.07797713e-04 9.99945390e-01 2.83430318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.119254154 meters 0.0228755190392906 Centerline is valid? [True, True] Translation: X:651.87, Y:4.59, Z:2.83 [[ 9.98712580e-01 -4.93658029e-02 -1.16704758e-02 6.51867814e+02] [ 4.93679685e-02 9.98780653e-01 -1.02620445e-04 4.59033781e+00] [ 1.16613114e-02 -4.73659351e-04 9.99931892e-01 2.83379953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.179254154 meters 0.022496638715311535 Centerline is valid? [True, True] Translation: X:651.93, Y:4.59, Z:2.83 [[ 9.98674861e-01 -5.00236727e-02 -1.20894058e-02 6.51930024e+02] [ 5.00260556e-02 9.98747907e-01 -1.05400052e-04 4.59133076e+00] [ 1.20795412e-02 -4.99524904e-04 9.99926915e-01 2.83339934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.239254154 meters 0.025775292656832226 Centerline is valid? [True, True] Translation: X:651.99, Y:4.59, Z:2.83 [[ 9.98609248e-01 -5.09527360e-02 -1.35421353e-02 6.51991473e+02] [ 5.09558232e-02 9.98700901e-01 -1.17199776e-04 4.58856803e+00] [ 1.35305144e-02 -5.73013874e-04 9.99908294e-01 2.83147070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.299254154 meters 0.0226301679922383 Centerline is valid? [True, True] Translation: X:652.05, Y:4.59, Z:2.83 [[ 9.98638111e-01 -5.01121153e-02 -1.45154581e-02 6.52053674e+02] [ 5.01155883e-02 9.98743417e-01 -1.24616087e-04 4.59357049e+00] [ 1.45034630e-02 -6.03004350e-04 9.99894637e-01 2.83294611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.359254154 meters 0.020863564979720767 Centerline is valid? [True, True] Translation: X:652.12, Y:4.60, Z:2.83 [[ 9.98820881e-01 -4.58969502e-02 -1.58214426e-02 6.52115318e+02] [ 4.59005641e-02 9.98946005e-01 -1.34829714e-04 4.59868517e+00] [ 1.58109552e-02 -5.91542408e-04 9.99874824e-01 2.83259076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.419254154 meters 0.020563285874052865 Centerline is valid? [True, True] Translation: X:652.18, Y:4.60, Z:2.83 [[ 9.99011995e-01 -4.14860129e-02 -1.59356076e-02 6.52175498e+02] [ 4.14891259e-02 9.99138946e-01 -1.35338455e-04 4.60213186e+00] [ 1.59275009e-02 -5.25949693e-04 9.99873011e-01 2.83325732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4792541539999 meters 0.01770621937860825 Centerline is valid? [True, True] Translation: X:652.24, Y:4.61, Z:2.83 [[ 9.99321584e-01 -3.37694607e-02 -1.46968046e-02 6.52236103e+02] [ 3.37712784e-02 9.99429580e-01 -1.24552634e-04 4.60979183e+00] [ 1.46926274e-02 -3.71861745e-04 9.99891988e-01 2.83481951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.539254154 meters 0.017427066972236768 Centerline is valid? [True, True] Translation: X:652.30, Y:4.62, Z:2.83 [[ 9.99574892e-01 -2.57442137e-02 -1.36846636e-02 6.52297068e+02] [ 2.57450411e-02 9.99668535e-01 -1.15728833e-04 4.61640638e+00] [ 1.36831069e-02 -2.36632591e-04 9.99906354e-01 2.83479230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5992541539999 meters 0.01500789301306953 Centerline is valid? [True, True] Translation: X:652.36, Y:4.62, Z:2.84 [[ 9.99785558e-01 -1.73064246e-02 -1.13721610e-02 6.52357232e+02] [ 1.73064524e-02 9.99850228e-01 -9.59774983e-05 4.62277462e+00] [ 1.13721188e-02 -1.00854846e-04 9.99935330e-01 2.83619528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.659254154 meters 0.014968239459227328 Centerline is valid? [True, True] Translation: X:652.42, Y:4.63, Z:2.84 [[ 9.99884236e-01 -1.04928638e-02 -1.10188336e-02 6.52417673e+02] [ 1.04924770e-02 9.99944948e-01 -9.29174426e-05 4.62816040e+00] [ 1.10192019e-02 -2.27081714e-05 9.99939286e-01 2.83657641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.7192541539999 meters 0.01431853182131571 Centerline is valid? [True, True] Translation: X:652.48, Y:4.63, Z:2.84 [[ 9.99899948e-01 -9.18646853e-03 -1.07564802e-02 6.52476158e+02] [ 9.18600680e-03 9.99957803e-01 -9.23316963e-05 4.62893619e+00] [ 1.07568745e-02 -6.48664165e-06 9.99942143e-01 2.83679950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.779254154 meters 0.014353049920391294 Centerline is valid? [True, True] Translation: X:652.53, Y:4.62, Z:2.84 [[ 9.99869491e-01 -1.18212117e-02 -1.10118506e-02 6.52534706e+02] [ 1.18208564e-02 9.99930126e-01 -9.73470912e-05 4.62462672e+00] [ 1.10122319e-02 -3.28351184e-05 9.99939363e-01 2.83543058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.839254154 meters 0.014756873221624587 Centerline is valid? [True, True] Translation: X:652.59, Y:4.62, Z:2.83 [[ 9.99750330e-01 -1.88563583e-02 -1.19881077e-02 6.52593970e+02] [ 1.88564234e-02 9.99822196e-01 -1.07609884e-04 4.61740597e+00] [ 1.19880053e-02 -1.18469818e-04 9.99928134e-01 2.83369206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.899254154 meters 0.016571042389817114 Centerline is valid? [True, True] Translation: X:652.65, Y:4.61, Z:2.83 [[ 9.99570333e-01 -2.68158620e-02 -1.18346404e-02 6.52653969e+02] [ 2.68164786e-02 9.99640368e-01 -1.06614072e-04 4.61193985e+00] [ 1.18332432e-02 -2.10795116e-04 9.99929963e-01 2.83386564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.959254154 meters 0.0175267586411302 Centerline is valid? [True, True] Translation: X:652.71, Y:4.60, Z:2.83 [[ 9.99333002e-01 -3.47220795e-02 -1.13105300e-02 6.52714040e+02] [ 3.47231478e-02 9.99396964e-01 -1.01971840e-04 4.60404408e+00] [ 1.13072500e-02 -2.90833380e-04 9.99936029e-01 2.83421948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.019254154 meters 0.0200811626500663 Centerline is valid? [True, True] Translation: X:652.77, Y:4.60, Z:2.84 [[ 9.99082725e-01 -4.17452596e-02 -9.54157160e-03 6.52774267e+02] [ 4.17463398e-02 9.99128238e-01 -8.60235204e-05 4.59629700e+00] [ 9.53684469e-03 -3.12381077e-04 9.99954474e-01 2.83538283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.079254154 meters 0.021954776619160475 Centerline is valid? [True, True] Translation: X:652.84, Y:4.59, Z:2.84 [[ 9.98963433e-01 -4.46869661e-02 -8.66798448e-03 6.52835771e+02] [ 4.46879701e-02 9.99000991e-01 -7.79173436e-05 4.59163564e+00] [ 8.66280697e-03 -3.09518054e-04 9.99962429e-01 2.83624110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.139254154 meters 0.0206037539352202 Centerline is valid? [True, True] Translation: X:652.90, Y:4.59, Z:2.84 [[ 9.98945932e-01 -4.49076139e-02 -9.50425815e-03 6.52898358e+02] [ 4.49088370e-02 9.98991086e-01 -8.47964771e-05 4.59245522e+00] [ 9.49847717e-03 -3.42118084e-04 9.99954830e-01 2.83610767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.199254154 meters 0.019405161031811106 Centerline is valid? [True, True] Translation: X:652.96, Y:4.59, Z:2.84 [[ 9.99130747e-01 -4.04143649e-02 -1.02190261e-02 6.52960274e+02] [ 4.04155510e-02 9.99182954e-01 -9.05007121e-05 4.59422284e+00] [ 1.02143342e-02 -3.22585526e-04 9.99947780e-01 2.83622746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.259254154 meters 0.017626200294335207 Centerline is valid? [True, True] Translation: X:653.02, Y:4.60, Z:2.84 [[ 9.99328059e-01 -3.51590483e-02 -1.03572324e-02 6.53021833e+02] [ 3.51599907e-02 9.99381692e-01 -9.11441120e-05 4.59862389e+00] [ 1.03540330e-02 -2.73077327e-04 9.99946358e-01 2.83695329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.319254154 meters 0.016231544755872004 Centerline is valid? [True, True] Translation: X:653.08, Y:4.60, Z:2.84 [[ 9.99595873e-01 -2.66108860e-02 -9.99761609e-03 6.53081675e+02] [ 2.66113390e-02 9.99645852e-01 -8.77417439e-05 4.60209186e+00] [ 9.99641034e-03 -1.78343666e-04 9.99950019e-01 2.83700362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.379254154 meters 0.015160028614399867 Centerline is valid? [True, True] Translation: X:653.14, Y:4.61, Z:2.84 [[ 9.99725571e-01 -2.08438628e-02 -1.06918842e-02 6.53143478e+02] [ 2.08440547e-02 9.99782735e-01 -9.34966373e-05 4.60544458e+00] [ 1.06915100e-02 -1.29391239e-04 9.99942836e-01 2.83588147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.439254154 meters 0.01498581696126554 Centerline is valid? [True, True] Translation: X:653.20, Y:4.61, Z:2.83 [[ 9.99730229e-01 -1.91622417e-02 -1.31254358e-02 6.53204672e+02] [ 1.91623939e-02 9.99816378e-01 -1.14176966e-04 4.60696004e+00] [ 1.31252135e-02 -1.37368606e-04 9.99913851e-01 2.83409310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.499254154 meters 0.014810904575631596 Centerline is valid? [True, True] Translation: X:653.26, Y:4.61, Z:2.83 [[ 9.99710806e-01 -1.98536915e-02 -1.35696505e-02 6.53264319e+02] [ 1.98539155e-02 9.99802885e-01 -1.18212460e-04 4.60741560e+00] [ 1.35693227e-02 -1.51232421e-04 9.99907921e-01 2.83438459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.559254154 meters 0.01602649887893952 Centerline is valid? [True, True] Translation: X:653.32, Y:4.60, Z:2.83 [[ 9.99588617e-01 -2.50067063e-02 -1.40449557e-02 6.53323484e+02] [ 2.50074477e-02 9.99687257e-01 -1.22862723e-04 4.60314869e+00] [ 1.40436356e-02 -2.28416315e-04 9.99901357e-01 2.83385164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.619254154 meters 0.017502135103495416 Centerline is valid? [True, True] Translation: X:653.38, Y:4.60, Z:2.84 [[ 9.99351124e-01 -3.32966742e-02 -1.37354384e-02 6.53384251e+02] [ 3.32981636e-02 9.99445455e-01 -1.20308763e-04 4.59903176e+00] [ 1.37318273e-02 -3.37134176e-04 9.99905657e-01 2.83553913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.679254154 meters 0.019481670979290072 Centerline is valid? [True, True] Translation: X:653.45, Y:4.59, Z:2.84 [[ 9.99056074e-01 -4.17253991e-02 -1.20810992e-02 6.53445373e+02] [ 4.17271684e-02 9.99129037e-01 -1.05680548e-04 4.59464721e+00] [ 1.20749865e-02 -3.98529266e-04 9.99927015e-01 2.83730161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.739254154 meters 0.022588026315013176 Centerline is valid? [True, True] Translation: X:653.51, Y:4.59, Z:2.84 [[ 9.98748554e-01 -4.88518032e-02 -1.07157226e-02 6.53506542e+02] [ 4.88536070e-02 9.98805945e-01 -9.35219139e-05 4.58836724e+00] [ 1.07074962e-02 -4.30096825e-04 9.99942581e-01 2.83841199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.799254154 meters 0.02610836783072586 Centerline is valid? [True, True] Translation: X:653.57, Y:4.58, Z:2.84 [[ 9.98534878e-01 -5.30173041e-02 -1.08287552e-02 6.53566403e+02] [ 5.30193916e-02 9.98593478e-01 -9.44064180e-05 4.58384981e+00] [ 1.08185295e-02 -4.79865910e-04 9.99941363e-01 2.83865120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.859254154 meters 0.026420419909522028 Centerline is valid? [True, True] Translation: X:653.63, Y:4.58, Z:2.84 [[ 9.98196155e-01 -5.91043574e-02 -1.05409015e-02 6.53627308e+02] [ 5.91066742e-02 9.98251668e-01 -9.18778419e-05 4.58296374e+00] [ 1.05279029e-02 -5.31325522e-04 9.99944439e-01 2.83957728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.919254154 meters 0.029050785170194493 Centerline is valid? [True, True] Translation: X:653.69, Y:4.58, Z:2.84 [[ 9.97923473e-01 -6.31806568e-02 -1.25278101e-02 6.53686831e+02] [ 6.31842497e-02 9.98001873e-01 -1.09185042e-04 4.57940098e+00] [ 1.25096763e-02 -6.82601963e-04 9.99921518e-01 2.83794440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9792541539999 meters 0.026403976832722314 Centerline is valid? [True, True] Translation: X:653.75, Y:4.58, Z:2.84 [[ 9.97887191e-01 -6.35678963e-02 -1.34267071e-02 6.53748599e+02] [ 6.35720675e-02 9.97977244e-01 -1.16345269e-04 4.58474349e+00] [ 1.34069440e-02 -7.37464075e-04 9.99909851e-01 2.83813363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.039254154 meters 0.024740448920310635 Centerline is valid? [True, True] Translation: X:653.81, Y:4.59, Z:2.84 [[ 9.98197069e-01 -5.82196560e-02 -1.45973972e-02 6.53808756e+02] [ 5.82240221e-02 9.98303535e-01 -1.26064337e-04 4.59287314e+00] [ 1.45799726e-02 -7.24082124e-04 9.99893444e-01 2.83798501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0992541539999 meters 0.022505871824523068 Centerline is valid? [True, True] Translation: X:653.87, Y:4.60, Z:2.84 [[ 9.98621188e-01 -5.02342205e-02 -1.52396312e-02 6.53869177e+02] [ 5.02380514e-02 9.98737263e-01 -1.31587507e-04 4.60153420e+00] [ 1.52269977e-02 -6.34203301e-04 9.99883861e-01 2.83765135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.159254154 meters 0.02224762414509293 Centerline is valid? [True, True] Translation: X:653.93, Y:4.61, Z:2.84 [[ 9.98886170e-01 -4.42979807e-02 -1.62513896e-02 6.53929658e+02] [ 4.43015526e-02 9.99018194e-01 -1.40326494e-04 4.60781596e+00] [ 1.62416500e-02 -5.79791595e-04 9.99867928e-01 2.83691004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.2192541539999 meters 0.019811056082845762 Centerline is valid? [True, True] Translation: X:653.99, Y:4.62, Z:2.84 [[ 9.99175004e-01 -3.73157047e-02 -1.60265394e-02 6.53989999e+02] [ 3.73182810e-02 9.99303421e-01 -1.38384971e-04 4.61756213e+00] [ 1.60205395e-02 -4.59812094e-04 9.99871557e-01 2.83791365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.279254154 meters 0.01633084437620108 Centerline is valid? [True, True] Translation: X:654.05, Y:4.63, Z:2.84 [[ 9.99440627e-01 -3.02138620e-02 -1.43372129e-02 6.54050525e+02] [ 3.02151959e-02 9.99543409e-01 -1.23612115e-04 4.62664342e+00] [ 1.43344015e-02 -3.09658728e-04 9.99897209e-01 2.84091953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.339254154 meters 0.014958300109786176 Centerline is valid? [True, True] Translation: X:654.11, Y:4.64, Z:2.84 [[ 9.99669654e-01 -2.13260435e-02 -1.43451020e-02 6.54111672e+02] [ 2.13264677e-02 9.99772557e-01 -1.23414229e-04 4.63515189e+00] [ 1.43444712e-02 -1.82556894e-04 9.99897096e-01 2.84144870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.399254154 meters 0.014355037290467184 Centerline is valid? [True, True] Translation: X:654.17, Y:4.64, Z:2.84 [[ 9.99856082e-01 -1.05791190e-02 -1.32626217e-02 6.54170651e+02] [ 1.05785328e-02 9.99944039e-01 -1.14347472e-04 4.64428330e+00] [ 1.32630892e-02 -2.59680636e-05 9.99912041e-01 2.84164697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.459254154 meters 0.01428821705725445 Centerline is valid? [True, True] Translation: X:654.23, Y:4.65, Z:2.84 [[ 9.99898670e-01 -5.34407042e-03 -1.31943685e-02 6.54228771e+02] [ 5.34299898e-03 9.99985719e-01 -1.16454022e-04 4.64899081e+00] [ 1.31948024e-02 4.59447241e-05 9.99912944e-01 2.84203383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.519254154 meters 0.014781689905552425 Centerline is valid? [True, True] Translation: X:654.29, Y:4.65, Z:2.84 [[ 9.99914287e-01 -3.74617535e-04 -1.30873430e-02 6.54287311e+02] [ 3.73092172e-04 9.99999923e-01 -1.18993797e-04 4.65171179e+00] [ 1.30873866e-02 1.14100812e-04 9.99914350e-01 2.84166507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.579254154 meters 0.015152949728473865 Centerline is valid? [True, True] Translation: X:654.34, Y:4.65, Z:2.84 [[ 9.99916693e-01 -7.53751106e-04 -1.28856349e-02 6.54344261e+02] [ 7.52268849e-04 9.99999710e-01 -1.19878283e-04 4.65196739e+00] [ 1.28857215e-02 1.10174834e-04 9.99916970e-01 2.84091252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.639254154 meters 0.01440413465343143 Centerline is valid? [True, True] Translation: X:654.40, Y:4.65, Z:2.84 [[ 9.99884203e-01 -5.34179453e-03 -1.42493816e-02 6.54402659e+02] [ 5.34042433e-03 9.99985731e-01 -1.34207616e-04 4.64729149e+00] [ 1.42498952e-02 5.80943309e-05 9.99898463e-01 2.84032414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.699254154 meters 0.014099138622885159 Centerline is valid? [True, True] Translation: X:654.46, Y:4.64, Z:2.84 [[ 9.99822748e-01 -1.25787110e-02 -1.40088888e-02 6.54460629e+02] [ 1.25780804e-02 9.99920884e-01 -1.33122800e-04 4.63938641e+00] [ 1.40094550e-02 -4.31057264e-05 9.99901862e-01 2.84039049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.759254154 meters 0.014221602059019978 Centerline is valid? [True, True] Translation: X:654.52, Y:4.63, Z:2.84 [[ 9.99775168e-01 -1.68658012e-02 -1.28514046e-02 6.54519177e+02] [ 1.68656122e-02 9.99857758e-01 -1.23092752e-04 4.63456068e+00] [ 1.28516527e-02 -9.36817298e-05 9.99917410e-01 2.84204207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.819254154 meters 0.01484119636052694 Centerline is valid? [True, True] Translation: X:654.58, Y:4.63, Z:2.84 [[ 9.99720348e-01 -2.07825384e-02 -1.12832195e-02 6.54579135e+02] [ 2.07826361e-02 9.99784012e-01 -1.08603780e-04 4.62762553e+00] [ 1.12830396e-02 -1.25921637e-04 9.99936337e-01 2.84365507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.879254154 meters 0.015860950119841198 Centerline is valid? [True, True] Translation: X:654.64, Y:4.62, Z:2.84 [[ 9.99713156e-01 -2.04319795e-02 -1.24955710e-02 6.54640504e+02] [ 2.04320735e-02 9.99791236e-01 -1.20156493e-04 4.62499067e+00] [ 1.24954174e-02 -1.35188397e-04 9.99921920e-01 2.84254956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.939254154 meters 0.014890151872053616 Centerline is valid? [True, True] Translation: X:654.70, Y:4.62, Z:2.84 [[ 9.99731832e-01 -1.87676550e-02 -1.35661366e-02 6.54700653e+02] [ 1.87676149e-02 9.99823864e-01 -1.30275950e-04 4.62235310e+00] [ 1.35661921e-02 -1.24363013e-04 9.99907967e-01 2.84270158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.999254154 meters 0.014702018333721414 Centerline is valid? [True, True] Translation: X:654.76, Y:4.62, Z:2.84 [[ 9.99794402e-01 -1.41913935e-02 -1.44830068e-02 6.54760482e+02] [ 1.41908623e-02 9.99899295e-01 -1.39450837e-04 4.62206102e+00] [ 1.44835273e-02 -6.61041899e-05 9.99895106e-01 2.84285981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.059254154 meters 0.014718068169959488 Centerline is valid? [True, True] Translation: X:654.82, Y:4.62, Z:2.84 [[ 9.99850284e-01 -8.19833129e-03 -1.52379949e-02 6.54818103e+02] [ 8.19699603e-03 9.99966393e-01 -1.50082958e-04 4.62347164e+00] [ 1.52387132e-02 2.51547052e-05 9.99883884e-01 2.84283206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.119254154 meters 0.014906766335815096 Centerline is valid? [True, True] Translation: X:654.88, Y:4.62, Z:2.84 [[ 9.99879462e-01 -4.25058033e-03 -1.49329741e-02 6.54877129e+02] [ 4.24879819e-03 9.99990962e-01 -1.51065809e-04 4.62376170e+00] [ 1.49334813e-02 8.76004068e-05 9.99888486e-01 2.84312477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.179254154 meters 0.015126375088955698 Centerline is valid? [True, True] Translation: X:654.94, Y:4.62, Z:2.84 [[ 9.99897775e-01 -1.83743354e-03 -1.41796500e-02 6.54936002e+02] [ 1.83553336e-03 9.99998305e-01 -1.47020436e-04 4.62097448e+00] [ 1.41798961e-02 1.20978186e-04 9.99899453e-01 2.84364991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.239254154 meters 0.01486513986877706 Centerline is valid? [True, True] Translation: X:654.99, Y:4.61, Z:2.84 [[ 9.99881660e-01 -5.70711970e-03 -1.42861472e-02 6.54994425e+02] [ 5.70555926e-03 9.99983712e-01 -1.49982978e-04 4.61468713e+00] [ 1.42867705e-02 6.84547697e-05 9.99897937e-01 2.84428243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.299254154 meters 0.014992341376880195 Centerline is valid? [True, True] Translation: X:655.05, Y:4.60, Z:2.84 [[ 9.99778288e-01 -1.46315531e-02 -1.51424110e-02 6.55052534e+02] [ 1.46308036e-02 9.99892951e-01 -1.60284717e-04 4.60347446e+00] [ 1.51431353e-02 -6.12964621e-05 9.99885334e-01 2.84326890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.359254154 meters 0.01585593387396984 Centerline is valid? [True, True] Translation: X:655.11, Y:4.59, Z:2.84 [[ 9.99618072e-01 -2.25290617e-02 -1.60047497e-02 6.55111106e+02] [ 2.25292163e-02 9.99746170e-01 -1.70664840e-04 4.59402131e+00] [ 1.60045322e-02 -1.89974810e-04 9.99871901e-01 2.84337181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.419254154 meters 0.017680936747021883 Centerline is valid? [True, True] Translation: X:655.17, Y:4.58, Z:2.84 [[ 9.99399144e-01 -3.07566595e-02 -1.59805618e-02 6.55170164e+02] [ 3.07578500e-02 9.99526851e-01 -1.71338177e-04 4.58409330e+00] [ 1.59782704e-02 -3.20292496e-04 9.99872288e-01 2.84356333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4792541539999 meters 0.01939095816351069 Centerline is valid? [True, True] Translation: X:655.23, Y:4.58, Z:2.84 [[ 9.99191708e-01 -3.69905805e-02 -1.57361654e-02 6.55230946e+02] [ 3.69925037e-02 9.99315529e-01 -1.68948417e-04 4.57612598e+00] [ 1.57316440e-02 -4.13308300e-04 9.99876165e-01 2.84422540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.539254154 meters 0.0217164399528743 Centerline is valid? [True, True] Translation: X:655.29, Y:4.57, Z:2.85 [[ 9.98973088e-01 -4.28707738e-02 -1.46583074e-02 6.55291805e+02] [ 4.28730774e-02 9.99080515e-01 -1.57196088e-04 4.56730545e+00] [ 1.46515684e-02 -4.71412086e-04 9.99892549e-01 2.84543838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5992541539999 meters 0.020343812921797065 Centerline is valid? [True, True] Translation: X:655.35, Y:4.57, Z:2.85 [[ 9.98927388e-01 -4.40486838e-02 -1.42754160e-02 6.55353732e+02] [ 4.40510003e-02 9.99029272e-01 -1.52280447e-04 4.56717341e+00] [ 1.42682662e-02 -4.76729244e-04 9.99898089e-01 2.84727342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.659254154 meters 0.019943338491146767 Centerline is valid? [True, True] Translation: X:655.42, Y:4.57, Z:2.85 [[ 9.98990178e-01 -4.25668502e-02 -1.43766105e-02 6.55415972e+02] [ 4.25690617e-02 9.99093515e-01 -1.52294936e-04 4.56638731e+00] [ 1.43700610e-02 -4.59857673e-04 9.99896640e-01 2.84793954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.7192541539999 meters 0.019977038149405154 Centerline is valid? [True, True] Translation: X:655.48, Y:4.57, Z:2.85 [[ 9.99089246e-01 -4.03400929e-02 -1.39052013e-02 6.55476022e+02] [ 4.03419530e-02 9.99185921e-01 -1.46815586e-04 4.56670156e+00] [ 1.38998039e-02 -4.14281104e-04 9.99903307e-01 2.84874595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.779254154 meters 0.019908039013987536 Centerline is valid? [True, True] Translation: X:655.54, Y:4.57, Z:2.85 [[ 9.99105749e-01 -3.95191381e-02 -1.50312980e-02 6.55537846e+02] [ 3.95212287e-02 9.99218719e-01 -1.58051236e-04 4.56732661e+00] [ 1.50258004e-02 -4.36145468e-04 9.99887011e-01 2.84881735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.839254154 meters 0.02059235866402514 Centerline is valid? [True, True] Translation: X:655.60, Y:4.57, Z:2.85 [[ 9.99079495e-01 -3.95716894e-02 -1.65603112e-02 6.55598577e+02] [ 3.95742633e-02 9.99216617e-01 -1.72375577e-04 4.56614322e+00] [ 1.65541593e-02 -4.83145211e-04 9.99862854e-01 2.84686321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.899254154 meters 0.020323590504724504 Centerline is valid? [True, True] Translation: X:655.66, Y:4.57, Z:2.85 [[ 9.99035375e-01 -3.99845654e-02 -1.81536367e-02 6.55659372e+02] [ 3.99877419e-02 9.99200153e-01 -1.88125495e-04 4.56755618e+00] [ 1.81466387e-02 -5.37978915e-04 9.99835191e-01 2.84589428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.959254154 meters 0.017892719903639255 Centerline is valid? [True, True] Translation: X:655.72, Y:4.57, Z:2.85 [[ 9.99110740e-01 -3.74286526e-02 -1.94120015e-02 6.55720085e+02] [ 3.74318045e-02 9.99299164e-01 -2.01082992e-04 4.57302629e+00] [ 1.94059232e-02 -5.25722069e-04 9.99811549e-01 2.84719668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.019254154 meters 0.01742643713807356 Centerline is valid? [True, True] Translation: X:655.78, Y:4.58, Z:2.85 [[ 9.99380155e-01 -3.02818699e-02 -1.79531365e-02 6.55778830e+02] [ 3.02834039e-02 9.99541335e-01 -1.86472147e-04 4.57826966e+00] [ 1.79505487e-02 -3.57325520e-04 9.99838812e-01 2.84909569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.079254154 meters 0.015662710921035872 Centerline is valid? [True, True] Translation: X:655.84, Y:4.58, Z:2.85 [[ 9.99609300e-01 -2.36474970e-02 -1.49010907e-02 6.55838908e+02] [ 2.36478119e-02 9.99720339e-01 -1.55095204e-04 4.58384451e+00] [ 1.49005911e-02 -1.97343581e-04 9.99888961e-01 2.85122683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.139254154 meters 0.014804422100106691 Centerline is valid? [True, True] Translation: X:655.90, Y:4.59, Z:2.85 [[ 9.99717902e-01 -1.99584130e-02 -1.28755046e-02 6.55898274e+02] [ 1.99583373e-02 9.99800804e-01 -1.34388588e-04 4.58702146e+00] [ 1.28756220e-02 -1.22622986e-04 9.99917098e-01 2.85241776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.199254154 meters 0.015631775399746414 Centerline is valid? [True, True] Translation: X:655.96, Y:4.59, Z:2.85 [[ 9.99784602e-01 -1.63784701e-02 -1.27473533e-02 6.55956980e+02] [ 1.63780972e-02 9.99865861e-01 -1.33656753e-04 4.58964102e+00] [ 1.27478325e-02 -7.51494268e-05 9.99918740e-01 2.85211707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.259254154 meters 0.01473669532025189 Centerline is valid? [True, True] Translation: X:656.02, Y:4.59, Z:2.85 [[ 9.99783067e-01 -1.66574198e-02 -1.25039453e-02 6.56015297e+02] [ 1.66570548e-02 9.99861253e-01 -1.33341303e-04 4.58906252e+00] [ 1.25044315e-02 -7.49665251e-05 9.99921814e-01 2.85179665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.319254154 meters 0.01632191258153832 Centerline is valid? [True, True] Translation: X:656.07, Y:4.58, Z:2.85 [[ 9.99715081e-01 -2.02390574e-02 -1.26545306e-02 6.56074227e+02] [ 2.02389309e-02 9.99795162e-01 -1.38067939e-04 4.58309808e+00] [ 1.26547329e-02 -1.18085570e-04 9.99919919e-01 2.85166858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.379254154 meters 0.015955957678938225 Centerline is valid? [True, True] Translation: X:656.13, Y:4.58, Z:2.85 [[ 9.99638117e-01 -2.37300601e-02 -1.26696582e-02 6.56133779e+02] [ 2.37301963e-02 9.99718389e-01 -1.39608729e-04 4.57956828e+00] [ 1.26694032e-02 -1.61095268e-04 9.99919727e-01 2.85135870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.439254154 meters 0.016460871579893267 Centerline is valid? [True, True] Translation: X:656.19, Y:4.57, Z:2.85 [[ 9.99461845e-01 -2.99484213e-02 -1.33833018e-02 6.56193745e+02] [ 2.99491239e-02 9.99551413e-01 -1.47960140e-04 4.57232652e+00] [ 1.33817294e-02 -2.52937648e-04 9.99910429e-01 2.84936295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.499254154 meters 0.017300124662556742 Centerline is valid? [True, True] Translation: X:656.25, Y:4.57, Z:2.85 [[ 9.99316092e-01 -3.44649598e-02 -1.33982896e-02 6.56254275e+02] [ 3.44660676e-02 9.99405858e-01 -1.48282830e-04 4.56809879e+00] [ 1.33954397e-02 -3.13604937e-04 9.99910228e-01 2.84977722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.559254154 meters 0.020431579568561117 Centerline is valid? [True, True] Translation: X:656.31, Y:4.56, Z:2.85 [[ 9.99132188e-01 -3.97189025e-02 -1.25411077e-02 6.56314045e+02] [ 3.97202937e-02 9.99210828e-01 -1.38221733e-04 4.56036288e+00] [ 1.25367006e-02 -3.60034700e-04 9.99921348e-01 2.84976120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.619254154 meters 0.0227199036039567 Centerline is valid? [True, True] Translation: X:656.37, Y:4.56, Z:2.85 [[ 9.98975092e-01 -4.40049852e-02 -1.05984564e-02 6.56373879e+02] [ 4.40062224e-02 9.99031250e-01 -1.16548363e-04 4.55573900e+00] [ 1.05933179e-02 -3.49969119e-04 9.99943828e-01 2.85124060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.679254154 meters 0.026084953641693984 Centerline is valid? [True, True] Translation: X:656.44, Y:4.55, Z:2.85 [[ 9.98704466e-01 -4.99276947e-02 -9.82925988e-03 6.56435156e+02] [ 4.99290462e-02 9.98752762e-01 -1.07999963e-04 4.54953102e+00] [ 9.82239264e-03 -3.82905525e-04 9.99951686e-01 2.85164089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.739254154 meters 0.023658798398187676 Centerline is valid? [True, True] Translation: X:656.50, Y:4.55, Z:2.85 [[ 9.98409987e-01 -5.55211306e-02 -9.74176114e-03 6.56496317e+02] [ 5.55227254e-02 9.98457418e-01 -1.06870807e-04 4.55336455e+00] [ 9.73266727e-03 -4.34188247e-04 9.99952542e-01 2.85224903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.799254154 meters 0.02615517558190892 Centerline is valid? [True, True] Translation: X:656.56, Y:4.55, Z:2.85 [[ 9.98246849e-01 -5.83341870e-02 -1.00175723e-02 6.56556472e+02] [ 5.83360166e-02 9.98296998e-01 -1.09713480e-04 4.55155189e+00] [ 1.00069124e-02 -4.74864127e-04 9.99949817e-01 2.85237685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.859254154 meters 0.03199388566424713 Centerline is valid? [True, True] Translation: X:656.62, Y:4.55, Z:2.85 [[ 9.98057506e-01 -6.13226806e-02 -1.09883633e-02 6.56617142e+02] [ 6.13250668e-02 9.98117840e-01 -1.19965217e-04 4.54525674e+00] [ 1.09750380e-02 -5.54129930e-04 9.99939619e-01 2.85141765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.919254154 meters 0.029304023238859986 Centerline is valid? [True, True] Translation: X:656.68, Y:4.55, Z:2.85 [[ 9.98068320e-01 -6.11095839e-02 -1.11914193e-02 6.56678924e+02] [ 6.11120535e-02 9.98130904e-01 -1.21498427e-04 4.55316657e+00] [ 1.11779261e-02 -5.62666882e-04 9.99937367e-01 2.85185772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9792541539999 meters 0.026859684226842623 Centerline is valid? [True, True] Translation: X:656.74, Y:4.56, Z:2.85 [[ 9.98186120e-01 -5.92110497e-02 -1.08867724e-02 6.56740467e+02] [ 5.92132799e-02 9.98245347e-01 -1.17651278e-04 4.56012967e+00] [ 1.08746361e-02 -5.27203627e-04 9.99940730e-01 2.85270299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.039254154 meters 0.023484298043400825 Centerline is valid? [True, True] Translation: X:656.80, Y:4.57, Z:2.85 [[ 9.98436376e-01 -5.45332858e-02 -1.22851425e-02 6.56801640e+02] [ 5.45357768e-02 9.98511808e-01 -1.32398956e-04 4.56955845e+00] [ 1.22740800e-02 -5.37787854e-04 9.99924526e-01 2.85173193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0992541539999 meters 0.024295403842328357 Centerline is valid? [True, True] Translation: X:656.86, Y:4.57, Z:2.85 [[ 9.98596847e-01 -5.13106406e-02 -1.30979284e-02 6.56862473e+02] [ 5.13132009e-02 9.98682600e-01 -1.40732071e-04 4.57259262e+00] [ 1.30878942e-02 -5.31562028e-04 9.99914209e-01 2.85136273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.159254154 meters 0.022661444799256927 Centerline is valid? [True, True] Translation: X:656.92, Y:4.58, Z:2.85 [[ 9.98927643e-01 -4.47897958e-02 -1.17233984e-02 6.56922370e+02] [ 4.47913989e-02 9.98996354e-01 -1.25913810e-04 4.58211650e+00] [ 1.17172719e-02 -3.99328630e-04 9.99931271e-01 2.85282625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.2192541539999 meters 0.018001490698850594 Centerline is valid? [True, True] Translation: X:656.98, Y:4.60, Z:2.86 [[ 9.99329115e-01 -3.50759622e-02 -1.05355463e-02 6.56983096e+02] [ 3.50767169e-02 9.99384616e-01 -1.13199519e-04 4.59769804e+00] [ 1.05330335e-02 -2.56428801e-04 9.99944493e-01 2.85552121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.279254154 meters 0.01596737207866965 Centerline is valid? [True, True] Translation: X:657.04, Y:4.61, Z:2.86 [[ 9.99643324e-01 -2.49496133e-02 -9.52580720e-03 6.57042341e+02] [ 2.49497697e-02 9.99688701e-01 -1.02435688e-04 4.60819216e+00] [ 9.52539755e-03 -1.35267544e-04 9.99954623e-01 2.85536230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.339254154 meters 0.015298221532185815 Centerline is valid? [True, True] Translation: X:657.10, Y:4.61, Z:2.86 [[ 9.99704561e-01 -2.24597592e-02 -9.29248801e-03 6.57103444e+02] [ 2.24598013e-02 9.99747742e-01 -9.98319973e-05 4.61237273e+00] [ 9.29238610e-03 -1.08904932e-04 9.99956819e-01 2.85549662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.399254154 meters 0.01497641912537278 Centerline is valid? [True, True] Translation: X:657.16, Y:4.62, Z:2.85 [[ 9.99735155e-01 -1.98763577e-02 -1.15995689e-02 6.57163550e+02] [ 1.98762531e-02 9.99802440e-01 -1.24303529e-04 4.61785570e+00] [ 1.15997480e-02 -1.06285361e-04 9.99932715e-01 2.85268722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.459254154 meters 0.015734084954548692 Centerline is valid? [True, True] Translation: X:657.22, Y:4.62, Z:2.85 [[ 9.99614937e-01 -2.37861239e-02 -1.42897715e-02 6.57223534e+02] [ 2.37863650e-02 9.99717053e-01 -1.53117537e-04 4.61844363e+00] [ 1.42893703e-02 -1.86843142e-04 9.99897884e-01 2.85184074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.519254154 meters 0.01719043848187644 Centerline is valid? [True, True] Translation: X:657.28, Y:4.61, Z:2.85 [[ 9.99431652e-01 -3.10532444e-02 -1.31175247e-02 6.57283463e+02] [ 3.10540686e-02 9.99517696e-01 -1.40894002e-04 4.61389338e+00] [ 1.31155733e-02 -2.66538588e-04 9.99913952e-01 2.85286466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.579254154 meters 0.01889147010750231 Centerline is valid? [True, True] Translation: X:657.34, Y:4.61, Z:2.85 [[ 9.99256577e-01 -3.68724052e-02 -1.12569903e-02 6.57344398e+02] [ 3.68733810e-02 9.99319938e-01 -1.20921927e-04 4.61142393e+00] [ 1.12537935e-02 -2.94251261e-04 9.99936631e-01 2.85441410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.639254154 meters 0.021399555278387095 Centerline is valid? [True, True] Translation: X:657.40, Y:4.61, Z:2.85 [[ 9.99104091e-01 -4.12111107e-02 -9.62598231e-03 6.57404519e+02] [ 4.12120303e-02 9.99150418e-01 -1.02882772e-04 4.60686763e+00] [ 9.62204416e-03 -2.93915676e-04 9.99953664e-01 2.85482584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.699254154 meters 0.022369560834499647 Centerline is valid? [True, True] Translation: X:657.47, Y:4.61, Z:2.85 [[ 9.99007071e-01 -4.34594166e-02 -9.80570085e-03 6.57466723e+02] [ 4.34604866e-02 9.99055141e-01 -1.04042731e-04 4.60520647e+00] [ 9.80095749e-03 -3.22221107e-04 9.99951918e-01 2.85481999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.759254154 meters 0.024396448381489327 Centerline is valid? [True, True] Translation: X:657.53, Y:4.60, Z:2.85 [[ 9.98881940e-01 -4.60821697e-02 -1.05500641e-02 6.57527976e+02] [ 4.60835635e-02 9.98937582e-01 -1.11076483e-04 4.60211564e+00] [ 1.05439741e-02 -3.75232254e-04 9.99944340e-01 2.85395912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.819254154 meters 0.025042151089235576 Centerline is valid? [True, True] Translation: X:657.59, Y:4.60, Z:2.85 [[ 9.98880038e-01 -4.60207655e-02 -1.09890057e-02 6.57589219e+02] [ 4.60222821e-02 9.98940407e-01 -1.14967177e-04 4.60087238e+00] [ 1.09826527e-02 -3.90900703e-04 9.99939612e-01 2.85313644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.879254154 meters 0.02002995279821908 Centerline is valid? [True, True] Translation: X:657.65, Y:4.61, Z:2.85 [[ 9.99167518e-01 -3.92355221e-02 -1.11733966e-02 6.57649610e+02] [ 3.92366685e-02 9.99229939e-01 -1.16672384e-04 4.60958309e+00] [ 1.11693701e-02 -3.21831603e-04 9.99937569e-01 2.85356362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.939254154 meters 0.016193833855526096 Centerline is valid? [True, True] Translation: X:657.71, Y:4.62, Z:2.85 [[ 9.99572981e-01 -2.73102730e-02 -1.03925339e-02 6.57709617e+02] [ 2.73106207e-02 9.99626990e-01 -1.08484596e-04 4.62152137e+00] [ 1.03916201e-02 -1.75388279e-04 9.99945990e-01 2.85498973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.999254154 meters 0.014546995988011293 Centerline is valid? [True, True] Translation: X:657.77, Y:4.63, Z:2.86 [[ 9.99824906e-01 -1.62997865e-02 -9.19096509e-03 6.57770621e+02] [ 1.62995943e-02 9.99867148e-01 -9.58325540e-05 4.63063798e+00] [ 9.19130611e-03 -5.39932275e-05 9.99957758e-01 2.85542944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.059254154 meters 0.0150700544616613 Centerline is valid? [True, True] Translation: X:657.83, Y:4.63, Z:2.85 [[ 9.99846138e-01 -1.41125961e-02 -1.04179661e-02 6.57830907e+02] [ 1.41122313e-02 9.99900412e-01 -1.08535548e-04 4.63272627e+00] [ 1.04184603e-02 -3.85018985e-05 9.99945726e-01 2.85449695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.119254154 meters 0.015505836722397389 Centerline is valid? [True, True] Translation: X:657.89, Y:4.63, Z:2.85 [[ 9.99754056e-01 -1.90024664e-02 -1.14339150e-02 6.57890751e+02] [ 1.90023438e-02 9.99819432e-01 -1.19374218e-04 4.62905524e+00] [ 1.14341188e-02 -9.79263258e-05 9.99934624e-01 2.85328834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.179254154 meters 0.017733316953371128 Centerline is valid? [True, True] Translation: X:657.95, Y:4.62, Z:2.85 [[ 9.99429349e-01 -3.16512672e-02 -1.17971846e-02 6.57950184e+02] [ 3.16520161e-02 9.99498942e-01 -1.23272526e-04 4.61549045e+00] [ 1.17951752e-02 -2.50202496e-04 9.99930403e-01 2.85211129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.239254154 meters 0.020708604914113467 Centerline is valid? [True, True] Translation: X:658.01, Y:4.61, Z:2.85 [[ 9.98996814e-01 -4.32834727e-02 -1.14850883e-02 6.58011160e+02] [ 4.32849508e-02 9.99062760e-01 -1.19954461e-04 4.60572186e+00] [ 1.14795161e-02 -3.77297359e-04 9.99934037e-01 2.85315933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.299254154 meters 0.024210779508937984 Centerline is valid? [True, True] Translation: X:658.07, Y:4.60, Z:2.85 [[ 9.98687048e-01 -5.02456503e-02 -9.97766873e-03 6.58071312e+02] [ 5.02471131e-02 9.98736811e-01 -1.04175021e-04 4.59793766e+00] [ 9.97029938e-03 -3.97310805e-04 9.99950216e-01 2.85452815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.359254154 meters 0.026819014717563344 Centerline is valid? [True, True] Translation: X:658.13, Y:4.59, Z:2.86 [[ 9.98524469e-01 -5.38680738e-02 -6.86407081e-03 6.58131467e+02] [ 5.38688530e-02 9.98548017e-01 -7.14490437e-05 4.59145285e+00] [ 6.85795312e-03 -2.98416003e-04 9.99976439e-01 2.85642650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.419254154 meters 0.029672260388622352 Centerline is valid? [True, True] Translation: X:658.19, Y:4.59, Z:2.86 [[ 9.98342200e-01 -5.73509291e-02 -4.87067994e-03 6.58191149e+02] [ 5.73513640e-02 9.98354055e-01 -5.04396685e-05 4.58692057e+00] [ 4.86555583e-03 -2.28984089e-04 9.99988137e-01 2.85758749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4792541539999 meters 0.026585765313524773 Centerline is valid? [True, True] Translation: X:658.25, Y:4.59, Z:2.86 [[ 9.98080568e-01 -6.15937110e-02 -6.43389745e-03 6.58252190e+02] [ 6.15945584e-02 9.98101250e-01 -6.65500640e-05 4.59196196e+00] [ 6.42578016e-03 -3.29870747e-04 9.99979300e-01 2.85640612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.539254154 meters 0.02727714007708323 Centerline is valid? [True, True] Translation: X:658.31, Y:4.59, Z:2.85 [[ 9.97914668e-01 -6.39765122e-02 -8.56279817e-03 6.58313517e+02] [ 6.39781039e-02 9.97951299e-01 -8.81927522e-05 4.59215661e+00] [ 8.55089782e-03 -4.59822749e-04 9.99963335e-01 2.85456457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5992541539999 meters 0.028063270043194474 Centerline is valid? [True, True] Translation: X:658.37, Y:4.59, Z:2.85 [[ 9.98034553e-01 -6.19974731e-02 -9.12930094e-03 6.58373738e+02] [ 6.19992021e-02 9.98076195e-01 -9.37689464e-05 4.59472692e+00] [ 9.11755138e-03 -4.72424726e-04 9.99958323e-01 2.85370205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.659254154 meters 0.02696968152202335 Centerline is valid? [True, True] Translation: X:658.43, Y:4.60, Z:2.85 [[ 9.98270025e-01 -5.78480788e-02 -1.05146432e-02 6.58434545e+02] [ 5.78501449e-02 9.98325272e-01 -1.07797559e-04 4.59987221e+00] [ 1.05032699e-02 -5.00662560e-04 9.99944714e-01 2.85276130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.7192541539999 meters 0.022198188691783614 Centerline is valid? [True, True] Translation: X:658.50, Y:4.61, Z:2.85 [[ 9.98778336e-01 -4.81520831e-02 -1.11000866e-02 6.58495402e+02] [ 4.81537899e-02 9.98839927e-01 -1.13606818e-04 4.61386006e+00] [ 1.10926801e-02 -4.21043208e-04 9.99938386e-01 2.85310523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.779254154 meters 0.020442609488678685 Centerline is valid? [True, True] Translation: X:658.56, Y:4.63, Z:2.85 [[ 9.99266317e-01 -3.67384279e-02 -1.08219730e-02 6.58555944e+02] [ 3.67393819e-02 9.99324875e-01 -1.10695909e-04 4.62649559e+00] [ 1.08187336e-02 -2.86977906e-04 9.99941435e-01 2.85297672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.839254154 meters 0.015843684043924167 Centerline is valid? [True, True] Translation: X:658.62, Y:4.64, Z:2.86 [[ 9.99553794e-01 -2.80722222e-02 -1.02060796e-02 6.58616575e+02] [ 2.80726202e-02 9.99605881e-01 -1.04293943e-04 4.63865687e+00] [ 1.02049850e-02 -1.82263990e-04 9.99947911e-01 2.85554295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.899254154 meters 0.014768856590507884 Centerline is valid? [True, True] Translation: X:658.68, Y:4.65, Z:2.86 [[ 9.99745944e-01 -2.06888819e-02 -8.94521414e-03 6.58676562e+02] [ 2.06888934e-02 9.99785958e-01 -9.12562082e-05 4.64752882e+00] [ 8.94518747e-03 -9.38335579e-05 9.99959987e-01 2.85655080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.959254154 meters 0.014271105490584128 Centerline is valid? [True, True] Translation: X:658.74, Y:4.65, Z:2.86 [[ 9.99812360e-01 -1.71984931e-02 -8.91389359e-03 6.58738347e+02] [ 1.71983687e-02 9.99852093e-01 -9.06177349e-05 4.65233843e+00] [ 8.91413365e-03 -6.27036974e-05 9.99960266e-01 2.85653697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.019254154 meters 0.01412137993406075 Centerline is valid? [True, True] Translation: X:658.80, Y:4.65, Z:2.86 [[ 9.99809968e-01 -1.74047149e-02 -8.78082371e-03 6.58799690e+02] [ 1.74046055e-02 9.99848524e-01 -8.88736855e-05 4.65435843e+00] [ 8.78104045e-03 -6.39699760e-05 9.99961444e-01 2.85711534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.079254154 meters 0.014324342067816574 Centerline is valid? [True, True] Translation: X:658.86, Y:4.65, Z:2.86 [[ 9.99744147e-01 -2.06927929e-02 -9.13507720e-03 6.58859834e+02] [ 2.06928141e-02 9.99785877e-01 -9.22043623e-05 4.65305448e+00] [ 9.13502913e-03 -9.68496825e-05 9.99958270e-01 2.85684652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.139254154 meters 0.014874765724625207 Centerline is valid? [True, True] Translation: X:658.92, Y:4.65, Z:2.86 [[ 9.99615124e-01 -2.63074396e-02 -8.80473616e-03 6.58921320e+02] [ 2.63076792e-02 9.99653889e-01 -8.86277639e-05 4.65050814e+00] [ 8.80402031e-03 -1.43038521e-04 9.99961234e-01 2.85685269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.199254154 meters 0.018308708751422535 Centerline is valid? [True, True] Translation: X:658.98, Y:4.65, Z:2.85 [[ 9.99582445e-01 -2.74477689e-02 -9.03083890e-03 6.58982458e+02] [ 2.74480713e-02 9.99623227e-01 -9.04762642e-05 4.64744450e+00] [ 9.02991969e-03 -1.57440624e-04 9.99959217e-01 2.85495168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.259254154 meters 0.016624961811095743 Centerline is valid? [True, True] Translation: X:659.04, Y:4.64, Z:2.86 [[ 9.99414667e-01 -3.33751500e-02 -7.51146491e-03 6.59044014e+02] [ 3.33755289e-02 9.99442879e-01 -7.49361161e-05 4.64360716e+00] [ 7.50978112e-03 -1.75806860e-04 9.99971786e-01 2.85676756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.319254154 meters 0.01824831897612965 Centerline is valid? [True, True] Translation: X:659.11, Y:4.64, Z:2.86 [[ 9.99276213e-01 -3.72485628e-02 -7.71975948e-03 6.59106566e+02] [ 3.72490817e-02 9.99306009e-01 -7.66039641e-05 4.64020268e+00] [ 7.71725542e-03 -2.11005432e-04 9.99970199e-01 2.85623695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.379254154 meters 0.01880733401650658 Centerline is valid? [True, True] Translation: X:659.17, Y:4.64, Z:2.86 [[ 9.99200135e-01 -3.92691582e-02 -7.55133211e-03 6.59168459e+02] [ 3.92697164e-02 9.99228644e-01 -7.43877446e-05 4.63756672e+00] [ 7.54842849e-03 -2.22210426e-04 9.99971486e-01 2.85629980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.439254154 meters 0.0182655031670387 Centerline is valid? [True, True] Translation: X:659.23, Y:4.64, Z:2.86 [[ 9.99174341e-01 -3.97888477e-02 -8.21489741e-03 6.59230761e+02] [ 3.97895311e-02 9.99208080e-01 -8.02950376e-05 4.63852985e+00] [ 8.21158671e-03 -2.46638175e-04 9.99966254e-01 2.85646944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.499254154 meters 0.02043019062769353 Centerline is valid? [True, True] Translation: X:659.29, Y:4.64, Z:2.85 [[ 9.99218340e-01 -3.87231120e-02 -7.95176211e-03 6.59292357e+02] [ 3.87237226e-02 9.99249952e-01 -7.72131750e-05 4.63700985e+00] [ 7.94878785e-03 -2.30769010e-04 9.99968381e-01 2.85490251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.559254154 meters 0.019031401878320125 Centerline is valid? [True, True] Translation: X:659.35, Y:4.64, Z:2.85 [[ 9.99253095e-01 -3.74855086e-02 -9.38556380e-03 6.59354817e+02] [ 3.74863108e-02 9.99297137e-01 -9.04896633e-05 4.64021887e+00] [ 9.38235909e-03 -2.61408086e-04 9.99955951e-01 2.85495835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.619254154 meters 0.017299971846768323 Centerline is valid? [True, True] Translation: X:659.42, Y:4.64, Z:2.86 [[ 9.99363237e-01 -3.40519892e-02 -1.06575344e-02 6.59416948e+02] [ 3.40528373e-02 9.99420029e-01 -1.01931266e-04 4.64434153e+00] [ 1.06548243e-02 -2.61052926e-04 9.99943202e-01 2.85510096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.679254154 meters 0.01619663766355774 Centerline is valid? [True, True] Translation: X:659.48, Y:4.65, Z:2.86 [[ 9.99495344e-01 -2.98767356e-02 -1.07906679e-02 6.59478885e+02] [ 2.98773693e-02 9.99553566e-01 -1.02511048e-04 4.64871047e+00] [ 1.07889133e-02 -2.19937456e-04 9.99941774e-01 2.85619078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.739254154 meters 0.015021336455955889 Centerline is valid? [True, True] Translation: X:659.54, Y:4.66, Z:2.86 [[ 9.99685871e-01 -2.26732751e-02 -1.06809202e-02 6.59539908e+02] [ 2.26734900e-02 9.99742918e-01 -1.00986798e-04 4.65549144e+00] [ 1.06804640e-02 -1.41218661e-04 9.99942952e-01 2.85806127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.799254154 meters 0.014179517080751195 Centerline is valid? [True, True] Translation: X:659.60, Y:4.66, Z:2.86 [[ 9.99821578e-01 -1.59468894e-02 -1.01246702e-02 6.59600857e+02] [ 1.59467413e-02 9.99872838e-01 -9.53664420e-05 4.66023232e+00] [ 1.01249035e-02 -6.61060688e-05 9.99948740e-01 2.85919280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.859254154 meters 0.01404585488740144 Centerline is valid? [True, True] Translation: X:659.66, Y:4.66, Z:2.86 [[ 9.99858910e-01 -1.33014169e-02 -1.02583068e-02 6.59661272e+02] [ 1.33011273e-02 9.99911531e-01 -9.64638664e-05 4.66174941e+00] [ 1.02586823e-02 -3.99967874e-05 9.99947378e-01 2.85994913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.919254154 meters 0.01418541331699215 Centerline is valid? [True, True] Translation: X:659.72, Y:4.66, Z:2.86 [[ 9.99857944e-01 -1.22543787e-02 -1.15724944e-02 6.59719779e+02] [ 1.22539345e-02 9.99924912e-01 -1.09293856e-04 4.66143851e+00] [ 1.15729648e-02 -3.25302589e-05 9.99933030e-01 2.86022961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9792541539999 meters 0.01441306545315499 Centerline is valid? [True, True] Translation: X:659.78, Y:4.66, Z:2.86 [[ 9.99794151e-01 -1.57636017e-02 -1.27736139e-02 6.59778777e+02] [ 1.57633158e-02 9.99875744e-01 -1.23068770e-04 4.65653263e+00] [ 1.27739667e-02 -7.83110745e-05 9.99918406e-01 2.86114056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.039254154 meters 0.01538033890821434 Centerline is valid? [True, True] Translation: X:659.84, Y:4.65, Z:2.86 [[ 9.99619800e-01 -2.38563532e-02 -1.38250054e-02 6.59838859e+02] [ 2.38567706e-02 9.99715378e-01 -1.34747220e-04 4.64850335e+00] [ 1.38242851e-02 -1.95123994e-04 9.99904421e-01 2.86297461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0992541539999 meters 0.017588495405875617 Centerline is valid? [True, True] Translation: X:659.90, Y:4.64, Z:2.86 [[ 9.99419543e-01 -3.07483572e-02 -1.46667961e-02 6.59898601e+02] [ 3.07495637e-02 9.99527110e-01 -1.43301492e-04 4.64027281e+00] [ 1.46642666e-02 -3.07779269e-04 9.99892426e-01 2.86282720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.159254154 meters 0.02105066073262788 Centerline is valid? [True, True] Translation: X:659.96, Y:4.63, Z:2.86 [[ 9.99054572e-01 -4.09933261e-02 -1.44744370e-02 6.59959579e+02] [ 4.09955745e-02 9.99159318e-01 -1.41462402e-04 4.62967403e+00] [ 1.44680676e-02 -4.52059202e-04 9.99895230e-01 2.86463097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.2192541539999 meters 0.02285524225881221 Centerline is valid? [True, True] Translation: X:660.02, Y:4.62, Z:2.87 [[ 9.98596084e-01 -5.12563465e-02 -1.33659530e-02 6.60021003e+02] [ 5.12591847e-02 9.98685375e-01 -1.30374542e-04 4.62229069e+00] [ 1.33550643e-02 -5.54936344e-04 9.99910663e-01 2.86710109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.279254154 meters 0.029196678252568727 Centerline is valid? [True, True] Translation: X:660.08, Y:4.61, Z:2.86 [[ 9.98064357e-01 -6.00526991e-02 -1.61620878e-02 6.60080750e+02] [ 6.00580156e-02 9.98194876e-01 -1.56651687e-04 4.61220960e+00] [ 1.61423206e-02 -8.14314457e-04 9.99869373e-01 2.86469202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.339254154 meters 0.0311105996578259 Centerline is valid? [True, True] Translation: X:660.14, Y:4.61, Z:2.87 [[ 9.97604339e-01 -6.70193028e-02 -1.71463001e-02 6.60141678e+02] [ 6.70263204e-02 9.97751194e-01 -1.65713814e-04 4.60669257e+00] [ 1.71188474e-02 -9.83936586e-04 9.99852978e-01 2.86515772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.399254154 meters 0.031719957748984645 Centerline is valid? [True, True] Translation: X:660.20, Y:4.61, Z:2.87 [[ 9.97435070e-01 -6.95075257e-02 -1.70875644e-02 6.60202874e+02] [ 6.95148676e-02 9.97580902e-01 -1.64642117e-04 4.60500474e+00] [ 1.70576718e-02 -1.02361996e-03 9.99853983e-01 2.86596799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.459254154 meters 0.02968330039097647 Centerline is valid? [True, True] Translation: X:660.26, Y:4.61, Z:2.87 [[ 9.97364304e-01 -6.98466914e-02 -1.96439313e-02 6.60264985e+02] [ 6.98564866e-02 9.97557034e-01 -1.87953045e-04 4.61119215e+00] [ 1.96090697e-02 -1.18479836e-03 9.99807022e-01 2.86533912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.519254154 meters 0.029749350406038728 Centerline is valid? [True, True] Translation: X:660.33, Y:4.61, Z:2.86 [[ 9.97474624e-01 -6.80432812e-02 -2.03589269e-02 6.60326729e+02] [ 6.80534546e-02 9.97681658e-01 -1.93504713e-04 4.61372493e+00] [ 2.03248946e-02 -1.19247926e-03 9.99792717e-01 2.86494673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.579254154 meters 0.028669353694540357 Centerline is valid? [True, True] Translation: X:660.39, Y:4.62, Z:2.86 [[ 9.97749940e-01 -6.38431492e-02 -2.04721787e-02 6.60387747e+02] [ 6.38525660e-02 9.97959324e-01 -1.94024895e-04 4.62038172e+00] [ 2.04427888e-02 -1.11361282e-03 9.99790404e-01 2.86499476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.639254154 meters 0.028527789038612195 Centerline is valid? [True, True] Translation: X:660.45, Y:4.63, Z:2.86 [[ 9.98014644e-01 -5.91635223e-02 -2.15974262e-02 6.60447497e+02] [ 5.91729121e-02 9.98247727e-01 -2.04604744e-04 4.62618382e+00] [ 2.15716867e-02 -1.07378407e-03 9.99766727e-01 2.86489403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.699254154 meters 0.025404070456641004 Centerline is valid? [True, True] Translation: X:660.51, Y:4.64, Z:2.87 [[ 9.98369902e-01 -5.25660483e-02 -2.22339581e-02 6.60507997e+02] [ 5.25743690e-02 9.98616989e-01 -2.10543480e-04 4.64099164e+00] [ 2.22142757e-02 -9.58736043e-04 9.99752773e-01 2.86621609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.759254154 meters 0.023848265901590553 Centerline is valid? [True, True] Translation: X:660.57, Y:4.65, Z:2.87 [[ 9.98668372e-01 -4.77326141e-02 -1.95724138e-02 6.60567922e+02] [ 4.77381349e-02 9.98859868e-01 -1.85320231e-04 4.64892034e+00] [ 1.95589445e-02 -7.49277076e-04 9.99808425e-01 2.86740130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.819254154 meters 0.022575906857383206 Centerline is valid? [True, True] Translation: X:660.63, Y:4.66, Z:2.87 [[ 9.98798030e-01 -4.59320919e-02 -1.71095859e-02 6.60628479e+02] [ 4.59360654e-02 9.98944369e-01 -1.60899860e-04 4.65534172e+00] [ 1.70989150e-02 -6.25240596e-04 9.99853607e-01 2.86967255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.879254154 meters 0.023206079695662733 Centerline is valid? [True, True] Translation: X:660.69, Y:4.66, Z:2.87 [[ 9.98752546e-01 -4.66796860e-02 -1.77301546e-02 6.60690644e+02] [ 4.66840943e-02 9.98909690e-01 -1.65398632e-04 4.65826636e+00] [ 1.77185440e-02 -6.62523905e-04 9.99842795e-01 2.86981167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.939254154 meters 0.025753351319453468 Centerline is valid? [True, True] Translation: X:660.75, Y:4.66, Z:2.87 [[ 9.98525502e-01 -5.08116196e-02 -1.91050041e-02 6.60750286e+02] [ 5.08175181e-02 9.98707940e-01 -1.76925001e-04 4.65933851e+00] [ 1.90893091e-02 -7.94204764e-04 9.99817467e-01 2.86812101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.999254154 meters 0.024064075934988993 Centerline is valid? [True, True] Translation: X:660.81, Y:4.67, Z:2.87 [[ 9.98236320e-01 -5.62442328e-02 -1.89956573e-02 6.60810783e+02] [ 5.62510556e-02 9.98416640e-01 -1.75364617e-04 4.66665516e+00] [ 1.89754436e-02 -8.93470447e-04 9.99819551e-01 2.87016885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.059254154 meters 0.03452293757632295 Centerline is valid? [True, True] Translation: X:660.87, Y:4.66, Z:2.87 [[ 9.97925327e-01 -6.13994878e-02 -1.93686354e-02 6.60870918e+02] [ 6.14075467e-02 9.98112760e-01 -1.78950337e-04 4.65742216e+00] [ 1.93430696e-02 -1.01080131e-03 9.99812394e-01 2.86740041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.119254154 meters 0.02737312437114975 Centerline is valid? [True, True] Translation: X:660.93, Y:4.67, Z:2.87 [[ 9.97823844e-01 -6.34988340e-02 -1.77616002e-02 6.60933150e+02] [ 6.35059589e-02 9.97981446e-01 -1.63173125e-04 4.66641198e+00] [ 1.77361088e-02 -9.65149418e-04 9.99842237e-01 2.87171800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.179254154 meters 0.030014370634443895 Centerline is valid? [True, True] Translation: X:660.99, Y:4.67, Z:2.87 [[ 9.97562258e-01 -6.79479792e-02 -1.58938397e-02 6.60993827e+02] [ 6.79542546e-02 9.97688427e-01 -1.45518924e-04 4.66551826e+00] [ 1.58669877e-02 -9.34889843e-04 9.99873674e-01 2.87372474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.239254154 meters 0.03139492386872124 Centerline is valid? [True, True] Translation: X:661.06, Y:4.67, Z:2.87 [[ 9.97491436e-01 -6.93120430e-02 -1.43762097e-02 6.61056135e+02] [ 6.93173296e-02 9.97594652e-01 -1.30830901e-04 4.66535577e+00] [ 1.43506981e-02 -8.66017764e-04 9.99896648e-01 2.87437464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.299254154 meters 0.031074247455877696 Centerline is valid? [True, True] Translation: X:661.12, Y:4.67, Z:2.87 [[ 9.97484036e-01 -6.94071928e-02 -1.44305261e-02 6.61117791e+02] [ 6.94125418e-02 9.97588032e-01 -1.30456602e-04 4.66819975e+00] [ 1.44047747e-02 -8.71531116e-04 9.99895866e-01 2.87403221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.359254154 meters 0.03053684268901046 Centerline is valid? [True, True] Translation: X:661.18, Y:4.67, Z:2.87 [[ 9.97587798e-01 -6.78547390e-02 -1.46396562e-02 6.61180486e+02] [ 6.78601005e-02 9.97694838e-01 -1.30779138e-04 4.67148923e+00] [ 1.46147834e-02 -8.62984872e-04 9.99892826e-01 2.87339491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.419254154 meters 0.02824888665685445 Centerline is valid? [True, True] Translation: X:661.24, Y:4.68, Z:2.87 [[ 9.97683947e-01 -6.63019167e-02 -1.51920443e-02 6.61243096e+02] [ 6.63075420e-02 9.97799224e-01 -1.33681271e-04 4.67737913e+00] [ 1.51674734e-02 -8.73975459e-04 9.99884585e-01 2.87415446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4792541539999 meters 0.027652546249135487 Centerline is valid? [True, True] Translation: X:661.30, Y:4.68, Z:2.87 [[ 9.97858393e-01 -6.33306944e-02 -1.63661360e-02 6.61304585e+02] [ 6.33368421e-02 9.97992196e-01 -1.42935492e-04 4.68187762e+00] [ 1.63423282e-02 -8.93949989e-04 9.99866056e-01 2.87311339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.539254154 meters 0.02672553606295167 Centerline is valid? [True, True] Translation: X:661.37, Y:4.69, Z:2.87 [[ 9.98142796e-01 -5.85204662e-02 -1.69207834e-02 6.61365504e+02] [ 5.85263551e-02 9.98285853e-01 -1.47382918e-04 4.68814501e+00] [ 1.69004036e-02 -8.43202577e-04 9.99856822e-01 2.87238292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5992541539999 meters 0.023975017309287232 Centerline is valid? [True, True] Translation: X:661.43, Y:4.69, Z:2.87 [[ 9.98355619e-01 -5.49311923e-02 -1.63896838e-02 6.61426674e+02] [ 5.49362394e-02 9.98489854e-01 -1.42458018e-04 4.69385580e+00] [ 1.63727584e-02 -7.58163830e-04 9.99865670e-01 2.87384506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.659254154 meters 0.021949537514075447 Centerline is valid? [True, True] Translation: X:661.49, Y:4.70, Z:2.88 [[ 9.98647654e-01 -4.97129961e-02 -1.52144866e-02 6.61487904e+02] [ 4.97167449e-02 9.98763349e-01 -1.31966722e-04 4.70196378e+00] [ 1.52022320e-02 -6.24626490e-04 9.99884244e-01 2.87599401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.7192541539999 meters 0.022112838261306875 Centerline is valid? [True, True] Translation: X:661.55, Y:4.70, Z:2.88 [[ 9.98799788e-01 -4.65703245e-02 -1.51719799e-02 6.61548131e+02] [ 4.65736946e-02 9.98914848e-01 -1.31316660e-04 4.70467709e+00] [ 1.51616314e-02 -5.75456105e-04 9.99884890e-01 2.87509073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.779254154 meters 0.02182027405949156 Centerline is valid? [True, True] Translation: X:661.61, Y:4.71, Z:2.87 [[ 9.98811199e-01 -4.58159367e-02 -1.66460036e-02 6.61610047e+02] [ 4.58199052e-02 9.98949706e-01 -1.43099862e-04 4.70636751e+00] [ 1.66350766e-02 -6.19788561e-04 9.99861435e-01 2.87418027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.839254154 meters 0.020992009624118135 Centerline is valid? [True, True] Translation: X:661.67, Y:4.71, Z:2.87 [[ 9.98897819e-01 -4.38217379e-02 -1.68167154e-02 6.61672417e+02] [ 4.38255267e-02 9.99039190e-01 -1.43337113e-04 4.71137918e+00] [ 1.68068390e-02 -5.93822278e-04 9.99858579e-01 2.87465000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.899254154 meters 0.018460272986254602 Centerline is valid? [True, True] Translation: X:661.73, Y:4.72, Z:2.88 [[ 9.99200300e-01 -3.73609385e-02 -1.42450301e-02 6.61733349e+02] [ 3.73630073e-02 9.99301752e-01 -1.20962586e-04 4.71909634e+00] [ 1.42396028e-02 -4.11371313e-04 9.99898527e-01 2.87808505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.959254154 meters 0.017212470690507638 Centerline is valid? [True, True] Translation: X:661.80, Y:4.72, Z:2.88 [[ 9.99398227e-01 -3.23995218e-02 -1.23876821e-02 6.61795001e+02] [ 3.24007118e-02 9.99474954e-01 -1.04674193e-04 4.72466009e+00] [ 1.23845694e-02 -2.96758514e-04 9.99923264e-01 2.88040352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.019254154 meters 0.016554662360373628 Centerline is valid? [True, True] Translation: X:661.86, Y:4.73, Z:2.88 [[ 9.99595820e-01 -2.65893874e-02 -1.00598979e-02 6.61855793e+02] [ 2.65898821e-02 9.99646423e-01 -8.45973889e-05 4.72881781e+00] [ 1.00585904e-02 -1.82928303e-04 9.99949394e-01 2.88076426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.079254154 meters 0.01789575764241549 Centerline is valid? [True, True] Translation: X:661.92, Y:4.73, Z:2.88 [[ 9.99623958e-01 -2.55571659e-02 -9.93852941e-03 6.61918283e+02] [ 2.55576032e-02 9.99673348e-01 -8.30238208e-05 4.72817044e+00] [ 9.93740482e-03 -1.71012391e-04 9.99950608e-01 2.87895696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.139254154 meters 0.01641124534502188 Centerline is valid? [True, True] Translation: X:661.98, Y:4.73, Z:2.88 [[ 9.99554420e-01 -2.78307682e-02 -1.07893552e-02 6.61980210e+02] [ 2.78314247e-02 9.99612627e-01 -8.93235254e-05 4.72805483e+00] [ 1.07876616e-02 -2.10999402e-04 9.99941789e-01 2.87934113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.199254154 meters 0.018888684164581594 Centerline is valid? [True, True] Translation: X:662.04, Y:4.72, Z:2.88 [[ 9.99374231e-01 -3.32745882e-02 -1.19978429e-02 6.62041451e+02] [ 3.32757997e-02 9.99446202e-01 -9.86941620e-05 4.72352344e+00] [ 1.19944826e-02 -3.00605416e-04 9.99928018e-01 2.87758338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.259254154 meters 0.019751671443110554 Centerline is valid? [True, True] Translation: X:662.10, Y:4.72, Z:2.88 [[ 9.99207953e-01 -3.76632008e-02 -1.28432510e-02 6.62101365e+02] [ 3.76649534e-02 9.99290418e-01 -1.05477749e-04 4.71886837e+00] [ 1.28381102e-02 -3.78346243e-04 9.99917516e-01 2.87706907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.319254154 meters 0.02207270825105595 Centerline is valid? [True, True] Translation: X:662.16, Y:4.71, Z:2.88 [[ 9.98960083e-01 -4.37492942e-02 -1.28355887e-02 6.62162485e+02] [ 4.37515483e-02 9.99042437e-01 -1.05265325e-04 4.71410357e+00] [ 1.28279031e-02 -4.56421021e-04 9.99917615e-01 2.87682061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.379254154 meters 0.024518563937079164 Centerline is valid? [True, True] Translation: X:662.22, Y:4.71, Z:2.88 [[ 9.98803886e-01 -4.76265275e-02 -1.10684828e-02 6.62223255e+02] [ 4.76284433e-02 9.98865118e-01 -9.05895873e-05 4.71122705e+00] [ 1.10602358e-02 -4.36693373e-04 9.99938738e-01 2.87773589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.439254154 meters 0.0233990147436989 Centerline is valid? [True, True] Translation: X:662.29, Y:4.71, Z:2.88 [[ 9.98750855e-01 -4.91424800e-02 -9.04141855e-03 6.62285539e+02] [ 4.91438239e-02 9.98791710e-01 -7.35979815e-05 4.71442852e+00] [ 9.03411067e-03 -3.70823834e-04 9.99959123e-01 2.87973020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.499254154 meters 0.028374735727187725 Centerline is valid? [True, True] Translation: X:662.35, Y:4.71, Z:2.88 [[ 9.98662858e-01 -5.12176675e-02 -7.01757954e-03 6.62346236e+02] [ 5.12185306e-02 9.98687468e-01 -5.67804562e-05 4.70801082e+00] [ 7.01127690e-03 -3.02725580e-04 9.99975375e-01 2.88117984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.559254154 meters 0.027302984688117624 Centerline is valid? [True, True] Translation: X:662.41, Y:4.71, Z:2.88 [[ 9.98513863e-01 -5.39217327e-02 -7.90641653e-03 6.62407730e+02] [ 5.39229153e-02 9.98545099e-01 -6.36710383e-05 4.71033120e+00] [ 7.89834673e-03 -3.62760615e-04 9.99968742e-01 2.88082496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.619254154 meters 0.028694725352230412 Centerline is valid? [True, True] Translation: X:662.47, Y:4.71, Z:2.88 [[ 9.98411149e-01 -5.56592768e-02 -8.78767391e-03 6.62469880e+02] [ 5.56608091e-02 9.98449733e-01 -7.02874551e-05 4.70922622e+00] [ 8.77796281e-03 -4.18953261e-04 9.99961385e-01 2.87999652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.679254154 meters 0.03000048348981108 Centerline is valid? [True, True] Translation: X:662.53, Y:4.71, Z:2.88 [[ 9.98380529e-01 -5.59983702e-02 -1.00250662e-02 6.62531159e+02] [ 5.60003881e-02 9.98430744e-01 -7.95356186e-05 4.70835853e+00] [ 1.00137882e-02 -4.82000784e-04 9.99949745e-01 2.87835139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.739254154 meters 0.02940181031071039 Centerline is valid? [True, True] Translation: X:662.59, Y:4.71, Z:2.88 [[ 9.98460680e-01 -5.42916002e-02 -1.13442407e-02 6.62593359e+02] [ 5.42940826e-02 9.98524984e-01 -8.92667531e-05 4.71036986e+00] [ 1.13323542e-02 -5.26795799e-04 9.99935648e-01 2.87748920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.799254154 meters 0.027324874029362223 Centerline is valid? [True, True] Translation: X:662.65, Y:4.72, Z:2.88 [[ 9.98728500e-01 -4.88179193e-02 -1.25775512e-02 6.62654183e+02] [ 4.88205431e-02 9.98807561e-01 -9.85263873e-05 4.71712201e+00] [ 1.25673631e-02 -5.15641769e-04 9.99920895e-01 2.87699382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.859254154 meters 0.02282398509538097 Centerline is valid? [True, True] Translation: X:662.71, Y:4.73, Z:2.88 [[ 9.99128753e-01 -3.99503047e-02 -1.20709789e-02 6.62714380e+02] [ 3.99520755e-02 9.99201593e-01 -9.45041737e-05 4.72921712e+00] [ 1.20651168e-02 -3.87838821e-04 9.99927139e-01 2.87862669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.919254154 meters 0.020598142306760218 Centerline is valid? [True, True] Translation: X:662.78, Y:4.74, Z:2.88 [[ 9.99363143e-01 -3.38502993e-02 -1.12900607e-02 6.62775411e+02] [ 3.38514606e-02 9.99426871e-01 -8.82781302e-05 4.73576066e+00] [ 1.12865783e-02 -2.93963135e-04 9.99936261e-01 2.88006111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9792541539999 meters 0.01784865729260191 Centerline is valid? [True, True] Translation: X:662.84, Y:4.75, Z:2.88 [[ 9.99621648e-01 -2.55887788e-02 -1.00883644e-02 6.62835824e+02] [ 2.55892861e-02 9.99672537e-01 -7.88166252e-05 4.74524936e+00] [ 1.00870777e-02 -1.79367239e-04 9.99949108e-01 2.88202095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.039254154 meters 0.016422223404906518 Centerline is valid? [True, True] Translation: X:662.90, Y:4.75, Z:2.88 [[ 9.99683985e-01 -2.30115731e-02 -1.01191928e-02 6.62898105e+02] [ 2.30119555e-02 9.99735187e-01 -7.86569939e-05 4.75065809e+00] [ 1.01183231e-02 -1.54230277e-04 9.99948797e-01 2.88340990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0992541539999 meters 0.015288382218088745 Centerline is valid? [True, True] Translation: X:662.96, Y:4.76, Z:2.88 [[ 9.99819833e-01 -1.54617719e-02 -1.10106720e-02 6.62958404e+02] [ 1.54617719e-02 9.99880456e-01 -8.51375875e-05 4.75746177e+00] [ 1.10106721e-02 -8.51222498e-05 9.99939377e-01 2.88317119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.159254154 meters 0.014586499116083113 Centerline is valid? [True, True] Translation: X:663.02, Y:4.76, Z:2.88 [[ 9.99862219e-01 -1.17479969e-02 -1.17272162e-02 6.63019279e+02] [ 1.17477423e-02 9.99930989e-01 -9.05976058e-05 4.76178309e+00] [ 1.17274713e-02 -4.71831907e-05 9.99931230e-01 2.88294782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.2192541539999 meters 0.014214229529875593 Centerline is valid? [True, True] Translation: X:663.08, Y:4.77, Z:2.89 [[ 9.99882198e-01 -8.56382067e-03 -1.27377797e-02 6.63078856e+02] [ 8.56325810e-03 9.99963330e-01 -9.87067518e-05 4.76540602e+00] [ 1.27381579e-02 -1.03817715e-05 9.99918866e-01 2.88555652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.279254154 meters 0.014054819135112473 Centerline is valid? [True, True] Translation: X:663.14, Y:4.76, Z:2.89 [[ 9.99877557e-01 -9.05924874e-03 -1.27593816e-02 6.63136609e+02] [ 9.05869207e-03 9.99958964e-01 -1.01422912e-04 4.76384890e+00] [ 1.27597768e-02 -1.41728152e-05 9.99918591e-01 2.88553463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.339254154 meters 0.014037031302731926 Centerline is valid? [True, True] Translation: X:663.20, Y:4.76, Z:2.88 [[ 9.99848322e-01 -1.13591426e-02 -1.32024044e-02 6.63195235e+02] [ 1.13587012e-02 9.99935482e-01 -1.08418264e-04 4.76132043e+00] [ 1.32027842e-02 -4.15603478e-05 9.99912839e-01 2.88498821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.399254154 meters 0.014213700330164527 Centerline is valid? [True, True] Translation: X:663.25, Y:4.76, Z:2.88 [[ 9.99786055e-01 -1.57733993e-02 -1.33807541e-02 6.63253853e+02] [ 1.57733181e-02 9.99875587e-01 -1.11613906e-04 4.75589871e+00] [ 1.33808499e-02 -9.94688634e-05 9.99910467e-01 2.88481695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.459254154 meters 0.014735362457088308 Centerline is valid? [True, True] Translation: X:663.31, Y:4.75, Z:2.89 [[ 9.99731246e-01 -1.92878010e-02 -1.28613994e-02 6.63313627e+02] [ 1.92880090e-02 9.99813963e-01 -1.07876276e-04 4.75188682e+00] [ 1.28610874e-02 -1.40223503e-04 9.99917283e-01 2.88598476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.519254154 meters 0.015457582376079701 Centerline is valid? [True, True] Translation: X:663.37, Y:4.75, Z:2.89 [[ 9.99594314e-01 -2.55899301e-02 -1.25045268e-02 6.63373979e+02] [ 2.55906178e-02 9.99672501e-01 -1.05033509e-04 4.74501157e+00] [ 1.25031194e-02 -2.15007668e-04 9.99921810e-01 2.88673953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.579254154 meters 0.016848035320472552 Centerline is valid? [True, True] Translation: X:663.44, Y:4.74, Z:2.89 [[ 9.99444019e-01 -3.07602549e-02 -1.28631343e-02 6.63435653e+02] [ 3.07614164e-02 9.99526750e-01 -1.07590175e-04 4.73822015e+00] [ 1.28603563e-02 -2.88157873e-04 9.99917261e-01 2.88622928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.639254154 meters 0.02250526612740232 Centerline is valid? [True, True] Translation: X:663.50, Y:4.72, Z:2.88 [[ 9.99170375e-01 -3.86193772e-02 -1.29269600e-02 6.63496117e+02] [ 3.86212124e-02 9.99253917e-01 -1.07735704e-04 4.72232678e+00] [ 1.29214761e-02 -3.91608544e-04 9.99916438e-01 2.88382240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.699254154 meters 0.023474689149433122 Centerline is valid? [True, True] Translation: X:663.56, Y:4.72, Z:2.88 [[ 9.99012066e-01 -4.23320949e-02 -1.35235152e-02 6.63557751e+02] [ 4.23344483e-02 9.99103489e-01 -1.12323070e-04 4.71721121e+00] [ 1.35161461e-02 -4.60298451e-04 9.99908547e-01 2.88348850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.759254154 meters 0.023353156484588827 Centerline is valid? [True, True] Translation: X:663.62, Y:4.71, Z:2.88 [[ 9.98895782e-01 -4.48813371e-02 -1.38881996e-02 6.63619312e+02] [ 4.48840743e-02 9.98992196e-01 -1.14699618e-04 4.71479688e+00] [ 1.38793509e-02 -5.08786018e-04 9.99903548e-01 2.88404310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.819254154 meters 0.022538832915876477 Centerline is valid? [True, True] Translation: X:663.68, Y:4.71, Z:2.88 [[ 9.98788825e-01 -4.73240091e-02 -1.34655818e-02 6.63681722e+02] [ 4.73268156e-02 9.98879452e-01 -1.10334075e-04 4.70942657e+00] [ 1.34557144e-02 -5.27082666e-04 9.99909329e-01 2.88498984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.879254154 meters 0.025530491347659376 Centerline is valid? [True, True] Translation: X:663.74, Y:4.70, Z:2.88 [[ 9.98746361e-01 -4.79711364e-02 -1.42995522e-02 6.63742728e+02] [ 4.79743874e-02 9.98848559e-01 -1.15779225e-04 4.70291204e+00] [ 1.42886412e-02 -5.70378177e-04 9.99897749e-01 2.88358789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.939254154 meters 0.025271400387156855 Centerline is valid? [True, True] Translation: X:663.80, Y:4.70, Z:2.88 [[ 9.98716027e-01 -4.82292267e-02 -1.54996676e-02 6.63804885e+02] [ 4.82330973e-02 9.98836099e-01 -1.24219733e-04 4.69996792e+00] [ 1.54876186e-02 -6.23536740e-04 9.99879865e-01 2.88349477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.999254154 meters 0.027229861738432753 Centerline is valid? [True, True] Translation: X:663.87, Y:4.69, Z:2.88 [[ 9.98709511e-01 -4.83028033e-02 -1.56892192e-02 6.63865962e+02] [ 4.83067922e-02 9.98832538e-01 -1.24850756e-04 4.69369166e+00] [ 1.56769333e-02 -6.33206214e-04 9.99876909e-01 2.88303496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.059254154 meters 0.027341433831463122 Centerline is valid? [True, True] Translation: X:663.93, Y:4.69, Z:2.88 [[ 9.98735001e-01 -4.72191983e-02 -1.72842434e-02 6.63927698e+02] [ 4.72238969e-02 9.98884320e-01 -1.36424440e-04 4.69355004e+00] [ 1.72714015e-02 -6.79977464e-04 9.99850607e-01 2.88220826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.119254154 meters 0.024579805041423344 Centerline is valid? [True, True] Translation: X:663.99, Y:4.69, Z:2.88 [[ 9.98728687e-01 -4.74230298e-02 -1.70899604e-02 6.63989525e+02] [ 4.74276732e-02 9.98874666e-01 -1.33719252e-04 4.69480178e+00] [ 1.70770698e-02 -6.76987802e-04 9.99853947e-01 2.88385734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.179254154 meters 0.024352316433923542 Centerline is valid? [True, True] Translation: X:664.05, Y:4.69, Z:2.89 [[ 9.98858078e-01 -4.51696499e-02 -1.55641624e-02 6.64049538e+02] [ 4.51732352e-02 9.98979161e-01 -1.21311364e-04 4.69410806e+00] [ 1.55537535e-02 -5.81910733e-04 9.99878864e-01 2.88541742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.239254154 meters 0.023033174913104616 Centerline is valid? [True, True] Translation: X:664.11, Y:4.70, Z:2.89 [[ 9.99053217e-01 -4.14399174e-02 -1.32439405e-02 6.64110737e+02] [ 4.14421888e-02 9.99140898e-01 -1.03005719e-04 4.69692929e+00] [ 1.32368311e-02 -4.45949687e-04 9.99912290e-01 2.88785998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.299254154 meters 0.0195893941954643 Centerline is valid? [True, True] Translation: X:664.17, Y:4.71, Z:2.89 [[ 9.99426577e-01 -3.23442241e-02 -1.00184253e-02 6.64170848e+02] [ 3.23450677e-02 9.99476758e-01 -7.78553366e-05 4.70510285e+00] [ 1.00157014e-02 -2.46235953e-04 9.99949811e-01 2.89103762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.359254154 meters 0.016074013661978314 Centerline is valid? [True, True] Translation: X:664.23, Y:4.71, Z:2.89 [[ 9.99675754e-01 -2.36638910e-02 -9.40250021e-03 6.64231372e+02] [ 2.36642502e-02 9.99719960e-01 -7.30654026e-05 4.71163135e+00] [ 9.40159615e-03 -1.49461406e-04 9.99955793e-01 2.89207340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.419254154 meters 0.015579287679832486 Centerline is valid? [True, True] Translation: X:664.29, Y:4.71, Z:2.89 [[ 9.99771060e-01 -1.88082531e-02 -1.02018358e-02 6.64291970e+02] [ 1.88084242e-02 9.99823103e-01 -7.91783271e-05 4.71329953e+00] [ 1.02015203e-02 -1.12720255e-04 9.99947957e-01 2.89125079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4792541539999 meters 0.014556469826331022 Centerline is valid? [True, True] Translation: X:664.35, Y:4.72, Z:2.89 [[ 9.99841690e-01 -1.37468100e-02 -1.12968882e-02 6.64352129e+02] [ 1.37466977e-02 9.99905506e-01 -8.75943958e-05 4.71529381e+00] [ 1.12970249e-02 -6.77143791e-05 9.99936184e-01 2.89116563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.539254154 meters 0.014361752279650862 Centerline is valid? [True, True] Translation: X:664.41, Y:4.71, Z:2.89 [[ 9.99877997e-01 -1.13789244e-02 -1.07009917e-02 6.64412051e+02] [ 1.13786856e-02 9.99935257e-01 -8.31961518e-05 4.71302180e+00] [ 1.07012455e-02 -3.85772187e-05 9.99942739e-01 2.89160287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5992541539999 meters 0.014335142746499897 Centerline is valid? [True, True] Translation: X:664.47, Y:4.71, Z:2.89 [[ 9.99878441e-01 -1.16480740e-02 -1.03646301e-02 6.64470891e+02] [ 1.16478477e-02 9.99932158e-01 -8.21917676e-05 4.70985382e+00] [ 1.03648843e-02 -3.85438567e-05 9.99946282e-01 2.89195348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.659254154 meters 0.015164630361031719 Centerline is valid? [True, True] Translation: X:664.53, Y:4.70, Z:2.89 [[ 9.99865389e-01 -1.31961697e-02 -9.75008921e-03 6.64529530e+02] [ 1.31960299e-02 9.99912926e-01 -7.86757740e-05 4.70314156e+00] [ 9.75027845e-03 -4.99972854e-05 9.99952464e-01 2.89169996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.7192541539999 meters 0.016612673320615303 Centerline is valid? [True, True] Translation: X:664.59, Y:4.69, Z:2.89 [[ 9.99787590e-01 -1.81568765e-02 -9.75211035e-03 6.64588974e+02] [ 1.81569689e-02 9.99835146e-01 -7.90652939e-05 4.69232149e+00] [ 9.75193825e-03 -9.80202651e-05 9.99952444e-01 2.89107435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.779254154 meters 0.019128342953186016 Centerline is valid? [True, True] Translation: X:664.65, Y:4.68, Z:2.89 [[ 9.99601240e-01 -2.70058509e-02 -8.24896127e-03 6.64649443e+02] [ 2.70062182e-02 9.99635263e-01 -6.68774767e-05 4.67683766e+00] [ 8.24775866e-03 -1.55922440e-04 9.99965975e-01 2.89052245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.839254154 meters 0.021717466453563743 Centerline is valid? [True, True] Translation: X:664.71, Y:4.67, Z:2.89 [[ 9.99389224e-01 -3.40650347e-02 -7.79436168e-03 6.64710712e+02] [ 3.40655781e-02 9.99419598e-01 -6.30670794e-05 4.66586785e+00] [ 7.79198620e-03 -2.02490877e-04 9.99969622e-01 2.89040479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.899254154 meters 0.022444854397379234 Centerline is valid? [True, True] Translation: X:664.77, Y:4.66, Z:2.89 [[ 9.99002982e-01 -4.37478083e-02 -8.89780924e-03 6.64771464e+02] [ 4.37489009e-02 9.99042556e-01 -7.19000821e-05 4.65742075e+00] [ 8.89243556e-03 -3.17440978e-04 9.99960411e-01 2.88960826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.959254154 meters 0.025735682933475734 Centerline is valid? [True, True] Translation: X:664.83, Y:4.65, Z:2.89 [[ 9.98882458e-01 -4.62166279e-02 -9.89230852e-03 6.64832199e+02] [ 4.62181014e-02 9.98931369e-01 -7.97257536e-05 4.65107427e+00] [ 9.88542195e-03 -3.77567062e-04 9.99951067e-01 2.88877272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.019254154 meters 0.023992366084632687 Centerline is valid? [True, True] Translation: X:664.89, Y:4.65, Z:2.89 [[ 9.98657789e-01 -5.11233688e-02 -8.30798026e-03 6.64893198e+02] [ 5.11245800e-02 9.98692281e-01 -6.66676738e-05 4.64729634e+00] [ 8.30052404e-03 -3.58163810e-04 9.99965486e-01 2.89056614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.079254154 meters 0.027517528275547327 Centerline is valid? [True, True] Translation: X:664.95, Y:4.64, Z:2.89 [[ 9.98462986e-01 -5.48033759e-02 -8.26175093e-03 6.64953176e+02] [ 5.48047008e-02 9.98497091e-01 -6.61205323e-05 4.64032881e+00] [ 8.25295790e-03 -3.86763884e-04 9.99965869e-01 2.89024613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.139254154 meters 0.029721855073368494 Centerline is valid? [True, True] Translation: X:665.01, Y:4.63, Z:2.89 [[ 9.98263797e-01 -5.83729202e-02 -7.87355469e-03 6.65012913e+02] [ 5.83742342e-02 9.98294768e-01 -6.30137160e-05 4.63413644e+00] [ 7.86380675e-03 -3.96708414e-04 9.99969001e-01 2.89055887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.199254154 meters 0.03208957578322059 Centerline is valid? [True, True] Translation: X:665.07, Y:4.63, Z:2.89 [[ 9.98146081e-01 -6.00880914e-02 -9.68615906e-03 6.65074865e+02] [ 6.00901642e-02 9.98192950e-01 -7.71563590e-05 4.63079914e+00] [ 9.67329187e-03 -5.05029571e-04 9.99953085e-01 2.88790118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.259254154 meters 0.03456013116407203 Centerline is valid? [True, True] Translation: X:665.14, Y:4.63, Z:2.89 [[ 9.97944723e-01 -6.29265392e-02 -1.21070748e-02 6.65136032e+02] [ 6.29299921e-02 9.98017939e-01 -9.59300960e-05 4.62841945e+00] [ 1.20891144e-02 -6.66165188e-04 9.99926702e-01 2.88566706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.319254154 meters 0.035522319141083836 Centerline is valid? [True, True] Translation: X:665.20, Y:4.63, Z:2.89 [[ 9.97849701e-01 -6.43995036e-02 -1.21934011e-02 6.65198191e+02] [ 6.44031229e-02 9.97923959e-01 -9.60135081e-05 4.62670390e+00] [ 1.21742704e-02 -6.89486062e-04 9.99925653e-01 2.88660795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.379254154 meters 0.036195124898678 Centerline is valid? [True, True] Translation: X:665.26, Y:4.63, Z:2.89 [[ 9.97906861e-01 -6.33907993e-02 -1.27868092e-02 6.65259409e+02] [ 6.33947062e-02 9.97988528e-01 -9.99567214e-05 4.62652023e+00] [ 1.27674253e-02 -7.10868517e-04 9.99918240e-01 2.88664608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.439254154 meters 0.03393389250302996 Centerline is valid? [True, True] Translation: X:665.32, Y:4.63, Z:2.89 [[ 9.98265247e-01 -5.74378796e-02 -1.29377913e-02 6.65319969e+02] [ 5.74413835e-02 9.98348876e-01 -1.00918529e-04 4.63272008e+00] [ 1.29222260e-02 -6.42421174e-04 9.99916298e-01 2.88716668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.499254154 meters 0.030673994421177096 Centerline is valid? [True, True] Translation: X:665.38, Y:4.64, Z:2.89 [[ 9.98648791e-01 -5.04690405e-02 -1.23882306e-02 6.65380709e+02] [ 5.04717192e-02 9.98725486e-01 -9.65118854e-05 4.64035625e+00] [ 1.23773125e-02 -5.28873817e-04 9.99923258e-01 2.88815309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.559254154 meters 0.02394863704667132 Centerline is valid? [True, True] Translation: X:665.44, Y:4.65, Z:2.89 [[ 9.99232650e-01 -3.73663666e-02 -1.17415909e-02 6.65441558e+02] [ 3.73678701e-02 9.99301573e-01 -9.13844952e-05 4.65427530e+00] [ 1.17368050e-02 -3.47443873e-04 9.99931061e-01 2.88903539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.619254154 meters 0.018208030938064966 Centerline is valid? [True, True] Translation: X:665.50, Y:4.67, Z:2.89 [[ 9.99627368e-01 -2.43224431e-02 -1.23912615e-02 6.65501039e+02] [ 2.43231144e-02 9.99704145e-01 -9.65529902e-05 4.66955353e+00] [ 1.23899439e-02 -2.04877058e-04 9.99923221e-01 2.88934462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.679254154 meters 0.015958357110348015 Centerline is valid? [True, True] Translation: X:665.56, Y:4.68, Z:2.89 [[ 9.99767013e-01 -1.72618822e-02 -1.29594132e-02 6.65560502e+02] [ 1.72620189e-02 9.99850995e-01 -1.01316071e-04 4.67865676e+00] [ 1.29592311e-02 -1.22413171e-04 9.99916018e-01 2.88945645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.739254154 meters 0.015048243966968713 Centerline is valid? [True, True] Translation: X:665.62, Y:4.69, Z:2.89 [[ 9.99862767e-01 -1.04621693e-02 -1.28448629e-02 6.65619040e+02] [ 1.04617179e-02 9.99945269e-01 -1.02339756e-04 4.68650500e+00] [ 1.28452306e-02 -3.20536205e-05 9.99917496e-01 2.88918106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.799254154 meters 0.01433508547251142 Centerline is valid? [True, True] Translation: X:665.68, Y:4.69, Z:2.89 [[ 9.99879789e-01 -8.58623864e-03 -1.29106167e-02 6.65676898e+02] [ 8.58558382e-03 9.99963138e-01 -1.06144977e-04 4.68934088e+00] [ 1.29110522e-02 -4.71296447e-06 9.99916649e-01 2.89254514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.859254154 meters 0.014354780020330265 Centerline is valid? [True, True] Translation: X:665.73, Y:4.69, Z:2.89 [[ 9.99881335e-01 -8.13272883e-03 -1.30834101e-02 6.65734823e+02] [ 8.13196959e-03 9.99966929e-01 -1.11229605e-04 4.69004794e+00] [ 1.30838820e-02 4.82251343e-06 9.99914402e-01 2.89327919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.919254154 meters 0.015202697902921947 Centerline is valid? [True, True] Translation: X:665.79, Y:4.69, Z:2.89 [[ 9.99883129e-01 -8.85816295e-03 -1.24603732e-02 6.65792431e+02] [ 8.85748663e-03 9.99960766e-01 -1.09463976e-04 4.68734284e+00] [ 1.24608540e-02 -9.16406227e-07 9.99922361e-01 2.89415833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9792541539999 meters 0.01623201655892959 Centerline is valid? [True, True] Translation: X:665.85, Y:4.68, Z:2.90 [[ 9.99881454e-01 -1.01819625e-02 -1.15501434e-02 6.65850410e+02] [ 1.01814318e-02 9.99948162e-01 -1.04748662e-04 4.68462365e+00] [ 1.15506112e-02 -1.28607537e-05 9.99933289e-01 2.89509889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.039254154 meters 0.01641912817524282 Centerline is valid? [True, True] Translation: X:665.91, Y:4.68, Z:2.90 [[ 9.99846875e-01 -1.40471712e-02 -1.04357103e-02 6.65908687e+02] [ 1.40469307e-02 9.99901332e-01 -9.63438148e-05 4.67829419e+00] [ 1.04360340e-02 -5.02606373e-05 9.99945542e-01 2.89647829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0992541539999 meters 0.014632333461550313 Centerline is valid? [True, True] Translation: X:665.97, Y:4.67, Z:2.90 [[ 9.99781569e-01 -1.78377990e-02 -1.08915820e-02 6.65967501e+02] [ 1.78377538e-02 9.99840889e-01 -1.01307228e-04 4.67183459e+00] [ 1.08916562e-02 -9.29962597e-05 9.99940680e-01 2.89732777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.159254154 meters 0.015546140671626978 Centerline is valid? [True, True] Translation: X:666.03, Y:4.66, Z:2.90 [[ 9.99647600e-01 -2.33802390e-02 -1.25713800e-02 6.66027143e+02] [ 2.33806100e-02 9.99726629e-01 -1.17483705e-04 4.66186879e+00] [ 1.25706902e-02 -1.76484230e-04 9.99920970e-01 2.89619327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.2192541539999 meters 0.016715089779509237 Centerline is valid? [True, True] Translation: X:666.09, Y:4.65, Z:2.90 [[ 9.99498586e-01 -2.87460069e-02 -1.32756943e-02 6.66087212e+02] [ 2.87468873e-02 9.99586715e-01 -1.24540044e-04 4.65331978e+00] [ 1.32737877e-02 -2.57157292e-04 9.99911866e-01 2.89614629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.279254154 meters 0.01987443610599279 Centerline is valid? [True, True] Translation: X:666.15, Y:4.65, Z:2.89 [[ 9.99424441e-01 -3.12656986e-02 -1.31621786e-02 6.66147778e+02] [ 3.12667804e-02 9.99511067e-01 -1.23629151e-04 4.64809844e+00] [ 1.31596085e-02 -2.87980953e-04 9.99913367e-01 2.89433991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.339254154 meters 0.018199828336183443 Centerline is valid? [True, True] Translation: X:666.21, Y:4.64, Z:2.90 [[ 9.99287741e-01 -3.56688725e-02 -1.23183857e-02 6.66208721e+02] [ 3.56701561e-02 9.99363611e-01 -1.15558297e-04 4.64242470e+00] [ 1.23146682e-02 -3.23922751e-04 9.99924119e-01 2.89726606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.399254154 meters 0.01953053207389998 Centerline is valid? [True, True] Translation: X:666.27, Y:4.64, Z:2.90 [[ 9.99224651e-01 -3.75462149e-02 -1.18481340e-02 6.66270103e+02] [ 3.75475384e-02 9.99294836e-01 -1.10794097e-04 4.63940240e+00] [ 1.18439390e-02 -3.34160074e-04 9.99929802e-01 2.89703684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.459254154 meters 0.021923529426422363 Centerline is valid? [True, True] Translation: X:666.33, Y:4.63, Z:2.90 [[ 9.99088568e-01 -4.10942454e-02 -1.15453634e-02 6.66330046e+02] [ 4.10957479e-02 9.99155207e-01 -1.07171567e-04 4.63310602e+00] [ 1.15400141e-02 -3.67391455e-04 9.99933344e-01 2.89612126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.519254154 meters 0.02226318946436283 Centerline is valid? [True, True] Translation: X:666.39, Y:4.63, Z:2.90 [[ 9.98925622e-01 -4.49252982e-02 -1.13718551e-02 6.66390906e+02] [ 4.49270112e-02 9.98990267e-01 -1.04913879e-04 4.62900342e+00] [ 1.13650859e-02 -4.06102300e-04 9.99935333e-01 2.89678580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.579254154 meters 0.025244972091431426 Centerline is valid? [True, True] Translation: X:666.45, Y:4.62, Z:2.90 [[ 9.98547371e-01 -5.26730071e-02 -1.13447366e-02 6.66450132e+02] [ 5.26752116e-02 9.98611692e-01 -1.04599707e-04 4.62105637e+00] [ 1.13344962e-02 -4.93138639e-04 9.99935641e-01 2.89744007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.639254154 meters 0.029249805974643463 Centerline is valid? [True, True] Translation: X:666.51, Y:4.62, Z:2.90 [[ 9.98295781e-01 -5.68253540e-02 -1.32820156e-02 6.66510293e+02] [ 5.68287415e-02 9.98383934e-01 -1.22537114e-04 4.61658210e+00] [ 1.32675142e-02 -6.32471947e-04 9.99911783e-01 2.89526093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.699254154 meters 0.032082991115026244 Centerline is valid? [True, True] Translation: X:666.57, Y:4.61, Z:2.90 [[ 9.97887174e-01 -6.35676068e-02 -1.34293287e-02 6.66571301e+02] [ 6.35716817e-02 9.97977267e-01 -1.23664656e-04 4.61065366e+00] [ 1.34100258e-02 -7.30321634e-04 9.99909815e-01 2.89620167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.759254154 meters 0.029662410310941967 Centerline is valid? [True, True] Translation: X:666.63, Y:4.62, Z:2.90 [[ 9.97657519e-01 -6.69495829e-02 -1.40437604e-02 6.66632085e+02] [ 6.69543802e-02 9.97756029e-01 -1.28820894e-04 4.61605280e+00] [ 1.40208711e-02 -8.11772139e-04 9.99901373e-01 2.89814559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.819254154 meters 0.030859511664380175 Centerline is valid? [True, True] Translation: X:666.69, Y:4.62, Z:2.90 [[ 9.97633353e-01 -6.73905736e-02 -1.36456169e-02 6.66693888e+02] [ 6.73951553e-02 9.97726354e-01 -1.24326570e-04 4.61591809e+00] [ 1.36229700e-02 -7.95616136e-04 9.99906887e-01 2.89834509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.879254154 meters 0.03050803973877012 Centerline is valid? [True, True] Translation: X:666.76, Y:4.62, Z:2.90 [[ 9.97602980e-01 -6.79104020e-02 -1.32842597e-02 6.66755735e+02] [ 6.79148028e-02 9.97691117e-01 -1.20074273e-04 4.61976260e+00] [ 1.32617422e-02 -7.82411429e-04 9.99911753e-01 2.89951565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.939254154 meters 0.03103376316371945 Centerline is valid? [True, True] Translation: X:666.82, Y:4.62, Z:2.90 [[ 9.97700331e-01 -6.65989370e-02 -1.25948829e-02 6.66817029e+02] [ 6.66027963e-02 9.97779562e-01 -1.13242853e-04 4.62151681e+00] [ 1.25744586e-02 -7.25871989e-04 9.99920675e-01 2.90001904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.999254154 meters 0.02921382460295611 Centerline is valid? [True, True] Translation: X:666.88, Y:4.63, Z:2.90 [[ 9.97972132e-01 -6.25628736e-02 -1.17265025e-02 6.66877812e+02] [ 6.25659445e-02 9.98040827e-01 -1.05154923e-04 4.63121011e+00] [ 1.17101070e-02 -6.28738022e-04 9.99931237e-01 2.90179610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.059254154 meters 0.025687193581480278 Centerline is valid? [True, True] Translation: X:666.94, Y:4.64, Z:2.90 [[ 9.98318043e-01 -5.69115656e-02 -1.10525573e-02 6.66937951e+02] [ 5.69139490e-02 9.98379083e-01 -9.90235811e-05 4.64179240e+00] [ 1.10402776e-02 -5.30187657e-04 9.99938914e-01 2.90279647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.119254154 meters 0.02475270524916098 Centerline is valid? [True, True] Translation: X:667.00, Y:4.65, Z:2.90 [[ 9.98551293e-01 -5.27266325e-02 -1.07339136e-02 6.66998476e+02] [ 5.27286392e-02 9.98608873e-01 -9.61604195e-05 4.64794075e+00] [ 1.07240516e-02 -4.69963546e-04 9.99942385e-01 2.90324064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.179254154 meters 0.02059113549441665 Centerline is valid? [True, True] Translation: X:667.06, Y:4.66, Z:2.90 [[ 9.98930567e-01 -4.46793957e-02 -1.18942735e-02 6.67059244e+02] [ 4.46812901e-02 9.99001287e-01 -1.06550799e-04 4.66276286e+00] [ 1.18871552e-02 -4.25014635e-04 9.99929255e-01 2.90361896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.239254154 meters 0.020495087212177656 Centerline is valid? [True, True] Translation: X:667.12, Y:4.67, Z:2.90 [[ 9.99176944e-01 -3.84536154e-02 -1.29133629e-02 6.67119090e+02] [ 3.84553290e-02 9.99260314e-01 -1.15676919e-04 4.66866942e+00] [ 1.29082592e-02 -3.81005907e-04 9.99916612e-01 2.90260349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.299254154 meters 0.01905268305621079 Centerline is valid? [True, True] Translation: X:667.18, Y:4.68, Z:2.90 [[ 9.99476550e-01 -2.97378807e-02 -1.27390963e-02 6.67179864e+02] [ 2.97388426e-02 9.99557696e-01 -1.13955118e-04 4.68190297e+00] [ 1.27368506e-02 -2.64950512e-04 9.99918848e-01 2.90254044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.359254154 meters 0.01810835231276502 Centerline is valid? [True, True] Translation: X:667.24, Y:4.69, Z:2.90 [[ 9.99586988e-01 -2.60424512e-02 -1.21508587e-02 6.67240787e+02] [ 2.60430561e-02 9.99660816e-01 -1.08471353e-04 4.68955797e+00] [ 1.21495622e-02 -2.08018942e-04 9.99926170e-01 2.90353176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.419254154 meters 0.01597006916113131 Centerline is valid? [True, True] Translation: X:667.30, Y:4.69, Z:2.91 [[ 9.99580332e-01 -2.67012854e-02 -1.12339408e-02 6.67302319e+02] [ 2.67018477e-02 9.99643437e-01 -9.99608898e-05 4.69492371e+00] [ 1.12326042e-02 -2.00048036e-04 9.99936892e-01 2.90551654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4792541539999 meters 0.017185100353719916 Centerline is valid? [True, True] Translation: X:667.36, Y:4.69, Z:2.91 [[ 9.99391240e-01 -3.31397310e-02 -1.09044409e-02 6.67363308e+02] [ 3.31406485e-02 9.99450693e-01 -9.65911208e-05 4.69495880e+00] [ 1.09016521e-02 -2.64847924e-04 9.99940540e-01 2.90634180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.539254154 meters 0.020072242574716723 Centerline is valid? [True, True] Translation: X:667.42, Y:4.69, Z:2.91 [[ 9.99007750e-01 -4.34416941e-02 -9.81502957e-03 6.67423943e+02] [ 4.34429359e-02 9.99055906e-01 -8.67450743e-05 4.69070411e+00] [ 9.80953162e-03 -3.39734699e-04 9.99951828e-01 2.90658723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5992541539999 meters 0.022640928142912194 Centerline is valid? [True, True] Translation: X:667.48, Y:4.69, Z:2.91 [[ 9.98675080e-01 -5.03302894e-02 -1.07213565e-02 6.67484406e+02] [ 5.03321680e-02 9.98732529e-01 -9.47073606e-05 4.68756090e+00] [ 1.07125341e-02 -4.45047233e-04 9.99942520e-01 2.90580472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.659254154 meters 0.025912021379473966 Centerline is valid? [True, True] Translation: X:667.54, Y:4.68, Z:2.90 [[ 9.98360413e-01 -5.59877548e-02 -1.19103346e-02 6.67544839e+02] [ 5.59904754e-02 9.98431297e-01 -1.05162825e-04 4.68407356e+00] [ 1.18975386e-02 -5.61874892e-04 9.99929064e-01 2.90434170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.7192541539999 meters 0.02648669495204426 Centerline is valid? [True, True] Translation: X:667.61, Y:4.69, Z:2.91 [[ 9.98017907e-01 -6.18157987e-02 -1.17925698e-02 6.67605848e+02] [ 6.18188721e-02 9.98087379e-01 -1.04070057e-04 4.68559635e+00] [ 1.17764483e-02 -6.25139586e-04 9.99930460e-01 2.90575886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.779254154 meters 0.031562654711435545 Centerline is valid? [True, True] Translation: X:667.67, Y:4.68, Z:2.90 [[ 9.97850249e-01 -6.45290386e-02 -1.14404705e-02 6.67666283e+02] [ 6.45321131e-02 9.97915626e-01 -1.00596603e-04 4.68181718e+00] [ 1.14231157e-02 -6.37897394e-04 9.99934551e-01 2.90455394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.839254154 meters 0.02959873353957541 Centerline is valid? [True, True] Translation: X:667.73, Y:4.69, Z:2.91 [[ 9.97703656e-01 -6.67655616e-02 -1.13918260e-02 6.67727108e+02] [ 6.67687592e-02 9.97768472e-01 -9.98264334e-05 4.68560912e+00] [ 1.13730697e-02 -6.61020886e-04 9.99935106e-01 2.90595465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.899254154 meters 0.03151683638185171 Centerline is valid? [True, True] Translation: X:667.79, Y:4.69, Z:2.91 [[ 9.97503012e-01 -6.97740999e-02 -1.09231712e-02 6.67788225e+02] [ 6.97772215e-02 9.97562595e-01 -9.55242160e-05 4.68681634e+00] [ 1.09032121e-02 -6.66902844e-04 9.99940336e-01 2.90538345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.959254154 meters 0.03401477052104932 Centerline is valid? [True, True] Translation: X:667.85, Y:4.69, Z:2.90 [[ 9.97364599e-01 -7.15437451e-02 -1.20561059e-02 6.67849583e+02] [ 7.15476811e-02 9.97437175e-01 -1.05070586e-04 4.68665641e+00] [ 1.20327253e-02 -7.57792737e-04 9.99927317e-01 2.90394069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.019254154 meters 0.034709120386894034 Centerline is valid? [True, True] Translation: X:667.91, Y:4.69, Z:2.90 [[ 9.97193229e-01 -7.37303229e-02 -1.30193307e-02 6.67910978e+02] [ 7.37351048e-02 9.97277856e-01 -1.12988110e-04 4.68986787e+00] [ 1.29922208e-02 -8.47310733e-04 9.99915239e-01 2.90383313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.079254154 meters 0.03653844420484302 Centerline is valid? [True, True] Translation: X:667.97, Y:4.69, Z:2.90 [[ 9.97137969e-01 -7.43432605e-02 -1.37459469e-02 6.67973191e+02] [ 7.43486605e-02 9.97232301e-01 -1.18467195e-04 4.69107271e+00] [ 1.37167095e-02 -9.03864604e-04 9.99905513e-01 2.90261102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.139254154 meters 0.036807556240526236 Centerline is valid? [True, True] Translation: X:668.04, Y:4.70, Z:2.90 [[ 9.97073019e-01 -7.48060124e-02 -1.57941509e-02 6.68035347e+02] [ 7.48132180e-02 9.97197555e-01 -1.34957911e-04 4.69543738e+00] [ 1.57599844e-02 -1.04704836e-03 9.99875256e-01 2.90163860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.199254154 meters 0.03315445599472123 Centerline is valid? [True, True] Translation: X:668.10, Y:4.71, Z:2.90 [[ 9.97094093e-01 -7.44222747e-02 -1.62694324e-02 6.68097030e+02] [ 7.44298893e-02 9.97226239e-01 -1.37815575e-04 4.70614670e+00] [ 1.62345615e-02 -1.07351696e-03 9.99867635e-01 2.90172271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.259254154 meters 0.03416417806735353 Centerline is valid? [True, True] Translation: X:668.16, Y:4.71, Z:2.90 [[ 9.97162725e-01 -7.37327941e-02 -1.51648970e-02 6.68159532e+02] [ 7.37393468e-02 9.97277540e-01 -1.27365080e-04 4.71160912e+00] [ 1.51330022e-02 -9.91245888e-04 9.99884998e-01 2.90398816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.319254154 meters 0.030137977667938978 Centerline is valid? [True, True] Translation: X:668.22, Y:4.72, Z:2.91 [[ 9.97333820e-01 -7.19861785e-02 -1.19683547e-02 6.68220813e+02] [ 7.19901409e-02 9.97405339e-01 -9.99777993e-05 4.72124482e+00] [ 1.19444979e-02 -7.61892303e-04 9.99928372e-01 2.90835601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.379254154 meters 0.03139763171315877 Centerline is valid? [True, True] Translation: X:668.28, Y:4.73, Z:2.91 [[ 9.97521318e-01 -6.96319235e-02 -1.01299692e-02 6.68281735e+02] [ 6.96346447e-02 9.97572558e-01 -8.42671192e-05 4.72517521e+00] [ 1.01112469e-02 -6.21338555e-04 9.99948687e-01 2.91031489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.439254154 meters 0.03068747186995436 Centerline is valid? [True, True] Translation: X:668.34, Y:4.73, Z:2.91 [[ 9.97600460e-01 -6.84657529e-02 -1.02840655e-02 6.68344198e+02] [ 6.84685019e-02 9.97653275e-01 -8.49506699e-05 4.72953980e+00] [ 1.02657479e-02 -6.19387733e-04 9.99947114e-01 2.91128072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.499254154 meters 0.03315167918909839 Centerline is valid? [True, True] Translation: X:668.41, Y:4.73, Z:2.91 [[ 9.97597496e-01 -6.82129389e-02 -1.20925788e-02 6.68405958e+02] [ 6.82167343e-02 9.97670520e-01 -9.88140954e-05 4.72725827e+00] [ 1.20711497e-02 -7.26339538e-04 9.99926877e-01 2.90898817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.559254154 meters 0.028388522234077472 Centerline is valid? [True, True] Translation: X:668.47, Y:4.74, Z:2.91 [[ 9.97619669e-01 -6.76536184e-02 -1.33410981e-02 6.68468424e+02] [ 6.76582030e-02 9.97708553e-01 -1.07906606e-04 4.73560289e+00] [ 1.33178279e-02 -7.94984968e-04 9.99910998e-01 2.90898401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.619254154 meters 0.02838502398185243 Centerline is valid? [True, True] Translation: X:668.53, Y:4.74, Z:2.91 [[ 9.97807079e-01 -6.43781457e-02 -1.53781785e-02 6.68529466e+02] [ 6.43838619e-02 9.97925199e-01 -1.23604490e-04 4.73876260e+00] [ 1.53542292e-02 -8.66773083e-04 9.99881741e-01 2.90795146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.679254154 meters 0.025894202095759333 Centerline is valid? [True, True] Translation: X:668.59, Y:4.75, Z:2.91 [[ 9.98207240e-01 -5.77798672e-02 -1.56138742e-02 6.68590206e+02] [ 5.77849582e-02 9.98329045e-01 -1.25269268e-04 4.74578157e+00] [ 1.55950222e-02 -7.77202378e-04 9.99878088e-01 2.90835476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.739254154 meters 0.02627632196615074 Centerline is valid? [True, True] Translation: X:668.65, Y:4.75, Z:2.91 [[ 9.98362415e-01 -5.52356435e-02 -1.48832464e-02 6.68651186e+02] [ 5.52399932e-02 9.98473099e-01 -1.19002223e-04 4.74657923e+00] [ 1.48670943e-02 -7.03343083e-04 9.99889231e-01 2.90892354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.799254154 meters 0.025540485505252904 Centerline is valid? [True, True] Translation: X:668.71, Y:4.75, Z:2.91 [[ 9.98760059e-01 -4.81418765e-02 -1.26769085e-02 6.68710534e+02] [ 4.81444613e-02 9.98840378e-01 -1.01376442e-04 4.75353681e+00] [ 1.26670885e-02 -5.09072187e-04 9.99919640e-01 2.90975084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.859254154 meters 0.021043125109531644 Centerline is valid? [True, True] Translation: X:668.77, Y:4.76, Z:2.91 [[ 9.98914710e-01 -4.51119289e-02 -1.15894410e-02 6.68771675e+02] [ 4.51138878e-02 9.98981846e-01 -9.24862565e-05 4.76209598e+00] [ 1.15818134e-02 -4.30458858e-04 9.99932836e-01 2.91223102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.919254154 meters 0.023394565436953937 Centerline is valid? [True, True] Translation: X:668.83, Y:4.76, Z:2.91 [[ 9.99010734e-01 -4.28288851e-02 -1.19682790e-02 6.68832903e+02] [ 4.28308258e-02 9.99082335e-01 -9.42380231e-05 4.76041774e+00] [ 1.19613322e-02 -4.18466475e-04 9.99928373e-01 2.91102197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9792541539999 meters 0.02175993851843805 Centerline is valid? [True, True] Translation: X:668.89, Y:4.76, Z:2.91 [[ 9.99035543e-01 -4.18764639e-02 -1.32039888e-02 6.68894818e+02] [ 4.18787605e-02 9.99122695e-01 -1.02638824e-04 4.76493637e+00] [ 1.31967030e-02 -4.50426852e-04 9.99912818e-01 2.91049342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.039254154 meters 0.020476388293084204 Centerline is valid? [True, True] Translation: X:668.96, Y:4.77, Z:2.91 [[ 9.98959396e-01 -4.34232435e-02 -1.39480411e-02 6.68957180e+02] [ 4.34259713e-02 9.99056642e-01 -1.07386734e-04 4.76864591e+00] [ 1.39395462e-02 -4.98432245e-04 9.99902716e-01 2.91042131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0992541539999 meters 0.021649754036772186 Centerline is valid? [True, True] Translation: X:669.02, Y:4.77, Z:2.91 [[ 9.98930825e-01 -4.39549760e-02 -1.43236568e-02 6.69018308e+02] [ 4.39579282e-02 9.99033377e-01 -1.08819009e-04 4.76816790e+00] [ 1.43145943e-02 -5.20935612e-04 9.99897405e-01 2.90976853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.159254154 meters 0.021578312533641567 Centerline is valid? [True, True] Translation: X:669.08, Y:4.77, Z:2.91 [[ 9.98995348e-01 -4.28186439e-02 -1.32233734e-02 6.69080333e+02] [ 4.28210749e-02 9.99082752e-01 -9.93645772e-05 4.77097771e+00] [ 1.32154989e-02 -4.66974312e-04 9.99912562e-01 2.91102319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.2192541539999 meters 0.0201777060692381 Centerline is valid? [True, True] Translation: X:669.14, Y:4.78, Z:2.91 [[ 9.99105025e-01 -4.04769164e-02 -1.22787980e-02 6.69142107e+02] [ 4.04788465e-02 9.99180391e-01 -9.14016792e-05 4.77501573e+00] [ 1.22724338e-02 -4.05711702e-04 9.99924609e-01 2.91232176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.279254154 meters 0.018447909878986434 Centerline is valid? [True, True] Translation: X:669.20, Y:4.78, Z:2.91 [[ 9.99248523e-01 -3.72053218e-02 -1.08697921e-02 6.69203357e+02] [ 3.72066465e-02 9.99307590e-01 -8.03870058e-05 4.78008030e+00] [ 1.08652566e-02 -3.24101917e-04 9.99940919e-01 2.91375586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.339254154 meters 0.019075979750036175 Centerline is valid? [True, True] Translation: X:669.27, Y:4.78, Z:2.91 [[ 9.99304918e-01 -3.57545788e-02 -1.05494163e-02 6.69265078e+02] [ 3.57557524e-02 9.99360556e-01 -7.74027459e-05 4.78030938e+00] [ 1.05454380e-02 -2.99853372e-04 9.99944350e-01 2.91368858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.399254154 meters 0.018893048190246363 Centerline is valid? [True, True] Translation: X:669.33, Y:4.78, Z:2.91 [[ 9.99293222e-01 -3.56217978e-02 -1.20059755e-02 6.69326955e+02] [ 3.56233193e-02 9.99365284e-01 -8.71650548e-05 4.78099199e+00] [ 1.20014601e-02 -3.40589252e-04 9.99927922e-01 2.91211189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.459254154 meters 0.01960816038375187 Centerline is valid? [True, True] Translation: X:669.39, Y:4.78, Z:2.91 [[ 9.99210795e-01 -3.70901937e-02 -1.42163783e-02 6.69389218e+02] [ 3.70924912e-02 9.99311832e-01 -1.02123958e-04 4.78054843e+00] [ 1.42103828e-02 -4.25277524e-04 9.99898937e-01 2.91018180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.519254154 meters 0.01931137287181212 Centerline is valid? [True, True] Translation: X:669.45, Y:4.78, Z:2.91 [[ 9.99182060e-01 -3.75832248e-02 -1.49235764e-02 6.69451466e+02] [ 3.75858280e-02 9.99293397e-01 -1.06098069e-04 4.78204787e+00] [ 1.49170189e-02 -4.54903690e-04 9.99888632e-01 2.91023605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.579254154 meters 0.018528423312176887 Centerline is valid? [True, True] Translation: X:669.51, Y:4.79, Z:2.91 [[ 9.99217234e-01 -3.67672736e-02 -1.45974916e-02 6.69514150e+02] [ 3.67696958e-02 9.99323761e-01 -1.02514862e-04 4.78505235e+00] [ 1.45913894e-02 -4.34310709e-04 9.99893446e-01 2.91177718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.639254154 meters 0.01901362976983367 Centerline is valid? [True, True] Translation: X:669.58, Y:4.79, Z:2.91 [[ 9.99294980e-01 -3.51519562e-02 -1.31864679e-02 6.69575271e+02] [ 3.51538034e-02 9.99381910e-01 -9.17509871e-05 4.78681466e+00] [ 1.31815427e-02 -3.71868201e-04 9.99913051e-01 2.91334272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.699254154 meters 0.017811286205392927 Centerline is valid? [True, True] Translation: X:669.64, Y:4.79, Z:2.92 [[ 9.99360443e-01 -3.37661073e-02 -1.17709748e-02 6.69637383e+02] [ 3.37674921e-02 9.99429712e-01 -8.11342309e-05 4.79143993e+00] [ 1.17670015e-02 -3.16393957e-04 9.99930716e-01 2.91632505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.759254154 meters 0.018474465172791738 Centerline is valid? [True, True] Translation: X:669.70, Y:4.79, Z:2.92 [[ 9.99348494e-01 -3.43975767e-02 -1.09267643e-02 6.69698337e+02] [ 3.43988149e-02 9.99408183e-01 -7.46493477e-05 4.78987636e+00] [ 1.09228654e-02 -3.01267028e-04 9.99940298e-01 2.91651104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.819254154 meters 0.019213841162602247 Centerline is valid? [True, True] Translation: X:669.76, Y:4.79, Z:2.92 [[ 9.99262558e-01 -3.70038314e-02 -1.02497204e-02 6.69760073e+02] [ 3.70050673e-02 9.99315076e-01 -6.91103430e-05 4.78706284e+00] [ 1.02452575e-02 -3.10232216e-04 9.99947468e-01 2.91736570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.879254154 meters 0.020520485395674273 Centerline is valid? [True, True] Translation: X:669.82, Y:4.78, Z:2.92 [[ 9.99184114e-01 -3.88927557e-02 -1.08838890e-02 6.69821537e+02] [ 3.88942710e-02 9.99243329e-01 -7.24873402e-05 4.78421069e+00] [ 1.08784728e-02 -3.50892731e-04 9.99940766e-01 2.91722453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.939254154 meters 0.020024136970680128 Centerline is valid? [True, True] Translation: X:669.88, Y:4.78, Z:2.92 [[ 9.99152307e-01 -3.95951935e-02 -1.12644399e-02 6.69883777e+02] [ 3.95968697e-02 9.99215734e-01 -7.42690895e-05 4.78445236e+00] [ 1.12585463e-02 -3.71830428e-04 9.99936551e-01 2.91718128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.999254154 meters 0.020975193677877424 Centerline is valid? [True, True] Translation: X:669.94, Y:4.78, Z:2.92 [[ 9.99108309e-01 -4.05504528e-02 -1.17578407e-02 6.69944535e+02] [ 4.05523523e-02 9.99177412e-01 -7.69150175e-05 4.78040324e+00] [ 1.17512878e-02 -3.99961666e-04 9.99930871e-01 2.91687072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.059254154 meters 0.021141060118776252 Centerline is valid? [True, True] Translation: X:670.01, Y:4.78, Z:2.92 [[ 9.99091805e-01 -4.08779481e-02 -1.20232646e-02 6.70006471e+02] [ 4.08799666e-02 9.99164062e-01 -7.79405175e-05 4.77864350e+00] [ 1.20163999e-02 -4.13640923e-04 9.99927715e-01 2.91766382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.119254154 meters 0.019530116350522684 Centerline is valid? [True, True] Translation: X:670.07, Y:4.78, Z:2.92 [[ 9.99213021e-01 -3.76267956e-02 -1.25524323e-02 6.70067731e+02] [ 3.76287473e-02 9.99291785e-01 -8.07406212e-05 4.78160686e+00] [ 1.25465805e-02 -3.91655222e-04 9.99921212e-01 2.91839572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.179254154 meters 0.01766558792479384 Centerline is valid? [True, True] Translation: X:670.13, Y:4.79, Z:2.92 [[ 9.99487349e-01 -2.96137572e-02 -1.21682136e-02 6.70128465e+02] [ 2.96150014e-02 9.99561377e-01 -7.79714096e-05 4.78571450e+00] [ 1.21651853e-02 -2.82430224e-04 9.99925962e-01 2.91975602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.239254154 meters 0.016127567073326222 Centerline is valid? [True, True] Translation: X:670.19, Y:4.79, Z:2.92 [[ 9.99698859e-01 -2.13535369e-02 -1.20920547e-02 6.70190327e+02] [ 2.13541673e-02 9.99771971e-01 -7.69938645e-05 4.78918358e+00] [ 1.20909414e-02 -1.81245080e-04 9.99926885e-01 2.92017818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.299254154 meters 0.015206204753288025 Centerline is valid? [True, True] Translation: X:670.25, Y:4.79, Z:2.92 [[ 9.99771327e-01 -1.75887249e-02 -1.21626433e-02 6.70251448e+02] [ 1.75890905e-02 9.99845297e-01 -7.69178810e-05 4.79108791e+00] [ 1.21621145e-02 -1.37029541e-04 9.99926029e-01 2.92089076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.359254154 meters 0.014915169861596023 Centerline is valid? [True, True] Translation: X:670.31, Y:4.79, Z:2.92 [[ 9.99795717e-01 -1.57507586e-02 -1.26663972e-02 6.70311855e+02] [ 1.57510098e-02 9.99875942e-01 -7.99329062e-05 4.78888622e+00] [ 1.26660849e-02 -1.19591970e-04 9.99919775e-01 2.92077502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.419254154 meters 0.015301298396699614 Centerline is valid? [True, True] Translation: X:670.37, Y:4.79, Z:2.92 [[ 9.99774828e-01 -1.67810640e-02 -1.29880640e-02 6.70371153e+02] [ 1.67814130e-02 9.99859179e-01 -8.21195851e-05 4.78517355e+00] [ 1.29876131e-02 -1.35856973e-04 9.99915648e-01 2.92035645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4792541539999 meters 0.01764371556772587 Centerline is valid? [True, True] Translation: X:670.43, Y:4.78, Z:2.92 [[ 9.99708524e-01 -1.91449718e-02 -1.47084138e-02 6.70430995e+02] [ 1.91456682e-02 9.99816701e-01 -9.34697782e-05 4.78042053e+00] [ 1.47075072e-02 -1.88159877e-04 9.99891821e-01 2.91939286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.539254154 meters 0.01606134143737141 Centerline is valid? [True, True] Translation: X:670.49, Y:4.78, Z:2.92 [[ 9.99624281e-01 -2.31381102e-02 -1.46943657e-02 6.70490845e+02] [ 2.31392329e-02 9.99732248e-01 -9.36332064e-05 4.77648163e+00] [ 1.46925978e-02 -2.46418325e-04 9.99892028e-01 2.92113818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5992541539999 meters 0.019241923693436556 Centerline is valid? [True, True] Translation: X:670.55, Y:4.76, Z:2.92 [[ 9.99460161e-01 -2.92946945e-02 -1.48730500e-02 6.70550670e+02] [ 2.92965225e-02 9.99570760e-01 -9.49982308e-05 4.76453913e+00] [ 1.48694489e-02 -3.40781697e-04 9.99889386e-01 2.91919038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.659254154 meters 0.017425504216684987 Centerline is valid? [True, True] Translation: X:670.61, Y:4.77, Z:2.92 [[ 9.99377031e-01 -3.20426915e-02 -1.47924477e-02 6.70611699e+02] [ 3.20448052e-02 9.99486429e-01 -9.41757941e-05 4.76684253e+00] [ 1.47878684e-02 -3.79903980e-04 9.99890581e-01 2.92157498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.7192541539999 meters 0.019246662102177816 Centerline is valid? [True, True] Translation: X:670.67, Y:4.76, Z:2.92 [[ 9.99213673e-01 -3.72144284e-02 -1.36792356e-02 6.70671746e+02] [ 3.72167220e-02 9.99307214e-01 -8.69373653e-05 4.75993141e+00] [ 1.36729941e-02 -4.22227305e-04 9.99906431e-01 2.92225285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.779254154 meters 0.022036175758607526 Centerline is valid? [True, True] Translation: X:670.73, Y:4.75, Z:2.92 [[ 9.98941779e-01 -4.41429115e-02 -1.29122390e-02 6.70731667e+02] [ 4.41455329e-02 9.99025107e-01 -8.20691722e-05 4.75079971e+00] [ 1.29032737e-02 -4.88035346e-04 9.99916630e-01 2.92306845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.839254154 meters 0.024206787154753776 Centerline is valid? [True, True] Translation: X:670.79, Y:4.74, Z:2.92 [[ 9.98788661e-01 -4.76779479e-02 -1.21665043e-02 6.70792664e+02] [ 4.76805387e-02 9.98862633e-01 -7.71946399e-05 4.74460888e+00] [ 1.21563470e-02 -5.03004345e-04 9.99925982e-01 2.92251439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.899254154 meters 0.026456704479639225 Centerline is valid? [True, True] Translation: X:670.85, Y:4.74, Z:2.92 [[ 9.98549581e-01 -5.24617012e-02 -1.21038553e-02 6.70853580e+02] [ 5.24646203e-02 9.98622781e-01 -7.64430839e-05 4.73717116e+00] [ 1.20911959e-02 -5.58691961e-04 9.99926743e-01 2.92298030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.959254154 meters 0.027510440996131702 Centerline is valid? [True, True] Translation: X:670.91, Y:4.73, Z:2.92 [[ 9.98416389e-01 -5.49301131e-02 -1.21407331e-02 6.70914361e+02] [ 5.49332357e-02 9.98490027e-01 -7.63800602e-05 4.73315110e+00] [ 1.21265965e-02 -5.90670648e-04 9.99926296e-01 2.92255758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.019254154 meters 0.030493758051592407 Centerline is valid? [True, True] Translation: X:670.98, Y:4.73, Z:2.92 [[ 9.98288546e-01 -5.71147219e-02 -1.25653273e-02 6.70975415e+02] [ 5.71182457e-02 9.98367417e-01 -7.85462423e-05 4.72584094e+00] [ 1.25492995e-02 -6.39297638e-04 9.99921050e-01 2.92118688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.079254154 meters 0.030589901333412783 Centerline is valid? [True, True] Translation: X:671.04, Y:4.72, Z:2.92 [[ 9.98297277e-01 -5.68927684e-02 -1.28747559e-02 6.71037973e+02] [ 5.68964638e-02 9.98380081e-01 -7.93679935e-05 4.72453364e+00] [ 1.28584153e-02 -6.53295231e-04 9.99917114e-01 2.92107708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.139254154 meters 0.031802660197352034 Centerline is valid? [True, True] Translation: X:671.10, Y:4.72, Z:2.92 [[ 9.98421235e-01 -5.46551900e-02 -1.29555806e-02 6.71098878e+02] [ 5.46587538e-02 9.98505090e-01 -7.91161873e-05 4.72301662e+00] [ 1.29405373e-02 -6.29144607e-04 9.99916070e-01 2.92104085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.199254154 meters 0.022445811453958582 Centerline is valid? [True, True] Translation: X:671.16, Y:4.74, Z:2.92 [[ 9.98794519e-01 -4.77217314e-02 -1.14954366e-02 6.71158988e+02] [ 4.77240806e-02 9.98860554e-01 -7.00297049e-05 4.73863959e+00] [ 1.14856801e-02 -4.78663857e-04 9.99933923e-01 2.92446307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.259254154 meters 0.01993122212216904 Centerline is valid? [True, True] Translation: X:671.22, Y:4.75, Z:2.93 [[ 9.99087584e-01 -4.13716862e-02 -1.06010900e-02 6.71219851e+02] [ 4.13733284e-02 9.99143755e-01 -6.44450527e-05 4.74503751e+00] [ 1.05946791e-02 -3.74216125e-04 9.99943805e-01 2.92625958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.319254154 meters 0.01800723491769819 Centerline is valid? [True, True] Translation: X:671.28, Y:4.75, Z:2.93 [[ 9.99443442e-01 -3.19197140e-02 -9.69211638e-03 6.71279135e+02] [ 3.19206423e-02 9.99490405e-01 -5.89325022e-05 4.74976788e+00] [ 9.68905843e-03 -2.50478878e-04 9.99953029e-01 2.92609532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.379254154 meters 0.0174234121575752 Centerline is valid? [True, True] Translation: X:671.34, Y:4.75, Z:2.93 [[ 9.99620584e-01 -2.58602093e-02 -9.48358482e-03 6.71340248e+02] [ 2.58608267e-02 9.99665551e-01 -5.75441900e-05 4.75381649e+00] [ 9.48190116e-03 -1.87730986e-04 9.99955028e-01 2.92565209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.439254154 meters 0.01550127067630129 Centerline is valid? [True, True] Translation: X:671.40, Y:4.76, Z:2.93 [[ 9.99801201e-01 -1.76917248e-02 -9.19571419e-03 6.71400470e+02] [ 1.76919621e-02 9.99843483e-01 -5.55467462e-05 4.75747968e+00] [ 9.19525762e-03 -1.07154523e-04 9.99957717e-01 2.92673792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.499254154 meters 0.01511574221460866 Centerline is valid? [True, True] Translation: X:671.46, Y:4.76, Z:2.93 [[ 9.99875294e-01 -1.24251709e-02 -9.74734664e-03 6.71462042e+02] [ 1.24251901e-02 9.99922803e-01 -5.85981915e-05 4.76037333e+00] [ 9.74732226e-03 -6.25217506e-05 9.99952492e-01 2.92686571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.559254154 meters 0.014847445140982789 Centerline is valid? [True, True] Translation: X:671.52, Y:4.76, Z:2.93 [[ 9.99919835e-01 -7.81568587e-03 -9.96182478e-03 6.71521201e+02] [ 7.81547675e-03 9.99969457e-01 -5.99223686e-05 4.76038434e+00] [ 9.96198885e-03 -1.79388451e-05 9.99950378e-01 2.92628133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.619254154 meters 0.014895980607730813 Centerline is valid? [True, True] Translation: X:671.58, Y:4.76, Z:2.93 [[ 9.99906694e-01 -8.73130282e-03 -1.05055591e-02 6.71580449e+02] [ 8.73110306e-03 9.99961881e-01 -6.48792279e-05 4.75542021e+00] [ 1.05057251e-02 -2.68519447e-05 9.99944813e-01 2.92643333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.679254154 meters 0.015044065892904628 Centerline is valid? [True, True] Translation: X:671.64, Y:4.75, Z:2.93 [[ 9.99869160e-01 -1.20301333e-02 -1.08137854e-02 6.71639356e+02] [ 1.20300974e-02 9.99927633e-01 -6.83665843e-05 4.75034516e+00] [ 1.08138253e-02 -6.17332522e-05 9.99941527e-01 2.92636590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.739254154 meters 0.01610002766876673 Centerline is valid? [True, True] Translation: X:671.70, Y:4.74, Z:2.93 [[ 9.99738845e-01 -2.01624927e-02 -1.07571233e-02 6.71698547e+02] [ 2.01629213e-02 9.99796705e-01 -6.86204861e-05 4.73911383e+00] [ 1.07563200e-02 -1.48292464e-04 9.99942138e-01 2.92582185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.799254154 meters 0.016794031402291805 Centerline is valid? [True, True] Translation: X:671.76, Y:4.73, Z:2.93 [[ 9.99568322e-01 -2.74192334e-02 -1.05525424e-02 6.71759112e+02] [ 2.74200479e-02 9.99623998e-01 -6.75203020e-05 4.73254266e+00] [ 1.05504260e-02 -2.21860063e-04 9.99944318e-01 2.92657263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.859254154 meters 0.019818738240812057 Centerline is valid? [True, True] Translation: X:671.82, Y:4.72, Z:2.93 [[ 9.99224462e-01 -3.80561515e-02 -1.01095450e-02 6.71819117e+02] [ 3.80574420e-02 9.99275551e-01 -6.47698760e-05 4.71973668e+00] [ 1.01046861e-02 -3.20023780e-04 9.99948895e-01 2.92696003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.919254154 meters 0.023465920858243637 Centerline is valid? [True, True] Translation: X:671.88, Y:4.71, Z:2.93 [[ 9.98849193e-01 -4.68763899e-02 -1.01436178e-02 6.71878915e+02] [ 4.68781416e-02 9.98900613e-01 -6.51392014e-05 4.70777469e+00] [ 1.01355195e-02 -4.10449712e-04 9.99948550e-01 2.92673908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9792541539999 meters 0.025937636638510043 Centerline is valid? [True, True] Translation: X:671.94, Y:4.70, Z:2.93 [[ 9.98636368e-01 -5.11837883e-02 -1.02773556e-02 6.71940447e+02] [ 5.11858156e-02 9.98689145e-01 -6.58557890e-05 4.70134112e+00] [ 1.02672543e-02 -4.60288844e-04 9.99947184e-01 2.92619296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.039254154 meters 0.028832485712641322 Centerline is valid? [True, True] Translation: X:672.00, Y:4.70, Z:2.93 [[ 9.98428645e-01 -5.49594633e-02 -1.09406958e-02 6.72001018e+02] [ 5.49619900e-02 9.98488445e-01 -6.98250653e-05 4.69532893e+00] [ 1.09279958e-02 -5.31607065e-04 9.99940146e-01 2.92547811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0992541539999 meters 0.027617525713696002 Centerline is valid? [True, True] Translation: X:672.06, Y:4.70, Z:2.93 [[ 9.98366178e-01 -5.61807140e-02 -1.04259799e-02 6.72063013e+02] [ 5.61830802e-02 9.98420481e-01 -6.60320156e-05 4.69681416e+00] [ 1.04132216e-02 -5.19839535e-04 9.99945646e-01 2.92680602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.159254154 meters 0.025528406050217042 Centerline is valid? [True, True] Translation: X:672.13, Y:4.70, Z:2.93 [[ 9.98358514e-01 -5.63461215e-02 -1.02660702e-02 6.72125334e+02] [ 5.63484321e-02 9.98411163e-01 -6.42683682e-05 4.70063936e+00] [ 1.02533804e-02 -5.14314087e-04 9.99947300e-01 2.92762038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.2192541539999 meters 0.02673722298626189 Centerline is valid? [True, True] Translation: X:672.19, Y:4.70, Z:2.93 [[ 9.98375419e-01 -5.59659622e-02 -1.06926725e-02 6.72186665e+02] [ 5.59684544e-02 9.98432535e-01 -6.62490431e-05 4.70055672e+00] [ 1.06796198e-02 -5.32310938e-04 9.99942830e-01 2.92804278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.279254154 meters 0.02516152811138496 Centerline is valid? [True, True] Translation: X:672.25, Y:4.71, Z:2.93 [[ 9.98420702e-01 -5.46692619e-02 -1.29372858e-02 6.72248951e+02] [ 5.46728139e-02 9.98504320e-01 -7.92256535e-05 4.70621560e+00] [ 1.29222669e-02 -6.28217284e-04 9.99916307e-01 2.92721319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.339254154 meters 0.027453877017445706 Centerline is valid? [True, True] Translation: X:672.31, Y:4.71, Z:2.93 [[ 9.98529756e-01 -5.23004892e-02 -1.42472838e-02 6.72309213e+02] [ 5.23045642e-02 9.98631176e-01 -8.67066227e-05 4.70516059e+00] [ 1.42323165e-02 -6.58618825e-04 9.99898499e-01 2.92553122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.399254154 meters 0.02393383884926091 Centerline is valid? [True, True] Translation: X:672.37, Y:4.72, Z:2.93 [[ 9.98765529e-01 -4.73500741e-02 -1.50129775e-02 6.72370093e+02] [ 4.73540448e-02 9.98878164e-01 -9.10903025e-05 4.71570350e+00] [ 1.50004485e-02 -6.19947353e-04 9.99887295e-01 2.92645471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.459254154 meters 0.02139679183702536 Centerline is valid? [True, True] Translation: X:672.43, Y:4.73, Z:2.93 [[ 9.99043304e-01 -4.14851042e-02 -1.38369935e-02 6.72430894e+02] [ 4.14879187e-02 9.99139002e-01 -8.37086959e-05 4.72680926e+00] [ 1.38285526e-02 -4.90439451e-04 9.99904261e-01 2.92920026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.519254154 meters 0.020078977400580844 Centerline is valid? [True, True] Translation: X:672.49, Y:4.73, Z:2.93 [[ 9.99184536e-01 -3.83478408e-02 -1.26375197e-02 6.72492740e+02] [ 3.83499448e-02 9.99264367e-01 -7.58952241e-05 4.73287236e+00] [ 1.26311335e-02 -4.08814847e-04 9.99920140e-01 2.93106978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.579254154 meters 0.021235022840519067 Centerline is valid? [True, True] Translation: X:672.55, Y:4.74, Z:2.93 [[ 9.99266960e-01 -3.60773826e-02 -1.28048893e-02 6.72554615e+02] [ 3.60793648e-02 9.99348925e-01 -7.62485691e-05 4.73524630e+00] [ 1.27993032e-02 -3.85799596e-04 9.99918011e-01 2.93015348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.639254154 meters 0.01866975845951573 Centerline is valid? [True, True] Translation: X:672.62, Y:4.74, Z:2.93 [[ 9.99379283e-01 -3.34413659e-02 -1.10780577e-02 6.72616371e+02] [ 3.34426937e-02 9.99440635e-01 -6.54155886e-05 4.74187184e+00] [ 1.10740486e-02 -3.05105106e-04 9.99938634e-01 2.93240989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.699254154 meters 0.018775407531303693 Centerline is valid? [True, True] Translation: X:672.68, Y:4.75, Z:2.93 [[ 9.99457180e-01 -3.11614880e-02 -1.06914128e-02 6.72677381e+02] [ 3.11626006e-02 9.99514326e-01 -6.25504233e-05 4.74569411e+00] [ 1.06881694e-02 -2.70655756e-04 9.99942843e-01 2.93239455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.759254154 meters 0.01792522472295894 Centerline is valid? [True, True] Translation: X:672.74, Y:4.75, Z:2.93 [[ 9.99497594e-01 -2.96751867e-02 -1.11329796e-02 6.72739696e+02] [ 2.96763093e-02 9.99559559e-01 -6.43903427e-05 4.74874030e+00] [ 1.11299870e-02 -2.66027754e-04 9.99938024e-01 2.93200455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.819254154 meters 0.01742308934019251 Centerline is valid? [True, True] Translation: X:672.80, Y:4.75, Z:2.93 [[ 9.99556565e-01 -2.74145868e-02 -1.16238360e-02 6.72800634e+02] [ 2.74156648e-02 9.99624118e-01 -6.66284350e-05 4.75152275e+00] [ 1.16212934e-02 -2.52076301e-04 9.99932439e-01 2.93200449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.879254154 meters 0.017338707683307995 Centerline is valid? [True, True] Translation: X:672.86, Y:4.75, Z:2.93 [[ 9.99636842e-01 -2.47573805e-02 -1.06422106e-02 6.72861302e+02] [ 2.47581363e-02 9.99693469e-01 -6.07417635e-05 4.75220749e+00] [ 1.06404523e-02 -2.02761597e-04 9.99943368e-01 2.93214796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.939254154 meters 0.016342308671196508 Centerline is valid? [True, True] Translation: X:672.92, Y:4.75, Z:2.93 [[ 9.99692813e-01 -2.25554322e-02 -1.02728510e-02 6.72923047e+02] [ 2.25560232e-02 9.99745579e-01 -5.83407897e-05 4.75370157e+00] [ 1.02715533e-02 -1.73391799e-04 9.99947231e-01 2.93277966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.999254154 meters 0.015915549928872137 Centerline is valid? [True, True] Translation: X:672.98, Y:4.75, Z:2.93 [[ 9.99770109e-01 -1.91814367e-02 -9.58135022e-03 6.72984007e+02] [ 1.91817992e-02 9.99816011e-01 -5.40731947e-05 4.75370194e+00] [ 9.58062455e-03 -1.29726772e-04 9.99954096e-01 2.93350094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.059254154 meters 0.015761912835015976 Centerline is valid? [True, True] Translation: X:673.05, Y:4.75, Z:2.93 [[ 9.99792165e-01 -1.77625911e-02 -1.00058568e-02 6.73045104e+02] [ 1.77629191e-02 9.99842225e-01 -5.60980187e-05 4.75199314e+00] [ 1.00052746e-02 -1.21646866e-04 9.99949939e-01 2.93280251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.119254154 meters 0.01559411196878519 Centerline is valid? [True, True] Translation: X:673.11, Y:4.75, Z:2.93 [[ 9.99772178e-01 -1.86786216e-02 -1.03296493e-02 6.73105185e+02] [ 1.86790217e-02 9.99825530e-01 -5.77487661e-05 4.74894407e+00] [ 1.03289258e-02 -1.35212135e-04 9.99946646e-01 2.93236188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.179254154 meters 0.01626967279678245 Centerline is valid? [True, True] Translation: X:673.17, Y:4.74, Z:2.93 [[ 9.99689711e-01 -2.22919199e-02 -1.11153647e-02 6.73165431e+02] [ 2.22926065e-02 9.99751487e-01 -6.21413733e-05 4.74334275e+00] [ 1.11139876e-02 -1.85668359e-04 9.99938220e-01 2.93197101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.239254154 meters 0.016732379132627293 Centerline is valid? [True, True] Translation: X:673.23, Y:4.74, Z:2.93 [[ 9.99644859e-01 -2.41969685e-02 -1.11652364e-02 6.73225993e+02] [ 2.41977814e-02 9.99707189e-01 -6.22974775e-05 4.73950060e+00] [ 1.11634745e-02 -2.07898597e-04 9.99937665e-01 2.93210410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.299254154 meters 0.01698485460714245 Centerline is valid? [True, True] Translation: X:673.29, Y:4.74, Z:2.93 [[ 9.99658646e-01 -2.38860965e-02 -1.05852179e-02 6.73287612e+02] [ 2.38868129e-02 9.99714668e-01 -5.87619195e-05 4.73794634e+00] [ 1.05836012e-02 -1.94105258e-04 9.99943973e-01 2.93202120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.359254154 meters 0.015979679716568926 Centerline is valid? [True, True] Translation: X:673.35, Y:4.74, Z:2.93 [[ 9.99720796e-01 -2.08044024e-02 -1.12029685e-02 6.73349248e+02] [ 2.08050161e-02 9.99783550e-01 -6.17710924e-05 4.73819357e+00] [ 1.12018288e-02 -1.71324095e-04 9.99937243e-01 2.93218236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.419254154 meters 0.016119656388603174 Centerline is valid? [True, True] Translation: X:673.41, Y:4.74, Z:2.93 [[ 9.99776525e-01 -1.84775127e-02 -1.02704357e-02 6.73409263e+02] [ 1.84779084e-02 9.99829267e-01 -5.63731307e-05 4.73773937e+00] [ 1.02697238e-02 -1.33415636e-04 9.99947256e-01 2.93227056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4792541539999 meters 0.015358062023616961 Centerline is valid? [True, True] Translation: X:673.47, Y:4.74, Z:2.93 [[ 9.99858126e-01 -1.42780351e-02 -8.93675394e-03 6.73469466e+02] [ 1.42781675e-02 9.99898061e-01 -4.89830201e-05 4.73916487e+00] [ 8.93654231e-03 -7.86243990e-05 9.99960065e-01 2.93395869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.539254154 meters 0.015001335854483636 Centerline is valid? [True, True] Translation: X:673.53, Y:4.74, Z:2.93 [[ 9.99897255e-01 -1.09176021e-02 -9.28897788e-03 6.73530058e+02] [ 1.09176002e-02 9.99940400e-01 -5.09135860e-05 4.73848662e+00] [ 9.28898011e-03 -5.05049916e-05 9.99956855e-01 2.93441644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5992541539999 meters 0.014971891996048132 Centerline is valid? [True, True] Translation: X:673.59, Y:4.74, Z:2.93 [[ 9.99910470e-01 -9.70764581e-03 -9.20940244e-03 6.73588785e+02] [ 9.70758126e-03 9.99952879e-01 -5.17108250e-05 4.73710546e+00] [ 9.20947047e-03 -3.76948272e-05 9.99957591e-01 2.93440763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.659254154 meters 0.014990028132075431 Centerline is valid? [True, True] Translation: X:673.65, Y:4.73, Z:2.93 [[ 9.99904583e-01 -1.01587901e-02 -9.36071506e-03 6.73647796e+02] [ 1.01587202e-02 9.99948397e-01 -5.50159610e-05 4.73290812e+00] [ 9.36079092e-03 -4.00821733e-05 9.99956186e-01 2.93458866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.7192541539999 meters 0.01758930939075359 Centerline is valid? [True, True] Translation: X:673.71, Y:4.73, Z:2.93 [[ 9.99861425e-01 -1.15579133e-02 -1.19810701e-02 6.73706478e+02] [ 1.15578764e-02 9.99933203e-01 -7.23226896e-05 4.72775646e+00] [ 1.19811057e-02 -6.61630596e-05 9.99928222e-01 2.93186673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.779254154 meters 0.015865373568378405 Centerline is valid? [True, True] Translation: X:673.76, Y:4.72, Z:2.93 [[ 9.99772948e-01 -1.72149302e-02 -1.25578013e-02 6.73764690e+02] [ 1.72153237e-02 9.99851802e-01 -7.67694605e-05 4.72010165e+00] [ 1.25572618e-02 -1.39434584e-04 9.99921145e-01 2.93219365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.839254154 meters 0.01678030728459053 Centerline is valid? [True, True] Translation: X:673.82, Y:4.72, Z:2.93 [[ 9.99695605e-01 -2.16063989e-02 -1.19105408e-02 6.73823226e+02] [ 2.16070385e-02 9.99766538e-01 -7.49946673e-05 4.71501184e+00] [ 1.19093805e-02 -1.82379674e-04 9.99929064e-01 2.93302409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.899254154 meters 0.017445417574135265 Centerline is valid? [True, True] Translation: X:673.88, Y:4.71, Z:2.94 [[ 9.99551211e-01 -2.82934039e-02 -9.84171877e-03 6.73883468e+02] [ 2.82941549e-02 9.99599638e-01 -6.29493620e-05 4.70793632e+00] [ 9.83955957e-03 -2.15542004e-04 9.99951567e-01 2.93588624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.959254154 meters 0.0198995073847174 Centerline is valid? [True, True] Translation: X:673.94, Y:4.70, Z:2.94 [[ 9.99367214e-01 -3.45409762e-02 -8.49078039e-03 6.73943367e+02] [ 3.45417622e-02 9.99403254e-01 -5.41093302e-05 4.69856939e+00] [ 8.48758253e-03 -2.39211426e-04 9.99963951e-01 2.93781334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.019254154 meters 0.01994026478181707 Centerline is valid? [True, True] Translation: X:674.01, Y:4.70, Z:2.94 [[ 9.99250563e-01 -3.78594307e-02 -8.06074102e-03 6.74005461e+02] [ 3.78602513e-02 9.99283042e-01 -5.08249033e-05 4.69557500e+00] [ 8.05688601e-03 -2.54394867e-04 9.99967510e-01 2.93880087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.079254154 meters 0.022358529010027252 Centerline is valid? [True, True] Translation: X:674.07, Y:4.69, Z:2.94 [[ 9.99011680e-01 -4.34866855e-02 -9.19631462e-03 6.74066099e+02] [ 4.34879958e-02 9.99053948e-01 -5.75290680e-05 4.68724468e+00] [ 9.19011618e-03 -3.42457081e-04 9.99957711e-01 2.93718422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.139254154 meters 0.02304340783181365 Centerline is valid? [True, True] Translation: X:674.13, Y:4.68, Z:2.94 [[ 9.98834045e-01 -4.71525257e-02 -1.03532723e-02 6.74127635e+02] [ 4.71543863e-02 9.98887611e-01 -6.44592196e-05 4.68350160e+00] [ 1.03447948e-02 -4.23818138e-04 9.99946401e-01 2.93652657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.199254154 meters 0.024009821255969368 Centerline is valid? [True, True] Translation: X:674.19, Y:4.68, Z:2.94 [[ 9.98608668e-01 -5.14179377e-02 -1.17014242e-02 6.74189011e+02] [ 5.14206120e-02 9.98677083e-01 -7.24006477e-05 4.67965301e+00] [ 1.16896669e-02 -5.29394480e-04 9.99931533e-01 2.93622479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.259254154 meters 0.024794417886612262 Centerline is valid? [True, True] Translation: X:674.25, Y:4.68, Z:2.94 [[ 9.98532209e-01 -5.27196541e-02 -1.24123245e-02 6.74250801e+02] [ 5.27227713e-02 9.98609185e-01 -7.61801613e-05 4.67874177e+00] [ 1.23990774e-02 -5.78343799e-04 9.99922961e-01 2.93628426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.319254154 meters 0.024860523051496903 Centerline is valid? [True, True] Translation: X:674.31, Y:4.68, Z:2.94 [[ 9.98558979e-01 -5.17285893e-02 -1.42870006e-02 6.74312927e+02] [ 5.17326324e-02 9.98660967e-01 -8.66807540e-05 4.67988457e+00] [ 1.42723537e-02 -6.52548306e-04 9.99897932e-01 2.93576140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.379254154 meters 0.023976978234596873 Centerline is valid? [True, True] Translation: X:674.37, Y:4.68, Z:2.94 [[ 9.98735216e-01 -4.80861547e-02 -1.46863802e-02 6.74374335e+02] [ 4.80900443e-02 9.98843001e-01 -8.83992651e-05 4.68479194e+00] [ 1.46736388e-02 -6.17981213e-04 9.99892145e-01 2.93572301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.439254154 meters 0.02398602263852509 Centerline is valid? [True, True] Translation: X:674.44, Y:4.69, Z:2.94 [[ 9.98814925e-01 -4.64798279e-02 -1.44350778e-02 6.74435870e+02] [ 4.64834254e-02 9.98919058e-01 -8.63724284e-05 4.68621292e+00] [ 1.44234889e-02 -5.84721791e-04 9.99895805e-01 2.93579898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.499254154 meters 0.020989130335167236 Centerline is valid? [True, True] Translation: X:674.50, Y:4.69, Z:2.94 [[ 9.99011185e-01 -4.22966089e-02 -1.36985219e-02 6.74496416e+02] [ 4.22994579e-02 9.99104974e-01 -8.18166264e-05 4.69358214e+00] [ 1.36897219e-02 -4.97704324e-04 9.99906167e-01 2.93724316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.559254154 meters 0.019577447597644404 Centerline is valid? [True, True] Translation: X:674.56, Y:4.70, Z:2.94 [[ 9.99330071e-01 -3.45935273e-02 -1.19456123e-02 6.74556141e+02] [ 3.45951427e-02 9.99401406e-01 -7.14430681e-05 4.70106973e+00] [ 1.19409332e-02 -3.41864958e-04 9.99928646e-01 2.93783497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.619254154 meters 0.01739811632655584 Centerline is valid? [True, True] Translation: X:674.62, Y:4.71, Z:2.94 [[ 9.99514592e-01 -2.92992235e-02 -1.05894609e-02 6.74616993e+02] [ 2.93001966e-02 9.99570655e-01 -6.32680019e-05 4.70803439e+00] [ 1.05867680e-02 -2.47035994e-04 9.99943928e-01 2.93892818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.679254154 meters 0.01617891353276856 Centerline is valid? [True, True] Translation: X:674.68, Y:4.71, Z:2.94 [[ 9.99695264e-01 -2.29608459e-02 -9.06525623e-03 6.74677621e+02] [ 2.29612991e-02 9.99736353e-01 -5.40920668e-05 4.71296830e+00] [ 9.06410820e-03 -1.54074477e-04 9.99958908e-01 2.93887123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.739254154 meters 0.01681901943283376 Centerline is valid? [True, True] Translation: X:674.74, Y:4.71, Z:2.94 [[ 9.99766540e-01 -1.95497287e-02 -9.20185520e-03 6.74737702e+02] [ 1.95500520e-02 9.99808878e-01 -5.48206215e-05 4.71485326e+00] [ 9.20116825e-03 -1.25088925e-04 9.99957661e-01 2.93732499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.799254154 meters 0.015703793183677685 Centerline is valid? [True, True] Translation: X:674.80, Y:4.72, Z:2.94 [[ 9.99764889e-01 -1.97281442e-02 -8.99818835e-03 6.74797797e+02] [ 1.97284613e-02 9.99805374e-01 -5.35296900e-05 4.71531549e+00] [ 8.99749311e-03 -1.24003306e-04 9.99959514e-01 2.93692961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.859254154 meters 0.015765102319246136 Centerline is valid? [True, True] Translation: X:674.86, Y:4.71, Z:2.94 [[ 9.99761346e-01 -1.92741554e-02 -1.02838362e-02 6.74858392e+02] [ 1.92745456e-02 9.99814227e-01 -6.11779328e-05 4.71488563e+00] [ 1.02831049e-02 -1.37052937e-04 9.99947118e-01 2.93549462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.919254154 meters 0.015760150487655448 Centerline is valid? [True, True] Translation: X:674.92, Y:4.71, Z:2.94 [[ 9.99783468e-01 -1.85629193e-02 -9.40397711e-03 6.74917581e+02] [ 1.85632144e-02 9.99827687e-01 -5.59096644e-05 4.71429997e+00] [ 9.40339453e-03 -1.18670485e-04 9.99955780e-01 2.93516044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9792541539999 meters 0.0156711172071269 Centerline is valid? [True, True] Translation: X:674.98, Y:4.71, Z:2.94 [[ 9.99793307e-01 -1.87122723e-02 -7.94948240e-03 6.74976901e+02] [ 1.87124876e-02 9.99824905e-01 -4.72998423e-05 4.71217467e+00] [ 7.94897557e-03 -1.01464525e-04 9.99968401e-01 2.93527513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.039254154 meters 0.015497435793186593 Centerline is valid? [True, True] Translation: X:675.04, Y:4.71, Z:2.94 [[ 9.99772562e-01 -2.03914552e-02 -6.24608946e-03 6.75037041e+02] [ 2.03916205e-02 9.99792069e-01 -3.72258990e-05 4.71017431e+00] [ 6.24554979e-03 -9.01504531e-05 9.99980492e-01 2.93604716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0992541539999 meters 0.016465405425582797 Centerline is valid? [True, True] Translation: X:675.10, Y:4.70, Z:2.94 [[ 9.99667192e-01 -2.52171225e-02 -5.44076262e-03 6.75098574e+02] [ 2.52173196e-02 9.99681992e-01 -3.23885861e-05 4.70313892e+00] [ 5.43984916e-03 -1.04823643e-04 9.99985198e-01 2.93585622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.159254154 meters 0.01764269554430082 Centerline is valid? [True, True] Translation: X:675.16, Y:4.70, Z:2.94 [[ 9.99592721e-01 -2.80808117e-02 -5.08520436e-03 6.75159650e+02] [ 2.80810218e-02 9.99605650e-01 -3.00861008e-05 4.69841534e+00] [ 5.08404385e-03 -1.12723887e-04 9.99987070e-01 2.93558193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.2192541539999 meters 0.018106175712371615 Centerline is valid? [True, True] Translation: X:675.22, Y:4.69, Z:2.94 [[ 9.99550344e-01 -2.97391569e-02 -3.83312375e-03 6.75221601e+02] [ 2.97392890e-02 9.99557689e-01 -2.25407299e-05 4.69384183e+00] [ 3.83209866e-03 -9.14637807e-05 9.99992653e-01 2.93565723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.279254154 meters 0.018231272208635227 Centerline is valid? [True, True] Translation: X:675.28, Y:4.69, Z:2.94 [[ 9.99577583e-01 -2.88152595e-02 -3.78646332e-03 6.75282912e+02] [ 2.88153828e-02 9.99584750e-01 -2.19859426e-05 4.69055275e+00] [ 3.78552452e-03 -8.71317348e-05 9.99992831e-01 2.93524080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.339254154 meters 0.018442511481756955 Centerline is valid? [True, True] Translation: X:675.34, Y:4.69, Z:2.93 [[ 9.99594284e-01 -2.80069746e-02 -5.18431516e-03 6.75343761e+02] [ 2.80071968e-02 9.99607721e-01 -2.97410508e-05 4.68953587e+00] [ 5.18311442e-03 -1.15469151e-04 9.99986561e-01 2.93397120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.399254154 meters 0.017931812146430144 Centerline is valid? [True, True] Translation: X:675.41, Y:4.69, Z:2.93 [[ 9.99638952e-01 -2.61233874e-02 -6.28761360e-03 6.75405658e+02] [ 2.61236794e-02 9.99658718e-01 -3.57084372e-05 4.68882029e+00] [ 6.28640058e-03 -1.28560057e-04 9.99980232e-01 2.93277697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.459254154 meters 0.016135643575436866 Centerline is valid? [True, True] Translation: X:675.47, Y:4.69, Z:2.93 [[ 9.99678737e-01 -2.44345629e-02 -6.73612131e-03 6.75467176e+02] [ 2.44348616e-02 9.99701423e-01 -3.79566426e-05 4.69240510e+00] [ 6.73503752e-03 -1.26651744e-04 9.99977311e-01 2.93267160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.519254154 meters 0.015995901353151036 Centerline is valid? [True, True] Translation: X:675.53, Y:4.69, Z:2.93 [[ 9.99708947e-01 -2.28333887e-02 -7.78828617e-03 6.75528748e+02] [ 2.28337419e-02 9.99739275e-01 -4.35742175e-05 4.69377271e+00] [ 7.78725052e-03 -1.34274182e-04 9.99969670e-01 2.93238339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.579254154 meters 0.01612878951998062 Centerline is valid? [True, True] Translation: X:675.59, Y:4.69, Z:2.93 [[ 9.99684804e-01 -2.36908086e-02 -8.30887619e-03 6.75590194e+02] [ 2.36912429e-02 9.99719322e-01 -4.61733996e-05 4.69337995e+00] [ 8.30763796e-03 -1.50688758e-04 9.99965480e-01 2.93270925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.639254154 meters 0.01800913798439079 Centerline is valid? [True, True] Translation: X:675.65, Y:4.69, Z:2.93 [[ 9.99532288e-01 -2.95993300e-02 -7.68668131e-03 6.75649928e+02] [ 2.95998774e-02 9.99561827e-01 -4.25674016e-05 4.68749357e+00] [ 7.68457317e-03 -1.84977332e-04 9.99970456e-01 2.93310047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.699254154 meters 0.02308127433670697 Centerline is valid? [True, True] Translation: X:675.71, Y:4.68, Z:2.93 [[ 9.99207500e-01 -3.90384597e-02 -7.76986659e-03 6.75710175e+02] [ 3.90393042e-02 9.99237675e-01 -4.30168304e-05 4.67928248e+00] [ 7.76562273e-03 -2.60347445e-04 9.99969813e-01 2.93230296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.759254154 meters 0.025952312066348092 Centerline is valid? [True, True] Translation: X:675.77, Y:4.67, Z:2.93 [[ 9.98879342e-01 -4.66193936e-02 -8.16656074e-03 6.75771210e+02] [ 4.66205796e-02 9.98912669e-01 -4.51863678e-05 4.67259870e+00] [ 8.15978755e-03 -3.35594066e-04 9.99966652e-01 2.93231316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.819254154 meters 0.029411233463245715 Centerline is valid? [True, True] Translation: X:675.83, Y:4.67, Z:2.93 [[ 9.98335000e-01 -5.71195169e-02 -8.03672416e-03 6.75831943e+02] [ 5.71210049e-02 9.98367261e-01 -4.44543782e-05 4.66546871e+00] [ 8.02614151e-03 -4.14685399e-04 9.99967704e-01 2.93395568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.879254154 meters 0.03254959579596963 Centerline is valid? [True, True] Translation: X:675.89, Y:4.66, Z:2.93 [[ 9.98054630e-01 -6.18377882e-02 -7.94002992e-03 6.75892281e+02] [ 6.18393895e-02 9.98086112e-01 -4.39059029e-05 4.66131428e+00] [ 7.92754864e-03 -4.47186113e-04 9.99968477e-01 2.93421891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.939254154 meters 0.029493460940717905 Centerline is valid? [True, True] Translation: X:675.95, Y:4.67, Z:2.93 [[ 9.97873813e-01 -6.46180537e-02 -8.50645820e-03 6.75953244e+02] [ 6.46199941e-02 9.97909943e-01 -4.68296534e-05 4.66802746e+00] [ 8.49170526e-03 -5.02957194e-04 9.99963818e-01 2.93391035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.999254154 meters 0.030469159838813042 Centerline is valid? [True, True] Translation: X:676.01, Y:4.67, Z:2.94 [[ 9.97925828e-01 -6.38634972e-02 -8.09292865e-03 6.76014979e+02] [ 6.38652325e-02 9.97958531e-01 -4.40866117e-05 4.66942179e+00] [ 8.07922271e-03 -4.72861601e-04 9.99967251e-01 2.93521468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.059254154 meters 0.03293859197829008 Centerline is valid? [True, True] Translation: X:676.08, Y:4.67, Z:2.93 [[ 9.98046655e-01 -6.17922123e-02 -9.19766585e-03 6.76075527e+02] [ 6.17943703e-02 9.98088901e-01 -4.96499778e-05 4.66933718e+00] [ 9.18315618e-03 -5.18810976e-04 9.99957699e-01 2.93497676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.119254154 meters 0.027448175581147816 Centerline is valid? [True, True] Translation: X:676.14, Y:4.68, Z:2.94 [[ 9.98289792e-01 -5.75726447e-02 -1.01430635e-02 6.76135812e+02] [ 5.75750528e-02 9.98341179e-01 -5.46652912e-05 4.68308109e+00] [ 1.01293852e-02 -5.29415613e-04 9.99948556e-01 2.93539845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.179254154 meters 0.026752198417085205 Centerline is valid? [True, True] Translation: X:676.20, Y:4.69, Z:2.94 [[ 9.98480681e-01 -5.42152557e-02 -9.85069381e-03 6.76196751e+02] [ 5.42173650e-02 9.98529156e-01 -5.29913912e-05 4.68843067e+00] [ 9.83907791e-03 -4.81167781e-04 9.99951479e-01 2.93641112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.239254154 meters 0.02467006227943901 Centerline is valid? [True, True] Translation: X:676.26, Y:4.70, Z:2.94 [[ 9.98713736e-01 -4.98713722e-02 -9.14987304e-03 6.76257011e+02] [ 4.98730107e-02 9.98755566e-01 -4.91476893e-05 4.69779404e+00] [ 9.14093769e-03 -4.07247244e-04 9.99958138e-01 2.93757318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.299254154 meters 0.024729644544684397 Centerline is valid? [True, True] Translation: X:676.32, Y:4.70, Z:2.94 [[ 9.98876954e-01 -4.63107496e-02 -1.00072788e-02 6.76317852e+02] [ 4.63125333e-02 9.98926998e-01 -5.35522820e-05 4.70280095e+00] [ 9.99902103e-03 -4.09970293e-04 9.99949924e-01 2.93711018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.359254154 meters 0.021325313170713577 Centerline is valid? [True, True] Translation: X:676.38, Y:4.72, Z:2.94 [[ 9.99163232e-01 -3.91399718e-02 -1.18700612e-02 6.76378413e+02] [ 3.91419787e-02 9.99233657e-01 -6.32826685e-05 4.71528733e+00] [ 1.18634415e-02 -4.01387967e-04 9.99929546e-01 2.93626593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.419254154 meters 0.02050401747677232 Centerline is valid? [True, True] Translation: X:676.44, Y:4.72, Z:2.94 [[ 9.99238813e-01 -3.68866315e-02 -1.26952812e-02 6.76439673e+02] [ 3.68887497e-02 9.99319376e-01 -6.73556165e-05 4.71963073e+00] [ 1.26891250e-02 -4.01008705e-04 9.99919409e-01 2.93626547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4792541539999 meters 0.018159202030594297 Centerline is valid? [True, True] Translation: X:676.50, Y:4.73, Z:2.94 [[ 9.99394867e-01 -3.20285505e-02 -1.35673093e-02 6.76500651e+02] [ 3.20305270e-02 9.99486888e-01 -7.16476194e-05 4.73103044e+00] [ 1.35626425e-02 -3.62963802e-04 9.99907957e-01 2.93751905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.539254154 meters 0.0189856250012054 Centerline is valid? [True, True] Translation: X:676.56, Y:4.73, Z:2.94 [[ 9.99438765e-01 -3.03290933e-02 -1.42232465e-02 6.76560592e+02] [ 3.03311041e-02 9.99539903e-01 -7.43678299e-05 4.73392715e+00] [ 1.42189579e-02 -3.57080677e-04 9.99898842e-01 2.93713806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5992541539999 meters 0.018265674484186745 Centerline is valid? [True, True] Translation: X:676.62, Y:4.74, Z:2.94 [[ 9.99439653e-01 -2.99826383e-02 -1.48802353e-02 6.76621904e+02] [ 2.99848109e-02 9.99550351e-01 -7.71233287e-05 4.73937623e+00] [ 1.48758568e-02 -3.69100930e-04 9.99889280e-01 2.93744509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.659254154 meters 0.018655245866910742 Centerline is valid? [True, True] Translation: X:676.68, Y:4.74, Z:2.94 [[ 9.99420052e-01 -3.07714907e-02 -1.45833820e-02 6.76682406e+02] [ 3.07736636e-02 9.99526376e-01 -7.54322356e-05 4.74112807e+00] [ 1.45787961e-02 -3.73395602e-04 9.99893654e-01 2.93783009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.7192541539999 meters 0.01972829219373908 Centerline is valid? [True, True] Translation: X:676.74, Y:4.74, Z:2.94 [[ 9.99378323e-01 -3.26316993e-02 -1.33468879e-02 6.76742688e+02] [ 3.26336851e-02 9.99467377e-01 -6.90364962e-05 4.74169206e+00] [ 1.33420318e-02 -3.66564560e-04 9.99910924e-01 2.93867856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.779254154 meters 0.021064369672593213 Centerline is valid? [True, True] Translation: X:676.80, Y:4.74, Z:2.94 [[ 9.99320950e-01 -3.44203327e-02 -1.31483322e-02 6.76802880e+02] [ 3.44224165e-02 9.99407371e-01 -6.78604914e-05 4.74085361e+00] [ 1.31428759e-02 -3.84782957e-04 9.99913555e-01 2.93879104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.839254154 meters 0.021951216564547973 Centerline is valid? [True, True] Translation: X:676.86, Y:4.74, Z:2.94 [[ 9.99269749e-01 -3.58667109e-02 -1.31737748e-02 6.76864603e+02] [ 3.58689351e-02 9.99356500e-01 -6.74732499e-05 4.74043825e+00] [ 1.31677175e-02 -4.05105296e-04 9.99913220e-01 2.93909837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.899254154 meters 0.020142211566448794 Centerline is valid? [True, True] Translation: X:676.93, Y:4.74, Z:2.94 [[ 9.99179510e-01 -3.81085214e-02 -1.37130268e-02 6.76926087e+02] [ 3.81111502e-02 9.99273504e-01 -6.96651853e-05 4.74484868e+00] [ 1.37057192e-02 -4.53011198e-04 9.99905970e-01 2.93967866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.959254154 meters 0.020892327837784 Centerline is valid? [True, True] Translation: X:676.99, Y:4.74, Z:2.94 [[ 9.99158926e-01 -3.85188164e-02 -1.40620789e-02 6.76987632e+02] [ 3.85216393e-02 9.99257764e-01 -7.01561421e-05 4.74464693e+00] [ 1.40543439e-02 -4.71597197e-04 9.99901122e-01 2.93897507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.019254154 meters 0.018784642113920395 Centerline is valid? [True, True] Translation: X:677.05, Y:4.75, Z:2.94 [[ 9.99293894e-01 -3.47924408e-02 -1.41844753e-02 6.77049407e+02] [ 3.47949531e-02 9.99394470e-01 -6.97067932e-05 4.75112149e+00] [ 1.41783114e-02 -4.23890580e-04 9.99899393e-01 2.93893205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.079254154 meters 0.017437837183406947 Centerline is valid? [True, True] Translation: X:677.11, Y:4.76, Z:2.94 [[ 9.99473972e-01 -2.95443073e-02 -1.33758572e-02 6.77109875e+02] [ 2.95460747e-02 9.99563417e-01 -6.55013327e-05 4.75620723e+00] [ 1.33719527e-02 -3.29737198e-04 9.99910537e-01 2.94040240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.139254154 meters 0.01637826684017441 Centerline is valid? [True, True] Translation: X:677.17, Y:4.76, Z:2.94 [[ 9.99724282e-01 -2.01759355e-02 -1.20121727e-02 6.77169577e+02] [ 2.01766848e-02 9.99796428e-01 -5.88233940e-05 4.76337429e+00] [ 1.20109141e-02 -1.83558646e-04 9.99927850e-01 2.94152221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.199254154 meters 0.014920366822809237 Centerline is valid? [True, True] Translation: X:677.23, Y:4.77, Z:2.94 [[ 9.99826837e-01 -1.49410469e-02 -1.10933053e-02 6.77230385e+02] [ 1.49413637e-02 9.99888370e-01 -5.43237170e-05 4.76864407e+00] [ 1.10928786e-02 -1.11434799e-04 9.99938466e-01 2.94331592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.259254154 meters 0.014556625582329624 Centerline is valid? [True, True] Translation: X:677.29, Y:4.77, Z:2.94 [[ 9.99882118e-01 -1.08066045e-02 -1.09072459e-02 6.77288648e+02] [ 1.08066610e-02 9.99941605e-01 -5.37578198e-05 4.77025256e+00] [ 1.09071899e-02 -6.41194259e-05 9.99940513e-01 2.94265333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.319254154 meters 0.014579931889415608 Centerline is valid? [True, True] Translation: X:677.35, Y:4.77, Z:2.94 [[ 9.99855683e-01 -1.15597695e-02 -1.24493277e-02 6.77346959e+02] [ 1.15598728e-02 9.99933180e-01 -6.36645350e-05 4.76956013e+00] [ 1.24492318e-02 -8.02572973e-05 9.99922502e-01 2.94174609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.379254154 meters 0.017501612933103667 Centerline is valid? [True, True] Translation: X:677.41, Y:4.76, Z:2.94 [[ 9.99743493e-01 -1.67272550e-02 -1.52691764e-02 6.77405686e+02] [ 1.67279799e-02 9.99860074e-01 -8.02518841e-05 4.76346953e+00] [ 1.52683822e-02 -1.75191177e-04 9.99883416e-01 2.93823264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.439254154 meters 0.016515703135718318 Centerline is valid? [True, True] Translation: X:677.46, Y:4.76, Z:2.94 [[ 9.99551640e-01 -2.61636870e-02 -1.45595699e-02 6.77464836e+02] [ 2.61653329e-02 9.99657626e-01 -7.74673758e-05 4.75537806e+00] [ 1.45566119e-02 -3.03523350e-04 9.99894001e-01 2.94047998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.499254154 meters 0.019117184143344804 Centerline is valid? [True, True] Translation: X:677.52, Y:4.75, Z:2.94 [[ 9.99310420e-01 -3.48988513e-02 -1.26789194e-02 6.77524143e+02] [ 3.49007949e-02 9.99390779e-01 -6.80023701e-05 4.74655048e+00] [ 1.26735684e-02 -3.74548889e-04 9.99919617e-01 2.94202370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.559254154 meters 0.021546433116842758 Centerline is valid? [True, True] Translation: X:677.59, Y:4.74, Z:2.94 [[ 9.99191339e-01 -3.87184768e-02 -1.08419781e-02 6.77585534e+02] [ 3.87201235e-02 9.99250093e-01 -5.80552423e-05 4.74123116e+00] [ 1.08360955e-02 -3.61794437e-04 9.99941222e-01 2.94244664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.619254154 meters 0.023466187240514743 Centerline is valid? [True, True] Translation: X:677.65, Y:4.73, Z:2.94 [[ 9.98961148e-01 -4.46862030e-02 -8.93132093e-03 6.77646661e+02] [ 4.46875604e-02 9.99001011e-01 -4.76132342e-05 4.73479922e+00] [ 8.92452630e-03 -3.51555173e-04 9.99960114e-01 2.94441402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.679254154 meters 0.022762380708806505 Centerline is valid? [True, True] Translation: X:677.71, Y:4.73, Z:2.95 [[ 9.98705659e-01 -5.02200643e-02 -8.05929339e-03 6.77707659e+02] [ 5.02213506e-02 9.98738111e-01 -4.28246941e-05 4.73494406e+00] [ 8.05127412e-03 -3.61979334e-04 9.99967522e-01 2.94578129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.739254154 meters 0.024815078226724734 Centerline is valid? [True, True] Translation: X:677.77, Y:4.73, Z:2.95 [[ 9.98537058e-01 -5.34185305e-02 -8.37876454e-03 6.77767802e+02] [ 5.34200339e-02 9.98572130e-01 -4.44358595e-05 4.73034615e+00] [ 8.36917445e-03 -4.03223033e-04 9.99964897e-01 2.94586438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.799254154 meters 0.02569417031289442 Centerline is valid? [True, True] Translation: X:677.83, Y:4.73, Z:2.95 [[ 9.98399464e-01 -5.58871080e-02 -8.66838748e-03 6.77828981e+02] [ 5.58888113e-02 9.98436998e-01 -4.58132447e-05 4.72834022e+00] [ 8.65739914e-03 -4.38725953e-04 9.99962428e-01 2.94595332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.859254154 meters 0.025285941712621267 Centerline is valid? [True, True] Translation: X:677.89, Y:4.73, Z:2.95 [[ 9.98460240e-01 -5.47215542e-02 -9.09395160e-03 6.77891418e+02] [ 5.47233853e-02 9.98501552e-01 -4.75407599e-05 4.72994801e+00] [ 9.08292629e-03 -4.50184259e-04 9.99958648e-01 2.94593834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.919254154 meters 0.023691992450518663 Centerline is valid? [True, True] Translation: X:677.95, Y:4.74, Z:2.94 [[ 9.98776929e-01 -4.81381318e-02 -1.12856790e-02 6.77951819e+02] [ 4.81405373e-02 9.98840570e-01 -5.85748329e-05 4.73724849e+00] [ 1.12754137e-02 -4.84795459e-04 9.99936313e-01 2.94429966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9792541539999 meters 0.02364298141991356 Centerline is valid? [True, True] Translation: X:678.01, Y:4.74, Z:2.94 [[ 9.99000612e-01 -4.26337121e-02 -1.34217466e-02 6.78011531e+02] [ 4.26366185e-02 9.99090643e-01 -6.96490436e-05 4.74160599e+00] [ 1.34125109e-02 -5.02678454e-04 9.99909922e-01 2.94257668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.039254154 meters 0.019870964827476235 Centerline is valid? [True, True] Translation: X:678.07, Y:4.75, Z:2.94 [[ 9.99246648e-01 -3.63086536e-02 -1.37046861e-02 6.78072004e+02] [ 3.63110896e-02 9.99340532e-01 -7.11172924e-05 4.75196930e+00] [ 1.36982305e-02 -4.26568369e-04 9.99906084e-01 2.94414608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0992541539999 meters 0.018859610795174665 Centerline is valid? [True, True] Translation: X:678.13, Y:4.76, Z:2.95 [[ 9.99392219e-01 -3.26453391e-02 -1.22260118e-02 6.78133031e+02] [ 3.26470073e-02 9.99466942e-01 -6.31644313e-05 4.75756655e+00] [ 1.22215567e-02 -3.36016656e-04 9.99925258e-01 2.94622219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.159254154 meters 0.01863265934214065 Centerline is valid? [True, True] Translation: X:678.19, Y:4.76, Z:2.95 [[ 9.99494699e-01 -2.97517201e-02 -1.11884798e-02 6.78193995e+02] [ 2.97529402e-02 9.99557282e-01 -5.74218800e-05 4.76150425e+00] [ 1.11852349e-02 -2.75497307e-04 9.99937405e-01 2.94704559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.2192541539999 meters 0.016089145816506657 Centerline is valid? [True, True] Translation: X:678.26, Y:4.77, Z:2.95 [[ 9.99629002e-01 -2.48273826e-02 -1.12008274e-02 6.78255403e+02] [ 2.48283009e-02 9.99691729e-01 -5.70760626e-05 4.77048214e+00] [ 1.11987916e-02 -2.21042626e-04 9.99937267e-01 2.94820871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.279254154 meters 0.01605185729511577 Centerline is valid? [True, True] Translation: X:678.32, Y:4.77, Z:2.95 [[ 9.99663168e-01 -2.32270846e-02 -1.15781310e-02 6.78317041e+02] [ 2.32279636e-02 9.99730193e-01 -5.85650643e-05 4.77204114e+00] [ 1.15763674e-02 -2.10391067e-04 9.99932969e-01 2.94816940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.339254154 meters 0.01567440415690005 Centerline is valid? [True, True] Translation: X:678.38, Y:4.77, Z:2.95 [[ 9.99716243e-01 -2.01190792e-02 -1.27536725e-02 6.78377806e+02] [ 2.01198991e-02 9.99797572e-01 -6.40321770e-05 4.77405235e+00] [ 1.27523791e-02 -1.92588597e-04 9.99918667e-01 2.94684326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.399254154 meters 0.015277159506110322 Centerline is valid? [True, True] Translation: X:678.44, Y:4.78, Z:2.95 [[ 9.99721503e-01 -1.93978129e-02 -1.34402648e-02 6.78437393e+02] [ 1.93986561e-02 9.99811826e-01 -6.76398115e-05 4.77697419e+00] [ 1.34390477e-02 -1.93102100e-04 9.99909673e-01 2.94762304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.459254154 meters 0.015463948323029518 Centerline is valid? [True, True] Translation: X:678.50, Y:4.78, Z:2.95 [[ 9.99719103e-01 -2.00055208e-02 -1.27080535e-02 6.78496487e+02] [ 2.00063161e-02 9.99799852e-01 -6.45503214e-05 4.77751281e+00] [ 1.27068014e-02 -1.89709147e-04 9.99919247e-01 2.94807257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.519254154 meters 0.015338648712586415 Centerline is valid? [True, True] Translation: X:678.56, Y:4.78, Z:2.95 [[ 9.99701583e-01 -2.12341893e-02 -1.20770459e-02 6.78556138e+02] [ 2.12349911e-02 9.99774510e-01 -6.18503893e-05 4.77825862e+00] [ 1.20756360e-02 -1.94624031e-04 9.99927068e-01 2.94851069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.579254154 meters 0.015760852830042957 Centerline is valid? [True, True] Translation: X:678.62, Y:4.78, Z:2.95 [[ 9.99625828e-01 -2.44064009e-02 -1.23503342e-02 6.78616576e+02] [ 2.44074794e-02 9.99702091e-01 -6.34149890e-05 4.77713407e+00] [ 1.23482026e-02 -2.38049267e-04 9.99923730e-01 2.94828876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.639254154 meters 0.016962651056611915 Centerline is valid? [True, True] Translation: X:678.68, Y:4.78, Z:2.95 [[ 9.99526535e-01 -2.81582685e-02 -1.24023315e-02 6.78676525e+02] [ 2.81596448e-02 9.99603437e-01 -6.36819784e-05 4.77587932e+00] [ 1.23992063e-02 -2.85593421e-04 9.99923086e-01 2.94821720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.699254154 meters 0.017766641870354268 Centerline is valid? [True, True] Translation: X:678.74, Y:4.77, Z:2.95 [[ 9.99441379e-01 -3.10980074e-02 -1.22410859e-02 6.78738245e+02] [ 3.10995719e-02 9.99516289e-01 -6.25727506e-05 4.77468555e+00] [ 1.22371106e-02 -3.18154734e-04 9.99925073e-01 2.94863098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.759254154 meters 0.020377215334101816 Centerline is valid? [True, True] Translation: X:678.80, Y:4.77, Z:2.95 [[ 9.99293240e-01 -3.57219586e-02 -1.17030716e-02 6.78798507e+02] [ 3.57237087e-02 9.99361703e-01 -5.95425487e-05 4.77044989e+00] [ 1.16977285e-02 -3.58576652e-04 9.99931515e-01 2.94816716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.819254154 meters 0.01992672863325953 Centerline is valid? [True, True] Translation: X:678.86, Y:4.77, Z:2.95 [[ 9.99224122e-01 -3.78027445e-02 -1.10501860e-02 6.78860359e+02] [ 3.78044380e-02 9.99285155e-01 -5.56659914e-05 4.77359208e+00] [ 1.10443911e-02 -3.62123268e-04 9.99938943e-01 2.94915034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.879254154 meters 0.022827543054237374 Centerline is valid? [True, True] Translation: X:678.92, Y:4.77, Z:2.95 [[ 9.99308111e-01 -3.54107245e-02 -1.13744911e-02 6.78921293e+02] [ 3.54123787e-02 9.99372783e-01 -5.60088930e-05 4.77217172e+00] [ 1.13693401e-02 -3.46827645e-04 9.99935307e-01 2.94688244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.939254154 meters 0.019016002120751507 Centerline is valid? [True, True] Translation: X:678.98, Y:4.78, Z:2.95 [[ 9.99501055e-01 -2.96153718e-02 -1.09804586e-02 6.78982392e+02] [ 2.96165715e-02 9.99561332e-01 -5.33717561e-05 4.78089675e+00] [ 1.09772225e-02 -2.71858412e-04 9.99939712e-01 2.94926289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.999254154 meters 0.01929888247972748 Centerline is valid? [True, True] Translation: X:679.04, Y:4.79, Z:2.95 [[ 9.99617427e-01 -2.55367667e-02 -1.06241983e-02 6.79043054e+02] [ 2.55376625e-02 9.99673859e-01 -5.13624027e-05 4.78510266e+00] [ 1.06220449e-02 -2.19974438e-04 9.99943560e-01 2.94873142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.059254154 meters 0.01573072158355275 Centerline is valid? [True, True] Translation: X:679.10, Y:4.79, Z:2.95 [[ 9.99687506e-01 -2.31329128e-02 -9.47413234e-03 6.79104012e+02] [ 2.31335202e-02 9.99732383e-01 -4.54907103e-05 4.79328606e+00] [ 9.47264924e-03 -1.73693537e-04 9.99955118e-01 2.95172172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.119254154 meters 0.016174023587564937 Centerline is valid? [True, True] Translation: X:679.17, Y:4.79, Z:2.95 [[ 9.99651591e-01 -2.38780186e-02 -1.12488644e-02 6.79165091e+02] [ 2.38789268e-02 9.99714856e-01 -5.35823866e-05 4.79430822e+00] [ 1.12469363e-02 -2.15047093e-04 9.99936728e-01 2.95045742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.179254154 meters 0.01686454148042852 Centerline is valid? [True, True] Translation: X:679.23, Y:4.80, Z:2.95 [[ 9.99598433e-01 -2.53827849e-02 -1.25971284e-02 6.79226174e+02] [ 2.53840492e-02 9.99677771e-01 -5.95424629e-05 4.79520146e+00] [ 1.25945806e-02 -2.60247574e-04 9.99920651e-01 2.94994139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.239254154 meters 0.01827750113137749 Centerline is valid? [True, True] Translation: X:679.29, Y:4.80, Z:2.95 [[ 9.99524942e-01 -2.78759395e-02 -1.31461613e-02 6.79287056e+02] [ 2.78775360e-02 9.99611344e-01 -6.18248893e-05 4.79540881e+00] [ 1.31427754e-02 -3.04687067e-04 9.99913584e-01 2.95031225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.299254154 meters 0.01913070885722958 Centerline is valid? [True, True] Translation: X:679.35, Y:4.80, Z:2.95 [[ 9.99439023e-01 -3.14683110e-02 -1.14622861e-02 6.79348471e+02] [ 3.14697644e-02 9.99504703e-01 -5.35862270e-05 4.79573929e+00] [ 1.14582951e-02 -3.07159275e-04 9.99934304e-01 2.95252770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.359254154 meters 0.019842707953345206 Centerline is valid? [True, True] Translation: X:679.41, Y:4.80, Z:2.95 [[ 9.99375907e-01 -3.39071134e-02 -9.90470679e-03 6.79410278e+02] [ 3.39083253e-02 9.99424946e-01 -4.56042821e-05 4.79570919e+00] [ 9.90055736e-03 -2.90276199e-04 9.99950946e-01 2.95456521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.419254154 meters 0.021443439738317017 Centerline is valid? [True, True] Translation: X:679.47, Y:4.79, Z:2.96 [[ 9.99289631e-01 -3.69062069e-02 -7.62659059e-03 6.79471565e+02] [ 3.69070165e-02 9.99318703e-01 -3.45969100e-05 4.79337415e+00] [ 7.62267146e-03 -2.46902371e-04 9.99970917e-01 2.95587261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4792541539999 meters 0.022037183751531207 Centerline is valid? [True, True] Translation: X:679.53, Y:4.79, Z:2.95 [[ 9.99107310e-01 -4.15196617e-02 -7.79112250e-03 6.79533166e+02] [ 4.15206496e-02 9.99137645e-01 -3.49796917e-05 4.79307184e+00] [ 7.78585613e-03 -2.88544002e-04 9.99969648e-01 2.95472057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.539254154 meters 0.022734764301460077 Centerline is valid? [True, True] Translation: X:679.59, Y:4.79, Z:2.96 [[ 9.98897060e-01 -4.63243965e-02 -7.66255622e-03 6.79594417e+02] [ 4.63254953e-02 9.98926397e-01 -3.41228770e-05 4.79087755e+00] [ 7.65591040e-03 -3.20886471e-04 9.99970642e-01 2.95642365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5992541539999 meters 0.027979459995088187 Centerline is valid? [True, True] Translation: X:679.65, Y:4.78, Z:2.96 [[ 9.98612309e-01 -5.20590261e-02 -7.95697781e-03 6.79654170e+02] [ 5.20603946e-02 9.98643938e-01 -3.51822379e-05 4.78471112e+00] [ 7.94801920e-03 -3.79109989e-04 9.99968342e-01 2.95518644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.659254154 meters 0.027882863397057978 Centerline is valid? [True, True] Translation: X:679.72, Y:4.78, Z:2.96 [[ 9.98433672e-01 -5.52719933e-02 -8.67234296e-03 6.79715153e+02] [ 5.52737415e-02 9.98471237e-01 -3.81555191e-05 4.78320351e+00] [ 8.66119394e-03 -4.41257088e-04 9.99962394e-01 2.95670697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.7192541539999 meters 0.02878201670151671 Centerline is valid? [True, True] Translation: X:679.78, Y:4.78, Z:2.96 [[ 9.98438440e-01 -5.50133743e-02 -9.70617195e-03 6.79777398e+02] [ 5.50155564e-02 9.98485497e-01 -4.22413569e-05 4.78280390e+00] [ 9.69379576e-03 -4.91815056e-04 9.99952893e-01 2.95604013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.779254154 meters 0.02589632519016453 Centerline is valid? [True, True] Translation: X:679.84, Y:4.79, Z:2.96 [[ 9.98734432e-01 -4.90242296e-02 -1.12320968e-02 6.79838039e+02] [ 4.90267781e-02 9.98797463e-01 -4.85054013e-05 4.79034175e+00] [ 1.12209677e-02 -5.02229503e-04 9.99936917e-01 2.95579808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.839254154 meters 0.02201680834467714 Centerline is valid? [True, True] Translation: X:679.90, Y:4.80, Z:2.96 [[ 9.98997661e-01 -4.31104633e-02 -1.20482698e-02 6.79898433e+02] [ 4.31129664e-02 9.99070202e-01 -5.20203239e-05 4.79919834e+00] [ 1.20393099e-02 -4.67468468e-04 9.99927416e-01 2.95637783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.899254154 meters 0.019653819487474064 Centerline is valid? [True, True] Translation: X:679.96, Y:4.81, Z:2.96 [[ 9.99253473e-01 -3.68502748e-02 -1.15997151e-02 6.79959544e+02] [ 3.68521751e-02 9.99320727e-01 -4.99533268e-05 4.80543693e+00] [ 1.15936766e-02 -3.77558698e-04 9.99932720e-01 2.95747155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.959254154 meters 0.017460350723682263 Centerline is valid? [True, True] Translation: X:680.02, Y:4.81, Z:2.96 [[ 9.99519320e-01 -2.90570336e-02 -1.08082189e-02 6.80020374e+02] [ 2.90582301e-02 9.99577719e-01 -4.63531349e-05 4.81288695e+00] [ 1.08050017e-02 -2.67736859e-04 9.99941588e-01 2.95917963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.019254154 meters 0.016087248968076104 Centerline is valid? [True, True] Translation: X:680.08, Y:4.82, Z:2.96 [[ 9.99712425e-01 -2.19641144e-02 -9.62518291e-03 6.80081192e+02] [ 2.19647371e-02 9.99758745e-01 -4.10196141e-05 4.81849514e+00] [ 9.62376175e-03 -1.70406794e-04 9.99953676e-01 2.96023231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.079254154 meters 0.015039879630280405 Centerline is valid? [True, True] Translation: X:680.14, Y:4.82, Z:2.96 [[ 9.99802177e-01 -1.73605617e-02 -9.70656418e-03 6.80142554e+02] [ 1.73609816e-02 9.99849286e-01 -4.10089853e-05 4.82329035e+00] [ 9.70581320e-03 -1.27514609e-04 9.99952889e-01 2.96040611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.139254154 meters 0.014666003672805607 Centerline is valid? [True, True] Translation: X:680.20, Y:4.83, Z:2.96 [[ 9.99870135e-01 -1.19387834e-02 -1.08249080e-02 6.80202835e+02] [ 1.19389911e-02 9.99928727e-01 -4.54336608e-05 4.82660259e+00] [ 1.08246789e-02 -8.38107204e-05 9.99941408e-01 2.95887469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.199254154 meters 0.01464810104392655 Centerline is valid? [True, True] Translation: X:680.26, Y:4.83, Z:2.96 [[ 9.99875026e-01 -1.01934714e-02 -1.20840717e-02 6.80261333e+02] [ 1.01935978e-02 9.99948043e-01 -5.11295435e-05 4.82767343e+00] [ 1.20839651e-02 -7.20570135e-05 9.99926984e-01 2.95824578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.259254154 meters 0.014707145070964114 Centerline is valid? [True, True] Translation: X:680.32, Y:4.83, Z:2.96 [[ 9.99874238e-01 -9.93048376e-03 -1.23650201e-02 6.80319180e+02] [ 9.93056437e-03 9.99950689e-01 -5.48801685e-05 4.82737014e+00] [ 1.23649554e-02 -6.79183614e-05 9.99923549e-01 2.95837285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.319254154 meters 0.014741333128712194 Centerline is valid? [True, True] Translation: X:680.38, Y:4.82, Z:2.96 [[ 9.99871454e-01 -1.16534477e-02 -1.10123720e-02 6.80377519e+02] [ 1.16535830e-02 9.99932093e-01 -5.18852087e-05 4.82350575e+00] [ 1.10122288e-02 -7.64550517e-05 9.99939361e-01 2.95872298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.379254154 meters 0.01484306316700448 Centerline is valid? [True, True] Translation: X:680.44, Y:4.82, Z:2.96 [[ 9.99844128e-01 -1.41768903e-02 -1.05230463e-02 6.80436529e+02] [ 1.41771244e-02 9.99899498e-01 -5.23523357e-05 4.82037703e+00] [ 1.05227309e-02 -9.68423618e-05 9.99944630e-01 2.95887000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.439254154 meters 0.015191969441154937 Centerline is valid? [True, True] Translation: X:680.50, Y:4.82, Z:2.96 [[ 9.99800564e-01 -1.71726533e-02 -1.01947215e-02 6.80496123e+02] [ 1.71730155e-02 9.99852532e-01 -5.20223226e-05 4.81550224e+00] [ 1.01941115e-02 -1.23062163e-04 9.99948031e-01 2.95912730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.499254154 meters 0.015812330926077495 Centerline is valid? [True, True] Translation: X:680.56, Y:4.81, Z:2.96 [[ 9.99757365e-01 -1.98619335e-02 -9.52437682e-03 6.80556845e+02] [ 1.98623702e-02 9.99802722e-01 -4.87511306e-05 4.80929902e+00] [ 9.52346617e-03 -1.40437396e-04 9.99954641e-01 2.95901794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.559254154 meters 0.01605015317993676 Centerline is valid? [True, True] Translation: X:680.62, Y:4.80, Z:2.96 [[ 9.99702282e-01 -2.24724979e-02 -9.50446154e-03 6.80618123e+02] [ 2.24730525e-02 9.99747448e-01 -4.84597054e-05 4.80490207e+00] [ 9.50315018e-03 -1.65148985e-04 9.99954830e-01 2.95924428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.619254154 meters 0.019124254459578556 Centerline is valid? [True, True] Translation: X:680.68, Y:4.79, Z:2.96 [[ 9.99587856e-01 -2.68960099e-02 -1.00360411e-02 6.80679618e+02] [ 2.68968581e-02 9.99638213e-01 -5.04654656e-05 4.79491044e+00] [ 1.00337675e-02 -2.19493307e-04 9.99949636e-01 2.95714161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.679254154 meters 0.018339193567113655 Centerline is valid? [True, True] Translation: X:680.74, Y:4.79, Z:2.96 [[ 9.99530825e-01 -2.87014558e-02 -1.06937374e-02 6.80742052e+02] [ 2.87025317e-02 9.99587996e-01 -5.28846312e-05 4.79101692e+00] [ 1.06908494e-02 -2.54077516e-04 9.99942819e-01 2.95693099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.739254154 meters 0.018558054887032705 Centerline is valid? [True, True] Translation: X:680.80, Y:4.79, Z:2.96 [[ 9.99560142e-01 -2.77307196e-02 -1.05133170e-02 6.80803771e+02] [ 2.77317135e-02 9.99615401e-01 -5.12602562e-05 4.78663616e+00] [ 1.05106951e-02 -2.40314587e-04 9.99944732e-01 2.95676441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.799254154 meters 0.01711549857887687 Centerline is valid? [True, True] Translation: X:680.87, Y:4.79, Z:2.96 [[ 9.99611697e-01 -2.62666834e-02 -9.30140423e-03 6.80866062e+02] [ 2.62674039e-02 9.99654951e-01 -4.47203665e-05 4.78792886e+00] [ 9.29936945e-03 -1.99620740e-04 9.99956740e-01 2.95828504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8592541539999 meters 0.01683121517086574 Centerline is valid? [True, True] Translation: X:680.93, Y:4.79, Z:2.96 [[ 9.99633314e-01 -2.52066908e-02 -9.89243310e-03 6.80927822e+02] [ 2.52074612e-02 9.99682240e-01 -4.68124282e-05 4.78664368e+00] [ 9.89046967e-03 -2.02567861e-04 9.99951068e-01 2.95874286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.919254154 meters 0.01746566209832603 Centerline is valid? [True, True] Translation: X:680.99, Y:4.78, Z:2.96 [[ 9.99602026e-01 -2.62623305e-02 -1.02994573e-02 6.80988738e+02] [ 2.62632285e-02 9.99655061e-01 -4.80777428e-05 4.78328422e+00] [ 1.02971672e-02 -2.22438391e-04 9.99946958e-01 2.95807037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9792541539999 meters 0.01939516678169403 Centerline is valid? [True, True] Translation: X:681.05, Y:4.78, Z:2.96 [[ 9.99462870e-01 -3.07365439e-02 -1.13682296e-02 6.81049531e+02] [ 3.07379337e-02 9.99527477e-01 -5.24896591e-05 4.77695677e+00] [ 1.13644712e-02 -2.96974423e-04 9.99935378e-01 2.95610521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.039254154 meters 0.019777483050157647 Centerline is valid? [True, True] Translation: X:681.11, Y:4.77, Z:2.96 [[ 9.99255860e-01 -3.66037702e-02 -1.21609990e-02 6.81110562e+02] [ 3.66057990e-02 9.99329782e-01 -5.57963988e-05 4.77325934e+00] [ 1.21548909e-02 -3.89408207e-04 9.99926051e-01 2.95636638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0992541539999 meters 0.021117885173496793 Centerline is valid? [True, True] Translation: X:681.17, Y:4.77, Z:2.96 [[ 9.99137375e-01 -3.95404587e-02 -1.26908732e-02 6.81172214e+02] [ 3.95429096e-02 9.99217872e-01 -5.78410261e-05 4.76986675e+00] [ 1.26832343e-02 -4.44042919e-04 9.99919466e-01 2.95608069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.159254154 meters 0.02086794038702953 Centerline is valid? [True, True] Translation: X:681.23, Y:4.77, Z:2.96 [[ 9.99075863e-01 -4.10734810e-02 -1.26644474e-02 6.81234168e+02] [ 4.10760546e-02 9.99156021e-01 -5.69433858e-05 4.77036980e+00] [ 1.26560978e-02 -4.63314771e-04 9.99919801e-01 2.95768451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.2192541539999 meters 0.020625965083192463 Centerline is valid? [True, True] Translation: X:681.30, Y:4.77, Z:2.96 [[ 9.99120560e-01 -4.01332953e-02 -1.21418912e-02 6.81296218e+02] [ 4.01356023e-02 9.99194241e-01 -5.37012132e-05 4.77144270e+00] [ 1.21342630e-02 -4.33668132e-04 9.99926283e-01 2.95879056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.279254154 meters 0.018707537694077642 Centerline is valid? [True, True] Translation: X:681.36, Y:4.78, Z:2.96 [[ 9.99348181e-01 -3.44565049e-02 -1.07686033e-02 6.81356974e+02] [ 3.44579947e-02 9.99406146e-01 -4.72168110e-05 4.77588761e+00] [ 1.07638353e-02 -3.23878442e-04 9.99942016e-01 2.96043933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.339254154 meters 0.01728475808184654 Centerline is valid? [True, True] Translation: X:681.42, Y:4.78, Z:2.96 [[ 9.99660442e-01 -2.45349054e-02 -8.77717748e-03 6.81416864e+02] [ 2.45355131e-02 9.99698958e-01 -3.84608719e-05 4.78162589e+00] [ 8.77547882e-03 -1.76904740e-04 9.99961479e-01 2.96232790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.399254154 meters 0.015578720143715264 Centerline is valid? [True, True] Translation: X:681.48, Y:4.79, Z:2.96 [[ 9.99781932e-01 -1.88342217e-02 -9.02004136e-03 6.81478279e+02] [ 1.88346326e-02 9.99822612e-01 -3.93986608e-05 4.78745804e+00] [ 9.01918335e-03 -1.30499096e-04 9.99959318e-01 2.96283320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.459254154 meters 0.015221043678983982 Centerline is valid? [True, True] Translation: X:681.54, Y:4.79, Z:2.96 [[ 9.99818375e-01 -1.55752869e-02 -1.09830631e-02 6.81539253e+02] [ 1.55757009e-02 9.99878690e-01 -4.78506849e-05 4.78908714e+00] [ 1.09824761e-02 -1.23226912e-04 9.99939683e-01 2.96084068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.519254154 meters 0.015677634247464795 Centerline is valid? [True, True] Translation: X:681.60, Y:4.78, Z:2.96 [[ 9.99733150e-01 -1.92066769e-02 -1.28348066e-02 6.81598936e+02] [ 1.92075368e-02 9.99815517e-01 -5.62826723e-05 4.78493599e+00] [ 1.28335198e-02 -1.90257367e-04 9.99917629e-01 2.95861185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.579254154 meters 0.01672823509899531 Centerline is valid? [True, True] Translation: X:681.66, Y:4.78, Z:2.96 [[ 9.99639405e-01 -2.33617323e-02 -1.32396860e-02 6.81658342e+02] [ 2.33630051e-02 9.99727046e-01 -5.85382844e-05 4.78115447e+00] [ 1.32374398e-02 -2.50801677e-04 9.99912350e-01 2.95805723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.639254154 meters 0.018738937009803645 Centerline is valid? [True, True] Translation: X:681.72, Y:4.77, Z:2.96 [[ 9.99434349e-01 -3.10861916e-02 -1.28308201e-02 6.81718753e+02] [ 3.10880211e-02 9.99516649e-01 -5.68830217e-05 4.77485736e+00] [ 1.28263866e-02 -3.42033961e-04 9.99917680e-01 2.95889213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.699254154 meters 0.019496205335598996 Centerline is valid? [True, True] Translation: X:681.78, Y:4.77, Z:2.96 [[ 9.99271320e-01 -3.61653925e-02 -1.22022101e-02 6.81779478e+02] [ 3.61674272e-02 9.99345743e-01 -5.39527527e-05 4.77208372e+00] [ 1.21961780e-02 -3.87409107e-04 9.99925549e-01 2.96006243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.759254154 meters 0.023413040086779326 Centerline is valid? [True, True] Translation: X:681.84, Y:4.76, Z:2.96 [[ 9.98918215e-01 -4.48666270e-02 -1.22223091e-02 6.81838704e+02] [ 4.48693205e-02 9.98992863e-01 -5.38860059e-05 4.76373679e+00] [ 1.22124172e-02 -4.94578990e-04 9.99925303e-01 2.96038324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.819254154 meters 0.028193102136470076 Centerline is valid? [True, True] Translation: X:681.90, Y:4.75, Z:2.96 [[ 9.98501452e-01 -5.34891450e-02 -1.15655211e-02 6.81898637e+02] [ 5.34921409e-02 9.98568269e-01 -5.03672936e-05 4.75441399e+00] [ 1.15516565e-02 -5.68372667e-04 9.99933116e-01 2.96121929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.879254154 meters 0.03130727961414599 Centerline is valid? [True, True] Translation: X:681.96, Y:4.75, Z:2.96 [[ 9.98178961e-01 -5.93139858e-02 -1.09823663e-02 6.81959331e+02] [ 5.93170426e-02 9.98239193e-01 -4.74677365e-05 4.74870291e+00] [ 1.09658440e-02 -6.04060196e-04 9.99939691e-01 2.96177337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.939254154 meters 0.03417254236913127 Centerline is valid? [True, True] Translation: X:682.02, Y:4.74, Z:2.96 [[ 9.97720379e-01 -6.64834494e-02 -1.15756480e-02 6.82019758e+02] [ 6.64873259e-02 9.97787268e-01 -5.00461967e-05 4.74464207e+00] [ 1.15533615e-02 -7.19701773e-04 9.99932999e-01 2.96240015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.999254154 meters 0.03311510833605966 Centerline is valid? [True, True] Translation: X:682.08, Y:4.75, Z:2.96 [[ 9.97510078e-01 -6.93629022e-02 -1.27448771e-02 6.82080666e+02] [ 6.93678372e-02 9.97591149e-01 -5.49684649e-05 4.74730778e+00] [ 1.27179894e-02 -8.29252964e-04 9.99918779e-01 2.96302001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.059254154 meters 0.038289281809030136 Centerline is valid? [True, True] Translation: X:682.14, Y:4.74, Z:2.96 [[ 9.97452394e-01 -7.00587524e-02 -1.34347524e-02 6.82141936e+02] [ 7.00643068e-02 9.97542475e-01 -5.73728140e-05 4.74177254e+00] [ 1.34057557e-02 -8.84069965e-04 9.99909748e-01 2.96204038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.119254154 meters 0.03533876775547852 Centerline is valid? [True, True] Translation: X:682.20, Y:4.75, Z:2.96 [[ 9.97512802e-01 -6.90562448e-02 -1.41224772e-02 6.82204100e+02] [ 6.90622956e-02 9.97612347e-01 -5.93679357e-05 4.74751571e+00] [ 1.40928573e-02 -9.16110417e-04 9.99900271e-01 2.96246457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.179254154 meters 0.03471964131858753 Centerline is valid? [True, True] Translation: X:682.27, Y:4.75, Z:2.96 [[ 9.97722043e-01 -6.56552921e-02 -1.54953846e-02 6.82265158e+02] [ 6.56621765e-02 9.97841909e-01 -6.46010491e-05 4.75201314e+00] [ 1.54661856e-02 -9.53006790e-04 9.99879937e-01 2.96141418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.239254154 meters 0.0333957959263284 Centerline is valid? [True, True] Translation: X:682.33, Y:4.76, Z:2.96 [[ 9.97929263e-01 -6.20457710e-02 -1.69560928e-02 6.82326362e+02] [ 6.20535008e-02 9.98072822e-01 -7.03885489e-05 4.75723647e+00] [ 1.69277827e-02 -9.81942125e-04 9.99856233e-01 2.96098958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.299254154 meters 0.03168602321364039 Centerline is valid? [True, True] Translation: X:682.39, Y:4.77, Z:2.96 [[ 9.98322977e-01 -5.51280054e-02 -1.76673994e-02 6.82385553e+02] [ 5.51353142e-02 9.98478889e-01 -7.35032903e-05 4.76576575e+00] [ 1.76445775e-02 -9.00717595e-04 9.99843917e-01 2.96081719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3592541539999 meters 0.023002688331465394 Centerline is valid? [True, True] Translation: X:682.45, Y:4.78, Z:2.96 [[ 9.98619040e-01 -4.95487407e-02 -1.74624196e-02 6.82445651e+02] [ 4.95550297e-02 9.98771392e-01 -7.26468453e-05 4.78314086e+00] [ 1.74445647e-02 -7.92804201e-04 9.99847518e-01 2.96452894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.419254154 meters 0.020419841827005965 Centerline is valid? [True, True] Translation: X:682.51, Y:4.79, Z:2.97 [[ 9.99078851e-01 -4.01049674e-02 -1.52656705e-02 6.82505842e+02] [ 4.01086725e-02 9.99195321e-01 -6.35007049e-05 4.79415794e+00] [ 1.52559333e-02 -5.48843568e-04 9.99883471e-01 2.96709246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4792541539999 meters 0.018512676056632142 Centerline is valid? [True, True] Translation: X:682.57, Y:4.80, Z:2.97 [[ 9.99358355e-01 -3.33334002e-02 -1.31058002e-02 6.82566606e+02] [ 3.33355511e-02 9.99444215e-01 -5.43626457e-05 4.80237531e+00] [ 1.31003283e-02 -3.82561310e-04 9.99914114e-01 2.96901386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.539254154 meters 0.015711512568280284 Centerline is valid? [True, True] Translation: X:682.63, Y:4.81, Z:2.97 [[ 9.99670351e-01 -2.29489654e-02 -1.15123897e-02 6.82626808e+02] [ 2.29499368e-02 9.99736614e-01 -4.77420688e-05 4.81398212e+00] [ 1.15104531e-02 -2.16482285e-04 9.99933729e-01 2.96973367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5992541539999 meters 0.01450345395059197 Centerline is valid? [True, True] Translation: X:682.69, Y:4.82, Z:2.97 [[ 9.99849714e-01 -1.33168598e-02 -1.11000555e-02 6.82686237e+02] [ 1.33171675e-02 9.99911322e-01 -4.61909669e-05 4.82312438e+00] [ 1.10996863e-02 -1.01637274e-04 9.99938391e-01 2.96905734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.659254154 meters 0.014197051613071839 Centerline is valid? [True, True] Translation: X:682.75, Y:4.83, Z:2.97 [[ 9.99895553e-01 -9.32801845e-03 -1.10394861e-02 6.82745596e+02] [ 9.32807620e-03 9.99956491e-01 -4.62597533e-05 4.82735574e+00] [ 1.10394373e-02 -5.67222457e-05 9.99939062e-01 2.96880849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.7192541539999 meters 0.014206705273345947 Centerline is valid? [True, True] Translation: X:682.80, Y:4.83, Z:2.97 [[ 9.99905120e-01 -7.18683858e-03 -1.17516070e-02 6.82803655e+02] [ 7.18674647e-03 9.99974174e-01 -5.00678789e-05 4.83048430e+00] [ 1.17516633e-02 -3.43926917e-05 9.99930946e-01 2.96754694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.779254154 meters 0.014209959858450904 Centerline is valid? [True, True] Translation: X:682.86, Y:4.83, Z:2.97 [[ 9.99887238e-01 -8.80280602e-03 -1.21664347e-02 6.82861156e+02] [ 8.80279408e-03 9.99961253e-01 -5.45337190e-05 4.83058670e+00] [ 1.21664433e-02 -5.25710493e-05 9.99925985e-01 2.96713484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.839254154 meters 0.014551699165361556 Centerline is valid? [True, True] Translation: X:682.92, Y:4.83, Z:2.97 [[ 9.99843822e-01 -1.29426891e-02 -1.20340913e-02 6.82918955e+02] [ 1.29429534e-02 9.99916235e-01 -5.59174249e-05 4.82793070e+00] [ 1.20338069e-02 -9.98479907e-05 9.99927586e-01 2.96639063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.899254154 meters 0.015696870997955668 Centerline is valid? [True, True] Translation: X:682.98, Y:4.83, Z:2.97 [[ 9.99769743e-01 -1.76053907e-02 -1.22683280e-02 6.82978046e+02] [ 1.76060042e-02 9.99845001e-01 -5.79962356e-05 4.82600333e+00] [ 1.22674475e-02 -1.58013354e-04 9.99924740e-01 2.96715250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.959254154 meters 0.015176279628128227 Centerline is valid? [True, True] Translation: X:683.04, Y:4.82, Z:2.97 [[ 9.99698341e-01 -2.13053073e-02 -1.22193069e-02 6.83037925e+02] [ 2.13061848e-02 9.99772996e-01 -5.83797166e-05 4.82429550e+00] [ 1.22177769e-02 -2.01984705e-04 9.99925340e-01 2.96804643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.019254154 meters 0.016364033379097833 Centerline is valid? [True, True] Translation: X:683.10, Y:4.82, Z:2.97 [[ 9.99572627e-01 -2.68985504e-02 -1.14468938e-02 6.83098599e+02] [ 2.68996852e-02 9.99638136e-01 -5.48422530e-05 4.82026375e+00] [ 1.14442267e-02 -2.53099025e-04 9.99934481e-01 2.96820566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.079254154 meters 0.017090993031606935 Centerline is valid? [True, True] Translation: X:683.16, Y:4.82, Z:2.97 [[ 9.99496956e-01 -2.96349949e-02 -1.12961478e-02 6.83160379e+02] [ 2.96362790e-02 9.99560748e-01 -5.37396700e-05 4.81706373e+00] [ 1.12927785e-02 -2.81063150e-04 9.99936195e-01 2.96809338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.139254154 meters 0.017584006689960345 Centerline is valid? [True, True] Translation: X:683.22, Y:4.81, Z:2.97 [[ 9.99486568e-01 -3.02822069e-02 -1.04684719e-02 6.83222927e+02] [ 3.02833522e-02 9.99541353e-01 -4.91373143e-05 4.81441908e+00] [ 1.04651586e-02 -2.67908337e-04 9.99945203e-01 2.96754118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.199254154 meters 0.017295279859464843 Centerline is valid? [True, True] Translation: X:683.29, Y:4.82, Z:2.97 [[ 9.99549679e-01 -2.80731504e-02 -1.05989727e-02 6.83285195e+02] [ 2.80742083e-02 9.99605841e-01 -4.89820658e-05 4.81550126e+00] [ 1.05961701e-02 -2.48597760e-04 9.99943828e-01 2.96734721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.259254154 meters 0.016073951724167167 Centerline is valid? [True, True] Translation: X:683.35, Y:4.82, Z:2.97 [[ 9.99701106e-01 -2.18274451e-02 -1.10118633e-02 6.83346452e+02] [ 2.18282146e-02 9.99761735e-01 -5.03194896e-05 4.82081707e+00] [ 1.10103379e-02 -1.90064867e-04 9.99939366e-01 2.96713747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.319254154 meters 0.016057079852734604 Centerline is valid? [True, True] Translation: X:683.41, Y:4.82, Z:2.97 [[ 9.99787181e-01 -1.74594017e-02 -1.09891493e-02 6.83406503e+02] [ 1.74599113e-02 9.99847563e-01 -4.95691258e-05 4.82306351e+00] [ 1.09883396e-02 -1.42310995e-04 9.99939616e-01 2.96644831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.379254154 meters 0.014239735356644544 Centerline is valid? [True, True] Translation: X:683.47, Y:4.83, Z:2.97 [[ 9.99833052e-01 -1.40060941e-02 -1.17344441e-02 6.83466737e+02] [ 1.40064414e-02 9.99901904e-01 -5.25846593e-05 4.82658625e+00] [ 1.17340295e-02 -1.11781924e-04 9.99931148e-01 2.96675235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.439254154 meters 0.014261289504101101 Centerline is valid? [True, True] Translation: X:683.53, Y:4.83, Z:2.97 [[ 9.99822347e-01 -1.37643326e-02 -1.28769881e-02 6.83525987e+02] [ 1.37647268e-02 9.99905260e-01 -5.80149468e-05 4.82758260e+00] [ 1.28765666e-02 -1.19243583e-04 9.99917086e-01 2.96592802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.499254154 meters 0.014543678441644416 Centerline is valid? [True, True] Translation: X:683.58, Y:4.83, Z:2.96 [[ 9.99753157e-01 -1.72728491e-02 -1.39740094e-02 6.83584725e+02] [ 1.72736190e-02 9.99850798e-01 -6.56040294e-05 4.82601803e+00] [ 1.39730576e-02 -1.75793879e-04 9.99902357e-01 2.96443512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.559254154 meters 0.01787605950113135 Centerline is valid? [True, True] Translation: X:683.64, Y:4.82, Z:2.96 [[ 9.99658475e-01 -2.21996819e-02 -1.37879808e-02 6.83643389e+02] [ 2.22008516e-02 9.99753528e-01 -6.82381968e-05 4.82255981e+00] [ 1.37860973e-02 -2.37890023e-04 9.99904939e-01 2.96340955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.619254154 meters 0.01689778510046291 Centerline is valid? [True, True] Translation: X:683.70, Y:4.82, Z:2.97 [[ 9.99534696e-01 -2.73494129e-02 -1.35055638e-02 6.83703259e+02] [ 2.73509880e-02 9.99625889e-01 -6.80997718e-05 4.82067284e+00] [ 1.35023737e-02 -3.01322427e-04 9.99908793e-01 2.96524837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.679254154 meters 0.0191877684507574 Centerline is valid? [True, True] Translation: X:683.76, Y:4.82, Z:2.97 [[ 9.99375643e-01 -3.34949280e-02 -1.12434128e-02 6.83763472e+02] [ 3.34964088e-02 9.99438836e-01 -5.66380275e-05 4.81706720e+00] [ 1.12390005e-02 -3.20011285e-04 9.99936789e-01 2.96686001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.739254154 meters 0.020994142580302414 Centerline is valid? [True, True] Translation: X:683.82, Y:4.81, Z:2.97 [[ 9.99213069e-01 -3.87918996e-02 -8.27228886e-03 6.83824426e+02] [ 3.87928835e-02 9.99247272e-01 -4.15451924e-05 4.81441498e+00] [ 8.26767369e-03 -2.79393439e-04 9.99965783e-01 2.96874359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.799254154 meters 0.022581769211162527 Centerline is valid? [True, True] Translation: X:683.89, Y:4.81, Z:2.97 [[ 9.99116977e-01 -4.13128270e-02 -7.64967686e-03 6.83886738e+02] [ 4.13137444e-02 9.99146222e-01 -3.81171157e-05 4.81351928e+00] [ 7.64472046e-03 -2.77953337e-04 9.99970740e-01 2.96943311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8592541539999 meters 0.022612319593846793 Centerline is valid? [True, True] Translation: X:683.95, Y:4.82, Z:2.97 [[ 9.99012134e-01 -4.39233388e-02 -6.74516756e-03 6.83948594e+02] [ 4.39241142e-02 9.99034870e-01 -3.32095659e-05 4.81664776e+00] [ 6.74011627e-03 -2.63098751e-04 9.99977251e-01 2.97063283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.919254154 meters 0.023413690495834447 Centerline is valid? [True, True] Translation: X:684.01, Y:4.82, Z:2.97 [[ 9.98973671e-01 -4.47961156e-02 -6.70173292e-03 6.84010533e+02] [ 4.47969033e-02 9.98996114e-01 -3.25939345e-05 4.81754710e+00] [ 6.69646523e-03 -2.67656400e-04 9.99977543e-01 2.97062647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9792541539999 meters 0.023894158752540817 Centerline is valid? [True, True] Translation: X:684.07, Y:4.82, Z:2.97 [[ 9.98967133e-01 -4.48548363e-02 -7.26015478e-03 6.84072886e+02] [ 4.48557663e-02 9.98993473e-01 -3.47652752e-05 4.81852371e+00] [ 7.25440663e-03 -2.90930439e-04 9.99973644e-01 2.96958216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.039254154 meters 0.023666835128650875 Centerline is valid? [True, True] Translation: X:684.14, Y:4.82, Z:2.97 [[ 9.99057076e-01 -4.27876451e-02 -7.36041794e-03 6.84135373e+02] [ 4.27885488e-02 9.99084150e-01 -3.47211788e-05 4.82118232e+00] [ 7.35516254e-03 -2.80253163e-04 9.99972911e-01 2.96954308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0992541539999 meters 0.022644832865566466 Centerline is valid? [True, True] Translation: X:684.19, Y:4.83, Z:2.97 [[ 9.99370736e-01 -3.44406651e-02 -8.48365515e-03 6.84194416e+02] [ 3.44415677e-02 9.99406712e-01 -3.97289005e-05 4.82931177e+00] [ 8.47999019e-03 -2.52486482e-04 9.99964012e-01 2.96741828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.159254154 meters 0.017336433172566626 Centerline is valid? [True, True] Translation: X:684.25, Y:4.84, Z:2.97 [[ 9.99679857e-01 -2.36213337e-02 -9.06730095e-03 6.84254559e+02] [ 2.36219193e-02 9.99720963e-01 -4.25224569e-05 4.84156443e+00] [ 9.06577527e-03 -1.71678208e-04 9.99958890e-01 2.96806559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.2192541539999 meters 0.01582973993459396 Centerline is valid? [True, True] Translation: X:684.32, Y:4.85, Z:2.97 [[ 9.99813163e-01 -1.69178209e-02 -9.35018607e-03 6.84316267e+02] [ 1.69181529e-02 9.99856877e-01 -4.35852242e-05 4.84841692e+00] [ 9.34958521e-03 -1.14610797e-04 9.99956285e-01 2.96811217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.279254154 meters 0.015042383534597938 Centerline is valid? [True, True] Translation: X:684.38, Y:4.85, Z:2.97 [[ 9.99892487e-01 -1.15933495e-02 -8.97828571e-03 6.84376448e+02] [ 1.15934436e-02 9.99932793e-01 -4.15629842e-05 4.85393319e+00] [ 8.97816416e-03 -6.25307338e-05 9.99959694e-01 2.96888068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.339254154 meters 0.014964193591967646 Centerline is valid? [True, True] Translation: X:684.44, Y:4.85, Z:2.97 [[ 9.99893202e-01 -1.16412980e-02 -8.83539266e-03 6.84436027e+02] [ 1.16413904e-02 9.99932236e-01 -4.09736049e-05 4.85404038e+00] [ 8.83527092e-03 -6.18870266e-05 9.99960966e-01 2.96916191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.399254154 meters 0.014960146825337842 Centerline is valid? [True, True] Translation: X:684.50, Y:4.85, Z:2.97 [[ 9.99846268e-01 -1.49433224e-02 -9.17263070e-03 6.84495816e+02] [ 1.49435580e-02 9.99888338e-01 -4.28550745e-05 4.85202584e+00] [ 9.17224686e-03 -9.42232529e-05 9.99957930e-01 2.96904776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.459254154 meters 0.015188912199218769 Centerline is valid? [True, True] Translation: X:684.56, Y:4.85, Z:2.97 [[ 9.99803567e-01 -1.74087352e-02 -9.47430854e-03 6.84556715e+02] [ 1.74090983e-02 9.99848449e-01 -4.41485275e-05 4.84937650e+00] [ 9.47364127e-03 -1.20799313e-04 9.99955117e-01 2.96841119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.519254154 meters 0.01621893757081952 Centerline is valid? [True, True] Translation: X:684.62, Y:4.85, Z:2.97 [[ 9.99730122e-01 -2.14890763e-02 -8.82625186e-03 6.84618337e+02] [ 2.14895538e-02 9.99769072e-01 -4.07464580e-05 4.84573728e+00] [ 8.82508924e-03 -1.48936753e-04 9.99961047e-01 2.96906081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.579254154 meters 0.016352663406312282 Centerline is valid? [True, True] Translation: X:684.68, Y:4.84, Z:2.97 [[ 9.99667079e-01 -2.45550299e-02 -7.92349287e-03 6.84680824e+02] [ 2.45555141e-02 9.99698467e-01 -3.61774943e-05 4.84466385e+00] [ 7.92199201e-03 -1.58399991e-04 9.99968608e-01 2.97058693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.639254154 meters 0.01689473100352852 Centerline is valid? [True, True] Translation: X:684.74, Y:4.84, Z:2.97 [[ 9.99625633e-01 -2.62632471e-02 -7.67047938e-03 6.84742929e+02] [ 2.62637554e-02 9.99655047e-01 -3.44661504e-05 4.84272637e+00] [ 7.66873862e-03 -1.67002347e-04 9.99970581e-01 2.97061926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.699254154 meters 0.018261351866799815 Centerline is valid? [True, True] Translation: X:684.80, Y:4.84, Z:2.97 [[ 9.99542136e-01 -2.92315279e-02 -7.81254987e-03 6.84804270e+02] [ 2.92321498e-02 9.99572649e-01 -3.45888480e-05 4.83832117e+00] [ 7.81022226e-03 -1.93804618e-04 9.99969481e-01 2.96992509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.759254154 meters 0.01892654289245279 Centerline is valid? [True, True] Translation: X:684.87, Y:4.84, Z:2.97 [[ 9.99463760e-01 -3.15064494e-02 -8.91834690e-03 6.84865961e+02] [ 3.15073550e-02 9.99503519e-01 -3.89691110e-05 4.83607579e+00] [ 8.91514689e-03 -2.42045308e-04 9.99960230e-01 2.96882024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.819254154 meters 0.02014397938319668 Centerline is valid? [True, True] Translation: X:684.93, Y:4.83, Z:2.97 [[ 9.99341878e-01 -3.45204642e-02 -1.11421969e-02 6.84928234e+02] [ 3.45220736e-02 9.99403934e-01 -4.79142609e-05 4.83229855e+00] [ 1.11372094e-02 -3.36769013e-04 9.99937923e-01 2.96642733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.879254154 meters 0.020248681481113782 Centerline is valid? [True, True] Translation: X:684.99, Y:4.83, Z:2.97 [[ 9.99274970e-01 -3.60467724e-02 -1.22541887e-02 6.84990288e+02] [ 3.60488449e-02 9.99350028e-01 -5.17886566e-05 4.83144698e+00] [ 1.22480906e-02 -3.89998238e-04 9.99924913e-01 2.96617475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.939254154 meters 0.02009462048083311 Centerline is valid? [True, True] Translation: X:685.05, Y:4.83, Z:2.97 [[ 9.99253309e-01 -3.67488126e-02 -1.19310351e-02 6.85052104e+02] [ 3.67508374e-02 9.99324459e-01 -4.95677248e-05 4.83120413e+00] [ 1.19247968e-02 -3.88944820e-04 9.99928821e-01 2.96678880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.999254154 meters 0.019195523343169128 Centerline is valid? [True, True] Translation: X:685.11, Y:4.83, Z:2.97 [[ 9.99413852e-01 -3.22014620e-02 -1.16197082e-02 6.85113315e+02] [ 3.22030820e-02 9.99481345e-01 -4.77026383e-05 4.83460003e+00] [ 1.16152176e-02 -3.26515737e-04 9.99932488e-01 2.96661534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.059254154 meters 0.016983833142303183 Centerline is valid? [True, True] Translation: X:685.17, Y:4.84, Z:2.97 [[ 9.99600315e-01 -2.58516218e-02 -1.14413096e-02 6.85174963e+02] [ 2.58527829e-02 9.99665760e-01 -4.64259739e-05 4.84114440e+00] [ 1.14386857e-02 -2.49382276e-04 9.99934545e-01 2.96724498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.119254154 meters 0.015556930706929564 Centerline is valid? [True, True] Translation: X:685.24, Y:4.85, Z:2.97 [[ 9.99797066e-01 -1.69054434e-02 -1.09559791e-02 6.85235219e+02] [ 1.69059736e-02 9.99857083e-01 -4.42243138e-05 4.84949950e+00] [ 1.09551609e-02 -1.41006154e-04 9.99939980e-01 2.96817430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.179254154 meters 0.01518686789243318 Centerline is valid? [True, True] Translation: X:685.30, Y:4.85, Z:2.97 [[ 9.99848700e-01 -1.29944099e-02 -1.15638372e-02 6.85295958e+02] [ 1.29947390e-02 9.99915564e-01 -4.66779610e-05 4.85347498e+00] [ 1.15634673e-02 -1.03598148e-04 9.99933136e-01 2.96763083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.239254154 meters 0.017134925053568572 Centerline is valid? [True, True] Translation: X:685.36, Y:4.86, Z:2.97 [[ 9.99860013e-01 -1.04736072e-02 -1.30482804e-02 6.85355192e+02] [ 1.04738076e-02 9.99945147e-01 -5.29790350e-05 4.85624656e+00] [ 1.30481196e-02 -8.36935601e-05 9.99914866e-01 2.96573987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.299254154 meters 0.015301187254257375 Centerline is valid? [True, True] Translation: X:685.41, Y:4.85, Z:2.97 [[ 9.99811552e-01 -1.39654595e-02 -1.34843386e-02 6.85413483e+02] [ 1.39659778e-02 9.99902469e-01 -5.57343110e-05 4.85445117e+00] [ 1.34838018e-02 -1.32598166e-04 9.99909081e-01 2.96614288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3592541539999 meters 0.0158352118297987 Centerline is valid? [True, True] Translation: X:685.47, Y:4.85, Z:2.97 [[ 9.99769702e-01 -1.71713987e-02 -1.28719014e-02 6.85472650e+02] [ 1.71721045e-02 9.99852547e-01 -5.57013232e-05 4.85256910e+00] [ 1.28709599e-02 -1.65349141e-04 9.99917152e-01 2.96680687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.419254154 meters 0.017922292549859036 Centerline is valid? [True, True] Translation: X:685.53, Y:4.85, Z:2.97 [[ 9.99682337e-01 -2.19895188e-02 -1.23160797e-02 6.85532645e+02] [ 2.19905158e-02 9.99758178e-01 -5.44886758e-05 4.84870341e+00] [ 1.23142996e-02 -2.16365579e-04 9.99924153e-01 2.96756143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4792541539999 meters 0.018671601804982178 Centerline is valid? [True, True] Translation: X:685.59, Y:4.84, Z:2.97 [[ 9.99524547e-01 -2.85934023e-02 -1.15367647e-02 6.85592911e+02] [ 2.85947172e-02 9.99591086e-01 -5.09897722e-05 4.84327521e+00] [ 1.15335052e-02 -2.78924996e-04 9.99933448e-01 2.96858816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.539254154 meters 0.019264451924152277 Centerline is valid? [True, True] Translation: X:685.65, Y:4.84, Z:2.97 [[ 9.99396351e-01 -3.28597677e-02 -1.12769093e-02 6.85653780e+02] [ 3.28612977e-02 9.99459920e-01 -4.96438337e-05 4.84112468e+00] [ 1.12724501e-02 -3.20960007e-04 9.99936412e-01 2.96945580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5992541539999 meters 0.02073643817457563 Centerline is valid? [True, True] Translation: X:685.72, Y:4.84, Z:2.97 [[ 9.99234923e-01 -3.76431832e-02 -1.06094435e-02 6.85715024e+02] [ 3.76448098e-02 9.99291182e-01 -4.64088984e-05 4.83778880e+00] [ 1.06036703e-02 -3.53017091e-04 9.99943717e-01 2.97046047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.659254154 meters 0.021379812499017197 Centerline is valid? [True, True] Translation: X:685.78, Y:4.84, Z:2.97 [[ 9.99199939e-01 -3.86721456e-02 -1.01954409e-02 6.85776815e+02] [ 3.86737071e-02 9.99251891e-01 -4.40306669e-05 4.83665254e+00] [ 1.01895164e-02 -3.50300056e-04 9.99948024e-01 2.97087914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.7192541539999 meters 0.020041254134488616 Centerline is valid? [True, True] Translation: X:685.84, Y:4.84, Z:2.97 [[ 9.99266865e-01 -3.68987775e-02 -1.02084266e-02 6.85838898e+02] [ 3.69002581e-02 9.99318953e-01 -4.33453518e-05 4.83974404e+00] [ 1.02030735e-02 -3.33380001e-04 9.99947892e-01 2.97164444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.779254154 meters 0.018776288801602644 Centerline is valid? [True, True] Translation: X:685.90, Y:4.84, Z:2.97 [[ 9.99425712e-01 -3.22495130e-02 -1.04026950e-02 6.85900246e+02] [ 3.22508045e-02 9.99479807e-01 -4.36216660e-05 4.84308205e+00] [ 1.03986904e-02 -2.91898668e-04 9.99945890e-01 2.97235603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.839254154 meters 0.017475489265890824 Centerline is valid? [True, True] Translation: X:685.96, Y:4.85, Z:2.97 [[ 9.99548146e-01 -2.83340776e-02 -1.00341473e-02 6.85961630e+02] [ 2.83350857e-02 9.99598480e-01 -4.17118543e-05 4.84531566e+00] [ 1.00313003e-02 -2.42625418e-04 9.99949656e-01 2.97304093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.899254154 meters 0.017141519819395896 Centerline is valid? [True, True] Translation: X:686.02, Y:4.85, Z:2.97 [[ 9.99610587e-01 -2.62063412e-02 -9.58658303e-03 6.86024009e+02] [ 2.62071687e-02 9.99656532e-01 -3.93186161e-05 4.84562927e+00] [ 9.58432074e-03 -2.11933894e-04 9.99954047e-01 2.97299560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.959254154 meters 0.015828493989947946 Centerline is valid? [True, True] Translation: X:686.09, Y:4.85, Z:2.97 [[ 9.99749011e-01 -1.98148830e-02 -1.04539381e-02 6.86085085e+02] [ 1.98155236e-02 9.99803652e-01 -4.23068039e-05 4.84849787e+00] [ 1.04527238e-02 -1.64854072e-04 9.99945355e-01 2.97211019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.019254154 meters 0.015025991390448848 Centerline is valid? [True, True] Translation: X:686.15, Y:4.85, Z:2.97 [[ 9.99842049e-01 -1.32927047e-02 -1.17975378e-02 6.86145998e+02] [ 1.32930702e-02 9.99911642e-01 -4.74318713e-05 4.85123085e+00] [ 1.17971259e-02 -1.09401119e-04 9.99930406e-01 2.97081698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.079254154 meters 0.014826190673415507 Centerline is valid? [True, True] Translation: X:686.21, Y:4.85, Z:2.97 [[ 9.99868595e-01 -1.05415197e-02 -1.23153769e-02 6.86205104e+02] [ 1.05416865e-02 9.99944434e-01 -5.13777718e-05 4.85197671e+00] [ 1.23152342e-02 -7.84538219e-05 9.99924162e-01 2.97080485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.139254154 meters 0.014804371847756083 Centerline is valid? [True, True] Translation: X:686.26, Y:4.85, Z:2.97 [[ 9.99870395e-01 -1.03831404e-02 -1.23038400e-02 6.86263543e+02] [ 1.03832646e-02 9.99946091e-01 -5.37832052e-05 4.85000343e+00] [ 1.23037352e-02 -7.39777927e-05 9.99924303e-01 2.97102865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.199254154 meters 0.015060476833782976 Centerline is valid? [True, True] Translation: X:686.32, Y:4.85, Z:2.97 [[ 9.99833580e-01 -1.39383715e-02 -1.17700712e-02 6.86322137e+02] [ 1.39387166e-02 9.99902850e-01 -5.27155391e-05 4.84656096e+00] [ 1.17696625e-02 -1.11352921e-04 9.99930729e-01 2.97217944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.259254154 meters 0.01641827194630474 Centerline is valid? [True, True] Translation: X:686.38, Y:4.84, Z:2.97 [[ 9.99656239e-01 -2.40213340e-02 -1.05061698e-02 6.86381969e+02] [ 2.40221614e-02 9.99711425e-01 -4.74520042e-05 4.83810629e+00] [ 1.05042778e-02 -2.04945214e-04 9.99944808e-01 2.97355005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.319254154 meters 0.02013792763572853 Centerline is valid? [True, True] Translation: X:686.44, Y:4.83, Z:2.97 [[ 9.99275220e-01 -3.65404536e-02 -1.06690912e-02 6.86441423e+02] [ 3.65420177e-02 9.99332116e-01 -4.83652372e-05 4.82612450e+00] [ 1.06637328e-02 -3.41539937e-04 9.99943082e-01 2.97406683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.379254154 meters 0.02191253690451348 Centerline is valid? [True, True] Translation: X:686.50, Y:4.82, Z:2.98 [[ 9.98978424e-01 -4.39787188e-02 -1.03913976e-02 6.86501611e+02] [ 4.39806039e-02 9.99032384e-01 -4.71483637e-05 4.82075437e+00] [ 1.03834163e-02 -4.09919745e-04 9.99946007e-01 2.97529985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.439254154 meters 0.026673562358583074 Centerline is valid? [True, True] Translation: X:686.56, Y:4.81, Z:2.98 [[ 9.98588197e-01 -5.24160743e-02 -8.61203778e-03 6.86561673e+02] [ 5.24176837e-02 9.98625247e-01 -3.88856657e-05 4.80837253e+00] [ 8.60223659e-03 -4.12592306e-04 9.99962915e-01 2.97667604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.499254154 meters 0.029022333973861197 Centerline is valid? [True, True] Translation: X:686.62, Y:4.80, Z:2.98 [[ 9.98311198e-01 -5.73516108e-02 -9.24907222e-03 6.86622478e+02] [ 5.73536805e-02 9.98353922e-01 -4.15211724e-05 4.80048380e+00] [ 9.23622884e-03 -4.89017282e-04 9.99957226e-01 2.97587521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.559254154 meters 0.029594284216155762 Centerline is valid? [True, True] Translation: X:686.68, Y:4.80, Z:2.97 [[ 9.98293989e-01 -5.74192106e-02 -1.05898799e-02 6.86684406e+02] [ 5.74219329e-02 9.98349998e-01 -4.70545522e-05 4.79738247e+00] [ 1.05751084e-02 -5.61117097e-04 9.99943925e-01 2.97450954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.619254154 meters 0.026436131473310493 Centerline is valid? [True, True] Translation: X:686.75, Y:4.80, Z:2.97 [[ 9.98550151e-01 -5.25877539e-02 -1.14945189e-02 6.86745362e+02] [ 5.25906479e-02 9.98616153e-01 -5.05551862e-05 4.80113540e+00] [ 1.14812708e-02 -5.54022307e-04 9.99933935e-01 2.97421145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.679254154 meters 0.02459439799681396 Centerline is valid? [True, True] Translation: X:686.80, Y:4.80, Z:2.97 [[ 9.98903284e-01 -4.52478146e-02 -1.20360036e-02 6.86804595e+02] [ 4.52504556e-02 9.98975672e-01 -5.29573247e-05 4.80478539e+00] [ 1.20260710e-02 -4.91735401e-04 9.99927563e-01 2.97406224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.739254154 meters 0.01799992053004281 Centerline is valid? [True, True] Translation: X:686.87, Y:4.82, Z:2.98 [[ 9.99501662e-01 -2.92169732e-02 -1.19497566e-02 6.86865288e+02] [ 2.92184310e-02 9.99573049e-01 -5.26019610e-05 4.82020477e+00] [ 1.19461915e-02 -2.96577390e-04 9.99928598e-01 2.97521499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.799254154 meters 0.015042157162517427 Centerline is valid? [True, True] Translation: X:686.93, Y:4.83, Z:2.98 [[ 9.99850037e-01 -1.28466916e-02 -1.16132001e-02 6.86925783e+02] [ 1.28469649e-02 9.99917473e-01 -5.10701758e-05 4.83275278e+00] [ 1.16128978e-02 -9.81318570e-05 9.99932563e-01 2.97605013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8592541539999 meters 0.014572379015872125 Centerline is valid? [True, True] Translation: X:686.98, Y:4.84, Z:2.98 [[ 9.99922234e-01 -4.24150344e-03 -1.17275989e-02 6.86984475e+02] [ 4.24118592e-03 9.99991005e-01 -5.19451497e-05 4.83858307e+00] [ 1.17277137e-02 2.20218293e-06 9.99931228e-01 2.97620758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.919254154 meters 0.015012969454551358 Centerline is valid? [True, True] Translation: X:687.04, Y:4.84, Z:2.98 [[ 9.99924396e-01 4.08797685e-03 -1.15970501e-02 6.87043567e+02] [-4.08887118e-03 9.99991639e-01 -5.34078523e-05 4.84386781e+00] [ 1.15967348e-02 1.00822658e-04 9.99932751e-01 2.97750431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9792541539999 meters 0.014977605998032757 Centerline is valid? [True, True] Translation: X:687.10, Y:4.84, Z:2.98 [[ 9.99913814e-01 5.40637726e-03 -1.19638924e-02 6.87102013e+02] [-5.40746052e-03 9.99985378e-01 -5.81971468e-05 4.84302838e+00] [ 1.19634028e-02 1.22886407e-04 9.99928428e-01 2.97827817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.039254154 meters 0.014740387268113345 Centerline is valid? [True, True] Translation: X:687.16, Y:4.84, Z:2.98 [[ 9.99927719e-01 2.45664676e-03 -1.17695044e-02 6.87159483e+02] [-2.45751185e-03 9.99996979e-01 -5.90410839e-05 4.84020929e+00] [ 1.17693238e-02 8.79605130e-05 9.99930735e-01 2.97821960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0992541539999 meters 0.014230469054158935 Centerline is valid? [True, True] Translation: X:687.22, Y:4.83, Z:2.98 [[ 9.99918308e-01 -6.40093094e-03 -1.10636842e-02 6.87218215e+02] [ 6.40069896e-03 9.99979514e-01 -5.63766289e-05 4.83009978e+00] [ 1.10638184e-02 -1.44432887e-05 9.99938794e-01 2.97971748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.159254154 meters 0.015406762074068785 Centerline is valid? [True, True] Translation: X:687.28, Y:4.82, Z:2.98 [[ 9.99761833e-01 -1.87736689e-02 -1.11277167e-02 6.87276600e+02] [ 1.87741912e-02 9.99823748e-01 -5.75336364e-05 4.81706563e+00] [ 1.11268356e-02 -1.51393947e-04 9.99938083e-01 2.97871707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.2192541539999 meters 0.01712319808192873 Centerline is valid? [True, True] Translation: X:687.34, Y:4.81, Z:2.98 [[ 9.99557571e-01 -2.74617227e-02 -1.14243710e-02 6.87336726e+02] [ 2.74628351e-02 9.99622823e-01 -5.95291119e-05 4.80943192e+00] [ 1.14216967e-02 -2.54242841e-04 9.99934738e-01 2.97831480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.279254154 meters 0.0207822212276712 Centerline is valid? [True, True] Translation: X:687.40, Y:4.80, Z:2.98 [[ 9.99177037e-01 -3.86963166e-02 -1.21591441e-02 6.87397089e+02] [ 3.86984067e-02 9.99250934e-01 -6.34196244e-05 4.79851009e+00] [ 1.21524902e-02 -4.07172072e-04 9.99926073e-01 2.97716052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.339254154 meters 0.02374191700587736 Centerline is valid? [True, True] Translation: X:687.46, Y:4.79, Z:2.98 [[ 9.98915704e-01 -4.48856039e-02 -1.23571132e-02 6.87458399e+02] [ 4.48882374e-02 9.98992013e-01 -6.42963925e-05 4.79307987e+00] [ 1.23475434e-02 -4.90462354e-04 9.99923646e-01 2.97706676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.399254154 meters 0.027062659519891428 Centerline is valid? [True, True] Translation: X:687.52, Y:4.78, Z:2.98 [[ 9.98537832e-01 -5.31019028e-02 -1.01185582e-02 6.87518199e+02] [ 5.31040892e-02 9.98588981e-01 -5.26712692e-05 4.78442527e+00] [ 1.01070777e-02 -4.84742562e-04 9.99948805e-01 2.97921681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.459254154 meters 0.030460442737389192 Centerline is valid? [True, True] Translation: X:687.58, Y:4.78, Z:2.98 [[ 9.98265028e-01 -5.81881018e-02 -9.00442369e-03 6.87577800e+02] [ 5.81900398e-02 9.98305523e-01 -4.68301166e-05 4.77779934e+00] [ 8.99189085e-03 -4.77218906e-04 9.99959458e-01 2.97979736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.519254154 meters 0.032904536772132946 Centerline is valid? [True, True] Translation: X:687.64, Y:4.77, Z:2.98 [[ 9.98107265e-01 -6.08131558e-02 -9.14594815e-03 6.87639216e+02] [ 6.08152675e-02 9.98149037e-01 -4.73040492e-05 4.77398791e+00] [ 9.13189605e-03 -5.08998768e-04 9.99958174e-01 2.97885529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.579254154 meters 0.032420434087557605 Centerline is valid? [True, True] Translation: X:687.70, Y:4.77, Z:2.98 [[ 9.97851665e-01 -6.46441369e-02 -1.06391189e-02 6.87699803e+02] [ 6.46472141e-02 9.97908179e-01 -5.47735556e-05 4.77442226e+00] [ 1.06204045e-02 -6.33133511e-04 9.99943401e-01 2.97771060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.639254154 meters 0.034959956683080724 Centerline is valid? [True, True] Translation: X:687.76, Y:4.77, Z:2.98 [[ 9.97607198e-01 -6.78831260e-02 -1.31056983e-02 6.87760707e+02] [ 6.78880769e-02 9.97692941e-01 -6.72548276e-05 4.77244457e+00] [ 1.30800281e-02 -8.22626752e-04 9.99914114e-01 2.97570854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.699254154 meters 0.03137206369420627 Centerline is valid? [True, True] Translation: X:687.82, Y:4.78, Z:2.97 [[ 9.97571752e-01 -6.79931433e-02 -1.50841551e-02 6.87822413e+02] [ 6.79997249e-02 9.97685337e-01 -7.67287177e-05 4.77790935e+00] [ 1.50544574e-02 -9.49175995e-04 9.99886225e-01 2.97495418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.759254154 meters 0.03434507477914558 Centerline is valid? [True, True] Translation: X:687.88, Y:4.78, Z:2.97 [[ 9.97856999e-01 -6.31778004e-02 -1.70286495e-02 6.87881836e+02] [ 6.31854915e-02 9.98001797e-01 -8.65221984e-05 4.77904840e+00] [ 1.70000890e-02 -9.89626805e-04 9.99854998e-01 2.97328300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.819254154 meters 0.028886037064372785 Centerline is valid? [True, True] Translation: X:687.94, Y:4.79, Z:2.98 [[ 9.98029562e-01 -6.05122709e-02 -1.65909051e-02 6.87943691e+02] [ 6.05192145e-02 9.98167029e-01 -8.36929492e-05 4.78803360e+00] [ 1.65655589e-02 -9.20540509e-04 9.99862358e-01 2.97562492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.879254154 meters 0.024158607196028355 Centerline is valid? [True, True] Translation: X:688.00, Y:4.80, Z:2.98 [[ 9.98747123e-01 -4.74109939e-02 -1.60119365e-02 6.88004640e+02] [ 4.74157851e-02 9.98875236e-01 -8.04869181e-05 4.80228800e+00] [ 1.59977428e-02 -6.78832463e-04 9.99871797e-01 2.97692059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.939254154 meters 0.018750797435838504 Centerline is valid? [True, True] Translation: X:688.06, Y:4.82, Z:2.98 [[ 9.99360247e-01 -3.31521134e-02 -1.34176709e-02 6.88064802e+02] [ 3.31541945e-02 9.99450246e-01 -6.73622944e-05 4.81602740e+00] [ 1.34125277e-02 -3.77532872e-04 9.99909977e-01 2.98011653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.999254154 meters 0.01602769168101068 Centerline is valid? [True, True] Translation: X:688.13, Y:4.83, Z:2.98 [[ 9.99627395e-01 -2.46442160e-02 -1.17359753e-02 6.88125602e+02] [ 2.46452240e-02 9.99696259e-01 -5.87539172e-05 4.82573945e+00] [ 1.17338585e-02 -2.30503714e-04 9.99931129e-01 2.98195400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.059254154 meters 0.015023061246181711 Centerline is valid? [True, True] Translation: X:688.19, Y:4.83, Z:2.98 [[ 9.99790272e-01 -1.65898006e-02 -1.20079291e-02 6.88185229e+02] [ 1.65902743e-02 9.99862370e-01 -6.01707601e-05 4.83176037e+00] [ 1.20072747e-02 -1.39056697e-04 9.99927900e-01 2.98179461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.119254154 meters 0.014633381665984577 Centerline is valid? [True, True] Translation: X:688.25, Y:4.84, Z:2.98 [[ 9.99828805e-01 -1.30856764e-02 -1.30815217e-02 6.88245118e+02] [ 1.30859334e-02 9.99914373e-01 -6.59507081e-05 4.83501725e+00] [ 1.30812645e-02 -1.05244504e-04 9.99914431e-01 2.98106677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.179254154 meters 0.014515726577826654 Centerline is valid? [True, True] Translation: X:688.30, Y:4.84, Z:2.98 [[ 9.99831590e-01 -1.17953844e-02 -1.40591756e-02 6.88303021e+02] [ 1.17955116e-02 9.99930428e-01 -7.38750301e-05 4.83587484e+00] [ 1.40590689e-02 -9.19725802e-05 9.99901162e-01 2.98064296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.239254154 meters 0.014530604863702418 Centerline is valid? [True, True] Translation: X:688.36, Y:4.84, Z:2.98 [[ 9.99845321e-01 -9.20918659e-03 -1.49841842e-02 6.88360666e+02] [ 9.20897302e-03 9.99957593e-01 -8.32527063e-05 4.83817577e+00] [ 1.49843155e-02 -5.47491192e-05 9.99887727e-01 2.98102995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.299254154 meters 0.014415230751991472 Centerline is valid? [True, True] Translation: X:688.42, Y:4.84, Z:2.98 [[ 9.99860968e-01 -8.61368556e-03 -1.42775566e-02 6.88418095e+02] [ 8.61340030e-03 9.99962901e-01 -8.14726453e-05 4.83807345e+00] [ 1.42777287e-02 -4.15169924e-05 9.99898067e-01 2.98185373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3592541539999 meters 0.014443683568221411 Centerline is valid? [True, True] Translation: X:688.48, Y:4.84, Z:2.98 [[ 9.99857139e-01 -1.06040610e-02 -1.31626680e-02 6.88476114e+02] [ 1.06039527e-02 9.99943773e-01 -7.80150421e-05 4.83542606e+00] [ 1.31627552e-02 -6.15724130e-05 9.99913365e-01 2.98234144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.419254154 meters 0.016628858535965012 Centerline is valid? [True, True] Translation: X:688.53, Y:4.83, Z:2.98 [[ 9.99786383e-01 -1.60085407e-02 -1.30734389e-02 6.88534330e+02] [ 1.60088693e-02 9.99871847e-01 -7.95209264e-05 4.82759570e+00] [ 1.30730366e-02 -1.29787035e-04 9.99914536e-01 2.98150575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4792541539999 meters 0.016428621201742294 Centerline is valid? [True, True] Translation: X:688.59, Y:4.82, Z:2.98 [[ 9.99646940e-01 -2.31288618e-02 -1.30786535e-02 6.88593866e+02] [ 2.31297908e-02 9.99732467e-01 -8.02485021e-05 4.81970202e+00] [ 1.30770106e-02 -2.22286351e-04 9.99914468e-01 2.98189003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.539254154 meters 0.01662308909942742 Centerline is valid? [True, True] Translation: X:688.65, Y:4.82, Z:2.98 [[ 9.99537952e-01 -2.70282629e-02 -1.39052611e-02 6.88653931e+02] [ 2.70296865e-02 9.99634628e-01 -8.55862048e-05 4.81619016e+00] [ 1.39024938e-02 -2.90308189e-04 9.99903314e-01 2.98245737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5992541539999 meters 0.01906134114688642 Centerline is valid? [True, True] Translation: X:688.71, Y:4.81, Z:2.98 [[ 9.99453238e-01 -2.99371048e-02 -1.40354501e-02 6.88714341e+02] [ 2.99388476e-02 9.99551729e-01 -8.59725943e-05 4.80575982e+00] [ 1.40317322e-02 -3.34279614e-04 9.99901495e-01 2.98141779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.659254154 meters 0.017699525129217908 Centerline is valid? [True, True] Translation: X:688.78, Y:4.81, Z:2.98 [[ 9.99457739e-01 -2.94919772e-02 -1.46441334e-02 6.88775416e+02] [ 2.94938354e-02 9.99564958e-01 -8.91110161e-05 4.80673787e+00] [ 1.46403906e-02 -3.42848965e-04 9.99892765e-01 2.98334898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.7192541539999 meters 0.018352953381328297 Centerline is valid? [True, True] Translation: X:688.84, Y:4.80, Z:2.98 [[ 9.99540411e-01 -2.60437738e-02 -1.55141173e-02 6.88835459e+02] [ 2.60454468e-02 9.99660755e-01 -9.42366912e-05 4.80316402e+00] [ 1.55113085e-02 -3.09878735e-04 9.99879644e-01 2.98180704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.779254154 meters 0.015533498520569265 Centerline is valid? [True, True] Translation: X:688.89, Y:4.81, Z:2.98 [[ 9.99666956e-01 -2.00528262e-02 -1.62437863e-02 6.88894797e+02] [ 2.00538624e-02 9.99798896e-01 -9.91050787e-05 4.80800266e+00] [ 1.62425070e-02 -2.26678584e-04 9.99868056e-01 2.98379073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.839254154 meters 0.014814946653889969 Centerline is valid? [True, True] Translation: X:688.95, Y:4.81, Z:2.98 [[ 9.99792966e-01 -1.25986277e-02 -1.59780723e-02 6.88953036e+02] [ 1.25986626e-02 9.99920629e-01 -9.84805474e-05 4.80999797e+00] [ 1.59780448e-02 -1.02842182e-04 9.99872338e-01 2.98429261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.899254154 meters 0.014670826670767773 Centerline is valid? [True, True] Translation: X:689.01, Y:4.81, Z:2.98 [[ 9.99844350e-01 -8.27704193e-03 -1.55809536e-02 6.89010488e+02] [ 8.27653005e-03 9.99965744e-01 -9.73360759e-05 4.81228775e+00] [ 1.55812255e-02 -3.16353050e-05 9.99878605e-01 2.98436701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.959254154 meters 0.014809225516629014 Centerline is valid? [True, True] Translation: X:689.07, Y:4.81, Z:2.98 [[ 9.99854996e-01 -5.80854369e-03 -1.60077116e-02 6.89068814e+02] [ 5.80762842e-03 9.99983130e-01 -1.03663196e-04 4.81186912e+00] [ 1.60080437e-02 1.06813242e-05 9.99871863e-01 2.98372336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.019254154 meters 0.01471172228569014 Centerline is valid? [True, True] Translation: X:689.13, Y:4.81, Z:2.98 [[ 9.99819850e-01 -8.24486210e-03 -1.70964668e-02 6.89127169e+02] [ 8.24413201e-03 9.99966010e-01 -1.13182948e-04 4.80679346e+00] [ 1.70968189e-02 -2.77829717e-05 9.99853838e-01 2.98415953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.079254154 meters 0.014883956346004042 Centerline is valid? [True, True] Translation: X:689.19, Y:4.80, Z:2.98 [[ 9.99771425e-01 -1.19727075e-02 -1.77130541e-02 6.89185892e+02] [ 1.19724844e-02 9.99928320e-01 -1.18642433e-04 4.80208815e+00] [ 1.77132049e-02 -9.34539500e-05 9.99843105e-01 2.98432723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.139254154 meters 0.01560965839113056 Centerline is valid? [True, True] Translation: X:689.24, Y:4.79, Z:2.98 [[ 9.99660248e-01 -1.91186374e-02 -1.77162968e-02 6.89243375e+02] [ 1.91195052e-02 9.99817198e-01 -1.20407856e-04 4.79366375e+00] [ 1.77153603e-02 -2.18359882e-04 9.99843047e-01 2.98394518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.199254154 meters 0.01773253285037214 Centerline is valid? [True, True] Translation: X:689.30, Y:4.78, Z:2.98 [[ 9.99444305e-01 -2.85237154e-02 -1.72475983e-02 6.89302808e+02] [ 2.85259179e-02 9.99593046e-01 -1.18357859e-04 4.78203595e+00] [ 1.72439553e-02 -3.73711485e-04 9.99851242e-01 2.98443811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.259254154 meters 0.018236866440791512 Centerline is valid? [True, True] Translation: X:689.36, Y:4.78, Z:2.99 [[ 9.99249333e-01 -3.53118658e-02 -1.59324381e-02 6.89362660e+02] [ 3.53145970e-02 9.99376239e-01 -1.09974484e-04 4.77718003e+00] [ 1.59263835e-02 -4.52755702e-04 9.99873065e-01 2.98748127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.319254154 meters 0.020360677026362756 Centerline is valid? [True, True] Translation: X:689.42, Y:4.77, Z:2.99 [[ 9.98886823e-01 -4.48221145e-02 -1.47001188e-02 6.89423108e+02] [ 4.48254651e-02 9.98994828e-01 -1.01639538e-04 4.76752364e+00] [ 1.46898983e-02 -5.57413266e-04 9.99891942e-01 2.98847573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.379254154 meters 0.027511482081742797 Centerline is valid? [True, True] Translation: X:689.48, Y:4.75, Z:2.99 [[ 9.98609622e-01 -5.05671368e-02 -1.48925105e-02 6.89483048e+02] [ 5.05712132e-02 9.98720452e-01 -1.02980052e-04 4.75400066e+00] [ 1.48786623e-02 -6.50295455e-04 9.99889095e-01 2.98634158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.439254154 meters 0.032676114528962075 Centerline is valid? [True, True] Translation: X:689.54, Y:4.74, Z:2.99 [[ 9.98188786e-01 -5.81364557e-02 -1.54693290e-02 6.89543306e+02] [ 5.81417647e-02 9.98308331e-01 -1.06693261e-04 4.74370304e+00] [ 1.54493628e-02 -7.92914071e-04 9.99880337e-01 2.98514356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.499254154 meters 0.030182846266618914 Centerline is valid? [True, True] Translation: X:689.60, Y:4.75, Z:2.99 [[ 9.97997128e-01 -6.12349064e-02 -1.58751016e-02 6.89604393e+02] [ 6.12408935e-02 9.98123009e-01 -1.09175835e-04 4.74651630e+00] [ 1.58519896e-02 -8.63248239e-04 9.99873977e-01 2.98646139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.559254154 meters 0.02869854001868785 Centerline is valid? [True, True] Translation: X:689.67, Y:4.75, Z:2.99 [[ 9.97900533e-01 -6.26677620e-02 -1.63486254e-02 6.89665547e+02] [ 6.26743119e-02 9.98034027e-01 -1.11914773e-04 4.74827119e+00] [ 1.63234979e-02 -9.12959033e-04 9.99866346e-01 2.98776586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.619254154 meters 0.029776321166370558 Centerline is valid? [True, True] Translation: X:689.73, Y:4.75, Z:2.99 [[ 9.98008602e-01 -6.06238234e-02 -1.74235993e-02 6.89725579e+02] [ 6.06309597e-02 9.98160244e-01 -1.18867462e-04 4.74785092e+00] [ 1.73987503e-02 -9.37778795e-04 9.99848191e-01 2.98665249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.679254154 meters 0.028937903760148643 Centerline is valid? [True, True] Translation: X:689.79, Y:4.75, Z:2.99 [[ 9.98078378e-01 -5.93462255e-02 -1.78206930e-02 6.89786974e+02] [ 5.93534977e-02 9.98237020e-01 -1.21017972e-04 4.75049611e+00] [ 1.77964574e-02 -9.36935038e-04 9.99841192e-01 2.98689584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.739254154 meters 0.025293736817149862 Centerline is valid? [True, True] Translation: X:689.85, Y:4.76, Z:2.99 [[ 9.98407513e-01 -5.32827932e-02 -1.85305782e-02 6.89847433e+02] [ 5.32896178e-02 9.98579091e-01 -1.25651262e-04 4.76052155e+00] [ 1.85109429e-02 -8.62036263e-04 9.99828286e-01 2.98783284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.799254154 meters 0.021019785456004365 Centerline is valid? [True, True] Translation: X:689.91, Y:4.77, Z:2.99 [[ 9.98851043e-01 -4.44024597e-02 -1.80281730e-02 6.89908069e+02] [ 4.44074747e-02 9.99013494e-01 -1.22252501e-04 4.77271409e+00] [ 1.80158164e-02 -6.78473599e-04 9.99837472e-01 2.98985783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8592541539999 meters 0.020201383206391407 Centerline is valid? [True, True] Translation: X:689.97, Y:4.78, Z:2.99 [[ 9.99144126e-01 -3.76051118e-02 -1.72299268e-02 6.89967624e+02] [ 3.76086806e-02 9.99292536e-01 -1.16965524e-04 4.77865834e+00] [ 1.72221358e-02 -5.31129398e-04 9.99851547e-01 2.99062311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.919254154 meters 0.01600007045082898 Centerline is valid? [True, True] Translation: X:690.03, Y:4.79, Z:2.99 [[ 9.99519498e-01 -2.60215958e-02 -1.68419046e-02 6.90027457e+02] [ 2.60233603e-02 9.99661328e-01 -1.14417281e-04 4.79371174e+00] [ 1.68391781e-02 -3.23920649e-04 9.99858159e-01 2.99353330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9792541539999 meters 0.014792165116763869 Centerline is valid? [True, True] Translation: X:690.09, Y:4.80, Z:2.99 [[ 9.99693278e-01 -1.81471628e-02 -1.68532228e-02 6.90086794e+02] [ 1.81477607e-02 9.99835309e-01 -1.17467810e-04 4.80031279e+00] [ 1.68525790e-02 -1.88416475e-04 9.99857967e-01 2.99350190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.039254154 meters 0.014172287297351777 Centerline is valid? [True, True] Translation: X:690.15, Y:4.81, Z:2.99 [[ 9.99806522e-01 -8.94133302e-03 -1.75206047e-02 6.90145812e+02] [ 8.94048810e-03 9.99960025e-01 -1.26552276e-04 4.80846451e+00] [ 1.75210359e-02 -3.01149678e-05 9.99846494e-01 2.99368279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0992541539999 meters 0.014147875229259806 Centerline is valid? [True, True] Translation: X:690.20, Y:4.81, Z:2.99 [[ 9.99793955e-01 -7.43568190e-03 -1.88880196e-02 6.90204960e+02] [ 7.43433792e-03 9.99972355e-01 -1.41371285e-04 4.81025344e+00] [ 1.88885487e-02 9.22235271e-07 9.99821595e-01 2.99368051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.159254154 meters 0.014380808628797584 Centerline is valid? [True, True] Translation: X:690.26, Y:4.81, Z:2.99 [[ 9.99723773e-01 -1.20960830e-02 -2.01510015e-02 6.90263373e+02] [ 1.20954525e-02 9.99926836e-01 -1.53176952e-04 4.80656295e+00] [ 2.01513800e-02 -9.06008407e-05 9.99796936e-01 2.99279862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.2192541539999 meters 0.017125341104070265 Centerline is valid? [True, True] Translation: X:690.32, Y:4.80, Z:2.99 [[ 9.99599002e-01 -2.03487460e-02 -1.96917052e-02 6.90320632e+02] [ 2.03497062e-02 9.99792912e-01 -1.51637605e-04 4.79927794e+00] [ 1.96907129e-02 -2.49143617e-04 9.99806088e-01 2.99387139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.279254154 meters 0.016179296233579412 Centerline is valid? [True, True] Translation: X:690.38, Y:4.79, Z:3.00 [[ 9.99530798e-01 -2.61163606e-02 -1.60037178e-02 6.90379505e+02] [ 2.61176815e-02 9.99658867e-01 -1.26496708e-04 4.79427529e+00] [ 1.60015621e-02 -2.91542650e-04 9.99871924e-01 2.99603139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.339254154 meters 0.018205985254316256 Centerline is valid? [True, True] Translation: X:690.44, Y:4.79, Z:3.00 [[ 9.99352963e-01 -3.29095164e-02 -1.45126867e-02 6.90439057e+02] [ 3.29112989e-02 9.99458270e-01 -1.16054087e-04 4.78698090e+00] [ 1.45086440e-02 -3.61652374e-04 9.99894679e-01 2.99723132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.399254154 meters 0.019921204762738173 Centerline is valid? [True, True] Translation: X:690.50, Y:4.78, Z:3.00 [[ 9.99089947e-01 -4.00766392e-02 -1.45993531e-02 6.90499761e+02] [ 4.00792051e-02 9.99196499e-01 -1.16902058e-04 4.78031154e+00] [ 1.45923076e-02 -4.68334798e-04 9.99893417e-01 2.99711956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.459254154 meters 0.020712644545909223 Centerline is valid? [True, True] Translation: X:690.56, Y:4.78, Z:3.00 [[ 9.98875210e-01 -4.51158311e-02 -1.45902597e-02 6.90560532e+02] [ 4.51189333e-02 9.98981616e-01 -1.16642319e-04 4.77766547e+00] [ 1.45806636e-02 -5.41785831e-04 9.99893550e-01 2.99762021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.519254154 meters 0.022641194640296236 Centerline is valid? [True, True] Translation: X:690.62, Y:4.77, Z:3.00 [[ 9.98597634e-01 -5.09702367e-02 -1.43108240e-02 6.90621856e+02] [ 5.09738259e-02 9.98699983e-01 -1.14078353e-04 4.77240897e+00] [ 1.42980343e-02 -6.15559078e-04 9.99897588e-01 2.99763139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.579254154 meters 0.024212207542955198 Centerline is valid? [True, True] Translation: X:690.68, Y:4.77, Z:3.00 [[ 9.98551327e-01 -5.17493831e-02 -1.47393265e-02 6.90683076e+02] [ 5.17532825e-02 9.98659894e-01 -1.17000740e-04 4.77138780e+00] [ 1.47256290e-02 -6.45977285e-04 9.99891363e-01 2.99780016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.639254154 meters 0.022768717694940738 Centerline is valid? [True, True] Translation: X:690.75, Y:4.77, Z:3.00 [[ 9.98726874e-01 -4.85007585e-02 -1.38675295e-02 6.90745011e+02] [ 4.85039073e-02 9.98822987e-01 -1.09375168e-04 4.77355000e+00] [ 1.38565120e-02 -5.63393447e-04 9.99903835e-01 2.99737154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.699254154 meters 0.02099468441314105 Centerline is valid? [True, True] Translation: X:690.81, Y:4.78, Z:3.00 [[ 9.99010685e-01 -4.21731683e-02 -1.41093829e-02 6.90805417e+02] [ 4.21758013e-02 9.99110199e-01 -1.11022911e-04 4.77980354e+00] [ 1.41015105e-02 -4.84161453e-04 9.99900452e-01 2.99633639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.759254154 meters 0.018468231759947523 Centerline is valid? [True, True] Translation: X:690.87, Y:4.79, Z:3.00 [[ 9.99130249e-01 -3.90826519e-02 -1.45358619e-02 6.90867280e+02] [ 3.90851277e-02 9.99235878e-01 -1.13828708e-04 4.78600637e+00] [ 1.45292035e-02 -4.54406314e-04 9.99894342e-01 2.99672699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.819254154 meters 0.018737493151901576 Centerline is valid? [True, True] Translation: X:690.93, Y:4.79, Z:3.00 [[ 9.99132340e-01 -3.85847287e-02 -1.56775879e-02 6.90928898e+02] [ 3.85875581e-02 9.99255215e-01 -1.22096167e-04 4.78725723e+00] [ 1.56706225e-02 -4.82969606e-04 9.99877092e-01 2.99549211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.879254154 meters 0.01901569303551158 Centerline is valid? [True, True] Translation: X:690.99, Y:4.79, Z:2.99 [[ 9.99056815e-01 -4.02514017e-02 -1.62882048e-02 6.90989861e+02] [ 4.02546834e-02 9.99189444e-01 -1.26463865e-04 4.78706482e+00] [ 1.62800926e-02 -5.29331940e-04 9.99867330e-01 2.99480167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.939254154 meters 0.02044920388081276 Centerline is valid? [True, True] Translation: X:691.05, Y:4.79, Z:2.99 [[ 9.98932642e-01 -4.26535682e-02 -1.77270760e-02 6.91050990e+02] [ 4.26578434e-02 9.99089731e-01 -1.37062529e-04 4.78632842e+00] [ 1.77167858e-02 -6.19282596e-04 9.99842854e-01 2.99385367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.999254154 meters 0.020163304706569917 Centerline is valid? [True, True] Translation: X:691.11, Y:4.79, Z:2.99 [[ 9.98928625e-01 -4.29690412e-02 -1.71832312e-02 6.91112182e+02] [ 4.29731154e-02 9.99076220e-01 -1.32232999e-04 4.78935204e+00] [ 1.71730396e-02 -6.06325650e-04 9.99852349e-01 2.99480607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.059254154 meters 0.019753531070113173 Centerline is valid? [True, True] Translation: X:691.17, Y:4.79, Z:3.00 [[ 9.98997982e-01 -4.19462189e-02 -1.56059600e-02 6.91172833e+02] [ 4.19494570e-02 9.99119727e-01 -1.19948345e-04 4.79178795e+00] [ 1.55972539e-02 -5.34833393e-04 9.99878212e-01 2.99635492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.119254154 meters 0.019242711101914594 Centerline is valid? [True, True] Translation: X:691.23, Y:4.80, Z:3.00 [[ 9.99163645e-01 -3.91398004e-02 -1.18358269e-02 6.91233475e+02] [ 3.91414661e-02 9.99233675e-01 -9.09708752e-05 4.79681217e+00] [ 1.18303174e-02 -3.72376824e-04 9.99929950e-01 2.99897539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.179254154 meters 0.01831877062348659 Centerline is valid? [True, True] Translation: X:691.29, Y:4.80, Z:3.00 [[ 9.99355179e-01 -3.47067551e-02 -9.20153141e-03 6.91294447e+02] [ 3.47075755e-02 9.99397508e-01 -7.05512498e-05 4.80284702e+00] [ 9.19843617e-03 -2.48857090e-04 9.99957663e-01 3.00095430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.239254154 meters 0.018080881591615867 Centerline is valid? [True, True] Translation: X:691.36, Y:4.81, Z:3.00 [[ 9.99415693e-01 -3.30259347e-02 -8.80677650e-03 6.91356224e+02] [ 3.30266252e-02 9.99454470e-01 -6.70630099e-05 4.80540331e+00] [ 8.80418695e-03 -2.23834282e-04 9.99961217e-01 3.00117864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.299254154 meters 0.017498055668890993 Centerline is valid? [True, True] Translation: X:691.42, Y:4.81, Z:3.00 [[ 9.99352364e-01 -3.47090437e-02 -9.49397485e-03 6.91418824e+02] [ 3.47099287e-02 9.99397426e-01 -7.15872120e-05 4.80811481e+00] [ 9.49073876e-03 -2.57994340e-04 9.99954929e-01 3.00025599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3592541539999 meters 0.018587314611369518 Centerline is valid? [True, True] Translation: X:691.48, Y:4.81, Z:3.00 [[ 9.99230402e-01 -3.75318407e-02 -1.14001685e-02 6.91480916e+02] [ 3.75333106e-02 9.99295373e-01 -8.50608693e-05 4.80638788e+00] [ 1.13953282e-02 -3.42890661e-04 9.99935012e-01 2.99835781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.419254154 meters 0.020165357034788407 Centerline is valid? [True, True] Translation: X:691.54, Y:4.80, Z:3.00 [[ 9.99044257e-01 -4.18019919e-02 -1.27736464e-02 6.91542306e+02] [ 4.18041945e-02 9.99125818e-01 -9.46461792e-05 4.80447589e+00] [ 1.27664364e-02 -4.39436278e-04 9.99918409e-01 2.99699634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4792541539999 meters 0.019883140693223795 Centerline is valid? [True, True] Translation: X:691.60, Y:4.81, Z:3.00 [[ 9.99001188e-01 -4.28157668e-02 -1.27842017e-02 6.91604750e+02] [ 4.28180658e-02 9.99082882e-01 -9.39442538e-05 4.80589323e+00] [ 1.27764993e-02 -4.53544367e-04 9.99918274e-01 2.99721324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.539254154 meters 0.020721404687365073 Centerline is valid? [True, True] Translation: X:691.67, Y:4.81, Z:3.00 [[ 9.99113918e-01 -4.04428339e-02 -1.16514260e-02 6.91665274e+02] [ 4.04445874e-02 9.99181779e-01 -8.51914864e-05 4.80620543e+00] [ 1.16453380e-02 -3.86121118e-04 9.99932116e-01 2.99781889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5992541539999 meters 0.020049092143445 Centerline is valid? [True, True] Translation: X:691.73, Y:4.81, Z:3.00 [[ 9.99201366e-01 -3.85091891e-02 -1.06617078e-02 6.91726243e+02] [ 3.85105504e-02 9.99258191e-01 -7.76606338e-05 4.80781030e+00] [ 1.06567895e-02 -3.32989624e-04 9.99943159e-01 2.99876245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.659254154 meters 0.017939541018448694 Centerline is valid? [True, True] Translation: X:691.79, Y:4.81, Z:3.00 [[ 9.99445331e-01 -3.21750721e-02 -8.59037640e-03 6.91786725e+02] [ 3.21757231e-02 9.99482225e-01 -6.24475650e-05 4.81383988e+00] [ 8.58793777e-03 -2.13988645e-04 9.99963100e-01 3.00072670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.7192541539999 meters 0.0174358333750992 Centerline is valid? [True, True] Translation: X:691.85, Y:4.82, Z:3.00 [[ 9.99639999e-01 -2.58932790e-02 -7.02922666e-03 6.91848000e+02] [ 2.58935603e-02 9.99664704e-01 -5.10065321e-05 4.81876112e+00] [ 7.02819051e-03 -1.31023534e-04 9.99975293e-01 3.00182228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.779254154 meters 0.015620046882160888 Centerline is valid? [True, True] Translation: X:691.91, Y:4.82, Z:3.00 [[ 9.99721022e-01 -2.27412500e-02 -6.38068859e-03 6.91909264e+02] [ 2.27414189e-02 9.99741379e-01 -4.60917325e-05 4.82048719e+00] [ 6.38008659e-03 -9.90270380e-05 9.99979642e-01 3.00236173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.839254154 meters 0.014637489267027924 Centerline is valid? [True, True] Translation: X:691.97, Y:4.82, Z:3.00 [[ 9.99834764e-01 -1.70283012e-02 -6.36251813e-03 6.91970036e+02] [ 1.70283548e-02 9.99855006e-01 -4.57414623e-05 4.82305788e+00] [ 6.36237450e-03 -6.26093121e-05 9.99979758e-01 3.00238831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.899254154 meters 0.014195111419528466 Centerline is valid? [True, True] Translation: X:692.03, Y:4.82, Z:3.00 [[ 9.99887583e-01 -1.36887183e-02 -6.11888718e-03 6.92031292e+02] [ 1.36887067e-02 9.99906304e-01 -4.37850555e-05 4.82419147e+00] [ 6.11891323e-03 -3.99795186e-05 9.99981278e-01 3.00255626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.959254154 meters 0.01412696016389515 Centerline is valid? [True, True] Translation: X:692.09, Y:4.82, Z:3.00 [[ 9.99914573e-01 -1.20602409e-02 -5.03964904e-03 6.92092471e+02] [ 1.20602130e-02 9.99927272e-01 -3.59127255e-05 4.82245497e+00] [ 5.03971564e-03 -2.48695834e-05 9.99987300e-01 3.00269253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.019254154 meters 0.015402155571437834 Centerline is valid? [True, True] Translation: X:692.15, Y:4.82, Z:3.00 [[ 9.99896505e-01 -1.37424438e-02 -4.25719160e-03 6.92153607e+02] [ 1.37424398e-02 9.99905568e-01 -3.02071302e-05 4.81732325e+00] [ 4.25720470e-03 -2.83001952e-05 9.99990938e-01 3.00175090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.079254154 meters 0.015501297638440444 Centerline is valid? [True, True] Translation: X:692.22, Y:4.81, Z:3.00 [[ 9.99713369e-01 -2.34534418e-02 -4.80797138e-03 6.92215577e+02] [ 2.34535500e-02 9.99724927e-01 -3.38856477e-05 4.80677114e+00] [ 4.80744358e-03 -7.88880623e-05 9.99988441e-01 3.00106790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.139254154 meters 0.019628164834981865 Centerline is valid? [True, True] Translation: X:692.28, Y:4.79, Z:3.00 [[ 9.99246456e-01 -3.83158501e-02 -6.19800292e-03 6.92276311e+02] [ 3.83163202e-02 9.99265659e-01 -4.29170956e-05 4.79137679e+00] [ 6.19509588e-03 -1.94599909e-04 9.99980791e-01 2.99975691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.199254154 meters 0.02399729267586319 Centerline is valid? [True, True] Translation: X:692.34, Y:4.78, Z:3.00 [[ 9.98829014e-01 -4.80418741e-02 -5.70777915e-03 6.92337050e+02] [ 4.80424326e-02 9.98845295e-01 -3.93042655e-05 4.78069591e+00] [ 5.70307660e-03 -2.34957354e-04 9.99983710e-01 2.99987503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.259254154 meters 0.03122219540481449 Centerline is valid? [True, True] Translation: X:692.40, Y:4.76, Z:3.00 [[ 9.98150095e-01 -6.06776744e-02 -3.82199900e-03 6.92396530e+02] [ 6.06780176e-02 9.98157391e-01 -2.62041979e-05 4.76498966e+00] [ 3.81654657e-03 -2.05755600e-04 9.99992696e-01 3.00273898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.319254154 meters 0.028875827970121 Centerline is valid? [True, True] Translation: X:692.46, Y:4.77, Z:3.00 [[ 9.97782994e-01 -6.64918907e-02 -2.81516942e-03 6.92456598e+02] [ 6.64921001e-02 9.97786951e-01 -1.92496101e-05 4.76650042e+00] [ 2.81021925e-03 -1.67979593e-04 9.99996037e-01 3.00351292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.379254154 meters 0.03608446128633341 Centerline is valid? [True, True] Translation: X:692.52, Y:4.76, Z:3.00 [[ 9.97472081e-01 -7.09793063e-02 -3.37433677e-03 6.92516095e+02] [ 7.09796325e-02 9.97477765e-01 -2.31391736e-05 4.75662921e+00] [ 3.36746830e-03 -2.16428504e-04 9.99994307e-01 3.00256608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.439254154 meters 0.03211093694489414 Centerline is valid? [True, True] Translation: X:692.58, Y:4.76, Z:3.00 [[ 9.97250473e-01 -7.39943328e-02 -4.04137606e-03 6.92576671e+02] [ 7.39948250e-02 9.97258625e-01 -2.78000054e-05 4.76339870e+00] [ 4.03235418e-03 -2.71317346e-04 9.99991833e-01 3.00195700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.499254154 meters 0.032966155707965045 Centerline is valid? [True, True] Translation: X:692.64, Y:4.76, Z:3.00 [[ 9.97159345e-01 -7.51454187e-02 -5.13880948e-03 6.92639186e+02] [ 7.51462306e-02 9.97172524e-01 -3.51881371e-05 4.76411253e+00] [ 5.12692385e-03 -3.51073982e-04 9.99986796e-01 3.00171060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.559254154 meters 0.03997425573990668 Centerline is valid? [True, True] Translation: X:692.70, Y:4.76, Z:3.00 [[ 9.97129828e-01 -7.54137696e-02 -6.69851559e-03 6.92700474e+02] [ 7.54151588e-02 9.97152221e-01 -4.53087290e-05 4.75820512e+00] [ 6.68285659e-03 -4.59990932e-04 9.99977564e-01 2.99982769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.619254154 meters 0.03688417086943109 Centerline is valid? [True, True] Translation: X:692.76, Y:4.77, Z:3.00 [[ 9.97206774e-01 -7.41506420e-02 -8.96284372e-03 6.92762450e+02] [ 7.41530844e-02 9.97246868e-01 -5.99660398e-05 4.76598545e+00] [ 8.94261435e-03 -6.04823966e-04 9.99959831e-01 2.99876795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.679254154 meters 0.03557913628697355 Centerline is valid? [True, True] Translation: X:692.82, Y:4.77, Z:3.00 [[ 9.97544988e-01 -6.90077882e-02 -1.19131213e-02 6.92822191e+02] [ 6.90117415e-02 9.97615845e-01 -7.94138759e-05 4.77407886e+00] [ 1.18901987e-02 -7.42926332e-04 9.99929033e-01 2.99693390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.739254154 meters 0.03131384773881019 Centerline is valid? [True, True] Translation: X:692.88, Y:4.79, Z:3.00 [[ 9.98092750e-01 -6.02083916e-02 -1.36313059e-02 6.92882645e+02] [ 6.02127493e-02 9.98185562e-01 -9.08684863e-05 4.78849610e+00] [ 1.36120438e-02 -7.30083229e-04 9.99907085e-01 2.99760705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.799254154 meters 0.025660574771030616 Centerline is valid? [True, True] Translation: X:692.94, Y:4.80, Z:3.00 [[ 9.98486495e-01 -5.30965635e-02 -1.43344022e-02 6.92943575e+02] [ 5.31006543e-02 9.98589160e-01 -9.53376292e-05 4.80301395e+00] [ 1.43192408e-02 -6.65972802e-04 9.99897253e-01 2.99853886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8592541539999 meters 0.020553528221992346 Centerline is valid? [True, True] Translation: X:693.00, Y:4.82, Z:3.00 [[ 9.98971283e-01 -4.29973512e-02 -1.44084189e-02 6.93004478e+02] [ 4.30004388e-02 9.99075049e-01 -9.55820760e-05 4.82227636e+00] [ 1.43992016e-02 -5.24084586e-04 9.99896189e-01 3.00150449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.919254154 meters 0.01916967066080134 Centerline is valid? [True, True] Translation: X:693.07, Y:4.83, Z:3.00 [[ 9.99212026e-01 -3.68373742e-02 -1.47761309e-02 6.93065111e+02] [ 3.68399525e-02 9.99321174e-01 -9.77542574e-05 4.83085263e+00] [ 1.47697015e-02 -4.46674732e-04 9.99890822e-01 3.00226187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9792541539999 meters 0.017010644116899194 Centerline is valid? [True, True] Translation: X:693.13, Y:4.84, Z:3.00 [[ 9.99485051e-01 -2.86556844e-02 -1.44390207e-02 6.93125509e+02] [ 2.86572942e-02 9.99589291e-01 -9.54452094e-05 4.84347771e+00] [ 1.44358255e-02 -3.18387204e-04 9.99895747e-01 3.00387221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.039254154 meters 0.016388275763298227 Centerline is valid? [True, True] Translation: X:693.19, Y:4.85, Z:3.00 [[ 9.99595197e-01 -2.42917884e-02 -1.48105354e-02 6.93186321e+02] [ 2.42930060e-02 9.99704877e-01 -9.77124728e-05 4.85059177e+00] [ 1.48085381e-02 -2.62119508e-04 9.99890313e-01 3.00451893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0992541539999 meters 0.015423747130721692 Centerline is valid? [True, True] Translation: X:693.25, Y:4.86, Z:3.01 [[ 9.99702511e-01 -1.93189160e-02 -1.48885335e-02 6.93246586e+02] [ 1.93195963e-02 9.99813354e-01 -9.81469342e-05 4.85950008e+00] [ 1.48876507e-02 -1.89522720e-04 9.99889155e-01 3.00589254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.159254154 meters 0.015523914249039789 Centerline is valid? [True, True] Translation: X:693.30, Y:4.86, Z:3.01 [[ 9.99720096e-01 -1.78830227e-02 -1.54895556e-02 6.93304996e+02] [ 1.78835773e-02 9.99840071e-01 -1.02719570e-04 4.86240720e+00] [ 1.54889153e-02 -1.74317846e-04 9.99880024e-01 3.00574178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.2192541539999 meters 0.015701142439814377 Centerline is valid? [True, True] Translation: X:693.36, Y:4.86, Z:3.01 [[ 9.99670920e-01 -1.98570851e-02 -1.62403013e-02 6.93363941e+02] [ 1.98579011e-02 9.99802806e-01 -1.11027416e-04 4.86288923e+00] [ 1.62393035e-02 -2.11507418e-04 9.99868111e-01 3.00601246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.279254154 meters 0.017022611671465415 Centerline is valid? [True, True] Translation: X:693.42, Y:4.86, Z:3.01 [[ 9.99551411e-01 -2.51709067e-02 -1.62296659e-02 6.93421465e+02] [ 2.51723858e-02 9.99683119e-01 -1.13174739e-04 4.85694140e+00] [ 1.62273718e-02 -2.95415441e-04 9.99868284e-01 3.00528353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.339254154 meters 0.01818004213956174 Centerline is valid? [True, True] Translation: X:693.48, Y:4.85, Z:3.01 [[ 9.99432120e-01 -2.91276035e-02 -1.69416417e-02 6.93480802e+02] [ 2.91297648e-02 9.99575631e-01 -1.19238305e-04 4.85367146e+00] [ 1.69379253e-02 -3.74335445e-04 9.99856473e-01 3.00578611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.399254154 meters 0.019480452759950508 Centerline is valid? [True, True] Translation: X:693.54, Y:4.85, Z:3.01 [[ 9.99186780e-01 -3.67644563e-02 -1.65575615e-02 6.93540955e+02] [ 3.67675587e-02 9.99323838e-01 -1.17108593e-04 4.84592837e+00] [ 1.65506714e-02 -4.91767757e-04 9.99862907e-01 3.00713856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.459254154 meters 0.02224368690273389 Centerline is valid? [True, True] Translation: X:693.60, Y:4.84, Z:3.01 [[ 9.98999824e-01 -4.16607099e-02 -1.62400018e-02 6.93601111e+02] [ 4.16643492e-02 9.99131657e-01 -1.14319428e-04 4.83857147e+00] [ 1.62306626e-02 -5.62424020e-04 9.99868116e-01 3.00761803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.519254154 meters 0.022627857778963482 Centerline is valid? [True, True] Translation: X:693.66, Y:4.84, Z:3.01 [[ 9.98803905e-01 -4.60463938e-02 -1.64465293e-02 6.93662070e+02] [ 4.60507277e-02 9.98939096e-01 -1.15306284e-04 4.83501782e+00] [ 1.64343906e-02 -6.42206277e-04 9.99864740e-01 3.00908472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.579254154 meters 0.02483746473243933 Centerline is valid? [True, True] Translation: X:693.72, Y:4.83, Z:3.01 [[ 9.98645573e-01 -4.91583918e-02 -1.70432263e-02 6.93722802e+02] [ 4.91635035e-02 9.98790737e-01 -1.19180806e-04 4.82919880e+00] [ 1.70284753e-02 -7.18885333e-04 9.99854747e-01 3.00850745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.639254154 meters 0.025251803067986724 Centerline is valid? [True, True] Translation: X:693.78, Y:4.82, Z:3.01 [[ 9.98615997e-01 -4.97996265e-02 -1.69141038e-02 6.93784455e+02] [ 4.98047616e-02 9.98758966e-01 -1.17754884e-04 4.82379025e+00] [ 1.68989770e-02 -7.24810999e-04 9.99856939e-01 3.00878384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.699254154 meters 0.024311395097746703 Centerline is valid? [True, True] Translation: X:693.84, Y:4.82, Z:3.01 [[ 9.98748634e-01 -4.69393016e-02 -1.72588549e-02 6.93844517e+02] [ 4.69442286e-02 9.98897505e-01 -1.19767355e-04 4.82331924e+00] [ 1.72454489e-02 -6.90586148e-04 9.99851048e-01 3.00926917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.759254154 meters 0.02181002747534878 Centerline is valid? [True, True] Translation: X:693.90, Y:4.83, Z:3.01 [[ 9.99094430e-01 -3.87463566e-02 -1.75795502e-02 6.93904344e+02] [ 3.87501991e-02 9.99248922e-01 -1.22128439e-04 4.82583129e+00] [ 1.75710786e-02 -5.59193227e-04 9.99845460e-01 3.00873081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.819254154 meters 0.01943524525980539 Centerline is valid? [True, True] Translation: X:693.97, Y:4.83, Z:3.01 [[ 9.99437459e-01 -2.87003094e-02 -1.73510249e-02 6.93965125e+02] [ 2.87025376e-02 9.99587990e-01 -1.20647072e-04 4.83334982e+00] [ 1.73473387e-02 -3.77439242e-04 9.99849452e-01 3.01009334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.879254154 meters 0.015871495405598252 Centerline is valid? [True, True] Translation: X:694.02, Y:4.84, Z:3.01 [[ 9.99619547e-01 -2.31433723e-02 -1.50048442e-02 6.94024689e+02] [ 2.31444068e-02 9.99732127e-01 -1.04726221e-04 4.83578896e+00] [ 1.50032485e-02 -2.42591839e-04 9.99887416e-01 3.01215546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.939254154 meters 0.016004806838889673 Centerline is valid? [True, True] Translation: X:694.08, Y:4.84, Z:3.01 [[ 9.99769248e-01 -1.52618120e-02 -1.51171213e-02 6.94084119e+02] [ 1.52619529e-02 9.99883524e-01 -1.06053332e-04 4.83724503e+00] [ 1.51169791e-02 -1.24687934e-04 9.99885724e-01 3.01187484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.999254154 meters 0.014699779518887738 Centerline is valid? [True, True] Translation: X:694.14, Y:4.84, Z:3.01 [[ 9.99815928e-01 -1.17214331e-02 -1.51893795e-02 6.94143159e+02] [ 1.17211223e-02 9.99931299e-01 -1.09483486e-04 4.83653996e+00] [ 1.51896193e-02 -6.85732427e-05 9.99884629e-01 3.01227727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.059254154 meters 0.016731221433050263 Centerline is valid? [True, True] Translation: X:694.20, Y:4.83, Z:3.01 [[ 9.99843550e-01 -7.60974989e-03 -1.59677129e-02 6.94201478e+02] [ 7.60880991e-03 9.99971045e-01 -1.19619367e-04 4.83294420e+00] [ 1.59681609e-02 -1.89463967e-06 9.99872501e-01 3.01150731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.119254154 meters 0.014844076053674635 Centerline is valid? [True, True] Translation: X:694.26, Y:4.83, Z:3.01 [[ 9.99860328e-01 -5.62404714e-03 -1.57383093e-02 6.94259294e+02] [ 5.62281710e-03 9.99984184e-01 -1.22404739e-04 4.82830520e+00] [ 1.57387488e-02 3.38940080e-05 9.99876138e-01 3.01270757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.179254154 meters 0.01479546560923724 Centerline is valid? [True, True] Translation: X:694.32, Y:4.82, Z:3.01 [[ 9.99873915e-01 -4.28654846e-03 -1.52898376e-02 6.94317137e+02] [ 4.28516490e-03 9.99990811e-01 -1.23249419e-04 4.82416422e+00] [ 1.52902254e-02 5.77144039e-05 9.99883096e-01 3.01294546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.239254154 meters 0.016447881536824548 Centerline is valid? [True, True] Translation: X:694.38, Y:4.82, Z:3.01 [[ 9.99901620e-01 -1.28692065e-03 -1.39676063e-02 6.94375510e+02] [ 1.28541976e-03 9.99999167e-01 -1.16432009e-04 4.81779861e+00] [ 1.39677445e-02 9.84663175e-05 9.99902441e-01 3.01318851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.299254154 meters 0.015115197971227347 Centerline is valid? [True, True] Translation: X:694.43, Y:4.81, Z:3.02 [[ 9.99918680e-01 1.07844397e-03 -1.27070832e-02 6.94434598e+02] [-1.07991850e-03 9.99999411e-01 -1.09178766e-04 4.81465631e+00] [ 1.27069579e-02 1.22892502e-04 9.99919256e-01 3.01513943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3592541539999 meters 0.015302935967102005 Centerline is valid? [True, True] Translation: X:694.49, Y:4.81, Z:3.02 [[ 9.99916604e-01 3.66172706e-03 -1.23845631e-02 6.94493513e+02] [-3.66336507e-03 9.99993284e-01 -1.09578737e-04 4.80709031e+00] [ 1.23840787e-02 1.54938774e-04 9.99923302e-01 3.01536076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.419254154 meters 0.015894823917369908 Centerline is valid? [True, True] Translation: X:694.55, Y:4.80, Z:3.01 [[ 9.99933352e-01 1.84887436e-03 -1.13961877e-02 6.94551661e+02] [-1.85016284e-03 9.99998283e-01 -1.02521188e-04 4.79676173e+00] [ 1.13959786e-02 1.23599158e-04 9.99935056e-01 3.01490662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4792541539999 meters 0.014768314525599216 Centerline is valid? [True, True] Translation: X:694.61, Y:4.79, Z:3.02 [[ 9.99939412e-01 -2.11787409e-03 -1.08022032e-02 6.94610462e+02] [ 2.11693880e-03 9.99997754e-01 -9.80172013e-05 4.78830667e+00] [ 1.08023865e-02 7.51436596e-05 9.99941650e-01 3.01539649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.539254154 meters 0.01452700690204864 Centerline is valid? [True, True] Translation: X:694.67, Y:4.77, Z:3.01 [[ 9.99902587e-01 -8.10719042e-03 -1.13618027e-02 6.94669360e+02] [ 8.10653283e-03 9.99967136e-01 -1.03931272e-04 4.77380209e+00] [ 1.13622719e-02 1.18163214e-05 9.99935447e-01 3.01451941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5992541539999 meters 0.016763188721773337 Centerline is valid? [True, True] Translation: X:694.73, Y:4.76, Z:3.01 [[ 9.99859991e-01 -1.11404303e-02 -1.24855635e-02 6.94728736e+02] [ 1.11398609e-02 9.99937943e-01 -1.15150161e-04 4.76464699e+00] [ 1.24860715e-02 -2.39534016e-05 9.99922046e-01 3.01235018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.659254154 meters 0.014334415415947765 Centerline is valid? [True, True] Translation: X:694.79, Y:4.75, Z:3.01 [[ 9.99807556e-01 -1.43083091e-02 -1.34209820e-02 6.94787693e+02] [ 1.43079013e-02 9.99897629e-01 -1.26408917e-04 4.75429309e+00] [ 1.34214167e-02 -6.56414950e-05 9.99909927e-01 3.01280218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.7192541539999 meters 0.01444592294928189 Centerline is valid? [True, True] Translation: X:694.85, Y:4.75, Z:3.01 [[ 9.99778102e-01 -1.60066874e-02 -1.36942267e-02 6.94846308e+02] [ 1.60063743e-02 9.99871881e-01 -1.32470581e-04 4.74831864e+00] [ 1.36945927e-02 -8.67537338e-05 9.99906221e-01 3.01262053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.779254154 meters 0.015252437355761195 Centerline is valid? [True, True] Translation: X:694.90, Y:4.74, Z:3.01 [[ 9.99737792e-01 -1.92870284e-02 -1.23433313e-02 6.94904724e+02] [ 1.92869984e-02 9.99813981e-01 -1.21475735e-04 4.73783254e+00] [ 1.23433781e-02 -1.16621927e-04 9.99923811e-01 3.01289073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.839254154 meters 0.016331518725507883 Centerline is valid? [True, True] Translation: X:694.96, Y:4.73, Z:3.01 [[ 9.99656294e-01 -2.38480863e-02 -1.08886639e-02 6.94962721e+02] [ 2.38483216e-02 9.99715582e-01 -1.08252045e-04 4.72723593e+00] [ 1.08881486e-02 -1.51461521e-04 9.99940711e-01 3.01373761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.899254154 meters 0.01597857773114453 Centerline is valid? [True, True] Translation: X:695.02, Y:4.72, Z:3.02 [[ 9.99600263e-01 -2.63675448e-02 -1.02013218e-02 6.95021105e+02] [ 2.63678736e-02 9.99652302e-01 -1.02288406e-04 4.72218196e+00] [ 1.02004719e-02 -1.66739644e-04 9.99947960e-01 3.01551636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.959254154 meters 0.016407985573964615 Centerline is valid? [True, True] Translation: X:695.08, Y:4.72, Z:3.02 [[ 9.99524345e-01 -2.91203836e-02 -1.01531512e-02 6.95079798e+02] [ 2.91208328e-02 9.99575893e-01 -1.03630031e-04 4.71748527e+00] [ 1.01518629e-02 -1.92087478e-04 9.99948450e-01 3.01637318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.019254154 meters 0.016421824451702354 Centerline is valid? [True, True] Translation: X:695.14, Y:4.71, Z:3.02 [[ 9.99520301e-01 -2.92724643e-02 -1.01138597e-02 6.95139153e+02] [ 2.92729046e-02 9.99571451e-01 -1.04529380e-04 4.71431777e+00] [ 1.01125852e-02 -1.91582812e-04 9.99948848e-01 3.01683208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.079254154 meters 0.01646017513799969 Centerline is valid? [True, True] Translation: X:695.20, Y:4.71, Z:3.02 [[ 9.99540791e-01 -2.87696308e-02 -9.51391825e-03 6.95198194e+02] [ 2.87699937e-02 9.99586053e-01 -9.87419148e-05 4.71141106e+00] [ 9.51282076e-03 -1.75018797e-04 9.99954737e-01 3.01835186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.139254154 meters 0.015557070454185598 Centerline is valid? [True, True] Translation: X:695.26, Y:4.71, Z:3.02 [[ 9.99570282e-01 -2.77077859e-02 -9.56713163e-03 6.95257961e+02] [ 2.77081003e-02 9.99616052e-01 -9.97117215e-05 4.71142432e+00] [ 9.56622114e-03 -1.65418169e-04 9.99954229e-01 3.01934997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.199254154 meters 0.015500035785169505 Centerline is valid? [True, True] Translation: X:695.32, Y:4.71, Z:3.02 [[ 9.99556781e-01 -2.80720775e-02 -9.90962972e-03 6.95317935e+02] [ 2.80724291e-02 9.99605886e-01 -1.03647768e-04 4.71081847e+00] [ 9.90863381e-03 -1.74585548e-04 9.99950893e-01 3.01957912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.259254154 meters 0.01806243990591922 Centerline is valid? [True, True] Translation: X:695.38, Y:4.71, Z:3.02 [[ 9.99450331e-01 -3.11339725e-02 -1.13891079e-02 6.95376846e+02] [ 3.11346132e-02 9.99515193e-01 -1.21085897e-04 4.70637951e+00] [ 1.13873562e-02 -2.33576129e-04 9.99935135e-01 3.01723200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.319254154 meters 0.018901737393011306 Centerline is valid? [True, True] Translation: X:695.43, Y:4.70, Z:3.02 [[ 9.99223412e-01 -3.80265811e-02 -1.03224146e-02 6.95434885e+02] [ 3.80274600e-02 9.99276688e-01 -1.11183914e-04 4.70021469e+00] [ 1.03191762e-02 -2.81437639e-04 9.99946716e-01 3.02003468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.379254154 meters 0.021468446268123723 Centerline is valid? [True, True] Translation: X:695.49, Y:4.70, Z:3.02 [[ 9.98947566e-01 -4.48832662e-02 -9.44733054e-03 6.95494767e+02] [ 4.48843051e-02 9.98992187e-01 -1.02135059e-04 4.69539666e+00] [ 9.44239355e-03 -3.22009297e-04 9.99955368e-01 3.02110644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.439254154 meters 0.023181366535308206 Centerline is valid? [True, True] Translation: X:695.55, Y:4.69, Z:3.02 [[ 9.98771072e-01 -4.87892610e-02 -8.71512695e-03 6.95554537e+02] [ 4.87902916e-02 9.98809040e-01 -9.44418703e-05 4.69271086e+00] [ 8.70935533e-03 -3.30887777e-04 9.99962018e-01 3.02149312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.499254154 meters 0.03155148887149565 Centerline is valid? [True, True] Translation: X:695.61, Y:4.68, Z:3.02 [[ 9.98089055e-01 -6.12816437e-02 -7.92455867e-03 6.95614491e+02] [ 6.12828874e-02 9.98120434e-01 -8.60177375e-05 4.68223615e+00] [ 7.91493525e-03 -3.99786474e-04 9.99968596e-01 3.01940464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.559254154 meters 0.02791560048078495 Centerline is valid? [True, True] Translation: X:695.67, Y:4.69, Z:3.02 [[ 9.97616331e-01 -6.85362307e-02 -8.02755574e-03 6.95674739e+02] [ 6.85377411e-02 9.97648520e-01 -8.71299065e-05 4.68647211e+00] [ 8.01465066e-03 -4.63268319e-04 9.99967775e-01 3.02142847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.619254154 meters 0.03073967128076694 Centerline is valid? [True, True] Translation: X:695.74, Y:4.69, Z:3.02 [[ 9.97118263e-01 -7.54611550e-02 -7.79643941e-03 6.95735204e+02] [ 7.54627906e-02 9.97148615e-01 -8.46002995e-05 4.68635814e+00] [ 7.78059280e-03 -5.03984571e-04 9.99969604e-01 3.02186492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.679254154 meters 0.03334662613141394 Centerline is valid? [True, True] Translation: X:695.80, Y:4.69, Z:3.02 [[ 9.96975046e-01 -7.71896833e-02 -9.08349611e-03 6.95796011e+02] [ 7.71919759e-02 9.97016243e-01 -9.84637527e-05 4.68963382e+00] [ 9.06399355e-03 -6.03007108e-04 9.99958739e-01 3.02030096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.739254154 meters 0.034483730427928024 Centerline is valid? [True, True] Translation: X:695.86, Y:4.69, Z:3.02 [[ 9.97030827e-01 -7.65195118e-02 -8.61942029e-03 6.95855836e+02] [ 7.65215511e-02 9.97067923e-01 -9.34326949e-05 4.69155913e+00] [ 8.60129691e-03 -5.66416133e-04 9.99962848e-01 3.02235050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.799254154 meters 0.03436839674386048 Centerline is valid? [True, True] Translation: X:695.92, Y:4.70, Z:3.02 [[ 9.97190850e-01 -7.42780640e-02 -9.65285680e-03 6.95916421e+02] [ 7.42805163e-02 9.97237381e-01 -1.04724702e-04 4.70065523e+00] [ 9.63396838e-03 -6.12588672e-04 9.99953405e-01 3.01989052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8592541539999 meters 0.034361753232224373 Centerline is valid? [True, True] Translation: X:695.98, Y:4.71, Z:3.02 [[ 9.97273486e-01 -7.30644337e-02 -1.03529500e-02 6.95976200e+02] [ 7.30671884e-02 9.97327014e-01 -1.12425647e-04 4.70599719e+00] [ 1.03334910e-02 -6.44341829e-04 9.99946400e-01 3.02067422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.919254154 meters 0.03493998723031565 Centerline is valid? [True, True] Translation: X:696.04, Y:4.71, Z:3.02 [[ 9.97349315e-01 -7.17535162e-02 -1.20738291e-02 6.96036895e+02] [ 7.17571660e-02 9.97422123e-01 -1.31204206e-04 4.71438119e+00] [ 1.20521186e-02 -7.35527334e-04 9.99927100e-01 3.01923156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9792541539999 meters 0.028668051067908366 Centerline is valid? [True, True] Translation: X:696.10, Y:4.73, Z:3.02 [[ 9.97511810e-01 -6.94759027e-02 -1.19702872e-02 6.96097860e+02] [ 6.94793301e-02 9.97583383e-01 -1.29795318e-04 4.73240317e+00] [ 1.19503773e-02 -7.02215177e-04 9.99928345e-01 3.02169203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.039254154 meters 0.027928268022103703 Centerline is valid? [True, True] Translation: X:696.16, Y:4.74, Z:3.02 [[ 9.97766351e-01 -6.59437674e-02 -1.06643418e-02 6.96158508e+02] [ 6.59462893e-02 9.97823167e-01 -1.15372311e-04 4.74049812e+00] [ 1.06487354e-02 -5.88159160e-04 9.99943128e-01 3.02395314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0992541539999 meters 0.023945416266704215 Centerline is valid? [True, True] Translation: X:696.22, Y:4.76, Z:3.03 [[ 9.98484955e-01 -5.43410565e-02 -8.65126602e-03 6.96218843e+02] [ 5.43422821e-02 9.98522362e-01 -9.35080039e-05 4.75705729e+00] [ 8.64356390e-03 -3.76763204e-04 9.99962573e-01 3.02646369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.159254154 meters 0.020555656732289304 Centerline is valid? [True, True] Translation: X:696.28, Y:4.77, Z:3.03 [[ 9.98997659e-01 -4.40185403e-02 -8.12682715e-03 6.96279032e+02] [ 4.40192807e-02 9.99030678e-01 -8.78252417e-05 4.76963585e+00] [ 8.12281558e-03 -2.69999875e-04 9.99966973e-01 3.02715749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.2192541539999 meters 0.016797642347287783 Centerline is valid? [True, True] Translation: X:696.34, Y:4.79, Z:3.03 [[ 9.99480830e-01 -3.11325649e-02 -8.29656246e-03 6.96338977e+02] [ 3.11328927e-02 9.99515250e-01 -8.96684653e-05 4.78651964e+00] [ 8.29533231e-03 -1.68674076e-04 9.99965579e-01 3.02697290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.279254154 meters 0.018829532698072814 Centerline is valid? [True, True] Translation: X:696.40, Y:4.79, Z:3.02 [[ 9.99636931e-01 -2.50104794e-02 -1.00241106e-02 6.96399106e+02] [ 2.50106512e-02 9.99687179e-01 -1.08244095e-04 4.79476831e+00] [ 1.00236821e-02 -1.42504739e-04 9.99949751e-01 3.02326987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.339254154 meters 0.01731109487056683 Centerline is valid? [True, True] Translation: X:696.46, Y:4.80, Z:3.02 [[ 9.99607256e-01 -2.60711291e-02 -1.02776695e-02 6.96458489e+02] [ 2.60713655e-02 9.99660078e-01 -1.11004171e-04 4.79538942e+00] [ 1.02770699e-02 -1.56992303e-04 9.99947177e-01 3.02397077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.399254154 meters 0.0184185791802956 Centerline is valid? [True, True] Translation: X:696.52, Y:4.79, Z:3.02 [[ 9.99418855e-01 -3.20945367e-02 -1.14844397e-02 6.96519323e+02] [ 3.20952283e-02 9.99484808e-01 -1.24123061e-04 4.79311801e+00] [ 1.14825067e-02 -2.44544788e-04 9.99934044e-01 3.02429413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.459254154 meters 0.01889091414478723 Centerline is valid? [True, True] Translation: X:696.58, Y:4.79, Z:3.03 [[ 9.99216326e-01 -3.78147537e-02 -1.16952631e-02 6.96579769e+02] [ 3.78158625e-02 9.99284716e-01 -1.26401626e-04 4.79333474e+00] [ 1.16916775e-02 -3.15963893e-04 9.99931600e-01 3.02531728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.519254154 meters 0.02188109519907576 Centerline is valid? [True, True] Translation: X:696.64, Y:4.79, Z:3.03 [[ 9.98831537e-01 -4.68422108e-02 -1.18898376e-02 6.96640214e+02] [ 4.68439957e-02 9.98902209e-01 -1.28481868e-04 4.78886224e+00] [ 1.18828034e-02 -4.28635760e-04 9.99929305e-01 3.02578215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.579254154 meters 0.029643951623762068 Centerline is valid? [True, True] Translation: X:696.70, Y:4.78, Z:3.02 [[ 9.98621309e-01 -5.11235950e-02 -1.19104844e-02 6.96700067e+02] [ 5.11256903e-02 9.98692218e-01 -1.28691610e-04 4.78126191e+00] [ 1.19014872e-02 -4.80417550e-04 9.99929059e-01 3.02344695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.639254154 meters 0.027583997818093123 Centerline is valid? [True, True] Translation: X:696.76, Y:4.79, Z:3.03 [[ 9.98312891e-01 -5.70841806e-02 -1.06192515e-02 6.96760823e+02] [ 5.70861829e-02 9.98369248e-01 -1.14717430e-04 4.78599404e+00] [ 1.06084827e-02 -4.91688645e-04 9.99943608e-01 3.02843129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.699254154 meters 0.026018072539687274 Centerline is valid? [True, True] Translation: X:696.82, Y:4.79, Z:3.03 [[ 9.98145565e-01 -5.99830929e-02 -1.03662635e-02 6.96821982e+02] [ 5.99851593e-02 9.98199263e-01 -1.11744406e-04 4.79234623e+00] [ 1.03542993e-02 -5.10284784e-04 9.99946263e-01 3.02798682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.759254154 meters 0.03007708654142455 Centerline is valid? [True, True] Translation: X:696.88, Y:4.79, Z:3.03 [[ 9.97950360e-01 -6.31789025e-02 -1.01737557e-02 6.96882507e+02] [ 6.31810628e-02 9.98002075e-01 -1.09246040e-04 4.78837143e+00] [ 1.01603313e-02 -5.33766573e-04 9.99948240e-01 3.02958438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.819254154 meters 0.02544465089171202 Centerline is valid? [True, True] Translation: X:696.95, Y:4.80, Z:3.03 [[ 9.97990152e-01 -6.26168940e-02 -9.73552492e-03 6.96945037e+02] [ 6.26188522e-02 9.98037509e-01 -1.03845792e-04 4.80122247e+00] [ 9.72292154e-03 -5.05990319e-04 9.99952603e-01 3.03110881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.879254154 meters 0.027200260553871487 Centerline is valid? [True, True] Translation: X:697.01, Y:4.80, Z:3.03 [[ 9.98131715e-01 -6.02289612e-02 -1.02738655e-02 6.97005083e+02] [ 6.02310268e-02 9.98184458e-01 -1.08516138e-04 4.80325053e+00] [ 1.02617486e-02 -5.10492067e-04 9.99947217e-01 3.03099160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.939254154 meters 0.02405381347563102 Centerline is valid? [True, True] Translation: X:697.07, Y:4.81, Z:3.03 [[ 9.98429631e-01 -5.47667974e-02 -1.17843422e-02 6.97066184e+02] [ 5.47691434e-02 9.98499036e-01 -1.23790551e-04 4.81468387e+00] [ 1.17734340e-02 -5.21822177e-04 9.99930555e-01 3.02971475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.999254154 meters 0.021324517886884397 Centerline is valid? [True, True] Translation: X:697.13, Y:4.83, Z:3.03 [[ 9.98792771e-01 -4.73380464e-02 -1.31190927e-02 6.97127136e+02] [ 4.73403177e-02 9.98878809e-01 -1.37537918e-04 4.82561244e+00] [ 1.31108944e-02 -4.83690137e-04 9.99913932e-01 3.02964458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.059254154 meters 0.020630468581074535 Centerline is valid? [True, True] Translation: X:697.19, Y:4.83, Z:3.03 [[ 9.98994041e-01 -4.25616522e-02 -1.41212976e-02 6.97187518e+02] [ 4.25638110e-02 9.99093739e-01 -1.47766913e-04 4.83184919e+00] [ 1.41147893e-02 -4.53437979e-04 9.99900279e-01 3.02880221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.119254154 meters 0.018942144655928087 Centerline is valid? [True, True] Translation: X:697.25, Y:4.84, Z:3.03 [[ 9.99206247e-01 -3.69337122e-02 -1.49256816e-02 6.97248641e+02] [ 3.69355007e-02 9.99317639e-01 -1.55910464e-04 4.84100069e+00] [ 1.49212553e-02 -3.95500814e-04 9.99888594e-01 3.02799472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.179254154 meters 0.018335776076437632 Centerline is valid? [True, True] Translation: X:697.31, Y:4.85, Z:3.03 [[ 9.99282769e-01 -3.49582925e-02 -1.45555799e-02 6.97309299e+02] [ 3.49597851e-02 9.99388708e-01 -1.51967648e-04 4.84524405e+00] [ 1.45519947e-02 -3.57001293e-04 9.99894050e-01 3.02865629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.239254154 meters 0.019347389040038274 Centerline is valid? [True, True] Translation: X:697.37, Y:4.85, Z:3.03 [[ 9.99305245e-01 -3.47529376e-02 -1.34633101e-02 6.97370802e+02] [ 3.47542003e-02 9.99395880e-01 -1.40236728e-04 4.85123196e+00] [ 1.34600502e-02 -3.27767277e-04 9.99909356e-01 3.02927455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.299254154 meters 0.01878385907111469 Centerline is valid? [True, True] Translation: X:697.43, Y:4.85, Z:3.03 [[ 9.99276060e-01 -3.58579146e-02 -1.27108169e-02 6.97430733e+02] [ 3.58591331e-02 9.99356846e-01 -1.32101209e-04 4.85228303e+00] [ 1.27073788e-02 -3.23793299e-04 9.99919206e-01 3.03126217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3592541539999 meters 0.019349879033041233 Centerline is valid? [True, True] Translation: X:697.49, Y:4.85, Z:3.03 [[ 9.99195266e-01 -3.84444966e-02 -1.14385706e-02 6.97492317e+02] [ 3.84456579e-02 9.99260685e-01 -1.18431072e-04 4.85471940e+00] [ 1.14346670e-02 -3.21427607e-04 9.99934570e-01 3.03263924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.419254154 meters 0.022144413760941985 Centerline is valid? [True, True] Translation: X:697.55, Y:4.85, Z:3.03 [[ 9.99088480e-01 -4.13398412e-02 -1.06407709e-02 6.97553946e+02] [ 4.13410148e-02 9.99145089e-01 -1.09730984e-04 4.85382419e+00] [ 1.06362103e-02 -3.30269307e-04 9.99943379e-01 3.03178139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4792541539999 meters 0.021744764897683216 Centerline is valid? [True, True] Translation: X:697.62, Y:4.86, Z:3.04 [[ 9.98820428e-01 -4.77939799e-02 -8.57250027e-03 6.97615288e+02] [ 4.77949814e-02 9.98857163e-01 -8.81254994e-05 4.85534283e+00] [ 8.56691517e-03 -3.21700942e-04 9.99963252e-01 3.03569355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.539254154 meters 0.02536060778329792 Centerline is valid? [True, True] Translation: X:697.67, Y:4.85, Z:3.04 [[ 9.98483131e-01 -5.43712308e-02 -8.67217128e-03 6.97674631e+02] [ 5.43725053e-02 9.98520717e-01 -8.89103638e-05 4.85220639e+00] [ 8.66417685e-03 -3.82752181e-04 9.99962392e-01 3.03548127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5992541539999 meters 0.02711298784233033 Centerline is valid? [True, True] Translation: X:697.74, Y:4.85, Z:3.03 [[ 9.98265339e-01 -5.81168566e-02 -9.42043080e-03 6.97735862e+02] [ 5.81185286e-02 9.98309685e-01 -9.64054307e-05 4.85032148e+00] [ 9.41011008e-03 -4.51263377e-04 9.99955622e-01 3.03421080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.659254154 meters 0.028331723585331335 Centerline is valid? [True, True] Translation: X:697.80, Y:4.85, Z:3.03 [[ 9.98062550e-01 -6.12668864e-02 -1.08403956e-02 6.97797314e+02] [ 6.12692892e-02 9.98121266e-01 -1.10617078e-04 4.85209244e+00] [ 1.08268065e-02 -5.53780569e-04 9.99941235e-01 3.03338052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.7192541539999 meters 0.028007875873566124 Centerline is valid? [True, True] Translation: X:697.86, Y:4.86, Z:3.03 [[ 9.98024800e-01 -6.16198811e-02 -1.22265637e-02 6.97859069e+02] [ 6.16229733e-02 9.98099491e-01 -1.24019899e-04 4.85533176e+00] [ 1.22109691e-02 -6.29662275e-04 9.99925245e-01 3.03227795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.779254154 meters 0.028745799810626776 Centerline is valid? [True, True] Translation: X:697.92, Y:4.86, Z:3.03 [[ 9.98103007e-01 -6.00865080e-02 -1.34163583e-02 6.97920485e+02] [ 6.00901044e-02 9.98192948e-01 -1.35259150e-04 4.85821881e+00] [ 1.34002415e-02 -6.71187807e-04 9.99909987e-01 3.03079155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.839254154 meters 0.025576580312596287 Centerline is valid? [True, True] Translation: X:697.98, Y:4.87, Z:3.03 [[ 9.98353442e-01 -5.59971091e-02 -1.24389930e-02 6.97981656e+02] [ 5.59998882e-02 9.98430767e-01 -1.25043181e-04 4.86781324e+00] [ 1.24264754e-02 -5.71744929e-04 9.99922625e-01 3.03273509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.899254154 meters 0.022020461474153312 Centerline is valid? [True, True] Translation: X:698.04, Y:4.88, Z:3.03 [[ 9.98614287e-01 -5.12419567e-02 -1.19903334e-02 6.98042456e+02] [ 5.12441994e-02 9.98686146e-01 -1.20313444e-04 4.87824728e+00] [ 1.19807450e-02 -4.94288314e-04 9.99928106e-01 3.03390592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.959254154 meters 0.01924981205167492 Centerline is valid? [True, True] Translation: X:698.10, Y:4.89, Z:3.04 [[ 9.99046927e-01 -4.23935850e-02 -1.03933466e-02 6.98102676e+02] [ 4.23947925e-02 9.99100931e-01 -1.04216158e-04 4.88918303e+00] [ 1.03884204e-02 -3.36506941e-04 9.99945982e-01 3.03557982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.019254154 meters 0.019256262480542134 Centerline is valid? [True, True] Translation: X:698.16, Y:4.90, Z:3.04 [[ 9.99303682e-01 -3.57583295e-02 -1.06533317e-02 6.98162198e+02] [ 3.57592201e-02 9.99360429e-01 -1.06938364e-04 4.89573432e+00] [ 1.06503420e-02 -2.74090930e-04 9.99943246e-01 3.03513467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.079254154 meters 0.0175182887127061 Centerline is valid? [True, True] Translation: X:698.22, Y:4.90, Z:3.04 [[ 9.99393583e-01 -3.26765807e-02 -1.20294230e-02 6.98223964e+02] [ 3.26774966e-02 9.99465941e-01 -1.20463613e-04 4.90384199e+00] [ 1.20269349e-02 -2.72700868e-04 9.99927637e-01 3.03501524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.139254154 meters 0.017359423903124938 Centerline is valid? [True, True] Translation: X:698.29, Y:4.91, Z:3.03 [[ 9.99464739e-01 -2.97652867e-02 -1.35743416e-02 6.98285366e+02] [ 2.97661947e-02 9.99556880e-01 -1.35188485e-04 4.91028548e+00] [ 1.35723505e-02 -2.68940372e-04 9.99907855e-01 3.03370616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.199254154 meters 0.017134298169206873 Centerline is valid? [True, True] Translation: X:698.35, Y:4.92, Z:3.03 [[ 9.99500632e-01 -2.85195176e-02 -1.36059991e-02 6.98346696e+02] [ 2.85203222e-02 9.99593204e-01 -1.34932526e-04 4.91583999e+00] [ 1.36043124e-02 -2.53182333e-04 9.99907425e-01 3.03406602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.259254154 meters 0.017058661259339667 Centerline is valid? [True, True] Translation: X:698.41, Y:4.92, Z:3.03 [[ 9.99522335e-01 -2.77596385e-02 -1.35832617e-02 6.98407801e+02] [ 2.77603769e-02 9.99614597e-01 -1.34219350e-04 4.91990612e+00] [ 1.35817526e-02 -2.42921226e-04 9.99907734e-01 3.03494545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.319254154 meters 0.017236960462301356 Centerline is valid? [True, True] Translation: X:698.47, Y:4.92, Z:3.04 [[ 9.99543320e-01 -2.74657763e-02 -1.26008637e-02 6.98468490e+02] [ 2.74663966e-02 9.99622720e-01 -1.23863840e-04 4.92293603e+00] [ 1.25995116e-02 -2.22293045e-04 9.99920598e-01 3.03573066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.379254154 meters 0.017928367783652525 Centerline is valid? [True, True] Translation: X:698.53, Y:4.92, Z:3.04 [[ 9.99485905e-01 -2.99158113e-02 -1.15312950e-02 6.98529946e+02] [ 2.99164994e-02 9.99552395e-01 -1.12854994e-04 4.92486673e+00] [ 1.15295097e-02 -2.32179005e-04 9.99933506e-01 3.03673994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.439254154 meters 0.019027377716734333 Centerline is valid? [True, True] Translation: X:698.59, Y:4.92, Z:3.04 [[ 9.99297068e-01 -3.59599184e-02 -1.05949815e-02 6.98590765e+02] [ 3.59608434e-02 9.99353194e-01 -1.03250262e-04 4.92423198e+00] [ 1.05918415e-02 -2.77826788e-04 9.99943866e-01 3.03764490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.499254154 meters 0.020583491419964975 Centerline is valid? [True, True] Translation: X:698.65, Y:4.92, Z:3.04 [[ 9.99105938e-01 -4.11407319e-02 -9.73471076e-03 6.98651723e+02] [ 4.11417613e-02 9.99153315e-01 -9.45749074e-05 4.92292468e+00] [ 9.73035940e-03 -3.06012795e-04 9.99952612e-01 3.03862620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.559254154 meters 0.021665791486305378 Centerline is valid? [True, True] Translation: X:698.71, Y:4.92, Z:3.04 [[ 9.99099227e-01 -4.14296962e-02 -9.18226510e-03 6.98713728e+02] [ 4.14306280e-02 9.99141379e-01 -8.87911978e-05 4.92354711e+00] [ 9.17805961e-03 -2.91715793e-04 9.99957838e-01 3.03861250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.619254154 meters 0.019543794054496032 Centerline is valid? [True, True] Translation: X:698.78, Y:4.93, Z:3.04 [[ 9.99235291e-01 -3.81393146e-02 -8.61544256e-03 6.98775017e+02] [ 3.81400167e-02 9.99272401e-01 -8.28608875e-05 4.92872734e+00] [ 8.61233423e-03 -2.45795600e-04 9.99962883e-01 3.04101049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.679254154 meters 0.018044496255847326 Centerline is valid? [True, True] Translation: X:698.84, Y:4.93, Z:3.04 [[ 9.99457977e-01 -3.16466696e-02 -9.06867977e-03 6.98836295e+02] [ 3.16471833e-02 9.99499099e-01 -8.68856261e-05 4.93299351e+00] [ 9.06688690e-03 -2.00159639e-04 9.99958875e-01 3.04013328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.739254154 meters 0.017367635112135873 Centerline is valid? [True, True] Translation: X:698.90, Y:4.94, Z:3.04 [[ 9.99572274e-01 -2.75324513e-02 -9.86065720e-03 6.98897865e+02] [ 2.75328622e-02 9.99620894e-01 -9.41110574e-05 4.93524377e+00] [ 9.85951008e-03 -1.77421312e-04 9.99951378e-01 3.03912289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.799254154 meters 0.01626510551615292 Centerline is valid? [True, True] Translation: X:698.96, Y:4.94, Z:3.04 [[ 9.99636045e-01 -2.45958384e-02 -1.10825581e-02 6.98959714e+02] [ 2.45961843e-02 9.99697463e-01 -1.05111039e-04 4.93888260e+00] [ 1.10817905e-02 -1.67515857e-04 9.99938581e-01 3.03917160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8592541539999 meters 0.016303986042727626 Centerline is valid? [True, True] Translation: X:699.02, Y:4.94, Z:3.04 [[ 9.99613179e-01 -2.45741367e-02 -1.30231850e-02 6.99020624e+02] [ 2.45746215e-02 9.99697991e-01 -1.22824995e-04 4.93911969e+00] [ 1.30222702e-02 -1.97262358e-04 9.99915187e-01 3.03838676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.919254154 meters 0.017280535234808575 Centerline is valid? [True, True] Translation: X:699.08, Y:4.93, Z:3.04 [[ 9.99450455e-01 -3.00610386e-02 -1.39685723e-02 6.99082275e+02] [ 3.00621392e-02 9.99548023e-01 -1.31219774e-04 4.93450058e+00] [ 1.39662035e-02 -2.88777503e-04 9.99902426e-01 3.03811744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9792541539999 meters 0.018930141020162012 Centerline is valid? [True, True] Translation: X:699.14, Y:4.93, Z:3.04 [[ 9.99264968e-01 -3.58366991e-02 -1.36108327e-02 6.99143523e+02] [ 3.58382860e-02 9.99357594e-01 -1.27370882e-04 4.92966534e+00] [ 1.36066536e-02 -3.60511655e-04 9.99907360e-01 3.03878565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.039254154 meters 0.023304427758079192 Centerline is valid? [True, True] Translation: X:699.20, Y:4.92, Z:3.04 [[ 9.98800978e-01 -4.71847629e-02 -1.30462692e-02 6.99203621e+02] [ 4.71871904e-02 9.98886057e-01 -1.21860031e-04 4.91899279e+00] [ 1.30374863e-02 -4.93902870e-04 9.99914886e-01 3.03914150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0992541539999 meters 0.03221791180695122 Centerline is valid? [True, True] Translation: X:699.26, Y:4.90, Z:3.04 [[ 9.98125607e-01 -6.01620025e-02 -1.12163060e-02 6.99263278e+02] [ 6.01646152e-02 9.98188463e-01 -1.04651259e-04 4.90322087e+00] [ 1.12022833e-02 -5.70369633e-04 9.99937090e-01 3.04038776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.159254154 meters 0.030473314330699323 Centerline is valid? [True, True] Translation: X:699.32, Y:4.90, Z:3.04 [[ 9.97369221e-01 -7.17811894e-02 -1.01043162e-02 6.99323724e+02] [ 7.17839040e-02 9.97420203e-01 -9.42307220e-05 4.90295825e+00] [ 1.00850131e-02 -6.31344440e-04 9.99948946e-01 3.04281890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.2192541539999 meters 0.03150015414359171 Centerline is valid? [True, True] Translation: X:699.38, Y:4.90, Z:3.04 [[ 9.97148009e-01 -7.47999386e-02 -1.00407757e-02 6.99384311e+02] [ 7.48027726e-02 9.97198344e-01 -9.35351356e-05 4.90131100e+00] [ 1.00196413e-02 -6.57809484e-04 9.99949586e-01 3.04326006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.279254154 meters 0.03702310948636781 Centerline is valid? [True, True] Translation: X:699.44, Y:4.89, Z:3.04 [[ 9.96829532e-01 -7.89216565e-02 -1.01122002e-02 6.99443512e+02] [ 7.89247462e-02 9.96880572e-01 -9.37784858e-05 4.89317048e+00] [ 1.00880571e-02 -7.04621671e-04 9.99948866e-01 3.04366021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.339254154 meters 0.03431056359506054 Centerline is valid? [True, True] Translation: X:699.51, Y:4.90, Z:3.04 [[ 9.96868109e-01 -7.83570769e-02 -1.06837130e-02 6.99505705e+02] [ 7.83605013e-02 9.96925084e-01 -9.83353677e-05 4.89693301e+00] [ 1.06585667e-02 -7.39153712e-04 9.99942923e-01 3.04369900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.399254154 meters 0.03266565866075193 Centerline is valid? [True, True] Translation: X:699.57, Y:4.90, Z:3.04 [[ 9.97292829e-01 -7.24731929e-02 -1.24358088e-02 6.99566486e+02] [ 7.24773837e-02 9.97370050e-01 -1.13943702e-04 4.90017656e+00] [ 1.24113611e-02 -7.87679651e-04 9.99922666e-01 3.04182348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.459254154 meters 0.030968655764529573 Centerline is valid? [True, True] Translation: X:699.63, Y:4.91, Z:3.04 [[ 9.97772936e-01 -6.52482827e-02 -1.38502481e-02 6.99625909e+02] [ 6.52527859e-02 9.97868758e-01 -1.27005752e-04 4.90547631e+00] [ 1.38290167e-02 -7.77044371e-04 9.99904073e-01 3.04096879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.519254154 meters 0.024565341468268755 Centerline is valid? [True, True] Translation: X:699.69, Y:4.92, Z:3.04 [[ 9.98628567e-01 -5.02877825e-02 -1.45644837e-02 6.99686009e+02] [ 5.02911719e-02 9.98734589e-01 -1.33677833e-04 4.92037853e+00] [ 1.45527760e-02 -5.98970449e-04 9.99893923e-01 3.04116240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.579254154 meters 0.019319557504671354 Centerline is valid? [True, True] Translation: X:699.75, Y:4.93, Z:3.04 [[ 9.99106791e-01 -3.97027198e-02 -1.44677135e-02 6.99746003e+02] [ 3.97049551e-02 9.99211439e-01 -1.32815816e-04 4.93371013e+00] [ 1.44615779e-02 -4.41742730e-04 9.99895328e-01 3.04308621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.639254154 meters 0.016327095049909132 Centerline is valid? [True, True] Translation: X:699.81, Y:4.94, Z:3.04 [[ 9.99587187e-01 -2.52900118e-02 -1.36334702e-02 6.99805183e+02] [ 2.52906539e-02 9.99680132e-01 -1.25337382e-04 4.94458913e+00] [ 1.36322791e-02 -2.19513737e-04 9.99907052e-01 3.04383365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.699254154 meters 0.014936661002838364 Centerline is valid? [True, True] Translation: X:699.86, Y:4.95, Z:3.04 [[ 9.99821777e-01 -1.30679943e-02 -1.36250381e-02 6.99864525e+02] [ 1.30675033e-02 9.99914609e-01 -1.25068248e-04 4.95312453e+00] [ 1.36255090e-02 -5.29992726e-05 9.99907167e-01 3.04368277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.759254154 meters 0.015099148940007402 Centerline is valid? [True, True] Translation: X:699.92, Y:4.96, Z:3.04 [[ 9.99877860e-01 -6.55723378e-03 -1.41868694e-02 6.99923255e+02] [ 6.55601309e-03 9.99978500e-01 -1.32549410e-04 4.95777774e+00] [ 1.41874335e-02 3.95239191e-05 9.99899353e-01 3.04305173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.819254154 meters 0.015439680796928265 Centerline is valid? [True, True] Translation: X:699.98, Y:4.96, Z:3.04 [[ 9.99888615e-01 8.06684669e-04 -1.49032703e-02 6.99981952e+02] [-8.08907536e-04 9.99999663e-01 -1.43125552e-04 4.96145217e+00] [ 1.49031498e-02 1.55164977e-04 9.99888930e-01 3.04333730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.879254154 meters 0.0156802734720155 Centerline is valid? [True, True] Translation: X:700.04, Y:4.96, Z:3.04 [[ 9.99895498e-01 2.60918322e-03 -1.42191761e-02 7.00040354e+02] [-2.61144017e-03 9.99996580e-01 -1.40160964e-04 4.96186612e+00] [ 1.42187618e-02 1.77278844e-04 9.99898893e-01 3.04451740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.939254154 meters 0.015410575380506658 Centerline is valid? [True, True] Translation: X:700.10, Y:4.96, Z:3.05 [[ 9.99914598e-01 -4.53468476e-05 -1.30688724e-02 7.00097846e+02] [ 4.36432692e-05 9.99999991e-01 -1.30639062e-04 4.95809835e+00] [ 1.30688782e-02 1.30057537e-04 9.99914590e-01 3.04508669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.999254154 meters 0.014735346627284526 Centerline is valid? [True, True] Translation: X:700.16, Y:4.95, Z:3.05 [[ 9.99878196e-01 -9.10475027e-03 -1.26765936e-02 7.00156865e+02] [ 9.10386282e-03 9.99958551e-01 -1.27711941e-04 4.94810948e+00] [ 1.26772310e-02 1.22904154e-05 9.99919641e-01 3.04556478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.059254154 meters 0.015321509413860774 Centerline is valid? [True, True] Translation: X:700.22, Y:4.94, Z:3.05 [[ 9.99704078e-01 -2.12041461e-02 -1.19222345e-02 7.00215771e+02] [ 2.12042128e-02 9.99775158e-01 -1.20826909e-04 4.93549822e+00] [ 1.19221159e-02 -1.32010444e-04 9.99928920e-01 3.04554380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.119254154 meters 0.01638007718757236 Centerline is valid? [True, True] Translation: X:700.28, Y:4.93, Z:3.05 [[ 9.99525062e-01 -2.87256881e-02 -1.11572530e-02 7.00276853e+02] [ 2.87262137e-02 9.99587311e-01 -1.13174692e-04 4.92775755e+00] [ 1.11558996e-02 -2.07384695e-04 9.99937750e-01 3.04625108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.179254154 meters 0.018184451878814834 Centerline is valid? [True, True] Translation: X:700.34, Y:4.92, Z:3.05 [[ 9.99355393e-01 -3.40312805e-02 -1.14310808e-02 7.00337760e+02] [ 3.40321815e-02 9.99420731e-01 -1.15742248e-04 4.92066519e+00] [ 1.14283980e-02 -2.73356977e-04 9.99934656e-01 3.04641440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.239254154 meters 0.019842041267075713 Centerline is valid? [True, True] Translation: X:700.40, Y:4.91, Z:3.05 [[ 9.99190206e-01 -3.87530806e-02 -1.08227061e-02 7.00398115e+02] [ 3.87541694e-02 9.99248769e-01 -1.09175192e-04 4.91128200e+00] [ 1.08188067e-02 -3.10338205e-04 9.99941427e-01 3.04753874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.299254154 meters 0.020336004529250554 Centerline is valid? [True, True] Translation: X:700.46, Y:4.91, Z:3.05 [[ 9.99150660e-01 -3.98881476e-02 -1.03389535e-02 7.00460009e+02] [ 3.98892085e-02 9.99204103e-01 -1.03657568e-04 4.90523299e+00] [ 1.03348595e-02 -3.08843144e-04 9.99946546e-01 3.04866288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3592541539999 meters 0.02166109386401521 Centerline is valid? [True, True] Translation: X:700.52, Y:4.90, Z:3.05 [[ 9.99166700e-01 -3.93485945e-02 -1.08440314e-02 7.00522495e+02] [ 3.93497384e-02 9.99225493e-01 -1.07945167e-04 4.90188806e+00] [ 1.08398801e-02 -3.18854583e-04 9.99941196e-01 3.04742798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.419254154 meters 0.019534577839958205 Centerline is valid? [True, True] Translation: X:700.59, Y:4.90, Z:3.05 [[ 9.99153898e-01 -3.94076737e-02 -1.17695967e-02 7.00585073e+02] [ 3.94090355e-02 9.99223155e-01 -1.16287322e-04 4.90145772e+00] [ 1.17650362e-02 -3.47639523e-04 9.99930729e-01 3.04789897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4792541539999 meters 0.022164590824507262 Centerline is valid? [True, True] Translation: X:700.65, Y:4.89, Z:3.04 [[ 9.98974361e-01 -4.28397225e-02 -1.46623661e-02 7.00645742e+02] [ 4.28422181e-02 9.99081840e-01 -1.44001321e-04 4.89384768e+00] [ 1.46550727e-02 -4.84314659e-04 9.99892491e-01 3.04493897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.539254154 meters 0.02273930250786853 Centerline is valid? [True, True] Translation: X:700.71, Y:4.89, Z:3.05 [[ 9.98633082e-01 -4.97823166e-02 -1.59276100e-02 7.00706312e+02] [ 4.97861472e-02 9.98759889e-01 -1.56166629e-04 4.89018842e+00] [ 1.59156323e-02 -6.37021174e-04 9.99873135e-01 3.04576978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5992541539999 meters 0.025329704018928454 Centerline is valid? [True, True] Translation: X:700.77, Y:4.88, Z:3.05 [[ 9.98359153e-01 -5.51324689e-02 -1.54729708e-02 7.00767738e+02] [ 5.51367315e-02 9.98478802e-01 -1.51293829e-04 4.88432779e+00] [ 1.54577745e-02 -7.02083457e-04 9.99880275e-01 3.04592251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.659254154 meters 0.027526369446247055 Centerline is valid? [True, True] Translation: X:700.83, Y:4.88, Z:3.05 [[ 9.97958777e-01 -6.22100443e-02 -1.44287760e-02 7.00828531e+02] [ 6.22144910e-02 9.98062792e-01 -1.40905919e-04 4.87888102e+00] [ 1.44095902e-02 -7.57060654e-04 9.99895890e-01 3.04714815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.7192541539999 meters 0.03201193350548288 Centerline is valid? [True, True] Translation: X:700.89, Y:4.87, Z:3.05 [[ 9.97802212e-01 -6.45103446e-02 -1.51380539e-02 7.00888692e+02] [ 6.45155180e-02 9.97916693e-01 -1.46860630e-04 4.87342903e+00] [ 1.51159907e-02 -8.30101526e-04 9.99885402e-01 3.04533386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.779254154 meters 0.029226279217451762 Centerline is valid? [True, True] Translation: X:700.95, Y:4.87, Z:3.05 [[ 9.97612867e-01 -6.74851737e-02 -1.46396661e-02 7.00949698e+02] [ 6.74903395e-02 9.97719918e-01 -1.41456635e-04 4.87485573e+00] [ 1.46158327e-02 -8.46917079e-04 9.99892824e-01 3.04774074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.839254154 meters 0.02930364675144778 Centerline is valid? [True, True] Translation: X:701.01, Y:4.87, Z:3.05 [[ 9.97571106e-01 -6.81488543e-02 -1.44091314e-02 7.01012337e+02] [ 6.81539395e-02 9.97674807e-01 -1.38404965e-04 4.87432487e+00] [ 1.43850596e-02 -8.43970279e-04 9.99896173e-01 3.04824111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.899254154 meters 0.030554254371560202 Centerline is valid? [True, True] Translation: X:701.07, Y:4.87, Z:3.05 [[ 9.97673442e-01 -6.67829354e-02 -1.37019561e-02 7.01074419e+02] [ 6.67874189e-02 9.97767219e-01 -1.30618286e-04 4.87488590e+00] [ 1.36800857e-02 -7.84803888e-04 9.99906115e-01 3.04865040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.959254154 meters 0.03085021927314866 Centerline is valid? [True, True] Translation: X:701.13, Y:4.88, Z:3.05 [[ 9.97936132e-01 -6.30250113e-02 -1.23013732e-02 7.01134510e+02] [ 6.30283438e-02 9.98011730e-01 -1.16976696e-04 4.87591367e+00] [ 1.22842872e-02 -6.58599909e-04 9.99924328e-01 3.05013568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.019254154 meters 0.027762747850368436 Centerline is valid? [True, True] Translation: X:701.20, Y:4.88, Z:3.05 [[ 9.98217328e-01 -5.84037671e-02 -1.22949590e-02 7.01195110e+02] [ 5.84067481e-02 9.98292862e-01 -1.16776915e-04 4.88314396e+00] [ 1.22807901e-02 -6.01539836e-04 9.99924407e-01 3.05060261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.079254154 meters 0.02579044948737917 Centerline is valid? [True, True] Translation: X:701.26, Y:4.89, Z:3.05 [[ 9.98641322e-01 -5.02332377e-02 -1.38611779e-02 7.01255827e+02] [ 5.02362420e-02 9.98737354e-01 -1.31574309e-04 4.89148985e+00] [ 1.38502855e-02 -5.64937944e-04 9.99903921e-01 3.04913202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.139254154 meters 0.024384305718128864 Centerline is valid? [True, True] Translation: X:701.32, Y:4.90, Z:3.05 [[ 9.98780473e-01 -4.73835024e-02 -1.38697945e-02 7.01316946e+02] [ 4.73862408e-02 9.98876632e-01 -1.31320676e-04 4.89623368e+00] [ 1.38604360e-02 -5.26076892e-04 9.99903801e-01 3.04964832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.199254154 meters 0.020557957250572984 Centerline is valid? [True, True] Translation: X:701.38, Y:4.91, Z:3.05 [[ 9.99081383e-01 -4.07202250e-02 -1.33511554e-02 7.01378025e+02] [ 4.07221729e-02 9.99170500e-01 -1.26037086e-04 4.90562582e+00] [ 1.33452129e-02 -4.17766753e-04 9.99910861e-01 3.05229908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.259254154 meters 0.01951001274753281 Centerline is valid? [True, True] Translation: X:701.44, Y:4.91, Z:3.05 [[ 9.99263840e-01 -3.56491625e-02 -1.41744538e-02 7.01438950e+02] [ 3.56508549e-02 9.99364297e-01 -1.33345657e-04 4.91071194e+00] [ 1.41701967e-02 -3.72083900e-04 9.99899528e-01 3.05160552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.319254154 meters 0.020528585326794732 Centerline is valid? [True, True] Translation: X:701.50, Y:4.91, Z:3.05 [[ 9.99349643e-01 -3.24557237e-02 -1.57135735e-02 7.01500187e+02] [ 3.24574181e-02 9.99473108e-01 -1.47250916e-04 4.91452990e+00] [ 1.57100732e-02 -3.62866873e-04 9.99876523e-01 3.04909855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.379254154 meters 0.017700948635721844 Centerline is valid? [True, True] Translation: X:701.56, Y:4.92, Z:3.05 [[ 9.99423778e-01 -3.06735336e-02 -1.45343308e-02 7.01560525e+02] [ 3.06747969e-02 9.99529408e-01 -1.36056298e-04 4.91925959e+00] [ 1.45316644e-02 -3.09859747e-04 9.99894362e-01 3.05229337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.439254154 meters 0.01803394761499138 Centerline is valid? [True, True] Translation: X:701.62, Y:4.92, Z:3.05 [[ 9.99477303e-01 -3.01668861e-02 -1.16224240e-02 7.01621066e+02] [ 3.01676611e-02 9.99544847e-01 -1.08669509e-04 4.91896838e+00] [ 1.16204122e-02 -2.42008641e-04 9.99932451e-01 3.05472803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.499254154 meters 0.017755911561968863 Centerline is valid? [True, True] Translation: X:701.68, Y:4.92, Z:3.06 [[ 9.99474576e-01 -3.05380524e-02 -1.08627845e-02 7.01682389e+02] [ 3.05387546e-02 9.99533578e-01 -1.01263824e-04 4.91970365e+00] [ 1.08608103e-02 -2.30525293e-04 9.99940993e-01 3.05606628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.559254154 meters 0.018866011841860406 Centerline is valid? [True, True] Translation: X:701.74, Y:4.92, Z:3.06 [[ 9.99406966e-01 -3.26758246e-02 -1.08630531e-02 7.01743272e+02] [ 3.26766618e-02 9.99465970e-01 -1.00457146e-04 4.91579933e+00] [ 1.08605344e-02 -2.54570741e-04 9.99940990e-01 3.05533403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.619254154 meters 0.02054365907809299 Centerline is valid? [True, True] Translation: X:701.81, Y:4.91, Z:3.05 [[ 9.99319917e-01 -3.50406459e-02 -1.14828875e-02 7.01805715e+02] [ 3.50417484e-02 9.99385844e-01 -1.05231790e-04 4.91215659e+00] [ 1.14795226e-02 -2.97220231e-04 9.99934064e-01 3.05313711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.679254154 meters 0.019121335667903142 Centerline is valid? [True, True] Translation: X:701.87, Y:4.91, Z:3.05 [[ 9.99141111e-01 -3.97743232e-02 -1.16208342e-02 7.01866485e+02] [ 3.97757773e-02 9.99208625e-01 -1.06054622e-04 4.91223546e+00] [ 1.16158560e-02 -3.56264179e-04 9.99932470e-01 3.05365723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.739254154 meters 0.019901352975419312 Centerline is valid? [True, True] Translation: X:701.93, Y:4.91, Z:3.05 [[ 9.99073091e-01 -4.14284052e-02 -1.16895286e-02 7.01928402e+02] [ 4.14299970e-02 9.99141403e-01 -1.06057830e-04 4.91024937e+00] [ 1.16838858e-02 -3.78337610e-04 9.99931670e-01 3.05376888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.799254154 meters 0.021683524280842734 Centerline is valid? [True, True] Translation: X:701.99, Y:4.91, Z:3.05 [[ 9.99073995e-01 -4.13184858e-02 -1.19972638e-02 7.01989519e+02] [ 4.13201636e-02 9.99145951e-01 -1.08097449e-04 4.90539092e+00] [ 1.19914840e-02 -3.87731552e-04 9.99928024e-01 3.05319033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8592541539999 meters 0.02142470916122173 Centerline is valid? [True, True] Translation: X:702.05, Y:4.91, Z:3.05 [[ 9.99124319e-01 -4.01769425e-02 -1.16793862e-02 7.02051819e+02] [ 4.01784635e-02 9.99192514e-01 -1.04470153e-04 4.90691606e+00] [ 1.16741526e-02 -3.64881123e-04 9.99931788e-01 3.05321365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.919254154 meters 0.02050817829225103 Centerline is valid? [True, True] Translation: X:702.11, Y:4.90, Z:3.05 [[ 9.99143551e-01 -4.01160547e-02 -1.01423036e-02 7.02113891e+02] [ 4.01172056e-02 9.99194977e-01 -9.00308286e-05 4.90489456e+00] [ 1.01377505e-02 -3.16927159e-04 9.99948561e-01 3.05477604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9792541539999 meters 0.020585584325771702 Centerline is valid? [True, True] Translation: X:702.18, Y:4.90, Z:3.05 [[ 9.99081278e-01 -4.15591993e-02 -1.04609803e-02 7.02176213e+02] [ 4.15605106e-02 9.99135984e-01 -9.20932385e-05 4.90216073e+00] [ 1.04557691e-02 -3.42755051e-04 9.99945278e-01 3.05452211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.039254154 meters 0.023726014742715143 Centerline is valid? [True, True] Translation: X:702.24, Y:4.90, Z:3.05 [[ 9.98945574e-01 -4.45070949e-02 -1.12631219e-02 7.02237722e+02] [ 4.45088103e-02 9.99008987e-01 -9.84433259e-05 4.89742451e+00] [ 1.12563414e-02 -4.02968630e-04 9.99936564e-01 3.05251232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0992541539999 meters 0.02271908509061915 Centerline is valid? [True, True] Translation: X:702.30, Y:4.90, Z:3.05 [[ 9.98750151e-01 -4.85667239e-02 -1.18072017e-02 7.02299206e+02] [ 4.85688983e-02 9.98819829e-01 -1.02680592e-04 4.89676800e+00] [ 1.17982540e-02 -4.70910520e-04 9.99930287e-01 3.05395005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.159254154 meters 0.02491919319147393 Centerline is valid? [True, True] Translation: X:702.36, Y:4.89, Z:3.05 [[ 9.98432106e-01 -5.45759322e-02 -1.24417223e-02 7.02360055e+02] [ 5.45788147e-02 9.98509460e-01 -1.07999889e-04 4.89246280e+00] [ 1.24290716e-02 -5.71223900e-04 9.99922593e-01 3.05397149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.2192541539999 meters 0.027948057382997025 Centerline is valid? [True, True] Translation: X:702.42, Y:4.89, Z:3.05 [[ 9.98320578e-01 -5.67872385e-02 -1.14557045e-02 7.02420837e+02] [ 5.67898305e-02 9.98386150e-01 -9.91698323e-05 4.88860225e+00] [ 1.14428483e-02 -5.51564230e-04 9.99934376e-01 3.05460661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.279254154 meters 0.02684876485465779 Centerline is valid? [True, True] Translation: X:702.48, Y:4.89, Z:3.06 [[ 9.98336836e-01 -5.67276203e-02 -1.02732582e-02 7.02482644e+02] [ 5.67297074e-02 9.98389569e-01 -8.83654918e-05 4.89270297e+00] [ 1.02617266e-02 -4.94580408e-04 9.99947225e-01 3.05603227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.339254154 meters 0.02494221794947551 Centerline is valid? [True, True] Translation: X:702.54, Y:4.90, Z:3.06 [[ 9.98531174e-01 -5.31873215e-02 -1.03249313e-02 7.02544042e+02] [ 5.31892463e-02 9.98584446e-01 -8.82749565e-05 4.89977454e+00] [ 1.03150109e-02 -4.61030018e-04 9.99946693e-01 3.05585631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.399254154 meters 0.025535050724536802 Centerline is valid? [True, True] Translation: X:702.61, Y:4.90, Z:3.05 [[ 9.98685413e-01 -5.02008010e-02 -1.03597509e-02 7.02605417e+02] [ 5.02025823e-02 9.98739051e-01 -8.81946126e-05 4.90359996e+00] [ 1.03511152e-02 -4.32007572e-04 9.99946332e-01 3.05479686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.459254154 meters 0.02362898265247637 Centerline is valid? [True, True] Translation: X:702.67, Y:4.91, Z:3.06 [[ 9.98833082e-01 -4.75679727e-02 -8.35236583e-03 7.02666397e+02] [ 4.75690409e-02 9.98867950e-01 -7.08327149e-05 4.90830320e+00] [ 8.34627990e-03 -3.26563973e-04 9.99965116e-01 3.05805020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.519254154 meters 0.022748822634999572 Centerline is valid? [True, True] Translation: X:702.73, Y:4.91, Z:3.06 [[ 9.98897662e-01 -4.60978798e-02 -8.85703334e-03 7.02728379e+02] [ 4.60990276e-02 9.98936872e-01 -7.46202247e-05 4.91378462e+00] [ 8.85105702e-03 -3.33762657e-04 9.99960773e-01 3.05806344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.579254154 meters 0.022346772827878184 Centerline is valid? [True, True] Translation: X:702.79, Y:4.92, Z:3.06 [[ 9.98897191e-01 -4.57522018e-02 -1.05421622e-02 7.02790191e+02] [ 4.57538176e-02 9.98952742e-01 -8.79807310e-05 4.91785165e+00] [ 1.05351472e-02 -3.94460462e-04 9.99944426e-01 3.05608208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.639254154 meters 0.02182700236649754 Centerline is valid? [True, True] Translation: X:702.85, Y:4.92, Z:3.06 [[ 9.98834847e-01 -4.65643402e-02 -1.26771904e-02 7.02852496e+02] [ 4.65667550e-02 9.98915175e-01 -1.04790232e-04 4.92106198e+00] [ 1.26683173e-02 -4.85667483e-04 9.99919636e-01 3.05553443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.699254154 meters 0.023237166510960337 Centerline is valid? [True, True] Translation: X:702.91, Y:4.92, Z:3.06 [[ 9.98839170e-01 -4.63645391e-02 -1.30630272e-02 7.02914114e+02] [ 4.63671043e-02 9.98924462e-01 -1.06582067e-04 4.92206868e+00] [ 1.30539191e-02 -4.99236402e-04 9.99914669e-01 3.05564665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.759254154 meters 0.023303513949698988 Centerline is valid? [True, True] Translation: X:702.98, Y:4.93, Z:3.06 [[ 9.98845456e-01 -4.63900494e-02 -1.24787356e-02 7.02976600e+02] [ 4.63924059e-02 9.98923288e-01 -1.00718589e-04 4.92574134e+00] [ 1.24699719e-02 -4.78316262e-04 9.99922132e-01 3.05674281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.819254154 meters 0.025584169178198675 Centerline is valid? [True, True] Translation: X:703.04, Y:4.93, Z:3.06 [[ 9.98841856e-01 -4.67047638e-02 -1.15590414e-02 7.03037490e+02] [ 4.67068199e-02 9.98908637e-01 -9.21632909e-05 4.92638699e+00] [ 1.15507308e-02 -4.47829512e-04 9.99933188e-01 3.05669628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.879254154 meters 0.025454040791278387 Centerline is valid? [True, True] Translation: X:703.10, Y:4.93, Z:3.06 [[ 9.98780202e-01 -4.83818279e-02 -9.86445038e-03 7.03099225e+02] [ 4.83834164e-02 9.98828834e-01 -7.76871805e-05 4.92707609e+00] [ 9.85665611e-03 -3.99683392e-04 9.99951342e-01 3.05904395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.939254154 meters 0.024058567326580266 Centerline is valid? [True, True] Translation: X:703.16, Y:4.93, Z:3.06 [[ 9.98706477e-01 -4.96939597e-02 -1.07649389e-02 7.03161125e+02] [ 4.96959375e-02 9.98764390e-01 -8.38556075e-05 4.93156526e+00] [ 1.07558048e-02 -4.51226593e-04 9.99942053e-01 3.05884075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.999254154 meters 0.026065814307680676 Centerline is valid? [True, True] Translation: X:703.22, Y:4.93, Z:3.06 [[ 9.98704183e-01 -4.96396199e-02 -1.12188383e-02 7.03221905e+02] [ 4.96417725e-02 9.98767083e-01 -8.66922518e-05 4.93057689e+00] [ 1.12093098e-02 -4.70343106e-04 9.99937063e-01 3.05773814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.059254154 meters 0.024542947054452816 Centerline is valid? [True, True] Translation: X:703.28, Y:4.93, Z:3.06 [[ 9.98717705e-01 -4.92868878e-02 -1.15649772e-02 7.03283749e+02] [ 4.92891603e-02 9.98784547e-01 -8.86112140e-05 4.93418476e+00] [ 1.15552879e-02 -4.81530429e-04 9.99933119e-01 3.05843418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.119254154 meters 0.023638783711365637 Centerline is valid? [True, True] Translation: X:703.35, Y:4.94, Z:3.06 [[ 9.98805627e-01 -4.74771162e-02 -1.15431041e-02 7.03346510e+02] [ 4.74792705e-02 9.98872220e-01 -8.74882366e-05 4.93734589e+00] [ 1.15342397e-02 -4.60674417e-04 9.99933372e-01 3.05863851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.179254154 meters 0.022565556099869384 Centerline is valid? [True, True] Translation: X:703.41, Y:4.94, Z:3.06 [[ 9.99049354e-01 -4.22655432e-02 -1.06776739e-02 7.03405875e+02] [ 4.22670920e-02 9.99106344e-01 -8.06742739e-05 4.94319765e+00] [ 1.06715414e-02 -3.70716642e-04 9.99942989e-01 3.05929192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.239254154 meters 0.02010160075925478 Centerline is valid? [True, True] Translation: X:703.47, Y:4.95, Z:3.06 [[ 9.99351082e-01 -3.42892326e-02 -1.10301528e-02 7.03465437e+02] [ 3.42903983e-02 9.99411908e-01 -8.34784035e-05 4.95154340e+00] [ 1.10265285e-02 -2.94804101e-04 9.99939163e-01 3.05897767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.299254154 meters 0.018540054491423996 Centerline is valid? [True, True] Translation: X:703.53, Y:4.96, Z:3.06 [[ 9.99516247e-01 -2.89586050e-02 -1.13433311e-02 7.03527012e+02] [ 2.89594983e-02 9.99580582e-01 -8.55350889e-05 4.95755727e+00] [ 1.13410505e-02 -2.43003466e-04 9.99935659e-01 3.05912557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3592541539999 meters 0.017223401024705706 Centerline is valid? [True, True] Translation: X:703.59, Y:4.96, Z:3.06 [[ 9.99645346e-01 -2.39703738e-02 -1.16018352e-02 7.03587045e+02] [ 2.39709764e-02 9.99712651e-01 -8.71338572e-05 4.96409411e+00] [ 1.16005901e-02 -1.91004363e-04 9.99932693e-01 3.05950958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.419254154 meters 0.016218614980507168 Centerline is valid? [True, True] Translation: X:703.65, Y:4.97, Z:3.06 [[ 9.99619706e-01 -2.52130536e-02 -1.11689456e-02 7.03648319e+02] [ 2.52136932e-02 9.99682081e-01 -8.35600883e-05 4.96707419e+00] [ 1.11675015e-02 -1.98082056e-04 9.99937622e-01 3.06077810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4792541539999 meters 0.020405247273922383 Centerline is valid? [True, True] Translation: X:703.71, Y:4.96, Z:3.06 [[ 9.99536662e-01 -2.77378840e-02 -1.25328141e-02 7.03708642e+02] [ 2.77388920e-02 9.99615199e-01 -9.34311779e-05 4.96221159e+00] [ 1.25305831e-02 -2.54258490e-04 9.99921457e-01 3.05683767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.539254154 meters 0.020614986004101134 Centerline is valid? [True, True] Translation: X:703.77, Y:4.96, Z:3.06 [[ 9.99338197e-01 -3.45652545e-02 -1.13318915e-02 7.03769051e+02] [ 3.45665204e-02 9.99402396e-01 -8.41922726e-05 4.95718264e+00] [ 1.13280296e-02 -3.07567504e-04 9.99935789e-01 3.05894758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5992541539999 meters 0.0201608905472928 Centerline is valid? [True, True] Translation: X:703.83, Y:4.96, Z:3.06 [[ 9.99202881e-01 -3.84326239e-02 -1.07951596e-02 7.03831360e+02] [ 3.84340044e-02 9.99261138e-01 -7.96231233e-05 4.95757408e+00] [ 1.07902436e-02 -3.35341557e-04 9.99941727e-01 3.06052611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.659254154 meters 0.020404332960114995 Centerline is valid? [True, True] Translation: X:703.89, Y:4.96, Z:3.06 [[ 9.98985330e-01 -4.39633728e-02 -9.77404273e-03 7.03892263e+02] [ 4.39647725e-02 9.99033079e-01 -7.17085780e-05 4.95580711e+00] [ 9.76774456e-03 -3.58077748e-04 9.99952230e-01 3.06228699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.7192541539999 meters 0.024032249260457814 Centerline is valid? [True, True] Translation: X:703.95, Y:4.95, Z:3.06 [[ 9.98782853e-01 -4.84835739e-02 -9.06400104e-03 7.03952084e+02] [ 4.84849677e-02 9.98823910e-01 -6.60308583e-05 4.94926680e+00] [ 9.05654237e-03 -3.73517309e-04 9.99958919e-01 3.06308480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.779254154 meters 0.02487309433930604 Centerline is valid? [True, True] Translation: X:704.01, Y:4.95, Z:3.06 [[ 9.98453119e-01 -5.49580111e-02 -8.42530673e-03 7.04013020e+02] [ 5.49594484e-02 9.98488585e-01 -6.10095492e-05 4.94542891e+00] [ 8.41592556e-03 -4.02135036e-04 9.99964505e-01 3.06325428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.839254154 meters 0.02774082640640635 Centerline is valid? [True, True] Translation: X:704.07, Y:4.94, Z:3.06 [[ 9.98212910e-01 -5.91678149e-02 -8.37588598e-03 7.04073500e+02] [ 5.91693847e-02 9.98247955e-01 -6.04760822e-05 4.93668414e+00] [ 8.36478929e-03 -4.35228014e-04 9.99964920e-01 3.06261687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.899254154 meters 0.029777080922264887 Centerline is valid? [True, True] Translation: X:704.14, Y:4.93, Z:3.06 [[ 9.98173719e-01 -5.97332133e-02 -9.00938867e-03 7.04135025e+02] [ 5.97350563e-02 9.98214265e-01 -6.46251654e-05 4.93272385e+00] [ 8.99716056e-03 -4.73669198e-04 9.99959413e-01 3.06211117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.959254154 meters 0.026485083727572578 Centerline is valid? [True, True] Translation: X:704.20, Y:4.94, Z:3.06 [[ 9.98329803e-01 -5.66875533e-02 -1.11411858e-02 7.04196361e+02] [ 5.66901887e-02 9.98391815e-01 -7.93712768e-05 4.93679492e+00] [ 1.11277681e-02 -5.52357214e-04 9.99937932e-01 3.05995807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.019254154 meters 0.023352141117261426 Centerline is valid? [True, True] Translation: X:704.26, Y:4.94, Z:3.06 [[ 9.98575345e-01 -5.21780659e-02 -1.11682497e-02 7.04257524e+02] [ 5.21804360e-02 9.98637670e-01 -7.92723272e-05 4.93878711e+00] [ 1.11571712e-02 -5.03604748e-04 9.99937630e-01 3.06168671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.079254154 meters 0.02078246940974054 Centerline is valid? [True, True] Translation: X:704.32, Y:4.94, Z:3.06 [[ 9.98955526e-01 -4.44169083e-02 -1.07235830e-02 7.04318518e+02] [ 4.44186489e-02 9.99013002e-01 -7.59167685e-05 4.94238601e+00] [ 1.07163709e-02 -4.00489595e-04 9.99942498e-01 3.06236842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.139254154 meters 0.018882623815255076 Centerline is valid? [True, True] Translation: X:704.38, Y:4.95, Z:3.06 [[ 9.99253159e-01 -3.72944610e-02 -1.01117536e-02 7.04379332e+02] [ 3.72956462e-02 9.99304273e-01 -7.14000392e-05 4.94641986e+00] [ 1.01073814e-02 -3.05777670e-04 9.99948872e-01 3.06332722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.199254154 meters 0.016328357328485508 Centerline is valid? [True, True] Translation: X:704.44, Y:4.95, Z:3.06 [[ 9.99628003e-01 -2.53649792e-02 -1.00236524e-02 7.04440245e+02] [ 2.53655452e-02 9.99678240e-01 -7.06831352e-05 4.95364669e+00] [ 1.00222201e-02 -1.83598567e-04 9.99949759e-01 3.06335793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.259254154 meters 0.015381338217375064 Centerline is valid? [True, True] Translation: X:704.50, Y:4.96, Z:3.06 [[ 9.99757310e-01 -1.89820432e-02 -1.11805011e-02 7.04501972e+02] [ 1.89823526e-02 9.99819816e-01 -7.84557743e-05 4.95772735e+00] [ 1.11799758e-02 -1.33795479e-04 9.99937493e-01 3.06282335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.319254154 meters 0.015009313743898758 Centerline is valid? [True, True] Translation: X:704.56, Y:4.96, Z:3.06 [[ 9.99799404e-01 -1.50898444e-02 -1.31699487e-02 7.04562918e+02] [ 1.50899399e-02 9.99886136e-01 -9.21307465e-05 4.95909614e+00] [ 1.31698394e-02 -1.06621469e-04 9.99913268e-01 3.06164245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.379254154 meters 0.015549110480466729 Centerline is valid? [True, True] Translation: X:704.62, Y:4.95, Z:3.06 [[ 9.99729839e-01 -1.85450205e-02 -1.40118093e-02 7.04620840e+02] [ 1.85454557e-02 9.99828013e-01 -9.88844027e-05 4.95472585e+00] [ 1.40112333e-02 -1.60997701e-04 9.99901825e-01 3.06063265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.439254154 meters 0.01652109391372932 Centerline is valid? [True, True] Translation: X:704.68, Y:4.95, Z:3.06 [[ 9.99635232e-01 -2.35195834e-02 -1.32752475e-02 7.04679529e+02] [ 2.35203790e-02 9.99723353e-01 -9.62161777e-05 4.95050502e+00] [ 1.32738379e-02 -2.16057770e-04 9.99911875e-01 3.06161271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.499254154 meters 0.018407659546686446 Centerline is valid? [True, True] Translation: X:704.74, Y:4.94, Z:3.06 [[ 9.99424446e-01 -3.16713842e-02 -1.21532035e-02 7.04739441e+02] [ 3.16726397e-02 9.99498292e-01 -8.91995609e-05 4.94466882e+00] [ 1.21499312e-02 -2.95775812e-04 9.99926143e-01 3.06315172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.559254154 meters 0.022234102362482997 Centerline is valid? [True, True] Translation: X:704.80, Y:4.94, Z:3.06 [[ 9.99212517e-01 -3.74056292e-02 -1.32349998e-02 7.04800550e+02] [ 3.74076216e-02 9.99300085e-01 -9.70693322e-05 4.93846269e+00] [ 1.32293674e-02 -3.98096974e-04 9.99912409e-01 3.06135904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.619254154 meters 0.020760133266347052 Centerline is valid? [True, True] Translation: X:704.86, Y:4.94, Z:3.06 [[ 9.99049983e-01 -4.16454992e-02 -1.28367807e-02 7.04862149e+02] [ 4.16477280e-02 9.99132353e-01 -9.37661644e-05 4.93775749e+00] [ 1.28295478e-02 -4.40945665e-04 9.99917601e-01 3.06366625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.679254154 meters 0.021343786177802093 Centerline is valid? [True, True] Translation: X:704.92, Y:4.94, Z:3.06 [[ 9.98912556e-01 -4.49848068e-02 -1.22504438e-02 7.04923710e+02] [ 4.49870945e-02 9.98987564e-01 -8.88945785e-05 4.93506043e+00] [ 1.22420400e-02 -4.62313964e-04 9.99924957e-01 3.06492013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.739254154 meters 0.02160009331274423 Centerline is valid? [True, True] Translation: X:704.99, Y:4.93, Z:3.06 [[ 9.98935639e-01 -4.42433751e-02 -1.30427446e-02 7.04985833e+02] [ 4.42459169e-02 9.99020665e-01 -9.37511939e-05 4.93420313e+00] [ 1.30341193e-02 -4.83436786e-04 9.99914935e-01 3.06473287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.799254154 meters 0.02019225530244031 Centerline is valid? [True, True] Translation: X:705.05, Y:4.94, Z:3.06 [[ 9.99121758e-01 -3.92174639e-02 -1.47547760e-02 7.05047705e+02] [ 3.92201842e-02 9.99230587e-01 -1.05060624e-04 4.93803359e+00] [ 1.47475437e-02 -4.73716676e-04 9.99891137e-01 3.06376717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8592541539999 meters 0.019193928247947616 Centerline is valid? [True, True] Translation: X:705.11, Y:4.94, Z:3.06 [[ 9.99322361e-01 -3.36477280e-02 -1.49214046e-02 7.05107507e+02] [ 3.36498936e-02 9.99433676e-01 -1.05975354e-04 4.94161917e+00] [ 1.49165201e-02 -3.96200136e-04 9.99888664e-01 3.06360100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.919254154 meters 0.017014507768056363 Centerline is valid? [True, True] Translation: X:705.17, Y:4.95, Z:3.07 [[ 9.99518130e-01 -2.71988427e-02 -1.49576124e-02 7.05167766e+02] [ 2.72002971e-02 9.99629998e-01 -1.06232511e-04 4.94770716e+00] [ 1.49549674e-02 -3.00670180e-04 9.99888123e-01 3.06517112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9792541539999 meters 0.01580329434554697 Centerline is valid? [True, True] Translation: X:705.23, Y:4.95, Z:3.07 [[ 9.99654363e-01 -2.16686137e-02 -1.48871042e-02 7.05227945e+02] [ 2.16694413e-02 9.99765184e-01 -1.05731745e-04 4.95084229e+00] [ 1.48858995e-02 -2.16900031e-04 9.99889175e-01 3.06538196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.039254154 meters 0.015352351954096859 Centerline is valid? [True, True] Translation: X:705.29, Y:4.95, Z:3.06 [[ 9.99721376e-01 -1.77540795e-02 -1.55551782e-02 7.05286346e+02] [ 1.77545000e-02 9.99842370e-01 -1.11072990e-04 4.95332547e+00] [ 1.55546982e-02 -1.65132368e-04 9.99879005e-01 3.06461598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0992541539999 meters 0.015818555216329765 Centerline is valid? [True, True] Translation: X:705.34, Y:4.95, Z:3.06 [[ 9.99676874e-01 -1.88437886e-02 -1.70604372e-02 7.05344514e+02] [ 1.88444299e-02 9.99822420e-01 -1.23177835e-04 4.95147122e+00] [ 1.70597287e-02 -1.98356179e-04 9.99854453e-01 3.06255094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.159254154 meters 0.016900171695236728 Centerline is valid? [True, True] Translation: X:705.40, Y:4.95, Z:3.06 [[ 9.99608283e-01 -2.13126279e-02 -1.81398036e-02 7.05403503e+02] [ 2.13136868e-02 9.99772828e-01 -1.34978712e-04 4.95061663e+00] [ 1.81385595e-02 -2.51700252e-04 9.99835451e-01 3.06322120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.2192541539999 meters 0.017130541988354817 Centerline is valid? [True, True] Translation: X:705.46, Y:4.95, Z:3.06 [[ 9.99528045e-01 -2.54858544e-02 -1.71510484e-02 7.05462400e+02] [ 2.54873392e-02 9.99675136e-01 -1.32041273e-04 4.94801629e+00] [ 1.71488419e-02 -3.05155635e-04 9.99852901e-01 3.06491855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.279254154 meters 0.01743079262187622 Centerline is valid? [True, True] Translation: X:705.52, Y:4.94, Z:3.07 [[ 9.99448531e-01 -2.95661562e-02 -1.51154547e-02 7.05521033e+02] [ 2.95677484e-02 9.99562772e-01 -1.18178809e-04 4.94345972e+00] [ 1.51123399e-02 -3.28816324e-04 9.99885748e-01 3.06639097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.339254154 meters 0.017547921273630404 Centerline is valid? [True, True] Translation: X:705.58, Y:4.94, Z:3.07 [[ 9.99382818e-01 -3.21824984e-02 -1.40808112e-02 7.05581473e+02] [ 3.21841353e-02 9.99481950e-01 -1.10394245e-04 4.94258498e+00] [ 1.40770694e-02 -3.42852620e-04 9.99900854e-01 3.06744660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.399254154 meters 0.017938667427465967 Centerline is valid? [True, True] Translation: X:705.64, Y:4.94, Z:3.07 [[ 9.99342448e-01 -3.38135559e-02 -1.30887142e-02 7.05642809e+02] [ 3.38151142e-02 9.99428100e-01 -1.02294649e-04 4.94077332e+00] [ 1.30846877e-02 -3.40368981e-04 9.99914334e-01 3.06852596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.459254154 meters 0.01728989154482571 Centerline is valid? [True, True] Translation: X:705.70, Y:4.94, Z:3.07 [[ 9.99405200e-01 -3.16525749e-02 -1.36879547e-02 7.05704560e+02] [ 3.16540861e-02 9.99498878e-01 -1.06287828e-04 4.94254545e+00] [ 1.36844597e-02 -3.27055090e-04 9.99906310e-01 3.06884565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.519254154 meters 0.017241109734432138 Centerline is valid? [True, True] Translation: X:705.76, Y:4.94, Z:3.07 [[ 9.99473546e-01 -2.88011914e-02 -1.49372491e-02 7.05764569e+02] [ 2.88026797e-02 9.99585110e-01 -1.15526462e-04 4.94333955e+00] [ 1.49343791e-02 -3.14767159e-04 9.99888426e-01 3.06851894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.579254154 meters 0.01612327646809207 Centerline is valid? [True, True] Translation: X:705.82, Y:4.95, Z:3.07 [[ 9.99572105e-01 -2.50605530e-02 -1.50856191e-02 7.05824667e+02] [ 2.50616464e-02 9.99685901e-01 -1.16592398e-04 4.94591076e+00] [ 1.50838025e-02 -2.61527942e-04 9.99886199e-01 3.06888311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.639254154 meters 0.01571478960216101 Centerline is valid? [True, True] Translation: X:705.88, Y:4.95, Z:3.07 [[ 9.99591224e-01 -2.35888426e-02 -1.61539691e-02 7.05884011e+02] [ 2.35898972e-02 9.99721712e-01 -1.25286761e-04 4.94629837e+00] [ 1.61524290e-02 -2.55834923e-04 9.99869508e-01 3.06823791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.699254154 meters 0.015920989349957997 Centerline is valid? [True, True] Translation: X:705.94, Y:4.95, Z:3.07 [[ 9.99549354e-01 -2.43425840e-02 -1.75649301e-02 7.05943053e+02] [ 2.43438846e-02 9.99703634e-01 -1.39798419e-04 4.94526289e+00] [ 1.75631275e-02 -2.87863212e-04 9.99845715e-01 3.06701782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.759254154 meters 0.01695805858492648 Centerline is valid? [True, True] Translation: X:706.00, Y:4.94, Z:3.07 [[ 9.99451406e-01 -2.71856506e-02 -1.89163518e-02 7.06002056e+02] [ 2.71875747e-02 9.99630337e-01 -1.55493510e-04 4.94357480e+00] [ 1.89135863e-02 -3.58881520e-04 9.99821058e-01 3.06604689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.819254154 meters 0.017134505610424965 Centerline is valid? [True, True] Translation: X:706.06, Y:4.94, Z:3.07 [[ 9.99318577e-01 -3.20458999e-02 -1.83150972e-02 7.06061282e+02] [ 3.20484851e-02 9.99486304e-01 -1.52415460e-04 4.94098463e+00] [ 1.83105731e-02 -4.34659518e-04 9.99832253e-01 3.06793483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.879254154 meters 0.018245805926175862 Centerline is valid? [True, True] Translation: X:706.12, Y:4.94, Z:3.07 [[ 9.99192028e-01 -3.64789382e-02 -1.68694196e-02 7.06120356e+02] [ 3.64817471e-02 9.99334309e-01 -1.41301056e-04 4.93784403e+00] [ 1.68633443e-02 -4.74239009e-04 9.99857691e-01 3.06920585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.939254154 meters 0.020977890801976495 Centerline is valid? [True, True] Translation: X:706.18, Y:4.93, Z:3.07 [[ 9.98918289e-01 -4.41876147e-02 -1.44812461e-02 7.06181150e+02] [ 4.41904924e-02 9.99023116e-01 -1.21364561e-04 4.93098886e+00] [ 1.44724624e-02 -5.18700115e-04 9.99895134e-01 3.07094864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.999254154 meters 0.02388995472838829 Centerline is valid? [True, True] Translation: X:706.24, Y:4.93, Z:3.07 [[ 9.98704961e-01 -4.90449972e-02 -1.35273254e-02 7.06241648e+02] [ 4.90479560e-02 9.98796418e-01 -1.13148332e-04 4.92537068e+00] [ 1.35165936e-02 -5.50485862e-04 9.99908495e-01 3.07116610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.059254154 meters 0.028511589958121194 Centerline is valid? [True, True] Translation: X:706.30, Y:4.92, Z:3.07 [[ 9.98402298e-01 -5.46596299e-02 -1.43239782e-02 7.06301944e+02] [ 5.46635257e-02 9.98504825e-01 -1.19690985e-04 4.91934453e+00] [ 1.43091036e-02 -6.63499394e-04 9.99897399e-01 3.06970377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.119254154 meters 0.030835638450919623 Centerline is valid? [True, True] Translation: X:706.36, Y:4.91, Z:3.07 [[ 9.98031259e-01 -6.12188651e-02 -1.36328906e-02 7.06361297e+02] [ 6.12230052e-02 9.98124106e-01 -1.13841303e-04 4.91381261e+00] [ 1.36142860e-02 -7.21029355e-04 9.99907061e-01 3.07226849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.179254154 meters 0.029819755857671316 Centerline is valid? [True, True] Translation: X:706.42, Y:4.92, Z:3.07 [[ 9.97900426e-01 -6.31926726e-02 -1.41924436e-02 7.06423263e+02] [ 6.31973691e-02 9.98001041e-01 -1.17778759e-04 4.91586597e+00] [ 1.41715162e-02 -7.79393622e-04 9.99899275e-01 3.07189393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.239254154 meters 0.031030179141983194 Centerline is valid? [True, True] Translation: X:706.49, Y:4.92, Z:3.07 [[ 9.97804991e-01 -6.44606166e-02 -1.51667201e-02 7.06485457e+02] [ 6.44661431e-02 9.97919887e-01 -1.24740553e-04 4.91545404e+00] [ 1.51432125e-02 -8.53273203e-04 9.99884971e-01 3.07011303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.299254154 meters 0.03171020057147864 Centerline is valid? [True, True] Translation: X:706.55, Y:4.92, Z:3.07 [[ 9.97954221e-01 -6.22429705e-02 -1.46008579e-02 7.06546466e+02] [ 6.22478655e-02 9.98060714e-01 -1.19410969e-04 4.91667815e+00] [ 1.45799752e-02 -7.89705559e-04 9.99893395e-01 3.07104613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3592541539999 meters 0.026080046282464023 Centerline is valid? [True, True] Translation: X:706.61, Y:4.93, Z:3.07 [[ 9.98168083e-01 -5.88272595e-02 -1.41361607e-02 7.06607263e+02] [ 5.88315108e-02 9.98267920e-01 -1.15277955e-04 4.92630582e+00] [ 1.41184572e-02 -7.16584916e-04 9.99900073e-01 3.07429232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.419254154 meters 0.024906185542578337 Centerline is valid? [True, True] Translation: X:706.67, Y:4.93, Z:3.07 [[ 9.98626914e-01 -5.06292902e-02 -1.34522306e-02 7.06667345e+02] [ 5.06323984e-02 9.98717352e-01 -1.09636061e-04 4.93398934e+00] [ 1.34405269e-02 -5.71633178e-04 9.99909509e-01 3.07447825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4792541539999 meters 0.0210703778706474 Centerline is valid? [True, True] Translation: X:706.73, Y:4.94, Z:3.08 [[ 9.98899095e-01 -4.53351394e-02 -1.20549791e-02 7.06728418e+02] [ 4.53372521e-02 9.98971733e-01 -9.81119490e-05 4.94262775e+00] [ 1.20470313e-02 -4.48535691e-04 9.99927331e-01 3.07835088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.539254154 meters 0.018982518642830962 Centerline is valid? [True, True] Translation: X:706.79, Y:4.95, Z:3.08 [[ 9.99251596e-01 -3.69639004e-02 -1.13981218e-02 7.06789033e+02] [ 3.69652461e-02 9.99316547e-01 -9.26619231e-05 4.94997586e+00] [ 1.13937569e-02 -3.28741802e-04 9.99935035e-01 3.08006288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5992541539999 meters 0.019096875938440006 Centerline is valid? [True, True] Translation: X:706.85, Y:4.96, Z:3.08 [[ 9.99508324e-01 -2.88699032e-02 -1.22326838e-02 7.06849700e+02] [ 2.88708492e-02 9.99583145e-01 -9.92855811e-05 4.95548890e+00] [ 1.22304509e-02 -2.53931205e-04 9.99925173e-01 3.07914802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.659254154 meters 0.018287356719386097 Centerline is valid? [True, True] Translation: X:706.91, Y:4.96, Z:3.08 [[ 9.99627279e-01 -2.41711923e-02 -1.26908382e-02 7.06910953e+02] [ 2.41718369e-02 9.99707813e-01 -1.02613293e-04 4.95935177e+00] [ 1.26896104e-02 -2.04185824e-04 9.99919463e-01 3.07968393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.7192541539999 meters 0.015626155567380482 Centerline is valid? [True, True] Translation: X:706.97, Y:4.96, Z:3.08 [[ 9.99740528e-01 -1.85868285e-02 -1.31683522e-02 7.06971616e+02] [ 1.85870403e-02 9.99827240e-01 -1.06304845e-04 4.96343972e+00] [ 1.31680531e-02 -1.38483431e-04 9.99913288e-01 3.08146506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.779254154 meters 0.015317569953994413 Centerline is valid? [True, True] Translation: X:707.03, Y:4.96, Z:3.08 [[ 9.99803152e-01 -1.41949052e-02 -1.38622498e-02 7.07030951e+02] [ 1.41947130e-02 9.99899244e-01 -1.12257155e-04 4.96382442e+00] [ 1.38624465e-02 -8.45356006e-05 9.99903908e-01 3.08099082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.839254154 meters 0.015163922329613382 Centerline is valid? [True, True] Translation: X:707.09, Y:4.96, Z:3.08 [[ 9.99814033e-01 -1.37341790e-02 -1.35377614e-02 7.07088690e+02] [ 1.37339149e-02 9.99905679e-01 -1.12478982e-04 4.96365603e+00] [ 1.35380293e-02 -7.34683990e-05 9.99908354e-01 3.08153339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.899254154 meters 0.016922116399534292 Centerline is valid? [True, True] Translation: X:707.15, Y:4.96, Z:3.08 [[ 9.99810137e-01 -1.49733311e-02 -1.24695101e-02 7.07146384e+02] [ 1.49731590e-02 9.99887890e-01 -1.07165445e-04 4.96000251e+00] [ 1.24697168e-02 -7.95628599e-05 9.99922247e-01 3.08131504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.959254154 meters 0.017714273981067084 Centerline is valid? [True, True] Translation: X:707.21, Y:4.95, Z:3.08 [[ 9.99746591e-01 -1.87297163e-02 -1.24880640e-02 7.07205429e+02] [ 1.87297943e-02 9.99824576e-01 -1.10716354e-04 4.95486238e+00] [ 1.24879470e-02 -1.23210573e-04 9.99922015e-01 3.08087583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.019254154 meters 0.017767623677792894 Centerline is valid? [True, True] Translation: X:707.26, Y:4.95, Z:3.08 [[ 9.99515567e-01 -2.79952247e-02 -1.35977681e-02 7.07264781e+02] [ 2.79961503e-02 9.99608023e-01 -1.22310455e-04 4.94582680e+00] [ 1.35958622e-02 -2.58433955e-04 9.99907539e-01 3.08091355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.079254154 meters 0.018889206680236904 Centerline is valid? [True, True] Translation: X:707.32, Y:4.94, Z:3.08 [[ 9.99274444e-01 -3.54571113e-02 -1.39061007e-02 7.07324749e+02] [ 3.54588058e-02 9.99371131e-01 -1.24763920e-04 4.93756301e+00] [ 1.39017794e-02 -3.68420329e-04 9.99903298e-01 3.08149715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.139254154 meters 0.021708968140154095 Centerline is valid? [True, True] Translation: X:707.39, Y:4.93, Z:3.08 [[ 9.98876268e-01 -4.52625225e-02 -1.40536491e-02 7.07385544e+02] [ 4.52652264e-02 9.98974996e-01 -1.25787917e-04 4.92683750e+00] [ 1.40449376e-02 -5.10495046e-04 9.99901235e-01 3.08201191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.199254154 meters 0.022601093809940836 Centerline is valid? [True, True] Translation: X:707.45, Y:4.92, Z:3.08 [[ 9.98654332e-01 -5.00164500e-02 -1.37068926e-02 7.07446998e+02] [ 5.00194740e-02 9.98748235e-01 -1.22326272e-04 4.92070570e+00] [ 1.36958531e-02 -5.63449898e-04 9.99906049e-01 3.08258972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.259254154 meters 0.02383223104011671 Centerline is valid? [True, True] Translation: X:707.51, Y:4.92, Z:3.08 [[ 9.98646810e-01 -4.99245443e-02 -1.45632886e-02 7.07508888e+02] [ 4.99279618e-02 9.98752813e-01 -1.29046656e-04 4.91927860e+00] [ 1.45515680e-02 -5.98243284e-04 9.99893941e-01 3.08150352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.319254154 meters 0.02186857356942691 Centerline is valid? [True, True] Translation: X:707.57, Y:4.92, Z:3.08 [[ 9.98908643e-01 -4.44776799e-02 -1.42568859e-02 7.07569569e+02] [ 4.44804081e-02 9.99010249e-01 -1.25835253e-04 4.91978352e+00] [ 1.42483720e-02 -5.08454179e-04 9.99898358e-01 3.08176485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.379254154 meters 0.020751787854674814 Centerline is valid? [True, True] Translation: X:707.63, Y:4.92, Z:3.08 [[ 9.99183822e-01 -3.79574817e-02 -1.38173401e-02 7.07629562e+02] [ 3.79594223e-02 9.99279274e-01 -1.21878486e-04 4.92254730e+00] [ 1.38120078e-02 -4.02719238e-04 9.99904529e-01 3.08211661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.439254154 meters 0.017674707318354063 Centerline is valid? [True, True] Translation: X:707.69, Y:4.93, Z:3.08 [[ 9.99524598e-01 -2.78212424e-02 -1.32874255e-02 7.07689892e+02] [ 2.78221428e-02 9.99612882e-01 -1.17121345e-04 4.93007977e+00] [ 1.32855401e-02 -2.52618983e-04 9.99911711e-01 3.08372273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.499254154 meters 0.018151859515377095 Centerline is valid? [True, True] Translation: X:707.75, Y:4.93, Z:3.08 [[ 9.99649355e-01 -2.16843389e-02 -1.51972285e-02 7.07750038e+02] [ 2.16848055e-02 9.99764848e-01 -1.34104990e-04 4.93111576e+00] [ 1.51965629e-02 -1.95490978e-04 9.99884506e-01 3.08175294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.559254154 meters 0.015828064361791603 Centerline is valid? [True, True] Translation: X:707.81, Y:4.93, Z:3.08 [[ 9.99661324e-01 -2.12737416e-02 -1.49888638e-02 7.07807763e+02] [ 2.12741338e-02 9.99773671e-01 -1.33295524e-04 4.92897578e+00] [ 1.49883071e-02 -1.85624714e-04 9.99887652e-01 3.08204392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.619254154 meters 0.017299489612046696 Centerline is valid? [True, True] Translation: X:707.87, Y:4.93, Z:3.08 [[ 9.99549287e-01 -2.44770941e-02 -1.73808588e-02 7.07866264e+02] [ 2.44780409e-02 9.99700355e-01 -1.58300255e-04 4.92590725e+00] [ 1.73795254e-02 -2.67220465e-04 9.99848929e-01 3.08135144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.679254154 meters 0.017242473275857113 Centerline is valid? [True, True] Translation: X:707.93, Y:4.92, Z:3.08 [[ 9.99348626e-01 -3.14871547e-02 -1.76318777e-02 7.07925581e+02] [ 3.14891811e-02 9.99504080e-01 -1.62753450e-04 4.91964156e+00] [ 1.76282583e-02 -3.92565953e-04 9.99844533e-01 3.08219143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.739254154 meters 0.021934045691758268 Centerline is valid? [True, True] Translation: X:707.99, Y:4.91, Z:3.08 [[ 9.99150914e-01 -3.68665110e-02 -1.83932398e-02 7.07985328e+02] [ 3.68696109e-02 9.99320070e-01 -1.70653676e-04 4.91463920e+00] [ 1.83870251e-02 -5.07642817e-04 9.99830815e-01 3.08139677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.799254154 meters 0.024396215167010328 Centerline is valid? [True, True] Translation: X:708.05, Y:4.91, Z:3.08 [[ 9.98827985e-01 -4.55425173e-02 -1.63870420e-02 7.08045126e+02] [ 4.55461391e-02 9.98962225e-01 -1.52317232e-04 4.90597007e+00] [ 1.63769728e-02 -5.94227779e-04 9.99865712e-01 3.08406916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8592541539999 meters 0.02338500782156886 Centerline is valid? [True, True] Translation: X:708.11, Y:4.90, Z:3.09 [[ 9.98636374e-01 -5.04551303e-02 -1.34042260e-02 7.08106047e+02] [ 5.04579968e-02 9.98726176e-01 -1.24469349e-04 4.90454161e+00] [ 1.33934314e-02 -5.52050771e-04 9.99910152e-01 3.08715348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.919254154 meters 0.024888981812704956 Centerline is valid? [True, True] Translation: X:708.17, Y:4.90, Z:3.09 [[ 9.98249834e-01 -5.74051346e-02 -1.42098112e-02 7.08166526e+02] [ 5.74090602e-02 9.98350731e-01 -1.31831717e-04 4.90177317e+00] [ 1.41939433e-02 -6.84170919e-04 9.99899027e-01 3.08745059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9792541539999 meters 0.03156424680115086 Centerline is valid? [True, True] Translation: X:708.23, Y:4.90, Z:3.08 [[ 9.97799517e-01 -6.43039334e-02 -1.61594404e-02 7.08226107e+02] [ 6.43099109e-02 9.97929964e-01 -1.50000284e-04 4.89523714e+00] [ 1.61356353e-02 -8.89541959e-04 9.99869416e-01 3.08450024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.039254154 meters 0.032842630430550364 Centerline is valid? [True, True] Translation: X:708.29, Y:4.89, Z:3.08 [[ 9.97499529e-01 -6.88240860e-02 -1.60603422e-02 7.08286685e+02] [ 6.88305742e-02 9.97628353e-01 -1.49073849e-04 4.89437109e+00] [ 1.60325126e-02 -9.56741482e-04 9.99871013e-01 3.08489615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0992541539999 meters 0.03639883315253063 Centerline is valid? [True, True] Translation: X:708.35, Y:4.89, Z:3.08 [[ 9.97330772e-01 -7.11304265e-02 -1.64861492e-02 7.08346432e+02] [ 7.11375898e-02 9.97466501e-01 -1.52259178e-04 4.89410322e+00] [ 1.64552118e-02 -1.02093216e-03 9.99864083e-01 3.08352517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.159254154 meters 0.03132183321048317 Centerline is valid? [True, True] Translation: X:708.41, Y:4.91, Z:3.08 [[ 9.97584546e-01 -6.74177223e-02 -1.67309191e-02 7.08407044e+02] [ 6.74245880e-02 9.97724361e-01 -1.54017791e-04 4.90816608e+00] [ 1.67032291e-02 -9.74429560e-04 9.99860017e-01 3.08482340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.2192541539999 meters 0.027392672870958805 Centerline is valid? [True, True] Translation: X:708.47, Y:4.92, Z:3.09 [[ 9.97900660e-01 -6.28522831e-02 -1.56161452e-02 7.08468070e+02] [ 6.28577096e-02 9.98022489e-01 -1.43575121e-04 4.91866029e+00] [ 1.55942882e-02 -8.38321416e-04 9.99878050e-01 3.08636162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.279254154 meters 0.0251584917951267 Centerline is valid? [True, True] Translation: X:708.53, Y:4.93, Z:3.09 [[ 9.98384214e-01 -5.45004498e-02 -1.60829761e-02 7.08527739e+02] [ 5.45051246e-02 9.98513480e-01 -1.47843318e-04 4.93043363e+00] [ 1.60671260e-02 -7.29000184e-04 9.99870650e-01 3.08641355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.339254154 meters 0.02382909953951492 Centerline is valid? [True, True] Translation: X:708.59, Y:4.94, Z:3.09 [[ 9.98635479e-01 -4.98921752e-02 -1.54256308e-02 7.08588940e+02] [ 4.98959297e-02 9.98754412e-01 -1.41610420e-04 4.93752861e+00] [ 1.54134821e-02 -6.28259002e-04 9.99881008e-01 3.08744820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.399254154 meters 0.021333681397717442 Centerline is valid? [True, True] Translation: X:708.65, Y:4.95, Z:3.09 [[ 9.98907147e-01 -4.46855652e-02 -1.37007740e-02 7.08649526e+02] [ 4.46880411e-02 9.99000983e-01 -1.25537275e-04 4.94998568e+00] [ 1.36926963e-02 -4.86860668e-04 9.99906132e-01 3.08946939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.459254154 meters 0.01970589456919898 Centerline is valid? [True, True] Translation: X:708.71, Y:4.96, Z:3.09 [[ 9.99097402e-01 -4.00551034e-02 -1.41410720e-02 7.08710804e+02] [ 4.00572838e-02 9.99197377e-01 -1.29132201e-04 4.95961844e+00] [ 1.41348944e-02 -4.37437288e-04 9.99900002e-01 3.08883845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.519254154 meters 0.019420277305863515 Centerline is valid? [True, True] Translation: X:708.77, Y:4.96, Z:3.09 [[ 9.99200123e-01 -3.73223098e-02 -1.43582468e-02 7.08772561e+02] [ 3.73242852e-02 9.99303198e-01 -1.30452897e-04 4.96416127e+00] [ 1.43531107e-02 -4.05562748e-04 9.99896907e-01 3.08857155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.579254154 meters 0.01852988155786807 Centerline is valid? [True, True] Translation: X:708.83, Y:4.97, Z:3.09 [[ 9.99280274e-01 -3.56326048e-02 -1.30096329e-02 7.08833764e+02] [ 3.56340901e-02 9.99364897e-01 -1.17687949e-04 4.97117913e+00] [ 1.30055640e-02 -3.45983187e-04 9.99915364e-01 3.09007139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.639254154 meters 0.019541199303930328 Centerline is valid? [True, True] Translation: X:708.90, Y:4.97, Z:3.09 [[ 9.99296322e-01 -3.55996780e-02 -1.18120128e-02 7.08895197e+02] [ 3.56009065e-02 9.99366081e-01 -1.06310835e-04 4.97189130e+00] [ 1.18083095e-02 -3.14282336e-04 9.99930230e-01 3.09061764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.699254154 meters 0.020506606953401892 Centerline is valid? [True, True] Translation: X:708.96, Y:4.97, Z:3.09 [[ 9.99292454e-01 -3.63037436e-02 -9.83007343e-03 7.08956562e+02] [ 3.63046332e-02 9.99340766e-01 -8.79955635e-05 4.97339467e+00] [ 9.82678768e-03 -2.68943907e-04 9.99951680e-01 3.09110587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.759254154 meters 0.020167884963662022 Centerline is valid? [True, True] Translation: X:709.02, Y:4.98, Z:3.09 [[ 9.99313776e-01 -3.57495599e-02 -9.69252547e-03 7.09018689e+02] [ 3.57504045e-02 9.99360746e-01 -8.61643882e-05 4.97627816e+00] [ 9.68940983e-03 -2.60406446e-04 9.99953023e-01 3.09143908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.819254154 meters 0.019423558232996248 Centerline is valid? [True, True] Translation: X:709.08, Y:4.98, Z:3.09 [[ 9.99346079e-01 -3.51833160e-02 -8.33960462e-03 7.09081384e+02] [ 3.51839266e-02 9.99380851e-01 -7.35226724e-05 4.97832100e+00] [ 8.33702793e-03 -2.19945443e-04 9.99965222e-01 3.09244269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.879254154 meters 0.019991416951169697 Centerline is valid? [True, True] Translation: X:709.14, Y:4.98, Z:3.09 [[ 9.99406287e-01 -3.33794848e-02 -8.53719266e-03 7.09143750e+02] [ 3.33800649e-02 9.99442728e-01 -7.45696694e-05 4.98030575e+00] [ 8.53492421e-03 -2.10446649e-04 9.99963555e-01 3.09139488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.939254154 meters 0.01822144430400071 Centerline is valid? [True, True] Translation: X:709.21, Y:4.98, Z:3.09 [[ 9.99360763e-01 -3.46306492e-02 -8.87604614e-03 7.09205876e+02] [ 3.46313314e-02 9.99400153e-01 -7.68716239e-05 4.98038400e+00] [ 8.87338398e-03 -2.30566811e-04 9.99960604e-01 3.09247469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.999254154 meters 0.01900429986074423 Centerline is valid? [True, True] Translation: X:709.27, Y:4.98, Z:3.09 [[ 9.99306146e-01 -3.59283193e-02 -9.81744384e-03 7.09267821e+02] [ 3.59292239e-02 9.99354333e-01 -8.42694423e-05 4.97832707e+00] [ 9.81413271e-03 -2.68522167e-04 9.99951804e-01 3.09139013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.059254154 meters 0.021933493148857616 Centerline is valid? [True, True] Translation: X:709.33, Y:4.97, Z:3.09 [[ 9.99250983e-01 -3.73308040e-02 -1.01923042e-02 7.09328701e+02] [ 3.73318586e-02 9.99302919e-01 -8.68333162e-05 4.97086893e+00] [ 1.01884409e-02 -2.93729383e-04 9.99948053e-01 3.09041803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.119254154 meters 0.019471543366612255 Centerline is valid? [True, True] Translation: X:709.39, Y:4.97, Z:3.09 [[ 9.99280667e-01 -3.63839759e-02 -1.06936658e-02 7.09391398e+02] [ 3.63850913e-02 9.99337839e-01 -9.02887172e-05 4.97454590e+00] [ 1.06898700e-02 -2.98866238e-04 9.99942817e-01 3.09061412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.179254154 meters 0.019142571909697724 Centerline is valid? [True, True] Translation: X:709.45, Y:4.97, Z:3.09 [[ 9.99320325e-01 -3.51449468e-02 -1.11229559e-02 7.09453346e+02] [ 3.51460868e-02 9.99382181e-01 -9.30244707e-05 4.97392704e+00] [ 1.11193533e-02 -2.97967131e-04 9.99938134e-01 3.09051659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.239254154 meters 0.018358031560809666 Centerline is valid? [True, True] Translation: X:709.52, Y:4.98, Z:3.09 [[ 9.99337083e-01 -3.47522381e-02 -1.08479230e-02 7.09515684e+02] [ 3.47533078e-02 9.99395917e-01 -8.99462142e-05 4.97511286e+00] [ 1.08444958e-02 -2.87114618e-04 9.99941156e-01 3.09133326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.299254154 meters 0.01841996238238398 Centerline is valid? [True, True] Translation: X:709.58, Y:4.97, Z:3.09 [[ 9.99403593e-01 -3.30266262e-02 -1.00846804e-02 7.09576494e+02] [ 3.30274734e-02 9.99454441e-01 -8.25664798e-05 4.97302109e+00] [ 1.00819055e-02 -2.50554278e-04 9.99949145e-01 3.09184142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3592541539999 meters 0.017361511622865086 Centerline is valid? [True, True] Translation: X:709.64, Y:4.98, Z:3.09 [[ 9.99558798e-01 -2.80779759e-02 -9.68694597e-03 7.09637943e+02] [ 2.80785326e-02 9.99605717e-01 -7.85560942e-05 4.97722650e+00] [ 9.68533227e-03 -1.93473793e-04 9.99953077e-01 3.09240418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.419254154 meters 0.016696043870244752 Centerline is valid? [True, True] Translation: X:709.70, Y:4.98, Z:3.09 [[ 9.99679919e-01 -2.33393500e-02 -9.76396647e-03 7.09699792e+02] [ 2.33396940e-02 9.99727589e-01 -7.87233627e-05 4.98041618e+00] [ 9.76314401e-03 -1.49189825e-04 9.99952328e-01 3.09284500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4792541539999 meters 0.014890113336629577 Centerline is valid? [True, True] Translation: X:709.76, Y:4.98, Z:3.09 [[ 9.99798202e-01 -1.75168462e-02 -9.83436727e-03 7.09760379e+02] [ 1.75169170e-02 9.99846564e-01 -7.89499104e-05 4.98266831e+00] [ 9.83424128e-03 -9.33338163e-05 9.99951638e-01 3.09336582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.539254154 meters 0.01571637340179656 Centerline is valid? [True, True] Translation: X:709.82, Y:4.98, Z:3.09 [[ 9.99839646e-01 -1.39586823e-02 -1.12177689e-02 7.09821125e+02] [ 1.39585514e-02 9.99902571e-01 -8.99649297e-05 4.98251223e+00] [ 1.12179318e-02 -6.66333002e-05 9.99937075e-01 3.09176041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5992541539999 meters 0.01459360818248647 Centerline is valid? [True, True] Translation: X:709.88, Y:4.98, Z:3.09 [[ 9.99831243e-01 -1.42647137e-02 -1.15759787e-02 7.09879529e+02] [ 1.42645735e-02 9.99898251e-01 -9.46791758e-05 4.98261710e+00] [ 1.15761514e-02 -7.04632006e-05 9.99932992e-01 3.09271384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.659254154 meters 0.014634739290408918 Centerline is valid? [True, True] Translation: X:709.94, Y:4.98, Z:3.09 [[ 9.99784732e-01 -1.71550826e-02 -1.16701575e-02 7.09938493e+02] [ 1.71551017e-02 9.99852836e-01 -9.84749968e-05 4.97856513e+00] [ 1.16701294e-02 -1.01748940e-04 9.99931897e-01 3.09302812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.7192541539999 meters 0.015661250992218753 Centerline is valid? [True, True] Translation: X:710.00, Y:4.97, Z:3.09 [[ 9.99706277e-01 -2.13298727e-02 -1.15063582e-02 7.09996920e+02] [ 2.13301503e-02 9.99772482e-01 -9.86072281e-05 4.97293540e+00] [ 1.15058435e-02 -1.46854084e-04 9.99933795e-01 3.09226440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.779254154 meters 0.018211934133122106 Centerline is valid? [True, True] Translation: X:710.06, Y:4.97, Z:3.09 [[ 9.99501471e-01 -2.94313678e-02 -1.14282433e-02 7.10057077e+02] [ 2.94321667e-02 9.99566775e-01 -9.83028251e-05 4.96561614e+00] [ 1.14261855e-02 -2.38104145e-04 9.99934691e-01 3.09262244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.839254154 meters 0.020577033027323974 Centerline is valid? [True, True] Translation: X:710.12, Y:4.96, Z:3.09 [[ 9.99126141e-01 -4.05387432e-02 -1.01766636e-02 7.10117918e+02] [ 4.05399517e-02 9.99177914e-01 -8.75896346e-05 4.95562792e+00] [ 1.01718483e-02 -3.25048358e-04 9.99948213e-01 3.09365115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.899254154 meters 0.025514539526481635 Centerline is valid? [True, True] Translation: X:710.18, Y:4.95, Z:3.09 [[ 9.98790634e-01 -4.81086412e-02 -1.01404037e-02 7.10178992e+02] [ 4.81102309e-02 9.98842029e-01 -8.72454662e-05 4.94770924e+00] [ 1.01328587e-02 -4.00717210e-04 9.99948581e-01 3.09378959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.959254154 meters 0.02908220361478483 Centerline is valid? [True, True] Translation: X:710.24, Y:4.94, Z:3.10 [[ 9.98081608e-01 -6.13363157e-02 -8.42382034e-03 7.10239252e+02] [ 6.13378829e-02 9.98117057e-01 -7.24345746e-05 4.93930849e+00] [ 8.41240163e-03 -4.44403688e-04 9.99964516e-01 3.09579464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.019254154 meters 0.036458682731805095 Centerline is valid? [True, True] Translation: X:710.30, Y:4.93, Z:3.10 [[ 9.97358540e-01 -7.20655794e-02 -9.08270227e-03 7.10299098e+02] [ 7.20678441e-02 9.97399729e-01 -7.81252883e-05 4.92869783e+00] [ 9.06471493e-03 -5.76651848e-04 9.99958748e-01 3.09536788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.079254154 meters 0.0379949618098921 Centerline is valid? [True, True] Translation: X:710.36, Y:4.93, Z:3.09 [[ 9.96882510e-01 -7.82900246e-02 -9.79450768e-03 7.10360083e+02] [ 7.82929585e-02 9.96930392e-01 -8.41145463e-05 4.92738160e+00] [ 9.77102771e-03 -6.82988663e-04 9.99952029e-01 3.09485590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.139254154 meters 0.03899438606639273 Centerline is valid? [True, True] Translation: X:710.42, Y:4.93, Z:3.10 [[ 9.96830954e-01 -7.89329866e-02 -9.88090722e-03 7.10421986e+02] [ 7.89360093e-02 9.96879681e-01 -8.43096071e-05 4.92853272e+00] [ 9.85673045e-03 -6.95916958e-04 9.99951179e-01 3.09513441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.199254154 meters 0.03810801727600398 Centerline is valid? [True, True] Translation: X:710.48, Y:4.93, Z:3.09 [[ 9.97122935e-01 -7.50668306e-02 -1.05272664e-02 7.10482788e+02] [ 7.50700509e-02 9.97178259e-01 -8.94707294e-05 4.93421937e+00] [ 1.05042775e-02 -7.01069107e-04 9.99944583e-01 3.09414960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.259254154 meters 0.03072493059272016 Centerline is valid? [True, True] Translation: X:710.54, Y:4.95, Z:3.09 [[ 9.97571361e-01 -6.87313312e-02 -1.12864138e-02 7.10543098e+02] [ 6.87346289e-02 9.97634974e-01 -9.59138156e-05 4.94815847e+00] [ 1.12663135e-02 -6.80086592e-04 9.99936302e-01 3.09470312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.319254154 meters 0.026912023181359993 Centerline is valid? [True, True] Translation: X:710.60, Y:4.96, Z:3.10 [[ 9.98358909e-01 -5.61308647e-02 -1.13496700e-02 7.10602345e+02] [ 5.61333853e-02 9.98423274e-01 -9.65972554e-05 4.96126259e+00] [ 1.13371968e-02 -5.40656671e-04 9.99935586e-01 3.09504559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.379254154 meters 0.02068172858982082 Centerline is valid? [True, True] Translation: X:710.66, Y:4.98, Z:3.10 [[ 9.99037831e-01 -4.24725242e-02 -1.09314648e-02 7.10662353e+02] [ 4.24740453e-02 9.99097566e-01 -9.30836758e-05 4.97791370e+00] [ 1.09255534e-02 -3.71309417e-04 9.99940245e-01 3.09555539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.439254154 meters 0.01778102004858616 Centerline is valid? [True, True] Translation: X:710.72, Y:4.99, Z:3.10 [[ 9.99342590e-01 -3.46462967e-02 -1.06781289e-02 7.10722647e+02] [ 3.46473018e-02 9.99399598e-01 -9.09003340e-05 4.98732757e+00] [ 1.06748670e-02 -2.79127778e-04 9.99942983e-01 3.09640555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.499254154 meters 0.016039779123839543 Centerline is valid? [True, True] Translation: X:710.78, Y:5.00, Z:3.10 [[ 9.99608260e-01 -2.60199051e-02 -1.03097583e-02 7.10783319e+02] [ 2.60203845e-02 9.99661409e-01 -8.76564778e-05 4.99839224e+00] [ 1.03085484e-02 -1.80641737e-04 9.99946849e-01 3.09778800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.559254154 meters 0.015039573349910376 Centerline is valid? [True, True] Translation: X:710.84, Y:5.00, Z:3.10 [[ 9.99696755e-01 -2.18469363e-02 -1.13626269e-02 7.10844653e+02] [ 2.18472530e-02 9.99761316e-01 -9.62610949e-05 5.00454865e+00] [ 1.13620178e-02 -1.52010281e-04 9.99935439e-01 3.09701998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.619254154 meters 0.015397841049076466 Centerline is valid? [True, True] Translation: X:710.91, Y:5.01, Z:3.10 [[ 9.99670016e-01 -2.22618141e-02 -1.28168308e-02 7.10906395e+02] [ 2.22622575e-02 9.99752159e-01 -1.08089101e-04 5.00555561e+00] [ 1.28160605e-02 -1.77278154e-04 9.99917855e-01 3.09561288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.679254154 meters 0.01514345389306294 Centerline is valid? [True, True] Translation: X:710.97, Y:5.01, Z:3.10 [[ 9.99653171e-01 -2.29865014e-02 -1.28513725e-02 7.10966969e+02] [ 2.29870092e-02 9.99735758e-01 -1.08219280e-04 5.00680336e+00] [ 1.28504642e-02 -1.87232871e-04 9.99917412e-01 3.09619648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.739254154 meters 0.015707431003775345 Centerline is valid? [True, True] Translation: X:711.03, Y:5.01, Z:3.10 [[ 9.99574244e-01 -2.62012481e-02 -1.28384651e-02 7.11027110e+02] [ 2.62020199e-02 9.99656662e-01 -1.08110589e-04 5.00715975e+00] [ 1.28368898e-02 -2.28329157e-04 9.99917578e-01 3.09708446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.799254154 meters 0.01612829470761129 Centerline is valid? [True, True] Translation: X:711.09, Y:5.01, Z:3.10 [[ 9.99545361e-01 -2.77664617e-02 -1.17513516e-02 7.11088471e+02] [ 2.77672197e-02 9.99614412e-01 -9.86855538e-05 5.00600596e+00] [ 1.17495606e-02 -2.27661674e-04 9.99930946e-01 3.09761452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8592541539999 meters 0.018055786092963946 Centerline is valid? [True, True] Translation: X:711.15, Y:5.00, Z:3.10 [[ 9.99552722e-01 -2.79003868e-02 -1.07667997e-02 7.11148556e+02] [ 2.79010337e-02 9.99610686e-01 -9.01536821e-05 5.00388729e+00] [ 1.07651233e-02 -2.10291481e-04 9.99942032e-01 3.09734744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.919254154 meters 0.01590679596129639 Centerline is valid? [True, True] Translation: X:711.21, Y:5.01, Z:3.10 [[ 9.99594967e-01 -2.67906141e-02 -9.60029496e-03 7.11210788e+02] [ 2.67910816e-02 9.99641051e-01 -7.99346605e-05 5.00503360e+00] [ 9.59899045e-03 -1.77300001e-04 9.99953913e-01 3.09932544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9792541539999 meters 0.016054957818515504 Centerline is valid? [True, True] Translation: X:711.27, Y:5.00, Z:3.10 [[ 9.99625624e-01 -2.54334357e-02 -1.00872552e-02 7.11271623e+02] [ 2.54338933e-02 9.99676503e-01 -8.29376061e-05 5.00304897e+00] [ 1.00861014e-02 -1.73651615e-04 9.99949119e-01 3.09839349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.039254154 meters 0.016456042145743043 Centerline is valid? [True, True] Translation: X:711.33, Y:5.00, Z:3.10 [[ 9.99581975e-01 -2.69302705e-02 -1.05183636e-02 7.11333392e+02] [ 2.69308593e-02 9.99637295e-01 -8.56905249e-05 4.99965953e+00] [ 1.05168562e-02 -1.97613865e-04 9.99944677e-01 3.09698310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0992541539999 meters 0.017213466994344916 Centerline is valid? [True, True] Translation: X:711.40, Y:5.00, Z:3.10 [[ 9.99479164e-01 -2.99636088e-02 -1.19825796e-02 7.11395036e+02] [ 2.99645977e-02 9.99550956e-01 -9.70306028e-05 4.99723605e+00] [ 1.19801063e-02 -2.62073112e-04 9.99928202e-01 3.09568494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.159254154 meters 0.018681855177804855 Centerline is valid? [True, True] Translation: X:711.46, Y:4.99, Z:3.09 [[ 9.99239998e-01 -3.67365910e-02 -1.30326249e-02 7.11456125e+02] [ 3.67383419e-02 9.99324914e-01 -1.05117523e-04 4.99113102e+00] [ 1.30276884e-02 -3.73759395e-04 9.99915066e-01 3.09416540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.2192541539999 meters 0.022340312159900632 Centerline is valid? [True, True] Translation: X:711.52, Y:4.98, Z:3.09 [[ 9.99053670e-01 -4.14898661e-02 -1.30519907e-02 7.11516615e+02] [ 4.14920304e-02 9.99138829e-01 -1.05039669e-04 4.98278627e+00] [ 1.30451087e-02 -4.36613326e-04 9.99914814e-01 3.09297711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.279254154 meters 0.022743279154129117 Centerline is valid? [True, True] Translation: X:711.58, Y:4.98, Z:3.09 [[ 9.98768039e-01 -4.80736745e-02 -1.23014988e-02 7.11577741e+02] [ 4.80760973e-02 9.98843671e-01 -9.88551262e-05 4.98063824e+00] [ 1.22920266e-02 -4.92674714e-04 9.99924329e-01 3.09472911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.339254154 meters 0.024358384541698922 Centerline is valid? [True, True] Translation: X:711.64, Y:4.98, Z:3.10 [[ 9.98501318e-01 -5.34411499e-02 -1.17966719e-02 7.11638699e+02] [ 5.34437537e-02 9.98570857e-01 -9.46252927e-05 4.97772467e+00] [ 1.17848696e-02 -5.35974947e-04 9.99930412e-01 3.09576349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.399254154 meters 0.025518204575507717 Centerline is valid? [True, True] Translation: X:711.70, Y:4.97, Z:3.10 [[ 9.98364498e-01 -5.60166850e-02 -1.14219509e-02 7.11701093e+02] [ 5.60193010e-02 9.98429682e-01 -9.10271601e-05 4.97483637e+00] [ 1.14091138e-02 -5.48971420e-04 9.99934763e-01 3.09610513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.459254154 meters 0.028165439455980733 Centerline is valid? [True, True] Translation: X:711.76, Y:4.97, Z:3.10 [[ 9.98256089e-01 -5.80416549e-02 -1.07678335e-02 7.11762181e+02] [ 5.80441043e-02 9.98314016e-01 -8.51654099e-05 4.96979854e+00] [ 1.07546223e-02 -5.39992362e-04 9.99942022e-01 3.09608178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.519254154 meters 0.028246237766914897 Centerline is valid? [True, True] Translation: X:711.82, Y:4.97, Z:3.10 [[ 9.98306238e-01 -5.73290428e-02 -9.90128541e-03 7.11824605e+02] [ 5.73310848e-02 9.98355218e-01 -7.77031437e-05 4.96888289e+00] [ 9.88945459e-03 -4.90079901e-04 9.99950978e-01 3.09701761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.579254154 meters 0.025851524975480565 Centerline is valid? [True, True] Translation: X:711.89, Y:4.97, Z:3.10 [[ 9.98426977e-01 -5.51842765e-02 -9.91299648e-03 7.11885805e+02] [ 5.51862230e-02 9.98476076e-01 -7.72762104e-05 4.97433389e+00] [ 9.90215426e-03 -4.69906181e-04 9.99950862e-01 3.09645539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.639254154 meters 0.024214713762898344 Centerline is valid? [True, True] Translation: X:711.95, Y:4.97, Z:3.10 [[ 9.98593998e-01 -5.21579182e-02 -9.46463776e-03 7.11946403e+02] [ 5.21595602e-02 9.98638761e-01 -7.34364130e-05 4.97474849e+00] [ 9.45558441e-03 -4.20338181e-04 9.99955207e-01 3.09708605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.699254154 meters 0.021715704998467346 Centerline is valid? [True, True] Translation: X:712.01, Y:4.98, Z:3.10 [[ 9.98731200e-01 -4.94111423e-02 -9.72259510e-03 7.12008275e+02] [ 4.94127496e-02 9.98778441e-01 -7.49703763e-05 4.97986097e+00] [ 9.71442275e-03 -4.05544904e-04 9.99952732e-01 3.09702361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.759254154 meters 0.021829053317033692 Centerline is valid? [True, True] Translation: X:712.07, Y:4.98, Z:3.10 [[ 9.98924544e-01 -4.54381659e-02 -9.22649740e-03 7.12069681e+02] [ 4.54394480e-02 9.98967092e-01 -7.07265553e-05 4.98400448e+00] [ 9.22018097e-03 -3.48596457e-04 9.99957432e-01 3.09611846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.819254154 meters 0.020836660432259513 Centerline is valid? [True, True] Translation: X:712.13, Y:4.99, Z:3.10 [[ 9.99039324e-01 -4.30568756e-02 -8.15691616e-03 7.12129810e+02] [ 4.30578030e-02 9.99072581e-01 -6.19760069e-05 4.98542837e+00] [ 8.15201977e-03 -2.89302421e-04 9.99966730e-01 3.09703678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.879254154 meters 0.019265837264225334 Centerline is valid? [True, True] Translation: X:712.19, Y:4.99, Z:3.10 [[ 9.99101957e-01 -4.17464902e-02 -7.24633828e-03 7.12192366e+02] [ 4.17471922e-02 9.99128204e-01 -5.44217405e-05 4.99024568e+00] [ 7.24229287e-03 -2.48141409e-04 9.99973743e-01 3.09779631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.939254154 meters 0.019129963247494074 Centerline is valid? [True, True] Translation: X:712.25, Y:4.99, Z:3.10 [[ 9.99168086e-01 -4.02102727e-02 -6.80215048e-03 7.12254970e+02] [ 4.02108593e-02 9.99191215e-01 -5.05490012e-05 4.99213071e+00] [ 6.79868159e-03 -2.23013367e-04 9.99976864e-01 3.09821737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.999254154 meters 0.018686894035146038 Centerline is valid? [True, True] Translation: X:712.32, Y:5.00, Z:3.10 [[ 9.99341438e-01 -3.58255629e-02 -5.76358984e-03 7.12315027e+02] [ 3.58259134e-02 9.99358045e-01 -4.24561402e-05 4.99516579e+00] [ 5.76141089e-03 -1.64057690e-04 9.99983389e-01 3.09949222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.059254154 meters 0.017530340917914732 Centerline is valid? [True, True] Translation: X:712.38, Y:5.00, Z:3.10 [[ 9.99503698e-01 -3.10116226e-02 -5.53500158e-03 7.12376975e+02] [ 3.10118728e-02 9.99519015e-01 -4.06320462e-05 4.99923945e+00] [ 5.53359939e-03 -1.31038884e-04 9.99984681e-01 3.10021700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.119254154 meters 0.014965892591777684 Centerline is valid? [True, True] Translation: X:712.44, Y:5.01, Z:3.10 [[ 9.99743535e-01 -2.18139130e-02 -6.08426730e-03 7.12438161e+02] [ 2.18140468e-02 9.99762044e-01 -4.43719291e-05 5.00730338e+00] [ 6.08378744e-03 -8.83619426e-05 9.99981490e-01 3.10009930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.179254154 meters 0.014034664291173919 Centerline is valid? [True, True] Translation: X:712.50, Y:5.01, Z:3.10 [[ 9.99880941e-01 -1.42690576e-02 -5.87354742e-03 7.12499058e+02] [ 1.42690529e-02 9.99898191e-01 -4.27050892e-05 5.01267749e+00] [ 5.87355880e-03 -4.11099539e-05 9.99982750e-01 3.09987152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.239254154 meters 0.015190091809384475 Centerline is valid? [True, True] Translation: X:712.56, Y:5.01, Z:3.10 [[ 9.99918625e-01 -1.10780349e-02 -6.32616212e-03 7.12560710e+02] [ 1.10779671e-02 9.99938636e-01 -4.57564907e-05 5.01487858e+00] [ 6.32628081e-03 -2.43282486e-05 9.99979989e-01 3.09873427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.299254154 meters 0.014548214828829367 Centerline is valid? [True, True] Translation: X:712.62, Y:5.01, Z:3.10 [[ 9.99903765e-01 -1.20411088e-02 -6.89007035e-03 7.12621677e+02] [ 1.20410524e-02 9.99927503e-01 -4.96628985e-05 5.01494031e+00] [ 6.89016883e-03 -3.33055790e-05 9.99976262e-01 3.09914722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3592541539999 meters 0.01587003684146974 Centerline is valid? [True, True] Translation: X:712.68, Y:5.01, Z:3.10 [[ 9.99810428e-01 -1.81693768e-02 -6.99876420e-03 7.12681611e+02] [ 1.81694689e-02 9.99834920e-01 -5.04304039e-05 5.00843779e+00] [ 6.99852514e-03 -7.67429849e-05 9.99975507e-01 3.09831773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.419254154 meters 0.015377029485596163 Centerline is valid? [True, True] Translation: X:712.74, Y:5.00, Z:3.10 [[ 9.99674015e-01 -2.43927083e-02 -7.54052641e-03 7.12743312e+02] [ 2.43929933e-02 9.99702445e-01 -5.41900194e-05 5.00484856e+00] [ 7.53960453e-03 -1.29763656e-04 9.99971568e-01 3.09984767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4792541539999 meters 0.018188063793279596 Centerline is valid? [True, True] Translation: X:712.80, Y:5.00, Z:3.10 [[ 9.99403661e-01 -3.37847295e-02 -7.13545454e-03 7.12803247e+02] [ 3.37852263e-02 9.99429115e-01 -5.09394982e-05 4.99758713e+00] [ 7.13310199e-03 -1.90163826e-04 9.99974541e-01 3.10150512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.539254154 meters 0.018607940924403144 Centerline is valid? [True, True] Translation: X:712.87, Y:5.00, Z:3.10 [[ 9.99309393e-01 -3.64977223e-02 -6.97521329e-03 7.12865739e+02] [ 3.64982664e-02 9.99333715e-01 -4.93114122e-05 4.99655333e+00] [ 6.97236556e-03 -2.05305835e-04 9.99975672e-01 3.10177629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5992541539999 meters 0.0212496502960093 Centerline is valid? [True, True] Translation: X:712.93, Y:4.99, Z:3.10 [[ 9.99034688e-01 -4.34280457e-02 -6.61044196e-03 7.12926965e+02] [ 4.34286882e-02 9.99056528e-01 -4.63854016e-05 4.98864851e+00] [ 6.60621962e-03 -2.40742197e-04 9.99978150e-01 3.10266810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.659254154 meters 0.024401460130836328 Centerline is valid? [True, True] Translation: X:712.99, Y:4.98, Z:3.10 [[ 9.98780291e-01 -4.89100516e-02 -6.76299708e-03 7.12986792e+02] [ 4.89108510e-02 9.98803147e-01 -4.72309521e-05 4.98215888e+00] [ 6.75721283e-03 -2.83610599e-04 9.99977130e-01 3.10334753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.7192541539999 meters 0.025033479675756882 Centerline is valid? [True, True] Translation: X:713.05, Y:4.98, Z:3.10 [[ 9.98617427e-01 -5.20139571e-02 -7.60155743e-03 7.13047500e+02] [ 5.20150604e-02 9.98646299e-01 -5.26242942e-05 4.98065212e+00] [ 7.59400439e-03 -3.42843932e-04 9.99971106e-01 3.10352960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.779254154 meters 0.023732890141290132 Centerline is valid? [True, True] Translation: X:713.11, Y:4.98, Z:3.10 [[ 9.98427063e-01 -5.54734029e-02 -8.13031988e-03 7.13108684e+02] [ 5.54747825e-02 9.98460087e-01 -5.59090774e-05 4.98151287e+00] [ 8.12090136e-03 -3.95206591e-04 9.99966947e-01 3.10320037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.839254154 meters 0.027673492241660318 Centerline is valid? [True, True] Translation: X:713.17, Y:4.98, Z:3.10 [[ 9.98320581e-01 -5.71314464e-02 -9.59242657e-03 7.13169426e+02] [ 5.71334516e-02 9.98366548e-01 -6.50903529e-05 4.97645747e+00] [ 9.58047651e-03 -4.83067400e-04 9.99953989e-01 3.10225447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.899254154 meters 0.02619437580462101 Centerline is valid? [True, True] Translation: X:713.23, Y:4.98, Z:3.10 [[ 9.98380546e-01 -5.59912260e-02 -1.00632101e-02 7.13231585e+02] [ 5.59933852e-02 9.98431137e-01 -6.72686996e-05 4.98001927e+00] [ 1.00511888e-02 -4.96313439e-04 9.99949362e-01 3.10253199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.959254154 meters 0.022967111774582154 Centerline is valid? [True, True] Translation: X:713.29, Y:4.99, Z:3.10 [[ 9.98646914e-01 -5.10020735e-02 -1.01552849e-02 7.13292390e+02] [ 5.10040194e-02 9.98698446e-01 -6.74517248e-05 4.98697496e+00] [ 1.01455075e-02 -4.50599894e-04 9.99948431e-01 3.10342483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.019254154 meters 0.02066724697315112 Centerline is valid? [True, True] Translation: X:713.35, Y:4.99, Z:3.10 [[ 9.99060978e-01 -4.19251215e-02 -1.09291106e-02 7.13353105e+02] [ 4.19268337e-02 9.99120681e-01 -7.25071645e-05 4.99468661e+00] [ 1.09225403e-02 -3.85783926e-04 9.99940273e-01 3.10348435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.079254154 meters 0.01873683243648674 Centerline is valid? [True, True] Translation: X:713.41, Y:5.00, Z:3.11 [[ 9.99345522e-01 -3.46063532e-02 -1.05322602e-02 7.13413911e+02] [ 3.46075383e-02 9.99400977e-01 -6.97655740e-05 5.00133658e+00] [ 1.05283655e-02 -2.94775684e-04 9.99944532e-01 3.10525054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.139254154 meters 0.015980884318914087 Centerline is valid? [True, True] Translation: X:713.47, Y:5.01, Z:3.11 [[ 9.99662422e-01 -2.39774440e-02 -1.00062030e-02 7.13474470e+02] [ 2.39779831e-02 9.99712485e-01 -6.61018882e-05 5.01081561e+00] [ 1.00049110e-02 -1.73848994e-04 9.99949935e-01 3.10747506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.199254154 meters 0.01754027677247526 Centerline is valid? [True, True] Translation: X:713.53, Y:5.02, Z:3.11 [[ 9.99846481e-01 -1.44311538e-02 -9.93763807e-03 7.13534737e+02] [ 1.44312148e-02 9.99895862e-01 -6.55685531e-05 5.01601706e+00] [ 9.93754942e-03 -7.78537027e-05 9.99950618e-01 3.10620142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.259254154 meters 0.014485297590422502 Centerline is valid? [True, True] Translation: X:713.59, Y:5.02, Z:3.11 [[ 9.99885077e-01 -1.12887561e-02 -1.01190964e-02 7.13594456e+02] [ 1.12886564e-02 9.99936279e-01 -6.69761208e-05 5.01852233e+00] [ 1.01192076e-02 -4.72625777e-05 9.99948798e-01 3.10830017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.319254154 meters 0.014394026416173062 Centerline is valid? [True, True] Translation: X:713.65, Y:5.02, Z:3.11 [[ 9.99892047e-01 -9.49352930e-03 -1.12145772e-02 7.13653570e+02] [ 9.49327210e-03 9.99954935e-01 -7.61684913e-05 5.01666028e+00] [ 1.12147949e-02 -3.03027638e-05 9.99937112e-01 3.10747055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.379254154 meters 0.01444903942243869 Centerline is valid? [True, True] Translation: X:713.71, Y:5.01, Z:3.11 [[ 9.99871311e-01 -1.06636473e-02 -1.19853179e-02 7.13712045e+02] [ 1.06633999e-02 9.99943141e-01 -8.45510022e-05 5.01313111e+00] [ 1.19855381e-02 -4.32641165e-05 9.99928170e-01 3.10715191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.439254154 meters 0.015060837862412373 Centerline is valid? [True, True] Translation: X:713.77, Y:5.00, Z:3.11 [[ 9.99811694e-01 -1.59095007e-02 -1.11114278e-02 7.13770691e+02] [ 1.59095950e-02 9.99873431e-01 -7.99058557e-05 5.00478160e+00] [ 1.11112927e-02 -9.68875080e-05 9.99938263e-01 3.10772900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.499254154 meters 0.016452620510761712 Centerline is valid? [True, True] Translation: X:713.83, Y:4.99, Z:3.11 [[ 9.99660261e-01 -2.37719584e-02 -1.06890880e-02 7.13830002e+02] [ 2.37724938e-02 9.99717391e-01 -7.69766973e-05 4.99218369e+00] [ 1.06878971e-02 -1.77155733e-04 9.99942867e-01 3.10799368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.559254154 meters 0.017569892048957106 Centerline is valid? [True, True] Translation: X:713.89, Y:4.98, Z:3.11 [[ 9.99456173e-01 -3.12580049e-02 -1.05021726e-02 7.13890768e+02] [ 3.12589374e-02 9.99511317e-01 -7.53844262e-05 4.98104755e+00] [ 1.04993968e-02 -2.52943327e-04 9.99944848e-01 3.10861937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.619254154 meters 0.01879778544524997 Centerline is valid? [True, True] Translation: X:713.95, Y:4.97, Z:3.11 [[ 9.99328259e-01 -3.50168962e-02 -1.08096435e-02 7.13952021e+02] [ 3.50181072e-02 9.99386675e-01 -7.72747266e-05 4.97395735e+00] [ 1.08057196e-02 -3.01310436e-04 9.99941571e-01 3.10903880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.679254154 meters 0.020458033359783457 Centerline is valid? [True, True] Translation: X:714.01, Y:4.96, Z:3.11 [[ 9.99193119e-01 -3.87814951e-02 -1.04453892e-02 7.14013698e+02] [ 3.87828353e-02 9.99247660e-01 -7.42980854e-05 4.96338598e+00] [ 1.04404121e-02 -3.30863674e-04 9.99945443e-01 3.10905339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.739254154 meters 0.020419293684794233 Centerline is valid? [True, True] Translation: X:714.08, Y:4.96, Z:3.11 [[ 9.99121967e-01 -4.05598115e-02 -1.04974447e-02 7.14075761e+02] [ 4.05612695e-02 9.99177050e-01 -7.40594954e-05 4.95616240e+00] [ 1.04918097e-02 -3.51795215e-04 9.99944898e-01 3.10892100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.799254154 meters 0.019982063916717266 Centerline is valid? [True, True] Translation: X:714.14, Y:4.95, Z:3.11 [[ 9.99105624e-01 -4.08612249e-02 -1.08771168e-02 7.14137522e+02] [ 4.08628170e-02 9.99164763e-01 -7.59203093e-05 4.95096027e+00] [ 1.08711340e-02 -3.68617223e-04 9.99940840e-01 3.10847749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8592541539999 meters 0.021948625794222038 Centerline is valid? [True, True] Translation: X:714.20, Y:4.94, Z:3.11 [[ 9.99068951e-01 -4.15719568e-02 -1.15327502e-02 7.14198519e+02] [ 4.15738075e-02 9.99135432e-01 -7.93280144e-05 4.94463693e+00] [ 1.15260772e-02 -4.00206180e-04 9.99933492e-01 3.10768483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.919254154 meters 0.022188906263293482 Centerline is valid? [True, True] Translation: X:714.26, Y:4.94, Z:3.11 [[ 9.99005682e-01 -4.25336449e-02 -1.33617465e-02 7.14260270e+02] [ 4.25362272e-02 9.99094921e-01 -9.10033174e-05 4.93929294e+00] [ 1.33535238e-02 -4.77445454e-04 9.99910724e-01 3.10630130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9792541539999 meters 0.02250271724582613 Centerline is valid? [True, True] Translation: X:714.32, Y:4.94, Z:3.10 [[ 9.98956267e-01 -4.30158774e-02 -1.53626189e-02 7.14321189e+02] [ 4.30193508e-02 9.99074234e-01 -1.04451143e-04 4.93578886e+00] [ 1.53528898e-02 -5.56547769e-04 9.99881983e-01 3.10487320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.039254154 meters 0.023398503606790737 Centerline is valid? [True, True] Translation: X:714.38, Y:4.93, Z:3.10 [[ 9.98974977e-01 -4.24396896e-02 -1.57438414e-02 7.14381490e+02] [ 4.24432661e-02 9.99098873e-01 -1.07043092e-04 4.93298979e+00] [ 1.57341970e-02 -5.61286678e-04 9.99876052e-01 3.10470152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0992541539999 meters 0.021749183733043864 Centerline is valid? [True, True] Translation: X:714.44, Y:4.93, Z:3.11 [[ 9.99031379e-01 -4.11718928e-02 -1.55299592e-02 7.14441635e+02] [ 4.11752167e-02 9.99151936e-01 -1.05792450e-04 4.93433083e+00] [ 1.55211445e-02 -5.33759458e-04 9.99879397e-01 3.10577431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.159254154 meters 0.018883662984415513 Centerline is valid? [True, True] Translation: X:714.50, Y:4.94, Z:3.11 [[ 9.99205074e-01 -3.70273608e-02 -1.47714301e-02 7.14501356e+02] [ 3.70299086e-02 9.99314153e-01 -1.01088322e-04 4.93702364e+00] [ 1.47650422e-02 -4.45976743e-04 9.99890891e-01 3.10741459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.2192541539999 meters 0.01808520583507896 Centerline is valid? [True, True] Translation: X:714.56, Y:4.94, Z:3.11 [[ 9.99343235e-01 -3.29838495e-02 -1.50054800e-02 7.14560722e+02] [ 3.29860147e-02 9.99455808e-01 -1.03249131e-04 4.93854826e+00] [ 1.50007197e-02 -3.91789662e-04 9.99887406e-01 3.10781706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.279254154 meters 0.018175688467024165 Centerline is valid? [True, True] Translation: X:714.62, Y:4.94, Z:3.11 [[ 9.99488122e-01 -2.81508808e-02 -1.51994210e-02 7.14620445e+02] [ 2.81525352e-02 9.99603633e-01 -1.05148555e-04 4.94031254e+00] [ 1.51963565e-02 -3.22807504e-04 9.99884477e-01 3.10816260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.339254154 meters 0.017180113640237103 Centerline is valid? [True, True] Translation: X:714.68, Y:4.94, Z:3.11 [[ 9.99509510e-01 -2.76008283e-02 -1.47964074e-02 7.14678713e+02] [ 2.76023195e-02 9.99618978e-01 -1.03464184e-04 4.93934083e+00] [ 1.47936253e-02 -3.05001729e-04 9.99890522e-01 3.10844251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.399254154 meters 0.01735964729169083 Centerline is valid? [True, True] Translation: X:714.74, Y:4.94, Z:3.11 [[ 9.99455813e-01 -2.95048405e-02 -1.47492892e-02 7.14737689e+02] [ 2.95064847e-02 9.99564583e-01 -1.06176413e-04 4.93765543e+00] [ 1.47459999e-02 -3.29081044e-04 9.99891218e-01 3.10821712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.459254154 meters 0.02114922914724663 Centerline is valid? [True, True] Translation: X:714.80, Y:4.94, Z:3.11 [[ 9.99375516e-01 -3.09413739e-02 -1.70648514e-02 7.14796239e+02] [ 3.09437504e-02 9.99521120e-01 -1.24826908e-04 4.93607257e+00] [ 1.70605417e-02 -4.03301547e-04 9.99854377e-01 3.10617798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.519254154 meters 0.018732092618992297 Centerline is valid? [True, True] Translation: X:714.85, Y:4.94, Z:3.11 [[ 9.99264356e-01 -3.49100617e-02 -1.58756134e-02 7.14854663e+02] [ 3.49125988e-02 9.99390362e-01 -1.17393453e-04 4.93554191e+00] [ 1.58700332e-02 -4.36951828e-04 9.99873968e-01 3.10721992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.579254154 meters 0.022772411098567695 Centerline is valid? [True, True] Translation: X:714.91, Y:4.93, Z:3.11 [[ 9.99052190e-01 -3.97632482e-02 -1.77089013e-02 7.14914562e+02] [ 3.97671546e-02 9.99208965e-01 -1.31639088e-04 4.93208002e+00] [ 1.77001273e-02 -5.72718295e-04 9.99843176e-01 3.10644713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.639254154 meters 0.021554182152511182 Centerline is valid? [True, True] Translation: X:714.97, Y:4.93, Z:3.11 [[ 9.99007266e-01 -4.21429722e-02 -1.44378762e-02 7.14973466e+02] [ 4.21457790e-02 9.99111466e-01 -1.09937174e-04 4.93181848e+00] [ 1.44296808e-02 -4.98667505e-04 9.99895762e-01 3.10786421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.699254154 meters 0.024220600337479126 Centerline is valid? [True, True] Translation: X:715.03, Y:4.93, Z:3.11 [[ 9.98943448e-01 -4.41042710e-02 -1.29151691e-02 7.15032771e+02] [ 4.41066658e-02 9.99026823e-01 -9.94936598e-05 4.92900004e+00] [ 1.29069884e-02 -4.70256506e-04 9.99916591e-01 3.10830636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.759254154 meters 0.02337555536142399 Centerline is valid? [True, True] Translation: X:715.09, Y:4.93, Z:3.11 [[ 9.98984116e-01 -4.36995352e-02 -1.10039379e-02 7.15093690e+02] [ 4.37012483e-02 9.99044640e-01 -8.48370541e-05 4.93039790e+00] [ 1.09971325e-02 -3.96134953e-04 9.99939451e-01 3.10907040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.819254154 meters 0.022370806850168245 Centerline is valid? [True, True] Translation: X:715.16, Y:4.94, Z:3.11 [[ 9.99078606e-01 -4.11234172e-02 -1.22802232e-02 7.15155084e+02] [ 4.11253599e-02 9.99153990e-01 -9.43900153e-05 4.93702982e+00] [ 1.22737157e-02 -4.10725555e-04 9.99924591e-01 3.10915332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.879254154 meters 0.024215852242011622 Centerline is valid? [True, True] Translation: X:715.22, Y:4.94, Z:3.11 [[ 9.99135486e-01 -3.91611411e-02 -1.39529727e-02 7.15215354e+02] [ 3.91634606e-02 9.99232812e-01 -1.07065310e-04 4.94005202e+00] [ 1.39464609e-02 -4.39473945e-04 9.99902647e-01 3.10859115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.939254154 meters 0.020422050072386438 Centerline is valid? [True, True] Translation: X:715.28, Y:4.94, Z:3.11 [[ 9.99243668e-01 -3.71078614e-02 -1.16231734e-02 7.15276007e+02] [ 3.71093321e-02 9.99311208e-01 -8.91880669e-05 4.94313675e+00] [ 1.16184771e-02 -3.42207592e-04 9.99932445e-01 3.10988684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.999254154 meters 0.019412222855565004 Centerline is valid? [True, True] Translation: X:715.34, Y:4.95, Z:3.11 [[ 9.99346797e-01 -3.40196517e-02 -1.21918763e-02 7.15336024e+02] [ 3.40210480e-02 9.99421112e-01 -9.29183853e-05 4.94749603e+00] [ 1.21879797e-02 -3.21922718e-04 9.99925672e-01 3.10879986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.059254154 meters 0.01883450097212771 Centerline is valid? [True, True] Translation: X:715.40, Y:4.95, Z:3.11 [[ 9.99435361e-01 -3.09158365e-02 -1.31594278e-02 7.15395451e+02] [ 3.09171973e-02 9.99521944e-01 -1.00058170e-04 4.95307727e+00] [ 1.31562303e-02 -3.06850954e-04 9.99913406e-01 3.10747019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.119254154 meters 0.018461712228793115 Centerline is valid? [True, True] Translation: X:715.46, Y:4.96, Z:3.11 [[ 9.99449406e-01 -3.00636186e-02 -1.40379306e-02 7.15455465e+02] [ 3.00650821e-02 9.99547938e-01 -1.06819393e-04 4.95854716e+00] [ 1.40347960e-02 -3.15290958e-04 9.99901458e-01 3.10798859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.179254154 meters 0.017709745867998016 Centerline is valid? [True, True] Translation: X:715.52, Y:4.96, Z:3.11 [[ 9.99459340e-01 -3.04332295e-02 -1.24437327e-02 7.15515460e+02] [ 3.04344044e-02 9.99536762e-01 -9.49818147e-05 4.96187169e+00] [ 1.24408589e-02 -2.83787132e-04 9.99922569e-01 3.10933640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.239254154 meters 0.018897243514519015 Centerline is valid? [True, True] Translation: X:715.58, Y:4.96, Z:3.11 [[ 9.99423771e-01 -3.19352847e-02 -1.15005751e-02 7.15575304e+02] [ 3.19363859e-02 9.99489900e-01 -8.79310770e-05 4.96177986e+00] [ 1.14975167e-02 -2.79406395e-04 9.99933862e-01 3.10973285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.299254154 meters 0.019541417165890036 Centerline is valid? [True, True] Translation: X:715.64, Y:4.96, Z:3.11 [[ 9.99288596e-01 -3.63009075e-02 -1.02247960e-02 7.15636194e+02] [ 3.63020087e-02 9.99340862e-01 -7.79445441e-05 4.96239941e+00] [ 1.02208859e-02 -2.93291541e-04 9.99947722e-01 3.11082133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3592541539999 meters 0.0234485561221771 Centerline is valid? [True, True] Translation: X:715.70, Y:4.96, Z:3.11 [[ 9.99085097e-01 -4.14279821e-02 -1.06156487e-02 7.15695950e+02] [ 4.14294600e-02 9.99141428e-01 -8.07418689e-05 4.95964540e+00] [ 1.06098794e-02 -3.59132597e-04 9.99943649e-01 3.10988218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.419254154 meters 0.02173290363461087 Centerline is valid? [True, True] Translation: X:715.76, Y:4.96, Z:3.11 [[ 9.98949603e-01 -4.46144481e-02 -1.04518907e-02 7.15756798e+02] [ 4.46160578e-02 9.99004205e-01 -7.92200897e-05 4.96243189e+00] [ 1.04450171e-02 -3.87185284e-04 9.99945374e-01 3.11076385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4792541539999 meters 0.021881218633719432 Centerline is valid? [True, True] Translation: X:715.82, Y:4.97, Z:3.11 [[ 9.98939163e-01 -4.48504578e-02 -1.04396316e-02 7.15818868e+02] [ 4.48520833e-02 9.98993636e-01 -7.84837748e-05 4.96505432e+00] [ 1.04326455e-02 -3.89838708e-04 9.99945502e-01 3.11145552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.539254154 meters 0.02096098269700882 Centerline is valid? [True, True] Translation: X:715.88, Y:4.97, Z:3.11 [[ 9.98984755e-01 -4.38117273e-02 -1.04877229e-02 7.15881248e+02] [ 4.38133188e-02 9.99039732e-01 -7.80666785e-05 4.96907362e+00] [ 1.04810722e-02 -3.81514527e-04 9.99944999e-01 3.11175274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5992541539999 meters 0.021731017109605993 Centerline is valid? [True, True] Translation: X:715.94, Y:4.97, Z:3.11 [[ 9.99006806e-01 -4.33497518e-02 -1.03053243e-02 7.15942264e+02] [ 4.33512706e-02 9.99059889e-01 -7.60601911e-05 4.96914466e+00] [ 1.02989333e-02 -3.70764251e-04 9.99946896e-01 3.11182029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.659254154 meters 0.021614909957171677 Centerline is valid? [True, True] Translation: X:716.00, Y:4.97, Z:3.11 [[ 9.99020046e-01 -4.28921802e-02 -1.09182657e-02 7.16004211e+02] [ 4.28938657e-02 9.99079631e-01 -7.98549205e-05 4.97176399e+00] [ 1.09116420e-02 -3.88549956e-04 9.99940391e-01 3.11165787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.7192541539999 meters 0.021037283229451725 Centerline is valid? [True, True] Translation: X:716.07, Y:4.97, Z:3.11 [[ 9.98973575e-01 -4.33862195e-02 -1.30166181e-02 7.16066085e+02] [ 4.33886703e-02 9.99058264e-01 -9.41884702e-05 4.97384666e+00] [ 1.30084464e-02 -4.70681960e-04 9.99915276e-01 3.11009914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.779254154 meters 0.020784395441604767 Centerline is valid? [True, True] Translation: X:716.13, Y:4.98, Z:3.11 [[ 9.98929374e-01 -4.41819382e-02 -1.37135422e-02 7.16128509e+02] [ 4.41847477e-02 9.99023372e-01 -9.81957829e-05 4.97523166e+00] [ 1.37044876e-02 -5.07838749e-04 9.99905960e-01 3.11016098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.839254154 meters 0.023852382877338433 Centerline is valid? [True, True] Translation: X:716.19, Y:4.97, Z:3.11 [[ 9.98910497e-01 -4.46573840e-02 -1.35475847e-02 7.16189779e+02] [ 4.46601807e-02 9.99002232e-01 -9.61783470e-05 4.97333142e+00] [ 1.35383624e-02 -5.08964019e-04 9.99908223e-01 3.11014348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.899254154 meters 0.023969362651703113 Centerline is valid? [True, True] Translation: X:716.25, Y:4.97, Z:3.11 [[ 9.98878699e-01 -4.56662482e-02 -1.24875614e-02 7.16250509e+02] [ 4.56687108e-02 9.98956636e-01 -8.80262252e-05 4.97293514e+00] [ 1.24785522e-02 -4.82363311e-04 9.99922023e-01 3.11133291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.959254154 meters 0.023010220973622774 Centerline is valid? [True, True] Translation: X:716.31, Y:4.98, Z:3.11 [[ 9.98872739e-01 -4.58804932e-02 -1.21750711e-02 7.16312344e+02] [ 4.58828596e-02 9.98946823e-01 -8.50363184e-05 4.97717426e+00] [ 1.21661501e-02 -4.73686619e-04 9.99925877e-01 3.11121567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.019254154 meters 0.022193213929340098 Centerline is valid? [True, True] Translation: X:716.37, Y:4.98, Z:3.11 [[ 9.98968921e-01 -4.38112233e-02 -1.19026101e-02 7.16372423e+02] [ 4.38133436e-02 9.99039731e-01 -8.26803199e-05 4.97955493e+00] [ 1.18948027e-02 -4.38898078e-04 9.99929158e-01 3.11163953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.079254154 meters 0.020334167519108836 Centerline is valid? [True, True] Translation: X:716.43, Y:4.99, Z:3.11 [[ 9.99246568e-01 -3.73939441e-02 -1.03918202e-02 7.16432799e+02] [ 3.73952143e-02 9.99300552e-01 -7.21162775e-05 4.98596154e+00] [ 1.03872483e-02 -3.16542399e-04 9.99946001e-01 3.11325100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.139254154 meters 0.020347832095636727 Centerline is valid? [True, True] Translation: X:716.49, Y:4.99, Z:3.11 [[ 9.99469004e-01 -3.11652321e-02 -9.50986289e-03 7.16493785e+02] [ 3.11660148e-02 9.99514220e-01 -6.59070238e-05 4.99058659e+00] [ 9.50729720e-03 -2.30512501e-04 9.99954778e-01 3.11366754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.199254154 meters 0.01814523568110476 Centerline is valid? [True, True] Translation: X:716.55, Y:5.00, Z:3.11 [[ 9.99684566e-01 -2.35375707e-02 -8.76075146e-03 7.16553760e+02] [ 2.35379428e-02 9.99722942e-01 -6.06449775e-05 4.99646052e+00] [ 8.75975167e-03 -1.45584219e-04 9.99961622e-01 3.11426791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.259254154 meters 0.01646221900208444 Centerline is valid? [True, True] Translation: X:716.62, Y:5.00, Z:3.11 [[ 9.99728034e-01 -2.16577248e-02 -8.64870029e-03 7.16615486e+02] [ 2.16580184e-02 9.99765436e-01 -5.97272018e-05 4.99843891e+00] [ 8.64796517e-03 -1.27602752e-04 9.99962598e-01 3.11409757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.319254154 meters 0.01795613829929585 Centerline is valid? [True, True] Translation: X:716.68, Y:5.00, Z:3.11 [[ 9.99687047e-01 -2.27976870e-02 -1.02991670e-02 7.16676170e+02] [ 2.27981666e-02 9.99740086e-01 -7.08526050e-05 4.99560978e+00] [ 1.02981054e-02 -1.63971693e-04 9.99946960e-01 3.11142340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.379254154 meters 0.016786271245130983 Centerline is valid? [True, True] Translation: X:716.74, Y:5.00, Z:3.11 [[ 9.99562036e-01 -2.76239049e-02 -1.06139767e-02 7.16736145e+02] [ 2.76246858e-02 9.99618363e-01 -7.30566647e-05 4.99515871e+00] [ 1.06119441e-02 -2.20183102e-04 9.99943667e-01 3.11252305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.439254154 meters 0.02250326612804974 Centerline is valid? [True, True] Translation: X:716.80, Y:4.98, Z:3.11 [[ 9.99372665e-01 -3.36552142e-02 -1.10273740e-02 7.16796574e+02] [ 3.36564255e-02 9.99433459e-01 -7.57618660e-05 4.98343970e+00] [ 1.10236763e-02 -2.95427653e-04 9.99939194e-01 3.11070252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.499254154 meters 0.020787500459778542 Centerline is valid? [True, True] Translation: X:716.86, Y:4.98, Z:3.11 [[ 9.98984112e-01 -4.39847855e-02 -9.80215529e-03 7.16857055e+02] [ 4.39862404e-02 9.99032135e-01 -6.72047354e-05 4.98267124e+00] [ 9.79562411e-03 -3.64023497e-04 9.99951955e-01 3.11409725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.559254154 meters 0.02405805187813181 Centerline is valid? [True, True] Translation: X:716.92, Y:4.97, Z:3.11 [[ 9.98580713e-01 -5.25169634e-02 -8.86165104e-03 7.16917131e+02] [ 5.25184872e-02 9.98619950e-01 -6.08196702e-05 4.97401905e+00] [ 8.85261559e-03 -4.04667158e-04 9.99960733e-01 3.11448360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.619254154 meters 0.02636024797676968 Centerline is valid? [True, True] Translation: X:716.98, Y:4.97, Z:3.11 [[ 9.98344857e-01 -5.68774520e-02 -8.51482638e-03 7.16978110e+02] [ 5.68790171e-02 9.98381077e-01 -5.84293240e-05 4.96890895e+00] [ 8.50436483e-03 -4.25982340e-04 9.99963747e-01 3.11496905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.679254154 meters 0.03109434625885816 Centerline is valid? [True, True] Translation: X:717.04, Y:4.96, Z:3.12 [[ 9.98015539e-01 -6.25566309e-02 -7.18693260e-03 7.17037582e+02] [ 6.25578934e-02 9.98041336e-01 -4.92153926e-05 4.96092320e+00] [ 7.17593456e-03 -4.00481637e-04 9.99974172e-01 3.11540303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.739254154 meters 0.029143806076653626 Centerline is valid? [True, True] Translation: X:717.10, Y:4.96, Z:3.12 [[ 9.97789399e-01 -6.60908212e-02 -6.95112723e-03 7.17098634e+02] [ 6.60920884e-02 9.97813526e-01 -4.75013597e-05 4.96387494e+00] [ 6.93906817e-03 -4.12018162e-04 9.99975839e-01 3.11623231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.799254154 meters 0.03084643657596174 Centerline is valid? [True, True] Translation: X:717.16, Y:4.96, Z:3.12 [[ 9.97603983e-01 -6.87977985e-02 -7.29083662e-03 7.17159814e+02] [ 6.87992662e-02 9.97630522e-01 -4.96026983e-05 4.96264413e+00] [ 7.27697370e-03 -4.52120360e-04 9.99973420e-01 3.11612764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8592541539999 meters 0.03277535698884944 Centerline is valid? [True, True] Translation: X:717.22, Y:4.96, Z:3.11 [[ 9.97711858e-01 -6.70916916e-02 -8.35182094e-03 7.17220337e+02] [ 6.70935606e-02 9.97746687e-01 -5.65147177e-05 4.96424343e+00] [ 8.33679334e-03 -5.03968000e-04 9.99965121e-01 3.11392368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.919254154 meters 0.032205277579817095 Centerline is valid? [True, True] Translation: X:717.28, Y:4.97, Z:3.11 [[ 9.97837401e-01 -6.50785891e-02 -9.23572451e-03 7.17281777e+02] [ 6.50807912e-02 9.97879996e-01 -6.22330797e-05 4.96733697e+00] [ 9.22019478e-03 -5.38969764e-04 9.99957348e-01 3.11375764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9792541539999 meters 0.027511086143574563 Centerline is valid? [True, True] Translation: X:717.34, Y:4.98, Z:3.11 [[ 9.97986968e-01 -6.25038688e-02 -1.07367572e-02 7.17343256e+02] [ 6.25067008e-02 9.98044542e-01 -7.19251926e-05 4.97749839e+00] [ 1.07202575e-02 -5.99338865e-04 9.99942357e-01 3.11305230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.039254154 meters 0.028795683889245603 Centerline is valid? [True, True] Translation: X:717.40, Y:4.98, Z:3.11 [[ 9.98264938e-01 -5.76141330e-02 -1.21542622e-02 7.17403271e+02] [ 5.76174026e-02 9.98338734e-01 -8.12756670e-05 4.98138867e+00] [ 1.21387533e-02 -6.19162368e-04 9.99926131e-01 3.11191533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0992541539999 meters 0.027015420702348136 Centerline is valid? [True, True] Translation: X:717.46, Y:4.99, Z:3.11 [[ 9.98607455e-01 -5.16281895e-02 -1.08480956e-02 7.17463617e+02] [ 5.16304414e-02 9.98666257e-01 -7.25584562e-05 4.98817062e+00] [ 1.08373731e-02 -4.87634551e-04 9.99941155e-01 3.11365439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.159254154 meters 0.02210232965155198 Centerline is valid? [True, True] Translation: X:717.52, Y:5.01, Z:3.11 [[ 9.99188477e-01 -3.92060299e-02 -9.23438220e-03 7.17523960e+02] [ 3.92071322e-02 9.99231103e-01 -6.16929030e-05 5.00670699e+00] [ 9.22970064e-03 -3.00410806e-04 9.99957360e-01 3.11496516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.2192541539999 meters 0.01665407284233835 Centerline is valid? [True, True] Translation: X:717.58, Y:5.02, Z:3.12 [[ 9.99596415e-01 -2.74711422e-02 -7.23491228e-03 7.17584087e+02] [ 2.74715119e-02 9.99622586e-01 -4.82840707e-05 5.01826692e+00] [ 7.23350814e-03 -1.50489395e-04 9.99973827e-01 3.11775245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.279254154 meters 0.015172940319329874 Centerline is valid? [True, True] Translation: X:717.65, Y:5.02, Z:3.12 [[ 9.99749037e-01 -2.10325915e-02 -7.71313831e-03 7.17645990e+02] [ 2.10328217e-02 9.99778784e-01 -5.12876816e-05 5.02497039e+00] [ 7.71251076e-03 -1.10954252e-04 9.99970252e-01 3.11762269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.339254154 meters 0.01499737814544589 Centerline is valid? [True, True] Translation: X:717.71, Y:5.03, Z:3.12 [[ 9.99795774e-01 -1.80794501e-02 -9.03017568e-03 7.17707029e+02] [ 1.80796492e-02 9.99836548e-01 -5.95847454e-05 5.02875881e+00] [ 9.02977694e-03 -1.03689832e-04 9.99959225e-01 3.11660217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.399254154 meters 0.01544660833081137 Centerline is valid? [True, True] Translation: X:717.77, Y:5.03, Z:3.12 [[ 9.99723570e-01 -2.10880920e-02 -1.03959969e-02 7.17767691e+02] [ 2.10885206e-02 9.99777610e-01 -6.84102654e-05 5.02757675e+00] [ 1.03951276e-02 -1.50844840e-04 9.99945958e-01 3.11570717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.459254154 meters 0.015729725769005685 Centerline is valid? [True, True] Translation: X:717.83, Y:5.03, Z:3.12 [[ 9.99661726e-01 -2.38508962e-02 -1.03714964e-02 7.17827980e+02] [ 2.38514714e-02 9.99715511e-01 -6.82490413e-05 5.02669399e+00] [ 1.03701737e-02 -1.79149496e-04 9.99946212e-01 3.11612188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.519254154 meters 0.016742012653786487 Centerline is valid? [True, True] Translation: X:717.89, Y:5.03, Z:3.12 [[ 9.99579198e-01 -2.71215844e-02 -1.02882122e-02 7.17889617e+02] [ 2.71223257e-02 9.99632120e-01 -6.74841495e-05 5.02503933e+00] [ 1.02862577e-02 -2.11584491e-04 9.99947073e-01 3.11536939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.579254154 meters 0.01689794810517411 Centerline is valid? [True, True] Translation: X:717.95, Y:5.02, Z:3.12 [[ 9.99500260e-01 -2.99065989e-02 -1.02383881e-02 7.17950644e+02] [ 2.99074830e-02 9.99552669e-01 -6.67820821e-05 5.02322892e+00] [ 1.02358054e-02 -2.39455711e-04 9.99947584e-01 3.11564314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.639254154 meters 0.018395492465720864 Centerline is valid? [True, True] Translation: X:718.01, Y:5.02, Z:3.12 [[ 9.99371355e-01 -3.44674323e-02 -8.30007678e-03 7.18011931e+02] [ 3.44681727e-02 9.99405795e-01 -5.38666376e-05 5.01937638e+00] [ 8.29700148e-03 -2.32255705e-04 9.99965552e-01 3.11638360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.699254154 meters 0.021048065082079157 Centerline is valid? [True, True] Translation: X:718.07, Y:5.02, Z:3.12 [[ 9.99215710e-01 -3.90518459e-02 -6.55120249e-03 7.18073127e+02] [ 3.90524070e-02 9.99237163e-01 -4.23110480e-05 5.01636094e+00] [ 6.54785732e-03 -2.13562362e-04 9.99978540e-01 3.11594528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.759254154 meters 0.021407534252293577 Centerline is valid? [True, True] Translation: X:718.13, Y:5.01, Z:3.12 [[ 9.99065982e-01 -4.27322473e-02 -6.41234861e-03 7.18133556e+02] [ 4.27328618e-02 9.99086533e-01 -4.12186266e-05 5.01221954e+00] [ 6.40825251e-03 -2.32837879e-04 9.99979440e-01 3.11774127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.819254154 meters 0.021949935635991263 Centerline is valid? [True, True] Translation: X:718.20, Y:5.01, Z:3.12 [[ 9.99048753e-01 -4.29525903e-02 -7.52751767e-03 7.18195697e+02] [ 4.29534457e-02 9.99077074e-01 -4.80681367e-05 5.01062167e+00] [ 7.52263497e-03 -2.75310409e-04 9.99971667e-01 3.11674933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.879254154 meters 0.020480416415919606 Centerline is valid? [True, True] Translation: X:718.26, Y:5.01, Z:3.12 [[ 9.99142745e-01 -4.04812077e-02 -8.66295080e-03 7.18257948e+02] [ 4.04822537e-02 9.99180256e-01 -5.46427550e-05 5.01433768e+00] [ 8.65806140e-03 -2.96099859e-04 9.99962474e-01 3.11623608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.939254154 meters 0.019222645960939266 Centerline is valid? [True, True] Translation: X:718.32, Y:5.02, Z:3.12 [[ 9.99261656e-01 -3.70053582e-02 -1.03317688e-02 7.18319560e+02] [ 3.70066667e-02 9.99315017e-01 -6.45663858e-05 5.01704098e+00] [ 1.03270810e-02 -3.17825611e-04 9.99946624e-01 3.11582929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.999254154 meters 0.01823965478366814 Centerline is valid? [True, True] Translation: X:718.38, Y:5.02, Z:3.12 [[ 9.99424538e-01 -3.20796811e-02 -1.10221144e-02 7.18380620e+02] [ 3.20808755e-02 9.99485274e-01 -6.84665668e-05 5.02113877e+00] [ 1.10186374e-02 -2.85171913e-04 9.99939252e-01 3.11549184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.059254154 meters 0.018540752787814422 Centerline is valid? [True, True] Translation: X:718.44, Y:5.02, Z:3.11 [[ 9.99505188e-01 -2.90319440e-02 -1.21047570e-02 7.18441886e+02] [ 2.90331667e-02 9.99578446e-01 -7.47413337e-05 5.02452154e+00] [ 1.21018240e-02 -2.76735076e-04 9.99926732e-01 3.11471688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.119254154 meters 0.01826995521627442 Centerline is valid? [True, True] Translation: X:718.50, Y:5.03, Z:3.12 [[ 9.99463193e-01 -3.04408159e-02 -1.21112214e-02 7.18502719e+02] [ 3.04421469e-02 9.99536528e-01 -7.44814232e-05 5.02672906e+00] [ 1.21078755e-02 -2.94250141e-04 9.99926654e-01 3.11610011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.179254154 meters 0.018792410289935585 Centerline is valid? [True, True] Translation: X:718.56, Y:5.02, Z:3.12 [[ 9.99355068e-01 -3.40976786e-02 -1.12604092e-02 7.18564214e+02] [ 3.40990648e-02 9.99418455e-01 -6.89231085e-05 5.02468184e+00] [ 1.12562109e-02 -3.15090764e-04 9.99936597e-01 3.11735250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.239254154 meters 0.022627021697683634 Centerline is valid? [True, True] Translation: X:718.62, Y:5.02, Z:3.12 [[ 9.99069979e-01 -4.17990725e-02 -1.05836485e-02 7.18624013e+02] [ 4.18007294e-02 9.99125965e-01 -6.47104757e-05 5.01699362e+00] [ 1.05771029e-02 -3.77753934e-04 9.99943990e-01 3.11771787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.299254154 meters 0.023135931265813942 Centerline is valid? [True, True] Translation: X:718.69, Y:5.02, Z:3.12 [[ 9.98972881e-01 -4.41551498e-02 -1.01737850e-02 7.18685626e+02] [ 4.41568054e-02 9.99024611e-01 -6.19494752e-05 5.01634703e+00] [ 1.01665970e-02 -3.87355998e-04 9.99948244e-01 3.11860785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3592541539999 meters 0.022939403686973427 Centerline is valid? [True, True] Translation: X:718.75, Y:5.02, Z:3.12 [[ 9.98712435e-01 -4.98367132e-02 -9.47488579e-03 7.18746557e+02] [ 4.98384073e-02 9.98757293e-01 -5.73787769e-05 5.01618592e+00] [ 9.46597085e-03 -4.14908319e-04 9.99955111e-01 3.11987425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.419254154 meters 0.025615534255389552 Centerline is valid? [True, True] Translation: X:718.81, Y:5.01, Z:3.12 [[ 9.98636821e-01 -5.15544228e-02 -8.16337667e-03 7.18807592e+02] [ 5.15557399e-02 9.98670117e-01 -4.91570045e-05 5.01216105e+00] [ 8.15505460e-03 -3.71778929e-04 9.99966678e-01 3.12116401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4792541539999 meters 0.024434708822149133 Centerline is valid? [True, True] Translation: X:718.87, Y:5.01, Z:3.12 [[ 9.98670399e-01 -5.09717805e-02 -7.70138975e-03 7.18870279e+02] [ 5.09729399e-02 9.98700034e-01 -4.57951664e-05 5.01474665e+00] [ 7.69371246e-03 -3.46828199e-04 9.99970343e-01 3.12256535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.539254154 meters 0.026127191455895673 Centerline is valid? [True, True] Translation: X:718.93, Y:5.01, Z:3.12 [[ 9.98798005e-01 -4.84015098e-02 -7.73563005e-03 7.18930701e+02] [ 4.84026089e-02 9.98827906e-01 -4.51690650e-05 5.01317699e+00] [ 7.72874941e-03 -3.29309904e-04 9.99970079e-01 3.12258625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5992541539999 meters 0.022614700683296584 Centerline is valid? [True, True] Translation: X:718.99, Y:5.02, Z:3.12 [[ 9.98868976e-01 -4.68128965e-02 -8.32591771e-03 7.18992503e+02] [ 4.68141214e-02 9.98903617e-01 -4.78106296e-05 5.01898910e+00] [ 8.31902746e-03 -3.42013968e-04 9.99965338e-01 3.12284970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.659254154 meters 0.021636526598076387 Centerline is valid? [True, True] Translation: X:719.06, Y:5.02, Z:3.12 [[ 9.98937895e-01 -4.48526734e-02 -1.05507932e-02 7.19055159e+02] [ 4.48545418e-02 9.98993527e-01 -5.95959871e-05 5.02232529e+00] [ 1.05428472e-02 -4.13718306e-04 9.99944337e-01 3.12188459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.7192541539999 meters 0.021592470785338738 Centerline is valid? [True, True] Translation: X:719.12, Y:5.02, Z:3.12 [[ 9.99009216e-01 -4.27820839e-02 -1.22588937e-02 7.19116400e+02] [ 4.27844619e-02 9.99084323e-01 -6.83306016e-05 5.02346919e+00] [ 1.22505918e-02 -4.56227270e-04 9.99924855e-01 3.12115360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.779254154 meters 0.02174297967587656 Centerline is valid? [True, True] Translation: X:719.18, Y:5.02, Z:3.12 [[ 9.99036886e-01 -4.20770910e-02 -1.24426361e-02 7.19178301e+02] [ 4.20794966e-02 9.99114263e-01 -6.85212209e-05 5.02422727e+00] [ 1.24344984e-02 -4.55124636e-04 9.99922585e-01 3.12139410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.839254154 meters 0.021264761511405574 Centerline is valid? [True, True] Translation: X:719.24, Y:5.03, Z:3.12 [[ 9.99054860e-01 -4.18036999e-02 -1.19095387e-02 7.19240002e+02] [ 4.18058946e-02 9.99125749e-01 -6.47247210e-05 5.02722147e+00] [ 1.19018325e-02 -4.33225370e-04 9.99929077e-01 3.12254805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.899254154 meters 0.020528272172217834 Centerline is valid? [True, True] Translation: X:719.30, Y:5.03, Z:3.12 [[ 9.99218588e-01 -3.78840152e-02 -1.12701219e-02 7.19301161e+02] [ 3.78857377e-02 9.99282076e-01 -6.06921450e-05 5.03150409e+00] [ 1.12643301e-02 -3.66332162e-04 9.99936488e-01 3.12338764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.959254154 meters 0.019178945441910233 Centerline is valid? [True, True] Translation: X:719.36, Y:5.04, Z:3.13 [[ 9.99443019e-01 -3.19976301e-02 -9.47643029e-03 7.19361601e+02] [ 3.19985848e-02 9.99487913e-01 -5.08977561e-05 5.03629126e+00] [ 9.47320614e-03 -2.52362951e-04 9.99955096e-01 3.12500404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.019254154 meters 0.018225261915983795 Centerline is valid? [True, True] Translation: X:719.42, Y:5.04, Z:3.13 [[ 9.99554095e-01 -2.84597229e-02 -9.03632420e-03 7.19423542e+02] [ 2.84604487e-02 9.99594918e-01 -4.82857784e-05 5.04010339e+00] [ 9.03403795e-03 -2.08913594e-04 9.99959170e-01 3.12636419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.079254154 meters 0.016494486758516516 Centerline is valid? [True, True] Translation: X:719.48, Y:5.05, Z:3.13 [[ 9.99633154e-01 -2.47090092e-02 -1.10914967e-02 7.19484892e+02] [ 2.47098779e-02 9.99694663e-01 -5.87298503e-05 5.04584070e+00] [ 1.10895612e-02 -2.15361225e-04 9.99938486e-01 3.12631578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.139254154 meters 0.017041171299037705 Centerline is valid? [True, True] Translation: X:719.55, Y:5.04, Z:3.12 [[ 9.99625120e-01 -2.43090992e-02 -1.25971354e-02 7.19545220e+02] [ 2.43101967e-02 9.99704461e-01 -6.60130962e-05 5.04393805e+00] [ 1.25950172e-02 -2.40250491e-04 9.99920651e-01 3.12438446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.199254154 meters 0.01711709411348938 Centerline is valid? [True, True] Translation: X:719.61, Y:5.04, Z:3.12 [[ 9.99538995e-01 -2.62287577e-02 -1.52921151e-02 7.19605824e+02] [ 2.62306048e-02 9.99655915e-01 -7.98074656e-05 5.04190943e+00] [ 1.52889465e-02 -3.21350752e-04 9.99883066e-01 3.12316639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.259254154 meters 0.01776257889703706 Centerline is valid? [True, True] Translation: X:719.67, Y:5.04, Z:3.12 [[ 9.99439160e-01 -2.93536078e-02 -1.61161957e-02 7.19665448e+02] [ 2.93560585e-02 9.99569014e-01 -8.45367040e-05 5.03856042e+00] [ 1.61117313e-02 -3.88618690e-04 9.99870122e-01 3.12348597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.319254154 meters 0.019242112488154665 Centerline is valid? [True, True] Translation: X:719.72, Y:5.03, Z:3.12 [[ 9.99328648e-01 -3.30128882e-02 -1.58871637e-02 7.19724398e+02] [ 3.30157226e-02 9.99454829e-01 -8.39073860e-05 5.03421081e+00] [ 1.58812725e-02 -4.40675137e-04 9.99873788e-01 3.12453908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.379254154 meters 0.019300602153144008 Centerline is valid? [True, True] Translation: X:719.78, Y:5.03, Z:3.13 [[ 9.99269305e-01 -3.45418219e-02 -1.63620966e-02 7.19784669e+02] [ 3.45450305e-02 9.99403139e-01 -8.65788508e-05 5.03289248e+00] [ 1.63553213e-02 -4.78713539e-04 9.99866128e-01 3.12556650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.439254154 meters 0.019187405337679823 Centerline is valid? [True, True] Translation: X:719.85, Y:5.03, Z:3.13 [[ 9.99294156e-01 -3.39545235e-02 -1.60710912e-02 7.19845361e+02] [ 3.39575431e-02 9.99423273e-01 -8.50390166e-05 5.03264844e+00] [ 1.60647100e-02 -4.60755780e-04 9.99870848e-01 3.12675201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.499254154 meters 0.01952641442093183 Centerline is valid? [True, True] Translation: X:719.91, Y:5.03, Z:3.13 [[ 9.99374735e-01 -3.10067993e-02 -1.69916652e-02 7.19905553e+02] [ 3.10097490e-02 9.99519078e-01 -8.99101674e-05 5.03497381e+00] [ 1.69862814e-02 -4.37053324e-04 9.99855627e-01 3.12762126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.559254154 meters 0.017262631615850572 Centerline is valid? [True, True] Translation: X:719.97, Y:5.04, Z:3.13 [[ 9.99450622e-01 -2.91714288e-02 -1.57315600e-02 7.19965521e+02] [ 2.91737233e-02 9.99574353e-01 -8.36609104e-05 5.03573120e+00] [ 1.57273044e-02 -3.75333230e-04 9.99876248e-01 3.12996534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.619254154 meters 0.017441034346846143 Centerline is valid? [True, True] Translation: X:720.03, Y:5.03, Z:3.13 [[ 9.99480744e-01 -2.80756551e-02 -1.58113714e-02 7.20025448e+02] [ 2.80778301e-02 9.99605736e-01 -8.44558536e-05 5.03343279e+00] [ 1.58075087e-02 -3.59537001e-04 9.99874989e-01 3.13029309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.679254154 meters 0.017495997773771706 Centerline is valid? [True, True] Translation: X:720.08, Y:5.03, Z:3.13 [[ 9.99444297e-01 -2.88023654e-02 -1.67785979e-02 7.20084800e+02] [ 2.88049081e-02 9.99585048e-01 -9.01555440e-05 5.03113587e+00] [ 1.67742323e-02 -3.93200526e-04 9.99859225e-01 3.13075621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.739254154 meters 0.018458640933821553 Centerline is valid? [True, True] Translation: X:720.14, Y:5.03, Z:3.13 [[ 9.99392986e-01 -2.95309611e-02 -1.84819546e-02 7.20143846e+02] [ 2.95341489e-02 9.99563767e-01 -1.00504792e-04 5.02759165e+00] [ 1.84768602e-02 -4.45405015e-04 9.99829189e-01 3.12964908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.799254154 meters 0.01775851762012984 Centerline is valid? [True, True] Translation: X:720.20, Y:5.03, Z:3.13 [[ 9.99349110e-01 -2.95286132e-02 -2.07223704e-02 7.20202608e+02] [ 2.95325276e-02 9.99563813e-01 -1.17172222e-04 5.02663399e+00] [ 2.07167915e-02 -4.94888021e-04 9.99785262e-01 3.12975278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8592541539999 meters 0.01808326845971338 Centerline is valid? [True, True] Translation: X:720.26, Y:5.03, Z:3.13 [[ 9.99258681e-01 -3.04721590e-02 -2.35273399e-02 7.20261729e+02] [ 3.04773233e-02 9.99535449e-01 -1.39124532e-04 5.02519978e+00] [ 2.35206497e-02 -5.78028950e-04 9.99723184e-01 3.12960189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.919254154 meters 0.018800817983265942 Centerline is valid? [True, True] Translation: X:720.32, Y:5.02, Z:3.13 [[ 9.99199381e-01 -3.24247239e-02 -2.34357520e-02 7.20320413e+02] [ 3.24302478e-02 9.99473991e-01 -1.44423529e-04 5.02181102e+00] [ 2.34281075e-02 -6.15719346e-04 9.99725335e-01 3.13003666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9792541539999 meters 0.018345199220160254 Centerline is valid? [True, True] Translation: X:720.38, Y:5.02, Z:3.13 [[ 9.99175496e-01 -3.47312191e-02 -2.10254540e-02 7.20378697e+02] [ 3.47361219e-02 9.99396510e-01 -1.32090812e-04 5.02057063e+00] [ 2.10173530e-02 -5.98360829e-04 9.99778932e-01 3.13444739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.039254154 meters 0.019502030539598893 Centerline is valid? [True, True] Translation: X:720.44, Y:5.02, Z:3.14 [[ 9.99273662e-01 -3.28437326e-02 -1.93245435e-02 7.20437090e+02] [ 3.28474931e-02 9.99460368e-01 -1.22866552e-04 5.01729836e+00] [ 1.93181507e-02 -5.11985499e-04 9.99813256e-01 3.13505442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0992541539999 meters 0.017850677596031452 Centerline is valid? [True, True] Translation: X:720.50, Y:5.02, Z:3.14 [[ 9.99355737e-01 -3.03982645e-02 -1.90802797e-02 7.20495682e+02] [ 3.04014090e-02 9.99537762e-01 -1.25300679e-04 5.01980947e+00] [ 1.90752690e-02 -4.54847433e-04 9.99817947e-01 3.13670432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.159254154 meters 0.01862267182238723 Centerline is valid? [True, True] Translation: X:720.55, Y:5.02, Z:3.14 [[ 9.99388706e-01 -2.88963598e-02 -1.96777651e-02 7.20553691e+02] [ 2.88993647e-02 9.99582317e-01 -1.31701242e-04 5.01692699e+00] [ 1.96733518e-02 -4.37054177e-04 9.99806365e-01 3.13556711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.2192541539999 meters 0.017502437800427484 Centerline is valid? [True, True] Translation: X:720.61, Y:5.02, Z:3.14 [[ 9.99360985e-01 -2.98570121e-02 -1.96514534e-02 7.20612306e+02] [ 2.98601122e-02 9.99554078e-01 -1.35716879e-04 5.01660660e+00] [ 1.96467425e-02 -4.51164449e-04 9.99806882e-01 3.13704702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.279254154 meters 0.01961390083928351 Centerline is valid? [True, True] Translation: X:720.67, Y:5.01, Z:3.14 [[ 9.99151774e-01 -3.49294223e-02 -2.18098225e-02 7.20672843e+02] [ 3.49344218e-02 9.99389595e-01 -1.51841805e-04 5.00996121e+00] [ 2.18018134e-02 -6.10200529e-04 9.99762126e-01 3.13597379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.339254154 meters 0.020404556474229077 Centerline is valid? [True, True] Translation: X:720.73, Y:5.00, Z:3.13 [[ 9.98880476e-01 -4.16556440e-02 -2.24187893e-02 7.20733166e+02] [ 4.16626112e-02 9.99131724e-01 -1.56409190e-04 5.00234872e+00] [ 2.24058389e-02 -7.77791216e-04 9.99748655e-01 3.13435268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.399254154 meters 0.02170404889571413 Centerline is valid? [True, True] Translation: X:720.79, Y:5.00, Z:3.13 [[ 9.98723016e-01 -4.50267113e-02 -2.29114168e-02 7.20792594e+02] [ 4.50348489e-02 9.98985404e-01 -1.60935963e-04 4.99841015e+00] [ 2.28954173e-02 -8.71081742e-04 9.99737486e-01 3.13368707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.459254154 meters 0.021636526109881708 Centerline is valid? [True, True] Translation: X:720.85, Y:5.00, Z:3.13 [[ 9.98689180e-01 -4.60324296e-02 -2.23816375e-02 7.20851398e+02] [ 4.60403393e-02 9.98939568e-01 -1.62040015e-04 4.99597648e+00] [ 2.23653624e-02 -8.68630576e-04 9.99749487e-01 3.13475480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.519254154 meters 0.02075533273030464 Centerline is valid? [True, True] Translation: X:720.91, Y:5.00, Z:3.14 [[ 9.98895382e-01 -4.24790161e-02 -2.00885417e-02 7.20910928e+02] [ 4.24846382e-02 9.99097109e-01 -1.47014029e-04 4.99603620e+00] [ 2.00766489e-02 -7.06602791e-04 9.99798194e-01 3.13635687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.579254154 meters 0.021454110961317028 Centerline is valid? [True, True] Translation: X:720.97, Y:5.00, Z:3.14 [[ 9.99074383e-01 -3.83905292e-02 -1.94047477e-02 7.20970529e+02] [ 3.83949912e-02 9.99262630e-01 -1.42697872e-04 4.99658484e+00] [ 1.93959174e-02 -6.02479328e-04 9.99811700e-01 3.13734109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.639254154 meters 0.01783871984426759 Centerline is valid? [True, True] Translation: X:721.03, Y:5.00, Z:3.14 [[ 9.99380559e-01 -3.18113024e-02 -1.50512454e-02 7.21030484e+02] [ 3.18132381e-02 9.99493825e-01 -1.10862284e-04 5.00025485e+00] [ 1.50471535e-02 -3.68035242e-04 9.99886717e-01 3.13871770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.699254154 meters 0.01578779666535494 Centerline is valid? [True, True] Translation: X:721.09, Y:5.00, Z:3.14 [[ 9.99612837e-01 -2.37340817e-02 -1.45213304e-02 7.21090861e+02] [ 2.37350285e-02 9.99718279e-01 -1.07161530e-04 5.00413461e+00] [ 1.45197828e-02 -2.37544151e-04 9.99894554e-01 3.13767860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.759254154 meters 0.014750994249227163 Centerline is valid? [True, True] Translation: X:721.15, Y:5.01, Z:3.14 [[ 9.99711793e-01 -1.93119937e-02 -1.42610741e-02 7.21149585e+02] [ 1.93124211e-02 9.99813492e-01 -1.07753255e-04 5.00583613e+00] [ 1.42604953e-02 -1.67693669e-04 9.99898300e-01 3.13765963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.819254154 meters 0.01450125813458405 Centerline is valid? [True, True] Translation: X:721.21, Y:5.01, Z:3.14 [[ 9.99758072e-01 -1.55211588e-02 -1.55849885e-02 7.21207125e+02] [ 1.55211752e-02 9.99879532e-01 -1.19913554e-04 5.00658146e+00] [ 1.55849722e-02 -1.22012793e-04 9.99878539e-01 3.13559003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.879254154 meters 0.014635093920056462 Centerline is valid? [True, True] Translation: X:721.27, Y:5.00, Z:3.13 [[ 9.99744118e-01 -1.62620124e-02 -1.57240498e-02 7.21265321e+02] [ 1.62620664e-02 9.99867756e-01 -1.24434942e-04 5.00424895e+00] [ 1.57239940e-02 -1.31302442e-04 9.99876362e-01 3.13414293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.939254154 meters 0.014801180110235209 Centerline is valid? [True, True] Translation: X:721.32, Y:5.00, Z:3.13 [[ 9.99738927e-01 -1.74551076e-02 -1.47444031e-02 7.21322061e+02] [ 1.74552505e-02 9.99847638e-01 -1.19003763e-04 5.00230606e+00] [ 1.47442339e-02 -1.38394556e-04 9.99891288e-01 3.13397242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.999254154 meters 0.017278639405972428 Centerline is valid? [True, True] Translation: X:721.38, Y:5.00, Z:3.13 [[ 9.99696096e-01 -1.98390763e-02 -1.46331005e-02 7.21381197e+02] [ 1.98394302e-02 9.99803172e-01 -1.20990234e-04 4.99990241e+00] [ 1.46326206e-02 -1.69358912e-04 9.99892923e-01 3.13411272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.059254154 meters 0.016201613085496502 Centerline is valid? [True, True] Translation: X:721.44, Y:5.00, Z:3.14 [[ 9.99619112e-01 -2.46510279e-02 -1.24080049e-02 7.21439881e+02] [ 2.46516186e-02 9.99696097e-01 -1.05359951e-04 4.99664416e+00] [ 1.24068313e-02 -2.00557584e-04 9.99923012e-01 3.13544632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.119254154 meters 0.018662676380079297 Centerline is valid? [True, True] Translation: X:721.50, Y:4.99, Z:3.14 [[ 9.99480305e-01 -3.07695275e-02 -9.61024025e-03 7.21498790e+02] [ 3.07701570e-02 9.99526483e-01 -8.23798391e-05 4.98985827e+00] [ 9.60822443e-03 -2.13371575e-04 9.99953817e-01 3.13718145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.179254154 meters 0.020576837685992836 Centerline is valid? [True, True] Translation: X:721.56, Y:4.99, Z:3.14 [[ 9.99361095e-01 -3.47833093e-02 -8.21719198e-03 7.21559876e+02] [ 3.47839058e-02 9.99394854e-01 -7.03518234e-05 4.98508199e+00] [ 8.21466645e-03 -2.15519156e-04 9.99966236e-01 3.13827175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.239254154 meters 0.023044640558759585 Centerline is valid? [True, True] Translation: X:721.62, Y:4.98, Z:3.14 [[ 9.99227132e-01 -3.86891509e-02 -6.94894467e-03 7.21619842e+02] [ 3.86896735e-02 9.99251273e-01 -5.92591450e-05 4.97845984e+00] [ 6.94603449e-03 -2.09639055e-04 9.99975854e-01 3.13898524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.299254154 meters 0.024001272967330057 Centerline is valid? [True, True] Translation: X:721.68, Y:4.98, Z:3.14 [[ 9.99206676e-01 -3.90244372e-02 -7.94435499e-03 7.21681326e+02] [ 3.90251349e-02 9.99238227e-01 -6.72352866e-05 4.97535356e+00] [ 7.94092701e-03 -2.42847577e-04 9.99968441e-01 3.13704053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3592541539999 meters 0.02344029757147596 Centerline is valid? [True, True] Translation: X:721.74, Y:4.98, Z:3.14 [[ 9.99261926e-01 -3.72842308e-02 -9.24599780e-03 7.21742704e+02] [ 3.72851051e-02 9.99304666e-01 -7.78510926e-05 4.97663768e+00] [ 9.24247136e-03 -2.66944367e-04 9.99957252e-01 3.13577379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.419254154 meters 0.01830055197694624 Centerline is valid? [True, True] Translation: X:721.80, Y:4.99, Z:3.14 [[ 9.99395343e-01 -3.33564803e-02 -9.81297941e-03 7.21804061e+02] [ 3.33572793e-02 9.99443488e-01 -8.22813426e-05 4.98634274e+00] [ 9.81026299e-03 -2.45102705e-04 9.99951848e-01 3.13707060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4792541539999 meters 0.016548499825206085 Centerline is valid? [True, True] Translation: X:721.87, Y:4.99, Z:3.14 [[ 9.99517816e-01 -2.98743272e-02 -8.46520612e-03 7.21865685e+02] [ 2.98747994e-02 9.99553646e-01 -7.06911495e-05 4.99037476e+00] [ 8.46353949e-03 -1.82239271e-04 9.99964167e-01 3.13877596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.539254154 meters 0.017444178784736187 Centerline is valid? [True, True] Translation: X:721.93, Y:4.99, Z:3.14 [[ 9.99563216e-01 -2.80406636e-02 -9.33269537e-03 7.21927165e+02] [ 2.80411610e-02 9.99606766e-01 -7.75727053e-05 4.99187416e+00] [ 9.33120063e-03 -1.84160791e-04 9.99956446e-01 3.13906551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5992541539999 meters 0.020761389041302817 Centerline is valid? [True, True] Translation: X:721.99, Y:4.98, Z:3.14 [[ 9.99541630e-01 -2.86596962e-02 -9.75458477e-03 7.21987183e+02] [ 2.86602738e-02 9.99589207e-01 -8.05979134e-05 4.98403090e+00] [ 9.75288756e-03 -1.99008101e-04 9.99952420e-01 3.13700750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.659254154 meters 0.023788215692979005 Centerline is valid? [True, True] Translation: X:722.05, Y:4.98, Z:3.14 [[ 9.99407709e-01 -3.28810138e-02 -1.01523167e-02 7.22046993e+02] [ 3.28818590e-02 9.99459242e-01 -8.37017070e-05 4.97848856e+00] [ 1.01495790e-02 -2.50174916e-04 9.99948460e-01 3.13639984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.7192541539999 meters 0.019850141779706575 Centerline is valid? [True, True] Translation: X:722.11, Y:4.98, Z:3.14 [[ 9.99232442e-01 -3.77912138e-02 -1.03126549e-02 7.22107875e+02] [ 3.77923476e-02 9.99285610e-01 -8.49849777e-05 4.98450775e+00] [ 1.03084994e-02 -3.04819693e-04 9.99946820e-01 3.13910280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.779254154 meters 0.023638722344363303 Centerline is valid? [True, True] Translation: X:722.17, Y:4.98, Z:3.14 [[ 9.98910902e-01 -4.56447910e-02 -9.67274983e-03 7.22167632e+02] [ 4.56461560e-02 9.98957668e-01 -7.97135647e-05 4.97847841e+00] [ 9.66630612e-03 -3.61897099e-04 9.99953215e-01 3.13991971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.839254154 meters 0.027550961327020815 Centerline is valid? [True, True] Translation: X:722.23, Y:4.97, Z:3.14 [[ 9.98523990e-01 -5.33962766e-02 -9.93369687e-03 7.22228283e+02] [ 5.33980984e-02 9.98573300e-01 -8.19286653e-05 4.97215540e+00] [ 9.92389915e-03 -4.48632785e-04 9.99950656e-01 3.13946104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.899254154 meters 0.025817904911731342 Centerline is valid? [True, True] Translation: X:722.29, Y:4.98, Z:3.14 [[ 9.98178018e-01 -5.92340506e-02 -1.14878615e-02 7.22288476e+02] [ 5.92368730e-02 9.98243950e-01 -9.47217418e-05 4.97681356e+00] [ 1.14732990e-02 -5.85955830e-04 9.99934008e-01 3.13946175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.959254154 meters 0.029121438002800447 Centerline is valid? [True, True] Translation: X:722.35, Y:4.98, Z:3.14 [[ 9.97994933e-01 -6.19857017e-02 -1.28018318e-02 7.22349984e+02] [ 6.19894366e-02 9.98076800e-01 -1.05229495e-04 4.97565156e+00] [ 1.27837340e-02 -6.88559838e-04 9.99918048e-01 3.13946563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.019254154 meters 0.030592631274186963 Centerline is valid? [True, True] Translation: X:722.41, Y:4.98, Z:3.14 [[ 9.97733438e-01 -6.62450627e-02 -1.18143637e-02 7.22409762e+02] [ 6.62485429e-02 9.97803147e-01 -9.69667056e-05 4.97530469e+00] [ 1.17948328e-02 -6.85937456e-04 9.99930203e-01 3.13999069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.079254154 meters 0.029361233679461102 Centerline is valid? [True, True] Translation: X:722.47, Y:4.98, Z:3.14 [[ 9.97665921e-01 -6.71214967e-02 -1.25465226e-02 7.22472100e+02] [ 6.71254983e-02 9.97744535e-01 -1.02375651e-04 4.97927720e+00] [ 1.25250959e-02 -7.40054881e-04 9.99921284e-01 3.14039359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.139254154 meters 0.030715974690105483 Centerline is valid? [True, True] Translation: X:722.53, Y:4.98, Z:3.14 [[ 9.97655950e-01 -6.71889769e-02 -1.29710062e-02 7.22533977e+02] [ 6.71932720e-02 9.97739973e-01 -1.04878605e-04 4.98361820e+00] [ 1.29487381e-02 -7.66931586e-04 9.99915867e-01 3.13993084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.199254154 meters 0.03002790257620185 Centerline is valid? [True, True] Translation: X:722.60, Y:4.99, Z:3.14 [[ 9.97812253e-01 -6.47441779e-02 -1.33752886e-02 7.22595538e+02] [ 6.47485369e-02 9.97901606e-01 -1.07328001e-04 4.99156176e+00] [ 1.33541708e-02 -7.58937170e-04 9.99910541e-01 3.13990818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.259254154 meters 0.02934333393054581 Centerline is valid? [True, True] Translation: X:722.66, Y:5.00, Z:3.14 [[ 9.97983116e-01 -6.17485805e-02 -1.47245568e-02 7.22656800e+02] [ 6.17535478e-02 9.98091421e-01 -1.17519568e-04 4.99794022e+00] [ 1.47037105e-02 -7.92011080e-04 9.99891581e-01 3.13952154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.319254154 meters 0.02765633140446763 Centerline is valid? [True, True] Translation: X:722.72, Y:5.01, Z:3.14 [[ 9.98280559e-01 -5.63534731e-02 -1.61310544e-02 7.22717302e+02] [ 5.63587359e-02 9.98410575e-01 -1.28513675e-04 5.00976549e+00] [ 1.61126575e-02 -7.80833132e-04 9.99869878e-01 3.13988398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.379254154 meters 0.02622903109279683 Centerline is valid? [True, True] Translation: X:722.78, Y:5.02, Z:3.14 [[ 9.98608458e-01 -5.02924672e-02 -1.58687081e-02 7.22776286e+02] [ 5.02967938e-02 9.98734307e-01 -1.26582639e-04 5.02106247e+00] [ 1.58549894e-02 -6.71738645e-04 9.99874076e-01 3.14069349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.439254154 meters 0.023258644427485202 Centerline is valid? [True, True] Translation: X:722.84, Y:5.03, Z:3.14 [[ 9.98840392e-01 -4.56442321e-02 -1.53126186e-02 7.22836861e+02] [ 4.56477172e-02 9.98957592e-01 -1.22021645e-04 5.03133791e+00] [ 1.53022262e-02 -5.77105934e-04 9.99882748e-01 3.14220024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.499254154 meters 0.018449190039290114 Centerline is valid? [True, True] Translation: X:722.90, Y:5.05, Z:3.14 [[ 9.99192358e-01 -3.75422293e-02 -1.43252131e-02 7.22897276e+02] [ 3.75444491e-02 9.99294952e-01 -1.14039555e-04 5.04761793e+00] [ 1.43193945e-02 -4.23884783e-04 9.99897382e-01 3.14395467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.559254154 meters 0.016800957672931216 Centerline is valid? [True, True] Translation: X:722.96, Y:5.06, Z:3.14 [[ 9.99522342e-01 -2.80131761e-02 -1.30518002e-02 7.22957106e+02] [ 2.80142068e-02 9.99607520e-01 -1.03886507e-04 5.05831798e+00] [ 1.30495878e-02 -2.61798945e-04 9.99914816e-01 3.14401550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.619254154 meters 0.015351507680183656 Centerline is valid? [True, True] Translation: X:723.02, Y:5.07, Z:3.15 [[ 9.99708043e-01 -2.09516042e-02 -1.20357629e-02 7.23017620e+02] [ 2.09519689e-02 9.99780479e-01 -9.57997641e-05 5.06731924e+00] [ 1.20351280e-02 -1.56401136e-04 9.99927563e-01 3.14517184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.679254154 meters 0.015109042703673609 Centerline is valid? [True, True] Translation: X:723.08, Y:5.07, Z:3.15 [[ 9.99748974e-01 -1.91187442e-02 -1.16817307e-02 7.23078249e+02] [ 1.91189626e-02 9.99817212e-01 -9.29818115e-05 5.06977096e+00] [ 1.16813731e-02 -1.30384102e-04 9.99931762e-01 3.14517336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.739254154 meters 0.015432703090461814 Centerline is valid? [True, True] Translation: X:723.14, Y:5.07, Z:3.15 [[ 9.99750077e-01 -1.96553451e-02 -1.06512975e-02 7.23137280e+02] [ 1.96555560e-02 9.99806807e-01 -8.48920434e-05 5.07003868e+00] [ 1.06509083e-02 -1.24486347e-04 9.99943270e-01 3.14511852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.799254154 meters 0.01596402557369654 Centerline is valid? [True, True] Translation: X:723.20, Y:5.07, Z:3.14 [[ 9.99660905e-01 -2.35231984e-02 -1.11684554e-02 7.23197540e+02] [ 2.35236706e-02 9.99723276e-01 -8.90965910e-05 5.06648568e+00] [ 1.11674607e-02 -1.73656688e-04 9.99937627e-01 3.14383323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8592541539999 meters 0.01709618096138614 Centerline is valid? [True, True] Translation: X:723.26, Y:5.06, Z:3.14 [[ 9.99566036e-01 -2.75666796e-02 -1.03834895e-02 7.23257907e+02] [ 2.75673069e-02 9.99619946e-01 -8.27280890e-05 5.06255957e+00] [ 1.03818238e-02 -2.03552656e-04 9.99946087e-01 3.14370538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.919254154 meters 0.019118948408886033 Centerline is valid? [True, True] Translation: X:723.32, Y:5.06, Z:3.14 [[ 9.99356560e-01 -3.47235479e-02 -8.98561544e-03 7.23319466e+02] [ 3.47243088e-02 9.99396927e-01 -7.13610634e-05 5.05594816e+00] [ 8.98267436e-03 -2.40704139e-04 9.99959626e-01 3.14450330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9792541539999 meters 0.021288063280128777 Centerline is valid? [True, True] Translation: X:723.38, Y:5.05, Z:3.14 [[ 9.99089992e-01 -4.17284992e-02 -8.82720353e-03 7.23381006e+02] [ 4.17295094e-02 9.99128942e-01 -6.97889737e-05 5.04989075e+00] [ 8.82242671e-03 -2.98629408e-04 9.99961037e-01 3.14459405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.039254154 meters 0.022618606442992434 Centerline is valid? [True, True] Translation: X:723.44, Y:5.04, Z:3.14 [[ 9.98854930e-01 -4.69460427e-02 -9.21403192e-03 7.23441661e+02] [ 4.69473674e-02 9.98897362e-01 -7.25929942e-05 5.04407586e+00] [ 9.20728014e-03 -3.60064672e-04 9.99957547e-01 3.14409496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0992541539999 meters 0.025794382269802022 Centerline is valid? [True, True] Translation: X:723.50, Y:5.04, Z:3.14 [[ 9.98468731e-01 -5.46556030e-02 -8.54158214e-03 7.23502528e+02] [ 5.46570236e-02 9.98505185e-01 -6.72095167e-05 5.03655350e+00] [ 8.53248743e-03 -3.99750855e-04 9.99963518e-01 3.14331330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.159254154 meters 0.030203920297153287 Centerline is valid? [True, True] Translation: X:723.56, Y:5.03, Z:3.14 [[ 9.98034499e-01 -6.19079815e-02 -9.72319639e-03 7.23563000e+02] [ 6.19101675e-02 9.98081723e-01 -7.62859352e-05 5.02847070e+00] [ 9.70926731e-03 -5.25828722e-04 9.99952726e-01 3.14200353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.2192541539999 meters 0.033004246303049045 Centerline is valid? [True, True] Translation: X:723.62, Y:5.02, Z:3.14 [[ 9.97770183e-01 -6.60584887e-02 -9.53617057e-03 7.23623849e+02] [ 6.60607823e-02 9.97815598e-01 -7.46215132e-05 5.02420151e+00] [ 9.52026912e-03 -5.55511767e-04 9.99954527e-01 3.14147342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.279254154 meters 0.03662301014446572 Centerline is valid? [True, True] Translation: X:723.68, Y:5.02, Z:3.14 [[ 9.97495901e-01 -7.01581863e-02 -8.93061832e-03 7.23683066e+02] [ 7.01603611e-02 9.97535723e-01 -6.99211275e-05 5.02027429e+00] [ 8.91351634e-03 -5.56829368e-04 9.99960119e-01 3.14223629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.339254154 meters 0.031575347863265386 Centerline is valid? [True, True] Translation: X:723.74, Y:5.03, Z:3.14 [[ 9.97397210e-01 -7.15867951e-02 -8.61028667e-03 7.23744860e+02] [ 7.15888735e-02 9.97434223e-01 -6.69706310e-05 5.02848830e+00] [ 8.59298880e-03 -5.49604403e-04 9.99962929e-01 3.14290025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.399254154 meters 0.0338081490784721 Centerline is valid? [True, True] Translation: X:723.81, Y:5.03, Z:3.14 [[ 9.97460570e-01 -7.05886092e-02 -9.46889619e-03 7.23806001e+02] [ 7.05910861e-02 9.97505335e-01 -7.27963590e-05 5.02846216e+00] [ 9.45041306e-03 -5.95808169e-04 9.99955166e-01 3.14192344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.459254154 meters 0.03234080463190328 Centerline is valid? [True, True] Translation: X:723.87, Y:5.03, Z:3.14 [[ 9.97531581e-01 -6.94117346e-02 -1.06186470e-02 7.23868037e+02] [ 6.94147908e-02 9.97587881e-01 -8.09146112e-05 5.03357973e+00] [ 1.05986499e-02 -6.56376277e-04 9.99943617e-01 3.14171267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.519254154 meters 0.034345688517391296 Centerline is valid? [True, True] Translation: X:723.93, Y:5.04, Z:3.14 [[ 9.97662036e-01 -6.73311691e-02 -1.17036183e-02 7.23928539e+02] [ 6.73347448e-02 9.97730437e-01 -8.86986234e-05 5.03622360e+00] [ 1.16830284e-02 -6.99568904e-04 9.99931506e-01 3.14052662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.579254154 meters 0.03155995467540458 Centerline is valid? [True, True] Translation: X:723.99, Y:5.04, Z:3.14 [[ 9.97908375e-01 -6.36891705e-02 -1.10709041e-02 7.23988941e+02] [ 6.36921474e-02 9.97969590e-01 -8.38283762e-05 5.04422851e+00] [ 1.10537645e-02 -6.21476615e-04 9.99938712e-01 3.14230874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.639254154 meters 0.02892258868271882 Centerline is valid? [True, True] Translation: X:724.05, Y:5.05, Z:3.14 [[ 9.98378509e-01 -5.59316559e-02 -1.05831236e-02 7.24049853e+02] [ 5.59339422e-02 9.98434468e-01 -8.00594354e-05 5.05463353e+00] [ 1.05710332e-02 -5.12026203e-04 9.99943994e-01 3.14374135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.699254154 meters 0.025892758340323063 Centerline is valid? [True, True] Translation: X:724.11, Y:5.06, Z:3.14 [[ 9.98760005e-01 -4.86809820e-02 -1.04217996e-02 7.24110471e+02] [ 4.86828056e-02 9.98814286e-01 -7.87879282e-05 5.06353788e+00] [ 1.04132778e-02 -4.28672211e-04 9.99945688e-01 3.14424050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.759254154 meters 0.021552560893488153 Centerline is valid? [True, True] Translation: X:724.17, Y:5.08, Z:3.14 [[ 9.99253244e-01 -3.72633213e-02 -1.02175723e-02 7.24171318e+02] [ 3.72644784e-02 9.99305435e-01 -7.71710036e-05 5.07608229e+00] [ 1.02133512e-02 -3.03639127e-04 9.99947796e-01 3.14411793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.819254154 meters 0.017264755259459655 Centerline is valid? [True, True] Translation: X:724.23, Y:5.09, Z:3.15 [[ 9.99531603e-01 -2.88774630e-02 -1.01324165e-02 7.24232387e+02] [ 2.88781719e-02 9.99582936e-01 -7.63690249e-05 5.08970674e+00] [ 1.01303960e-02 -2.16272411e-04 9.99948663e-01 3.14502643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.879254154 meters 0.01608161437400858 Centerline is valid? [True, True] Translation: X:724.29, Y:5.10, Z:3.14 [[ 9.99631296e-01 -2.48019333e-02 -1.10514893e-02 7.24294062e+02] [ 2.48025326e-02 9.99692366e-01 -8.28528302e-05 5.09500771e+00] [ 1.10501444e-02 -1.91282641e-04 9.99938927e-01 3.14480771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.939254154 meters 0.015455819643359186 Centerline is valid? [True, True] Translation: X:724.36, Y:5.10, Z:3.14 [[ 9.99696393e-01 -2.12591790e-02 -1.24567003e-02 7.24355343e+02] [ 2.12596723e-02 9.99773983e-01 -9.28295411e-05 5.09942874e+00] [ 1.24558584e-02 -1.72024010e-04 9.99922408e-01 3.14436367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.999254154 meters 0.015243960422674284 Centerline is valid? [True, True] Translation: X:724.42, Y:5.10, Z:3.14 [[ 9.99712987e-01 -2.06988010e-02 -1.20624769e-02 7.24415417e+02] [ 2.06992246e-02 9.99785744e-01 -8.97373233e-05 5.10106555e+00] [ 1.20617499e-02 -1.59972351e-04 9.99927242e-01 3.14497949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.059254154 meters 0.015266073451808816 Centerline is valid? [True, True] Translation: X:724.48, Y:5.10, Z:3.15 [[ 9.99716727e-01 -2.11547178e-02 -1.09061448e-02 7.24476388e+02] [ 2.11550912e-02 9.99776203e-01 -8.11349325e-05 5.10231159e+00] [ 1.09054205e-02 -1.49608540e-04 9.99940523e-01 3.14641386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.119254154 meters 0.016029278408211264 Centerline is valid? [True, True] Translation: X:724.54, Y:5.10, Z:3.15 [[ 9.99620873e-01 -2.57905721e-02 -9.64145108e-03 7.24536969e+02] [ 2.57910795e-02 9.99667352e-01 -7.17263977e-05 5.09872663e+00] [ 9.64009374e-03 -1.76964227e-04 9.99953518e-01 3.14677702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.179254154 meters 0.017710090985018148 Centerline is valid? [True, True] Translation: X:724.60, Y:5.09, Z:3.15 [[ 9.99395935e-01 -3.36553533e-02 -8.66500098e-03 7.24598510e+02] [ 3.36560599e-02 9.99433472e-01 -6.43054489e-05 5.09309610e+00] [ 8.66225624e-03 -2.27363188e-04 9.99962456e-01 3.14692937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.239254154 meters 0.01987777489369809 Centerline is valid? [True, True] Translation: X:724.66, Y:5.09, Z:3.15 [[ 9.99160487e-01 -4.01822966e-02 -7.98145862e-03 7.24659601e+02] [ 4.01831065e-02 9.99192331e-01 -5.89350329e-05 5.08815111e+00] [ 7.97738039e-03 -2.61834245e-04 9.99968146e-01 3.14715662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.299254154 meters 0.024052130839806573 Centerline is valid? [True, True] Translation: X:724.72, Y:5.08, Z:3.15 [[ 9.98726593e-01 -4.97913689e-02 -8.12480695e-03 7.24719223e+02] [ 4.97925295e-02 9.98759581e-01 -5.95035654e-05 5.07812075e+00] [ 8.11769155e-03 -3.45126896e-04 9.99966991e-01 3.14654977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3592541539999 meters 0.027444766046590893 Centerline is valid? [True, True] Translation: X:724.78, Y:5.07, Z:3.15 [[ 9.98340274e-01 -5.69289536e-02 -8.70588309e-03 7.24779914e+02] [ 5.69305603e-02 9.98378138e-01 -6.33607509e-05 5.07111133e+00] [ 8.69537041e-03 -4.32375212e-04 9.99962101e-01 3.14569285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.419254154 meters 0.02940372384658406 Centerline is valid? [True, True] Translation: X:724.84, Y:5.07, Z:3.14 [[ 9.98111468e-01 -6.07040796e-02 -9.40809600e-03 7.24841262e+02] [ 6.07061249e-02 9.98155680e-01 -6.82779342e-05 5.06775027e+00] [ 9.39488921e-03 -5.02980062e-04 9.99955741e-01 3.14496878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4792541539999 meters 0.027249046698476793 Centerline is valid? [True, True] Translation: X:724.90, Y:5.07, Z:3.15 [[ 9.98118532e-01 -6.05082411e-02 -9.90699206e-03 7.24904582e+02] [ 6.05105072e-02 9.98167558e-01 -7.11208745e-05 5.07190731e+00] [ 9.89314147e-03 -5.28490052e-04 9.99950922e-01 3.14519452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.539254154 meters 0.025237907980157227 Centerline is valid? [True, True] Translation: X:724.97, Y:5.08, Z:3.15 [[ 9.98232219e-01 -5.86493682e-02 -9.62748043e-03 7.24966525e+02] [ 5.86514295e-02 9.98278521e-01 -6.83424903e-05 5.07616335e+00] [ 9.61491516e-03 -4.96443813e-04 9.99953652e-01 3.14579162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5992541539999 meters 0.024834235462572643 Centerline is valid? [True, True] Translation: X:725.03, Y:5.08, Z:3.14 [[ 9.98426705e-01 -5.49816005e-02 -1.10062951e-02 7.25028434e+02] [ 5.49840794e-02 9.98487228e-01 -7.74747217e-05 5.08063879e+00] [ 1.09939048e-02 -5.27818175e-04 9.99939426e-01 3.14481182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.659254154 meters 0.024659595509563925 Centerline is valid? [True, True] Translation: X:725.09, Y:5.08, Z:3.14 [[ 9.98481802e-01 -5.36109396e-02 -1.26474542e-02 7.25089977e+02] [ 5.36141127e-02 9.98561725e-01 -8.82824425e-05 5.08275813e+00] [ 1.26339966e-02 -5.89933620e-04 9.99920014e-01 3.14457822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.7192541539999 meters 0.024685357721164022 Centerline is valid? [True, True] Translation: X:725.15, Y:5.09, Z:3.14 [[ 9.98532144e-01 -5.22185753e-02 -1.43797669e-02 7.25152574e+02] [ 5.22225502e-02 9.98635467e-01 -9.91871382e-05 5.08598630e+00] [ 1.43653246e-02 -6.51906552e-04 9.99896601e-01 3.14397512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.779254154 meters 0.024359107583800377 Centerline is valid? [True, True] Translation: X:725.21, Y:5.09, Z:3.14 [[ 9.98603756e-01 -5.07803300e-02 -1.45566431e-02 7.25214620e+02] [ 5.07842674e-02 9.98709642e-01 -9.92660821e-05 5.08896962e+00] [ 1.45429006e-02 -6.40120972e-04 9.99894042e-01 3.14394210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.839254154 meters 0.021874043636769168 Centerline is valid? [True, True] Translation: X:725.27, Y:5.10, Z:3.15 [[ 9.98828530e-01 -4.62959328e-02 -1.40803102e-02 7.25274874e+02] [ 4.62991762e-02 9.98927614e-01 -9.57093562e-05 5.09702844e+00] [ 1.40696416e-02 -5.56309528e-04 9.99900863e-01 3.14562710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.899254154 meters 0.020787038147556964 Centerline is valid? [True, True] Translation: X:725.33, Y:5.10, Z:3.15 [[ 9.99122158e-01 -3.99690833e-02 -1.25453742e-02 7.25334718e+02] [ 3.99711597e-02 9.99200830e-01 -8.52806955e-05 5.10332872e+00] [ 1.25387569e-02 -4.16247324e-04 9.99921300e-01 3.14787113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.959254154 meters 0.018726963767930937 Centerline is valid? [True, True] Translation: X:725.40, Y:5.11, Z:3.15 [[ 9.99378592e-01 -3.37787422e-02 -1.00711049e-02 7.25395587e+02] [ 3.37797672e-02 9.99429298e-01 -6.83607418e-05 5.10993789e+00] [ 1.00676664e-02 -2.71881316e-04 9.99949283e-01 3.15055442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.019254154 meters 0.01746474609498326 Centerline is valid? [True, True] Translation: X:725.46, Y:5.11, Z:3.15 [[ 9.99533565e-01 -2.90934273e-02 -9.28572253e-03 7.25457393e+02] [ 2.90940999e-02 9.99576675e-01 -6.26717257e-05 5.11394934e+00] [ 9.28361499e-03 -2.07517245e-04 9.99956885e-01 3.15161547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.079254154 meters 0.015991382821791505 Centerline is valid? [True, True] Translation: X:725.52, Y:5.12, Z:3.15 [[ 9.99673423e-01 -2.35964288e-02 -9.81101279e-03 7.25518493e+02] [ 2.35969196e-02 9.99721552e-01 -6.57437369e-05 5.11971039e+00] [ 9.80983225e-03 -1.65787414e-04 9.99951869e-01 3.15196349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.139254154 meters 0.0163295652430319 Centerline is valid? [True, True] Translation: X:725.58, Y:5.12, Z:3.15 [[ 9.99678909e-01 -2.25704500e-02 -1.15175195e-02 7.25578863e+02] [ 2.25710620e-02 9.99745238e-01 -7.68560875e-05 5.11809231e+00] [ 1.15163199e-02 -1.83131237e-04 9.99933668e-01 3.15025303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.199254154 meters 0.017417896925805088 Centerline is valid? [True, True] Translation: X:725.64, Y:5.11, Z:3.15 [[ 9.99579749e-01 -2.57885823e-02 -1.32390860e-02 7.25638788e+02] [ 2.57896745e-02 9.99667387e-01 -8.82518420e-05 5.11343390e+00] [ 1.32369584e-02 -2.53216965e-04 9.99912356e-01 3.14824308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.259254154 meters 0.017999200456100768 Centerline is valid? [True, True] Translation: X:725.70, Y:5.11, Z:3.15 [[ 9.99480964e-01 -2.91407591e-02 -1.37338401e-02 7.25699573e+02] [ 2.91422530e-02 9.99575270e-01 -9.13859319e-05 5.11074454e+00] [ 1.37306700e-02 -3.08896542e-04 9.99905682e-01 3.14883080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.319254154 meters 0.018294480516112616 Centerline is valid? [True, True] Translation: X:725.76, Y:5.11, Z:3.15 [[ 9.99356868e-01 -3.32343877e-02 -1.34657130e-02 7.25760327e+02] [ 3.32361984e-02 9.99447521e-01 -8.93603279e-05 5.10748716e+00] [ 1.34612433e-02 -3.58246250e-04 9.99909329e-01 3.14981435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.379254154 meters 0.019010320015892337 Centerline is valid? [True, True] Translation: X:725.82, Y:5.10, Z:3.15 [[ 9.99240395e-01 -3.65895856e-02 -1.34102363e-02 7.25821540e+02] [ 3.65916887e-02 9.99330296e-01 -8.85800821e-05 5.10442692e+00] [ 1.34044966e-02 -4.02190397e-04 9.99910075e-01 3.15080478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.439254154 meters 0.020818287824141635 Centerline is valid? [True, True] Translation: X:725.88, Y:5.10, Z:3.15 [[ 9.99118127e-01 -3.98007258e-02 -1.33742262e-02 7.25882965e+02] [ 3.98031138e-02 9.99207538e-01 -8.76893895e-05 5.10000110e+00] [ 1.33671178e-02 -4.44723790e-04 9.99910557e-01 3.15155204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.499254154 meters 0.021156414592776757 Centerline is valid? [True, True] Translation: X:725.95, Y:5.10, Z:3.15 [[ 9.99054904e-01 -4.15178356e-02 -1.28673494e-02 7.25945503e+02] [ 4.15201990e-02 9.99137661e-01 -8.35207981e-05 5.09835929e+00] [ 1.28597210e-02 -4.50813044e-04 9.99917209e-01 3.15249998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.559254154 meters 0.019637414071570148 Centerline is valid? [True, True] Translation: X:726.01, Y:5.10, Z:3.15 [[ 9.99063704e-01 -4.13392686e-02 -1.27585212e-02 7.26007452e+02] [ 4.13415898e-02 9.99145068e-01 -8.18693820e-05 5.10018362e+00] [ 1.27509980e-02 -4.45664823e-04 9.99918603e-01 3.15405767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.619254154 meters 0.01829722241750581 Centerline is valid? [True, True] Translation: X:726.07, Y:5.10, Z:3.15 [[ 9.99261620e-01 -3.56257331e-02 -1.43882682e-02 7.26068715e+02] [ 3.56281041e-02 9.99365113e-01 -9.15871015e-05 5.10313179e+00] [ 1.43823961e-02 -4.21107240e-04 9.99896479e-01 3.15305340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.679254154 meters 0.01761443301459456 Centerline is valid? [True, True] Translation: X:726.13, Y:5.11, Z:3.15 [[ 9.99524344e-01 -2.59501456e-02 -1.66635785e-02 7.26129544e+02] [ 2.59519888e-02 9.99663185e-01 -1.05658459e-04 5.10896457e+00] [ 1.66607078e-02 -3.26844801e-04 9.99861147e-01 3.15154395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.739254154 meters 0.014845496868856398 Centerline is valid? [True, True] Translation: X:726.19, Y:5.11, Z:3.15 [[ 9.99725815e-01 -1.75506765e-02 -1.55005745e-02 7.26189001e+02] [ 1.75512567e-02 9.99845960e-01 -9.86141859e-05 5.11419320e+00] [ 1.54999176e-02 -1.73467415e-04 9.99879854e-01 3.15365444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.799254154 meters 0.014376718810046407 Centerline is valid? [True, True] Translation: X:726.25, Y:5.12, Z:3.15 [[ 9.99801665e-01 -1.31550375e-02 -1.49524497e-02 7.26247811e+02] [ 1.31550431e-02 9.99913464e-01 -9.79861503e-05 5.11743523e+00] [ 1.49524448e-02 -9.87334034e-05 9.99888201e-01 3.15498616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8592541539999 meters 0.01418556061666687 Centerline is valid? [True, True] Translation: X:726.31, Y:5.12, Z:3.15 [[ 9.99818855e-01 -1.07861526e-02 -1.56816883e-02 7.26305462e+02] [ 1.07857975e-02 9.99941826e-01 -1.07224193e-04 5.11854470e+00] [ 1.56819325e-02 -6.19347441e-05 9.99877029e-01 3.15483207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.919254154 meters 0.014542026941357918 Centerline is valid? [True, True] Translation: X:726.36, Y:5.12, Z:3.15 [[ 9.99780599e-01 -1.27866373e-02 -1.65908360e-02 7.26364243e+02] [ 1.27864413e-02 9.99918243e-01 -1.17892407e-04 5.11696802e+00] [ 1.65909870e-02 -9.42712096e-05 9.99862356e-01 3.15387066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9792541539999 meters 0.015077033260703502 Centerline is valid? [True, True] Translation: X:726.42, Y:5.11, Z:3.15 [[ 9.99699255e-01 -1.74886562e-02 -1.71914795e-02 7.26423209e+02] [ 1.74891052e-02 9.99847046e-01 -1.24237318e-04 5.11300875e+00] [ 1.71910228e-02 -1.76463640e-04 9.99852208e-01 3.15292248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.039254154 meters 0.01718302117088562 Centerline is valid? [True, True] Translation: X:726.48, Y:5.11, Z:3.15 [[ 9.99444765e-01 -2.85617526e-02 -1.71577308e-02 7.26483014e+02] [ 2.85638212e-02 9.99591963e-01 -1.24536523e-04 5.10562244e+00] [ 1.71542868e-02 -3.65622979e-04 9.99852788e-01 3.15313439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0992541539999 meters 0.021690657489109522 Centerline is valid? [True, True] Translation: X:726.54, Y:5.10, Z:3.15 [[ 9.99007784e-01 -4.13758043e-02 -1.64769611e-02 7.26542541e+02] [ 4.13794480e-02 9.99143497e-01 -1.19877095e-04 5.09626307e+00] [ 1.64678085e-02 -5.62049402e-04 9.99864238e-01 3.15363800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.159254154 meters 0.024374920630269505 Centerline is valid? [True, True] Translation: X:726.60, Y:5.09, Z:3.15 [[ 9.98654448e-01 -4.94382189e-02 -1.56574792e-02 7.26602763e+02] [ 4.94424975e-02 9.98776965e-01 -1.13951594e-04 5.09136403e+00] [ 1.56439631e-02 -6.60346608e-04 9.99877408e-01 3.15496167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.2192541539999 meters 0.029304867535954824 Centerline is valid? [True, True] Translation: X:726.66, Y:5.08, Z:3.16 [[ 9.98113512e-01 -5.97419986e-02 -1.41531272e-02 7.26663706e+02] [ 5.97465295e-02 9.98213575e-01 -1.02845690e-04 5.08393449e+00] [ 1.41339879e-02 -7.42948558e-04 9.99899834e-01 3.15620075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.279254154 meters 0.03372557127753608 Centerline is valid? [True, True] Translation: X:726.72, Y:5.08, Z:3.16 [[ 9.97644311e-01 -6.74107893e-02 -1.27127503e-02 7.26724825e+02] [ 6.74150691e-02 9.97725012e-01 -9.20679049e-05 5.07842201e+00] [ 1.26900353e-02 -7.65179917e-04 9.99919185e-01 3.15749880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.339254154 meters 0.03522961668974964 Centerline is valid? [True, True] Translation: X:726.79, Y:5.08, Z:3.16 [[ 9.97274719e-01 -7.26952570e-02 -1.25910746e-02 7.26785145e+02] [ 7.26998766e-02 9.97353859e-01 -9.10304158e-05 5.07759135e+00] [ 1.25643744e-02 -8.24587241e-04 9.99920725e-01 3.15750107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.399254154 meters 0.03640700390632175 Centerline is valid? [True, True] Translation: X:726.85, Y:5.08, Z:3.16 [[ 9.97149786e-01 -7.43226026e-02 -1.29789944e-02 7.26847039e+02] [ 7.43276545e-02 9.97233870e-01 -9.33655244e-05 5.07724877e+00] [ 1.29500320e-02 -8.71598800e-04 9.99915765e-01 3.15707304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.459254154 meters 0.0325373865568965 Centerline is valid? [True, True] Translation: X:726.91, Y:5.08, Z:3.16 [[ 9.97157539e-01 -7.41029660e-02 -1.36232692e-02 7.26909628e+02] [ 7.41085243e-02 9.97250178e-01 -9.70691912e-05 5.08454423e+00] [ 1.35930007e-02 -9.12807099e-04 9.99907194e-01 3.15692961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.519254154 meters 0.036856408077558224 Centerline is valid? [True, True] Translation: X:726.97, Y:5.08, Z:3.15 [[ 9.97352415e-01 -7.09885805e-02 -1.57727867e-02 7.26969289e+02] [ 7.09956496e-02 9.97476619e-01 -1.12006379e-04 5.08194836e+00] [ 1.57409371e-02 -1.00808940e-03 9.99875596e-01 3.15381308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.579254154 meters 0.030680754575872937 Centerline is valid? [True, True] Translation: X:727.03, Y:5.10, Z:3.15 [[ 9.97862773e-01 -6.31314037e-02 -1.68615463e-02 7.27030339e+02] [ 6.31383680e-02 9.98004776e-01 -1.19525684e-04 5.09620710e+00] [ 1.68354496e-02 -9.45340287e-04 9.99857827e-01 3.15412614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.639254154 meters 0.02496158562170417 Centerline is valid? [True, True] Translation: X:727.09, Y:5.11, Z:3.16 [[ 9.98525818e-01 -5.18176572e-02 -1.61592262e-02 7.27090299e+02] [ 5.18225763e-02 9.98656301e-01 -1.14453320e-04 5.11189164e+00] [ 1.61434437e-02 -7.23128135e-04 9.99869425e-01 3.15623383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.699254154 meters 0.022712474997867823 Centerline is valid? [True, True] Translation: X:727.15, Y:5.12, Z:3.16 [[ 9.98939075e-01 -4.35603973e-02 -1.49404470e-02 7.27150964e+02] [ 4.35636799e-02 9.99050647e-01 -1.05818445e-04 5.11994620e+00] [ 1.49308727e-02 -5.45154671e-04 9.99888380e-01 3.15737915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.759254154 meters 0.019119422620511483 Centerline is valid? [True, True] Translation: X:727.21, Y:5.13, Z:3.16 [[ 9.99489119e-01 -3.01309387e-02 -1.06595830e-02 7.27210155e+02] [ 3.01318448e-02 9.99545930e-01 -7.56228464e-05 5.13225792e+00] [ 1.06570214e-02 -2.45608690e-04 9.99943182e-01 3.16100649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.819254154 meters 0.018810338392119555 Centerline is valid? [True, True] Translation: X:727.27, Y:5.14, Z:3.16 [[ 9.99795020e-01 -1.76754675e-02 -9.87399877e-03 7.27271081e+02] [ 1.76756379e-02 9.99843771e-01 -7.00142873e-05 5.14228920e+00] [ 9.87369371e-03 -1.04529291e-04 9.99951248e-01 3.16079673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.879254154 meters 0.01603412457463231 Centerline is valid? [True, True] Translation: X:727.33, Y:5.15, Z:3.16 [[ 9.99872416e-01 -1.14746637e-02 -1.11122918e-02 7.27332184e+02] [ 1.14745005e-02 9.99934163e-01 -7.84405182e-05 5.14763739e+00] [ 1.11124603e-02 -4.90774878e-05 9.99938254e-01 3.16077299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.939254154 meters 0.016014302393059274 Centerline is valid? [True, True] Translation: X:727.39, Y:5.15, Z:3.16 [[ 9.99878893e-01 -9.74081612e-03 -1.21374088e-02 7.27390337e+02] [ 9.74048972e-03 9.99952557e-01 -8.60076420e-05 5.14856729e+00] [ 1.21376708e-02 -3.22270801e-05 9.99926335e-01 3.15972449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.999254154 meters 0.0180682882673933 Centerline is valid? [True, True] Translation: X:727.45, Y:5.14, Z:3.16 [[ 9.99842819e-01 -1.20329105e-02 -1.30210223e-02 7.27449242e+02] [ 1.20326967e-02 9.99927600e-01 -9.47650140e-05 5.14404597e+00] [ 1.30212199e-02 -6.19278936e-05 9.99915218e-01 3.15729591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.059254154 meters 0.0161991530331595 Centerline is valid? [True, True] Translation: X:727.51, Y:5.14, Z:3.16 [[ 9.99785853e-01 -1.64797029e-02 -1.25166723e-02 7.27508359e+02] [ 1.64798328e-02 9.99864194e-01 -9.27684838e-05 5.14132145e+00] [ 1.25165012e-02 -1.13524048e-04 9.99921659e-01 3.15888399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.119254154 meters 0.0183353508053912 Centerline is valid? [True, True] Translation: X:727.57, Y:5.13, Z:3.16 [[ 9.99660910e-01 -2.35584860e-02 -1.10933366e-02 7.27567568e+02] [ 2.35590179e-02 9.99722444e-01 -8.27528497e-05 5.13381742e+00] [ 1.10922071e-02 -1.78623326e-04 9.99938464e-01 3.15860246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.179254154 meters 0.01916375727872672 Centerline is valid? [True, True] Translation: X:727.63, Y:5.13, Z:3.16 [[ 9.99544697e-01 -2.81998240e-02 -1.07316784e-02 7.27629195e+02] [ 2.82005912e-02 9.99602281e-01 -7.98636343e-05 5.12798098e+00] [ 1.07296624e-02 -2.22812403e-04 9.99942411e-01 3.15890262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.239254154 meters 0.018443004305530822 Centerline is valid? [True, True] Translation: X:727.69, Y:5.13, Z:3.16 [[ 9.99499196e-01 -2.96088298e-02 -1.11657801e-02 7.27690436e+02] [ 2.96097550e-02 9.99561532e-01 -8.24778607e-05 5.12565681e+00] [ 1.11633263e-02 -2.48179458e-04 9.99937657e-01 3.15950268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.299254154 meters 0.018259739313730816 Centerline is valid? [True, True] Translation: X:727.75, Y:5.12, Z:3.16 [[ 9.99473261e-01 -3.03352783e-02 -1.15313410e-02 7.27752896e+02] [ 3.03363223e-02 9.99539744e-01 -8.44105912e-05 5.12328834e+00] [ 1.15285942e-02 -2.65452347e-04 9.99933508e-01 3.15921553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3592541539999 meters 0.01909452084108932 Centerline is valid? [True, True] Translation: X:727.81, Y:5.12, Z:3.16 [[ 9.99424838e-01 -3.21908061e-02 -1.06651810e-02 7.27814389e+02] [ 3.21918115e-02 9.99481706e-01 -7.74333079e-05 5.11750104e+00] [ 1.06621460e-02 -2.65942726e-04 9.99943122e-01 3.15875181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.419254154 meters 0.01915315511163163 Centerline is valid? [True, True] Translation: X:727.88, Y:5.11, Z:3.16 [[ 9.99429768e-01 -3.22544622e-02 -9.98942532e-03 7.27876166e+02] [ 3.22553536e-02 9.99479658e-01 -7.19037491e-05 5.11467496e+00] [ 9.98654662e-03 -2.50349698e-04 9.99950102e-01 3.15850909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4792541539999 meters 0.018888762502820112 Centerline is valid? [True, True] Translation: X:727.94, Y:5.11, Z:3.16 [[ 9.99501534e-01 -2.99014062e-02 -1.01285999e-02 7.27937101e+02] [ 2.99022082e-02 9.99552826e-01 -7.22826917e-05 5.11419017e+00] [ 1.01262320e-02 -2.30620842e-04 9.99948702e-01 3.15766584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.539254154 meters 0.018582442116282117 Centerline is valid? [True, True] Translation: X:728.00, Y:5.11, Z:3.16 [[ 9.99550620e-01 -2.82996332e-02 -9.88374489e-03 7.27998665e+02] [ 2.83003227e-02 9.99599463e-01 -7.01182463e-05 5.11406159e+00] [ 9.88177041e-03 -2.09626433e-04 9.99951152e-01 3.15768921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5992541539999 meters 0.018919419155594898 Centerline is valid? [True, True] Translation: X:728.06, Y:5.11, Z:3.16 [[ 9.99541264e-01 -2.84434794e-02 -1.04033634e-02 7.28060074e+02] [ 2.84442559e-02 9.99595378e-01 -7.33365213e-05 5.11195286e+00] [ 1.04012399e-02 -2.22613053e-04 9.99945881e-01 3.15686728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.659254154 meters 0.02066860629201782 Centerline is valid? [True, True] Translation: X:728.12, Y:5.11, Z:3.16 [[ 9.99413850e-01 -3.22262275e-02 -1.15510419e-02 7.28120801e+02] [ 3.22274417e-02 9.99480558e-01 -8.10564866e-05 5.10645805e+00] [ 1.15476540e-02 -2.91251555e-04 9.99933281e-01 3.15522901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.7192541539999 meters 0.024596118895599237 Centerline is valid? [True, True] Translation: X:728.18, Y:5.10, Z:3.15 [[ 9.99232065e-01 -3.73125595e-02 -1.19604480e-02 7.28180789e+02] [ 3.73142262e-02 9.99303578e-01 -8.38530318e-05 5.09916851e+00] [ 1.19552473e-02 -3.62506225e-04 9.99928468e-01 3.15362528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.779254154 meters 0.02446003755796578 Centerline is valid? [True, True] Translation: X:728.24, Y:5.10, Z:3.16 [[ 9.99165145e-01 -3.90688927e-02 -1.19429730e-02 7.28241768e+02] [ 3.90706828e-02 9.99236446e-01 -8.34826786e-05 5.09810850e+00] [ 1.19371155e-02 -3.83207127e-04 9.99928677e-01 3.15525974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.839254154 meters 0.02703653822357841 Centerline is valid? [True, True] Translation: X:728.30, Y:5.10, Z:3.16 [[ 9.99139875e-01 -3.98639446e-02 -1.14182562e-02 7.28303155e+02] [ 3.98656382e-02 9.99205046e-01 -7.93336417e-05 5.09527168e+00] [ 1.14123417e-02 -3.75930665e-04 9.99934806e-01 3.15572703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.899254154 meters 0.02040918714962198 Centerline is valid? [True, True] Translation: X:728.37, Y:5.10, Z:3.16 [[ 9.99173538e-01 -3.94886404e-02 -9.63787318e-03 7.28365378e+02] [ 3.94898351e-02 9.99219970e-01 -6.63929032e-05 5.10497646e+00] [ 9.63297711e-03 -3.14259990e-04 9.99953552e-01 3.16146814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.959254154 meters 0.02047052480705135 Centerline is valid? [True, True] Translation: X:728.43, Y:5.11, Z:3.16 [[ 9.99284132e-01 -3.69170745e-02 -8.26753798e-03 7.28426242e+02] [ 3.69178691e-02 9.99318302e-01 -5.65307198e-05 5.10640413e+00] [ 8.26398896e-03 -2.48729634e-04 9.99965822e-01 3.16274635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.019254154 meters 0.01904150960790973 Centerline is valid? [True, True] Translation: X:728.49, Y:5.11, Z:3.16 [[ 9.99445357e-01 -3.20696347e-02 -8.97312801e-03 7.28486365e+02] [ 3.20703778e-02 9.99485611e-01 -6.10971623e-05 5.11013597e+00] [ 8.97047169e-03 -2.26708330e-04 9.99959739e-01 3.16311744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.079254154 meters 0.017823030087462444 Centerline is valid? [True, True] Translation: X:728.55, Y:5.12, Z:3.16 [[ 9.99562545e-01 -2.81078327e-02 -9.20149657e-03 7.28547569e+02] [ 2.81084487e-02 9.99604878e-01 -6.23946707e-05 5.11513023e+00] [ 9.19961463e-03 -1.96272418e-04 9.99957663e-01 3.16370689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.139254154 meters 0.016808858472728654 Centerline is valid? [True, True] Translation: X:728.61, Y:5.12, Z:3.16 [[ 9.99664099e-01 -2.39481365e-02 -9.90839684e-03 7.28609135e+02] [ 2.39486503e-02 9.99713188e-01 -6.68143762e-05 5.11917577e+00] [ 9.90715507e-03 -1.70500798e-04 9.99950908e-01 3.16338348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.199254154 meters 0.017088499490606805 Centerline is valid? [True, True] Translation: X:728.67, Y:5.12, Z:3.16 [[ 9.99653158e-01 -2.38846974e-02 -1.10943785e-02 7.28670358e+02] [ 2.38853422e-02 9.99714702e-01 -7.43928060e-05 5.11826783e+00] [ 1.10929901e-02 -1.90626024e-04 9.99938453e-01 3.16283208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.259254154 meters 0.01786444567726086 Centerline is valid? [True, True] Translation: X:728.73, Y:5.12, Z:3.16 [[ 9.99573395e-01 -2.66060568e-02 -1.20476356e-02 7.28732036e+02] [ 2.66070202e-02 9.99645967e-01 -8.03405170e-05 5.11514042e+00] [ 1.20455079e-02 -2.40245441e-04 9.99927421e-01 3.16213723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.319254154 meters 0.01939573187876897 Centerline is valid? [True, True] Translation: X:728.79, Y:5.11, Z:3.16 [[ 9.99444317e-01 -3.10623512e-02 -1.20907898e-02 7.28792274e+02] [ 3.10636532e-02 9.99517405e-01 -8.01474241e-05 5.10922400e+00] [ 1.20874444e-02 -2.95481213e-04 9.99926901e-01 3.16229446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.379254154 meters 0.020405232215308707 Centerline is valid? [True, True] Translation: X:728.85, Y:5.11, Z:3.16 [[ 9.99362028e-01 -3.35556928e-02 -1.22291935e-02 7.28853076e+02] [ 3.35572152e-02 9.99436795e-01 -8.07415500e-05 5.10519829e+00] [ 1.22250153e-02 -3.29687639e-04 9.99925217e-01 3.16247799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.439254154 meters 0.019497024736937398 Centerline is valid? [True, True] Translation: X:728.91, Y:5.10, Z:3.16 [[ 9.99245620e-01 -3.65587853e-02 -1.31013612e-02 7.28914560e+02] [ 3.65607958e-02 9.99331427e-01 -8.60958241e-05 5.10400786e+00] [ 1.30957496e-02 -3.92965318e-04 9.99914170e-01 3.16379042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.499254154 meters 0.02102133410583226 Centerline is valid? [True, True] Translation: X:728.98, Y:5.10, Z:3.16 [[ 9.99208022e-01 -3.74505930e-02 -1.34455441e-02 7.28975682e+02] [ 3.74528001e-02 9.99298394e-01 -8.76941074e-05 5.09781321e+00] [ 1.34393948e-02 -4.15948619e-04 9.99909601e-01 3.16326945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.559254154 meters 0.01888824061148026 Centerline is valid? [True, True] Translation: X:729.04, Y:5.10, Z:3.16 [[ 9.99308588e-01 -3.48190097e-02 -1.30376995e-02 7.29037365e+02] [ 3.48208705e-02 9.99393566e-01 -8.43145234e-05 5.09988190e+00] [ 1.30327287e-02 -3.69727819e-04 9.99915002e-01 3.16448496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.619254154 meters 0.018319810253341184 Centerline is valid? [True, True] Translation: X:729.10, Y:5.10, Z:3.16 [[ 9.99466545e-01 -2.98661971e-02 -1.32149810e-02 7.29097594e+02] [ 2.98676817e-02 9.99553858e-01 -8.50462692e-05 5.10110624e+00] [ 1.32116252e-02 -3.09699944e-04 9.99912675e-01 3.16435866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.679254154 meters 0.01627315450615002 Centerline is valid? [True, True] Translation: X:729.16, Y:5.11, Z:3.16 [[ 9.99713218e-01 -1.92034579e-02 -1.43076344e-02 7.29158387e+02] [ 1.92041102e-02 9.99815580e-01 -9.18095557e-05 5.10608389e+00] [ 1.43067588e-02 -1.82982161e-04 9.99897636e-01 3.16368173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.739254154 meters 0.015445333780040774 Centerline is valid? [True, True] Translation: X:729.22, Y:5.11, Z:3.16 [[ 9.99843791e-01 -9.89680382e-03 -1.46439941e-02 7.29217590e+02] [ 9.89645514e-03 9.99951024e-01 -9.62777327e-05 5.10934478e+00] [ 1.46442297e-02 -4.86609369e-05 9.99892766e-01 3.16421401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.799254154 meters 0.015357077938405714 Centerline is valid? [True, True] Translation: X:729.28, Y:5.11, Z:3.17 [[ 9.99881804e-01 -4.65903048e-03 -1.46516764e-02 7.29275119e+02] [ 4.65806042e-03 9.99989146e-01 -1.00333479e-04 5.10827500e+00] [ 1.46519848e-02 3.20732258e-05 9.99892653e-01 3.16537086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8592541539999 meters 0.015321757315089656 Centerline is valid? [True, True] Translation: X:729.33, Y:5.10, Z:3.16 [[ 9.99855462e-01 -5.94390565e-03 -1.59287309e-02 7.29333948e+02] [ 5.94288694e-03 9.99982335e-01 -1.11288282e-04 5.10279332e+00] [ 1.59291110e-02 1.66095495e-05 9.99873124e-01 3.16434885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.919254154 meters 0.01514816113945509 Centerline is valid? [True, True] Translation: X:729.39, Y:5.10, Z:3.16 [[ 9.99803733e-01 -9.57968445e-03 -1.73414091e-02 7.29392746e+02] [ 9.57900151e-03 9.99954113e-01 -1.22446032e-04 5.09741751e+00] [ 1.73417863e-02 -4.36913837e-05 9.99849619e-01 3.16418198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9792541539999 meters 0.016297080681788974 Centerline is valid? [True, True] Translation: X:729.45, Y:5.09, Z:3.16 [[ 9.99653218e-01 -1.81173843e-02 -1.91102924e-02 7.29450174e+02] [ 1.81180774e-02 9.99835845e-01 -1.36880730e-04 5.08542378e+00] [ 1.91096352e-02 -2.09408494e-04 9.99817372e-01 3.16162993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.039254154 meters 0.018464757277788884 Centerline is valid? [True, True] Translation: X:729.51, Y:5.07, Z:3.16 [[ 9.99399138e-01 -2.86955921e-02 -1.94403156e-02 7.29510919e+02] [ 2.86983000e-02 9.99588109e-01 -1.39728445e-04 5.07410485e+00] [ 1.94363179e-02 -4.18259521e-04 9.99811009e-01 3.16393207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0992541539999 meters 0.020563499431330835 Centerline is valid? [True, True] Translation: X:729.57, Y:5.06, Z:3.17 [[ 9.99041532e-01 -3.99998392e-02 -1.77772135e-02 7.29571107e+02] [ 4.00038903e-02 9.99199516e-01 -1.27808994e-04 5.06249699e+00] [ 1.77680955e-02 -5.83471208e-04 9.99841965e-01 3.16642816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.159254154 meters 0.02500432094861475 Centerline is valid? [True, True] Translation: X:729.63, Y:5.05, Z:3.17 [[ 9.98590750e-01 -5.07796836e-02 -1.54252358e-02 7.29631046e+02] [ 5.07840140e-02 9.98709653e-01 -1.11093582e-04 5.05004962e+00] [ 1.54109732e-02 -6.72418366e-04 9.99881018e-01 3.16803527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.2192541539999 meters 0.03020597460803753 Centerline is valid? [True, True] Translation: X:729.69, Y:5.04, Z:3.17 [[ 9.98122976e-01 -5.94797101e-02 -1.45838895e-02 7.29690548e+02] [ 5.94845037e-02 9.98229224e-01 -1.05252681e-04 5.03800949e+00] [ 1.45643251e-02 -7.62460311e-04 9.99893644e-01 3.16858868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.279254154 meters 0.030263231482525747 Centerline is valid? [True, True] Translation: X:729.75, Y:5.04, Z:3.17 [[ 9.97817874e-01 -6.44440638e-02 -1.43684849e-02 7.29751454e+02] [ 6.44492294e-02 9.97920982e-01 -1.03728679e-04 5.03603654e+00] [ 1.43452972e-02 -8.22535446e-04 9.99896763e-01 3.16958296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.339254154 meters 0.03390770459749945 Centerline is valid? [True, True] Translation: X:729.81, Y:5.03, Z:3.17 [[ 9.97482263e-01 -6.93471602e-02 -1.48359746e-02 7.29811523e+02] [ 6.93532056e-02 9.97592162e-01 -1.07243644e-04 5.02974015e+00] [ 1.48076891e-02 -9.21948767e-04 9.99889935e-01 3.16950585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.399254154 meters 0.03522774088797365 Centerline is valid? [True, True] Translation: X:729.87, Y:5.03, Z:3.17 [[ 9.97416748e-01 -6.97764914e-02 -1.70608389e-02 7.29872584e+02] [ 6.97845551e-02 9.97562079e-01 -1.22957103e-04 5.02781567e+00] [ 1.70278254e-02 -1.06794358e-03 9.99854446e-01 3.16789863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.459254154 meters 0.028892212830008507 Centerline is valid? [True, True] Translation: X:729.93, Y:5.04, Z:3.17 [[ 9.97575519e-01 -6.71701348e-02 -1.82004614e-02 7.29934561e+02] [ 6.71788970e-02 9.97740938e-01 -1.30227802e-04 5.03841267e+00] [ 1.81680928e-02 -1.09277485e-03 9.99834349e-01 3.16856402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.519254154 meters 0.026803996083150195 Centerline is valid? [True, True] Translation: X:729.99, Y:5.05, Z:3.17 [[ 9.97867151e-01 -6.21176848e-02 -2.00634371e-02 7.29994886e+02] [ 6.21273236e-02 9.98068222e-01 -1.43134189e-04 5.04557160e+00] [ 2.00335702e-02 -1.10365875e-03 9.99798699e-01 3.16862328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.579254154 meters 0.028768266117220845 Centerline is valid? [True, True] Translation: X:730.05, Y:5.05, Z:3.17 [[ 9.98177356e-01 -5.70910822e-02 -1.95594902e-02 7.30054619e+02] [ 5.70992765e-02 9.98368496e-01 -1.39728544e-04 5.04622737e+00] [ 1.95355560e-02 -9.77358869e-04 9.99808685e-01 3.16818908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.639254154 meters 0.021373062046525962 Centerline is valid? [True, True] Translation: X:730.11, Y:5.06, Z:3.17 [[ 9.98859745e-01 -4.46315293e-02 -1.69480393e-02 7.30114688e+02] [ 4.46358878e-02 9.99003315e-01 -1.21205167e-04 5.06490558e+00] [ 1.69365570e-02 -6.35423818e-04 9.99856364e-01 3.17346505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.699254154 meters 0.021218583409510404 Centerline is valid? [True, True] Translation: X:730.17, Y:5.07, Z:3.17 [[ 9.99016271e-01 -4.11872462e-02 -1.64347605e-02 7.30174606e+02] [ 4.11908752e-02 9.99151289e-01 -1.17778746e-04 5.06783817e+00] [ 1.64256631e-02 -5.59299284e-04 9.99864933e-01 3.17358094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.759254154 meters 0.018812001955718655 Centerline is valid? [True, True] Translation: X:730.24, Y:5.07, Z:3.17 [[ 9.99234360e-01 -3.58924759e-02 -1.55699447e-02 7.30235048e+02] [ 3.58950895e-02 9.99355557e-01 -1.11657003e-04 5.07436204e+00] [ 1.55639184e-02 -4.47313044e-04 9.99878775e-01 3.17477617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.819254154 meters 0.01737495124840884 Centerline is valid? [True, True] Translation: X:730.29, Y:5.08, Z:3.17 [[ 9.99450940e-01 -2.90600280e-02 -1.59164505e-02 7.30293933e+02] [ 2.90618866e-02 9.99577608e-01 -1.14555924e-04 5.08080947e+00] [ 1.59130565e-02 -3.48069054e-04 9.99873319e-01 3.17418327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.879254154 meters 0.017690921633697232 Centerline is valid? [True, True] Translation: X:730.35, Y:5.08, Z:3.17 [[ 9.99490505e-01 -2.73306737e-02 -1.64852635e-02 7.30353332e+02] [ 2.73324225e-02 9.99626392e-01 -1.19255111e-04 5.08397419e+00] [ 1.64823638e-02 -3.31387834e-04 9.99864102e-01 3.17422244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.939254154 meters 0.016512774558484905 Centerline is valid? [True, True] Translation: X:730.41, Y:5.08, Z:3.17 [[ 9.99500936e-01 -2.72939535e-02 -1.59034423e-02 7.30411668e+02] [ 2.72955275e-02 9.99627401e-01 -1.18118640e-04 5.08483441e+00] [ 1.59007406e-02 -3.16033156e-04 9.99873525e-01 3.17484026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.999254154 meters 0.016807854658803762 Centerline is valid? [True, True] Translation: X:730.47, Y:5.08, Z:3.17 [[ 9.99470875e-01 -2.84717449e-02 -1.57266905e-02 7.30470605e+02] [ 2.84733676e-02 9.99594544e-01 -1.20762503e-04 5.08408786e+00] [ 1.57237523e-02 -3.27093235e-04 9.99876321e-01 3.17478084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.059254154 meters 0.017737613904026225 Centerline is valid? [True, True] Translation: X:730.53, Y:5.08, Z:3.17 [[ 9.99362799e-01 -3.19969512e-02 -1.58174127e-02 7.30529057e+02] [ 3.19989710e-02 9.99487894e-01 -1.25440598e-04 5.08040523e+00] [ 1.58133262e-02 -3.80780263e-04 9.99874889e-01 3.17463536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.119254154 meters 0.019407554357578558 Centerline is valid? [True, True] Translation: X:730.59, Y:5.08, Z:3.17 [[ 9.99191565e-01 -3.69289862e-02 -1.58892107e-02 7.30588787e+02] [ 3.69316231e-02 9.99317787e-01 -1.27532551e-04 5.07575232e+00] [ 1.58830806e-02 -4.59384894e-04 9.99873750e-01 3.17497872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.179254154 meters 0.020947522131471517 Centerline is valid? [True, True] Translation: X:730.65, Y:5.07, Z:3.18 [[ 9.99010052e-01 -4.15220177e-02 -1.59636476e-02 7.30648615e+02] [ 4.15252592e-02 9.99137446e-01 -1.28501900e-04 5.07059160e+00] [ 1.59552137e-02 -5.34519914e-04 9.99872565e-01 3.17502393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.239254154 meters 0.024273092739787984 Centerline is valid? [True, True] Translation: X:730.71, Y:5.06, Z:3.18 [[ 9.98696781e-01 -4.86271284e-02 -1.54965408e-02 7.30709390e+02] [ 4.86310346e-02 9.98816803e-01 -1.24878388e-04 5.06128505e+00] [ 1.54842779e-02 -6.28897170e-04 9.99879914e-01 3.17530178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.299254154 meters 0.023604605402764278 Centerline is valid? [True, True] Translation: X:730.77, Y:5.06, Z:3.18 [[ 9.98398708e-01 -5.44925135e-02 -1.51850487e-02 7.30769924e+02] [ 5.44969417e-02 9.98513930e-01 -1.22334564e-04 5.05970325e+00] [ 1.51691490e-02 -7.05400045e-04 9.99884693e-01 3.17714041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3592541539999 meters 0.024082400753234416 Centerline is valid? [True, True] Translation: X:730.83, Y:5.06, Z:3.18 [[ 9.98165648e-01 -5.85369628e-02 -1.54519838e-02 7.30831151e+02] [ 5.85420350e-02 9.98284937e-01 -1.24252958e-04 5.05722488e+00] [ 1.54327560e-02 -7.80565540e-04 9.99880603e-01 3.17701751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.419254154 meters 0.02729854134049843 Centerline is valid? [True, True] Translation: X:730.89, Y:5.05, Z:3.18 [[ 9.97916525e-01 -6.25952914e-02 -1.56345503e-02 7.30891621e+02] [ 6.26009852e-02 9.98038627e-01 -1.25428262e-04 5.05328693e+00] [ 1.56117363e-02 -8.53571317e-04 9.99877765e-01 3.17660507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4792541539999 meters 0.030185411323650244 Centerline is valid? [True, True] Translation: X:730.95, Y:5.05, Z:3.18 [[ 9.97711611e-01 -6.60853978e-02 -1.42919899e-02 7.30951794e+02] [ 6.60905136e-02 9.97813625e-01 -1.14582850e-04 5.05106168e+00] [ 1.42683145e-02 -8.30244312e-04 9.99897858e-01 3.17712079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.539254154 meters 0.02934546417497928 Centerline is valid? [True, True] Translation: X:731.01, Y:5.05, Z:3.18 [[ 9.97630002e-01 -6.75932401e-02 -1.28659725e-02 7.31014188e+02] [ 6.75975188e-02 9.97712667e-01 -1.02522456e-04 5.05467503e+00] [ 1.28434736e-02 -7.67428342e-04 9.99917225e-01 3.17867594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5992541539999 meters 0.029638646491162223 Centerline is valid? [True, True] Translation: X:731.08, Y:5.06, Z:3.18 [[ 9.97627707e-01 -6.75399121e-02 -1.33161302e-02 7.31076179e+02] [ 6.75445039e-02 9.97716257e-01 -1.05112466e-04 5.05999118e+00] [ 1.32928188e-02 -7.94568298e-04 9.99911331e-01 3.17834313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.659254154 meters 0.030285953343911893 Centerline is valid? [True, True] Translation: X:731.14, Y:5.06, Z:3.18 [[ 9.97701992e-01 -6.62338921e-02 -1.42760767e-02 7.31138919e+02] [ 6.62390566e-02 9.97803776e-01 -1.11294872e-04 5.06298688e+00] [ 1.42520947e-02 -8.34594737e-04 9.99898085e-01 3.17718097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.7192541539999 meters 0.029430371938876137 Centerline is valid? [True, True] Translation: X:731.20, Y:5.07, Z:3.18 [[ 9.97911515e-01 -6.24568899e-02 -1.64847182e-02 7.31199380e+02] [ 6.24632715e-02 9.98047255e-01 -1.27974881e-04 5.07163652e+00] [ 1.64605207e-02 -9.01981823e-04 9.99864110e-01 3.17586472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.779254154 meters 0.026097533671225775 Centerline is valid? [True, True] Translation: X:731.26, Y:5.08, Z:3.18 [[ 9.98224366e-01 -5.77927685e-02 -1.44260723e-02 7.31259623e+02] [ 5.77971706e-02 9.98328340e-01 -1.11931246e-04 5.08054880e+00] [ 1.44084256e-02 -7.22053663e-04 9.99895933e-01 3.17879793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.839254154 meters 0.025044776520464152 Centerline is valid? [True, True] Translation: X:731.32, Y:5.09, Z:3.18 [[ 9.98538415e-01 -5.23790810e-02 -1.33216002e-02 7.31319133e+02] [ 5.23823526e-02 9.98627097e-01 -1.03457024e-04 5.08675309e+00] [ 1.33087299e-02 -5.94510947e-04 9.99911258e-01 3.18007374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.899254154 meters 0.018444132619086544 Centerline is valid? [True, True] Translation: X:731.38, Y:5.11, Z:3.18 [[ 9.99218899e-01 -3.77979227e-02 -1.15286282e-02 7.31379795e+02] [ 3.77994029e-02 9.99285343e-01 -8.95509727e-05 5.10781651e+00] [ 1.15237740e-02 -3.46294239e-04 9.99933539e-01 3.18239612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.959254154 meters 0.01801973733060693 Centerline is valid? [True, True] Translation: X:731.44, Y:5.11, Z:3.18 [[ 9.99485355e-01 -3.02883343e-02 -1.05661145e-02 7.31439974e+02] [ 3.02891584e-02 9.99541175e-01 -8.20557518e-05 5.11346255e+00] [ 1.05637518e-02 -2.38025194e-04 9.99944174e-01 3.18226482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.019254154 meters 0.015653248486135894 Centerline is valid? [True, True] Translation: X:731.50, Y:5.12, Z:3.18 [[ 9.99715882e-01 -2.23461889e-02 -8.29482221e-03 7.31500950e+02] [ 2.23464236e-02 9.99750285e-01 -6.43964251e-05 5.12460212e+00] [ 8.29418989e-03 -1.20981482e-04 9.99965595e-01 3.18430744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.079254154 meters 0.015212248154493546 Centerline is valid? [True, True] Translation: X:731.56, Y:5.13, Z:3.18 [[ 9.99742707e-01 -2.10235203e-02 -8.51650930e-03 7.31561858e+02] [ 2.10237212e-02 9.99778975e-01 -6.59409554e-05 5.12795326e+00] [ 8.51601325e-03 -1.13124728e-04 9.99963732e-01 3.18386803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.139254154 meters 0.01619637725812438 Centerline is valid? [True, True] Translation: X:731.62, Y:5.12, Z:3.18 [[ 9.99605693e-01 -2.60768034e-02 -1.04143256e-02 7.31622451e+02] [ 2.60773813e-02 9.99659924e-01 -8.03259089e-05 5.12396611e+00] [ 1.04128786e-02 -1.91284104e-04 9.99945766e-01 3.18132575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.199254154 meters 0.017978385270288826 Centerline is valid? [True, True] Translation: X:731.68, Y:5.12, Z:3.18 [[ 9.99370451e-01 -3.37217525e-02 -1.10247658e-02 7.31683323e+02] [ 3.37228690e-02 9.99431219e-01 -8.46658157e-05 5.11841157e+00] [ 1.10213502e-02 -2.87174217e-04 9.99939222e-01 3.18126035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.259254154 meters 0.020238390897139736 Centerline is valid? [True, True] Translation: X:731.74, Y:5.11, Z:3.18 [[ 9.99139957e-01 -4.03329125e-02 -9.62301773e-03 7.31744254e+02] [ 4.03340718e-02 9.99186248e-01 -7.36413214e-05 5.11233168e+00] [ 9.61815715e-03 -3.14557502e-04 9.99953695e-01 3.18240303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.319254154 meters 0.02373358908189382 Centerline is valid? [True, True] Translation: X:731.81, Y:5.11, Z:3.18 [[ 9.99023515e-01 -4.32890101e-02 -8.83618371e-03 7.31805481e+02] [ 4.32901059e-02 9.99062542e-01 -6.73060037e-05 5.10557006e+00] [ 8.83081377e-03 -3.15279048e-04 9.99960958e-01 3.18232532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.379254154 meters 0.02259201886274289 Centerline is valid? [True, True] Translation: X:731.87, Y:5.11, Z:3.18 [[ 9.99039495e-01 -4.30644517e-02 -8.09576011e-03 7.31867587e+02] [ 4.30653680e-02 9.99072255e-01 -6.11863752e-05 5.10544426e+00] [ 8.09088427e-03 -2.87519283e-04 9.99967227e-01 3.18290330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.439254154 meters 0.01933059388910206 Centerline is valid? [True, True] Translation: X:731.93, Y:5.11, Z:3.18 [[ 9.99205350e-01 -3.91574147e-02 -7.44081087e-03 7.31928988e+02] [ 3.91580835e-02 9.99233027e-01 -5.58363415e-05 5.11158222e+00] [ 7.43729038e-03 -2.35575922e-04 9.99972315e-01 3.18391617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.499254154 meters 0.018289662703572615 Centerline is valid? [True, True] Translation: X:731.99, Y:5.11, Z:3.18 [[ 9.99431142e-01 -3.28738365e-02 -7.53009113e-03 7.31988301e+02] [ 3.28743440e-02 9.99459491e-01 -5.63965668e-05 5.11471676e+00] [ 7.52787502e-03 -1.91182321e-04 9.99971647e-01 3.18361105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.559254154 meters 0.01673933771286854 Centerline is valid? [True, True] Translation: X:732.05, Y:5.12, Z:3.18 [[ 9.99611142e-01 -2.66039401e-02 -8.35432042e-03 7.32050014e+02] [ 2.66043470e-02 9.99646040e-01 -6.24446222e-05 5.11797038e+00] [ 8.35302459e-03 -1.59840899e-04 9.99965100e-01 3.18192417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.619254154 meters 0.01641651665520159 Centerline is valid? [True, True] Translation: X:732.11, Y:5.12, Z:3.18 [[ 9.99666993e-01 -2.44238974e-02 -8.32921324e-03 7.32111044e+02] [ 2.44242293e-02 9.99701682e-01 -6.18795299e-05 5.11929963e+00] [ 8.32823982e-03 -1.41575690e-04 9.99965310e-01 3.18178463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.679254154 meters 0.0147041164722476 Centerline is valid? [True, True] Translation: X:732.17, Y:5.13, Z:3.18 [[ 9.99829123e-01 -1.64806653e-02 -8.37332013e-03 7.32172641e+02] [ 1.64807254e-02 9.99864182e-01 -6.18274991e-05 5.12536776e+00] [ 8.37320184e-03 -7.61814557e-05 9.99964941e-01 3.18218573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.739254154 meters 0.016950863488641367 Centerline is valid? [True, True] Translation: X:732.23, Y:5.13, Z:3.18 [[ 9.99871699e-01 -1.35633553e-02 -8.52175945e-03 7.32232697e+02] [ 1.35633137e-02 9.99908012e-01 -6.26726638e-05 5.12564276e+00] [ 8.52182560e-03 -5.29186738e-05 9.99963687e-01 3.18081349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.799254154 meters 0.014570515165864169 Centerline is valid? [True, True] Translation: X:732.29, Y:5.12, Z:3.18 [[ 9.99847835e-01 -1.45792593e-02 -9.57869883e-03 7.32292153e+02] [ 1.45792526e-02 9.99893715e-01 -7.05400548e-05 5.12329081e+00] [ 9.57870918e-03 -6.91209482e-05 9.99954121e-01 3.18112928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8592541539999 meters 0.01511549680900793 Centerline is valid? [True, True] Translation: X:732.35, Y:5.12, Z:3.18 [[ 9.99724136e-01 -2.04876656e-02 -1.14851155e-02 7.32351689e+02] [ 2.04880416e-02 9.99790094e-01 -8.49338043e-05 5.11680729e+00] [ 1.14844448e-02 -1.50397150e-04 9.99934040e-01 3.18039657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.919254154 meters 0.017222031724672758 Centerline is valid? [True, True] Translation: X:732.41, Y:5.11, Z:3.18 [[ 9.99517115e-01 -2.89125324e-02 -1.13842701e-02 7.32411005e+02] [ 2.89134482e-02 9.99581915e-01 -8.41600180e-05 5.10546371e+00] [ 1.13819438e-02 -2.45039125e-04 9.99935194e-01 3.18037588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9792541539999 meters 0.020800850442474695 Centerline is valid? [True, True] Translation: X:732.47, Y:5.10, Z:3.18 [[ 9.99263581e-01 -3.69959387e-02 -1.01781899e-02 7.32472096e+02] [ 3.69970918e-02 9.99315370e-01 -7.50345874e-05 5.09688111e+00] [ 1.01739975e-02 -3.01584095e-04 9.99948198e-01 3.18136913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.039254154 meters 0.021398804593144253 Centerline is valid? [True, True] Translation: X:732.53, Y:5.09, Z:3.18 [[ 9.99100960e-01 -4.13184153e-02 -9.49000556e-03 7.32533405e+02] [ 4.13196149e-02 9.99145978e-01 -6.97066339e-05 5.09139656e+00] [ 9.48478106e-03 -3.22479410e-04 9.99954966e-01 3.18349991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0992541539999 meters 0.021849942905963683 Centerline is valid? [True, True] Translation: X:732.60, Y:5.09, Z:3.18 [[ 9.99062854e-01 -4.22551997e-02 -9.37615211e-03 7.32596004e+02] [ 4.22564166e-02 9.99106796e-01 -6.83623363e-05 5.08860468e+00] [ 9.37066596e-03 -3.27904319e-04 9.99956041e-01 3.18423209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.159254154 meters 0.02292016229095391 Centerline is valid? [True, True] Translation: X:732.66, Y:5.09, Z:3.19 [[ 9.99068645e-01 -4.23621594e-02 -8.20304768e-03 7.32657079e+02] [ 4.23630984e-02 9.99102279e-01 -5.93358939e-05 5.08553168e+00] [ 8.19819723e-03 -2.88225885e-04 9.99966353e-01 3.18531010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.2192541539999 meters 0.023320298030303475 Centerline is valid? [True, True] Translation: X:732.72, Y:5.08, Z:3.19 [[ 9.99081065e-01 -4.19807696e-02 -8.63945519e-03 7.32718795e+02] [ 4.19818015e-02 9.99118374e-01 -6.19571939e-05 5.08496749e+00] [ 8.63443943e-03 -3.00799634e-04 9.99962677e-01 3.18545027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.279254154 meters 0.021268146559922492 Centerline is valid? [True, True] Translation: X:732.78, Y:5.09, Z:3.18 [[ 9.99031567e-01 -4.28383851e-02 -1.00400048e-02 7.32780800e+02] [ 4.28398296e-02 9.99081951e-01 -7.12369463e-05 5.08770578e+00] [ 1.00338392e-02 -3.58944135e-04 9.99949595e-01 3.18438586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.339254154 meters 0.021941805443378176 Centerline is valid? [True, True] Translation: X:732.84, Y:5.09, Z:3.18 [[ 9.98932945e-01 -4.47550990e-02 -1.13996779e-02 7.32842673e+02] [ 4.47570960e-02 9.98997896e-01 -8.00103447e-05 5.08775681e+00] [ 1.13918351e-02 -4.30291507e-04 9.99935018e-01 3.18417338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.399254154 meters 0.025712111669868743 Centerline is valid? [True, True] Translation: X:732.90, Y:5.08, Z:3.18 [[ 9.98777817e-01 -4.77117922e-02 -1.29018558e-02 7.32903153e+02] [ 4.77146061e-02 9.98861005e-01 -8.98020175e-05 5.08412823e+00] [ 1.28914452e-02 -5.25914703e-04 9.99916764e-01 3.18312726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.459254154 meters 0.022524501672092342 Centerline is valid? [True, True] Translation: X:732.96, Y:5.09, Z:3.18 [[ 9.98661253e-01 -4.99948857e-02 -1.32744960e-02 7.32964299e+02] [ 4.99980730e-02 9.98749310e-01 -9.18577747e-05 5.09092996e+00] [ 1.32624861e-02 -5.71964418e-04 9.99911886e-01 3.18450748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.519254154 meters 0.023300212528627066 Centerline is valid? [True, True] Translation: X:733.02, Y:5.09, Z:3.19 [[ 9.98737536e-01 -4.84335133e-02 -1.33239690e-02 7.33024999e+02] [ 4.84365922e-02 9.98826255e-01 -9.17090011e-05 5.09360138e+00] [ 1.33127719e-02 -5.53774432e-04 9.99911228e-01 3.18512328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.579254154 meters 0.021727227120001132 Centerline is valid? [True, True] Translation: X:733.09, Y:5.10, Z:3.19 [[ 9.98981243e-01 -4.31867613e-02 -1.30912398e-02 7.33085892e+02] [ 4.31892878e-02 9.99066903e-01 -8.97923422e-05 5.10109789e+00] [ 1.30829022e-02 -4.75700456e-04 9.99914302e-01 3.18626005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.639254154 meters 0.018085615607278647 Centerline is valid? [True, True] Translation: X:733.15, Y:5.11, Z:3.19 [[ 9.99307316e-01 -3.52555107e-02 -1.19137484e-02 7.33146120e+02] [ 3.52570414e-02 9.99378274e-01 -8.15874722e-05 5.11206645e+00] [ 1.19092177e-02 -3.38512563e-04 9.99929025e-01 3.18827998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.699254154 meters 0.017092852827113737 Centerline is valid? [True, True] Translation: X:733.21, Y:5.12, Z:3.19 [[ 9.99481401e-01 -3.02248925e-02 -1.11078490e-02 7.33206846e+02] [ 3.02259143e-02 9.99543090e-01 -7.59144130e-05 5.11808827e+00] [ 1.11050682e-02 -2.59869847e-04 9.99938303e-01 3.18959633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.759254154 meters 0.01598053600602285 Centerline is valid? [True, True] Translation: X:733.27, Y:5.13, Z:3.19 [[ 9.99659521e-01 -2.38821134e-02 -1.05113055e-02 7.33266683e+02] [ 2.38826786e-02 9.99714766e-01 -7.17608635e-05 5.12534369e+00] [ 1.05100211e-02 -1.79301701e-04 9.99944752e-01 3.19010395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.819254154 meters 0.015510552211739354 Centerline is valid? [True, True] Translation: X:733.33, Y:5.13, Z:3.19 [[ 9.99694799e-01 -2.24664658e-02 -1.02745372e-02 7.33328001e+02] [ 2.24669333e-02 9.99747584e-01 -6.99270882e-05 5.12816594e+00] [ 1.02735148e-02 -1.60931596e-04 9.99947213e-01 3.19031392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.879254154 meters 0.016448250665932702 Centerline is valid? [True, True] Translation: X:733.39, Y:5.13, Z:3.19 [[ 9.99685498e-01 -2.16885822e-02 -1.25900707e-02 7.33388066e+02] [ 2.16892314e-02 9.99764757e-01 -8.49860359e-05 5.12951554e+00] [ 1.25889522e-02 -1.88109649e-04 9.99920738e-01 3.18902025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.939254154 meters 0.015984305820255226 Centerline is valid? [True, True] Translation: X:733.45, Y:5.13, Z:3.19 [[ 9.99626687e-01 -2.41986054e-02 -1.26851892e-02 7.33447809e+02] [ 2.41994662e-02 9.99707146e-01 -8.56578767e-05 5.12847987e+00] [ 1.26835471e-02 -2.21348908e-04 9.99919536e-01 3.18911104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.999254154 meters 0.016999229028520302 Centerline is valid? [True, True] Translation: X:733.51, Y:5.12, Z:3.19 [[ 9.99558819e-01 -2.70766710e-02 -1.22074603e-02 7.33506993e+02] [ 2.70776791e-02 9.99633329e-01 -8.27253211e-05 5.12478406e+00] [ 1.22052241e-02 -2.47860868e-04 9.99925483e-01 3.18966756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.059254154 meters 0.01669250078713513 Centerline is valid? [True, True] Translation: X:733.57, Y:5.12, Z:3.19 [[ 9.99515928e-01 -2.87414496e-02 -1.19096278e-02 7.33567366e+02] [ 2.87425263e-02 9.99586845e-01 -8.07837632e-05 5.12450545e+00] [ 1.19070291e-02 -2.61568132e-04 9.99929075e-01 3.19157898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.119254154 meters 0.016985397802677337 Centerline is valid? [True, True] Translation: X:733.63, Y:5.12, Z:3.19 [[ 9.99460255e-01 -3.05186655e-02 -1.21577191e-02 7.33628224e+02] [ 3.05199207e-02 9.99534155e-01 -8.23223289e-05 5.12176891e+00] [ 1.21545678e-02 -2.88774726e-04 9.99926089e-01 3.19137281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.179254154 meters 0.018183340018195063 Centerline is valid? [True, True] Translation: X:733.69, Y:5.12, Z:3.19 [[ 9.99338910e-01 -3.40651694e-02 -1.27006792e-02 7.33688275e+02] [ 3.40668354e-02 9.99419553e-01 -8.52092155e-05 5.11560194e+00] [ 1.26962098e-02 -3.47519063e-04 9.99919339e-01 3.19077021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.239254154 meters 0.020017173728040086 Centerline is valid? [True, True] Translation: X:733.75, Y:5.11, Z:3.19 [[ 9.99220146e-01 -3.75830430e-02 -1.21084925e-02 7.33749664e+02] [ 3.75848229e-02 9.99293438e-01 -8.06029604e-05 5.11009582e+00] [ 1.21029664e-02 -3.74555446e-04 9.99926686e-01 3.19110645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.299254154 meters 0.018612652389415115 Centerline is valid? [True, True] Translation: X:733.81, Y:5.11, Z:3.19 [[ 9.99234066e-01 -3.73839205e-02 -1.15639361e-02 7.33811356e+02] [ 3.73855354e-02 9.99300914e-01 -7.65601653e-05 5.10960650e+00] [ 1.15587140e-02 -3.55822416e-04 9.99933133e-01 3.19250437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3592541539999 meters 0.020090852386324465 Centerline is valid? [True, True] Translation: X:733.87, Y:5.11, Z:3.19 [[ 9.99275675e-01 -3.63568351e-02 -1.12385580e-02 7.33871794e+02] [ 3.63582988e-02 9.99338816e-01 -7.41216124e-05 5.10536545e+00] [ 1.12338220e-02 -3.34546924e-04 9.99936843e-01 3.19219198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.419254154 meters 0.018494837179196675 Centerline is valid? [True, True] Translation: X:733.93, Y:5.11, Z:3.19 [[ 9.99258151e-01 -3.66240607e-02 -1.19090278e-02 7.33932921e+02] [ 3.66257275e-02 9.99329050e-01 -7.81795370e-05 5.10724187e+00] [ 1.19039007e-02 -3.58055268e-04 9.99929082e-01 3.19277075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4792541539999 meters 0.01994907420895266 Centerline is valid? [True, True] Translation: X:733.99, Y:5.10, Z:3.19 [[ 9.99136667e-01 -3.95871324e-02 -1.26007923e-02 7.33992771e+02] [ 3.95892360e-02 9.99216035e-01 -8.25479422e-05 5.10125204e+00] [ 1.25941816e-02 -4.16379067e-04 9.99920603e-01 3.19200433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.539254154 meters 0.020477018814090673 Centerline is valid? [True, True] Translation: X:734.05, Y:5.10, Z:3.19 [[ 9.99081226e-01 -4.08504279e-02 -1.29594331e-02 7.34054514e+02] [ 4.08527653e-02 9.99165174e-01 -8.44266515e-05 5.09978720e+00] [ 1.29520631e-02 -4.45079597e-04 9.99916019e-01 3.19194648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5992541539999 meters 0.022250246472727896 Centerline is valid? [True, True] Translation: X:734.12, Y:5.10, Z:3.19 [[ 9.98868240e-01 -4.51890502e-02 -1.48387617e-02 7.34115200e+02] [ 4.51925996e-02 9.98978288e-01 -9.62035229e-05 5.09525528e+00] [ 1.48279481e-02 -5.74507571e-04 9.99889895e-01 3.19111308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.659254154 meters 0.0223596904254796 Centerline is valid? [True, True] Translation: X:734.18, Y:5.09, Z:3.19 [[ 9.98746109e-01 -4.76433836e-02 -1.53726418e-02 7.34175958e+02] [ 4.76474877e-02 9.98864208e-01 -9.93793674e-05 5.09425641e+00] [ 1.53599165e-02 -6.33213005e-04 9.99881829e-01 3.19119388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.7192541539999 meters 0.024512774162933803 Centerline is valid? [True, True] Translation: X:734.24, Y:5.09, Z:3.19 [[ 9.98608235e-01 -5.06979050e-02 -1.45366922e-02 7.34236433e+02] [ 5.07019046e-02 9.98713827e-01 -9.35009292e-05 5.08906930e+00] [ 1.45227358e-02 -6.43667186e-04 9.99894332e-01 3.19125892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.779254154 meters 0.02693067861760849 Centerline is valid? [True, True] Translation: X:734.30, Y:5.09, Z:3.19 [[ 9.98445292e-01 -5.43285760e-02 -1.24661101e-02 7.34296119e+02] [ 5.43318014e-02 9.98522934e-01 -8.00348497e-05 5.08572352e+00] [ 1.24520450e-02 -5.97395799e-04 9.99922292e-01 3.19284551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.839254154 meters 0.025026995748643643 Centerline is valid? [True, True] Translation: X:734.36, Y:5.09, Z:3.19 [[ 9.98379347e-01 -5.56351528e-02 -1.19753433e-02 7.34358534e+02] [ 5.56382297e-02 9.98450991e-01 -7.63190219e-05 5.08909005e+00] [ 1.19610394e-02 -5.90091566e-04 9.99928290e-01 3.19388043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.899254154 meters 0.02600220091255081 Centerline is valid? [True, True] Translation: X:734.42, Y:5.09, Z:3.19 [[ 9.98275688e-01 -5.74799458e-02 -1.19040883e-02 7.34420897e+02] [ 5.74831276e-02 9.98346475e-01 -7.49809985e-05 5.08891607e+00] [ 1.18887145e-02 -6.09432518e-04 9.99929141e-01 3.19421207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.959254154 meters 0.027056291153876214 Centerline is valid? [True, True] Translation: X:734.48, Y:5.09, Z:3.19 [[ 9.98251067e-01 -5.77706334e-02 -1.25443457e-02 7.34483327e+02] [ 5.77742014e-02 9.98329673e-01 -7.80719983e-05 5.09005956e+00] [ 1.25279028e-02 -6.46804097e-04 9.99921314e-01 3.19450650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.019254154 meters 0.02745954498359678 Centerline is valid? [True, True] Translation: X:734.55, Y:5.09, Z:3.19 [[ 9.98288304e-01 -5.68771372e-02 -1.36180974e-02 7.34545739e+02] [ 5.68812731e-02 9.98380946e-01 -8.37377136e-05 5.09065383e+00] [ 1.36008117e-02 -6.91020335e-04 9.99907266e-01 3.19397054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.079254154 meters 0.027014419780506376 Centerline is valid? [True, True] Translation: X:734.61, Y:5.09, Z:3.19 [[ 9.98450576e-01 -5.38746326e-02 -1.39273623e-02 7.34606925e+02] [ 5.38786764e-02 9.98547486e-01 -8.49724587e-05 5.09270642e+00] [ 1.39117105e-02 -6.65547045e-04 9.99903006e-01 3.19363453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.139254154 meters 0.025765588688548516 Centerline is valid? [True, True] Translation: X:734.67, Y:5.10, Z:3.19 [[ 9.98628468e-01 -5.03601865e-02 -1.43190578e-02 7.34667795e+02] [ 5.03641051e-02 9.98730919e-01 -8.70337956e-05 5.09744739e+00] [ 1.43052688e-02 -6.34252107e-04 9.99897473e-01 3.19417620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.199254154 meters 0.020054916489291905 Centerline is valid? [True, True] Translation: X:734.73, Y:5.11, Z:3.20 [[ 9.99056563e-01 -4.11957105e-02 -1.37440183e-02 7.34727951e+02] [ 4.11984554e-02 9.99150980e-01 -8.34745465e-05 5.11187127e+00] [ 1.37357882e-02 -4.82836533e-04 9.99905543e-01 3.19644959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.259254154 meters 0.019721737411616463 Centerline is valid? [True, True] Translation: X:734.79, Y:5.11, Z:3.20 [[ 9.99220284e-01 -3.70258090e-02 -1.37081734e-02 7.34788642e+02] [ 3.70281522e-02 9.99314219e-01 -8.29140591e-05 5.11451139e+00] [ 1.37018426e-02 -4.24738923e-04 9.99906035e-01 3.19654488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.319254154 meters 0.018467265785983834 Centerline is valid? [True, True] Translation: X:734.85, Y:5.12, Z:3.20 [[ 9.99394821e-01 -3.22433950e-02 -1.30520544e-02 7.34848830e+02] [ 3.22451138e-02 9.99479988e-01 -7.87897469e-05 5.12114478e+00] [ 1.30478077e-02 -3.42122915e-04 9.99914815e-01 3.19763646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.379254154 meters 0.01732629565724862 Centerline is valid? [True, True] Translation: X:734.91, Y:5.13, Z:3.20 [[ 9.99507867e-01 -2.84765467e-02 -1.31571016e-02 7.34909782e+02] [ 2.84779692e-02 9.99594417e-01 -7.92647794e-05 5.12657184e+00] [ 1.31540225e-02 -2.95461763e-04 9.99913438e-01 3.19724589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.439254154 meters 0.016313790266906693 Centerline is valid? [True, True] Translation: X:734.97, Y:5.13, Z:3.20 [[ 9.99599734e-01 -2.52025738e-02 -1.28530658e-02 7.34970608e+02] [ 2.52036617e-02 9.99682334e-01 -7.73550011e-05 5.13049904e+00] [ 1.28509324e-02 -2.46620284e-04 9.99917393e-01 3.19806036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.499254154 meters 0.016153835371264916 Centerline is valid? [True, True] Translation: X:735.03, Y:5.13, Z:3.20 [[ 9.99626711e-01 -2.40417824e-02 -1.29780964e-02 7.35031045e+02] [ 2.40427938e-02 9.99710927e-01 -7.81074860e-05 5.13271230e+00] [ 1.29762226e-02 -2.33951366e-04 9.99915778e-01 3.19833633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.559254154 meters 0.01644650166853839 Centerline is valid? [True, True] Translation: X:735.09, Y:5.13, Z:3.20 [[ 9.99602811e-01 -2.47126934e-02 -1.35463014e-02 7.35090288e+02] [ 2.47138524e-02 9.99694563e-01 -8.18581349e-05 5.13110376e+00] [ 1.35441868e-02 -2.52955671e-04 9.99908241e-01 3.19747732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.619254154 meters 0.017397439752294668 Centerline is valid? [True, True] Translation: X:735.15, Y:5.13, Z:3.20 [[ 9.99524544e-01 -2.77522738e-02 -1.34349455e-02 7.35149800e+02] [ 2.77536840e-02 9.99614789e-01 -8.15042765e-05 5.12522861e+00] [ 1.34320322e-02 -2.91403708e-04 9.99909744e-01 3.19634889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.679254154 meters 0.0188647428191877 Centerline is valid? [True, True] Translation: X:735.21, Y:5.12, Z:3.20 [[ 9.99426044e-01 -3.11115428e-02 -1.34035043e-02 7.35209349e+02] [ 3.11132452e-02 9.99515862e-01 -8.15495566e-05 5.12053154e+00] [ 1.33995523e-02 -3.35523764e-04 9.99910166e-01 3.19568657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.739254154 meters 0.017672952393088612 Centerline is valid? [True, True] Translation: X:735.27, Y:5.12, Z:3.20 [[ 9.99339943e-01 -3.22920459e-02 -1.66403632e-02 7.35269645e+02] [ 3.22948319e-02 9.99478381e-01 -1.01338976e-04 5.12190620e+00] [ 1.66349557e-02 -4.36125645e-04 9.99861534e-01 3.19570434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.799254154 meters 0.017309269980962664 Centerline is valid? [True, True] Translation: X:735.33, Y:5.12, Z:3.20 [[ 9.99365932e-01 -3.08058040e-02 -1.78531882e-02 7.35329676e+02] [ 3.08087650e-02 9.99525291e-01 -1.09224711e-04 5.12024972e+00] [ 1.78480779e-02 -4.40879226e-04 9.99840613e-01 3.19529517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8592541539999 meters 0.017045242663498057 Centerline is valid? [True, True] Translation: X:735.39, Y:5.12, Z:3.20 [[ 9.99437797e-01 -2.86413291e-02 -1.74288314e-02 7.35388299e+02] [ 2.86437610e-02 9.99589677e-01 -1.10132463e-04 5.12149362e+00] [ 1.74248343e-02 -3.89156735e-04 9.99848100e-01 3.19638394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.919254154 meters 0.015533473623169099 Centerline is valid? [True, True] Translation: X:735.45, Y:5.12, Z:3.20 [[ 9.99601403e-01 -2.30769886e-02 -1.62630990e-02 7.35447773e+02] [ 2.30783455e-02 9.99733654e-01 -1.04261661e-04 5.12488861e+00] [ 1.62611734e-02 -2.71105315e-04 9.99867742e-01 3.19855493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9792541539999 meters 0.014494707913979188 Centerline is valid? [True, True] Translation: X:735.51, Y:5.13, Z:3.20 [[ 9.99764076e-01 -1.56364032e-02 -1.50763191e-02 7.35505690e+02] [ 1.56367063e-02 9.99877734e-01 -9.77803489e-05 5.12633281e+00] [ 1.50760047e-02 -1.37986694e-04 9.99886341e-01 3.19932501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.039254154 meters 0.014017102467175432 Centerline is valid? [True, True] Translation: X:735.56, Y:5.13, Z:3.20 [[ 9.99828965e-01 -1.06166986e-02 -1.51435025e-02 7.35564413e+02] [ 1.06163812e-02 9.99943639e-01 -1.01346443e-04 5.12818565e+00] [ 1.51437250e-02 -5.94400872e-05 9.99885325e-01 3.20041513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0992541539999 meters 0.01401333126122647 Centerline is valid? [True, True] Translation: X:735.62, Y:5.12, Z:3.20 [[ 9.99823980e-01 -1.20281090e-02 -1.43990876e-02 7.35621896e+02] [ 1.20279110e-02 9.99927657e-01 -1.00355466e-04 5.12423656e+00] [ 1.43992530e-02 -7.28531433e-05 9.99896323e-01 3.20077308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.159254154 meters 0.01435965654343403 Centerline is valid? [True, True] Translation: X:735.68, Y:5.12, Z:3.20 [[ 9.99762407e-01 -1.64995314e-02 -1.42441018e-02 7.35680537e+02] [ 1.64997630e-02 9.99863865e-01 -1.01265038e-04 5.11840732e+00] [ 1.42438335e-02 -1.33783325e-04 9.99898543e-01 3.20033974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.2192541539999 meters 0.016323382501127 Centerline is valid? [True, True] Translation: X:735.74, Y:5.11, Z:3.20 [[ 9.99526693e-01 -2.67312568e-02 -1.52259642e-02 7.35738804e+02] [ 2.67326910e-02 9.99642612e-01 -1.09360475e-04 5.10771688e+00] [ 1.52234459e-02 -2.97722282e-04 9.99884072e-01 3.19907947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.279254154 meters 0.020216113597408054 Centerline is valid? [True, True] Translation: X:735.80, Y:5.10, Z:3.20 [[ 9.99115340e-01 -3.87384107e-02 -1.63668457e-02 7.35799205e+02] [ 3.87416716e-02 9.99249253e-01 -1.17894417e-04 5.09593161e+00] [ 1.63591254e-02 -5.16288842e-04 9.99866047e-01 3.19796350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.339254154 meters 0.024122855461911927 Centerline is valid? [True, True] Translation: X:735.86, Y:5.09, Z:3.20 [[ 9.98673856e-01 -4.90983277e-02 -1.54881774e-02 7.35860138e+02] [ 4.91024915e-02 9.98793739e-01 -1.11553596e-04 5.08621567e+00] [ 1.54749717e-02 -6.49102442e-04 9.99880045e-01 3.19903968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.399254154 meters 0.02495330546936585 Centerline is valid? [True, True] Translation: X:735.92, Y:5.08, Z:3.20 [[ 9.98463343e-01 -5.36270196e-02 -1.39676348e-02 7.35920740e+02] [ 5.36308505e-02 9.98560825e-01 -1.00423684e-04 5.08387937e+00] [ 1.39529184e-02 -6.48826768e-04 9.99902443e-01 3.20083260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.459254154 meters 0.02796227686240844 Centerline is valid? [True, True] Translation: X:735.98, Y:5.08, Z:3.20 [[ 9.98318639e-01 -5.65832094e-02 -1.25791933e-02 7.35981039e+02] [ 5.65865533e-02 9.98397693e-01 -9.02228305e-05 5.07837233e+00] [ 1.25641427e-02 -6.21742059e-04 9.99920875e-01 3.20194770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.519254154 meters 0.03197859753948198 Centerline is valid? [True, True] Translation: X:736.04, Y:5.07, Z:3.20 [[ 9.98221537e-01 -5.86362648e-02 -1.07495105e-02 7.36042401e+02] [ 5.86388284e-02 9.98279260e-01 -7.68103979e-05 5.07410642e+00] [ 1.07355173e-02 -5.53664908e-04 9.99942219e-01 3.20199828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.579254154 meters 0.02859661493743525 Centerline is valid? [True, True] Translation: X:736.10, Y:5.08, Z:3.20 [[ 9.98209160e-01 -5.90473308e-02 -9.58564589e-03 7.36104516e+02] [ 5.90493931e-02 9.98255060e-01 -6.79727902e-05 5.07963358e+00] [ 9.57293313e-03 -4.98175511e-04 9.99954054e-01 3.20324213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.639254154 meters 0.02797417052837806 Centerline is valid? [True, True] Translation: X:736.17, Y:5.08, Z:3.20 [[ 9.98195279e-01 -5.90192238e-02 -1.10867588e-02 7.36165310e+02] [ 5.90219893e-02 9.98256680e-01 -7.78742362e-05 5.08135405e+00] [ 1.10720271e-02 -5.76628863e-04 9.99938537e-01 3.20342791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.699254154 meters 0.025240319174722463 Centerline is valid? [True, True] Translation: X:736.23, Y:5.09, Z:3.20 [[ 9.98288968e-01 -5.73995924e-02 -1.11545393e-02 7.36227971e+02] [ 5.74023019e-02 9.98351125e-01 -7.73586211e-05 5.08830679e+00] [ 1.11405873e-02 -5.63069977e-04 9.99937783e-01 3.20323546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.759254154 meters 0.02539007593721577 Centerline is valid? [True, True] Translation: X:736.29, Y:5.09, Z:3.20 [[ 9.98416199e-01 -5.51766379e-02 -1.09832593e-02 7.36289842e+02] [ 5.51791405e-02 9.98476468e-01 -7.52709418e-05 5.09327039e+00] [ 1.09706792e-02 -5.30895083e-04 9.99939679e-01 3.20269215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.819254154 meters 0.025638073016954498 Centerline is valid? [True, True] Translation: X:736.35, Y:5.10, Z:3.20 [[ 9.98657067e-01 -5.07984240e-02 -1.01775538e-02 7.36349404e+02] [ 5.08003486e-02 9.98708826e-01 -6.94896138e-05 5.09822747e+00] [ 1.01679427e-02 -4.47626986e-04 9.99948205e-01 3.20363495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.879254154 meters 0.02201437952292368 Centerline is valid? [True, True] Translation: X:736.41, Y:5.11, Z:3.20 [[ 9.99006883e-01 -4.34170817e-02 -1.00101814e-02 7.36410280e+02] [ 4.34185736e-02 9.99056967e-01 -6.83347655e-05 5.11017839e+00] [ 1.00037083e-02 -3.66360896e-04 9.99949895e-01 3.20402512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.939254154 meters 0.019283893084483677 Centerline is valid? [True, True] Translation: X:736.47, Y:5.12, Z:3.21 [[ 9.99312058e-01 -3.59131412e-02 -9.25511221e-03 7.36470063e+02] [ 3.59140948e-02 9.99354879e-01 -6.31926795e-05 5.11899574e+00] [ 9.25141099e-03 -2.69239771e-04 9.99957169e-01 3.20619435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.999254154 meters 0.018553225701533015 Centerline is valid? [True, True] Translation: X:736.53, Y:5.12, Z:3.21 [[ 9.99501203e-01 -3.09818346e-02 -6.12128381e-03 7.36531073e+02] [ 3.09821597e-02 9.99519937e-01 -4.17444643e-05 5.12493781e+00] [ 6.11963853e-03 -1.47926950e-04 9.99981264e-01 3.20805297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.059254154 meters 0.017912083550772135 Centerline is valid? [True, True] Translation: X:736.59, Y:5.13, Z:3.21 [[ 9.99516112e-01 -3.07059618e-02 -4.96841334e-03 7.36593236e+02] [ 3.07061734e-02 9.99528454e-01 -3.37088313e-05 5.12562991e+00] [ 4.96710557e-03 -1.18868441e-04 9.99987657e-01 3.20894212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.119254154 meters 0.018635088004869023 Centerline is valid? [True, True] Translation: X:736.66, Y:5.12, Z:3.21 [[ 9.99447893e-01 -3.29040231e-02 -4.60812895e-03 7.36655825e+02] [ 3.29042299e-02 9.99458509e-01 -3.09500482e-05 5.12464338e+00] [ 4.60665207e-03 -1.20693974e-04 9.99989382e-01 3.20795818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.179254154 meters 0.019514637724521503 Centerline is valid? [True, True] Translation: X:736.72, Y:5.12, Z:3.21 [[ 9.99330540e-01 -3.61572390e-02 -5.57905332e-03 7.36718374e+02] [ 3.61575955e-02 9.99346100e-01 -3.69954727e-05 5.12313611e+00] [ 5.57674283e-03 -1.64754447e-04 9.99984436e-01 3.20688123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.239254154 meters 0.02148711694267073 Centerline is valid? [True, True] Translation: X:736.78, Y:5.12, Z:3.21 [[ 9.99215424e-01 -3.92281048e-02 -5.44908532e-03 7.36779516e+02] [ 3.92284925e-02 9.99230266e-01 -3.57624168e-05 5.11943891e+00] [ 5.44629386e-03 -1.78025044e-04 9.99985153e-01 3.20613586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.299254154 meters 0.022297049660725883 Centerline is valid? [True, True] Translation: X:736.84, Y:5.12, Z:3.21 [[ 9.99115853e-01 -4.17326295e-02 -5.08919480e-03 7.36841472e+02] [ 4.17330015e-02 9.99128798e-01 -3.31288252e-05 5.11801429e+00] [ 5.08614364e-03 -1.79287840e-04 9.99987049e-01 3.20722792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3592541539999 meters 0.02438782475155795 Centerline is valid? [True, True] Translation: X:736.90, Y:5.11, Z:3.21 [[ 9.99032398e-01 -4.37653122e-02 -4.34345996e-03 7.36903677e+02] [ 4.37656035e-02 9.99041827e-01 -2.80094653e-05 5.11461809e+00] [ 4.34052401e-03 -1.62111783e-04 9.99990567e-01 3.20685854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.419254154 meters 0.022908802857649048 Centerline is valid? [True, True] Translation: X:736.97, Y:5.12, Z:3.21 [[ 9.98949976e-01 -4.55286014e-02 -5.10802464e-03 7.36965614e+02] [ 4.55290294e-02 9.98963016e-01 -3.25215673e-05 5.11666758e+00] [ 5.10420836e-03 -2.00075985e-04 9.99986953e-01 3.20677554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4792541539999 meters 0.02760053750432929 Centerline is valid? [True, True] Translation: X:737.03, Y:5.11, Z:3.21 [[ 9.98750599e-01 -4.95392576e-02 -6.56530326e-03 7.37026074e+02] [ 4.95400546e-02 9.98772137e-01 -4.12809748e-05 5.10914841e+00] [ 6.55928699e-03 -2.84016084e-04 9.99978447e-01 3.20633108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.539254154 meters 0.029237375432025314 Centerline is valid? [True, True] Translation: X:737.09, Y:5.11, Z:3.21 [[ 9.98521030e-01 -5.38389985e-02 -7.55740001e-03 7.37086939e+02] [ 5.38401800e-02 9.98549565e-01 -4.71778276e-05 5.10672090e+00] [ 7.54897850e-03 -3.59783724e-04 9.99971441e-01 3.20556034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5992541539999 meters 0.027788375008003924 Centerline is valid? [True, True] Translation: X:737.15, Y:5.11, Z:3.21 [[ 9.98378770e-01 -5.62199782e-02 -8.89638317e-03 7.37147673e+02] [ 5.62217120e-02 9.98418307e-01 -5.52730662e-05 5.11079355e+00] [ 8.88541928e-03 -4.44986437e-04 9.99960425e-01 3.20528951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.659254154 meters 0.025858258066904394 Centerline is valid? [True, True] Translation: X:737.21, Y:5.12, Z:3.21 [[ 9.98412897e-01 -5.54388120e-02 -9.91088200e-03 7.37210138e+02] [ 5.54409304e-02 9.98461967e-01 -6.10805729e-05 5.11559645e+00] [ 9.89902497e-03 -4.88484887e-04 9.99950884e-01 3.20603140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.7192541539999 meters 0.02494357835778165 Centerline is valid? [True, True] Translation: X:737.27, Y:5.12, Z:3.21 [[ 9.98631545e-01 -5.12113862e-02 -1.06034036e-02 7.37270448e+02] [ 5.12135769e-02 9.98687722e-01 -6.50009301e-05 5.12056819e+00] [ 1.05928178e-02 -4.78126247e-04 9.99943780e-01 3.20622116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.779254154 meters 0.02268007664323736 Centerline is valid? [True, True] Translation: X:737.33, Y:5.13, Z:3.21 [[ 9.98828332e-01 -4.72343919e-02 -1.05297702e-02 7.37331942e+02] [ 4.72363352e-02 9.98883739e-01 -6.42132617e-05 5.12786350e+00] [ 1.05210493e-02 -4.33249731e-04 9.99944558e-01 3.20760060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.839254154 meters 0.02019636298579763 Centerline is valid? [True, True] Translation: X:737.39, Y:5.14, Z:3.21 [[ 9.99201154e-01 -3.85350261e-02 -1.05880262e-02 7.37392417e+02] [ 3.85365056e-02 9.99257191e-01 -6.43244485e-05 5.13708743e+00] [ 1.05826400e-02 -3.43752467e-04 9.99943943e-01 3.20891083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.899254154 meters 0.018158847202228767 Centerline is valid? [True, True] Translation: X:737.45, Y:5.15, Z:3.21 [[ 9.99499899e-01 -2.97185539e-02 -1.08055366e-02 7.37452723e+02] [ 2.97195798e-02 9.99558274e-01 -6.56465293e-05 5.14696758e+00] [ 1.08027145e-02 -2.55522310e-04 9.99941616e-01 3.21041550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.959254154 meters 0.01703952430842951 Centerline is valid? [True, True] Translation: X:737.51, Y:5.15, Z:3.21 [[ 9.99584292e-01 -2.64821771e-02 -1.13989717e-02 7.37513285e+02] [ 2.64831100e-02 9.99649259e-01 -6.91250313e-05 5.15114591e+00] [ 1.13968042e-02 -2.32783926e-04 9.99935027e-01 3.21111173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.019254154 meters 0.017311744036647533 Centerline is valid? [True, True] Translation: X:737.57, Y:5.15, Z:3.21 [[ 9.99483489e-01 -2.89027835e-02 -1.40493879e-02 7.37574428e+02] [ 2.89044460e-02 9.99582176e-01 -8.47436589e-05 5.15236533e+00] [ 1.40459670e-02 -3.21389886e-04 9.99901299e-01 3.20979263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.079254154 meters 0.02049048712472733 Centerline is valid? [True, True] Translation: X:737.63, Y:5.15, Z:3.21 [[ 9.99257249e-01 -3.53814091e-02 -1.52678231e-02 7.37633882e+02] [ 3.53841279e-02 9.99373781e-01 -9.21138472e-05 5.14799544e+00] [ 1.52615213e-02 -4.48193176e-04 9.99883436e-01 3.20865021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.139254154 meters 0.021894013284603536 Centerline is valid? [True, True] Translation: X:737.69, Y:5.15, Z:3.21 [[ 9.98927145e-01 -4.35004158e-02 -1.58831137e-02 7.37694065e+02] [ 4.35043823e-02 9.99053232e-01 -9.58630712e-05 5.14811604e+00] [ 1.58722462e-02 -5.95224827e-04 9.99873851e-01 3.21020353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.199254154 meters 0.024584778434453853 Centerline is valid? [True, True] Translation: X:737.76, Y:5.15, Z:3.21 [[ 9.98664909e-01 -4.90793383e-02 -1.61126505e-02 7.37755523e+02] [ 4.90841523e-02 9.98794642e-01 -9.67988558e-05 5.14516004e+00] [ 1.60979798e-02 -6.94206171e-04 9.99870178e-01 3.21014998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.259254154 meters 0.027112301197134887 Centerline is valid? [True, True] Translation: X:737.82, Y:5.14, Z:3.21 [[ 9.98232504e-01 -5.74671739e-02 -1.51456916e-02 7.37815678e+02] [ 5.74723988e-02 9.98347092e-01 -9.04111720e-05 5.14210324e+00] [ 1.51258529e-02 -7.80207860e-04 9.99885293e-01 3.21262731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.319254154 meters 0.02792922122537847 Centerline is valid? [True, True] Translation: X:737.88, Y:5.14, Z:3.21 [[ 9.97985043e-01 -6.15469027e-02 -1.54218282e-02 7.37876546e+02] [ 6.15528114e-02 9.98103824e-01 -9.16781532e-05 5.14227921e+00] [ 1.53982282e-02 -8.57763457e-04 9.99881072e-01 3.21291082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.379254154 meters 0.03221301904385742 Centerline is valid? [True, True] Translation: X:737.94, Y:5.14, Z:3.21 [[ 9.97783625e-01 -6.45757583e-02 -1.60564596e-02 7.37936380e+02] [ 6.45825555e-02 9.97912363e-01 -9.53661495e-05 5.13799446e+00] [ 1.60290979e-02 -9.41812412e-04 9.99871082e-01 3.21188455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.439254154 meters 0.03186625747907876 Centerline is valid? [True, True] Translation: X:738.00, Y:5.14, Z:3.21 [[ 9.97768627e-01 -6.46429794e-02 -1.67048758e-02 7.37998599e+02] [ 6.46503609e-02 9.97907972e-01 -9.83376274e-05 5.14444455e+00] [ 1.66762856e-02 -9.81858052e-04 9.99860459e-01 3.21255904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.499254154 meters 0.03141377094935654 Centerline is valid? [True, True] Translation: X:738.06, Y:5.15, Z:3.21 [[ 9.97924345e-01 -6.21286206e-02 -1.69421586e-02 7.38060458e+02] [ 6.21358688e-02 9.98067695e-01 -9.87475262e-05 5.14948115e+00] [ 1.69155562e-02 -9.54173182e-04 9.99856466e-01 3.21276280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.559254154 meters 0.025850017597524658 Centerline is valid? [True, True] Translation: X:738.12, Y:5.17, Z:3.21 [[ 9.98332874e-01 -5.50113903e-02 -1.74705532e-02 7.38120557e+02] [ 5.50180147e-02 9.98485357e-01 -1.01598086e-04 5.16529255e+00] [ 1.74496806e-02 -8.59766441e-04 9.99847373e-01 3.21343862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.619254154 meters 0.02389278123753816 Centerline is valid? [True, True] Translation: X:738.18, Y:5.18, Z:3.21 [[ 9.98774352e-01 -4.63890977e-02 -1.72582043e-02 7.38179951e+02] [ 4.63942725e-02 9.98923201e-01 -1.00620037e-04 5.17645139e+00] [ 1.72442883e-02 -7.00185119e-04 9.99851061e-01 3.21365690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.679254154 meters 0.020098141777091936 Centerline is valid? [True, True] Translation: X:738.24, Y:5.19, Z:3.21 [[ 9.99136594e-01 -3.77354391e-02 -1.73810911e-02 7.38240442e+02] [ 3.77393784e-02 9.99287611e-01 -1.01416987e-04 5.19045846e+00] [ 1.73725360e-02 -5.54622152e-04 9.99848932e-01 3.21484050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.739254154 meters 0.01860193895202232 Centerline is valid? [True, True] Translation: X:738.30, Y:5.20, Z:3.22 [[ 9.99372186e-01 -3.10519182e-02 -1.70590945e-02 7.38300760e+02] [ 3.10547399e-02 9.99517680e-01 -9.95359635e-05 5.20100296e+00] [ 1.70539574e-02 -4.30292271e-04 9.99854478e-01 3.21550598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.799254154 meters 0.017961541587213765 Centerline is valid? [True, True] Translation: X:738.36, Y:5.21, Z:3.22 [[ 9.99512093e-01 -2.72108861e-02 -1.53344101e-02 7.38360348e+02] [ 2.72127112e-02 9.99629662e-01 -8.96650721e-05 5.20808220e+00] [ 1.53311711e-02 -3.27669551e-04 9.99882417e-01 3.21623156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8592541539999 meters 0.017648103711882503 Centerline is valid? [True, True] Translation: X:738.42, Y:5.21, Z:3.22 [[ 9.99562945e-01 -2.57834251e-02 -1.44614912e-02 7.38421307e+02] [ 2.57849004e-02 9.99667511e-01 -8.44595018e-05 5.21181949e+00] [ 1.44588605e-02 -2.88465521e-04 9.99895424e-01 3.21712180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.919254154 meters 0.017094657286592138 Centerline is valid? [True, True] Translation: X:738.48, Y:5.22, Z:3.22 [[ 9.99596009e-01 -2.54450825e-02 -1.26636168e-02 7.38482304e+02] [ 2.54461893e-02 9.99676191e-01 -7.37445191e-05 5.21692449e+00] [ 1.26613927e-02 -2.48526064e-04 9.99919810e-01 3.21855181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9792541539999 meters 0.018249435828069267 Centerline is valid? [True, True] Translation: X:738.54, Y:5.22, Z:3.22 [[ 9.99593764e-01 -2.62823160e-02 -1.10248468e-02 7.38542364e+02] [ 2.62832078e-02 9.99654535e-01 -6.40157722e-05 5.21637466e+00] [ 1.10227205e-02 -2.25778572e-04 9.99939222e-01 3.21844002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.039254154 meters 0.01718517091719726 Centerline is valid? [True, True] Translation: X:738.60, Y:5.22, Z:3.22 [[ 9.99593833e-01 -2.64968621e-02 -1.04921409e-02 7.38604449e+02] [ 2.64976869e-02 9.99648873e-01 -6.04099156e-05 5.21908668e+00] [ 1.04900575e-02 -2.17632087e-04 9.99944954e-01 3.21903268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0992541539999 meters 0.019032782743209863 Centerline is valid? [True, True] Translation: X:738.67, Y:5.22, Z:3.22 [[ 9.99620950e-01 -2.53357555e-02 -1.07729510e-02 7.38666616e+02] [ 2.53365663e-02 9.99678976e-01 -6.12364949e-05 5.21873416e+00] [ 1.07710441e-02 -2.11736303e-04 9.99941968e-01 3.21727388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.159254154 meters 0.01696936201487908 Centerline is valid? [True, True] Translation: X:738.73, Y:5.22, Z:3.22 [[ 9.99620892e-01 -2.54410362e-02 -1.05273800e-02 7.38727543e+02] [ 2.54418218e-02 9.99676303e-01 -5.93067258e-05 5.21751793e+00] [ 1.05254811e-02 -2.08551484e-04 9.99944584e-01 3.21782766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.2192541539999 meters 0.017693222274331656 Centerline is valid? [True, True] Translation: X:738.79, Y:5.21, Z:3.21 [[ 9.99538127e-01 -2.75293301e-02 -1.28711979e-02 7.38788572e+02] [ 2.75306840e-02 9.99620956e-01 -7.20167728e-05 5.21141022e+00] [ 1.28683017e-02 -2.82369371e-04 9.99917160e-01 3.21479192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.279254154 meters 0.017930684967271297 Centerline is valid? [True, True] Translation: X:738.85, Y:5.21, Z:3.21 [[ 9.99486198e-01 -2.89936200e-02 -1.36641541e-02 7.38849698e+02] [ 2.89952895e-02 9.99579545e-01 -7.59550663e-05 5.20932533e+00] [ 1.36606112e-02 -3.20280063e-04 9.99906638e-01 3.21402696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.339254154 meters 0.018046651641538392 Centerline is valid? [True, True] Translation: X:738.91, Y:5.21, Z:3.21 [[ 9.99448407e-01 -3.00973772e-02 -1.40367398e-02 7.38910833e+02] [ 3.00992549e-02 9.99546912e-01 -7.75150829e-05 5.20639320e+00] [ 1.40327129e-02 -3.45023083e-04 9.99901477e-01 3.21420631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.399254154 meters 0.022555097585934596 Centerline is valid? [True, True] Translation: X:738.97, Y:5.20, Z:3.21 [[ 9.99483801e-01 -2.94904403e-02 -1.27454353e-02 7.38971279e+02] [ 2.94919428e-02 9.99565016e-01 -7.00905047e-05 5.19590881e+00] [ 1.27419582e-02 -3.05833324e-04 9.99918771e-01 3.21232906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.459254154 meters 0.01739105800618991 Centerline is valid? [True, True] Translation: X:739.03, Y:5.21, Z:3.22 [[ 9.99616720e-01 -2.49998828e-02 -1.18919647e-02 7.39032502e+02] [ 2.50008774e-02 9.99687427e-01 -6.50416801e-05 5.20763592e+00] [ 1.18898736e-02 -2.32292801e-04 9.99929286e-01 3.21657514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.519254154 meters 0.015580053208943245 Centerline is valid? [True, True] Translation: X:739.09, Y:5.21, Z:3.22 [[ 9.99769744e-01 -1.85146888e-02 -1.08473270e-02 7.39093244e+02] [ 1.85151389e-02 9.99828578e-01 -5.89387385e-05 5.20879505e+00] [ 1.08465588e-02 -1.41914599e-04 9.99941164e-01 3.21730915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.579254154 meters 0.014954329908589742 Centerline is valid? [True, True] Translation: X:739.15, Y:5.21, Z:3.22 [[ 9.99856897e-01 -1.35898786e-02 -1.00747985e-02 7.39154040e+02] [ 1.35900183e-02 9.99907650e-01 -5.45901277e-05 5.21039286e+00] [ 1.00746100e-02 -8.23343806e-05 9.99949246e-01 3.21846437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.639254154 meters 0.014897324877595425 Centerline is valid? [True, True] Translation: X:739.21, Y:5.21, Z:3.22 [[ 9.99875334e-01 -1.15852679e-02 -1.07283936e-02 7.39213977e+02] [ 1.15853098e-02 9.99932886e-01 -5.82468554e-05 5.20778285e+00] [ 1.07283484e-02 -6.60521694e-05 9.99942447e-01 3.21805375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.699254154 meters 0.014926055537784233 Centerline is valid? [True, True] Translation: X:739.27, Y:5.20, Z:3.22 [[ 9.99833314e-01 -1.35484067e-02 -1.22386539e-02 7.39272852e+02] [ 1.35486020e-02 9.99908211e-01 -6.69580525e-05 5.20089486e+00] [ 1.22384377e-02 -9.88697592e-05 9.99925103e-01 3.21671765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.759254154 meters 0.015447499632244613 Centerline is valid? [True, True] Translation: X:739.33, Y:5.19, Z:3.22 [[ 9.99786997e-01 -1.67935007e-02 -1.19974396e-02 7.39331709e+02] [ 1.67938966e-02 9.99858970e-01 -6.77498759e-05 5.19494098e+00] [ 1.19968854e-02 -1.33748316e-04 9.99928026e-01 3.21643554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.819254154 meters 0.017656036545571522 Centerline is valid? [True, True] Translation: X:739.39, Y:5.18, Z:3.22 [[ 9.99586357e-01 -2.61095732e-02 -1.20583659e-02 7.39391199e+02] [ 2.61106359e-02 9.99659057e-01 -6.93220384e-05 5.17978746e+00] [ 1.20560646e-02 -2.45558236e-04 9.99927293e-01 3.21592502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.879254154 meters 0.019277801561219332 Centerline is valid? [True, True] Translation: X:739.45, Y:5.17, Z:3.22 [[ 9.99401752e-01 -3.22225582e-02 -1.25635936e-02 7.39451927e+02] [ 3.22241953e-02 9.99480663e-01 -7.21638771e-05 5.17182945e+00] [ 1.25593942e-02 -3.32730990e-04 9.99921072e-01 3.21628876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.939254154 meters 0.024509596612188014 Centerline is valid? [True, True] Translation: X:739.51, Y:5.16, Z:3.22 [[ 9.98995774e-01 -4.33679123e-02 -1.12547036e-02 7.39512476e+02] [ 4.33699336e-02 9.99059080e-01 -6.45193933e-05 5.15738382e+00] [ 1.12469119e-02 -4.23661148e-04 9.99936662e-01 3.21738054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.999254154 meters 0.030521815844195777 Centerline is valid? [True, True] Translation: X:739.57, Y:5.14, Z:3.22 [[ 9.98487679e-01 -5.41855385e-02 -9.28881343e-03 7.39572318e+02] [ 5.41873837e-02 9.98530783e-01 -5.30971132e-05 5.14305287e+00] [ 9.27804325e-03 -4.50319684e-04 9.99956857e-01 3.21900604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.059254154 meters 0.03486164729553071 Centerline is valid? [True, True] Translation: X:739.63, Y:5.13, Z:3.22 [[ 9.98141782e-01 -6.03545296e-02 -8.38529588e-03 7.39633008e+02] [ 6.03562511e-02 9.98176898e-01 -4.78352707e-05 5.13490663e+00] [ 8.37289571e-03 -4.58358641e-04 9.99964842e-01 3.22016154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.119254154 meters 0.04057657397979459 Centerline is valid? [True, True] Translation: X:739.69, Y:5.12, Z:3.22 [[ 9.97677163e-01 -6.75082379e-02 -9.10580135e-03 7.39692623e+02] [ 6.75105639e-02 9.97718558e-01 -5.20419974e-05 5.12474398e+00] [ 9.08854026e-03 -5.62816672e-04 9.99958540e-01 3.21965172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.179254154 meters 0.04221516421127605 Centerline is valid? [True, True] Translation: X:739.75, Y:5.12, Z:3.22 [[ 9.97586688e-01 -6.87299426e-02 -9.84856071e-03 7.39754390e+02] [ 6.87327246e-02 9.97635108e-01 -5.61145561e-05 5.12182315e+00] [ 9.82912668e-03 -6.20939277e-04 9.99951500e-01 3.21925433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.239254154 meters 0.04309680442994807 Centerline is valid? [True, True] Translation: X:739.82, Y:5.12, Z:3.22 [[ 9.97582943e-01 -6.87663506e-02 -9.97300772e-03 7.39816809e+02] [ 6.87692109e-02 9.97632594e-01 -5.62421952e-05 5.12073038e+00] [ 9.95326513e-03 -6.29729617e-04 9.99950267e-01 3.21922976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.299254154 meters 0.03117123095278314 Centerline is valid? [True, True] Translation: X:739.88, Y:5.14, Z:3.22 [[ 9.97769576e-01 -6.57614125e-02 -1.14590336e-02 7.39877926e+02] [ 6.57649966e-02 9.97835137e-01 -6.41651169e-05 5.13738535e+00] [ 1.14384460e-02 -6.89581305e-04 9.99934341e-01 3.22004975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3592541539999 meters 0.03867654918926178 Centerline is valid? [True, True] Translation: X:739.94, Y:5.13, Z:3.22 [[ 9.98214190e-01 -5.83329620e-02 -1.28723005e-02 7.39937154e+02] [ 5.83368680e-02 9.98296952e-01 -7.21544571e-05 5.13094639e+00] [ 1.28545873e-02 -6.78904092e-04 9.99917146e-01 3.21692353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.419254154 meters 0.03216434975126082 Centerline is valid? [True, True] Translation: X:740.00, Y:5.14, Z:3.22 [[ 9.98813818e-01 -4.67806669e-02 -1.35101987e-02 7.39997312e+02] [ 4.67839133e-02 9.98905030e-01 -7.58288137e-05 5.14459167e+00] [ 1.34989528e-02 -5.56321100e-04 9.99908730e-01 3.21680039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4792541539999 meters 0.023610361625245237 Centerline is valid? [True, True] Translation: X:740.06, Y:5.16, Z:3.22 [[ 9.99397511e-01 -3.20848393e-02 -1.32354745e-02 7.40057627e+02] [ 3.20866671e-02 9.99485088e-01 -7.42860493e-05 5.16283332e+00] [ 1.32310428e-02 -3.50440970e-04 9.99912405e-01 3.21779950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.539254154 meters 0.01887666267895846 Centerline is valid? [True, True] Translation: X:740.12, Y:5.17, Z:3.22 [[ 9.99663603e-01 -2.25094523e-02 -1.28843217e-02 7.40118139e+02] [ 2.25103894e-02 9.99746606e-01 -7.23103438e-05 5.17475406e+00] [ 1.28826845e-02 -2.17745079e-04 9.99916991e-01 3.21876140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5992541539999 meters 0.016572080005785583 Centerline is valid? [True, True] Translation: X:740.18, Y:5.19, Z:3.22 [[ 9.99873353e-01 -1.06850751e-02 -1.17944022e-02 7.40177769e+02] [ 1.06850345e-02 9.99942911e-01 -6.64595278e-05 5.18963915e+00] [ 1.17944390e-02 -5.95724837e-05 9.99930441e-01 3.22182389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.659254154 meters 0.014647948597684141 Centerline is valid? [True, True] Translation: X:740.24, Y:5.19, Z:3.22 [[ 9.99911850e-01 -5.50977053e-03 -1.20803264e-02 7.40235792e+02] [ 5.50932059e-03 9.99984821e-01 -7.05236288e-05 5.19328891e+00] [ 1.20805316e-02 3.96302105e-06 9.99927028e-01 3.22293240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.7192541539999 meters 0.015652090459042162 Centerline is valid? [True, True] Translation: X:740.29, Y:5.19, Z:3.22 [[ 9.99890693e-01 -5.18526642e-03 -1.38461303e-02 7.40293119e+02] [ 5.18460904e-03 9.99986556e-01 -8.33720398e-05 5.19200306e+00] [ 1.38463764e-02 1.15761543e-05 9.99904134e-01 3.22142974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.779254154 meters 0.014652510804332122 Centerline is valid? [True, True] Translation: X:740.35, Y:5.19, Z:3.22 [[ 9.99878544e-01 -9.05172940e-03 -1.26871539e-02 7.40352033e+02] [ 9.05147537e-03 9.99959032e-01 -7.74448863e-05 5.18676484e+00] [ 1.26873351e-02 -3.74019810e-05 9.99919512e-01 3.22278336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.839254154 meters 0.014845985727052896 Centerline is valid? [True, True] Translation: X:740.41, Y:5.18, Z:3.22 [[ 9.99819789e-01 -1.46563374e-02 -1.20657240e-02 7.40409754e+02] [ 1.46565037e-02 9.99892585e-01 -7.46521208e-05 5.17901320e+00] [ 1.20655220e-02 -1.02202660e-04 9.99927204e-01 3.22290124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.899254154 meters 0.016190894757207336 Centerline is valid? [True, True] Translation: X:740.47, Y:5.17, Z:3.22 [[ 9.99677841e-01 -2.24863041e-02 -1.17719732e-02 7.40469561e+02] [ 2.24869973e-02 9.99747133e-01 -7.34840829e-05 5.16841564e+00] [ 1.17706488e-02 -1.91255920e-04 9.99930705e-01 3.22253066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.959254154 meters 0.018636623275880664 Centerline is valid? [True, True] Translation: X:740.53, Y:5.16, Z:3.22 [[ 9.99456383e-01 -3.06088888e-02 -1.22488513e-02 7.40529258e+02] [ 3.06102453e-02 9.99531394e-01 -7.67603717e-05 5.15645418e+00] [ 1.22454609e-02 -2.98221699e-04 9.99924977e-01 3.22203623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.019254154 meters 0.02072951973853671 Centerline is valid? [True, True] Translation: X:740.59, Y:5.15, Z:3.22 [[ 9.99290786e-01 -3.55580562e-02 -1.23915234e-02 7.40590438e+02] [ 3.55598254e-02 9.99367546e-01 -7.75946830e-05 5.14703599e+00] [ 1.23864454e-02 -3.63100755e-04 9.99923219e-01 3.22197835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.079254154 meters 0.021384152283619805 Centerline is valid? [True, True] Translation: X:740.65, Y:5.14, Z:3.22 [[ 9.99270368e-01 -3.59687006e-02 -1.28446343e-02 7.40651912e+02] [ 3.59706402e-02 9.99352844e-01 -8.00655269e-05 5.14311820e+00] [ 1.28392016e-02 -3.82022609e-04 9.99917501e-01 3.22180213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.139254154 meters 0.018497964093680222 Centerline is valid? [True, True] Translation: X:740.71, Y:5.14, Z:3.22 [[ 9.99423558e-01 -3.17631362e-02 -1.19856255e-02 7.40712356e+02] [ 3.17645245e-02 9.99495377e-01 -7.45709415e-05 5.14366517e+00] [ 1.19819459e-02 -3.06189738e-04 9.99928167e-01 3.22314240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.199254154 meters 0.018191006752352943 Centerline is valid? [True, True] Translation: X:740.77, Y:5.14, Z:3.22 [[ 9.99586301e-01 -2.62909952e-02 -1.16623886e-02 7.40772517e+02] [ 2.62919373e-02 9.99654305e-01 -7.25598590e-05 5.14185291e+00] [ 1.16602646e-02 -2.34096948e-04 9.99931989e-01 3.22228132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.259254154 meters 0.014991144356178253 Centerline is valid? [True, True] Translation: X:740.83, Y:5.15, Z:3.22 [[ 9.99774432e-01 -1.71343170e-02 -1.25498971e-02 7.40832185e+02] [ 1.71346828e-02 9.99853187e-01 -7.83792914e-05 5.14798897e+00] [ 1.25493976e-02 -1.36676895e-04 9.99921244e-01 3.22305728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.319254154 meters 0.014486271168350993 Centerline is valid? [True, True] Translation: X:740.89, Y:5.15, Z:3.22 [[ 9.99849896e-01 -1.14725006e-02 -1.29833172e-02 7.40891191e+02] [ 1.14723843e-02 9.99934187e-01 -8.34351951e-05 5.14727022e+00] [ 1.29834199e-02 -6.55269334e-05 9.99915710e-01 3.22268341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.379254154 meters 0.01448936252527869 Centerline is valid? [True, True] Translation: X:740.95, Y:5.14, Z:3.22 [[ 9.99827675e-01 -1.24807568e-02 -1.37422866e-02 7.40949896e+02] [ 1.24806730e-02 9.99922109e-01 -9.18622057e-05 5.14209948e+00] [ 1.37423627e-02 -7.96666100e-05 9.99905566e-01 3.22165456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.439254154 meters 0.016858039127192522 Centerline is valid? [True, True] Translation: X:741.01, Y:5.13, Z:3.22 [[ 9.99706661e-01 -1.96085369e-02 -1.42160770e-02 7.41008958e+02] [ 1.96091414e-02 9.99807718e-01 -9.68807729e-05 5.13260363e+00] [ 1.42152432e-02 -1.81912710e-04 9.99898942e-01 3.22007709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.499254154 meters 0.01672095791796755 Centerline is valid? [True, True] Translation: X:741.07, Y:5.13, Z:3.22 [[ 9.99525046e-01 -2.78250349e-02 -1.32457485e-02 7.41068541e+02] [ 2.78262726e-02 9.99612770e-01 -9.08825343e-05 5.12555397e+00] [ 1.32431482e-02 -2.77740441e-04 9.99912267e-01 3.22198841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.559254154 meters 0.022967030122216847 Centerline is valid? [True, True] Translation: X:741.13, Y:5.11, Z:3.22 [[ 9.99044380e-01 -4.18269913e-02 -1.26818948e-02 7.41129131e+02] [ 4.18292507e-02 9.99124770e-01 -8.71564209e-05 5.11221583e+00] [ 1.26744407e-02 -4.43401024e-04 9.99919578e-01 3.22101452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.619254154 meters 0.027263390452897038 Centerline is valid? [True, True] Translation: X:741.19, Y:5.10, Z:3.23 [[ 9.98401902e-01 -5.57911835e-02 -8.99925592e-03 7.41189210e+02] [ 5.57928864e-02 9.98442362e-01 -6.19084704e-05 5.09819557e+00] [ 8.98869228e-03 -4.40284928e-04 9.99959504e-01 3.22534393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.679254154 meters 0.0292761924285759 Centerline is valid? [True, True] Translation: X:741.25, Y:5.09, Z:3.23 [[ 9.97754179e-01 -6.66684276e-02 -6.47454735e-03 7.41250154e+02] [ 6.66695369e-02 9.97775110e-01 -4.45769127e-05 5.09277001e+00] [ 6.46311407e-03 -3.87178273e-04 9.99979039e-01 3.22716332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.739254154 meters 0.03308949813663233 Centerline is valid? [True, True] Translation: X:741.31, Y:5.09, Z:3.23 [[ 9.97219347e-01 -7.42933271e-02 -5.83735251e-03 7.41310345e+02] [ 7.42943590e-02 9.97236354e-01 -4.01785368e-05 5.08740813e+00] [ 5.82420513e-03 -3.93615548e-04 9.99982962e-01 3.22584777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.799254154 meters 0.03534351571472786 Centerline is valid? [True, True] Translation: X:741.37, Y:5.08, Z:3.23 [[ 9.96907348e-01 -7.82650692e-02 -7.09348377e-03 7.41369884e+02] [ 7.82666926e-02 9.96932456e-01 -4.88820428e-05 5.08469326e+00] [ 7.07554995e-03 -5.06452645e-04 9.99974840e-01 3.22564669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8592541539999 meters 0.03295140640233582 Centerline is valid? [True, True] Translation: X:741.43, Y:5.09, Z:3.22 [[ 9.96938172e-01 -7.77597788e-02 -8.22785942e-03 7.41432402e+02] [ 7.77619475e-02 9.96971954e-01 -5.64870915e-05 5.09139752e+00] [ 8.20733751e-03 -5.83500235e-04 9.99966149e-01 3.22462551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.919254154 meters 0.03248847274132424 Centerline is valid? [True, True] Translation: X:741.49, Y:5.10, Z:3.22 [[ 9.97157829e-01 -7.47686288e-02 -9.26909438e-03 7.41493356e+02] [ 7.47712569e-02 9.97200710e-01 -6.31688815e-05 5.09541899e+00] [ 9.24787054e-03 -6.30072492e-04 9.99957039e-01 3.22405981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9792541539999 meters 0.02860990363720656 Centerline is valid? [True, True] Translation: X:741.55, Y:5.11, Z:3.22 [[ 9.97686278e-01 -6.72444382e-02 -1.00138043e-02 7.41553578e+02] [ 6.72471287e-02 9.97736347e-01 -6.81665378e-05 5.10819390e+00] [ 9.99572033e-03 -6.05390766e-04 9.99949858e-01 3.22452953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.039254154 meters 0.026380460153721842 Centerline is valid? [True, True] Translation: X:741.61, Y:5.12, Z:3.23 [[ 9.98351608e-01 -5.66676047e-02 -9.10210752e-03 7.41612583e+02] [ 5.66693883e-02 9.98392997e-01 -6.20492923e-05 5.11991892e+00] [ 9.09099659e-03 -4.53863855e-04 9.99958573e-01 3.22581329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0992541539999 meters 0.02228189270347999 Centerline is valid? [True, True] Translation: X:741.67, Y:5.13, Z:3.23 [[ 9.98972207e-01 -4.48273575e-02 -6.71095302e-03 7.41673409e+02] [ 4.48280599e-02 9.98994716e-01 -4.57879408e-05 5.13417882e+00] [ 6.70625916e-03 -2.55098124e-04 9.99977480e-01 3.22757451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.159254154 meters 0.02014653660789623 Centerline is valid? [True, True] Translation: X:741.73, Y:5.14, Z:3.23 [[ 9.99286857e-01 -3.71894064e-02 -6.53652763e-03 7.41734155e+02] [ 3.71899098e-02 9.99308215e-01 -4.45551230e-05 5.14391868e+00] [ 6.53366273e-03 -1.98569524e-04 9.99978636e-01 3.22847156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.2192541539999 meters 0.017080052041375342 Centerline is valid? [True, True] Translation: X:741.79, Y:5.16, Z:3.23 [[ 9.99508039e-01 -3.05855677e-02 -6.94277598e-03 7.41794923e+02] [ 3.05859769e-02 9.99532138e-01 -4.72506260e-05 5.15588585e+00] [ 6.94097290e-03 -1.65124205e-04 9.99975898e-01 3.22907677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.279254154 meters 0.016220966811304898 Centerline is valid? [True, True] Translation: X:741.86, Y:5.16, Z:3.23 [[ 9.99681706e-01 -2.38730943e-02 -8.15859541e-03 7.41855521e+02] [ 2.38734379e-02 9.99714987e-01 -5.52905930e-05 5.16215995e+00] [ 8.15759007e-03 -1.39500727e-04 9.99966717e-01 3.22777321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.339254154 meters 0.015370574707630348 Centerline is valid? [True, True] Translation: X:741.92, Y:5.17, Z:3.23 [[ 9.99761740e-01 -1.98443038e-02 -9.09209802e-03 7.41917075e+02] [ 1.98445671e-02 9.99803075e-01 -6.12647921e-05 5.16927134e+00] [ 9.09152332e-03 -1.19178554e-04 9.99958664e-01 3.22860879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.399254154 meters 0.014937892676204174 Centerline is valid? [True, True] Translation: X:741.98, Y:5.18, Z:3.23 [[ 9.99821288e-01 -1.56201824e-02 -1.06490018e-02 7.41977696e+02] [ 1.56203061e-02 9.99877993e-01 -7.15669393e-05 5.17596237e+00] [ 1.06488205e-02 -9.47865185e-05 9.99943295e-01 3.22866757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.459254154 meters 0.014400568093559215 Centerline is valid? [True, True] Translation: X:742.04, Y:5.18, Z:3.23 [[ 9.99875246e-01 -1.13558282e-02 -1.09790011e-02 7.42036958e+02] [ 1.13556998e-02 9.99935519e-01 -7.40310106e-05 5.18101894e+00] [ 1.09791339e-02 -5.06524661e-05 9.99939726e-01 3.22938356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.519254154 meters 0.014624605468330746 Centerline is valid? [True, True] Translation: X:742.10, Y:5.18, Z:3.23 [[ 9.99886616e-01 -1.00497702e-02 -1.12141238e-02 7.42095082e+02] [ 1.00495453e-02 9.99949499e-01 -7.64110272e-05 5.18263881e+00] [ 1.12143254e-02 -3.62944816e-05 9.99937117e-01 3.22962415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.579254154 meters 0.014637418534761935 Centerline is valid? [True, True] Translation: X:742.15, Y:5.18, Z:3.23 [[ 9.99853525e-01 -1.22758593e-02 -1.19260709e-02 7.42153980e+02] [ 1.22757350e-02 9.99924647e-01 -8.36281360e-05 5.18242508e+00] [ 1.19261989e-02 -6.27853999e-05 9.99928878e-01 3.23118277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.639254154 meters 0.01522421984802291 Centerline is valid? [True, True] Translation: X:742.21, Y:5.18, Z:3.23 [[ 9.99743855e-01 -1.88228886e-02 -1.25667390e-02 7.42213077e+02] [ 1.88232452e-02 9.99822823e-01 -8.99177468e-05 5.17744482e+00] [ 1.25662050e-02 -1.46652095e-04 9.99921031e-01 3.23144977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.699254154 meters 0.018189662521620936 Centerline is valid? [True, True] Translation: X:742.27, Y:5.17, Z:3.23 [[ 9.99525987e-01 -2.68596789e-02 -1.50452338e-02 7.42271792e+02] [ 2.68610853e-02 9.99639170e-01 -1.08623564e-04 5.16813081e+00] [ 1.50427226e-02 -2.95559234e-04 9.99886808e-01 3.22918614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.759254154 meters 0.02014054526103194 Centerline is valid? [True, True] Translation: X:742.33, Y:5.16, Z:3.23 [[ 9.99299377e-01 -3.35837378e-02 -1.65193295e-02 7.42332343e+02] [ 3.35863471e-02 9.99435812e-01 -1.19530378e-04 5.16210270e+00] [ 1.65140238e-02 -4.35377303e-04 9.99863539e-01 3.22821515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.819254154 meters 0.02117661260583828 Centerline is valid? [True, True] Translation: X:742.39, Y:5.16, Z:3.23 [[ 9.99126688e-01 -3.81537480e-02 -1.70338806e-02 7.42392193e+02] [ 3.81571784e-02 9.99271742e-01 -1.23692501e-04 5.15812931e+00] [ 1.70261949e-02 -5.26380343e-04 9.99854905e-01 3.22833104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.879254154 meters 0.022190303605777523 Centerline is valid? [True, True] Translation: X:742.45, Y:5.16, Z:3.23 [[ 9.99039897e-01 -4.02709703e-02 -1.72491258e-02 7.42452389e+02] [ 4.02748005e-02 9.99188633e-01 -1.25410361e-04 5.15620632e+00] [ 1.72401808e-02 -5.69415146e-04 9.99851215e-01 3.22862914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.939254154 meters 0.021019447752853256 Centerline is valid? [True, True] Translation: X:742.51, Y:5.16, Z:3.23 [[ 9.98893587e-01 -4.39515450e-02 -1.67291017e-02 7.42513160e+02] [ 4.39556631e-02 9.99033475e-01 -1.21629508e-04 5.15869993e+00] [ 1.67182784e-02 -6.13843822e-04 9.99860051e-01 3.23137058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.999254154 meters 0.024117368457232346 Centerline is valid? [True, True] Translation: X:742.57, Y:5.15, Z:3.23 [[ 9.98596044e-01 -5.02908408e-02 -1.66364501e-02 7.42572481e+02] [ 5.02957884e-02 9.98734359e-01 -1.21133006e-04 5.15407487e+00] [ 1.66214862e-02 -7.15780435e-04 9.99861597e-01 3.23074934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.059254154 meters 0.027597387544935483 Centerline is valid? [True, True] Translation: X:742.63, Y:5.15, Z:3.23 [[ 9.98020214e-01 -6.02266129e-02 -1.81220099e-02 7.42633019e+02] [ 6.02341175e-02 9.98184268e-01 -1.31922899e-04 5.14968822e+00] [ 1.80970505e-02 -9.59901553e-04 9.99835774e-01 3.22994949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.119254154 meters 0.029896262368160016 Centerline is valid? [True, True] Translation: X:742.69, Y:5.15, Z:3.23 [[ 9.97380864e-01 -6.96500642e-02 -1.95007820e-02 7.42693696e+02] [ 6.96605511e-02 9.97570743e-01 -1.41822822e-04 5.14802975e+00] [ 1.94632875e-02 -1.21698385e-03 9.99809832e-01 3.23015513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.179254154 meters 0.036569886069888737 Centerline is valid? [True, True] Translation: X:742.75, Y:5.14, Z:3.23 [[ 9.97037959e-01 -7.40069704e-02 -2.09350575e-02 7.42753064e+02] [ 7.40200086e-02 9.97256745e-01 -1.52475953e-04 5.14355909e+00] [ 2.08889116e-02 -1.39758882e-03 9.99780826e-01 3.22870020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.239254154 meters 0.03562321230988666 Centerline is valid? [True, True] Translation: X:742.81, Y:5.15, Z:3.23 [[ 9.97083011e-01 -7.41300445e-02 -1.81715783e-02 7.42814910e+02] [ 7.41398980e-02 9.97247842e-01 -1.31756715e-04 5.14666579e+00] [ 1.81313344e-02 -1.21586658e-03 9.99834875e-01 3.23139690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.299254154 meters 0.029787120206847102 Centerline is valid? [True, True] Translation: X:742.88, Y:5.16, Z:3.23 [[ 9.97439100e-01 -6.98198508e-02 -1.55058352e-02 7.42875747e+02] [ 6.98265090e-02 9.97559144e-01 -1.12238274e-04 5.16040028e+00] [ 1.54758241e-02 -9.70767496e-04 9.99879771e-01 3.23495516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3592541539999 meters 0.029671807595854586 Centerline is valid? [True, True] Translation: X:742.94, Y:5.17, Z:3.23 [[ 9.97909783e-01 -6.28111834e-02 -1.51927920e-02 7.42935180e+02] [ 6.28167625e-02 9.98025071e-01 -1.10184215e-04 5.16659697e+00] [ 1.51697081e-02 -8.44408102e-04 9.99884577e-01 3.23446901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.419254154 meters 0.026236451160843985 Centerline is valid? [True, True] Translation: X:743.00, Y:5.18, Z:3.23 [[ 9.98377889e-01 -5.47835501e-02 -1.55033141e-02 7.42995576e+02] [ 5.47883923e-02 9.98497982e-01 -1.12543372e-04 5.17876683e+00] [ 1.54861934e-02 -7.37040841e-04 9.99879810e-01 3.23441517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4792541539999 meters 0.021921045130801495 Centerline is valid? [True, True] Translation: X:743.06, Y:5.19, Z:3.24 [[ 9.98819636e-01 -4.59345793e-02 -1.57907948e-02 7.43055995e+02] [ 4.59384983e-02 9.98944263e-01 -1.14649337e-04 5.19218559e+00] [ 1.57793902e-02 -6.10891389e-04 9.99875311e-01 3.23532611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.539254154 meters 0.021127925166004216 Centerline is valid? [True, True] Translation: X:743.12, Y:5.20, Z:3.23 [[ 9.99089411e-01 -3.96257081e-02 -1.58161719e-02 7.43115742e+02] [ 3.96288499e-02 9.99214462e-01 -1.14838315e-04 5.19789101e+00] [ 1.58082982e-02 -5.12042957e-04 9.99874910e-01 3.23495626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5992541539999 meters 0.017160403687269468 Centerline is valid? [True, True] Translation: X:743.18, Y:5.21, Z:3.24 [[ 9.99460597e-01 -2.82166139e-02 -1.68029166e-02 7.43176414e+02] [ 2.82185488e-02 9.99601770e-01 -1.21978187e-04 5.21163084e+00] [ 1.67996669e-02 -3.52241528e-04 9.99858814e-01 3.23592584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.659254154 meters 0.015535561652064047 Centerline is valid? [True, True] Translation: X:743.24, Y:5.22, Z:3.24 [[ 9.99723508e-01 -1.48108807e-02 -1.82632427e-02 7.43235862e+02] [ 1.48109206e-02 9.99890303e-01 -1.33082649e-04 5.22481500e+00] [ 1.82632104e-02 -1.37449585e-04 9.99833204e-01 3.23659562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.7192541539999 meters 0.015254591777455395 Centerline is valid? [True, True] Translation: X:743.29, Y:5.23, Z:3.24 [[ 9.99860964e-01 -3.11341203e-03 -1.63816766e-02 7.43294611e+02] [ 3.11182058e-03 9.99995151e-01 -1.22637930e-04 5.23405737e+00] [ 1.63819789e-02 7.16440403e-05 9.99865804e-01 3.23913177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.779254154 meters 0.015614512553709433 Centerline is valid? [True, True] Translation: X:743.35, Y:5.24, Z:3.24 [[ 9.99893398e-01 2.41366532e-03 -1.44002434e-02 7.43352731e+02] [-2.41549580e-03 9.99997077e-01 -1.09723306e-04 5.23835111e+00] [ 1.43999365e-02 1.44495337e-04 9.99896305e-01 3.24102080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.839254154 meters 0.015025151843650428 Centerline is valid? [True, True] Translation: X:743.41, Y:5.23, Z:3.24 [[ 9.99896926e-01 -1.21268207e-03 -1.43062132e-02 7.43411211e+02] [ 1.21123050e-03 9.99999260e-01 -1.10127984e-04 5.23199036e+00] [ 1.43063361e-02 9.27885103e-05 9.99897655e-01 3.24219071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.899254154 meters 0.015009981386976654 Centerline is valid? [True, True] Translation: X:743.47, Y:5.22, Z:3.24 [[ 9.99788296e-01 -1.26365599e-02 -1.62382316e-02 7.43468914e+02] [ 1.26361731e-02 9.99920152e-01 -1.26427107e-04 5.21897114e+00] [ 1.62385326e-02 -7.87887632e-05 9.99868143e-01 3.23993941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.959254154 meters 0.017345073290635817 Centerline is valid? [True, True] Translation: X:743.53, Y:5.20, Z:3.24 [[ 9.99488540e-01 -2.69596963e-02 -1.71997839e-02 7.43527907e+02] [ 2.69613670e-02 9.99636467e-01 -1.34784570e-04 5.20307641e+00] [ 1.71971650e-02 -3.29014053e-04 9.99852064e-01 3.23903419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.019254154 meters 0.01857798337070875 Centerline is valid? [True, True] Translation: X:743.59, Y:5.20, Z:3.24 [[ 9.99362476e-01 -3.13253790e-02 -1.71278318e-02 7.43587421e+02] [ 3.13276663e-02 9.99509159e-01 -1.34818000e-04 5.19778447e+00] [ 1.71236480e-02 -4.01842948e-04 9.99853299e-01 3.23890715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.079254154 meters 0.019884859341588408 Centerline is valid? [True, True] Translation: X:743.65, Y:5.19, Z:3.24 [[ 9.99016861e-01 -4.10870983e-02 -1.66481958e-02 7.43648129e+02] [ 4.10906093e-02 9.99155416e-01 -1.31263413e-04 5.18781242e+00] [ 1.66395282e-02 -5.52950145e-04 9.99861401e-01 3.24098531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.139254154 meters 0.022478385901374544 Centerline is valid? [True, True] Translation: X:743.71, Y:5.18, Z:3.24 [[ 9.98861412e-01 -4.45843865e-02 -1.69738931e-02 7.43709231e+02] [ 4.45885439e-02 9.99005427e-01 -1.33626732e-04 5.18047797e+00] [ 1.69629690e-02 -6.23366595e-04 9.99855924e-01 3.24102854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.199254154 meters 0.02230915858237249 Centerline is valid? [True, True] Translation: X:743.77, Y:5.18, Z:3.24 [[ 9.98878762e-01 -4.47901033e-02 -1.53318232e-02 7.43770794e+02] [ 4.47935265e-02 9.98996259e-01 -1.20228341e-04 5.17730321e+00] [ 1.53218191e-02 -5.66672891e-04 9.99882453e-01 3.24168819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.259254154 meters 0.022110890717763964 Centerline is valid? [True, True] Translation: X:743.83, Y:5.17, Z:3.24 [[ 9.98842865e-01 -4.57700655e-02 -1.47659170e-02 7.43831753e+02] [ 4.57733554e-02 9.98951844e-01 -1.15260640e-04 5.17323082e+00] [ 1.47557155e-02 -5.60758299e-04 9.99890971e-01 3.24155805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.319254154 meters 0.022039158984256485 Centerline is valid? [True, True] Translation: X:743.89, Y:5.17, Z:3.24 [[ 9.98689061e-01 -4.85100440e-02 -1.63381616e-02 7.43892951e+02] [ 4.85144481e-02 9.98822473e-01 -1.26913191e-04 5.17139015e+00] [ 1.63250796e-02 -6.65890078e-04 9.99866515e-01 3.24062577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.379254154 meters 0.025485369162427995 Centerline is valid? [True, True] Translation: X:743.95, Y:5.16, Z:3.24 [[ 9.98569368e-01 -5.03641524e-02 -1.79629888e-02 7.43953326e+02] [ 5.03697833e-02 9.98730627e-01 -1.39106733e-04 5.16487478e+00] [ 1.79471931e-02 -7.65884134e-04 9.99838643e-01 3.23843349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.439254154 meters 0.02284727368858481 Centerline is valid? [True, True] Translation: X:744.01, Y:5.17, Z:3.24 [[ 9.98621193e-01 -4.90833699e-02 -1.86154863e-02 7.44014721e+02] [ 4.90892067e-02 9.98794388e-01 -1.43553651e-04 5.16897317e+00] [ 1.86000893e-02 -7.70463736e-04 9.99826707e-01 3.23856903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.499254154 meters 0.02127057157935708 Centerline is valid? [True, True] Translation: X:744.07, Y:5.17, Z:3.24 [[ 9.98950310e-01 -4.13189975e-02 -1.97741888e-02 7.44074216e+02] [ 4.13240633e-02 9.99145784e-01 -1.52540140e-04 5.17425012e+00] [ 1.97636002e-02 -6.64769811e-04 9.99804460e-01 3.23806143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.559254154 meters 0.017365863527773587 Centerline is valid? [True, True] Translation: X:744.13, Y:5.19, Z:3.24 [[ 9.99396165e-01 -2.92975975e-02 -1.86803771e-02 7.44134763e+02] [ 2.93000171e-02 9.99570652e-01 -1.44209668e-04 5.18634651e+00] [ 1.86765818e-02 -4.03212781e-04 9.99825496e-01 3.23996639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.619254154 meters 0.01556710674376387 Centerline is valid? [True, True] Translation: X:744.19, Y:5.20, Z:3.24 [[ 9.99687280e-01 -1.83122960e-02 -1.70294330e-02 7.44194632e+02] [ 1.83127031e-02 9.99832300e-01 -1.32047253e-04 5.19590189e+00] [ 1.70289952e-02 -1.79848991e-04 9.99854980e-01 3.24154613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.679254154 meters 0.015134358292932639 Centerline is valid? [True, True] Translation: X:744.25, Y:5.20, Z:3.24 [[ 9.99789030e-01 -1.36722587e-02 -1.53285793e-02 7.44252873e+02] [ 1.36719990e-02 9.99906526e-01 -1.21737931e-04 5.19978652e+00] [ 1.53288109e-02 -8.78600741e-05 9.99882503e-01 3.24326371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.739254154 meters 0.0154119648981828 Centerline is valid? [True, True] Translation: X:744.31, Y:5.20, Z:3.24 [[ 9.99785061e-01 -1.46434919e-02 -1.46765240e-02 7.44311227e+02] [ 1.46433010e-02 9.99892774e-01 -1.20473585e-04 5.19926726e+00] [ 1.46767144e-02 -9.44650676e-05 9.99892287e-01 3.24356165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.799254154 meters 0.01710063418415523 Centerline is valid? [True, True] Translation: X:744.37, Y:5.20, Z:3.24 [[ 9.99722251e-01 -1.79843460e-02 -1.52310511e-02 7.44370001e+02] [ 1.79844666e-02 9.99838258e-01 -1.29058839e-04 5.19519025e+00] [ 1.52309087e-02 -1.44899337e-04 9.99883992e-01 3.24321225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8592541539999 meters 0.01705207629417603 Centerline is valid? [True, True] Translation: X:744.43, Y:5.19, Z:3.24 [[ 9.99588905e-01 -2.43080423e-02 -1.52033076e-02 7.44427943e+02] [ 2.43088620e-02 9.99704487e-01 -1.30907213e-04 5.18755185e+00] [ 1.52019969e-02 -2.38721709e-04 9.99884414e-01 3.24214794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.919254154 meters 0.016432612937942775 Centerline is valid? [True, True] Translation: X:744.49, Y:5.19, Z:3.24 [[ 9.99505266e-01 -2.75818953e-02 -1.51149693e-02 7.44486931e+02] [ 2.75830314e-02 9.99619507e-01 -1.33343078e-04 5.18710439e+00] [ 1.51128960e-02 -2.83639562e-04 9.99885753e-01 3.24477678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9792541539999 meters 0.01771651679328589 Centerline is valid? [True, True] Translation: X:744.55, Y:5.18, Z:3.24 [[ 9.99561453e-01 -2.56315464e-02 -1.48298628e-02 7.44546070e+02] [ 2.56324029e-02 9.99671427e-01 -1.32342357e-04 5.18322915e+00] [ 1.48283823e-02 -2.47840700e-04 9.99890023e-01 3.24359265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.039254154 meters 0.01653311072832866 Centerline is valid? [True, True] Translation: X:744.61, Y:5.18, Z:3.24 [[ 9.99632421e-01 -2.33444197e-02 -1.37862826e-02 7.44605263e+02] [ 2.33449115e-02 9.99727463e-01 -1.25273313e-04 5.18407035e+00] [ 1.37854498e-02 -1.96612283e-04 9.99904957e-01 3.24483454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0992541539999 meters 0.015305203064572106 Centerline is valid? [True, True] Translation: X:744.67, Y:5.19, Z:3.25 [[ 9.99747330e-01 -1.85913179e-02 -1.26348185e-02 7.44665099e+02] [ 1.85913363e-02 9.99827159e-01 -1.16007938e-04 5.18557522e+00] [ 1.26347914e-02 -1.18919533e-04 9.99920171e-01 3.24659407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.159254154 meters 0.01603087871263818 Centerline is valid? [True, True] Translation: X:744.72, Y:5.18, Z:3.25 [[ 9.99776619e-01 -1.64069830e-02 -1.33237738e-02 7.44724197e+02] [ 1.64067770e-02 9.99865392e-01 -1.24772718e-04 5.18266516e+00] [ 1.33240275e-02 -9.38553385e-05 9.99911227e-01 3.24572538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.2192541539999 meters 0.01775713261574792 Centerline is valid? [True, True] Translation: X:744.78, Y:5.18, Z:3.24 [[ 9.99763006e-01 -1.76157060e-02 -1.27913753e-02 7.44782162e+02] [ 1.76155917e-02 9.99844826e-01 -1.21611501e-04 5.17628446e+00] [ 1.27915327e-02 -1.03744965e-04 9.99918180e-01 3.24499884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.279254154 meters 0.015371500959683822 Centerline is valid? [True, True] Translation: X:744.84, Y:5.17, Z:3.25 [[ 9.99678777e-01 -2.24271113e-02 -1.18053857e-02 7.44840913e+02] [ 2.24273230e-02 9.99748469e-01 -1.14472478e-04 5.16968506e+00] [ 1.18049836e-02 -1.50327492e-04 9.99930307e-01 3.24634994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.339254154 meters 0.015913088615414146 Centerline is valid? [True, True] Translation: X:744.90, Y:5.16, Z:3.25 [[ 9.99609498e-01 -2.50295227e-02 -1.24247621e-02 7.44900116e+02] [ 2.50299382e-02 9.99686695e-01 -1.22081279e-04 5.16497815e+00] [ 1.24239250e-02 -1.88957422e-04 9.99922802e-01 3.24588227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.399254154 meters 0.01835422638281072 Centerline is valid? [True, True] Translation: X:744.96, Y:5.16, Z:3.24 [[ 9.99557594e-01 -2.69162053e-02 -1.26544451e-02 7.44959795e+02] [ 2.69167806e-02 9.99637670e-01 -1.24880889e-04 5.15937997e+00] [ 1.26532214e-02 -2.15791282e-04 9.99919922e-01 3.24447537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.459254154 meters 0.01616909651160193 Centerline is valid? [True, True] Translation: X:745.02, Y:5.16, Z:3.25 [[ 9.99533891e-01 -2.82797711e-02 -1.15002001e-02 7.45019746e+02] [ 2.82803318e-02 9.99600025e-01 -1.13900251e-04 5.15581813e+00] [ 1.14988213e-02 -2.11382312e-04 9.99933864e-01 3.24614377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.519254154 meters 0.01665487011085622 Centerline is valid? [True, True] Translation: X:745.08, Y:5.15, Z:3.25 [[ 9.99534131e-01 -2.87661287e-02 -1.01995029e-02 7.45078790e+02] [ 2.87665924e-02 9.99586151e-01 -1.01269020e-04 5.15107403e+00] [ 1.01981949e-02 -1.92183100e-04 9.99947979e-01 3.24654226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.579254154 meters 0.01714614539353944 Centerline is valid? [True, True] Translation: X:745.14, Y:5.15, Z:3.25 [[ 9.99494038e-01 -3.05256512e-02 -8.93599298e-03 7.45139084e+02] [ 3.05260768e-02 9.99533967e-01 -8.87943836e-05 5.14678550e+00] [ 8.93453901e-03 -1.84031350e-04 9.99960069e-01 3.24723685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.639254154 meters 0.01829890910116108 Centerline is valid? [True, True] Translation: X:745.20, Y:5.15, Z:3.25 [[ 9.99460939e-01 -3.15282856e-02 -9.15418638e-03 7.45200488e+02] [ 3.15287759e-02 9.99502840e-01 -9.07888124e-05 5.14515026e+00] [ 9.15249770e-03 -1.97880419e-04 9.99958095e-01 3.24665258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.699254154 meters 0.018730970661191622 Centerline is valid? [True, True] Translation: X:745.26, Y:5.14, Z:3.25 [[ 9.99390657e-01 -3.35971293e-02 -9.46291864e-03 7.45261310e+02] [ 3.35977500e-02 9.99435432e-01 -9.34133951e-05 5.14132309e+00] [ 9.46071460e-03 -2.24576301e-04 9.99955221e-01 3.24630030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.759254154 meters 0.01899884165166726 Centerline is valid? [True, True] Translation: X:745.32, Y:5.14, Z:3.25 [[ 9.99430666e-01 -3.23737207e-02 -9.50185621e-03 7.45322638e+02] [ 3.23742953e-02 9.99475811e-01 -9.33765787e-05 5.14004772e+00] [ 9.49989838e-03 -2.14292482e-04 9.99954852e-01 3.24629269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.819254154 meters 0.016834614004623247 Centerline is valid? [True, True] Translation: X:745.38, Y:5.14, Z:3.25 [[ 9.99605280e-01 -2.67601876e-02 -8.55430767e-03 7.45382129e+02] [ 2.67604501e-02 9.99641872e-01 -8.37945242e-05 5.14164373e+00] [ 8.55348649e-03 -1.45155675e-04 9.99963408e-01 3.24768892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.879254154 meters 0.01754246644601428 Centerline is valid? [True, True] Translation: X:745.44, Y:5.15, Z:3.25 [[ 9.99788165e-01 -1.86523402e-02 -8.70144712e-03 7.45443057e+02] [ 1.86523059e-02 9.99826027e-01 -8.51082048e-05 5.14686743e+00] [ 8.70152077e-03 -7.72118772e-05 9.99962138e-01 3.24697397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.939254154 meters 0.01489860251438571 Centerline is valid? [True, True] Translation: X:745.50, Y:5.15, Z:3.25 [[ 9.99834568e-01 -1.62051925e-02 -8.26009886e-03 7.45502425e+02] [ 1.62050768e-02 9.99868686e-01 -8.09392783e-05 5.14832457e+00] [ 8.26032583e-03 -5.29296481e-05 9.99965882e-01 3.24872063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.999254154 meters 0.016854044197133742 Centerline is valid? [True, True] Translation: X:745.56, Y:5.15, Z:3.25 [[ 9.99905307e-01 -1.03240241e-02 -9.09900652e-03 7.45561938e+02] [ 1.03236371e-02 9.99946706e-01 -8.95007261e-05 5.15154634e+00] [ 9.09944561e-03 -4.44258998e-06 9.99958599e-01 3.24756244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.059254154 meters 0.015002519507672993 Centerline is valid? [True, True] Translation: X:745.62, Y:5.15, Z:3.25 [[ 9.99906174e-01 -9.94609480e-03 -9.41902341e-03 7.45620523e+02] [ 9.94564971e-03 9.99950536e-01 -9.40938268e-05 5.15030736e+00] [ 9.41949338e-03 4.06690828e-07 9.99955636e-01 3.24946181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.119254154 meters 0.01873000874120499 Centerline is valid? [True, True] Translation: X:745.68, Y:5.15, Z:3.25 [[ 9.99849781e-01 -1.45117472e-02 -9.47757411e-03 7.45679572e+02] [ 1.45114874e-02 9.99894698e-01 -9.61847575e-05 5.14567965e+00] [ 9.47797191e-03 -4.13633887e-05 9.99955082e-01 3.24858061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.179254154 meters 0.01763629396971614 Centerline is valid? [True, True] Translation: X:745.74, Y:5.14, Z:3.25 [[ 9.99675155e-01 -2.37972857e-02 -9.12543192e-03 7.45739116e+02] [ 2.37974272e-02 9.99716797e-01 -9.30936345e-05 5.13787998e+00] [ 9.12506294e-03 -1.24098408e-04 9.99958358e-01 3.25029076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.239254154 meters 0.01701068869520449 Centerline is valid? [True, True] Translation: X:745.80, Y:5.13, Z:3.25 [[ 9.99513478e-01 -2.99676372e-02 -8.64568121e-03 7.45799931e+02] [ 2.99679936e-02 9.99550855e-01 -8.83505334e-05 5.13376908e+00] [ 8.64444570e-03 -1.70786170e-04 9.99962621e-01 3.25250138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.299254154 meters 0.019656476263384938 Centerline is valid? [True, True] Translation: X:745.86, Y:5.13, Z:3.25 [[ 9.99340225e-01 -3.49730254e-02 -9.79809983e-03 7.45860688e+02] [ 3.49737245e-02 9.99388227e-01 -1.00028585e-04 5.12947504e+00] [ 9.79560392e-03 -2.42713456e-04 9.99951992e-01 3.25200538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3592541539999 meters 0.018423613230546733 Centerline is valid? [True, True] Translation: X:745.92, Y:5.13, Z:3.25 [[ 9.99309144e-01 -3.58788716e-02 -9.69229612e-03 7.45921980e+02] [ 3.58796010e-02 9.99356115e-01 -9.86764611e-05 5.12779319e+00] [ 9.68959580e-03 -2.49147428e-04 9.99953024e-01 3.25399595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.419254154 meters 0.019194472428544537 Centerline is valid? [True, True] Translation: X:745.98, Y:5.13, Z:3.25 [[ 9.99396461e-01 -3.32884369e-02 -9.92939863e-03 7.45982409e+02] [ 3.32890762e-02 9.99445760e-01 -1.00926370e-04 5.12927054e+00] [ 9.92725504e-03 -2.29675050e-04 9.99950697e-01 3.25255981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4792541539999 meters 0.017544533204353046 Centerline is valid? [True, True] Translation: X:746.04, Y:5.13, Z:3.25 [[ 9.99429180e-01 -3.20890317e-02 -1.05645004e-02 7.46042945e+02] [ 3.20896885e-02 9.99484988e-01 -1.07381798e-04 5.13008904e+00] [ 1.05625053e-02 -2.31691023e-04 9.99944188e-01 3.25371934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.539254154 meters 0.017414539575793225 Centerline is valid? [True, True] Translation: X:746.10, Y:5.13, Z:3.25 [[ 9.99500027e-01 -2.95711335e-02 -1.11912171e-02 7.46102917e+02] [ 2.95717127e-02 9.99562655e-01 -1.13751997e-04 5.13108775e+00] [ 1.11896864e-02 -2.17248332e-04 9.99937370e-01 3.25304030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5992541539999 meters 0.018797543070081715 Centerline is valid? [True, True] Translation: X:746.16, Y:5.13, Z:3.25 [[ 9.99545911e-01 -2.73542083e-02 -1.26380137e-02 7.46162788e+02] [ 2.73547661e-02 9.99625780e-01 -1.28757170e-04 5.13328458e+00] [ 1.26368064e-02 -2.17011206e-04 9.99920129e-01 3.25128398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.659254154 meters 0.018521414240540175 Centerline is valid? [True, True] Translation: X:746.22, Y:5.13, Z:3.25 [[ 9.99498737e-01 -2.87397168e-02 -1.32779103e-02 7.46221454e+02] [ 2.87404222e-02 9.99586899e-01 -1.37723457e-04 5.13402369e+00] [ 1.32763833e-02 -2.43958327e-04 9.99911835e-01 3.25160841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.7192541539999 meters 0.0196188052955118 Centerline is valid? [True, True] Translation: X:746.28, Y:5.13, Z:3.25 [[ 9.99382663e-01 -3.24994529e-02 -1.33446083e-02 7.46279586e+02] [ 3.25004767e-02 9.99471710e-01 -1.40195511e-04 5.13088749e+00] [ 1.33421147e-02 -2.93597167e-04 9.99910947e-01 3.25113315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.779254154 meters 0.019598506733937107 Centerline is valid? [True, True] Translation: X:746.34, Y:5.13, Z:3.25 [[ 9.99255247e-01 -3.61661210e-02 -1.34522667e-02 7.46338712e+02] [ 3.61674824e-02 9.99345732e-01 -1.42143923e-04 5.13063545e+00] [ 1.34486061e-02 -3.44496559e-04 9.99909504e-01 3.25241532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.839254154 meters 0.021009775649109247 Centerline is valid? [True, True] Translation: X:746.40, Y:5.13, Z:3.25 [[ 9.99066423e-01 -4.11865376e-02 -1.30365782e-02 7.46397633e+02] [ 4.11882340e-02 9.99151395e-01 -1.38453745e-04 5.12766341e+00] [ 1.30312177e-02 -3.98629146e-04 9.99915011e-01 3.25335388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.899254154 meters 0.020981082240980217 Centerline is valid? [True, True] Translation: X:746.46, Y:5.13, Z:3.26 [[ 9.98982617e-01 -4.35846664e-02 -1.15805087e-02 7.46458345e+02] [ 4.35861634e-02 9.99049664e-01 -1.23201456e-04 5.12626831e+00] [ 1.15748730e-02 -3.81673830e-04 9.99932936e-01 3.25558902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.959254154 meters 0.019483382776848475 Centerline is valid? [True, True] Translation: X:746.52, Y:5.13, Z:3.26 [[ 9.99018113e-01 -4.29715143e-02 -1.07823126e-02 7.46518561e+02] [ 4.29727764e-02 9.99076237e-01 -1.14709694e-04 5.12987426e+00] [ 1.07772816e-02 -3.48748846e-04 9.99941863e-01 3.25661179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.019254154 meters 0.019084483364948116 Centerline is valid? [True, True] Translation: X:746.58, Y:5.13, Z:3.26 [[ 9.99083060e-01 -4.14272868e-02 -1.08082578e-02 7.46579218e+02] [ 4.14284646e-02 9.99141466e-01 -1.14985717e-04 5.13177971e+00] [ 1.08037420e-02 -3.32889243e-04 9.99941582e-01 3.25656291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.079254154 meters 0.01934864742250755 Centerline is valid? [True, True] Translation: X:746.64, Y:5.13, Z:3.26 [[ 9.99150739e-01 -3.95997178e-02 -1.13869813e-02 7.46639936e+02] [ 3.96009127e-02 9.99215569e-01 -1.20612576e-04 5.13267328e+00] [ 1.13828252e-02 -3.30424707e-04 9.99935159e-01 3.25580907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.139254154 meters 0.018934759682218492 Centerline is valid? [True, True] Translation: X:746.70, Y:5.14, Z:3.26 [[ 9.99150425e-01 -3.95078550e-02 -1.17285280e-02 7.46701092e+02] [ 3.95091235e-02 9.99219202e-01 -1.23618690e-04 5.13525111e+00] [ 1.17242543e-02 -3.39870194e-04 9.99931211e-01 3.25582371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.199254154 meters 0.01936197113775053 Centerline is valid? [True, True] Translation: X:746.76, Y:5.14, Z:3.26 [[ 9.99177052e-01 -3.87168981e-02 -1.20921434e-02 7.46760817e+02] [ 3.87181911e-02 9.99250162e-01 -1.27244522e-04 5.13779949e+00] [ 1.20880028e-02 -3.41046115e-04 9.99926879e-01 3.25537978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.259254154 meters 0.019509007750584617 Centerline is valid? [True, True] Translation: X:746.82, Y:5.14, Z:3.25 [[ 9.99197706e-01 -3.79006995e-02 -1.29414923e-02 7.46820939e+02] [ 3.79021125e-02 9.99281447e-01 -1.36157089e-04 5.14037978e+00] [ 1.29373536e-02 -3.54462046e-04 9.99916246e-01 3.25457250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.319254154 meters 0.019435203939061993 Centerline is valid? [True, True] Translation: X:746.88, Y:5.14, Z:3.26 [[ 9.99214810e-01 -3.74600037e-02 -1.29039343e-02 7.46881465e+02] [ 3.74613717e-02 9.99298067e-01 -1.35761942e-04 5.14323329e+00] [ 1.28999622e-02 -3.47743736e-04 9.99916732e-01 3.25512020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.379254154 meters 0.01988490450726299 Centerline is valid? [True, True] Translation: X:746.94, Y:5.15, Z:3.26 [[ 9.99184414e-01 -3.81051290e-02 -1.33605953e-02 7.46941953e+02] [ 3.81066532e-02 9.99273668e-01 -1.40566460e-04 5.14586675e+00] [ 1.33562474e-02 -3.68675755e-04 9.99910733e-01 3.25525546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.439254154 meters 0.021220933855876672 Centerline is valid? [True, True] Translation: X:747.00, Y:5.15, Z:3.26 [[ 9.99146269e-01 -3.93456305e-02 -1.25957770e-02 7.47001545e+02] [ 3.93470819e-02 9.99225595e-01 -1.32659322e-04 5.14563054e+00] [ 1.25912423e-02 -3.63061001e-04 9.99920661e-01 3.25514604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.499254154 meters 0.01818678553613669 Centerline is valid? [True, True] Translation: X:747.06, Y:5.15, Z:3.26 [[ 9.99180613e-01 -3.87033582e-02 -1.18385814e-02 7.47061664e+02] [ 3.87045945e-02 9.99250689e-01 -1.24754914e-04 5.15221641e+00] [ 1.18345390e-02 -3.33554799e-04 9.99929914e-01 3.25723388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.559254154 meters 0.017792512569928656 Centerline is valid? [True, True] Translation: X:747.12, Y:5.16, Z:3.26 [[ 9.99357285e-01 -3.39178097e-02 -1.16016924e-02 7.47121519e+02] [ 3.39186747e-02 9.99424589e-01 -1.22258580e-04 5.15565437e+00] [ 1.15991634e-02 -2.71334029e-04 9.99932691e-01 3.25761024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.619254154 meters 0.017306482386641515 Centerline is valid? [True, True] Translation: X:747.18, Y:5.16, Z:3.26 [[ 9.99551696e-01 -2.71993762e-02 -1.25140203e-02 7.47181390e+02] [ 2.71998562e-02 9.99630007e-01 -1.31872686e-04 5.15924108e+00] [ 1.25129770e-02 -2.08565984e-04 9.99921688e-01 3.25609181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.679254154 meters 0.015617448470237119 Centerline is valid? [True, True] Translation: X:747.24, Y:5.17, Z:3.26 [[ 9.99680125e-01 -2.15837157e-02 -1.31829784e-02 7.47240341e+02] [ 2.15837565e-02 9.99767034e-01 -1.39201612e-04 5.16541378e+00] [ 1.31829117e-02 -1.45381110e-04 9.99913091e-01 3.25596972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.739254154 meters 0.014441554284930387 Centerline is valid? [True, True] Translation: X:747.30, Y:5.17, Z:3.26 [[ 9.99741597e-01 -1.92839597e-02 -1.20361137e-02 7.47298640e+02] [ 1.92838029e-02 9.99814042e-01 -1.29093862e-04 5.17111337e+00] [ 1.20363650e-02 -1.03041542e-04 9.99927555e-01 3.25896489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.799254154 meters 0.014226680149068886 Centerline is valid? [True, True] Translation: X:747.36, Y:5.17, Z:3.26 [[ 9.99733463e-01 -1.98600154e-02 -1.17720852e-02 7.47357330e+02] [ 1.98598708e-02 9.99802765e-01 -1.29191402e-04 5.17170924e+00] [ 1.17723291e-02 -1.04635124e-04 9.99930698e-01 3.25955963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8592541539999 meters 0.014149538326729513 Centerline is valid? [True, True] Translation: X:747.42, Y:5.17, Z:3.26 [[ 9.99704580e-01 -2.14502410e-02 -1.14297913e-02 7.47415638e+02] [ 2.14501755e-02 9.99769910e-01 -1.28336468e-04 5.17127933e+00] [ 1.14299142e-02 -1.16872474e-04 9.99934670e-01 3.25981199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.919254154 meters 0.014702723840259137 Centerline is valid? [True, True] Translation: X:747.47, Y:5.17, Z:3.26 [[ 9.99650053e-01 -2.41909776e-02 -1.07036082e-02 7.47474491e+02] [ 2.41910610e-02 9.99707346e-01 -1.21703105e-04 5.16924203e+00] [ 1.07034199e-02 -1.37271123e-04 9.99942707e-01 3.25976940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9792541539999 meters 0.0159912105457168 Centerline is valid? [True, True] Translation: X:747.53, Y:5.16, Z:3.26 [[ 9.99456582e-01 -3.17102630e-02 -9.00001498e-03 7.47534479e+02] [ 3.17106234e-02 9.99497086e-01 -1.02684000e-04 5.16374802e+00] [ 8.99874489e-03 -1.82767886e-04 9.99959494e-01 3.26077691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.039254154 meters 0.018779349300510877 Centerline is valid? [True, True] Translation: X:747.60, Y:5.16, Z:3.26 [[ 9.99042687e-01 -4.27906789e-02 -9.09213513e-03 7.47595293e+02] [ 4.27915046e-02 9.99084019e-01 -1.03801143e-04 5.15598043e+00] [ 9.08824863e-03 -2.85364369e-04 9.99958660e-01 3.26087446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0992541539999 meters 0.020879185818660256 Centerline is valid? [True, True] Translation: X:747.66, Y:5.15, Z:3.26 [[ 9.98702562e-01 -5.00546273e-02 -9.36622604e-03 7.47656133e+02] [ 5.00558227e-02 9.98746416e-01 -1.06893644e-04 5.15218190e+00] [ 9.35983521e-03 -3.62079193e-04 9.99956130e-01 3.26078170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.159254154 meters 0.02915979513308971 Centerline is valid? [True, True] Translation: X:747.72, Y:5.14, Z:3.26 [[ 9.97990994e-01 -6.27851248e-02 -8.48545853e-03 7.47715923e+02] [ 6.27865656e-02 9.98026972e-01 -9.67564187e-05 5.13976083e+00] [ 8.47479135e-03 -4.36210764e-04 9.99963993e-01 3.25983086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.2192541539999 meters 0.027848976051752964 Centerline is valid? [True, True] Translation: X:747.78, Y:5.14, Z:3.26 [[ 9.97690927e-01 -6.73424012e-02 -8.82123860e-03 7.47776467e+02] [ 6.73441367e-02 9.97729802e-01 -1.00484579e-04 5.14286253e+00] [ 8.80797951e-03 -4.93806145e-04 9.99961087e-01 3.26069874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.279254154 meters 0.02929033284029668 Centerline is valid? [True, True] Translation: X:747.84, Y:5.15, Z:3.26 [[ 9.97403861e-01 -7.14765243e-02 -8.75467113e-03 7.47837610e+02] [ 7.14783930e-02 9.97442143e-01 -9.96527287e-05 5.14533064e+00] [ 8.73940077e-03 -5.26375807e-04 9.99961672e-01 3.26093913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.339254154 meters 0.03021645749095638 Centerline is valid? [True, True] Translation: X:747.90, Y:5.15, Z:3.26 [[ 9.97359130e-01 -7.20591246e-02 -9.06907737e-03 7.47899303e+02] [ 7.20611568e-02 9.97400210e-01 -1.02921060e-04 5.14813035e+00] [ 9.05291608e-03 -5.50878948e-04 9.99958870e-01 3.26101809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.399254154 meters 0.03282178796849019 Centerline is valid? [True, True] Translation: X:747.96, Y:5.15, Z:3.26 [[ 9.97496450e-01 -7.02169994e-02 -8.39079969e-03 7.47959595e+02] [ 7.02186765e-02 9.97531618e-01 -9.49238141e-05 5.15081571e+00] [ 8.37675325e-03 -4.94504682e-04 9.99964792e-01 3.26165737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.459254154 meters 0.0329115939682349 Centerline is valid? [True, True] Translation: X:748.02, Y:5.16, Z:3.26 [[ 9.97675757e-01 -6.76597404e-02 -8.07738684e-03 7.48020089e+02] [ 6.76612126e-02 9.97708350e-01 -9.11717762e-05 5.15856974e+00] [ 8.06504496e-03 -4.55565918e-04 9.99967373e-01 3.26274926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.519254154 meters 0.028733507058193893 Centerline is valid? [True, True] Translation: X:748.08, Y:5.17, Z:3.26 [[ 9.97834288e-01 -6.51970584e-02 -8.72223740e-03 7.48081720e+02] [ 6.51986848e-02 9.97872297e-01 -9.80469911e-05 5.17146992e+00] [ 8.71007145e-03 -4.70843758e-04 9.99961956e-01 3.26236162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.579254154 meters 0.028650840745028446 Centerline is valid? [True, True] Translation: X:748.14, Y:5.18, Z:3.26 [[ 9.97926909e-01 -6.36660202e-02 -9.40866019e-03 7.48143067e+02] [ 6.36678498e-02 9.97971139e-01 -1.05231943e-04 5.17748308e+00] [ 9.39627102e-03 -4.94015376e-04 9.99955732e-01 3.26288389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.639254154 meters 0.02494600800044633 Centerline is valid? [True, True] Translation: X:748.20, Y:5.19, Z:3.26 [[ 9.98070028e-01 -6.14317488e-02 -9.07516494e-03 7.48204332e+02] [ 6.14333626e-02 9.98111182e-01 -1.01095896e-04 5.18794157e+00] [ 9.06423410e-03 -4.56617114e-04 9.99958815e-01 3.26429499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.699254154 meters 0.02695546369454126 Centerline is valid? [True, True] Translation: X:748.26, Y:5.19, Z:3.26 [[ 9.98424753e-01 -5.53688455e-02 -9.07213594e-03 7.48263997e+02] [ 5.53702092e-02 9.98465888e-01 -1.00969530e-04 5.19119319e+00] [ 9.06380884e-03 -4.01515587e-04 9.99958842e-01 3.26466644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.759254154 meters 0.019630277696756314 Centerline is valid? [True, True] Translation: X:748.32, Y:5.21, Z:3.27 [[ 9.98998296e-01 -4.38787093e-02 -8.77855091e-03 7.48324002e+02] [ 4.38795423e-02 9.99036824e-01 -9.77772831e-05 5.21155197e+00] [ 8.77438596e-03 -2.87519457e-04 9.99961463e-01 3.26590708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.819254154 meters 0.01882274176649138 Centerline is valid? [True, True] Translation: X:748.38, Y:5.22, Z:3.27 [[ 9.99378068e-01 -3.43550587e-02 -7.95032691e-03 7.48384228e+02] [ 3.43554409e-02 9.99409674e-01 -8.85354108e-05 5.22217476e+00] [ 7.94867526e-03 -1.84656639e-04 9.99968392e-01 3.26617230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.879254154 meters 0.01635963982883616 Centerline is valid? [True, True] Translation: X:748.45, Y:5.23, Z:3.27 [[ 9.99514487e-01 -3.03422206e-02 -7.08099882e-03 7.48446046e+02] [ 3.03424244e-02 9.99539560e-01 -7.86791454e-05 5.22704251e+00] [ 7.08012574e-03 -1.36213726e-04 9.99974926e-01 3.26722071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.939254154 meters 0.01601613876569734 Centerline is valid? [True, True] Translation: X:748.51, Y:5.23, Z:3.27 [[ 9.99558963e-01 -2.84077309e-02 -8.65329071e-03 7.48508047e+02] [ 2.84079680e-02 9.99596408e-01 -9.55386013e-05 5.22945581e+00] [ 8.65251235e-03 -1.50325940e-04 9.99962555e-01 3.26587743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.999254154 meters 0.01682537529429013 Centerline is valid? [True, True] Translation: X:748.57, Y:5.23, Z:3.26 [[ 9.99470751e-01 -3.10247445e-02 -9.78181862e-03 7.48569813e+02] [ 3.10251820e-02 9.99518597e-01 -1.07051945e-04 5.22864942e+00] [ 9.78043089e-03 -1.96487415e-04 9.99952151e-01 3.26457826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.059254154 meters 0.018080449382415858 Centerline is valid? [True, True] Translation: X:748.63, Y:5.22, Z:3.26 [[ 9.99344216e-01 -3.47179838e-02 -1.02858803e-02 7.48630894e+02] [ 3.47186704e-02 9.99397119e-01 -1.11859775e-04 5.22495929e+00] [ 1.02835627e-02 -2.45325669e-04 9.99947093e-01 3.26350918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.119254154 meters 0.01916879356522008 Centerline is valid? [True, True] Translation: X:748.69, Y:5.22, Z:3.26 [[ 9.99261549e-01 -3.71149325e-02 -9.94171146e-03 7.48693073e+02] [ 3.71156978e-02 9.99310969e-01 -1.07575998e-04 5.22276235e+00] [ 9.93885399e-03 -2.61496999e-04 9.99950574e-01 3.26332631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.179254154 meters 0.01848372728469759 Centerline is valid? [True, True] Translation: X:748.76, Y:5.22, Z:3.26 [[ 9.99182932e-01 -3.92679097e-02 -9.56556709e-03 7.48755023e+02] [ 3.92687233e-02 9.99228681e-01 -1.02823757e-04 5.22457561e+00] [ 9.56222666e-03 -2.72887864e-04 9.99954244e-01 3.26416835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.239254154 meters 0.019164383008888546 Centerline is valid? [True, True] Translation: X:748.82, Y:5.22, Z:3.26 [[ 9.99086245e-01 -4.14802643e-02 -1.02987175e-02 7.48817492e+02] [ 4.14813330e-02 9.99139273e-01 -1.09916767e-04 5.22281497e+00] [ 1.02944125e-02 -3.17388198e-04 9.99946961e-01 3.26415510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.299254154 meters 0.02036878177158025 Centerline is valid? [True, True] Translation: X:748.88, Y:5.22, Z:3.26 [[ 9.99128268e-01 -4.01657407e-02 -1.13761364e-02 7.48879288e+02] [ 4.01669695e-02 9.99192974e-01 -1.20542068e-04 5.22311489e+00] [ 1.13717973e-02 -3.36507937e-04 9.99935282e-01 3.26353631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3592541539999 meters 0.018434628717055413 Centerline is valid? [True, True] Translation: X:748.94, Y:5.23, Z:3.26 [[ 9.99236408e-01 -3.73400352e-02 -1.15031508e-02 7.48940656e+02] [ 3.73411112e-02 9.99302570e-01 -1.21298297e-04 5.22573895e+00] [ 1.14996574e-02 -3.08334758e-04 9.99933829e-01 3.26449723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.419254154 meters 0.016886879772861817 Centerline is valid? [True, True] Translation: X:749.00, Y:5.23, Z:3.26 [[ 9.99385840e-01 -3.28781482e-02 -1.21231036e-02 7.49002389e+02] [ 3.28790226e-02 9.99459331e-01 -1.27229399e-04 5.22923574e+00] [ 1.21207321e-02 -2.71444536e-04 9.99926504e-01 3.26471195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4792541539999 meters 0.01636959315054005 Centerline is valid? [True, True] Translation: X:749.06, Y:5.23, Z:3.26 [[ 9.99465292e-01 -3.02383057e-02 -1.24408428e-02 7.49063896e+02] [ 3.02390289e-02 9.99542688e-01 -1.30011915e-04 5.23019705e+00] [ 1.24390848e-02 -2.46256610e-04 9.99922601e-01 3.26469915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.539254154 meters 0.015607580054671723 Centerline is valid? [True, True] Translation: X:749.12, Y:5.23, Z:3.27 [[ 9.99578878e-01 -2.62136184e-02 -1.24463983e-02 7.49124430e+02] [ 2.62140324e-02 9.99656345e-01 -1.29907163e-04 5.23316901e+00] [ 1.24455264e-02 -1.96417833e-04 9.99922532e-01 3.26549332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5992541539999 meters 0.015043132975528936 Centerline is valid? [True, True] Translation: X:749.19, Y:5.24, Z:3.27 [[ 9.99659348e-01 -2.25134648e-02 -1.32035155e-02 7.49185260e+02] [ 2.25136080e-02 9.99746527e-01 -1.37809445e-04 5.23522991e+00] [ 1.32032714e-02 -1.59496273e-04 9.99912820e-01 3.26552658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.659254154 meters 0.01504360319579124 Centerline is valid? [True, True] Translation: X:749.24, Y:5.23, Z:3.26 [[ 9.99692238e-01 -2.06381639e-02 -1.37657067e-02 7.49244415e+02] [ 2.06381371e-02 9.99787001e-01 -1.44017055e-04 5.23445833e+00] [ 1.37657469e-02 -1.40125811e-04 9.99905238e-01 3.26453129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.7192541539999 meters 0.01500720726192919 Centerline is valid? [True, True] Translation: X:749.30, Y:5.23, Z:3.27 [[ 9.99667433e-01 -2.18488381e-02 -1.36985902e-02 7.49303526e+02] [ 2.18488907e-02 9.99761274e-01 -1.45835381e-04 5.23334649e+00] [ 1.36985063e-02 -1.53512118e-04 9.99906159e-01 3.26554571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.779254154 meters 0.015312132655558272 Centerline is valid? [True, True] Translation: X:749.36, Y:5.23, Z:3.27 [[ 9.99638110e-01 -2.29566346e-02 -1.40228770e-02 7.49361936e+02] [ 2.29567484e-02 9.99736447e-01 -1.52869800e-04 5.23283900e+00] [ 1.40226906e-02 -1.69105180e-04 9.99901663e-01 3.26568028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.839254154 meters 0.016907403885361938 Centerline is valid? [True, True] Translation: X:749.42, Y:5.23, Z:3.27 [[ 9.99524210e-01 -2.70592572e-02 -1.48037420e-02 7.49420558e+02] [ 2.70598083e-02 9.99633803e-01 -1.63114521e-04 5.22662408e+00] [ 1.48027347e-02 -2.37549508e-04 9.99890405e-01 3.26525990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.899254154 meters 0.019474188362033545 Centerline is valid? [True, True] Translation: X:749.48, Y:5.22, Z:3.27 [[ 9.99367568e-01 -3.23823008e-02 -1.46918747e-02 7.49479279e+02] [ 3.23834071e-02 9.99475507e-01 -1.62654976e-04 5.21882659e+00] [ 1.46894360e-02 -3.13220852e-04 9.99892055e-01 3.26573334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.959254154 meters 0.01966481547499513 Centerline is valid? [True, True] Translation: X:749.54, Y:5.21, Z:3.27 [[ 9.99122093e-01 -4.00707898e-02 -1.22218968e-02 7.49539691e+02] [ 4.00721260e-02 9.99196781e-01 -1.35639903e-04 5.21333611e+00] [ 1.22175151e-02 -3.54236564e-04 9.99925301e-01 3.26838445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.019254154 meters 0.021396536106578573 Centerline is valid? [True, True] Translation: X:749.60, Y:5.21, Z:3.27 [[ 9.98707056e-01 -4.93971306e-02 -1.20057982e-02 7.49600184e+02] [ 4.93990921e-02 9.98779111e-01 -1.33291604e-04 5.20645754e+00] [ 1.19977247e-02 -4.59956266e-04 9.99927919e-01 3.26892701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.079254154 meters 0.025284514504857157 Centerline is valid? [True, True] Translation: X:749.66, Y:5.20, Z:3.27 [[ 9.98200714e-01 -5.87527473e-02 -1.19770391e-02 7.49661758e+02] [ 5.87553742e-02 9.98272402e-01 -1.32731847e-04 5.19745183e+00] [ 1.19641460e-02 -5.71222390e-04 9.99928264e-01 3.26831178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.139254154 meters 0.027319503193858112 Centerline is valid? [True, True] Translation: X:749.72, Y:5.19, Z:3.27 [[ 9.97824762e-01 -6.48639973e-02 -1.17646208e-02 7.49722607e+02] [ 6.48669571e-02 9.97893913e-01 -1.30224211e-04 5.19417161e+00] [ 1.17482903e-02 -6.33194207e-04 9.99930786e-01 3.26808098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.199254154 meters 0.030972024599828462 Centerline is valid? [True, True] Translation: X:749.78, Y:5.19, Z:3.27 [[ 9.97388559e-01 -7.13418849e-02 -1.12427056e-02 7.49783738e+02] [ 7.13450001e-02 9.97451691e-01 -1.24244565e-04 5.18950964e+00] [ 1.12229196e-02 -6.78190726e-04 9.99936791e-01 3.26795698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.259254154 meters 0.03303509112897174 Centerline is valid? [True, True] Translation: X:749.84, Y:5.19, Z:3.27 [[ 9.97247100e-01 -7.34006277e-02 -1.05151987e-02 7.49844658e+02] [ 7.34034691e-02 9.97302320e-01 -1.15981862e-04 5.19006271e+00] [ 1.04953452e-02 -6.56189486e-04 9.99944707e-01 3.26825138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.319254154 meters 0.03361130438619984 Centerline is valid? [True, True] Translation: X:749.91, Y:5.20, Z:3.27 [[ 9.97424746e-01 -7.10533730e-02 -9.76184415e-03 7.49905639e+02] [ 7.10557124e-02 9.97472343e-01 -1.07408375e-04 5.19509209e+00] [ 9.74480128e-03 -5.86503019e-04 9.99952346e-01 3.26850799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.379254154 meters 0.02825707615877996 Centerline is valid? [True, True] Translation: X:749.97, Y:5.21, Z:3.27 [[ 9.97793885e-01 -6.56159994e-02 -1.00947173e-02 7.49965759e+02] [ 6.56182253e-02 9.97844796e-01 -1.10905778e-04 5.20945934e+00] [ 1.00802383e-02 -5.51736328e-04 9.99949041e-01 3.26852479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.439254154 meters 0.025175267840100043 Centerline is valid? [True, True] Translation: X:750.03, Y:5.22, Z:3.27 [[ 9.98015355e-01 -6.20606402e-02 -1.06690669e-02 7.50026149e+02] [ 6.20629240e-02 9.98072232e-01 -1.17213234e-04 5.21936248e+00] [ 1.06557738e-02 -5.45172881e-04 9.99943077e-01 3.26870281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.499254154 meters 0.023824372026873746 Centerline is valid? [True, True] Translation: X:750.09, Y:5.23, Z:3.27 [[ 9.98228157e-01 -5.84963491e-02 -1.08960285e-02 7.50087989e+02] [ 5.84985232e-02 9.98287488e-01 -1.19345668e-04 5.22799268e+00] [ 1.08843502e-02 -5.18267369e-04 9.99940629e-01 3.26874328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.559254154 meters 0.02357431398053395 Centerline is valid? [True, True] Translation: X:750.15, Y:5.23, Z:3.27 [[ 9.98341770e-01 -5.64242409e-02 -1.14024233e-02 7.50149657e+02] [ 5.64264943e-02 9.98406748e-01 -1.24244647e-04 5.23493886e+00] [ 1.13912667e-02 -5.19360150e-04 9.99934983e-01 3.26854272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.619254154 meters 0.024519979302404925 Centerline is valid? [True, True] Translation: X:750.21, Y:5.24, Z:3.27 [[ 9.98448106e-01 -5.45105261e-02 -1.14009738e-02 7.50210554e+02] [ 5.45126616e-02 9.98513072e-01 -1.23600568e-04 5.23817630e+00] [ 1.13907589e-02 -4.98088674e-04 9.99934999e-01 3.26835285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.679254154 meters 0.022426209642065424 Centerline is valid? [True, True] Translation: X:750.27, Y:5.25, Z:3.27 [[ 9.98680634e-01 -5.02679377e-02 -1.04941168e-02 7.50271270e+02] [ 5.02695167e-02 9.98735682e-01 -1.13421342e-04 5.24730525e+00] [ 1.04865503e-02 -4.14262479e-04 9.99944929e-01 3.26919592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.739254154 meters 0.021494917659415576 Centerline is valid? [True, True] Translation: X:750.33, Y:5.26, Z:3.27 [[ 9.98919101e-01 -4.54035844e-02 -9.95712228e-03 7.50330543e+02] [ 4.54047645e-02 9.98968666e-01 -1.07629667e-04 5.25517138e+00] [ 9.95173993e-03 -3.44587461e-04 9.99950421e-01 3.26981140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.799254154 meters 0.019727444838216333 Centerline is valid? [True, True] Translation: X:750.39, Y:5.26, Z:3.27 [[ 9.99163707e-01 -4.00092092e-02 -8.43505998e-03 7.50391389e+02] [ 4.00098640e-02 9.99199281e-01 -9.11724504e-05 5.26399467e+00] [ 8.43195360e-03 -2.46389399e-04 9.99964420e-01 3.27108218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8592541539999 meters 0.018000678551263565 Centerline is valid? [True, True] Translation: X:750.45, Y:5.27, Z:3.27 [[ 9.99403510e-01 -3.37706807e-02 -7.22248965e-03 7.50450906e+02] [ 3.37709981e-02 9.99429594e-01 -7.80485548e-05 5.27204947e+00] [ 7.22100565e-03 -1.65908684e-04 9.99973914e-01 3.27160601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.919254154 meters 0.016191462585553765 Centerline is valid? [True, True] Translation: X:750.51, Y:5.28, Z:3.27 [[ 9.99534232e-01 -2.95179431e-02 -7.74662781e-03 7.50512727e+02] [ 2.95181813e-02 9.99564240e-01 -8.36113940e-05 5.28017090e+00] [ 7.74572018e-03 -1.45093914e-04 9.99969991e-01 3.27120117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9792541539999 meters 0.018234392588541933 Centerline is valid? [True, True] Translation: X:750.57, Y:5.28, Z:3.27 [[ 9.99579905e-01 -2.74854042e-02 -9.19598411e-03 7.50574642e+02] [ 2.74856597e-02 9.99622193e-01 -9.86172000e-05 5.28317172e+00] [ 9.19522034e-03 -1.54181919e-04 9.99957711e-01 3.27001902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.039254154 meters 0.01806315824940037 Centerline is valid? [True, True] Translation: X:750.64, Y:5.28, Z:3.27 [[ 9.99562636e-01 -2.81200661e-02 -9.15412150e-03 7.50636968e+02] [ 2.81203520e-02 9.99604540e-01 -9.75020036e-05 5.28424927e+00] [ 9.15324318e-03 -1.59957759e-04 9.99958095e-01 3.26978597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0992541539999 meters 0.01638478652534578 Centerline is valid? [True, True] Translation: X:750.70, Y:5.28, Z:3.27 [[ 9.99451271e-01 -3.17205856e-02 -9.53732442e-03 7.50699161e+02] [ 3.17210666e-02 9.99496755e-01 -1.00874068e-04 5.28395435e+00] [ 9.53572459e-03 -2.01715387e-04 9.99954514e-01 3.26963652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.159254154 meters 0.01781186338547939 Centerline is valid? [True, True] Translation: X:750.76, Y:5.28, Z:3.27 [[ 9.99253184e-01 -3.74245901e-02 -9.61635346e-03 7.50760222e+02] [ 3.74253471e-02 9.99299421e-01 -1.01288322e-04 5.28179462e+00] [ 9.61340712e-03 -2.58682687e-04 9.99953757e-01 3.26904486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.2192541539999 meters 0.02032782478962723 Centerline is valid? [True, True] Translation: X:750.82, Y:5.28, Z:3.27 [[ 9.98983655e-01 -4.42226644e-02 -8.71849459e-03 7.50820244e+02] [ 4.42235459e-02 9.99021656e-01 -9.17575862e-05 5.27690610e+00] [ 8.71402267e-03 -2.93898416e-04 9.99961989e-01 3.26957660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.279254154 meters 0.021599910935696378 Centerline is valid? [True, True] Translation: X:750.88, Y:5.28, Z:3.27 [[ 9.98847075e-01 -4.72688497e-02 -8.37719967e-03 7.50882630e+02] [ 4.72697728e-02 9.98882156e-01 -8.78772609e-05 5.27598024e+00] [ 8.37198912e-03 -3.08212380e-04 9.99964907e-01 3.27042007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.339254154 meters 0.021428256816744786 Centerline is valid? [True, True] Translation: X:750.94, Y:5.28, Z:3.27 [[ 9.98778599e-01 -4.86211256e-02 -8.79184255e-03 7.50944416e+02] [ 4.86222005e-02 9.98817237e-01 -9.15668235e-05 5.27853150e+00] [ 8.78589597e-03 -3.36023748e-04 9.99961347e-01 3.27074379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.399254154 meters 0.02322728474757265 Centerline is valid? [True, True] Translation: X:751.01, Y:5.28, Z:3.27 [[ 9.98855024e-01 -4.68165945e-02 -9.84115273e-03 7.51005939e+02] [ 4.68178603e-02 9.98903438e-01 -1.01832646e-04 5.28023421e+00] [ 9.83512875e-03 -3.59025665e-04 9.99951569e-01 3.26936982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.459254154 meters 0.02082108975941586 Centerline is valid? [True, True] Translation: X:751.07, Y:5.29, Z:3.27 [[ 9.98956978e-01 -4.46487899e-02 -9.56255608e-03 7.51068053e+02] [ 4.46498918e-02 9.99002691e-01 -9.83301783e-05 5.28523798e+00] [ 9.55740959e-03 -3.28739477e-04 9.99954273e-01 3.27018963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.519254154 meters 0.019893553080100424 Centerline is valid? [True, True] Translation: X:751.13, Y:5.29, Z:3.27 [[ 9.99102024e-01 -4.12818021e-02 -9.53721618e-03 7.51128140e+02] [ 4.12827490e-02 9.99147499e-01 -9.76465398e-05 5.28831256e+00] [ 9.53311672e-03 -2.96163646e-04 9.99954515e-01 3.27048644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.579254154 meters 0.017785494295415052 Centerline is valid? [True, True] Translation: X:751.19, Y:5.30, Z:3.27 [[ 9.99328742e-01 -3.52764345e-02 -9.88120718e-03 7.51189586e+02] [ 3.52771612e-02 9.99377562e-01 -1.00787038e-04 5.29530756e+00] [ 9.87861215e-03 -2.47861555e-04 9.99951175e-01 3.27125486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.639254154 meters 0.01738431693883844 Centerline is valid? [True, True] Translation: X:751.25, Y:5.30, Z:3.27 [[ 9.99409140e-01 -3.28727066e-02 -1.00376904e-02 7.51251929e+02] [ 3.28733419e-02 9.99459520e-01 -1.01732891e-04 5.29738072e+00] [ 1.00356095e-02 -2.28299649e-04 9.99949616e-01 3.27168410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.699254154 meters 0.017086471044948492 Centerline is valid? [True, True] Translation: X:751.31, Y:5.30, Z:3.27 [[ 9.99615892e-01 -2.59448416e-02 -9.74341204e-03 7.51313791e+02] [ 2.59451170e-02 9.99663364e-01 -9.81551256e-05 5.30228915e+00] [ 9.74267868e-03 -1.54676542e-04 9.99952527e-01 3.27161604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.759254154 meters 0.016454833741586152 Centerline is valid? [True, True] Translation: X:751.38, Y:5.31, Z:3.27 [[ 9.99674105e-01 -2.33316711e-02 -1.03593878e-02 7.51375839e+02] [ 2.33318493e-02 9.99727770e-01 -1.03666848e-04 5.30527327e+00] [ 1.03589864e-02 -1.38070612e-04 9.99946335e-01 3.27206304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.819254154 meters 0.01488255904427854 Centerline is valid? [True, True] Translation: X:751.44, Y:5.30, Z:3.27 [[ 9.99683558e-01 -2.27300700e-02 -1.07762476e-02 7.51437633e+02] [ 2.27302342e-02 9.99741629e-01 -1.07263570e-04 5.30417804e+00] [ 1.07759015e-02 -1.37717004e-04 9.99941929e-01 3.27170432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.879254154 meters 0.015310182396134457 Centerline is valid? [True, True] Translation: X:751.50, Y:5.30, Z:3.27 [[ 9.99663713e-01 -2.38161361e-02 -1.02592386e-02 7.51498531e+02] [ 2.38163447e-02 9.99716345e-01 -1.01856862e-04 5.30094088e+00] [ 1.02587544e-02 -1.42514954e-04 9.99947367e-01 3.27177955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.939254154 meters 0.016329717872277487 Centerline is valid? [True, True] Translation: X:751.56, Y:5.30, Z:3.27 [[ 9.99588333e-01 -2.72190071e-02 -9.07135543e-03 7.51559773e+02] [ 2.72193132e-02 9.99629482e-01 -8.97405418e-05 5.29571661e+00] [ 9.07043698e-03 -1.57212466e-04 9.99958850e-01 3.27258154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.999254154 meters 0.019174342323224597 Centerline is valid? [True, True] Translation: X:751.62, Y:5.29, Z:3.27 [[ 9.99360409e-01 -3.46595606e-02 -8.80270306e-03 7.51620447e+02] [ 3.46601400e-02 9.99399153e-01 -8.67760882e-05 5.28695621e+00] [ 8.80042160e-03 -2.18382333e-04 9.99961252e-01 3.27212486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.059254154 meters 0.02364176542201829 Centerline is valid? [True, True] Translation: X:751.68, Y:5.28, Z:3.27 [[ 9.98898959e-01 -4.60646883e-02 -8.88341096e-03 7.51681268e+02] [ 4.60657310e-02 9.98938407e-01 -8.73169444e-05 5.27594756e+00] [ 8.87800263e-03 -3.22000015e-04 9.99960538e-01 3.27140048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.119254154 meters 0.02722096932789921 Centerline is valid? [True, True] Translation: X:751.74, Y:5.27, Z:3.27 [[ 9.98231941e-01 -5.85850772e-02 -1.00390039e-02 7.51742105e+02] [ 5.85870427e-02 9.98282299e-01 -9.84365189e-05 5.26918513e+00] [ 1.00275268e-02 -4.89893070e-04 9.99949603e-01 3.27028345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.179254154 meters 0.031161135728065618 Centerline is valid? [True, True] Translation: X:751.80, Y:5.26, Z:3.27 [[ 9.97657466e-01 -6.74724860e-02 -1.12713804e-02 7.51802345e+02] [ 6.74755293e-02 9.97720923e-01 -1.10491795e-04 5.26387861e+00] [ 1.12531472e-02 -6.50309394e-04 9.99936470e-01 3.27010154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.239254154 meters 0.031186603976399864 Centerline is valid? [True, True] Translation: X:751.86, Y:5.26, Z:3.27 [[ 9.97462677e-01 -7.04218565e-02 -1.04388468e-02 7.51863531e+02] [ 7.04246306e-02 9.97517098e-01 -1.02059686e-04 5.26369798e+00] [ 1.04201154e-02 -6.33351199e-04 9.99945509e-01 3.27225676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.299254154 meters 0.03168189090715956 Centerline is valid? [True, True] Translation: X:751.93, Y:5.27, Z:3.27 [[ 9.97566058e-01 -6.89588664e-02 -1.03264441e-02 7.51926107e+02] [ 6.89615104e-02 9.97619316e-01 -1.00231371e-04 5.26605118e+00] [ 1.03087720e-02 -6.12139770e-04 9.99946676e-01 3.27272422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3592541539999 meters 0.030641955698535055 Centerline is valid? [True, True] Translation: X:751.99, Y:5.27, Z:3.27 [[ 9.97967346e-01 -6.25101677e-02 -1.23957619e-02 7.51986782e+02] [ 6.25134875e-02 9.98044112e-01 -1.19851391e-04 5.27332792e+00] [ 1.23790091e-02 -6.55294532e-04 9.99923162e-01 3.27080090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.419254154 meters 0.024120194183065994 Centerline is valid? [True, True] Translation: X:752.05, Y:5.29, Z:3.27 [[ 9.98434963e-01 -5.44092133e-02 -1.29329985e-02 7.52046969e+02] [ 5.44121486e-02 9.98518554e-01 -1.25060590e-04 5.28742083e+00] [ 1.29206434e-02 -5.78847368e-04 9.99916357e-01 3.27201552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4792541539999 meters 0.023979202085586206 Centerline is valid? [True, True] Translation: X:752.11, Y:5.29, Z:3.27 [[ 9.98750082e-01 -4.82212702e-02 -1.31522710e-02 7.52106554e+02] [ 4.82237689e-02 9.98836549e-01 -1.27275677e-04 5.29296116e+00] [ 1.31431064e-02 -5.07135487e-04 9.99913497e-01 3.27190322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.539254154 meters 0.019371980629388927 Centerline is valid? [True, True] Translation: X:752.17, Y:5.31, Z:3.27 [[ 9.99206032e-01 -3.75918042e-02 -1.31970049e-02 7.52166529e+02] [ 3.75933929e-02 9.99293110e-01 -1.27757538e-04 5.30939147e+00] [ 1.31924787e-02 -3.68464089e-04 9.99912908e-01 3.27336902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5992541539999 meters 0.0158838104888481 Centerline is valid? [True, True] Translation: X:752.23, Y:5.32, Z:3.28 [[ 9.99576830e-01 -2.64661723e-02 -1.20707048e-02 7.52225542e+02] [ 2.64666876e-02 9.99649689e-01 -1.17077123e-04 5.32183728e+00] [ 1.20695749e-02 -2.02443993e-04 9.99927140e-01 3.27523100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.659254154 meters 0.015396273390347983 Centerline is valid? [True, True] Translation: X:752.29, Y:5.33, Z:3.28 [[ 9.99785020e-01 -1.71742032e-02 -1.16172438e-02 7.52285253e+02] [ 1.71740518e-02 9.99852509e-01 -1.12801087e-04 5.33162351e+00] [ 1.16174676e-02 -8.67383095e-05 9.99932511e-01 3.27500929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.7192541539999 meters 0.016070925638017316 Centerline is valid? [True, True] Translation: X:752.35, Y:5.34, Z:3.28 [[ 9.99845288e-01 -1.34956362e-02 -1.12813182e-02 7.52345416e+02] [ 1.34952592e-02 9.99908929e-01 -1.09539318e-04 5.33616747e+00] [ 1.12817691e-02 -4.27219434e-05 9.99936358e-01 3.27563074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.779254154 meters 0.015313481075598663 Centerline is valid? [True, True] Translation: X:752.40, Y:5.34, Z:3.28 [[ 9.99852786e-01 -1.35137587e-02 -1.05728346e-02 7.52404571e+02] [ 1.35134263e-02 9.99908684e-01 -1.02887415e-04 5.33804688e+00] [ 1.05732595e-02 -4.00029519e-05 9.99944101e-01 3.27604437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.839254154 meters 0.01427353213834021 Centerline is valid? [True, True] Translation: X:752.46, Y:5.33, Z:3.28 [[ 9.99767629e-01 -1.90602939e-02 -1.00694655e-02 7.52463263e+02] [ 1.90602690e-02 9.99818332e-01 -9.84508256e-05 5.33461752e+00] [ 1.00695127e-02 -9.34987722e-05 9.99949297e-01 3.27667268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.899254154 meters 0.01711893072367291 Centerline is valid? [True, True] Translation: X:752.52, Y:5.33, Z:3.28 [[ 9.99669579e-01 -2.35857980e-02 -1.02197247e-02 7.52524352e+02] [ 2.35860085e-02 9.99721806e-01 -9.99478764e-05 5.33094283e+00] [ 1.02192390e-02 -1.41127661e-04 9.99947772e-01 3.27548384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.959254154 meters 0.019005111319075174 Centerline is valid? [True, True] Translation: X:752.59, Y:5.32, Z:3.28 [[ 9.99294731e-01 -3.63288362e-02 -9.50031766e-03 7.52585309e+02] [ 3.63295952e-02 9.99339858e-01 -9.27375668e-05 5.32151989e+00] [ 9.49741515e-03 -2.52470533e-04 9.99954867e-01 3.27659840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.019254154 meters 0.01968176510872004 Centerline is valid? [True, True] Translation: X:752.65, Y:5.32, Z:3.28 [[ 9.99089765e-01 -4.17191180e-02 -8.89698580e-03 7.52646784e+02] [ 4.17199988e-02 9.99129338e-01 -8.66622115e-05 5.31827061e+00] [ 8.89285500e-03 -2.84598908e-04 9.99960417e-01 3.27733511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.079254154 meters 0.02135314963385227 Centerline is valid? [True, True] Translation: X:752.71, Y:5.31, Z:3.28 [[ 9.98797062e-01 -4.81838825e-02 -9.09626301e-03 7.52708109e+02] [ 4.81850739e-02 9.98838421e-01 -8.82690864e-05 5.31300071e+00] [ 9.08995013e-03 -3.50141201e-04 9.99958624e-01 3.27771200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.139254154 meters 0.02271437049843186 Centerline is valid? [True, True] Translation: X:752.77, Y:5.31, Z:3.28 [[ 9.98628084e-01 -5.14919837e-02 -9.51445987e-03 7.52769262e+02] [ 5.14934394e-02 9.98673329e-01 -9.20693168e-05 5.31016990e+00] [ 9.50657814e-03 -3.97989257e-04 9.99954732e-01 3.27791968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.199254154 meters 0.023757827881647698 Centerline is valid? [True, True] Translation: X:752.83, Y:5.31, Z:3.28 [[ 9.98582255e-01 -5.24549448e-02 -9.05314767e-03 7.52831472e+02] [ 5.24563060e-02 9.98623216e-01 -8.71902106e-05 5.30891080e+00] [ 9.04525701e-03 -3.87828088e-04 9.99959016e-01 3.27773901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.259254154 meters 0.022919354618596816 Centerline is valid? [True, True] Translation: X:752.89, Y:5.31, Z:3.28 [[ 9.98665195e-01 -5.09308357e-02 -8.59522394e-03 7.52893793e+02] [ 5.09320116e-02 9.98702119e-01 -8.21687638e-05 5.31126432e+00] [ 8.58825329e-03 -3.55712961e-04 9.99963057e-01 3.27766482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.319254154 meters 0.022094921389710625 Centerline is valid? [True, True] Translation: X:752.96, Y:5.31, Z:3.28 [[ 9.98737308e-01 -4.94431161e-02 -8.89759610e-03 7.52956223e+02] [ 4.94443232e-02 9.98776878e-01 -8.43898131e-05 5.31466934e+00] [ 8.89088575e-03 -3.55652363e-04 9.99960412e-01 3.27724214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.379254154 meters 0.021235221230880643 Centerline is valid? [True, True] Translation: X:753.02, Y:5.32, Z:3.28 [[ 9.98756357e-01 -4.91623103e-02 -8.29496772e-03 7.53018180e+02] [ 4.91633547e-02 9.98790748e-01 -7.80762221e-05 5.31805941e+00] [ 8.28877542e-03 -3.29829317e-04 9.99965593e-01 3.27820149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.439254154 meters 0.024018060410017108 Centerline is valid? [True, True] Translation: X:753.08, Y:5.32, Z:3.28 [[ 9.98702899e-01 -4.99832151e-02 -9.70557659e-03 7.53078878e+02] [ 4.99846893e-02 9.98749980e-01 -9.07718077e-05 5.31611913e+00] [ 9.69798149e-03 -3.94476163e-04 9.99952896e-01 3.27723164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.499254154 meters 0.022100014567223512 Centerline is valid? [True, True] Translation: X:753.14, Y:5.32, Z:3.28 [[ 9.98665210e-01 -5.03467548e-02 -1.15326880e-02 7.53141166e+02] [ 5.03488689e-02 9.98731686e-01 -1.07136287e-04 5.32191640e+00] [ 1.15234549e-02 -4.73664514e-04 9.99933491e-01 3.27682069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.559254154 meters 0.024120737108286473 Centerline is valid? [True, True] Translation: X:753.20, Y:5.32, Z:3.28 [[ 9.98698899e-01 -4.95319564e-02 -1.21282671e-02 7.53202547e+02] [ 4.95342519e-02 9.98772419e-01 -1.11235631e-04 5.32116563e+00] [ 1.21188883e-02 -4.89673733e-04 9.99926444e-01 3.27634222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.619254154 meters 0.021018370352249165 Centerline is valid? [True, True] Translation: X:753.26, Y:5.33, Z:3.28 [[ 9.98796610e-01 -4.78293911e-02 -1.08480924e-02 7.53264465e+02] [ 4.78311385e-02 9.98855431e-01 -9.84564873e-05 5.32871607e+00] [ 1.08403851e-02 -4.20538603e-04 9.99941153e-01 3.27868352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.679254154 meters 0.0200900739332725 Centerline is valid? [True, True] Translation: X:753.32, Y:5.33, Z:3.28 [[ 9.99037035e-01 -4.30921726e-02 -8.25025251e-03 7.53324854e+02] [ 4.30930239e-02 9.99071061e-01 -7.46279427e-05 5.33339055e+00] [ 8.24580441e-03 -2.80972250e-04 9.99965963e-01 3.28120500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.739254154 meters 0.01901652195707787 Centerline is valid? [True, True] Translation: X:753.39, Y:5.34, Z:3.28 [[ 9.99234169e-01 -3.85584631e-02 -6.65728932e-03 7.53386755e+02] [ 3.85589177e-02 9.99256327e-01 -6.00936856e-05 5.33830197e+00] [ 6.65465559e-03 -1.96650207e-04 9.99977838e-01 3.28315291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.799254154 meters 0.019427718601592297 Centerline is valid? [True, True] Translation: X:753.45, Y:5.34, Z:3.28 [[ 9.99271745e-01 -3.75600960e-02 -6.72450644e-03 7.53449363e+02] [ 3.75605400e-02 9.99294352e-01 -6.02850529e-05 5.33823265e+00] [ 6.72202562e-03 -1.92334943e-04 9.99977388e-01 3.28320169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8592541539999 meters 0.01986072335621971 Centerline is valid? [True, True] Translation: X:753.51, Y:5.34, Z:3.28 [[ 9.99212893e-01 -3.90619044e-02 -6.91097229e-03 7.53511863e+02] [ 3.90624128e-02 9.99236771e-01 -6.14474623e-05 5.33551006e+00] [ 6.90809789e-03 -2.08560156e-04 9.99976117e-01 3.28268489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.919254154 meters 0.02170488497021864 Centerline is valid? [True, True] Translation: X:753.57, Y:5.33, Z:3.28 [[ 9.99073561e-01 -4.22384867e-02 -8.24195113e-03 7.53572882e+02] [ 4.22393243e-02 9.99107519e-01 -7.24913925e-05 5.33095550e+00] [ 8.23765727e-03 -2.75710213e-04 9.99966032e-01 3.28066202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9792541539999 meters 0.022794979531375898 Centerline is valid? [True, True] Translation: X:753.63, Y:5.33, Z:3.28 [[ 9.98967960e-01 -4.42416984e-02 -1.02804526e-02 7.53634806e+02] [ 4.42431179e-02 9.99020790e-01 -8.94182322e-05 5.32775436e+00] [ 1.02743419e-02 -3.65513327e-04 9.99947151e-01 3.27896324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.039254154 meters 0.021907123899965592 Centerline is valid? [True, True] Translation: X:753.70, Y:5.33, Z:3.28 [[ 9.99000857e-01 -4.34961880e-02 -1.02649312e-02 7.53697151e+02] [ 4.34975714e-02 9.99053529e-01 -8.85569985e-05 5.32907077e+00] [ 1.02590676e-02 -3.58031059e-04 9.99947310e-01 3.27951434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0992541539999 meters 0.023104984152330747 Centerline is valid? [True, True] Translation: X:753.76, Y:5.33, Z:3.28 [[ 9.99063999e-01 -4.20689280e-02 -1.00663298e-02 7.53758441e+02] [ 4.20701921e-02 9.99114654e-01 -8.62375463e-05 5.32796162e+00] [ 1.00610456e-02 -3.37335602e-04 9.99949329e-01 3.28009508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.159254154 meters 0.022751233248168655 Centerline is valid? [True, True] Translation: X:753.82, Y:5.33, Z:3.28 [[ 9.99155385e-01 -4.00493454e-02 -9.19603413e-03 7.53820875e+02] [ 4.00503198e-02 9.99197661e-01 -7.82469229e-05 5.32904905e+00] [ 9.19178953e-03 -2.90123273e-04 9.99957713e-01 3.28175728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.2192541539999 meters 0.022881991241271476 Centerline is valid? [True, True] Translation: X:753.88, Y:5.33, Z:3.28 [[ 9.99227707e-01 -3.83809537e-02 -8.41970018e-03 7.53882797e+02] [ 3.83817159e-02 9.99263148e-01 -7.11026338e-05 5.32958553e+00] [ 8.41622510e-03 -2.52114818e-04 9.99964551e-01 3.28213199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.279254154 meters 0.02003999173443854 Centerline is valid? [True, True] Translation: X:753.94, Y:5.33, Z:3.28 [[ 9.99217353e-01 -3.83604617e-02 -9.65172017e-03 7.53944905e+02] [ 3.83614692e-02 9.99263925e-01 -8.07931271e-05 5.33438874e+00] [ 9.64771504e-03 -2.89524272e-04 9.99953418e-01 3.28240271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.339254154 meters 0.01922511176768184 Centerline is valid? [True, True] Translation: X:754.01, Y:5.34, Z:3.28 [[ 9.99211779e-01 -3.84264559e-02 -9.96129781e-03 7.54007557e+02] [ 3.84275398e-02 9.99261386e-01 -8.26449670e-05 5.33553902e+00] [ 9.95711601e-03 -3.00208343e-04 9.99950382e-01 3.28233065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.399254154 meters 0.01977126869095682 Centerline is valid? [True, True] Translation: X:754.07, Y:5.33, Z:3.28 [[ 9.99209955e-01 -3.84444666e-02 -1.00741528e-02 7.54070068e+02] [ 3.84455836e-02 9.99260692e-01 -8.28352246e-05 5.33468637e+00] [ 1.00698895e-02 -3.04536903e-04 9.99949251e-01 3.28226982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.459254154 meters 0.01882758966731131 Centerline is valid? [True, True] Translation: X:754.13, Y:5.34, Z:3.28 [[ 9.99237731e-01 -3.73860142e-02 -1.12357857e-02 7.54132089e+02] [ 3.73873465e-02 9.99300845e-01 -9.15157340e-05 5.33708361e+00] [ 1.12313515e-02 -3.28630238e-04 9.99936872e-01 3.28234095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.519254154 meters 0.018727261278040776 Centerline is valid? [True, True] Translation: X:754.19, Y:5.34, Z:3.28 [[ 9.99342460e-01 -3.46233357e-02 -1.07644244e-02 7.54193686e+02] [ 3.46244068e-02 9.99400392e-01 -8.68948338e-05 5.33886932e+00] [ 1.07609785e-02 -2.85874112e-04 9.99942058e-01 3.28197879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.579254154 meters 0.017691806974037962 Centerline is valid? [True, True] Translation: X:754.25, Y:5.34, Z:3.28 [[ 9.99525287e-01 -2.91371026e-02 -1.00115266e-02 7.54254737e+02] [ 2.91377591e-02 9.99575402e-01 -8.03142432e-05 5.34209811e+00] [ 1.00096159e-02 -2.11437333e-04 9.99949880e-01 3.28288605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.639254154 meters 0.016975148181210934 Centerline is valid? [True, True] Translation: X:754.32, Y:5.34, Z:3.29 [[ 9.99655205e-01 -2.46449828e-02 -9.06067100e-03 7.54316033e+02] [ 2.46453388e-02 9.99696255e-01 -7.23754932e-05 5.34481185e+00] [ 9.05970256e-03 -1.50952768e-04 9.99958949e-01 3.28518412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.699254154 meters 0.016180460126471008 Centerline is valid? [True, True] Translation: X:754.38, Y:5.35, Z:3.29 [[ 9.99706034e-01 -2.26720511e-02 -8.59201828e-03 7.54378515e+02] [ 2.26723023e-02 9.99742948e-01 -6.81750782e-05 5.34591259e+00] [ 8.59135535e-03 -1.26645799e-04 9.99963086e-01 3.28634373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.759254154 meters 0.0162367826692436 Centerline is valid? [True, True] Translation: X:754.44, Y:5.34, Z:3.29 [[ 9.99715043e-01 -2.22105709e-02 -8.74772225e-03 7.54439801e+02] [ 2.22108179e-02 9.99753307e-01 -6.89228280e-05 5.34336941e+00] [ 8.74709506e-03 -1.25390878e-04 9.99961736e-01 3.28613686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.819254154 meters 0.016454508809880395 Centerline is valid? [True, True] Translation: X:754.50, Y:5.34, Z:3.29 [[ 9.99661454e-01 -2.41589212e-02 -9.66047359e-03 7.54502274e+02] [ 2.41593189e-02 9.99708118e-01 -7.55499814e-05 5.33986170e+00] [ 9.65947908e-03 -1.57866058e-04 9.99953334e-01 3.28620356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.879254154 meters 0.016965976199722562 Centerline is valid? [True, True] Translation: X:754.56, Y:5.34, Z:3.29 [[ 9.99547476e-01 -2.81268351e-02 -1.06641213e-02 7.54564611e+02] [ 2.81275543e-02 9.99604339e-01 -8.25706670e-05 5.33635779e+00] [ 1.06622244e-02 -2.17422349e-04 9.99943133e-01 3.28633989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.939254154 meters 0.01922951194709159 Centerline is valid? [True, True] Translation: X:754.63, Y:5.33, Z:3.29 [[ 9.99416521e-01 -3.25091873e-02 -1.04771226e-02 7.54625496e+02] [ 3.25101278e-02 9.99471403e-01 -8.05715155e-05 5.32914262e+00] [ 1.04742038e-02 -2.60088092e-04 9.99945110e-01 3.28602596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.999254154 meters 0.020856862984211164 Centerline is valid? [True, True] Translation: X:754.69, Y:5.33, Z:3.29 [[ 9.99371427e-01 -3.37940644e-02 -1.07103892e-02 7.54686757e+02] [ 3.37951264e-02 9.99428778e-01 -8.18682705e-05 5.32672881e+00] [ 1.07070378e-02 -2.80142145e-04 9.99942639e-01 3.28534266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.059254154 meters 0.021405415325373874 Centerline is valid? [True, True] Translation: X:754.75, Y:5.33, Z:3.29 [[ 9.99374247e-01 -3.36520132e-02 -1.08929696e-02 7.54748910e+02] [ 3.36531107e-02 9.99433570e-01 -8.25772164e-05 5.32599296e+00] [ 1.08895784e-02 -2.84056770e-04 9.99940666e-01 3.28547818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.119254154 meters 0.019660612813460872 Centerline is valid? [True, True] Translation: X:754.81, Y:5.33, Z:3.29 [[ 9.99473249e-01 -3.10812665e-02 -9.33694601e-03 7.54809298e+02] [ 3.10819640e-02 9.99516837e-01 -7.04338479e-05 5.32506644e+00] [ 9.33462391e-03 -2.19813873e-04 9.99956407e-01 3.28815157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.179254154 meters 0.0165216674087513 Centerline is valid? [True, True] Translation: X:754.87, Y:5.33, Z:3.29 [[ 9.99627930e-01 -2.55237099e-02 -9.61981747e-03 7.54870394e+02] [ 2.55241957e-02 9.99674202e-01 -7.22933231e-05 5.33206802e+00] [ 9.61852855e-03 -1.73271679e-04 9.99953726e-01 3.29013608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.239254154 meters 0.015903695471222085 Centerline is valid? [True, True] Translation: X:754.93, Y:5.33, Z:3.29 [[ 9.99766128e-01 -1.90370067e-02 -1.02607096e-02 7.54930650e+02] [ 1.90372245e-02 9.99818773e-01 -7.64538790e-05 5.33299849e+00] [ 1.02603056e-02 -1.18899434e-04 9.99947355e-01 3.28955020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.299254154 meters 0.015479822766489248 Centerline is valid? [True, True] Translation: X:754.99, Y:5.33, Z:3.29 [[ 9.99855091e-01 -1.34176947e-02 -1.04767391e-02 7.54990893e+02] [ 1.34176171e-02 9.99909977e-01 -7.76963858e-05 5.33361556e+00] [ 1.04768385e-02 -6.28877477e-05 9.99945114e-01 3.28897354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3592541539999 meters 0.017826095739599417 Centerline is valid? [True, True] Translation: X:755.05, Y:5.33, Z:3.29 [[ 9.99860508e-01 -1.02818719e-02 -1.31623759e-02 7.55049565e+02] [ 1.02814715e-02 9.99947139e-01 -9.80884918e-05 5.33241940e+00] [ 1.31626887e-02 -3.72537835e-05 9.99913367e-01 3.28587933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.419254154 meters 0.015226649763146376 Centerline is valid? [True, True] Translation: X:755.11, Y:5.33, Z:3.29 [[ 9.99844457e-01 -1.23130246e-02 -1.26274154e-02 7.55107108e+02] [ 1.23127853e-02 9.99924190e-01 -9.66976970e-05 5.33005149e+00] [ 1.26276487e-02 -5.87959985e-05 9.99920266e-01 3.28731082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4792541539999 meters 0.016992082458196115 Centerline is valid? [True, True] Translation: X:755.17, Y:5.33, Z:3.29 [[ 9.99808455e-01 -1.37084328e-02 -1.39689910e-02 7.55166210e+02] [ 1.37082230e-02 9.99906032e-01 -1.10772670e-04 5.32816228e+00] [ 1.39691969e-02 -8.07385921e-05 9.99902423e-01 3.28567640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.539254154 meters 0.016139322666978016 Centerline is valid? [True, True] Translation: X:755.23, Y:5.32, Z:3.29 [[ 9.99669670e-01 -2.21302498e-02 -1.30691217e-02 7.55225059e+02] [ 2.21307640e-02 9.99755079e-01 -1.05287649e-04 5.31977993e+00] [ 1.30682508e-02 -1.83976778e-04 9.99914590e-01 3.28779910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5992541539999 meters 0.018404455162209243 Centerline is valid? [True, True] Translation: X:755.28, Y:5.31, Z:3.29 [[ 9.99418160e-01 -3.22057149e-02 -1.12308882e-02 7.55284975e+02] [ 3.22067259e-02 9.99481225e-01 -9.08714315e-05 5.31115762e+00] [ 1.12279884e-02 -2.70891578e-04 9.99936927e-01 3.29022201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.659254154 meters 0.02347897868680104 Centerline is valid? [True, True] Translation: X:755.34, Y:5.30, Z:3.29 [[ 9.99044620e-01 -4.25690394e-02 -9.88554019e-03 7.55344795e+02] [ 4.25703279e-02 9.99093469e-01 -8.01373182e-05 5.29939403e+00] [ 9.87999001e-03 -3.40769931e-04 9.99951134e-01 3.29027686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.7192541539999 meters 0.02555364930766401 Centerline is valid? [True, True] Translation: X:755.41, Y:5.29, Z:3.29 [[ 9.98683096e-01 -5.07663449e-02 -7.40620841e-03 7.55405525e+02] [ 5.07672928e-02 9.98710508e-01 -6.00825641e-05 5.29167402e+00] [ 7.39970833e-03 -3.15989710e-04 9.99972572e-01 3.29305712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.779254154 meters 0.029295068229207827 Centerline is valid? [True, True] Translation: X:755.47, Y:5.28, Z:3.29 [[ 9.97844555e-01 -6.50905831e-02 -8.33425150e-03 7.55466234e+02] [ 6.50922814e-02 9.97879246e-01 -6.76037373e-05 5.28386135e+00] [ 8.32097697e-03 -4.75037422e-04 9.99965267e-01 3.29210672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.839254154 meters 0.03445609376029431 Centerline is valid? [True, True] Translation: X:755.53, Y:5.28, Z:3.29 [[ 9.97449189e-01 -7.06768178e-02 -9.99514411e-03 7.55525473e+02] [ 7.06795380e-02 9.97499071e-01 -8.12635035e-05 5.27629451e+00] [ 9.97589040e-03 -6.25395952e-04 9.99950044e-01 3.29059752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.899254154 meters 0.033596868157029565 Centerline is valid? [True, True] Translation: X:755.59, Y:5.28, Z:3.29 [[ 9.97002620e-01 -7.65018683e-02 -1.15429867e-02 7.55586116e+02] [ 7.65058838e-02 9.97069125e-01 -9.39395245e-05 5.27808286e+00] [ 1.15163422e-02 -7.89448445e-04 9.99933373e-01 3.29074429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.959254154 meters 0.03489335252213401 Centerline is valid? [True, True] Translation: X:755.65, Y:5.28, Z:3.29 [[ 9.96927864e-01 -7.71595359e-02 -1.34625241e-02 7.55648027e+02] [ 7.71650676e-02 9.97018325e-01 -1.08839675e-04 5.27869553e+00] [ 1.34307813e-02 -9.30331278e-04 9.99909370e-01 3.28979309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.019254154 meters 0.03420643740676101 Centerline is valid? [True, True] Translation: X:755.71, Y:5.28, Z:3.29 [[ 9.97122487e-01 -7.43413167e-02 -1.48362277e-02 7.55708551e+02] [ 7.43477298e-02 9.97232370e-01 -1.19589384e-04 5.28253482e+00] [ 1.48040570e-02 -9.83794586e-04 9.99889930e-01 3.28988347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.079254154 meters 0.03129769376311654 Centerline is valid? [True, True] Translation: X:755.77, Y:5.29, Z:3.29 [[ 9.97780128e-01 -6.45394967e-02 -1.64155513e-02 7.55768218e+02] [ 6.45460223e-02 9.97914723e-01 -1.32532605e-04 5.29380827e+00] [ 1.63898739e-02 -9.27320141e-04 9.99865247e-01 3.29105171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.139254154 meters 0.023094844186619213 Centerline is valid? [True, True] Translation: X:755.83, Y:5.31, Z:3.29 [[ 9.98584728e-01 -5.04638567e-02 -1.67910826e-02 7.55828508e+02] [ 5.04686961e-02 9.98725634e-01 -1.35673923e-04 5.31445760e+00] [ 1.67765312e-02 -7.11942135e-04 9.99859011e-01 3.29454719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.199254154 meters 0.02033189585574706 Centerline is valid? [True, True] Translation: X:755.89, Y:5.32, Z:3.30 [[ 9.99067969e-01 -4.02336686e-02 -1.56347150e-02 7.55889001e+02] [ 4.02366125e-02 9.99190172e-01 -1.26355328e-04 5.32479585e+00] [ 1.56271373e-02 -5.02850408e-04 9.99877762e-01 3.29707491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.259254154 meters 0.0160872196256361 Centerline is valid? [True, True] Translation: X:755.95, Y:5.34, Z:3.30 [[ 9.99657479e-01 -2.15100896e-02 -1.49077266e-02 7.55949889e+02] [ 2.15106856e-02 9.99768611e-01 -1.20382679e-04 5.34354215e+00] [ 1.49068666e-02 -2.00333975e-04 9.99888866e-01 3.30027685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.319254154 meters 0.015442130523516985 Centerline is valid? [True, True] Translation: X:756.01, Y:5.35, Z:3.30 [[ 9.99763977e-01 -1.45055743e-02 -1.61733870e-02 7.56010012e+02] [ 1.45053567e-02 9.99894783e-01 -1.30768673e-04 5.35070835e+00] [ 1.61735822e-02 -1.03862940e-04 9.99869194e-01 3.30041475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.379254154 meters 0.01500595722795183 Centerline is valid? [True, True] Translation: X:756.07, Y:5.36, Z:3.30 [[ 9.99798262e-01 -8.37283323e-03 -1.82573774e-02 7.56067800e+02] [ 8.37145837e-03 9.99964947e-01 -1.51731668e-04 5.35658370e+00] [ 1.82580079e-02 -1.13981689e-06 9.99833309e-01 3.30058900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.439254154 meters 0.015357628733577476 Centerline is valid? [True, True] Translation: X:756.13, Y:5.36, Z:3.30 [[ 9.99801875e-01 -6.41049900e-03 -1.88445029e-02 7.56125884e+02] [ 6.40863666e-03 9.99979452e-01 -1.59215007e-04 5.35820320e+00] [ 1.88451363e-02 3.84158905e-05 9.99822414e-01 3.29991646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.499254154 meters 0.016781009314552765 Centerline is valid? [True, True] Translation: X:756.18, Y:5.36, Z:3.30 [[ 9.99816654e-01 -6.18485315e-03 -1.81219658e-02 7.56184198e+02] [ 6.18301631e-03 9.99980873e-01 -1.57387473e-04 5.35648742e+00] [ 1.81225926e-02 4.53102061e-05 9.99835771e-01 3.29992079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.559254154 meters 0.01512286236208293 Centerline is valid? [True, True] Translation: X:756.24, Y:5.35, Z:3.30 [[ 9.99840135e-01 -7.34121377e-03 -1.63036819e-02 7.56243311e+02] [ 7.33981446e-03 9.99973053e-01 -1.45663670e-04 5.35487986e+00] [ 1.63043119e-02 2.59743832e-05 9.99867076e-01 3.30202518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.619254154 meters 0.0148973284476483 Centerline is valid? [True, True] Translation: X:756.30, Y:5.35, Z:3.30 [[ 9.99838664e-01 -1.07465553e-02 -1.43929671e-02 7.56302071e+02] [ 1.07457932e-02 9.99942254e-01 -1.30287639e-04 5.34904667e+00] [ 1.43935361e-02 -2.43972286e-05 9.99896407e-01 3.30365602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.679254154 meters 0.015530958602093295 Centerline is valid? [True, True] Translation: X:756.36, Y:5.34, Z:3.30 [[ 9.99736907e-01 -1.81828149e-02 -1.39822032e-02 7.56359845e+02] [ 1.81828063e-02 9.99834671e-01 -1.27749767e-04 5.33922991e+00] [ 1.39822144e-02 -1.26519535e-04 9.99902236e-01 3.30235921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.739254154 meters 0.018272032023338616 Centerline is valid? [True, True] Translation: X:756.42, Y:5.32, Z:3.30 [[ 9.99489541e-01 -2.86901127e-02 -1.40547436e-02 7.56418585e+02] [ 2.86911293e-02 9.99588316e-01 -1.29337919e-04 5.32308953e+00] [ 1.40526682e-02 -2.73974569e-04 9.99901219e-01 3.30044183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.799254154 meters 0.018647729457921036 Centerline is valid? [True, True] Translation: X:756.48, Y:5.32, Z:3.30 [[ 9.99283131e-01 -3.50980378e-02 -1.41898640e-02 7.56479352e+02] [ 3.50997187e-02 9.99383806e-01 -1.30645802e-04 5.31712203e+00] [ 1.41857057e-02 -3.67508088e-04 9.99899310e-01 3.30097315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8592541539999 meters 0.02185952224898942 Centerline is valid? [True, True] Translation: X:756.54, Y:5.30, Z:3.30 [[ 9.98984716e-01 -4.28766680e-02 -1.38248949e-02 7.56539599e+02] [ 4.28790085e-02 9.99080264e-01 -1.27209105e-04 5.30223485e+00] [ 1.38176339e-02 -4.65717833e-04 9.99904423e-01 3.29927076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.919254154 meters 0.02265382478099773 Centerline is valid? [True, True] Translation: X:756.60, Y:5.30, Z:3.30 [[ 9.98922243e-01 -4.43314764e-02 -1.37503412e-02 7.56600825e+02] [ 4.43339339e-02 9.99016760e-01 -1.26194007e-04 5.29856770e+00] [ 1.37424157e-02 -4.83548718e-04 9.99905452e-01 3.29888543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9792541539999 meters 0.023939502162984457 Centerline is valid? [True, True] Translation: X:756.66, Y:5.29, Z:3.30 [[ 9.98854693e-01 -4.58499147e-02 -1.36779897e-02 7.56661636e+02] [ 4.58525061e-02 9.98948213e-01 -1.24248270e-04 5.29252543e+00] [ 1.36693002e-02 -5.03064139e-04 9.99906444e-01 3.29828448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.039254154 meters 0.022203684956064233 Centerline is valid? [True, True] Translation: X:756.72, Y:5.29, Z:3.30 [[ 9.98714165e-01 -4.88305220e-02 -1.36234096e-02 7.56722536e+02] [ 4.88333792e-02 9.98806931e-01 -1.23049482e-04 5.29338233e+00] [ 1.36131645e-02 -5.42385868e-04 9.99907189e-01 3.29863151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0992541539999 meters 0.025719016703218342 Centerline is valid? [True, True] Translation: X:756.78, Y:5.29, Z:3.30 [[ 9.98345341e-01 -5.58030503e-02 -1.38780224e-02 7.56782572e+02] [ 5.58066900e-02 9.98441585e-01 -1.25158819e-04 5.28561978e+00] [ 1.38633790e-02 -6.49534773e-04 9.99903688e-01 3.29747776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.159254154 meters 0.02861079078891221 Centerline is valid? [True, True] Translation: X:756.84, Y:5.28, Z:3.30 [[ 9.97867688e-01 -6.35782815e-02 -1.47607144e-02 7.56844096e+02] [ 6.35832524e-02 9.97976529e-01 -1.32753185e-04 5.27920181e+00] [ 1.47392867e-02 -8.06064116e-04 9.99891046e-01 3.29675049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.2192541539999 meters 0.03133465407545538 Centerline is valid? [True, True] Translation: X:756.90, Y:5.27, Z:3.30 [[ 9.97548062e-01 -6.82802720e-02 -1.53515082e-02 7.56904536e+02] [ 6.82862065e-02 9.97665763e-01 -1.37888007e-04 5.27479189e+00] [ 1.53250891e-02 -9.10746342e-04 9.99882149e-01 3.29631163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.279254154 meters 0.032949148297003385 Centerline is valid? [True, True] Translation: X:756.97, Y:5.27, Z:3.30 [[ 9.97493108e-01 -6.90668865e-02 -1.54033991e-02 7.56966885e+02] [ 6.90729668e-02 9.97611601e-01 -1.37554009e-04 5.27379868e+00] [ 1.53761100e-02 -9.26749298e-04 9.99881351e-01 3.29657130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.339254154 meters 0.030644855675547884 Centerline is valid? [True, True] Translation: X:757.03, Y:5.28, Z:3.30 [[ 9.97643755e-01 -6.70195043e-02 -1.46739253e-02 7.57028748e+02] [ 6.70248142e-02 9.97751300e-01 -1.30182121e-04 5.27891222e+00] [ 1.46496528e-02 -8.53641739e-04 9.99892324e-01 3.29737032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.399254154 meters 0.030464880849083737 Centerline is valid? [True, True] Translation: X:757.09, Y:5.28, Z:3.30 [[ 9.97882639e-01 -6.32905077e-02 -1.49850024e-02 7.57089771e+02] [ 6.32956332e-02 9.97994812e-01 -1.32455211e-04 5.28395433e+00] [ 1.49633378e-02 -8.16310463e-04 9.99887710e-01 3.29634474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.459254154 meters 0.028786639264245184 Centerline is valid? [True, True] Translation: X:757.15, Y:5.29, Z:3.30 [[ 9.98110766e-01 -6.02242474e-02 -1.21630352e-02 7.57149089e+02] [ 6.02274046e-02 9.98184676e-01 -1.06877057e-04 5.28755410e+00] [ 1.21473919e-02 -6.25872900e-04 9.99926022e-01 3.29864828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.519254154 meters 0.02644515322868765 Centerline is valid? [True, True] Translation: X:757.21, Y:5.30, Z:3.30 [[ 9.98506129e-01 -5.35615187e-02 -1.08016017e-02 7.57209444e+02] [ 5.35636225e-02 9.98564434e-01 -9.46384792e-05 5.29758613e+00] [ 1.07911643e-02 -4.84075816e-04 9.99941657e-01 3.29942144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.579254154 meters 0.02341340293945149 Centerline is valid? [True, True] Translation: X:757.27, Y:5.31, Z:3.30 [[ 9.98949024e-01 -4.48170626e-02 -9.60612060e-03 7.57269725e+02] [ 4.48183226e-02 9.98995151e-01 -8.41717053e-05 5.30998476e+00] [ 9.60024023e-03 -3.46446969e-04 9.99953857e-01 3.29908335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.639254154 meters 0.019679108374237156 Centerline is valid? [True, True] Translation: X:757.33, Y:5.32, Z:3.30 [[ 9.99341288e-01 -3.53769566e-02 -8.09078989e-03 7.57329728e+02] [ 3.53775412e-02 9.99374016e-01 -7.08971306e-05 5.32319229e+00] [ 8.08823331e-03 -2.15381823e-04 9.99967267e-01 3.29999509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.699254154 meters 0.01611465274934631 Centerline is valid? [True, True] Translation: X:757.39, Y:5.34, Z:3.30 [[ 9.99632609e-01 -2.66117052e-02 -5.14441070e-03 7.57390103e+02] [ 2.66118255e-02 9.99645842e-01 -4.50781712e-05 5.33686635e+00] [ 5.14378837e-03 -9.18405500e-05 9.99986766e-01 3.30176183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.759254154 meters 0.015211730937794236 Centerline is valid? [True, True] Translation: X:757.45, Y:5.34, Z:3.30 [[ 9.99739840e-01 -2.20799981e-02 -5.72066155e-03 7.57452208e+02] [ 2.20800732e-02 9.99756204e-01 -5.00332437e-05 5.34305092e+00] [ 5.72037162e-03 -7.62923988e-05 9.99983636e-01 3.30166520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.819254154 meters 0.014633190723786032 Centerline is valid? [True, True] Translation: X:757.51, Y:5.35, Z:3.30 [[ 9.99817666e-01 -1.85193858e-02 -4.65476385e-03 7.57514025e+02] [ 1.85193982e-02 9.99828500e-01 -4.04409318e-05 5.34982045e+00] [ 4.65471450e-03 -4.57698671e-05 9.99989166e-01 3.30060949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.879254154 meters 0.014839073417442611 Centerline is valid? [True, True] Translation: X:757.58, Y:5.35, Z:3.30 [[ 9.99785423e-01 -2.03418458e-02 -3.91363208e-03 7.57576558e+02] [ 2.03418692e-02 9.99793082e-01 -3.38360438e-05 5.35201332e+00] [ 3.91351056e-03 -4.57818084e-05 9.99992341e-01 3.30072848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.939254154 meters 0.016728292926355432 Centerline is valid? [True, True] Translation: X:757.64, Y:5.35, Z:3.30 [[ 9.99715092e-01 -2.36417847e-02 -3.28653022e-03 7.57638207e+02] [ 2.36418197e-02 9.99720493e-01 -2.82051067e-05 5.35204446e+00] [ 3.28627843e-03 -4.95024843e-05 9.99994599e-01 3.29969779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.999254154 meters 0.01589793959674765 Centerline is valid? [True, True] Translation: X:757.70, Y:5.35, Z:3.30 [[ 9.99679234e-01 -2.51264341e-02 -3.17661235e-03 7.57700497e+02] [ 2.51264747e-02 9.99684280e-01 -2.71156821e-05 5.35182415e+00] [ 3.17629075e-03 -5.27100857e-05 9.99994954e-01 3.29982983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.059254154 meters 0.01599381483563598 Centerline is valid? [True, True] Translation: X:757.76, Y:5.35, Z:3.30 [[ 9.99718440e-01 -2.35736672e-02 -2.70626651e-03 7.57761484e+02] [ 2.35736912e-02 9.99722102e-01 -2.30333017e-05 5.35297915e+00] [ 2.70605742e-03 -4.07698746e-05 9.99996338e-01 3.29997618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.119254154 meters 0.015014344000611357 Centerline is valid? [True, True] Translation: X:757.82, Y:5.36, Z:3.30 [[ 9.99827493e-01 -1.83670139e-02 -2.76363968e-03 7.57823765e+02] [ 1.83670202e-02 9.99831312e-01 -2.30961880e-05 5.35716874e+00] [ 2.76359769e-03 -2.76676222e-05 9.99996181e-01 3.29994048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.179254154 meters 0.014807607446633779 Centerline is valid? [True, True] Translation: X:757.89, Y:5.36, Z:3.30 [[ 9.99900177e-01 -1.39890454e-02 -1.98552919e-03 7.57885551e+02] [ 1.39890402e-02 9.99902148e-01 -1.65420742e-05 5.35985477e+00] [ 1.98556631e-03 -1.12352246e-05 9.99998029e-01 3.30012731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.239254154 meters 0.014473073510203877 Centerline is valid? [True, True] Translation: X:757.95, Y:5.36, Z:3.30 [[ 9.99940836e-01 -1.07464861e-02 -1.68466073e-03 7.57947855e+02] [ 1.07464778e-02 9.99942255e-01 -1.39615624e-05 5.36071778e+00] [ 1.68471349e-03 -4.14343280e-06 9.99998581e-01 3.30100167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.299254154 meters 0.014544003367654145 Centerline is valid? [True, True] Translation: X:758.01, Y:5.36, Z:3.30 [[ 9.99957755e-01 -9.03793769e-03 -1.67455710e-03 7.58009983e+02] [ 9.03792732e-03 9.99959157e-01 -1.37600612e-05 5.36053882e+00] [ 1.67461307e-03 -1.37504541e-06 9.99998598e-01 3.30143301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3592541539999 meters 0.014564647446401258 Centerline is valid? [True, True] Translation: X:758.07, Y:5.36, Z:3.30 [[ 9.99942383e-01 -1.02034572e-02 -3.33467016e-03 7.58072623e+02] [ 1.02034243e-02 9.99947943e-01 -2.68765137e-05 5.35595863e+00] [ 3.33477080e-03 -7.15008938e-06 9.99994440e-01 3.29985643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.419254154 meters 0.01505065399198115 Centerline is valid? [True, True] Translation: X:758.13, Y:5.35, Z:3.30 [[ 9.99865330e-01 -1.54537729e-02 -5.52287034e-03 7.58134485e+02] [ 1.54537659e-02 9.99880582e-01 -4.39448227e-05 5.34874986e+00] [ 5.52288992e-03 -4.14102406e-05 9.99984748e-01 3.29799463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4792541539999 meters 0.015708863936989885 Centerline is valid? [True, True] Translation: X:758.20, Y:5.34, Z:3.30 [[ 9.99737813e-01 -2.17990505e-02 -7.00764952e-03 7.58196216e+02] [ 2.17991972e-02 9.99762368e-01 -5.54595975e-05 5.34022535e+00] [ 7.00719324e-03 -9.73160769e-05 9.99975445e-01 3.29781839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.539254154 meters 0.01673252207339786 Centerline is valid? [True, True] Translation: X:758.26, Y:5.33, Z:3.30 [[ 9.99626525e-01 -2.65068814e-02 -6.64791809e-03 7.58257479e+02] [ 2.65071199e-02 9.99648623e-01 -5.22466136e-05 5.33192610e+00] [ 6.64696706e-03 -1.23990061e-04 9.99977901e-01 3.29898894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5992541539999 meters 0.019220691845630744 Centerline is valid? [True, True] Translation: X:758.32, Y:5.33, Z:3.30 [[ 9.99608125e-01 -2.72863431e-02 -6.24918475e-03 7.58318813e+02] [ 2.72865721e-02 9.99627651e-01 -4.86214379e-05 5.32641525e+00] [ 6.24818458e-03 -1.21916446e-04 9.99980472e-01 3.30010700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.659254154 meters 0.01649373053544462 Centerline is valid? [True, True] Translation: X:758.38, Y:5.33, Z:3.30 [[ 9.99634478e-01 -2.65612101e-02 -5.04099749e-03 7.58381235e+02] [ 2.65613512e-02 9.99647184e-01 -3.89848684e-05 5.32544068e+00] [ 5.04025443e-03 -9.49250859e-05 9.99987293e-01 3.30227127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.7192541539999 meters 0.016497273363926167 Centerline is valid? [True, True] Translation: X:758.44, Y:5.32, Z:3.30 [[ 9.99656269e-01 -2.56794848e-02 -5.28286028e-03 7.58443701e+02] [ 2.56796295e-02 9.99670223e-01 -4.04514271e-05 5.32358396e+00] [ 5.28215689e-03 -9.52243721e-05 9.99986045e-01 3.30211779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.779254154 meters 0.018781128382062685 Centerline is valid? [True, True] Translation: X:758.51, Y:5.32, Z:3.30 [[ 9.99700600e-01 -2.36294129e-02 -6.35312280e-03 7.58505294e+02] [ 2.36295839e-02 9.99720781e-01 -4.81572390e-05 5.32179278e+00] [ 6.35248681e-03 -1.01978828e-04 9.99979818e-01 3.30000654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.839254154 meters 0.01652165338872165 Centerline is valid? [True, True] Translation: X:758.57, Y:5.32, Z:3.30 [[ 9.99702260e-01 -2.36244804e-02 -6.10538363e-03 7.58566887e+02] [ 2.36246399e-02 9.99720898e-01 -4.59918245e-05 5.32008257e+00] [ 6.10476614e-03 -9.82593589e-05 9.99981361e-01 3.30175585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.899254154 meters 0.017474725177294072 Centerline is valid? [True, True] Translation: X:758.63, Y:5.32, Z:3.30 [[ 9.99707071e-01 -2.33524192e-02 -6.35895528e-03 7.58629359e+02] [ 2.33525887e-02 9.99727290e-01 -4.75971638e-05 5.31984153e+00] [ 6.35833264e-03 -1.00914846e-04 9.99979781e-01 3.30140363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.959254154 meters 0.016407287504929872 Centerline is valid? [True, True] Translation: X:758.69, Y:5.32, Z:3.30 [[ 9.99663128e-01 -2.47267613e-02 -7.88781895e-03 7.58692001e+02] [ 2.47270700e-02 9.99694238e-01 -5.83904900e-05 5.31755717e+00] [ 7.88685096e-03 -1.36671832e-04 9.99968889e-01 3.30150063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.019254154 meters 0.016750229700033106 Centerline is valid? [True, True] Translation: X:758.75, Y:5.32, Z:3.30 [[ 9.99634614e-01 -2.54557819e-02 -9.09073782e-03 7.58752941e+02] [ 2.54562270e-02 9.99675936e-01 -6.67609358e-05 5.31625645e+00] [ 9.08949129e-03 -1.64679344e-04 9.99958676e-01 3.30043018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.079254154 meters 0.016385911875124125 Centerline is valid? [True, True] Translation: X:758.81, Y:5.32, Z:3.30 [[ 9.99578064e-01 -2.70082112e-02 -1.06888047e-02 7.58814418e+02] [ 2.70089198e-02 9.99635190e-01 -7.80796257e-05 5.31564969e+00] [ 1.06870141e-02 -2.10646387e-04 9.99942870e-01 3.30063291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.139254154 meters 0.01846827312293027 Centerline is valid? [True, True] Translation: X:758.87, Y:5.31, Z:3.30 [[ 9.99538152e-01 -2.85077001e-02 -1.05258784e-02 7.58874753e+02] [ 2.85084732e-02 9.99593548e-01 -7.66170644e-05 5.31181249e+00] [ 1.05237843e-02 -2.23495044e-04 9.99944598e-01 3.30055524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.199254154 meters 0.0176549529208678 Centerline is valid? [True, True] Translation: X:758.94, Y:5.31, Z:3.30 [[ 9.99434362e-01 -3.23664197e-02 -9.13080858e-03 7.58935482e+02] [ 3.23671650e-02 9.99476044e-01 -6.61689172e-05 5.31018494e+00] [ 9.12816609e-03 -2.29406899e-04 9.99958311e-01 3.30417802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.259254154 meters 0.01880862593522528 Centerline is valid? [True, True] Translation: X:759.00, Y:5.31, Z:3.31 [[ 9.99343998e-01 -3.51784787e-02 -8.60517734e-03 7.58997664e+02] [ 3.51792491e-02 9.99381017e-01 -6.18578591e-05 5.30665303e+00] [ 8.60202695e-03 -2.40906397e-04 9.99962973e-01 3.30522087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.319254154 meters 0.021335983651801553 Centerline is valid? [True, True] Translation: X:759.06, Y:5.30, Z:3.30 [[ 9.99236991e-01 -3.80675077e-02 -8.73507690e-03 7.59059381e+02] [ 3.80684161e-02 9.99275133e-01 -6.23084113e-05 5.30364304e+00] [ 8.73111706e-03 -2.70269673e-04 9.99961847e-01 3.30368001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.379254154 meters 0.02401634091411558 Centerline is valid? [True, True] Translation: X:759.12, Y:5.29, Z:3.30 [[ 9.98788696e-01 -4.83993311e-02 -8.86828399e-03 7.59119403e+02] [ 4.84006758e-02 9.98827999e-01 -6.30507785e-05 5.29330511e+00] [ 8.86094197e-03 -3.66256533e-04 9.99960674e-01 3.30462426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.439254154 meters 0.027615657964587443 Centerline is valid? [True, True] Translation: X:759.18, Y:5.29, Z:3.30 [[ 9.98314199e-01 -5.70379745e-02 -1.07438582e-02 7.59180589e+02] [ 5.70404499e-02 9.98371865e-01 -7.61316912e-05 5.28768566e+00] [ 1.07307081e-02 -5.36831154e-04 9.99942280e-01 3.30413606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.499254154 meters 0.031126485946445834 Centerline is valid? [True, True] Translation: X:759.24, Y:5.28, Z:3.30 [[ 9.98063511e-01 -6.12697912e-02 -1.07349961e-02 7.59241970e+02] [ 6.12725105e-02 9.98121072e-01 -7.57064810e-05 5.28417599e+00] [ 1.07194643e-02 -5.82200284e-04 9.99942375e-01 3.30269779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.559254154 meters 0.03418679470822302 Centerline is valid? [True, True] Translation: X:759.30, Y:5.28, Z:3.30 [[ 9.97840184e-01 -6.46610805e-02 -1.15720413e-02 7.59302653e+02] [ 6.46644711e-02 9.97907060e-01 -8.13165935e-05 5.28174149e+00] [ 1.15530797e-02 -6.67158964e-04 9.99933038e-01 3.30262152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.619254154 meters 0.029068896298483016 Centerline is valid? [True, True] Translation: X:759.37, Y:5.29, Z:3.31 [[ 9.97872881e-01 -6.43015178e-02 -1.07251082e-02 7.59365225e+02] [ 6.43044152e-02 9.97930327e-01 -7.48272136e-05 5.28953236e+00] [ 1.07077222e-02 -6.15003764e-04 9.99942482e-01 3.30598853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.679254154 meters 0.02834517838551185 Centerline is valid? [True, True] Translation: X:759.43, Y:5.29, Z:3.31 [[ 9.98042746e-01 -6.14997605e-02 -1.13338545e-02 7.59426295e+02] [ 6.15028229e-02 9.98106906e-01 -7.84757596e-05 5.29400552e+00] [ 1.13172247e-02 -6.18741883e-04 9.99935767e-01 3.30565435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.739254154 meters 0.028862914300116012 Centerline is valid? [True, True] Translation: X:759.49, Y:5.30, Z:3.31 [[ 9.98131044e-01 -5.99275129e-02 -1.19629499e-02 7.59487612e+02] [ 5.99308191e-02 9.98202530e-01 -8.22502050e-05 5.29529905e+00] [ 1.19463759e-02 -6.34852900e-04 9.99928438e-01 3.30572453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.799254154 meters 0.028402133477719756 Centerline is valid? [True, True] Translation: X:759.55, Y:5.30, Z:3.31 [[ 9.98181330e-01 -5.89073365e-02 -1.28045954e-02 7.59549826e+02] [ 5.89110517e-02 9.98263232e-01 -8.71740808e-05 5.30093965e+00] [ 1.27874920e-02 -6.67316639e-04 9.99918014e-01 3.30647031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8592541539999 meters 0.027976450699861734 Centerline is valid? [True, True] Translation: X:759.61, Y:5.31, Z:3.31 [[ 9.98275719e-01 -5.74459603e-02 -1.20644392e-02 7.59611918e+02] [ 5.74491620e-02 9.98348430e-01 -8.12936601e-05 5.30632467e+00] [ 1.20491839e-02 -6.11938436e-04 9.99927219e-01 3.30827922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.919254154 meters 0.025915923486955327 Centerline is valid? [True, True] Translation: X:759.67, Y:5.32, Z:3.31 [[ 9.98543525e-01 -5.26976376e-02 -1.15666570e-02 7.59672445e+02] [ 5.27002676e-02 9.98610372e-01 -7.75119221e-05 5.31523862e+00] [ 1.15546684e-02 -5.32166892e-04 9.99933101e-01 3.30876001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9792541539999 meters 0.024076037983333808 Centerline is valid? [True, True] Translation: X:759.73, Y:5.32, Z:3.31 [[ 9.98810600e-01 -4.73395663e-02 -1.16769094e-02 7.59733141e+02] [ 4.73418836e-02 9.98878741e-01 -7.80404849e-05 5.32270932e+00] [ 1.16675110e-02 -4.74859222e-04 9.99931820e-01 3.30945299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.039254154 meters 0.021609014733953668 Centerline is valid? [True, True] Translation: X:759.79, Y:5.33, Z:3.31 [[ 9.99173569e-01 -3.88095429e-02 -1.20829482e-02 7.59793150e+02] [ 3.88114021e-02 9.99246550e-01 -8.06686778e-05 5.33335043e+00] [ 1.20769750e-02 -3.88354149e-04 9.99926995e-01 3.30966210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0992541539999 meters 0.018365131675986832 Centerline is valid? [True, True] Translation: X:759.85, Y:5.34, Z:3.31 [[ 9.99383050e-01 -3.26804147e-02 -1.28650454e-02 7.59854219e+02] [ 3.26820169e-02 9.99465797e-01 -8.57318044e-05 5.34344873e+00] [ 1.28609746e-02 -3.34776720e-04 9.99917238e-01 3.30976648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.159254154 meters 0.0184615820608614 Centerline is valid? [True, True] Translation: X:759.92, Y:5.35, Z:3.31 [[ 9.99444989e-01 -3.03177529e-02 -1.38038795e-02 7.59915688e+02] [ 3.03193783e-02 9.99540258e-01 -9.15605263e-05 5.34632183e+00] [ 1.38003092e-02 -3.27015335e-04 9.99904718e-01 3.30890360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.2192541539999 meters 0.018389706457137677 Centerline is valid? [True, True] Translation: X:759.98, Y:5.35, Z:3.31 [[ 9.99447609e-01 -3.02255636e-02 -1.38164011e-02 7.59976876e+02] [ 3.02271899e-02 9.99543050e-01 -9.11475689e-05 5.34835722e+00] [ 1.38128427e-02 -3.26533760e-04 9.99904545e-01 3.30879068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.279254154 meters 0.019313088849307283 Centerline is valid? [True, True] Translation: X:760.04, Y:5.35, Z:3.31 [[ 9.99381795e-01 -3.19044396e-02 -1.47693824e-02 7.60037581e+02] [ 3.19064864e-02 9.99490854e-01 -9.70838755e-05 5.34767825e+00] [ 1.47649600e-02 -3.74215241e-04 9.99890922e-01 3.30833592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.339254154 meters 0.02123566192017982 Centerline is valid? [True, True] Translation: X:760.10, Y:5.35, Z:3.31 [[ 9.99255671e-01 -3.51968102e-02 -1.57888475e-02 7.60098238e+02] [ 3.51995644e-02 9.99380298e-01 -1.03505658e-04 5.34613790e+00] [ 1.57827062e-02 -4.52331938e-04 9.99875343e-01 3.30844160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.399254154 meters 0.024157620401323035 Centerline is valid? [True, True] Translation: X:760.16, Y:5.34, Z:3.31 [[ 9.99087470e-01 -3.95057502e-02 -1.62334072e-02 7.60158774e+02] [ 3.95092312e-02 9.99219200e-01 -1.06341865e-04 5.34359541e+00] [ 1.62249332e-02 -5.35124612e-04 9.99868224e-01 3.30791113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.459254154 meters 0.026097202430664206 Centerline is valid? [True, True] Translation: X:760.22, Y:5.34, Z:3.31 [[ 9.98990661e-01 -4.19384618e-02 -1.60880471e-02 7.60219409e+02] [ 4.19421958e-02 9.99120033e-01 -1.05389640e-04 5.34128759e+00] [ 1.60783100e-02 -5.69484755e-04 9.99870573e-01 3.30787017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.519254154 meters 0.026803352057576633 Centerline is valid? [True, True] Translation: X:760.28, Y:5.34, Z:3.31 [[ 9.98883234e-01 -4.50505019e-02 -1.42385959e-02 7.60279234e+02] [ 4.50537422e-02 9.98984560e-01 -9.32742484e-05 5.33911231e+00] [ 1.42283396e-02 -5.48331948e-04 9.99898622e-01 3.31040657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.579254154 meters 0.028014023021819472 Centerline is valid? [True, True] Translation: X:760.34, Y:5.34, Z:3.31 [[ 9.98846885e-01 -4.58380153e-02 -1.42750178e-02 7.60339880e+02] [ 4.58413571e-02 9.98948728e-01 -9.31893225e-05 5.33853024e+00] [ 1.42642825e-02 -5.61304323e-04 9.99898102e-01 3.31091581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.639254154 meters 0.02989941733310299 Centerline is valid? [True, True] Translation: X:760.40, Y:5.34, Z:3.31 [[ 9.98911766e-01 -4.40352659e-02 -1.53680889e-02 7.60400620e+02] [ 4.40389339e-02 9.99029811e-01 -9.98186627e-05 5.33866752e+00] [ 1.53575745e-02 -5.77084216e-04 9.99881899e-01 3.30812567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.699254154 meters 0.02298591921492301 Centerline is valid? [True, True] Translation: X:760.46, Y:5.35, Z:3.31 [[ 9.99006147e-01 -4.23680616e-02 -1.38443272e-02 7.60461712e+02] [ 4.23708847e-02 9.99101947e-01 -8.94634648e-05 5.34825097e+00] [ 1.38356846e-02 -4.97221840e-04 9.99904159e-01 3.31345148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.759254154 meters 0.020715176510688875 Centerline is valid? [True, True] Translation: X:760.52, Y:5.35, Z:3.31 [[ 9.99105749e-01 -3.96768611e-02 -1.46099240e-02 7.60523089e+02] [ 3.96797255e-02 9.99212445e-01 -9.38775811e-05 5.35328198e+00] [ 1.46021427e-02 -4.85924144e-04 9.99893265e-01 3.31396825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.819254154 meters 0.02026508091068462 Centerline is valid? [True, True] Translation: X:760.58, Y:5.36, Z:3.31 [[ 9.99146890e-01 -3.83458864e-02 -1.53325029e-02 7.60584782e+02] [ 3.83488933e-02 9.99264406e-01 -9.79568355e-05 5.35592109e+00] [ 1.53249807e-02 -4.90111250e-04 9.99882445e-01 3.31441714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.879254154 meters 0.020177551787243394 Centerline is valid? [True, True] Translation: X:760.65, Y:5.36, Z:3.31 [[ 9.99202055e-01 -3.67449628e-02 -1.56544451e-02 7.60645960e+02] [ 3.67479099e-02 9.99324562e-01 -9.94494675e-05 5.35801146e+00] [ 1.56475258e-02 -4.75898027e-04 9.99877457e-01 3.31488405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.939254154 meters 0.01975406770898507 Centerline is valid? [True, True] Translation: X:760.71, Y:5.36, Z:3.32 [[ 9.99200212e-01 -3.64151361e-02 -1.65188794e-02 7.60707732e+02] [ 3.64183826e-02 9.99336625e-01 -1.04340676e-04 5.36012271e+00] [ 1.65117208e-02 -4.97333645e-04 9.99863549e-01 3.31515195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.999254154 meters 0.021318539154270875 Centerline is valid? [True, True] Translation: X:760.77, Y:5.36, Z:3.32 [[ 9.99134918e-01 -3.90389369e-02 -1.43309806e-02 7.60768899e+02] [ 3.90416568e-02 9.99237580e-01 -9.00328175e-05 5.35830463e+00] [ 1.43235692e-02 -4.69550296e-04 9.99897302e-01 3.31684567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.059254154 meters 0.023009090832611174 Centerline is valid? [True, True] Translation: X:760.83, Y:5.36, Z:3.32 [[ 9.98966328e-01 -4.35866121e-02 -1.29028042e-02 7.60829688e+02] [ 4.35892012e-02 9.99049536e-01 -8.06275239e-05 5.35563832e+00] [ 1.28940548e-02 -4.81878746e-04 9.99916752e-01 3.31825115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.119254154 meters 0.024079710073002223 Centerline is valid? [True, True] Translation: X:760.89, Y:5.35, Z:3.32 [[ 9.98792156e-01 -4.75188457e-02 -1.24975132e-02 7.60890659e+02] [ 4.75215856e-02 9.98870208e-01 -7.78035666e-05 5.35432140e+00] [ 1.24870908e-02 -5.16192052e-04 9.99921900e-01 3.31895842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.179254154 meters 0.025722014013314858 Centerline is valid? [True, True] Translation: X:760.95, Y:5.35, Z:3.32 [[ 9.98617619e-01 -5.10218230e-02 -1.26342901e-02 7.60951860e+02] [ 5.10249077e-02 9.98697378e-01 -7.82833286e-05 5.35215862e+00] [ 1.26218266e-02 -5.66488375e-04 9.99920181e-01 3.31867532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.239254154 meters 0.02507580840625427 Centerline is valid? [True, True] Translation: X:761.01, Y:5.35, Z:3.32 [[ 9.98367819e-01 -5.57349835e-02 -1.24623399e-02 7.61012974e+02] [ 5.57383566e-02 9.98445406e-01 -7.67663677e-05 5.35340761e+00] [ 1.24472446e-02 -6.17989277e-04 9.99922339e-01 3.32019114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.299254154 meters 0.025603171191224242 Centerline is valid? [True, True] Translation: X:761.08, Y:5.35, Z:3.32 [[ 9.98295229e-01 -5.71957087e-02 -1.16313074e-02 7.61075286e+02] [ 5.71987538e-02 9.98362809e-01 -7.09564887e-05 5.35357875e+00] [ 1.16163231e-02 -5.94460763e-04 9.99932352e-01 3.32148663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3592541539999 meters 0.025494699477315846 Centerline is valid? [True, True] Translation: X:761.14, Y:5.36, Z:3.32 [[ 9.98305329e-01 -5.69283889e-02 -1.20676678e-02 7.61137628e+02] [ 5.69316584e-02 9.98378075e-01 -7.27046898e-05 5.35595571e+00] [ 1.20522339e-02 -6.14450860e-04 9.99927180e-01 3.32125468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.419254154 meters 0.02599973361180061 Centerline is valid? [True, True] Translation: X:761.20, Y:5.36, Z:3.32 [[ 9.98441953e-01 -5.40990584e-02 -1.36732506e-02 7.61198185e+02] [ 5.41029986e-02 9.98535357e-01 -8.18326774e-05 5.35748210e+00] [ 1.36576512e-02 -6.58058681e-04 9.99906513e-01 3.31949353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4792541539999 meters 0.023297113054819844 Centerline is valid? [True, True] Translation: X:761.26, Y:5.37, Z:3.32 [[ 9.98785522e-01 -4.70873598e-02 -1.45004001e-02 7.61258547e+02] [ 4.70910550e-02 9.98890597e-01 -8.66866516e-05 5.36571032e+00] [ 1.44883951e-02 -5.96257764e-04 9.99894860e-01 3.31965759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.539254154 meters 0.021657644426018547 Centerline is valid? [True, True] Translation: X:761.32, Y:5.37, Z:3.32 [[ 9.99067833e-01 -4.07541436e-02 -1.42324977e-02 7.61319444e+02] [ 4.07570642e-02 9.99169082e-01 -8.49108800e-05 5.37151992e+00] [ 1.42241321e-02 -4.95243092e-04 9.99898709e-01 3.32061638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5992541539999 meters 0.018228574890886893 Centerline is valid? [True, True] Translation: X:761.38, Y:5.38, Z:3.32 [[ 9.99428944e-01 -3.12571800e-02 -1.28364815e-02 7.61379972e+02] [ 3.12587738e-02 9.99511322e-01 -7.65007948e-05 5.38111167e+00] [ 1.28325998e-02 -3.24795563e-04 9.99917606e-01 3.32229308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.659254154 meters 0.0169343237012372 Centerline is valid? [True, True] Translation: X:761.44, Y:5.39, Z:3.32 [[ 9.99637151e-01 -2.43117322e-02 -1.15976630e-02 7.61440226e+02] [ 2.43125659e-02 9.99704403e-01 -6.91118471e-05 5.38675635e+00] [ 1.15959150e-02 -2.12882177e-04 9.99932742e-01 3.32336322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.7192541539999 meters 0.01600487685598818 Centerline is valid? [True, True] Translation: X:761.50, Y:5.39, Z:3.32 [[ 9.99739811e-01 -1.98182148e-02 -1.12937727e-02 7.61501437e+02] [ 1.98187216e-02 9.99803588e-01 -6.70553384e-05 5.39025432e+00] [ 1.12928833e-02 -1.56790244e-04 9.99936221e-01 3.32335511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.779254154 meters 0.015719737268411513 Centerline is valid? [True, True] Translation: X:761.56, Y:5.39, Z:3.32 [[ 9.99780366e-01 -1.70452787e-02 -1.21933772e-02 7.61561896e+02] [ 1.70456653e-02 9.99854709e-01 -7.22273149e-05 5.39212024e+00] [ 1.21928368e-02 -1.35632775e-04 9.99925655e-01 3.32219474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.839254154 meters 0.01539182561721546 Centerline is valid? [True, True] Translation: X:761.62, Y:5.39, Z:3.32 [[ 9.99799242e-01 -1.57958054e-02 -1.23275297e-02 7.61621586e+02] [ 1.57961020e-02 9.99875231e-01 -7.33076022e-05 5.39326809e+00] [ 1.23271495e-02 -1.21434031e-04 9.99924010e-01 3.32323889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.899254154 meters 0.015331401051977568 Centerline is valid? [True, True] Translation: X:761.68, Y:5.39, Z:3.32 [[ 9.99810746e-01 -1.54812111e-02 -1.17815059e-02 7.61681689e+02] [ 1.54814553e-02 9.99880153e-01 -7.04788835e-05 5.39228988e+00] [ 1.17811850e-02 -1.11929311e-04 9.99930593e-01 3.32375774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.959254154 meters 0.015226172153274825 Centerline is valid? [True, True] Translation: X:761.74, Y:5.39, Z:3.33 [[ 9.99809867e-01 -1.62693858e-02 -1.07488004e-02 7.61741358e+02] [ 1.62696305e-02 9.99867639e-01 -6.46796510e-05 5.39020923e+00] [ 1.07484299e-02 -1.10211657e-04 9.99942228e-01 3.32511854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.019254154 meters 0.015934443035898648 Centerline is valid? [True, True] Translation: X:761.80, Y:5.39, Z:3.32 [[ 9.99746949e-01 -1.90345366e-02 -1.19884959e-02 7.61800735e+02] [ 1.90350360e-02 9.99818815e-01 -7.24574592e-05 5.38543932e+00] [ 1.19877030e-02 -1.55762327e-04 9.99928133e-01 3.32369143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.079254154 meters 0.016357393361553632 Centerline is valid? [True, True] Translation: X:761.86, Y:5.38, Z:3.32 [[ 9.99628342e-01 -2.40780910e-02 -1.27836939e-02 7.61860559e+02] [ 2.40790660e-02 9.99710054e-01 -7.76573878e-05 5.38027361e+00] [ 1.27818572e-02 -2.30190884e-04 9.99918282e-01 3.32352529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.139254154 meters 0.019044827687200273 Centerline is valid? [True, True] Translation: X:761.92, Y:5.37, Z:3.32 [[ 9.99435235e-01 -3.08161312e-02 -1.34006061e-02 7.61921272e+02] [ 3.08178056e-02 9.99525015e-01 -8.15748837e-05 5.37398079e+00] [ 1.33967549e-02 -3.31448462e-04 9.99910205e-01 3.32249345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.199254154 meters 0.01963594531671708 Centerline is valid? [True, True] Translation: X:761.98, Y:5.37, Z:3.32 [[ 9.99156842e-01 -3.89458638e-02 -1.29932441e-02 7.61981901e+02] [ 3.89481266e-02 9.99241231e-01 -7.89368404e-05 5.36620664e+00] [ 1.29864595e-02 -4.27192231e-04 9.99915581e-01 3.32329341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.259254154 meters 0.020712758805525526 Centerline is valid? [True, True] Translation: X:762.04, Y:5.36, Z:3.32 [[ 9.99012487e-01 -4.25213904e-02 -1.28834224e-02 7.62042795e+02] [ 4.25239152e-02 9.99095446e-01 -7.80309979e-05 5.36251673e+00] [ 1.28750866e-02 -4.69899618e-04 9.99917002e-01 3.32290010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.319254154 meters 0.02228145006629389 Centerline is valid? [True, True] Translation: X:762.10, Y:5.36, Z:3.32 [[ 9.98915854e-01 -4.45922513e-02 -1.33659048e-02 7.62104378e+02] [ 4.45951616e-02 9.99005138e-01 -8.03721692e-05 5.35852334e+00] [ 1.33561915e-02 -5.15769649e-04 9.99910669e-01 3.32247583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.379254154 meters 0.022107623821074496 Centerline is valid? [True, True] Translation: X:762.17, Y:5.36, Z:3.32 [[ 9.98919726e-01 -4.45400354e-02 -1.32501189e-02 7.62166787e+02] [ 4.45429027e-02 9.99007469e-01 -7.87797924e-05 5.35923649e+00] [ 1.32404766e-02 -5.11504070e-04 9.99912210e-01 3.32271222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.439254154 meters 0.02410071903045898 Centerline is valid? [True, True] Translation: X:762.23, Y:5.36, Z:3.32 [[ 9.98908470e-01 -4.48472012e-02 -1.30612812e-02 7.62228769e+02] [ 4.48500261e-02 9.98993728e-01 -7.67023602e-05 5.35844098e+00] [ 1.30515779e-02 -5.09180165e-04 9.99914695e-01 3.32193127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.499254154 meters 0.024280447751462483 Centerline is valid? [True, True] Translation: X:762.29, Y:5.36, Z:3.32 [[ 9.98846146e-01 -4.66023536e-02 -1.16016088e-02 7.62290233e+02] [ 4.66047083e-02 9.98913408e-01 -6.74552154e-05 5.35659908e+00] [ 1.15921462e-02 -4.73312212e-04 9.99932697e-01 3.32411503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.559254154 meters 0.024521962416572174 Centerline is valid? [True, True] Translation: X:762.35, Y:5.36, Z:3.32 [[ 9.98835633e-01 -4.67657417e-02 -1.18466968e-02 7.62352068e+02] [ 4.67682176e-02 9.98905766e-01 -6.81077952e-05 5.35675465e+00] [ 1.18369189e-02 -4.86020402e-04 9.99929823e-01 3.32426091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.619254154 meters 0.024506026544402856 Centerline is valid? [True, True] Translation: X:762.41, Y:5.36, Z:3.32 [[ 9.98907000e-01 -4.47936976e-02 -1.33540385e-02 7.62413960e+02] [ 4.47966808e-02 9.98996122e-01 -7.57942878e-05 5.35826219e+00] [ 1.33440278e-02 -5.22505157e-04 9.99910828e-01 3.32354445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.679254154 meters 0.023272926484642138 Centerline is valid? [True, True] Translation: X:762.47, Y:5.36, Z:3.32 [[ 9.99102283e-01 -4.00528215e-02 -1.37984993e-02 7.62473484e+02] [ 4.00555572e-02 9.99197451e-01 -7.81600418e-05 5.36337839e+00] [ 1.37905559e-02 -4.74616702e-04 9.99904793e-01 3.32454905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.739254154 meters 0.021329010692385613 Centerline is valid? [True, True] Translation: X:762.53, Y:5.37, Z:3.33 [[ 9.99346209e-01 -3.37527890e-02 -1.29577631e-02 7.62532851e+02] [ 3.37546695e-02 9.99430146e-01 -7.36130604e-05 5.36901808e+00] [ 1.29528638e-02 -3.63820079e-04 9.99916042e-01 3.32632341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.799254154 meters 0.020094495417256837 Centerline is valid? [True, True] Translation: X:762.59, Y:5.37, Z:3.33 [[ 9.99522437e-01 -2.77132785e-02 -1.36701111e-02 7.62593007e+02] [ 2.77148058e-02 9.99615868e-01 -7.77382202e-05 5.37461590e+00] [ 1.36670144e-02 -3.01163381e-04 9.99906557e-01 3.32543644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8592541539999 meters 0.016956540265814224 Centerline is valid? [True, True] Translation: X:762.65, Y:5.38, Z:3.33 [[ 9.99610324e-01 -2.46157126e-02 -1.31630841e-02 7.62654016e+02] [ 2.46168623e-02 9.99696956e-01 -7.46968587e-05 5.38198775e+00] [ 1.31609338e-02 -2.49366078e-04 9.99913360e-01 3.32840426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.919254154 meters 0.01641469149516657 Centerline is valid? [True, True] Translation: X:762.71, Y:5.39, Z:3.33 [[ 9.99694680e-01 -2.07566592e-02 -1.34055080e-02 7.62713217e+02] [ 2.07575038e-02 9.99784537e-01 -7.61515391e-05 5.38671444e+00] [ 1.34042002e-02 -2.02136594e-04 9.99910139e-01 3.32972900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9792541539999 meters 0.01855753347225338 Centerline is valid? [True, True] Translation: X:762.77, Y:5.39, Z:3.33 [[ 9.99682173e-01 -2.14221475e-02 -1.32907327e-02 7.62773109e+02] [ 2.14230313e-02 9.99770498e-01 -7.58901840e-05 5.38605726e+00] [ 1.32893082e-02 -2.08861719e-04 9.99911671e-01 3.32845452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.039254154 meters 0.017835731422904278 Centerline is valid? [True, True] Translation: X:762.83, Y:5.38, Z:3.33 [[ 9.99566793e-01 -2.69671256e-02 -1.17898361e-02 7.62832478e+02] [ 2.69682017e-02 9.99636290e-01 -6.77243360e-05 5.38391479e+00] [ 1.17873743e-02 -2.50255680e-04 9.99930495e-01 3.33098925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0992541539999 meters 0.0198202355295916 Centerline is valid? [True, True] Translation: X:762.89, Y:5.38, Z:3.33 [[ 9.99433934e-01 -3.15195666e-02 -1.17613528e-02 7.62892419e+02] [ 3.15209506e-02 9.99503089e-01 -6.77192244e-05 5.37944863e+00] [ 1.17576430e-02 -3.03048131e-04 9.99930831e-01 3.33027349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.159254154 meters 0.021977235501627827 Centerline is valid? [True, True] Translation: X:762.95, Y:5.38, Z:3.33 [[ 9.99270364e-01 -3.60566470e-02 -1.25959621e-02 7.62953991e+02] [ 3.60585982e-02 9.99349675e-01 -7.22370064e-05 5.37520268e+00] [ 1.25903753e-02 -3.82008438e-04 9.99920665e-01 3.32900113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.2192541539999 meters 0.023945377838521055 Centerline is valid? [True, True] Translation: X:763.01, Y:5.37, Z:3.33 [[ 9.99013969e-01 -4.26832261e-02 -1.22160569e-02 7.63013764e+02] [ 4.26855579e-02 9.99088554e-01 -6.99129240e-05 5.36932847e+00] [ 1.22079067e-02 -4.51605215e-04 9.99925379e-01 3.33014712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.279254154 meters 0.02582494605345752 Centerline is valid? [True, True] Translation: X:763.07, Y:5.37, Z:3.33 [[ 9.98651034e-01 -5.06314352e-02 -1.15139423e-02 7.63074185e+02] [ 5.06340340e-02 9.98717272e-01 -6.58736482e-05 5.36608259e+00] [ 1.15025083e-02 -5.17212557e-04 9.99933710e-01 3.33054581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.339254154 meters 0.02535190088101727 Centerline is valid? [True, True] Translation: X:763.14, Y:5.37, Z:3.33 [[ 9.98579443e-01 -5.17606166e-02 -1.26465123e-02 7.63136720e+02] [ 5.17638503e-02 9.98659351e-01 -7.17211639e-05 5.36855955e+00] [ 1.26332701e-02 -5.83012890e-04 9.99920027e-01 3.32952661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.399254154 meters 0.027488813019275714 Centerline is valid? [True, True] Translation: X:763.20, Y:5.36, Z:3.33 [[ 9.98263622e-01 -5.74470552e-02 -1.30221764e-02 7.63196550e+02] [ 5.74509691e-02 9.98348326e-01 -7.36409961e-05 5.36491972e+00] [ 1.30048985e-02 -6.74623529e-04 9.99915205e-01 3.32908283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.459254154 meters 0.026560974694268144 Centerline is valid? [True, True] Translation: X:763.26, Y:5.37, Z:3.33 [[ 9.98219952e-01 -5.81360650e-02 -1.33088121e-02 7.63258397e+02] [ 5.81402221e-02 9.98308424e-01 -7.46636089e-05 5.36798885e+00] [ 1.32906398e-02 -6.99246585e-04 9.99911431e-01 3.32889715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.519254154 meters 0.028812961337732326 Centerline is valid? [True, True] Translation: X:763.32, Y:5.37, Z:3.33 [[ 9.98297175e-01 -5.65486612e-02 -1.43178289e-02 7.63319824e+02] [ 5.65533347e-02 9.98399576e-01 -7.85811502e-05 5.37008837e+00] [ 1.42993579e-02 -7.31273629e-04 9.99897492e-01 3.32855559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.579254154 meters 0.027418505925028775 Centerline is valid? [True, True] Translation: X:763.38, Y:5.38, Z:3.33 [[ 9.98424520e-01 -5.45162562e-02 -1.32836881e-02 7.63381750e+02] [ 5.45201134e-02 9.98512670e-01 -7.18540011e-05 5.37714629e+00] [ 1.32678480e-02 -6.52487383e-04 9.99911765e-01 3.33047809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.639254154 meters 0.026873886513751923 Centerline is valid? [True, True] Translation: X:763.44, Y:5.38, Z:3.33 [[ 9.98481803e-01 -5.36372001e-02 -1.25355314e-02 7.63443753e+02] [ 5.36405761e-02 9.98560306e-01 -6.69962561e-05 5.38143401e+00] [ 1.25210775e-02 -6.05518582e-04 9.99921425e-01 3.33167126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.699254154 meters 0.025499879284471 Centerline is valid? [True, True] Translation: X:763.51, Y:5.39, Z:3.33 [[ 9.98497091e-01 -5.35138212e-02 -1.18249837e-02 7.63505741e+02] [ 5.35168266e-02 9.98566946e-01 -6.23514867e-05 5.38777935e+00] [ 1.18113745e-02 -5.70577825e-04 9.99930080e-01 3.33280145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.759254154 meters 0.025874805896417066 Centerline is valid? [True, True] Translation: X:763.57, Y:5.39, Z:3.33 [[ 9.98510417e-01 -5.31239805e-02 -1.24414316e-02 7.63567683e+02] [ 5.31272889e-02 9.98587746e-01 -6.46666582e-05 5.39078233e+00] [ 1.24272965e-02 -5.96409198e-04 9.99922600e-01 3.33226251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.819254154 meters 0.027494955926411543 Centerline is valid? [True, True] Translation: X:763.63, Y:5.39, Z:3.33 [[ 9.98509189e-01 -5.28873166e-02 -1.35030076e-02 7.63629529e+02] [ 5.28912081e-02 9.98600278e-01 -6.90008501e-05 5.39271858e+00] [ 1.34877564e-02 -6.45292401e-04 9.99908828e-01 3.33134941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.879254154 meters 0.026214234290618508 Centerline is valid? [True, True] Translation: X:763.69, Y:5.40, Z:3.33 [[ 9.98510065e-01 -5.25942252e-02 -1.45429668e-02 7.63691407e+02] [ 5.25987254e-02 9.98615726e-01 -7.31419682e-05 5.40005187e+00] [ 1.45266822e-02 -6.91908525e-04 9.99894243e-01 3.33207194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.939254154 meters 0.02452416687005107 Centerline is valid? [True, True] Translation: X:763.75, Y:5.41, Z:3.33 [[ 9.98534971e-01 -5.21187700e-02 -1.45446317e-02 7.63753418e+02] [ 5.21232365e-02 9.98640658e-01 -7.20784325e-05 5.40652993e+00] [ 1.45286172e-02 -6.86140442e-04 9.99894219e-01 3.33300131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.999254154 meters 0.024000478316391946 Centerline is valid? [True, True] Translation: X:763.82, Y:5.41, Z:3.33 [[ 9.98673770e-01 -4.96377188e-02 -1.36673865e-02 7.63815406e+02] [ 4.96414420e-02 9.98767101e-01 -6.69131468e-05 5.41190530e+00] [ 1.36538574e-02 -6.11644371e-04 9.99906595e-01 3.33331571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.059254154 meters 0.021853556588913206 Centerline is valid? [True, True] Translation: X:763.88, Y:5.42, Z:3.33 [[ 9.98904377e-01 -4.49412815e-02 -1.30509003e-02 7.63875821e+02] [ 4.49442792e-02 9.98989493e-01 -6.36627580e-05 5.41996583e+00] [ 1.30405734e-02 -5.22970300e-04 9.99914831e-01 3.33409014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.119254154 meters 0.020711944113764272 Centerline is valid? [True, True] Translation: X:763.94, Y:5.43, Z:3.33 [[ 9.99131324e-01 -3.95471255e-02 -1.31385929e-02 7.63935705e+02] [ 3.95496977e-02 9.99217603e-01 -6.40905255e-05 5.42540407e+00] [ 1.31308479e-02 -4.55592526e-04 9.99913683e-01 3.33362983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.179254154 meters 0.02088399321159109 Centerline is valid? [True, True] Translation: X:764.00, Y:5.43, Z:3.33 [[ 9.99227570e-01 -3.68126137e-02 -1.37511834e-02 7.63997527e+02] [ 3.68151820e-02 9.99322089e-01 -6.64056285e-05 5.42819941e+00] [ 1.37443058e-02 -4.39897984e-04 9.99905446e-01 3.33241937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.239254154 meters 0.017873786387140152 Centerline is valid? [True, True] Translation: X:764.06, Y:5.44, Z:3.33 [[ 9.99427005e-01 -3.16212519e-02 -1.20730204e-02 7.64059471e+02] [ 3.16228614e-02 9.99499871e-01 -5.76037040e-05 5.43570019e+00] [ 1.20688038e-02 -3.24212754e-04 9.99927117e-01 3.33440565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.299254154 meters 0.017793783589877026 Centerline is valid? [True, True] Translation: X:764.12, Y:5.44, Z:3.33 [[ 9.99594088e-01 -2.61320147e-02 -1.13480065e-02 7.64120048e+02] [ 2.61330886e-02 9.99658471e-01 -5.36661958e-05 5.43964079e+00] [ 1.13455332e-02 -2.42914048e-04 9.99935608e-01 3.33393550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3592541539999 meters 0.014829472496363934 Centerline is valid? [True, True] Translation: X:764.18, Y:5.45, Z:3.34 [[ 9.99796632e-01 -1.71718776e-02 -1.05745580e-02 7.64181693e+02] [ 1.71723146e-02 9.99852544e-01 -4.94777761e-05 5.44995902e+00] [ 1.05738483e-02 -1.32121922e-04 9.99944087e-01 3.33614080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.419254154 meters 0.014390542611218212 Centerline is valid? [True, True] Translation: X:764.24, Y:5.45, Z:3.34 [[ 9.99885704e-01 -1.11614866e-02 -1.01980724e-02 7.64241178e+02] [ 1.11615820e-02 9.99937706e-01 -4.75591336e-05 5.45333702e+00] [ 1.01979680e-02 -6.62729238e-05 9.99947997e-01 3.33595487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4792541539999 meters 0.014273418038827973 Centerline is valid? [True, True] Translation: X:764.30, Y:5.45, Z:3.34 [[ 9.99893265e-01 -1.05737201e-02 -1.00823790e-02 7.64300808e+02] [ 1.05737806e-02 9.99944095e-01 -4.73064771e-05 5.45260869e+00] [ 1.00823155e-02 -5.93074350e-05 9.99949170e-01 3.33639159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.539254154 meters 0.014768859648595404 Centerline is valid? [True, True] Translation: X:764.36, Y:5.45, Z:3.34 [[ 9.99864360e-01 -1.30810631e-02 -1.00073337e-02 7.64359038e+02] [ 1.30812437e-02 9.99914436e-01 -4.74166929e-05 5.44854962e+00] [ 1.00070977e-02 -8.34981098e-05 9.99949924e-01 3.33648999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5992541539999 meters 0.015218012544008131 Centerline is valid? [True, True] Translation: X:764.42, Y:5.44, Z:3.34 [[ 9.99797085e-01 -1.74479384e-02 -1.00676362e-02 7.64418401e+02] [ 1.74483380e-02 9.99847765e-01 -4.81470771e-05 5.44310661e+00] [ 1.00669437e-02 -1.27526213e-04 9.99949319e-01 3.33667436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.659254154 meters 0.015707484745738035 Centerline is valid? [True, True] Translation: X:764.48, Y:5.44, Z:3.34 [[ 9.99700020e-01 -2.20799004e-02 -1.05994424e-02 7.64479266e+02] [ 2.20806030e-02 9.99756192e-01 -5.07440664e-05 5.43843171e+00] [ 1.05979786e-02 -1.83313235e-04 9.99943823e-01 3.33670351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.7192541539999 meters 0.01799802802968958 Centerline is valid? [True, True] Translation: X:764.54, Y:5.43, Z:3.34 [[ 9.99428106e-01 -3.14379521e-02 -1.24545327e-02 7.64539235e+02] [ 3.14396495e-02 9.99505650e-01 -5.95296802e-05 5.42804806e+00] [ 1.24502473e-02 -3.32070508e-04 9.99922438e-01 3.33551793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.779254154 meters 0.02179863875549159 Centerline is valid? [True, True] Translation: X:764.60, Y:5.42, Z:3.33 [[ 9.99104909e-01 -4.03638188e-02 -1.26547310e-02 7.64598705e+02] [ 4.03662878e-02 9.99184947e-01 -6.03564396e-05 5.41663002e+00] [ 1.26468529e-02 -4.50522098e-04 9.99919924e-01 3.33445075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.839254154 meters 0.023589539200709577 Centerline is valid? [True, True] Translation: X:764.66, Y:5.41, Z:3.33 [[ 9.98849678e-01 -4.63138712e-02 -1.24235726e-02 7.64659838e+02] [ 4.63167130e-02 9.98926803e-01 -5.90382542e-05 5.41168598e+00] [ 1.24129739e-02 -5.16448704e-04 9.99922823e-01 3.33366105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.899254154 meters 0.02526584968848811 Centerline is valid? [True, True] Translation: X:764.72, Y:5.40, Z:3.34 [[ 9.98521639e-01 -5.30277910e-02 -1.19410614e-02 7.64720661e+02] [ 5.30308965e-02 9.98592870e-01 -5.66410778e-05 5.40487219e+00] [ 1.19272624e-02 -5.76687850e-04 9.99928701e-01 3.33514369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.959254154 meters 0.029123222830377618 Centerline is valid? [True, True] Translation: X:764.78, Y:5.40, Z:3.34 [[ 9.98101768e-01 -6.05073693e-02 -1.14768800e-02 7.64781853e+02] [ 6.05107335e-02 9.98167545e-01 -5.42180345e-05 5.39606009e+00] [ 1.14591297e-02 -6.40359308e-04 9.99934137e-01 3.33537360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.019254154 meters 0.03866126632185346 Centerline is valid? [True, True] Translation: X:764.84, Y:5.38, Z:3.33 [[ 9.97956051e-01 -6.28855547e-02 -1.13634510e-02 7.64841859e+02] [ 6.28890146e-02 9.98020525e-01 -5.29472457e-05 5.38267489e+00] [ 1.13442869e-02 -6.61797211e-04 9.99935433e-01 3.33394533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.079254154 meters 0.03406386124252402 Centerline is valid? [True, True] Translation: X:764.90, Y:5.39, Z:3.34 [[ 9.97483295e-01 -7.00429213e-02 -1.10029984e-02 7.64902844e+02] [ 7.00466042e-02 9.97543719e-01 -5.07769673e-05 5.38673895e+00] [ 1.09795285e-02 -7.20073497e-04 9.99939464e-01 3.33618691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.139254154 meters 0.033607319989205624 Centerline is valid? [True, True] Translation: X:764.96, Y:5.39, Z:3.34 [[ 9.97182911e-01 -7.41310110e-02 -1.14383006e-02 7.64963792e+02] [ 7.41352599e-02 9.97248194e-01 -5.26800804e-05 5.38669436e+00] [ 1.14107298e-02 -7.95449708e-04 9.99934579e-01 3.33680964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.199254154 meters 0.03974736684711826 Centerline is valid? [True, True] Translation: X:765.02, Y:5.38, Z:3.34 [[ 9.97116823e-01 -7.47804387e-02 -1.28812470e-02 7.65024609e+02] [ 7.47858854e-02 9.97199613e-01 -5.89976602e-05 5.37892824e+00] [ 1.28495864e-02 -9.04507901e-04 9.99917032e-01 3.33550867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.259254154 meters 0.040704577616269944 Centerline is valid? [True, True] Translation: X:765.09, Y:5.38, Z:3.33 [[ 9.97202947e-01 -7.33806289e-02 -1.41974166e-02 7.65085101e+02] [ 7.33871095e-02 9.97303529e-01 -6.46794461e-05 5.37876362e+00] [ 1.41638799e-02 -9.77408831e-04 9.99899210e-01 3.33436895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.319254154 meters 0.039659623024038346 Centerline is valid? [True, True] Translation: X:765.15, Y:5.38, Z:3.33 [[ 9.97483812e-01 -6.93165673e-02 -1.48747850e-02 7.65145749e+02] [ 6.93232328e-02 9.97594249e-01 -6.76603016e-05 5.38323248e+00] [ 1.48436899e-02 -9.63678125e-04 9.99889362e-01 3.33361071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.379254154 meters 0.031607819897501575 Centerline is valid? [True, True] Translation: X:765.21, Y:5.40, Z:3.34 [[ 9.97930636e-01 -6.29620331e-02 -1.30471672e-02 7.65206248e+02] [ 6.29666211e-02 9.98015632e-01 -5.92496717e-05 5.39800510e+00] [ 1.30250073e-02 -7.62408970e-04 9.99914880e-01 3.33709176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.439254154 meters 0.02562146119673361 Centerline is valid? [True, True] Translation: X:765.27, Y:5.41, Z:3.34 [[ 9.98417957e-01 -5.51047164e-02 -1.11827058e-02 7.65266754e+02] [ 5.51075954e-02 9.98480421e-01 -5.07566324e-05 5.40948252e+00] [ 1.11685098e-02 -5.65575696e-04 9.99937470e-01 3.34107701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.499254154 meters 0.024222242985899003 Centerline is valid? [True, True] Translation: X:765.33, Y:5.42, Z:3.34 [[ 9.98905929e-01 -4.50967944e-02 -1.23783990e-02 7.65326868e+02] [ 4.50995560e-02 9.98982496e-01 -5.60977719e-05 5.41544520e+00] [ 1.23683338e-02 -5.02223902e-04 9.99923383e-01 3.33911484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.559254154 meters 0.019277639813284796 Centerline is valid? [True, True] Translation: X:765.39, Y:5.42, Z:3.34 [[ 9.99270949e-01 -3.56176284e-02 -1.37461168e-02 7.65387538e+02] [ 3.56201388e-02 9.99365400e-01 -6.22374102e-05 5.42470851e+00] [ 1.37396102e-02 -4.27446552e-04 9.99905516e-01 3.34031072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.619254154 meters 0.016208997304171878 Centerline is valid? [True, True] Translation: X:765.45, Y:5.43, Z:3.34 [[ 9.99615494e-01 -2.36294608e-02 -1.45090699e-02 7.65447659e+02] [ 2.36309957e-02 9.99720747e-01 -6.56656705e-05 5.43375733e+00] [ 1.45065699e-02 -2.77223348e-04 9.99894736e-01 3.34137846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.679254154 meters 0.014802072551975104 Centerline is valid? [True, True] Translation: X:765.51, Y:5.44, Z:3.34 [[ 9.99872081e-01 -9.44090260e-03 -1.29109014e-02 7.65507474e+02] [ 9.44093320e-03 9.99955432e-01 -5.85791597e-05 5.44285156e+00] [ 1.29108790e-02 -6.33192909e-05 9.99916649e-01 3.34398000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.739254154 meters 0.014994471915925244 Centerline is valid? [True, True] Translation: X:765.57, Y:5.45, Z:3.35 [[ 9.99923627e-01 3.09938578e-03 -1.19638703e-02 7.65566365e+02] [-3.10028182e-03 9.99995193e-01 -5.63498345e-05 5.44970049e+00] [ 1.19636381e-02 9.34369004e-05 9.99928429e-01 3.34582749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.799254154 meters 0.01661819918227093 Centerline is valid? [True, True] Translation: X:765.62, Y:5.45, Z:3.35 [[ 9.99886776e-01 8.87180578e-03 -1.21542858e-02 7.65623626e+02] [-8.87318699e-03 9.99960631e-01 -5.97176296e-05 5.45195142e+00] [ 1.21532775e-02 1.67558118e-04 9.99926132e-01 3.34512174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8592541539999 meters 0.015548629810163904 Centerline is valid? [True, True] Translation: X:765.68, Y:5.45, Z:3.35 [[ 9.99882271e-01 8.44060929e-03 -1.28140900e-02 7.65681110e+02] [-8.44213092e-03 9.99964362e-01 -6.46584897e-05 5.44897456e+00] [ 1.28130876e-02 1.72829103e-04 9.99917894e-01 3.34636370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.919254154 meters 0.015113020039456356 Centerline is valid? [True, True] Translation: X:765.74, Y:5.44, Z:3.34 [[ 9.99905577e-01 -9.86565456e-04 -1.37063662e-02 7.65740018e+02] [ 9.85693668e-04 9.99999512e-01 -7.03599187e-05 5.43794544e+00] [ 1.37064289e-02 5.68429967e-05 9.99906061e-01 3.34480078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9792541539999 meters 0.01536297575466449 Centerline is valid? [True, True] Translation: X:765.80, Y:5.42, Z:3.34 [[ 9.99788918e-01 -1.58515410e-02 -1.30708673e-02 7.65797526e+02] [ 1.58520040e-02 9.99874347e-01 -6.81887036e-05 5.42245026e+00] [ 1.30703057e-02 -1.39025129e-04 9.99914570e-01 3.34471856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.039254154 meters 0.019678971570991632 Centerline is valid? [True, True] Translation: X:765.86, Y:5.41, Z:3.34 [[ 9.99502902e-01 -2.89185462e-02 -1.25565148e-02 7.65857969e+02] [ 2.89199973e-02 9.99581727e-01 -6.60334174e-05 5.40619054e+00] [ 1.25531723e-02 -2.97133782e-04 9.99921162e-01 3.34323409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0992541539999 meters 0.02037726007685718 Centerline is valid? [True, True] Translation: X:765.92, Y:5.40, Z:3.34 [[ 9.99279219e-01 -3.62587514e-02 -1.12403644e-02 7.65919483e+02] [ 3.62603801e-02 9.99342374e-01 -5.89323150e-05 5.39823060e+00] [ 1.12351092e-02 -3.48690046e-04 9.99936823e-01 3.34481162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.159254154 meters 0.025420971532657446 Centerline is valid? [True, True] Translation: X:765.98, Y:5.38, Z:3.35 [[ 9.98910396e-01 -4.55486644e-02 -1.01656619e-02 7.65978911e+02] [ 4.55504787e-02 9.98962037e-01 -5.31090833e-05 5.38192576e+00] [ 1.01575294e-02 -4.09999551e-04 9.99948327e-01 3.34604377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.2192541539999 meters 0.030662508595138523 Centerline is valid? [True, True] Translation: X:766.04, Y:5.37, Z:3.35 [[ 9.98490116e-01 -5.39974128e-02 -1.00880325e-02 7.66038697e+02] [ 5.39996295e-02 9.98540954e-01 -5.27077210e-05 5.36853740e+00] [ 1.00761597e-02 -4.92121882e-04 9.99949113e-01 3.34551915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.279254154 meters 0.03082758182740423 Centerline is valid? [True, True] Translation: X:766.10, Y:5.36, Z:3.34 [[ 9.98024683e-01 -6.17888336e-02 -1.13521762e-02 7.66099276e+02] [ 6.17921438e-02 9.98089038e-01 -5.92562918e-05 5.36364616e+00] [ 1.13341440e-02 -6.42336061e-04 9.99935560e-01 3.34414761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.339254154 meters 0.03444830986093315 Centerline is valid? [True, True] Translation: X:766.16, Y:5.36, Z:3.34 [[ 9.97782620e-01 -6.53661795e-02 -1.25341923e-02 7.66158892e+02] [ 6.53705032e-02 9.97861059e-01 -6.48674669e-05 5.35558964e+00] [ 1.25116226e-02 -7.54642831e-04 9.99921442e-01 3.34264466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.399254154 meters 0.028858562599074142 Centerline is valid? [True, True] Translation: X:766.22, Y:5.36, Z:3.35 [[ 9.97777642e-01 -6.53646499e-02 -1.29321292e-02 7.66220865e+02] [ 6.53692644e-02 9.97861140e-01 -6.60067288e-05 5.36220253e+00] [ 1.29087837e-02 -7.79503737e-04 9.99916374e-01 3.34570289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.459254154 meters 0.02870374700848509 Centerline is valid? [True, True] Translation: X:766.28, Y:5.36, Z:3.35 [[ 9.98042940e-01 -6.12268505e-02 -1.27107344e-02 7.66280213e+02] [ 6.12309759e-02 9.98123621e-01 -6.47069326e-05 5.36353905e+00] [ 1.26908460e-02 -7.13710374e-04 9.99919213e-01 3.34603822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.519254154 meters 0.02625249229903031 Centerline is valid? [True, True] Translation: X:766.34, Y:5.37, Z:3.35 [[ 9.98391616e-01 -5.54435385e-02 -1.18403831e-02 7.66341018e+02] [ 5.54467118e-02 9.98461646e-01 -6.03504705e-05 5.36890487e+00] [ 1.18255144e-02 -5.96256904e-04 9.99929898e-01 3.34749402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.579254154 meters 0.024483859328398073 Centerline is valid? [True, True] Translation: X:766.40, Y:5.37, Z:3.35 [[ 9.98746115e-01 -4.87667457e-02 -1.13137971e-02 7.66401719e+02] [ 4.87692158e-02 9.98810072e-01 -5.76297056e-05 5.37401405e+00] [ 1.13031449e-02 -4.94207568e-04 9.99935995e-01 3.34817794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.639254154 meters 0.023975904323252847 Centerline is valid? [True, True] Translation: X:766.46, Y:5.38, Z:3.35 [[ 9.98974053e-01 -4.37407971e-02 -1.17295952e-02 7.66462597e+02] [ 4.37431080e-02 9.99042810e-01 -5.95928842e-05 5.37766968e+00] [ 1.17209744e-02 -4.53557203e-04 9.99931204e-01 3.34638310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.699254154 meters 0.021275095249961153 Centerline is valid? [True, True] Translation: X:766.52, Y:5.38, Z:3.35 [[ 9.99216069e-01 -3.77121082e-02 -1.20434419e-02 7.66522774e+02] [ 3.77141079e-02 9.99288568e-01 -6.11062720e-05 5.38288560e+00] [ 1.20371782e-02 -3.93149298e-04 9.99927473e-01 3.34783497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.759254154 meters 0.01872832693832923 Centerline is valid? [True, True] Translation: X:766.58, Y:5.39, Z:3.35 [[ 9.99409385e-01 -3.22568428e-02 -1.18480810e-02 7.66584022e+02] [ 3.22583982e-02 9.99479561e-01 -5.98507215e-05 5.39070696e+00] [ 1.18438454e-02 -3.22384741e-04 9.99929807e-01 3.34925881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.819254154 meters 0.01788719026471211 Centerline is valid? [True, True] Translation: X:766.65, Y:5.40, Z:3.35 [[ 9.99595601e-01 -2.62263473e-02 -1.09914869e-02 7.66645866e+02] [ 2.62273271e-02 9.99656003e-01 -5.50175778e-05 5.39757135e+00] [ 1.09891487e-02 -2.33281993e-04 9.99939590e-01 3.34911578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.879254154 meters 0.016485641568108885 Centerline is valid? [True, True] Translation: X:766.71, Y:5.40, Z:3.35 [[ 9.99644165e-01 -2.45511562e-02 -1.04299461e-02 7.66706867e+02] [ 2.45519520e-02 9.99698554e-01 -5.17603863e-05 5.39986556e+00] [ 1.04280728e-02 -2.04333567e-04 9.99945605e-01 3.35113068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.939254154 meters 0.016196991497676866 Centerline is valid? [True, True] Translation: X:766.77, Y:5.40, Z:3.35 [[ 9.99750820e-01 -1.99274144e-02 -1.00596584e-02 7.66768380e+02] [ 1.99279243e-02 9.99801418e-01 -4.95630332e-05 5.40491110e+00] [ 1.00586484e-02 -1.50917428e-04 9.99949399e-01 3.35110769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.999254154 meters 0.016038838410486707 Centerline is valid? [True, True] Translation: X:766.83, Y:5.41, Z:3.35 [[ 9.99779355e-01 -1.85685006e-02 -9.82103366e-03 7.66829265e+02] [ 1.85689244e-02 9.99827581e-01 -4.80320772e-05 5.40661042e+00] [ 9.82023222e-03 -1.34344553e-04 9.99951771e-01 3.35188421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.059254154 meters 0.015520193853806995 Centerline is valid? [True, True] Translation: X:766.89, Y:5.41, Z:3.35 [[ 9.99766777e-01 -1.95632231e-02 -9.14720147e-03 7.66889845e+02] [ 1.95636338e-02 9.99808613e-01 -4.45864592e-05 5.40572891e+00] [ 9.14632307e-03 -1.34376439e-04 9.99958162e-01 3.35341210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.119254154 meters 0.016826040532440786 Centerline is valid? [True, True] Translation: X:766.95, Y:5.40, Z:3.35 [[ 9.99719435e-01 -2.18660335e-02 -9.10651785e-03 7.66950655e+02] [ 2.18665369e-02 9.99760898e-01 -4.43019220e-05 5.40278923e+00] [ 9.10530917e-03 -1.54838516e-04 9.99958534e-01 3.35252580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.179254154 meters 0.017932256876769876 Centerline is valid? [True, True] Translation: X:767.01, Y:5.40, Z:3.35 [[ 9.99655729e-01 -2.44427935e-02 -9.53801581e-03 7.67011782e+02] [ 2.44434663e-02 9.99701213e-01 -4.60377086e-05 5.39749309e+00] [ 9.53629127e-03 -1.87120309e-04 9.99954511e-01 3.35256544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.239254154 meters 0.017876214717768027 Centerline is valid? [True, True] Translation: X:767.07, Y:5.40, Z:3.35 [[ 9.99555771e-01 -2.79802822e-02 -1.02647234e-02 7.67073386e+02] [ 2.79812527e-02 9.99608447e-01 -4.90785717e-05 5.39643411e+00] [ 1.02620775e-02 -2.38163050e-04 9.99947315e-01 3.35203665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.299254154 meters 0.01856152630285939 Centerline is valid? [True, True] Translation: X:767.13, Y:5.39, Z:3.35 [[ 9.99444441e-01 -3.15391120e-02 -1.07746521e-02 7.67134692e+02] [ 3.15403923e-02 9.99502477e-01 -5.11199174e-05 5.39471690e+00] [ 1.07709037e-02 -2.88745236e-04 9.99941950e-01 3.35196221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3592541539999 meters 0.019429074100925453 Centerline is valid? [True, True] Translation: X:767.20, Y:5.39, Z:3.35 [[ 9.99328012e-01 -3.50173806e-02 -1.08308668e-02 7.67196983e+02] [ 3.50188852e-02 9.99386649e-01 -5.07516249e-05 5.39261962e+00] [ 1.08260008e-02 -3.28567360e-04 9.99941343e-01 3.35190633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.419254154 meters 0.021170098415498405 Centerline is valid? [True, True] Translation: X:767.26, Y:5.39, Z:3.35 [[ 9.99189755e-01 -3.88090945e-02 -1.06624764e-02 7.67257519e+02] [ 3.88107752e-02 9.99246577e-01 -4.93216789e-05 5.38919560e+00] [ 1.06563572e-02 -3.64537259e-04 9.99943153e-01 3.35209296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4792541539999 meters 0.02439039161413413 Centerline is valid? [True, True] Translation: X:767.32, Y:5.39, Z:3.35 [[ 9.99097221e-01 -4.12409111e-02 -1.01946095e-02 7.67319919e+02] [ 4.12425804e-02 9.99149162e-01 -4.65274403e-05 5.38639354e+00] [ 1.01878544e-02 -3.73966566e-04 9.99948033e-01 3.35111099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.539254154 meters 0.026078305028073453 Centerline is valid? [True, True] Translation: X:767.38, Y:5.38, Z:3.35 [[ 9.99046322e-01 -4.26139548e-02 -9.51304316e-03 7.67381025e+02] [ 4.26154759e-02 9.99091547e-01 -4.28531011e-05 5.38225391e+00] [ 9.50622715e-03 -3.62590628e-04 9.99954749e-01 3.35332157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5992541539999 meters 0.025232550257737806 Centerline is valid? [True, True] Translation: X:767.44, Y:5.39, Z:3.35 [[ 9.99075860e-01 -4.16325532e-02 -1.06844375e-02 7.67443222e+02] [ 4.16344234e-02 9.99132910e-01 -4.74231481e-05 5.38747140e+00] [ 1.06771475e-02 -3.97461074e-04 9.99942919e-01 3.35110021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.659254154 meters 0.022988227981516663 Centerline is valid? [True, True] Translation: X:767.51, Y:5.39, Z:3.35 [[ 9.99175705e-01 -3.94684572e-02 -9.49480302e-03 7.67505072e+02] [ 3.94698422e-02 9.99220761e-01 -4.15447429e-05 5.39119757e+00] [ 9.48904400e-03 -3.33247879e-04 9.99954922e-01 3.35431472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.7192541539999 meters 0.01934025443737587 Centerline is valid? [True, True] Translation: X:767.57, Y:5.40, Z:3.36 [[ 9.99371512e-01 -3.41289610e-02 -9.58093238e-03 7.67566064e+02] [ 3.41301297e-02 9.99417397e-01 -4.15465243e-05 5.40261480e+00] [ 9.57676843e-03 -2.85478052e-04 9.99954101e-01 3.35573373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.779254154 meters 0.01897873732927585 Centerline is valid? [True, True] Translation: X:767.63, Y:5.41, Z:3.35 [[ 9.99561052e-01 -2.80332754e-02 -9.58327496e-03 7.67626674e+02] [ 2.80341672e-02 9.99606965e-01 -4.12896168e-05 5.41003557e+00] [ 9.58066588e-03 -2.27387640e-04 9.99954079e-01 3.35499904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.839254154 meters 0.01800329833258164 Centerline is valid? [True, True] Translation: X:767.69, Y:5.41, Z:3.36 [[ 9.99644940e-01 -2.52202372e-02 -8.59840404e-03 7.67688447e+02] [ 2.52208542e-02 9.99681903e-01 -3.66800553e-05 5.41446673e+00] [ 8.59659400e-03 -1.80192063e-04 9.99963032e-01 3.35655640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.899254154 meters 0.01743223074346603 Centerline is valid? [True, True] Translation: X:767.75, Y:5.42, Z:3.36 [[ 9.99688572e-01 -2.37181457e-02 -7.75936217e-03 7.67751026e+02] [ 2.37186065e-02 9.99718674e-01 -3.26459590e-05 5.42037539e+00] [ 7.75795356e-03 -1.51405466e-04 9.99969895e-01 3.35853895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.959254154 meters 0.018997775614946925 Centerline is valid? [True, True] Translation: X:767.81, Y:5.42, Z:3.36 [[ 9.99625922e-01 -2.66351977e-02 -6.21148821e-03 7.67812863e+02] [ 2.66355517e-02 9.99645210e-01 -2.57484697e-05 5.42061986e+00] [ 6.20997025e-03 -1.39707577e-04 9.99980708e-01 3.35965618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.019254154 meters 0.019945403467037135 Centerline is valid? [True, True] Translation: X:767.87, Y:5.42, Z:3.36 [[ 9.99399494e-01 -3.41995148e-02 -5.57174364e-03 7.67874114e+02] [ 3.41999189e-02 9.99415011e-01 -2.27657899e-05 5.41688642e+00] [ 5.56926281e-03 -1.67801062e-04 9.99984477e-01 3.36143966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.079254154 meters 0.023961248876775348 Centerline is valid? [True, True] Translation: X:767.93, Y:5.41, Z:3.36 [[ 9.99082372e-01 -4.21992499e-02 -7.32380666e-03 7.67934436e+02] [ 4.22001644e-02 9.99109176e-01 -2.96881965e-05 5.41172606e+00] [ 7.31853526e-03 -2.79404892e-04 9.99973180e-01 3.35904645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.139254154 meters 0.02362453093458636 Centerline is valid? [True, True] Translation: X:767.99, Y:5.41, Z:3.36 [[ 9.98696282e-01 -5.05461351e-02 -7.12913153e-03 7.67994553e+02] [ 5.05472141e-02 9.98721672e-01 -2.88701488e-05 5.40887389e+00] [ 7.12147744e-03 -3.31525228e-04 9.99974587e-01 3.36099550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.199254154 meters 0.02684446089062037 Centerline is valid? [True, True] Translation: X:768.05, Y:5.40, Z:3.36 [[ 9.98348402e-01 -5.70403823e-02 -6.84560597e-03 7.68054642e+02] [ 5.70415293e-02 9.98371806e-01 -2.77400890e-05 5.40351001e+00] [ 6.83604230e-03 -3.62789560e-04 9.99976568e-01 3.36051853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.259254154 meters 0.02814615272938715 Centerline is valid? [True, True] Translation: X:768.12, Y:5.40, Z:3.36 [[ 9.98162704e-01 -6.01570105e-02 -7.23540567e-03 7.68115364e+02] [ 6.01583733e-02 9.98188844e-01 -2.93389714e-05 5.40283251e+00] [ 7.22406617e-03 -4.05985168e-04 9.99973824e-01 3.36062347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.319254154 meters 0.028448064531395773 Centerline is valid? [True, True] Translation: X:768.18, Y:5.40, Z:3.36 [[ 9.98249069e-01 -5.86970757e-02 -7.31085204e-03 7.68177733e+02] [ 5.86984302e-02 9.98275760e-01 -2.93487783e-05 5.40464591e+00] [ 7.29996907e-03 -3.99838148e-04 9.99973275e-01 3.36055810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.379254154 meters 0.030151365505758816 Centerline is valid? [True, True] Translation: X:768.24, Y:5.40, Z:3.36 [[ 9.98367057e-01 -5.66136895e-02 -7.62297498e-03 7.68238389e+02] [ 5.66151050e-02 9.98396078e-01 -3.01478849e-05 5.40478533e+00] [ 7.61245511e-03 -4.01476873e-04 9.99970944e-01 3.36040714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.439254154 meters 0.02861642511348028 Centerline is valid? [True, True] Translation: X:768.30, Y:5.41, Z:3.36 [[ 9.98642280e-01 -5.16471341e-02 -6.79481745e-03 7.68299197e+02] [ 5.16481451e-02 9.98665344e-01 -2.67146116e-05 5.41090051e+00] [ 6.78712844e-03 -3.24261377e-04 9.99976915e-01 3.36086228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.499254154 meters 0.02538239201631787 Centerline is valid? [True, True] Translation: X:768.36, Y:5.42, Z:3.36 [[ 9.98891148e-01 -4.66144551e-02 -6.60051499e-03 7.68360375e+02] [ 4.66152999e-02 9.98912916e-01 -2.58835478e-05 5.41949064e+00] [ 6.59454622e-03 -2.81830139e-04 9.99978216e-01 3.36165076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.559254154 meters 0.02594741540257239 Centerline is valid? [True, True] Translation: X:768.42, Y:5.42, Z:3.36 [[ 9.99103635e-01 -4.16421829e-02 -7.60631520e-03 7.68420556e+02] [ 4.16431615e-02 9.99132547e-01 -2.97377529e-05 5.42205478e+00] [ 7.60095542e-03 -2.87039916e-04 9.99971071e-01 3.36008354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.619254154 meters 0.020110712363112862 Centerline is valid? [True, True] Translation: X:768.48, Y:5.44, Z:3.36 [[ 9.99301677e-01 -3.62953370e-02 -8.87728283e-03 7.68481090e+02] [ 3.62964593e-02 9.99341066e-01 -3.47067452e-05 5.43571173e+00] [ 8.87269297e-03 -2.87531426e-04 9.99960596e-01 3.35985332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.679254154 meters 0.018951016009656166 Centerline is valid? [True, True] Translation: X:768.54, Y:5.44, Z:3.36 [[ 9.99465487e-01 -3.16033101e-02 -8.36482760e-03 7.68542866e+02] [ 3.16041442e-02 9.99500464e-01 -3.24848901e-05 5.44077106e+00] [ 8.36167569e-03 -2.31895691e-04 9.99965014e-01 3.36039749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.739254154 meters 0.017380147830039674 Centerline is valid? [True, True] Translation: X:768.60, Y:5.45, Z:3.36 [[ 9.99678956e-01 -2.39348928e-02 -8.31294140e-03 7.68602620e+02] [ 2.39354536e-02 9.99713505e-01 -3.20424214e-05 5.44774189e+00] [ 8.31132672e-03 -1.66941888e-04 9.99965446e-01 3.36054046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.799254154 meters 0.015937526309163078 Centerline is valid? [True, True] Translation: X:768.66, Y:5.45, Z:3.36 [[ 9.99789151e-01 -1.90581162e-02 -7.64472182e-03 7.68663695e+02] [ 1.90584488e-02 9.99818371e-01 -2.93466899e-05 5.45337995e+00] [ 7.64389261e-03 -1.16356038e-04 9.99970778e-01 3.36120932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8592541539999 meters 0.01614950239414954 Centerline is valid? [True, True] Translation: X:768.73, Y:5.46, Z:3.36 [[ 9.99869693e-01 -1.42717267e-02 -7.54422546e-03 7.68725356e+02] [ 1.42719165e-02 9.99898151e-01 -2.86824159e-05 5.45705563e+00] [ 7.54386643e-03 -7.89918774e-05 9.99971542e-01 3.36049624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.919254154 meters 0.014921999880369616 Centerline is valid? [True, True] Translation: X:768.79, Y:5.46, Z:3.36 [[ 9.99931505e-01 -9.87157562e-03 -6.28793134e-03 7.68786142e+02] [ 9.87162176e-03 9.99951274e-01 -2.36993650e-05 5.45864467e+00] [ 6.28785891e-03 -3.83743382e-05 9.99980230e-01 3.36122073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9792541539999 meters 0.014673726330067137 Centerline is valid? [True, True] Translation: X:768.85, Y:5.46, Z:3.36 [[ 9.99948606e-01 -7.69696437e-03 -6.59864834e-03 7.68846881e+02] [ 7.69696895e-03 9.99970378e-01 -2.47006494e-05 5.45877976e+00] [ 6.59864299e-03 -2.60902115e-05 9.99978228e-01 3.36148224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.039254154 meters 0.014648856708702005 Centerline is valid? [True, True] Translation: X:768.91, Y:5.45, Z:3.36 [[ 9.99931509e-01 -9.47833123e-03 -6.86578658e-03 7.68906757e+02] [ 9.47837816e-03 9.99955079e-01 -2.57039171e-05 5.45361719e+00] [ 6.86572180e-03 -3.93743650e-05 9.99976430e-01 3.36045696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0992541539999 meters 0.015336114085431514 Centerline is valid? [True, True] Translation: X:768.97, Y:5.44, Z:3.36 [[ 9.99853345e-01 -1.50538182e-02 -8.16520900e-03 7.68967360e+02] [ 1.50540704e-02 9.99886681e-01 -3.05756462e-05 5.44472882e+00] [ 8.16474401e-03 -9.23484687e-05 9.99966664e-01 3.35928022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.159254154 meters 0.01638850639926543 Centerline is valid? [True, True] Translation: X:769.03, Y:5.44, Z:3.36 [[ 9.99725001e-01 -2.17764580e-02 -8.70109013e-03 7.69028640e+02] [ 2.17770003e-02 9.99762852e-01 -3.24276438e-05 5.43542809e+00] [ 8.69973285e-03 -1.57064916e-04 9.99962144e-01 3.35881854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.2192541539999 meters 0.017707544278093446 Centerline is valid? [True, True] Translation: X:769.09, Y:5.43, Z:3.36 [[ 9.99623042e-01 -2.60405095e-02 -8.69860168e-03 7.69090312e+02] [ 2.60412179e-02 9.99660869e-01 -3.18305127e-05 5.42833165e+00] [ 8.69648060e-03 -1.94703668e-04 9.99962166e-01 3.35840838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.279254154 meters 0.019841007295211148 Centerline is valid? [True, True] Translation: X:769.15, Y:5.42, Z:3.36 [[ 9.99452770e-01 -3.20149519e-02 -8.31881678e-03 7.69151811e+02] [ 3.20158113e-02 9.99487362e-01 -2.98823079e-05 5.41919992e+00] [ 8.31550892e-03 -2.36467712e-04 9.99965398e-01 3.35860525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.339254154 meters 0.02074731925701121 Centerline is valid? [True, True] Translation: X:769.21, Y:5.41, Z:3.36 [[ 9.99276331e-01 -3.71660641e-02 -8.09313932e-03 7.69212522e+02] [ 3.71670480e-02 9.99309066e-01 -2.88543670e-05 5.41360738e+00] [ 8.08861990e-03 -2.71964611e-04 9.99967250e-01 3.35950065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.399254154 meters 0.02105101621559651 Centerline is valid? [True, True] Translation: X:769.27, Y:5.41, Z:3.36 [[ 9.99153975e-01 -4.03533249e-02 -7.93368212e-03 7.69274825e+02] [ 4.03543733e-02 9.99185430e-01 -2.79463462e-05 5.41075359e+00] [ 7.92834731e-03 -2.92236067e-04 9.99968527e-01 3.36010229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.459254154 meters 0.025329708022327205 Centerline is valid? [True, True] Translation: X:769.34, Y:5.40, Z:3.36 [[ 9.98907863e-01 -4.60758161e-02 -7.75239492e-03 7.69335081e+02] [ 4.60769933e-02 9.98937891e-01 -2.67851055e-05 5.40101036e+00] [ 7.74539518e-03 -3.30451196e-04 9.99969949e-01 3.35945715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.519254154 meters 0.02640063947159316 Centerline is valid? [True, True] Translation: X:769.40, Y:5.40, Z:3.36 [[ 9.98576802e-01 -5.27395612e-02 -7.93147929e-03 7.69395489e+02] [ 5.27410054e-02 9.98608224e-01 -2.71172018e-05 5.39801187e+00] [ 7.92187060e-03 -3.91235583e-04 9.99968545e-01 3.35891106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.579254154 meters 0.032399908038160154 Centerline is valid? [True, True] Translation: X:769.46, Y:5.39, Z:3.36 [[ 9.98214426e-01 -5.90486602e-02 -9.01199509e-03 7.69455248e+02] [ 5.90507813e-02 9.98254980e-01 -3.07718796e-05 5.39167947e+00] [ 8.99808602e-03 -5.01448417e-04 9.99959391e-01 3.35637727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.639254154 meters 0.03274933229451707 Centerline is valid? [True, True] Translation: X:769.52, Y:5.39, Z:3.36 [[ 9.97846561e-01 -6.50571718e-02 -8.35498969e-03 7.69516073e+02] [ 6.50592057e-02 9.97881405e-01 -2.84065442e-05 5.39054810e+00] [ 8.33913691e-03 -5.15223621e-04 9.99965096e-01 3.35833149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.699254154 meters 0.03466699899470201 Centerline is valid? [True, True] Translation: X:769.58, Y:5.39, Z:3.36 [[ 9.97739056e-01 -6.66559178e-02 -8.58867006e-03 7.69577799e+02] [ 6.66581291e-02 9.97775873e-01 -2.88587077e-05 5.38994671e+00] [ 8.57149138e-03 -5.43711218e-04 9.99963116e-01 3.35734734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.759254154 meters 0.03225555318411812 Centerline is valid? [True, True] Translation: X:769.64, Y:5.40, Z:3.36 [[ 9.97868222e-01 -6.48854515e-02 -6.99213282e-03 7.69639543e+02] [ 6.48868760e-02 9.97892626e-01 -2.31601855e-05 5.39822706e+00] [ 6.97890054e-03 -4.30586842e-04 9.99975554e-01 3.35946527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.819254154 meters 0.031719931699063196 Centerline is valid? [True, True] Translation: X:769.70, Y:5.40, Z:3.36 [[ 9.98159941e-01 -6.02105624e-02 -7.17075763e-03 7.69698597e+02] [ 6.02119418e-02 9.98185615e-01 -2.35495271e-05 5.40248374e+00] [ 7.15916505e-03 -4.08259047e-04 9.99974290e-01 3.35897235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.879254154 meters 0.02447247188561499 Centerline is valid? [True, True] Translation: X:769.76, Y:5.42, Z:3.36 [[ 9.98772879e-01 -4.90173411e-02 -7.07364369e-03 7.69759432e+02] [ 4.90184028e-02 9.98797875e-01 -2.32923734e-05 5.41976677e+00] [ 7.06628202e-03 -3.23474925e-04 9.99974981e-01 3.35983891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.939254154 meters 0.021411758566227682 Centerline is valid? [True, True] Translation: X:769.82, Y:5.43, Z:3.36 [[ 9.99400660e-01 -3.40425874e-02 -6.27885391e-03 7.69818878e+02] [ 3.40431287e-02 9.99420364e-01 -2.06670301e-05 5.43420494e+00] [ 6.27591802e-03 -1.93097188e-04 9.99980288e-01 3.36037991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.999254154 meters 0.01691580402688359 Centerline is valid? [True, True] Translation: X:769.88, Y:5.45, Z:3.36 [[ 9.99829434e-01 -1.74151406e-02 -6.14951541e-03 7.69879364e+02] [ 1.74153454e-02 9.99848341e-01 -2.02465458e-05 5.45032661e+00] [ 6.14893538e-03 -8.68528427e-05 9.99981091e-01 3.36076132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.059254154 meters 0.01411734401790733 Centerline is valid? [True, True] Translation: X:769.94, Y:5.46, Z:3.36 [[ 9.99980847e-01 -2.38718718e-03 -5.71019016e-03 7.69940756e+02] [ 2.38711899e-03 9.99997151e-01 -1.87567232e-05 5.46326081e+00] [ 5.71021867e-03 5.12546059e-06 9.99983697e-01 3.36228062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.119254154 meters 0.014452323171873081 Centerline is valid? [True, True] Translation: X:770.00, Y:5.47, Z:3.36 [[ 9.99969872e-01 4.53673083e-03 -6.29866047e-03 7.69999215e+02] [-4.53695086e-03 9.99989708e-01 -2.06445766e-05 5.46939860e+00] [ 6.29850199e-03 4.92206677e-05 9.99980163e-01 3.36142112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.179254154 meters 0.014667208106141107 Centerline is valid? [True, True] Translation: X:770.06, Y:5.47, Z:3.36 [[ 9.99940659e-01 7.59457982e-03 -7.81030125e-03 7.70057746e+02] [-7.59502119e-03 9.99971157e-01 -2.68515158e-05 5.47066766e+00] [ 7.80987205e-03 8.61693258e-05 9.99969499e-01 3.35976632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.239254154 meters 0.0159804539466722 Centerline is valid? [True, True] Translation: X:770.12, Y:5.47, Z:3.36 [[ 9.99960205e-01 3.39052385e-03 -8.25177494e-03 7.70117063e+02] [-3.39088716e-03 9.99994250e-01 -3.00366943e-05 5.46664412e+00] [ 8.25162566e-03 5.80163367e-05 9.99965953e-01 3.35827085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.299254154 meters 0.015142358687428619 Centerline is valid? [True, True] Translation: X:770.17, Y:5.46, Z:3.36 [[ 9.99970971e-01 -2.72413568e-03 -7.11591998e-03 7.70174439e+02] [ 2.72401508e-03 9.99996289e-01 -2.66395507e-05 5.46065199e+00] [ 7.11596615e-03 7.25490404e-06 9.99974681e-01 3.35968696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3592541539999 meters 0.013904920822502208 Centerline is valid? [True, True] Translation: X:770.23, Y:5.46, Z:3.36 [[ 9.99962890e-01 -6.21137559e-03 -5.96978973e-03 7.70233693e+02] [ 6.21135008e-03 9.99980709e-01 -2.28145694e-05 5.45608518e+00] [ 5.96981628e-03 -1.42667312e-05 9.99982180e-01 3.36117842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.419254154 meters 0.01751474409780283 Centerline is valid? [True, True] Translation: X:770.29, Y:5.45, Z:3.36 [[ 9.99934771e-01 -9.75215137e-03 -5.94545555e-03 7.70293057e+02] [ 9.75218641e-03 9.99952446e-01 -2.30976174e-05 5.44771920e+00] [ 5.94539807e-03 -3.48850800e-05 9.99982325e-01 3.35875821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4792541539999 meters 0.014412397942732844 Centerline is valid? [True, True] Translation: X:770.35, Y:5.44, Z:3.36 [[ 9.99893568e-01 -1.41363567e-02 -3.60766077e-03 7.70353756e+02] [ 1.41363978e-02 9.99900076e-01 -1.41122970e-05 5.44040287e+00] [ 3.60749977e-03 -3.68885327e-05 9.99993492e-01 3.36154316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.539254154 meters 0.016722911608448333 Centerline is valid? [True, True] Translation: X:770.42, Y:5.43, Z:3.36 [[ 9.99855432e-01 -1.63716448e-02 -4.59173381e-03 7.70415972e+02] [ 1.63717350e-02 9.99865974e-01 -1.79477568e-05 5.43256537e+00] [ 4.59141224e-03 -5.72294871e-05 9.99989458e-01 3.35868497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5992541539999 meters 0.015049770326995737 Centerline is valid? [True, True] Translation: X:770.48, Y:5.43, Z:3.36 [[ 9.99847687e-01 -1.67521374e-02 -4.89581302e-03 7.70478028e+02] [ 1.67522464e-02 9.99859671e-01 -1.87546121e-05 5.42670673e+00] [ 4.89544018e-03 -6.32641105e-05 9.99988015e-01 3.35868382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.659254154 meters 0.01468302446176016 Centerline is valid? [True, True] Translation: X:770.54, Y:5.42, Z:3.36 [[ 9.99878273e-01 -1.44380713e-02 -5.91457178e-03 7.70539076e+02] [ 1.44381925e-02 9.99895764e-01 -2.22073141e-05 5.42358964e+00] [ 5.91427590e-03 -6.31911148e-05 9.99982509e-01 3.35794670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.7192541539999 meters 0.01707780835868876 Centerline is valid? [True, True] Translation: X:770.60, Y:5.42, Z:3.36 [[ 9.99891163e-01 -1.26719230e-02 -7.55545537e-03 7.70599967e+02] [ 1.26720728e-02 9.99919706e-01 -2.80443470e-05 5.42311635e+00] [ 7.55520409e-03 -6.77019857e-05 9.99971457e-01 3.35617367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.779254154 meters 0.015519611442721584 Centerline is valid? [True, True] Translation: X:770.66, Y:5.42, Z:3.36 [[ 9.99910386e-01 -1.05393791e-02 -8.25473096e-03 7.70659088e+02] [ 1.05394862e-02 9.99944458e-01 -3.05300728e-05 5.41895749e+00] [ 8.25459424e-03 -5.64732862e-05 9.99965929e-01 3.35587971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.839254154 meters 0.014340581858557463 Centerline is valid? [True, True] Translation: X:770.72, Y:5.41, Z:3.36 [[ 9.99904138e-01 -1.08405196e-02 -8.61379349e-03 7.70719021e+02] [ 1.08406454e-02 9.99941238e-01 -3.20974562e-05 5.41492548e+00] [ 8.61363528e-03 -6.12847011e-05 9.99962900e-01 3.35673669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.899254154 meters 0.01431297384622712 Centerline is valid? [True, True] Translation: X:770.78, Y:5.41, Z:3.36 [[ 9.99881505e-01 -1.28057375e-02 -8.54341238e-03 7.70778331e+02] [ 1.28059302e-02 9.99918000e-01 -3.21476290e-05 5.40949899e+00] [ 8.54312349e-03 -7.72625233e-05 9.99963504e-01 3.35689238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.959254154 meters 0.014476060838778797 Centerline is valid? [True, True] Translation: X:770.84, Y:5.40, Z:3.36 [[ 9.99848173e-01 -1.51719088e-02 -8.56998549e-03 7.70837412e+02] [ 1.51721901e-02 9.99884895e-01 -3.21952640e-05 5.40417619e+00] [ 8.56948751e-03 -9.78350732e-05 9.99963276e-01 3.35708251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.019254154 meters 0.015940887925249093 Centerline is valid? [True, True] Translation: X:770.90, Y:5.40, Z:3.36 [[ 9.99761881e-01 -2.04175124e-02 -7.70111978e-03 7.70898069e+02] [ 2.04178967e-02 9.99791533e-01 -2.87270540e-05 5.39615925e+00] [ 7.70010088e-03 -1.28520455e-04 9.99970346e-01 3.35778346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.079254154 meters 0.018168686302460654 Centerline is valid? [True, True] Translation: X:770.96, Y:5.39, Z:3.36 [[ 9.99662581e-01 -2.53194451e-02 -5.80077434e-03 7.70959311e+02] [ 2.53197459e-02 9.99679404e-01 -2.15880033e-05 5.38837785e+00] [ 5.79946123e-03 -1.25293413e-04 9.99983175e-01 3.35868087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.139254154 meters 0.018541791637148777 Centerline is valid? [True, True] Translation: X:771.02, Y:5.38, Z:3.36 [[ 9.99538162e-01 -3.00316020e-02 -4.64395013e-03 7.71020633e+02] [ 3.00318463e-02 9.99548942e-01 -1.71432942e-05 5.38220332e+00] [ 4.64237028e-03 -1.22331020e-04 9.99989217e-01 3.36075290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.199254154 meters 0.021526066171845923 Centerline is valid? [True, True] Translation: X:771.08, Y:5.38, Z:3.36 [[ 9.99434439e-01 -3.32128529e-02 -5.26385856e-03 7.71081805e+02] [ 3.32132125e-02 9.99448289e-01 -1.91220171e-05 5.37623831e+00] [ 5.26158952e-03 -1.55718450e-04 9.99986146e-01 3.35920386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.259254154 meters 0.02184138021638489 Centerline is valid? [True, True] Translation: X:771.14, Y:5.37, Z:3.36 [[ 9.99383477e-01 -3.48856573e-02 -3.95684349e-03 7.71143311e+02] [ 3.48858741e-02 9.99391303e-01 -1.42231575e-05 5.37379293e+00] [ 3.95493116e-03 -1.23823556e-04 9.99992172e-01 3.36098505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.319254154 meters 0.02291671123150873 Centerline is valid? [True, True] Translation: X:771.21, Y:5.37, Z:3.36 [[ 9.99355607e-01 -3.55180989e-02 -5.18026048e-03 7.71205193e+02] [ 3.55184808e-02 9.99369020e-01 -1.82707434e-05 5.37232295e+00] [ 5.17764077e-03 -1.65736013e-04 9.99986582e-01 3.35938807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.379254154 meters 0.024075179450696732 Centerline is valid? [True, True] Translation: X:771.27, Y:5.37, Z:3.36 [[ 9.99274518e-01 -3.75515732e-02 -6.34958287e-03 7.71266035e+02] [ 3.75521909e-02 9.99294667e-01 -2.19637041e-05 5.37018984e+00] [ 6.34592907e-03 -2.16492978e-04 9.99979841e-01 3.35836006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.439254154 meters 0.025149060945676312 Centerline is valid? [True, True] Translation: X:771.33, Y:5.37, Z:3.36 [[ 9.99237137e-01 -3.83545052e-02 -7.35357398e-03 7.71328016e+02] [ 3.83553580e-02 9.99264162e-01 -2.50716792e-05 5.36984784e+00] [ 7.34912455e-03 -2.56996409e-04 9.99972962e-01 3.35729806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.499254154 meters 0.02542458796452338 Centerline is valid? [True, True] Translation: X:771.39, Y:5.37, Z:3.36 [[ 9.99268043e-01 -3.75063217e-02 -7.52685177e-03 7.71389268e+02] [ 3.75071959e-02 9.99296357e-01 -2.50233651e-05 5.37201647e+00] [ 7.52249409e-03 -2.57306055e-04 9.99971673e-01 3.35739307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.559254154 meters 0.02167098395787712 Centerline is valid? [True, True] Translation: X:771.45, Y:5.38, Z:3.36 [[ 9.99308956e-01 -3.60860247e-02 -8.91116603e-03 7.71451773e+02] [ 3.60872017e-02 9.99348644e-01 -2.87206160e-05 5.38421181e+00] [ 8.90639810e-03 -2.92878277e-04 9.99960294e-01 3.35697953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.619254154 meters 0.01998700530757235 Centerline is valid? [True, True] Translation: X:771.51, Y:5.39, Z:3.36 [[ 9.99335037e-01 -3.57417457e-02 -7.21189305e-03 7.71514317e+02] [ 3.57425111e-02 9.99361032e-01 -2.27767762e-05 5.38606779e+00] [ 7.20809896e-03 -2.35009537e-04 9.99973994e-01 3.35882257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.679254154 meters 0.01774051498275483 Centerline is valid? [True, True] Translation: X:771.58, Y:5.40, Z:3.36 [[ 9.99531886e-01 -2.99465218e-02 -6.26212143e-03 7.71575079e+02] [ 2.99469872e-02 9.99551488e-01 -1.94656365e-05 5.39651343e+00] [ 6.25989572e-03 -1.68075146e-04 9.99980393e-01 3.35998541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.739254154 meters 0.015812826687335767 Centerline is valid? [True, True] Translation: X:771.64, Y:5.41, Z:3.36 [[ 9.99728720e-01 -2.27265186e-02 -5.09820647e-03 7.71637060e+02] [ 2.27267337e-02 9.99741714e-01 -1.57441513e-05 5.40671664e+00] [ 5.09724749e-03 -1.00125700e-04 9.99987004e-01 3.36182579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.799254154 meters 0.015103981229673073 Centerline is valid? [True, True] Translation: X:771.70, Y:5.41, Z:3.36 [[ 9.99840030e-01 -1.71487944e-02 -5.08267576e-03 7.71697849e+02] [ 1.71489375e-02 9.99852946e-01 -1.54318554e-05 5.41263703e+00] [ 5.08219297e-03 -7.17331022e-05 9.99987083e-01 3.36144385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8592541539999 meters 0.014390511674808005 Centerline is valid? [True, True] Translation: X:771.76, Y:5.42, Z:3.36 [[ 9.99861888e-01 -1.52352888e-02 -6.64015439e-03 7.71759415e+02] [ 1.52354928e-02 9.99883933e-01 -1.98688571e-05 5.41748325e+00] [ 6.63968639e-03 -8.12999111e-05 9.99977954e-01 3.36012435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.919254154 meters 0.014902892267805952 Centerline is valid? [True, True] Translation: X:771.82, Y:5.42, Z:3.36 [[ 9.99817923e-01 -1.66879839e-02 -9.25379635e-03 7.71819768e+02] [ 1.66884451e-02 9.99860738e-01 -2.73745711e-05 5.41843459e+00] [ 9.25296447e-03 -1.27061886e-04 9.99957182e-01 3.35757766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9792541539999 meters 0.016320501316767547 Centerline is valid? [True, True] Translation: X:771.88, Y:5.42, Z:3.36 [[ 9.99729706e-01 -2.12252201e-02 -9.48710643e-03 7.71880622e+02] [ 2.12259099e-02 9.99774705e-01 -2.79828134e-05 5.41758867e+00] [ 9.48556297e-03 -1.73397217e-04 9.99954996e-01 3.35676120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.039254154 meters 0.016907391182631838 Centerline is valid? [True, True] Translation: X:771.94, Y:5.42, Z:3.36 [[ 9.99621961e-01 -2.61920015e-02 -8.36143743e-03 7.71941672e+02] [ 2.61927122e-02 9.99656912e-01 -2.45172686e-05 5.41667785e+00] [ 8.35921088e-03 -1.94500724e-04 9.99965042e-01 3.35859678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0992541539999 meters 0.018698810443432853 Centerline is valid? [True, True] Translation: X:772.00, Y:5.41, Z:3.36 [[ 9.99566385e-01 -2.84836586e-02 -7.46474246e-03 7.72002503e+02] [ 2.84842912e-02 9.99594240e-01 -2.15770202e-05 5.41478140e+00] [ 7.46232816e-03 -1.91060234e-04 9.99972138e-01 3.35923061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.159254154 meters 0.01845545492387832 Centerline is valid? [True, True] Translation: X:772.06, Y:5.42, Z:3.36 [[ 9.99555812e-01 -2.90321269e-02 -6.73159894e-03 7.72064289e+02] [ 2.90326564e-02 9.99578463e-01 -1.90686669e-05 5.41735532e+00] [ 6.72931493e-03 -1.76376002e-04 9.99977342e-01 3.35876371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.2192541539999 meters 0.018034543164070358 Centerline is valid? [True, True] Translation: X:772.13, Y:5.42, Z:3.36 [[ 9.99559408e-01 -2.91604636e-02 -5.53682201e-03 7.72125930e+02] [ 2.91608256e-02 9.99574733e-01 -1.53529756e-05 5.41774889e+00] [ 5.53491508e-03 -1.46112090e-04 9.99984672e-01 3.36015278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.279254154 meters 0.017377353801988436 Centerline is valid? [True, True] Translation: X:772.19, Y:5.42, Z:3.36 [[ 9.99629972e-01 -2.68139844e-02 -4.57481778e-03 7.72188686e+02] [ 2.68142080e-02 9.99640434e-01 -1.24700913e-05 5.41918135e+00] [ 4.57350720e-03 -1.10204638e-04 9.99989535e-01 3.36079156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.339254154 meters 0.016164128090000392 Centerline is valid? [True, True] Translation: X:772.25, Y:5.42, Z:3.36 [[ 9.99730652e-01 -2.26935516e-02 -4.86060510e-03 7.72250437e+02] [ 2.26937575e-02 9.99742463e-01 -1.28007908e-05 5.42075545e+00] [ 4.85964382e-03 -9.75080506e-05 9.99988187e-01 3.36025178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.399254154 meters 0.01523826963647052 Centerline is valid? [True, True] Translation: X:772.31, Y:5.42, Z:3.36 [[ 9.99818609e-01 -1.83664781e-02 -5.04192799e-03 7.72312047e+02] [ 1.83666460e-02 9.99831319e-01 -1.30045335e-05 5.42239156e+00] [ 5.04131636e-03 -7.96011319e-05 9.99987289e-01 3.35993592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.459254154 meters 0.014754103015628081 Centerline is valid? [True, True] Translation: X:772.37, Y:5.42, Z:3.36 [[ 9.99874599e-01 -1.51446337e-02 -4.62880330e-03 7.72373523e+02] [ 1.51447414e-02 9.99885312e-01 -1.17782245e-05 5.42191062e+00] [ 4.62845081e-03 -5.83252814e-05 9.99989287e-01 3.36030644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.519254154 meters 0.014738744654048046 Centerline is valid? [True, True] Translation: X:772.44, Y:5.42, Z:3.36 [[ 9.99882376e-01 -1.44105920e-02 -5.25060437e-03 7.72435251e+02] [ 1.44107223e-02 9.99896160e-01 -1.30303145e-05 5.42003951e+00] [ 5.25024692e-03 -6.26362196e-05 9.99986215e-01 3.36007232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.579254154 meters 0.015062774093942103 Centerline is valid? [True, True] Translation: X:772.50, Y:5.41, Z:3.36 [[ 9.99821988e-01 -1.75254109e-02 -6.98950949e-03 7.72496628e+02] [ 1.75257213e-02 9.99846413e-01 -1.68349679e-05 5.41490676e+00] [ 6.98873103e-03 -1.05664224e-04 9.99975573e-01 3.35970284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.639254154 meters 0.017543821714233077 Centerline is valid? [True, True] Translation: X:772.56, Y:5.41, Z:3.36 [[ 9.99734009e-01 -2.16120441e-02 -8.05175018e-03 7.72557120e+02] [ 2.16125905e-02 9.99766420e-01 -1.91462746e-05 5.40846220e+00] [ 8.05028324e-03 -1.54877998e-04 9.99967584e-01 3.35791392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.699254154 meters 0.019500764529805408 Centerline is valid? [True, True] Translation: X:772.62, Y:5.40, Z:3.36 [[ 9.99605297e-01 -2.69098735e-02 -8.06897061e-03 7.72618309e+02] [ 2.69105965e-02 9.99637844e-01 -1.89807704e-05 5.40167726e+00] [ 8.06655916e-03 -1.98167533e-04 9.99967445e-01 3.35832656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.759254154 meters 0.021461551645572258 Centerline is valid? [True, True] Translation: X:772.68, Y:5.39, Z:3.36 [[ 9.99388558e-01 -3.42237110e-02 -7.15872451e-03 7.72679555e+02] [ 3.42244688e-02 9.99414171e-01 -1.66554418e-05 5.39239593e+00] [ 7.15510073e-03 -2.28358286e-04 9.99974376e-01 3.36076456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.819254154 meters 0.020537714007486482 Centerline is valid? [True, True] Translation: X:772.74, Y:5.39, Z:3.36 [[ 9.99182386e-01 -3.99919307e-02 -5.93340223e-03 7.72740593e+02] [ 3.99925534e-02 9.99199978e-01 -1.37130015e-05 5.39087458e+00] [ 5.92920378e-03 -2.23590116e-04 9.99982397e-01 3.36228683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.879254154 meters 0.024371888234597152 Centerline is valid? [True, True] Translation: X:772.80, Y:5.38, Z:3.36 [[ 9.99037526e-01 -4.34199223e-02 -6.22356635e-03 7.72801211e+02] [ 4.34206745e-02 9.99056878e-01 -1.42637786e-05 5.38467332e+00] [ 6.21831609e-03 -2.55981399e-04 9.99980633e-01 3.36042861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.939254154 meters 0.023132187324798298 Centerline is valid? [True, True] Translation: X:772.86, Y:5.38, Z:3.36 [[ 9.98955776e-01 -4.52920265e-02 -5.99909743e-03 7.72863093e+02] [ 4.52927604e-02 9.98973756e-01 -1.35532390e-05 5.38304437e+00] [ 5.99355475e-03 -2.58176596e-04 9.99982005e-01 3.36282656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.999254154 meters 0.022156277803029128 Centerline is valid? [True, True] Translation: X:772.92, Y:5.39, Z:3.36 [[ 9.99048476e-01 -4.31058710e-02 -6.63521577e-03 7.72924796e+02] [ 4.31067238e-02 9.99070473e-01 -1.45047917e-05 5.38670214e+00] [ 6.62967340e-03 -2.71531423e-04 9.99977987e-01 3.36280975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.059254154 meters 0.021632168410587356 Centerline is valid? [True, True] Translation: X:772.98, Y:5.39, Z:3.36 [[ 9.99230261e-01 -3.83947661e-02 -8.04536272e-03 7.72984687e+02] [ 3.83958698e-02 9.99262607e-01 -1.72862310e-05 5.38862199e+00] [ 8.04009383e-03 -2.91635774e-04 9.99967635e-01 3.36192996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.119254154 meters 0.02031030985120457 Centerline is valid? [True, True] Translation: X:773.05, Y:5.39, Z:3.36 [[ 9.99397981e-01 -3.32956811e-02 -9.75055878e-03 7.73046197e+02] [ 3.32970626e-02 9.99445499e-01 -2.06643637e-05 5.39294216e+00] [ 9.74584012e-03 -3.04013043e-04 9.99952462e-01 3.36096528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.179254154 meters 0.019008307944428537 Centerline is valid? [True, True] Translation: X:773.11, Y:5.40, Z:3.36 [[ 9.99500683e-01 -2.97366378e-02 -1.06825333e-02 7.73107973e+02] [ 2.97380993e-02 9.99557725e-01 -2.20401427e-05 5.39746120e+00] [ 1.06784641e-02 -2.95649099e-04 9.99942940e-01 3.36108180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.239254154 meters 0.01765806303242028 Centerline is valid? [True, True] Translation: X:773.17, Y:5.40, Z:3.36 [[ 9.99669973e-01 -2.29922110e-02 -1.14587790e-02 7.73167764e+02] [ 2.29934527e-02 9.99735615e-01 -2.33847354e-05 5.40415389e+00] [ 1.14562871e-02 -2.40099875e-04 9.99934346e-01 3.36185021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.299254154 meters 0.016990424530573936 Centerline is valid? [True, True] Translation: X:773.23, Y:5.41, Z:3.36 [[ 9.99733433e-01 -1.96956088e-02 -1.20476184e-02 7.73228201e+02] [ 1.96967422e-02 9.99806000e-01 -2.45864214e-05 5.40772410e+00] [ 1.20457654e-02 -2.12718966e-04 9.99927425e-01 3.36241000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3592541539999 meters 0.015804443326446583 Centerline is valid? [True, True] Translation: X:773.29, Y:5.41, Z:3.36 [[ 9.99801278e-01 -1.56441760e-02 -1.23557481e-02 7.73288140e+02] [ 1.56450552e-02 9.99877608e-01 -2.55101295e-05 5.41408992e+00] [ 1.23546349e-02 -1.67801300e-04 9.99923665e-01 3.36427016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.419254154 meters 0.01563732108311956 Centerline is valid? [True, True] Translation: X:773.35, Y:5.42, Z:3.37 [[ 9.99849128e-01 -1.28113718e-02 -1.17298464e-02 7.73346460e+02] [ 1.28119449e-02 9.99917923e-01 -2.62820766e-05 5.41727757e+00] [ 1.17292203e-02 -1.24004034e-04 9.99931203e-01 3.36515890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4792541539999 meters 0.01553237848687373 Centerline is valid? [True, True] Translation: X:773.40, Y:5.42, Z:3.37 [[ 9.99893489e-01 -9.68569699e-03 -1.09178114e-02 7.73404569e+02] [ 9.68598908e-03 9.99953089e-01 -2.61238808e-05 5.41888920e+00] [ 1.09175523e-02 -7.96287037e-05 9.99940399e-01 3.36607141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.539254154 meters 0.015250851377802214 Centerline is valid? [True, True] Translation: X:773.46, Y:5.42, Z:3.37 [[ 9.99911203e-01 -7.75263483e-03 -1.08389133e-02 7.73462979e+02] [ 7.75278702e-03 9.99969946e-01 -2.79763219e-05 5.41919304e+00] [ 1.08388045e-02 -5.60579490e-05 9.99941257e-01 3.36681972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5992541539999 meters 0.01508404326034822 Centerline is valid? [True, True] Translation: X:773.52, Y:5.42, Z:3.37 [[ 9.99907319e-01 -8.12368587e-03 -1.09251476e-02 7.73521290e+02] [ 8.12382888e-03 9.99967001e-01 -3.12891952e-05 5.41782915e+00] [ 1.09250412e-02 -5.74677341e-05 9.99940318e-01 3.36709402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.659254154 meters 0.015981839150127682 Centerline is valid? [True, True] Translation: X:773.58, Y:5.41, Z:3.36 [[ 9.99869030e-01 -1.12445348e-02 -1.16397577e-02 7.73579547e+02] [ 1.12448845e-02 9.99936774e-01 -3.54094650e-05 5.41168483e+00] [ 1.16394200e-02 -9.54829039e-05 9.99932255e-01 3.36466586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.7192541539999 meters 0.01674214471905085 Centerline is valid? [True, True] Translation: X:773.64, Y:5.40, Z:3.36 [[ 9.99769269e-01 -1.76927140e-02 -1.21809985e-02 7.73637675e+02] [ 1.76935634e-02 9.99843456e-01 -3.80355508e-05 5.40375425e+00] [ 1.21797646e-02 -1.77498495e-04 9.99925808e-01 3.36368099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.779254154 meters 0.018402772121539852 Centerline is valid? [True, True] Translation: X:773.70, Y:5.40, Z:3.36 [[ 9.99614930e-01 -2.51898872e-02 -1.16387973e-02 7.73696961e+02] [ 2.51911627e-02 9.99682652e-01 -3.70237832e-05 5.39649138e+00] [ 1.16360364e-02 -2.56185310e-04 9.99932266e-01 3.36355926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.839254154 meters 0.019968127752572225 Centerline is valid? [True, True] Translation: X:773.76, Y:5.39, Z:3.36 [[ 9.99367370e-01 -3.38365532e-02 -1.09520790e-02 7.73757393e+02] [ 3.38381995e-02 9.99427324e-01 -3.49967635e-05 5.39071058e+00] [ 1.09469912e-02 -3.35624012e-04 9.99940024e-01 3.36439126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.899254154 meters 0.023395472508961096 Centerline is valid? [True, True] Translation: X:773.82, Y:5.38, Z:3.36 [[ 9.99056030e-01 -4.21960972e-02 -1.03216921e-02 7.73816798e+02] [ 4.21980045e-02 9.99109267e-01 -3.30321655e-05 5.38367603e+00] [ 1.03138921e-02 -4.02553826e-04 9.99946729e-01 3.36452485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.959254154 meters 0.025471225820181652 Centerline is valid? [True, True] Translation: X:773.88, Y:5.38, Z:3.36 [[ 9.98666883e-01 -5.05827185e-02 -1.02880821e-02 7.73877480e+02] [ 5.05850572e-02 9.98719756e-01 -3.29406296e-05 5.38033499e+00] [ 1.02765771e-02 -4.87526505e-04 9.99947076e-01 3.36469297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.019254154 meters 0.030225662631202316 Centerline is valid? [True, True] Translation: X:773.94, Y:5.37, Z:3.36 [[ 9.98365479e-01 -5.62971457e-02 -9.84895405e-03 7.73936777e+02] [ 5.62995658e-02 9.98413921e-01 -3.15794826e-05 5.37343104e+00] [ 9.83511067e-03 -5.22963971e-04 9.99951497e-01 3.36457330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.079254154 meters 0.034156735151050784 Centerline is valid? [True, True] Translation: X:774.00, Y:5.37, Z:3.36 [[ 9.97912510e-01 -6.37916598e-02 -1.00621604e-02 7.73996943e+02] [ 6.37945644e-02 9.97963052e-01 -3.23536605e-05 5.36964728e+00] [ 1.00437282e-02 -6.09625020e-04 9.99949375e-01 3.36477949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.139254154 meters 0.03837011084004021 Centerline is valid? [True, True] Translation: X:774.06, Y:5.37, Z:3.37 [[ 9.97698634e-01 -6.71442534e-02 -9.43848197e-03 7.74056885e+02] [ 6.71469613e-02 9.97743096e-01 -3.00543024e-05 5.36707836e+00] [ 9.41919819e-03 -6.03780247e-04 9.99955456e-01 3.36554616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.199254154 meters 0.03299519832182503 Centerline is valid? [True, True] Translation: X:774.12, Y:5.38, Z:3.37 [[ 9.97769753e-01 -6.60094163e-02 -9.91344468e-03 7.74119164e+02] [ 6.60123546e-02 9.97818805e-01 -3.08759149e-05 5.37945820e+00] [ 9.89385962e-03 -6.23602772e-04 9.99950860e-01 3.36593069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.259254154 meters 0.03832226692975927 Centerline is valid? [True, True] Translation: X:774.18, Y:5.37, Z:3.37 [[ 9.97919968e-01 -6.36610627e-02 -1.01492298e-02 7.74179526e+02] [ 6.36640259e-02 9.97971388e-01 -3.11747817e-05 5.37490878e+00] [ 1.01306256e-02 -6.15030892e-04 9.99948495e-01 3.36563216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.319254154 meters 0.03564037816933488 Centerline is valid? [True, True] Translation: X:774.24, Y:5.39, Z:3.37 [[ 9.98282903e-01 -5.74800678e-02 -1.12821310e-02 7.74240335e+02] [ 5.74833382e-02 9.98346465e-01 -3.44571211e-05 5.38502186e+00] [ 1.12654562e-02 -6.14136599e-04 9.99936354e-01 3.36516838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.379254154 meters 0.02439671537933233 Centerline is valid? [True, True] Translation: X:774.30, Y:5.41, Z:3.37 [[ 9.98736719e-01 -4.84086260e-02 -1.34748230e-02 7.74301274e+02] [ 4.84124706e-02 9.98827428e-01 -4.09132464e-05 5.40936732e+00] [ 1.34610033e-02 -6.11487910e-04 9.99909210e-01 3.36570213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.439254154 meters 0.02011074091544171 Centerline is valid? [True, True] Translation: X:774.36, Y:5.42, Z:3.37 [[ 9.99251111e-01 -3.65737258e-02 -1.26324588e-02 7.74362372e+02] [ 3.65761627e-02 9.99330868e-01 -3.81466988e-05 5.42375211e+00] [ 1.26254012e-02 -4.23928739e-04 9.99920207e-01 3.36852847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.499254154 meters 0.018304493334811916 Centerline is valid? [True, True] Translation: X:774.42, Y:5.43, Z:3.37 [[ 9.99554016e-01 -2.78009479e-02 -1.09030436e-02 7.74422560e+02] [ 2.78022428e-02 9.99613442e-01 -3.28211423e-05 5.43288640e+00] [ 1.08997414e-02 -2.70322561e-04 9.99940560e-01 3.36992077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.559254154 meters 0.018723049578448638 Centerline is valid? [True, True] Translation: X:774.48, Y:5.44, Z:3.37 [[ 9.99755411e-01 -1.88725297e-02 -1.15301863e-02 7.74483628e+02] [ 1.88733860e-02 9.99821881e-01 -3.45497800e-05 5.44198391e+00] [ 1.15287846e-02 -1.83072327e-04 9.99933525e-01 3.36870123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.619254154 meters 0.017231417339524102 Centerline is valid? [True, True] Translation: X:774.54, Y:5.45, Z:3.37 [[ 9.99889945e-01 -8.94168823e-03 -1.18382073e-02 7.74543663e+02] [ 8.94189427e-03 9.99960020e-01 -3.55260176e-05 5.45261512e+00] [ 1.18380517e-02 -7.03338902e-05 9.99929925e-01 3.36898513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.679254154 meters 0.015491572185163855 Centerline is valid? [True, True] Translation: X:774.60, Y:5.46, Z:3.37 [[ 9.99905608e-01 -6.34296258e-03 -1.21877473e-02 7.74601797e+02] [ 6.34295913e-03 9.99979882e-01 -3.89376438e-05 5.45762613e+00] [ 1.21877491e-02 -3.83724146e-05 9.99925726e-01 3.36919270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.739254154 meters 0.014980231832943737 Centerline is valid? [True, True] Translation: X:774.66, Y:5.46, Z:3.37 [[ 9.99893224e-01 -7.85632269e-03 -1.23214473e-02 7.74659532e+02] [ 7.85638918e-03 9.99969137e-01 -4.30078600e-05 5.45861114e+00] [ 1.23214049e-02 -5.37988175e-05 9.99924087e-01 3.36942140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.799254154 meters 0.01497327809128765 Centerline is valid? [True, True] Translation: X:774.72, Y:5.46, Z:3.37 [[ 9.99862150e-01 -1.13933520e-02 -1.20777713e-02 7.74718714e+02] [ 1.13936518e-02 9.99935089e-01 -4.39941884e-05 5.45757465e+00] [ 1.20774885e-02 -9.36217959e-05 9.99927060e-01 3.36973407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8592541539999 meters 0.01515516857384766 Centerline is valid? [True, True] Translation: X:774.78, Y:5.46, Z:3.37 [[ 9.99826724e-01 -1.46995429e-02 -1.14212555e-02 7.74777980e+02] [ 1.47000172e-02 9.99891948e-01 -4.24303164e-05 5.45529815e+00] [ 1.14206451e-02 -1.25469688e-04 9.99934774e-01 3.37026959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.919254154 meters 0.017327016027696825 Centerline is valid? [True, True] Translation: X:774.84, Y:5.45, Z:3.37 [[ 9.99812223e-01 -1.56899935e-02 -1.13728754e-02 7.74836479e+02] [ 1.56905185e-02 9.99876895e-01 -4.30683376e-05 5.45419605e+00] [ 1.13721511e-02 -1.35386062e-04 9.99935326e-01 3.36841684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9792541539999 meters 0.015526023819402926 Centerline is valid? [True, True] Translation: X:774.90, Y:5.45, Z:3.37 [[ 9.99809760e-01 -1.71351529e-02 -9.31831686e-03 7.74895565e+02] [ 1.71355649e-02 9.99853175e-01 -3.56304700e-05 5.45232949e+00] [ 9.31755923e-03 -1.24050932e-04 9.99956583e-01 3.37020519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.039254154 meters 0.015482777102188091 Centerline is valid? [True, True] Translation: X:774.96, Y:5.45, Z:3.37 [[ 9.99804383e-01 -1.75424333e-02 -9.13555273e-03 7.74956496e+02] [ 1.75428456e-02 9.99846112e-01 -3.50092478e-05 5.45058261e+00] [ 9.13476102e-03 -1.25261191e-04 9.99958269e-01 3.37038042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0992541539999 meters 0.015587977441754119 Centerline is valid? [True, True] Translation: X:775.02, Y:5.45, Z:3.37 [[ 9.99856328e-01 -1.46203649e-02 -8.57724883e-03 7.75017927e+02] [ 1.46206221e-02 9.99893112e-01 -3.27206458e-05 5.44990093e+00] [ 8.57681041e-03 -9.26887686e-05 9.99963214e-01 3.37016423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.159254154 meters 0.014930249827476849 Centerline is valid? [True, True] Translation: X:775.08, Y:5.45, Z:3.37 [[ 9.99893639e-01 -1.17400476e-02 -8.65341815e-03 7.75078517e+02] [ 1.17402029e-02 9.99931081e-01 -3.28527066e-05 5.45009123e+00] [ 8.65320746e-03 -6.87436722e-05 9.99962558e-01 3.37015783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.2192541539999 meters 0.01455419239850651 Centerline is valid? [True, True] Translation: X:775.14, Y:5.45, Z:3.37 [[ 9.99934337e-01 -6.89701359e-03 -9.15161727e-03 7.75138590e+02] [ 6.89698289e-03 9.99976215e-01 -3.49153177e-05 5.45073304e+00] [ 9.15164041e-03 -2.82055227e-05 9.99958122e-01 3.36943657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.279254154 meters 0.0146263679296954 Centerline is valid? [True, True] Translation: X:775.20, Y:5.45, Z:3.37 [[ 9.99942436e-01 -3.89235145e-03 -9.99872376e-03 7.75196094e+02] [ 3.89215789e-03 9.99992425e-01 -3.88168962e-05 5.45057084e+00] [ 9.99879911e-03 -1.01949906e-07 9.99950011e-01 3.36811342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.339254154 meters 0.01535381269157416 Centerline is valid? [True, True] Translation: X:775.25, Y:5.45, Z:3.37 [[ 9.99935492e-01 -3.97015128e-03 -1.06418997e-02 7.75254051e+02] [ 3.96991251e-03 9.99992119e-01 -4.35610536e-05 5.44771214e+00] [ 1.06419888e-02 1.31083266e-06 9.99943372e-01 3.36721303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.399254154 meters 0.014737346760672787 Centerline is valid? [True, True] Translation: X:775.31, Y:5.44, Z:3.37 [[ 9.99921535e-01 -7.13796531e-03 -1.02943314e-02 7.75313365e+02] [ 7.13789240e-03 9.99974524e-01 -4.38230022e-05 5.44395056e+00] [ 1.02943819e-02 -2.96602662e-05 9.99947011e-01 3.36869713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.459254154 meters 0.014740809919257974 Centerline is valid? [True, True] Translation: X:775.37, Y:5.44, Z:3.37 [[ 9.99887984e-01 -1.08883862e-02 -1.02694754e-02 7.75371792e+02] [ 1.08885037e-02 9.99940717e-01 -4.44685513e-05 5.43950595e+00] [ 1.02693508e-02 -6.73556512e-05 9.99947267e-01 3.36902663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.519254154 meters 0.017113073538598072 Centerline is valid? [True, True] Translation: X:775.43, Y:5.43, Z:3.37 [[ 9.99779973e-01 -1.81916733e-02 -1.04435915e-02 7.75429866e+02] [ 1.81921853e-02 9.99834507e-01 -4.59817461e-05 5.43069297e+00] [ 1.04426997e-02 -1.44020123e-04 9.99945463e-01 3.36784455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.579254154 meters 0.017540197747969 Centerline is valid? [True, True] Translation: X:775.49, Y:5.42, Z:3.37 [[ 9.99610953e-01 -2.62176677e-02 -9.51716147e-03 7.75490370e+02] [ 2.62184537e-02 9.99656236e-01 -4.21904395e-05 5.42258198e+00] [ 9.51499595e-03 -2.07351232e-04 9.99954710e-01 3.37040346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.639254154 meters 0.019435899691964926 Centerline is valid? [True, True] Translation: X:775.55, Y:5.42, Z:3.37 [[ 9.99435316e-01 -3.24141285e-02 -8.85287642e-03 7.75551575e+02] [ 3.24150529e-02 9.99474493e-01 -3.90835995e-05 5.41668955e+00] [ 8.84949103e-03 -2.47904928e-04 9.99960812e-01 3.37093053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.699254154 meters 0.020379955943119175 Centerline is valid? [True, True] Translation: X:775.61, Y:5.41, Z:3.37 [[ 9.99243954e-01 -3.80619628e-02 -7.92504728e-03 7.75612912e+02] [ 3.80628832e-02 9.99275345e-01 -3.47156247e-05 5.41062230e+00] [ 7.92062571e-03 -2.66960771e-04 9.99968596e-01 3.37263806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.759254154 meters 0.021930444222112388 Centerline is valid? [True, True] Translation: X:775.67, Y:5.41, Z:3.37 [[ 9.99120735e-01 -4.13102283e-02 -7.15696102e-03 7.75674824e+02] [ 4.13110643e-02 9.99146333e-01 -3.10568266e-05 5.40611576e+00] [ 7.15213432e-03 -2.64632157e-04 9.99974388e-01 3.37303731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.819254154 meters 0.023665909718622365 Centerline is valid? [True, True] Translation: X:775.74, Y:5.40, Z:3.37 [[ 9.99090110e-01 -4.18698686e-02 -8.11584480e-03 7.75736906e+02] [ 4.18709663e-02 9.99123026e-01 -3.46782577e-05 5.40493270e+00] [ 8.11017939e-03 -3.05171560e-04 9.99967065e-01 3.37157385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.879254154 meters 0.02313440357720737 Centerline is valid? [True, True] Translation: X:775.80, Y:5.40, Z:3.37 [[ 9.99090961e-01 -4.19108012e-02 -7.79331300e-03 7.75799210e+02] [ 4.19118190e-02 9.99121313e-01 -3.27462934e-05 5.40492771e+00] [ 7.78783754e-03 -2.93915398e-04 9.99969631e-01 3.37189701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.939254154 meters 0.020900605171068228 Centerline is valid? [True, True] Translation: X:775.86, Y:5.41, Z:3.37 [[ 9.99135660e-01 -4.07112117e-02 -8.39823558e-03 7.75861115e+02] [ 4.07123567e-02 9.99170908e-01 -3.46461333e-05 5.40705646e+00] [ 8.39268315e-03 -3.07295775e-04 9.99964734e-01 3.37297436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.999254154 meters 0.02202995419930927 Centerline is valid? [True, True] Translation: X:775.92, Y:5.41, Z:3.37 [[ 9.99243393e-01 -3.77150731e-02 -9.49814280e-03 7.75921754e+02] [ 3.77164112e-02 9.99288482e-01 -3.82666793e-05 5.40634039e+00] [ 9.49282794e-03 -3.19998133e-04 9.99954891e-01 3.37202721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.059254154 meters 0.020622177173928908 Centerline is valid? [True, True] Translation: X:775.98, Y:5.41, Z:3.37 [[ 9.99348058e-01 -3.51608258e-02 -8.19601603e-03 7.75983013e+02] [ 3.51617408e-02 9.99381634e-01 -3.24761546e-05 5.41038511e+00] [ 8.19208978e-03 -2.55731209e-04 9.99966412e-01 3.37426240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.119254154 meters 0.01857560529469925 Centerline is valid? [True, True] Translation: X:776.04, Y:5.42, Z:3.38 [[ 9.99475872e-01 -3.17573044e-02 -6.28132457e-03 7.76044400e+02] [ 3.17577758e-02 9.99495594e-01 -2.46986430e-05 5.41657324e+00] [ 6.27894060e-03 -1.74795200e-04 9.99980272e-01 3.37647255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.179254154 meters 0.01771208955043989 Centerline is valid? [True, True] Translation: X:776.11, Y:5.42, Z:3.38 [[ 9.99562575e-01 -2.90303933e-02 -5.64762127e-03 7.76106280e+02] [ 2.90307322e-02 9.99578519e-01 -2.19659924e-05 5.41968814e+00] [ 5.64587859e-03 -1.41998197e-04 9.99984052e-01 3.37750175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.239254154 meters 0.018197953374602432 Centerline is valid? [True, True] Translation: X:776.17, Y:5.42, Z:3.38 [[ 9.99526968e-01 -2.99988056e-02 -6.77585309e-03 7.76168804e+02] [ 2.99993197e-02 9.99549919e-01 -2.57852987e-05 5.41915499e+00] [ 6.77357693e-03 -1.77497881e-04 9.99977043e-01 3.37673447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.299254154 meters 0.02112042391095635 Centerline is valid? [True, True] Translation: X:776.23, Y:5.42, Z:3.37 [[ 9.99395491e-01 -3.34129696e-02 -9.60343212e-03 7.76229704e+02] [ 3.34141704e-02 9.99441590e-01 -3.54251882e-05 5.41645989e+00] [ 9.59925313e-03 -2.85486944e-04 9.99953885e-01 3.37449047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3592541539999 meters 0.021595742901348542 Centerline is valid? [True, True] Translation: X:776.29, Y:5.41, Z:3.38 [[ 9.99222530e-01 -3.81723643e-02 -9.85930820e-03 7.76290486e+02] [ 3.81738680e-02 9.99271112e-01 -3.56981835e-05 5.41413607e+00] [ 9.85348455e-03 -3.40697501e-04 9.99951395e-01 3.37583868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.419254154 meters 0.020724529674208295 Centerline is valid? [True, True] Translation: X:776.35, Y:5.42, Z:3.38 [[ 9.99180964e-01 -3.91393151e-02 -1.02720598e-02 7.76352302e+02] [ 3.91410037e-02 9.99233697e-01 -3.66781074e-05 5.41591463e+00] [ 1.02656238e-02 -3.65410664e-04 9.99947240e-01 3.37628938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4792541539999 meters 0.021447629834636005 Centerline is valid? [True, True] Translation: X:776.41, Y:5.42, Z:3.38 [[ 9.99059594e-01 -4.17342226e-02 -1.17551196e-02 7.76414815e+02] [ 4.17366242e-02 9.99128647e-01 -4.10566526e-05 5.41662468e+00] [ 1.17465902e-02 -4.49600965e-04 9.99930905e-01 3.37563485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.539254154 meters 0.022808859760629487 Centerline is valid? [True, True] Translation: X:776.48, Y:5.42, Z:3.38 [[ 9.98936975e-01 -4.45145006e-02 -1.19741305e-02 7.76476442e+02] [ 4.45172008e-02 9.99008617e-01 -4.10705665e-05 5.41611372e+00] [ 1.19640878e-02 -4.92027863e-04 9.99928307e-01 3.37553278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5992541539999 meters 0.025433762109540986 Centerline is valid? [True, True] Translation: X:776.54, Y:5.41, Z:3.38 [[ 9.98786487e-01 -4.80111282e-02 -1.09765618e-02 7.76536725e+02] [ 4.80136117e-02 9.98846681e-01 -3.73072485e-05 5.41378915e+00] [ 1.09656935e-02 -4.89762400e-04 9.99939755e-01 3.37626789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.659254154 meters 0.028369014193304398 Centerline is valid? [True, True] Translation: X:776.60, Y:5.41, Z:3.38 [[ 9.98629701e-01 -5.13881436e-02 -9.89839978e-03 7.76597311e+02] [ 5.13903303e-02 9.98678643e-01 -3.34737017e-05 5.41221065e+00] [ 9.88704062e-03 -4.75254201e-04 9.99951009e-01 3.37731819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.7192541539999 meters 0.03028460578238711 Centerline is valid? [True, True] Translation: X:776.66, Y:5.41, Z:3.38 [[ 9.98563138e-01 -5.24998865e-02 -1.07434760e-02 7.76658921e+02] [ 5.25025343e-02 9.98620790e-01 -3.56267075e-05 5.41214237e+00] [ 1.07305288e-02 -5.28484198e-04 9.99942287e-01 3.37564490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.779254154 meters 0.028231727684626142 Centerline is valid? [True, True] Translation: X:776.72, Y:5.42, Z:3.38 [[ 9.98553475e-01 -5.24886356e-02 -1.16576373e-02 7.76721253e+02] [ 5.24917640e-02 9.98621356e-01 -3.76706811e-05 5.41939434e+00] [ 1.16435429e-02 -5.74313756e-04 9.99932047e-01 3.37564056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.839254154 meters 0.026623517869973624 Centerline is valid? [True, True] Translation: X:776.78, Y:5.42, Z:3.38 [[ 9.98650403e-01 -5.05481000e-02 -1.19273309e-02 7.76782861e+02] [ 5.05512438e-02 9.98721468e-01 -3.79493652e-05 5.42378381e+00] [ 1.19139997e-02 -5.65043265e-04 9.99928866e-01 3.37639367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.899254154 meters 0.025266464649932572 Centerline is valid? [True, True] Translation: X:776.84, Y:5.43, Z:3.37 [[ 9.98894265e-01 -4.50124153e-02 -1.35694345e-02 7.76844107e+02] [ 4.50159793e-02 9.98986266e-01 -4.28312344e-05 5.43257035e+00] [ 1.35576066e-02 -5.68057506e-04 9.99907930e-01 3.37475131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.959254154 meters 0.021347977242300992 Centerline is valid? [True, True] Translation: X:776.90, Y:5.44, Z:3.38 [[ 9.99194736e-01 -3.79316860e-02 -1.30792661e-02 7.76904689e+02] [ 3.79343925e-02 9.99280231e-01 -4.11815353e-05 5.44210373e+00] [ 1.30714142e-02 -4.55005641e-04 9.99914462e-01 3.37562342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.019254154 meters 0.018832089009880832 Centerline is valid? [True, True] Translation: X:776.97, Y:5.45, Z:3.38 [[ 9.99493901e-01 -2.87122005e-02 -1.36949671e-02 7.76965158e+02] [ 2.87143035e-02 9.99587658e-01 -4.30831657e-05 5.45394453e+00] [ 1.36905571e-02 -3.50180080e-04 9.99906219e-01 3.37563949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.079254154 meters 0.016183491715391605 Centerline is valid? [True, True] Translation: X:777.03, Y:5.47, Z:3.38 [[ 9.99733136e-01 -1.88086541e-02 -1.34123651e-02 7.77026158e+02] [ 1.88097824e-02 9.99823079e-01 -4.20239442e-05 5.46617293e+00] [ 1.34107826e-02 -2.10270941e-04 9.99910049e-01 3.37655347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.139254154 meters 0.015157575301832087 Centerline is valid? [True, True] Translation: X:777.09, Y:5.47, Z:3.38 [[ 9.99859595e-01 -1.14039337e-02 -1.22776434e-02 7.77085503e+02] [ 1.14043202e-02 9.99934968e-01 -3.85346092e-05 5.47406441e+00] [ 1.22772844e-02 -1.01488978e-04 9.99924626e-01 3.37715894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.199254154 meters 0.01636238900249584 Centerline is valid? [True, True] Translation: X:777.14, Y:5.48, Z:3.38 [[ 9.99894810e-01 -8.14747816e-03 -1.19994438e-02 7.77144085e+02] [ 8.14758917e-03 9.99966807e-01 -3.96346434e-05 5.47947850e+00] [ 1.19993685e-02 -5.81360644e-05 9.99928003e-01 3.37751190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.259254154 meters 0.013682842083504844 Centerline is valid? [True, True] Translation: X:777.20, Y:5.48, Z:3.38 [[ 9.99930793e-01 -5.75879758e-03 -1.02589351e-02 7.77203108e+02] [ 5.75872784e-03 9.99983418e-01 -3.63385331e-05 5.48386225e+00] [ 1.02589742e-02 -2.27423969e-05 9.99947375e-01 3.37958985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.319254154 meters 0.013703884207824424 Centerline is valid? [True, True] Translation: X:777.26, Y:5.48, Z:3.38 [[ 9.99939074e-01 -6.01462276e-03 -9.25595980e-03 7.77261472e+02] [ 6.01455428e-03 9.99981912e-01 -3.52338903e-05 5.48379465e+00] [ 9.25600430e-03 -2.04387290e-05 9.99957162e-01 3.37966049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.379254154 meters 0.013861972895012313 Centerline is valid? [True, True] Translation: X:777.32, Y:5.48, Z:3.38 [[ 9.99938258e-01 -7.86654395e-03 -7.84842636e-03 7.77319827e+02] [ 7.86654020e-03 9.99969058e-01 -3.13482431e-05 5.48195986e+00] [ 7.84843011e-03 -3.03936539e-05 9.99969200e-01 3.37985450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.439254154 meters 0.015957754318958357 Centerline is valid? [True, True] Translation: X:777.38, Y:5.48, Z:3.38 [[ 9.99908318e-01 -1.11011356e-02 -7.75371840e-03 7.77379827e+02] [ 1.11012246e-02 9.99938379e-01 -3.15685800e-05 5.47672338e+00] [ 7.75359106e-03 -5.45100835e-05 9.99969939e-01 3.37775421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.499254154 meters 0.015016621957682743 Centerline is valid? [True, True] Translation: X:777.44, Y:5.47, Z:3.38 [[ 9.99803446e-01 -1.83010489e-02 -7.62506305e-03 7.77440595e+02] [ 1.83013430e-02 9.99832516e-01 -3.12007597e-05 5.46857846e+00] [ 7.62435698e-03 -1.08354267e-04 9.99970928e-01 3.37765155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.559254154 meters 0.016736550095380165 Centerline is valid? [True, True] Translation: X:777.50, Y:5.46, Z:3.38 [[ 9.99647825e-01 -2.49183868e-02 -9.12690859e-03 7.77500386e+02] [ 2.49190879e-02 9.99689471e-01 -3.69215441e-05 5.45963777e+00] [ 9.12499444e-03 -1.90525696e-04 9.99958348e-01 3.37521399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.619254154 meters 0.017904308255885664 Centerline is valid? [True, True] Translation: X:777.56, Y:5.45, Z:3.37 [[ 9.99523589e-01 -2.91414073e-02 -1.01672466e-02 7.77562128e+02] [ 2.91425033e-02 9.99575266e-01 -4.03754635e-05 5.45463454e+00] [ 1.01641048e-02 -2.55942789e-04 9.99948311e-01 3.37393846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.679254154 meters 0.01943669975840749 Centerline is valid? [True, True] Translation: X:777.62, Y:5.45, Z:3.37 [[ 9.99524101e-01 -2.92032471e-02 -9.93692326e-03 7.77624519e+02] [ 2.92043033e-02 9.99573463e-01 -3.88255964e-05 5.45190373e+00] [ 9.93381862e-03 -2.51393801e-04 9.99950627e-01 3.37252004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.739254154 meters 0.018436010746903205 Centerline is valid? [True, True] Translation: X:777.69, Y:5.45, Z:3.37 [[ 9.99605971e-01 -2.65931311e-02 -8.98377542e-03 7.77685003e+02] [ 2.65938924e-02 9.99646319e-01 -3.47319576e-05 5.44998559e+00] [ 8.98152166e-03 -2.04195284e-04 9.99959644e-01 3.37445023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.799254154 meters 0.015536483270040974 Centerline is valid? [True, True] Translation: X:777.75, Y:5.46, Z:3.38 [[ 9.99801971e-01 -1.83361907e-02 -7.73325848e-03 7.77746588e+02] [ 1.83365098e-02 9.99831872e-01 -2.96365817e-05 5.45733908e+00] [ 7.73250172e-03 -1.12170257e-04 9.99970097e-01 3.37683054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8592541539999 meters 0.01480157179780388 Centerline is valid? [True, True] Translation: X:777.81, Y:5.46, Z:3.38 [[ 9.99932916e-01 -9.52726287e-03 -6.58743735e-03 7.77807170e+02] [ 9.52730600e-03 9.99954614e-01 -2.48336014e-05 5.46122430e+00] [ 6.58737497e-03 -3.79285959e-05 9.99978302e-01 3.37807400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.919254154 meters 0.014467395392982984 Centerline is valid? [True, True] Translation: X:777.87, Y:5.46, Z:3.38 [[ 9.99961634e-01 -5.67793948e-03 -6.67018310e-03 7.77867927e+02] [ 5.67790070e-03 9.99983880e-01 -2.47500316e-05 5.46279759e+00] [ 6.67021611e-03 -1.31235553e-05 9.99977754e-01 3.37835326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9792541539999 meters 0.014559583881614109 Centerline is valid? [True, True] Translation: X:777.93, Y:5.46, Z:3.38 [[ 9.99947958e-01 -5.56969775e-03 -8.54755075e-03 7.77926689e+02] [ 5.56962132e-03 9.99984489e-01 -3.27465111e-05 5.46122402e+00] [ 8.54760055e-03 -1.48618139e-05 9.99963468e-01 3.37661136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.039254154 meters 0.01676645526607971 Centerline is valid? [True, True] Translation: X:777.99, Y:5.45, Z:3.37 [[ 9.99867061e-01 -1.25372021e-02 -1.04248770e-02 7.77985822e+02] [ 1.25374498e-02 9.99921402e-01 -4.15885715e-05 5.45312375e+00] [ 1.04245791e-02 -8.91183302e-05 9.99945659e-01 3.37329617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0992541539999 meters 0.01688812952357456 Centerline is valid? [True, True] Translation: X:778.05, Y:5.44, Z:3.37 [[ 9.99611051e-01 -2.53970603e-02 -1.15211015e-02 7.78045880e+02] [ 2.53982121e-02 9.99677412e-01 -4.63459924e-05 5.44273484e+00] [ 1.15185620e-02 -2.46287415e-04 9.99933629e-01 3.37497193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.159254154 meters 0.021110418346215576 Centerline is valid? [True, True] Translation: X:778.11, Y:5.43, Z:3.38 [[ 9.99163104e-01 -3.91925352e-02 -1.17062801e-02 7.78106568e+02] [ 3.91946730e-02 9.99231592e-01 -4.68397381e-05 5.43130960e+00] [ 1.16991206e-02 -4.12023280e-04 9.99931478e-01 3.37524688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.2192541539999 meters 0.02653304375514214 Centerline is valid? [True, True] Translation: X:778.17, Y:5.42, Z:3.38 [[ 9.98799258e-01 -4.77139804e-02 -1.11094065e-02 7.78165941e+02] [ 4.77164342e-02 9.98860921e-01 -4.42237564e-05 5.42179896e+00] [ 1.10988621e-02 -4.85930610e-04 9.99938288e-01 3.37532826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.279254154 meters 0.029229963464376008 Centerline is valid? [True, True] Translation: X:778.23, Y:5.42, Z:3.38 [[ 9.98288805e-01 -5.76049207e-02 -1.00566343e-02 7.78226145e+02] [ 5.76074325e-02 9.98339312e-01 -3.99782313e-05 5.41901935e+00] [ 1.00422363e-02 -5.39427062e-04 9.99949430e-01 3.37606108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.339254154 meters 0.030391506027671517 Centerline is valid? [True, True] Translation: X:778.29, Y:5.42, Z:3.38 [[ 9.98010649e-01 -6.24102960e-02 -8.92742746e-03 7.78286623e+02] [ 6.24124674e-02 9.98050441e-01 -3.54307009e-05 5.41644089e+00] [ 8.91223416e-03 -5.21822559e-04 9.99960149e-01 3.37870441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.399254154 meters 0.03189868658033497 Centerline is valid? [True, True] Translation: X:778.35, Y:5.42, Z:3.38 [[ 9.97912244e-01 -6.40502082e-02 -8.28995850e-03 7.78348358e+02] [ 6.40521411e-02 9.97946553e-01 -3.24083008e-05 5.41569203e+00] [ 8.27501127e-03 -4.98648951e-04 9.99965637e-01 3.37971658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.459254154 meters 0.03232455244846956 Centerline is valid? [True, True] Translation: X:778.41, Y:5.42, Z:3.38 [[ 9.97998586e-01 -6.27059010e-02 -8.17268740e-03 7.78410425e+02] [ 6.27077410e-02 9.98031932e-01 -3.11655210e-05 5.41817350e+00] [ 8.15855726e-03 -4.81387618e-04 9.99966603e-01 3.37949116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.519254154 meters 0.03032048099654297 Centerline is valid? [True, True] Translation: X:778.47, Y:5.42, Z:3.38 [[ 9.98230995e-01 -5.86911643e-02 -9.49884671e-03 7.78471704e+02] [ 5.86934731e-02 9.98276051e-01 -3.57638653e-05 5.42441855e+00] [ 9.48457021e-03 -5.21819705e-04 9.99954884e-01 3.37991085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.579254154 meters 0.028216801383463108 Centerline is valid? [True, True] Translation: X:778.53, Y:5.43, Z:3.38 [[ 9.98639604e-01 -5.07403421e-02 -1.20149658e-02 7.78532199e+02] [ 5.07434640e-02 9.98711720e-01 -4.50700326e-05 5.43484609e+00] [ 1.20017740e-02 -5.64672264e-04 9.99927817e-01 3.37683618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.639254154 meters 0.0260006498548024 Centerline is valid? [True, True] Translation: X:778.59, Y:5.44, Z:3.38 [[ 9.98917616e-01 -4.44565578e-02 -1.36825031e-02 7.78593254e+02] [ 4.44600192e-02 9.99011163e-01 -5.12403455e-05 5.44294025e+00] [ 1.36712513e-02 -5.57139469e-04 9.99906389e-01 3.37627975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.699254154 meters 0.021736259673304156 Centerline is valid? [True, True] Translation: X:778.65, Y:5.46, Z:3.38 [[ 9.99242057e-01 -3.60928191e-02 -1.45815158e-02 7.78653300e+02] [ 3.60958612e-02 9.99348331e-01 -5.45833889e-05 5.45516804e+00] [ 1.45739835e-02 -4.71790351e-04 9.99893683e-01 3.37711605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.759254154 meters 0.018172452128829335 Centerline is valid? [True, True] Translation: X:778.71, Y:5.47, Z:3.38 [[ 9.99549561e-01 -2.62536824e-02 -1.45402412e-02 7.78713481e+02] [ 2.62556672e-02 9.99655259e-01 -5.44075910e-05 5.46854002e+00] [ 1.45366570e-02 -3.27380650e-04 9.99894284e-01 3.37832858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.819254154 meters 0.015165992491174705 Centerline is valid? [True, True] Translation: X:778.77, Y:5.48, Z:3.38 [[ 9.99793747e-01 -1.53546141e-02 -1.32928455e-02 7.78774655e+02] [ 1.53553118e-02 9.99882099e-01 -4.95782901e-05 5.48285495e+00] [ 1.32920395e-02 -1.54547723e-04 9.99911645e-01 3.38090207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.879254154 meters 0.01635487900314995 Centerline is valid? [True, True] Translation: X:778.83, Y:5.49, Z:3.38 [[ 9.99912880e-01 -5.43639357e-03 -1.20282486e-02 7.78833511e+02] [ 5.43624338e-03 9.99985222e-01 -4.51822271e-05 5.49305158e+00] [ 1.20283164e-02 -2.02101958e-05 9.99927657e-01 3.38062897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.939254154 meters 0.01407611080161556 Centerline is valid? [True, True] Translation: X:778.89, Y:5.50, Z:3.39 [[ 9.99930699e-01 -3.64662151e-03 -1.11937340e-02 7.78891478e+02] [ 3.64635438e-03 9.99993351e-01 -4.42730285e-05 5.49708689e+00] [ 1.11938210e-02 3.45363921e-06 9.99937347e-01 3.38527928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.999254154 meters 0.014180921787043867 Centerline is valid? [True, True] Translation: X:778.95, Y:5.49, Z:3.38 [[ 9.99907222e-01 -7.51640114e-03 -1.13600880e-02 7.78949561e+02] [ 7.51635348e-03 9.99971751e-01 -4.68903110e-05 5.49453896e+00] [ 1.13601196e-02 -3.85004767e-05 9.99935471e-01 3.38473899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.059254154 meters 0.016368624124779768 Centerline is valid? [True, True] Translation: X:779.01, Y:5.49, Z:3.38 [[ 9.99850164e-01 -1.25158164e-02 -1.19584541e-02 7.79008160e+02] [ 1.25161096e-02 9.99921669e-01 -5.03259960e-05 5.49014170e+00] [ 1.19581472e-02 -9.93548660e-05 9.99928494e-01 3.38338675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.119254154 meters 0.016864644578097995 Centerline is valid? [True, True] Translation: X:779.07, Y:5.48, Z:3.38 [[ 9.99644233e-01 -2.36902232e-02 -1.22547893e-02 7.79068136e+02] [ 2.36913646e-02 9.99719319e-01 -5.20384848e-05 5.48131536e+00] [ 1.22525825e-02 -2.38312711e-04 9.99924906e-01 3.38389752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.179254154 meters 0.01858688154063357 Centerline is valid? [True, True] Translation: X:779.13, Y:5.48, Z:3.38 [[ 9.99446441e-01 -3.05764635e-02 -1.31107726e-02 7.79129278e+02] [ 3.05783630e-02 9.99532371e-01 -5.56029714e-05 5.47511689e+00] [ 1.31063417e-02 -3.45333771e-04 9.99914049e-01 3.38358382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.239254154 meters 0.02215640032843812 Centerline is valid? [True, True] Translation: X:779.19, Y:5.47, Z:3.38 [[ 9.99151847e-01 -3.90315830e-02 -1.31195593e-02 7.79189073e+02] [ 3.90342162e-02 9.99237873e-01 -5.53968406e-05 5.46640377e+00] [ 1.31117228e-02 -4.56761859e-04 9.99913933e-01 3.38312445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.299254154 meters 0.022740968210294785 Centerline is valid? [True, True] Translation: X:779.25, Y:5.46, Z:3.38 [[ 9.98979685e-01 -4.34448395e-02 -1.23342860e-02 7.79249953e+02] [ 4.34475082e-02 9.99055710e-01 -5.16370214e-05 5.46482923e+00] [ 1.23248822e-02 -4.84309654e-04 9.99923928e-01 3.38298431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3592541539999 meters 0.0223506481499538 Centerline is valid? [True, True] Translation: X:779.31, Y:5.47, Z:3.38 [[ 9.99009990e-01 -4.28509450e-02 -1.19514403e-02 7.79312660e+02] [ 4.28534190e-02 9.99081369e-01 -4.91259845e-05 5.46611243e+00] [ 1.19425664e-02 -4.63082729e-04 9.99928578e-01 3.38330751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.419254154 meters 0.022236711447672888 Centerline is valid? [True, True] Translation: X:779.37, Y:5.47, Z:3.38 [[ 9.99219610e-01 -3.75383756e-02 -1.22898853e-02 7.79372639e+02] [ 3.75405956e-02 9.99295102e-01 -5.00905257e-05 5.46727399e+00] [ 1.22831025e-02 -4.11318177e-04 9.99924475e-01 3.38308228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4792541539999 meters 0.01999313979308328 Centerline is valid? [True, True] Translation: X:779.43, Y:5.47, Z:3.38 [[ 9.99443015e-01 -3.05616035e-02 -1.34032813e-02 7.79433632e+02] [ 3.05636199e-02 9.99532822e-01 -5.44206173e-05 5.47433113e+00] [ 1.33986828e-02 -3.55262489e-04 9.99910171e-01 3.38328177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.539254154 meters 0.017278931352314394 Centerline is valid? [True, True] Translation: X:779.49, Y:5.48, Z:3.38 [[ 9.99543016e-01 -2.72055529e-02 -1.31764080e-02 7.79494919e+02] [ 2.72072157e-02 9.99629814e-01 -5.30779442e-05 5.47755111e+00] [ 1.31729743e-02 -3.05439685e-04 9.99913186e-01 3.38431661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5992541539999 meters 0.018469452882535344 Centerline is valid? [True, True] Translation: X:779.56, Y:5.48, Z:3.38 [[ 9.99638667e-01 -2.21458778e-02 -1.52347030e-02 7.79555840e+02] [ 2.21475162e-02 9.99754712e-01 -6.11862692e-05 5.48141199e+00] [ 1.52323211e-02 -2.76246670e-04 9.99883943e-01 3.38137262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.659254154 meters 0.01632336799259704 Centerline is valid? [True, True] Translation: X:779.62, Y:5.48, Z:3.38 [[ 9.99635593e-01 -2.16672132e-02 -1.61000926e-02 7.79615413e+02] [ 2.16689776e-02 9.99765198e-01 -6.48709614e-05 5.48254533e+00] [ 1.60977178e-02 -2.84025223e-04 9.99870383e-01 3.38166262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.7192541539999 meters 0.01738041391989084 Centerline is valid? [True, True] Translation: X:779.67, Y:5.48, Z:3.38 [[ 9.99590006e-01 -2.25617659e-02 -1.76291407e-02 7.79674682e+02] [ 2.25640105e-02 9.99745398e-01 -7.15986753e-05 5.48398932e+00] [ 1.76262677e-02 -3.26214796e-04 9.99844592e-01 3.38047751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.779254154 meters 0.016881560087964872 Centerline is valid? [True, True] Translation: X:779.73, Y:5.48, Z:3.38 [[ 9.99506739e-01 -2.65622545e-02 -1.67548581e-02 7.79733241e+02] [ 2.65647884e-02 9.99647091e-01 -7.13492671e-05 5.48321926e+00] [ 1.67508403e-02 -3.73775185e-04 9.99859625e-01 3.38238652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.839254154 meters 0.018395768924134685 Centerline is valid? [True, True] Translation: X:779.79, Y:5.48, Z:3.38 [[ 9.99441408e-01 -2.96740441e-02 -1.53728112e-02 7.79792810e+02] [ 2.96765261e-02 9.99559553e-01 -6.66898140e-05 5.48120544e+00] [ 1.53680192e-02 -3.89559070e-04 9.99881829e-01 3.38377617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.899254154 meters 0.02057216547854665 Centerline is valid? [True, True] Translation: X:779.85, Y:5.48, Z:3.39 [[ 9.99258217e-01 -3.63934582e-02 -1.25909618e-02 7.79854157e+02] [ 3.63956588e-02 9.99337457e-01 -5.43950946e-05 5.47721972e+00] [ 1.25845994e-02 -4.03901605e-04 9.99920729e-01 3.38614810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.959254154 meters 0.02549392810327086 Centerline is valid? [True, True] Translation: X:779.92, Y:5.47, Z:3.39 [[ 9.98939034e-01 -4.43372677e-02 -1.24503847e-02 7.79915029e+02] [ 4.43400376e-02 9.99016495e-01 -5.36089997e-05 5.47257553e+00] [ 1.24405165e-02 -4.98498402e-04 9.99922490e-01 3.38525518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.019254154 meters 0.02818148248227988 Centerline is valid? [True, True] Translation: X:779.98, Y:5.47, Z:3.39 [[ 9.98658784e-01 -5.03489536e-02 -1.20671354e-02 7.79975474e+02] [ 5.03519940e-02 9.98731532e-01 -5.19198188e-05 5.46802580e+00] [ 1.20544427e-02 -5.55754145e-04 9.99927188e-01 3.38518496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.079254154 meters 0.029617191986975183 Centerline is valid? [True, True] Translation: X:780.04, Y:5.46, Z:3.39 [[ 9.98132318e-01 -5.99551121e-02 -1.17158222e-02 7.80036523e+02] [ 5.99586392e-02 9.98200861e-01 -5.02661889e-05 5.46458530e+00] [ 1.16977575e-02 -6.52292447e-04 9.99931366e-01 3.38718409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.139254154 meters 0.029636877141483563 Centerline is valid? [True, True] Translation: X:780.10, Y:5.47, Z:3.39 [[ 9.97722574e-01 -6.62013453e-02 -1.29246753e-02 7.80097198e+02] [ 6.62061658e-02 9.97805963e-01 -5.50124990e-05 5.46599899e+00] [ 1.28999600e-02 -8.00805985e-04 9.99916471e-01 3.38674157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.199254154 meters 0.03410396237324822 Centerline is valid? [True, True] Translation: X:780.16, Y:5.46, Z:3.39 [[ 9.97581656e-01 -6.80868147e-02 -1.39651528e-02 7.80157574e+02] [ 6.80926318e-02 9.97679001e-01 -5.90658376e-05 5.46183535e+00] [ 1.39367613e-02 -8.92001013e-04 9.99902481e-01 3.38518199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.259254154 meters 0.03352232790151635 Centerline is valid? [True, True] Translation: X:780.22, Y:5.46, Z:3.39 [[ 9.97577962e-01 -6.82058959e-02 -1.36442265e-02 7.80220119e+02] [ 6.82114700e-02 9.97670884e-01 -5.69607468e-05 5.46254281e+00] [ 1.36163326e-02 -8.73869965e-04 9.99906912e-01 3.38688092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.319254154 meters 0.03070910440974804 Centerline is valid? [True, True] Translation: X:780.28, Y:5.47, Z:3.39 [[ 9.97776683e-01 -6.51256490e-02 -1.41541883e-02 7.80281161e+02] [ 6.51313460e-02 9.97876698e-01 -5.85810255e-05 5.46894272e+00] [ 1.41279499e-02 -8.63430557e-04 9.99899823e-01 3.38716661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.379254154 meters 0.02880553153610109 Centerline is valid? [True, True] Translation: X:780.34, Y:5.47, Z:3.39 [[ 9.97980396e-01 -6.18586029e-02 -1.44444758e-02 7.80341682e+02] [ 6.18641962e-02 9.98084574e-01 -5.97002052e-05 5.47401005e+00] [ 1.44205015e-02 -8.34016251e-04 9.99895671e-01 3.38717576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.439254154 meters 0.027698380805311205 Centerline is valid? [True, True] Translation: X:780.40, Y:5.48, Z:3.39 [[ 9.98289206e-01 -5.64877220e-02 -1.50930249e-02 7.80402376e+02] [ 5.64932171e-02 9.98402981e-01 -6.23573225e-05 5.48049799e+00] [ 1.50724435e-02 -7.90402892e-04 9.99886092e-01 3.38788362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.499254154 meters 0.026413558243473953 Centerline is valid? [True, True] Translation: X:780.46, Y:5.49, Z:3.39 [[ 9.98650752e-01 -4.97055657e-02 -1.50343513e-02 7.80462877e+02] [ 4.97102523e-02 9.98763679e-01 -6.20446929e-05 5.48674971e+00] [ 1.50188480e-02 -6.85400417e-04 9.99886976e-01 3.38782783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.559254154 meters 0.023673143958298448 Centerline is valid? [True, True] Translation: X:780.52, Y:5.49, Z:3.39 [[ 9.98879844e-01 -4.49115417e-02 -1.48999892e-02 7.80523801e+02] [ 4.49156157e-02 9.98990783e-01 -6.12770058e-05 5.49347996e+00] [ 1.48877039e-02 -6.08033822e-04 9.99888987e-01 3.38914925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.619254154 meters 0.01940575397339936 Centerline is valid? [True, True] Translation: X:780.58, Y:5.51, Z:3.39 [[ 9.99290910e-01 -3.44097185e-02 -1.52855456e-02 7.80583976e+02] [ 3.44127796e-02 9.99407703e-01 -6.27927337e-05 5.50581622e+00] [ 1.52786527e-02 -4.63269903e-04 9.99883167e-01 3.39072626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.679254154 meters 0.018103287490156213 Centerline is valid? [True, True] Translation: X:780.64, Y:5.51, Z:3.39 [[ 9.99570893e-01 -2.47730254e-02 -1.56309603e-02 7.80644592e+02] [ 2.47750529e-02 9.99693049e-01 -6.39470747e-05 5.51393844e+00] [ 1.56277465e-02 -3.23338232e-04 9.99877827e-01 3.39070565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.739254154 meters 0.015146055225083383 Centerline is valid? [True, True] Translation: X:780.71, Y:5.53, Z:3.39 [[ 9.99832640e-01 -1.03786727e-02 -1.50657073e-02 7.80705091e+02] [ 1.03789236e-02 9.99946136e-01 -6.15329079e-05 5.52699781e+00] [ 1.50655344e-02 -9.48432152e-05 9.99886504e-01 3.39288249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.799254154 meters 0.01624933238972554 Centerline is valid? [True, True] Translation: X:780.76, Y:5.54, Z:3.39 [[ 9.99886026e-01 2.21861410e-03 -1.49335942e-02 7.80762607e+02] [-2.21981891e-03 9.99997534e-01 -6.41023480e-05 5.53655841e+00] [ 1.49334151e-02 9.72449168e-05 9.99888486e-01 3.39308951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8592541539999 meters 0.015789688348873884 Centerline is valid? [True, True] Translation: X:780.82, Y:5.54, Z:3.39 [[ 9.99861328e-01 8.04062831e-03 -1.45833022e-02 7.80820133e+02] [-8.04242832e-03 9.99967657e-01 -6.47869445e-05 5.54095636e+00] [ 1.45823096e-02 1.82063123e-04 9.99893656e-01 3.39368597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.919254154 meters 0.01602011043732441 Centerline is valid? [True, True] Translation: X:780.88, Y:5.54, Z:3.39 [[ 9.99865700e-01 7.81405103e-03 -1.44056253e-02 7.80879213e+02] [-7.81579976e-03 9.99969454e-01 -6.50964211e-05 5.54028254e+00] [ 1.44046766e-02 1.77679161e-04 9.99896231e-01 3.39328327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9792541539999 meters 0.015374699089155343 Centerline is valid? [True, True] Translation: X:780.94, Y:5.53, Z:3.39 [[ 9.99889741e-01 2.65803164e-03 -1.46095937e-02 7.80937124e+02] [-2.65929751e-03 9.99996462e-01 -6.72204535e-05 5.53430378e+00] [ 1.46093633e-02 1.06064298e-04 9.99893272e-01 3.39322867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.039254154 meters 0.015324814007776239 Centerline is valid? [True, True] Translation: X:781.00, Y:5.53, Z:3.39 [[ 9.99896951e-01 -3.06692295e-03 -1.40243435e-02 7.80996000e+02] [ 3.06630445e-03 9.99995297e-01 -6.56047517e-05 5.52731164e+00] [ 1.40244787e-02 2.25950843e-05 9.99901652e-01 3.39460677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0992541539999 meters 0.015173933738147141 Centerline is valid? [True, True] Translation: X:781.05, Y:5.51, Z:3.39 [[ 9.99811925e-01 -1.42644191e-02 -1.31392695e-02 7.81054181e+02] [ 1.42648272e-02 9.99898250e-01 -6.26649834e-05 5.51435630e+00] [ 1.31388264e-02 -1.24776211e-04 9.99913674e-01 3.39489781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.159254154 meters 0.017523954834205366 Centerline is valid? [True, True] Translation: X:781.11, Y:5.50, Z:3.39 [[ 9.99590127e-01 -2.55703994e-02 -1.28737422e-02 7.81114904e+02] [ 2.55717227e-02 9.99672988e-01 -6.18409552e-05 5.49938832e+00] [ 1.28711136e-02 -2.67388156e-04 9.99917128e-01 3.39442407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.2192541539999 meters 0.02063195711889888 Centerline is valid? [True, True] Translation: X:781.18, Y:5.49, Z:3.39 [[ 9.99299784e-01 -3.52659263e-02 -1.25002222e-02 7.81175628e+02] [ 3.52679328e-02 9.99377891e-01 -5.99570639e-05 5.48539676e+00] [ 1.24945602e-02 -3.80941916e-04 9.99921867e-01 3.39407468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.279254154 meters 0.021850879720419304 Centerline is valid? [True, True] Translation: X:781.24, Y:5.48, Z:3.39 [[ 9.99134763e-01 -3.95254153e-02 -1.29409309e-02 7.81236356e+02] [ 3.95279253e-02 9.99218464e-01 -6.18626565e-05 5.48037455e+00] [ 1.29332622e-02 -4.49719019e-04 9.99916261e-01 3.39360716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.339254154 meters 0.022486298261668747 Centerline is valid? [True, True] Translation: X:781.30, Y:5.47, Z:3.39 [[ 9.98931705e-01 -4.41967262e-02 -1.34943840e-02 7.81296666e+02] [ 4.41998844e-02 9.99022705e-01 -6.42585224e-05 5.47136245e+00] [ 1.34840360e-02 -5.32260335e-04 9.99908945e-01 3.39411569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.399254154 meters 0.02321823166572679 Centerline is valid? [True, True] Translation: X:781.36, Y:5.47, Z:3.39 [[ 9.98892733e-01 -4.46977626e-02 -1.46770953e-02 7.81358525e+02] [ 4.47015648e-02 9.99000383e-01 -6.90654965e-05 5.46724842e+00] [ 1.46655109e-02 -5.87100105e-04 9.99892283e-01 3.39330370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.459254154 meters 0.022459560397275313 Centerline is valid? [True, True] Translation: X:781.42, Y:5.47, Z:3.39 [[ 9.98998815e-01 -4.17632070e-02 -1.60375410e-02 7.81420485e+02] [ 4.17673848e-02 9.99127359e-01 -7.45005339e-05 5.46604916e+00] [ 1.60266574e-02 -5.95420201e-04 9.99871388e-01 3.39258855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.519254154 meters 0.01965015559319384 Centerline is valid? [True, True] Translation: X:781.48, Y:5.47, Z:3.39 [[ 9.99324027e-01 -3.26068115e-02 -1.69789365e-02 7.81480916e+02] [ 3.26101790e-02 9.99468144e-01 -7.85692238e-05 5.47083378e+00] [ 1.69724680e-02 -4.75170044e-04 9.99855844e-01 3.39266232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.579254154 meters 0.015425645230384696 Centerline is valid? [True, True] Translation: X:781.54, Y:5.48, Z:3.40 [[ 9.99667455e-01 -1.84073485e-02 -1.80595710e-02 7.81540993e+02] [ 1.84088423e-02 9.99830539e-01 -8.35403604e-05 5.48257930e+00] [ 1.80580484e-02 -2.48943215e-04 9.99836909e-01 3.39510819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.639254154 meters 0.014683073401556883 Centerline is valid? [True, True] Translation: X:781.60, Y:5.49, Z:3.40 [[ 9.99810466e-01 -8.08428029e-03 -1.77109073e-02 7.81599893e+02] [ 8.08407989e-03 9.99967320e-01 -8.29102508e-05 5.48888632e+00] [ 1.77109987e-02 -6.02818528e-05 9.99843146e-01 3.39608666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.699254154 meters 0.015185237145754095 Centerline is valid? [True, True] Translation: X:781.66, Y:5.50, Z:3.40 [[ 9.99850453e-01 4.48141917e-03 -1.67029698e-02 7.81657892e+02] [-4.48337443e-03 9.99989946e-01 -7.96172211e-05 5.49586583e+00] [ 1.67024451e-02 1.54490982e-04 9.99860492e-01 3.39778353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.759254154 meters 0.015675252238848508 Centerline is valid? [True, True] Translation: X:781.72, Y:5.50, Z:3.40 [[ 9.99831134e-01 9.26946580e-03 -1.58675920e-02 7.81716120e+02] [-9.27185596e-03 9.99957012e-01 -7.70707628e-05 5.49654200e+00] [ 1.58661955e-02 2.24179776e-04 9.99874099e-01 3.39912066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.819254154 meters 0.016048600064935633 Centerline is valid? [True, True] Translation: X:781.77, Y:5.49, Z:3.40 [[ 9.99825074e-01 9.03869126e-03 -1.63744452e-02 7.81772957e+02] [-9.04125144e-03 9.99959124e-01 -8.23295925e-05 5.49415974e+00] [ 1.63730317e-02 2.30360667e-04 9.99865926e-01 3.39793331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.879254154 meters 0.014709838649759575 Centerline is valid? [True, True] Translation: X:781.83, Y:5.48, Z:3.40 [[ 9.99861142e-01 7.36961858e-05 -1.66640679e-02 7.81831878e+02] [-7.51324758e-05 9.99999994e-01 -8.55648079e-05 5.48294347e+00] [ 1.66640615e-02 8.68049393e-05 9.99861141e-01 3.39829864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.939254154 meters 0.015235144335265896 Centerline is valid? [True, True] Translation: X:781.89, Y:5.47, Z:3.40 [[ 9.99725748e-01 -1.65243209e-02 -1.65944151e-02 7.81890214e+02] [ 1.65251589e-02 9.99863446e-01 -8.66347278e-05 5.46655808e+00] [ 1.65935807e-02 -1.87614378e-04 9.99862299e-01 3.39777849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.999254154 meters 0.019461120821217936 Centerline is valid? [True, True] Translation: X:781.95, Y:5.45, Z:3.40 [[ 9.99454180e-01 -2.89837550e-02 -1.58519104e-02 7.81950182e+02] [ 2.89860763e-02 9.99579812e-01 -8.33485562e-05 5.45361974e+00] [ 1.58476654e-02 -3.76181623e-04 9.99874347e-01 3.39635103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.059254154 meters 0.024149830679095666 Centerline is valid? [True, True] Translation: X:782.01, Y:5.44, Z:3.40 [[ 9.98772889e-01 -4.75994260e-02 -1.36751732e-02 7.82009761e+02] [ 4.76028963e-02 9.98866337e-01 -7.18062325e-05 5.43613916e+00] [ 1.36630881e-02 -5.79259733e-04 9.99906488e-01 3.39931976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.119254154 meters 0.02408080990602328 Centerline is valid? [True, True] Translation: X:782.07, Y:5.43, Z:3.40 [[ 9.98529607e-01 -5.26866116e-02 -1.27571493e-02 7.82070328e+02] [ 5.26900487e-02 9.98610912e-01 -6.67566630e-05 5.43470035e+00] [ 1.27429456e-02 -6.05516312e-04 9.99918622e-01 3.40058457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.179254154 meters 0.02899222640394444 Centerline is valid? [True, True] Translation: X:782.13, Y:5.42, Z:3.40 [[ 9.97888297e-01 -6.38912431e-02 -1.16985621e-02 7.82131007e+02] [ 6.38949019e-02 9.97956631e-01 -6.11116780e-05 5.42385294e+00] [ 1.16785621e-02 -6.86495848e-04 9.99931568e-01 3.39985213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.239254154 meters 0.03138618297905 Centerline is valid? [True, True] Translation: X:782.19, Y:5.42, Z:3.40 [[ 9.97452405e-01 -7.05363429e-02 -1.06453737e-02 7.82192058e+02] [ 7.05397515e-02 9.97508968e-01 -5.54047075e-05 5.41630043e+00] [ 1.06227637e-02 -6.95658455e-04 9.99943335e-01 3.40160805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.299254154 meters 0.03789196527048984 Centerline is valid? [True, True] Translation: X:782.25, Y:5.41, Z:3.40 [[ 9.97352432e-01 -7.18645774e-02 -1.11179906e-02 7.82253279e+02] [ 7.18683832e-02 9.97414123e-01 -5.73540975e-05 5.40695680e+00] [ 1.10933625e-02 -7.41829757e-04 9.99938192e-01 3.39884575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3592541539999 meters 0.03405321586433219 Centerline is valid? [True, True] Translation: X:782.32, Y:5.41, Z:3.40 [[ 9.97307228e-01 -7.23626556e-02 -1.19138369e-02 7.82315657e+02] [ 7.23670709e-02 9.97378064e-01 -6.06469692e-05 5.41094639e+00] [ 1.18869882e-02 -8.01685821e-04 9.99929026e-01 3.39987978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.419254154 meters 0.034113350142133465 Centerline is valid? [True, True] Translation: X:782.38, Y:5.41, Z:3.40 [[ 9.97413309e-01 -7.04676413e-02 -1.41775706e-02 7.82377454e+02] [ 7.04737165e-02 9.97513634e-01 -7.12529141e-05 5.41132216e+00] [ 1.41473410e-02 -9.28077484e-04 9.99899491e-01 3.39787076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4792541539999 meters 0.033923311901975554 Centerline is valid? [True, True] Translation: X:782.44, Y:5.41, Z:3.40 [[ 9.97650214e-01 -6.65361872e-02 -1.63397295e-02 7.82438248e+02] [ 6.65437399e-02 9.97783506e-01 -8.16297617e-05 5.41457134e+00] [ 1.63089439e-02 -1.00586876e-03 9.99866494e-01 3.39619419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.539254154 meters 0.033020208951435016 Centerline is valid? [True, True] Translation: X:782.50, Y:5.42, Z:3.40 [[ 9.97842244e-01 -6.33831119e-02 -1.71299795e-02 7.82499180e+02] [ 6.33909552e-02 9.97988767e-01 -8.52712695e-05 5.41896761e+00] [ 1.71009319e-02 -1.00079849e-03 9.99853267e-01 3.39739912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5992541539999 meters 0.03244433152629563 Centerline is valid? [True, True] Translation: X:782.56, Y:5.43, Z:3.40 [[ 9.98235405e-01 -5.67858821e-02 -1.73620409e-02 7.82559410e+02] [ 5.67929453e-02 9.98385974e-01 -8.63646075e-05 5.42639518e+00] [ 1.73389224e-02 -8.99829232e-04 9.99849265e-01 3.39625312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.659254154 meters 0.028035976340231396 Centerline is valid? [True, True] Translation: X:782.62, Y:5.44, Z:3.40 [[ 9.98501989e-01 -5.22045660e-02 -1.63847654e-02 7.82620649e+02] [ 5.22102442e-02 9.98636112e-01 -8.13037228e-05 5.43630375e+00] [ 1.63666628e-02 -7.74270674e-04 9.99865757e-01 3.39932468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.7192541539999 meters 0.0283037315444473 Centerline is valid? [True, True] Translation: X:782.68, Y:5.44, Z:3.40 [[ 9.98702185e-01 -4.82047785e-02 -1.64391591e-02 7.82681345e+02] [ 4.82099583e-02 9.98837221e-01 -8.12882270e-05 5.44052431e+00] [ 1.64239624e-02 -7.11348442e-04 9.99864865e-01 3.39860811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.779254154 meters 0.024236507156030415 Centerline is valid? [True, True] Translation: X:782.74, Y:5.45, Z:3.40 [[ 9.98937964e-01 -4.33929894e-02 -1.54917140e-02 7.82742360e+02] [ 4.33970156e-02 9.99057903e-01 -7.63373618e-05 5.44876407e+00] [ 1.54804318e-02 -5.96037863e-04 9.99879993e-01 3.40187135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.839254154 meters 0.02352594724579319 Centerline is valid? [True, True] Translation: X:782.80, Y:5.45, Z:3.40 [[ 9.99078009e-01 -4.01752205e-02 -1.51355227e-02 7.82803547e+02] [ 4.01787016e-02 9.99192507e-01 -7.41353389e-05 5.45189014e+00] [ 1.51262793e-02 -5.34058665e-04 9.99885449e-01 3.40251060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.899254154 meters 0.02084466899181248 Centerline is valid? [True, True] Translation: X:782.86, Y:5.46, Z:3.40 [[ 9.99252029e-01 -3.50932055e-02 -1.62434694e-02 7.82863854e+02] [ 3.50965469e-02 9.99383923e-01 -7.93985919e-05 5.45911979e+00] [ 1.62362486e-02 -4.90750482e-04 9.99868063e-01 3.40333899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.959254154 meters 0.019834447295385544 Centerline is valid? [True, True] Translation: X:782.92, Y:5.46, Z:3.40 [[ 9.99499253e-01 -2.65600364e-02 -1.71990370e-02 7.82923597e+02] [ 2.65625199e-02 9.99647150e-01 -8.40694362e-05 5.46403068e+00] [ 1.71952012e-02 -3.72822423e-04 9.99852082e-01 3.40099100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.019254154 meters 0.016181565339477576 Centerline is valid? [True, True] Translation: X:782.98, Y:5.48, Z:3.40 [[ 9.99710712e-01 -1.50834246e-02 -1.87345202e-02 7.82983704e+02] [ 1.50843517e-02 9.99886220e-01 -9.18355197e-05 5.47666575e+00] [ 1.87337738e-02 -1.90789138e-04 9.99824489e-01 3.40365284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.079254154 meters 0.015046368404687998 Centerline is valid? [True, True] Translation: X:783.04, Y:5.48, Z:3.41 [[ 9.99790612e-01 -7.62363449e-03 -1.89897740e-02 7.83042334e+02] [ 7.62316782e-03 9.99970939e-01 -9.69633783e-05 5.48323544e+00] [ 1.89899614e-02 -4.78191591e-05 9.99819673e-01 3.40560093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.139254154 meters 0.015494839183865912 Centerline is valid? [True, True] Translation: X:783.10, Y:5.49, Z:3.41 [[ 9.99823226e-01 7.71112025e-04 -1.87862109e-02 7.83099875e+02] [-7.73107810e-04 9.99999696e-01 -9.89744022e-05 5.48898799e+00] [ 1.87861289e-02 1.13480673e-04 9.99823519e-01 3.40567186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.199254154 meters 0.01565571716958281 Centerline is valid? [True, True] Translation: X:783.16, Y:5.49, Z:3.41 [[ 9.99823599e-01 1.96154923e-03 -1.86794706e-02 7.83158251e+02] [-1.96380880e-03 9.99998066e-01 -1.02622664e-04 5.48694044e+00] [ 1.86792332e-02 1.39287470e-04 9.99825518e-01 3.40637320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.259254154 meters 0.014998447143799184 Centerline is valid? [True, True] Translation: X:783.22, Y:5.48, Z:3.41 [[ 9.99834966e-01 -1.70084981e-04 -1.81662012e-02 7.83217038e+02] [ 1.68261776e-04 9.99999981e-01 -1.01890912e-04 5.48380760e+00] [ 1.81662181e-02 9.88174194e-05 9.99834976e-01 3.40735245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.319254154 meters 0.014836209592744273 Centerline is valid? [True, True] Translation: X:783.28, Y:5.48, Z:3.41 [[ 9.99818621e-01 -4.82961520e-03 -1.84228200e-02 7.83275873e+02] [ 4.82850620e-03 9.99988337e-01 -1.04678053e-04 5.47756364e+00] [ 1.84231107e-02 1.57043654e-05 9.99830280e-01 3.40796581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.379254154 meters 0.014935498789978848 Centerline is valid? [True, True] Translation: X:783.33, Y:5.47, Z:3.41 [[ 9.99758489e-01 -1.10361631e-02 -1.90044021e-02 7.83334342e+02] [ 1.10360775e-02 9.99939095e-01 -1.09384604e-04 5.46831212e+00] [ 1.90044518e-02 -1.00375867e-04 9.99819394e-01 3.40845817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.439254154 meters 0.01679572690710828 Centerline is valid? [True, True] Translation: X:783.39, Y:5.46, Z:3.41 [[ 9.99692474e-01 -1.53840836e-02 -1.94495874e-02 7.83392953e+02] [ 1.53847891e-02 9.99881641e-01 -1.13364380e-04 5.46177596e+00] [ 1.94490293e-02 -1.85898282e-04 9.99810832e-01 3.40689450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.499254154 meters 0.016180846443485948 Centerline is valid? [True, True] Translation: X:783.45, Y:5.45, Z:3.41 [[ 9.99596119e-01 -2.06921829e-02 -1.94790463e-02 7.83451919e+02] [ 2.06938708e-02 9.99785852e-01 -1.14932933e-04 5.45290050e+00] [ 1.94772532e-02 -2.88210353e-04 9.99810259e-01 3.40824384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.559254154 meters 0.016412998174104194 Centerline is valid? [True, True] Translation: X:783.51, Y:5.45, Z:3.41 [[ 9.99572695e-01 -2.19606951e-02 -1.92913083e-02 7.83511141e+02] [ 2.19625090e-02 9.99758788e-01 -1.17856090e-04 5.44866560e+00] [ 1.92892432e-02 -3.05879802e-04 9.99813898e-01 3.40843008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.619254154 meters 0.015929155056647142 Centerline is valid? [True, True] Translation: X:783.57, Y:5.44, Z:3.41 [[ 9.99575025e-01 -2.13881545e-02 -1.98069942e-02 7.83568858e+02] [ 2.13898424e-02 9.99771203e-01 -1.26655713e-04 5.44473029e+00] [ 1.98051713e-02 -2.97066597e-04 9.99803814e-01 3.41008011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.679254154 meters 0.018164501819157047 Centerline is valid? [True, True] Translation: X:783.63, Y:5.44, Z:3.41 [[ 9.99609359e-01 -1.85033538e-02 -2.09464980e-02 7.83627448e+02] [ 1.85044912e-02 9.99828767e-01 -1.39539481e-04 5.44168400e+00] [ 2.09454932e-02 -2.48119316e-04 9.99780588e-01 3.40914143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.739254154 meters 0.015832450378112227 Centerline is valid? [True, True] Translation: X:783.69, Y:5.44, Z:3.41 [[ 9.99668494e-01 -1.63313478e-02 -1.99044905e-02 7.83685766e+02] [ 1.63318454e-02 9.99866617e-01 -1.37567242e-04 5.43743018e+00] [ 1.99040823e-02 -1.87555423e-04 9.99801877e-01 3.41038955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.799254154 meters 0.017887709490932595 Centerline is valid? [True, True] Translation: X:783.74, Y:5.44, Z:3.41 [[ 9.99682463e-01 -1.54675597e-02 -1.98928846e-02 7.83743509e+02] [ 1.54677754e-02 9.99880357e-01 -1.43032336e-04 5.43599517e+00] [ 1.98927169e-02 -1.64711753e-04 9.99802107e-01 3.41139876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8592541539999 meters 0.019246242323698943 Centerline is valid? [True, True] Translation: X:783.80, Y:5.43, Z:3.41 [[ 9.99690920e-01 -1.55837434e-02 -1.93703609e-02 7.83801385e+02] [ 1.55838619e-02 9.99878554e-01 -1.44835004e-04 5.43143594e+00] [ 1.93702655e-02 -1.57074792e-04 9.99812366e-01 3.41240945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.919254154 meters 0.015231964728632377 Centerline is valid? [True, True] Translation: X:783.86, Y:5.43, Z:3.42 [[ 9.99680556e-01 -1.72805365e-02 -1.84436697e-02 7.83859236e+02] [ 1.72808354e-02 9.99850665e-01 -1.43176636e-04 5.42831664e+00] [ 1.84433896e-02 -1.75591122e-04 9.99829891e-01 3.41606692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9792541539999 meters 0.017499223719322162 Centerline is valid? [True, True] Translation: X:783.92, Y:5.42, Z:3.41 [[ 9.99600728e-01 -1.95261680e-02 -2.04233472e-02 7.83917620e+02] [ 1.95269300e-02 9.99809318e-01 -1.62130998e-04 5.42219333e+00] [ 2.04226186e-02 -2.36739008e-04 9.99791409e-01 3.41371108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.039254154 meters 0.018468429589343596 Centerline is valid? [True, True] Translation: X:783.98, Y:5.42, Z:3.41 [[ 9.99553549e-01 -2.12024743e-02 -2.10513080e-02 7.83976851e+02] [ 2.12035549e-02 9.99775165e-01 -1.71898199e-04 5.42015889e+00] [ 2.10502196e-02 -2.74541110e-04 9.99778382e-01 3.41298198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0992541539999 meters 0.017344935320797374 Centerline is valid? [True, True] Translation: X:784.04, Y:5.41, Z:3.42 [[ 9.99391468e-01 -2.80405529e-02 -2.07465799e-02 7.84036056e+02] [ 2.80430346e-02 9.99606702e-01 -1.71359855e-04 5.41238146e+00] [ 2.07432254e-02 -4.10541481e-04 9.99784752e-01 3.41574613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.159254154 meters 0.018127519216073706 Centerline is valid? [True, True] Translation: X:784.10, Y:5.41, Z:3.42 [[ 9.99253462e-01 -3.30792800e-02 -1.99569555e-02 7.84095272e+02] [ 3.30825587e-02 9.99452609e-01 -1.65923343e-04 5.40863778e+00] [ 1.99515198e-02 -4.94427676e-04 9.99800826e-01 3.41752716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.2192541539999 meters 0.02021692496983115 Centerline is valid? [True, True] Translation: X:784.15, Y:5.40, Z:3.42 [[ 9.98972848e-01 -4.10035123e-02 -1.92862930e-02 7.84154027e+02] [ 4.10080343e-02 9.99158804e-01 -1.61124122e-04 5.40012784e+00] [ 1.92766761e-02 -6.29934344e-04 9.99813989e-01 3.41910125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.279254154 meters 0.023057852574724327 Centerline is valid? [True, True] Translation: X:784.21, Y:5.39, Z:3.42 [[ 9.98709683e-01 -4.68530145e-02 -1.95899175e-02 7.84213760e+02] [ 4.68587949e-02 9.98901510e-01 -1.64102582e-04 5.39475713e+00] [ 1.95760869e-02 -7.54069089e-04 9.99808086e-01 3.41813567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.339254154 meters 0.024581064861568636 Centerline is valid? [True, True] Translation: X:784.27, Y:5.39, Z:3.42 [[ 9.98428631e-01 -5.28184590e-02 -1.87210880e-02 7.84274433e+02] [ 5.28247829e-02 9.98603784e-01 -1.56901842e-04 5.38871393e+00] [ 1.87032366e-02 -8.32282116e-04 9.99824733e-01 3.42027439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.399254154 meters 0.027724075352784906 Centerline is valid? [True, True] Translation: X:784.33, Y:5.38, Z:3.42 [[ 9.98238546e-01 -5.63078475e-02 -1.86877648e-02 7.84333923e+02] [ 5.63147540e-02 9.98413053e-01 -1.56879420e-04 5.38370362e+00] [ 1.86669419e-02 -8.95793795e-04 9.99825356e-01 3.41955346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.459254154 meters 0.026549820857624164 Centerline is valid? [True, True] Translation: X:784.39, Y:5.38, Z:3.42 [[ 9.97893433e-01 -6.24565578e-02 -1.75463700e-02 7.84394902e+02] [ 6.24635916e-02 9.98047232e-01 -1.47426792e-04 5.38336725e+00] [ 1.75213137e-02 -9.48893059e-04 9.99846040e-01 3.42330119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.519254154 meters 0.034973157970479236 Centerline is valid? [True, True] Translation: X:784.45, Y:5.37, Z:3.42 [[ 9.97644900e-01 -6.55157004e-02 -2.03063045e-02 7.84454640e+02] [ 6.55257673e-02 9.97850863e-01 -1.69926118e-04 5.37304819e+00] [ 2.02737963e-02 -1.16106026e-03 9.99793791e-01 3.41776667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.579254154 meters 0.034559597864086834 Centerline is valid? [True, True] Translation: X:784.51, Y:5.37, Z:3.42 [[ 9.97546726e-01 -6.70641070e-02 -2.00732385e-02 7.84514802e+02] [ 6.70742549e-02 9.97747972e-01 -1.68051201e-04 5.37245499e+00] [ 2.00393032e-02 -1.17875859e-03 9.99798498e-01 3.42028313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.639254154 meters 0.03045111259234377 Centerline is valid? [True, True] Translation: X:784.58, Y:5.38, Z:3.42 [[ 9.97669045e-01 -6.49841827e-02 -2.08214517e-02 7.84575019e+02] [ 6.49946484e-02 9.97885597e-01 -1.74393789e-04 5.38117998e+00] [ 2.07887597e-02 -1.17929565e-03 9.99783195e-01 3.42093792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.699254154 meters 0.0350091450593582 Centerline is valid? [True, True] Translation: X:784.63, Y:5.38, Z:3.42 [[ 9.97970355e-01 -6.03316865e-02 -2.03778720e-02 7.84634129e+02] [ 6.03407365e-02 9.98177823e-01 -1.71031296e-04 5.37818702e+00] [ 2.03510585e-02 -1.05893164e-03 9.99792335e-01 3.41987647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.759254154 meters 0.023445899410591758 Centerline is valid? [True, True] Translation: X:784.69, Y:5.40, Z:3.43 [[ 9.98264302e-01 -5.57641909e-02 -1.89403995e-02 7.84694535e+02] [ 5.57711887e-02 9.98443563e-01 -1.58959331e-04 5.39575631e+00] [ 1.89197842e-02 -8.97645168e-04 9.99820602e-01 3.42708523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.819254154 meters 0.026478224609465563 Centerline is valid? [True, True] Translation: X:784.75, Y:5.40, Z:3.42 [[ 9.98640115e-01 -4.76732830e-02 -2.10992591e-02 7.84754018e+02] [ 4.76801588e-02 9.98862639e-01 -1.77350664e-04 5.40003343e+00] [ 2.10837165e-02 -8.28906536e-04 9.99777370e-01 3.42378687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.879254154 meters 0.02164505748774019 Centerline is valid? [True, True] Translation: X:784.81, Y:5.41, Z:3.43 [[ 9.98795418e-01 -4.49487532e-02 -1.96805288e-02 7.84814036e+02] [ 4.49541879e-02 9.98989036e-01 -1.66395582e-04 5.40629643e+00] [ 1.96681117e-02 -7.18527043e-04 9.99806306e-01 3.42765428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.939254154 meters 0.021642906141639183 Centerline is valid? [True, True] Translation: X:784.87, Y:5.41, Z:3.43 [[ 9.98919371e-01 -4.20817467e-02 -1.97285588e-02 7.84872370e+02] [ 4.20866281e-02 9.99113951e-01 -1.67887552e-04 5.40988900e+00] [ 1.97181433e-02 -6.62602387e-04 9.99805359e-01 3.42770723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.999254154 meters 0.022379577598464463 Centerline is valid? [True, True] Translation: X:784.93, Y:5.41, Z:3.43 [[ 9.98969601e-01 -4.00241860e-02 -2.13962579e-02 7.84932009e+02] [ 4.00294378e-02 9.99198484e-01 -1.82952737e-04 5.41401219e+00] [ 2.13864310e-02 -6.73715951e-04 9.99771057e-01 3.42658363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.059254154 meters 0.02219800784274658 Centerline is valid? [True, True] Translation: X:784.99, Y:5.42, Z:3.43 [[ 9.99031708e-01 -3.79181350e-02 -2.23128144e-02 7.84991075e+02] [ 3.79232162e-02 9.99280637e-01 -1.95522550e-04 5.41746701e+00] [ 2.23041773e-02 -6.50840458e-04 9.99751019e-01 3.42676448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.119254154 meters 0.01810302778549501 Centerline is valid? [True, True] Translation: X:785.05, Y:5.42, Z:3.43 [[ 9.99230519e-01 -3.31188394e-02 -2.10121803e-02 7.85050203e+02] [ 3.31222501e-02 9.99451290e-01 -1.85775599e-04 5.42308033e+00] [ 2.10068034e-02 -5.10338043e-04 9.99779203e-01 3.43021341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.179254154 meters 0.017505734888337295 Centerline is valid? [True, True] Translation: X:785.11, Y:5.43, Z:3.43 [[ 9.99375351e-01 -2.88717743e-02 -2.03795978e-02 7.85107962e+02] [ 2.88740684e-02 9.99583041e-01 -1.81737230e-04 5.42637732e+00] [ 2.03763474e-02 -4.06818193e-04 9.99792298e-01 3.43056091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.239254154 meters 0.018488778602260645 Centerline is valid? [True, True] Translation: X:785.17, Y:5.43, Z:3.43 [[ 9.99524507e-01 -2.27969178e-02 -2.07619920e-02 7.85166319e+02] [ 2.27979572e-02 9.99740075e-01 -1.86657475e-04 5.42956567e+00] [ 2.07608507e-02 -2.86762285e-04 9.99784429e-01 3.42985504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.299254154 meters 0.017696791006332983 Centerline is valid? [True, True] Translation: X:785.22, Y:5.43, Z:3.43 [[ 9.99587812e-01 -2.07756882e-02 -1.98135709e-02 7.85224798e+02] [ 2.07761567e-02 9.99784136e-01 -1.82220673e-04 5.43112078e+00] [ 1.98130796e-02 -2.29504290e-04 9.99803675e-01 3.43260528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3592541539999 meters 0.015523292287798774 Centerline is valid? [True, True] Translation: X:785.28, Y:5.43, Z:3.43 [[ 9.99577643e-01 -2.20908520e-02 -1.88820212e-02 7.85282847e+02] [ 2.20914160e-02 9.99755939e-01 -1.78738029e-04 5.42976138e+00] [ 1.88813613e-02 -2.38468048e-04 9.99821703e-01 3.43487670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.419254154 meters 0.01588501160450085 Centerline is valid? [True, True] Translation: X:785.34, Y:5.43, Z:3.44 [[ 9.99470659e-01 -2.64287574e-02 -1.89716037e-02 7.85341610e+02] [ 2.64300140e-02 9.99650649e-01 -1.84534586e-04 5.42528399e+00] [ 1.89698530e-02 -3.16982848e-04 9.99820006e-01 3.43587568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4792541539999 meters 0.018243197814118647 Centerline is valid? [True, True] Translation: X:785.40, Y:5.42, Z:3.43 [[ 9.99243494e-01 -3.31711849e-02 -2.03005245e-02 7.85401352e+02] [ 3.31739781e-02 9.99449572e-01 -1.99242869e-04 5.41774788e+00] [ 2.02959596e-02 -4.74357013e-04 9.99793903e-01 3.43498785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.539254154 meters 0.025233872755072346 Centerline is valid? [True, True] Translation: X:785.46, Y:5.41, Z:3.43 [[ 9.99100373e-01 -3.67170980e-02 -2.12202440e-02 7.85459939e+02] [ 3.67209264e-02 9.99325537e-01 -2.09349054e-04 5.40696036e+00] [ 2.12136184e-02 -5.70066300e-04 9.99774803e-01 3.42955978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5992541539999 meters 0.019724933513231385 Centerline is valid? [True, True] Translation: X:785.52, Y:5.41, Z:3.44 [[ 9.98951943e-01 -4.12580918e-02 -1.98188272e-02 7.85519186e+02] [ 4.12623026e-02 9.99148329e-01 -1.96591103e-04 5.40870648e+00] [ 1.98100590e-02 -6.21385379e-04 9.99803568e-01 3.43684754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.659254154 meters 0.02401465640114571 Centerline is valid? [True, True] Translation: X:785.58, Y:5.41, Z:3.43 [[ 9.98861855e-01 -4.30825690e-02 -2.04667468e-02 7.85578144e+02] [ 4.30873542e-02 9.99071287e-01 -2.07319833e-04 5.40516841e+00] [ 2.04566710e-02 -6.74774097e-04 9.99790513e-01 3.43482221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.7192541539999 meters 0.025214455508673357 Centerline is valid? [True, True] Translation: X:785.64, Y:5.40, Z:3.44 [[ 9.98713705e-01 -4.71037399e-02 -1.87662803e-02 7.85636405e+02] [ 4.71084334e-02 9.98889763e-01 -1.92130919e-04 5.39869750e+00] [ 1.87544954e-02 -6.92166285e-04 9.99823879e-01 3.43573428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.779254154 meters 0.026710230971357683 Centerline is valid? [True, True] Translation: X:785.70, Y:5.39, Z:3.44 [[ 9.98398230e-01 -5.31944184e-02 -1.92698681e-02 7.85697015e+02] [ 5.32004903e-02 9.98583832e-01 -1.97757365e-04 5.39317259e+00] [ 1.92530983e-02 -8.27725826e-04 9.99814299e-01 3.43560224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.839254154 meters 0.03031489760495292 Centerline is valid? [True, True] Translation: X:785.76, Y:5.38, Z:3.44 [[ 9.97923824e-01 -6.12118937e-02 -2.00286075e-02 7.85756114e+02] [ 6.12200645e-02 9.98124272e-01 -2.05502236e-04 5.38262953e+00] [ 2.00036185e-02 -1.02107707e-03 9.99799386e-01 3.43633918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.899254154 meters 0.02982325455917797 Centerline is valid? [True, True] Translation: X:785.82, Y:5.38, Z:3.44 [[ 9.97639474e-01 -6.58526776e-02 -1.94654844e-02 7.85816020e+02] [ 6.58612710e-02 9.97828769e-01 -1.99966458e-04 5.38194469e+00] [ 1.94363887e-02 -1.08252711e-03 9.99810510e-01 3.43833065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.959254154 meters 0.034418290122382816 Centerline is valid? [True, True] Translation: X:785.88, Y:5.38, Z:3.44 [[ 9.97424596e-01 -6.89685321e-02 -1.96854295e-02 7.85876784e+02] [ 6.89779241e-02 9.97618166e-01 -2.02304560e-04 5.37781905e+00] [ 1.96524947e-02 -1.15607652e-03 9.99806203e-01 3.43672017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.019254154 meters 0.032231475640205606 Centerline is valid? [True, True] Translation: X:785.94, Y:5.38, Z:3.44 [[ 9.97281256e-01 -7.12205892e-02 -1.89135733e-02 7.85937783e+02] [ 7.12296673e-02 9.97459922e-01 -1.94105524e-04 5.38102613e+00] [ 1.88793557e-02 -1.15362973e-03 9.99821104e-01 3.43899500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.079254154 meters 0.03327193453918735 Centerline is valid? [True, True] Translation: X:786.00, Y:5.38, Z:3.44 [[ 9.97300023e-01 -7.08027355e-02 -1.94842792e-02 7.85999146e+02] [ 7.08123027e-02 9.97489638e-01 -1.99332746e-04 5.38145545e+00] [ 1.94494799e-02 -1.18093212e-03 9.99810144e-01 3.43920877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.139254154 meters 0.02963219435900725 Centerline is valid? [True, True] Translation: X:786.06, Y:5.39, Z:3.44 [[ 9.97454892e-01 -6.89028325e-02 -1.83340756e-02 7.86059959e+02] [ 6.89109908e-02 9.97622795e-01 -1.87159725e-04 5.38560314e+00] [ 1.83033876e-02 -1.07673593e-03 9.99831899e-01 3.44304900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.199254154 meters 0.030218468118127846 Centerline is valid? [True, True] Translation: X:786.12, Y:5.39, Z:3.44 [[ 9.97742335e-01 -6.49261407e-02 -1.71706172e-02 7.86120527e+02] [ 6.49327140e-02 9.97889629e-01 -1.74996686e-04 5.39022194e+00] [ 1.71457427e-02 -9.40333176e-04 9.99852559e-01 3.44290073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.259254154 meters 0.03045162315834361 Centerline is valid? [True, True] Translation: X:786.18, Y:5.39, Z:3.44 [[ 9.97982177e-01 -6.11582627e-02 -1.70658195e-02 7.86180803e+02] [ 6.11642078e-02 9.98127702e-01 -1.73856556e-04 5.39186295e+00] [ 1.70445000e-02 -8.70311586e-04 9.99854353e-01 3.44343235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.319254154 meters 0.030567722083390318 Centerline is valid? [True, True] Translation: X:786.24, Y:5.40, Z:3.44 [[ 9.98179082e-01 -5.74072902e-02 -1.85181921e-02 7.86241805e+02] [ 5.74136489e-02 9.98350458e-01 -1.88525961e-04 5.39615200e+00] [ 1.84984684e-02 -8.75014310e-04 9.99828506e-01 3.44264804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.379254154 meters 0.02966224273351409 Centerline is valid? [True, True] Translation: X:786.30, Y:5.40, Z:3.44 [[ 9.98375549e-01 -5.40016939e-02 -1.81680978e-02 7.86301944e+02] [ 5.40072480e-02 9.98540526e-01 -1.85157895e-04 5.39965181e+00] [ 1.81515808e-02 -7.96351851e-04 9.99834929e-01 3.44339622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.439254154 meters 0.02165950951731503 Centerline is valid? [True, True] Translation: X:786.36, Y:5.41, Z:3.45 [[ 9.98664792e-01 -4.86820048e-02 -1.72828002e-02 7.86362704e+02] [ 4.86862379e-02 9.98814106e-01 -1.75981305e-04 5.41357849e+00] [ 1.72708718e-02 -6.65688189e-04 9.99850626e-01 3.44845495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.499254154 meters 0.022197371374851945 Centerline is valid? [True, True] Translation: X:786.42, Y:5.42, Z:3.45 [[ 9.98871807e-01 -4.40718697e-02 -1.76856717e-02 7.86422961e+02] [ 4.40755821e-02 9.99028183e-01 -1.80004665e-04 5.41738965e+00] [ 1.76764176e-02 -5.99704690e-04 9.99843580e-01 3.44753224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.559254154 meters 0.021635250692289627 Centerline is valid? [True, True] Translation: X:786.48, Y:5.42, Z:3.45 [[ 9.99110871e-01 -3.76793134e-02 -1.89139416e-02 7.86482731e+02] [ 3.76824150e-02 9.99289747e-01 -1.92505990e-04 5.42395212e+00] [ 1.89077615e-02 -5.20388172e-04 9.99821097e-01 3.44694873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.619254154 meters 0.017595539925365077 Centerline is valid? [True, True] Translation: X:786.54, Y:5.43, Z:3.45 [[ 9.99317612e-01 -3.25511260e-02 -1.74566289e-02 7.86542772e+02] [ 3.25529819e-02 9.99469995e-01 -1.77906542e-04 5.42924292e+00] [ 1.74531679e-02 -3.90480185e-04 9.99847606e-01 3.45005948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.679254154 meters 0.018257306498680827 Centerline is valid? [True, True] Translation: X:786.60, Y:5.43, Z:3.45 [[ 9.99472493e-01 -2.70714707e-02 -1.79407549e-02 7.86602563e+02] [ 2.70725383e-02 9.99633455e-01 -1.83403829e-04 5.43289833e+00] [ 1.79391438e-02 -3.02394692e-04 9.99839035e-01 3.44952270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.739254154 meters 0.01976080020138666 Centerline is valid? [True, True] Translation: X:786.66, Y:5.44, Z:3.45 [[ 9.99526238e-01 -2.43986162e-02 -1.87618445e-02 7.86661769e+02] [ 2.43992470e-02 9.99702275e-01 -1.95318253e-04 5.43500709e+00] [ 1.87610241e-02 -2.62549160e-04 9.99823962e-01 3.44912359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.799254154 meters 0.01650394624609619 Centerline is valid? [True, True] Translation: X:786.72, Y:5.44, Z:3.45 [[ 9.99603212e-01 -2.19723718e-02 -1.76248182e-02 7.86720956e+02] [ 2.19724777e-02 9.99758558e-01 -1.87662737e-04 5.43717329e+00] [ 1.76246862e-02 -1.99672649e-04 9.99844653e-01 3.45226708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8592541539999 meters 0.01797742401291074 Centerline is valid? [True, True] Translation: X:786.78, Y:5.44, Z:3.45 [[ 9.99647146e-01 -1.92335264e-02 -1.83208866e-02 7.86779091e+02] [ 1.92331371e-02 9.99815007e-01 -1.97464173e-04 5.43571929e+00] [ 1.83212952e-02 -1.54973625e-04 9.99832139e-01 3.45079481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.919254154 meters 0.01615829196903965 Centerline is valid? [True, True] Translation: X:786.84, Y:5.44, Z:3.45 [[ 9.99683377e-01 -1.76507286e-02 -1.79331292e-02 7.86838242e+02] [ 1.76500315e-02 9.99844207e-01 -1.97155234e-04 5.43597696e+00] [ 1.79338153e-02 -1.19427485e-04 9.99839169e-01 3.45249832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9792541539999 meters 0.017758260620365895 Centerline is valid? [True, True] Translation: X:786.90, Y:5.43, Z:3.45 [[ 9.99738289e-01 -1.42687563e-02 -1.78817240e-02 7.86896595e+02] [ 1.42674401e-02 9.99898195e-01 -2.01183528e-04 5.43485090e+00] [ 1.78827742e-02 -5.39955491e-05 9.99840089e-01 3.45328672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.039254154 meters 0.016319269080466343 Centerline is valid? [True, True] Translation: X:786.96, Y:5.43, Z:3.46 [[ 9.99779334e-01 -1.26659767e-02 -1.67587745e-02 7.86955446e+02] [ 1.26645243e-02 9.99919783e-01 -1.92796102e-04 5.43324563e+00] [ 1.67598722e-02 -1.94883498e-05 9.99859543e-01 3.45511913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0992541539999 meters 0.015861200076858175 Centerline is valid? [True, True] Translation: X:787.01, Y:5.43, Z:3.46 [[ 9.99802289e-01 -1.11813067e-02 -1.64426594e-02 7.87013021e+02] [ 1.11796314e-02 9.99937487e-01 -1.93800536e-04 5.42862721e+00] [ 1.64437985e-02 9.93934708e-06 9.99864792e-01 3.45574174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.159254154 meters 0.01411571221699175 Centerline is valid? [True, True] Translation: X:787.07, Y:5.42, Z:3.46 [[ 9.99803823e-01 -1.20432448e-02 -1.57250136e-02 7.87070973e+02] [ 1.20417839e-02 9.99927477e-01 -1.87591834e-04 5.42244061e+00] [ 1.57261323e-02 -1.80218132e-06 9.99876337e-01 3.45698963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.2192541539999 meters 0.01715285134453932 Centerline is valid? [True, True] Translation: X:787.13, Y:5.41, Z:3.45 [[ 9.99755665e-01 -1.45914705e-02 -1.66042060e-02 7.87128450e+02] [ 1.45901684e-02 9.99893538e-01 -1.99561468e-04 5.41365927e+00] [ 1.66053502e-02 -4.27454527e-05 9.99862121e-01 3.45477986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.279254154 meters 0.015902818498821865 Centerline is valid? [True, True] Translation: X:787.19, Y:5.41, Z:3.46 [[ 9.99720894e-01 -1.71158544e-02 -1.62843781e-02 7.87186401e+02] [ 1.71148744e-02 9.99853510e-01 -1.99553430e-04 5.40836440e+00] [ 1.62854081e-02 -7.92073522e-05 9.99867381e-01 3.45698523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.339254154 meters 0.017054903423627855 Centerline is valid? [True, True] Translation: X:787.25, Y:5.40, Z:3.46 [[ 9.99665741e-01 -2.06623981e-02 -1.55393388e-02 7.87245651e+02] [ 2.06618714e-02 9.99786502e-01 -1.94458441e-04 5.39953990e+00] [ 1.55400391e-02 -1.26678379e-04 9.99879238e-01 3.45713779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.399254154 meters 0.017461644275606578 Centerline is valid? [True, True] Translation: X:787.30, Y:5.39, Z:3.46 [[ 9.99589264e-01 -2.48120469e-02 -1.43410670e-02 7.87303616e+02] [ 2.48119979e-02 9.99692119e-01 -1.81370366e-04 5.38970975e+00] [ 1.43411518e-02 -1.74534654e-04 9.99897145e-01 3.45708035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.459254154 meters 0.018631794838387592 Centerline is valid? [True, True] Translation: X:787.36, Y:5.39, Z:3.46 [[ 9.99520279e-01 -2.71781696e-02 -1.48512504e-02 7.87362064e+02] [ 2.71783317e-02 9.99630583e-01 -1.90946006e-04 5.38586763e+00] [ 1.48509536e-02 -2.12777804e-04 9.99889696e-01 3.45718897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.519254154 meters 0.017096732637482525 Centerline is valid? [True, True] Translation: X:787.42, Y:5.38, Z:3.46 [[ 9.99449760e-01 -2.95539137e-02 -1.50580196e-02 7.87419682e+02] [ 2.95543178e-02 9.99563157e-01 -1.95738447e-04 5.37766303e+00] [ 1.50572264e-02 -2.49398752e-04 9.99886602e-01 3.45810034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.579254154 meters 0.01888185387008181 Centerline is valid? [True, True] Translation: X:787.48, Y:5.37, Z:3.46 [[ 9.99421313e-01 -3.03928654e-02 -1.52745772e-02 7.87478833e+02] [ 3.03933309e-02 9.99537996e-01 -2.01709775e-04 5.37394161e+00] [ 1.52736508e-02 -2.62652232e-04 9.99883316e-01 3.45786844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.639254154 meters 0.018364925139810456 Centerline is valid? [True, True] Translation: X:787.54, Y:5.37, Z:3.46 [[ 9.99426309e-01 -3.07048088e-02 -1.42922348e-02 7.87536692e+02] [ 3.07051921e-02 9.99528466e-01 -1.92663447e-04 5.36936576e+00] [ 1.42914112e-02 -2.46292897e-04 9.99897842e-01 3.46029669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.699254154 meters 0.017054414590757908 Centerline is valid? [True, True] Translation: X:787.60, Y:5.37, Z:3.46 [[ 9.99436910e-01 -3.06313450e-02 -1.36960910e-02 7.87595704e+02] [ 3.06316406e-02 9.99530723e-01 -1.88241086e-04 5.36563360e+00] [ 1.36954298e-02 -2.31398648e-04 9.99906186e-01 3.46180021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.759254154 meters 0.015665467831440634 Centerline is valid? [True, True] Translation: X:787.65, Y:5.36, Z:3.46 [[ 9.99424493e-01 -3.10536076e-02 -1.36512568e-02 7.87654571e+02] [ 3.10538934e-02 9.99517693e-01 -1.91089808e-04 5.36347376e+00] [ 1.36506068e-02 -2.32944840e-04 9.99906799e-01 3.46284463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.819254154 meters 0.018824434700065472 Centerline is valid? [True, True] Translation: X:787.71, Y:5.36, Z:3.46 [[ 9.99369947e-01 -3.23327994e-02 -1.46389484e-02 7.87712077e+02] [ 3.23332344e-02 9.99477123e-01 -2.07018521e-04 5.35890005e+00] [ 1.46379875e-02 -2.66436461e-04 9.99892823e-01 3.46119192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.879254154 meters 0.02079083337902639 Centerline is valid? [True, True] Translation: X:787.77, Y:5.36, Z:3.46 [[ 9.99345818e-01 -3.31099458e-02 -1.45487925e-02 7.87770603e+02] [ 3.31104155e-02 9.99451678e-01 -2.08647068e-04 5.35811043e+00] [ 1.45477234e-02 -2.73205991e-04 9.99894139e-01 3.46100688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.939254154 meters 0.01851062703108171 Centerline is valid? [True, True] Translation: X:787.83, Y:5.35, Z:3.46 [[ 9.99240368e-01 -3.67075888e-02 -1.30858378e-02 7.87829585e+02] [ 3.67082362e-02 9.99326007e-01 -1.90788946e-04 5.35293749e+00] [ 1.30840214e-02 -2.89714007e-04 9.99914359e-01 3.46433181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.999254154 meters 0.022091622040867114 Centerline is valid? [True, True] Translation: X:787.89, Y:5.35, Z:3.46 [[ 9.99044702e-01 -4.14703983e-02 -1.37800038e-02 7.87889291e+02] [ 4.14715488e-02 9.99139665e-01 -2.02378473e-04 5.34681594e+00] [ 1.37765411e-02 -3.69292960e-04 9.99905031e-01 3.46252701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.059254154 meters 0.019000289476371585 Centerline is valid? [True, True] Translation: X:787.95, Y:5.35, Z:3.47 [[ 9.98891291e-01 -4.50990368e-02 -1.35005595e-02 7.87949056e+02] [ 4.51004656e-02 9.98982437e-01 -1.98754608e-04 5.34566367e+00] [ 1.34957855e-02 -4.10347273e-04 9.99908844e-01 3.46589170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.119254154 meters 0.022140974558784728 Centerline is valid? [True, True] Translation: X:788.01, Y:5.34, Z:3.47 [[ 9.98547107e-01 -5.19837010e-02 -1.41904900e-02 7.88008576e+02] [ 5.19859664e-02 9.98647793e-01 -2.09426446e-04 5.33840805e+00] [ 1.41821883e-02 -5.28584166e-04 9.99899288e-01 3.46515215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.179254154 meters 0.026648777360285026 Centerline is valid? [True, True] Translation: X:788.07, Y:5.34, Z:3.46 [[ 9.98288934e-01 -5.62404527e-02 -1.60067637e-02 7.88068534e+02] [ 5.62438748e-02 9.98417032e-01 -2.36654534e-04 5.33636033e+00] [ 1.59947350e-02 -6.64032809e-04 9.99871856e-01 3.46247310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.239254154 meters 0.025465330247165515 Centerline is valid? [True, True] Translation: X:788.13, Y:5.34, Z:3.47 [[ 9.98140519e-01 -5.93632214e-02 -1.38387678e-02 7.88128064e+02] [ 5.93660727e-02 9.98236258e-01 -2.05025185e-04 5.33570579e+00] [ 1.38265307e-02 -6.16909350e-04 9.99904219e-01 3.46635333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.299254154 meters 0.024043067140358955 Centerline is valid? [True, True] Translation: X:788.19, Y:5.34, Z:3.47 [[ 9.98326309e-01 -5.63970119e-02 -1.28045970e-02 7.88186497e+02] [ 5.63992018e-02 9.98408280e-01 -1.90302166e-04 5.33764760e+00] [ 1.27949481e-02 -5.32185389e-04 9.99918000e-01 3.46919190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3592541539999 meters 0.024873821577796888 Centerline is valid? [True, True] Translation: X:788.25, Y:5.34, Z:3.47 [[ 9.98558821e-01 -5.17700404e-02 -1.41472408e-02 7.88246630e+02] [ 5.17722396e-02 9.98658896e-01 -2.10985923e-04 5.34178656e+00] [ 1.41391906e-02 -5.21752487e-04 9.99899901e-01 3.46684240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.419254154 meters 0.022185436747858583 Centerline is valid? [True, True] Translation: X:788.31, Y:5.35, Z:3.47 [[ 9.98913264e-01 -4.42481390e-02 -1.46421872e-02 7.88306496e+02] [ 4.42496836e-02 9.99020479e-01 -2.18625544e-04 5.34886008e+00] [ 1.46375187e-02 -4.29524195e-04 9.99892774e-01 3.46715203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4792541539999 meters 0.016721798366904787 Centerline is valid? [True, True] Translation: X:788.37, Y:5.36, Z:3.47 [[ 9.99166481e-01 -3.84995698e-02 -1.35693369e-02 7.88366362e+02] [ 3.85003640e-02 9.99258566e-01 -2.02790187e-04 5.35796362e+00] [ 1.35670834e-02 -3.19803251e-04 9.99907912e-01 3.47212012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.539254154 meters 0.019941593555183035 Centerline is valid? [True, True] Translation: X:788.42, Y:5.36, Z:3.47 [[ 9.99236381e-01 -3.62781642e-02 -1.45103125e-02 7.88424618e+02] [ 3.62787999e-02 9.99341684e-01 -2.19492417e-04 5.35742981e+00] [ 1.45087229e-02 -3.07091916e-04 9.99894696e-01 3.46896868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5992541539999 meters 0.020987615243769474 Centerline is valid? [True, True] Translation: X:788.48, Y:5.36, Z:3.47 [[ 9.99230546e-01 -3.62933253e-02 -1.48698100e-02 7.88482622e+02] [ 3.62939366e-02 9.99341132e-01 -2.28835125e-04 5.35967175e+00] [ 1.48683179e-02 -3.11024893e-04 9.99889412e-01 3.46894039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.659254154 meters 0.023047799832059138 Centerline is valid? [True, True] Translation: X:788.54, Y:5.36, Z:3.47 [[ 9.99138206e-01 -3.85131920e-02 -1.54783629e-02 7.88541070e+02] [ 3.85140628e-02 9.99258029e-01 -2.41930541e-04 5.35951837e+00] [ 1.54761959e-02 -3.54412594e-04 9.99880174e-01 3.46793321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.7192541539999 meters 0.019365192131490013 Centerline is valid? [True, True] Translation: X:788.60, Y:5.36, Z:3.47 [[ 9.98909412e-01 -4.43082431e-02 -1.47229646e-02 7.88600561e+02] [ 4.43096404e-02 9.99017819e-01 -2.31441402e-04 5.36112590e+00] [ 1.47187587e-02 -4.21180272e-04 9.99891584e-01 3.47297703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.779254154 meters 0.022663260080406224 Centerline is valid? [True, True] Translation: X:788.66, Y:5.36, Z:3.47 [[ 9.98626458e-01 -5.02356203e-02 -1.48855902e-02 7.88660543e+02] [ 5.02377010e-02 9.98737262e-01 -2.34350713e-04 5.36135792e+00] [ 1.48785663e-02 -5.13789007e-04 9.99889176e-01 3.47289852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.839254154 meters 0.024502985033576022 Centerline is valid? [True, True] Translation: X:788.72, Y:5.36, Z:3.47 [[ 9.98496934e-01 -5.29783888e-02 -1.40414778e-02 7.88719794e+02] [ 5.29805025e-02 9.98595522e-01 -2.21670816e-04 5.36085035e+00] [ 1.40335006e-02 -5.22586919e-04 9.99901389e-01 3.47356120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.899254154 meters 0.02464181567588186 Centerline is valid? [True, True] Translation: X:788.78, Y:5.36, Z:3.47 [[ 9.98476072e-01 -5.34222812e-02 -1.38417167e-02 7.88779337e+02] [ 5.34243696e-02 9.98571875e-01 -2.19105596e-04 5.36376704e+00] [ 1.38336542e-02 -5.20713297e-04 9.99904175e-01 3.47451319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.959254154 meters 0.023782364789832325 Centerline is valid? [True, True] Translation: X:788.84, Y:5.37, Z:3.47 [[ 9.98550180e-01 -5.18280592e-02 -1.45392839e-02 7.88837948e+02] [ 5.18301841e-02 9.98655886e-01 -2.30871570e-04 5.36558934e+00] [ 1.45317071e-02 -5.23036915e-04 9.99894272e-01 3.47492918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.019254154 meters 0.01970674344060799 Centerline is valid? [True, True] Translation: X:788.90, Y:5.37, Z:3.48 [[ 9.98828557e-01 -4.64161673e-02 -1.36767364e-02 7.88897467e+02] [ 4.64175330e-02 9.98922102e-01 -2.17735205e-04 5.37217052e+00] [ 1.36721007e-02 -4.17360223e-04 9.99906445e-01 3.47852537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.079254154 meters 0.022663926938607828 Centerline is valid? [True, True] Translation: X:788.96, Y:5.38, Z:3.48 [[ 9.99021446e-01 -4.16736460e-02 -1.48141092e-02 7.88957137e+02] [ 4.16747192e-02 9.99131204e-01 -2.36384368e-04 5.37779931e+00] [ 1.48110897e-02 -3.81220787e-04 9.99890237e-01 3.47699129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.139254154 meters 0.019811886350435372 Centerline is valid? [True, True] Translation: X:789.02, Y:5.39, Z:3.48 [[ 9.99273843e-01 -3.56811867e-02 -1.33656225e-02 7.89017127e+02] [ 3.56815203e-02 9.99363189e-01 -2.13576622e-04 5.38628645e+00] [ 1.33647318e-02 -2.63484198e-04 9.99910653e-01 3.48004379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.199254154 meters 0.01837200728432818 Centerline is valid? [True, True] Translation: X:789.08, Y:5.39, Z:3.48 [[ 9.99445635e-01 -3.04495739e-02 -1.34627427e-02 7.89076868e+02] [ 3.04494322e-02 9.99536285e-01 -2.15548825e-04 5.39291328e+00] [ 1.34630632e-02 -1.94503538e-04 9.99909350e-01 3.48069527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.259254154 meters 0.01694032952147484 Centerline is valid? [True, True] Translation: X:789.14, Y:5.39, Z:3.48 [[ 9.99520214e-01 -2.80945814e-02 -1.30397606e-02 7.89135318e+02] [ 2.80942397e-02 9.99605257e-01 -2.09412359e-04 5.39498596e+00] [ 1.30404966e-02 -1.57030275e-04 9.99914957e-01 3.48086655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.319254154 meters 0.01519830424807954 Centerline is valid? [True, True] Translation: X:789.19, Y:5.40, Z:3.48 [[ 9.99534880e-01 -2.80471495e-02 -1.19741830e-02 7.89193657e+02] [ 2.80468319e-02 9.99606591e-01 -1.94484953e-04 5.39636116e+00] [ 1.19749270e-02 -1.41443403e-04 9.99928288e-01 3.48334094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.379254154 meters 0.018143794596426115 Centerline is valid? [True, True] Translation: X:789.25, Y:5.40, Z:3.48 [[ 9.99471122e-01 -2.97363770e-02 -1.31614617e-02 7.89252165e+02] [ 2.97360933e-02 9.99557761e-01 -2.17294443e-04 5.39607829e+00] [ 1.31621027e-02 -1.74190931e-04 9.99913361e-01 3.48229205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.439254154 meters 0.01771380847850923 Centerline is valid? [True, True] Translation: X:789.31, Y:5.39, Z:3.48 [[ 9.99351906e-01 -3.37642295e-02 -1.24798140e-02 7.89309807e+02] [ 3.37642657e-02 9.99429803e-01 -2.07857675e-04 5.39198955e+00] [ 1.24797162e-02 -2.13648791e-04 9.99922102e-01 3.48316935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.499254154 meters 0.015807028393277064 Centerline is valid? [True, True] Translation: X:789.37, Y:5.39, Z:3.49 [[ 9.99207138e-01 -3.74960795e-02 -1.33843083e-02 7.89369853e+02] [ 3.74964456e-02 9.99296736e-01 -2.23683044e-04 5.38868089e+00] [ 1.33832829e-02 -2.78358294e-04 9.99910401e-01 3.48504224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.559254154 meters 0.02055469046337213 Centerline is valid? [True, True] Translation: X:789.43, Y:5.39, Z:3.48 [[ 9.99142781e-01 -3.79802573e-02 -1.64682330e-02 7.89428844e+02] [ 3.79808632e-02 9.99278429e-01 -2.76079334e-04 5.38545104e+00] [ 1.64668356e-02 -3.49635031e-04 9.99864351e-01 3.48061787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.619254154 meters 0.018286155054312088 Centerline is valid? [True, True] Translation: X:789.49, Y:5.39, Z:3.48 [[ 9.99104061e-01 -3.86458382e-02 -1.72503277e-02 7.89487170e+02] [ 3.86465409e-02 9.99252900e-01 -2.92742633e-04 5.38623094e+00] [ 1.72487533e-02 -3.74185142e-04 9.99851159e-01 3.48278791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.679254154 meters 0.01925168961252243 Centerline is valid? [True, True] Translation: X:789.55, Y:5.39, Z:3.48 [[ 9.99088617e-01 -3.86101583e-02 -1.81986792e-02 7.89545079e+02] [ 3.86108398e-02 9.99254274e-01 -3.14041982e-04 5.38570803e+00] [ 1.81972332e-02 -3.88910518e-04 9.99834341e-01 3.48294420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.739254154 meters 0.01631105110989131 Centerline is valid? [True, True] Translation: X:789.60, Y:5.39, Z:3.49 [[ 9.99127876e-01 -3.84690741e-02 -1.62362939e-02 7.89604104e+02] [ 3.84695297e-02 9.99259733e-01 -2.84375793e-04 5.38600543e+00] [ 1.62352144e-02 -3.40474809e-04 9.99868142e-01 3.48610059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.799254154 meters 0.020830912341753927 Centerline is valid? [True, True] Translation: X:789.66, Y:5.38, Z:3.48 [[ 9.99150666e-01 -3.68163195e-02 -1.85069133e-02 7.89662371e+02] [ 3.68165687e-02 9.99321987e-01 -3.27362426e-04 5.38480397e+00] [ 1.85064177e-02 -3.54276660e-04 9.99828679e-01 3.48290258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8592541539999 meters 0.017475059250378778 Centerline is valid? [True, True] Translation: X:789.72, Y:5.39, Z:3.48 [[ 9.99276180e-01 -3.28655027e-02 -1.91566087e-02 7.89721218e+02] [ 3.28649613e-02 9.99459742e-01 -3.43166213e-04 5.38690107e+00] [ 1.91575375e-02 -2.86663381e-04 9.99816436e-01 3.48414506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.919254154 meters 0.019903349023163725 Centerline is valid? [True, True] Translation: X:789.78, Y:5.39, Z:3.48 [[ 9.99335118e-01 -2.98164572e-02 -2.09833561e-02 7.89780248e+02] [ 2.98150215e-02 9.99555361e-01 -3.81333083e-04 5.38908033e+00] [ 2.09853960e-02 -2.44539671e-04 9.99779752e-01 3.48372339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9792541539999 meters 0.014028824088067183 Centerline is valid? [True, True] Translation: X:789.84, Y:5.39, Z:3.49 [[ 9.99479528e-01 -2.66364635e-02 -1.81981497e-02 7.89838040e+02] [ 2.66348163e-02 9.99645175e-01 -3.32927893e-04 5.38850792e+00] [ 1.82005606e-02 -1.51949762e-04 9.99834345e-01 3.48672870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.039254154 meters 0.018240673468530536 Centerline is valid? [True, True] Translation: X:789.90, Y:5.39, Z:3.49 [[ 9.99541977e-01 -2.33565042e-02 -1.92434160e-02 7.89896515e+02] [ 2.33539706e-02 9.99727195e-01 -3.56405953e-04 5.38784508e+00] [ 1.92464907e-02 -9.31674589e-05 9.99814765e-01 3.48523446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0992541539999 meters 0.013590802365444436 Centerline is valid? [True, True] Translation: X:789.96, Y:5.39, Z:3.49 [[ 9.99574703e-01 -2.31655615e-02 -1.77135396e-02 7.89955030e+02] [ 2.31633083e-02 9.99731639e-01 -3.32384690e-04 5.38613302e+00] [ 1.77164859e-02 -7.80608518e-05 9.99843048e-01 3.48769774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.159254154 meters 0.019121933770730376 Centerline is valid? [True, True] Translation: X:790.01, Y:5.38, Z:3.48 [[ 9.99495375e-01 -2.43008432e-02 -2.04563939e-02 7.90014154e+02] [ 2.42979716e-02 9.99704685e-01 -3.88953183e-04 5.38103727e+00] [ 2.04598047e-02 -1.08291970e-04 9.99790670e-01 3.48450295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.2192541539999 meters 0.019451642067242973 Centerline is valid? [True, True] Translation: X:790.07, Y:5.37, Z:3.48 [[ 9.99354837e-01 -2.97046623e-02 -2.01876665e-02 7.90071789e+02] [ 2.97029197e-02 9.99558696e-01 -3.86225160e-04 5.37132178e+00] [ 2.01902303e-02 -2.13656655e-04 9.99796134e-01 3.48434601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.279254154 meters 0.01811971126599882 Centerline is valid? [True, True] Translation: X:790.13, Y:5.36, Z:3.49 [[ 9.99109443e-01 -3.78983812e-02 -1.85481539e-02 7.90131757e+02] [ 3.78983053e-02 9.99281538e-01 -3.55722951e-04 5.36346383e+00] [ 1.85483091e-02 -3.47537441e-04 9.99827905e-01 3.48896611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.339254154 meters 0.023696262366022028 Centerline is valid? [True, True] Translation: X:790.19, Y:5.35, Z:3.49 [[ 9.98888570e-01 -4.33992878e-02 -1.83882021e-02 7.90190464e+02] [ 4.34001275e-02 9.99057708e-01 -3.53580169e-04 5.35149364e+00] [ 1.83862202e-02 -4.44863127e-04 9.99830860e-01 3.48630991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.399254154 meters 0.021303926734763844 Centerline is valid? [True, True] Translation: X:790.25, Y:5.35, Z:3.49 [[ 9.98585812e-01 -5.02427344e-02 -1.73794266e-02 7.90251110e+02] [ 5.02445157e-02 9.98736891e-01 -3.34409866e-04 5.34593081e+00] [ 1.73742761e-02 -5.39283923e-04 9.99848910e-01 3.49051269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.459254154 meters 0.02471746597019402 Centerline is valid? [True, True] Translation: X:790.31, Y:5.34, Z:3.49 [[ 9.98392506e-01 -5.35701684e-02 -1.85105748e-02 7.90309654e+02] [ 5.35727404e-02 9.98563886e-01 -3.57251102e-04 5.33747377e+00] [ 1.85031295e-02 -6.34985395e-04 9.99828601e-01 3.48935240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.519254154 meters 0.02369328946111048 Centerline is valid? [True, True] Translation: X:790.37, Y:5.34, Z:3.49 [[ 9.98316740e-01 -5.46990942e-02 -1.92793988e-02 7.90367941e+02] [ 5.47020615e-02 9.98502651e-01 -3.73808879e-04 5.33698614e+00] [ 1.92709779e-02 -6.81443200e-04 9.99814065e-01 3.49076620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.579254154 meters 0.024560943233894968 Centerline is valid? [True, True] Translation: X:790.43, Y:5.33, Z:3.49 [[ 9.98335408e-01 -5.47541591e-02 -1.81216813e-02 7.90425855e+02] [ 5.47567602e-02 9.98499661e-01 -3.52986961e-04 5.33050719e+00] [ 1.81138202e-02 -6.39885178e-04 9.99835727e-01 3.49137726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.639254154 meters 0.024053165458623637 Centerline is valid? [True, True] Translation: X:790.49, Y:5.33, Z:3.49 [[ 9.98541611e-01 -5.11542565e-02 -1.72595521e-02 7.90485578e+02] [ 5.11560642e-02 9.98690614e-01 -3.37032765e-04 5.33195071e+00] [ 1.72541934e-02 -5.46389516e-04 9.99850986e-01 3.49323191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.699254154 meters 0.025611574900931737 Centerline is valid? [True, True] Translation: X:790.54, Y:5.33, Z:3.49 [[ 9.98734938e-01 -4.72186368e-02 -1.72894274e-02 7.90544296e+02] [ 4.72198471e-02 9.98884464e-01 -3.38452091e-04 5.33188560e+00] [ 1.72861217e-02 -4.78380193e-04 9.99850469e-01 3.49190818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.759254154 meters 0.02217144403975341 Centerline is valid? [True, True] Translation: X:790.60, Y:5.34, Z:3.49 [[ 9.99037421e-01 -4.02709079e-02 -1.73921214e-02 7.90604299e+02] [ 4.02710721e-02 9.99188733e-01 -3.40928809e-04 5.33912821e+00] [ 1.73917412e-02 -3.59798735e-04 9.99848687e-01 3.49447399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.819254154 meters 0.01726940197892684 Centerline is valid? [True, True] Translation: X:790.66, Y:5.34, Z:3.50 [[ 9.99191353e-01 -3.68452672e-02 -1.60955335e-02 7.90663278e+02] [ 3.68449488e-02 9.99320944e-01 -3.16422735e-04 5.34149245e+00] [ 1.60962624e-02 -2.76872245e-04 9.99870408e-01 3.49633585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.879254154 meters 0.01801633852448686 Centerline is valid? [True, True] Translation: X:790.72, Y:5.34, Z:3.50 [[ 9.99273174e-01 -3.42631349e-02 -1.67081335e-02 7.90722071e+02] [ 3.42623729e-02 9.99412817e-01 -3.31936577e-04 5.34352284e+00] [ 1.67096960e-02 -2.40764985e-04 9.99860354e-01 3.49787265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.939254154 meters 0.01799953942415192 Centerline is valid? [True, True] Translation: X:790.78, Y:5.34, Z:3.50 [[ 9.99254552e-01 -3.48920999e-02 -1.65191250e-02 7.90779937e+02] [ 3.48913643e-02 9.99391056e-01 -3.32823561e-04 5.34274226e+00] [ 1.65206787e-02 -2.43799350e-04 9.99863495e-01 3.49910040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.999254154 meters 0.019781856377639538 Centerline is valid? [True, True] Translation: X:790.84, Y:5.34, Z:3.50 [[ 9.99146844e-01 -3.77023165e-02 -1.68558614e-02 7.90837711e+02] [ 3.77019094e-02 9.99288972e-01 -3.42031638e-04 5.33945550e+00] [ 1.68567718e-02 -2.93758329e-04 9.99857871e-01 3.49846291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.059254154 meters 0.01865186262426873 Centerline is valid? [True, True] Translation: X:790.90, Y:5.34, Z:3.50 [[ 9.99010329e-01 -4.11036889e-02 -1.69955535e-02 7.90896680e+02] [ 4.11037058e-02 9.99154825e-01 -3.48467425e-04 5.33870419e+00] [ 1.69955125e-02 -3.50457673e-04 9.99855504e-01 3.49963156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.119254154 meters 0.017817435063490986 Centerline is valid? [True, True] Translation: X:790.96, Y:5.33, Z:3.50 [[ 9.98761421e-01 -4.68443755e-02 -1.67698595e-02 7.90956216e+02] [ 4.68451744e-02 9.98902102e-01 -3.45390054e-04 5.33494009e+00] [ 1.67676275e-02 -4.40624731e-04 9.99859316e-01 3.50093885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.179254154 meters 0.02168172708985277 Centerline is valid? [True, True] Translation: X:791.02, Y:5.33, Z:3.50 [[ 9.98548350e-01 -5.07436453e-02 -1.80630956e-02 7.91016025e+02] [ 5.07451977e-02 9.98711563e-01 -3.72690780e-04 5.33213380e+00] [ 1.80587341e-02 -5.44465593e-04 9.99836780e-01 3.50039075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.239254154 meters 0.022675409865559867 Centerline is valid? [True, True] Translation: X:791.07, Y:5.33, Z:3.50 [[ 9.98475057e-01 -5.22372013e-02 -1.78559334e-02 7.91074881e+02] [ 5.22388927e-02 9.98634548e-01 -3.72005458e-04 5.33258794e+00] [ 1.78509845e-02 -5.61336019e-04 9.99840501e-01 3.50123724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.299254154 meters 0.0248352580712002 Centerline is valid? [True, True] Translation: X:791.13, Y:5.33, Z:3.50 [[ 9.98535313e-01 -5.11694709e-02 -1.75759563e-02 7.91132759e+02] [ 5.11709042e-02 9.98689843e-01 -3.68457034e-04 5.33312176e+00] [ 1.75717828e-02 -5.31460215e-04 9.99845463e-01 3.50060297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3592541539999 meters 0.0217358630067206 Centerline is valid? [True, True] Translation: X:791.19, Y:5.34, Z:3.50 [[ 9.98661618e-01 -4.87769310e-02 -1.71983902e-02 7.91192004e+02] [ 4.87779139e-02 9.98809583e-01 -3.62573818e-04 5.33734565e+00] [ 1.71956022e-02 -4.76813041e-04 9.99852031e-01 3.50083359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.419254154 meters 0.02403956328898358 Centerline is valid? [True, True] Translation: X:791.25, Y:5.34, Z:3.50 [[ 9.98714684e-01 -4.68985464e-02 -1.92225310e-02 7.91249377e+02] [ 4.68993772e-02 9.98899536e-01 -4.07830598e-04 5.33849531e+00] [ 1.92205040e-02 -4.94218326e-04 9.99815147e-01 3.49818319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4792541539999 meters 0.018080160158145526 Centerline is valid? [True, True] Translation: X:791.31, Y:5.35, Z:3.50 [[ 9.98813565e-01 -4.55018074e-02 -1.73507030e-02 7.91308620e+02] [ 4.55022125e-02 9.98964169e-01 -3.71633135e-04 5.34556962e+00] [ 1.73496405e-02 -4.18303156e-04 9.99849396e-01 3.50253134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.539254154 meters 0.021356444103227026 Centerline is valid? [True, True] Translation: X:791.37, Y:5.35, Z:3.50 [[ 9.98844592e-01 -4.48524323e-02 -1.72551463e-02 7.91367027e+02] [ 4.48526622e-02 9.98993543e-01 -3.73870803e-04 5.34984073e+00] [ 1.72545488e-02 -4.00500420e-04 9.99851049e-01 3.50285177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5992541539999 meters 0.018447568648224943 Centerline is valid? [True, True] Translation: X:791.42, Y:5.35, Z:3.50 [[ 9.98948998e-01 -4.34304200e-02 -1.46526064e-02 7.91424984e+02] [ 4.34304054e-02 9.99056404e-01 -3.19348594e-04 5.35254645e+00] [ 1.46526497e-02 -3.17355679e-04 9.99892594e-01 3.50437516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.659254154 meters 0.02110404855979682 Centerline is valid? [True, True] Translation: X:791.48, Y:5.36, Z:3.50 [[ 9.98957651e-01 -4.28971996e-02 -1.56026218e-02 7.91482731e+02] [ 4.28970602e-02 9.99079438e-01 -3.43759464e-04 5.35637415e+00] [ 1.56030049e-02 -3.25905459e-04 9.99878213e-01 3.50383629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.7192541539999 meters 0.015570323036957235 Centerline is valid? [True, True] Translation: X:791.54, Y:5.36, Z:3.51 [[ 9.99064325e-01 -4.07158486e-02 -1.45840182e-02 7.91541500e+02] [ 4.07154390e-02 9.99170730e-01 -3.25118424e-04 5.36200744e+00] [ 1.45851616e-02 -2.68980484e-04 9.99893595e-01 3.50567319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.779254154 meters 0.021206622301011446 Centerline is valid? [True, True] Translation: X:791.60, Y:5.37, Z:3.50 [[ 9.99128640e-01 -3.86041683e-02 -1.58643842e-02 7.91599855e+02] [ 3.86033522e-02 9.99254549e-01 -3.57783667e-04 5.36544347e+00] [ 1.58663700e-02 -2.54946502e-04 9.99874089e-01 3.50358452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.839254154 meters 0.02040619604472802 Centerline is valid? [True, True] Translation: X:791.66, Y:5.37, Z:3.51 [[ 9.99271685e-01 -3.60352591e-02 -1.25522804e-02 7.91658370e+02] [ 3.60345085e-02 9.99350505e-01 -2.86031449e-04 5.36965630e+00] [ 1.25544350e-02 -1.66492128e-04 9.99921176e-01 3.50630717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.899254154 meters 0.019015206456677643 Centerline is valid? [True, True] Translation: X:791.72, Y:5.37, Z:3.51 [[ 9.99351059e-01 -3.44941877e-02 -1.03736276e-02 7.91716799e+02] [ 3.44935667e-02 9.99404891e-01 -2.38831498e-04 5.37264692e+00] [ 1.03756924e-02 -1.19146905e-04 9.99946164e-01 3.50838300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.959254154 meters 0.01961438534875202 Centerline is valid? [True, True] Translation: X:791.78, Y:5.37, Z:3.51 [[ 9.99314282e-01 -3.51532924e-02 -1.16280990e-02 7.91775208e+02] [ 3.51525207e-02 9.99381922e-01 -2.70807106e-04 5.37328215e+00] [ 1.16304317e-02 -1.38135583e-04 9.99932355e-01 3.50658747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.019254154 meters 0.020640149528184586 Centerline is valid? [True, True] Translation: X:791.83, Y:5.37, Z:3.51 [[ 9.99238490e-01 -3.69606018e-02 -1.25041269e-02 7.91833766e+02] [ 3.69598102e-02 9.99316709e-01 -2.94462570e-04 5.37346048e+00] [ 1.25064665e-02 -1.67911824e-04 9.99921777e-01 3.50575742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.079254154 meters 0.020862782939003847 Centerline is valid? [True, True] Translation: X:791.89, Y:5.37, Z:3.51 [[ 9.99117756e-01 -4.06580441e-02 -1.05182330e-02 7.91892252e+02] [ 4.06576627e-02 9.99173104e-01 -2.50182044e-04 5.37222855e+00] [ 1.05197074e-02 -1.77685446e-04 9.99944651e-01 3.50791945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.139254154 meters 0.020292966453664116 Centerline is valid? [True, True] Translation: X:791.95, Y:5.37, Z:3.51 [[ 9.99029911e-01 -4.33115733e-02 -7.95898707e-03 7.91950967e+02] [ 4.33114252e-02 9.99061602e-01 -1.91044733e-04 5.37084766e+00] [ 7.95979282e-03 -1.53855671e-04 9.99968309e-01 3.51077502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.199254154 meters 0.02303358809328233 Centerline is valid? [True, True] Translation: X:792.01, Y:5.37, Z:3.51 [[ 9.98882932e-01 -4.68765438e-02 -5.95626895e-03 7.92009130e+02] [ 4.68765186e-02 9.98900681e-01 -1.43899532e-04 5.36826850e+00] [ 5.95646663e-03 -1.35470366e-04 9.99982251e-01 3.51062168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.259254154 meters 0.021719514978875493 Centerline is valid? [True, True] Translation: X:792.07, Y:5.37, Z:3.51 [[ 9.98750614e-01 -4.94755895e-02 -7.02688082e-03 7.92069204e+02] [ 4.94756162e-02 9.98775317e-01 -1.70147357e-04 5.36820736e+00] [ 7.02669326e-03 -1.77724481e-04 9.99975297e-01 3.50972497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.319254154 meters 0.023417796717620433 Centerline is valid? [True, True] Translation: X:792.13, Y:5.37, Z:3.51 [[ 9.98555502e-01 -5.30463127e-02 -8.54385959e-03 7.92127673e+02] [ 5.30464800e-02 9.98592023e-01 -2.07187449e-04 5.36577404e+00] [ 8.54282056e-03 -2.46333510e-04 9.99963479e-01 3.50807827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.379254154 meters 0.02243017886573095 Centerline is valid? [True, True] Translation: X:792.19, Y:5.37, Z:3.51 [[ 9.98581966e-01 -5.28087523e-02 -6.72996939e-03 7.92186951e+02] [ 5.28088489e-02 9.98604626e-01 -1.63466661e-04 5.37210406e+00] [ 6.72921104e-03 -1.92167077e-04 9.99977340e-01 3.50952808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.439254154 meters 0.020696244098166713 Centerline is valid? [True, True] Translation: X:792.25, Y:5.38, Z:3.51 [[ 9.98698834e-01 -5.07851201e-02 -4.63794979e-03 7.92246769e+02] [ 5.07851436e-02 9.98709596e-01 -1.12774081e-04 5.37610878e+00] [ 4.63769221e-03 -1.22911603e-04 9.99989238e-01 3.51134654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.499254154 meters 0.022575307097152813 Centerline is valid? [True, True] Translation: X:792.31, Y:5.38, Z:3.51 [[ 9.98901148e-01 -4.66937415e-02 -4.02374167e-03 7.92306022e+02] [ 4.66937255e-02 9.98909248e-01 -9.79736700e-05 5.38021383e+00] [ 4.02392753e-03 -9.00174776e-05 9.99991900e-01 3.50921477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.559254154 meters 0.021226588233859433 Centerline is valid? [True, True] Translation: X:792.37, Y:5.38, Z:3.51 [[ 9.98981234e-01 -4.46853459e-02 -6.30188407e-03 7.92365535e+02] [ 4.46852661e-02 9.99001103e-01 -1.53547103e-04 5.38335276e+00] [ 6.30245044e-03 -1.28210692e-04 9.99980131e-01 3.50695558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.619254154 meters 0.019720207776365392 Centerline is valid? [True, True] Translation: X:792.43, Y:5.39, Z:3.51 [[ 9.98914451e-01 -4.62245073e-02 -5.76313211e-03 7.92425693e+02] [ 4.62244664e-02 9.98931068e-01 -1.40373356e-04 5.38638549e+00] [ 5.76346040e-03 -1.26176732e-04 9.99983383e-01 3.50754077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.679254154 meters 0.022893769894792394 Centerline is valid? [True, True] Translation: X:792.49, Y:5.39, Z:3.51 [[ 9.98759164e-01 -4.96638491e-02 -3.69239434e-03 7.92485768e+02] [ 4.96638558e-02 9.98765985e-01 -8.99272618e-05 5.38687629e+00] [ 3.69230401e-03 -9.35628632e-05 9.99993179e-01 3.50882302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.739254154 meters 0.022038805632249348 Centerline is valid? [True, True] Translation: X:792.55, Y:5.39, Z:3.51 [[ 9.98659578e-01 -5.17099930e-02 -2.26378103e-03 7.92545040e+02] [ 5.17100008e-02 9.98662141e-01 -5.51292279e-05 5.38715642e+00] [ 2.26360315e-03 -6.20047877e-05 9.99997436e-01 3.51062952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.799254154 meters 0.025006441540908912 Centerline is valid? [True, True] Translation: X:792.60, Y:5.39, Z:3.51 [[ 9.98511295e-01 -5.45142138e-02 -1.84227045e-03 7.92604962e+02] [ 5.45142236e-02 9.98512993e-01 -4.49285664e-05 5.38700144e+00] [ 1.84198023e-03 -5.55682622e-05 9.99998302e-01 3.50918550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8592541539999 meters 0.025366870863814762 Centerline is valid? [True, True] Translation: X:792.67, Y:5.39, Z:3.51 [[ 9.98393153e-01 -5.66182729e-02 -2.34174441e-03 7.92666074e+02] [ 5.66182944e-02 9.98395896e-01 -5.71803560e-05 5.38781966e+00] [ 2.34122546e-03 -7.54970985e-05 9.99997256e-01 3.50797417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.919254154 meters 0.0243735526219686 Centerline is valid? [True, True] Translation: X:792.73, Y:5.39, Z:3.51 [[ 9.98112313e-01 -6.13474808e-02 -2.88041033e-03 7.92726764e+02] [ 6.13475334e-02 9.98116464e-01 -7.01746076e-05 5.39167376e+00] [ 2.87929001e-03 -1.06663929e-04 9.99995849e-01 3.50776918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9792541539999 meters 0.02622353714901251 Centerline is valid? [True, True] Translation: X:792.79, Y:5.39, Z:3.51 [[ 9.97923525e-01 -6.43714639e-02 -2.22552317e-03 7.92786853e+02] [ 6.43715029e-02 9.97926003e-01 -5.41584958e-05 5.39140957e+00] [ 2.22439370e-03 -8.92142340e-05 9.99997522e-01 3.50930804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.039254154 meters 0.02483535578667929 Centerline is valid? [True, True] Translation: X:792.85, Y:5.40, Z:3.51 [[ 9.97784763e-01 -6.65210153e-02 -7.21308527e-04 7.92848167e+02] [ 6.65210199e-02 9.97785024e-01 -1.76858894e-05 5.39740498e+00] [ 7.20887329e-04 -3.03354679e-05 9.99999740e-01 3.51145657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0992541539999 meters 0.02477831947834959 Centerline is valid? [True, True] Translation: X:792.91, Y:5.41, Z:3.51 [[ 9.97935786e-01 -6.42031117e-02 -1.45845831e-03 7.92909375e+02] [ 6.42031282e-02 9.97936850e-01 -3.55481150e-05 5.40629367e+00] [ 1.45773159e-03 -5.81628497e-05 9.99998936e-01 3.50909636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.159254154 meters 0.022695620699788935 Centerline is valid? [True, True] Translation: X:792.97, Y:5.41, Z:3.51 [[ 9.98147252e-01 -6.07978554e-02 -2.38408863e-03 7.92970427e+02] [ 6.07978903e-02 9.98150096e-01 -5.79164409e-05 5.41232121e+00] [ 2.38319949e-03 -8.71384229e-05 9.99997156e-01 3.50937228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.2192541539999 meters 0.022633793560179097 Centerline is valid? [True, True] Translation: X:793.03, Y:5.42, Z:3.51 [[ 9.98567115e-01 -5.34412876e-02 -2.78301426e-03 7.93030670e+02] [ 5.34413070e-02 9.98570990e-01 -6.74453124e-05 5.42340248e+00] [ 2.78264167e-03 -8.13792486e-05 9.99996125e-01 3.50837819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.279254154 meters 0.022298582127314708 Centerline is valid? [True, True] Translation: X:793.09, Y:5.43, Z:3.51 [[ 9.98964963e-01 -4.54353846e-02 -2.15137804e-03 7.93090481e+02] [ 4.54353777e-02 9.98967279e-01 -5.20851296e-05 5.43407609e+00] [ 2.15152278e-03 -4.57174545e-05 9.99997684e-01 3.50906781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.339254154 meters 0.019838029985433 Centerline is valid? [True, True] Translation: X:793.15, Y:5.44, Z:3.51 [[ 9.99239173e-01 -3.89723534e-02 -1.49378314e-03 7.93150992e+02] [ 3.89723427e-02 9.99240289e-01 -3.62645029e-05 5.44331730e+00] [ 1.49406161e-03 -2.19793164e-05 9.99998884e-01 3.50975225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.399254154 meters 0.01814658347852295 Centerline is valid? [True, True] Translation: X:793.21, Y:5.45, Z:3.51 [[ 9.99379073e-01 -3.51849224e-02 -1.86814822e-03 7.93212342e+02] [ 3.51848993e-02 9.99380819e-01 -4.52501692e-05 5.44964320e+00] [ 1.86858362e-03 -2.05085347e-05 9.99998254e-01 3.50894652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.459254154 meters 0.017961538803169884 Centerline is valid? [True, True] Translation: X:793.27, Y:5.46, Z:3.51 [[ 9.99589280e-01 -2.83863855e-02 -3.93496505e-03 7.93273403e+02] [ 2.83862314e-02 9.99597025e-01 -9.50140045e-05 5.45886690e+00] [ 3.93607647e-03 -1.67238483e-05 9.99992253e-01 3.50576140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.519254154 meters 0.0173527754242095 Centerline is valid? [True, True] Translation: X:793.33, Y:5.46, Z:3.51 [[ 9.99725824e-01 -2.29883508e-02 -4.45103599e-03 7.93333175e+02] [ 2.29881010e-02 9.99735733e-01 -1.07290125e-04 5.46405915e+00] [ 4.45232615e-03 4.93984408e-06 9.99990088e-01 3.50597437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.579254154 meters 0.017983882660381218 Centerline is valid? [True, True] Translation: X:793.39, Y:5.47, Z:3.51 [[ 9.99787212e-01 -2.02116233e-02 -4.12555978e-03 7.93394151e+02] [ 2.02113852e-02 9.99795724e-01 -9.93802336e-05 5.46723563e+00] [ 4.12672566e-03 1.59758088e-05 9.99991485e-01 3.50664107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.639254154 meters 0.01839822656278338 Centerline is valid? [True, True] Translation: X:793.45, Y:5.47, Z:3.51 [[ 9.99925383e-01 -1.20661066e-02 -1.90696790e-03 7.93454203e+02] [ 1.20660411e-02 9.99927202e-01 -4.58655212e-05 5.47197388e+00] [ 1.90738249e-03 2.28525459e-05 9.99998181e-01 3.50864447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.699254154 meters 0.01908912852423827 Centerline is valid? [True, True] Translation: X:793.52, Y:5.47, Z:3.51 [[ 9.99974858e-01 -7.02725456e-03 -9.48891614e-04 7.93515340e+02] [ 7.02723595e-03 9.99975308e-01 -2.29472268e-05 5.47225141e+00] [ 9.49029440e-04 1.62785646e-05 9.99999550e-01 3.50920195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.759254154 meters 0.020552318650706978 Centerline is valid? [True, True] Translation: X:793.58, Y:5.47, Z:3.51 [[ 9.99976581e-01 -6.55680601e-03 -1.96096875e-03 7.93576328e+02] [ 6.55672626e-03 9.99978503e-01 -4.70933459e-05 5.46952702e+00] [ 1.96123538e-03 3.42347077e-05 9.99998076e-01 3.50715052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.819254154 meters 0.020371999065885837 Centerline is valid? [True, True] Translation: X:793.64, Y:5.46, Z:3.51 [[ 9.99955528e-01 -8.99834956e-03 -2.82326721e-03 7.93636666e+02] [ 8.99819406e-03 9.99959513e-01 -6.77735683e-05 5.46054453e+00] [ 2.82376276e-03 4.23662480e-05 9.99996012e-01 3.50638730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.879254154 meters 0.01825170930045985 Centerline is valid? [True, True] Translation: X:793.70, Y:5.45, Z:3.51 [[ 9.99921583e-01 -1.19228082e-02 -3.83067028e-03 7.93697008e+02] [ 1.19225430e-02 9.99928920e-01 -9.20532769e-05 5.45120508e+00] [ 3.83149553e-03 4.63747271e-05 9.99992659e-01 3.50694652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.939254154 meters 0.017556311725146687 Centerline is valid? [True, True] Translation: X:793.76, Y:5.44, Z:3.51 [[ 9.99902721e-01 -1.30959558e-02 -4.80043634e-03 7.93757106e+02] [ 1.30955523e-02 9.99914243e-01 -1.15468680e-04 5.44181716e+00] [ 4.80153685e-03 5.25930815e-05 9.99988471e-01 3.50652479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.999254154 meters 0.016599185050600655 Centerline is valid? [True, True] Translation: X:793.82, Y:5.44, Z:3.51 [[ 9.99914256e-01 -1.23211872e-02 -4.43489706e-03 7.93816830e+02] [ 1.23208346e-02 9.99924090e-01 -1.06820082e-04 5.43606512e+00] [ 4.43587656e-03 5.21692896e-05 9.99990160e-01 3.50736595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.059254154 meters 0.019552656398359063 Centerline is valid? [True, True] Translation: X:793.88, Y:5.43, Z:3.51 [[ 9.99936974e-01 -9.60417906e-03 -5.81452606e-03 7.93875490e+02] [ 9.60352540e-03 9.99953875e-01 -1.40328392e-04 5.42920591e+00] [ 5.81560560e-03 8.44795992e-05 9.99983086e-01 3.50502449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.119254154 meters 0.017389612303449407 Centerline is valid? [True, True] Translation: X:793.93, Y:5.42, Z:3.51 [[ 9.99951068e-01 -8.19663280e-03 -5.53863063e-03 7.93934021e+02] [ 8.19601538e-03 9.99966403e-01 -1.34164713e-04 5.42473728e+00] [ 5.53954425e-03 8.87634458e-05 9.99984653e-01 3.50617089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.179254154 meters 0.01991422271877808 Centerline is valid? [True, True] Translation: X:793.99, Y:5.41, Z:3.51 [[ 9.99960694e-01 -6.09772668e-03 -6.43641290e-03 7.93992721e+02] [ 6.09683809e-03 9.99981402e-01 -1.57667779e-04 5.41422685e+00] [ 6.43725461e-03 1.18419814e-04 9.99979274e-01 3.50615355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.239254154 meters 0.019550758387864606 Centerline is valid? [True, True] Translation: X:794.05, Y:5.41, Z:3.51 [[ 9.99971583e-01 -2.46240394e-03 -7.12530239e-03 7.94051292e+02] [ 2.46121217e-03 9.99996956e-01 -1.76022345e-04 5.40649527e+00] [ 7.12571414e-03 1.58480462e-04 9.99974599e-01 3.50745089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.299254154 meters 0.021725832222596074 Centerline is valid? [True, True] Translation: X:794.11, Y:5.40, Z:3.51 [[ 9.99978197e-01 8.52340638e-04 -6.54825221e-03 7.94110569e+02] [-8.53424216e-04 9.99999623e-01 -1.62683576e-04 5.40001072e+00] [ 6.54811108e-03 1.68268466e-04 9.99978547e-01 3.50811291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3592541539999 meters 0.022734448716570467 Centerline is valid? [True, True] Translation: X:794.17, Y:5.39, Z:3.51 [[ 9.99975330e-01 4.27072662e-03 -5.57673737e-03 7.94169249e+02] [-4.27157138e-03 9.99990867e-01 -1.39578567e-04 5.39399744e+00] [ 5.57609034e-03 1.63396555e-04 9.99984440e-01 3.51013723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.419254154 meters 0.02108560435248214 Centerline is valid? [True, True] Translation: X:794.23, Y:5.38, Z:3.51 [[ 9.99960951e-01 6.05590839e-03 -6.43595672e-03 7.94227842e+02] [-6.05707342e-03 9.99981643e-01 -1.61542714e-04 5.38285878e+00] [ 6.43486028e-03 2.00519468e-04 9.99979276e-01 3.51127215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4792541539999 meters 0.023304701707678743 Centerline is valid? [True, True] Translation: X:794.29, Y:5.36, Z:3.51 [[ 9.99969474e-01 3.56048107e-03 -6.95509163e-03 7.94287003e+02] [-3.56178557e-03 9.99993641e-01 -1.75182376e-04 5.36452975e+00] [ 6.95442367e-03 1.99949573e-04 9.99975798e-01 3.51086134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.539254154 meters 0.022022037102621163 Centerline is valid? [True, True] Translation: X:794.35, Y:5.34, Z:3.51 [[ 9.99976958e-01 -2.99805706e-03 -6.09052595e-03 7.94347109e+02] [ 2.99717624e-03 9.99995497e-01 -1.53743093e-04 5.34489371e+00] [ 6.09095946e-03 1.35485171e-04 9.99981441e-01 3.51219257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5992541539999 meters 0.019400377915609522 Centerline is valid? [True, True] Translation: X:794.41, Y:5.31, Z:3.51 [[ 9.99793606e-01 -1.77657402e-02 -9.85510510e-03 7.94406714e+02] [ 1.77641467e-02 9.99842174e-01 -2.49216674e-04 5.31339322e+00] [ 9.85797723e-03 7.40977051e-05 9.99951406e-01 3.50967109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.659254154 meters 0.020410640260483955 Centerline is valid? [True, True] Translation: X:794.47, Y:5.31, Z:3.51 [[ 9.99716542e-01 -2.14814340e-02 -1.02656246e-02 7.94465500e+02] [ 2.14798846e-02 9.99769247e-01 -2.61173676e-04 5.30917960e+00] [ 1.02688662e-02 4.05952123e-05 9.99947273e-01 3.50914645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.7192541539999 meters 0.020410640260483955 Centerline is valid? [True, True] Translation: X:794.52, Y:5.31, Z:3.51 [[ 9.99710583e-01 -2.17570187e-02 -1.02655560e-02 7.94522980e+02] [ 2.17554563e-02 9.99763287e-01 -2.63851619e-04 5.31074564e+00] [ 1.02688666e-02 4.04434008e-05 9.99947273e-01 3.50939948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.779254154 meters 0.01590892944370835 Centerline is valid? [True, True] Translation: X:794.58, Y:5.30, Z:3.51 [[ 9.99528049e-01 -2.91608069e-02 -9.66056097e-03 7.94582204e+02] [ 2.91597545e-02 9.99574733e-01 -2.49803516e-04 5.30105018e+00] [ 9.66373712e-03 -3.20139659e-05 9.99953304e-01 3.51301728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.839254154 meters 0.0253130362107468 Centerline is valid? [True, True] Translation: X:794.64, Y:5.26, Z:3.52 [[ 9.97948374e-01 -6.34547293e-02 -8.51706185e-03 7.94642700e+02] [ 6.34551550e-02 9.97984667e-01 -2.20507817e-04 5.26138787e+00] [ 8.51388940e-03 -3.20396063e-04 9.99963705e-01 3.51620514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.899254154 meters 0.022309864193166322 Centerline is valid? [True, True] Translation: X:794.70, Y:5.27, Z:3.52 [[ 9.97787105e-01 -6.59839014e-02 -8.18643581e-03 7.94702082e+02] [ 6.59843786e-02 9.97820634e-01 -2.12089451e-04 5.26719590e+00] [ 8.18258906e-03 -3.28556761e-04 9.99966468e-01 3.51752352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.959254154 meters 0.022309864193166322 Centerline is valid? [True, True] Translation: X:794.76, Y:5.27, Z:3.52 [[ 9.97768288e-01 -6.62678442e-02 -8.18640370e-03 7.94759621e+02] [ 6.62683207e-02 9.97801816e-01 -2.13322190e-04 5.26876976e+00] [ 8.18254488e-03 -3.29653110e-04 9.99966468e-01 3.51777685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.019254154 meters 0.022309864193166322 Centerline is valid? [True, True] Translation: X:794.82, Y:5.27, Z:3.52 [[ 9.97749389e-01 -6.65517863e-02 -8.18634248e-03 7.94817160e+02] [ 6.65522534e-02 9.97782918e-01 -2.15651785e-04 5.27036046e+00] [ 8.18254470e-03 -3.29653102e-04 9.99966468e-01 3.51803006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.079254154 meters 0.02487657598119329 Centerline is valid? [True, True] Translation: X:794.88, Y:5.27, Z:3.52 [[ 9.97560728e-01 -6.93334866e-02 -8.09088609e-03 7.94876631e+02] [ 6.93340230e-02 9.97593478e-01 -2.14507162e-04 5.27071414e+00] [ 8.08628772e-03 -3.46989762e-04 9.99967245e-01 3.51599778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.139254154 meters 0.0252915789069566 Centerline is valid? [True, True] Translation: X:794.94, Y:5.28, Z:3.52 [[ 9.97253801e-01 -7.36675967e-02 -7.61199511e-03 7.94936618e+02] [ 7.36681959e-02 9.97282786e-01 -2.02017830e-04 5.27528066e+00] [ 7.60619386e-03 -3.59298899e-04 9.99971008e-01 3.51658874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.199254154 meters 0.027845783690809593 Centerline is valid? [True, True] Translation: X:794.99, Y:5.28, Z:3.52 [[ 9.96997638e-01 -7.71374073e-02 -6.74762245e-03 7.94994598e+02] [ 7.71379555e-02 9.97020413e-01 -1.79353745e-04 5.28033061e+00] [ 6.74135220e-03 -3.41682540e-04 9.99977218e-01 3.51684771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.259254154 meters 0.024651933713910976 Centerline is valid? [True, True] Translation: X:795.05, Y:5.29, Z:3.52 [[ 9.97138745e-01 -7.52836283e-02 -6.83356398e-03 7.95053422e+02] [ 7.52841406e-02 9.97162106e-01 -1.82604911e-04 5.29246166e+00] [ 6.82791821e-03 -3.32376559e-04 9.99976634e-01 3.51702703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.319254154 meters 0.025965826538109374 Centerline is valid? [True, True] Translation: X:795.11, Y:5.31, Z:3.51 [[ 9.97603214e-01 -6.88256546e-02 -7.13141048e-03 7.95112618e+02] [ 6.88260395e-02 9.97628658e-01 -1.91716792e-04 5.30692910e+00] [ 7.12769451e-03 -2.99569452e-04 9.99974553e-01 3.51460341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.379254154 meters 0.022601292589718068 Centerline is valid? [True, True] Translation: X:795.17, Y:5.32, Z:3.52 [[ 9.97915187e-01 -6.42362401e-02 -6.24386947e-03 7.95172630e+02] [ 6.42364447e-02 9.97934693e-01 -1.67972013e-04 5.31998995e+00] [ 6.24176385e-03 -2.33462153e-04 9.99980493e-01 3.51670851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.439254154 meters 0.0224601827375355 Centerline is valid? [True, True] Translation: X:795.23, Y:5.34, Z:3.52 [[ 9.98316390e-01 -5.77776917e-02 -5.11119324e-03 7.95232616e+02] [ 5.77777438e-02 9.98329461e-01 -1.37591367e-04 5.33569633e+00] [ 5.11060451e-03 -1.57953496e-04 9.99986928e-01 3.51763709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.499254154 meters 0.02012743191060707 Centerline is valid? [True, True] Translation: X:795.29, Y:5.34, Z:3.52 [[ 9.98421795e-01 -5.60096865e-02 -4.10287245e-03 7.95291430e+02] [ 5.60097050e-02 9.98430218e-01 -1.10497860e-04 5.34208671e+00] [ 4.10262079e-03 -1.19477204e-04 9.99991577e-01 3.52000997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.559254154 meters 0.01692158236668415 Centerline is valid? [True, True] Translation: X:795.35, Y:5.36, Z:3.52 [[ 9.98772798e-01 -4.94389460e-02 -2.94754255e-03 7.95351199e+02] [ 4.94389247e-02 9.98777145e-01 -8.01438484e-05 5.35964964e+00] [ 2.94790036e-03 -6.56778385e-05 9.99995653e-01 3.52205022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.619254154 meters 0.020129173526267755 Centerline is valid? [True, True] Translation: X:795.41, Y:5.37, Z:3.52 [[ 9.99055648e-01 -4.30515193e-02 -5.86330757e-03 7.95409316e+02] [ 4.30513235e-02 9.99072849e-01 -1.59656630e-04 5.37465301e+00] [ 5.86474486e-03 -9.29172935e-05 9.99982798e-01 3.51636976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.679254154 meters 0.018039777354755877 Centerline is valid? [True, True] Translation: X:795.47, Y:5.39, Z:3.52 [[ 9.99210777e-01 -3.92736475e-02 -5.95009962e-03 7.95468245e+02] [ 3.92733753e-02 9.99228490e-01 -1.62624888e-04 5.38683656e+00] [ 5.95189594e-03 -7.11839553e-05 9.99982285e-01 3.51680132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.739254154 meters 0.016377650765743636 Centerline is valid? [True, True] Translation: X:795.53, Y:5.40, Z:3.52 [[ 9.99443280e-01 -3.31094205e-02 -4.11040372e-03 7.95526668e+02] [ 3.31092358e-02 9.99451733e-01 -1.12993113e-04 5.40021647e+00] [ 4.11189125e-03 -2.31621180e-05 9.99991546e-01 3.51802830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.799254154 meters 0.013846558859720063 Centerline is valid? [True, True] Translation: X:795.59, Y:5.41, Z:3.52 [[ 9.99575587e-01 -2.89101789e-02 -3.58440815e-03 7.95585639e+02] [ 2.89100087e-02 9.99582013e-01 -9.93125991e-05 5.40881328e+00] [ 3.58578106e-03 -4.35482112e-06 9.99993571e-01 3.52103843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8592541539999 meters 0.01587655179410424 Centerline is valid? [True, True] Translation: X:795.64, Y:5.42, Z:3.52 [[ 9.99752062e-01 -2.17164328e-02 -4.92053169e-03 7.95644346e+02] [ 2.17160171e-02 9.99764170e-01 -1.37903959e-04 5.41926158e+00] [ 4.92236606e-03 3.10154174e-05 9.99987885e-01 3.51734358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.919254154 meters 0.016649163389493488 Centerline is valid? [True, True] Translation: X:795.70, Y:5.43, Z:3.52 [[ 9.99879465e-01 -1.42854190e-02 -6.08136135e-03 7.95703005e+02] [ 1.42846422e-02 9.99897955e-01 -1.71146691e-04 5.42733133e+00] [ 6.08318568e-03 8.42559911e-05 9.99981494e-01 3.51672133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9792541539999 meters 0.019553429829538952 Centerline is valid? [True, True] Translation: X:795.76, Y:5.43, Z:3.52 [[ 9.99933065e-01 -9.51059029e-03 -6.58900907e-03 7.95762011e+02] [ 9.50956343e-03 9.99954766e-01 -1.87156666e-04 5.43270486e+00] [ 6.59049099e-03 1.24485539e-04 9.99978275e-01 3.51566288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.039254154 meters 0.02110310895259559 Centerline is valid? [True, True] Translation: X:795.82, Y:5.44, Z:3.52 [[ 9.99979017e-01 -1.79518731e-03 -6.22432073e-03 7.95822439e+02] [ 1.79411520e-03 9.99998375e-01 -1.77824795e-04 5.43627130e+00] [ 6.22462985e-03 1.66653915e-04 9.99980613e-01 3.51648381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0992541539999 meters 0.019996907162613074 Centerline is valid? [True, True] Translation: X:795.88, Y:5.44, Z:3.52 [[ 9.99974819e-01 5.19170997e-03 -4.83819906e-03 7.95882713e+02] [-5.19243948e-03 9.99986510e-01 -1.38232248e-04 5.43800483e+00] [ 4.83741613e-03 1.63350823e-04 9.99988286e-01 3.51926790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.159254154 meters 0.02500762481125925 Centerline is valid? [True, True] Translation: X:795.94, Y:5.44, Z:3.52 [[ 9.99936358e-01 9.51287286e-03 -6.06506039e-03 7.95941194e+02] [-9.51409980e-03 9.99954725e-01 -1.73476458e-04 5.44026652e+00] [ 6.06313553e-03 2.31169008e-04 9.99981592e-01 3.51573504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.2192541539999 meters 0.026453990281631402 Centerline is valid? [True, True] Translation: X:796.00, Y:5.44, Z:3.51 [[ 9.99863398e-01 1.48634349e-02 -7.22940616e-03 7.96001373e+02] [-1.48653202e-02 9.99889484e-01 -2.07115189e-04 5.43532029e+00] [ 7.22552875e-03 3.14554334e-04 9.99973846e-01 3.51457870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.279254154 meters 0.027609457416488462 Centerline is valid? [True, True] Translation: X:796.06, Y:5.43, Z:3.52 [[ 9.99818994e-01 1.80902677e-02 -5.89241637e-03 7.96061267e+02] [-1.80915768e-02 9.99836320e-01 -1.68930368e-04 5.42807629e+00] [ 5.88839590e-03 2.75502894e-04 9.99982625e-01 3.51519044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.339254154 meters 0.028513347146971752 Centerline is valid? [True, True] Translation: X:796.12, Y:5.42, Z:3.52 [[ 9.99808045e-01 1.90514422e-02 -4.57341390e-03 7.96120689e+02] [-1.90522414e-02 9.99818481e-01 -1.31248832e-04 5.41836244e+00] [ 4.57008326e-03 2.18357424e-04 9.99989533e-01 3.51580110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.399254154 meters 0.026573570671809585 Centerline is valid? [True, True] Translation: X:796.18, Y:5.41, Z:3.52 [[ 9.99820497e-01 1.84552051e-02 -4.28706653e-03 7.96180229e+02] [-1.84559028e-02 9.99829668e-01 -1.23246805e-04 5.40980292e+00] [ 4.28406176e-03 2.02346365e-04 9.99990803e-01 3.51672392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.459254154 meters 0.028220522337152366 Centerline is valid? [True, True] Translation: X:796.24, Y:5.40, Z:3.51 [[ 9.99859789e-01 1.57067729e-02 -5.80509300e-03 7.96240692e+02] [-1.57080087e-02 9.99876608e-01 -1.67348748e-04 5.39628838e+00] [ 5.80174818e-03 2.58511735e-04 9.99983136e-01 3.51380649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.519254154 meters 0.025663279382126928 Centerline is valid? [True, True] Translation: X:796.30, Y:5.38, Z:3.51 [[ 9.99898997e-01 1.32504261e-02 -5.14021218e-03 7.96301313e+02] [-1.32513631e-02 9.99912186e-01 -1.48265762e-04 5.37968907e+00] [ 5.13779621e-03 2.16365605e-04 9.99986778e-01 3.51421620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.579254154 meters 0.023930903076671492 Centerline is valid? [True, True] Translation: X:796.36, Y:5.37, Z:3.52 [[ 9.99909010e-01 1.31355490e-02 -3.07082096e-03 7.96360189e+02] [-1.31358828e-02 9.99913717e-01 -8.85516547e-05 5.37392342e+00] [ 3.06939282e-03 1.28881542e-04 9.99995281e-01 3.51951528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.639254154 meters 0.024111549495153338 Centerline is valid? [True, True] Translation: X:796.42, Y:5.36, Z:3.52 [[ 9.99895508e-01 1.41936950e-02 -2.74068027e-03 7.96420554e+02] [-1.41939654e-02 9.99899257e-01 -7.92168525e-05 5.36049959e+00] [ 2.73927979e-03 1.18109696e-04 9.99996241e-01 3.51903110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.699254154 meters 0.028638874927103704 Centerline is valid? [True, True] Translation: X:796.48, Y:5.35, Z:3.51 [[ 9.99838292e-01 1.70747819e-02 -5.64282486e-03 7.96481249e+02] [-1.70759747e-02 9.99854182e-01 -1.63263455e-04 5.34949433e+00] [ 5.63921435e-03 2.59593789e-04 9.99984066e-01 3.51277639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.759254154 meters 0.02841305480831365 Centerline is valid? [True, True] Translation: X:796.54, Y:5.34, Z:3.51 [[ 9.99795757e-01 1.93973622e-02 -5.67327573e-03 7.96540675e+02] [-1.93986056e-02 9.99811816e-01 -1.64212622e-04 5.34390446e+00] [ 5.66902281e-03 2.74232721e-04 9.99983893e-01 3.51317844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.819254154 meters 0.03030456685213661 Centerline is valid? [True, True] Translation: X:796.60, Y:5.34, Z:3.52 [[ 9.99690203e-01 2.43083073e-02 -5.34829968e-03 7.96600030e+02] [-2.43094837e-02 9.99704469e-01 -1.55052401e-04 5.33517329e+00] [ 5.34295003e-03 2.85018770e-04 9.99985686e-01 3.51662175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.879254154 meters 0.03378045264264671 Centerline is valid? [True, True] Translation: X:796.66, Y:5.33, Z:3.51 [[ 9.99630165e-01 2.66693676e-02 -5.31769539e-03 7.96660754e+02] [-2.66705645e-02 9.99644265e-01 -1.54277362e-04 5.33020025e+00] [ 5.31168922e-03 2.96046242e-04 9.99985849e-01 3.51365402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.939254154 meters 0.03588135072259687 Centerline is valid? [True, True] Translation: X:796.72, Y:5.32, Z:3.52 [[ 9.99573482e-01 2.89484977e-02 -3.85211531e-03 7.96720879e+02] [-2.89491426e-02 9.99580879e-01 -1.11757847e-04 5.32078045e+00] [ 3.84726559e-03 2.23225616e-04 9.99992574e-01 3.51607524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.999254154 meters 0.03349408066880579 Centerline is valid? [True, True] Translation: X:796.78, Y:5.31, Z:3.51 [[ 9.99583932e-01 2.85105215e-02 -4.37182431e-03 7.96783582e+02] [-2.85113480e-02 9.99593461e-01 -1.26842540e-04 5.30830119e+00] [ 4.36643065e-03 2.51436369e-04 9.99990435e-01 3.51452919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.059254154 meters 0.03349479622827449 Centerline is valid? [True, True] Translation: X:796.84, Y:5.30, Z:3.51 [[ 9.99690549e-01 2.43197851e-02 -5.23005180e-03 7.96843669e+02] [-2.43209040e-02 9.99704192e-01 -1.50439758e-04 5.29512280e+00] [ 5.22484604e-03 2.77592792e-04 9.99986312e-01 3.51407805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.119254154 meters 0.02653719899498546 Centerline is valid? [True, True] Translation: X:796.91, Y:5.27, Z:3.52 [[ 9.99854738e-01 1.64569771e-02 -4.43526650e-03 7.96905451e+02] [-1.64577047e-02 9.99864555e-01 -1.27579015e-04 5.27356081e+00] [ 4.43256620e-03 2.00554788e-04 9.99990156e-01 3.51720592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.179254154 meters 0.0270473924437513 Centerline is valid? [True, True] Translation: X:796.97, Y:5.26, Z:3.51 [[ 9.99930734e-01 1.07462595e-02 -4.80057138e-03 7.96965074e+02] [-1.07470459e-02 9.99942239e-01 -1.38042340e-04 5.26406182e+00] [ 4.79881066e-03 1.89624739e-04 9.99988468e-01 3.51472156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.239254154 meters 0.021931164014899994 Centerline is valid? [True, True] Translation: X:797.03, Y:5.24, Z:3.52 [[ 9.99989737e-01 2.82801959e-03 -3.53958196e-03 7.97025868e+02] [-2.82839766e-03 9.99995995e-01 -1.01808404e-04 5.24431490e+00] [ 3.53927987e-03 1.11818704e-04 9.99993730e-01 3.51660027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.299254154 meters 0.02096564527909821 Centerline is valid? [True, True] Translation: X:797.09, Y:5.23, Z:3.51 [[ 9.99982752e-01 -3.73321886e-03 -4.53412543e-03 7.97086029e+02] [ 3.73266591e-03 9.99993025e-01 -1.30409828e-04 5.22831502e+00] [ 4.53458065e-03 1.13483203e-04 9.99989712e-01 3.51432995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3592541539999 meters 0.021210115381169698 Centerline is valid? [True, True] Translation: X:797.15, Y:5.22, Z:3.51 [[ 9.99971210e-01 -5.14280975e-03 -5.57955691e-03 7.97145472e+02] [ 5.14199318e-03 9.99986767e-01 -1.60685745e-04 5.22081750e+00] [ 5.58030945e-03 1.31991075e-04 9.99984421e-01 3.51240575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.419254154 meters 0.016677721333398135 Centerline is valid? [True, True] Translation: X:797.20, Y:5.21, Z:3.52 [[ 9.99982640e-01 -4.90864943e-03 -3.25942666e-03 7.97204989e+02] [ 4.90836988e-03 9.99987949e-01 -9.37603586e-05 5.20930448e+00] [ 3.25984762e-03 7.77602594e-05 9.99994684e-01 3.51728845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4792541539999 meters 0.017455759357713985 Centerline is valid? [True, True] Translation: X:797.26, Y:5.21, Z:3.52 [[ 9.99992641e-01 -2.98965082e-03 -2.40431394e-03 7.97263566e+02] [ 2.98949159e-03 9.99995529e-01 -6.98197782e-05 5.20538527e+00] [ 2.40451193e-03 6.26315881e-05 9.99997107e-01 3.51799608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.539254154 meters 0.0200676236197814 Centerline is valid? [True, True] Translation: X:797.32, Y:5.20, Z:3.52 [[ 9.99996598e-01 2.93744793e-04 -2.59172997e-03 7.97323564e+02] [-2.93941790e-04 9.99999954e-01 -7.56292192e-05 5.19875059e+00] [ 2.59170764e-03 7.63907797e-05 9.99996639e-01 3.51542848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5992541539999 meters 0.02300649737172793 Centerline is valid? [True, True] Translation: X:797.38, Y:5.20, Z:3.52 [[ 9.99992725e-01 2.57638742e-03 -2.81298067e-03 7.97382349e+02] [-2.57662876e-03 9.99996677e-01 -8.21755270e-05 5.19875872e+00] [ 2.81275961e-03 8.94229361e-05 9.99996040e-01 3.51501770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.659254154 meters 0.022241617713087167 Centerline is valid? [True, True] Translation: X:797.44, Y:5.19, Z:3.51 [[ 9.99979445e-01 4.65015736e-03 -4.41417876e-03 7.97442425e+02] [-4.65077351e-03 9.99989177e-01 -1.29328643e-04 5.18863051e+00] [ 4.41352958e-03 1.49855330e-04 9.99990249e-01 3.51336151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.7192541539999 meters 0.022058404240423334 Centerline is valid? [True, True] Translation: X:797.50, Y:5.18, Z:3.51 [[ 9.99969023e-01 6.50002713e-03 -4.43875345e-03 7.97502735e+02] [-6.50066907e-03 9.99978862e-01 -1.30209346e-04 5.18169532e+00] [ 4.43781325e-03 1.59060179e-04 9.99990140e-01 3.51381220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.779254154 meters 0.023776108137454267 Centerline is valid? [True, True] Translation: X:797.56, Y:5.18, Z:3.51 [[ 9.99957851e-01 6.95703175e-03 -5.99128163e-03 7.97563579e+02] [-6.95821013e-03 9.99975776e-01 -1.75859142e-04 5.17688591e+00] [ 5.98991304e-03 2.17540326e-04 9.99982037e-01 3.51222123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.839254154 meters 0.021933070714993706 Centerline is valid? [True, True] Translation: X:797.62, Y:5.17, Z:3.52 [[ 9.99964904e-01 6.78016598e-03 -4.92147403e-03 7.97623405e+02] [-6.78095905e-03 9.99976999e-01 -1.44476069e-04 5.16856062e+00] [ 4.92038126e-03 1.77843312e-04 9.99987879e-01 3.51503986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.899254154 meters 0.021650065997517495 Centerline is valid? [True, True] Translation: X:797.68, Y:5.16, Z:3.52 [[ 9.99981876e-01 3.99380745e-03 -4.50534583e-03 7.97683471e+02] [-3.99444448e-03 9.99992013e-01 -1.32404393e-04 5.15909585e+00] [ 4.50478105e-03 1.50398347e-04 9.99989842e-01 3.51561569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.959254154 meters 0.02040242756077253 Centerline is valid? [True, True] Translation: X:797.74, Y:5.15, Z:3.52 [[ 9.99985015e-01 2.08107663e-03 -5.06347347e-03 7.97743995e+02] [-2.08185738e-03 9.99997822e-01 -1.48926264e-04 5.15098982e+00] [ 5.06315251e-03 1.59465462e-04 9.99987169e-01 3.51517797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.019254154 meters 0.02008563013708041 Centerline is valid? [True, True] Translation: X:797.80, Y:5.14, Z:3.52 [[ 9.99983443e-01 5.43031392e-05 -5.75414454e-03 7.97804173e+02] [-5.52796091e-05 9.99999984e-01 -1.69539624e-04 5.14281956e+00] [ 5.75413524e-03 1.69854904e-04 9.99983430e-01 3.51547824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.079254154 meters 0.021228172843811167 Centerline is valid? [True, True] Translation: X:797.86, Y:5.14, Z:3.51 [[ 9.99977934e-01 -1.28473529e-03 -6.51768140e-03 7.97862012e+02] [ 1.28350856e-03 9.99999158e-01 -1.92394839e-04 5.13691334e+00] [ 6.51792309e-03 1.84025094e-04 9.99978741e-01 3.51429834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.139254154 meters 0.01941671878431143 Centerline is valid? [True, True] Translation: X:797.92, Y:5.13, Z:3.51 [[ 9.99974466e-01 -1.60593535e-03 -6.96337019e-03 7.97921332e+02] [ 1.60453876e-03 9.99998691e-01 -2.06145061e-04 5.13016535e+00] [ 6.96369214e-03 1.94966800e-04 9.99975734e-01 3.51404957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.199254154 meters 0.01847453678198188 Centerline is valid? [True, True] Translation: X:797.98, Y:5.12, Z:3.51 [[ 9.99975148e-01 -1.87154833e-03 -6.79704094e-03 7.97979566e+02] [ 1.87021691e-03 9.99998231e-01 -2.02232840e-04 5.12471993e+00] [ 6.79740741e-03 1.89515873e-04 9.99976879e-01 3.51466469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.259254154 meters 0.02158317014859608 Centerline is valid? [True, True] Translation: X:798.04, Y:5.13, Z:3.51 [[ 9.99974152e-01 -1.08891922e-03 -7.10698297e-03 7.98037359e+02] [ 1.08743263e-03 9.99999386e-01 -2.13034659e-04 5.12518696e+00] [ 7.10721058e-03 2.05300787e-04 9.99974722e-01 3.51403231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.319254154 meters 0.018382804910609153 Centerline is valid? [True, True] Translation: X:798.10, Y:5.12, Z:3.51 [[ 9.99973651e-01 1.14641606e-04 -7.25841656e-03 7.98096297e+02] [-1.16232195e-04 9.99999969e-01 -2.18715778e-04 5.11685575e+00] [ 7.25839126e-03 2.19553676e-04 9.99973633e-01 3.51427609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.379254154 meters 0.01935157206626104 Centerline is valid? [True, True] Translation: X:798.16, Y:5.11, Z:3.51 [[ 9.99973274e-01 3.29180667e-03 -6.52809437e-03 7.98156289e+02] [-3.29316811e-03 9.99994558e-01 -1.97811957e-04 5.11378763e+00] [ 6.52740769e-03 2.19304782e-04 9.99978672e-01 3.51414755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.439254154 meters 0.021598981553207063 Centerline is valid? [True, True] Translation: X:798.22, Y:5.11, Z:3.51 [[ 9.99975147e-01 4.29732921e-03 -5.58904623e-03 7.98215140e+02] [-4.29834397e-03 9.99990748e-01 -1.69562246e-04 5.11319508e+00] [ 5.58826585e-03 1.93581675e-04 9.99984367e-01 3.51370208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.499254154 meters 0.021035936649963595 Centerline is valid? [True, True] Translation: X:798.27, Y:5.11, Z:3.51 [[ 9.99977954e-01 3.77316139e-03 -5.46395519e-03 7.98274771e+02] [-3.77412491e-03 9.99992864e-01 -1.66041278e-04 5.10981707e+00] [ 5.46328970e-03 1.86659266e-04 9.99985059e-01 3.51373099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.559254154 meters 0.018841505729123086 Centerline is valid? [True, True] Translation: X:798.33, Y:5.10, Z:3.51 [[ 9.99982464e-01 1.29841418e-03 -5.77805918e-03 7.98334701e+02] [-1.29945167e-03 9.99999140e-01 -1.75805593e-04 5.10161307e+00] [ 5.77782594e-03 1.83310819e-04 9.99983291e-01 3.51412267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.619254154 meters 0.020184988989800614 Centerline is valid? [True, True] Translation: X:798.39, Y:5.10, Z:3.51 [[ 9.99983017e-01 -1.10192847e-03 -5.72288305e-03 7.98392399e+02] [ 1.10094834e-03 9.99999379e-01 -1.74412387e-04 5.10195126e+00] [ 5.72307168e-03 1.68108826e-04 9.99983609e-01 3.51361817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.679254154 meters 0.018643759075827167 Centerline is valid? [True, True] Translation: X:798.45, Y:5.09, Z:3.51 [[ 9.99964478e-01 -6.00988261e-03 -5.90968216e-03 7.98452878e+02] [ 6.00892046e-03 9.99981930e-01 -1.80552366e-04 5.09326094e+00] [ 5.91066047e-03 1.45035142e-04 9.99982521e-01 3.51275830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.739254154 meters 0.016617350378332566 Centerline is valid? [True, True] Translation: X:798.51, Y:5.09, Z:3.51 [[ 9.99929135e-01 -1.05336605e-02 -5.54679809e-03 7.98511833e+02] [ 1.05328816e-02 9.99944513e-01 -1.69623833e-04 5.08594084e+00] [ 5.54827707e-03 1.11188046e-04 9.99984602e-01 3.51457558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.799254154 meters 0.015538446513157719 Centerline is valid? [True, True] Translation: X:798.57, Y:5.08, Z:3.51 [[ 9.99863786e-01 -1.54530230e-02 -5.79779738e-03 7.98571457e+02] [ 1.54522517e-02 9.99880591e-01 -1.77805209e-04 5.08053481e+00] [ 5.79985270e-03 8.81919652e-05 9.99983177e-01 3.51485514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8592541539999 meters 0.01500693997452291 Centerline is valid? [True, True] Translation: X:798.63, Y:5.08, Z:3.51 [[ 9.99802470e-01 -1.88162723e-02 -6.40065470e-03 7.98630752e+02] [ 1.88153941e-02 9.99822955e-01 -1.97393231e-04 5.07983908e+00] [ 6.40323570e-03 7.69233995e-05 9.99979496e-01 3.51446386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.919254154 meters 0.014663095364316953 Centerline is valid? [True, True] Translation: X:798.69, Y:5.08, Z:3.51 [[ 9.99771774e-01 -2.02687277e-02 -6.75123092e-03 7.98689992e+02] [ 2.02677718e-02 9.99794566e-01 -2.09991851e-04 5.08135016e+00] [ 6.75410026e-03 7.31115177e-05 9.99977188e-01 3.51495676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9792541539999 meters 0.015084232800124832 Centerline is valid? [True, True] Translation: X:798.75, Y:5.09, Z:3.52 [[ 9.99816574e-01 -1.80051577e-02 -6.52936680e-03 7.98747468e+02] [ 1.80042062e-02 9.99837890e-01 -2.04483365e-04 5.08724836e+00] [ 6.53199008e-03 8.68897907e-05 9.99978663e-01 3.51507065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.039254154 meters 0.016261397983498186 Centerline is valid? [True, True] Translation: X:798.81, Y:5.10, Z:3.51 [[ 9.99899208e-01 -1.19306913e-02 -7.69622731e-03 7.98806867e+02] [ 1.19291830e-02 9.99928816e-01 -2.41852626e-04 5.09654581e+00] [ 7.69856492e-03 1.50018545e-04 9.99970354e-01 3.51394094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0992541539999 meters 0.01817782596463279 Centerline is valid? [True, True] Translation: X:798.86, Y:5.11, Z:3.51 [[ 9.99934650e-01 -5.35590609e-03 -1.01000137e-02 7.98864974e+02] [ 5.35296703e-03 9.99985622e-01 -3.18006670e-04 5.10566273e+00] [ 1.01015717e-02 2.63920848e-04 9.99948943e-01 3.51195228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.159254154 meters 0.01735295308643077 Centerline is valid? [True, True] Translation: X:798.92, Y:5.11, Z:3.51 [[ 9.99921645e-01 -4.52162473e-03 -1.16729997e-02 7.98924098e+02] [ 4.51761551e-03 9.99989727e-01 -3.69805855e-04 5.10779376e+00] [ 1.16745519e-02 3.17042754e-04 9.99931800e-01 3.51059841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.2192541539999 meters 0.01901757977948879 Centerline is valid? [True, True] Translation: X:798.98, Y:5.11, Z:3.51 [[ 9.99919983e-01 -5.40357345e-03 -1.14380922e-02 7.98981657e+02] [ 5.39976127e-03 9.99985355e-01 -3.64145217e-04 5.11198219e+00] [ 1.14398924e-02 3.02353112e-04 9.99934517e-01 3.50968707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.279254154 meters 0.0179889442796781 Centerline is valid? [True, True] Translation: X:799.04, Y:5.11, Z:3.51 [[ 9.99928553e-01 -5.60960786e-03 -1.05556093e-02 7.99039466e+02] [ 5.60634981e-03 9.99984227e-01 -3.38220409e-04 5.11435871e+00] [ 1.05573401e-02 2.79017807e-04 9.99944231e-01 3.51268145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.339254154 meters 0.018019383428224952 Centerline is valid? [True, True] Translation: X:799.10, Y:5.12, Z:3.52 [[ 9.99942690e-01 -7.00267221e-03 -8.09805517e-03 7.99098389e+02] [ 7.00078475e-03 9.99975460e-01 -2.61398841e-04 5.11617204e+00] [ 8.09968694e-03 2.04691119e-04 9.99967176e-01 3.51506642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.399254154 meters 0.018284330172997465 Centerline is valid? [True, True] Translation: X:799.16, Y:5.12, Z:3.51 [[ 9.99941812e-01 -7.52514919e-03 -7.72946208e-03 7.99156048e+02] [ 7.52342966e-03 9.99971667e-01 -2.51517315e-04 5.11903460e+00] [ 7.73113578e-03 1.93350615e-04 9.99970096e-01 3.51497541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.459254154 meters 0.0201623457427702 Centerline is valid? [True, True] Translation: X:799.22, Y:5.12, Z:3.51 [[ 9.99927119e-01 -7.41774832e-03 -9.52546508e-03 7.99215372e+02] [ 7.41510481e-03 9.99972459e-01 -3.12807335e-04 5.12105622e+00] [ 9.52752307e-03 2.42152215e-04 9.99954583e-01 3.51153560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.519254154 meters 0.019131632540889988 Centerline is valid? [True, True] Translation: X:799.27, Y:5.13, Z:3.51 [[ 9.99946603e-01 -3.71017712e-03 -9.64496551e-03 7.99274241e+02] [ 3.70728090e-03 9.99993077e-01 -3.18144694e-04 5.12705186e+00] [ 9.64607911e-03 2.82371110e-04 9.99953436e-01 3.51396973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.579254154 meters 0.020385634201870114 Centerline is valid? [True, True] Translation: X:799.33, Y:5.13, Z:3.51 [[ 9.99945682e-01 -1.26707103e-03 -1.03453856e-02 7.99333011e+02] [ 1.26359023e-03 9.99999143e-01 -3.42988484e-04 5.13303320e+00] [ 1.03458113e-02 3.29897525e-04 9.99946426e-01 3.51368667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.639254154 meters 0.02074933752532853 Centerline is valid? [True, True] Translation: X:799.39, Y:5.14, Z:3.51 [[ 9.99927601e-01 -1.47158339e-04 -1.20320513e-02 7.99391995e+02] [ 1.42329851e-04 9.99999909e-01 -4.02157466e-04 5.13684533e+00] [ 1.20321094e-02 4.00415830e-04 9.99927531e-01 3.51062556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.699254154 meters 0.02060893194750687 Centerline is valid? [True, True] Translation: X:799.45, Y:5.14, Z:3.51 [[ 9.99936154e-01 7.87886177e-04 -1.12723748e-02 7.99450575e+02] [-7.92215309e-04 9.99999614e-01 -3.79587905e-04 5.14154124e+00] [ 1.12720714e-02 3.88493818e-04 9.99936393e-01 3.51234158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.759254154 meters 0.0220919474928045 Centerline is valid? [True, True] Translation: X:799.51, Y:5.15, Z:3.51 [[ 9.99934727e-01 3.18698346e-03 -1.09719965e-02 7.99509716e+02] [-3.19124510e-03 9.99994839e-01 -3.70925399e-04 5.14797444e+00] [ 1.09707578e-02 4.05915517e-04 9.99939737e-01 3.51285951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.819254154 meters 0.023765704957983434 Centerline is valid? [True, True] Translation: X:799.57, Y:5.15, Z:3.51 [[ 9.99916542e-01 3.71327141e-03 -1.23741961e-02 7.99568187e+02] [-3.71874275e-03 9.99992998e-01 -4.19177578e-04 5.15229431e+00] [ 1.23725529e-02 4.65159046e-04 9.99923349e-01 3.51065382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.879254154 meters 0.02501928833788323 Centerline is valid? [True, True] Translation: X:799.63, Y:5.16, Z:3.51 [[ 9.99913028e-01 5.67251007e-03 -1.19062468e-02 7.99627234e+02] [-5.67773998e-03 9.99983799e-01 -4.05501853e-04 5.15908455e+00] [ 1.19037537e-02 4.73067159e-04 9.99929036e-01 3.51144432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.939254154 meters 0.025703816767245896 Centerline is valid? [True, True] Translation: X:799.69, Y:5.17, Z:3.51 [[ 9.99919122e-01 8.70508707e-03 -9.27200724e-03 7.99686153e+02] [-8.70839911e-03 9.99962031e-01 -3.16894247e-04 5.16678436e+00] [ 9.26889660e-03 3.97612957e-04 9.99956964e-01 3.51492690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.999254154 meters 0.028653353464720352 Centerline is valid? [True, True] Translation: X:799.75, Y:5.18, Z:3.51 [[ 9.99868189e-01 1.25797112e-02 -1.02643266e-02 7.99745878e+02] [-1.25839778e-02 9.99920757e-01 -3.51192560e-04 5.17683327e+00] [ 1.02590953e-02 4.80312327e-04 9.99947259e-01 3.51314756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.059254154 meters 0.0305174119087711 Centerline is valid? [True, True] Translation: X:799.80, Y:5.19, Z:3.51 [[ 9.99840807e-01 1.54452690e-02 -8.93330335e-03 7.99804919e+02] [-1.54486163e-02 9.99880616e-01 -3.05812712e-04 5.18735468e+00] [ 8.92751350e-03 4.43771205e-04 9.99960050e-01 3.51440080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.119254154 meters 0.03262627955624084 Centerline is valid? [True, True] Translation: X:799.87, Y:5.20, Z:3.51 [[ 9.99808572e-01 1.74590445e-02 -8.83187652e-03 7.99866001e+02] [-1.74623940e-02 9.99847475e-01 -3.02265467e-04 5.19707279e+00] [ 8.82525218e-03 4.56433313e-04 9.99960953e-01 3.51419915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.179254154 meters 0.02834461058619255 Centerline is valid? [True, True] Translation: X:799.93, Y:5.20, Z:3.51 [[ 9.99749787e-01 2.04006253e-02 -9.17480069e-03 7.99927310e+02] [-2.04043604e-02 9.99791760e-01 -3.13672708e-04 5.19850264e+00] [ 9.16649102e-03 5.00800163e-04 9.99957861e-01 3.51461650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.239254154 meters 0.02995008446462843 Centerline is valid? [True, True] Translation: X:799.99, Y:5.21, Z:3.51 [[ 9.99710679e-01 2.19853382e-02 -9.75720539e-03 7.99989246e+02] [-2.19896233e-02 9.99758144e-01 -3.32097930e-04 5.20675171e+00] [ 9.74754426e-03 5.46559118e-04 9.99952342e-01 3.51354740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.299254154 meters 0.03184457561082596 Centerline is valid? [True, True] Translation: X:800.05, Y:5.21, Z:3.51 [[ 9.99683889e-01 2.19788772e-02 -1.22086424e-02 8.00051074e+02] [-2.19855453e-02 9.99758204e-01 -4.12221687e-04 5.21353175e+00] [ 1.21966302e-02 6.80505039e-04 9.99925387e-01 3.51079651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3592541539999 meters 0.031387072800072684 Centerline is valid? [True, True] Translation: X:800.11, Y:5.22, Z:3.51 [[ 9.99711901e-01 2.18397313e-02 -9.95699860e-03 8.00111720e+02] [-2.18441379e-02 9.99761333e-01 -3.34016491e-04 5.22170969e+00] [ 9.94732736e-03 5.51422312e-04 9.99950372e-01 3.51253405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.419254154 meters 0.028895667709319946 Centerline is valid? [True, True] Translation: X:800.17, Y:5.23, Z:3.51 [[ 9.99793863e-01 1.81899447e-02 -9.01984662e-03 8.00172679e+02] [-1.81934035e-02 9.99834441e-01 -3.01553741e-04 5.22505280e+00] [ 9.01286806e-03 4.65593289e-04 9.99959275e-01 3.51256558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4792541539999 meters 0.026916069677045337 Centerline is valid? [True, True] Translation: X:800.23, Y:5.23, Z:3.51 [[ 9.99859934e-01 1.34118026e-02 -1.00117459e-02 8.00233494e+02] [-1.34158223e-02 9.99909948e-01 -3.34446127e-04 5.22609849e+00] [ 1.00063587e-02 4.68715086e-04 9.99949825e-01 3.51073362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.539254154 meters 0.024204612606517184 Centerline is valid? [True, True] Translation: X:800.29, Y:5.23, Z:3.51 [[ 9.99905300e-01 1.14647733e-02 -7.61251093e-03 8.00294074e+02] [-1.14670402e-02 9.99934219e-01 -2.54207327e-04 5.22973185e+00] [ 7.60909574e-03 3.41476222e-04 9.99970992e-01 3.51316598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5992541539999 meters 0.02460993959801271 Centerline is valid? [True, True] Translation: X:800.35, Y:5.24, Z:3.51 [[ 9.99937392e-01 7.53052610e-03 -8.27667426e-03 8.00353908e+02] [-7.53307133e-03 9.99971588e-01 -2.76385973e-04 5.23601589e+00] [ 8.27435777e-03 3.38717446e-04 9.99965710e-01 3.51138149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.659254154 meters 0.02143816844547674 Centerline is valid? [True, True] Translation: X:800.41, Y:5.24, Z:3.51 [[ 9.99957864e-01 5.46125481e-03 -7.37873343e-03 8.00413437e+02] [-5.46322228e-03 9.99985046e-01 -2.46510273e-04 5.23681995e+00] [ 7.37727683e-03 2.86811547e-04 9.99972746e-01 3.51244016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.7192541539999 meters 0.020750913048687477 Centerline is valid? [True, True] Translation: X:800.47, Y:5.24, Z:3.51 [[ 9.99960699e-01 3.28008824e-03 -8.23653417e-03 8.00473001e+02] [-3.28246852e-03 9.99994575e-01 -2.75489173e-04 5.24109149e+00] [ 8.23558585e-03 3.02514510e-04 9.99966041e-01 3.51175943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.779254154 meters 0.023308522155765996 Centerline is valid? [True, True] Translation: X:800.53, Y:5.25, Z:3.51 [[ 9.99938354e-01 3.67250359e-03 -1.04785496e-02 8.00530858e+02] [-3.67638557e-03 9.99993180e-01 -3.51230807e-04 5.24725107e+00] [ 1.04771883e-02 3.89732344e-04 9.99945037e-01 3.50959920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.839254154 meters 0.023764951579662096 Centerline is valid? [True, True] Translation: X:800.59, Y:5.25, Z:3.51 [[ 9.99939013e-01 3.40030920e-03 -1.05074957e-02 8.00588503e+02] [-3.40420750e-03 9.99994143e-01 -3.53138172e-04 5.25436960e+00] [ 1.05062334e-02 3.88886331e-04 9.99944732e-01 3.50878987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.899254154 meters 0.02156374024518449 Centerline is valid? [True, True] Translation: X:800.65, Y:5.26, Z:3.51 [[ 9.99947445e-01 4.61712170e-03 -9.15365648e-03 8.00646944e+02] [-4.62013730e-03 9.99989280e-01 -3.08322975e-04 5.25828528e+00] [ 9.15213479e-03 3.50597921e-04 9.99958057e-01 3.51112848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.959254154 meters 0.022548656363511794 Centerline is valid? [True, True] Translation: X:800.71, Y:5.26, Z:3.51 [[ 9.99943979e-01 5.37491041e-03 -9.11861985e-03 8.00705335e+02] [-5.37794047e-03 9.99985491e-01 -3.07805217e-04 5.26320226e+00] [ 9.11683312e-03 3.56827368e-04 9.99958377e-01 3.51030410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.019254154 meters 0.025029964055101325 Centerline is valid? [True, True] Translation: X:800.76, Y:5.27, Z:3.51 [[ 9.99931931e-01 6.15706278e-03 -9.91084865e-03 8.00764365e+02] [-6.16068795e-03 9.99980967e-01 -3.35290163e-04 5.26820251e+00] [ 9.90859561e-03 3.96324985e-04 9.99950830e-01 3.50931910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.079254154 meters 0.025561353416659195 Centerline is valid? [True, True] Translation: X:800.82, Y:5.27, Z:3.51 [[ 9.99926503e-01 8.18636390e-03 -8.94272865e-03 8.00822927e+02] [-8.18940185e-03 9.99966420e-01 -3.03145335e-04 5.27335986e+00] [ 8.93994670e-03 3.76358654e-04 9.99959967e-01 3.50974475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.139254154 meters 0.026048772457800316 Centerline is valid? [True, True] Translation: X:800.88, Y:5.28, Z:3.51 [[ 9.99916835e-01 1.05222624e-02 -7.45691121e-03 8.00881256e+02] [-1.05244427e-02 9.99944584e-01 -2.53200945e-04 5.28027173e+00] [ 7.45383373e-03 3.31659723e-04 9.99972165e-01 3.51129024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.199254154 meters 0.02794204568499967 Centerline is valid? [True, True] Translation: X:800.94, Y:5.28, Z:3.51 [[ 9.99915506e-01 1.02988334e-02 -7.93186497e-03 8.00941315e+02] [-1.03012962e-02 9.99946904e-01 -2.69698709e-04 5.28271988e+00] [ 7.92866624e-03 3.51384411e-04 9.99968506e-01 3.50927618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.259254154 meters 0.026700334639207797 Centerline is valid? [True, True] Translation: X:801.00, Y:5.28, Z:3.51 [[ 9.99911034e-01 1.13648122e-02 -6.98315829e-03 8.01000995e+02] [-1.13667486e-02 9.99935368e-01 -2.37665886e-04 5.28492734e+00] [ 6.98000592e-03 3.17020547e-04 9.99975589e-01 3.51165593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.319254154 meters 0.027927997268755528 Centerline is valid? [True, True] Translation: X:801.06, Y:5.29, Z:3.51 [[ 9.99916973e-01 1.08767612e-02 -6.90963460e-03 8.01060410e+02] [-1.08786467e-02 9.99940798e-01 -2.35359003e-04 5.28747609e+00] [ 6.90666559e-03 3.10506936e-04 9.99976100e-01 3.51126052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.379254154 meters 0.023573602151924323 Centerline is valid? [True, True] Translation: X:801.12, Y:5.28, Z:3.51 [[ 9.99930601e-01 1.00402880e-02 -6.16319434e-03 8.01120741e+02] [-1.00417729e-02 9.99949558e-01 -2.10033249e-04 5.28321088e+00] [ 6.16077466e-03 2.71908071e-04 9.99980985e-01 3.51224469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.439254154 meters 0.0232782849084748 Centerline is valid? [True, True] Translation: X:801.18, Y:5.28, Z:3.51 [[ 9.99941955e-01 8.47851353e-03 -6.64840967e-03 8.01181376e+02] [-8.48020757e-03 9.99964017e-01 -2.26655575e-04 5.28323058e+00] [ 6.64624874e-03 2.83022312e-04 9.99977873e-01 3.51147501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.499254154 meters 0.024356002566899085 Centerline is valid? [True, True] Translation: X:801.24, Y:5.28, Z:3.51 [[ 9.99944921e-01 6.93249854e-03 -7.88012211e-03 8.01240867e+02] [-6.93483153e-03 9.99975918e-01 -2.68774462e-04 5.28301913e+00] [ 7.87806906e-03 3.23406978e-04 9.99968915e-01 3.50882115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.559254154 meters 0.025470321629303714 Centerline is valid? [True, True] Translation: X:801.30, Y:5.29, Z:3.51 [[ 9.99950850e-01 5.52251771e-03 -8.23405567e-03 8.01299318e+02] [-5.52502036e-03 9.99984697e-01 -2.81222784e-04 5.28543678e+00] [ 8.23237661e-03 3.26702287e-04 9.99966060e-01 3.50833330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.619254154 meters 0.022270290052538586 Centerline is valid? [True, True] Translation: X:801.36, Y:5.28, Z:3.51 [[ 9.99959629e-01 2.86540395e-03 -8.51642732e-03 8.01359258e+02] [-2.86798834e-03 9.99995845e-01 -2.91261624e-04 5.27891329e+00] [ 8.51555735e-03 3.15674879e-04 9.99963692e-01 3.50862335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.679254154 meters 0.02297564309780811 Centerline is valid? [True, True] Translation: X:801.42, Y:5.28, Z:3.51 [[ 9.99964516e-01 1.42543930e-03 -8.30272680e-03 8.01417553e+02] [-1.42784963e-03 9.99998940e-01 -2.84384451e-04 5.28044477e+00] [ 8.30231263e-03 2.96229406e-04 9.99965491e-01 3.51007073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.739254154 meters 0.021175166396727868 Centerline is valid? [True, True] Translation: X:801.48, Y:5.27, Z:3.51 [[ 9.99974607e-01 -1.46284122e-03 -6.97469717e-03 8.01477160e+02] [ 1.46120772e-03 9.99998904e-01 -2.39294104e-04 5.27305849e+00] [ 6.97503958e-03 2.29096546e-04 9.99975648e-01 3.51082786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.799254154 meters 0.02085734078091536 Centerline is valid? [True, True] Translation: X:801.54, Y:5.27, Z:3.51 [[ 9.99975489e-01 -3.12252051e-03 -6.26662277e-03 8.01536305e+02] [ 3.12123229e-03 9.99995106e-01 -2.15337029e-04 5.27136253e+00] [ 6.26726449e-03 1.95772165e-04 9.99980341e-01 3.51155139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8592541539999 meters 0.021599686567387574 Centerline is valid? [True, True] Translation: X:801.59, Y:5.27, Z:3.51 [[ 9.99964926e-01 -5.32462997e-03 -6.46492056e-03 8.01594482e+02] [ 5.32330180e-03 9.99985806e-01 -2.22632603e-04 5.26716538e+00] [ 6.46601423e-03 1.88210071e-04 9.99979077e-01 3.51041567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.919254154 meters 0.021451692858043592 Centerline is valid? [True, True] Translation: X:801.65, Y:5.26, Z:3.51 [[ 9.99972419e-01 -5.30575663e-03 -5.19710834e-03 8.01651616e+02] [ 5.30489607e-03 9.99985913e-01 -1.79354779e-04 5.26437599e+00] [ 5.19798674e-03 1.51779712e-04 9.99986479e-01 3.51241976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9792541539999 meters 0.019393683803227642 Centerline is valid? [True, True] Translation: X:801.71, Y:5.26, Z:3.51 [[ 9.99967906e-01 -5.83042345e-03 -5.49483018e-03 8.01710034e+02] [ 5.82946462e-03 9.99982990e-01 -1.90496824e-04 5.25639242e+00] [ 5.49584739e-03 1.58458792e-04 9.99984885e-01 3.51094053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.039254154 meters 0.020378611321388157 Centerline is valid? [True, True] Translation: X:801.77, Y:5.26, Z:3.51 [[ 9.99974901e-01 -4.57653861e-03 -5.40855555e-03 8.01768199e+02] [ 4.57558388e-03 9.99989514e-01 -1.88882288e-04 5.25736428e+00] [ 5.40936327e-03 1.64130248e-04 9.99985356e-01 3.51041133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0992541539999 meters 0.019858366626505194 Centerline is valid? [True, True] Translation: X:801.83, Y:5.25, Z:3.51 [[ 9.99974036e-01 -4.36902284e-03 -5.73061180e-03 8.01827749e+02] [ 4.36794329e-03 9.99990440e-01 -2.00885846e-04 5.25250799e+00] [ 5.73143469e-03 1.75849643e-04 9.99983560e-01 3.50881200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.159254154 meters 0.020088600533752103 Centerline is valid? [True, True] Translation: X:801.89, Y:5.25, Z:3.51 [[ 9.99957835e-01 -6.13568706e-03 -6.83243587e-03 8.01886683e+02] [ 6.13418350e-03 9.99981157e-01 -2.40995889e-04 5.24776685e+00] [ 6.83378580e-03 1.99074312e-04 9.99976630e-01 3.50678815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.2192541539999 meters 0.01834189038577978 Centerline is valid? [True, True] Translation: X:801.94, Y:5.24, Z:3.51 [[ 9.99940734e-01 -8.82052099e-03 -6.38180491e-03 8.01944483e+02] [ 8.81926080e-03 9.99961084e-01 -2.25581315e-04 5.24256602e+00] [ 6.38354631e-03 1.69285143e-04 9.99979611e-01 3.50824043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.279254154 meters 0.016378929401118233 Centerline is valid? [True, True] Translation: X:802.00, Y:5.23, Z:3.51 [[ 9.99882028e-01 -1.40135479e-02 -6.28889925e-03 8.02004763e+02] [ 1.40124241e-02 9.99901796e-01 -2.22723803e-04 5.23443510e+00] [ 6.29140281e-03 1.34574805e-04 9.99980200e-01 3.50873059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.339254154 meters 0.014976077018612088 Centerline is valid? [True, True] Translation: X:802.06, Y:5.23, Z:3.51 [[ 9.99818853e-01 -1.78349059e-02 -6.64664117e-03 8.02063738e+02] [ 1.78337305e-02 9.99840939e-01 -2.36070232e-04 5.22907806e+00] [ 6.64979423e-03 1.17493061e-04 9.99977883e-01 3.50904481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.399254154 meters 0.014469465281024111 Centerline is valid? [True, True] Translation: X:802.12, Y:5.22, Z:3.51 [[ 9.99721542e-01 -2.25340611e-02 -7.00395391e-03 8.02121600e+02] [ 2.25328609e-02 9.99746072e-01 -2.50223789e-04 5.22470694e+00] [ 7.00781397e-03 9.23349925e-05 9.99975441e-01 3.50867094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.459254154 meters 0.015152799239983767 Centerline is valid? [True, True] Translation: X:802.18, Y:5.22, Z:3.51 [[ 9.99654212e-01 -2.52470118e-02 -7.35150956e-03 8.02180923e+02] [ 2.52457542e-02 9.99681240e-01 -2.63833584e-04 5.22185640e+00] [ 7.35582721e-03 7.81479503e-05 9.99972942e-01 3.50743383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.519254154 meters 0.014247626892891958 Centerline is valid? [True, True] Translation: X:802.24, Y:5.22, Z:3.51 [[ 9.99621463e-01 -2.63223952e-02 -8.00392229e-03 8.02238679e+02] [ 2.63209205e-02 9.99653503e-01 -2.89543235e-04 5.22024862e+00] [ 8.00877042e-03 7.87630295e-05 9.99967926e-01 3.50859207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.579254154 meters 0.014338888682349971 Centerline is valid? [True, True] Translation: X:802.30, Y:5.22, Z:3.51 [[ 9.99698378e-01 -2.32808552e-02 -7.82014658e-03 8.02297517e+02] [ 2.32793378e-02 9.99728959e-01 -2.85017078e-04 5.22444507e+00] [ 7.82466244e-03 1.02883277e-04 9.99969382e-01 3.50968680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.639254154 meters 0.015290228054108687 Centerline is valid? [True, True] Translation: X:802.36, Y:5.23, Z:3.51 [[ 9.99765060e-01 -1.98157476e-02 -8.78414964e-03 8.02355381e+02] [ 1.98136848e-02 9.99803638e-01 -3.21795022e-04 5.23012669e+00] [ 8.78880137e-03 1.47673047e-04 9.99961367e-01 3.50895079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.699254154 meters 0.014987553806626376 Centerline is valid? [True, True] Translation: X:802.41, Y:5.23, Z:3.51 [[ 9.99786972e-01 -1.81771158e-02 -9.77764936e-03 8.02414234e+02] [ 1.81744637e-02 9.99834766e-01 -3.60034330e-04 5.23177624e+00] [ 9.78257814e-03 1.82254099e-04 9.99952133e-01 3.50906100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.759254154 meters 0.01614979835468155 Centerline is valid? [True, True] Translation: X:802.47, Y:5.24, Z:3.51 [[ 9.99826280e-01 -1.51548550e-02 -1.08508592e-02 8.02471571e+02] [ 1.51513905e-02 9.99885131e-01 -4.01421215e-04 5.23864386e+00] [ 1.08556963e-02 2.36945875e-04 9.99941047e-01 3.50802431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.819254154 meters 0.016819306571531766 Centerline is valid? [True, True] Translation: X:802.53, Y:5.24, Z:3.51 [[ 9.99846745e-01 -1.21273172e-02 -1.26259548e-02 8.02530738e+02] [ 1.21223735e-02 9.99926412e-01 -4.68010107e-04 5.24494670e+00] [ 1.26307014e-02 3.14881842e-04 9.99920180e-01 3.50808478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.879254154 meters 0.018187228357775625 Centerline is valid? [True, True] Translation: X:802.59, Y:5.25, Z:3.51 [[ 9.99856704e-01 -9.98174551e-03 -1.36724812e-02 8.02588047e+02] [ 9.97573058e-03 9.99950112e-01 -5.08060249e-04 5.25101145e+00] [ 1.36768705e-02 3.71594457e-04 9.99906398e-01 3.50735876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.939254154 meters 0.01711288828023547 Centerline is valid? [True, True] Translation: X:802.65, Y:5.25, Z:3.51 [[ 9.99866709e-01 -7.76507142e-03 -1.43620162e-02 8.02646950e+02] [ 7.75816086e-03 9.99969761e-01 -5.36821785e-04 5.25391982e+00] [ 1.43657504e-02 4.25327399e-04 9.99896717e-01 3.50856656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.999254154 meters 0.020232664477600283 Centerline is valid? [True, True] Translation: X:802.70, Y:5.26, Z:3.51 [[ 9.99860582e-01 -7.45776996e-03 -1.49398122e-02 8.02704978e+02] [ 7.45022504e-03 9.99972090e-01 -5.60613952e-04 5.26219594e+00] [ 1.49435761e-02 4.49230829e-04 9.99888238e-01 3.50676234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.059254154 meters 0.017916447536828882 Centerline is valid? [True, True] Translation: X:802.76, Y:5.26, Z:3.51 [[ 9.99842913e-01 -8.02388015e-03 -1.58040155e-02 8.02762670e+02] [ 8.01544717e-03 9.99967698e-01 -5.96868140e-04 5.26110766e+00] [ 1.58082942e-02 4.70098128e-04 9.99874931e-01 3.50836482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.119254154 meters 0.01754489217142789 Centerline is valid? [True, True] Translation: X:802.82, Y:5.26, Z:3.51 [[ 9.99837938e-01 -8.45711955e-03 -1.58925811e-02 8.02820922e+02] [ 8.44857102e-03 9.99964127e-01 -6.04957606e-04 5.26347968e+00] [ 1.58971272e-02 4.70589965e-04 9.99873522e-01 3.50903003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.179254154 meters 0.017249896681044735 Centerline is valid? [True, True] Translation: X:802.88, Y:5.27, Z:3.51 [[ 9.99820722e-01 -1.05902272e-02 -1.56961772e-02 8.02879455e+02] [ 1.05820851e-02 9.99943827e-01 -6.01699575e-04 5.26504425e+00] [ 1.57016676e-02 4.35493422e-04 9.99876626e-01 3.51011560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.239254154 meters 0.01660468201330687 Centerline is valid? [True, True] Translation: X:802.94, Y:5.27, Z:3.51 [[ 9.99780922e-01 -1.43810027e-02 -1.52084103e-02 8.02938536e+02] [ 1.43737683e-02 9.99896521e-01 -5.84888281e-04 5.26539869e+00] [ 1.52152478e-02 3.66157979e-04 9.99884174e-01 3.51066440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.299254154 meters 0.016401593236262065 Centerline is valid? [True, True] Translation: X:803.00, Y:5.27, Z:3.51 [[ 9.99763030e-01 -1.63268096e-02 -1.43985599e-02 8.02997482e+02] [ 1.63204865e-02 9.99866657e-01 -5.56548859e-04 5.26759713e+00] [ 1.44057266e-02 3.21425471e-04 9.99896180e-01 3.51068772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3592541539999 meters 0.016628565579860418 Centerline is valid? [True, True] Translation: X:803.06, Y:5.27, Z:3.51 [[ 9.99762696e-01 -1.65032089e-02 -1.42195391e-02 8.03055510e+02] [ 1.64970047e-02 9.99863762e-01 -5.53504327e-04 5.27050190e+00] [ 1.42267364e-02 3.18793175e-04 9.99898744e-01 3.51010599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.419254154 meters 0.016337442879334987 Centerline is valid? [True, True] Translation: X:803.11, Y:5.27, Z:3.51 [[ 9.99753562e-01 -1.61688196e-02 -1.52113406e-02 8.03114755e+02] [ 1.61616188e-02 9.99869215e-01 -5.96199884e-04 5.27255952e+00] [ 1.52189910e-02 3.50213070e-04 9.99884123e-01 3.51032555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4792541539999 meters 0.017643449005626338 Centerline is valid? [True, True] Translation: X:803.17, Y:5.28, Z:3.51 [[ 9.99780157e-01 -1.39411027e-02 -1.56615130e-02 8.03173328e+02] [ 1.39331328e-02 9.99902738e-01 -6.17889005e-04 5.27636732e+00] [ 1.56686038e-02 3.99539226e-04 9.99877160e-01 3.51005470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.539254154 meters 0.017582819916752934 Centerline is valid? [True, True] Translation: X:803.23, Y:5.28, Z:3.51 [[ 9.99841642e-01 -1.08700911e-02 -1.40901468e-02 8.03232470e+02] [ 1.08632859e-02 9.99940836e-01 -5.59419634e-04 5.28150290e+00] [ 1.40953941e-02 4.06265752e-04 9.99900572e-01 3.51139772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5992541539999 meters 0.01962258862274605 Centerline is valid? [True, True] Translation: X:803.29, Y:5.29, Z:3.51 [[ 9.99874620e-01 -6.89880593e-03 -1.42530958e-02 8.03290989e+02] [ 6.89141528e-03 9.99976093e-01 -5.67579543e-04 5.28983754e+00] [ 1.42566706e-02 4.69284378e-04 9.99898258e-01 3.51063254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.659254154 meters 0.019760263886606056 Centerline is valid? [True, True] Translation: X:803.35, Y:5.29, Z:3.51 [[ 9.99874417e-01 -5.75058923e-03 -1.47675779e-02 8.03349638e+02] [ 5.74248753e-03 9.99983337e-01 -5.90959333e-04 5.29420199e+00] [ 1.47707302e-02 5.06082487e-04 9.99890779e-01 3.50989111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.7192541539999 meters 0.019986351121389554 Centerline is valid? [True, True] Translation: X:803.41, Y:5.30, Z:3.51 [[ 9.99881812e-01 -4.23022729e-03 -1.47806357e-02 8.03408587e+02] [ 4.22188919e-03 9.99990911e-01 -5.95280956e-04 5.29885714e+00] [ 1.47830196e-02 5.32808395e-04 9.99890583e-01 3.50980763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.779254154 meters 0.02180693744414552 Centerline is valid? [True, True] Translation: X:803.47, Y:5.31, Z:3.51 [[ 9.99900502e-01 -2.60365913e-03 -1.38639113e-02 8.03466488e+02] [ 2.59614055e-03 9.99996473e-01 -5.60282177e-04 5.30625410e+00] [ 1.38653212e-02 5.24233767e-04 9.99903734e-01 3.50966427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.839254154 meters 0.02195773694389016 Centerline is valid? [True, True] Translation: X:803.53, Y:5.31, Z:3.51 [[ 9.99898992e-01 -3.34262020e-04 -1.42089479e-02 8.03525816e+02] [ 3.26124864e-04 9.99999782e-01 -5.74991479e-04 5.31060946e+00] [ 1.42091370e-02 5.70299509e-04 9.99898882e-01 3.50982711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.899254154 meters 0.023161153446896184 Centerline is valid? [True, True] Translation: X:803.58, Y:5.32, Z:3.51 [[ 9.99903427e-01 7.37264079e-04 -1.38777757e-02 8.03583984e+02] [-7.45143297e-04 9.99999564e-01 -5.62595855e-04 5.31668295e+00] [ 1.38773549e-02 5.72882455e-04 9.99903541e-01 3.50959355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.959254154 meters 0.0235624771312938 Centerline is valid? [True, True] Translation: X:803.64, Y:5.32, Z:3.51 [[ 9.99913660e-01 5.13334965e-04 -1.31304794e-02 8.03642623e+02] [-5.20382160e-04 9.99999722e-01 -5.33294085e-04 5.32100782e+00] [ 1.31302020e-02 5.40080908e-04 9.99913649e-01 3.51013539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.019254154 meters 0.023914332125933527 Centerline is valid? [True, True] Translation: X:803.70, Y:5.33, Z:3.51 [[ 9.99924819e-01 2.24846307e-04 -1.22599635e-02 8.03701499e+02] [-2.30978719e-04 9.99999849e-01 -4.98784562e-04 5.32573378e+00] [ 1.22598495e-02 5.01578853e-04 9.99924719e-01 3.51101747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.079254154 meters 0.021779594009777446 Centerline is valid? [True, True] Translation: X:803.76, Y:5.33, Z:3.51 [[ 9.99929225e-01 -1.15955102e-06 -1.18972300e-02 8.03760544e+02] [-4.60954521e-06 9.99999882e-01 -4.84883445e-04 5.32658599e+00] [ 1.18972292e-02 4.84903968e-04 9.99929108e-01 3.51178855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.139254154 meters 0.025251073380436004 Centerline is valid? [True, True] Translation: X:803.82, Y:5.34, Z:3.51 [[ 9.99915232e-01 -9.23914856e-04 -1.29875088e-02 8.03818267e+02] [ 9.17102721e-04 9.99999439e-01 -5.30460270e-04 5.33517418e+00] [ 1.29879916e-02 5.18504425e-04 9.99915518e-01 3.50931676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.199254154 meters 0.02259597635179052 Centerline is valid? [True, True] Translation: X:803.88, Y:5.34, Z:3.51 [[ 9.99925500e-01 -7.22317243e-04 -1.21849461e-02 8.03876866e+02] [ 7.16277409e-04 9.99999618e-01 -5.00036830e-04 5.33789563e+00] [ 1.21853026e-02 4.91271775e-04 9.99925636e-01 3.51187619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.259254154 meters 0.02315756823529421 Centerline is valid? [True, True] Translation: X:803.94, Y:5.34, Z:3.51 [[ 9.99933008e-01 -8.59218337e-04 -1.15430322e-02 8.03935423e+02] [ 8.53789086e-04 9.99999523e-01 -4.75268383e-04 5.34302785e+00] [ 1.15434351e-02 4.65381229e-04 9.99933264e-01 3.51198203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.319254154 meters 0.0215111613354348 Centerline is valid? [True, True] Translation: X:803.99, Y:5.35, Z:3.51 [[ 9.99929738e-01 -2.08899528e-03 -1.16685176e-02 8.03993816e+02] [ 2.08352096e-03 9.99997714e-01 -4.81289965e-04 5.34601055e+00] [ 1.16694963e-02 4.56944548e-04 9.99931805e-01 3.51157566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.379254154 meters 0.02111563514631252 Centerline is valid? [True, True] Translation: X:804.05, Y:5.35, Z:3.51 [[ 9.99917637e-01 -2.57314255e-03 -1.25737113e-02 8.04052444e+02] [ 2.56681216e-03 9.99996571e-01 -5.19573948e-04 5.35028170e+00] [ 1.25750051e-02 4.87256799e-04 9.99920813e-01 3.51099182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.439254154 meters 0.022051619802014734 Centerline is valid? [True, True] Translation: X:804.11, Y:5.36, Z:3.51 [[ 9.99912637e-01 -2.12459071e-03 -1.30462442e-02 8.04110628e+02] [ 2.11772286e-03 9.99997612e-01 -5.40215456e-04 5.35647325e+00] [ 1.30473608e-02 5.12539932e-04 9.99914748e-01 3.51086157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.499254154 meters 0.023844138229809457 Centerline is valid? [True, True] Translation: X:804.17, Y:5.37, Z:3.51 [[ 9.99903004e-01 -1.57219479e-03 -1.38387539e-02 8.04167907e+02] [ 1.56439685e-03 9.99998611e-01 -5.74292415e-04 5.36530718e+00] [ 1.38396376e-02 5.52587407e-04 9.99904075e-01 3.50928008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.559254154 meters 0.023895407837673723 Centerline is valid? [True, True] Translation: X:804.23, Y:5.37, Z:3.51 [[ 9.99894061e-01 -2.57702686e-03 -1.43257079e-02 8.04226274e+02] [ 2.56875731e-03 9.99996523e-01 -5.95623199e-04 5.36913693e+00] [ 1.43271930e-02 5.58760832e-04 9.99897204e-01 3.50882008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.619254154 meters 0.02323031091279483 Centerline is valid? [True, True] Translation: X:804.28, Y:5.37, Z:3.51 [[ 9.99902110e-01 -3.61041520e-03 -1.35179697e-02 8.04284810e+02] [ 3.60313341e-03 9.99993350e-01 -5.62990410e-04 5.37363638e+00] [ 1.35199124e-02 5.14228251e-04 9.99908470e-01 3.51025341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.679254154 meters 0.02206745385474211 Centerline is valid? [True, True] Translation: X:804.34, Y:5.38, Z:3.51 [[ 9.99905519e-01 -5.05202066e-03 -1.27839591e-02 8.04344015e+02] [ 5.04559748e-03 9.99987128e-01 -5.34643694e-04 5.37920779e+00] [ 1.27864956e-02 4.70090468e-04 9.99918139e-01 3.51210869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.739254154 meters 0.022231543915339592 Centerline is valid? [True, True] Translation: X:804.40, Y:5.39, Z:3.51 [[ 9.99897042e-01 -5.95069883e-03 -1.30573943e-02 8.04403150e+02] [ 5.94403330e-03 9.99982183e-01 -5.49229406e-04 5.38506642e+00] [ 1.30604300e-02 4.71559271e-04 9.99914598e-01 3.51225553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.799254154 meters 0.02347412785213335 Centerline is valid? [True, True] Translation: X:804.46, Y:5.39, Z:3.51 [[ 9.99879132e-01 -7.60872805e-03 -1.35583745e-02 8.04460546e+02] [ 7.60166253e-03 9.99970943e-01 -5.72578752e-04 5.39122842e+00] [ 1.35623372e-02 4.69443358e-04 9.99907917e-01 3.51049750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8592541539999 meters 0.022683536412404507 Centerline is valid? [True, True] Translation: X:804.52, Y:5.39, Z:3.51 [[ 9.99852977e-01 -9.63101242e-03 -1.41868953e-02 8.04519651e+02] [ 9.62343812e-03 9.99953512e-01 -6.02066029e-04 5.39347939e+00] [ 1.41920343e-02 4.65450802e-04 9.99899180e-01 3.50999454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.919254154 meters 0.018253975915838022 Centerline is valid? [True, True] Translation: X:804.58, Y:5.39, Z:3.51 [[ 9.99839430e-01 -1.18405515e-02 -1.34504892e-02 8.04579088e+02] [ 1.18339001e-02 9.99929812e-01 -5.73990911e-04 5.39181042e+00] [ 1.34563415e-02 4.14726999e-04 9.99909373e-01 3.51332738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9792541539999 meters 0.0188011549782918 Centerline is valid? [True, True] Translation: X:804.64, Y:5.40, Z:3.51 [[ 9.99810749e-01 -1.45351139e-02 -1.29304450e-02 8.04637425e+02] [ 1.45291510e-02 9.99894292e-01 -5.54972354e-04 5.39577570e+00] [ 1.29371447e-02 3.66998938e-04 9.99916244e-01 3.51318582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.039254154 meters 0.017276681077523927 Centerline is valid? [True, True] Translation: X:804.70, Y:5.40, Z:3.51 [[ 9.99773674e-01 -1.69972081e-02 -1.27943699e-02 8.04696320e+02] [ 1.69915300e-02 9.99855481e-01 -5.52372657e-04 5.39572234e+00] [ 1.28019097e-02 3.34851720e-04 9.99917996e-01 3.51382469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0992541539999 meters 0.017046650757939846 Centerline is valid? [True, True] Translation: X:804.76, Y:5.40, Z:3.51 [[ 9.99713701e-01 -2.02295273e-02 -1.27781594e-02 8.04755197e+02] [ 2.02240860e-02 9.99795318e-01 -5.54917643e-04 5.39542905e+00] [ 1.27867697e-02 2.96332176e-04 9.99918202e-01 3.51275195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.159254154 meters 0.018006393941955027 Centerline is valid? [True, True] Translation: X:804.81, Y:5.40, Z:3.51 [[ 9.99675656e-01 -2.22082136e-02 -1.24650765e-02 8.04813604e+02] [ 2.22031507e-02 9.99753331e-01 -5.44420646e-04 5.39697056e+00] [ 1.24740924e-02 2.67480093e-04 9.99922160e-01 3.51207835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.2192541539999 meters 0.017592435429797965 Centerline is valid? [True, True] Translation: X:804.87, Y:5.40, Z:3.51 [[ 9.99675289e-01 -2.22888751e-02 -1.23500121e-02 8.04871627e+02] [ 2.22838690e-02 9.99751536e-01 -5.42828963e-04 5.39779791e+00] [ 1.23590426e-02 2.67446648e-04 9.99923588e-01 3.51220740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.279254154 meters 0.019101387026770614 Centerline is valid? [True, True] Translation: X:804.93, Y:5.40, Z:3.51 [[ 9.99728103e-01 -1.96654228e-02 -1.25295860e-02 8.04929221e+02] [ 1.96600384e-02 9.99806570e-01 -5.52776393e-04 5.40194977e+00] [ 1.25380330e-02 3.06293953e-04 9.99921349e-01 3.51124530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.339254154 meters 0.01980546127887212 Centerline is valid? [True, True] Translation: X:804.99, Y:5.41, Z:3.51 [[ 9.99817980e-01 -1.42606743e-02 -1.26743449e-02 8.04988249e+02] [ 1.42547200e-02 9.99898239e-01 -5.60012045e-04 5.40758580e+00] [ 1.26810413e-02 3.79240874e-04 9.99919520e-01 3.51156062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.399254154 meters 0.021700981851816948 Centerline is valid? [True, True] Translation: X:805.05, Y:5.41, Z:3.51 [[ 9.99859041e-01 -9.89364317e-03 -1.35651817e-02 8.05046193e+02] [ 9.88640861e-03 9.99950948e-01 -6.00275358e-04 5.41350556e+00] [ 1.35704552e-02 4.66079815e-04 9.99907809e-01 3.51076407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.459254154 meters 0.020104837673472712 Centerline is valid? [True, True] Translation: X:805.10, Y:5.41, Z:3.51 [[ 9.99860003e-01 -9.19537366e-03 -1.39792268e-02 8.05104892e+02] [ 9.18758318e-03 9.99957600e-01 -6.21409792e-04 5.41203251e+00] [ 1.39843481e-02 4.92887488e-04 9.99902093e-01 3.51163262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.519254154 meters 0.02123850263469936 Centerline is valid? [True, True] Translation: X:805.16, Y:5.42, Z:3.51 [[ 9.99851950e-01 -9.88900815e-03 -1.40814147e-02 8.05163074e+02] [ 9.88114338e-03 9.99950983e-01 -6.27987362e-04 5.41512723e+00] [ 1.40869347e-02 4.88753910e-04 9.99900655e-01 3.51224622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.579254154 meters 0.016974739133085535 Centerline is valid? [True, True] Translation: X:805.22, Y:5.41, Z:3.52 [[ 9.99768188e-01 -1.77023171e-02 -1.22555638e-02 8.05224262e+02] [ 1.76969415e-02 9.99843247e-01 -5.46945328e-04 5.40516213e+00] [ 1.22633249e-02 3.29932545e-04 9.99924748e-01 3.51548529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.639254154 meters 0.015766938108845063 Centerline is valid? [True, True] Translation: X:805.28, Y:5.40, Z:3.52 [[ 9.99677584e-01 -2.25578275e-02 -1.16564565e-02 8.05284380e+02] [ 2.25532911e-02 9.99745507e-01 -5.20492153e-04 5.40188862e+00] [ 1.16652311e-02 2.57432882e-04 9.99931926e-01 3.51631856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.699254154 meters 0.015199024093371424 Centerline is valid? [True, True] Translation: X:805.34, Y:5.40, Z:3.52 [[ 9.99516406e-01 -2.92106875e-02 -1.06625552e-02 8.05343786e+02] [ 2.92072661e-02 9.99573263e-01 -4.76483027e-04 5.39602628e+00] [ 1.06719235e-02 1.64828516e-04 9.99943040e-01 3.51650081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.759254154 meters 0.013806867038898872 Centerline is valid? [True, True] Translation: X:805.40, Y:5.39, Z:3.52 [[ 9.99425689e-01 -3.20978946e-02 -1.08635528e-02 8.05403125e+02] [ 3.20944939e-02 9.99484720e-01 -4.87274758e-04 5.39120187e+00] [ 1.08735955e-02 1.38334682e-04 9.99940871e-01 3.51775923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.819254154 meters 0.013991571759575485 Centerline is valid? [True, True] Translation: X:805.46, Y:5.39, Z:3.52 [[ 9.99448445e-01 -3.09042161e-02 -1.21546277e-02 8.05461987e+02] [ 3.08998313e-02 9.99522336e-01 -5.48428675e-04 5.39038515e+00] [ 1.21657706e-02 1.72550243e-04 9.99925979e-01 3.51717800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.879254154 meters 0.014647462610397045 Centerline is valid? [True, True] Translation: X:805.52, Y:5.39, Z:3.52 [[ 9.99509765e-01 -2.84723275e-02 -1.30214024e-02 8.05521231e+02] [ 2.84670444e-02 9.99594557e-01 -5.90931137e-04 5.39256873e+00] [ 1.30329481e-02 2.19960603e-04 9.99915043e-01 3.51608047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.939254154 meters 0.015580824268509298 Centerline is valid? [True, True] Translation: X:805.58, Y:5.39, Z:3.52 [[ 9.99594740e-01 -2.47546928e-02 -1.40556709e-02 8.05580022e+02] [ 2.47481184e-02 9.99693513e-01 -6.41509682e-04 5.39406877e+00] [ 1.40672434e-02 2.93398295e-04 9.99901008e-01 3.51543338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.999254154 meters 0.017121529381928582 Centerline is valid? [True, True] Translation: X:805.64, Y:5.40, Z:3.52 [[ 9.99690535e-01 -2.15803473e-02 -1.23742452e-02 8.05637831e+02] [ 2.15749880e-02 9.99767072e-01 -5.66453294e-04 5.39597235e+00] [ 1.23835872e-02 2.99303805e-04 9.99923276e-01 3.51673294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.059254154 meters 0.01729103966476908 Centerline is valid? [True, True] Translation: X:805.70, Y:5.40, Z:3.52 [[ 9.99746379e-01 -1.96213645e-02 -1.10535193e-02 8.05696778e+02] [ 1.96169461e-02 9.99807440e-01 -5.08019687e-04 5.39643267e+00] [ 1.10613589e-02 2.91054550e-04 9.99938779e-01 3.51844589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.119254154 meters 0.017781351664301163 Centerline is valid? [True, True] Translation: X:805.76, Y:5.40, Z:3.52 [[ 9.99781149e-01 -1.72541955e-02 -1.18298887e-02 8.05755584e+02] [ 1.72489325e-02 9.99851077e-01 -5.46780041e-04 5.39630880e+00] [ 1.18375612e-02 3.42607426e-04 9.99929875e-01 3.51909609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.179254154 meters 0.017298155748777445 Centerline is valid? [True, True] Translation: X:805.81, Y:5.40, Z:3.52 [[ 9.99687736e-01 -1.95597224e-02 -1.55514845e-02 8.05814787e+02] [ 1.95508386e-02 9.99808603e-01 -7.23087897e-04 5.39633743e+00] [ 1.55626513e-02 4.18817539e-04 9.99878807e-01 3.51566150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2392541539999 meters 0.0160790768354865 Centerline is valid? [True, True] Translation: X:805.87, Y:5.39, Z:3.52 [[ 9.99590494e-01 -2.31483199e-02 -1.68225821e-02 8.05874357e+02] [ 2.31383626e-02 9.99731963e-01 -7.86323938e-04 5.39412288e+00] [ 1.68362751e-02 3.96754931e-04 9.99858181e-01 3.51549666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.299254154 meters 0.015061277586510326 Centerline is valid? [True, True] Translation: X:805.93, Y:5.39, Z:3.52 [[ 9.99541579e-01 -2.55391659e-02 -1.62598771e-02 8.05933239e+02] [ 2.55301134e-02 9.99673762e-01 -7.64101412e-04 5.39259531e+00] [ 1.62740870e-02 3.48634626e-04 9.99867507e-01 3.51736020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3592541539999 meters 0.014725630101751007 Centerline is valid? [True, True] Translation: X:805.99, Y:5.39, Z:3.52 [[ 9.99499633e-01 -2.87418398e-02 -1.32057137e-02 8.05990800e+02] [ 2.87361255e-02 9.99586839e-01 -6.22304026e-04 5.39361987e+00] [ 1.32181437e-02 2.42511601e-04 9.99912607e-01 3.51933428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.419254154 meters 0.014404295426524404 Centerline is valid? [True, True] Translation: X:806.05, Y:5.40, Z:3.52 [[ 9.99461709e-01 -3.09745451e-02 -1.08106712e-02 8.06049306e+02] [ 3.09708253e-02 9.99520158e-01 -5.11364541e-04 5.39575312e+00] [ 1.08213231e-02 1.76273868e-04 9.99941432e-01 3.52068881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4792541539999 meters 0.01469995042549981 Centerline is valid? [True, True] Translation: X:806.11, Y:5.40, Z:3.52 [[ 9.99479500e-01 -3.04271555e-02 -1.07199930e-02 8.06107830e+02] [ 3.04234381e-02 9.99536970e-01 -5.09716026e-04 5.39971370e+00] [ 1.07305386e-02 1.83311674e-04 9.99942409e-01 3.52103096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.539254154 meters 0.015486260362464933 Centerline is valid? [True, True] Translation: X:806.17, Y:5.41, Z:3.52 [[ 9.99594414e-01 -2.59403469e-02 -1.17518693e-02 8.06167391e+02] [ 2.59355523e-02 9.99663460e-01 -5.60229511e-04 5.40684260e+00] [ 1.17624469e-02 2.55211069e-04 9.99930787e-01 3.52026360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5992541539999 meters 0.016304380690447057 Centerline is valid? [True, True] Translation: X:806.23, Y:5.41, Z:3.52 [[ 9.99694147e-01 -2.10768659e-02 -1.29374539e-02 8.06226838e+02] [ 2.10706416e-02 9.99777799e-01 -6.17236405e-04 5.41416873e+00] [ 1.29475886e-02 3.44447166e-04 9.99916117e-01 3.51962993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.659254154 meters 0.02112717512231411 Centerline is valid? [True, True] Translation: X:806.29, Y:5.43, Z:3.52 [[ 9.99812014e-01 -1.08926573e-02 -1.60401531e-02 8.06286915e+02] [ 1.08817767e-02 9.99940499e-01 -7.65458783e-04 5.42637275e+00] [ 1.60475366e-02 5.90769523e-04 9.99871055e-01 3.51704099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.7192541539999 meters 0.02230891505694015 Centerline is valid? [True, True] Translation: X:806.35, Y:5.44, Z:3.52 [[ 9.99857963e-01 -6.13629908e-03 -1.56970935e-02 8.06345808e+02] [ 6.12528722e-03 9.99980959e-01 -7.49503933e-04 5.43606759e+00] [ 1.57013938e-02 6.53248270e-04 9.99876512e-01 3.51846257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.779254154 meters 0.028485402486663876 Centerline is valid? [True, True] Translation: X:806.40, Y:5.45, Z:3.52 [[ 9.99878795e-01 -3.99332882e-03 -1.50481979e-02 8.06403491e+02] [ 3.98295305e-03 9.99991809e-01 -7.19409630e-04 5.44947824e+00] [ 1.50509475e-02 6.59386168e-04 9.99886511e-01 3.51692163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.839254154 meters 0.02423755756520915 Centerline is valid? [True, True] Translation: X:806.46, Y:5.45, Z:3.52 [[ 9.99879895e-01 -4.77278929e-03 -1.47450354e-02 8.06462262e+02] [ 4.76286883e-03 9.99988407e-01 -7.07842857e-04 5.44623394e+00] [ 1.47482428e-02 6.37529172e-04 9.99891036e-01 3.51960620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.899254154 meters 0.02315321220847976 Centerline is valid? [True, True] Translation: X:806.52, Y:5.45, Z:3.52 [[ 9.99869485e-01 -6.96661119e-03 -1.45766423e-02 8.06521597e+02] [ 6.95712454e-03 9.99975553e-01 -7.01419167e-04 5.44725236e+00] [ 1.45811725e-02 5.99916106e-04 9.99893509e-01 3.52101673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.959254154 meters 0.021135328439612588 Centerline is valid? [True, True] Translation: X:806.58, Y:5.45, Z:3.52 [[ 9.99842458e-01 -1.01779808e-02 -1.45419668e-02 8.06581688e+02] [ 1.01688722e-02 9.99948051e-01 -7.00173660e-04 5.44635518e+00] [ 1.45483378e-02 5.52187950e-04 9.99894015e-01 3.52249454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.019254154 meters 0.01951240983277295 Centerline is valid? [True, True] Translation: X:806.64, Y:5.44, Z:3.52 [[ 9.99731281e-01 -1.67052009e-02 -1.60718044e-02 8.06642228e+02] [ 1.66949122e-02 9.99860331e-01 -7.74137166e-04 5.44139509e+00] [ 1.60824918e-02 5.05611777e-04 9.99870541e-01 3.52217780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.079254154 meters 0.01884965963168841 Centerline is valid? [True, True] Translation: X:806.70, Y:5.44, Z:3.52 [[ 9.99578289e-01 -2.34304155e-02 -1.71539976e-02 8.06702255e+02] [ 2.34196741e-02 9.99725380e-01 -8.26818416e-04 5.43786286e+00] [ 1.71686594e-02 4.24728706e-04 9.99852517e-01 3.52169711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.139254154 meters 0.015348480127091719 Centerline is valid? [True, True] Translation: X:806.76, Y:5.44, Z:3.52 [[ 9.99503246e-01 -2.67955330e-02 -1.65909687e-02 8.06761739e+02] [ 2.67859196e-02 9.99640872e-01 -8.01419121e-04 5.43561537e+00] [ 1.66064849e-02 3.56616659e-04 9.99862039e-01 3.52282070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.199254154 meters 0.01634298423744796 Centerline is valid? [True, True] Translation: X:806.82, Y:5.43, Z:3.52 [[ 9.99302357e-01 -3.30121955e-02 -1.74640851e-02 8.06821222e+02] [ 3.30024272e-02 9.99454912e-01 -8.47322099e-04 5.43193179e+00] [ 1.74825376e-02 2.70373774e-04 9.99847132e-01 3.52239165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.259254154 meters 0.015861999836713308 Centerline is valid? [True, True] Translation: X:806.88, Y:5.43, Z:3.52 [[ 9.99325029e-01 -3.29754590e-02 -1.61896830e-02 8.06879177e+02] [ 3.29669867e-02 9.99456129e-01 -7.89988766e-04 5.43380034e+00] [ 1.62069282e-02 2.55730480e-04 9.99868626e-01 3.52433518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.319254154 meters 0.016084505408939836 Centerline is valid? [True, True] Translation: X:806.94, Y:5.44, Z:3.53 [[ 9.99488834e-01 -2.78535231e-02 -1.56924181e-02 8.06937663e+02] [ 2.78449024e-02 9.99611961e-01 -7.67617498e-04 5.44066040e+00] [ 1.57077097e-02 3.30271267e-04 9.99876572e-01 3.52509226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.379254154 meters 0.017859761123576165 Centerline is valid? [True, True] Translation: X:807.00, Y:5.45, Z:3.52 [[ 9.99626514e-01 -2.14004266e-02 -1.69957368e-02 8.06997707e+02] [ 2.13893777e-02 9.99770875e-01 -8.31632699e-04 5.45087763e+00] [ 1.70096400e-02 4.67793862e-04 9.99855216e-01 3.52386122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.439254154 meters 0.021533538993557873 Centerline is valid? [True, True] Translation: X:807.06, Y:5.46, Z:3.52 [[ 9.99639975e-01 -1.88111128e-02 -1.91327589e-02 8.07057088e+02] [ 1.87966261e-02 9.99822889e-01 -9.36733222e-04 5.45842735e+00] [ 1.91469912e-02 5.76764660e-04 9.99816513e-01 3.52157033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.499254154 meters 0.02147802212056025 Centerline is valid? [True, True] Translation: X:807.12, Y:5.47, Z:3.52 [[ 9.99692061e-01 -1.54774462e-02 -1.93967130e-02 8.07115454e+02] [ 1.54619115e-02 9.99880006e-01 -9.50617626e-04 5.46900093e+00] [ 1.94090986e-02 6.50414634e-04 9.99811414e-01 3.52172654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.559254154 meters 0.021660192472538076 Centerline is valid? [True, True] Translation: X:807.17, Y:5.48, Z:3.52 [[ 9.99705014e-01 -1.50495076e-02 -1.90630066e-02 8.07174168e+02] [ 1.50343523e-02 9.99886538e-01 -9.38083215e-04 5.47519924e+00] [ 1.90749613e-02 6.51206536e-04 9.99817844e-01 3.52201086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.619254154 meters 0.019545849623353134 Centerline is valid? [True, True] Translation: X:807.23, Y:5.48, Z:3.53 [[ 9.99732554e-01 -1.51123595e-02 -1.75053343e-02 8.07233110e+02] [ 1.50995141e-02 9.99885621e-01 -8.65744722e-04 5.47683105e+00] [ 1.75164155e-02 6.01191141e-04 9.99846395e-01 3.52510238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.679254154 meters 0.019028310538927794 Centerline is valid? [True, True] Translation: X:807.29, Y:5.48, Z:3.53 [[ 9.99686306e-01 -1.85103350e-02 -1.68717909e-02 8.07292085e+02] [ 1.84988523e-02 9.99828532e-01 -8.36408592e-04 5.47769847e+00] [ 1.68843801e-02 5.24037448e-04 9.99857311e-01 3.52582760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7392541539999 meters 0.017930128190786106 Centerline is valid? [True, True] Translation: X:807.35, Y:5.48, Z:3.53 [[ 9.99592966e-01 -2.39286765e-02 -1.55344858e-02 8.07351800e+02] [ 2.39195848e-02 9.99713589e-01 -7.70821004e-04 5.47741813e+00] [ 1.55484813e-02 3.98928803e-04 9.99879035e-01 3.52759276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.799254154 meters 0.018002872168229708 Centerline is valid? [True, True] Translation: X:807.41, Y:5.48, Z:3.53 [[ 9.99490193e-01 -2.82187540e-02 -1.49350431e-02 8.07409894e+02] [ 2.82108126e-02 9.99601720e-01 -7.42184460e-04 5.47793063e+00] [ 1.49500383e-02 3.20476389e-04 9.99888191e-01 3.52784116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8592541539999 meters 0.01787582131557675 Centerline is valid? [True, True] Translation: X:807.47, Y:5.48, Z:3.53 [[ 9.99283850e-01 -3.47804145e-02 -1.49033674e-02 8.07468972e+02] [ 3.47732189e-02 9.99394953e-01 -7.41754482e-04 5.47576576e+00] [ 1.49201487e-02 2.22985216e-04 9.99888664e-01 3.52831854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.919254154 meters 0.013423317413452845 Centerline is valid? [True, True] Translation: X:807.53, Y:5.47, Z:3.53 [[ 9.99115952e-01 -3.91495693e-02 -1.53174847e-02 8.07528059e+02] [ 3.91424340e-02 9.99233348e-01 -7.65462569e-04 5.47401160e+00] [ 1.53357091e-02 1.65222229e-04 9.99882387e-01 3.53071273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9792541539999 meters 0.015996424688989624 Centerline is valid? [True, True] Translation: X:807.59, Y:5.47, Z:3.53 [[ 9.98932390e-01 -4.31691436e-02 -1.64470335e-02 8.07587399e+02] [ 4.31613918e-02 9.99067771e-01 -8.26156399e-04 5.47449686e+00] [ 1.64673656e-02 1.15397529e-04 9.99864397e-01 3.52766269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.039254154 meters 0.014379401727073218 Centerline is valid? [True, True] Translation: X:807.65, Y:5.47, Z:3.53 [[ 9.98765269e-01 -4.69165712e-02 -1.63332014e-02 8.07646593e+02] [ 4.69093596e-02 9.98898810e-01 -8.24572626e-04 5.47322039e+00] [ 1.63539016e-02 5.73744808e-05 9.99866264e-01 3.52811004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0992541539999 meters 0.015881963899712265 Centerline is valid? [True, True] Translation: X:807.71, Y:5.47, Z:3.53 [[ 9.98588887e-01 -5.07715762e-02 -1.55718279e-02 8.07706018e+02] [ 5.07654298e-02 9.98710292e-01 -7.89989841e-04 5.47240065e+00] [ 1.55918538e-02 -1.63546074e-06 9.99878440e-01 3.52784101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.159254154 meters 0.013167667885961685 Centerline is valid? [True, True] Translation: X:807.76, Y:5.47, Z:3.53 [[ 9.98587605e-01 -5.12313498e-02 -1.40763755e-02 8.07764586e+02] [ 5.12263252e-02 9.98686812e-01 -7.17517095e-04 5.47355003e+00] [ 1.40946500e-02 -4.57731273e-06 9.99900665e-01 3.53045035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.2192541539999 meters 0.016510933574673405 Centerline is valid? [True, True] Translation: X:807.82, Y:5.48, Z:3.53 [[ 9.98512627e-01 -5.27406779e-02 -1.38186213e-02 8.07823146e+02] [ 5.27359279e-02 9.98608242e-01 -7.08157964e-04 5.47540935e+00] [ 1.38367378e-02 -2.16331462e-05 9.99904268e-01 3.52966138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.279254154 meters 0.014722659154987522 Centerline is valid? [True, True] Translation: X:807.88, Y:5.48, Z:3.53 [[ 9.98563677e-01 -5.21945112e-02 -1.20960795e-02 8.07880821e+02] [ 5.21908100e-02 9.98636937e-01 -6.21668260e-04 5.47850627e+00] [ 1.21120395e-02 -1.05288446e-05 9.99926647e-01 3.53117971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.339254154 meters 0.013244677157068983 Centerline is valid? [True, True] Translation: X:807.94, Y:5.48, Z:3.53 [[ 9.98644122e-01 -5.07922768e-02 -1.14044911e-02 8.07939231e+02] [ 5.07888767e-02 9.98709239e-01 -5.87740347e-04 5.48294873e+00] [ 1.14196233e-02 7.72214953e-06 9.99934794e-01 3.53276935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.399254154 meters 0.014821191869808523 Centerline is valid? [True, True] Translation: X:808.00, Y:5.49, Z:3.53 [[ 9.98668566e-01 -5.02172391e-02 -1.18035436e-02 8.07997504e+02] [ 5.02135216e-02 9.98738318e-01 -6.11286694e-04 5.48694171e+00] [ 1.18193484e-02 1.77753135e-05 9.99930149e-01 3.53230222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.459254154 meters 0.013819920317100895 Centerline is valid? [True, True] Translation: X:808.05, Y:5.49, Z:3.53 [[ 9.98751524e-01 -4.84028237e-02 -1.23515030e-02 8.08054704e+02] [ 4.83985887e-02 9.98827895e-01 -6.41726656e-04 5.49251827e+00] [ 1.23680872e-02 4.31301593e-05 9.99923511e-01 3.53172225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.519254154 meters 0.01578662324143282 Centerline is valid? [True, True] Translation: X:808.11, Y:5.50, Z:3.53 [[ 9.98792417e-01 -4.72500163e-02 -1.34589703e-02 8.08113391e+02] [ 4.72448463e-02 9.98883092e-01 -7.01994641e-04 5.49895272e+00] [ 1.34771072e-02 6.52799401e-05 9.99909178e-01 3.53027498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.579254154 meters 0.014912460843615409 Centerline is valid? [True, True] Translation: X:808.17, Y:5.50, Z:3.53 [[ 9.98830803e-01 -4.66467135e-02 -1.26929433e-02 8.08170679e+02] [ 4.66420401e-02 9.98911447e-01 -6.64124789e-04 5.50371119e+00] [ 1.27101055e-02 7.13235275e-05 9.99919221e-01 3.53134466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.639254154 meters 0.013843687551532473 Centerline is valid? [True, True] Translation: X:808.23, Y:5.51, Z:3.53 [[ 9.98859407e-01 -4.65690324e-02 -1.05456219e-02 8.08229759e+02] [ 4.65657807e-02 9.98915072e-01 -5.53809432e-04 5.50754754e+00] [ 1.05599710e-02 6.21126464e-05 9.99944240e-01 3.53447988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.699254154 meters 0.016885767729613605 Centerline is valid? [True, True] Translation: X:808.29, Y:5.51, Z:3.53 [[ 9.98927900e-01 -4.49873789e-02 -1.09172762e-02 8.08288309e+02] [ 4.49837681e-02 9.98987552e-01 -5.76198730e-04 5.51374431e+00] [ 1.09321447e-02 8.44807659e-05 9.99940239e-01 3.53363077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.759254154 meters 0.017626894508827602 Centerline is valid? [True, True] Translation: X:808.35, Y:5.52, Z:3.53 [[ 9.99040023e-01 -4.20778450e-02 -1.21855188e-02 8.08345909e+02] [ 4.20731058e-02 9.99114327e-01 -6.45126747e-04 5.52134130e+00] [ 1.22018720e-02 1.31824818e-04 9.99925546e-01 3.53256127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.819254154 meters 0.018550693410527955 Centerline is valid? [True, True] Translation: X:808.40, Y:5.53, Z:3.53 [[ 9.99143182e-01 -3.89552168e-02 -1.39783345e-02 8.08404662e+02] [ 3.89486335e-02 9.99240938e-01 -7.42991826e-04 5.52902116e+00] [ 1.39966675e-02 1.97918190e-04 9.99902022e-01 3.53083145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.879254154 meters 0.016345474426143737 Centerline is valid? [True, True] Translation: X:808.46, Y:5.54, Z:3.53 [[ 9.99231020e-01 -3.61897453e-02 -1.50887718e-02 8.08461944e+02] [ 3.61817258e-02 9.99344903e-01 -8.04220758e-04 5.53753794e+00] [ 1.51079917e-02 2.57664525e-04 9.99885835e-01 3.53086917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.939254154 meters 0.017847179964032074 Centerline is valid? [True, True] Translation: X:808.52, Y:5.54, Z:3.53 [[ 9.99289252e-01 -3.39958100e-02 -1.62873156e-02 8.08520845e+02] [ 3.39861173e-02 9.99421925e-01 -8.71609445e-04 5.54332293e+00] [ 1.63075314e-02 3.17447331e-04 9.99866973e-01 3.53097410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.999254154 meters 0.018770908852281817 Centerline is valid? [True, True] Translation: X:808.58, Y:5.55, Z:3.53 [[ 9.99301369e-01 -3.38880401e-02 -1.57599321e-02 8.08577285e+02] [ 3.38788985e-02 9.99425587e-01 -8.46750846e-04 5.54904271e+00] [ 1.57795741e-02 3.12230138e-04 9.99875446e-01 3.53143999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.059254154 meters 0.020077517324527436 Centerline is valid? [True, True] Translation: X:808.63, Y:5.56, Z:3.53 [[ 9.99299674e-01 -3.39254564e-02 -1.57868338e-02 8.08634041e+02] [ 3.39162520e-02 9.99424317e-01 -8.50485417e-04 5.55526035e+00] [ 1.58065987e-02 3.14459568e-04 9.99875018e-01 3.53203684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.119254154 meters 0.019756117423352954 Centerline is valid? [True, True] Translation: X:808.69, Y:5.56, Z:3.53 [[ 9.99315289e-01 -3.31198102e-02 -1.64933584e-02 8.08692420e+02] [ 3.31095936e-02 9.99451329e-01 -8.92188918e-04 5.56043249e+00] [ 1.65138581e-02 3.45489632e-04 9.99863577e-01 3.53307106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.179254154 meters 0.020280394056506022 Centerline is valid? [True, True] Translation: X:808.75, Y:5.57, Z:3.53 [[ 9.99339691e-01 -3.20043558e-02 -1.72018312e-02 8.08751108e+02] [ 3.19930013e-02 9.99487656e-01 -9.34928338e-04 5.56636521e+00] [ 1.72229397e-02 3.83972788e-04 9.99851600e-01 3.53309139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2392541539999 meters 0.01787281691663696 Centerline is valid? [True, True] Translation: X:808.81, Y:5.57, Z:3.53 [[ 9.99384494e-01 -3.10969976e-02 -1.62360781e-02 8.08809180e+02] [ 3.10866972e-02 9.99516299e-01 -8.86470776e-04 5.57461910e+00] [ 1.62557913e-02 3.81199103e-04 9.99867793e-01 3.53388964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.299254154 meters 0.018245945194248027 Centerline is valid? [True, True] Translation: X:808.87, Y:5.58, Z:3.53 [[ 9.99395888e-01 -3.07215191e-02 -1.62495306e-02 8.08867671e+02] [ 3.07110859e-02 9.99527906e-01 -8.91269220e-04 5.58052644e+00] [ 1.62692404e-02 3.91690064e-04 9.99867570e-01 3.53372257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3592541539999 meters 0.019608721790977973 Centerline is valid? [True, True] Translation: X:808.93, Y:5.59, Z:3.53 [[ 9.99366226e-01 -3.11024575e-02 -1.73142765e-02 8.08926089e+02] [ 3.10905932e-02 9.99516115e-01 -9.54052306e-04 5.58619449e+00] [ 1.73355717e-02 4.15136526e-04 9.99849642e-01 3.53275596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.419254154 meters 0.020170399748927564 Centerline is valid? [True, True] Translation: X:808.98, Y:5.59, Z:3.53 [[ 9.99400454e-01 -3.07167675e-02 -1.59753905e-02 8.08983913e+02] [ 3.07065488e-02 9.99528051e-01 -8.84607875e-04 5.59201849e+00] [ 1.59950232e-02 3.93528405e-04 9.99871994e-01 3.53382696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4792541539999 meters 0.019759681768658593 Centerline is valid? [True, True] Translation: X:809.04, Y:5.60, Z:3.53 [[ 9.99462692e-01 -2.90836973e-02 -1.51151017e-02 8.09041344e+02] [ 2.90743307e-02 9.99576900e-01 -8.39107840e-04 5.59975853e+00] [ 1.51331108e-02 3.99195517e-04 9.99885408e-01 3.53479599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.539254154 meters 0.021823394562012467 Centerline is valid? [True, True] Translation: X:809.10, Y:5.61, Z:3.53 [[ 9.99489636e-01 -2.76308085e-02 -1.60314311e-02 8.09098728e+02] [ 2.76200622e-02 9.99618096e-01 -8.91388680e-04 5.60954251e+00] [ 1.60499384e-02 4.48144622e-04 9.99871091e-01 3.53319852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5992541539999 meters 0.02071322826685163 Centerline is valid? [True, True] Translation: X:809.16, Y:5.61, Z:3.53 [[ 9.99428755e-01 -2.89947390e-02 -1.73628433e-02 8.09157426e+02] [ 2.89822739e-02 9.99579456e-01 -9.69162577e-04 5.60887224e+00] [ 1.73836420e-02 4.65394268e-04 9.99848785e-01 3.53393507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.659254154 meters 0.01802673761955877 Centerline is valid? [True, True] Translation: X:809.22, Y:5.61, Z:3.54 [[ 9.99366752e-01 -3.15279857e-02 -1.64948867e-02 8.09215780e+02] [ 3.15170124e-02 9.99502788e-01 -9.24851974e-04 5.61297346e+00] [ 1.65158440e-02 4.04396764e-04 9.99863522e-01 3.53512133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.7192541539999 meters 0.018967044050097786 Centerline is valid? [True, True] Translation: X:809.28, Y:5.61, Z:3.54 [[ 9.99187613e-01 -3.70506254e-02 -1.58544719e-02 8.09276112e+02] [ 3.70411621e-02 9.99313344e-01 -8.90220984e-04 5.61314630e+00] [ 1.58765685e-02 3.02229718e-04 9.99873914e-01 3.53585403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.779254154 meters 0.018020281118950363 Centerline is valid? [True, True] Translation: X:809.34, Y:5.61, Z:3.54 [[ 9.99031275e-01 -4.12876636e-02 -1.52262832e-02 8.09335109e+02] [ 4.12793852e-02 9.99147275e-01 -8.57708838e-04 5.61440629e+00] [ 1.52487121e-02 2.28346346e-04 9.99883706e-01 3.53660827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.839254154 meters 0.014995091146728666 Centerline is valid? [True, True] Translation: X:809.39, Y:5.61, Z:3.54 [[ 9.98837470e-01 -4.58134554e-02 -1.49945278e-02 8.09394038e+02] [ 4.58058804e-02 9.98949999e-01 -8.48413880e-04 5.61485935e+00] [ 1.50176523e-02 1.60590026e-04 9.99887216e-01 3.53729110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.899254154 meters 0.014948392997970109 Centerline is valid? [True, True] Translation: X:809.45, Y:5.62, Z:3.54 [[ 9.98705810e-01 -4.80049138e-02 -1.67997980e-02 8.09451426e+02] [ 4.79956530e-02 9.98847089e-01 -9.54228252e-04 5.61631254e+00] [ 1.68262370e-02 1.46676022e-04 9.99858418e-01 3.53618447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.959254154 meters 0.01496616246969585 Centerline is valid? [True, True] Translation: X:809.51, Y:5.62, Z:3.54 [[ 9.98680151e-01 -4.82584155e-02 -1.75806963e-02 8.09509975e+02] [ 4.82482407e-02 9.98834872e-01 -1.00268935e-03 5.61882063e+00] [ 1.76086008e-02 1.53128279e-04 9.99844945e-01 3.53562250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.019254154 meters 0.015497531757270791 Centerline is valid? [True, True] Translation: X:809.57, Y:5.62, Z:3.53 [[ 9.98748027e-01 -4.63115565e-02 -1.89108069e-02 8.09568569e+02] [ 4.62993464e-02 9.98927023e-01 -1.08321419e-03 5.62284420e+00] [ 1.89406813e-02 2.06300037e-04 9.99820588e-01 3.53399640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.079254154 meters 0.01612460869920856 Centerline is valid? [True, True] Translation: X:809.63, Y:5.63, Z:3.53 [[ 9.98892427e-01 -4.26899724e-02 -1.97859796e-02 8.09627467e+02] [ 4.26757995e-02 9.99088325e-01 -1.13818039e-03 5.62779265e+00] [ 1.98165301e-02 2.92537273e-04 9.99803590e-01 3.53369576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.139254154 meters 0.016444224414513237 Centerline is valid? [True, True] Translation: X:809.69, Y:5.63, Z:3.54 [[ 9.99076527e-01 -3.87366029e-02 -1.85895071e-02 8.09685578e+02] [ 3.87233661e-02 9.99249395e-01 -1.07161767e-03 5.63237627e+00] [ 1.86170646e-02 3.50779764e-04 9.99826626e-01 3.53550311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.199254154 meters 0.020194928680166282 Centerline is valid? [True, True] Translation: X:809.74, Y:5.64, Z:3.54 [[ 9.99361457e-01 -3.14537700e-02 -1.69510379e-02 8.09743110e+02] [ 3.14416929e-02 9.99505109e-01 -9.78571129e-04 5.64370967e+00] [ 1.69734287e-02 4.44976943e-04 9.99855842e-01 3.53517533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.259254154 meters 0.022620041804427435 Centerline is valid? [True, True] Translation: X:809.80, Y:5.65, Z:3.53 [[ 9.99529143e-01 -2.50603243e-02 -1.77051733e-02 8.09803582e+02] [ 2.50461395e-02 9.99685773e-01 -1.02248988e-03 5.64822666e+00] [ 1.77252337e-02 5.78562197e-04 9.99842728e-01 3.53480065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.319254154 meters 0.024164488228770778 Centerline is valid? [True, True] Translation: X:809.86, Y:5.65, Z:3.53 [[ 9.99590428e-01 -2.18729474e-02 -1.84539971e-02 8.09861386e+02] [ 2.18569733e-02 9.99760539e-01 -1.06688913e-03 5.65466165e+00] [ 1.84729141e-02 6.63103643e-04 9.99829141e-01 3.53382107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.379254154 meters 0.025513199812052592 Centerline is valid? [True, True] Translation: X:809.92, Y:5.66, Z:3.53 [[ 9.99657317e-01 -1.90171875e-02 -1.79887257e-02 8.09920321e+02] [ 1.90015282e-02 9.99818913e-01 -1.04104739e-03 5.65982463e+00] [ 1.80052660e-02 6.98877363e-04 9.99837648e-01 3.53351549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.439254154 meters 0.022724106435160023 Centerline is valid? [True, True] Translation: X:809.98, Y:5.66, Z:3.54 [[ 9.99692154e-01 -1.86132267e-02 -1.64056539e-02 8.09978290e+02] [ 1.86000866e-02 9.99826549e-01 -9.53182155e-04 5.65850751e+00] [ 1.64205501e-02 6.47742139e-04 9.99864964e-01 3.53594840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.499254154 meters 0.024043981674640183 Centerline is valid? [True, True] Translation: X:810.04, Y:5.66, Z:3.54 [[ 9.99685617e-01 -2.10107789e-02 -1.36826172e-02 8.10037501e+02] [ 2.10018186e-02 9.99779119e-01 -7.98242424e-04 5.65928981e+00] [ 1.36963667e-02 5.10631625e-04 9.99906070e-01 3.53674884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.559254154 meters 0.021060941340561367 Centerline is valid? [True, True] Translation: X:810.10, Y:5.66, Z:3.54 [[ 9.99628678e-01 -2.52346356e-02 -1.02820146e-02 8.10096377e+02] [ 2.52297878e-02 9.99681498e-01 -6.00945070e-04 5.65766555e+00] [ 1.02939044e-02 3.41308880e-04 9.99946958e-01 3.53918573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.619254154 meters 0.020118700288908494 Centerline is valid? [True, True] Translation: X:810.16, Y:5.66, Z:3.54 [[ 9.99475226e-01 -3.06616683e-02 -1.04467658e-02 8.10156037e+02] [ 3.06569552e-02 9.99529778e-01 -6.11024977e-04 5.65535069e+00] [ 1.04605885e-02 2.90438297e-04 9.99945244e-01 3.53796449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.679254154 meters 0.018204845574241697 Centerline is valid? [True, True] Translation: X:810.22, Y:5.65, Z:3.54 [[ 9.99323876e-01 -3.48633846e-02 -1.16763075e-02 8.10215334e+02] [ 3.48577755e-02 9.99392049e-01 -6.83614439e-04 5.65318255e+00] [ 1.16930420e-02 2.76142126e-04 9.99931596e-01 3.53629149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7392541539999 meters 0.017690024435541383 Centerline is valid? [True, True] Translation: X:810.27, Y:5.65, Z:3.54 [[ 9.99225735e-01 -3.74576417e-02 -1.20355982e-02 8.10272987e+02] [ 3.74518586e-02 9.99298184e-01 -7.05609781e-04 5.65437869e+00] [ 1.20535819e-02 2.54307932e-04 9.99927321e-01 3.53500659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.799254154 meters 0.015382634030841546 Centerline is valid? [True, True] Translation: X:810.33, Y:5.65, Z:3.53 [[ 9.98886357e-01 -4.54760895e-02 -1.25686573e-02 8.10333791e+02] [ 4.54704073e-02 9.98965414e-01 -7.37638636e-04 5.64669918e+00] [ 1.25891989e-02 1.65315202e-04 9.99920739e-01 3.53458434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8592541539999 meters 0.013936011555273695 Centerline is valid? [True, True] Translation: X:810.39, Y:5.64, Z:3.54 [[ 9.98460170e-01 -5.43624489e-02 -1.10459959e-02 8.10393762e+02] [ 5.43585841e-02 9.98521268e-01 -6.50034555e-04 5.63902717e+00] [ 1.10649993e-02 4.85889148e-05 9.99938780e-01 3.53737324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.919254154 meters 0.013866742274300336 Centerline is valid? [True, True] Translation: X:810.45, Y:5.64, Z:3.54 [[ 9.98146496e-01 -6.01288388e-02 -9.38590763e-03 8.10452716e+02] [ 6.01262830e-02 9.98190624e-01 -5.54496158e-04 5.63671985e+00] [ 9.40226621e-03 -1.08713417e-05 9.99955798e-01 3.53839379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9792541539999 meters 0.014081688731613815 Centerline is valid? [True, True] Translation: X:810.51, Y:5.63, Z:3.54 [[ 9.97829501e-01 -6.51225839e-02 -9.76403656e-03 8.10510388e+02] [ 6.51200400e-02 9.97877270e-01 -5.78573636e-04 5.63383316e+00] [ 9.78098835e-03 -5.85166089e-05 9.99952163e-01 3.53861397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.039254154 meters 0.016407389056335184 Centerline is valid? [True, True] Translation: X:810.57, Y:5.63, Z:3.54 [[ 9.97780081e-01 -6.55826548e-02 -1.15683082e-02 8.10568978e+02] [ 6.55790876e-02 9.97847138e-01 -6.87834032e-04 5.63488177e+00] [ 1.15885132e-02 -7.23319978e-05 9.99932848e-01 3.53797819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0992541539999 meters 0.013851216560220828 Centerline is valid? [True, True] Translation: X:810.63, Y:5.64, Z:3.54 [[ 9.98072440e-01 -6.07356628e-02 -1.27508502e-02 8.10626343e+02] [ 6.07308868e-02 9.98153885e-01 -7.61786942e-04 5.64256177e+00] [ 1.27735783e-02 -1.40518869e-05 9.99918414e-01 3.53730630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.159254154 meters 0.013835892138343799 Centerline is valid? [True, True] Translation: X:810.68, Y:5.65, Z:3.54 [[ 9.98258454e-01 -5.73736167e-02 -1.37232471e-02 8.10684356e+02] [ 5.73677364e-02 9.98352777e-01 -8.22092138e-04 5.64817059e+00] [ 1.37478083e-02 3.33888026e-05 9.99905494e-01 3.53707348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.2192541539999 meters 0.013888616010306857 Centerline is valid? [True, True] Translation: X:810.74, Y:5.65, Z:3.54 [[ 9.98439757e-01 -5.42344108e-02 -1.32921434e-02 8.10742576e+02] [ 5.42285810e-02 9.98528228e-01 -7.98880206e-04 5.65417694e+00] [ 1.33159072e-02 7.68196846e-05 9.99911336e-01 3.53812604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.279254154 meters 0.01646879316876757 Centerline is valid? [True, True] Translation: X:810.80, Y:5.66, Z:3.54 [[ 9.98434196e-01 -5.43429850e-02 -1.32663379e-02 8.10799204e+02] [ 5.43371584e-02 9.98522325e-01 -7.99523387e-04 5.65805666e+00] [ 1.32901831e-02 7.74163844e-05 9.99911679e-01 3.53852934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.339254154 meters 0.013778318442840136 Centerline is valid? [True, True] Translation: X:810.86, Y:5.66, Z:3.54 [[ 9.98487136e-01 -5.41172649e-02 -9.73455603e-03 8.10858227e+02] [ 5.41141000e-02 9.98534585e-01 -5.88423946e-04 5.66203595e+00] [ 9.75213476e-03 6.07570023e-05 9.99952445e-01 3.54162775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.399254154 meters 0.013818709789429404 Centerline is valid? [True, True] Translation: X:810.92, Y:5.67, Z:3.54 [[ 9.98463443e-01 -5.45026149e-02 -1.00108538e-02 8.10915885e+02] [ 5.44992595e-02 9.98513626e-01 -6.07872368e-04 5.66617450e+00] [ 1.00291046e-02 6.13542191e-05 9.99949705e-01 3.54159702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.459254154 meters 0.013796360705988489 Centerline is valid? [True, True] Translation: X:810.97, Y:5.67, Z:3.54 [[ 9.98478481e-01 -5.40406296e-02 -1.09696979e-02 8.10974253e+02] [ 5.40365391e-02 9.98538735e-01 -6.69153177e-04 5.67059126e+00] [ 1.09898297e-02 7.53705376e-05 9.99939607e-01 3.54034526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.519254154 meters 0.016883182945172687 Centerline is valid? [True, True] Translation: X:811.03, Y:5.67, Z:3.54 [[ 9.98462805e-01 -5.34067203e-02 -1.48239295e-02 8.11032535e+02] [ 5.33991433e-02 9.98572836e-01 -9.06757995e-04 5.67490139e+00] [ 1.48512003e-02 1.13778998e-04 9.99889708e-01 3.53756952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.579254154 meters 0.016215425645236252 Centerline is valid? [True, True] Translation: X:811.09, Y:5.68, Z:3.54 [[ 9.98451400e-01 -5.36058510e-02 -1.48733115e-02 8.11089621e+02] [ 5.35982078e-02 9.98562166e-01 -9.12307093e-04 5.67931526e+00] [ 1.49008311e-02 1.13711453e-04 9.99888970e-01 3.53633192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.639254154 meters 0.013968258943967811 Centerline is valid? [True, True] Translation: X:811.15, Y:5.68, Z:3.54 [[ 9.98443509e-01 -5.42309376e-02 -1.30217233e-02 8.11148487e+02] [ 5.42250933e-02 9.98528415e-01 -8.01718041e-04 5.68314471e+00] [ 1.30460387e-02 9.43660108e-05 9.99914892e-01 3.53766459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.699254154 meters 0.016028476948783267 Centerline is valid? [True, True] Translation: X:811.21, Y:5.68, Z:3.54 [[ 9.98297930e-01 -5.72426453e-02 -1.11589369e-02 8.11207304e+02] [ 5.72385118e-02 9.98360294e-01 -6.89699746e-04 5.68447106e+00] [ 1.11801198e-02 4.98048867e-05 9.99937499e-01 3.53862798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.759254154 meters 0.013785263228501926 Centerline is valid? [True, True] Translation: X:811.27, Y:5.69, Z:3.54 [[ 9.98249941e-01 -5.83423518e-02 -9.65537215e-03 8.11265014e+02] [ 5.83392949e-02 9.98296634e-01 -5.98193930e-04 5.68698130e+00] [ 9.67382555e-03 3.38594518e-05 9.99953207e-01 3.53933907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.819254154 meters 0.016943586593723414 Centerline is valid? [True, True] Translation: X:811.32, Y:5.69, Z:3.54 [[ 9.98255606e-01 -5.80582439e-02 -1.07230786e-02 8.11323879e+02] [ 5.80544358e-02 9.98313197e-01 -6.66316590e-04 5.69058538e+00] [ 1.07436760e-02 4.26319948e-05 9.99942284e-01 3.53816720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.879254154 meters 0.016376876672416024 Centerline is valid? [True, True] Translation: X:811.38, Y:5.70, Z:3.54 [[ 9.98399131e-01 -5.55079102e-02 -1.08649397e-02 8.11382803e+02] [ 5.55038195e-02 9.98458245e-01 -6.77903040e-04 5.69718618e+00] [ 1.08858176e-02 7.37721514e-05 9.99940745e-01 3.53857917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.939254154 meters 0.015192707135893622 Centerline is valid? [True, True] Translation: X:811.44, Y:5.71, Z:3.54 [[ 9.98704976e-01 -4.94812303e-02 -1.18312983e-02 8.11440370e+02] [ 4.94759296e-02 9.98775042e-01 -7.40471958e-04 5.70807611e+00] [ 1.18534449e-02 1.54148546e-04 9.99929734e-01 3.53774304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.999254154 meters 0.017892561890139103 Centerline is valid? [True, True] Translation: X:811.50, Y:5.71, Z:3.54 [[ 9.98815408e-01 -4.65678860e-02 -1.41142438e-02 8.11498861e+02] [ 4.65600063e-02 9.98915101e-01 -8.86541016e-04 5.71387876e+00] [ 1.41402156e-02 2.28331548e-04 9.99899996e-01 3.53697918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.059254154 meters 0.016070264036248234 Centerline is valid? [True, True] Translation: X:811.56, Y:5.72, Z:3.54 [[ 9.98964193e-01 -4.35919653e-02 -1.30492183e-02 8.11557511e+02] [ 4.35849334e-02 9.99049386e-01 -8.22908419e-04 5.72116554e+00] [ 1.30726857e-02 2.53306733e-04 9.99914517e-01 3.53801359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.119254154 meters 0.018229835430929913 Centerline is valid? [True, True] Translation: X:811.61, Y:5.72, Z:3.54 [[ 9.98945143e-01 -4.40604943e-02 -1.29334463e-02 8.11614837e+02] [ 4.40536013e-02 9.99028834e-01 -8.17504908e-04 5.72480113e+00] [ 1.29569055e-02 2.46877669e-04 9.99916025e-01 3.53805050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.179254154 meters 0.0172195654205972 Centerline is valid? [True, True] Translation: X:811.67, Y:5.73, Z:3.54 [[ 9.98881183e-01 -4.55802029e-02 -1.26026658e-02 8.11673502e+02] [ 4.55737478e-02 9.98960657e-01 -7.99067059e-04 5.72666501e+00] [ 1.26259890e-02 2.23822336e-04 9.99920264e-01 3.53846817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2392541539999 meters 0.016831615933839594 Centerline is valid? [True, True] Translation: X:811.73, Y:5.73, Z:3.54 [[ 9.98799540e-01 -4.68973039e-02 -1.41464376e-02 8.11731396e+02] [ 4.68892448e-02 9.98899688e-01 -9.01012201e-04 5.72848364e+00] [ 1.41731272e-02 2.36614795e-04 9.99899528e-01 3.53768036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.299254154 meters 0.015705049423145528 Centerline is valid? [True, True] Translation: X:811.79, Y:5.73, Z:3.54 [[ 9.98773057e-01 -4.71255372e-02 -1.52172534e-02 8.11789865e+02] [ 4.71161753e-02 9.98888942e-01 -9.73339673e-04 5.73130933e+00] [ 1.52462153e-02 2.55166661e-04 9.99883737e-01 3.53742206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3592541539999 meters 0.01582777784932474 Centerline is valid? [True, True] Translation: X:811.85, Y:5.74, Z:3.54 [[ 9.98764673e-01 -4.70373351e-02 -1.60192945e-02 8.11848440e+02] [ 4.70268824e-02 9.98893094e-01 -1.02878446e-03 5.73576487e+00] [ 1.60499540e-02 2.74176092e-04 9.99871154e-01 3.53682839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.419254154 meters 0.016004955702963407 Centerline is valid? [True, True] Translation: X:811.91, Y:5.74, Z:3.54 [[ 9.98864388e-01 -4.51366903e-02 -1.52517047e-02 8.11906866e+02] [ 4.51269347e-02 9.98980777e-01 -9.83365533e-04 5.74041897e+00] [ 1.52805457e-02 2.93986129e-04 9.99883202e-01 3.53931760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4792541539999 meters 0.018217489126806093 Centerline is valid? [True, True] Translation: X:811.97, Y:5.75, Z:3.54 [[ 9.98948030e-01 -4.33986298e-02 -1.48119253e-02 8.11965577e+02] [ 4.33891817e-02 9.99057786e-01 -9.58779917e-04 5.74657549e+00] [ 1.48395790e-02 3.15093993e-04 9.99889838e-01 3.53977055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.539254154 meters 0.020410458844559044 Centerline is valid? [True, True] Translation: X:812.02, Y:5.75, Z:3.54 [[ 9.99122651e-01 -3.88677974e-02 -1.55955912e-02 8.12024504e+02] [ 3.88567432e-02 9.99244280e-01 -1.01130900e-03 5.75498791e+00] [ 1.56231126e-02 4.04427844e-04 9.99877870e-01 3.53923992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5992541539999 meters 0.0185075262522382 Centerline is valid? [True, True] Translation: X:812.08, Y:5.76, Z:3.54 [[ 9.99182853e-01 -3.71252782e-02 -1.59793687e-02 8.12081712e+02] [ 3.71134297e-02 9.99310521e-01 -1.03749742e-03 5.76162989e+00] [ 1.60068686e-02 4.43600454e-04 9.99871783e-01 3.53952884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.659254154 meters 0.02046194669660821 Centerline is valid? [True, True] Translation: X:812.14, Y:5.77, Z:3.54 [[ 9.99246190e-01 -3.43273993e-02 -1.81295924e-02 8.12141232e+02] [ 3.43116696e-02 9.99410487e-01 -1.17806154e-03 5.76871030e+00] [ 1.81593446e-02 5.55116922e-04 9.99834951e-01 3.53782878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.7192541539999 meters 0.020273019664644107 Centerline is valid? [True, True] Translation: X:812.20, Y:5.77, Z:3.54 [[ 9.99275651e-01 -3.30926844e-02 -1.87895444e-02 8.12199861e+02] [ 3.30754971e-02 9.99452106e-01 -1.22484085e-03 5.77430674e+00] [ 1.88197830e-02 6.02480118e-04 9.99822711e-01 3.53771328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.779254154 meters 0.01929775134628807 Centerline is valid? [True, True] Translation: X:812.26, Y:5.78, Z:3.54 [[ 9.99337253e-01 -3.16220476e-02 -1.80305256e-02 8.12257990e+02] [ 3.16059393e-02 9.99499714e-01 -1.17772290e-03 5.77941577e+00] [ 1.80587472e-02 6.07070672e-04 9.99836743e-01 3.53954672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.839254154 meters 0.020218684289902256 Centerline is valid? [True, True] Translation: X:812.32, Y:5.79, Z:3.54 [[ 9.99311950e-01 -3.28938209e-02 -1.71354212e-02 8.12316150e+02] [ 3.28793964e-02 9.99458696e-01 -1.12291688e-03 5.78562650e+00] [ 1.71630827e-02 5.58741947e-04 9.99852547e-01 3.53970384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.899254154 meters 0.019731090230375482 Centerline is valid? [True, True] Translation: X:812.38, Y:5.79, Z:3.54 [[ 9.99255298e-01 -3.46906309e-02 -1.68940786e-02 8.12375112e+02] [ 3.46767946e-02 9.99397961e-01 -1.11134343e-03 5.79005546e+00] [ 1.69224609e-02 5.24683315e-04 9.99856667e-01 3.53976351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.959254154 meters 0.020116677717371457 Centerline is valid? [True, True] Translation: X:812.43, Y:5.80, Z:3.54 [[ 9.99225980e-01 -3.60348148e-02 -1.57776163e-02 8.12432956e+02] [ 3.60228823e-02 9.99350424e-01 -1.03992652e-03 5.79510416e+00] [ 1.58048411e-02 4.70766384e-04 9.99874985e-01 3.53943564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.019254154 meters 0.018776105194982014 Centerline is valid? [True, True] Translation: X:812.49, Y:5.80, Z:3.54 [[ 9.99164795e-01 -3.77089207e-02 -1.57400675e-02 8.12491374e+02] [ 3.76972015e-02 9.99288666e-01 -1.04068461e-03 5.79784722e+00] [ 1.57681141e-02 4.46458932e-04 9.99875576e-01 3.54044237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.079254154 meters 0.017746826796389982 Centerline is valid? [True, True] Translation: X:812.55, Y:5.80, Z:3.54 [[ 9.99176712e-01 -3.72719946e-02 -1.60217481e-02 8.12549833e+02] [ 3.72597290e-02 9.99305049e-01 -1.06348523e-03 5.80061608e+00] [ 1.60502520e-02 4.65643679e-04 9.99871078e-01 3.54212139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.139254154 meters 0.01918590157909975 Centerline is valid? [True, True] Translation: X:812.61, Y:5.81, Z:3.54 [[ 9.99223168e-01 -3.58408632e-02 -1.63857824e-02 8.12607584e+02] [ 3.58278040e-02 9.99357384e-01 -1.08993593e-03 5.80866066e+00] [ 1.64143168e-02 5.02022631e-04 9.99865150e-01 3.54184527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.199254154 meters 0.019008113449063887 Centerline is valid? [True, True] Translation: X:812.67, Y:5.82, Z:3.54 [[ 9.99305334e-01 -3.29704117e-02 -1.73724535e-02 8.12667070e+02] [ 3.29552830e-02 9.99456158e-01 -1.15648104e-03 5.81502139e+00] [ 1.74011353e-02 5.83163549e-04 9.99848419e-01 3.54256797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.259254154 meters 0.02078004639041527 Centerline is valid? [True, True] Translation: X:812.72, Y:5.82, Z:3.54 [[ 9.99360410e-01 -3.13320170e-02 -1.72358753e-02 8.12724221e+02] [ 3.13168486e-02 9.99508846e-01 -1.14932236e-03 5.82409355e+00] [ 1.72634205e-02 6.08813971e-04 9.99850791e-01 3.54193115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.319254154 meters 0.020020592858893377 Centerline is valid? [True, True] Translation: X:812.78, Y:5.83, Z:3.54 [[ 9.99335677e-01 -3.18327565e-02 -1.77448659e-02 8.12782325e+02] [ 3.18166767e-02 9.99493016e-01 -1.18781423e-03 5.82767429e+00] [ 1.77736810e-02 6.22442479e-04 9.99841842e-01 3.54312030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.379254154 meters 0.02036992222197926 Centerline is valid? [True, True] Translation: X:812.84, Y:5.83, Z:3.54 [[ 9.99308206e-01 -3.26553500e-02 -1.77971193e-02 8.12841339e+02] [ 3.26392214e-02 9.99466483e-01 -1.19603551e-03 5.83397833e+00] [ 1.78266812e-02 6.14323984e-04 9.99840903e-01 3.54386070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.439254154 meters 0.02054287186413152 Centerline is valid? [True, True] Translation: X:812.90, Y:5.84, Z:3.54 [[ 9.99262569e-01 -3.40186532e-02 -1.78058892e-02 8.12899679e+02] [ 3.40026441e-02 9.99421021e-01 -1.20115105e-03 5.84031084e+00] [ 1.78364415e-02 5.94817968e-04 9.99840741e-01 3.54444674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.499254154 meters 0.01912692375941575 Centerline is valid? [True, True] Translation: X:812.96, Y:5.84, Z:3.55 [[ 9.99248497e-01 -3.47747355e-02 -1.71218706e-02 8.12958927e+02] [ 3.47599951e-02 9.99395018e-01 -1.15784749e-03 5.84446514e+00] [ 1.71517760e-02 5.61821224e-04 9.99852740e-01 3.54586780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.559254154 meters 0.01842936329285049 Centerline is valid? [True, True] Translation: X:813.02, Y:5.85, Z:3.55 [[ 9.99134161e-01 -3.73419199e-02 -1.83442167e-02 8.13018136e+02] [ 3.73253586e-02 9.99302391e-01 -1.24447751e-03 5.84955322e+00] [ 1.83778908e-02 5.58695528e-04 9.99830956e-01 3.54551102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.619254154 meters 0.017959399576708102 Centerline is valid? [True, True] Translation: X:813.08, Y:5.85, Z:3.54 [[ 9.98968398e-01 -4.14592753e-02 -1.85275169e-02 8.13077424e+02] [ 4.14430076e-02 9.99140073e-01 -1.26128206e-03 5.85452992e+00] [ 1.85638764e-02 4.92144897e-04 9.99827555e-01 3.54457110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.679254154 meters 0.018771927474492103 Centerline is valid? [True, True] Translation: X:813.14, Y:5.86, Z:3.54 [[ 9.98809010e-01 -4.48055637e-02 -1.93138223e-02 8.13136027e+02] [ 4.47884175e-02 9.98995624e-01 -1.31963544e-03 5.85755616e+00] [ 1.93535509e-02 4.53028229e-04 9.99812600e-01 3.54448354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7392541539999 meters 0.016125620409031136 Centerline is valid? [True, True] Translation: X:813.19, Y:5.86, Z:3.55 [[ 9.98702986e-01 -4.72237807e-02 -1.90331323e-02 8.13194388e+02] [ 4.72074770e-02 9.98884253e-01 -1.30522816e-03 5.86143639e+00] [ 1.90735340e-02 4.05029100e-04 9.99818002e-01 3.54547003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.799254154 meters 0.015699011948101842 Centerline is valid? [True, True] Translation: X:813.25, Y:5.87, Z:3.54 [[ 9.98616420e-01 -4.87578181e-02 -1.96957219e-02 8.13252889e+02] [ 4.87405593e-02 9.98810553e-01 -1.35564821e-03 5.86720581e+00] [ 1.97383934e-02 3.93792058e-04 9.99805101e-01 3.54463934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8592541539999 meters 0.01555471674124798 Centerline is valid? [True, True] Translation: X:813.31, Y:5.87, Z:3.54 [[ 9.98636317e-01 -4.84095760e-02 -1.95453267e-02 8.13311574e+02] [ 4.83924163e-02 9.98827488e-01 -1.35023883e-03 5.87374828e+00] [ 1.95877740e-02 4.02551950e-04 9.99808060e-01 3.54482709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.919254154 meters 0.0163596024696962 Centerline is valid? [True, True] Translation: X:813.37, Y:5.88, Z:3.54 [[ 9.98652093e-01 -4.77718481e-02 -2.02940410e-02 8.13370156e+02] [ 4.77531118e-02 9.98858178e-01 -1.40712090e-03 5.88025180e+00] [ 2.03380896e-02 4.36120622e-04 9.99793065e-01 3.54409335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9792541539999 meters 0.01654532873371878 Centerline is valid? [True, True] Translation: X:813.43, Y:5.89, Z:3.54 [[ 9.98728662e-01 -4.60609432e-02 -2.04804709e-02 8.13428964e+02] [ 4.60413946e-02 9.98938516e-01 -1.42525117e-03 5.88780526e+00] [ 2.05243796e-02 4.80489756e-04 9.99789237e-01 3.54425140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.039254154 meters 0.018234254578333695 Centerline is valid? [True, True] Translation: X:813.49, Y:5.90, Z:3.54 [[ 9.98768496e-01 -4.54019495e-02 -2.00038490e-02 8.13486259e+02] [ 4.53831185e-02 9.98968682e-01 -1.39456367e-03 5.89608029e+00] [ 2.00465346e-02 4.85009214e-04 9.99798930e-01 3.54385942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0992541539999 meters 0.017515571692546684 Centerline is valid? [True, True] Translation: X:813.54, Y:5.90, Z:3.55 [[ 9.98755147e-01 -4.59185196e-02 -1.94845055e-02 8.13544758e+02] [ 4.59006704e-02 9.98945080e-01 -1.36253918e-03 5.89963653e+00] [ 1.95265167e-02 4.66491151e-04 9.99809231e-01 3.54553681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.159254154 meters 0.01649801053487784 Centerline is valid? [True, True] Translation: X:813.60, Y:5.90, Z:3.55 [[ 9.98617641e-01 -4.89878636e-02 -1.90524426e-02 8.13604247e+02] [ 4.89712675e-02 9.98799293e-01 -1.33693763e-03 5.90107365e+00] [ 1.90950599e-02 4.02067236e-04 9.99817592e-01 3.54730137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.2192541539999 meters 0.014110675530103565 Centerline is valid? [True, True] Translation: X:813.66, Y:5.90, Z:3.55 [[ 9.98357527e-01 -5.39248877e-02 -1.93482340e-02 8.13662847e+02] [ 5.39086565e-02 9.98544945e-01 -1.35986808e-03 5.90153701e+00] [ 1.93934120e-02 3.14597236e-04 9.99811881e-01 3.54737060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.279254154 meters 0.013628662464380263 Centerline is valid? [True, True] Translation: X:813.72, Y:5.90, Z:3.55 [[ 9.98064239e-01 -5.89425438e-02 -1.98381067e-02 8.13721395e+02] [ 5.89263864e-02 9.98261351e-01 -1.39853878e-03 5.90165273e+00] [ 1.98860487e-02 2.26843603e-04 9.99802227e-01 3.54728708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.339254154 meters 0.012708741531421 Centerline is valid? [True, True] Translation: X:813.78, Y:5.90, Z:3.55 [[ 9.97578748e-01 -6.69990555e-02 -1.86485350e-02 8.13780484e+02] [ 6.69860967e-02 9.97753037e-01 -1.31938639e-03 5.89789131e+00] [ 1.86950301e-02 6.69992538e-05 9.99825230e-01 3.55039081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.399254154 meters 0.012795197667575519 Centerline is valid? [True, True] Translation: X:813.84, Y:5.90, Z:3.55 [[ 9.97106686e-01 -7.40102806e-02 -1.73417270e-02 8.13839456e+02] [ 7.40000579e-02 9.97257477e-01 -1.23132189e-03 5.89591458e+00] [ 1.73852974e-02 -5.55295176e-05 9.99848863e-01 3.55219124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.459254154 meters 0.013167340413320969 Centerline is valid? [True, True] Translation: X:813.90, Y:5.90, Z:3.55 [[ 9.96851236e-01 -7.75261937e-02 -1.66524319e-02 8.13897679e+02] [ 7.75172212e-02 9.96990309e-01 -1.18457454e-03 5.89603624e+00] [ 1.66941488e-02 -1.10005661e-04 9.99860637e-01 3.55206248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.519254154 meters 0.013350785216343317 Centerline is valid? [True, True] Translation: X:813.96, Y:5.90, Z:3.55 [[ 9.96649964e-01 -7.99953123e-02 -1.70176071e-02 8.13956893e+02] [ 7.99862399e-02 9.96795228e-01 -1.21418265e-03 5.89755542e+00] [ 1.70601985e-02 -1.51059315e-04 9.99854453e-01 3.55278095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.579254154 meters 0.013857972606720819 Centerline is valid? [True, True] Translation: X:814.01, Y:5.90, Z:3.55 [[ 9.96559587e-01 -8.10362403e-02 -1.73815297e-02 8.14014663e+02] [ 8.10268836e-02 9.96711141e-01 -1.24303855e-03 5.89846985e+00] [ 1.74250955e-02 -1.69609198e-04 9.99848157e-01 3.55204992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.639254154 meters 0.013181705445812326 Centerline is valid? [True, True] Translation: X:814.07, Y:5.90, Z:3.55 [[ 9.96567405e-01 -8.09564899e-02 -1.73047219e-02 8.14072326e+02] [ 8.09471268e-02 9.96717623e-01 -1.24198075e-03 5.90289782e+00] [ 1.73484677e-02 -1.63049988e-04 9.99849491e-01 3.55426740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.699254154 meters 0.012930533146243288 Centerline is valid? [True, True] Translation: X:814.13, Y:5.91, Z:3.56 [[ 9.96641274e-01 -8.01588670e-02 -1.67549191e-02 8.14131334e+02] [ 8.01499007e-02 9.96782091e-01 -1.20704229e-03 5.90691746e+00] [ 1.67977585e-02 -1.39916937e-04 9.99858898e-01 3.55503096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.759254154 meters 0.012820909679873918 Centerline is valid? [True, True] Translation: X:814.19, Y:5.91, Z:3.56 [[ 9.96726577e-01 -7.91931220e-02 -1.62659146e-02 8.14190242e+02] [ 7.91844737e-02 9.96859286e-01 -1.17605486e-03 5.90965296e+00] [ 1.63079635e-02 -1.15802748e-04 9.99867010e-01 3.55516930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.819254154 meters 0.012815739553892926 Centerline is valid? [True, True] Translation: X:814.25, Y:5.91, Z:3.56 [[ 9.96801303e-01 -7.84721420e-02 -1.51421470e-02 8.14248268e+02] [ 7.84645329e-02 9.96916302e-01 -1.09686832e-03 5.91119233e+00] [ 1.51815268e-02 -9.47617188e-05 9.99884749e-01 3.55547172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.879254154 meters 0.013137177486751885 Centerline is valid? [True, True] Translation: X:814.31, Y:5.91, Z:3.56 [[ 9.96821643e-01 -7.84365058e-02 -1.39401026e-02 8.14306402e+02] [ 7.84300302e-02 9.96919108e-01 -1.01145678e-03 5.91291675e+00] [ 1.39764898e-02 -8.50806543e-05 9.99902320e-01 3.55612722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.939254154 meters 0.014947571390405425 Centerline is valid? [True, True] Translation: X:814.36, Y:5.92, Z:3.56 [[ 9.96876416e-01 -7.78300226e-02 -1.34126212e-02 8.14364008e+02] [ 7.78239292e-02 9.96966641e-01 -9.76432791e-04 5.91656687e+00] [ 1.34479317e-02 -7.04400655e-05 9.99909570e-01 3.55722090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.999254154 meters 0.012389389221183222 Centerline is valid? [True, True] Translation: X:814.42, Y:5.92, Z:3.56 [[ 9.97233694e-01 -7.32947956e-02 -1.23625692e-02 8.14422012e+02] [ 7.32892465e-02 9.97310319e-01 -9.01916256e-04 5.92107459e+00] [ 1.23954236e-02 -6.62210347e-06 9.99923174e-01 3.55571162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.059254154 meters 0.012442387872210706 Centerline is valid? [True, True] Translation: X:814.48, Y:5.93, Z:3.55 [[ 9.97467771e-01 -6.98988038e-02 -1.31226093e-02 8.14480496e+02] [ 6.98922227e-02 9.97554087e-01 -9.60011588e-04 5.92549637e+00] [ 1.31576162e-02 4.04122888e-05 9.99913434e-01 3.55469020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.119254154 meters 0.014651446176586395 Centerline is valid? [True, True] Translation: X:814.54, Y:5.93, Z:3.55 [[ 9.97469522e-01 -6.98460745e-02 -1.32694369e-02 8.14538738e+02] [ 6.98392910e-02 9.97557780e-01 -9.74478853e-04 5.92862780e+00] [ 1.33050935e-02 4.52848934e-05 9.99911482e-01 3.55411538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.179254154 meters 0.012547680374976269 Centerline is valid? [True, True] Translation: X:814.60, Y:5.93, Z:3.55 [[ 9.97339028e-01 -7.18760250e-02 -1.21942750e-02 8.14596703e+02] [ 7.18704250e-02 9.97413574e-01 -8.97400973e-04 5.92845300e+00] [ 1.22272370e-02 1.86052852e-05 9.99925244e-01 3.55460020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2392541539999 meters 0.01289820749936793 Centerline is valid? [True, True] Translation: X:814.66, Y:5.92, Z:3.56 [[ 9.96800521e-01 -7.90246398e-02 -1.19928330e-02 8.14655858e+02] [ 7.90197126e-02 9.96872661e-01 -8.84886230e-04 5.92479923e+00] [ 1.20252552e-02 -6.56151630e-05 9.99927692e-01 3.55526594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.299254154 meters 0.014114780303733988 Centerline is valid? [True, True] Translation: X:814.71, Y:5.92, Z:3.55 [[ 9.96275447e-01 -8.53129242e-02 -1.25275194e-02 8.14714103e+02] [ 8.53080164e-02 9.96354196e-01 -9.26582685e-04 5.92228550e+00] [ 1.25608960e-02 -1.45566252e-04 9.99921098e-01 3.55442955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3592541539999 meters 0.015974175790801824 Centerline is valid? [True, True] Translation: X:814.77, Y:5.92, Z:3.56 [[ 9.95533563e-01 -9.37138784e-02 -1.14295438e-02 8.14774501e+02] [ 9.37103374e-02 9.95599145e-01 -8.46152074e-04 5.91798021e+00] [ 1.14585403e-02 -2.28693621e-04 9.99934323e-01 3.55512976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.419254154 meters 0.01745099389560192 Centerline is valid? [True, True] Translation: X:814.83, Y:5.92, Z:3.56 [[ 9.95135845e-01 -9.80142796e-02 -9.89194385e-03 8.14833909e+02] [ 9.80118352e-02 9.95184979e-01 -7.32752793e-04 5.91923940e+00] [ 9.91613417e-03 -2.40339001e-04 9.99950805e-01 3.55669893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4792541539999 meters 0.01746317853982377 Centerline is valid? [True, True] Translation: X:814.89, Y:5.92, Z:3.56 [[ 9.95389045e-01 -9.54417826e-02 -9.56636051e-03 8.14892104e+02] [ 9.54393710e-02 9.95434992e-01 -7.09328685e-04 5.92021540e+00] [ 9.59038959e-03 -2.06949427e-04 9.99953990e-01 3.55669147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.539254154 meters 0.01533489037280175 Centerline is valid? [True, True] Translation: X:814.95, Y:5.93, Z:3.56 [[ 9.95665509e-01 -9.24411958e-02 -1.02381065e-02 8.14950166e+02] [ 9.24382558e-02 9.95718128e-01 -7.61016652e-04 5.92885349e+00] [ 1.02646175e-02 -1.88674672e-04 9.99947300e-01 3.55691472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5992541539999 meters 0.014155905833855762 Centerline is valid? [True, True] Translation: X:815.01, Y:5.94, Z:3.56 [[ 9.96227914e-01 -8.60651467e-02 -1.10784902e-02 8.15008262e+02] [ 8.60612915e-02 9.96289503e-01 -8.25142615e-04 5.93692477e+00] [ 1.11083995e-02 -1.31399066e-04 9.99938291e-01 3.55584951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.659254154 meters 0.014032527462856433 Centerline is valid? [True, True] Translation: X:815.07, Y:5.94, Z:3.56 [[ 9.96502501e-01 -8.27840334e-02 -1.13828347e-02 8.15066410e+02] [ 8.27797261e-02 9.96567506e-01 -8.49840117e-04 5.94353744e+00] [ 1.14141164e-02 -9.54001352e-05 9.99934852e-01 3.55545796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.7192541539999 meters 0.015229285876530056 Centerline is valid? [True, True] Translation: X:815.13, Y:5.95, Z:3.56 [[ 9.96750171e-01 -7.97714117e-02 -1.12079808e-02 8.15125356e+02] [ 7.97670142e-02 9.96813181e-01 -8.39553070e-04 5.95012887e+00] [ 1.12392354e-02 -5.72024998e-05 9.99936836e-01 3.55532499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.779254154 meters 0.015337041659655024 Centerline is valid? [True, True] Translation: X:815.18, Y:5.95, Z:3.56 [[ 9.96910891e-01 -7.78226828e-02 -1.05973784e-02 8.15184165e+02] [ 7.78186133e-02 9.96967216e-01 -7.96444156e-04 5.95480477e+00] [ 1.06272202e-02 -3.06894371e-05 9.99943529e-01 3.55587684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.839254154 meters 0.012956808849335415 Centerline is valid? [True, True] Translation: X:815.24, Y:5.96, Z:3.56 [[ 9.97006072e-01 -7.65528166e-02 -1.08884269e-02 8.15241427e+02] [ 7.65484232e-02 9.97065527e-01 -8.20289995e-04 5.95866108e+00] [ 1.09192706e-02 -1.56578033e-05 9.99940383e-01 3.55631835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.899254154 meters 0.015057711478999725 Centerline is valid? [True, True] Translation: X:815.30, Y:5.96, Z:3.55 [[ 9.96843792e-01 -7.84991419e-02 -1.18464755e-02 8.15300413e+02] [ 7.84940490e-02 9.96914180e-01 -8.94972112e-04 5.96226588e+00] [ 1.18801739e-02 -3.77304310e-05 9.99929428e-01 3.55489553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.959254154 meters 0.01508725677707834 Centerline is valid? [True, True] Translation: X:815.36, Y:5.96, Z:3.56 [[ 9.96508512e-01 -8.26415473e-02 -1.18810993e-02 8.15359106e+02] [ 8.26366826e-02 9.96579333e-01 -9.00636346e-04 5.96282275e+00] [ 1.19148880e-02 -8.43228445e-05 9.99929012e-01 3.55503850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.019254154 meters 0.015863312595645385 Centerline is valid? [True, True] Translation: X:815.42, Y:5.96, Z:3.56 [[ 9.95960310e-01 -8.91336019e-02 -1.08748072e-02 8.15418557e+02] [ 8.91298838e-02 9.96019668e-01 -8.27040533e-04 5.96219476e+00] [ 1.09052389e-02 -1.45570752e-04 9.99940526e-01 3.55615328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.079254154 meters 0.0148893893517036 Centerline is valid? [True, True] Translation: X:815.48, Y:5.96, Z:3.56 [[ 9.95506801e-01 -9.41082219e-02 -1.04810245e-02 8.15477484e+02] [ 9.41050158e-02 9.95561955e-01 -7.99739644e-04 5.96296814e+00] [ 1.05097713e-02 -1.90170722e-04 9.99944753e-01 3.55813851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.139254154 meters 0.01596492546191521 Centerline is valid? [True, True] Translation: X:815.53, Y:5.97, Z:3.56 [[ 9.95272107e-01 -9.66877912e-02 -9.21429760e-03 8.15534913e+02] [ 9.66854085e-02 9.95314742e-01 -7.04729767e-04 5.96647401e+00] [ 9.23926500e-03 -1.89490248e-04 9.99957299e-01 3.55821553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.199254154 meters 0.01583930138702368 Centerline is valid? [True, True] Translation: X:815.59, Y:5.97, Z:3.56 [[ 9.95003953e-01 -9.94078315e-02 -9.23128279e-03 8.15593650e+02] [ 9.94055400e-02 9.95046751e-01 -7.07870226e-04 5.97152626e+00] [ 9.25592579e-03 -2.13306977e-04 9.99957140e-01 3.55946776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.259254154 meters 0.016670350364097832 Centerline is valid? [True, True] Translation: X:815.65, Y:5.98, Z:3.56 [[ 9.94839710e-01 -1.01007159e-01 -9.56588159e-03 8.15651739e+02] [ 1.01004756e-01 9.94885671e-01 -7.35165978e-04 5.97577727e+00] [ 9.59121556e-03 -2.34827231e-04 9.99953976e-01 3.55885955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.319254154 meters 0.016555450094797173 Centerline is valid? [True, True] Translation: X:815.71, Y:5.98, Z:3.56 [[ 9.94717875e-01 -1.01992086e-01 -1.15742424e-02 8.15710330e+02] [ 1.01988608e-01 9.94785167e-01 -8.91837324e-04 5.98403422e+00] [ 1.16048450e-02 -2.93314342e-04 9.99932618e-01 3.55766816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.379254154 meters 0.016423264835395447 Centerline is valid? [True, True] Translation: X:815.77, Y:5.99, Z:3.56 [[ 9.94836285e-01 -1.00729339e-01 -1.24244262e-02 8.15768853e+02] [ 1.00725193e-01 9.94913822e-01 -9.60595976e-04 5.99377635e+00] [ 1.24579936e-02 -2.95816994e-04 9.99922352e-01 3.55656377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.439254154 meters 0.016419266684722076 Centerline is valid? [True, True] Translation: X:815.83, Y:6.00, Z:3.56 [[ 9.94934996e-01 -9.97849197e-02 -1.21377007e-02 8.15827678e+02] [ 9.97808553e-02 9.95008992e-01 -9.41488007e-04 6.00055481e+00] [ 1.21710677e-02 -2.74390793e-04 9.99925892e-01 3.55653406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.499254154 meters 0.014893083177025833 Centerline is valid? [True, True] Translation: X:815.89, Y:6.01, Z:3.56 [[ 9.95506741e-01 -9.40247453e-02 -1.12104893e-02 8.15886381e+02] [ 9.40208834e-02 9.95569843e-01 -8.72190993e-04 6.01261803e+00] [ 1.12428326e-02 -1.85748092e-04 9.99936780e-01 3.55800174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.559254154 meters 0.013778531842630812 Centerline is valid? [True, True] Translation: X:815.94, Y:6.03, Z:3.56 [[ 9.96172001e-01 -8.68872114e-02 -9.58941173e-03 8.15943137e+02] [ 8.68840419e-02 9.96218151e-01 -7.47406135e-04 6.02584585e+00] [ 9.61808606e-03 -8.86217859e-05 9.99953741e-01 3.55869753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.619254154 meters 0.013088667074637801 Centerline is valid? [True, True] Translation: X:816.00, Y:6.04, Z:3.56 [[ 9.96577298e-01 -8.22296022e-02 -8.48414224e-03 8.16001410e+02] [ 8.22269404e-02 9.96613411e-01 -6.62672552e-04 6.03658645e+00] [ 8.50990123e-03 -3.72206365e-05 9.99963789e-01 3.56021338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.679254154 meters 0.012942713444848047 Centerline is valid? [True, True] Translation: X:816.06, Y:6.05, Z:3.56 [[ 9.97147628e-01 -7.49761249e-02 -8.67117071e-03 8.16059087e+02] [ 7.49730487e-02 9.97185329e-01 -6.79730236e-04 6.04964896e+00] [ 8.69772775e-03 2.76872889e-05 9.99962174e-01 3.55979555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7392541539999 meters 0.013143586484028866 Centerline is valid? [True, True] Translation: X:816.12, Y:6.06, Z:3.56 [[ 9.97463225e-01 -7.05732036e-02 -9.30259527e-03 8.16117041e+02] [ 7.05694463e-02 9.97506600e-01 -7.31942344e-04 6.05918020e+00] [ 9.33105570e-03 7.36065737e-05 9.99956462e-01 3.55945193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.799254154 meters 0.01389484503041771 Centerline is valid? [True, True] Translation: X:816.17, Y:6.07, Z:3.56 [[ 9.97811111e-01 -6.54493858e-02 -9.45325604e-03 8.16174384e+02] [ 6.54452578e-02 9.97855882e-01 -7.45694199e-04 6.07003089e+00] [ 9.48179238e-03 1.25391179e-04 9.99955039e-01 3.55865568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8592541539999 meters 0.014965473983269771 Centerline is valid? [True, True] Translation: X:816.23, Y:6.08, Z:3.56 [[ 9.97933830e-01 -6.33789610e-02 -1.05441142e-02 8.16232596e+02] [ 6.33736851e-02 9.97989519e-01 -8.34069886e-04 6.07723239e+00] [ 1.05757779e-02 1.64127183e-04 9.99944061e-01 3.55768260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.919254154 meters 0.014530302136048836 Centerline is valid? [True, True] Translation: X:816.29, Y:6.08, Z:3.56 [[ 9.98008213e-01 -6.22149118e-02 -1.04360318e-02 8.16289898e+02] [ 6.22096618e-02 9.98062760e-01 -8.27242063e-04 6.08313094e+00] [ 1.04672815e-02 1.76372363e-04 9.99945201e-01 3.55788636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9792541539999 meters 0.014507259339242637 Centerline is valid? [True, True] Translation: X:816.35, Y:6.09, Z:3.56 [[ 9.97964573e-01 -6.29156893e-02 -1.04080677e-02 8.16348078e+02] [ 6.29104827e-02 9.98018831e-01 -8.27220196e-04 6.08664734e+00] [ 1.04394927e-02 1.70759888e-04 9.99945492e-01 3.55802957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.039254154 meters 0.014274703566691336 Centerline is valid? [True, True] Translation: X:816.41, Y:6.09, Z:3.56 [[ 9.97848959e-01 -6.45116998e-02 -1.16488738e-02 8.16407191e+02] [ 6.45052475e-02 9.97916935e-01 -9.29163814e-04 6.08890075e+00] [ 1.16845504e-02 1.75751654e-04 9.99931718e-01 3.55752411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0992541539999 meters 0.014157440740882021 Centerline is valid? [True, True] Translation: X:816.46, Y:6.09, Z:3.56 [[ 9.97657418e-01 -6.68983993e-02 -1.42927030e-02 8.16464976e+02] [ 6.68888912e-02 9.97759776e-01 -1.14278428e-03 6.09002203e+00] [ 1.43371345e-02 1.84084164e-04 9.99897201e-01 3.55590042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.159254154 meters 0.01710108277795625 Centerline is valid? [True, True] Translation: X:816.52, Y:6.09, Z:3.55 [[ 9.97478074e-01 -6.89995455e-02 -1.66299418e-02 8.16522770e+02] [ 6.89868949e-02 9.97616674e-01 -1.33386381e-03 6.09176352e+00] [ 1.66823432e-02 1.83251862e-04 9.99860823e-01 3.55344956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.2192541539999 meters 0.01370466392644511 Centerline is valid? [True, True] Translation: X:816.58, Y:6.09, Z:3.56 [[ 9.97410625e-01 -7.02894949e-02 -1.52129041e-02 8.16581890e+02] [ 7.02789997e-02 9.97526623e-01 -1.22406027e-03 6.09183880e+00] [ 1.52613154e-02 1.51743042e-04 9.99883528e-01 3.55685580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.279254154 meters 0.013229384494675818 Centerline is valid? [True, True] Translation: X:816.64, Y:6.09, Z:3.56 [[ 9.97186444e-01 -7.35891095e-02 -1.42772392e-02 8.16640703e+02] [ 7.35801521e-02 9.97288641e-01 -1.15237645e-03 6.09085976e+00] [ 1.43233309e-02 9.86127450e-05 9.99897411e-01 3.55858395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.339254154 meters 0.014433778488137502 Centerline is valid? [True, True] Translation: X:816.70, Y:6.09, Z:3.56 [[ 9.97011175e-01 -7.58508765e-02 -1.46751740e-02 8.16698646e+02] [ 7.58415961e-02 9.97119170e-01 -1.18868087e-03 6.09199213e+00] [ 1.47230598e-02 7.21394864e-05 9.99891607e-01 3.55828046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.399254154 meters 0.013119274833815956 Centerline is valid? [True, True] Translation: X:816.76, Y:6.09, Z:3.56 [[ 9.96852536e-01 -7.78783298e-02 -1.48319924e-02 8.16756644e+02] [ 7.78690091e-02 9.96962870e-01 -1.20576982e-03 6.09215599e+00] [ 1.48808491e-02 4.70221451e-05 9.99889273e-01 3.56025276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.459254154 meters 0.014067635464474365 Centerline is valid? [True, True] Translation: X:816.82, Y:6.09, Z:3.56 [[ 9.96666889e-01 -7.99236458e-02 -1.63500149e-02 8.16816113e+02] [ 7.99125211e-02 9.96800988e-01 -1.33366192e-03 6.09333111e+00] [ 1.64043021e-02 2.26457696e-05 9.99865440e-01 3.56010865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.519254154 meters 0.014516821991837486 Centerline is valid? [True, True] Translation: X:816.87, Y:6.09, Z:3.56 [[ 9.96395566e-01 -8.31629683e-02 -1.67271286e-02 8.16874856e+02] [ 8.31517017e-02 9.96535960e-01 -1.36913117e-03 6.09352559e+00] [ 1.67830462e-02 -2.66929854e-05 9.99859154e-01 3.56094177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.579254154 meters 0.014653471615910735 Centerline is valid? [True, True] Translation: X:816.93, Y:6.09, Z:3.56 [[ 9.96168148e-01 -8.58959805e-02 -1.64590686e-02 8.16932628e+02] [ 8.58853676e-02 9.96304108e-01 -1.35187703e-03 6.09458373e+00] [ 1.65143584e-02 -6.68963143e-05 9.99863626e-01 3.56186550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.639254154 meters 0.015079220186354273 Centerline is valid? [True, True] Translation: X:816.99, Y:6.10, Z:3.56 [[ 9.95962142e-01 -8.83517455e-02 -1.59179366e-02 8.16990860e+02] [ 8.83420599e-02 9.96089333e-01 -1.31198372e-03 6.09618028e+00] [ 1.59716029e-02 -9.95371948e-05 9.99872441e-01 3.56330858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.699254154 meters 0.015387752380316413 Centerline is valid? [True, True] Translation: X:817.05, Y:6.10, Z:3.56 [[ 9.95976310e-01 -8.81726371e-02 -1.60242542e-02 8.17049106e+02] [ 8.81627239e-02 9.96105204e-01 -1.32537802e-03 6.10002533e+00] [ 1.60787051e-02 -9.26967888e-05 9.99870725e-01 3.56341188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.759254154 meters 0.013771405521855429 Centerline is valid? [True, True] Translation: X:817.11, Y:6.10, Z:3.56 [[ 9.96261468e-01 -8.50856433e-02 -1.49505883e-02 8.17108205e+02] [ 8.50766091e-02 9.96373641e-01 -1.24040091e-03 6.10411118e+00] [ 1.50019124e-02 -3.61817242e-05 9.99887464e-01 3.56430230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.819254154 meters 0.013256682188539003 Centerline is valid? [True, True] Translation: X:817.17, Y:6.11, Z:3.56 [[ 9.96565525e-01 -8.13807881e-02 -1.53075475e-02 8.17165585e+02] [ 8.13708128e-02 9.96683082e-01 -1.27439769e-03 6.10957372e+00] [ 1.53604851e-02 2.44332223e-05 9.99882020e-01 3.56493772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.879254154 meters 0.013548463476203056 Centerline is valid? [True, True] Translation: X:817.22, Y:6.12, Z:3.56 [[ 9.96998908e-01 -7.60314245e-02 -1.45739503e-02 8.17224441e+02] [ 7.60217543e-02 9.97105416e-01 -1.21718763e-03 6.11730272e+00] [ 1.46243093e-02 1.05597473e-04 9.99893053e-01 3.56438256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.939254154 meters 0.013793421004584756 Centerline is valid? [True, True] Translation: X:817.28, Y:6.12, Z:3.56 [[ 9.97237694e-01 -7.27588573e-02 -1.49375367e-02 8.17282876e+02] [ 7.27482729e-02 9.97349549e-01 -1.25145174e-03 6.12386185e+00] [ 1.49889997e-02 1.61314849e-04 9.99887646e-01 3.56421340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.999254154 meters 0.016812357132307422 Centerline is valid? [True, True] Translation: X:817.34, Y:6.13, Z:3.56 [[ 9.97440089e-01 -6.97444110e-02 -1.57793203e-02 8.17341384e+02] [ 6.97321572e-02 9.97564869e-01 -1.32611875e-03 6.13065408e+00] [ 1.58333850e-02 2.22397957e-04 9.99874619e-01 3.56339532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.059254154 meters 0.01482347436812334 Centerline is valid? [True, True] Translation: X:817.40, Y:6.14, Z:3.57 [[ 9.97611556e-01 -6.77309929e-02 -1.35534775e-02 8.17399640e+02] [ 6.77217215e-02 9.97703595e-01 -1.14237857e-03 6.13658222e+00] [ 1.35997276e-02 2.21785235e-04 9.99907495e-01 3.56526609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.119254154 meters 0.016322444209716427 Centerline is valid? [True, True] Translation: X:817.46, Y:6.14, Z:3.57 [[ 9.97824215e-01 -6.46401348e-02 -1.29803571e-02 8.17458000e+02] [ 6.46313271e-02 9.97908607e-01 -1.09732518e-03 6.14494124e+00] [ 1.30241414e-02 2.55999926e-04 9.99915150e-01 3.56513142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.179254154 meters 0.019931381081622207 Centerline is valid? [True, True] Translation: X:817.52, Y:6.15, Z:3.56 [[ 9.98033761e-01 -6.07052373e-02 -1.56040349e-02 8.17516473e+02] [ 6.06919977e-02 9.98155667e-01 -1.32105816e-03 6.15450788e+00] [ 1.56554510e-02 3.71420594e-04 9.99877377e-01 3.56213974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2392541539999 meters 0.018769515439035978 Centerline is valid? [True, True] Translation: X:817.58, Y:6.16, Z:3.56 [[ 9.98200201e-01 -5.72497364e-02 -1.78557228e-02 8.17575962e+02] [ 5.72318335e-02 9.98359770e-01 -1.51245367e-03 6.16103388e+00] [ 1.79130228e-02 4.87815805e-04 9.99839430e-01 3.56083873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.299254154 meters 0.01877984609760951 Centerline is valid? [True, True] Translation: X:817.63, Y:6.17, Z:3.56 [[ 9.98212936e-01 -5.66779573e-02 -1.89352623e-02 8.17634069e+02] [ 5.66576925e-02 9.98392372e-01 -1.60540045e-03 6.16686525e+00] [ 1.89958123e-02 5.29703226e-04 9.99819423e-01 3.56031766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3592541539999 meters 0.017299646068657817 Centerline is valid? [True, True] Translation: X:817.69, Y:6.17, Z:3.56 [[ 9.98214871e-01 -5.69163156e-02 -1.80998270e-02 8.17692487e+02] [ 5.68977576e-02 9.98378824e-01 -1.53904675e-03 6.17037984e+00] [ 1.81580809e-02 5.06459785e-04 9.99835000e-01 3.56162049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.419254154 meters 0.01834360087280785 Centerline is valid? [True, True] Translation: X:817.75, Y:6.17, Z:3.56 [[ 9.97974881e-01 -6.10077466e-02 -1.80053012e-02 8.17752103e+02] [ 6.09899633e-02 9.98137198e-01 -1.53564771e-03 6.17068715e+00] [ 1.80654473e-02 4.34395184e-04 9.99836712e-01 3.56317310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4792541539999 meters 0.017791331560968446 Centerline is valid? [True, True] Translation: X:817.81, Y:6.17, Z:3.57 [[ 9.97687225e-01 -6.62040438e-02 -1.54021399e-02 8.17812415e+02] [ 6.61916327e-02 9.97806063e-01 -1.31475104e-03 6.17138440e+00] [ 1.54553904e-02 2.92217536e-04 9.99880516e-01 3.56560369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.539254154 meters 0.014779996033718384 Centerline is valid? [True, True] Translation: X:817.87, Y:6.17, Z:3.57 [[ 9.97490535e-01 -6.96546202e-02 -1.26833330e-02 8.17870524e+02] [ 6.96464725e-02 9.97571148e-01 -1.08349401e-03 6.17293579e+00] [ 1.27279974e-02 1.97425616e-04 9.99918976e-01 3.56883203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5992541539999 meters 0.014622629860896486 Centerline is valid? [True, True] Translation: X:817.93, Y:6.18, Z:3.57 [[ 9.97428172e-01 -7.06404592e-02 -1.21229917e-02 8.17929655e+02] [ 7.06330598e-02 9.97501826e-01 -1.03797321e-03 6.17716884e+00] [ 1.21660293e-02 1.79019724e-04 9.99925975e-01 3.56959977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.659254154 meters 0.015304768731954032 Centerline is valid? [True, True] Translation: X:817.99, Y:6.18, Z:3.57 [[ 9.97556340e-01 -6.85173706e-02 -1.36644909e-02 8.17987837e+02] [ 6.85077355e-02 9.97649896e-01 -1.17250907e-03 6.18216431e+00] [ 1.37127152e-02 2.33520526e-04 9.99905949e-01 3.57053567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.7192541539999 meters 0.017199802793613817 Centerline is valid? [True, True] Translation: X:818.05, Y:6.19, Z:3.57 [[ 9.97816512e-01 -6.39495412e-02 -1.65125712e-02 8.18046831e+02] [ 6.39348255e-02 9.97953069e-01 -1.41808919e-03 6.19151627e+00] [ 1.65694573e-02 3.59264454e-04 9.99862653e-01 3.56906697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.779254154 meters 0.017003258725719686 Centerline is valid? [True, True] Translation: X:818.11, Y:6.20, Z:3.57 [[ 9.98056783e-01 -5.98044770e-02 -1.74952068e-02 8.18106230e+02] [ 5.97873094e-02 9.98210007e-01 -1.50313473e-03 6.20106637e+00] [ 1.75537847e-02 4.54222468e-04 9.99845817e-01 3.56878187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.839254154 meters 0.018730046854152287 Centerline is valid? [True, True] Translation: X:818.17, Y:6.21, Z:3.57 [[ 9.98380810e-01 -5.36994586e-02 -1.87650389e-02 8.18166161e+02] [ 5.36786272e-02 9.98556961e-01 -1.61240827e-03 6.21259283e+00] [ 1.88245457e-02 6.02515944e-04 9.99822621e-01 3.56933512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.899254154 meters 0.020565835093230983 Centerline is valid? [True, True] Translation: X:818.22, Y:6.22, Z:3.57 [[ 9.98501710e-01 -5.09950923e-02 -1.98452829e-02 8.18224605e+02] [ 5.09712423e-02 9.98698664e-01 -1.70609331e-03 6.22214824e+00] [ 1.99064599e-02 6.91998361e-04 9.99801607e-01 3.56866935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.959254154 meters 0.019576616058975566 Centerline is valid? [True, True] Translation: X:818.28, Y:6.23, Z:3.57 [[ 9.98470559e-01 -5.17772687e-02 -1.93818946e-02 8.18283522e+02] [ 5.17545872e-02 9.98658436e-01 -1.67035637e-03 6.22947058e+00] [ 1.94423790e-02 6.64699703e-04 9.99810758e-01 3.56962887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.019254154 meters 0.0210553317812598 Centerline is valid? [True, True] Translation: X:818.34, Y:6.24, Z:3.57 [[ 9.98436058e-01 -5.24317983e-02 -1.93995971e-02 8.18342485e+02] [ 5.24091012e-02 9.98624291e-01 -1.67688680e-03 6.23589530e+00] [ 1.94608311e-02 6.57548799e-04 9.99810404e-01 3.56972732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.079254154 meters 0.018969863953261903 Centerline is valid? [True, True] Translation: X:818.40, Y:6.24, Z:3.57 [[ 9.98335828e-01 -5.41679901e-02 -1.97839377e-02 8.18400706e+02] [ 5.41446238e-02 9.98531631e-01 -1.71521142e-03 6.24196834e+00] [ 1.98477971e-02 6.41163145e-04 9.99802807e-01 3.56971325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.139254154 meters 0.01764852677262521 Centerline is valid? [True, True] Translation: X:818.46, Y:6.24, Z:3.57 [[ 9.98127342e-01 -5.80515031e-02 -1.92829523e-02 8.18460031e+02] [ 5.80299736e-02 9.98313437e-01 -1.67465313e-03 6.24463022e+00] [ 1.93476465e-02 5.52527868e-04 9.99812664e-01 3.57091708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.199254154 meters 0.01623360068347955 Centerline is valid? [True, True] Translation: X:818.52, Y:6.25, Z:3.57 [[ 9.97948835e-01 -6.14781727e-02 -1.78481504e-02 8.18518815e+02] [ 6.14602490e-02 9.98108326e-01 -1.55154228e-03 6.24651112e+00] [ 1.79097735e-02 4.51408051e-04 9.99839505e-01 3.57333117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.259254154 meters 0.016447387086051465 Centerline is valid? [True, True] Translation: X:818.58, Y:6.25, Z:3.57 [[ 9.97647428e-01 -6.66752643e-02 -1.59379783e-02 8.18578389e+02] [ 6.66616232e-02 9.97774677e-01 -1.38621388e-03 6.24808795e+00] [ 1.59949373e-02 3.20501205e-04 9.99872021e-01 3.57480982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.319254154 meters 0.014652066352283305 Centerline is valid? [True, True] Translation: X:818.64, Y:6.25, Z:3.58 [[ 9.97367721e-01 -7.09763106e-02 -1.48321113e-02 8.18636934e+02] [ 7.09649585e-02 9.97477974e-01 -1.29094565e-03 6.25051255e+00] [ 1.48863309e-02 2.34987354e-04 9.99889165e-01 3.57588576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.379254154 meters 0.015650052372019954 Centerline is valid? [True, True] Translation: X:818.70, Y:6.25, Z:3.58 [[ 9.97190361e-01 -7.34304683e-02 -1.48104618e-02 8.18696168e+02] [ 7.34193939e-02 9.97300319e-01 -1.29081356e-03 6.25416355e+00] [ 1.48652633e-02 1.99811713e-04 9.99889486e-01 3.57560316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.439254154 meters 0.015955810028459545 Centerline is valid? [True, True] Translation: X:818.76, Y:6.26, Z:3.57 [[ 9.97028307e-01 -7.55580831e-02 -1.50177015e-02 8.18755351e+02] [ 7.55468875e-02 9.97141387e-01 -1.31221380e-03 6.25790998e+00] [ 1.50739201e-02 1.73773691e-04 9.99886367e-01 3.57479947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.499254154 meters 0.013849344674393402 Centerline is valid? [True, True] Translation: X:818.81, Y:6.26, Z:3.57 [[ 9.96991353e-01 -7.61584499e-02 -1.44267989e-02 8.18813240e+02] [ 7.61481220e-02 9.97095715e-01 -1.26464677e-03 6.26225029e+00] [ 1.44812129e-02 1.62268255e-04 9.99895129e-01 3.57493970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.559254154 meters 0.013973294615292557 Centerline is valid? [True, True] Translation: X:818.87, Y:6.27, Z:3.57 [[ 9.97019174e-01 -7.57682450e-02 -1.45581200e-02 8.18870875e+02] [ 7.57576470e-02 9.97125440e-01 -1.27887355e-03 6.26821342e+00] [ 1.46131698e-02 1.72172533e-04 9.99893207e-01 3.57442199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.619254154 meters 0.017065580605000477 Centerline is valid? [True, True] Translation: X:818.93, Y:6.27, Z:3.57 [[ 9.97064783e-01 -7.48182683e-02 -1.62494586e-02 8.18929277e+02] [ 7.48048773e-02 9.97197163e-01 -1.43119469e-03 6.27454092e+00] [ 1.63109935e-02 2.11455067e-04 9.99866945e-01 3.57240251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.679254154 meters 0.013988202748890887 Centerline is valid? [True, True] Translation: X:818.99, Y:6.28, Z:3.57 [[ 9.97044252e-01 -7.49491543e-02 -1.68933064e-02 8.18987452e+02] [ 7.49346601e-02 9.97187332e-01 -1.49024440e-03 6.27932558e+00] [ 1.69574837e-02 2.19945434e-04 9.99856187e-01 3.57192584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7392541539999 meters 0.01367098643361911 Centerline is valid? [True, True] Translation: X:819.04, Y:6.28, Z:3.57 [[ 9.96778390e-01 -7.81224199e-02 -1.81584110e-02 8.19044973e+02] [ 7.81061687e-02 9.96943757e-01 -1.60354076e-03 6.28250958e+00] [ 1.82281869e-02 1.80090866e-04 9.99833837e-01 3.57085226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.799254154 meters 0.015033327965675166 Centerline is valid? [True, True] Translation: X:819.10, Y:6.29, Z:3.57 [[ 9.96513904e-01 -8.14385144e-02 -1.81054747e-02 8.19103937e+02] [ 8.14228344e-02 9.96678360e-01 -1.60274414e-03 6.28545432e+00] [ 1.81758599e-02 1.22957755e-04 9.99834798e-01 3.57099947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8592541539999 meters 0.01472446332659551 Centerline is valid? [True, True] Translation: X:819.16, Y:6.29, Z:3.57 [[ 9.96132857e-01 -8.64574725e-02 -1.56344477e-02 8.19163386e+02] [ 8.64463421e-02 9.96255542e-01 -1.38759519e-03 6.28644105e+00] [ 1.56958732e-02 3.06883414e-05 9.99876812e-01 3.57397836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.919254154 meters 0.012937984622804873 Centerline is valid? [True, True] Translation: X:819.22, Y:6.29, Z:3.58 [[ 9.95827188e-01 -9.04088235e-02 -1.24280408e-02 8.19221257e+02] [ 9.04020791e-02 9.95904736e-01 -1.10454497e-03 6.28803016e+00] [ 1.24770053e-02 -2.35848203e-05 9.99922159e-01 3.57646027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9792541539999 meters 0.013120008494681562 Centerline is valid? [True, True] Translation: X:819.28, Y:6.29, Z:3.58 [[ 9.95670190e-01 -9.22926686e-02 -1.10876466e-02 8.19279739e+02] [ 9.22873929e-02 9.95731923e-01 -9.87619826e-04 6.29154644e+00] [ 1.11314738e-02 -3.99063819e-05 9.99938042e-01 3.57721957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.039254154 meters 0.015778910599656294 Centerline is valid? [True, True] Translation: X:819.34, Y:6.30, Z:3.58 [[ 9.95561567e-01 -9.33097501e-02 -1.22660659e-02 8.19338291e+02] [ 9.33033293e-02 9.95637126e-01 -1.09592825e-03 6.29726546e+00] [ 1.23148114e-02 -5.34007388e-05 9.99924168e-01 3.57712244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0992541539999 meters 0.013198130362430668 Centerline is valid? [True, True] Translation: X:819.40, Y:6.30, Z:3.58 [[ 9.95545880e-01 -9.34578676e-02 -1.24108326e-02 8.19395673e+02] [ 9.34512723e-02 9.95623234e-01 -1.11155354e-03 6.30139205e+00] [ 1.24603967e-02 -5.32055550e-05 9.99922365e-01 3.57703151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.159254154 meters 0.013343318628436941 Centerline is valid? [True, True] Translation: X:819.45, Y:6.30, Z:3.58 [[ 9.95358851e-01 -9.53086495e-02 -1.33048705e-02 8.19454414e+02] [ 9.53011933e-02 9.95447766e-01 -1.19474550e-03 6.30489220e+00] [ 1.33581732e-02 -7.87695228e-05 9.99910773e-01 3.57628422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.2192541539999 meters 0.013804780398132845 Centerline is valid? [True, True] Translation: X:819.51, Y:6.31, Z:3.58 [[ 9.95300287e-01 -9.58632778e-02 -1.36956257e-02 8.19511854e+02] [ 9.58553781e-02 9.95394507e-01 -1.23358959e-03 6.31006729e+00] [ 1.37508065e-02 -8.50073012e-05 9.99905450e-01 3.57643274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.279254154 meters 0.0160991656592434 Centerline is valid? [True, True] Translation: X:819.57, Y:6.32, Z:3.58 [[ 9.95348226e-01 -9.51191783e-02 -1.53052283e-02 8.19569730e+02] [ 9.51091880e-02 9.95465889e-01 -1.38095001e-03 6.31833840e+00] [ 1.53671875e-02 -8.11416866e-05 9.99881915e-01 3.57625562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.339254154 meters 0.013173711497744703 Centerline is valid? [True, True] Translation: X:819.63, Y:6.32, Z:3.58 [[ 9.95391417e-01 -9.48266975e-02 -1.42766979e-02 8.19628772e+02] [ 9.48179360e-02 9.95493793e-01 -1.29085196e-03 6.32474331e+00] [ 1.43347714e-02 -6.87840674e-05 9.99897250e-01 3.57742537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.399254154 meters 0.013905005818130586 Centerline is valid? [True, True] Translation: X:819.69, Y:6.33, Z:3.58 [[ 9.95138731e-01 -9.73508344e-02 -1.48902812e-02 8.19686458e+02] [ 9.73415559e-02 9.95250121e-01 -1.34834600e-03 6.32862492e+00] [ 1.49508167e-02 -1.07651808e-04 9.99888224e-01 3.57846462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.459254154 meters 0.016529151448710068 Centerline is valid? [True, True] Translation: X:819.74, Y:6.33, Z:3.58 [[ 9.94866775e-01 -1.00044642e-01 -1.52042566e-02 8.19744519e+02] [ 1.00035262e-01 9.94982938e-01 -1.37811991e-03 6.33341136e+00] [ 1.52658494e-02 -1.49916070e-04 9.99883459e-01 3.57861919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.519254154 meters 0.014032127962917515 Centerline is valid? [True, True] Translation: X:819.80, Y:6.34, Z:3.58 [[ 9.94968535e-01 -9.90220918e-02 -1.52394329e-02 8.19802272e+02] [ 9.90125001e-02 9.95085227e-01 -1.38446539e-03 6.34458792e+00] [ 1.53016272e-02 -1.31394851e-04 9.99882915e-01 3.57967365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.579254154 meters 0.013497791857546782 Centerline is valid? [True, True] Translation: X:819.86, Y:6.35, Z:3.58 [[ 9.95135944e-01 -9.73474603e-02 -1.50971766e-02 8.19860281e+02] [ 9.73377958e-02 9.95250452e-01 -1.37539686e-03 6.35335083e+00] [ 1.51593633e-02 -1.00819043e-04 9.99885085e-01 3.57961784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.639254154 meters 0.013496513090734557 Centerline is valid? [True, True] Translation: X:819.92, Y:6.36, Z:3.58 [[ 9.95246171e-01 -9.63085270e-02 -1.44819560e-02 8.19917786e+02] [ 9.62994952e-02 9.95351526e-01 -1.32133372e-03 6.36067658e+00] [ 1.45418927e-02 -7.95527305e-05 9.99894258e-01 3.58081803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.699254154 meters 0.015009310127169934 Centerline is valid? [True, True] Translation: X:819.98, Y:6.37, Z:3.58 [[ 9.95020590e-01 -9.86594851e-02 -1.41538383e-02 8.19976182e+02] [ 9.86510545e-02 9.95121246e-01 -1.29430163e-03 6.36758654e+00] [ 1.42124804e-02 -1.08434310e-04 9.99898992e-01 3.58245230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.759254154 meters 0.015100421812069047 Centerline is valid? [True, True] Translation: X:820.03, Y:6.38, Z:3.58 [[ 9.95070064e-01 -9.84115919e-02 -1.22770508e-02 8.20033121e+02] [ 9.84052091e-02 9.95145794e-01 -1.12437315e-03 6.37628570e+00] [ 1.23281068e-02 -8.92956887e-05 9.99924002e-01 3.58306103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.819254154 meters 0.015666270251535767 Centerline is valid? [True, True] Translation: X:820.09, Y:6.39, Z:3.58 [[ 9.95130528e-01 -9.76897936e-02 -1.31124429e-02 8.20090384e+02] [ 9.76824109e-02 9.95216910e-01 -1.20384717e-03 6.38501842e+00] [ 1.31673285e-02 -8.28699688e-05 9.99913304e-01 3.58255534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.879254154 meters 0.013488951654631888 Centerline is valid? [True, True] Translation: X:820.15, Y:6.40, Z:3.58 [[ 9.95369505e-01 -9.50700560e-02 -1.41856852e-02 8.20146470e+02] [ 9.50611020e-02 9.95470583e-01 -1.30568512e-03 6.39520307e+00] [ 1.42455639e-02 -4.88677172e-05 9.99898526e-01 3.57992835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.939254154 meters 0.01616227582352679 Centerline is valid? [True, True] Translation: X:820.20, Y:6.41, Z:3.58 [[ 9.95384783e-01 -9.46771742e-02 -1.56642005e-02 8.20204012e+02] [ 9.46661770e-02 9.95508026e-01 -1.44372055e-03 6.40669052e+00] [ 1.57305247e-02 -4.58125049e-05 9.99876267e-01 3.57830345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.999254154 meters 0.013404175007218052 Centerline is valid? [True, True] Translation: X:820.26, Y:6.41, Z:3.58 [[ 9.95446994e-01 -9.42761146e-02 -1.40461938e-02 8.20262297e+02] [ 9.42671934e-02 9.95546088e-01 -1.29734310e-03 6.41417747e+00] [ 1.41059418e-02 -3.26589841e-05 9.99900506e-01 3.58001357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.059254154 meters 0.013341174568895338 Centerline is valid? [True, True] Translation: X:820.32, Y:6.42, Z:3.58 [[ 9.95478997e-01 -9.41697961e-02 -1.23942094e-02 8.20320566e+02] [ 9.41628053e-02 9.95556151e-01 -1.14769732e-03 6.42277239e+00] [ 1.24472098e-02 -2.45649458e-05 9.99922530e-01 3.58126540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.119254154 meters 0.013469754235399091 Centerline is valid? [True, True] Translation: X:820.38, Y:6.43, Z:3.58 [[ 9.95634096e-01 -9.24792926e-02 -1.26620271e-02 8.20377667e+02] [ 9.24718157e-02 9.95714608e-01 -1.17594741e-03 6.43199491e+00] [ 1.27165161e-02 -6.73036469e-08 9.99919142e-01 3.58030879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.179254154 meters 0.015903945429418868 Centerline is valid? [True, True] Translation: X:820.44, Y:6.44, Z:3.58 [[ 9.95586171e-01 -9.28487123e-02 -1.36854659e-02 8.20436493e+02] [ 9.28399615e-02 9.95680228e-01 -1.27472513e-03 6.43964480e+00] [ 1.37447044e-02 -1.45941775e-06 9.99905537e-01 3.57942757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2392541539999 meters 0.016181961064871592 Centerline is valid? [True, True] Translation: X:820.49, Y:6.45, Z:3.58 [[ 9.95607517e-01 -9.28094583e-02 -1.23319564e-02 8.20494364e+02] [ 9.28023285e-02 9.95683888e-01 -1.15038181e-03 6.44669938e+00] [ 1.23854966e-02 8.94509562e-07 9.99923297e-01 3.57922744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.299254154 meters 0.014679031972987876 Centerline is valid? [True, True] Translation: X:820.55, Y:6.45, Z:3.58 [[ 9.95585293e-01 -9.32112102e-02 -1.10269908e-02 8.20551622e+02] [ 9.32055092e-02 9.95646358e-01 -1.03090310e-03 6.45321765e+00] [ 1.10750750e-02 -1.42432443e-06 9.99938669e-01 3.57966635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3592541539999 meters 0.013303243071730943 Centerline is valid? [True, True] Translation: X:820.61, Y:6.46, Z:3.58 [[ 9.95568740e-01 -9.34240523e-02 -1.07159327e-02 8.20609374e+02] [ 9.34186478e-02 9.95626409e-01 -1.00487919e-03 6.45973512e+00] [ 1.07629455e-02 -6.41633701e-07 9.99942078e-01 3.58010822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.419254154 meters 0.014651066515094235 Centerline is valid? [True, True] Translation: X:820.67, Y:6.47, Z:3.58 [[ 9.95502273e-01 -9.43218262e-02 -8.86659925e-03 8.20667270e+02] [ 9.43181471e-02 9.95541759e-01 -8.33113617e-04 6.46676464e+00] [ 8.90565060e-03 -6.91471191e-06 9.99960344e-01 3.57940757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4792541539999 meters 0.013371244361294589 Centerline is valid? [True, True] Translation: X:820.72, Y:6.47, Z:3.58 [[ 9.95606691e-01 -9.34088787e-02 -6.48832095e-03 8.20724772e+02] [ 9.34068825e-02 9.95627833e-01 -6.10685363e-04 6.47404530e+00] [ 6.51699636e-03 1.94860077e-06 9.99978764e-01 3.58105696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.539254154 meters 0.016173603919750854 Centerline is valid? [True, True] Translation: X:820.78, Y:6.48, Z:3.58 [[ 9.95847093e-01 -9.09051827e-02 -4.98142011e-03 8.20781702e+02] [ 9.09039690e-02 9.95859552e-01 -4.69995282e-04 6.48429197e+00] [ 5.00351981e-03 1.52125761e-05 9.99987482e-01 3.57946025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5992541539999 meters 0.01631330819669549 Centerline is valid? [True, True] Translation: X:820.84, Y:6.49, Z:3.58 [[ 9.96219829e-01 -8.66109782e-02 -6.67770062e-03 8.20839880e+02] [ 8.66086854e-02 9.96242207e-01 -6.32308829e-04 6.49367727e+00] [ 6.70737209e-03 5.15717210e-05 9.99977504e-01 3.57740146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.659254154 meters 0.015474633319001677 Centerline is valid? [True, True] Translation: X:820.90, Y:6.50, Z:3.58 [[ 9.96310664e-01 -8.54219513e-02 -8.25540375e-03 8.20897474e+02] [ 8.54183907e-02 9.96344862e-01 -7.83591584e-04 6.50044850e+00] [ 8.29216504e-03 7.55373482e-05 9.99965617e-01 3.57628311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.7192541539999 meters 0.014983578677008695 Centerline is valid? [True, True] Translation: X:820.96, Y:6.51, Z:3.58 [[ 9.96169788e-01 -8.70961968e-02 -7.74630637e-03 8.20955917e+02] [ 8.70931015e-02 9.96199904e-01 -7.36662123e-04 6.50520270e+00] [ 7.78103014e-03 5.91907038e-05 9.99969726e-01 3.57587231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.779254154 meters 0.013235593726836827 Centerline is valid? [True, True] Translation: X:821.01, Y:6.51, Z:3.58 [[ 9.95756337e-01 -9.17995882e-02 -6.49258524e-03 8.21014968e+02] [ 9.17975042e-02 9.95777503e-01 -6.18893132e-04 6.50619059e+00] [ 6.52198446e-03 2.02636364e-05 9.99978731e-01 3.57752964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.839254154 meters 0.01697959593463548 Centerline is valid? [True, True] Translation: X:821.07, Y:6.51, Z:3.58 [[ 9.95197482e-01 -9.77320456e-02 -5.51542296e-03 8.21072904e+02] [ 9.77306257e-02 9.95212765e-01 -5.27014567e-04 6.50709072e+00] [ 5.54052554e-03 -1.45421671e-05 9.99984651e-01 3.57600421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.899254154 meters 0.013291548634302671 Centerline is valid? [True, True] Translation: X:821.13, Y:6.51, Z:3.58 [[ 9.95143081e-01 -9.83729691e-02 -3.60669779e-03 8.21131030e+02] [ 9.83723639e-02 9.95149616e-01 -3.45227219e-04 6.51072348e+00] [ 3.62316494e-03 -1.12489093e-05 9.99993436e-01 3.57993142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.959254154 meters 0.013413526367851971 Centerline is valid? [True, True] Translation: X:821.19, Y:6.52, Z:3.58 [[ 9.95352207e-01 -9.62813308e-02 -1.97222338e-03 8.21188585e+02] [ 9.62811458e-02 9.95354161e-01 -1.88742382e-04 6.51761129e+00] [ 1.98123311e-03 -2.02277996e-06 9.99998037e-01 3.58022131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.019254154 meters 0.015160478054330025 Centerline is valid? [True, True] Translation: X:821.25, Y:6.53, Z:3.58 [[ 9.95957123e-01 -8.96970574e-02 -4.88342265e-03 8.21245996e+02] [ 8.96958280e-02 9.95969094e-01 -4.70636658e-04 6.52741696e+00] [ 4.90595276e-03 3.07112936e-05 9.99987965e-01 3.57506319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.079254154 meters 0.014247146425885824 Centerline is valid? [True, True] Translation: X:821.30, Y:6.54, Z:3.57 [[ 9.96449654e-01 -8.38176474e-02 -7.91758354e-03 8.21302891e+02] [ 8.38142216e-02 9.96481105e-01 -7.64086365e-04 6.53643564e+00] [ 7.95376631e-03 9.77674929e-05 9.99968364e-01 3.57397898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.139254154 meters 0.01735688431040246 Centerline is valid? [True, True] Translation: X:821.36, Y:6.54, Z:3.57 [[ 9.96706409e-01 -8.05309349e-02 -9.54479346e-03 8.21361023e+02] [ 8.05257875e-02 9.96752098e-01 -9.22998715e-04 6.54412783e+00] [ 9.58812285e-03 1.51356725e-04 9.99954021e-01 3.57093939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.199254154 meters 0.01789644994796935 Centerline is valid? [True, True] Translation: X:821.42, Y:6.55, Z:3.57 [[ 9.96892969e-01 -7.82670993e-02 -8.86954626e-03 8.21419012e+02] [ 7.82625522e-02 9.96932412e-01 -8.59132008e-04 6.55062472e+00] [ 8.90957992e-03 1.62309331e-04 9.99960296e-01 3.57146015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.259254154 meters 0.01633005207048231 Centerline is valid? [True, True] Translation: X:821.48, Y:6.55, Z:3.57 [[ 9.96882708e-01 -7.85158122e-02 -7.75459477e-03 8.21476783e+02] [ 7.85123333e-02 9.96912858e-01 -7.52499022e-04 6.55157397e+00] [ 7.78973831e-03 1.41321933e-04 9.99969650e-01 3.57361760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.319254154 meters 0.015759516891616383 Centerline is valid? [True, True] Translation: X:821.54, Y:6.55, Z:3.57 [[ 9.96747558e-01 -8.02262398e-02 -7.61941792e-03 8.21535374e+02] [ 8.02229146e-02 9.96776672e-01 -7.41541560e-04 6.55303304e+00] [ 7.65434913e-03 1.27877826e-04 9.99970697e-01 3.57433754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.379254154 meters 0.016168096839921722 Centerline is valid? [True, True] Translation: X:821.59, Y:6.56, Z:3.57 [[ 9.96723099e-01 -8.05050989e-02 -7.87362188e-03 8.21593737e+02] [ 8.05015390e-02 9.96754188e-01 -7.68518137e-04 6.55665572e+00] [ 7.90993521e-03 1.32161100e-04 9.99968707e-01 3.57426565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.439254154 meters 0.016632588336541927 Centerline is valid? [True, True] Translation: X:821.65, Y:6.56, Z:3.57 [[ 9.96818290e-01 -7.92102849e-02 -8.88976337e-03 8.21652376e+02] [ 7.92056720e-02 9.96857916e-01 -8.70333138e-04 6.55967655e+00] [ 8.93077032e-03 1.63444308e-04 9.99960107e-01 3.57384406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.499254154 meters 0.01801645638587225 Centerline is valid? [True, True] Translation: X:821.71, Y:6.56, Z:3.57 [[ 9.97046939e-01 -7.59697668e-02 -1.12248041e-02 8.21710858e+02] [ 7.59621838e-02 9.97110091e-01 -1.10098046e-03 6.56267107e+00] [ 1.12760067e-02 2.45068562e-04 9.99936394e-01 3.57313447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.559254154 meters 0.017446615854693887 Centerline is valid? [True, True] Translation: X:821.77, Y:6.57, Z:3.57 [[ 9.97257632e-01 -7.29493019e-02 -1.24745598e-02 8.21769610e+02] [ 7.29396692e-02 9.97335601e-01 -1.22602314e-03 6.56798447e+00] [ 1.25307601e-02 3.12770669e-04 9.99921438e-01 3.57329208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.619254154 meters 0.01679296604311959 Centerline is valid? [True, True] Translation: X:821.83, Y:6.57, Z:3.57 [[ 9.97397103e-01 -7.08340888e-02 -1.34740452e-02 8.21828592e+02] [ 7.08226091e-02 9.97488042e-01 -1.32783640e-03 6.56666971e+00] [ 1.35342550e-02 3.70113142e-04 9.99908339e-01 3.57385103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.679254154 meters 0.01907942220306104 Centerline is valid? [True, True] Translation: X:821.89, Y:6.57, Z:3.57 [[ 9.97374553e-01 -7.12124092e-02 -1.31451125e-02 8.21886394e+02] [ 7.12014665e-02 9.97461109e-01 -1.29917722e-03 6.56861878e+00] [ 1.32042560e-02 3.59815015e-04 9.99912755e-01 3.57281289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7392541539999 meters 0.017030363645909066 Centerline is valid? [True, True] Translation: X:821.95, Y:6.57, Z:3.58 [[ 9.97520700e-01 -6.94665819e-02 -1.12626403e-02 8.21945692e+02] [ 6.94584043e-02 9.97584224e-01 -1.11608401e-03 6.56863086e+00] [ 1.13129628e-02 3.31031883e-04 9.99935952e-01 3.57724335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.799254154 meters 0.02053367445054956 Centerline is valid? [True, True] Translation: X:822.00, Y:6.57, Z:3.58 [[ 9.97765885e-01 -6.60175944e-02 -1.02428718e-02 8.22003863e+02] [ 6.60106348e-02 9.97818402e-01 -1.01641851e-03 6.57441677e+00] [ 1.02876275e-02 3.38009242e-04 9.99947024e-01 3.57710684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8592541539999 meters 0.019412370945078923 Centerline is valid? [True, True] Translation: X:822.06, Y:6.58, Z:3.58 [[ 9.97873740e-01 -6.39610632e-02 -1.25292383e-02 8.22062820e+02] [ 6.39504783e-02 9.97952298e-01 -1.24405369e-03 6.57916589e+00] [ 1.25831532e-02 4.40157725e-04 9.99920732e-01 3.57745741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.919254154 meters 0.019259975719711032 Centerline is valid? [True, True] Translation: X:822.12, Y:6.59, Z:3.58 [[ 9.97889741e-01 -6.33858438e-02 -1.40819121e-02 8.22121128e+02] [ 6.33723755e-02 9.97988967e-01 -1.40104907e-03 6.58600993e+00] [ 1.41423996e-02 5.05688272e-04 9.99899863e-01 3.57634901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9792541539999 meters 0.022958134826659912 Centerline is valid? [True, True] Translation: X:822.18, Y:6.60, Z:3.57 [[ 9.97943957e-01 -6.23619105e-02 -1.47936020e-02 8.22178405e+02] [ 6.23469017e-02 9.98053451e-01 -1.47402804e-03 6.59758678e+00] [ 1.48567287e-02 5.48662132e-04 9.99889482e-01 3.57310509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.039254154 meters 0.022217520095999997 Centerline is valid? [True, True] Translation: X:822.24, Y:6.60, Z:3.57 [[ 9.97901684e-01 -6.30341757e-02 -1.47959842e-02 8.22237244e+02] [ 6.30191893e-02 9.98011222e-01 -1.47739856e-03 6.60122123e+00] [ 1.48596848e-02 5.41867582e-04 9.99889442e-01 3.57387427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0992541539999 meters 0.021408869048781084 Centerline is valid? [True, True] Translation: X:822.30, Y:6.61, Z:3.58 [[ 9.97862765e-01 -6.36860805e-02 -1.46282347e-02 8.22295690e+02] [ 6.36714458e-02 9.97969840e-01 -1.46446838e-03 6.60665760e+00] [ 1.46918033e-02 5.29937614e-04 9.99891929e-01 3.57518696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.159254154 meters 0.019843785141635033 Centerline is valid? [True, True] Translation: X:822.35, Y:6.61, Z:3.58 [[ 9.97858636e-01 -6.39971615e-02 -1.35094646e-02 8.22354511e+02] [ 6.39846619e-02 9.97949961e-01 -1.35589588e-03 6.61395533e+00] [ 1.35685432e-02 4.88593890e-04 9.99907824e-01 3.57815708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.2192541539999 meters 0.020010298359876152 Centerline is valid? [True, True] Translation: X:822.41, Y:6.62, Z:3.58 [[ 9.97781384e-01 -6.54144576e-02 -1.23797672e-02 8.22413362e+02] [ 6.54040317e-02 9.97858087e-01 -1.24560147e-03 6.62131373e+00] [ 1.24347312e-02 4.33151273e-04 9.99922592e-01 3.57850904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.279254154 meters 0.01883577036351033 Centerline is valid? [True, True] Translation: X:822.47, Y:6.63, Z:3.58 [[ 9.97664511e-01 -6.74334868e-02 -1.08742258e-02 8.22471668e+02] [ 6.74255332e-02 9.97723706e-01 -1.09679570e-03 6.62648717e+00] [ 1.09234337e-02 3.61033672e-04 9.99940272e-01 3.58025199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.339254154 meters 0.020303409740055966 Centerline is valid? [True, True] Translation: X:822.53, Y:6.64, Z:3.58 [[ 9.97662672e-01 -6.75386600e-02 -1.03789574e-02 8.22528317e+02] [ 6.75314008e-02 9.97716598e-01 -1.04869637e-03 6.63534175e+00] [ 1.04260856e-02 3.45339698e-04 9.99945587e-01 3.57939598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.399254154 meters 0.022403277249363213 Centerline is valid? [True, True] Translation: X:822.59, Y:6.64, Z:3.58 [[ 9.97703968e-01 -6.66975890e-02 -1.17568769e-02 8.22586590e+02] [ 6.66881863e-02 9.97773155e-01 -1.19043247e-03 6.64444700e+00] [ 1.18100951e-02 4.03654405e-04 9.99930177e-01 3.57693958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.459254154 meters 0.021451950669230363 Centerline is valid? [True, True] Translation: X:822.65, Y:6.66, Z:3.58 [[ 9.98011275e-01 -6.17216304e-02 -1.28036904e-02 8.22646169e+02] [ 6.17100540e-02 9.98093275e-01 -1.29763984e-03 6.65638007e+00] [ 1.28593697e-02 5.04942765e-04 9.99917187e-01 3.57803550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.519254154 meters 0.022247860389074114 Centerline is valid? [True, True] Translation: X:822.71, Y:6.67, Z:3.58 [[ 9.98245137e-01 -5.76014159e-02 -1.37376293e-02 8.22705928e+02] [ 5.75876993e-02 9.98339481e-01 -1.39229351e-03 6.66710570e+00] [ 1.37950158e-02 5.98731763e-04 9.99904665e-01 3.57756308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.579254154 meters 0.02823436018848718 Centerline is valid? [True, True] Translation: X:822.76, Y:6.68, Z:3.57 [[ 9.98326164e-01 -5.57138705e-02 -1.55188506e-02 8.22763338e+02] [ 5.56961288e-02 9.98446526e-01 -1.57342982e-03 6.68348508e+00] [ 1.55824043e-02 7.06456258e-04 9.99878337e-01 3.57209797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.639254154 meters 0.025628182055633726 Centerline is valid? [True, True] Translation: X:822.82, Y:6.69, Z:3.58 [[ 9.98430664e-01 -5.38540764e-02 -1.53606152e-02 8.22822303e+02] [ 5.38364622e-02 9.98548550e-01 -1.55821693e-03 6.69020504e+00] [ 1.54222363e-02 7.28810383e-04 9.99880805e-01 3.57540932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.699254154 meters 0.024777494264556516 Centerline is valid? [True, True] Translation: X:822.88, Y:6.70, Z:3.58 [[ 9.98461146e-01 -5.28452665e-02 -1.68142100e-02 8.22880429e+02] [ 5.28239843e-02 9.98602379e-01 -1.70765902e-03 6.69692469e+00] [ 1.68809518e-02 8.16837616e-04 9.99857173e-01 3.57559974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.759254154 meters 0.024373824746083506 Centerline is valid? [True, True] Translation: X:822.94, Y:6.70, Z:3.58 [[ 9.98479105e-01 -5.26599992e-02 -1.63218044e-02 8.22939100e+02] [ 5.26398598e-02 9.98612179e-01 -1.66136355e-03 6.70401190e+00] [ 1.63866400e-02 7.99659301e-04 9.99865410e-01 3.57656184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.819254154 meters 0.02496447020120754 Centerline is valid? [True, True] Translation: X:823.00, Y:6.71, Z:3.58 [[ 9.98479235e-01 -5.26456465e-02 -1.63600905e-02 8.22997825e+02] [ 5.26253408e-02 9.98612931e-01 -1.66951156e-03 6.71316365e+00] [ 1.64252905e-02 8.06017287e-04 9.99864771e-01 3.57742499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.879254154 meters 0.024667260895703435 Centerline is valid? [True, True] Translation: X:823.06, Y:6.72, Z:3.58 [[ 9.98196048e-01 -5.75116951e-02 -1.72352832e-02 8.23056796e+02] [ 5.74898531e-02 9.98344538e-01 -1.76048588e-03 6.71847050e+00] [ 1.73079994e-02 7.66456146e-04 9.99849912e-01 3.57650777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.939254154 meters 0.02296180766363976 Centerline is valid? [True, True] Translation: X:823.12, Y:6.72, Z:3.58 [[ 9.97851290e-01 -6.31921548e-02 -1.73076681e-02 8.23117074e+02] [ 6.31709740e-02 9.98001153e-01 -1.76831751e-03 6.72046634e+00] [ 1.73848165e-02 6.71175659e-04 9.99848647e-01 3.57610837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.999254154 meters 0.018289859846901225 Centerline is valid? [True, True] Translation: X:823.18, Y:6.72, Z:3.58 [[ 9.97296710e-01 -7.17437913e-02 -1.58776776e-02 8.23177655e+02] [ 7.17270452e-02 9.97422979e-01 -1.62238922e-03 6.71696470e+00] [ 1.59531568e-02 4.79144536e-04 9.99872625e-01 3.58002872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.059254154 meters 0.017962163994745227 Centerline is valid? [True, True] Translation: X:823.24, Y:6.72, Z:3.58 [[ 9.96850845e-01 -7.77027482e-02 -1.58327151e-02 8.23237395e+02] [ 7.76868404e-02 9.96976497e-01 -1.61824813e-03 6.71841357e+00] [ 1.59105872e-02 3.83158410e-04 9.99873345e-01 3.57951629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.119254154 meters 0.01745207540742585 Centerline is valid? [True, True] Translation: X:823.30, Y:6.72, Z:3.58 [[ 9.96460143e-01 -8.25296250e-02 -1.60013562e-02 8.23296594e+02] [ 8.25139820e-02 9.96588563e-01 -1.63649011e-03 6.72020082e+00] [ 1.60818275e-02 3.10361551e-04 9.99870631e-01 3.57982800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.179254154 meters 0.015610953768483243 Centerline is valid? [True, True] Translation: X:823.36, Y:6.72, Z:3.58 [[ 9.96223571e-01 -8.52670459e-02 -1.63746101e-02 8.23355605e+02] [ 8.52509779e-02 9.96358096e-01 -1.67807500e-03 6.72171760e+00] [ 1.64580599e-02 2.75786339e-04 9.99864519e-01 3.58123302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2392541539999 meters 0.016996480980162598 Centerline is valid? [True, True] Translation: X:823.41, Y:6.73, Z:3.58 [[ 9.96186721e-01 -8.53934524e-02 -1.78878649e-02 8.23414180e+02] [ 8.53742134e-02 9.96347262e-01 -1.83782380e-03 6.72700226e+00] [ 1.79794633e-02 3.03653270e-04 9.99838310e-01 3.57909707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.299254154 meters 0.019568100838031816 Centerline is valid? [True, True] Translation: X:823.47, Y:6.73, Z:3.58 [[ 9.96390854e-01 -8.24445739e-02 -2.02029162e-02 8.23472729e+02] [ 8.24193834e-02 9.96595569e-01 -2.07778163e-03 6.73424232e+00] [ 2.03054386e-02 4.05170723e-04 9.99793741e-01 3.57662749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3592541539999 meters 0.01712366106514005 Centerline is valid? [True, True] Translation: X:823.53, Y:6.74, Z:3.58 [[ 9.96754319e-01 -7.77781642e-02 -2.07698093e-02 8.23531522e+02] [ 7.77505035e-02 9.96970557e-01 -2.13721207e-03 6.73997073e+00] [ 2.08731167e-02 5.15412231e-04 9.99782000e-01 3.57948704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.419254154 meters 0.017554518410709003 Centerline is valid? [True, True] Translation: X:823.59, Y:6.74, Z:3.58 [[ 9.96722377e-01 -7.79287184e-02 -2.17167877e-02 8.23589067e+02] [ 7.78984742e-02 9.96958789e-01 -2.23644373e-03 6.74303730e+00] [ 2.18250255e-02 5.37408890e-04 9.99761661e-01 3.57868934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4792541539999 meters 0.018815667859715543 Centerline is valid? [True, True] Translation: X:823.65, Y:6.75, Z:3.58 [[ 9.96421826e-01 -8.15133552e-02 -2.23409462e-02 8.23646867e+02] [ 8.14822032e-02 9.96672137e-01 -2.30268903e-03 6.74526030e+00] [ 2.24542985e-02 4.74060091e-04 9.99747758e-01 3.57745429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.539254154 meters 0.014431922588244129 Centerline is valid? [True, True] Translation: X:823.71, Y:6.74, Z:3.58 [[ 9.95906369e-01 -8.83801958e-02 -1.89590291e-02 8.23708094e+02] [ 8.83589941e-02 9.96086777e-01 -1.95470749e-03 6.73952280e+00] [ 1.90575956e-02 2.71504902e-04 9.99818351e-01 3.58455804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5992541539999 meters 0.014181148784687108 Centerline is valid? [True, True] Translation: X:823.77, Y:6.74, Z:3.58 [[ 9.95421287e-01 -9.40306050e-02 -1.71670492e-02 8.23765947e+02] [ 9.40140406e-02 9.95569296e-01 -1.77118552e-03 6.74072685e+00] [ 1.72575327e-02 1.49132111e-04 9.99851067e-01 3.58405701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.659254154 meters 0.014982567836374644 Centerline is valid? [True, True] Translation: X:823.83, Y:6.74, Z:3.59 [[ 9.94747687e-01 -1.01064073e-01 -1.62201231e-02 8.23825541e+02] [ 1.01050164e-01 9.94879919e-01 -1.67689733e-03 6.73819081e+00] [ 1.63065488e-02 2.90436356e-05 9.99867039e-01 3.58680313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.7192541539999 meters 0.01424447086411986 Centerline is valid? [True, True] Translation: X:823.88, Y:6.74, Z:3.59 [[ 9.94608701e-01 -1.02550522e-01 -1.53923076e-02 8.23883845e+02] [ 1.02538109e-01 9.94727797e-01 -1.59555858e-03 6.74159011e+00] [ 1.54747815e-02 8.65833781e-06 9.99880258e-01 3.58768046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.779254154 meters 0.01617153846510366 Centerline is valid? [True, True] Translation: X:823.94, Y:6.75, Z:3.59 [[ 9.94664459e-01 -1.01821007e-01 -1.65860507e-02 8.23942495e+02] [ 1.01806417e-01 9.94802735e-01 -1.72385690e-03 6.74905466e+00] [ 1.66753735e-02 2.60927882e-05 9.99860956e-01 3.58678866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.839254154 meters 0.013561087798313356 Centerline is valid? [True, True] Translation: X:824.00, Y:6.76, Z:3.59 [[ 9.94845474e-01 -1.00164033e-01 -1.58003083e-02 8.23999595e+02] [ 1.00150513e-01 9.94970936e-01 -1.64664593e-03 6.75672085e+00] [ 1.58857823e-02 5.57492709e-05 9.99873811e-01 3.58765502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.899254154 meters 0.013519923891825224 Centerline is valid? [True, True] Translation: X:824.06, Y:6.76, Z:3.59 [[ 9.94810047e-01 -1.00595969e-01 -1.52781247e-02 8.24056806e+02] [ 1.00583311e-01 9.94927358e-01 -1.59662461e-03 6.76382438e+00] [ 1.53612382e-02 5.16138372e-05 9.99882008e-01 3.58833882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.959254154 meters 0.015149882514903467 Centerline is valid? [True, True] Translation: X:824.12, Y:6.77, Z:3.59 [[ 9.94585562e-01 -1.02966849e-01 -1.40494761e-02 8.24115695e+02] [ 1.02956330e-01 9.94684788e-01 -1.47186649e-03 6.77039407e+00] [ 1.41263536e-02 1.74146636e-05 9.99900218e-01 3.58949257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.019254154 meters 0.01498034758922705 Centerline is valid? [True, True] Translation: X:824.17, Y:6.78, Z:3.59 [[ 9.94572583e-01 -1.03126728e-01 -1.37932804e-02 8.24171897e+02] [ 1.03116573e-01 9.94668225e-01 -1.44731101e-03 6.77860733e+00] [ 1.38689942e-02 1.71400537e-05 9.99903821e-01 3.58934566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.079254154 meters 0.013464580075502731 Centerline is valid? [True, True] Translation: X:824.23, Y:6.79, Z:3.59 [[ 9.94710089e-01 -1.01721859e-01 -1.43004131e-02 8.24229192e+02] [ 1.01710777e-01 9.94812878e-01 -1.50196991e-03 6.78747202e+00] [ 1.43790182e-02 3.95184911e-05 9.99896616e-01 3.58869272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.139254154 meters 0.016181786945147224 Centerline is valid? [True, True] Translation: X:824.29, Y:6.80, Z:3.59 [[ 9.94891999e-01 -9.93627928e-02 -1.78029936e-02 8.24287015e+02] [ 9.93451703e-02 9.95051268e-01 -1.87372572e-03 6.79906750e+00] [ 1.79010700e-02 9.55133023e-05 9.99839758e-01 3.58576839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.199254154 meters 0.015561508403021616 Centerline is valid? [True, True] Translation: X:824.35, Y:6.81, Z:3.59 [[ 9.95095973e-01 -9.71790425e-02 -1.84455266e-02 8.24345275e+02] [ 9.71596617e-02 9.95266905e-01 -1.94609202e-03 6.80899865e+00] [ 1.85473415e-02 1.44387207e-04 9.99827973e-01 3.58599770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.259254154 meters 0.01397829605790305 Centerline is valid? [True, True] Translation: X:824.40, Y:6.82, Z:3.59 [[ 9.95377858e-01 -9.43926485e-02 -1.76903443e-02 8.24403627e+02] [ 9.43743021e-02 9.95535027e-01 -1.87092111e-03 6.81922417e+00] [ 1.77879586e-02 1.92759553e-04 9.99841763e-01 3.58839084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.319254154 meters 0.015863239062446095 Centerline is valid? [True, True] Translation: X:824.46, Y:6.83, Z:3.59 [[ 9.95459613e-01 -9.37480204e-02 -1.64762728e-02 8.24461473e+02] [ 9.37319421e-02 9.95595937e-01 -1.74708695e-03 6.82922142e+00] [ 1.65674962e-02 1.94801450e-04 9.99862731e-01 3.58757537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.379254154 meters 0.014440944181178894 Centerline is valid? [True, True] Translation: X:824.52, Y:6.84, Z:3.59 [[ 9.95585434e-01 -9.27633318e-02 -1.43041147e-02 8.24518512e+02] [ 9.27510550e-02 9.95688169e-01 -1.52072507e-03 6.83748688e+00] [ 1.43835053e-02 1.87289995e-04 9.99896534e-01 3.59070064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.439254154 meters 0.01466675455356929 Centerline is valid? [True, True] Translation: X:824.58, Y:6.85, Z:3.59 [[ 9.95675886e-01 -9.18658624e-02 -1.37910830e-02 8.24577151e+02] [ 9.18543148e-02 9.95771372e-01 -1.46975926e-03 6.84605166e+00] [ 1.38677863e-02 1.96633373e-04 9.99903818e-01 3.59105828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.499254154 meters 0.015338586346650269 Centerline is valid? [True, True] Translation: X:824.64, Y:6.86, Z:3.59 [[ 9.95870358e-01 -8.95889450e-02 -1.46986714e-02 8.24635526e+02] [ 8.95755242e-02 9.95978795e-01 -1.57022253e-03 6.85517754e+00] [ 1.47802396e-02 2.47096884e-04 9.99890736e-01 3.59041447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.559254154 meters 0.017295471682418063 Centerline is valid? [True, True] Translation: X:824.69, Y:6.86, Z:3.59 [[ 9.95918018e-01 -8.86357690e-02 -1.70587627e-02 8.24694089e+02] [ 8.86174731e-02 9.96064057e-01 -1.82694370e-03 6.86093664e+00] [ 1.71535530e-02 3.07781704e-04 9.99852820e-01 3.58855895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.619254154 meters 0.015738532076117705 Centerline is valid? [True, True] Translation: X:824.75, Y:6.87, Z:3.59 [[ 9.95958901e-01 -8.79979734e-02 -1.79506023e-02 8.24752900e+02] [ 8.79775254e-02 9.96120596e-01 -1.92718828e-03 6.86797475e+00] [ 1.80505533e-02 3.40150751e-04 9.99837018e-01 3.58867919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.679254154 meters 0.015029058426562667 Centerline is valid? [True, True] Translation: X:824.81, Y:6.87, Z:3.59 [[ 9.95890045e-01 -8.86622511e-02 -1.84938565e-02 8.24810693e+02] [ 8.86405598e-02 9.96061688e-01 -1.99095251e-03 6.87260221e+00] [ 1.85975442e-02 3.43463995e-04 9.99826992e-01 3.58995084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7392541539999 meters 0.014636286242302345 Centerline is valid? [True, True] Translation: X:824.87, Y:6.88, Z:3.59 [[ 9.95790183e-01 -9.01420996e-02 -1.66226465e-02 8.24869437e+02] [ 9.01247079e-02 9.95928872e-01 -1.79394536e-03 6.87673727e+00] [ 1.67166836e-02 2.88282015e-04 9.99860225e-01 3.59188700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.799254154 meters 0.014596019661068734 Centerline is valid? [True, True] Translation: X:824.93, Y:6.88, Z:3.59 [[ 9.95699732e-01 -9.13222846e-02 -1.55654485e-02 8.24928509e+02] [ 9.13071162e-02 9.95821357e-01 -1.68386858e-03 6.88172215e+00] [ 1.56541808e-02 2.55391279e-04 9.99877433e-01 3.59293074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8592541539999 meters 0.016142602430927848 Centerline is valid? [True, True] Translation: X:824.99, Y:6.89, Z:3.59 [[ 9.95595763e-01 -9.24109595e-02 -1.57889386e-02 8.24986075e+02] [ 9.23954169e-02 9.95720922e-01 -1.71260139e-03 6.88669205e+00] [ 1.58796396e-02 2.46233126e-04 9.99873880e-01 3.59210027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.919254154 meters 0.015483833670837036 Centerline is valid? [True, True] Translation: X:825.04, Y:6.89, Z:3.59 [[ 9.95783204e-01 -9.03335287e-02 -1.59895065e-02 8.25043992e+02] [ 9.03172742e-02 9.95911528e-01 -1.73726300e-03 6.89360327e+00] [ 1.60810670e-02 2.85808667e-04 9.99870650e-01 3.59231329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9792541539999 meters 0.015503758034376536 Centerline is valid? [True, True] Translation: X:825.10, Y:6.90, Z:3.59 [[ 9.95885927e-01 -8.91900924e-02 -1.60108709e-02 8.25101920e+02] [ 8.91736201e-02 9.96014575e-01 -1.74123330e-03 6.90087336e+00] [ 1.61023615e-02 3.06322422e-04 9.99870302e-01 3.59236852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.039254154 meters 0.016844196328623093 Centerline is valid? [True, True] Translation: X:825.16, Y:6.91, Z:3.59 [[ 9.96164822e-01 -8.58700789e-02 -1.67921490e-02 8.25159771e+02] [ 8.58514623e-02 9.96306271e-01 -1.82772715e-03 6.90953523e+00] [ 1.68870704e-02 3.79086943e-04 9.99857331e-01 3.59123117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0992541539999 meters 0.018620815149766348 Centerline is valid? [True, True] Translation: X:825.22, Y:6.92, Z:3.59 [[ 9.96258679e-01 -8.45736786e-02 -1.77746189e-02 8.25218430e+02] [ 8.45525452e-02 9.96417136e-01 -1.93847494e-03 6.91670369e+00] [ 1.78748788e-02 4.28333213e-04 9.99840140e-01 3.59006431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.159254154 meters 0.01655311124406949 Centerline is valid? [True, True] Translation: X:825.28, Y:6.92, Z:3.59 [[ 9.96487373e-01 -8.21289835e-02 -1.63629564e-02 8.25277361e+02] [ 8.21106757e-02 9.96621612e-01 -1.78870389e-03 6.92111709e+00] [ 1.64545804e-02 4.38847428e-04 9.99864518e-01 3.59364831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.2192541539999 meters 0.019403663133933515 Centerline is valid? [True, True] Translation: X:825.33, Y:6.93, Z:3.59 [[ 9.96642798e-01 -8.04114462e-02 -1.53991023e-02 8.25334819e+02] [ 8.03949944e-02 9.96761659e-01 -1.68544808e-03 6.92954743e+00] [ 1.54847640e-02 4.41778945e-04 9.99880006e-01 3.59326247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.279254154 meters 0.019537808506124188 Centerline is valid? [True, True] Translation: X:825.39, Y:6.94, Z:3.59 [[ 9.96934444e-01 -7.68989722e-02 -1.44312822e-02 8.25392782e+02] [ 7.68841422e-02 9.97038781e-01 -1.58044830e-03 6.94044100e+00] [ 1.45100829e-02 4.66066595e-04 9.99894615e-01 3.59406728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.339254154 meters 0.021448080783866064 Centerline is valid? [True, True] Translation: X:825.45, Y:6.95, Z:3.59 [[ 9.97138545e-01 -7.40284586e-02 -1.53137113e-02 8.25449885e+02] [ 7.40114052e-02 9.97255983e-01 -1.67812511e-03 6.95206363e+00] [ 1.53959192e-02 5.39933935e-04 9.99881330e-01 3.59245210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.399254154 meters 0.022830292395964888 Centerline is valid? [True, True] Translation: X:825.51, Y:6.96, Z:3.59 [[ 9.97314704e-01 -7.12256720e-02 -1.70377687e-02 8.25508468e+02] [ 7.12041362e-02 9.97460015e-01 -1.86807717e-03 6.96145481e+00] [ 1.71275480e-02 6.49901233e-04 9.99853102e-01 3.59084541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.459254154 meters 0.022976686694226485 Centerline is valid? [True, True] Translation: X:825.57, Y:6.97, Z:3.59 [[ 9.97582625e-01 -6.74499266e-02 -1.67156498e-02 8.25567327e+02] [ 6.74286569e-02 9.97722414e-01 -1.83343379e-03 6.97120822e+00] [ 1.68012434e-02 7.01887880e-04 9.99858603e-01 3.59207262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.519254154 meters 0.023925594900595325 Centerline is valid? [True, True] Translation: X:825.63, Y:6.98, Z:3.59 [[ 9.97723265e-01 -6.55905847e-02 -1.56895682e-02 8.25625004e+02] [ 6.55715984e-02 9.97846381e-01 -1.72205916e-03 6.98175211e+00] [ 1.57687297e-02 6.89348419e-04 9.99875428e-01 3.59215415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.579254154 meters 0.025720253972118277 Centerline is valid? [True, True] Translation: X:825.68, Y:6.99, Z:3.59 [[ 9.97717786e-01 -6.58461297e-02 -1.49501542e-02 8.25682674e+02] [ 6.58288682e-02 9.97829573e-01 -1.64431811e-03 6.99014008e+00] [ 1.50259779e-02 6.56413694e-04 9.99886888e-01 3.59159917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.639254154 meters 0.023062575795566503 Centerline is valid? [True, True] Translation: X:825.74, Y:7.00, Z:3.60 [[ 9.97740665e-01 -6.60319496e-02 -1.23833162e-02 8.25741269e+02] [ 6.60200825e-02 9.97817361e-01 -1.36511646e-03 6.99543819e+00] [ 1.24464292e-02 5.44484645e-04 9.99922392e-01 3.59536458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.699254154 meters 0.023292784967073012 Centerline is valid? [True, True] Translation: X:825.80, Y:7.00, Z:3.60 [[ 9.97705283e-01 -6.66813190e-02 -1.17375113e-02 8.25799502e+02] [ 6.66706673e-02 9.97774193e-01 -1.29688846e-03 7.00379556e+00] [ 1.17978641e-02 5.11364753e-04 9.99930272e-01 3.59576590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.759254154 meters 0.021546190745349785 Centerline is valid? [True, True] Translation: X:825.86, Y:7.01, Z:3.60 [[ 9.97663550e-01 -6.74126626e-02 -1.10893531e-02 8.25858456e+02] [ 6.74031774e-02 9.97725065e-01 -1.22729243e-03 7.01048003e+00] [ 1.11468606e-02 4.76967287e-04 9.99937758e-01 3.59594596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.819254154 meters 0.02395558591617378 Centerline is valid? [True, True] Translation: X:825.92, Y:7.02, Z:3.59 [[ 9.97548705e-01 -6.88478144e-02 -1.25123659e-02 8.25916234e+02] [ 6.88358158e-02 9.97627037e-01 -1.38759887e-03 7.01960137e+00] [ 1.25782076e-02 5.22898543e-04 9.99920754e-01 3.59331600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.879254154 meters 0.023674543954634936 Centerline is valid? [True, True] Translation: X:825.97, Y:7.03, Z:3.59 [[ 9.97506938e-01 -6.94479159e-02 -1.25258034e-02 8.25974997e+02] [ 6.94358999e-02 9.97585444e-01 -1.39216863e-03 7.02880182e+00] [ 1.25922423e-02 5.18957433e-04 9.99920580e-01 3.59339594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.939254154 meters 0.024363476248998154 Centerline is valid? [True, True] Translation: X:826.03, Y:7.04, Z:3.59 [[ 9.97426188e-01 -7.05235161e-02 -1.29396034e-02 8.26031694e+02] [ 7.05107545e-02 9.97509979e-01 -1.44038314e-03 7.03876910e+00] [ 1.30089644e-02 5.24294663e-04 9.99915242e-01 3.59202249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.999254154 meters 0.020379427312165493 Centerline is valid? [True, True] Translation: X:826.09, Y:7.04, Z:3.59 [[ 9.97270695e-01 -7.23331089e-02 -1.48014382e-02 8.26091099e+02] [ 7.23165614e-02 9.97380364e-01 -1.65085264e-03 7.04234242e+00] [ 1.48820751e-02 5.75957848e-04 9.99889090e-01 3.59246414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.059254154 meters 0.021524617368192438 Centerline is valid? [True, True] Translation: X:826.15, Y:7.05, Z:3.59 [[ 9.97139264e-01 -7.39467571e-02 -1.56577654e-02 8.26147968e+02] [ 7.39284037e-02 9.97262019e-01 -1.74853708e-03 7.05183275e+00] [ 1.57441934e-02 5.85981373e-04 9.99875881e-01 3.59164987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.119254154 meters 0.020943853241075124 Centerline is valid? [True, True] Translation: X:826.21, Y:7.06, Z:3.59 [[ 9.97015233e-01 -7.58626194e-02 -1.43348575e-02 8.26206575e+02] [ 7.58474186e-02 9.97118149e-01 -1.60189093e-03 7.05971877e+00] [ 1.44150703e-02 5.09847717e-04 9.99895967e-01 3.59302912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.179254154 meters 0.019156312572075805 Centerline is valid? [True, True] Translation: X:826.27, Y:7.06, Z:3.59 [[ 9.96867725e-01 -7.78961330e-02 -1.36722748e-02 8.26265270e+02] [ 7.78824588e-02 9.96961373e-01 -1.53055817e-03 7.06435608e+00] [ 1.37499544e-02 4.60933664e-04 9.99905359e-01 3.59450019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2392541539999 meters 0.017797845737815458 Centerline is valid? [True, True] Translation: X:826.32, Y:7.07, Z:3.60 [[ 9.96683854e-01 -8.02992000e-02 -1.31656020e-02 8.26323641e+02] [ 8.02866846e-02 9.96770719e-01 -1.47725901e-03 7.06912733e+00] [ 1.32417092e-02 4.15337673e-04 9.99912238e-01 3.59593611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.299254154 meters 0.018590593501236725 Centerline is valid? [True, True] Translation: X:826.38, Y:7.08, Z:3.60 [[ 9.96661559e-01 -8.05493900e-02 -1.33241474e-02 8.26379967e+02] [ 8.05365624e-02 9.96750530e-01 -1.49738611e-03 7.07922899e+00] [ 1.34014645e-02 4.19306150e-04 9.99910108e-01 3.59581093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3592541539999 meters 0.018955679915469644 Centerline is valid? [True, True] Translation: X:826.44, Y:7.09, Z:3.60 [[ 9.96671384e-01 -8.03587371e-02 -1.37340724e-02 8.26438245e+02] [ 8.03450487e-02 9.96765911e-01 -1.54643808e-03 7.08836445e+00] [ 1.38139250e-02 4.37825867e-04 9.99904487e-01 3.59575961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.419254154 meters 0.020165414576299702 Centerline is valid? [True, True] Translation: X:826.50, Y:7.10, Z:3.59 [[ 9.96740319e-01 -7.92476524e-02 -1.51177241e-02 8.26496618e+02] [ 7.92308777e-02 9.96854832e-01 -1.70627269e-03 7.09726160e+00] [ 1.52053945e-02 5.02920238e-04 9.99884265e-01 3.59455026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4792541539999 meters 0.019357819196565575 Centerline is valid? [True, True] Translation: X:826.56, Y:7.11, Z:3.60 [[ 9.96830085e-01 -7.82115477e-02 -1.45854545e-02 8.26555129e+02] [ 7.81957675e-02 9.96936658e-01 -1.64996200e-03 7.10666417e+00] [ 1.46698203e-02 5.04210947e-04 9.99892265e-01 3.59613279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.539254154 meters 0.021107179798066037 Centerline is valid? [True, True] Translation: X:826.61, Y:7.12, Z:3.59 [[ 9.96806765e-01 -7.83087815e-02 -1.56207773e-02 8.26613722e+02] [ 7.82906277e-02 9.96929005e-01 -1.77125003e-03 7.11541329e+00] [ 1.57115104e-02 5.42633556e-04 9.99876419e-01 3.59408073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5992541539999 meters 0.020476855335516343 Centerline is valid? [True, True] Translation: X:826.67, Y:7.13, Z:3.60 [[ 9.96917779e-01 -7.70954202e-02 -1.45340157e-02 8.26672212e+02] [ 7.70795219e-02 9.97023580e-01 -1.65171291e-03 7.12513487e+00] [ 1.46180959e-02 5.26346989e-04 9.99893011e-01 3.59650749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.659254154 meters 0.02426502295899607 Centerline is valid? [True, True] Translation: X:826.73, Y:7.14, Z:3.59 [[ 9.97063617e-01 -7.51338440e-02 -1.48003348e-02 8.26729042e+02] [ 7.51171107e-02 9.97173297e-01 -1.68407481e-03 7.13826464e+00] [ 1.48850297e-02 5.67371331e-04 9.99889051e-01 3.59475343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.7192541539999 meters 0.023773097924116065 Centerline is valid? [True, True] Translation: X:826.79, Y:7.15, Z:3.59 [[ 9.97337422e-01 -7.12650431e-02 -1.54712849e-02 8.26787721e+02] [ 7.12462771e-02 9.97457200e-01 -1.76145883e-03 7.14576346e+00] [ 1.55574750e-02 6.54497353e-04 9.99878761e-01 3.59451488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.779254154 meters 0.024987238893425703 Centerline is valid? [True, True] Translation: X:826.85, Y:7.16, Z:3.60 [[ 9.97638258e-01 -6.69960808e-02 -1.51469880e-02 8.26846196e+02] [ 6.69775954e-02 9.97752989e-01 -1.72497713e-03 7.15911252e+00] [ 1.52285193e-02 7.06394346e-04 9.99883790e-01 3.59624573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.839254154 meters 0.027596636550932543 Centerline is valid? [True, True] Translation: X:826.90, Y:7.17, Z:3.60 [[ 9.97687473e-01 -6.63208383e-02 -1.48745893e-02 8.26903316e+02] [ 6.63029145e-02 9.97798100e-01 -1.69546071e-03 7.17078007e+00] [ 1.49542813e-02 7.05311292e-04 9.99887930e-01 3.59605804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.899254154 meters 0.026561319487480195 Centerline is valid? [True, True] Translation: X:826.96, Y:7.18, Z:3.60 [[ 9.97768395e-01 -6.50875443e-02 -1.48943402e-02 8.26962006e+02] [ 6.50693870e-02 9.97879292e-01 -1.70096721e-03 7.17875062e+00] [ 1.49734654e-02 7.28005737e-04 9.99887626e-01 3.59777796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.959254154 meters 0.025276845349368852 Centerline is valid? [True, True] Translation: X:827.02, Y:7.18, Z:3.60 [[ 9.97757737e-01 -6.51738005e-02 -1.52274203e-02 8.27020354e+02] [ 6.51547711e-02 9.97873648e-01 -1.74298510e-03 7.18328806e+00] [ 1.53086384e-02 7.46937783e-04 9.99882537e-01 3.59734699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.019254154 meters 0.028090996109760374 Centerline is valid? [True, True] Translation: X:827.08, Y:7.19, Z:3.60 [[ 9.97630703e-01 -6.70254202e-02 -1.55104406e-02 8.27077311e+02] [ 6.70058658e-02 9.97750998e-01 -1.77757379e-03 7.19235740e+00] [ 1.55947002e-02 7.34071692e-04 9.99878126e-01 3.59549721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.079254154 meters 0.0258804409449586 Centerline is valid? [True, True] Translation: X:827.14, Y:7.20, Z:3.60 [[ 9.97416070e-01 -7.04075171e-02 -1.42816402e-02 8.27136671e+02] [ 7.03912739e-02 9.97518114e-01 -1.63747444e-03 7.19785908e+00] [ 1.43614853e-02 6.27940470e-04 9.99896671e-01 3.59758105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.139254154 meters 0.023975447500804766 Centerline is valid? [True, True] Translation: X:827.20, Y:7.20, Z:3.60 [[ 9.97165289e-01 -7.39529858e-02 -1.38687386e-02 8.27196779e+02] [ 7.39380061e-02 9.97261571e-01 -1.59045425e-03 7.20319190e+00] [ 1.39483789e-02 5.60518897e-04 9.99902560e-01 3.59977478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.199254154 meters 0.019749962787672642 Centerline is valid? [True, True] Translation: X:827.26, Y:7.20, Z:3.60 [[ 9.96650851e-01 -8.04383167e-02 -1.47227184e-02 8.27257222e+02] [ 8.04221376e-02 9.96759464e-01 -1.68865376e-03 7.20255175e+00] [ 1.48108413e-02 4.98965721e-04 9.99890189e-01 3.60078437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.259254154 meters 0.017087752723997183 Centerline is valid? [True, True] Translation: X:827.32, Y:7.20, Z:3.60 [[ 9.96169739e-01 -8.61415942e-02 -1.50158881e-02 8.27317976e+02] [ 8.61254070e-02 9.96282815e-01 -1.72255862e-03 7.20301393e+00] [ 1.51084552e-02 4.22711292e-04 9.99885771e-01 3.60203069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.319254154 meters 0.017470519284414787 Centerline is valid? [True, True] Translation: X:827.38, Y:7.21, Z:3.60 [[ 9.95863739e-01 -8.95417043e-02 -1.54174162e-02 8.27376067e+02] [ 8.95250328e-02 9.95983000e-01 -1.76952045e-03 7.20954277e+00] [ 1.55139303e-02 3.81956559e-04 9.99879579e-01 3.60141200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.379254154 meters 0.01716309064251972 Centerline is valid? [True, True] Translation: X:827.43, Y:7.21, Z:3.60 [[ 9.95743525e-01 -9.07190536e-02 -1.62752901e-02 8.27434502e+02] [ 9.07005759e-02 9.95876450e-01 -1.87141461e-03 7.21414251e+00] [ 1.63779511e-02 3.87270795e-04 9.99865797e-01 3.60127252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.439254154 meters 0.017745502540217013 Centerline is valid? [True, True] Translation: X:827.49, Y:7.22, Z:3.60 [[ 9.95878475e-01 -8.90826793e-02 -1.70393407e-02 8.27491582e+02] [ 8.90621364e-02 9.96024139e-01 -1.96218715e-03 7.22302091e+00] [ 1.71463915e-02 4.36539863e-04 9.99852895e-01 3.60111390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.499254154 meters 0.019321049221485462 Centerline is valid? [True, True] Translation: X:827.55, Y:7.23, Z:3.60 [[ 9.95955398e-01 -8.77624933e-02 -1.92507380e-02 8.27549839e+02] [ 8.77359377e-02 9.96141291e-01 -2.22135121e-03 7.23021822e+00] [ 1.93714064e-02 5.23385177e-04 9.99812220e-01 3.59875667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.559254154 meters 0.018214130291173167 Centerline is valid? [True, True] Translation: X:827.61, Y:7.24, Z:3.60 [[ 9.96116337e-01 -8.59848550e-02 -1.89432919e-02 8.27608005e+02] [ 8.59587276e-02 9.96296290e-01 -2.19070845e-03 7.23764934e+00] [ 1.90614992e-02 5.53859210e-04 9.99818160e-01 3.60121398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.619254154 meters 0.016927428303260793 Centerline is valid? [True, True] Translation: X:827.67, Y:7.24, Z:3.60 [[ 9.96007158e-01 -8.74037644e-02 -1.81747694e-02 8.27667409e+02] [ 8.73798686e-02 9.96172837e-01 -2.10629205e-03 7.24134669e+00] [ 1.82893095e-02 5.09772995e-04 9.99832607e-01 3.60325798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.679254154 meters 0.019933171371977417 Centerline is valid? [True, True] Translation: X:827.72, Y:7.25, Z:3.60 [[ 9.95467116e-01 -9.30467925e-02 -1.96854332e-02 8.27724952e+02] [ 9.30198096e-02 9.95661639e-01 -2.28394242e-03 7.24653973e+00] [ 1.98125442e-02 4.42454332e-04 9.99803614e-01 3.59910048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7392541539999 meters 0.015082745989045824 Centerline is valid? [True, True] Translation: X:827.79, Y:7.25, Z:3.60 [[ 9.95033710e-01 -9.79842553e-02 -1.75214838e-02 8.27785346e+02] [ 9.79636334e-02 9.95187918e-01 -2.03347618e-03 7.24697699e+00] [ 1.76364176e-02 3.06909133e-04 9.99844419e-01 3.60424504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.799254154 meters 0.01392260230256235 Centerline is valid? [True, True] Translation: X:827.84, Y:7.25, Z:3.61 [[ 9.94529479e-01 -1.03271009e-01 -1.56912212e-02 8.27844704e+02] [ 1.03255114e-01 9.94653237e-01 -1.82198739e-03 7.24714398e+00] [ 1.57954825e-02 1.91821337e-04 9.99875225e-01 3.60729291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8592541539999 meters 0.014180930519460878 Centerline is valid? [True, True] Translation: X:827.90, Y:7.25, Z:3.61 [[ 9.94239393e-01 -1.06069325e-01 -1.54054342e-02 8.27903877e+02] [ 1.06054289e-01 9.94358726e-01 -1.79199061e-03 7.25169889e+00] [ 1.55086032e-02 1.47855280e-04 9.99879723e-01 3.60722266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.919254154 meters 0.016062779778320574 Centerline is valid? [True, True] Translation: X:827.96, Y:7.26, Z:3.61 [[ 9.94038103e-01 -1.07712439e-01 -1.69198383e-02 8.27962259e+02] [ 1.07694455e-01 9.94182081e-01 -1.97313676e-03 7.25588545e+00] [ 1.70339314e-02 1.39200358e-04 9.99854902e-01 3.60570797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9792541539999 meters 0.01633599295052031 Centerline is valid? [True, True] Translation: X:828.02, Y:7.26, Z:3.60 [[ 9.94071789e-01 -1.07018439e-01 -1.91919917e-02 8.28020590e+02] [ 1.06995067e-01 9.94257020e-01 -2.24346628e-03 7.26166160e+00] [ 1.93218647e-02 1.76718092e-04 9.99813300e-01 3.60481683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.039254154 meters 0.01410666599130671 Centerline is valid? [True, True] Translation: X:828.08, Y:7.27, Z:3.61 [[ 9.94348307e-01 -1.04582635e-01 -1.82733906e-02 8.28079277e+02] [ 1.04560950e-01 9.94516176e-01 -2.14075505e-03 7.26937956e+00] [ 1.83970683e-02 2.17973074e-04 9.99830736e-01 3.60663282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0992541539999 meters 0.014435082822755584 Centerline is valid? [True, True] Translation: X:828.14, Y:7.28, Z:3.61 [[ 9.94488106e-01 -1.03292660e-01 -1.80009251e-02 8.28136601e+02] [ 1.03271363e-01 9.94650978e-01 -2.11117768e-03 7.27668694e+00] [ 1.81227069e-02 2.40561014e-04 9.99835741e-01 3.60662862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.159254154 meters 0.01443439544638209 Centerline is valid? [True, True] Translation: X:828.19, Y:7.28, Z:3.61 [[ 9.94533429e-01 -1.02908547e-01 -1.76943501e-02 8.28194231e+02] [ 1.02887833e-01 9.94690791e-01 -2.07950226e-03 7.28233465e+00] [ 1.78144057e-02 2.47601172e-04 9.99841280e-01 3.60771338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.2192541539999 meters 0.01582201360754128 Centerline is valid? [True, True] Translation: X:828.25, Y:7.29, Z:3.61 [[ 9.94405305e-01 -1.04070103e-01 -1.80970599e-02 8.28252529e+02] [ 1.04048529e-01 9.94569936e-01 -2.13218968e-03 7.28767734e+00] [ 1.82206889e-02 2.37288269e-04 9.99833961e-01 3.60759480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.279254154 meters 0.016959841688563064 Centerline is valid? [True, True] Translation: X:828.31, Y:7.29, Z:3.61 [[ 9.94140327e-01 -1.06510463e-01 -1.84534981e-02 8.28311199e+02] [ 1.06488360e-01 9.94311561e-01 -2.17907825e-03 7.29235040e+00] [ 1.85806211e-02 2.01226816e-04 9.99827345e-01 3.60778809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.339254154 meters 0.01507367965398944 Centerline is valid? [True, True] Translation: X:828.37, Y:7.30, Z:3.61 [[ 9.93977316e-01 -1.08008022e-01 -1.85300479e-02 8.28370571e+02] [ 1.07985911e-01 9.94150006e-01 -2.19263916e-03 7.29608641e+00] [ 1.86584698e-02 1.78449494e-04 9.99825900e-01 3.60932870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.399254154 meters 0.013631537696512323 Centerline is valid? [True, True] Translation: X:828.43, Y:7.30, Z:3.61 [[ 9.93961289e-01 -1.08133841e-01 -1.86554957e-02 8.28428148e+02] [ 1.08111351e-01 9.94136328e-01 -2.21284659e-03 7.30172302e+00] [ 1.87853896e-02 1.82612997e-04 9.99823522e-01 3.61022981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.459254154 meters 0.015406326134407377 Centerline is valid? [True, True] Translation: X:828.49, Y:7.31, Z:3.61 [[ 9.93864574e-01 -1.08683879e-01 -2.05188400e-02 8.28485580e+02] [ 1.08656712e-01 9.94076344e-01 -2.43755111e-03 7.30838901e+00] [ 2.06622160e-02 1.93085996e-04 9.99786495e-01 3.60828024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.519254154 meters 0.013765885516101124 Centerline is valid? [True, True] Translation: X:828.54, Y:7.31, Z:3.61 [[ 9.93919578e-01 -1.08537446e-01 -1.85336375e-02 8.28544639e+02] [ 1.08515178e-01 9.94092345e-01 -2.20591972e-03 7.31307952e+00] [ 1.86635721e-02 1.81325817e-04 9.99825804e-01 3.61207965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.579254154 meters 0.015030639415161124 Centerline is valid? [True, True] Translation: X:828.60, Y:7.32, Z:3.61 [[ 9.93913549e-01 -1.08695567e-01 -1.79200979e-02 8.28602082e+02] [ 1.08674683e-01 9.94075069e-01 -2.13799790e-03 7.31895641e+00] [ 1.80463134e-02 1.77524124e-04 9.99837136e-01 3.61243891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.639254154 meters 0.01430390963844456 Centerline is valid? [True, True] Translation: X:828.66, Y:7.33, Z:3.61 [[ 9.94116503e-01 -1.07016490e-01 -1.67286788e-02 8.28659586e+02] [ 1.06997971e-01 9.94257226e-01 -2.00074225e-03 7.32563633e+00] [ 1.68467222e-02 1.99036196e-04 9.99858064e-01 3.61373900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.699254154 meters 0.01445973767790824 Centerline is valid? [True, True] Translation: X:828.72, Y:7.33, Z:3.61 [[ 9.94611599e-01 -1.02332152e-01 -1.66101649e-02 8.28717440e+02] [ 1.02313200e-01 9.94750246e-01 -1.98901358e-03 7.33421288e+00] [ 1.67265057e-02 2.78856851e-04 9.99860063e-01 3.61418326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.759254154 meters 0.016979766158424576 Centerline is valid? [True, True] Translation: X:828.77, Y:7.34, Z:3.61 [[ 9.94716268e-01 -1.01021682e-01 -1.82802211e-02 8.28774594e+02] [ 1.00998474e-01 9.94884169e-01 -2.19073537e-03 7.34325372e+00] [ 1.84080144e-02 3.32885680e-04 9.99830503e-01 3.61225092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.819254154 meters 0.016489224953198885 Centerline is valid? [True, True] Translation: X:828.83, Y:7.35, Z:3.61 [[ 9.95359715e-01 -9.44986712e-02 -1.81394280e-02 8.28833447e+02] [ 9.44747194e-02 9.95524886e-01 -2.17476915e-03 7.35421052e+00] [ 1.82637648e-02 4.50960229e-04 9.99833102e-01 3.61218841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.879254154 meters 0.01736250857610171 Centerline is valid? [True, True] Translation: X:828.89, Y:7.36, Z:3.61 [[ 9.95745606e-01 -9.00681359e-02 -1.94530008e-02 8.28892506e+02] [ 9.00397295e-02 9.95935442e-01 -2.33299206e-03 7.36325632e+00] [ 1.95840612e-02 5.71523659e-04 9.99808051e-01 3.61128960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.939254154 meters 0.02125441014922633 Centerline is valid? [True, True] Translation: X:828.95, Y:7.38, Z:3.61 [[ 9.95815332e-01 -8.93946082e-02 -1.89849375e-02 8.28949108e+02] [ 8.93674014e-02 9.95996123e-01 -2.27836446e-03 7.37594214e+00] [ 1.91125976e-02 5.72195730e-04 9.99817174e-01 3.60865138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.999254154 meters 0.01716127284450291 Centerline is valid? [True, True] Translation: X:829.01, Y:7.37, Z:3.61 [[ 9.95632851e-01 -9.16634645e-02 -1.76928240e-02 8.29008211e+02] [ 9.16401691e-02 9.95789920e-01 -2.12465965e-03 7.37451435e+00] [ 1.78130895e-02 4.94007563e-04 9.99841212e-01 3.61261984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.059254154 meters 0.01638293792613009 Centerline is valid? [True, True] Translation: X:829.07, Y:7.38, Z:3.61 [[ 9.95254558e-01 -9.60191378e-02 -1.57699022e-02 8.29066954e+02] [ 9.60011630e-02 9.95379419e-01 -1.89465291e-03 7.37830076e+00] [ 1.58789590e-02 3.71732995e-04 9.99873852e-01 3.61324392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.119254154 meters 0.01539363577720135 Centerline is valid? [True, True] Translation: X:829.13, Y:7.38, Z:3.61 [[ 9.94802752e-01 -1.00696127e-01 -1.50921893e-02 8.29125816e+02] [ 1.00680187e-01 9.94917187e-01 -1.81423800e-03 7.37934411e+00] [ 1.51981653e-02 2.85324524e-04 9.99884461e-01 3.61389009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.179254154 meters 0.014911813515590474 Centerline is valid? [True, True] Translation: X:829.19, Y:7.38, Z:3.61 [[ 9.94432969e-01 -1.04164452e-01 -1.59008395e-02 8.29185251e+02] [ 1.04147147e-01 9.94560056e-01 -1.91476729e-03 7.38173297e+00] [ 1.60137905e-02 2.48080652e-04 9.99871740e-01 3.61388359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2392541539999 meters 0.013700571228125616 Centerline is valid? [True, True] Translation: X:829.24, Y:7.39, Z:3.61 [[ 9.94224098e-01 -1.06199882e-01 -1.54928410e-02 8.29244197e+02] [ 1.06183638e-01 9.94344779e-01 -1.86962840e-03 7.38645133e+00] [ 1.56037799e-02 2.13743384e-04 9.99878231e-01 3.61479436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.299254154 meters 0.013224480579544033 Centerline is valid? [True, True] Translation: X:829.30, Y:7.39, Z:3.62 [[ 9.93806515e-01 -1.10022401e-01 -1.56103416e-02 8.29303035e+02] [ 1.10006317e-01 9.93929095e-01 -1.88791604e-03 7.38858804e+00] [ 1.57232858e-02 1.58987064e-04 9.99876369e-01 3.61509802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3592541539999 meters 0.012989210080470553 Centerline is valid? [True, True] Translation: X:829.36, Y:7.39, Z:3.62 [[ 9.93420673e-01 -1.13610463e-01 -1.44231816e-02 8.29361437e+02] [ 1.13597082e-01 9.93525366e-01 -1.74633477e-03 7.39093382e+00] [ 1.45281987e-02 9.64137253e-05 9.99894456e-01 3.61649029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.419254154 meters 0.012914318004511337 Centerline is valid? [True, True] Translation: X:829.42, Y:7.39, Z:3.62 [[ 9.93195133e-01 -1.15726048e-01 -1.30732711e-02 8.29419529e+02] [ 1.15715217e-01 9.93281168e-01 -1.58443610e-03 7.39469116e+00] [ 1.31687945e-02 6.08778194e-05 9.99913286e-01 3.61827062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4792541539999 meters 0.01292595189605472 Centerline is valid? [True, True] Translation: X:829.48, Y:7.40, Z:3.62 [[ 9.93170315e-01 -1.16040748e-01 -1.21354928e-02 8.29477056e+02] [ 1.16031405e-01 9.93244452e-01 -1.47357807e-03 7.40041340e+00] [ 1.22245060e-02 5.54157260e-05 9.99925276e-01 3.61959969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.539254154 meters 0.016033161340725136 Centerline is valid? [True, True] Translation: X:829.54, Y:7.41, Z:3.62 [[ 9.93184222e-01 -1.15792557e-01 -1.33110896e-02 8.29535466e+02] [ 1.15781244e-01 9.93273416e-01 -1.62001159e-03 7.40680513e+00] [ 1.34091367e-02 6.77954369e-05 9.99910091e-01 3.61771820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5992541539999 meters 0.015259024774313101 Centerline is valid? [True, True] Translation: X:829.59, Y:7.42, Z:3.62 [[ 9.93445306e-01 -1.13287781e-01 -1.52415111e-02 8.29593932e+02] [ 1.13272590e-01 9.93562210e-01 -1.85907769e-03 7.41531150e+00] [ 1.53540003e-02 1.20446566e-04 9.99882113e-01 3.61668461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.659254154 meters 0.01630859655201386 Centerline is valid? [True, True] Translation: X:829.65, Y:7.42, Z:3.62 [[ 9.93636652e-01 -1.11362008e-01 -1.68732861e-02 8.29652356e+02] [ 1.11343036e-01 9.93779892e-01 -2.06261331e-03 7.42426675e+00] [ 1.69980292e-02 1.70765293e-04 9.99855508e-01 3.61511371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.7192541539999 meters 0.0160321893039323 Centerline is valid? [True, True] Translation: X:829.71, Y:7.43, Z:3.62 [[ 9.93623403e-01 -1.11553613e-01 -1.63806007e-02 8.29709755e+02] [ 1.11535722e-01 9.93758403e-01 -2.00457951e-03 7.43125850e+00] [ 1.65019776e-02 1.64774985e-04 9.99863820e-01 3.61610729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.779254154 meters 0.013827623334174172 Centerline is valid? [True, True] Translation: X:829.77, Y:7.44, Z:3.62 [[ 9.93306049e-01 -1.14502679e-01 -1.52390735e-02 8.29769010e+02] [ 1.14487497e-01 9.93422933e-01 -1.86779558e-03 7.43632777e+00] [ 1.53527127e-02 1.10609260e-04 9.99882134e-01 3.61847228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.839254154 meters 0.015435616263304735 Centerline is valid? [True, True] Translation: X:829.83, Y:7.44, Z:3.62 [[ 9.92765029e-01 -1.19129997e-01 -1.50213733e-02 8.29827679e+02] [ 1.19115719e-01 9.92878664e-01 -1.84487243e-03 7.43933526e+00] [ 1.51341807e-02 4.22431598e-05 9.99885471e-01 3.61833276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.899254154 meters 0.012928243580211017 Centerline is valid? [True, True] Translation: X:829.89, Y:7.45, Z:3.62 [[ 9.92558843e-01 -1.20901702e-01 -1.44817647e-02 8.29885356e+02] [ 1.20888560e-01 9.92664484e-01 -1.78263291e-03 7.44512432e+00] [ 1.45910569e-02 1.86883676e-05 9.99893545e-01 3.62070155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.959254154 meters 0.012924923768266709 Centerline is valid? [True, True] Translation: X:829.94, Y:7.45, Z:3.62 [[ 9.92465083e-01 -1.21635089e-01 -1.47636039e-02 8.29942920e+02] [ 1.21621448e-01 9.92574886e-01 -1.82163179e-03 7.45114313e+00] [ 1.48755568e-02 1.23350563e-05 9.99889353e-01 3.62145620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.019254154 meters 0.01628548878814775 Centerline is valid? [True, True] Translation: X:830.00, Y:7.46, Z:3.62 [[ 9.92785019e-01 -1.18853315e-01 -1.58680691e-02 8.30001526e+02] [ 1.18837133e-01 9.92911822e-01 -1.96216478e-03 7.45976131e+00] [ 1.59888032e-02 6.22919483e-05 9.99872169e-01 3.61937314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.079254154 meters 0.014968188950574815 Centerline is valid? [True, True] Translation: X:830.06, Y:7.47, Z:3.62 [[ 9.93465705e-01 -1.13075995e-01 -1.54826721e-02 8.30058044e+02] [ 1.13059845e-01 9.93586330e-01 -1.91730607e-03 7.47056871e+00] [ 1.56001726e-02 1.54309325e-04 9.99878298e-01 3.62030042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.139254154 meters 0.016743529421151353 Centerline is valid? [True, True] Translation: X:830.12, Y:7.48, Z:3.62 [[ 9.93925259e-01 -1.08858798e-01 -1.61969633e-02 8.30115886e+02] [ 1.08840524e-01 9.94057195e-01 -2.00812238e-03 7.47935621e+00] [ 1.63193097e-02 2.33037579e-04 9.99866804e-01 3.62028959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.199254154 meters 0.016203645933455985 Centerline is valid? [True, True] Translation: X:830.17, Y:7.49, Z:3.62 [[ 9.94633494e-01 -1.02213533e-01 -1.60189223e-02 8.30173117e+02] [ 1.02194773e-01 9.94762423e-01 -1.98750651e-03 7.49109569e+00] [ 1.61381720e-02 3.39790422e-04 9.99869713e-01 3.62045698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.259254154 meters 0.01927792182050127 Centerline is valid? [True, True] Translation: X:830.23, Y:7.50, Z:3.62 [[ 9.95132527e-01 -9.71101482e-02 -1.67592679e-02 8.30230111e+02] [ 9.70888695e-02 9.95273542e-01 -2.08058506e-03 7.50362056e+00] [ 1.68821019e-02 4.43319489e-04 9.99857389e-01 3.61866790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.319254154 meters 0.018614503654883482 Centerline is valid? [True, True] Translation: X:830.29, Y:7.51, Z:3.62 [[ 9.95400763e-01 -9.42202415e-02 -1.73166779e-02 8.30290024e+02] [ 9.41970728e-02 9.95551248e-01 -2.15057470e-03 7.50773972e+00] [ 1.74422679e-02 5.09503328e-04 9.99847742e-01 3.62043150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.379254154 meters 0.018510575792173068 Centerline is valid? [True, True] Translation: X:830.35, Y:7.51, Z:3.62 [[ 9.95487695e-01 -9.32874868e-02 -1.73693663e-02 8.30348946e+02] [ 9.32639736e-02 9.95639073e-01 -2.16062762e-03 7.51319205e+00] [ 1.74951793e-02 5.30942093e-04 9.99846807e-01 3.62100868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.439254154 meters 0.018137864093956953 Centerline is valid? [True, True] Translation: X:830.41, Y:7.52, Z:3.62 [[ 9.95515144e-01 -9.31078968e-02 -1.67486464e-02 8.30407190e+02] [ 9.30859283e-02 9.95655889e-01 -2.08819445e-03 7.51740511e+00] [ 1.68703158e-02 5.19765897e-04 9.99857551e-01 3.62225523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.499254154 meters 0.01958504320364457 Centerline is valid? [True, True] Translation: X:830.46, Y:7.52, Z:3.62 [[ 9.95496385e-01 -9.35618684e-02 -1.52683776e-02 8.30464334e+02] [ 9.35436316e-02 9.95613357e-01 -1.90582150e-03 7.52443641e+00] [ 1.53797129e-02 4.68978927e-04 9.99881615e-01 3.62205047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.559254154 meters 0.019427192147442502 Centerline is valid? [True, True] Translation: X:830.52, Y:7.53, Z:3.62 [[ 9.95376825e-01 -9.46445655e-02 -1.63518158e-02 8.30523733e+02] [ 9.46237354e-02 9.95511009e-01 -2.04464016e-03 7.52778395e+00] [ 1.64719268e-02 4.87917541e-04 9.99864210e-01 3.62196199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.619254154 meters 0.020347845817225693 Centerline is valid? [True, True] Translation: X:830.58, Y:7.54, Z:3.62 [[ 9.95299229e-01 -9.53565531e-02 -1.69284486e-02 8.30581495e+02] [ 9.53342905e-02 9.95443058e-01 -2.11909552e-03 7.53513112e+00] [ 1.70533763e-02 4.95272504e-04 9.99854458e-01 3.62118520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.679254154 meters 0.018167052463580042 Centerline is valid? [True, True] Translation: X:830.64, Y:7.54, Z:3.62 [[ 9.95319818e-01 -9.53081167e-02 -1.59632000e-02 8.30639254e+02] [ 9.52882538e-02 9.95447709e-01 -2.00204064e-03 7.54250116e+00] [ 1.60813416e-02 4.71565268e-04 9.99870576e-01 3.62336136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7392541539999 meters 0.02026804536490889 Centerline is valid? [True, True] Translation: X:830.70, Y:7.55, Z:3.62 [[ 9.95173086e-01 -9.66919507e-02 -1.67688998e-02 8.30697768e+02] [ 9.66701527e-02 9.95314242e-01 -2.10756139e-03 7.55017269e+00] [ 1.68941090e-02 4.76336271e-04 9.99857171e-01 3.62122863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.799254154 meters 0.01815843805420241 Centerline is valid? [True, True] Translation: X:830.76, Y:7.56, Z:3.62 [[ 9.95255945e-01 -9.60535104e-02 -1.54701945e-02 8.30755806e+02] [ 9.60348212e-02 9.95376068e-01 -1.94818995e-03 7.55688604e+00] [ 1.55857918e-02 4.53270274e-04 9.99878431e-01 3.62372000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8592541539999 meters 0.016874486170069678 Centerline is valid? [True, True] Translation: X:830.81, Y:7.56, Z:3.62 [[ 9.95188017e-01 -9.65878517e-02 -1.64802173e-02 8.30813369e+02] [ 9.65666344e-02 9.95324348e-01 -2.08025880e-03 7.56148813e+00] [ 1.66040893e-02 4.78809510e-04 9.99862028e-01 3.62389760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.919254154 meters 0.01668186834110971 Centerline is valid? [True, True] Translation: X:830.87, Y:7.57, Z:3.62 [[ 9.95006209e-01 -9.82840893e-02 -1.74034806e-02 8.30872369e+02] [ 9.82606065e-02 9.95158282e-01 -2.20139085e-03 7.56845464e+00] [ 1.75355795e-02 4.80321012e-04 9.99846125e-01 3.62332969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9792541539999 meters 0.01797380952557544 Centerline is valid? [True, True] Translation: X:830.93, Y:7.57, Z:3.62 [[ 9.94496716e-01 -1.03157176e-01 -1.82996840e-02 8.30930134e+02] [ 1.03131982e-01 9.94664980e-01 -2.31769151e-03 7.57304054e+00] [ 1.84411414e-02 4.17653922e-04 9.99829860e-01 3.62137531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.039254154 meters 0.014839101644842818 Centerline is valid? [True, True] Translation: X:830.99, Y:7.58, Z:3.62 [[ 9.94071674e-01 -1.07515262e-01 -1.61856564e-02 8.30989031e+02] [ 1.07496108e-01 9.94203389e-01 -2.05133293e-03 7.57592427e+00] [ 1.63123840e-02 2.99276897e-04 9.99866899e-01 3.62476653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0992541539999 meters 0.014167358342248918 Centerline is valid? [True, True] Translation: X:831.05, Y:7.58, Z:3.62 [[ 9.93574319e-01 -1.12092448e-01 -1.56638060e-02 8.31047253e+02] [ 1.12075027e-01 9.93697758e-01 -1.98837644e-03 7.58113394e+00] [ 1.57879709e-02 2.20078285e-04 9.99875338e-01 3.62465367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.159254154 meters 0.01490077771397364 Centerline is valid? [True, True] Translation: X:831.11, Y:7.59, Z:3.62 [[ 9.93185588e-01 -1.15442403e-01 -1.59824380e-02 8.31106281e+02] [ 1.15424633e-01 9.93314160e-01 -2.03294760e-03 7.58609419e+00] [ 1.61102703e-02 1.74327208e-04 9.99870206e-01 3.62410093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.2192541539999 meters 0.013162091963897813 Centerline is valid? [True, True] Translation: X:831.16, Y:7.59, Z:3.63 [[ 9.92959738e-01 -1.17628380e-01 -1.39471442e-02 8.31163676e+02] [ 1.17615038e-01 9.93057677e-01 -1.77590935e-03 7.59220925e+00] [ 1.40592160e-02 1.23012594e-04 9.99901157e-01 3.62671124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.279254154 meters 0.01320339190600068 Centerline is valid? [True, True] Translation: X:831.22, Y:7.60, Z:3.63 [[ 9.93019576e-01 -1.17241890e-01 -1.29019800e-02 8.31221090e+02] [ 1.17230404e-01 9.93103380e-01 -1.64565114e-03 7.60124618e+00] [ 1.30059392e-02 1.21659466e-04 9.99915412e-01 3.62780318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.339254154 meters 0.01372375313404453 Centerline is valid? [True, True] Translation: X:831.28, Y:7.61, Z:3.63 [[ 9.93226452e-01 -1.15224130e-01 -1.49871797e-02 8.31277760e+02] [ 1.15208364e-01 9.93339504e-01 -1.91401861e-03 7.61213985e+00] [ 1.51078987e-02 1.74405465e-04 9.99885854e-01 3.62560997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.399254154 meters 0.01385014024040149 Centerline is valid? [True, True] Translation: X:831.34, Y:7.62, Z:3.63 [[ 9.93513711e-01 -1.12493241e-01 -1.66065269e-02 8.31336086e+02] [ 1.12473442e-01 9.93652460e-01 -2.12444807e-03 7.62161933e+00] [ 1.67401023e-02 2.42875050e-04 9.99859845e-01 3.62579349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.459254154 meters 0.015515939177911787 Centerline is valid? [True, True] Translation: X:831.39, Y:7.63, Z:3.63 [[ 9.93719253e-01 -1.10773610e-01 -1.58509508e-02 8.31393116e+02] [ 1.10755318e-01 9.93845631e-01 -2.02992707e-03 7.63184446e+00] [ 1.59782605e-02 2.61600519e-04 9.99872305e-01 3.62524956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.519254154 meters 0.01520076529918233 Centerline is valid? [True, True] Translation: X:831.45, Y:7.64, Z:3.63 [[ 9.94031490e-01 -1.08317362e-01 -1.29902114e-02 8.31451084e+02] [ 1.08304834e-01 9.94116335e-01 -1.66609997e-03 7.64400691e+00] [ 1.30942489e-02 2.49253140e-04 9.99914236e-01 3.62806711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.579254154 meters 0.015600156851250088 Centerline is valid? [True, True] Translation: X:831.51, Y:7.65, Z:3.63 [[ 9.94181215e-01 -1.07002083e-01 -1.24203858e-02 8.31509210e+02] [ 1.06990488e-01 9.94258763e-01 -1.59613639e-03 7.65408130e+00] [ 1.25198673e-02 2.57985672e-04 9.99921590e-01 3.62836796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.639254154 meters 0.01667229543029345 Centerline is valid? [True, True] Translation: X:831.57, Y:7.67, Z:3.63 [[ 9.94624193e-01 -1.02602093e-01 -1.39830336e-02 8.31568080e+02] [ 1.02586940e-01 9.94722416e-01 -1.79856203e-03 7.66612088e+00] [ 1.40937732e-02 3.54416675e-04 9.99900615e-01 3.62721261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.699254154 meters 0.017645106018249878 Centerline is valid? [True, True] Translation: X:831.63, Y:7.68, Z:3.63 [[ 9.94970295e-01 -9.87548110e-02 -1.67809271e-02 8.31626177e+02] [ 9.87324249e-02 9.95111675e-01 -2.15932337e-03 7.67953976e+00] [ 1.69121401e-02 4.91640983e-04 9.99856859e-01 3.62598753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.759254154 meters 0.019328100764864475 Centerline is valid? [True, True] Translation: X:831.68, Y:7.69, Z:3.62 [[ 9.94961972e-01 -9.90379188e-02 -1.55616579e-02 8.31683258e+02] [ 9.90186830e-02 9.95083557e-01 -2.00367536e-03 7.69150095e+00] [ 1.56835897e-02 4.52685922e-04 9.99876902e-01 3.62416179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.819254154 meters 0.01782966540178264 Centerline is valid? [True, True] Translation: X:831.74, Y:7.70, Z:3.63 [[ 9.94463685e-01 -1.04209445e-01 -1.35044907e-02 8.31743647e+02] [ 1.04195428e-01 9.94555322e-01 -1.73931593e-03 7.69509156e+00] [ 1.36122162e-02 3.22580344e-04 9.99907297e-01 3.62729079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.879254154 meters 0.014907232974365034 Centerline is valid? [True, True] Translation: X:831.80, Y:7.70, Z:3.63 [[ 9.93916403e-01 -1.09531405e-01 -1.15349594e-02 8.31802910e+02] [ 1.09521533e-01 9.93983313e-01 -1.48598405e-03 7.69970759e+00] [ 1.16283191e-02 2.13617486e-04 9.99932366e-01 3.63118956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.939254154 meters 0.015662887877333935 Centerline is valid? [True, True] Translation: X:831.86, Y:7.70, Z:3.63 [[ 9.92753516e-01 -1.19694324e-01 -1.06642271e-02 8.31861642e+02] [ 1.19686468e-01 9.92810788e-01 -1.37421523e-03 7.70203355e+00] [ 1.07520455e-02 8.78933278e-05 9.99942191e-01 3.63008650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.999254154 meters 0.013018666367172064 Centerline is valid? [True, True] Translation: X:831.92, Y:7.70, Z:3.63 [[ 9.91765466e-01 -1.27676042e-01 -1.00044519e-02 8.31919366e+02] [ 1.27669527e-01 9.91815925e-01 -1.28986159e-03 7.70464560e+00] [ 1.00872591e-02 1.97655097e-06 9.99949122e-01 3.63347447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.059254154 meters 0.01559845159890278 Centerline is valid? [True, True] Translation: X:831.98, Y:7.71, Z:3.63 [[ 9.90981098e-01 -1.33493210e-01 -1.16630529e-02 8.31977947e+02] [ 1.33484729e-01 9.91049726e-01 -1.50606105e-03 7.71004637e+00] [ 1.17597143e-02 -6.43614204e-05 9.99930850e-01 3.63181109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.119254154 meters 0.01652132916633901 Centerline is valid? [True, True] Translation: X:832.04, Y:7.72, Z:3.63 [[ 9.90280120e-01 -1.38273900e-01 -1.50204225e-02 8.32036284e+02] [ 1.38260320e-01 9.90394015e-01 -1.94384823e-03 7.71720302e+00] [ 1.51449200e-02 -1.51774157e-04 9.99885298e-01 3.63067964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.179254154 meters 0.014166153442936274 Centerline is valid? [True, True] Translation: X:832.09, Y:7.73, Z:3.63 [[ 9.90207251e-01 -1.38839405e-01 -1.46020556e-02 8.32092802e+02] [ 1.38826596e-01 9.90314897e-01 -1.89212194e-03 7.72775692e+00] [ 1.47233343e-02 -1.53560817e-04 9.99891594e-01 3.63338514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2392541539999 meters 0.01593720644534886 Centerline is valid? [True, True] Translation: X:832.15, Y:7.74, Z:3.63 [[ 9.90211503e-01 -1.39056832e-01 -1.20156828e-02 8.32150753e+02] [ 1.39048145e-01 9.90284394e-01 -1.55943236e-03 7.74055997e+00] [ 1.21157929e-02 -1.26590557e-04 9.99926593e-01 3.63499511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.299254154 meters 0.015367981089612105 Centerline is valid? [True, True] Translation: X:832.21, Y:7.75, Z:3.64 [[ 9.90452707e-01 -1.37443788e-01 -1.06131812e-02 8.32207418e+02] [ 1.37436899e-01 9.90509564e-01 -1.37926212e-03 7.75158782e+00] [ 1.07020285e-02 -9.25488048e-05 9.99942727e-01 3.63717359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3592541539999 meters 0.015258687644233338 Centerline is valid? [True, True] Translation: X:832.26, Y:7.77, Z:3.64 [[ 9.91096717e-01 -1.32728944e-01 -1.05035934e-02 8.32264775e+02] [ 1.32721908e-01 9.91152373e-01 -1.36722966e-03 7.76865146e+00] [ 1.05921325e-02 -3.90001320e-05 9.99943901e-01 3.63757970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.419254154 meters 0.016089849593169867 Centerline is valid? [True, True] Translation: X:832.32, Y:7.79, Z:3.63 [[ 9.92038899e-01 -1.25217185e-01 -1.33969683e-02 8.32320425e+02] [ 1.25205021e-01 9.92129353e-01 -1.74616601e-03 7.78807205e+00] [ 1.35101755e-02 5.48969039e-05 9.99908732e-01 3.63487412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4792541539999 meters 0.017199518114953596 Centerline is valid? [True, True] Translation: X:832.38, Y:7.81, Z:3.63 [[ 9.92795639e-01 -1.18662601e-01 -1.66134628e-02 8.32377630e+02] [ 1.18642915e-01 9.92934617e-01 -2.16909967e-03 7.80683686e+00] [ 1.67534733e-02 1.82403041e-04 9.99859634e-01 3.63231733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.539254154 meters 0.014982609334899349 Centerline is valid? [True, True] Translation: X:832.43, Y:7.82, Z:3.63 [[ 9.93331918e-01 -1.14063703e-01 -1.67682195e-02 8.32434280e+02] [ 1.14042954e-01 9.93473403e-01 -2.19159624e-03 7.82425137e+00] [ 1.69087616e-02 2.64685214e-04 9.99857002e-01 3.63393948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5992541539999 meters 0.018095695112497555 Centerline is valid? [True, True] Translation: X:832.49, Y:7.83, Z:3.63 [[ 9.93322609e-01 -1.13961404e-01 -1.79719946e-02 8.32492841e+02] [ 1.13937479e-01 9.93485136e-01 -2.35294576e-03 7.83337659e+00] [ 1.81230545e-02 2.89550463e-04 9.99835722e-01 3.63144016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.659254154 meters 0.01567486627486739 Centerline is valid? [True, True] Translation: X:832.55, Y:7.85, Z:3.64 [[ 9.93451522e-01 -1.13135325e-01 -1.59521633e-02 8.32549833e+02] [ 1.13116336e-01 9.93579551e-01 -2.09059607e-03 7.84687013e+00] [ 1.60862636e-02 2.72455582e-04 9.99870571e-01 3.63500741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.7192541539999 meters 0.015714026393212326 Centerline is valid? [True, True] Translation: X:832.61, Y:7.86, Z:3.64 [[ 9.93452805e-01 -1.13280217e-01 -1.48026130e-02 8.32607345e+02] [ 1.13263832e-01 9.93563047e-01 -1.94330513e-03 7.85807803e+00] [ 1.49274673e-02 2.53981272e-04 9.99888547e-01 3.63624758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.779254154 meters 0.01839029878081729 Centerline is valid? [True, True] Translation: X:832.67, Y:7.87, Z:3.63 [[ 9.93474718e-01 -1.12968327e-01 -1.56888912e-02 8.32665545e+02] [ 1.12949816e-01 9.93598551e-01 -2.06383538e-03 7.86815801e+00] [ 1.58216076e-02 2.78310898e-04 9.99874792e-01 3.63421393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.839254154 meters 0.016981714278667317 Centerline is valid? [True, True] Translation: X:832.72, Y:7.88, Z:3.64 [[ 9.93792138e-01 -1.10218515e-01 -1.51348996e-02 8.32722225e+02] [ 1.10200939e-01 9.93907330e-01 -1.99297302e-03 7.88161170e+00] [ 1.52623502e-02 3.12720781e-04 9.99883475e-01 3.63651946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.899254154 meters 0.020661000947360505 Centerline is valid? [True, True] Translation: X:832.78, Y:7.89, Z:3.63 [[ 9.93982911e-01 -1.08275307e-01 -1.65659619e-02 8.32780234e+02] [ 1.08253922e-01 9.94120875e-01 -2.18484842e-03 7.89305708e+00] [ 1.67051337e-02 3.78371641e-04 9.99860388e-01 3.63379762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.959254154 meters 0.02005479460503859 Centerline is valid? [True, True] Translation: X:832.84, Y:7.90, Z:3.64 [[ 9.93990169e-01 -1.08364621e-01 -1.55129827e-02 8.32837729e+02] [ 1.08345814e-01 9.94111151e-01 -2.05017542e-03 7.90307632e+00] [ 1.56437956e-02 3.57087478e-04 9.99877565e-01 3.63519766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.019254154 meters 0.01777158019876945 Centerline is valid? [True, True] Translation: X:832.90, Y:7.91, Z:3.64 [[ 9.93946290e-01 -1.08905309e-01 -1.45053612e-02 8.32896338e+02] [ 1.08888867e-01 9.94052074e-01 -1.92080352e-03 7.91039033e+00] [ 1.46282701e-02 3.29703176e-04 9.99892947e-01 3.63796851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.079254154 meters 0.018476972640702586 Centerline is valid? [True, True] Translation: X:832.96, Y:7.92, Z:3.64 [[ 9.93733885e-01 -1.10679002e-01 -1.55924165e-02 8.32955025e+02] [ 1.10660156e-01 9.93856151e-01 -2.06892167e-03 7.91779893e+00] [ 1.57256053e-02 3.30498317e-04 9.99876290e-01 3.63649894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.139254154 meters 0.019630548728200574 Centerline is valid? [True, True] Translation: X:833.01, Y:7.92, Z:3.64 [[ 9.93588893e-01 -1.11998460e-01 -1.54096387e-02 8.33013644e+02] [ 1.11980150e-01 9.93708332e-01 -2.04871181e-03 7.92477513e+00] [ 1.55421389e-02 3.10003655e-04 9.99879166e-01 3.63605986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.199254154 meters 0.019906644792329318 Centerline is valid? [True, True] Translation: X:833.07, Y:7.94, Z:3.64 [[ 9.93791638e-01 -1.10212807e-01 -1.52091575e-02 8.33070828e+02] [ 1.10194728e-01 9.93907956e-01 -2.02419261e-03 7.93581012e+00] [ 1.53395946e-02 3.35656721e-04 9.99882285e-01 3.63585078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.259254154 meters 0.019857160289993507 Centerline is valid? [True, True] Translation: X:833.13, Y:7.94, Z:3.64 [[ 9.94035680e-01 -1.07967789e-01 -1.53630548e-02 8.33129523e+02] [ 1.07949024e-01 9.94154321e-01 -2.04789844e-03 7.94408621e+00] [ 1.54943544e-02 3.77257343e-04 9.99879884e-01 3.63604334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.319254154 meters 0.02267557849261478 Centerline is valid? [True, True] Translation: X:833.19, Y:7.95, Z:3.63 [[ 9.94357699e-01 -1.04720038e-01 -1.69257205e-02 8.33187820e+02] [ 1.04696758e-01 9.94501629e-01 -2.25811433e-03 7.95407970e+00] [ 1.70691264e-02 4.73305300e-04 9.99854200e-01 3.63380668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.379254154 meters 0.01915305041591661 Centerline is valid? [True, True] Translation: X:833.25, Y:7.96, Z:3.64 [[ 9.94683379e-01 -1.01845653e-01 -1.52459075e-02 8.33246252e+02] [ 1.01826381e-01 9.94800100e-01 -2.03703493e-03 7.96212129e+00] [ 1.53740935e-02 4.73769196e-04 9.99881699e-01 3.63851632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.439254154 meters 0.02193681381689658 Centerline is valid? [True, True] Translation: X:833.30, Y:7.97, Z:3.64 [[ 9.94815470e-01 -1.00476554e-01 -1.57048880e-02 8.33304751e+02] [ 1.00455869e-01 9.94939294e-01 -2.10246221e-03 7.97021985e+00] [ 1.58366583e-02 5.13913769e-04 9.99874460e-01 3.63648710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.499254154 meters 0.02157033421740569 Centerline is valid? [True, True] Translation: X:833.36, Y:7.98, Z:3.64 [[ 9.95467515e-01 -9.42520507e-02 -1.26876808e-02 8.33364069e+02] [ 9.42380338e-02 9.95548243e-01 -1.69945247e-03 7.98291493e+00] [ 1.27913752e-02 4.96087634e-04 9.99918064e-01 3.64149598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.559254154 meters 0.025902561632686477 Centerline is valid? [True, True] Translation: X:833.42, Y:7.99, Z:3.64 [[ 9.95692073e-01 -9.17098341e-02 -1.36602725e-02 8.33422406e+02] [ 9.16933398e-02 9.95785610e-01 -1.83023827e-03 7.99464878e+00] [ 1.37705536e-02 5.69797725e-04 9.99905019e-01 3.63778452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.619254154 meters 0.028190947446113484 Centerline is valid? [True, True] Translation: X:833.48, Y:8.01, Z:3.64 [[ 9.96159146e-01 -8.65834672e-02 -1.30483425e-02 8.33480929e+02] [ 8.65679735e-02 9.96244412e-01 -1.74863704e-03 8.00876295e+00] [ 1.31507413e-02 6.12352210e-04 9.99913338e-01 3.63833436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.679254154 meters 0.029883461774199233 Centerline is valid? [True, True] Translation: X:833.54, Y:8.02, Z:3.64 [[ 9.96582035e-01 -8.16427871e-02 -1.25977131e-02 8.33539285e+02] [ 8.16279486e-02 9.96661441e-01 -1.68845883e-03 8.02334921e+00] [ 1.26935053e-02 6.54362268e-04 9.99919220e-01 3.63887472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7392541539999 meters 0.03172818788130021 Centerline is valid? [True, True] Translation: X:833.60, Y:8.04, Z:3.64 [[ 9.96809523e-01 -7.86163527e-02 -1.37928977e-02 8.33598518e+02] [ 7.85982724e-02 9.96904656e-01 -1.84889480e-03 8.03595646e+00] [ 1.38955573e-02 7.58898007e-04 9.99903164e-01 3.63814488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.799254154 meters 0.03286646138256898 Centerline is valid? [True, True] Translation: X:833.66, Y:8.04, Z:3.64 [[ 9.96829687e-01 -7.81923892e-02 -1.47148064e-02 8.33657094e+02] [ 7.81717254e-02 9.96937952e-01 -1.97514079e-03 8.04493479e+00] [ 1.48241900e-02 8.18597170e-04 9.99889781e-01 3.63741692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8592541539999 meters 0.03308167222245556 Centerline is valid? [True, True] Translation: X:833.71, Y:8.06, Z:3.64 [[ 9.96764636e-01 -7.93703132e-02 -1.26733414e-02 8.33713846e+02] [ 7.93550592e-02 9.96844960e-01 -1.70278640e-03 8.05525237e+00] [ 1.27685072e-02 6.91583513e-04 9.99918240e-01 3.63991778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.919254154 meters 0.03459023248998794 Centerline is valid? [True, True] Translation: X:833.77, Y:8.06, Z:3.64 [[ 9.96333282e-01 -8.43912303e-02 -1.40752105e-02 8.33772877e+02] [ 8.43729048e-02 9.96432453e-01 -1.89179840e-03 8.06111828e+00] [ 1.41846477e-02 6.97295310e-04 9.99899150e-01 3.63575802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9792541539999 meters 0.030666094623731703 Centerline is valid? [True, True] Translation: X:833.83, Y:8.06, Z:3.64 [[ 9.95789989e-01 -9.05604466e-02 -1.41810888e-02 8.33833422e+02] [ 9.05424657e-02 9.95890771e-01 -1.90620684e-03 8.06209252e+00] [ 1.42954424e-02 6.14190947e-04 9.99897626e-01 3.63673592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.039254154 meters 0.026587360174998468 Centerline is valid? [True, True] Translation: X:833.89, Y:8.06, Z:3.64 [[ 9.95239140e-01 -9.63528323e-02 -1.46692419e-02 8.33894252e+02] [ 9.63342177e-02 9.95347090e-01 -1.97197146e-03 8.06099837e+00] [ 1.47909923e-02 5.49433235e-04 9.99890456e-01 3.63788442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0992541539999 meters 0.024334502709321262 Centerline is valid? [True, True] Translation: X:833.95, Y:8.06, Z:3.64 [[ 9.94939158e-01 -9.92396825e-02 -1.57339569e-02 8.33953810e+02] [ 9.92185849e-02 9.95063409e-01 -2.11780411e-03 8.06242293e+00] [ 1.58664550e-02 5.45985304e-04 9.99873971e-01 3.63854705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.159254154 meters 0.020049988774120706 Centerline is valid? [True, True] Translation: X:834.01, Y:8.06, Z:3.64 [[ 9.94511503e-01 -1.03675015e-01 -1.40841158e-02 8.34013586e+02] [ 1.03658536e-01 9.94611135e-01 -1.89700091e-03 8.06382791e+00] [ 1.42048900e-02 4.26650401e-04 9.99899014e-01 3.64216481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.2192541539999 meters 0.02131030774907572 Centerline is valid? [True, True] Translation: X:834.07, Y:8.07, Z:3.64 [[ 9.94182629e-01 -1.06665513e-01 -1.49455107e-02 8.34072028e+02] [ 1.06647251e-01 9.94294876e-01 -2.01586328e-03 8.06949359e+00] [ 1.50752678e-02 4.10238621e-04 9.99886278e-01 3.64054462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.279254154 meters 0.020476677889908028 Centerline is valid? [True, True] Translation: X:834.13, Y:8.07, Z:3.64 [[ 9.93973920e-01 -1.08341542e-01 -1.66720234e-02 8.34130857e+02] [ 1.08318980e-01 9.94113636e-01 -2.25309822e-03 8.07331578e+00] [ 1.68179899e-02 4.33624311e-04 9.99858474e-01 3.64128616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.339254154 meters 0.02064583409689232 Centerline is valid? [True, True] Translation: X:834.19, Y:8.08, Z:3.64 [[ 9.94055748e-01 -1.07592895e-01 -1.66415011e-02 8.34188348e+02] [ 1.07570273e-01 9.94194935e-01 -2.25117755e-03 8.08161451e+00] [ 1.67871068e-02 4.47665162e-04 9.99858986e-01 3.64174608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.399254154 meters 0.019031108913860385 Centerline is valid? [True, True] Translation: X:834.25, Y:8.09, Z:3.65 [[ 9.94312358e-01 -1.05320057e-01 -1.58309617e-02 8.34246871e+02] [ 1.05299245e-01 9.94438268e-01 -2.14480093e-03 8.08994886e+00] [ 1.59688047e-02 4.65613756e-04 9.99872382e-01 3.64593051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.459254154 meters 0.01952463392953662 Centerline is valid? [True, True] Translation: X:834.31, Y:8.10, Z:3.65 [[ 9.94330687e-01 -1.05148745e-01 -1.58185500e-02 8.34305069e+02] [ 1.05127881e-01 9.94456393e-01 -2.14712443e-03 8.09802146e+00] [ 1.59566256e-02 4.71981074e-04 9.99872574e-01 3.64515269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.519254154 meters 0.02217162659751185 Centerline is valid? [True, True] Translation: X:834.36, Y:8.10, Z:3.64 [[ 9.94453814e-01 -1.03661310e-01 -1.77748154e-02 8.34363776e+02] [ 1.03634642e-01 9.94612496e-01 -2.41741688e-03 8.10411105e+00] [ 1.79296461e-02 5.61922802e-04 9.99839093e-01 3.64237501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.579254154 meters 0.021729977351622704 Centerline is valid? [True, True] Translation: X:834.42, Y:8.11, Z:3.64 [[ 9.94462478e-01 -1.03649205e-01 -1.73557405e-02 8.34420169e+02] [ 1.03623729e-01 9.94613763e-01 -2.36321093e-03 8.11103223e+00] [ 1.75072033e-02 5.51658054e-04 9.99846585e-01 3.64272736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.639254154 meters 0.02035206101243445 Centerline is valid? [True, True] Translation: X:834.48, Y:8.11, Z:3.65 [[ 9.94316338e-01 -1.05388160e-01 -1.51114639e-02 8.34479378e+02] [ 1.05369028e-01 9.94431058e-01 -2.05887813e-03 8.11418588e+00] [ 1.52442904e-02 4.54895898e-04 9.99883696e-01 3.64691162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.699254154 meters 0.01855620877037293 Centerline is valid? [True, True] Translation: X:834.54, Y:8.12, Z:3.65 [[ 9.94266979e-01 -1.06149821e-01 -1.28603974e-02 8.34538165e+02] [ 1.06135997e-01 9.94350075e-01 -1.75463221e-03 8.11610520e+00] [ 1.29739910e-02 3.79621769e-04 9.99915762e-01 3.65054086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.759254154 meters 0.02118188791021832 Centerline is valid? [True, True] Translation: X:834.60, Y:8.12, Z:3.65 [[ 9.94242860e-01 -1.06019388e-01 -1.55249713e-02 8.34595379e+02] [ 1.05999186e-01 9.94363955e-01 -2.12074358e-03 8.12175232e+00] [ 1.56623118e-02 4.62899841e-04 9.99877231e-01 3.64524743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.819254154 meters 0.02299178682032487 Centerline is valid? [True, True] Translation: X:834.65, Y:8.13, Z:3.64 [[ 9.94342679e-01 -1.04639613e-01 -1.82534222e-02 8.34654547e+02] [ 1.04611378e-01 9.94510041e-01 -2.49748404e-03 8.12605618e+00] [ 1.84145474e-02 5.73839317e-04 9.99830273e-01 3.64236261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.879254154 meters 0.021850254761240227 Centerline is valid? [True, True] Translation: X:834.71, Y:8.13, Z:3.64 [[ 9.94600680e-01 -1.02094813e-01 -1.86047638e-02 8.34714486e+02] [ 1.02065006e-01 9.94774470e-01 -2.54717681e-03 8.12978584e+00] [ 1.87675976e-02 6.34528460e-04 9.99823672e-01 3.64380367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.939254154 meters 0.02128241644086209 Centerline is valid? [True, True] Translation: X:834.77, Y:8.13, Z:3.64 [[ 9.94745495e-01 -1.00651216e-01 -1.87278782e-02 8.34773870e+02] [ 1.00620683e-01 9.94921547e-01 -2.56792348e-03 8.13311917e+00] [ 1.88912341e-02 6.70018407e-04 9.99821320e-01 3.64480656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.999254154 meters 0.02321326739440249 Centerline is valid? [True, True] Translation: X:834.83, Y:8.14, Z:3.64 [[ 9.94967402e-01 -9.83186993e-02 -1.93210387e-02 8.34833324e+02] [ 9.82857291e-02 9.95154705e-01 -2.65098073e-03 8.13730279e+00] [ 1.94880636e-02 7.38657034e-04 9.99809817e-01 3.64407374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.059254154 meters 0.02477705279462886 Centerline is valid? [True, True] Translation: X:834.89, Y:8.14, Z:3.65 [[ 9.95184591e-01 -9.63764340e-02 -1.78665347e-02 8.34891035e+02] [ 9.63479041e-02 9.95344697e-01 -2.45279542e-03 8.14412640e+00] [ 1.80197523e-02 7.19581027e-04 9.99837372e-01 3.64515577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.119254154 meters 0.024164528947063887 Centerline is valid? [True, True] Translation: X:834.95, Y:8.15, Z:3.65 [[ 9.95351696e-01 -9.49817832e-02 -1.59204733e-02 8.34950590e+02] [ 9.49589000e-02 9.95478787e-01 -2.18889187e-03 8.14624383e+00] [ 1.60563983e-02 6.66926605e-04 9.99870865e-01 3.64868694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.179254154 meters 0.023021045139373014 Centerline is valid? [True, True] Translation: X:835.01, Y:8.15, Z:3.65 [[ 9.95528485e-01 -9.32178089e-02 -1.52798877e-02 8.35009462e+02] [ 9.31964831e-02 9.95645515e-01 -2.10339993e-03 8.14715703e+00] [ 1.54094260e-02 6.69962755e-04 9.99881043e-01 3.65106883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2392541539999 meters 0.025623297791477814 Centerline is valid? [True, True] Translation: X:835.07, Y:8.16, Z:3.65 [[ 9.95853328e-01 -8.95786553e-02 -1.58686274e-02 8.35067940e+02] [ 8.95551762e-02 9.95979465e-01 -2.18549977e-03 8.15507875e+00] [ 1.60006011e-02 7.55319500e-04 9.99871697e-01 3.65083368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.299254154 meters 0.02605199647119842 Centerline is valid? [True, True] Translation: X:835.13, Y:8.16, Z:3.65 [[ 9.96077303e-01 -8.68929683e-02 -1.67217975e-02 8.35127434e+02] [ 8.68665083e-02 9.96217297e-01 -2.30362541e-03 8.16196607e+00] [ 1.68587127e-02 8.42024830e-04 9.99857527e-01 3.65041678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3592541539999 meters 0.028847167878053748 Centerline is valid? [True, True] Translation: X:835.19, Y:8.17, Z:3.65 [[ 9.96080854e-01 -8.63704305e-02 -1.90546754e-02 8.35185521e+02] [ 8.63359469e-02 9.96262619e-01 -2.62652308e-03 8.16897288e+00] [ 1.92103147e-02 9.71125909e-04 9.99814993e-01 3.64734184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.419254154 meters 0.024737315204357492 Centerline is valid? [True, True] Translation: X:835.25, Y:8.17, Z:3.65 [[ 9.95780951e-01 -9.02025594e-02 -1.68462471e-02 8.35245885e+02] [ 9.01761437e-02 9.95923124e-01 -2.32269114e-03 8.16973466e+00] [ 1.69870797e-02 7.93761997e-04 9.99855394e-01 3.65138584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4792541539999 meters 0.02599237185671756 Centerline is valid? [True, True] Translation: X:835.30, Y:8.18, Z:3.65 [[ 9.95441683e-01 -9.38848085e-02 -1.67778988e-02 8.35304255e+02] [ 9.38591157e-02 9.95582800e-01 -2.31402458e-03 8.17564060e+00] [ 1.69210392e-02 7.28717777e-04 9.99856563e-01 3.65159539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.539254154 meters 0.023676239200515155 Centerline is valid? [True, True] Translation: X:835.36, Y:8.18, Z:3.65 [[ 9.95399646e-01 -9.43401974e-02 -1.67173921e-02 8.35361846e+02] [ 9.43146869e-02 9.95539756e-01 -2.30963630e-03 8.17968301e+00] [ 1.68607200e-02 7.22315545e-04 9.99857587e-01 3.65287922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5992541539999 meters 0.023393478025549013 Centerline is valid? [True, True] Translation: X:835.42, Y:8.19, Z:3.65 [[ 9.95544733e-01 -9.27165636e-02 -1.71558762e-02 8.35420200e+02] [ 9.26893756e-02 9.95692241e-01 -2.37489271e-03 8.19023680e+00] [ 1.73021647e-02 7.74144472e-04 9.99850007e-01 3.65228774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.659254154 meters 0.024773511497179254 Centerline is valid? [True, True] Translation: X:835.48, Y:8.20, Z:3.65 [[ 9.95521666e-01 -9.27130575e-02 -1.84635096e-02 8.35478375e+02] [ 9.26814748e-02 9.95692516e-01 -2.56079058e-03 8.19905615e+00] [ 1.86213970e-02 8.38097201e-04 9.99826255e-01 3.65145990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.7192541539999 meters 0.026593614573147153 Centerline is valid? [True, True] Translation: X:835.54, Y:8.21, Z:3.65 [[ 9.95563183e-01 -9.22884984e-02 -1.83516371e-02 8.35536576e+02] [ 9.22571383e-02 9.95731951e-01 -2.54998161e-03 8.20950169e+00] [ 1.85086453e-02 8.45598291e-04 9.99828343e-01 3.65134325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.779254154 meters 0.02630393602594879 Centerline is valid? [True, True] Translation: X:835.59, Y:8.22, Z:3.65 [[ 9.95689007e-01 -9.12820441e-02 -1.64617720e-02 8.35593122e+02] [ 9.12566390e-02 9.95824776e-01 -2.28947188e-03 8.22079691e+00] [ 1.66020281e-02 7.77356001e-04 9.99861875e-01 3.65337834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.839254154 meters 0.026611741503008365 Centerline is valid? [True, True] Translation: X:835.65, Y:8.23, Z:3.65 [[ 9.95667641e-01 -9.15311834e-02 -1.63704078e-02 8.35650384e+02] [ 9.15060297e-02 9.95801911e-01 -2.28061190e-03 8.23040438e+00] [ 1.65104305e-02 7.72740451e-04 9.99863395e-01 3.65285419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.899254154 meters 0.028539521034442718 Centerline is valid? [True, True] Translation: X:835.71, Y:8.24, Z:3.65 [[ 9.95775256e-01 -9.04909135e-02 -1.55895398e-02 8.35707229e+02] [ 9.04679408e-02 9.95896995e-01 -2.17401528e-03 8.24335584e+00] [ 1.57223045e-02 7.54477051e-04 9.99876112e-01 3.65325556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.959254154 meters 0.032338207817067685 Centerline is valid? [True, True] Translation: X:835.77, Y:8.26, Z:3.65 [[ 9.95947451e-01 -8.85082706e-02 -1.59674952e-02 8.35765761e+02] [ 8.84839034e-02 9.96075116e-01 -2.22751914e-03 8.25789140e+00] [ 1.61019785e-02 8.05625701e-04 9.99870030e-01 3.65238974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.019254154 meters 0.031142064049330294 Centerline is valid? [True, True] Translation: X:835.82, Y:8.27, Z:3.65 [[ 9.96266779e-01 -8.49778797e-02 -1.52073958e-02 8.35824984e+02] [ 8.49553619e-02 9.96382499e-01 -2.12182011e-03 8.26990174e+00] [ 1.53326908e-02 8.21949072e-04 9.99882110e-01 3.65386385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.079254154 meters 0.03723538368952229 Centerline is valid? [True, True] Translation: X:835.88, Y:8.29, Z:3.65 [[ 9.96535359e-01 -8.14181211e-02 -1.69813795e-02 8.35881384e+02] [ 8.13895183e-02 9.96679552e-01 -2.36986745e-03 8.29140689e+00] [ 1.71179439e-02 9.79550409e-04 9.99852997e-01 3.65063717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.139254154 meters 0.030647913179600035 Centerline is valid? [True, True] Translation: X:835.94, Y:8.30, Z:3.65 [[ 9.96566908e-01 -8.07837879e-02 -1.81211893e-02 8.35940720e+02] [ 8.07510432e-02 9.96731084e-01 -2.53267860e-03 8.29522112e+00] [ 1.82665521e-02 1.06067874e-03 9.99832590e-01 3.65084986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.199254154 meters 0.03125759143942991 Centerline is valid? [True, True] Translation: X:836.00, Y:8.31, Z:3.65 [[ 9.96530281e-01 -8.15504527e-02 -1.66410002e-02 8.35997179e+02] [ 8.15229097e-02 9.96668749e-01 -2.32796082e-03 8.30811760e+00] [ 1.67754111e-02 9.63260697e-04 9.99858819e-01 3.65288466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.259254154 meters 0.03652578021743531 Centerline is valid? [True, True] Translation: X:836.05, Y:8.33, Z:3.65 [[ 9.96423919e-01 -8.30100865e-02 -1.57701807e-02 8.36053137e+02] [ 8.29855110e-02 9.96548309e-01 -2.20753156e-03 8.32528299e+00] [ 1.58989943e-02 8.90940747e-04 9.99873206e-01 3.65302186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.319254154 meters 0.029432001503249813 Centerline is valid? [True, True] Translation: X:836.11, Y:8.33, Z:3.66 [[ 9.96309827e-01 -8.43169390e-02 -1.60431457e-02 8.36112651e+02] [ 8.42916232e-02 9.96438591e-01 -2.24889613e-03 8.32878870e+00] [ 1.61756295e-02 8.88294521e-04 9.99868771e-01 3.65536644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.379254154 meters 0.027984120391616844 Centerline is valid? [True, True] Translation: X:836.17, Y:8.34, Z:3.65 [[ 9.96124711e-01 -8.63054096e-02 -1.69392144e-02 8.36170705e+02] [ 8.62774384e-02 9.96268315e-01 -2.37653526e-03 8.33633615e+00] [ 1.70811105e-02 9.05853469e-04 9.99853697e-01 3.65377927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.439254154 meters 0.026957132184600326 Centerline is valid? [True, True] Translation: X:836.23, Y:8.35, Z:3.65 [[ 9.96065029e-01 -8.70938132e-02 -1.64050332e-02 8.36229029e+02] [ 8.70676277e-02 9.96199736e-01 -2.30506500e-03 8.34737386e+00] [ 1.65434466e-02 8.67647313e-04 9.99862771e-01 3.65492696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.499254154 meters 0.028663977841304634 Centerline is valid? [True, True] Translation: X:836.29, Y:8.36, Z:3.66 [[ 9.95966020e-01 -8.84440975e-02 -1.51436150e-02 8.36285021e+02] [ 8.84219088e-02 9.96080835e-01 -2.12986958e-03 8.36398349e+00] [ 1.52726391e-02 7.82250384e-04 9.99883060e-01 3.65608654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.559254154 meters 0.027574573871566414 Centerline is valid? [True, True] Translation: X:836.34, Y:8.37, Z:3.65 [[ 9.95690488e-01 -9.11345435e-02 -1.71740091e-02 8.36343743e+02] [ 9.11063430e-02 9.95838231e-01 -2.41897290e-03 8.37260252e+00] [ 1.73229868e-02 8.43887152e-04 9.99849590e-01 3.65441387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.619254154 meters 0.02435360356959079 Centerline is valid? [True, True] Translation: X:836.40, Y:8.38, Z:3.66 [[ 9.95510264e-01 -9.30859310e-02 -1.71558933e-02 8.36401512e+02] [ 9.30580442e-02 9.95657748e-01 -2.41843293e-03 8.38219551e+00] [ 1.73065202e-02 8.11080930e-04 9.99849902e-01 3.65676153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.679254154 meters 0.024114740320047033 Centerline is valid? [True, True] Translation: X:836.46, Y:8.40, Z:3.66 [[ 9.95354280e-01 -9.48727683e-02 -1.64017023e-02 8.36458138e+02] [ 9.48474980e-02 9.95489126e-01 -2.31354578e-03 8.39611967e+00] [ 1.65472088e-02 7.47137265e-04 9.99862806e-01 3.65797242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7392541539999 meters 0.024340226641224826 Centerline is valid? [True, True] Translation: X:836.52, Y:8.41, Z:3.66 [[ 9.94935463e-01 -9.87696649e-02 -1.86541685e-02 8.36517475e+02] [ 9.87376459e-02 9.95110019e-01 -2.63199385e-03 8.40666263e+00] [ 1.88229112e-02 7.76795332e-04 9.99822532e-01 3.65523012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.799254154 meters 0.022952979126976653 Centerline is valid? [True, True] Translation: X:836.58, Y:8.42, Z:3.66 [[ 9.94711497e-01 -1.01024180e-01 -1.85243687e-02 8.36575586e+02] [ 1.00992975e-01 9.94883703e-01 -2.61481108e-03 8.41541784e+00] [ 1.86937517e-02 7.30151550e-04 9.99824990e-01 3.65657496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8592541539999 meters 0.02152707547605334 Centerline is valid? [True, True] Translation: X:836.63, Y:8.43, Z:3.66 [[ 9.94378210e-01 -1.04526684e-01 -1.69158809e-02 8.36633243e+02] [ 1.04501152e-01 9.94521897e-01 -2.38874523e-03 8.42592158e+00] [ 1.70729016e-02 6.07587164e-04 9.99854063e-01 3.65879069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.919254154 meters 0.022765976411910475 Centerline is valid? [True, True] Translation: X:836.69, Y:8.43, Z:3.66 [[ 9.94068600e-01 -1.07295953e-01 -1.77537996e-02 8.36691434e+02] [ 1.07268248e-01 9.94226952e-01 -2.50829143e-03 8.43298436e+00] [ 1.79204355e-02 5.88994783e-04 9.99839243e-01 3.65689928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9792541539999 meters 0.019626462010685762 Centerline is valid? [True, True] Translation: X:836.75, Y:8.44, Z:3.66 [[ 9.93945515e-01 -1.08754422e-01 -1.56457031e-02 8.36750012e+02] [ 1.08733036e-01 9.94068522e-01 -2.21360500e-03 8.44057374e+00] [ 1.57936403e-02 4.98997962e-04 9.99875148e-01 3.66059199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.039254154 meters 0.023718049215776856 Centerline is valid? [True, True] Translation: X:836.81, Y:8.45, Z:3.66 [[ 9.93789736e-01 -1.09831454e-01 -1.78609075e-02 8.36806142e+02] [ 1.09803704e-01 9.93950072e-01 -2.52997195e-03 8.45143377e+00] [ 1.80307208e-02 5.53066355e-04 9.99837280e-01 3.65554809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0992541539999 meters 0.021896669154707456 Centerline is valid? [True, True] Translation: X:836.86, Y:8.46, Z:3.66 [[ 9.93737487e-01 -1.10365696e-01 -1.74705269e-02 8.36864350e+02] [ 1.10339163e-01 9.93890903e-01 -2.47841671e-03 8.45728360e+00] [ 1.76373300e-02 5.35212286e-04 9.99844307e-01 3.65707374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.159254154 meters 0.022648116704314075 Centerline is valid? [True, True] Translation: X:836.92, Y:8.46, Z:3.66 [[ 9.93683100e-01 -1.10965611e-01 -1.67490201e-02 8.36923243e+02] [ 1.10941240e-01 9.93824117e-01 -2.38018717e-03 8.46206434e+00] [ 1.69096990e-02 5.06994718e-04 9.99856892e-01 3.65836273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.2192541539999 meters 0.01991806495250927 Centerline is valid? [True, True] Translation: X:836.98, Y:8.47, Z:3.66 [[ 9.93561914e-01 -1.12235067e-01 -1.54276356e-02 8.36982563e+02] [ 1.12214486e-01 9.93681582e-01 -2.19602763e-03 8.46684684e+00] [ 1.55766287e-02 4.50685209e-04 9.99878575e-01 3.66093304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.279254154 meters 0.020200322889885623 Centerline is valid? [True, True] Translation: X:837.04, Y:8.47, Z:3.66 [[ 9.93237145e-01 -1.14974685e-01 -1.61491542e-02 8.37041470e+02] [ 1.14952430e-01 9.93368329e-01 -2.30276841e-03 8.47155466e+00] [ 1.63068184e-02 4.30810607e-04 9.99866942e-01 3.65927082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.339254154 meters 0.01742979638099284 Centerline is valid? [True, True] Translation: X:837.10, Y:8.47, Z:3.66 [[ 9.92801428e-01 -1.18715079e-01 -1.58762432e-02 8.37100915e+02] [ 1.18694016e-01 9.92928294e-01 -2.26578978e-03 8.47190222e+00] [ 1.60329544e-02 3.65064272e-04 9.99871397e-01 3.66144918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.399254154 meters 0.017754914704565954 Centerline is valid? [True, True] Translation: X:837.16, Y:8.48, Z:3.66 [[ 9.92431198e-01 -1.21905802e-01 -1.48085459e-02 8.37159040e+02] [ 1.21887787e-01 9.92541630e-01 -2.11640031e-03 8.47694344e+00] [ 1.49560997e-02 2.95400810e-04 9.99888108e-01 3.66196869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.459254154 meters 0.0143507744360162 Centerline is valid? [True, True] Translation: X:837.22, Y:8.48, Z:3.67 [[ 9.91940453e-01 -1.26056434e-01 -1.28028392e-02 8.37218250e+02] [ 1.26043294e-01 9.92023051e-01 -1.83134069e-03 8.47969268e+00] [ 1.29315639e-02 2.02868900e-04 9.99916363e-01 3.66511802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.519254154 meters 0.016646339663966225 Centerline is valid? [True, True] Translation: X:837.28, Y:8.48, Z:3.66 [[ 9.91332469e-01 -1.30601271e-01 -1.42563390e-02 8.37275868e+02] [ 1.30585423e-01 9.91434961e-01 -2.04093578e-03 8.48286843e+00] [ 1.44007818e-02 1.61575838e-04 9.99896290e-01 3.66181091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.579254154 meters 0.014578162415219508 Centerline is valid? [True, True] Translation: X:837.33, Y:8.49, Z:3.66 [[ 9.90857224e-01 -1.34307849e-01 -1.27813776e-02 8.37334170e+02] [ 1.34295403e-01 9.90939651e-01 -1.83105435e-03 8.48631884e+00] [ 1.29114988e-02 9.78331782e-05 9.99916638e-01 3.66299372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.639254154 meters 0.016764196513600095 Centerline is valid? [True, True] Translation: X:837.39, Y:8.49, Z:3.66 [[ 9.90301104e-01 -1.38419613e-01 -1.19888824e-02 8.37392516e+02] [ 1.38408951e-01 9.90373671e-01 -1.71854982e-03 8.48886080e+00] [ 1.21113545e-02 4.25131478e-05 9.99926654e-01 3.66285980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.699254154 meters 0.014221618851415659 Centerline is valid? [True, True] Translation: X:837.45, Y:8.49, Z:3.66 [[ 9.90138677e-01 -1.39630610e-01 -1.13443021e-02 8.37450451e+02] [ 1.39621132e-01 9.90203662e-01 -1.62710837e-03 8.49390055e+00] [ 1.14603636e-02 2.71586262e-05 9.99934328e-01 3.66394242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.759254154 meters 0.015534528092525533 Centerline is valid? [True, True] Translation: X:837.51, Y:8.50, Z:3.66 [[ 9.90398562e-01 -1.37743513e-01 -1.17223085e-02 8.37509209e+02] [ 1.37733233e-01 9.90467931e-01 -1.68359296e-03 8.50247339e+00] [ 1.18424747e-02 5.28765883e-05 9.99929874e-01 3.66292670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.819254154 meters 0.01646297489776752 Centerline is valid? [True, True] Translation: X:837.57, Y:8.51, Z:3.66 [[ 9.90598797e-01 -1.36274496e-01 -1.19702026e-02 8.37567235e+02] [ 1.36263632e-01 9.90671114e-01 -1.72234820e-03 8.51069112e+00] [ 1.20932461e-02 7.50527744e-05 9.99926871e-01 3.66263731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.879254154 meters 0.015776025762578465 Centerline is valid? [True, True] Translation: X:837.63, Y:8.52, Z:3.66 [[ 9.90755243e-01 -1.35121657e-01 -1.20907304e-02 8.37625041e+02] [ 1.35110464e-01 9.90829011e-01 -1.74157266e-03 8.51801964e+00] [ 1.22151707e-02 9.18880470e-05 9.99925388e-01 3.66342716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.939254154 meters 0.015463183932516202 Centerline is valid? [True, True] Translation: X:837.68, Y:8.52, Z:3.66 [[ 9.90587798e-01 -1.36326829e-01 -1.22804645e-02 8.37682782e+02] [ 1.36315341e-01 9.90663913e-01 -1.77162674e-03 8.52385469e+00] [ 1.24073333e-02 8.09361217e-05 9.99923023e-01 3.66433635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.999254154 meters 0.01607977190262168 Centerline is valid? [True, True] Translation: X:837.74, Y:8.53, Z:3.66 [[ 9.90482467e-01 -1.37068788e-01 -1.25151839e-02 8.37740066e+02] [ 1.37056869e-01 9.90561528e-01 -1.80921250e-03 8.53129650e+00] [ 1.26450462e-02 7.67013488e-05 9.99920045e-01 3.66309545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.059254154 meters 0.017283378128928637 Centerline is valid? [True, True] Translation: X:837.80, Y:8.54, Z:3.66 [[ 9.90315459e-01 -1.38313276e-01 -1.20303510e-02 8.37797611e+02] [ 1.38302311e-01 9.90388527e-01 -1.74265226e-03 8.53832278e+00] [ 1.21557535e-02 6.19501296e-05 9.99926114e-01 3.66272768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.119254154 meters 0.015377846935927138 Centerline is valid? [True, True] Translation: X:837.86, Y:8.55, Z:3.67 [[ 9.90115555e-01 -1.39842374e-01 -1.07376494e-02 8.37855662e+02] [ 1.39833699e-01 9.90173777e-01 -1.55822554e-03 8.54519176e+00] [ 1.08500448e-02 4.13381221e-05 9.99941136e-01 3.66512621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.179254154 meters 0.01282870817213488 Centerline is valid? [True, True] Translation: X:837.91, Y:8.55, Z:3.67 [[ 9.90130333e-01 -1.39741096e-01 -1.06934702e-02 8.37912901e+02] [ 1.39732453e-01 9.90188075e-01 -1.55487292e-03 8.55279433e+00] [ 1.08058264e-02 4.53020237e-05 9.99941614e-01 3.66772427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2392541539999 meters 0.012968377334561859 Centerline is valid? [True, True] Translation: X:837.97, Y:8.56, Z:3.67 [[ 9.90345540e-01 -1.38176902e-01 -1.10840088e-02 8.37969999e+02] [ 1.38167496e-01 9.90407562e-01 -1.61365466e-03 8.56230914e+00] [ 1.12006560e-02 6.66259569e-05 9.99937268e-01 3.66721117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.299254154 meters 0.012939002338120705 Centerline is valid? [True, True] Translation: X:838.03, Y:8.57, Z:3.67 [[ 9.90436672e-01 -1.37510650e-01 -1.12258996e-02 8.38027519e+02] [ 1.37500930e-01 9.90500285e-01 -1.63676287e-03 8.57112880e+00] [ 1.13443291e-02 7.75383303e-05 9.99935648e-01 3.66769853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3592541539999 meters 0.013604883215676218 Centerline is valid? [True, True] Translation: X:838.09, Y:8.58, Z:3.67 [[ 9.90649282e-01 -1.35926569e-01 -1.17460114e-02 8.38085403e+02] [ 1.35915778e-01 9.90718909e-01 -1.71583816e-03 8.58022838e+00] [ 1.18702236e-02 1.03325573e-04 9.99929541e-01 3.66675708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.419254154 meters 0.016673089348820343 Centerline is valid? [True, True] Translation: X:838.14, Y:8.59, Z:3.66 [[ 9.90682748e-01 -1.35612198e-01 -1.25309670e-02 8.38143984e+02] [ 1.35599849e-01 9.90761989e-01 -1.83382496e-03 8.58788316e+00] [ 1.26638948e-02 1.17541522e-04 9.99919803e-01 3.66489665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4792541539999 meters 0.015756257324662504 Centerline is valid? [True, True] Translation: X:838.20, Y:8.60, Z:3.67 [[ 9.90763212e-01 -1.34976824e-01 -1.30197961e-02 8.38202508e+02] [ 1.34963392e-01 9.90848747e-01 -1.90881061e-03 8.59552367e+00] [ 1.31582939e-02 1.33983476e-04 9.99913417e-01 3.66566372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.539254154 meters 0.013454073128808058 Centerline is valid? [True, True] Translation: X:838.26, Y:8.60, Z:3.67 [[ 9.90838858e-01 -1.34433438e-01 -1.28844181e-02 8.38260012e+02] [ 1.34420191e-01 9.90922616e-01 -1.89263963e-03 8.60261168e+00] [ 1.30218954e-02 1.43374949e-04 9.99915201e-01 3.66765040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5992541539999 meters 0.017770185012427567 Centerline is valid? [True, True] Translation: X:838.32, Y:8.61, Z:3.66 [[ 9.90494362e-01 -1.36879367e-01 -1.35999389e-02 8.38319127e+02] [ 1.36864786e-01 9.90587717e-01 -2.00154106e-03 8.60782890e+00] [ 1.37459021e-02 1.21162413e-04 9.99905513e-01 3.66498554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.659254154 meters 0.014099597150745893 Centerline is valid? [True, True] Translation: X:838.38, Y:8.61, Z:3.67 [[ 9.90302072e-01 -1.38340245e-01 -1.27977809e-02 8.38376844e+02] [ 1.38327426e-01 9.90384757e-01 -1.88571791e-03 8.61089539e+00] [ 1.29355978e-02 9.71462558e-05 9.99916327e-01 3.66719204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.7192541539999 meters 0.014049480826264142 Centerline is valid? [True, True] Translation: X:838.43, Y:8.62, Z:3.67 [[ 9.90268456e-01 -1.38647653e-01 -1.20504762e-02 8.38434719e+02] [ 1.38636277e-01 9.90341769e-01 -1.77842619e-03 8.61529225e+00] [ 1.21806646e-02 9.04861967e-05 9.99925809e-01 3.66880769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.779254154 meters 0.014444413367820758 Centerline is valid? [True, True] Translation: X:838.49, Y:8.62, Z:3.67 [[ 9.90378797e-01 -1.37946849e-01 -1.09775326e-02 8.38492098e+02] [ 1.37937331e-01 9.90439629e-01 -1.62316576e-03 8.62248398e+00] [ 1.10964939e-02 9.33374074e-05 9.99938428e-01 3.66945233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.839254154 meters 0.01344295081645569 Centerline is valid? [True, True] Translation: X:838.55, Y:8.63, Z:3.67 [[ 9.90629611e-01 -1.36222597e-01 -9.81723112e-03 8.38550806e+02] [ 1.36214875e-01 9.90678249e-01 -1.45415608e-03 8.63003832e+00] [ 9.92380626e-03 1.03277166e-04 9.99950752e-01 3.67191918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.899254154 meters 0.013758454432242728 Centerline is valid? [True, True] Translation: X:838.61, Y:8.64, Z:3.67 [[ 9.90894759e-01 -1.34376544e-01 -8.39765375e-03 8.38609520e+02] [ 1.34370810e-01 9.90930337e-01 -1.24591619e-03 8.63883929e+00] [ 8.48891177e-03 1.06172291e-04 9.99963963e-01 3.67180173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.959254154 meters 0.015560806472439069 Centerline is valid? [True, True] Translation: X:838.67, Y:8.65, Z:3.67 [[ 9.90869815e-01 -1.34486994e-01 -9.50043231e-03 8.38667570e+02] [ 1.34479632e-01 9.90915351e-01 -1.41236807e-03 8.64598144e+00] [ 9.60406936e-03 1.21858244e-04 9.99953872e-01 3.66901439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.019254154 meters 0.015001775366191376 Centerline is valid? [True, True] Translation: X:838.73, Y:8.65, Z:3.67 [[ 9.90693701e-01 -1.35720664e-01 -1.02903497e-02 8.38725083e+02] [ 1.35712071e-01 9.90747136e-01 -1.53204480e-03 8.65259393e+00] [ 1.04030646e-02 1.21262471e-04 9.99945879e-01 3.66838075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.079254154 meters 0.01421410971702849 Centerline is valid? [True, True] Translation: X:838.78, Y:8.66, Z:3.67 [[ 9.90332280e-01 -1.38292828e-01 -1.08198284e-02 8.38783931e+02] [ 1.38283456e-01 9.90391379e-01 -1.61317624e-03 8.65795373e+00] [ 1.09389555e-02 1.01377236e-04 9.99940163e-01 3.66867733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.139254154 meters 0.015449726292359718 Centerline is valid? [True, True] Translation: X:838.84, Y:8.66, Z:3.67 [[ 9.89755913e-01 -1.42318490e-01 -1.13437485e-02 8.38843072e+02] [ 1.42308419e-01 9.89820915e-01 -1.69423454e-03 8.66281298e+00] [ 1.14694004e-02 6.25677416e-05 9.99934222e-01 3.66667762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.199254154 meters 0.013280244734543782 Centerline is valid? [True, True] Translation: X:838.90, Y:8.67, Z:3.67 [[ 9.89051983e-01 -1.47167638e-01 -1.08563542e-02 8.38902557e+02] [ 1.47158675e-01 9.89111564e-01 -1.62419218e-03 8.66553740e+00] [ 1.09771741e-02 8.80378864e-06 9.99939749e-01 3.66991341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.259254154 meters 0.013405120247825985 Centerline is valid? [True, True] Translation: X:838.96, Y:8.67, Z:3.67 [[ 9.88188993e-01 -1.52928275e-01 -9.77023215e-03 8.38960412e+02] [ 1.52921271e-01 9.88237290e-01 -1.46436787e-03 8.66821941e+00] [ 9.87925099e-03 -4.70040997e-05 9.99951198e-01 3.67231802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.319254154 meters 0.016226939307516817 Centerline is valid? [True, True] Translation: X:839.02, Y:8.67, Z:3.67 [[ 9.87542387e-01 -1.57124802e-01 -8.47525727e-03 8.39018864e+02] [ 1.57119673e-01 9.87578752e-01 -1.27180675e-03 8.67168191e+00] [ 8.56981638e-03 -7.56665809e-05 9.99963276e-01 3.67148913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.379254154 meters 0.0142495657543725 Centerline is valid? [True, True] Translation: X:839.08, Y:8.68, Z:3.67 [[ 9.87470991e-01 -1.57597705e-01 -8.00038553e-03 8.39076499e+02] [ 1.57593138e-01 9.87503396e-01 -1.20202157e-03 8.68073414e+00] [ 8.08984373e-03 -7.38444301e-05 9.99967274e-01 3.67386363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.439254154 meters 0.015060415685513306 Centerline is valid? [True, True] Translation: X:839.13, Y:8.69, Z:3.67 [[ 9.87683899e-01 -1.56224059e-01 -8.63476113e-03 8.39134123e+02] [ 1.56218664e-01 9.87721641e-01 -1.30000196e-03 8.69030103e+00] [ 8.73183201e-03 -6.49198417e-05 9.99961875e-01 3.67282835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.499254154 meters 0.01357409964296158 Centerline is valid? [True, True] Translation: X:839.19, Y:8.70, Z:3.67 [[ 9.87937247e-01 -1.54580637e-01 -9.20988181e-03 8.39191000e+02] [ 1.54574401e-01 9.87980174e-01 -1.38937839e-03 8.70052775e+00] [ 9.31395163e-03 -5.09932972e-05 9.99956623e-01 3.67444459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.559254154 meters 0.016915649696575698 Centerline is valid? [True, True] Translation: X:839.25, Y:8.71, Z:3.67 [[ 9.88063223e-01 -1.53581635e-01 -1.19895363e-02 8.39248931e+02] [ 1.53570950e-01 9.88135962e-01 -1.81229128e-03 8.71142221e+00] [ 1.21256267e-02 -5.05861222e-05 9.99926481e-01 3.67005388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.619254154 meters 0.013617800390957816 Centerline is valid? [True, True] Translation: X:839.31, Y:8.72, Z:3.67 [[ 9.87977229e-01 -1.54162523e-01 -1.16151039e-02 8.39305937e+02] [ 1.54152499e-01 9.88045502e-01 -1.75882670e-03 8.72141353e+00] [ 1.17473963e-02 -5.28165611e-05 9.99930996e-01 3.67260545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.679254154 meters 0.017468589251458524 Centerline is valid? [True, True] Translation: X:839.36, Y:8.73, Z:3.67 [[ 9.87165073e-01 -1.59175352e-01 -1.29740330e-02 8.39364471e+02] [ 1.59163230e-01 9.87250319e-01 -1.96820517e-03 8.72968263e+00] [ 1.31219080e-02 -1.22045595e-04 9.99913897e-01 3.66961314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7392541539999 meters 0.01601968097631929 Centerline is valid? [True, True] Translation: X:839.42, Y:8.74, Z:3.67 [[ 9.86228815e-01 -1.64959805e-01 -1.18738353e-02 8.39423027e+02] [ 1.64950035e-01 9.86300274e-01 -1.80426031e-03 8.73704619e+00] [ 1.20087974e-02 -1.79176037e-04 9.99927876e-01 3.67289862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.799254154 meters 0.016247488467969078 Centerline is valid? [True, True] Translation: X:839.48, Y:8.75, Z:3.68 [[ 9.85398429e-01 -1.69987638e-01 -9.70248788e-03 8.39480764e+02] [ 1.69981344e-01 9.85446176e-01 -1.47571911e-03 8.74583167e+00] [ 9.81213359e-03 -1.95070639e-04 9.99951841e-01 3.67669271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8592541539999 meters 0.017349304390265687 Centerline is valid? [True, True] Translation: X:839.54, Y:8.76, Z:3.68 [[ 9.84824526e-01 -1.73333881e-01 -8.71889977e-03 8.39538264e+02] [ 1.73328916e-01 9.84863099e-01 -1.32759810e-03 8.75856541e+00] [ 8.81704038e-03 -2.03786281e-04 9.99961108e-01 3.67701446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.919254154 meters 0.01725102093134974 Centerline is valid? [True, True] Translation: X:839.59, Y:8.78, Z:3.67 [[ 9.84956258e-01 -1.72458004e-01 -1.09273173e-02 8.39594720e+02] [ 1.72450117e-01 9.85016841e-01 -1.66703758e-03 8.77653984e+00] [ 1.10510856e-02 -2.42458064e-04 9.99938905e-01 3.67490144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9792541539999 meters 0.015576348778597635 Centerline is valid? [True, True] Translation: X:839.65, Y:8.79, Z:3.67 [[ 9.85434804e-01 -1.69616218e-01 -1.21895492e-02 8.39650656e+02] [ 1.69606161e-01 9.85510165e-01 -1.86164119e-03 8.79331131e+00] [ 1.23286891e-02 -2.32896613e-04 9.99923972e-01 3.67465348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.039254154 meters 0.01569019655376993 Centerline is valid? [True, True] Translation: X:839.71, Y:8.81, Z:3.67 [[ 9.85453470e-01 -1.69355001e-01 -1.41542281e-02 8.39706530e+02] [ 1.69341366e-01 9.85555079e-01 -2.16504624e-03 8.80909332e+00] [ 1.43164328e-02 -2.63343993e-04 9.99897480e-01 3.67378027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0992541539999 meters 0.01894571301572107 Centerline is valid? [True, True] Translation: X:839.76, Y:8.82, Z:3.67 [[ 9.85421661e-01 -1.69536710e-01 -1.41934674e-02 8.39762000e+02] [ 1.69522972e-01 9.85523838e-01 -2.17427321e-03 8.82498251e+00] [ 1.43566196e-02 -2.63542865e-04 9.99896904e-01 3.67222610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.159254154 meters 0.0162965086369522 Centerline is valid? [True, True] Translation: X:839.82, Y:8.84, Z:3.67 [[ 9.85995710e-01 -1.66319099e-01 -1.22644695e-02 8.39818600e+02] [ 1.66308557e-01 9.86071967e-01 -1.88162309e-03 8.84334093e+00] [ 1.24065994e-02 -1.84413923e-04 9.99923018e-01 3.67453497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.2192541539999 meters 0.017476533658992262 Centerline is valid? [True, True] Translation: X:839.87, Y:8.86, Z:3.67 [[ 9.87035747e-01 -1.59967913e-01 -1.30652942e-02 8.39874491e+02] [ 1.59955365e-01 9.87122209e-01 -2.00653417e-03 8.85936735e+00] [ 1.32180231e-02 -1.09342956e-04 9.99912632e-01 3.67278190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.279254154 meters 0.01647332605952947 Centerline is valid? [True, True] Translation: X:839.93, Y:8.87, Z:3.67 [[ 9.87916590e-01 -1.54461266e-01 -1.27486795e-02 8.39932018e+02] [ 1.54448827e-01 9.87998844e-01 -1.96049080e-03 8.87401755e+00] [ 1.28985005e-02 -3.22172108e-05 9.99916810e-01 3.67326902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.339254154 meters 0.01635275837904647 Centerline is valid? [True, True] Translation: X:839.99, Y:8.89, Z:3.67 [[ 9.88307649e-01 -1.51928426e-01 -1.28741781e-02 8.39988650e+02] [ 1.51915478e-01 9.88391498e-01 -1.98351363e-03 8.88586120e+00] [ 1.30260803e-02 4.53478076e-06 9.99915157e-01 3.67365159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.399254154 meters 0.017732117707017964 Centerline is valid? [True, True] Translation: X:840.05, Y:8.90, Z:3.67 [[ 9.89370980e-01 -1.44773092e-01 -1.36314524e-02 8.40045462e+02] [ 1.44757843e-01 9.89464876e-01 -2.10403205e-03 8.90137484e+00] [ 1.37924506e-02 1.08408605e-04 9.99904874e-01 3.67280496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.459254154 meters 0.014210004437014988 Centerline is valid? [True, True] Translation: X:840.10, Y:8.91, Z:3.68 [[ 9.89791291e-01 -1.41927953e-01 -1.30252367e-02 8.40102898e+02] [ 1.41913758e-01 9.89876980e-01 -2.01236620e-03 8.91185706e+00] [ 1.31789930e-02 1.43362250e-04 9.99913143e-01 3.67508714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.519254154 meters 0.013916870597721877 Centerline is valid? [True, True] Translation: X:840.16, Y:8.92, Z:3.67 [[ 9.89185933e-01 -1.45976490e-01 -1.42145533e-02 8.40161645e+02] [ 1.45959959e-01 9.89288054e-01 -2.19915416e-03 8.91655480e+00] [ 1.43833126e-02 1.00616737e-04 9.99896550e-01 3.67465599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.579254154 meters 0.014273766506932363 Centerline is valid? [True, True] Translation: X:840.22, Y:8.92, Z:3.67 [[ 9.87951237e-01 -1.53966048e-01 -1.57101717e-02 8.40220083e+02] [ 1.53946827e-01 9.88076139e-01 -2.43285917e-03 8.91763438e+00] [ 1.58974235e-02 -1.49848492e-05 9.99873628e-01 3.67276458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.639254154 meters 0.014011628520344424 Centerline is valid? [True, True] Translation: X:840.28, Y:8.92, Z:3.68 [[ 9.86894525e-01 -1.60687509e-01 -1.47892498e-02 8.40279453e+02] [ 1.60671181e-01 9.87005325e-01 -2.29340029e-03 8.91915201e+00] [ 1.49655891e-02 -1.12862060e-04 9.99888003e-01 3.67586067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.699254154 meters 0.014574769542616247 Centerline is valid? [True, True] Translation: X:840.34, Y:8.92, Z:3.68 [[ 9.85973555e-01 -1.66257411e-01 -1.46499856e-02 8.40338249e+02] [ 1.66241947e-01 9.86082368e-01 -2.27568403e-03 8.92346884e+00] [ 1.48244418e-02 -1.91677845e-04 9.99890094e-01 3.67676430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.759254154 meters 0.015388408140695298 Centerline is valid? [True, True] Translation: X:840.40, Y:8.93, Z:3.68 [[ 9.85187440e-01 -1.70787925e-01 -1.54010564e-02 8.40396717e+02] [ 1.70771352e-01 9.85307775e-01 -2.39460271e-03 8.92728964e+00] [ 1.55837498e-02 -2.70926713e-04 9.99878529e-01 3.67625592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.819254154 meters 0.01621103096182563 Centerline is valid? [True, True] Translation: X:840.46, Y:8.93, Z:3.68 [[ 9.84302374e-01 -1.75919880e-01 -1.41785923e-02 8.40455844e+02] [ 1.75906352e-01 9.84404435e-01 -2.20546211e-03 8.93279910e+00] [ 1.43454538e-02 -3.23262856e-04 9.99897046e-01 3.67740510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.879254154 meters 0.019199812100149354 Centerline is valid? [True, True] Translation: X:840.51, Y:8.94, Z:3.68 [[ 9.83846214e-01 -1.78422371e-01 -1.45631045e-02 8.40513093e+02] [ 1.78408355e-01 9.83953923e-01 -2.26647226e-03 8.93915246e+00] [ 1.47338131e-02 -3.68319363e-04 9.99891384e-01 3.67652393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.939254154 meters 0.01657118344216832 Centerline is valid? [True, True] Translation: X:840.57, Y:8.95, Z:3.68 [[ 9.84474206e-01 -1.74992959e-01 -1.37113850e-02 8.40571360e+02] [ 1.74980166e-01 9.84569640e-01 -2.13651202e-03 8.95112081e+00] [ 1.38736879e-02 -2.95879441e-04 9.99903712e-01 3.67949649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.999254154 meters 0.016823332176508478 Centerline is valid? [True, True] Translation: X:840.63, Y:8.96, Z:3.68 [[ 9.84871518e-01 -1.72697135e-01 -1.42756270e-02 8.40628822e+02] [ 1.72682974e-01 9.84974937e-01 -2.22803944e-03 8.96364959e+00] [ 1.44459108e-02 -2.70825144e-04 9.99895616e-01 3.67793246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.059254154 meters 0.0177574842221948 Centerline is valid? [True, True] Translation: X:840.69, Y:8.97, Z:3.68 [[ 9.84877317e-01 -1.72627379e-01 -1.47125230e-02 8.40686340e+02] [ 1.72612269e-01 9.84987164e-01 -2.30041338e-03 8.97485358e+00] [ 1.48887606e-02 -2.73937003e-04 9.99889119e-01 3.67747323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.119254154 meters 0.016891618739665156 Centerline is valid? [True, True] Translation: X:840.74, Y:8.98, Z:3.68 [[ 9.84509237e-01 -1.74766133e-01 -1.40840376e-02 8.40744311e+02] [ 1.74752452e-01 9.84609930e-01 -2.20583414e-03 8.98387135e+00] [ 1.42527884e-02 -2.89556023e-04 9.99898382e-01 3.67955204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.179254154 meters 0.01725740463669457 Centerline is valid? [True, True] Translation: X:840.80, Y:8.99, Z:3.68 [[ 9.84041143e-01 -1.77356371e-01 -1.44134207e-02 8.40802765e+02] [ 1.77342266e-01 9.84146640e-01 -2.26107959e-03 8.99251553e+00] [ 1.45859364e-02 -3.31113349e-04 9.99893565e-01 3.68000072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2392541539999 meters 0.02263249348652524 Centerline is valid? [True, True] Translation: X:840.86, Y:9.00, Z:3.68 [[ 9.82972559e-01 -1.82904794e-01 -1.76291090e-02 8.40861159e+02] [ 1.82884552e-01 9.83130501e-01 -2.76734005e-03 9.00144535e+00] [ 1.78378745e-02 -5.03872372e-04 9.99840765e-01 3.67531551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.299254154 meters 0.021673549111716567 Centerline is valid? [True, True] Translation: X:840.92, Y:9.01, Z:3.68 [[ 9.82649612e-01 -1.84606598e-01 -1.78925831e-02 8.40919008e+02] [ 1.84585962e-01 9.82812349e-01 -2.81236583e-03 9.01476845e+00] [ 1.81042329e-02 -5.39149480e-04 9.99835960e-01 3.67732636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3592541539999 meters 0.020882182060562707 Centerline is valid? [True, True] Translation: X:840.98, Y:9.03, Z:3.68 [[ 9.82690695e-01 -1.84534469e-01 -1.63103670e-02 8.40976385e+02] [ 1.84517244e-01 9.82825922e-01 -2.56775238e-03 9.02626116e+00] [ 1.65040903e-02 -4.86237599e-04 9.99863680e-01 3.68026635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.419254154 meters 0.01795544361336156 Centerline is valid? [True, True] Translation: X:841.03, Y:9.04, Z:3.68 [[ 9.83173998e-01 -1.82153620e-01 -1.37458491e-02 8.41033383e+02] [ 1.82141131e-01 9.83270013e-01 -2.16564973e-03 9.04172454e+00] [ 1.39103622e-02 -3.74474010e-04 9.99903176e-01 3.68396559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4792541539999 meters 0.0203181952045678 Centerline is valid? [True, True] Translation: X:841.09, Y:9.06, Z:3.68 [[ 9.83827943e-01 -1.78426205e-01 -1.57056624e-02 8.41090975e+02] [ 1.78409395e-01 9.83953228e-01 -2.47628064e-03 9.05814380e+00] [ 1.58954706e-02 -3.65803648e-04 9.99873592e-01 3.68045637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.539254154 meters 0.015577130771809665 Centerline is valid? [True, True] Translation: X:841.15, Y:9.07, Z:3.68 [[ 9.85003815e-01 -1.71786766e-01 -1.60247077e-02 8.41147703e+02] [ 1.71768369e-01 9.85134122e-01 -2.52771229e-03 9.07372344e+00] [ 1.62207139e-02 -2.62731659e-04 9.99868401e-01 3.68244371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5992541539999 meters 0.0147827705084755 Centerline is valid? [True, True] Translation: X:841.21, Y:9.09, Z:3.68 [[ 9.85940287e-01 -1.66306082e-01 -1.62492224e-02 8.41205203e+02] [ 1.66286369e-01 9.86074164e-01 -2.56634142e-03 9.08852025e+00] [ 1.64497366e-02 -1.71764799e-04 9.99864679e-01 3.68207534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.659254154 meters 0.014296499477983225 Centerline is valid? [True, True] Translation: X:841.26, Y:9.10, Z:3.68 [[ 9.86677731e-01 -1.61783410e-01 -1.71225981e-02 8.41262451e+02] [ 1.61760763e-01 9.86826286e-01 -2.70866528e-03 9.10194669e+00] [ 1.73352470e-02 -9.71848200e-05 9.99849729e-01 3.68116179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.7192541539999 meters 0.013958368565769104 Centerline is valid? [True, True] Translation: X:841.32, Y:9.12, Z:3.68 [[ 9.87617983e-01 -1.56046369e-01 -1.61322519e-02 8.41319653e+02] [ 1.56025433e-01 9.87749731e-01 -2.55609248e-03 9.11522389e+00] [ 1.63334964e-02 7.40131418e-06 9.99866600e-01 3.68249081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.779254154 meters 0.017540203723607813 Centerline is valid? [True, True] Translation: X:841.38, Y:9.13, Z:3.68 [[ 9.88531901e-01 -1.50181346e-01 -1.58191207e-02 8.41377763e+02] [ 1.50160398e-01 9.88658461e-01 -2.51057022e-03 9.12748941e+00] [ 1.60167484e-02 1.06373280e-04 9.99871718e-01 3.68141298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.839254154 meters 0.014640353069788174 Centerline is valid? [True, True] Translation: X:841.44, Y:9.14, Z:3.68 [[ 9.89196711e-01 -1.45898535e-01 -1.42648136e-02 8.41435806e+02] [ 1.45881003e-01 9.89299546e-01 -2.26751386e-03 9.13898103e+00] [ 1.44430006e-02 1.62051930e-04 9.99895681e-01 3.68466562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.899254154 meters 0.018877625966102804 Centerline is valid? [True, True] Translation: X:841.49, Y:9.15, Z:3.68 [[ 9.89538415e-01 -1.43430956e-01 -1.55334088e-02 8.41494079e+02] [ 1.43409799e-01 9.89660302e-01 -2.47329680e-03 9.14784029e+00] [ 1.57275454e-02 2.19779161e-04 9.99876290e-01 3.68183029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.959254154 meters 0.016988464476804573 Centerline is valid? [True, True] Translation: X:841.55, Y:9.16, Z:3.68 [[ 9.89862227e-01 -1.41275643e-01 -1.46275382e-02 8.41552700e+02] [ 1.41256589e-01 9.89970269e-01 -2.33283843e-03 9.15658139e+00] [ 1.48104012e-02 2.42952480e-04 9.99890290e-01 3.68360477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.019254154 meters 0.015488728054550987 Centerline is valid? [True, True] Translation: X:841.61, Y:9.16, Z:3.68 [[ 9.90019379e-01 -1.40226969e-01 -1.40721724e-02 8.41611130e+02] [ 1.40209177e-01 9.90119353e-01 -2.24794817e-03 9.16465195e+00] [ 1.42483532e-02 2.52464533e-04 9.99898455e-01 3.68488323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.079254154 meters 0.018025458902506553 Centerline is valid? [True, True] Translation: X:841.67, Y:9.17, Z:3.68 [[ 9.89831290e-01 -1.41353846e-01 -1.59093575e-02 8.41668478e+02] [ 1.41331174e-01 9.89959098e-01 -2.54618994e-03 9.17143936e+00] [ 1.61095270e-02 2.71810292e-04 9.99870196e-01 3.68171669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.139254154 meters 0.018945754358614043 Centerline is valid? [True, True] Translation: X:841.73, Y:9.18, Z:3.68 [[ 9.89557357e-01 -1.43006634e-01 -1.80371885e-02 8.41725170e+02] [ 1.42977705e-01 9.89721690e-01 -2.88997464e-03 9.17531277e+00] [ 1.82650822e-02 2.80879843e-04 9.99833140e-01 3.67912487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.199254154 meters 0.018554526713569892 Centerline is valid? [True, True] Translation: X:841.78, Y:9.18, Z:3.68 [[ 9.89395895e-01 -1.43893956e-01 -1.97558105e-02 8.41782997e+02] [ 1.43859388e-01 9.89593070e-01 -3.16734187e-03 9.17853628e+00] [ 2.00059745e-02 2.91696242e-04 9.99799818e-01 3.67795763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.259254154 meters 0.0157248304251508 Centerline is valid? [True, True] Translation: X:841.84, Y:9.18, Z:3.68 [[ 9.89632126e-01 -1.42439486e-01 -1.84187038e-02 8.41840809e+02] [ 1.42409104e-01 9.89803466e-01 -2.95743439e-03 9.18204819e+00] [ 1.86521523e-02 3.03780966e-04 9.99825987e-01 3.68115047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.319254154 meters 0.016177159158645465 Centerline is valid? [True, True] Translation: X:841.90, Y:9.19, Z:3.68 [[ 9.90136028e-01 -1.38936515e-01 -1.80911774e-02 8.41900095e+02] [ 1.38906532e-01 9.90301221e-01 -2.90967769e-03 9.18670925e+00] [ 1.83199756e-02 3.67994000e-04 9.99832107e-01 3.68245305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.379254154 meters 0.01871049621855982 Centerline is valid? [True, True] Translation: X:841.96, Y:9.19, Z:3.68 [[ 9.90636469e-01 -1.35332822e-01 -1.80114643e-02 8.41959061e+02] [ 1.35302422e-01 9.90800099e-01 -2.90150002e-03 9.19192542e+00] [ 1.82384288e-02 4.37336987e-04 9.99833570e-01 3.68181606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.439254154 meters 0.02125503516396128 Centerline is valid? [True, True] Translation: X:842.02, Y:9.20, Z:3.68 [[ 9.91142198e-01 -1.31842734e-01 -1.59573653e-02 8.42016436e+02] [ 1.31818387e-01 9.91270545e-01 -2.57264124e-03 9.19912339e+00] [ 1.61572503e-02 4.46379134e-04 9.99869363e-01 3.68302659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.499254154 meters 0.024470297455240427 Centerline is valid? [True, True] Translation: X:842.08, Y:9.21, Z:3.68 [[ 9.91471632e-01 -1.29419502e-01 -1.53165144e-02 8.42075322e+02] [ 1.29396737e-01 9.91589821e-01 -2.47229754e-03 9.20521120e+00] [ 1.55076633e-02 4.69305889e-04 9.99879639e-01 3.68259598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.559254154 meters 0.020668038889097365 Centerline is valid? [True, True] Translation: X:842.14, Y:9.21, Z:3.69 [[ 9.91820950e-01 -1.26756986e-01 -1.49622897e-02 8.42135114e+02] [ 1.26734901e-01 9.91933674e-01 -2.41891171e-03 9.20600240e+00] [ 1.51482129e-02 5.02883004e-04 9.99885133e-01 3.68571283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.619254154 meters 0.02363539021709856 Centerline is valid? [True, True] Translation: X:842.19, Y:9.21, Z:3.68 [[ 9.92138293e-01 -1.23827338e-01 -1.81217597e-02 8.42193253e+02] [ 1.23794409e-01 9.92303556e-01 -2.93209401e-03 9.20971822e+00] [ 1.83453600e-02 6.65670211e-04 9.99831488e-01 3.68177665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.679254154 meters 0.020819195569184698 Centerline is valid? [True, True] Translation: X:842.25, Y:9.21, Z:3.68 [[ 9.92008690e-01 -1.25049024e-01 -1.67779869e-02 8.42253054e+02] [ 1.25020912e-01 9.92150383e-01 -2.71820850e-03 9.21099315e+00] [ 1.69861954e-02 5.98887231e-04 9.99855545e-01 3.68446984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7392541539999 meters 0.018681057836659937 Centerline is valid? [True, True] Translation: X:842.31, Y:9.21, Z:3.68 [[ 9.90919645e-01 -1.33390424e-01 -1.68893834e-02 8.42314784e+02] [ 1.33363124e-01 9.91063461e-01 -2.73757496e-03 9.20914032e+00] [ 1.71036171e-02 4.60295865e-04 9.99853616e-01 3.68462957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.799254154 meters 0.01844676556874144 Centerline is valid? [True, True] Translation: X:842.38, Y:9.21, Z:3.68 [[ 9.90021426e-01 -1.39829117e-01 -1.74755505e-02 8.42375178e+02] [ 1.39800884e-01 9.90175584e-01 -2.83289614e-03 9.21133147e+00] [ 1.76999848e-02 3.61530455e-04 9.99843278e-01 3.68413090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8592541539999 meters 0.016979489757994636 Centerline is valid? [True, True] Translation: X:842.43, Y:9.22, Z:3.69 [[ 9.89720577e-01 -1.42155151e-01 -1.56554538e-02 8.42432954e+02] [ 1.42132737e-01 9.89844346e-01 -2.54083988e-03 9.22031327e+00] [ 1.58576559e-02 2.89569017e-04 9.99874218e-01 3.68636476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.919254154 meters 0.01802939866080857 Centerline is valid? [True, True] Translation: X:842.49, Y:9.24, Z:3.69 [[ 9.90501129e-01 -1.36694476e-01 -1.49041322e-02 8.42490208e+02] [ 1.36673521e-01 9.90613189e-01 -2.42035856e-03 9.23983872e+00] [ 1.50950796e-02 3.60367658e-04 9.99885998e-01 3.68638056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9792541539999 meters 0.019319414050844398 Centerline is valid? [True, True] Translation: X:842.55, Y:9.25, Z:3.69 [[ 9.91020740e-01 -1.32867579e-01 -1.49699494e-02 8.42548800e+02] [ 1.32845994e-01 9.91133709e-01 -2.43159641e-03 9.25339785e+00] [ 1.51603018e-02 4.21064655e-04 9.99884987e-01 3.68639127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.039254154 meters 0.023053646668149786 Centerline is valid? [True, True] Translation: X:842.61, Y:9.27, Z:3.68 [[ 9.91401212e-01 -1.29866911e-01 -1.60693063e-02 8.42605648e+02] [ 1.29841628e-01 9.91531307e-01 -2.61123796e-03 9.26827412e+00] [ 1.62723337e-02 5.02319592e-04 9.99867471e-01 3.68353205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0992541539999 meters 0.02238679682821301 Centerline is valid? [True, True] Translation: X:842.66, Y:9.28, Z:3.68 [[ 9.91643854e-01 -1.27924313e-01 -1.66684518e-02 8.42663901e+02] [ 1.27896775e-01 9.91783776e-01 -2.71218625e-03 9.27935157e+00] [ 1.68784546e-02 5.57681609e-04 9.99857393e-01 3.68338610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.159254154 meters 0.02012821094795324 Centerline is valid? [True, True] Translation: X:842.72, Y:9.29, Z:3.69 [[ 9.91727713e-01 -1.27275124e-01 -1.66488792e-02 8.42721546e+02] [ 1.27247511e-01 9.91867288e-01 -2.71187484e-03 9.28871145e+00] [ 1.68586329e-02 5.70912995e-04 9.99857720e-01 3.68568425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.2192541539999 meters 0.018801526068210905 Centerline is valid? [True, True] Translation: X:842.78, Y:9.30, Z:3.69 [[ 9.91283361e-01 -1.30956381e-01 -1.44126455e-02 8.42781303e+02] [ 1.30936065e-01 9.91388033e-01 -2.34834249e-03 9.29530752e+00] [ 1.45960547e-02 4.40737743e-04 9.99893375e-01 3.68829656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.279254154 meters 0.017054123843187493 Centerline is valid? [True, True] Translation: X:842.84, Y:9.30, Z:3.69 [[ 9.90238008e-01 -1.38852144e-01 -1.21970894e-02 8.42841380e+02] [ 1.38838189e-01 9.90313085e-01 -1.98756672e-03 9.29958773e+00] [ 1.23549151e-02 2.74742298e-04 9.99923637e-01 3.69022951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.339254154 meters 0.015154555182694715 Centerline is valid? [True, True] Translation: X:842.90, Y:9.30, Z:3.69 [[ 9.89241646e-01 -1.45884040e-01 -1.09001557e-02 8.42901293e+02] [ 1.45873318e-01 9.89301682e-01 -1.77664369e-03 9.30434406e+00] [ 1.10427263e-02 1.67488065e-04 9.99939013e-01 3.69240796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.399254154 meters 0.01603638089467273 Centerline is valid? [True, True] Translation: X:842.96, Y:9.31, Z:3.69 [[ 9.88141279e-01 -1.53133927e-01 -1.12611625e-02 8.42959401e+02] [ 1.53122944e-01 9.88205440e-01 -1.83623267e-03 9.31036999e+00] [ 1.14095316e-02 9.01149372e-05 9.99934905e-01 3.69086924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.459254154 meters 0.015735905385618996 Centerline is valid? [True, True] Translation: X:843.02, Y:9.32, Z:3.69 [[ 9.87244924e-01 -1.58769672e-01 -1.18173868e-02 8.43017099e+02] [ 1.58757968e-01 9.87315649e-01 -1.92794227e-03 9.31648558e+00] [ 1.19735896e-02 2.72469115e-05 9.99928314e-01 3.68988981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.519254154 meters 0.016091223333172207 Centerline is valid? [True, True] Translation: X:843.08, Y:9.32, Z:3.69 [[ 9.86460971e-01 -1.63497632e-01 -1.27780049e-02 8.43075344e+02] [ 1.63484329e-01 9.86543726e-01 -2.08583256e-03 9.32195779e+00] [ 1.29470892e-02 -3.14111420e-05 9.99916182e-01 3.68887081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.579254154 meters 0.014348077094170242 Centerline is valid? [True, True] Translation: X:843.13, Y:9.33, Z:3.69 [[ 9.86106897e-01 -1.65556114e-01 -1.35779774e-02 8.43133449e+02] [ 1.65541252e-01 9.86200370e-01 -2.21909355e-03 9.32968151e+00] [ 1.37579908e-02 -5.94519209e-05 9.99905353e-01 3.68985754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.639254154 meters 0.017215303176036017 Centerline is valid? [True, True] Translation: X:843.19, Y:9.34, Z:3.69 [[ 9.85495901e-01 -1.69112890e-01 -1.40946455e-02 8.43191701e+02] [ 1.69097187e-01 9.85596681e-01 -2.30717286e-03 9.33823216e+00] [ 1.42818085e-02 -1.09655517e-04 9.99898004e-01 3.68825544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.699254154 meters 0.01618440295454808 Centerline is valid? [True, True] Translation: X:843.25, Y:9.35, Z:3.69 [[ 9.85535825e-01 -1.69045754e-01 -1.19445045e-02 8.43249810e+02] [ 1.69034436e-01 9.85608201e-01 -1.95811453e-03 9.34705751e+00] [ 1.21036126e-02 -8.92405653e-05 9.99926745e-01 3.69061563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.759254154 meters 0.015669283232515072 Centerline is valid? [True, True] Translation: X:843.31, Y:9.36, Z:3.69 [[ 9.85858043e-01 -1.67126489e-01 -1.23553518e-02 8.43306998e+02] [ 1.67114185e-01 9.85935461e-01 -2.02896656e-03 9.35827318e+00] [ 1.25206735e-02 -6.44815363e-05 9.99921611e-01 3.69093818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.819254154 meters 0.01344452239786604 Centerline is valid? [True, True] Translation: X:843.36, Y:9.37, Z:3.69 [[ 9.86944200e-01 -1.60383585e-01 -1.47733218e-02 8.43364218e+02] [ 1.60365174e-01 9.87054763e-01 -2.43029433e-03 9.37426250e+00] [ 1.49718569e-02 2.94385840e-05 9.99887915e-01 3.69072234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.879254154 meters 0.016040688687407077 Centerline is valid? [True, True] Translation: X:843.42, Y:9.39, Z:3.69 [[ 9.87439352e-01 -1.57108323e-01 -1.67481688e-02 8.43421410e+02] [ 1.57084147e-01 9.87581372e-01 -2.75759826e-03 9.38641980e+00] [ 1.69734212e-02 9.20892176e-05 9.99855937e-01 3.68705657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.939254154 meters 0.01699833324163732 Centerline is valid? [True, True] Translation: X:843.48, Y:9.40, Z:3.69 [[ 9.88132356e-01 -1.52666084e-01 -1.69562429e-02 8.43478926e+02] [ 1.52640587e-01 9.88277813e-01 -2.79551669e-03 9.39932290e+00] [ 1.71842592e-02 1.74129632e-04 9.99852325e-01 3.68691956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.999254154 meters 0.01816601603652974 Centerline is valid? [True, True] Translation: X:843.54, Y:9.41, Z:3.69 [[ 9.88384389e-01 -1.51192984e-01 -1.53941764e-02 8.43535902e+02] [ 1.51171722e-01 9.88504247e-01 -2.54228773e-03 9.40936902e+00] [ 1.56015849e-02 1.85593345e-04 9.99878271e-01 3.68828776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.059254154 meters 0.017565737691662916 Centerline is valid? [True, True] Translation: X:843.59, Y:9.42, Z:3.69 [[ 9.88589261e-01 -1.50125976e-01 -1.23880826e-02 8.43593883e+02] [ 1.50112084e-01 9.88666862e-01 -2.04896418e-03 9.41892060e+00] [ 1.25552895e-02 1.65983077e-04 9.99921165e-01 3.69117942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.119254154 meters 0.017221885201159987 Centerline is valid? [True, True] Translation: X:843.65, Y:9.43, Z:3.69 [[ 9.88941074e-01 -1.47988087e-01 -9.75075739e-03 8.43651271e+02] [ 1.47979364e-01 9.88989132e-01 -1.61413231e-03 9.42870029e+00] [ 9.88226544e-03 1.53370863e-04 9.99951157e-01 3.69456149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.179254154 meters 0.01628380609578567 Centerline is valid? [True, True] Translation: X:843.71, Y:9.44, Z:3.70 [[ 9.89506059e-01 -1.44143478e-01 -1.00208283e-02 8.43708056e+02] [ 1.44134058e-01 9.89556779e-01 -1.65975223e-03 9.44163548e+00] [ 1.01554210e-02 1.97992244e-04 9.99948413e-01 3.69610088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2392541539999 meters 0.018758992210143988 Centerline is valid? [True, True] Translation: X:843.76, Y:9.46, Z:3.69 [[ 9.89893469e-01 -1.41292398e-01 -1.21399592e-02 8.43764076e+02] [ 1.41278337e-01 9.89967869e-01 -2.01242068e-03 9.45516051e+00] [ 1.23025092e-02 2.76968839e-04 9.99924283e-01 3.69200378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.299254154 meters 0.01961602451441047 Centerline is valid? [True, True] Translation: X:843.82, Y:9.47, Z:3.69 [[ 9.90259383e-01 -1.38440602e-01 -1.48510547e-02 8.43822482e+02] [ 1.38419214e-01 9.90370664e-01 -2.46344245e-03 9.46540517e+00] [ 1.50490893e-02 3.83775682e-04 9.99886682e-01 3.69061746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3592541539999 meters 0.018038383791470183 Centerline is valid? [True, True] Translation: X:843.88, Y:9.48, Z:3.69 [[ 9.90465644e-01 -1.36973242e-01 -1.47016851e-02 8.43880195e+02] [ 1.36952077e-01 9.90574665e-01 -2.44164635e-03 9.47650000e+00] [ 1.48975570e-02 4.04940522e-04 9.99888943e-01 3.69310450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.419254154 meters 0.017018228741468095 Centerline is valid? [True, True] Translation: X:843.94, Y:9.48, Z:3.69 [[ 9.90010730e-01 -1.40344204e-01 -1.35003557e-02 8.43938801e+02] [ 1.40326646e-01 9.90102721e-01 -2.24385939e-03 9.48130736e+00] [ 1.36816516e-02 3.26985234e-04 9.99906348e-01 3.69406225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4792541539999 meters 0.015478311053820103 Centerline is valid? [True, True] Translation: X:844.00, Y:9.49, Z:3.70 [[ 9.89470651e-01 -1.44247699e-01 -1.18504443e-02 8.43997352e+02] [ 1.44234440e-01 9.89541583e-01 -1.97049364e-03 9.48745388e+00] [ 1.20107466e-02 2.40503437e-04 9.99927839e-01 3.69734494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.539254154 meters 0.015533531180220439 Centerline is valid? [True, True] Translation: X:844.06, Y:9.49, Z:3.70 [[ 9.88838902e-01 -1.48561608e-01 -1.12726859e-02 8.44056314e+02] [ 1.48549866e-01 9.88903138e-01 -1.87655157e-03 9.49352936e+00] [ 1.14263780e-02 1.81051210e-04 9.99934700e-01 3.69731812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5992541539999 meters 0.014429787149721589 Centerline is valid? [True, True] Translation: X:844.11, Y:9.50, Z:3.70 [[ 9.88635518e-01 -1.49837882e-01 -1.21828863e-02 8.44114018e+02] [ 1.49824219e-01 9.88710562e-01 -2.03170657e-03 9.50171079e+00] [ 1.23497750e-02 1.83325843e-04 9.99923722e-01 3.69878162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.659254154 meters 0.014539299155460126 Centerline is valid? [True, True] Translation: X:844.17, Y:9.51, Z:3.70 [[ 9.88725579e-01 -1.49083452e-01 -1.39947897e-02 8.44171267e+02] [ 1.49065313e-01 9.88824592e-01 -2.33632099e-03 9.51304207e+00] [ 1.41866990e-02 2.23842627e-04 9.99899339e-01 3.69738333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.7192541539999 meters 0.01797925765470689 Centerline is valid? [True, True] Translation: X:844.23, Y:9.53, Z:3.69 [[ 9.88616558e-01 -1.49661406e-01 -1.54520202e-02 8.44227570e+02] [ 1.49639339e-01 9.88737279e-01 -2.58108811e-03 9.52638746e+00] [ 1.56642777e-02 2.39476340e-04 9.99877279e-01 3.69157787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.779254154 meters 0.015471214909407584 Centerline is valid? [True, True] Translation: X:844.29, Y:9.53, Z:3.70 [[ 9.88522387e-01 -1.50356048e-01 -1.47156318e-02 8.44286446e+02] [ 1.50336065e-01 9.88631888e-01 -2.46118865e-03 9.53323117e+00] [ 1.49183974e-02 2.20649894e-04 9.99888690e-01 3.69531452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.839254154 meters 0.014202993317414253 Centerline is valid? [True, True] Translation: X:844.34, Y:9.54, Z:3.70 [[ 9.88093125e-01 -1.53302317e-01 -1.30528155e-02 8.44343639e+02] [ 1.53286823e-01 9.88179323e-01 -2.18527248e-03 9.54050120e+00] [ 1.32335297e-02 1.58428100e-04 9.99912420e-01 3.69835256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.899254154 meters 0.016068007829954 Centerline is valid? [True, True] Translation: X:844.40, Y:9.55, Z:3.70 [[ 9.87415562e-01 -1.57661145e-01 -1.23883552e-02 8.44402495e+02] [ 1.57647498e-01 9.87493268e-01 -2.07663835e-03 9.54758855e+00] [ 1.25608226e-02 9.75118179e-05 9.99921105e-01 3.69677363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.959254154 meters 0.01501452438723196 Centerline is valid? [True, True] Translation: X:844.46, Y:9.56, Z:3.70 [[ 9.87346670e-01 -1.58103863e-01 -1.22360981e-02 8.44460082e+02] [ 1.58090542e-01 9.87422483e-01 -2.05452814e-03 9.55619250e+00] [ 1.24070272e-02 9.41201416e-05 9.99923025e-01 3.69855925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.019254154 meters 0.015979702504950444 Centerline is valid? [True, True] Translation: X:844.52, Y:9.57, Z:3.70 [[ 9.87771782e-01 -1.55308884e-01 -1.36402919e-02 8.44517346e+02] [ 1.55292010e-01 9.87865947e-01 -2.29411586e-03 9.56855376e+00] [ 1.38310765e-02 1.47834568e-04 9.99904335e-01 3.69689818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.079254154 meters 0.014705365801909488 Centerline is valid? [True, True] Translation: X:844.57, Y:9.58, Z:3.70 [[ 9.88321881e-01 -1.51785416e-01 -1.34553658e-02 8.44574790e+02] [ 1.51768623e-01 9.88413450e-01 -2.26645544e-03 9.58052172e+00] [ 1.36434795e-02 1.97885168e-04 9.99906904e-01 3.69880281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.139254154 meters 0.017372853879543532 Centerline is valid? [True, True] Translation: X:844.63, Y:9.59, Z:3.70 [[ 9.88962251e-01 -1.47495767e-01 -1.40948142e-02 8.44631637e+02] [ 1.47476875e-01 9.89062650e-01 -2.37622181e-03 9.59432784e+00] [ 1.42911369e-02 2.71334528e-04 9.99897840e-01 3.69697568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.199254154 meters 0.019608728657573623 Centerline is valid? [True, True] Translation: X:844.69, Y:9.61, Z:3.70 [[ 9.89620956e-01 -1.43010903e-01 -1.40799275e-02 8.44689966e+02] [ 1.42991586e-01 9.89721056e-01 -2.37446489e-03 9.60829664e+00] [ 1.42747751e-02 3.36509055e-04 9.99898054e-01 3.69623544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.259254154 meters 0.020144418588522343 Centerline is valid? [True, True] Translation: X:844.75, Y:9.62, Z:3.70 [[ 9.89844659e-01 -1.41501529e-01 -1.35966430e-02 8.44747722e+02] [ 1.41483338e-01 9.89937976e-01 -2.29549849e-03 9.61996733e+00] [ 1.37846498e-02 3.48488486e-04 9.99904926e-01 3.69650692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.319254154 meters 0.02116272208045589 Centerline is valid? [True, True] Translation: X:844.81, Y:9.63, Z:3.70 [[ 9.90083974e-01 -1.39831066e-01 -1.34535073e-02 8.44805318e+02] [ 1.39813055e-01 9.90175305e-01 -2.27476441e-03 9.63128456e+00] [ 1.36394134e-02 3.71231846e-04 9.99906910e-01 3.69635972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.379254154 meters 0.020646192949300583 Centerline is valid? [True, True] Translation: X:844.86, Y:9.64, Z:3.70 [[ 9.90207192e-01 -1.38790985e-01 -1.50592152e-02 8.44863702e+02] [ 1.38768234e-01 9.90321601e-01 -2.55039636e-03 9.63884127e+00] [ 1.52674381e-02 4.35680117e-04 9.99883351e-01 3.69619806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.439254154 meters 0.019093082474048832 Centerline is valid? [True, True] Translation: X:844.92, Y:9.65, Z:3.70 [[ 9.90346740e-01 -1.37824659e-01 -1.47545593e-02 8.44919893e+02] [ 1.37802678e-01 9.90456544e-01 -2.50113265e-03 9.65058582e+00] [ 1.49584676e-02 4.43770786e-04 9.99888017e-01 3.69691360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.499254154 meters 0.021286297314634113 Centerline is valid? [True, True] Translation: X:844.98, Y:9.66, Z:3.69 [[ 9.90114346e-01 -1.39504806e-01 -1.45599136e-02 8.44978302e+02] [ 1.39483535e-01 9.90221307e-01 -2.47132140e-03 9.65966047e+00] [ 1.47622979e-02 4.16022554e-04 9.99890945e-01 3.69490915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.559254154 meters 0.020254914058410615 Centerline is valid? [True, True] Translation: X:845.03, Y:9.67, Z:3.70 [[ 9.89936148e-01 -1.41016212e-01 -1.18680250e-02 8.45034702e+02] [ 1.41002169e-01 9.90007234e-01 -2.01604351e-03 9.67234832e+00] [ 1.20337254e-02 3.22337091e-04 9.99927540e-01 3.69729678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.619254154 meters 0.01644731070871229 Centerline is valid? [True, True] Translation: X:845.09, Y:9.68, Z:3.70 [[ 9.89572205e-01 -1.43616230e-01 -1.10104291e-02 8.45093286e+02] [ 1.43604280e-01 9.89633419e-01 -1.87248331e-03 9.67811374e+00] [ 1.11652076e-02 2.71812692e-04 9.99937630e-01 3.70062194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.679254154 meters 0.018780578097366742 Centerline is valid? [True, True] Translation: X:845.15, Y:9.69, Z:3.70 [[ 9.89379964e-01 -1.44847666e-01 -1.21012920e-02 8.45151070e+02] [ 1.44833282e-01 9.89453926e-01 -2.06126462e-03 9.68940669e+00] [ 1.22722403e-02 2.86704073e-04 9.99924652e-01 3.69730277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7392541539999 meters 0.01613389877188069 Centerline is valid? [True, True] Translation: X:845.21, Y:9.70, Z:3.70 [[ 9.89462221e-01 -1.44373842e-01 -1.09866456e-02 8.45208447e+02] [ 1.44361927e-01 9.89523179e-01 -1.87417775e-03 9.70125551e+00] [ 1.11421228e-02 2.68374745e-04 9.99937889e-01 3.70063248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.799254154 meters 0.015467082948108756 Centerline is valid? [True, True] Translation: X:845.27, Y:9.71, Z:3.70 [[ 9.89261909e-01 -1.45712335e-01 -1.13485769e-02 8.45265976e+02] [ 1.45699674e-01 9.89326966e-01 -1.93898167e-03 9.71255544e+00] [ 1.15099867e-02 2.64676750e-04 9.99933723e-01 3.70078765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8592541539999 meters 0.015422291738243447 Centerline is valid? [True, True] Translation: X:845.32, Y:9.73, Z:3.70 [[ 9.88903302e-01 -1.48120720e-01 -1.14241667e-02 8.45322687e+02] [ 1.48108029e-01 9.88969259e-01 -1.95373483e-03 9.72515000e+00] [ 1.15875383e-02 2.40044005e-04 9.99932833e-01 3.70059379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.919254154 meters 0.01730011427805866 Centerline is valid? [True, True] Translation: X:845.38, Y:9.73, Z:3.70 [[ 9.88604435e-01 -1.50044747e-01 -1.21591783e-02 8.45380664e+02] [ 1.50030484e-01 9.88679179e-01 -2.08197828e-03 9.73448401e+00] [ 1.23339163e-02 2.34005562e-04 9.99923907e-01 3.69811418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9792541539999 meters 0.017316651802681802 Centerline is valid? [True, True] Translation: X:845.44, Y:9.75, Z:3.70 [[ 9.87962303e-01 -1.54214811e-01 -1.21770291e-02 8.45438405e+02] [ 1.54200783e-01 9.88037326e-01 -2.08829256e-03 9.74569773e+00] [ 1.23534049e-02 1.85446910e-04 9.99923677e-01 3.69833120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.039254154 meters 0.01336231574904535 Centerline is valid? [True, True] Translation: X:845.50, Y:9.75, Z:3.70 [[ 9.87196457e-01 -1.59168466e-01 -1.04190040e-02 8.45496638e+02] [ 1.59158444e-01 9.87251431e-01 -1.78943148e-03 9.75415935e+00] [ 1.05709976e-02 1.08247957e-04 9.99944120e-01 3.70293629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0992541539999 meters 0.012961888642428894 Centerline is valid? [True, True] Translation: X:845.55, Y:9.76, Z:3.70 [[ 9.86283966e-01 -1.64682365e-01 -1.11200926e-02 8.45554126e+02] [ 1.64671264e-01 9.86346651e-01 -1.91289326e-03 9.76454300e+00] [ 1.12832859e-02 5.54962521e-05 9.99936340e-01 3.70253376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.159254154 meters 0.014388390556305008 Centerline is valid? [True, True] Translation: X:845.61, Y:9.77, Z:3.70 [[ 9.85539068e-01 -1.69011161e-01 -1.21644336e-02 8.45611535e+02] [ 1.68998161e-01 9.85614137e-01 -2.09619272e-03 9.77475436e+00] [ 1.23437177e-02 1.01129138e-05 9.99923813e-01 3.70157850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.2192541539999 meters 0.014189708979540699 Centerline is valid? [True, True] Translation: X:845.67, Y:9.79, Z:3.70 [[ 9.85252729e-01 -1.70715069e-01 -1.15509691e-02 8.45666988e+02] [ 1.70703439e-01 9.85320438e-01 -1.99268531e-03 9.78592845e+00] [ 1.17215873e-02 -8.49150026e-06 9.99931300e-01 3.70319305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.279254154 meters 0.01432619655589136 Centerline is valid? [True, True] Translation: X:845.72, Y:9.80, Z:3.70 [[ 9.85473981e-01 -1.69457924e-01 -1.11823192e-02 8.45722635e+02] [ 1.69446927e-01 9.85537423e-01 -1.93051003e-03 9.80002538e+00] [ 1.13477343e-02 7.65778023e-06 9.99935612e-01 3.70317894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.339254154 meters 0.017069980011099974 Centerline is valid? [True, True] Translation: X:845.78, Y:9.81, Z:3.70 [[ 9.85823816e-01 -1.67264320e-01 -1.31928691e-02 8.45779417e+02] [ 1.67248798e-01 9.85912088e-01 -2.27906197e-03 9.81440985e+00] [ 1.33882148e-02 4.02620784e-05 9.99910373e-01 3.70048930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.399254154 meters 0.014962916582154746 Centerline is valid? [True, True] Translation: X:845.84, Y:9.83, Z:3.70 [[ 9.87075042e-01 -1.59474931e-01 -1.58306215e-02 8.45835419e+02] [ 1.59451544e-01 9.87201963e-01 -2.73684783e-03 9.83326001e+00] [ 1.60644792e-02 1.77257157e-04 9.99870942e-01 3.70135705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.459254154 meters 0.01429370731397507 Centerline is valid? [True, True] Translation: X:845.89, Y:9.85, Z:3.70 [[ 9.87838725e-01 -1.54631951e-01 -1.62361944e-02 8.45892357e+02] [ 1.54606632e-01 9.87972109e-01 -2.81078938e-03 9.84971211e+00] [ 1.64755451e-02 2.66383255e-04 9.99864234e-01 3.70267052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.519254154 meters 0.014931078582794615 Centerline is valid? [True, True] Translation: X:845.95, Y:9.86, Z:3.70 [[ 9.88167140e-01 -1.52508768e-01 -1.63333642e-02 8.45948971e+02] [ 1.52482817e-01 9.88302070e-01 -2.82990960e-03 9.86314043e+00] [ 1.65738836e-02 3.05866302e-04 9.99862597e-01 3.70313606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.579254154 meters 0.017499070511711425 Centerline is valid? [True, True] Translation: X:846.01, Y:9.88, Z:3.70 [[ 9.88339850e-01 -1.51397979e-01 -1.62170631e-02 8.46006200e+02] [ 1.51372189e-01 9.88472835e-01 -2.81331271e-03 9.87661079e+00] [ 1.64560562e-02 3.25696736e-04 9.99864537e-01 3.70164806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.639254154 meters 0.015021784334219504 Centerline is valid? [True, True] Translation: X:846.06, Y:9.89, Z:3.70 [[ 9.88365720e-01 -1.51429074e-01 -1.42281196e-02 8.46063805e+02] [ 1.51409173e-01 9.88468083e-01 -2.47191354e-03 9.88896808e+00] [ 1.44383617e-02 2.88886788e-04 9.99895720e-01 3.70470047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.699254154 meters 0.015396113527694417 Centerline is valid? [True, True] Translation: X:846.12, Y:9.90, Z:3.70 [[ 9.88152680e-01 -1.52849821e-01 -1.38279885e-02 8.46121507e+02] [ 1.52831111e-01 9.88249393e-01 -2.40603911e-03 9.89948944e+00] [ 1.40332639e-02 2.64187149e-04 9.99901494e-01 3.70401904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.759254154 meters 0.017796124248923652 Centerline is valid? [True, True] Translation: X:846.18, Y:9.91, Z:3.70 [[ 9.88010303e-01 -1.53732389e-01 -1.42124571e-02 8.46178663e+02] [ 1.53712678e-01 9.88112486e-01 -2.47550686e-03 9.91049880e+00] [ 1.44240719e-02 2.61191436e-04 9.99895934e-01 3.70120138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.819254154 meters 0.016885320973038537 Centerline is valid? [True, True] Translation: X:846.24, Y:9.92, Z:3.70 [[ 9.88068596e-01 -1.53376742e-01 -1.40009003e-02 8.46236783e+02] [ 1.53357534e-01 9.88167751e-01 -2.44174327e-03 9.92226936e+00] [ 1.42097448e-02 2.65466299e-04 9.99899001e-01 3.70177380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.879254154 meters 0.016174948148630543 Centerline is valid? [True, True] Translation: X:846.29, Y:9.93, Z:3.70 [[ 9.88234707e-01 -1.52307433e-01 -1.39502797e-02 8.46294937e+02] [ 1.52288207e-01 9.88333125e-01 -2.43647812e-03 9.93381079e+00] [ 1.41586172e-02 2.83349157e-04 9.99899722e-01 3.70280123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.939254154 meters 0.01815812205042082 Centerline is valid? [True, True] Translation: X:846.35, Y:9.94, Z:3.70 [[ 9.88286985e-01 -1.51879610e-01 -1.48801911e-02 8.46352877e+02] [ 1.51857628e-01 9.88398951e-01 -2.60278374e-03 9.94425517e+00] [ 1.51028751e-02 3.12626761e-04 9.99885896e-01 3.70082440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.999254154 meters 0.01575953038346915 Centerline is valid? [True, True] Translation: X:846.41, Y:9.95, Z:3.70 [[ 9.88414495e-01 -1.51087349e-01 -1.44706241e-02 8.46411066e+02] [ 1.51066421e-01 9.88520364e-01 -2.53486700e-03 9.95408339e+00] [ 1.46874929e-02 3.19473900e-04 9.99892082e-01 3.70355597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.059254154 meters 0.016366065463439543 Centerline is valid? [True, True] Translation: X:846.47, Y:9.96, Z:3.70 [[ 9.88735372e-01 -1.49032768e-01 -1.38418667e-02 8.46468799e+02] [ 1.49013368e-01 9.88832200e-01 -2.42829080e-03 9.96454109e+00] [ 1.40491784e-02 3.38313834e-04 9.99901248e-01 3.70439975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.119254154 meters 0.017913416210911443 Centerline is valid? [True, True] Translation: X:846.53, Y:9.98, Z:3.70 [[ 9.89169155e-01 -1.46115095e-01 -1.39556922e-02 8.46526167e+02] [ 1.46095056e-01 9.89267522e-01 -2.45030150e-03 9.97551841e+00] [ 1.41639391e-02 3.84905030e-04 9.99899612e-01 3.70413494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.179254154 meters 0.020033798230181154 Centerline is valid? [True, True] Translation: X:846.58, Y:9.99, Z:3.70 [[ 9.89429253e-01 -1.44318255e-01 -1.42124491e-02 8.46584293e+02] [ 1.44297242e-01 9.89531234e-01 -2.49837201e-03 9.98678471e+00] [ 1.44242230e-02 4.21145140e-04 9.99895877e-01 3.70323161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2392541539999 meters 0.021507780047045223 Centerline is valid? [True, True] Translation: X:846.64, Y:10.00, Z:3.70 [[ 9.89902777e-01 -1.41094675e-01 -1.35935505e-02 8.46641689e+02] [ 1.41075127e-01 9.89996005e-01 -2.39116901e-03 9.99816521e+00] [ 1.37949419e-02 4.49312970e-04 9.99904744e-01 3.70385645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.299254154 meters 0.020509238762996186 Centerline is valid? [True, True] Translation: X:846.70, Y:10.01, Z:3.71 [[ 9.90327436e-01 -1.38145567e-01 -1.29372041e-02 8.46700729e+02] [ 1.38127603e-01 9.90411825e-01 -2.27626011e-03 1.00065390e+01] [ 1.31276151e-02 4.67257854e-04 9.99913720e-01 3.70678720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3592541539999 meters 0.023003097905951078 Centerline is valid? [True, True] Translation: X:846.76, Y:10.02, Z:3.71 [[ 9.90445689e-01 -1.37250783e-01 -1.34000073e-02 8.46757853e+02] [ 1.37231415e-01 9.90536206e-01 -2.35868194e-03 1.00168170e+01] [ 1.35969233e-02 4.97244395e-04 9.99907434e-01 3.70522865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.419254154 meters 0.02130879089499445 Centerline is valid? [True, True] Translation: X:846.82, Y:10.02, Z:3.71 [[ 9.90602280e-01 -1.36262338e-01 -1.18194310e-02 8.46816692e+02] [ 1.36247172e-01 9.90672686e-01 -2.08279438e-03 1.00225532e+01] [ 1.19929939e-02 4.52856820e-04 9.99927979e-01 3.70729043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4792541539999 meters 0.02274359450500332 Centerline is valid? [True, True] Translation: X:846.87, Y:10.03, Z:3.71 [[ 9.90846723e-01 -1.34560825e-01 -1.07775440e-02 8.46873512e+02] [ 1.34548097e-01 9.90905241e-01 -1.90083875e-03 1.00333062e+01] [ 1.09353032e-02 4.33341823e-04 9.99940114e-01 3.70860320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.539254154 meters 0.024140174831292053 Centerline is valid? [True, True] Translation: X:846.93, Y:10.04, Z:3.71 [[ 9.91075457e-01 -1.32854433e-01 -1.09150688e-02 8.46930840e+02] [ 1.32841263e-01 9.91135454e-01 -1.92609598e-03 1.00441441e+01] [ 1.10742020e-02 4.58934934e-04 9.99938574e-01 3.70924622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5992541539999 meters 0.025832074869634982 Centerline is valid? [True, True] Translation: X:846.99, Y:10.06, Z:3.71 [[ 9.91718924e-01 -1.28006622e-01 -1.03865523e-02 8.46989842e+02] [ 1.27994425e-01 9.91773193e-01 -1.83331553e-03 1.00568302e+01] [ 1.05357806e-02 4.88712916e-04 9.99944378e-01 3.70924358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.659254154 meters 0.029748189376075932 Centerline is valid? [True, True] Translation: X:847.05, Y:10.07, Z:3.71 [[ 9.92057414e-01 -1.25313293e-01 -1.08933783e-02 8.47048110e+02] [ 1.25299712e-01 9.92117072e-01 -1.92309459e-03 1.00703231e+01] [ 1.10484959e-02 5.42883079e-04 9.99938816e-01 3.70669699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.7192541539999 meters 0.03107663481693667 Centerline is valid? [True, True] Translation: X:847.11, Y:10.09, Z:3.71 [[ 9.92714261e-01 -1.19959869e-01 -1.13148500e-02 8.47106663e+02] [ 1.19944867e-01 9.92778544e-01 -1.99778126e-03 1.00850995e+01] [ 1.14727939e-02 6.26067772e-04 9.99933989e-01 3.70854767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.779254154 meters 0.03480796933525458 Centerline is valid? [True, True] Translation: X:847.16, Y:10.10, Z:3.70 [[ 9.92890300e-01 -1.18292125e-01 -1.32598979e-02 8.47163463e+02] [ 1.18271363e-01 9.92978550e-01 -2.34191861e-03 1.00995543e+01] [ 1.34438248e-02 7.57002065e-04 9.99909341e-01 3.70429300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.839254154 meters 0.03173494428041035 Centerline is valid? [True, True] Translation: X:847.22, Y:10.11, Z:3.71 [[ 9.92935072e-01 -1.17981016e-01 -1.26658364e-02 8.47221822e+02] [ 1.17962017e-01 9.93015583e-01 -2.23938945e-03 1.01065406e+01] [ 1.28415783e-02 7.29480727e-04 9.99917277e-01 3.70762846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.899254154 meters 0.03275647055896939 Centerline is valid? [True, True] Translation: X:847.28, Y:10.12, Z:3.71 [[ 9.92736035e-01 -1.19663004e-01 -1.24871840e-02 8.47279044e+02] [ 1.19644647e-01 9.92814321e-01 -2.20960251e-03 1.01155462e+01] [ 1.26618628e-02 6.99527311e-04 9.99919591e-01 3.70834732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.959254154 meters 0.03363196013689457 Centerline is valid? [True, True] Translation: X:847.34, Y:10.13, Z:3.71 [[ 9.92543065e-01 -1.21319549e-01 -1.18249948e-02 8.47337457e+02] [ 1.21303180e-01 9.92613294e-01 -2.09450019e-03 1.01257623e+01] [ 1.19917508e-02 6.44472177e-04 9.99927889e-01 3.70682660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.019254154 meters 0.03324152482251906 Centerline is valid? [True, True] Translation: X:847.40, Y:10.14, Z:3.71 [[ 9.92507455e-01 -1.21727155e-01 -1.05570086e-02 8.47395312e+02] [ 1.21714106e-01 9.92563434e-01 -1.87229890e-03 1.01370877e+01] [ 1.07064103e-02 5.73333754e-04 9.99942520e-01 3.71013753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.079254154 meters 0.02926174254191581 Centerline is valid? [True, True] Translation: X:847.45, Y:10.14, Z:3.71 [[ 9.92492822e-01 -1.21707094e-01 -1.20573960e-02 8.47454569e+02] [ 1.21690030e-01 9.92565842e-01 -2.14162842e-03 1.01409694e+01] [ 1.22284108e-02 6.58285947e-04 9.99925014e-01 3.70676482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.139254154 meters 0.02590320102321962 Centerline is valid? [True, True] Translation: X:847.51, Y:10.15, Z:3.71 [[ 9.92820154e-01 -1.18986878e-01 -1.22582348e-02 8.47513491e+02] [ 1.18969016e-01 9.92895577e-01 -2.17877071e-03 1.01513106e+01] [ 1.24303923e-02 7.04777343e-04 9.99922491e-01 3.71002712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.199254154 meters 0.033077698967111234 Centerline is valid? [True, True] Translation: X:847.57, Y:10.17, Z:3.71 [[ 9.93072475e-01 -1.16798216e-01 -1.28543957e-02 8.47568834e+02] [ 1.16778379e-01 9.93155368e-01 -2.28567746e-03 1.01729341e+01] [ 1.30333751e-02 7.68727876e-04 9.99914766e-01 3.70863199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.259254154 meters 0.03157548374680339 Centerline is valid? [True, True] Translation: X:847.63, Y:10.18, Z:3.71 [[ 9.93033155e-01 -1.17101890e-01 -1.31263124e-02 8.47626601e+02] [ 1.17081190e-01 9.93119596e-01 -2.33708781e-03 1.01805576e+01] [ 1.33096754e-02 7.83961409e-04 9.99911115e-01 3.70607774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.319254154 meters 0.030100582904214152 Centerline is valid? [True, True] Translation: X:847.68, Y:10.19, Z:3.71 [[ 9.92971646e-01 -1.17716267e-01 -1.22551887e-02 8.47684502e+02] [ 1.17698230e-01 9.93047003e-01 -2.18532557e-03 1.01917667e+01] [ 1.24272267e-02 7.27552313e-04 9.99922514e-01 3.70794984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.379254154 meters 0.030388755830892 Centerline is valid? [True, True] Translation: X:847.74, Y:10.20, Z:3.71 [[ 9.92817537e-01 -1.18998561e-01 -1.23563959e-02 8.47742530e+02] [ 1.18980282e-01 9.92894165e-01 -2.20665215e-03 1.02039551e+01] [ 1.25311818e-02 7.20635480e-04 9.99921222e-01 3.70808032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.439254154 meters 0.030957237847384553 Centerline is valid? [True, True] Translation: X:847.80, Y:10.22, Z:3.71 [[ 9.92321873e-01 -1.22970528e-01 -1.32494765e-02 8.47800140e+02] [ 1.22949841e-01 9.92410061e-01 -2.36785950e-03 1.02153000e+01] [ 1.34400907e-02 7.20657746e-04 9.99909418e-01 3.70667800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.499254154 meters 0.026647802503951948 Centerline is valid? [True, True] Translation: X:847.86, Y:10.22, Z:3.71 [[ 9.91586275e-01 -1.28747367e-01 -1.34452473e-02 8.47860261e+02] [ 1.28726588e-01 9.91677211e-01 -2.40319490e-03 1.02190633e+01] [ 1.36427503e-02 6.52214268e-04 9.99906721e-01 3.70759717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.559254154 meters 0.023039156870260973 Centerline is valid? [True, True] Translation: X:847.92, Y:10.22, Z:3.71 [[ 9.90492885e-01 -1.36907358e-01 -1.34246254e-02 8.47920427e+02] [ 1.36887389e-01 9.90583709e-01 -2.39963838e-03 1.02248217e+01] [ 1.36267434e-02 5.39162823e-04 9.99907006e-01 3.70801684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.619254154 meters 0.018668095760975056 Centerline is valid? [True, True] Translation: X:847.98, Y:10.23, Z:3.71 [[ 9.89179270e-01 -1.46137312e-01 -1.29713959e-02 8.47981445e+02] [ 1.46119459e-01 9.89264235e-01 -2.31869778e-03 1.02269992e+01] [ 1.31709864e-02 3.98234420e-04 9.99913179e-01 3.70991406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.679254154 meters 0.016638369687871763 Centerline is valid? [True, True] Translation: X:848.04, Y:10.23, Z:3.71 [[ 9.87677588e-01 -1.55859278e-01 -1.41728086e-02 8.48042064e+02] [ 1.55838960e-01 9.87779226e-01 -2.53363433e-03 1.02277519e+01] [ 1.43944963e-02 2.93738103e-04 9.99896351e-01 3.70993674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7392541539999 meters 0.014758750613865059 Centerline is valid? [True, True] Translation: X:848.10, Y:10.23, Z:3.71 [[ 9.86757120e-01 -1.61581769e-01 -1.42027471e-02 8.48101237e+02] [ 1.61561946e-01 9.86859305e-01 -2.53978761e-03 1.02325830e+01] [ 1.44264965e-02 2.11530045e-04 9.99895910e-01 3.71058016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.799254154 meters 0.013744622043977665 Centerline is valid? [True, True] Translation: X:848.16, Y:10.24, Z:3.71 [[ 9.85710024e-01 -1.67817977e-01 -1.45902449e-02 8.48160859e+02] [ 1.67797696e-01 9.85817991e-01 -2.61198059e-03 1.02362624e+01] [ 1.48216632e-02 1.26445969e-04 9.99890145e-01 3.71130276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8592541539999 meters 0.01615162870929556 Centerline is valid? [True, True] Translation: X:848.22, Y:10.24, Z:3.71 [[ 9.85160927e-01 -1.70921352e-01 -1.56153494e-02 8.48218741e+02] [ 1.70898438e-01 9.85284671e-01 -2.80009405e-03 1.02432309e+01] [ 1.58641602e-02 8.99044294e-05 9.99874152e-01 3.71006919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.919254154 meters 0.014496252975949295 Centerline is valid? [True, True] Translation: X:848.28, Y:10.25, Z:3.71 [[ 9.85210193e-01 -1.70704496e-01 -1.48610448e-02 8.48276427e+02] [ 1.70683651e-01 9.85322265e-01 -2.66925229e-03 1.02526449e+01] [ 1.50985717e-02 9.32371713e-05 9.99886006e-01 3.71136987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9792541539999 meters 0.014668168257139578 Centerline is valid? [True, True] Translation: X:848.33, Y:10.26, Z:3.71 [[ 9.85578797e-01 -1.68578372e-01 -1.46890152e-02 8.48334864e+02] [ 1.68557711e-01 9.85688245e-01 -2.64238405e-03 1.02631117e+01] [ 1.49242384e-02 1.28330925e-04 9.99888619e-01 3.71229709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.039254154 meters 0.014315618790210843 Centerline is valid? [True, True] Translation: X:848.39, Y:10.27, Z:3.71 [[ 9.86215170e-01 -1.64847590e-01 -1.43146706e-02 8.48391967e+02] [ 1.64827539e-01 9.86319035e-01 -2.57755104e-03 1.02745379e+01] [ 1.45437352e-02 1.82568021e-04 9.99894218e-01 3.71314542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0992541539999 meters 0.016051891116389515 Centerline is valid? [True, True] Translation: X:848.45, Y:10.28, Z:3.71 [[ 9.86667373e-01 -1.61945380e-01 -1.61613596e-02 8.48450157e+02] [ 1.61919368e-01 9.86799689e-01 -2.91395008e-03 1.02849327e+01] [ 1.64199254e-02 2.58262345e-04 9.99865151e-01 3.71160838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.159254154 meters 0.01565212601180212 Centerline is valid? [True, True] Translation: X:848.51, Y:10.29, Z:3.71 [[ 9.86780943e-01 -1.61305815e-01 -1.56142544e-02 8.48508141e+02] [ 1.61281389e-01 9.86904435e-01 -2.81947145e-03 1.02935038e+01] [ 1.58645740e-02 2.63912067e-04 9.99874115e-01 3.71275758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.2192541539999 meters 0.016501981520315862 Centerline is valid? [True, True] Translation: X:848.57, Y:10.30, Z:3.71 [[ 9.86140684e-01 -1.65280044e-01 -1.44588734e-02 8.48565757e+02] [ 1.65259496e-01 9.86246659e-01 -2.61287869e-03 1.02996094e+01] [ 1.46918723e-02 1.87199855e-04 9.99892051e-01 3.71290934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.279254154 meters 0.014878915524153536 Centerline is valid? [True, True] Translation: X:848.63, Y:10.30, Z:3.71 [[ 9.85032007e-01 -1.71818120e-01 -1.38013882e-02 8.48625100e+02] [ 1.71799999e-01 9.85128685e-01 -2.49691458e-03 1.03033629e+01] [ 1.40251586e-02 8.84623013e-05 9.99901639e-01 3.71405369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.339254154 meters 0.016551971729371392 Centerline is valid? [True, True] Translation: X:848.68, Y:10.31, Z:3.71 [[ 9.84187414e-01 -1.76549551e-01 -1.43314076e-02 8.48684189e+02] [ 1.76530457e-01 9.84291753e-01 -2.59659126e-03 1.03094671e+01] [ 1.45647134e-02 2.56024962e-05 9.99893929e-01 3.71375241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.399254154 meters 0.015465372746119756 Centerline is valid? [True, True] Translation: X:848.74, Y:10.31, Z:3.71 [[ 9.83232002e-01 -1.81844736e-01 -1.36865826e-02 8.48742900e+02] [ 1.81827783e-01 9.83327255e-01 -2.48346357e-03 1.03140371e+01] [ 1.39099944e-02 -4.67801016e-05 9.99903250e-01 3.71461689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.459254154 meters 0.013778540879851971 Centerline is valid? [True, True] Translation: X:848.80, Y:10.32, Z:3.72 [[ 9.82683619e-01 -1.84854684e-01 -1.27142289e-02 8.48800413e+02] [ 1.84840259e-01 9.82765862e-01 -2.31065336e-03 1.03201024e+01] [ 1.29222453e-02 -7.94601649e-05 9.99916501e-01 3.71577322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.519254154 meters 0.015134593451480452 Centerline is valid? [True, True] Translation: X:848.86, Y:10.33, Z:3.71 [[ 9.82229274e-01 -1.87213035e-01 -1.33016177e-02 8.48858462e+02] [ 1.87197433e-01 9.82319330e-01 -2.41959691e-03 1.03273864e+01] [ 1.35194163e-02 -1.13429775e-04 9.99908602e-01 3.71463131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.579254154 meters 0.014203577202232791 Centerline is valid? [True, True] Translation: X:848.92, Y:10.33, Z:3.72 [[ 9.81792734e-01 -1.89534834e-01 -1.26322421e-02 8.48917482e+02] [ 1.89520922e-01 9.81873988e-01 -2.30040643e-03 1.03343238e+01] [ 1.28392770e-02 -1.35551831e-04 9.99917564e-01 3.71576307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.639254154 meters 0.014349377250420904 Centerline is valid? [True, True] Translation: X:848.98, Y:10.34, Z:3.72 [[ 9.81721618e-01 -1.89967473e-01 -1.16199929e-02 8.48975103e+02] [ 1.89955694e-01 9.81790376e-01 -2.11928683e-03 1.03433062e+01] [ 1.18109928e-02 -1.26734123e-04 9.99930240e-01 3.71558531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.699254154 meters 0.014715587370533674 Centerline is valid? [True, True] Translation: X:849.03, Y:10.35, Z:3.72 [[ 9.81739262e-01 -1.89906851e-01 -1.11089966e-02 8.49032390e+02] [ 1.89896045e-01 9.81802105e-01 -2.02930863e-03 1.03540655e+01] [ 1.12922158e-02 -1.17302552e-04 9.99936234e-01 3.71533547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.759254154 meters 0.013806211131853222 Centerline is valid? [True, True] Translation: X:849.09, Y:10.37, Z:3.72 [[ 9.82376670e-01 -1.86668548e-01 -9.53581523e-03 8.49090095e+02] [ 1.86660409e-01 9.82422948e-01 -1.74441222e-03 1.03681211e+01] [ 9.69383061e-03 -6.62893047e-05 9.99953012e-01 3.71590306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.819254154 meters 0.014271026569421792 Centerline is valid? [True, True] Translation: X:849.15, Y:10.38, Z:3.72 [[ 9.83360807e-01 -1.81414810e-01 -9.49680199e-03 8.49147757e+02] [ 1.81406468e-01 9.83406664e-01 -1.73978939e-03 1.03820372e+01] [ 9.65484192e-03 -1.19406017e-05 9.99953391e-01 3.71514602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.879254154 meters 0.013576155382668688 Centerline is valid? [True, True] Translation: X:849.20, Y:10.40, Z:3.72 [[ 9.84511373e-01 -1.75052819e-01 -9.68849459e-03 8.49203454e+02] [ 1.75043812e-01 9.84559042e-01 -1.77656680e-03 1.03969903e+01] [ 9.84988798e-03 5.31391945e-05 9.99951487e-01 3.71583929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.939254154 meters 0.015853996336643885 Centerline is valid? [True, True] Translation: X:849.26, Y:10.41, Z:3.71 [[ 9.85602807e-01 -1.68724378e-01 -1.09175102e-02 8.49260410e+02] [ 1.68712528e-01 9.85663262e-01 -2.00407715e-03 1.04133051e+01] [ 1.10991253e-02 1.33303324e-04 9.99938394e-01 3.71271863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.999254154 meters 0.015749913093269806 Centerline is valid? [True, True] Translation: X:849.32, Y:10.43, Z:3.71 [[ 9.86625280e-01 -1.62678779e-01 -1.03039967e-02 8.49318289e+02] [ 1.62667881e-01 9.86679065e-01 -1.89272516e-03 1.04285614e+01] [ 1.04746440e-02 1.91281184e-04 9.99945121e-01 3.71346054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.059254154 meters 0.015844193303843904 Centerline is valid? [True, True] Translation: X:849.38, Y:10.44, Z:3.71 [[ 9.86977435e-01 -1.60529058e-01 -1.02938558e-02 8.49376593e+02] [ 1.60518046e-01 9.87031091e-01 -1.89258425e-03 1.04393760e+01] [ 1.04641704e-02 2.15588337e-04 9.99945226e-01 3.71402024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.119254154 meters 0.016887979232114676 Centerline is valid? [True, True] Translation: X:849.43, Y:10.45, Z:3.71 [[ 9.86943877e-01 -1.60727670e-01 -1.04115278e-02 8.49433113e+02] [ 1.60716390e-01 9.86998768e-01 -1.91659888e-03 1.04490147e+01] [ 1.05842155e-02 2.18272373e-04 9.99943962e-01 3.71360688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.179254154 meters 0.01506896672968699 Centerline is valid? [True, True] Translation: X:849.49, Y:10.45, Z:3.71 [[ 9.86132065e-01 -1.65679533e-01 -9.68722413e-03 8.49492995e+02] [ 1.65669986e-01 9.86179633e-01 -1.78535340e-03 1.04524025e+01] [ 9.84913965e-03 1.55711951e-04 9.99951484e-01 3.71483681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2392541539999 meters 0.01595028735477071 Centerline is valid? [True, True] Translation: X:849.55, Y:10.46, Z:3.71 [[ 9.84850296e-01 -1.73171960e-01 -9.02040096e-03 8.49552541e+02] [ 1.73163984e-01 9.84891601e-01 -1.66376687e-03 1.04555485e+01] [ 9.17223492e-03 7.65527235e-05 9.99957931e-01 3.71365480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.299254154 meters 0.013399898530900576 Centerline is valid? [True, True] Translation: X:849.61, Y:10.46, Z:3.72 [[ 9.84095250e-01 -1.77430764e-01 -8.65233873e-03 8.49611607e+02] [ 1.77423577e-01 9.84133285e-01 -1.59734389e-03 1.04609026e+01] [ 8.79847249e-03 3.68096405e-05 9.99961292e-01 3.71584628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3592541539999 meters 0.013261333885657227 Centerline is valid? [True, True] Translation: X:849.67, Y:10.47, Z:3.72 [[ 9.82997906e-01 -1.83421578e-01 -8.46416629e-03 8.49669543e+02] [ 1.83414902e-01 9.83034346e-01 -1.56498974e-03 1.04651649e+01] [ 8.60761906e-03 -1.40725953e-05 9.99962954e-01 3.71610699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.419254154 meters 0.01478435948884089 Centerline is valid? [True, True] Translation: X:849.73, Y:10.47, Z:3.72 [[ 9.82088331e-01 -1.88246063e-01 -8.11967428e-03 8.49728348e+02] [ 1.88240066e-01 9.82121895e-01 -1.50354885e-03 1.04716870e+01] [ 8.25754705e-03 -5.18302405e-05 9.99965905e-01 3.71526914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4792541539999 meters 0.015187191364276839 Centerline is valid? [True, True] Translation: X:849.79, Y:10.48, Z:3.71 [[ 9.81830704e-01 -1.89580607e-01 -8.22570119e-03 8.49785987e+02] [ 1.89574479e-01 9.81865159e-01 -1.52552629e-03 1.04816699e+01] [ 8.36573961e-03 -6.15744605e-05 9.99965005e-01 3.71448736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.539254154 meters 0.015374858657528486 Centerline is valid? [True, True] Translation: X:849.84, Y:10.49, Z:3.71 [[ 9.81661520e-01 -1.90394966e-01 -9.50873675e-03 8.49844090e+02] [ 1.90386788e-01 9.81707569e-01 -1.76638163e-03 1.04927009e+01] [ 9.67110901e-03 -7.63489639e-05 9.99953231e-01 3.71241304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5992541539999 meters 0.0145515932580028 Centerline is valid? [True, True] Translation: X:849.90, Y:10.50, Z:3.71 [[ 9.81440483e-01 -1.91510951e-01 -9.90628395e-03 8.49902401e+02] [ 1.91502104e-01 9.81490473e-01 -1.84287983e-03 1.05037640e+01] [ 1.00758550e-02 -8.83973517e-05 9.99949233e-01 3.71289182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.659254154 meters 0.015061675470752196 Centerline is valid? [True, True] Translation: X:849.96, Y:10.51, Z:3.71 [[ 9.81083574e-01 -1.93404045e-01 -8.36036977e-03 8.49959899e+02] [ 1.93397796e-01 9.81119191e-01 -1.55729325e-03 1.05148326e+01] [ 8.50370604e-03 -8.90422543e-05 9.99963839e-01 3.71446591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.7192541539999 meters 0.013508479812122404 Centerline is valid? [True, True] Translation: X:850.02, Y:10.53, Z:3.72 [[ 9.81366833e-01 -1.92002608e-01 -7.35784710e-03 8.50016845e+02] [ 1.91997715e-01 9.81394413e-01 -1.37231932e-03 1.05287819e+01] [ 7.48443892e-03 -6.59411600e-05 9.99971989e-01 3.71695430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.779254154 meters 0.014881018570119697 Centerline is valid? [True, True] Translation: X:850.07, Y:10.55, Z:3.71 [[ 9.81827794e-01 -1.89549491e-01 -9.22893700e-03 8.50073413e+02] [ 1.89541660e-01 9.81871166e-01 -1.72392814e-03 1.05452941e+01] [ 9.38839684e-03 -5.66674745e-05 9.99955926e-01 3.71372011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.839254154 meters 0.013640275139735819 Centerline is valid? [True, True] Translation: X:850.13, Y:10.56, Z:3.71 [[ 9.82691235e-01 -1.84891585e-01 -1.15342465e-02 8.50129254e+02] [ 1.84878990e-01 9.82758923e-01 -2.15806588e-03 1.05624214e+01] [ 1.17343919e-02 -1.17274367e-05 9.99931150e-01 3.71319142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.899254154 meters 0.012890848441013243 Centerline is valid? [True, True] Translation: X:850.19, Y:10.58, Z:3.71 [[ 9.83683299e-01 -1.79478618e-01 -1.24335706e-02 8.50185573e+02] [ 1.79463505e-01 9.83761873e-01 -2.32986877e-03 1.05795217e+01] [ 1.26498344e-02 6.04808305e-05 9.99919986e-01 3.71424242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.959254154 meters 0.013252458832983238 Centerline is valid? [True, True] Translation: X:850.24, Y:10.59, Z:3.71 [[ 9.84333708e-01 -1.75896192e-01 -1.21524464e-02 8.50241496e+02] [ 1.75881459e-01 9.84408715e-01 -2.27903927e-03 1.05949229e+01] [ 1.23638485e-02 1.05945176e-04 9.99923559e-01 3.71428061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.019254154 meters 0.016844151247109113 Centerline is valid? [True, True] Translation: X:850.30, Y:10.61, Z:3.71 [[ 9.84917439e-01 -1.72570738e-01 -1.25290821e-02 8.50298881e+02] [ 1.72554774e-01 9.84997115e-01 -2.35229469e-03 1.06092609e+01] [ 1.27470470e-02 1.54863128e-04 9.99918741e-01 3.71272914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.079254154 meters 0.01536838781455098 Centerline is valid? [True, True] Translation: X:850.35, Y:10.63, Z:3.72 [[ 9.85610131e-01 -1.68652492e-01 -1.13580986e-02 8.50354643e+02] [ 1.68639093e-01 9.85675556e-01 -2.13416476e-03 1.06258466e+01] [ 1.15553324e-02 1.88034958e-04 9.99933217e-01 3.71537208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.139254154 meters 0.015422720210760696 Centerline is valid? [True, True] Translation: X:850.41, Y:10.63, Z:3.72 [[ 9.85695995e-01 -1.68232241e-01 -1.00656916e-02 8.50412153e+02] [ 1.68221674e-01 9.85747373e-01 -1.89344122e-03 1.06346382e+01] [ 1.02407669e-02 1.73089938e-04 9.99947547e-01 3.71707186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.199254154 meters 0.01442878834171198 Centerline is valid? [True, True] Translation: X:850.47, Y:10.65, Z:3.72 [[ 9.85820726e-01 -1.67568544e-01 -8.84753431e-03 8.50469718e+02] [ 1.67560332e-01 9.85860415e-01 -1.66666701e-03 1.06454378e+01] [ 9.00171481e-03 1.60539094e-04 9.99959471e-01 3.71920395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.259254154 meters 0.014764309566949636 Centerline is valid? [True, True] Translation: X:850.53, Y:10.66, Z:3.72 [[ 9.85969969e-01 -1.66530823e-01 -1.14326502e-02 8.50527638e+02] [ 1.66517002e-01 9.86036224e-01 -2.15702235e-03 1.06574626e+01] [ 1.16322179e-02 2.23028625e-04 9.99932319e-01 3.71713167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.319254154 meters 0.017767620680817303 Centerline is valid? [True, True] Translation: X:850.59, Y:10.67, Z:3.71 [[ 9.85781467e-01 -1.67395371e-01 -1.46181388e-02 8.50585838e+02] [ 1.67372808e-01 9.85889808e-01 -2.76219460e-03 1.06683208e+01] [ 1.48742526e-02 2.76241320e-04 9.99889334e-01 3.71219465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.379254154 meters 0.014475843323915995 Centerline is valid? [True, True] Translation: X:850.64, Y:10.68, Z:3.72 [[ 9.85584167e-01 -1.68679352e-01 -1.30815007e-02 8.50644330e+02] [ 1.68661353e-01 9.85670950e-01 -2.47515259e-03 1.06757507e+01] [ 1.33115623e-02 2.33127610e-04 9.99911370e-01 3.71598949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.439254154 meters 0.01729353514501918 Centerline is valid? [True, True] Translation: X:850.70, Y:10.68, Z:3.71 [[ 9.85053798e-01 -1.71721116e-01 -1.34488859e-02 8.50703383e+02] [ 1.71702328e-01 9.85145582e-01 -2.54807922e-03 1.06828980e+01] [ 1.36866696e-02 2.00790089e-04 9.99906313e-01 3.71400419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.499254154 meters 0.015079440751680327 Centerline is valid? [True, True] Translation: X:850.76, Y:10.69, Z:3.72 [[ 9.84901474e-01 -1.72710244e-01 -1.18430693e-02 8.50761358e+02] [ 1.72695711e-01 9.84972661e-01 -2.24673455e-03 1.06918844e+01] [ 1.20531336e-02 1.67564891e-04 9.99927344e-01 3.71581647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.559254154 meters 0.014926146515771283 Centerline is valid? [True, True] Translation: X:850.82, Y:10.70, Z:3.72 [[ 9.85027841e-01 -1.71971597e-01 -1.20798168e-02 8.50819326e+02] [ 1.71956383e-01 9.85101891e-01 -2.29483777e-03 1.07012020e+01] [ 1.22944973e-02 1.83277490e-04 9.99924403e-01 3.71582236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.619254154 meters 0.014740794391866513 Centerline is valid? [True, True] Translation: X:850.88, Y:10.71, Z:3.72 [[ 9.85436342e-01 -1.69570767e-01 -1.26874138e-02 8.50876900e+02] [ 1.69553741e-01 9.85517987e-01 -2.41364163e-03 1.07136963e+01] [ 1.29129575e-02 2.27291712e-04 9.99916598e-01 3.71603237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.679254154 meters 0.015518486747628268 Centerline is valid? [True, True] Translation: X:850.93, Y:10.73, Z:3.72 [[ 9.85960309e-01 -1.66478119e-01 -1.29346383e-02 8.50934341e+02] [ 1.66460111e-01 9.86045110e-01 -2.46408723e-03 1.07265807e+01] [ 1.31643534e-02 2.76390875e-04 9.99913308e-01 3.71576317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7392541539999 meters 0.016692133623139642 Centerline is valid? [True, True] Translation: X:850.99, Y:10.74, Z:3.72 [[ 9.86823590e-01 -1.61307532e-01 -1.26128087e-02 8.50991683e+02] [ 1.61289966e-01 9.86904132e-01 -2.40435662e-03 1.07409952e+01] [ 1.28354739e-02 3.38356340e-04 9.99917565e-01 3.71655786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.799254154 meters 0.019176055602920968 Centerline is valid? [True, True] Translation: X:851.05, Y:10.75, Z:3.71 [[ 9.86936635e-01 -1.60452100e-01 -1.45328255e-02 8.51048582e+02] [ 1.60428669e-01 9.87043545e-01 -2.77161685e-03 1.07542914e+01] [ 1.47892433e-02 4.03928363e-04 9.99890552e-01 3.71331978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8592541539999 meters 0.019544438075719567 Centerline is valid? [True, True] Translation: X:851.11, Y:10.77, Z:3.71 [[ 9.86695598e-01 -1.61885681e-01 -1.49941019e-02 8.51105553e+02] [ 1.61860882e-01 9.86809439e-01 -2.86101007e-03 1.07655996e+01] [ 1.52594779e-02 3.95987484e-04 9.99883489e-01 3.71216476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.919254154 meters 0.017348219529753076 Centerline is valid? [True, True] Translation: X:851.16, Y:10.77, Z:3.71 [[ 9.86266748e-01 -1.64485834e-01 -1.49101082e-02 8.51163385e+02] [ 1.64461562e-01 9.86379381e-01 -2.84810636e-03 1.07748125e+01] [ 1.51754964e-02 3.56852918e-04 9.99884782e-01 3.71354019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9792541539999 meters 0.015300211527101764 Centerline is valid? [True, True] Translation: X:851.22, Y:10.78, Z:3.72 [[ 9.85827896e-01 -1.67126707e-01 -1.45609926e-02 8.51221998e+02] [ 1.67103789e-01 9.85935376e-01 -2.78522485e-03 1.07813776e+01] [ 1.48216832e-02 3.12555321e-04 9.99890104e-01 3.71649281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.039254154 meters 0.015421034908511972 Centerline is valid? [True, True] Translation: X:851.28, Y:10.79, Z:3.72 [[ 9.85643394e-01 -1.68291309e-01 -1.36064538e-02 8.51279441e+02] [ 1.68271360e-01 9.85737266e-01 -2.60613901e-03 1.07919002e+01] [ 1.38509791e-02 2.79147204e-04 9.99904032e-01 3.71797720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0992541539999 meters 0.017308022700079785 Centerline is valid? [True, True] Translation: X:851.34, Y:10.81, Z:3.72 [[ 9.85586792e-01 -1.68646544e-01 -1.33048004e-02 8.51336115e+02] [ 1.68627477e-01 9.85676555e-01 -2.55028609e-03 1.08056200e+01] [ 1.35443268e-02 2.69973365e-04 9.99908235e-01 3.71708855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.159254154 meters 0.01530662077124649 Centerline is valid? [True, True] Translation: X:851.39, Y:10.81, Z:3.72 [[ 9.85700108e-01 -1.68003987e-01 -1.30367753e-02 8.51394230e+02] [ 1.67985587e-01 9.85786277e-01 -2.50166281e-03 1.08137435e+01] [ 1.32717635e-02 2.75898949e-04 9.99911888e-01 3.71935626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.2192541539999 meters 0.016838246578029018 Centerline is valid? [True, True] Translation: X:851.45, Y:10.83, Z:3.72 [[ 9.85787406e-01 -1.67444718e-01 -1.36182557e-02 8.51451675e+02] [ 1.67424534e-01 9.85881421e-01 -2.61699577e-03 1.08256783e+01] [ 1.38641874e-02 2.99771360e-04 9.99903843e-01 3.71826716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.279254154 meters 0.017765781702353184 Centerline is valid? [True, True] Translation: X:851.51, Y:10.84, Z:3.72 [[ 9.86166294e-01 -1.65164336e-01 -1.40279392e-02 8.51508337e+02] [ 1.65142652e-01 9.86266000e-01 -2.69832131e-03 1.08395579e+01] [ 1.42809459e-02 3.44382444e-04 9.99897963e-01 3.71811603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.339254154 meters 0.01753361854796388 Centerline is valid? [True, True] Translation: X:851.57, Y:10.86, Z:3.72 [[ 9.86779023e-01 -1.61375318e-01 -1.50055267e-02 8.51565496e+02] [ 1.61350049e-01 9.86893015e-01 -2.88763160e-03 1.08553738e+01] [ 1.52748420e-02 4.28311823e-04 9.99883241e-01 3.71841562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.399254154 meters 0.018821494754723937 Centerline is valid? [True, True] Translation: X:851.62, Y:10.87, Z:3.72 [[ 9.87201880e-01 -1.58619088e-01 -1.65055372e-02 8.51623333e+02] [ 1.58588116e-01 9.87339717e-01 -3.17702413e-03 1.08706325e+01] [ 1.68005091e-02 5.18782143e-04 9.99858727e-01 3.71676350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.459254154 meters 0.0194017985565923 Centerline is valid? [True, True] Translation: X:851.68, Y:10.88, Z:3.72 [[ 9.87338619e-01 -1.57646558e-01 -1.76072024e-02 8.51681012e+02] [ 1.57611092e-01 9.87495434e-01 -3.39285316e-03 1.08827815e+01] [ 1.79219036e-02 5.74804555e-04 9.99839225e-01 3.71620324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.519254154 meters 0.020414186467712637 Centerline is valid? [True, True] Translation: X:851.74, Y:10.89, Z:3.72 [[ 9.87220948e-01 -1.58317569e-01 -1.81754680e-02 8.51737483e+02] [ 1.58279788e-01 9.87388072e-01 -3.50783982e-03 1.08946910e+01] [ 1.85015930e-02 5.86203728e-04 9.99828659e-01 3.71570565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.579254154 meters 0.019473894485164404 Centerline is valid? [True, True] Translation: X:851.79, Y:10.91, Z:3.72 [[ 9.87052763e-01 -1.59524734e-01 -1.66943642e-02 8.51793785e+02] [ 1.59492983e-01 9.87193795e-01 -3.22493411e-03 1.09065425e+01] [ 1.69950295e-02 5.20546176e-04 9.99855439e-01 3.71797255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.639254154 meters 0.01813728206189212 Centerline is valid? [True, True] Translation: X:851.85, Y:10.92, Z:3.72 [[ 9.86814898e-01 -1.61139438e-01 -1.51802070e-02 8.51851697e+02] [ 1.61113324e-01 9.86931547e-01 -2.93586281e-03 1.09158762e+01] [ 1.54549085e-02 4.51419547e-04 9.99880464e-01 3.72099764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.699254154 meters 0.018450421878081647 Centerline is valid? [True, True] Translation: X:851.91, Y:10.92, Z:3.72 [[ 9.86198369e-01 -1.65074121e-01 -1.27793401e-02 8.51911215e+02] [ 1.65055927e-01 9.86281109e-01 -2.47282889e-03 1.09234426e+01] [ 1.30122218e-02 3.29393996e-04 9.99915283e-01 3.72277961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.759254154 meters 0.019227531103946434 Centerline is valid? [True, True] Translation: X:851.97, Y:10.94, Z:3.72 [[ 9.85997404e-01 -1.66295308e-01 -1.24494926e-02 8.51967362e+02] [ 1.66278122e-01 9.86075949e-01 -2.41032679e-03 1.09369549e+01] [ 1.26769712e-02 3.06497710e-04 9.99919597e-01 3.72248319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.819254154 meters 0.016278794616563043 Centerline is valid? [True, True] Translation: X:852.03, Y:10.95, Z:3.72 [[ 9.85917202e-01 -1.66754195e-01 -1.26613100e-02 8.52025234e+02] [ 1.66736415e-01 9.85998450e-01 -2.45451472e-03 1.09455871e+01] [ 1.28933327e-02 3.08846846e-04 9.99916830e-01 3.72432649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.879254154 meters 0.018388106717427067 Centerline is valid? [True, True] Translation: X:852.08, Y:10.96, Z:3.72 [[ 9.85980373e-01 -1.66219734e-01 -1.46185958e-02 8.52082849e+02] [ 1.66195910e-01 9.86088669e-01 -2.83820323e-03 1.09584305e+01] [ 1.48869970e-02 3.68861849e-04 9.99889114e-01 3.72200915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.939254154 meters 0.019241068063146058 Centerline is valid? [True, True] Translation: X:852.14, Y:10.97, Z:3.72 [[ 9.86403148e-01 -1.63446601e-01 -1.71475189e-02 8.52141020e+02] [ 1.63413370e-01 9.86552064e-01 -3.33102242e-03 1.09722693e+01] [ 1.74613644e-02 4.83597160e-04 9.99847422e-01 3.72055209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.999254154 meters 0.018462964456499198 Centerline is valid? [True, True] Translation: X:852.20, Y:10.99, Z:3.72 [[ 9.86795390e-01 -1.61101850e-01 -1.67646142e-02 8.52198010e+02] [ 1.61069690e-01 9.86937651e-01 -3.26008112e-03 1.09864989e+01] [ 1.70708341e-02 5.16761806e-04 9.99854149e-01 3.72074336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.059254154 meters 0.018929864473921112 Centerline is valid? [True, True] Translation: X:852.25, Y:11.00, Z:3.72 [[ 9.86786116e-01 -1.61243830e-01 -1.59244496e-02 8.52254869e+02] [ 1.61214796e-01 9.86914478e-01 -3.09885780e-03 1.09986819e+01] [ 1.62157416e-02 4.90652956e-04 9.99868396e-01 3.72130091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.119254154 meters 0.019309609881372862 Centerline is valid? [True, True] Translation: X:852.31, Y:11.01, Z:3.72 [[ 9.86780176e-01 -1.61465081e-01 -1.39252156e-02 8.52312765e+02] [ 1.61442863e-01 9.86878333e-01 -2.71262502e-03 1.10107991e+01] [ 1.41804878e-02 4.28637926e-04 9.99899360e-01 3.72431953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.179254154 meters 0.01768068802674148 Centerline is valid? [True, True] Translation: X:852.37, Y:11.02, Z:3.73 [[ 9.86730587e-01 -1.61865681e-01 -1.27377539e-02 8.52370978e+02] [ 1.61847081e-01 9.86812722e-01 -2.48459414e-03 1.10207366e+01] [ 1.29719481e-02 3.90056755e-04 9.99915785e-01 3.72618553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2392541539999 meters 0.01990583608264256 Centerline is valid? [True, True] Translation: X:852.43, Y:11.04, Z:3.72 [[ 9.86864142e-01 -1.60909119e-01 -1.44020969e-02 8.52428066e+02] [ 1.60885179e-01 9.86969120e-01 -2.81328558e-03 1.10358254e+01] [ 1.46671082e-02 4.59246728e-04 9.99892327e-01 3.72394923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.299254154 meters 0.0240270906353422 Centerline is valid? [True, True] Translation: X:852.48, Y:11.05, Z:3.72 [[ 9.86908301e-01 -1.60585875e-01 -1.49727052e-02 8.52483560e+02] [ 1.60559922e-01 9.87021753e-01 -2.92747434e-03 1.10539309e+01] [ 1.52484968e-02 4.85132354e-04 9.99883617e-01 3.72098006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3592541539999 meters 0.019694854531342135 Centerline is valid? [True, True] Translation: X:852.54, Y:11.06, Z:3.72 [[ 9.87025943e-01 -1.59951012e-01 -1.39807242e-02 8.52541131e+02] [ 1.59928300e-01 9.87124845e-01 -2.73499035e-03 1.10635219e+01] [ 1.42381847e-02 4.63592974e-04 9.99898524e-01 3.72347273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.419254154 meters 0.019539846762183562 Centerline is valid? [True, True] Translation: X:852.60, Y:11.07, Z:3.72 [[ 9.86117466e-01 -1.65296235e-01 -1.57955260e-02 8.52600461e+02] [ 1.65267913e-01 9.86243866e-01 -3.09090465e-03 1.10696632e+01] [ 1.60891556e-02 4.37501438e-04 9.99870465e-01 3.72163000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4792541539999 meters 0.01563441155707205 Centerline is valid? [True, True] Translation: X:852.66, Y:11.08, Z:3.73 [[ 9.84921362e-01 -1.72549505e-01 -1.25131730e-02 8.52659669e+02] [ 1.72532310e-01 9.85000814e-01 -2.44904484e-03 1.10755157e+01] [ 1.27480670e-02 2.53189939e-04 9.99918708e-01 3.72514486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.539254154 meters 0.014704713568661031 Centerline is valid? [True, True] Translation: X:852.72, Y:11.08, Z:3.73 [[ 9.84394876e-01 -1.75605221e-01 -1.13812993e-02 8.52718610e+02] [ 1.75591179e-01 9.84460648e-01 -2.22940783e-03 1.10839186e+01] [ 1.15959369e-02 1.96161892e-04 9.99932746e-01 3.72610980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5992541539999 meters 0.016771844306368452 Centerline is valid? [True, True] Translation: X:852.78, Y:11.09, Z:3.72 [[ 9.82934579e-01 -1.83639872e-01 -1.07708444e-02 8.52776464e+02] [ 1.83627759e-01 9.82993585e-01 -2.11144032e-03 1.10906447e+01] [ 1.09754156e-02 9.75816684e-05 9.99939764e-01 3.72369669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.659254154 meters 0.015383042169423896 Centerline is valid? [True, True] Translation: X:852.84, Y:11.10, Z:3.72 [[ 9.82055665e-01 -1.88261156e-01 -1.11538547e-02 8.52835305e+02] [ 1.88248438e-01 9.82119002e-01 -2.18876042e-03 1.10983108e+01] [ 1.13664712e-02 4.97888402e-05 9.99935398e-01 3.72360644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.7192541539999 meters 0.013135779781567034 Centerline is valid? [True, True] Translation: X:852.89, Y:11.11, Z:3.72 [[ 9.81503620e-01 -1.91049501e-01 -1.22773201e-02 8.52892663e+02] [ 1.91034265e-01 9.81580403e-01 -2.41286028e-03 1.11077176e+01] [ 1.25121525e-02 2.28422901e-05 9.99921720e-01 3.72444257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.779254154 meters 0.01665340412077256 Centerline is valid? [True, True] Translation: X:852.95, Y:11.12, Z:3.72 [[ 9.80857462e-01 -1.94217844e-01 -1.40736446e-02 8.52950195e+02] [ 1.94198115e-01 9.80958424e-01 -2.76827947e-03 1.11177545e+01] [ 1.43433095e-02 -1.77876819e-05 9.99897129e-01 3.72202212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.839254154 meters 0.017177498978155806 Centerline is valid? [True, True] Translation: X:853.01, Y:11.13, Z:3.72 [[ 9.80108003e-01 -1.98025050e-01 -1.32053828e-02 8.53007846e+02] [ 1.98007984e-01 9.80196957e-01 -2.60058342e-03 1.11277996e+01] [ 1.34588567e-02 -6.59186135e-05 9.99909423e-01 3.72319915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.899254154 meters 0.013313736297318898 Centerline is valid? [True, True] Translation: X:853.07, Y:11.14, Z:3.73 [[ 9.79768299e-01 -1.99802314e-01 -1.15375345e-02 8.53065162e+02] [ 1.99789371e-01 9.79836226e-01 -2.27547631e-03 1.11384864e+01] [ 1.17595396e-02 -7.56371929e-05 9.99930851e-01 3.72685759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.959254154 meters 0.015176219205933482 Centerline is valid? [True, True] Translation: X:853.12, Y:11.15, Z:3.73 [[ 9.79117404e-01 -2.03002044e-01 -1.09215219e-02 8.53123526e+02] [ 2.02990612e-01 9.79178308e-01 -2.15697446e-03 1.11482509e+01] [ 1.11319876e-02 -1.05035183e-04 9.99938032e-01 3.72673679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.019254154 meters 0.013920634113087638 Centerline is valid? [True, True] Translation: X:853.18, Y:11.16, Z:3.73 [[ 9.79214730e-01 -2.02585100e-01 -9.88891016e-03 8.53181262e+02] [ 2.02575681e-01 9.79264657e-01 -1.95552392e-03 1.11616184e+01] [ 1.00800202e-02 -8.83748813e-05 9.99949191e-01 3.72850385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.079254154 meters 0.014259508256787401 Centerline is valid? [True, True] Translation: X:853.24, Y:11.18, Z:3.73 [[ 9.80008466e-01 -1.98776632e-01 -8.44144502e-03 8.53238333e+02] [ 1.98769609e-01 9.80044820e-01 -1.67135125e-03 1.11785192e+01] [ 8.60522004e-03 -3.99643517e-05 9.99962974e-01 3.72937506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.139254154 meters 0.01571653813208098 Centerline is valid? [True, True] Translation: X:853.29, Y:11.20, Z:3.73 [[ 9.81324942e-01 -1.92094047e-01 -1.00615875e-02 8.53294113e+02] [ 1.92083686e-01 9.81376521e-01 -1.99525410e-03 1.11978085e+01] [ 1.02574822e-02 2.53257988e-05 9.99947390e-01 3.72683243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.199254154 meters 0.015435067568841339 Centerline is valid? [True, True] Translation: X:853.35, Y:11.22, Z:3.73 [[ 9.82444838e-01 -1.86216443e-01 -1.12060629e-02 8.53350108e+02] [ 1.86203171e-01 9.82508741e-01 -2.22550757e-03 1.12171157e+01] [ 1.14244809e-02 9.98339826e-05 9.99934734e-01 3.72547327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.259254154 meters 0.013657438561257474 Centerline is valid? [True, True] Translation: X:853.41, Y:11.23, Z:3.73 [[ 9.82910657e-01 -1.83771557e-01 -1.07077442e-02 8.53407106e+02] [ 1.83759263e-01 9.82968972e-01 -2.12935557e-03 1.12315290e+01] [ 1.09166953e-02 1.25319108e-04 9.99940403e-01 3.72743563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.319254154 meters 0.014147801280639066 Centerline is valid? [True, True] Translation: X:853.46, Y:11.24, Z:3.73 [[ 9.82778748e-01 -1.84510696e-01 -1.00863718e-02 8.53463285e+02] [ 1.84499809e-01 9.82830499e-01 -2.00742455e-03 1.12441560e+01] [ 1.02835851e-02 1.11920516e-04 9.99947116e-01 3.72763386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.379254154 meters 0.013246907452211118 Centerline is valid? [True, True] Translation: X:853.52, Y:11.25, Z:3.73 [[ 9.82151018e-01 -1.87833892e-01 -9.88969396e-03 8.53521747e+02] [ 1.87823576e-01 9.82200806e-01 -1.97014808e-03 1.12541840e+01] [ 1.00837260e-02 7.74652627e-05 9.99949155e-01 3.72856577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.439254154 meters 0.014275467472994258 Centerline is valid? [True, True] Translation: X:853.58, Y:11.26, Z:3.73 [[ 9.81169488e-01 -1.92906768e-01 -9.66513847e-03 8.53579758e+02] [ 1.92897135e-01 9.81217090e-01 -1.92793514e-03 1.12627260e+01] [ 9.85551078e-03 2.72536057e-05 9.99951433e-01 3.72742375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.499254154 meters 0.013031820305605731 Centerline is valid? [True, True] Translation: X:853.64, Y:11.27, Z:3.73 [[ 9.80387979e-01 -1.96915985e-01 -7.96904438e-03 8.53638586e+02] [ 1.96909553e-01 9.80420366e-01 -1.59151189e-03 1.12711098e+01] [ 8.12640754e-03 -8.88184441e-06 9.99966980e-01 3.72897609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.559254154 meters 0.016764099632126547 Centerline is valid? [True, True] Translation: X:853.70, Y:11.28, Z:3.73 [[ 9.79773600e-01 -1.99928993e-01 -8.49066116e-03 8.53696604e+02] [ 1.99921785e-01 9.79810388e-01 -1.69798732e-03 1.12802404e+01] [ 8.65871490e-03 -3.38249903e-05 9.99962512e-01 3.72662919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.619254154 meters 0.013552224712906673 Centerline is valid? [True, True] Translation: X:853.75, Y:11.29, Z:3.73 [[ 9.79505671e-01 -2.01297670e-01 -6.92013343e-03 8.53753603e+02] [ 2.01292904e-01 9.79530115e-01 -1.38560664e-03 1.12909100e+01] [ 7.05739848e-03 -3.57641932e-05 9.99975096e-01 3.72890306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.679254154 meters 0.016789074778796015 Centerline is valid? [True, True] Translation: X:853.81, Y:11.30, Z:3.73 [[ 9.78861005e-01 -2.04410563e-01 -6.88871455e-03 8.53811606e+02] [ 2.04405904e-01 9.78885243e-01 -1.38126610e-03 1.13008178e+01] [ 7.02560639e-03 -5.60264016e-05 9.99975319e-01 3.72778910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7392541539999 meters 0.01416173997934706 Centerline is valid? [True, True] Translation: X:853.87, Y:11.31, Z:3.73 [[ 9.78654861e-01 -2.05416154e-01 -6.23436068e-03 8.53868706e+02] [ 2.05412351e-01 9.78674716e-01 -1.25124867e-03 1.13128616e+01] [ 6.35843786e-03 -5.60740943e-05 9.99979783e-01 3.72965278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.799254154 meters 0.016021944030860606 Centerline is valid? [True, True] Translation: X:853.93, Y:11.32, Z:3.73 [[ 9.78079875e-01 -2.08114731e-01 -6.92939344e-03 8.53926448e+02] [ 2.08110092e-01 9.78104418e-01 -1.39187802e-03 1.13241110e+01] [ 7.06734066e-03 -8.07088231e-05 9.99975023e-01 3.72801239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8592541539999 meters 0.015825087586316795 Centerline is valid? [True, True] Translation: X:853.98, Y:11.33, Z:3.73 [[ 9.77506320e-01 -2.10776356e-01 -7.39740964e-03 8.53984821e+02] [ 2.10771131e-01 9.77534305e-01 -1.48788118e-03 1.13348991e+01] [ 7.54483186e-03 -1.04747135e-04 9.99971532e-01 3.72822794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.919254154 meters 0.015495662607188689 Centerline is valid? [True, True] Translation: X:854.04, Y:11.35, Z:3.73 [[ 9.76846859e-01 -2.13795683e-01 -7.84989556e-03 8.54042728e+02] [ 2.13789879e-01 9.76878390e-01 -1.58099239e-03 1.13461320e+01] [ 8.00640269e-03 -1.33840772e-04 9.99967939e-01 3.72857119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9792541539999 meters 0.01519750100785065 Centerline is valid? [True, True] Translation: X:854.10, Y:11.36, Z:3.73 [[ 9.76380196e-01 -2.15946029e-01 -7.00182064e-03 8.54100467e+02] [ 2.15941454e-01 9.76405292e-01 -1.41188971e-03 1.13574951e+01] [ 7.14150671e-03 -1.33442182e-04 9.99974490e-01 3.72946640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.039254154 meters 0.01697154639149531 Centerline is valid? [True, True] Translation: X:854.16, Y:11.37, Z:3.73 [[ 9.76227766e-01 -2.16637265e-01 -6.90251955e-03 8.54158227e+02] [ 2.16632824e-01 9.76252159e-01 -1.39363293e-03 1.13703738e+01] [ 7.04051243e-03 -1.34809141e-04 9.99975206e-01 3.72769824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0992541539999 meters 0.016830262357548684 Centerline is valid? [True, True] Translation: X:854.21, Y:11.39, Z:3.73 [[ 9.76808842e-01 -2.13981221e-01 -7.51824985e-03 8.54214974e+02] [ 2.13975859e-01 9.76837766e-01 -1.51997117e-03 1.13855163e+01] [ 7.66935568e-03 -1.24002687e-04 9.99970582e-01 3.72731993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.159254154 meters 0.018073300085868264 Centerline is valid? [True, True] Translation: X:854.27, Y:11.40, Z:3.73 [[ 9.77501093e-01 -2.10772935e-01 -8.14763083e-03 8.54272038e+02] [ 2.10766507e-01 9.77535042e-01 -1.64938346e-03 1.14021443e+01] [ 8.31224004e-03 -1.04973554e-04 9.99965447e-01 3.72668656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.2192541539999 meters 0.016196039615708077 Centerline is valid? [True, True] Translation: X:854.33, Y:11.42, Z:3.73 [[ 9.78015970e-01 -2.08386714e-01 -7.72921657e-03 8.54328560e+02] [ 2.08380840e-01 9.78046508e-01 -1.56663873e-03 1.14181125e+01] [ 7.88599997e-03 -7.84229360e-05 9.99968902e-01 3.72799039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.279254154 meters 0.016290457765932152 Centerline is valid? [True, True] Translation: X:854.38, Y:11.43, Z:3.73 [[ 9.78641171e-01 -2.05384393e-01 -8.87187135e-03 8.54384417e+02] [ 2.05376514e-01 9.78681382e-01 -1.79999723e-03 1.14331903e+01] [ 9.05242665e-03 -6.05226185e-05 9.99959024e-01 3.72709518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.339254154 meters 0.013070729465239064 Centerline is valid? [True, True] Translation: X:854.44, Y:11.45, Z:3.73 [[ 9.79116256e-01 -2.03119715e-01 -8.58707424e-03 8.54441422e+02] [ 2.03112233e-01 9.79153910e-01 -1.74375398e-03 1.14482773e+01] [ 8.76225813e-03 -3.68019581e-05 9.99961610e-01 3.72911608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.399254154 meters 0.01595684460261982 Centerline is valid? [True, True] Translation: X:854.50, Y:11.46, Z:3.73 [[ 9.78964441e-01 -2.03753748e-01 -1.06316754e-02 8.54498694e+02] [ 2.03742283e-01 9.79022169e-01 -2.16205635e-03 1.14613208e+01] [ 1.08491730e-02 -4.95455303e-05 9.99941145e-01 3.72655386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.459254154 meters 0.01306601655120767 Centerline is valid? [True, True] Translation: X:854.56, Y:11.47, Z:3.73 [[ 9.78938548e-01 -2.03944980e-01 -9.26094587e-03 8.54556034e+02] [ 2.03936265e-01 9.78982351e-01 -1.88579005e-03 1.14729377e+01] [ 9.45089997e-03 -4.25701452e-05 9.99955338e-01 3.72923748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.519254154 meters 0.017872188684709925 Centerline is valid? [True, True] Translation: X:854.61, Y:11.48, Z:3.73 [[ 9.78421257e-01 -2.06393367e-01 -9.67587170e-03 8.54613216e+02] [ 2.06383955e-01 9.78469097e-01 -1.97213001e-03 1.14835134e+01] [ 9.87457600e-03 -6.73707459e-05 9.99951243e-01 3.72736219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.579254154 meters 0.01605621251331142 Centerline is valid? [True, True] Translation: X:854.67, Y:11.50, Z:3.73 [[ 9.78285147e-01 -2.07033827e-01 -9.75525699e-03 8.54670361e+02] [ 2.07024272e-01 9.78333782e-01 -1.99034008e-03 1.14958032e+01] [ 9.95596519e-03 -7.24548308e-05 9.99950436e-01 3.72826167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.639254154 meters 0.017419462863500896 Centerline is valid? [True, True] Translation: X:854.73, Y:11.51, Z:3.73 [[ 9.78250669e-01 -2.07144253e-01 -1.08113909e-02 8.54727563e+02] [ 2.07132487e-01 9.78310407e-01 -2.20919437e-03 1.15082703e+01] [ 1.10345182e-02 -7.82444082e-05 9.99939115e-01 3.72718338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.699254154 meters 0.013120920032228334 Centerline is valid? [True, True] Translation: X:854.78, Y:11.52, Z:3.73 [[ 9.78094404e-01 -2.07919900e-01 -1.00325304e-02 8.54784323e+02] [ 2.07909779e-01 9.78145853e-01 -2.05295899e-03 1.15201561e+01] [ 1.02401290e-02 -7.78734761e-05 9.99947565e-01 3.73076158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.759254154 meters 0.018842363259134694 Centerline is valid? [True, True] Translation: X:854.84, Y:11.53, Z:3.73 [[ 9.77375917e-01 -2.11188758e-01 -1.16458009e-02 8.54841992e+02] [ 2.11175311e-01 9.77445289e-01 -2.38651257e-03 1.15305537e+01] [ 1.18871379e-02 -1.26785728e-04 9.99929337e-01 3.72703128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.819254154 meters 0.017546473495531522 Centerline is valid? [True, True] Translation: X:854.90, Y:11.54, Z:3.73 [[ 9.76120946e-01 -2.16867225e-01 -1.25101848e-02 8.54900284e+02] [ 2.16852131e-01 9.76201088e-01 -2.56698745e-03 1.15384548e+01] [ 1.27691514e-02 -2.07170013e-04 9.99918450e-01 3.72695188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.879254154 meters 0.015896343692082846 Centerline is valid? [True, True] Translation: X:854.96, Y:11.55, Z:3.73 [[ 9.74865061e-01 -2.22511729e-01 -1.12535674e-02 8.54959607e+02] [ 2.22499876e-01 9.74929981e-01 -2.31040304e-03 1.15459261e+01] [ 1.14855320e-02 -2.51586151e-04 9.99934007e-01 3.73054123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.939254154 meters 0.01875213799524518 Centerline is valid? [True, True] Translation: X:855.02, Y:11.56, Z:3.73 [[ 9.74027503e-01 -2.26150745e-01 -1.12367489e-02 8.55017355e+02] [ 2.26139147e-01 9.74092272e-01 -2.30895581e-03 1.15566224e+01] [ 1.14678024e-02 -2.92082356e-04 9.99934200e-01 3.72911506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.999254154 meters 0.016915410978983178 Centerline is valid? [True, True] Translation: X:855.08, Y:11.57, Z:3.73 [[ 9.73554690e-01 -2.28257781e-01 -9.46841941e-03 8.55076021e+02] [ 2.28249622e-01 9.73600696e-01 -1.94791875e-03 1.15657378e+01] [ 9.66308734e-03 -2.64757718e-04 9.99953276e-01 3.73308157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.059254154 meters 0.017618004811326245 Centerline is valid? [True, True] Translation: X:855.13, Y:11.58, Z:3.73 [[ 9.73490943e-01 -2.28535918e-01 -9.31223542e-03 8.55133067e+02] [ 2.28528024e-01 9.73535447e-01 -1.91736320e-03 1.15767766e+01] [ 9.50397763e-03 -2.61571049e-04 9.99954802e-01 3.73373982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.119254154 meters 0.018594833013106292 Centerline is valid? [True, True] Translation: X:855.19, Y:11.59, Z:3.73 [[ 9.73425592e-01 -2.28793463e-01 -9.80658410e-03 8.55189537e+02] [ 2.28784702e-01 9.73474948e-01 -2.02117050e-03 1.15906378e+01] [ 1.00088945e-02 -2.76137324e-04 9.99949872e-01 3.73273402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.179254154 meters 0.019584946812686778 Centerline is valid? [True, True] Translation: X:855.25, Y:11.61, Z:3.73 [[ 9.73798367e-01 -2.27242102e-01 -8.81863482e-03 8.55245695e+02] [ 2.27234940e-01 9.73838268e-01 -1.81908522e-03 1.16065456e+01] [ 9.00129681e-03 -2.32479738e-04 9.99959460e-01 3.73166180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2392541539999 meters 0.01614969476412043 Centerline is valid? [True, True] Translation: X:855.30, Y:11.63, Z:3.73 [[ 9.75022323e-01 -2.21957893e-01 -8.13406066e-03 8.55302192e+02] [ 2.21951612e-01 9.75056237e-01 -1.67837527e-03 1.16290149e+01] [ 8.30369522e-03 -1.68914522e-04 9.99965509e-01 3.73318777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.299254154 meters 0.017982477837458263 Centerline is valid? [True, True] Translation: X:855.36, Y:11.65, Z:3.73 [[ 9.76912201e-01 -2.13415696e-01 -9.81285767e-03 8.55358254e+02] [ 2.13406117e-01 9.76961477e-01 -2.02528779e-03 1.16483613e+01] [ 1.00190121e-02 -1.15595501e-04 9.99949802e-01 3.72973403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3592541539999 meters 0.016257729276931435 Centerline is valid? [True, True] Translation: X:855.41, Y:11.67, Z:3.73 [[ 9.78285735e-01 -2.07011047e-01 -1.01708454e-02 8.55414294e+02] [ 2.07000392e-01 9.78338604e-01 -2.10095543e-03 1.16683438e+01] [ 1.03854516e-02 -5.00342523e-05 9.99946068e-01 3.73056439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.419254154 meters 0.01451631704350093 Centerline is valid? [True, True] Translation: X:855.47, Y:11.69, Z:3.73 [[ 9.79984668e-01 -1.98835543e-01 -9.71993215e-03 8.55468902e+02] [ 1.98825382e-01 9.80032870e-01 -2.01047595e-03 1.16885495e+01] [ 9.92560708e-03 3.76663822e-05 9.99950739e-01 3.73094994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4792541539999 meters 0.013515152151796309 Centerline is valid? [True, True] Translation: X:855.53, Y:11.70, Z:3.73 [[ 9.81052426e-01 -1.93461559e-01 -1.04289090e-02 8.55526026e+02] [ 1.93449526e-01 9.81107851e-01 -2.16009084e-03 1.17047455e+01] [ 1.06497791e-02 1.01694843e-04 9.99943284e-01 3.73313775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.539254154 meters 0.013947804768760105 Centerline is valid? [True, True] Translation: X:855.58, Y:11.72, Z:3.73 [[ 9.81668516e-01 -1.90254326e-01 -1.14112163e-02 8.55582818e+02] [ 1.90239666e-01 9.81734826e-01 -2.36667903e-03 1.17190085e+01] [ 1.16530593e-02 1.52428319e-04 9.99932089e-01 3.73234635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5992541539999 meters 0.016142439834795425 Centerline is valid? [True, True] Translation: X:855.64, Y:11.73, Z:3.73 [[ 9.81966942e-01 -1.88724885e-01 -1.11284895e-02 8.55640081e+02] [ 1.88710812e-01 9.82029984e-01 -2.31095558e-03 1.17317447e+01] [ 1.13646452e-02 1.69215703e-04 9.99935406e-01 3.73083918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.659254154 meters 0.01659075827524876 Centerline is valid? [True, True] Translation: X:855.70, Y:11.74, Z:3.73 [[ 9.82166640e-01 -1.87720995e-01 -1.04651093e-02 8.55698371e+02] [ 1.87708464e-01 9.82222377e-01 -2.17590005e-03 1.17429120e+01] [ 1.06875267e-02 1.72706845e-04 9.99942872e-01 3.73205435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.7192541539999 meters 0.018106443926854777 Centerline is valid? [True, True] Translation: X:855.76, Y:11.75, Z:3.73 [[ 9.82672649e-01 -1.85051868e-01 -1.05010023e-02 8.55756521e+02] [ 1.85039068e-01 9.82728734e-01 -2.18614973e-03 1.17536323e+01] [ 1.07241878e-02 2.05173872e-04 9.99942473e-01 3.73126916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.779254154 meters 0.01897593570271724 Centerline is valid? [True, True] Translation: X:855.81, Y:11.77, Z:3.73 [[ 9.83154344e-01 -1.82388661e-01 -1.19126958e-02 8.55813858e+02] [ 1.82371968e-01 9.83226477e-01 -2.48204892e-03 1.17651227e+01] [ 1.21655755e-02 2.67695399e-04 9.99925961e-01 3.73022189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.839254154 meters 0.020740199173521306 Centerline is valid? [True, True] Translation: X:855.87, Y:11.78, Z:3.73 [[ 9.84104163e-01 -1.76995663e-01 -1.45441446e-02 8.55871706e+02] [ 1.76970172e-01 9.84211546e-01 -3.03164077e-03 1.17771525e+01] [ 1.48511023e-02 4.09570537e-04 9.99889632e-01 3.72767066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.899254154 meters 0.022423521777635718 Centerline is valid? [True, True] Translation: X:855.93, Y:11.79, Z:3.73 [[ 9.84876195e-01 -1.72659547e-01 -1.44070167e-02 8.55928922e+02] [ 1.72634052e-01 9.84981451e-01 -3.00427479e-03 1.17875075e+01] [ 1.47093609e-02 4.71697060e-04 9.99891700e-01 3.72823090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.959254154 meters 0.018730909872909634 Centerline is valid? [True, True] Translation: X:855.99, Y:11.79, Z:3.73 [[ 9.85140401e-01 -1.71329800e-01 -1.20203646e-02 8.55988664e+02] [ 1.71311924e-01 9.85213647e-01 -2.50899181e-03 1.17897345e+01] [ 1.22724923e-02 4.12477409e-04 9.99924605e-01 3.73431633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.019254154 meters 0.02097095311167545 Centerline is valid? [True, True] Translation: X:856.05, Y:11.79, Z:3.73 [[ 9.84865495e-01 -1.73014533e-01 -1.02920948e-02 8.56046703e+02] [ 1.73001503e-01 9.84919214e-01 -2.14982201e-03 1.17934818e+01] [ 1.05088323e-02 3.36737654e-04 9.99944724e-01 3.73281864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.079254154 meters 0.019554790278718998 Centerline is valid? [True, True] Translation: X:856.10, Y:11.80, Z:3.74 [[ 9.84876882e-01 -1.73028850e-01 -8.86256526e-03 8.56104097e+02] [ 1.73019174e-01 9.84916713e-01 -1.85293782e-03 1.18014435e+01] [ 9.04950034e-03 2.91521899e-04 9.99959010e-01 3.73624202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.139254154 meters 0.023743020886626873 Centerline is valid? [True, True] Translation: X:856.16, Y:11.81, Z:3.73 [[ 9.84954898e-01 -1.72527996e-01 -9.89641962e-03 8.56160420e+02] [ 1.72515886e-01 9.85004558e-01 -2.07104628e-03 1.18146975e+01] [ 1.01053319e-02 3.32597586e-04 9.99948885e-01 3.73310269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.199254154 meters 0.022103965665325482 Centerline is valid? [True, True] Translation: X:856.22, Y:11.82, Z:3.73 [[ 9.85503720e-01 -1.69297189e-01 -1.09945497e-02 8.56219944e+02] [ 1.69282031e-01 9.85564963e-01 -2.30166503e-03 1.18203177e+01] [ 1.12255084e-02 4.07119740e-04 9.99936909e-01 3.73316364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.259254154 meters 0.023544022971155265 Centerline is valid? [True, True] Translation: X:856.28, Y:11.83, Z:3.73 [[ 9.86037744e-01 -1.66032282e-01 -1.27612482e-02 8.56278744e+02] [ 1.66011581e-01 9.86120183e-01 -2.67210394e-03 1.18302269e+01] [ 1.30277799e-02 5.16280339e-04 9.99915002e-01 3.73183291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.319254154 meters 0.022302899058082123 Centerline is valid? [True, True] Translation: X:856.34, Y:11.84, Z:3.73 [[ 9.86080378e-01 -1.65644443e-01 -1.44016404e-02 8.56337628e+02] [ 1.65617993e-01 9.86185362e-01 -3.01849493e-03 1.18363223e+01] [ 1.47026838e-02 5.91307848e-04 9.99891735e-01 3.73036552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.379254154 meters 0.02415961671722516 Centerline is valid? [True, True] Translation: X:856.40, Y:11.84, Z:3.73 [[ 9.85588917e-01 -1.68562105e-01 -1.41881634e-02 8.56395128e+02] [ 1.68536705e-01 9.85690886e-01 -2.97583439e-03 1.18436954e+01] [ 1.44867563e-02 5.41723070e-04 9.99894915e-01 3.72945661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.439254154 meters 0.01993532138239748 Centerline is valid? [True, True] Translation: X:856.46, Y:11.84, Z:3.73 [[ 9.84522161e-01 -1.74755408e-01 -1.32914257e-02 8.56456703e+02] [ 1.74733671e-01 9.84611786e-01 -2.78848977e-03 1.18418832e+01] [ 1.35741981e-02 4.22870365e-04 9.99907777e-01 3.73206686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.499254154 meters 0.019362665532226 Centerline is valid? [True, True] Translation: X:856.52, Y:11.85, Z:3.73 [[ 9.83056095e-01 -1.82920763e-01 -1.18620554e-02 8.56516389e+02] [ 1.82904037e-01 9.83127620e-01 -2.48904978e-03 1.18462912e+01] [ 1.21172132e-02 2.77257727e-04 9.99926545e-01 3.73241568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.559254154 meters 0.014577388921074406 Centerline is valid? [True, True] Translation: X:856.58, Y:11.85, Z:3.74 [[ 9.82147491e-01 -1.87819298e-01 -1.04984686e-02 8.56575928e+02] [ 1.87806458e-01 9.82203581e-01 -2.20464603e-03 1.18511962e+01] [ 1.07257086e-02 1.93607362e-04 9.99942459e-01 3.73745542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.619254154 meters 0.015445089894435885 Centerline is valid? [True, True] Translation: X:856.63, Y:11.86, Z:3.74 [[ 9.80874169e-01 -1.94340007e-01 -1.08548199e-02 8.56633395e+02] [ 1.94326660e-01 9.80934221e-01 -2.28124268e-03 1.18589459e+01] [ 1.10912010e-02 1.28231126e-04 9.99938483e-01 3.73631402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.679254154 meters 0.015728789952871632 Centerline is valid? [True, True] Translation: X:856.69, Y:11.87, Z:3.74 [[ 9.80231541e-01 -1.97544978e-01 -1.10502454e-02 8.56690640e+02] [ 1.97531325e-01 9.80293819e-01 -2.32451676e-03 1.18715642e+01] [ 1.12916838e-02 9.57950402e-05 9.99936242e-01 3.73598207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7392541539999 meters 0.015738400338395464 Centerline is valid? [True, True] Translation: X:856.75, Y:11.88, Z:3.74 [[ 9.79563283e-01 -2.00827251e-01 -1.11440834e-02 8.56748035e+02] [ 2.00813543e-01 9.79626669e-01 -2.34720689e-03 1.18842612e+01] [ 1.13884244e-02 6.13548127e-05 9.99935148e-01 3.73588846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.799254154 meters 0.016150841454921346 Centerline is valid? [True, True] Translation: X:856.81, Y:11.90, Z:3.74 [[ 9.78758891e-01 -2.04730066e-01 -1.07996448e-02 8.56805040e+02] [ 2.04717408e-01 9.78818471e-01 -2.27665900e-03 1.18958576e+01] [ 1.10369923e-02 1.74249565e-05 9.99939090e-01 3.73537945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8592541539999 meters 0.016343207646261862 Centerline is valid? [True, True] Translation: X:856.86, Y:11.91, Z:3.74 [[ 9.78134902e-01 -2.07683379e-01 -1.09420193e-02 8.56862130e+02] [ 2.07670541e-01 9.78196102e-01 -2.30925138e-03 1.19082726e+01] [ 1.11830337e-02 -1.35756867e-05 9.99937468e-01 3.73526661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.919254154 meters 0.015698523507621562 Centerline is valid? [True, True] Translation: X:856.92, Y:11.92, Z:3.74 [[ 9.77278574e-01 -2.11660499e-01 -1.12437521e-02 8.56919793e+02] [ 2.11647169e-01 9.77343251e-01 -2.37612379e-03 1.19216826e+01] [ 1.14919368e-02 -5.75734475e-05 9.99933964e-01 3.73516963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9792541539999 meters 0.014753246847899845 Centerline is valid? [True, True] Translation: X:856.98, Y:11.93, Z:3.74 [[ 9.76699621e-01 -2.14333382e-01 -1.09111070e-02 8.56976624e+02] [ 2.14320976e-01 9.76760561e-01 -2.30758228e-03 1.19335979e+01] [ 1.11521309e-02 -8.46643725e-05 9.99937809e-01 3.73609012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.039254154 meters 0.01567429603569506 Centerline is valid? [True, True] Translation: X:857.03, Y:11.95, Z:3.74 [[ 9.76403098e-01 -2.15680204e-01 -1.09105545e-02 8.57033954e+02] [ 2.15667859e-01 9.76464050e-01 -2.30961724e-03 1.19470557e+01] [ 1.11519029e-02 -9.79384956e-05 9.99937811e-01 3.73555786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0992541539999 meters 0.01582905957776025 Centerline is valid? [True, True] Translation: X:857.09, Y:11.96, Z:3.74 [[ 9.76855983e-01 -2.13640869e-01 -1.04865722e-02 8.57089251e+02] [ 2.13629327e-01 9.76912265e-01 -2.22181018e-03 1.19630671e+01] [ 1.07191304e-02 -6.98507816e-05 9.99942546e-01 3.73520986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.159254154 meters 0.016233395140954576 Centerline is valid? [True, True] Translation: X:857.15, Y:11.98, Z:3.74 [[ 9.77668056e-01 -2.09930741e-01 -9.70859003e-03 8.57146077e+02] [ 2.09920645e-01 9.77716259e-01 -2.05894588e-03 1.19797975e+01] [ 9.92448236e-03 -2.50678707e-05 9.99950751e-01 3.73615244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.2192541539999 meters 0.017185829568776286 Centerline is valid? [True, True] Translation: X:857.20, Y:11.99, Z:3.74 [[ 9.78174311e-01 -2.07580947e-01 -9.22857233e-03 8.57201910e+02] [ 2.07571697e-01 9.78217844e-01 -1.95971178e-03 1.19948158e+01] [ 9.43435296e-03 1.34930302e-06 9.99955495e-01 3.73594573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.279254154 meters 0.013565935952766962 Centerline is valid? [True, True] Translation: X:857.26, Y:12.01, Z:3.74 [[ 9.79122582e-01 -2.03097433e-01 -8.39056709e-03 8.57258779e+02] [ 2.03089601e-01 9.79158532e-01 -1.78404012e-03 1.20114022e+01] [ 8.57802933e-03 4.27570393e-05 9.99963207e-01 3.74089119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.339254154 meters 0.01693721694370211 Centerline is valid? [True, True] Translation: X:857.32, Y:12.03, Z:3.74 [[ 9.79706339e-01 -2.00234536e-01 -9.03433189e-03 8.57315776e+02] [ 2.00225312e-01 9.79747990e-01 -1.92341667e-03 1.20287446e+01] [ 9.23650296e-03 7.54815758e-05 9.99957340e-01 3.73625595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.399254154 meters 0.014435504751666006 Centerline is valid? [True, True] Translation: X:857.37, Y:12.04, Z:3.74 [[ 9.80324515e-01 -1.97165006e-01 -9.47660456e-03 8.57371722e+02] [ 1.97154697e-01 9.80370312e-01 -2.01925438e-03 1.20438102e+01] [ 9.68870807e-03 1.11167477e-04 9.99953057e-01 3.74080237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.459254154 meters 0.015657217947389845 Centerline is valid? [True, True] Translation: X:857.43, Y:12.06, Z:3.74 [[ 9.80002722e-01 -1.98664737e-01 -1.12688479e-02 8.57428043e+02] [ 1.98650228e-01 9.80067502e-01 -2.40374484e-03 1.20568724e+01] [ 1.15217709e-02 1.17117282e-04 9.99933615e-01 3.73754229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.519254154 meters 0.017082922665920857 Centerline is valid? [True, True] Translation: X:857.49, Y:12.07, Z:3.74 [[ 9.79086992e-01 -2.03015745e-01 -1.31631889e-02 8.57485815e+02] [ 2.02996290e-01 9.79175470e-01 -2.81169055e-03 1.20676630e+01] [ 1.34598891e-02 8.08111346e-05 9.99909408e-01 3.73541813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.579254154 meters 0.013735450726871228 Centerline is valid? [True, True] Translation: X:857.54, Y:12.07, Z:3.74 [[ 9.77602378e-01 -2.09992530e-01 -1.40259368e-02 8.57543271e+02] [ 2.09971127e-01 9.77702990e-01 -2.99807837e-03 1.20742952e+01] [ 1.43427744e-02 -1.41132198e-05 9.99897137e-01 3.73960131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.639254154 meters 0.01717339244106591 Centerline is valid? [True, True] Translation: X:857.60, Y:12.08, Z:3.74 [[ 9.75410039e-01 -2.19899458e-01 -1.48150262e-02 8.57601979e+02] [ 2.19876698e-01 9.75522527e-01 -3.16812807e-03 1.20790747e+01] [ 1.51490614e-02 -1.67255118e-04 9.99885232e-01 3.73796004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.699254154 meters 0.01816665905977403 Centerline is valid? [True, True] Translation: X:857.66, Y:12.09, Z:3.74 [[ 9.74143125e-01 -2.25482857e-01 -1.42356221e-02 8.57660081e+02] [ 2.25462420e-01 9.74247105e-01 -3.04549704e-03 1.20867067e+01] [ 1.45557210e-02 -2.42847805e-04 9.99894030e-01 3.73912668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.759254154 meters 0.020934767860794783 Centerline is valid? [True, True] Translation: X:857.72, Y:12.09, Z:3.74 [[ 9.72707926e-01 -2.31582769e-01 -1.44468812e-02 8.57718559e+02] [ 2.31562378e-01 9.72815145e-01 -3.09162470e-03 1.20934063e+01] [ 1.47701118e-02 -3.38106312e-04 9.99890859e-01 3.73934122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.819254154 meters 0.02077406011852688 Centerline is valid? [True, True] Translation: X:857.78, Y:12.10, Z:3.74 [[ 9.72112224e-01 -2.34108439e-01 -1.38225498e-02 8.57776651e+02] [ 2.34089991e-01 9.72210425e-01 -2.96056072e-03 1.21028858e+01] [ 1.41315192e-02 -3.57723286e-04 9.99900081e-01 3.74157897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.879254154 meters 0.02113770792121828 Centerline is valid? [True, True] Translation: X:857.83, Y:12.12, Z:3.74 [[ 9.72344927e-01 -2.33081611e-01 -1.47751591e-02 8.57834109e+02] [ 2.33060360e-01 9.72457110e-01 -3.16823671e-03 1.21161113e+01] [ 1.51066663e-02 -3.62885021e-04 9.99885822e-01 3.74052730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.939254154 meters 0.01932802586083086 Centerline is valid? [True, True] Translation: X:857.89, Y:12.13, Z:3.74 [[ 9.73424032e-01 -2.28456054e-01 -1.59211993e-02 8.57889990e+02] [ 2.28430725e-01 9.73554176e-01 -3.41608018e-03 1.21328249e+01] [ 1.62805743e-02 -3.11596559e-04 9.99867414e-01 3.74001594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.999254154 meters 0.016094716563302663 Centerline is valid? [True, True] Translation: X:857.95, Y:12.16, Z:3.74 [[ 9.75275163e-01 -2.20401235e-01 -1.61756620e-02 8.57946223e+02] [ 2.20373967e-01 9.75409280e-01 -3.47148547e-03 1.21555015e+01] [ 1.65430105e-02 -1.79041239e-04 9.99863139e-01 3.74196320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.059254154 meters 0.01686243869060246 Centerline is valid? [True, True] Translation: X:858.00, Y:12.18, Z:3.74 [[ 9.77172115e-01 -2.11820696e-01 -1.63294371e-02 8.58002147e+02] [ 2.11791652e-01 9.77308545e-01 -3.50774336e-03 1.21756480e+01] [ 1.67019110e-02 -3.07694497e-05 9.99860513e-01 3.74131829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.119254154 meters 0.01689452687965801 Centerline is valid? [True, True] Translation: X:858.06, Y:12.19, Z:3.74 [[ 9.78630155e-01 -2.05035497e-01 -1.56033337e-02 8.58057572e+02] [ 2.05008043e-01 9.78754534e-01 -3.35627471e-03 1.21946336e+01] [ 1.59599890e-02 8.57427400e-05 9.99872628e-01 3.74276656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.179254154 meters 0.013973990762053592 Centerline is valid? [True, True] Translation: X:858.11, Y:12.21, Z:3.75 [[ 9.79677433e-01 -2.00127542e-01 -1.34571275e-02 8.58114039e+02] [ 2.00106610e-01 9.79769843e-01 -2.89817105e-03 1.22117491e+01] [ 1.37648916e-02 1.46412601e-04 9.99905249e-01 3.74649733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2392541539999 meters 0.017655217226563918 Centerline is valid? [True, True] Translation: X:858.17, Y:12.23, Z:3.74 [[ 9.79945806e-01 -1.98717655e-01 -1.47482658e-02 8.58171259e+02] [ 1.98692293e-01 9.80056763e-01 -3.18022588e-03 1.22266528e+01] [ 1.50861047e-02 1.86082264e-04 9.99886181e-01 3.74282672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.299254154 meters 0.017466962952289302 Centerline is valid? [True, True] Translation: X:858.23, Y:12.24, Z:3.74 [[ 9.80144372e-01 -1.97692371e-01 -1.53211054e-02 8.58228305e+02] [ 1.97664811e-01 9.80264087e-01 -3.30785090e-03 1.22399388e+01] [ 1.56726663e-02 2.13728041e-04 9.99877153e-01 3.74312454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3592541539999 meters 0.014479861167069091 Centerline is valid? [True, True] Translation: X:858.28, Y:12.25, Z:3.75 [[ 9.80112814e-01 -1.97859011e-01 -1.51882813e-02 8.58284745e+02] [ 1.97831878e-01 9.80230466e-01 -3.28356862e-03 1.22521006e+01] [ 1.55376996e-02 2.13541465e-04 9.99879260e-01 3.74578557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.419254154 meters 0.014910415404185133 Centerline is valid? [True, True] Translation: X:858.34, Y:12.26, Z:3.74 [[ 9.79088570e-01 -2.02777317e-01 -1.63380690e-02 8.58342933e+02] [ 2.02746528e-01 9.79224865e-01 -3.53671148e-03 1.22605358e+01] [ 1.67158083e-02 1.50267005e-04 9.99860270e-01 3.74457883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4792541539999 meters 0.016285425285992975 Centerline is valid? [True, True] Translation: X:858.40, Y:12.26, Z:3.74 [[ 9.76746196e-01 -2.13711428e-01 -1.71549712e-02 8.58402102e+02] [ 2.13679086e-01 9.76896834e-01 -3.71808451e-03 1.22641059e+01] [ 1.75532342e-02 -3.40336645e-05 9.99845930e-01 3.74355158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.539254154 meters 0.013810278331588237 Centerline is valid? [True, True] Translation: X:858.46, Y:12.27, Z:3.75 [[ 9.75481547e-01 -2.19528057e-01 -1.55943404e-02 8.58459772e+02] [ 2.19502004e-01 9.75606180e-01 -3.38419953e-03 1.22715993e+01] [ 1.59568616e-02 -1.21764761e-04 9.99872674e-01 3.74712063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5992541539999 meters 0.016667473363907174 Centerline is valid? [True, True] Translation: X:858.52, Y:12.28, Z:3.75 [[ 9.74015032e-01 -2.25901816e-01 -1.62199371e-02 8.58517605e+02] [ 2.25874473e-01 9.74150048e-01 -3.52240107e-03 1.22798547e+01] [ 1.65963693e-02 -2.32798140e-04 9.99862244e-01 3.74558735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.659254154 meters 0.01770556591921685 Centerline is valid? [True, True] Translation: X:858.58, Y:12.29, Z:3.75 [[ 9.72621319e-01 -2.31906619e-01 -1.50695128e-02 8.58575572e+02] [ 2.31883719e-01 9.72738004e-01 -3.27373496e-03 1.22878503e+01] [ 1.54178887e-02 -3.10270265e-04 9.99881089e-01 3.74679277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.7192541539999 meters 0.01767617016185476 Centerline is valid? [True, True] Translation: X:858.63, Y:12.30, Z:3.75 [[ 9.71901567e-01 -2.34922680e-01 -1.47877832e-02 8.58632516e+02] [ 2.34900958e-01 9.72013998e-01 -3.21378628e-03 1.22971504e+01] [ 1.51289235e-02 -3.50180502e-04 9.99885490e-01 3.74870685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.779254154 meters 0.01877681889051928 Centerline is valid? [True, True] Translation: X:858.69, Y:12.31, Z:3.75 [[ 9.71067819e-01 -2.38224329e-01 -1.66271027e-02 8.58690103e+02] [ 2.38197334e-01 9.71210052e-01 -3.61442143e-03 1.23121603e+01] [ 1.70094525e-02 -4.50683214e-04 9.99855227e-01 3.74649605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.839254154 meters 0.020969151040323267 Centerline is valid? [True, True] Translation: X:858.75, Y:12.32, Z:3.74 [[ 9.70556263e-01 -2.40263682e-01 -1.71435889e-02 8.58747064e+02] [ 2.40235267e-01 9.70707532e-01 -3.72865746e-03 1.23231812e+01] [ 1.75372718e-02 -4.99622812e-04 9.99846085e-01 3.74496815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.899254154 meters 0.020034327748677246 Centerline is valid? [True, True] Translation: X:858.80, Y:12.34, Z:3.75 [[ 9.70021495e-01 -2.42430525e-01 -1.69038650e-02 8.58804139e+02] [ 2.42403160e-01 9.70168626e-01 -3.68038996e-03 1.23371946e+01] [ 1.72918383e-02 -5.27492932e-04 9.99850346e-01 3.74688267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.959254154 meters 0.020580338443160796 Centerline is valid? [True, True] Translation: X:858.86, Y:12.35, Z:3.75 [[ 9.70144343e-01 -2.41962409e-01 -1.65573535e-02 8.58861208e+02] [ 2.41936014e-01 9.70285493e-01 -3.60926456e-03 1.23534598e+01] [ 1.69386663e-02 -5.04312514e-04 9.99856403e-01 3.74706647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.019254154 meters 0.01768001048513788 Centerline is valid? [True, True] Translation: X:858.92, Y:12.37, Z:3.75 [[ 9.71439651e-01 -2.36839804e-01 -1.45572161e-02 8.58918952e+02] [ 2.36818808e-01 9.71548648e-01 -3.17444981e-03 1.23718370e+01] [ 1.48948797e-02 -3.63636163e-04 9.99888999e-01 3.75043113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.079254154 meters 0.016201249976936876 Centerline is valid? [True, True] Translation: X:858.98, Y:12.39, Z:3.75 [[ 9.73423978e-01 -2.28542588e-01 -1.46302514e-02 8.58975535e+02] [ 2.28520438e-01 9.73533887e-01 -3.19064919e-03 1.23932871e+01] [ 1.49722447e-02 -2.37457016e-04 9.99887881e-01 3.74973679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.139254154 meters 0.016970704149674255 Centerline is valid? [True, True] Translation: X:859.03, Y:12.42, Z:3.75 [[ 9.75663884e-01 -2.18634970e-01 -1.66953421e-02 8.59030028e+02] [ 2.18604651e-01 9.75806713e-01 -3.64224223e-03 1.24159620e+01] [ 1.70877484e-02 -9.60752412e-05 9.99853989e-01 3.74555624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.199254154 meters 0.016151818423571673 Centerline is valid? [True, True] Translation: X:859.09, Y:12.44, Z:3.75 [[ 9.77524986e-01 -2.10017334e-01 -1.83744578e-02 8.59085619e+02] [ 2.09979006e-01 9.77697660e-01 -4.01272037e-03 1.24385654e+01] [ 1.88074053e-02 6.42840347e-05 9.99823123e-01 3.74517351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.259254154 meters 0.015250839711531364 Centerline is valid? [True, True] Translation: X:859.14, Y:12.46, Z:3.75 [[ 9.78302028e-01 -2.06382578e-01 -1.82036894e-02 8.59141431e+02] [ 2.06344284e-01 9.78471365e-01 -3.97785298e-03 1.24558259e+01] [ 1.86327484e-02 1.35314370e-04 9.99826386e-01 3.74571619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.319254154 meters 0.013657535184513962 Centerline is valid? [True, True] Translation: X:859.20, Y:12.47, Z:3.75 [[ 9.78021630e-01 -2.07762348e-01 -1.75641099e-02 8.59198945e+02] [ 2.07726851e-01 9.78179327e-01 -3.84193844e-03 1.24679721e+01] [ 1.79790593e-02 1.08961663e-04 9.99838358e-01 3.74836267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.379254154 meters 0.017869173443364198 Centerline is valid? [True, True] Translation: X:859.26, Y:12.47, Z:3.75 [[ 9.75822632e-01 -2.17848453e-01 -1.76703601e-02 8.59256836e+02] [ 2.17814081e-01 9.75982606e-01 -3.87035774e-03 1.24748532e+01] [ 1.80891155e-02 -7.20705692e-05 9.99836376e-01 3.74717647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.439254154 meters 0.016051917054307786 Centerline is valid? [True, True] Translation: X:859.31, Y:12.48, Z:3.75 [[ 9.74539548e-01 -2.23525831e-01 -1.75747745e-02 8.59314490e+02] [ 2.23492706e-01 9.74697991e-01 -3.85194887e-03 1.24829219e+01] [ 1.79911075e-02 -1.73957409e-04 9.99838132e-01 3.74903965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.499254154 meters 0.017481776118775192 Centerline is valid? [True, True] Translation: X:859.37, Y:12.49, Z:3.75 [[ 9.72755187e-01 -2.31032871e-01 -1.92654655e-02 8.59373107e+02] [ 2.30994502e-01 9.72945886e-01 -4.22417818e-03 1.24917963e+01] [ 1.97201794e-02 -3.41125380e-04 9.99805480e-01 3.74947561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.559254154 meters 0.01701635186686129 Centerline is valid? [True, True] Translation: X:859.43, Y:12.50, Z:3.75 [[ 9.71775473e-01 -2.35049474e-01 -2.01040818e-02 8.59431136e+02] [ 2.35008456e-01 9.71983310e-01 -4.41266309e-03 1.25025659e+01] [ 2.05780261e-02 -4.36511464e-04 9.99788155e-01 3.75116804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.619254154 meters 0.019825512258053537 Centerline is valid? [True, True] Translation: X:859.49, Y:12.51, Z:3.75 [[ 9.71335145e-01 -2.36800397e-01 -2.08232360e-02 8.59487632e+02] [ 2.36756735e-01 9.71558199e-01 -4.57326119e-03 1.25138230e+01] [ 2.13139357e-02 -4.87872036e-04 9.99772713e-01 3.74938147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.679254154 meters 0.01830762125782555 Centerline is valid? [True, True] Translation: X:859.54, Y:12.53, Z:3.75 [[ 9.71206513e-01 -2.37377274e-01 -2.02469579e-02 8.59544395e+02] [ 2.37336013e-01 9.71417417e-01 -4.45188122e-03 1.25270711e+01] [ 2.07250229e-02 -4.81636214e-04 9.99785098e-01 3.75110047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7392541539999 meters 0.019905885590585023 Centerline is valid? [True, True] Translation: X:859.60, Y:12.54, Z:3.75 [[ 9.71065005e-01 -2.37950371e-01 -2.03070646e-02 8.59601185e+02] [ 2.37908932e-01 9.71277189e-01 -4.46786791e-03 1.25401462e+01] [ 2.07869194e-02 -4.92641869e-04 9.99783807e-01 3.75075850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.799254154 meters 0.016779241136153433 Centerline is valid? [True, True] Translation: X:859.66, Y:12.56, Z:3.76 [[ 9.71415366e-01 -2.36780250e-01 -1.69499384e-02 8.59657940e+02] [ 2.36751180e-01 9.71563154e-01 -3.73051994e-03 1.25555496e+01] [ 1.73512491e-02 -3.89033541e-04 9.99849380e-01 3.75591340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8592541539999 meters 0.015734231945731827 Centerline is valid? [True, True] Translation: X:859.71, Y:12.57, Z:3.76 [[ 9.71994077e-01 -2.34441331e-01 -1.62719404e-02 8.59714097e+02] [ 2.34414155e-01 9.72130214e-01 -3.58477466e-03 1.25727336e+01] [ 1.66588642e-02 -3.29993411e-04 9.99861177e-01 3.75733791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.919254154 meters 0.017403091589885754 Centerline is valid? [True, True] Translation: X:859.77, Y:12.59, Z:3.75 [[ 9.72924778e-01 -2.30436587e-01 -1.77863747e-02 8.59770029e+02] [ 2.30403360e-01 9.73087304e-01 -3.92316673e-03 1.25907602e+01] [ 1.82117365e-02 -2.81094365e-04 9.99834113e-01 3.75400844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9792541539999 meters 0.016229699674845516 Centerline is valid? [True, True] Translation: X:859.83, Y:12.61, Z:3.75 [[ 9.73936478e-01 -2.26116185e-01 -1.78663722e-02 8.59826364e+02] [ 2.26081847e-01 9.74100319e-01 -3.94544326e-03 1.26092821e+01] [ 1.82957675e-02 -1.96651309e-04 9.99832599e-01 3.75409203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.039254154 meters 0.017545587583845716 Centerline is valid? [True, True] Translation: X:859.88, Y:12.63, Z:3.75 [[ 9.74091698e-01 -2.25421008e-01 -1.81860488e-02 8.59882498e+02] [ 2.25385209e-01 9.74261431e-01 -4.02138033e-03 1.26261840e+01] [ 1.86244695e-02 -1.81673208e-04 9.99826533e-01 3.75402691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0992541539999 meters 0.015259532658602077 Centerline is valid? [True, True] Translation: X:859.94, Y:12.64, Z:3.76 [[ 9.72904732e-01 -2.30612229e-01 -1.65644601e-02 8.59939902e+02] [ 2.30583242e-01 9.73045701e-01 -3.66513495e-03 1.26353127e+01] [ 1.69632017e-02 -2.53659775e-04 9.99856082e-01 3.75692260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.159254154 meters 0.01765484114536051 Centerline is valid? [True, True] Translation: X:860.00, Y:12.65, Z:3.75 [[ 9.72217010e-01 -2.33441161e-01 -1.73005648e-02 8.59997469e+02] [ 2.33409921e-01 9.72370879e-01 -3.83174592e-03 1.26468538e+01] [ 1.77170526e-02 -3.12834907e-04 9.99842992e-01 3.75489134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.2192541539999 meters 0.016377293106099384 Centerline is valid? [True, True] Translation: X:860.06, Y:12.66, Z:3.76 [[ 9.71774102e-01 -2.35309652e-01 -1.68660238e-02 8.60055480e+02] [ 2.35280169e-01 9.71920396e-01 -3.73980819e-03 1.26585904e+01] [ 1.72724455e-02 -3.33992182e-04 9.99850764e-01 3.75713970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.279254154 meters 0.021486456137259632 Centerline is valid? [True, True] Translation: X:860.12, Y:12.67, Z:3.75 [[ 9.69649667e-01 -2.43758819e-01 -1.90042606e-02 8.60115260e+02] [ 2.43722978e-01 9.69835729e-01 -4.21524135e-03 1.26685185e+01] [ 1.94585131e-02 -5.44467599e-04 9.99810517e-01 3.75452123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.339254154 meters 0.021686449988208272 Centerline is valid? [True, True] Translation: X:860.17, Y:12.68, Z:3.76 [[ 9.68009414e-01 -2.50224932e-01 -1.85810976e-02 8.60174004e+02] [ 2.50191845e-01 9.68187507e-01 -4.12201898e-03 1.26761323e+01] [ 1.90214185e-02 -6.58685916e-04 9.99818859e-01 3.75598531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.399254154 meters 0.020966821981711178 Centerline is valid? [True, True] Translation: X:860.23, Y:12.69, Z:3.76 [[ 9.67023793e-01 -2.53980396e-01 -1.89457515e-02 8.60231848e+02] [ 2.53946703e-01 9.67209078e-01 -4.20366205e-03 1.26903475e+01] [ 1.93921506e-02 -7.46169910e-04 9.99811676e-01 3.75723241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.459254154 meters 0.022166387315417098 Centerline is valid? [True, True] Translation: X:860.29, Y:12.70, Z:3.76 [[ 9.66803084e-01 -2.54884812e-01 -1.80424163e-02 8.60289789e+02] [ 2.54854342e-01 9.66971152e-01 -4.00701334e-03 1.27031519e+01] [ 1.84678229e-02 -7.24195291e-04 9.99829193e-01 3.75744239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.519254154 meters 0.021031232664062358 Centerline is valid? [True, True] Translation: X:860.35, Y:12.72, Z:3.76 [[ 9.67192855e-01 -2.53530637e-01 -1.61306665e-02 8.60346404e+02] [ 2.53506062e-01 9.67327157e-01 -3.58434243e-03 1.27182290e+01] [ 1.65123724e-02 -6.22471362e-04 9.99863468e-01 3.75956554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.579254154 meters 0.020434790426868386 Centerline is valid? [True, True] Translation: X:860.40, Y:12.74, Z:3.76 [[ 9.68383773e-01 -2.48930014e-01 -1.63314275e-02 8.60403407e+02] [ 2.48904161e-01 9.68521319e-01 -3.62951119e-03 1.27376249e+01] [ 1.67208300e-02 -5.50200529e-04 9.99860046e-01 3.75948436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.639254154 meters 0.019835246958488272 Centerline is valid? [True, True] Translation: X:860.46, Y:12.76, Z:3.76 [[ 9.70408338e-01 -2.40933429e-01 -1.60853878e-02 8.60460450e+02] [ 2.40907240e-01 9.70541559e-01 -3.57536055e-03 1.27577270e+01] [ 1.64729612e-02 -4.05526697e-04 9.99864229e-01 3.75881583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.699254154 meters 0.016960508708805014 Centerline is valid? [True, True] Translation: X:860.52, Y:12.78, Z:3.76 [[ 9.72788418e-01 -2.31123335e-01 -1.62695133e-02 8.60516499e+02] [ 2.31095159e-01 9.72924430e-01 -3.61689723e-03 1.27797418e+01] [ 1.66649563e-02 -2.41330027e-04 9.99861101e-01 3.75983939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.759254154 meters 0.019143957033104748 Centerline is valid? [True, True] Translation: X:860.57, Y:12.80, Z:3.76 [[ 9.74284359e-01 -2.24658354e-01 -1.72804151e-02 8.60572102e+02] [ 2.24625485e-01 9.74437584e-01 -3.84519518e-03 1.27999648e+01] [ 1.77025411e-02 -1.35308103e-04 9.99843289e-01 3.75768350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.819254154 meters 0.018552945958150966 Centerline is valid? [True, True] Translation: X:860.63, Y:12.82, Z:3.76 [[ 9.74842192e-01 -2.22193245e-01 -1.76879015e-02 8.60628863e+02] [ 2.22158316e-01 9.75002643e-01 -3.94058059e-03 1.28154981e+01] [ 1.81213211e-02 -8.80701943e-05 9.99835791e-01 3.75837738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.879254154 meters 0.017302050562648465 Centerline is valid? [True, True] Translation: X:860.68, Y:12.83, Z:3.76 [[ 9.74891535e-01 -2.21975807e-01 -1.76985012e-02 8.60684904e+02] [ 2.21940704e-01 9.75052170e-01 -3.94825746e-03 1.28295703e+01] [ 1.81333796e-02 -7.88950404e-05 9.99835574e-01 3.76041168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.939254154 meters 0.017353694179891358 Centerline is valid? [True, True] Translation: X:860.74, Y:12.84, Z:3.76 [[ 9.74300205e-01 -2.24652895e-01 -1.64374016e-02 8.60741099e+02] [ 2.24622949e-01 9.74438845e-01 -3.66978992e-03 1.28407561e+01] [ 1.68416716e-02 -1.16740569e-04 9.99858162e-01 3.76111262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.999254154 meters 0.018491871936197366 Centerline is valid? [True, True] Translation: X:860.80, Y:12.85, Z:3.76 [[ 9.73404947e-01 -2.28469973e-01 -1.68605883e-02 8.60799099e+02] [ 2.28438970e-01 9.73550942e-01 -3.76821299e-03 1.28518024e+01] [ 1.72755651e-02 -1.83618251e-04 9.99850749e-01 3.76164854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.059254154 meters 0.01850624551090739 Centerline is valid? [True, True] Translation: X:860.86, Y:12.86, Z:3.76 [[ 9.72784920e-01 -2.30944358e-01 -1.88202763e-02 8.60856273e+02] [ 2.30906140e-01 9.72966927e-01 -4.20884309e-03 1.28633563e+01] [ 1.92835149e-02 -2.51418252e-04 9.99814024e-01 3.76108956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.119254154 meters 0.017121499738524927 Centerline is valid? [True, True] Translation: X:860.91, Y:12.87, Z:3.76 [[ 9.72144118e-01 -2.33538015e-01 -1.98949351e-02 8.60913584e+02] [ 2.33495811e-01 9.72347620e-01 -4.45107633e-03 1.28748017e+01] [ 2.03842883e-02 -3.18296319e-04 9.99792168e-01 3.76181649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.179254154 meters 0.02089699294210255 Centerline is valid? [True, True] Translation: X:860.97, Y:12.89, Z:3.76 [[ 9.71191227e-01 -2.37355359e-01 -2.12139889e-02 8.60971651e+02] [ 2.37308177e-01 9.71422800e-01 -4.75102695e-03 1.28853494e+01] [ 2.17354343e-02 -4.20097333e-04 9.99763669e-01 3.76031967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2392541539999 meters 0.0216579345805561 Centerline is valid? [True, True] Translation: X:861.03, Y:12.90, Z:3.76 [[ 9.70490195e-01 -2.40255942e-01 -2.06364458e-02 8.61028105e+02] [ 2.40211888e-01 9.70709463e-01 -4.62456722e-03 1.28954065e+01] [ 2.11430730e-02 -4.69022471e-04 9.99776350e-01 3.76159580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.299254154 meters 0.020906512763007205 Centerline is valid? [True, True] Translation: X:861.09, Y:12.91, Z:3.77 [[ 9.69317309e-01 -2.45124706e-01 -1.83802099e-02 8.61085684e+02] [ 2.45090553e-01 9.69491423e-01 -4.12319548e-03 1.29089943e+01] [ 1.88301530e-02 -5.08131063e-04 9.99822568e-01 3.76526506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3592541539999 meters 0.021566227142175775 Centerline is valid? [True, True] Translation: X:861.14, Y:12.92, Z:3.77 [[ 9.68379390e-01 -2.48865534e-01 -1.75300865e-02 8.61143483e+02] [ 2.48835040e-01 9.68537889e-01 -3.93462677e-03 1.29211769e+01] [ 1.79577459e-02 -5.51888294e-04 9.99838594e-01 3.76583301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.419254154 meters 0.018037432153549516 Centerline is valid? [True, True] Translation: X:861.20, Y:12.94, Z:3.77 [[ 9.68561651e-01 -2.48283088e-01 -1.56152764e-02 8.61200715e+02] [ 2.48258763e-01 9.68687400e-01 -3.50818564e-03 1.29368240e+01] [ 1.59973447e-02 -4.78735145e-04 9.99871920e-01 3.76940088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4792541539999 meters 0.020241510542640888 Centerline is valid? [True, True] Translation: X:861.26, Y:12.96, Z:3.77 [[ 9.69960757e-01 -2.42612663e-01 -1.77546127e-02 8.61257577e+02] [ 2.42580232e-01 9.70123139e-01 -3.99064182e-03 1.29559978e+01] [ 1.81923409e-02 -4.36152115e-04 9.99834411e-01 3.76640983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.539254154 meters 0.019177220950933577 Centerline is valid? [True, True] Translation: X:861.31, Y:12.98, Z:3.77 [[ 9.72186656e-01 -2.33520739e-01 -1.79212235e-02 8.61314565e+02] [ 2.33486142e-01 9.72351784e-01 -4.02851493e-03 1.29779084e+01] [ 1.83664754e-02 -2.67888870e-04 9.99831286e-01 3.76586724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5992541539999 meters 0.014693097512739561 Centerline is valid? [True, True] Translation: X:861.37, Y:13.00, Z:3.77 [[ 9.74196975e-01 -2.25126594e-01 -1.60707649e-02 8.61369421e+02] [ 2.25097613e-01 9.74329517e-01 -3.61350336e-03 1.29990211e+01] [ 1.64717163e-02 -9.72267692e-05 9.99864327e-01 3.76735664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.659254154 meters 0.01872248967543961 Centerline is valid? [True, True] Translation: X:861.42, Y:13.01, Z:3.77 [[ 9.74678453e-01 -2.22938068e-01 -1.73358222e-02 8.61424927e+02] [ 2.22903921e-01 9.74832608e-01 -3.90227095e-03 1.30147217e+01] [ 1.77694895e-02 -6.07633319e-05 9.99842108e-01 3.76630116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.7192541539999 meters 0.017907537757463274 Centerline is valid? [True, True] Translation: X:861.48, Y:13.03, Z:3.77 [[ 9.74934469e-01 -2.21946413e-01 -1.55746587e-02 8.61481903e+02] [ 2.21918660e-01 9.75058864e-01 -3.50997130e-03 1.30296108e+01] [ 1.59652346e-02 -3.43153837e-05 9.99872547e-01 3.76760761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.779254154 meters 0.017764584700616114 Centerline is valid? [True, True] Translation: X:861.54, Y:13.04, Z:3.77 [[ 9.74847339e-01 -2.22354428e-01 -1.52043913e-02 8.61538255e+02] [ 2.22327959e-01 9.74965901e-01 -3.43097781e-03 1.30437646e+01] [ 1.55866561e-02 -3.56816844e-05 9.99878520e-01 3.76793448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.839254154 meters 0.01664973289220134 Centerline is valid? [True, True] Translation: X:861.59, Y:13.06, Z:3.77 [[ 9.74668880e-01 -2.23121319e-01 -1.54094362e-02 8.61594336e+02] [ 2.23094153e-01 9.74790683e-01 -3.48195948e-03 1.30570992e+01] [ 1.57978742e-02 -4.39975611e-05 9.99875205e-01 3.76781084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.899254154 meters 0.017365469602881923 Centerline is valid? [True, True] Translation: X:861.65, Y:13.07, Z:3.77 [[ 9.74422201e-01 -2.24188138e-01 -1.55258991e-02 8.61650608e+02] [ 2.24160657e-01 9.74545881e-01 -3.51063464e-03 1.30690601e+01] [ 1.59177436e-02 -5.94554035e-05 9.99873303e-01 3.76734722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.959254154 meters 0.017749781144521144 Centerline is valid? [True, True] Translation: X:861.71, Y:13.08, Z:3.77 [[ 9.73961732e-01 -2.26112232e-01 -1.64864637e-02 8.61708646e+02] [ 2.26081460e-01 9.74101252e-01 -3.73143153e-03 1.30802843e+01] [ 1.69032073e-02 -9.30122871e-05 9.99857126e-01 3.76736208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.019254154 meters 0.01675030535479866 Centerline is valid? [True, True] Translation: X:861.77, Y:13.09, Z:3.77 [[ 9.73653813e-01 -2.27369869e-01 -1.73549722e-02 8.61765565e+02] [ 2.27335927e-01 9.73808466e-01 -3.93037577e-03 1.30905696e+01] [ 1.77940678e-02 -1.18583323e-04 9.99841666e-01 3.76734880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.079254154 meters 0.018137352366090837 Centerline is valid? [True, True] Translation: X:861.82, Y:13.10, Z:3.77 [[ 9.73469822e-01 -2.28100459e-01 -1.80744429e-02 8.61822378e+02] [ 2.28063739e-01 9.73637593e-01 -4.09496286e-03 1.31013722e+01] [ 1.85320200e-02 -1.35802270e-04 9.99828258e-01 3.76625222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.139254154 meters 0.019056844537944307 Centerline is valid? [True, True] Translation: X:861.88, Y:13.11, Z:3.77 [[ 9.73381980e-01 -2.28436170e-01 -1.85590522e-02 8.61879911e+02] [ 2.28397439e-01 9.73558882e-01 -4.20872866e-03 1.31128273e+01] [ 1.90297560e-02 -1.42139376e-04 9.99818908e-01 3.76639007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.199254154 meters 0.01999680526663401 Centerline is valid? [True, True] Translation: X:861.94, Y:13.12, Z:3.77 [[ 9.73323721e-01 -2.28669654e-01 -1.87382802e-02 8.61937173e+02] [ 2.28630116e-01 9.73504067e-01 -4.25454771e-03 1.31244637e+01] [ 1.92146780e-02 -1.43082986e-04 9.99815371e-01 3.76663389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.259254154 meters 0.017511454430928896 Centerline is valid? [True, True] Translation: X:861.99, Y:13.13, Z:3.77 [[ 9.73635660e-01 -2.27420910e-01 -1.77011866e-02 8.61994327e+02] [ 2.27385379e-01 9.73796548e-01 -4.02138844e-03 1.31342909e+01] [ 1.81519022e-02 -1.09623838e-04 9.99835235e-01 3.76898030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.319254154 meters 0.01720001744445353 Centerline is valid? [True, True] Translation: X:862.05, Y:13.15, Z:3.77 [[ 9.73987664e-01 -2.25911757e-01 -1.76609132e-02 8.62050941e+02] [ 2.25876066e-01 9.74147767e-01 -4.01626725e-03 1.31473783e+01] [ 1.81116611e-02 -7.73828306e-05 9.99835967e-01 3.76896153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.379254154 meters 0.016078461778981798 Centerline is valid? [True, True] Translation: X:862.11, Y:13.16, Z:3.77 [[ 9.74810124e-01 -2.22365938e-01 -1.72803838e-02 8.62107056e+02] [ 2.22331172e-01 9.74963276e-01 -3.93197311e-03 1.31612494e+01] [ 1.77220765e-02 -9.04078878e-06 9.99842952e-01 3.76898179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.439254154 meters 0.01618541919592806 Centerline is valid? [True, True] Translation: X:862.16, Y:13.17, Z:3.77 [[ 9.74968360e-01 -2.21661578e-01 -1.74023303e-02 8.62164118e+02] [ 2.21626128e-01 9.75123656e-01 -3.96414256e-03 1.31734274e+01] [ 1.78481220e-02 8.10249159e-06 9.99840710e-01 3.77260317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.499254154 meters 0.013825119172724252 Centerline is valid? [True, True] Translation: X:862.22, Y:13.19, Z:3.77 [[ 9.75296762e-01 -2.20308289e-01 -1.61394891e-02 8.62222038e+02] [ 2.20277539e-01 9.75430293e-01 -3.68091700e-03 1.31850009e+01] [ 1.65538831e-02 3.48194969e-05 9.99862974e-01 3.77439542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.559254154 meters 0.016463904146973015 Centerline is valid? [True, True] Translation: X:862.28, Y:13.20, Z:3.77 [[ 9.75549087e-01 -2.19148644e-01 -1.66688448e-02 8.62280134e+02] [ 2.19115596e-01 9.75691482e-01 -3.80618953e-03 1.31960512e+01] [ 1.70977712e-02 6.07208501e-05 9.99853821e-01 3.77368415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.619254154 meters 0.015396621141218828 Centerline is valid? [True, True] Translation: X:862.34, Y:13.21, Z:3.78 [[ 9.75721111e-01 -2.18511696e-01 -1.48644864e-02 8.62338401e+02] [ 2.18485283e-01 9.75834327e-01 -3.39809841e-03 1.32067503e+01] [ 1.52478003e-02 6.79248475e-05 9.99883743e-01 3.77536910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.679254154 meters 0.013813078814827998 Centerline is valid? [True, True] Translation: X:862.40, Y:13.22, Z:3.78 [[ 9.75967316e-01 -2.17440264e-01 -1.44058627e-02 8.62395009e+02] [ 2.17415276e-01 9.76073626e-01 -3.29751492e-03 1.32180644e+01] [ 1.47781952e-02 8.62121611e-05 9.99890793e-01 3.77594845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7392541539999 meters 0.013870167545331533 Centerline is valid? [True, True] Translation: X:862.45, Y:13.23, Z:3.78 [[ 9.76085802e-01 -2.16919510e-01 -1.42279282e-02 8.62452526e+02] [ 2.16895017e-01 9.76189488e-01 -3.26112824e-03 1.32286566e+01] [ 1.45965563e-02 9.71742572e-05 9.99893460e-01 3.77576312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.799254154 meters 0.015026499079254562 Centerline is valid? [True, True] Translation: X:862.51, Y:13.24, Z:3.77 [[ 9.76178788e-01 -2.16464975e-01 -1.47610248e-02 8.62510414e+02] [ 2.16438498e-01 9.76290378e-01 -3.38743253e-03 1.32394000e+01] [ 1.51443070e-02 1.11885749e-04 9.99885312e-01 3.77425604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8592541539999 meters 0.016942168345775388 Centerline is valid? [True, True] Translation: X:862.57, Y:13.25, Z:3.77 [[ 9.75962662e-01 -2.17425641e-01 -1.49322850e-02 8.62567974e+02] [ 2.17398591e-01 9.76076882e-01 -3.43105912e-03 1.32475397e+01] [ 1.53210584e-02 1.02327868e-04 9.99882620e-01 3.77374485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.919254154 meters 0.013715092723707228 Centerline is valid? [True, True] Translation: X:862.63, Y:13.26, Z:3.78 [[ 9.75582186e-01 -2.19292441e-01 -1.22565814e-02 8.62625924e+02] [ 2.19274325e-01 9.75659173e-01 -2.81946531e-03 1.32570549e+01] [ 1.25765335e-02 6.30665227e-05 9.99920910e-01 3.77798168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9792541539999 meters 0.013641204127913727 Centerline is valid? [True, True] Translation: X:862.68, Y:13.26, Z:3.78 [[ 9.74974596e-01 -2.22031361e-01 -1.12521704e-02 8.62683756e+02] [ 2.22016254e-01 9.75039524e-01 -2.59014501e-03 1.32644964e+01] [ 1.15464043e-02 2.71608664e-05 9.99933338e-01 3.77797702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.039254154 meters 0.014421217192184827 Centerline is valid? [True, True] Translation: X:862.74, Y:13.27, Z:3.78 [[ 9.74489169e-01 -2.24109692e-01 -1.20708702e-02 8.62741911e+02] [ 2.24092431e-01 9.74563926e-01 -2.78140623e-03 1.32721520e+01] [ 1.23871747e-02 5.45960336e-06 9.99923276e-01 3.77692777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0992541539999 meters 0.01689981781027328 Centerline is valid? [True, True] Translation: X:862.80, Y:13.28, Z:3.78 [[ 9.74275078e-01 -2.25001061e-01 -1.27512627e-02 8.62799959e+02] [ 2.24981825e-01 9.74358518e-01 -2.94211917e-03 1.32807060e+01] [ 1.30862814e-02 -2.36896366e-06 9.99914371e-01 3.77592821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.159254154 meters 0.01408855019861428 Centerline is valid? [True, True] Translation: X:862.86, Y:13.29, Z:3.78 [[ 9.74119965e-01 -2.25738509e-01 -1.15073872e-02 8.62857776e+02] [ 2.25722854e-01 9.74187931e-01 -2.65851619e-03 1.32903896e+01] [ 1.18104872e-02 -7.76658023e-06 9.99930254e-01 3.77812168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.2192541539999 meters 0.013714151893049116 Centerline is valid? [True, True] Translation: X:862.92, Y:13.30, Z:3.78 [[ 9.73264806e-01 -2.29437728e-01 -1.06746068e-02 8.62916104e+02] [ 2.29424443e-01 9.73323341e-01 -2.46935374e-03 1.32977230e+01] [ 1.09564069e-02 -4.56806471e-05 9.99939976e-01 3.77916107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.279254154 meters 0.017824250622824167 Centerline is valid? [True, True] Translation: X:862.98, Y:13.30, Z:3.78 [[ 9.71837592e-01 -2.35388570e-01 -1.11317671e-02 8.62975437e+02] [ 2.35374477e-01 9.71901336e-01 -2.57836401e-03 1.33036579e+01] [ 1.14258967e-02 -1.14382784e-04 9.99934716e-01 3.77770560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.339254154 meters 0.017635692434721555 Centerline is valid? [True, True] Translation: X:863.03, Y:13.31, Z:3.78 [[ 9.70833885e-01 -2.39521494e-01 -1.05367262e-02 8.63032881e+02] [ 2.39509090e-01 9.70891050e-01 -2.44234950e-03 1.33101477e+01] [ 1.08150084e-02 -1.52526051e-04 9.99941504e-01 3.77810144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.399254154 meters 0.015559310493019498 Centerline is valid? [True, True] Translation: X:863.09, Y:13.32, Z:3.78 [[ 9.70486660e-01 -2.40962206e-01 -9.63625461e-03 8.63091393e+02] [ 2.40951885e-01 9.70534488e-01 -2.23544992e-03 1.33198804e+01] [ 9.89097638e-03 -1.52399388e-04 9.99951071e-01 3.77905018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.459254154 meters 0.015286442066023915 Centerline is valid? [True, True] Translation: X:863.15, Y:13.33, Z:3.78 [[ 9.70538802e-01 -2.40682226e-01 -1.12472223e-02 8.63147855e+02] [ 2.40668107e-01 9.70603955e-01 -2.61254393e-03 1.33322268e+01] [ 1.15453913e-02 -1.71272449e-04 9.99933335e-01 3.77809570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.519254154 meters 0.01869202835798518 Centerline is valid? [True, True] Translation: X:863.21, Y:13.34, Z:3.77 [[ 9.70489266e-01 -2.40720794e-01 -1.42857761e-02 8.63205603e+02] [ 2.40697958e-01 9.70594382e-01 -3.32257528e-03 1.33425010e+01] [ 1.46655070e-02 -2.14033492e-04 9.99892433e-01 3.77494835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.579254154 meters 0.01803268419531865 Centerline is valid? [True, True] Translation: X:863.26, Y:13.35, Z:3.78 [[ 9.70502997e-01 -2.40682319e-01 -1.39983509e-02 8.63263015e+02] [ 2.40660331e-01 9.70603925e-01 -3.25970437e-03 1.33541569e+01] [ 1.43714075e-02 -2.05294912e-04 9.99896705e-01 3.77566139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.639254154 meters 0.018264546751597006 Centerline is valid? [True, True] Translation: X:863.32, Y:13.36, Z:3.78 [[ 9.70496981e-01 -2.40697402e-01 -1.41552103e-02 8.63320604e+02] [ 2.40674859e-01 9.70600185e-01 -3.30041030e-03 1.33645459e+01] [ 1.45334499e-02 -2.03765002e-04 9.99894363e-01 3.77561690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.699254154 meters 0.01672199175920707 Centerline is valid? [True, True] Translation: X:863.38, Y:13.38, Z:3.78 [[ 9.70564570e-01 -2.40468815e-01 -1.33852196e-02 8.63378209e+02] [ 2.40448588e-01 9.70656847e-01 -3.12447271e-03 1.33777799e+01] [ 1.37437933e-02 -1.85954649e-04 9.99905532e-01 3.77712167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.759254154 meters 0.014733569652026317 Centerline is valid? [True, True] Translation: X:863.44, Y:13.39, Z:3.78 [[ 9.71174665e-01 -2.38061929e-01 -1.20949762e-02 8.63436113e+02] [ 2.38045190e-01 9.71249968e-01 -2.82623682e-03 1.33912999e+01] [ 1.24200646e-02 -1.34381307e-04 9.99922859e-01 3.77850023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.819254154 meters 0.01757832064212981 Centerline is valid? [True, True] Translation: X:863.49, Y:13.41, Z:3.78 [[ 9.72057288e-01 -2.34385836e-01 -1.29579781e-02 8.63493134e+02] [ 2.34366250e-01 9.72143648e-01 -3.03131581e-03 1.34052324e+01] [ 1.33075136e-02 -9.03001090e-05 9.99911447e-01 3.77701502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.879254154 meters 0.013896227066624132 Centerline is valid? [True, True] Translation: X:863.55, Y:13.42, Z:3.78 [[ 9.73653344e-01 -2.27701490e-01 -1.22961886e-02 8.63549707e+02] [ 2.27683280e-01 9.73730985e-01 -2.87972150e-03 1.34213039e+01] [ 1.26288967e-02 4.21392627e-06 9.99920252e-01 3.77853757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.939254154 meters 0.015645058608405562 Centerline is valid? [True, True] Translation: X:863.61, Y:13.44, Z:3.78 [[ 9.73815201e-01 -2.26955550e-01 -1.32337427e-02 8.63607119e+02] [ 2.26934338e-01 9.73905118e-01 -3.10291995e-03 1.34350189e+01] [ 1.35926347e-02 1.84799670e-05 9.99907616e-01 3.77680665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.999254154 meters 0.014019771704842629 Centerline is valid? [True, True] Translation: X:863.66, Y:13.45, Z:3.78 [[ 9.74569757e-01 -2.23635184e-01 -1.41807446e-02 8.63664083e+02] [ 2.23610420e-01 9.74672919e-01 -3.32880934e-03 1.34483883e+01] [ 1.45660266e-02 7.31946551e-05 9.99893907e-01 3.77730879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.059254154 meters 0.014616679259026481 Centerline is valid? [True, True] Translation: X:863.72, Y:13.46, Z:3.78 [[ 9.74338368e-01 -2.24671753e-01 -1.36875163e-02 8.63721707e+02] [ 2.24648728e-01 9.74434503e-01 -3.21697313e-03 1.34585461e+01] [ 1.40603511e-02 5.95372291e-05 9.99901147e-01 3.77790557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.119254154 meters 0.01617271645323692 Centerline is valid? [True, True] Translation: X:863.78, Y:13.47, Z:3.78 [[ 9.73491622e-01 -2.28369301e-01 -1.27091810e-02 8.63779391e+02] [ 2.28349739e-01 9.73574580e-01 -2.98902450e-03 1.34667316e+01] [ 1.30559370e-02 7.65212433e-06 9.99914768e-01 3.77788939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.179254154 meters 0.014452186571128244 Centerline is valid? [True, True] Translation: X:863.84, Y:13.47, Z:3.78 [[ 9.72539211e-01 -2.32413247e-01 -1.23112079e-02 8.63837064e+02] [ 2.32395181e-01 9.72617130e-01 -2.89817337e-03 1.34746137e+01] [ 1.26476656e-02 -4.24781436e-05 9.99920014e-01 3.77862975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2392541539999 meters 0.01442237027684781 Centerline is valid? [True, True] Translation: X:863.90, Y:13.48, Z:3.78 [[ 9.71762670e-01 -2.35532290e-01 -1.42074942e-02 8.63895580e+02] [ 2.35508504e-01 9.71866519e-01 -3.34854385e-03 1.34829485e+01] [ 1.45964781e-02 -9.19957928e-05 9.99893462e-01 3.77762586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.299254154 meters 0.015047409673899307 Centerline is valid? [True, True] Translation: X:863.95, Y:13.49, Z:3.78 [[ 9.71155009e-01 -2.38011732e-01 -1.44347928e-02 8.63952499e+02] [ 2.37987423e-01 9.71262271e-01 -3.40412091e-03 1.34921464e+01] [ 1.48301904e-02 -1.29370069e-04 9.99890018e-01 3.77772193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3592541539999 meters 0.01539420068826495 Centerline is valid? [True, True] Translation: X:864.01, Y:13.50, Z:3.78 [[ 9.70680427e-01 -2.39950138e-01 -1.42632657e-02 8.64009941e+02] [ 2.39926593e-01 9.70785201e-01 -3.36493061e-03 1.35027083e+01] [ 1.46539828e-02 -1.55864472e-04 9.99892612e-01 3.77846423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.419254154 meters 0.01848485995672734 Centerline is valid? [True, True] Translation: X:864.07, Y:13.51, Z:3.78 [[ 9.69397375e-01 -2.45040112e-01 -1.49690319e-02 8.64068082e+02] [ 2.45014736e-01 9.69512911e-01 -3.53461674e-03 1.35114216e+01] [ 1.53787926e-02 -2.41185223e-04 9.99881710e-01 3.77912277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4792541539999 meters 0.0194665138391852 Centerline is valid? [True, True] Translation: X:864.13, Y:13.52, Z:3.78 [[ 9.68058301e-01 -2.50309482e-01 -1.44321922e-02 8.64127163e+02] [ 2.50286457e-01 9.68165826e-01 -3.40931605e-03 1.35202436e+01] [ 1.48261394e-02 -3.11765543e-04 9.99890038e-01 3.78143474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.539254154 meters 0.017697453162118335 Centerline is valid? [True, True] Translation: X:864.18, Y:13.53, Z:3.78 [[ 9.67372015e-01 -2.53078083e-01 -1.19527740e-02 8.64183983e+02] [ 2.53062486e-01 9.67445812e-01 -2.82480844e-03 1.35309653e+01] [ 1.22785582e-02 -2.92158067e-04 9.99924573e-01 3.78437423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5992541539999 meters 0.017398474202560868 Centerline is valid? [True, True] Translation: X:864.24, Y:13.55, Z:3.79 [[ 9.66950186e-01 -2.54657446e-01 -1.25269233e-02 8.64240946e+02] [ 2.54640411e-01 9.67031271e-01 -2.96335504e-03 1.35462373e+01] [ 1.28685670e-02 -3.24444187e-04 9.99917144e-01 3.78585454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.659254154 meters 0.016885160616027694 Centerline is valid? [True, True] Translation: X:864.30, Y:13.56, Z:3.79 [[ 9.67528934e-01 -2.52410714e-01 -1.32888208e-02 8.64297517e+02] [ 2.52391282e-01 9.67620140e-01 -3.14720942e-03 1.35632821e+01] [ 1.36529200e-02 -3.08966346e-04 9.99906747e-01 3.78546230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.7192541539999 meters 0.01630810051889696 Centerline is valid? [True, True] Translation: X:864.35, Y:13.58, Z:3.78 [[ 9.68911444e-01 -2.47020925e-01 -1.38302789e-02 8.64353721e+02] [ 2.46999277e-01 9.69010116e-01 -3.27895505e-03 1.35843335e+01] [ 1.42116507e-02 -2.39051814e-04 9.99898981e-01 3.78411680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.779254154 meters 0.017264462683525026 Centerline is valid? [True, True] Translation: X:864.41, Y:13.60, Z:3.78 [[ 9.69927026e-01 -2.42947219e-01 -1.47720008e-02 8.64410100e+02] [ 2.42921991e-01 9.70039491e-01 -3.50611745e-03 1.36031152e+01] [ 1.51812256e-02 -1.87765764e-04 9.99884741e-01 3.78382800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.839254154 meters 0.017067919696864865 Centerline is valid? [True, True] Translation: X:864.46, Y:13.63, Z:3.78 [[ 9.72285867e-01 -2.33326424e-01 -1.47977303e-02 8.64464835e+02] [ 2.33299931e-01 9.72398467e-01 -3.51613466e-03 1.36261298e+01] [ 1.52096974e-02 -3.36214263e-05 9.99884325e-01 3.78457876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.899254154 meters 0.017154525817641358 Centerline is valid? [True, True] Translation: X:864.52, Y:13.64, Z:3.79 [[ 9.73264784e-01 -2.29238496e-01 -1.43307937e-02 8.64520627e+02] [ 2.29213143e-01 9.73370285e-01 -3.40941401e-03 1.36447278e+01] [ 1.47307377e-02 3.34563280e-05 9.99891496e-01 3.78500098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.959254154 meters 0.014281717855175768 Centerline is valid? [True, True] Translation: X:864.58, Y:13.66, Z:3.79 [[ 9.74450170e-01 -2.24238254e-01 -1.28090356e-02 8.64575710e+02] [ 2.24217535e-01 9.74534348e-01 -3.04979690e-03 1.36646411e+01] [ 1.31667262e-02 9.98647281e-05 9.99913310e-01 3.78638003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.019254154 meters 0.014318096142063884 Centerline is valid? [True, True] Translation: X:864.63, Y:13.68, Z:3.79 [[ 9.74911746e-01 -2.22256563e-01 -1.22109339e-02 8.64632043e+02] [ 2.22237545e-01 9.74988208e-01 -2.91013868e-03 1.36814016e+01] [ 1.25523140e-02 1.23400416e-04 9.99921209e-01 3.78712059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.079254154 meters 0.017295110742454826 Centerline is valid? [True, True] Translation: X:864.69, Y:13.70, Z:3.78 [[ 9.74991190e-01 -2.21818576e-01 -1.37367714e-02 8.64688816e+02] [ 2.21794409e-01 9.75087943e-01 -3.27766124e-03 1.36987322e+01] [ 1.41216064e-02 1.48951733e-04 9.99900274e-01 3.78458031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.139254154 meters 0.01576327033037361 Centerline is valid? [True, True] Translation: X:864.74, Y:13.71, Z:3.78 [[ 9.74846622e-01 -2.22454825e-01 -1.37081592e-02 8.64744890e+02] [ 2.22430764e-01 9.74942988e-01 -3.27488750e-03 1.37129795e+01] [ 1.40931883e-02 1.43396682e-04 9.99900676e-01 3.78435283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.199254154 meters 0.01420098942107205 Centerline is valid? [True, True] Translation: X:864.80, Y:13.73, Z:3.78 [[ 9.74515238e-01 -2.23873512e-01 -1.41669250e-02 8.64801504e+02] [ 2.23847900e-01 9.74618199e-01 -3.38886871e-03 1.37259191e+01] [ 1.45660209e-02 1.31267779e-04 9.99893901e-01 3.78476287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.259254154 meters 0.014925154082253922 Centerline is valid? [True, True] Translation: X:864.86, Y:13.74, Z:3.78 [[ 9.73629874e-01 -2.27642506e-01 -1.49585057e-02 8.64859804e+02] [ 2.27614331e-01 9.73744773e-01 -3.58248065e-03 1.37359275e+01] [ 1.53812916e-02 8.32399349e-05 9.99881697e-01 3.78435806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.319254154 meters 0.016139570096699488 Centerline is valid? [True, True] Translation: X:864.92, Y:13.75, Z:3.78 [[ 9.72636654e-01 -2.31803844e-01 -1.56498586e-02 8.64916608e+02] [ 2.31773505e-01 9.72762549e-01 -3.75033519e-03 1.37457766e+01] [ 1.60929385e-02 2.04908861e-05 9.99870500e-01 3.78368735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.379254154 meters 0.015947732533001416 Centerline is valid? [True, True] Translation: X:864.98, Y:13.75, Z:3.78 [[ 9.71518111e-01 -2.36422381e-01 -1.60317780e-02 8.64975137e+02] [ 2.36391113e-01 9.71650377e-01 -3.84535042e-03 1.37548546e+01] [ 1.64864100e-02 -5.39422626e-05 9.99864088e-01 3.78400964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.439254154 meters 0.014607075754939115 Centerline is valid? [True, True] Translation: X:865.03, Y:13.76, Z:3.79 [[ 9.70471082e-01 -2.40826035e-01 -1.37367849e-02 8.65032996e+02] [ 2.40803466e-01 9.70568292e-01 -3.29869817e-03 1.37645259e+01] [ 1.41269003e-02 -1.06574227e-04 9.99900205e-01 3.78701293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.499254154 meters 0.017287037837757032 Centerline is valid? [True, True] Translation: X:865.09, Y:13.77, Z:3.79 [[ 9.69104118e-01 -2.46267149e-01 -1.37731588e-02 8.65091475e+02] [ 2.46244954e-01 9.69201970e-01 -3.31128025e-03 1.37745447e+01] [ 1.41644322e-02 -1.82595523e-04 9.99899663e-01 3.78812628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.559254154 meters 0.01749693278930246 Centerline is valid? [True, True] Translation: X:865.15, Y:13.78, Z:3.79 [[ 9.67658342e-01 -2.51896095e-01 -1.36268163e-02 8.65149928e+02] [ 2.51874903e-01 9.67754250e-01 -3.27776484e-03 1.37845944e+01] [ 1.40130656e-02 -2.60496556e-04 9.99901778e-01 3.78829592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.619254154 meters 0.01991746129203657 Centerline is valid? [True, True] Translation: X:865.21, Y:13.79, Z:3.79 [[ 9.66121467e-01 -2.57678330e-01 -1.45323344e-02 8.65208889e+02] [ 2.57654871e-01 9.66230689e-01 -3.49621830e-03 1.37946671e+01] [ 1.49424871e-02 -3.66555192e-04 9.99888288e-01 3.78784954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.679254154 meters 0.02097294282328063 Centerline is valid? [True, True] Translation: X:865.27, Y:13.81, Z:3.79 [[ 9.65242900e-01 -2.60953845e-01 -1.44649598e-02 8.65266216e+02] [ 2.60930929e-01 9.65351190e-01 -3.48280237e-03 1.38070139e+01] [ 1.48726168e-02 -4.12605146e-04 9.99889311e-01 3.78795539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7392541539999 meters 0.01925249284854517 Centerline is valid? [True, True] Translation: X:865.32, Y:13.82, Z:3.79 [[ 9.65037452e-01 -2.61851434e-01 -1.16851259e-02 8.65321142e+02] [ 2.61836517e-01 9.65108133e-01 -2.81585687e-03 1.38208459e+01] [ 1.20147462e-02 -3.42185337e-04 9.99927762e-01 3.79081400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.799254154 meters 0.016022608424782637 Centerline is valid? [True, True] Translation: X:865.38, Y:13.84, Z:3.79 [[ 9.66011089e-01 -2.58270382e-01 -1.09080245e-02 8.65376519e+02] [ 2.58257127e-01 9.66072634e-01 -2.63109370e-03 1.38438896e+01] [ 1.12174775e-02 -2.75409373e-04 9.99937044e-01 3.79231653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8592541539999 meters 0.015623960979106642 Centerline is valid? [True, True] Translation: X:865.43, Y:13.86, Z:3.79 [[ 9.67482745e-01 -2.52656052e-01 -1.19188091e-02 8.65432284e+02] [ 2.52639778e-01 9.67556131e-01 -2.87669487e-03 1.38618268e+01] [ 1.22589312e-02 -2.28012639e-04 9.99924830e-01 3.79095942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.919254154 meters 0.016921291995052073 Centerline is valid? [True, True] Translation: X:865.49, Y:13.88, Z:3.79 [[ 9.69197239e-01 -2.45935197e-01 -1.31373597e-02 8.65487733e+02] [ 2.45914792e-01 9.69286260e-01 -3.17184154e-03 1.38822238e+01] [ 1.35139297e-02 -1.56531020e-04 9.99908670e-01 3.78871776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9792541539999 meters 0.017627880216667988 Centerline is valid? [True, True] Translation: X:865.54, Y:13.91, Z:3.79 [[ 9.72289287e-01 -2.33352715e-01 -1.41439779e-02 8.65540850e+02] [ 2.33327710e-01 9.72392158e-01 -3.41615604e-03 1.39081684e+01] [ 1.45506625e-02 2.13099503e-05 9.99894133e-01 3.78722337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.039254154 meters 0.017215951533784114 Centerline is valid? [True, True] Translation: X:865.60, Y:13.93, Z:3.79 [[ 9.73181483e-01 -2.29621318e-01 -1.38510398e-02 8.65596702e+02] [ 2.29596917e-01 9.73280044e-01 -3.34834803e-03 1.39262336e+01] [ 1.42497927e-02 7.83942708e-05 9.99898463e-01 3.78811442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0992541539999 meters 0.017216394378716533 Centerline is valid? [True, True] Translation: X:865.65, Y:13.94, Z:3.79 [[ 9.73265920e-01 -2.29355253e-01 -1.22317982e-02 8.65652252e+02] [ 2.29336176e-01 9.73342777e-01 -2.95903725e-03 1.39432033e+01] [ 1.25844031e-02 7.47362859e-05 9.99920810e-01 3.78873503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.159254154 meters 0.0171662849955773 Centerline is valid? [True, True] Translation: X:865.71, Y:13.96, Z:3.79 [[ 9.71969826e-01 -2.34859140e-01 -1.07629316e-02 8.65710021e+02] [ 2.34844683e-01 9.72029415e-01 -2.60589828e-03 1.39550490e+01] [ 1.10739051e-02 5.23724348e-06 9.99938682e-01 3.78969262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.2192541539999 meters 0.017148535241453777 Centerline is valid? [True, True] Translation: X:865.77, Y:13.96, Z:3.79 [[ 9.69755709e-01 -2.43853702e-01 -1.04516823e-02 8.65768189e+02] [ 2.43840562e-01 9.69812025e-01 -2.53317614e-03 1.39639761e+01] [ 1.07538915e-02 -9.19820561e-05 9.99942171e-01 3.78936223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.279254154 meters 0.0191662510529961 Centerline is valid? [True, True] Translation: X:865.83, Y:13.97, Z:3.79 [[ 9.67392414e-01 -2.52991316e-01 -1.21371704e-02 8.65826389e+02] [ 2.52974291e-01 9.67468524e-01 -2.94336821e-03 1.39726631e+01] [ 1.24869769e-02 -2.23000009e-04 9.99922010e-01 3.78802770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.339254154 meters 0.016429829106942625 Centerline is valid? [True, True] Translation: X:865.88, Y:13.99, Z:3.79 [[ 9.66180243e-01 -2.57570941e-01 -1.23671895e-02 8.65883860e+02] [ 2.57553633e-01 9.66259348e-01 -2.99969323e-03 1.39889836e+01] [ 1.27225463e-02 -2.86970255e-04 9.99919024e-01 3.79034845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.399254154 meters 0.02145586559375166 Centerline is valid? [True, True] Translation: X:865.94, Y:14.00, Z:3.79 [[ 9.64332854e-01 -2.64243371e-01 -1.54138774e-02 8.65941990e+02] [ 2.64217326e-01 9.64455921e-01 -3.73916738e-03 1.40025285e+01] [ 1.58540555e-02 -4.66811520e-04 9.99874208e-01 3.78708808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.459254154 meters 0.02000477989519859 Centerline is valid? [True, True] Translation: X:866.00, Y:14.02, Z:3.79 [[ 9.62874276e-01 -2.69589490e-01 -1.39511610e-02 8.65999800e+02] [ 2.69568707e-01 9.62975210e-01 -3.38481086e-03 1.40171663e+01] [ 1.43471316e-02 -5.01649124e-04 9.99896949e-01 3.78933061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.519254154 meters 0.02274290986061338 Centerline is valid? [True, True] Translation: X:866.06, Y:14.03, Z:3.79 [[ 9.61154147e-01 -2.75740865e-01 -1.22344142e-02 8.66058514e+02] [ 2.75725376e-01 9.61231868e-01 -2.96853871e-03 1.40307623e+01] [ 1.25786563e-02 -5.20115168e-04 9.99920750e-01 3.79053600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.579254154 meters 0.02247450902985565 Centerline is valid? [True, True] Translation: X:866.12, Y:14.04, Z:3.79 [[ 9.60444321e-01 -2.78309387e-01 -9.51790529e-03 8.66115313e+02] [ 2.78300135e-01 9.60491385e-01 -2.30974830e-03 1.40443868e+01] [ 9.78469067e-03 -4.30449691e-04 9.99952036e-01 3.79421491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.639254154 meters 0.02030874172794372 Centerline is valid? [True, True] Translation: X:866.17, Y:14.07, Z:3.80 [[ 9.61068375e-01 -2.76156832e-01 -9.21859185e-03 8.66170258e+02] [ 2.76148048e-01 9.61112505e-01 -2.23773304e-03 1.40662299e+01] [ 9.47806918e-03 -3.95081689e-04 9.99955004e-01 3.79538164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.699254154 meters 0.02139410937469763 Centerline is valid? [True, True] Translation: X:866.23, Y:14.09, Z:3.79 [[ 9.63001269e-01 -2.69317027e-01 -9.84354421e-03 8.66226544e+02] [ 2.69306648e-01 9.63051513e-01 -2.39003735e-03 1.40863359e+01] [ 1.01235179e-02 -3.49322903e-04 9.99948695e-01 3.79402810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.759254154 meters 0.01958678626998613 Centerline is valid? [True, True] Translation: X:866.28, Y:14.11, Z:3.79 [[ 9.65651484e-01 -2.59595941e-01 -1.12764897e-02 8.66281825e+02] [ 2.59581651e-01 9.65717281e-01 -2.73846448e-03 1.41113306e+01] [ 1.16007952e-02 -2.82767519e-04 9.99932669e-01 3.79233692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.819254154 meters 0.017308883841150136 Centerline is valid? [True, True] Translation: X:866.34, Y:14.14, Z:3.79 [[ 9.67134474e-01 -2.53953098e-01 -1.25989641e-02 8.66336427e+02] [ 2.53934769e-01 9.67216505e-01 -3.06045979e-03 1.41351275e+01] [ 1.29631393e-02 -2.39438875e-04 9.99915946e-01 3.79222167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.879254154 meters 0.018930871209267338 Centerline is valid? [True, True] Translation: X:866.39, Y:14.16, Z:3.79 [[ 9.68483548e-01 -2.48683056e-01 -1.40126300e-02 8.66390733e+02] [ 2.48659806e-01 9.68584897e-01 -3.40558066e-03 1.41570512e+01] [ 1.44193320e-02 -1.86129007e-04 9.99896019e-01 3.79045469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.939254154 meters 0.014716641421806585 Centerline is valid? [True, True] Translation: X:866.45, Y:14.18, Z:3.79 [[ 9.68793830e-01 -2.47595084e-01 -1.16271196e-02 8.66446119e+02] [ 2.47578968e-01 9.68863590e-01 -2.82828062e-03 1.41770348e+01] [ 1.19653612e-02 -1.38609447e-04 9.99928403e-01 3.79342857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.999254154 meters 0.018714953776615265 Centerline is valid? [True, True] Translation: X:866.50, Y:14.19, Z:3.79 [[ 9.67888780e-01 -2.51055256e-01 -1.27502357e-02 8.66502538e+02] [ 2.51036150e-01 9.67972737e-01 -3.10353540e-03 1.41921577e+01] [ 1.31210395e-02 -1.96893000e-04 9.99913896e-01 3.79126379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.059254154 meters 0.01862839210372944 Centerline is valid? [True, True] Translation: X:866.56, Y:14.21, Z:3.79 [[ 9.66986420e-01 -2.54466725e-01 -1.35628027e-02 8.66557964e+02] [ 2.54445421e-01 9.67081496e-01 -3.30278754e-03 1.42068214e+01] [ 1.39567851e-02 -2.57242344e-04 9.99902566e-01 3.79033409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.119254154 meters 0.019616092257969214 Centerline is valid? [True, True] Translation: X:866.62, Y:14.22, Z:3.79 [[ 9.66145979e-01 -2.57611216e-01 -1.40857488e-02 8.66615272e+02] [ 2.57588527e-01 9.66248604e-01 -3.43315680e-03 1.42205241e+01] [ 1.44947548e-02 -3.11396640e-04 9.99894897e-01 3.79048545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.179254154 meters 0.018305293219176445 Centerline is valid? [True, True] Translation: X:866.67, Y:14.23, Z:3.79 [[ 9.65001181e-01 -2.61930014e-01 -1.28603625e-02 8.66672758e+02] [ 2.61911463e-01 9.65086810e-01 -3.13597569e-03 1.42344690e+01] [ 1.32327723e-02 -3.42056108e-04 9.99912385e-01 3.79293356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2392541539999 meters 0.02056470476812105 Centerline is valid? [True, True] Translation: X:866.73, Y:14.25, Z:3.79 [[ 9.63577988e-01 -2.67025580e-01 -1.46560978e-02 8.66730631e+02] [ 2.67002065e-01 9.63689327e-01 -3.57452672e-03 1.42497283e+01] [ 1.50784152e-02 -4.68873130e-04 9.99886204e-01 3.79246128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.299254154 meters 0.02037459013180865 Centerline is valid? [True, True] Translation: X:866.79, Y:14.26, Z:3.79 [[ 9.62807291e-01 -2.69838910e-01 -1.37507360e-02 8.66788472e+02] [ 2.69818459e-01 9.62905361e-01 -3.35642665e-03 1.42618469e+01] [ 1.41463519e-02 -4.78610352e-04 9.99899821e-01 3.79316337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3592541539999 meters 0.01940543047717647 Centerline is valid? [True, True] Translation: X:866.85, Y:14.28, Z:3.79 [[ 9.63088364e-01 -2.68857022e-01 -1.32930615e-02 8.66846060e+02] [ 2.68837771e-01 9.63179995e-01 -3.24805656e-03 1.42762224e+01] [ 1.36768737e-02 -4.45511540e-04 9.99906368e-01 3.79418895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.419254154 meters 0.020034432446258715 Centerline is valid? [True, True] Translation: X:866.90, Y:14.29, Z:3.79 [[ 9.64631653e-01 -2.63234869e-01 -1.38988054e-02 8.66902290e+02] [ 2.63213219e-01 9.64731703e-01 -3.39751510e-03 1.42925124e+01] [ 1.43029626e-02 -3.80998702e-04 9.99897635e-01 3.79355062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4792541539999 meters 0.01679595299176034 Centerline is valid? [True, True] Translation: X:866.96, Y:14.31, Z:3.80 [[ 9.66392375e-01 -2.56760136e-01 -1.26495244e-02 8.66959679e+02] [ 2.56741644e-01 9.66475124e-01 -3.09242766e-03 1.43114714e+01] [ 1.30194628e-02 -2.59161179e-04 9.99915210e-01 3.79500613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.539254154 meters 0.015507173447981299 Centerline is valid? [True, True] Translation: X:867.02, Y:14.33, Z:3.80 [[ 9.68899744e-01 -2.47134648e-01 -1.25599278e-02 8.67015674e+02] [ 2.47115601e-01 9.68981140e-01 -3.07092497e-03 1.43338149e+01] [ 1.29292651e-02 -1.28335685e-04 9.99916405e-01 3.79587339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5992541539999 meters 0.01407817202658888 Centerline is valid? [True, True] Translation: X:867.07, Y:14.35, Z:3.79 [[ 9.70634591e-01 -2.40252502e-01 -1.21336548e-02 8.67071229e+02] [ 2.40234159e-01 9.70710428e-01 -2.96896957e-03 1.43525282e+01] [ 1.24915676e-02 -3.31337843e-05 9.99921977e-01 3.79433809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.659254154 meters 0.014039349736222612 Centerline is valid? [True, True] Translation: X:867.13, Y:14.37, Z:3.80 [[ 9.70560242e-01 -2.40529662e-01 -1.25817014e-02 8.67127466e+02] [ 2.40509914e-01 9.70641788e-01 -3.08234459e-03 1.43655642e+01] [ 1.29537204e-02 -3.44228043e-05 9.99916096e-01 3.79518624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.7192541539999 meters 0.01634213103717774 Centerline is valid? [True, True] Translation: X:867.18, Y:14.38, Z:3.79 [[ 9.69756542e-01 -2.43733654e-01 -1.28901481e-02 8.67184658e+02] [ 2.43713180e-01 9.69842204e-01 -3.16006903e-03 1.43754710e+01] [ 1.32716249e-02 -7.70013820e-05 9.99911925e-01 3.79260893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.779254154 meters 0.01752849027979295 Centerline is valid? [True, True] Translation: X:867.24, Y:14.39, Z:3.79 [[ 9.69030135e-01 -2.46627693e-01 -1.24650897e-02 8.67242668e+02] [ 2.46608753e-01 9.69110298e-01 -3.05841964e-03 1.43881044e+01] [ 1.28343377e-02 -1.10299426e-04 9.99917630e-01 3.79406671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.839254154 meters 0.014961942695895906 Centerline is valid? [True, True] Translation: X:867.30, Y:14.40, Z:3.80 [[ 9.68404070e-01 -2.49173738e-01 -1.02958962e-02 8.67299224e+02] [ 2.49160931e-01 9.68458794e-01 -2.52892012e-03 1.43994477e+01] [ 1.06012917e-02 -1.16318553e-04 9.99943798e-01 3.79572192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.899254154 meters 0.016387183439966032 Centerline is valid? [True, True] Translation: X:867.36, Y:14.41, Z:3.79 [[ 9.67193998e-01 -2.53789852e-01 -1.12463769e-02 8.67357723e+02] [ 2.53774846e-01 9.67259365e-01 -2.76564251e-03 1.44087336e+01] [ 1.15800554e-02 -1.79134724e-04 9.99932933e-01 3.79489222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.959254154 meters 0.018759490348051855 Centerline is valid? [True, True] Translation: X:867.42, Y:14.42, Z:3.79 [[ 9.66251109e-01 -2.57261453e-01 -1.32415492e-02 8.67415408e+02] [ 2.57240939e-01 9.66341802e-01 -3.25890105e-03 1.44179266e+01] [ 1.36342521e-02 -2.57351790e-04 9.99907016e-01 3.79259471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.019254154 meters 0.019800033115501003 Centerline is valid? [True, True] Translation: X:867.47, Y:14.43, Z:3.79 [[ 9.65566649e-01 -2.59771678e-01 -1.41322877e-02 8.67473122e+02] [ 2.59748533e-01 9.65670016e-01 -3.48138214e-03 1.44293942e+01] [ 1.45514909e-02 -3.09334500e-04 9.99894074e-01 3.79225322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.079254154 meters 0.017892604576622815 Centerline is valid? [True, True] Translation: X:867.53, Y:14.44, Z:3.79 [[ 9.64766119e-01 -2.62867563e-01 -1.12684989e-02 8.67530010e+02] [ 2.62853041e-01 9.64831884e-01 -2.77746357e-03 1.44386856e+01] [ 1.16023121e-02 -2.82356461e-04 9.99932651e-01 3.79487211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.139254154 meters 0.020665786028905602 Centerline is valid? [True, True] Translation: X:867.59, Y:14.45, Z:3.80 [[ 9.63558724e-01 -2.67247779e-01 -1.15416622e-02 8.67588790e+02] [ 2.67232850e-01 9.63627785e-01 -2.84547535e-03 1.44490415e+01] [ 1.18823134e-02 -3.42528681e-04 9.99929344e-01 3.79502956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.199254154 meters 0.020969023610628548 Centerline is valid? [True, True] Translation: X:867.65, Y:14.46, Z:3.80 [[ 9.62864684e-01 -2.69774852e-01 -1.06361851e-02 8.67646355e+02] [ 2.69762308e-01 9.62923367e-01 -2.62406923e-03 1.44602755e+01] [ 1.09497391e-02 -3.42618244e-04 9.99939991e-01 3.79528052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.259254154 meters 0.02127438303233661 Centerline is valid? [True, True] Translation: X:867.70, Y:14.47, Z:3.80 [[ 9.62846220e-01 -2.69821540e-01 -1.11127241e-02 8.67703006e+02] [ 2.69807812e-01 9.62910281e-01 -2.74489017e-03 1.44744406e+01] [ 1.14411868e-02 -3.55392648e-04 9.99934484e-01 3.79549433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.319254154 meters 0.01849825245133652 Centerline is valid? [True, True] Translation: X:867.76, Y:14.49, Z:3.80 [[ 9.63980078e-01 -2.65781247e-01 -1.01359567e-02 8.67759326e+02] [ 2.65769587e-01 9.64033324e-01 -2.50513333e-03 1.44905952e+01] [ 1.04372175e-02 -2.78930412e-04 9.99945492e-01 3.79670353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.379254154 meters 0.01705170588837601 Centerline is valid? [True, True] Translation: X:867.82, Y:14.51, Z:3.80 [[ 9.65469399e-01 -2.60285878e-01 -1.09590263e-02 8.67816674e+02] [ 2.60271889e-01 9.65531566e-01 -2.70893844e-03 1.45088029e+01] [ 1.12863842e-02 -2.36929307e-04 9.99936279e-01 3.79622691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.439254154 meters 0.018935481945800914 Centerline is valid? [True, True] Translation: X:867.87, Y:14.52, Z:3.79 [[ 9.66182333e-01 -2.57550855e-01 -1.26196605e-02 8.67873313e+02] [ 2.57532043e-01 9.66264716e-01 -3.12165061e-03 1.45237168e+01] [ 1.29979165e-02 -2.33883284e-04 9.99915496e-01 3.79451547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.499254154 meters 0.01903809552120007 Centerline is valid? [True, True] Translation: X:867.93, Y:14.54, Z:3.79 [[ 9.66199215e-01 -2.57470823e-01 -1.29557776e-02 8.67928946e+02] [ 2.57450959e-01 9.66286044e-01 -3.20700562e-03 1.45358314e+01] [ 1.33446975e-02 -2.36871049e-04 9.99910928e-01 3.79442139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.559254154 meters 0.016064801853560226 Centerline is valid? [True, True] Translation: X:867.99, Y:14.55, Z:3.80 [[ 9.66153008e-01 -2.57690977e-01 -1.19885748e-02 8.67985169e+02] [ 2.57673950e-01 9.66227361e-01 -2.97039039e-03 1.45494068e+01] [ 1.23491318e-02 -2.19291820e-04 9.99923723e-01 3.79736329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.619254154 meters 0.020041483606874116 Centerline is valid? [True, True] Translation: X:868.04, Y:14.56, Z:3.80 [[ 9.65845655e-01 -2.58775091e-01 -1.33275396e-02 8.68042755e+02] [ 2.58754098e-01 9.65937569e-01 -3.30597703e-03 1.45625389e+01] [ 1.37290757e-02 -2.55491950e-04 9.99905719e-01 3.79605425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.679254154 meters 0.01618959865895367 Centerline is valid? [True, True] Translation: X:868.10, Y:14.58, Z:3.80 [[ 9.66357863e-01 -2.56897028e-01 -1.25059248e-02 8.68100050e+02] [ 2.56878345e-01 9.66438758e-01 -3.10542189e-03 1.45772421e+01] [ 1.28839841e-02 -2.11552397e-04 9.99916976e-01 3.79804524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7392541539999 meters 0.01481865589878851 Centerline is valid? [True, True] Translation: X:868.16, Y:14.59, Z:3.80 [[ 9.67690970e-01 -2.51779249e-01 -1.34683381e-02 8.68157140e+02] [ 2.51757032e-01 9.67784680e-01 -3.34809872e-03 1.45930437e+01] [ 1.38774331e-02 -1.50823923e-04 9.99903692e-01 3.79839609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.799254154 meters 0.015979367103828752 Centerline is valid? [True, True] Translation: X:868.21, Y:14.61, Z:3.80 [[ 9.68992155e-01 -2.46656397e-01 -1.46569288e-02 8.68214192e+02] [ 2.46629441e-01 9.69102995e-01 -3.64739266e-03 1.46096218e+01] [ 1.51037263e-02 -8.05352710e-05 9.99885929e-01 3.79691479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8592541539999 meters 0.013998060545174953 Centerline is valid? [True, True] Translation: X:868.27, Y:14.63, Z:3.80 [[ 9.70198173e-01 -2.41805850e-01 -1.56663880e-02 8.68270689e+02] [ 2.41774345e-01 9.70324652e-01 -3.90322406e-03 1.46251088e+01] [ 1.61453049e-02 -8.29837407e-07 9.99869656e-01 3.79755826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.919254154 meters 0.016753616763499277 Centerline is valid? [True, True] Translation: X:868.33, Y:14.64, Z:3.80 [[ 9.70202815e-01 -2.41667750e-01 -1.74125258e-02 8.68328612e+02] [ 2.41628720e-01 9.70359056e-01 -4.34321636e-03 1.46376113e+01] [ 1.79460174e-02 6.43442676e-06 9.99838957e-01 3.79532030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9792541539999 meters 0.014081077917585779 Centerline is valid? [True, True] Translation: X:868.39, Y:14.65, Z:3.80 [[ 9.70118765e-01 -2.42034518e-01 -1.69962705e-02 8.68386278e+02] [ 2.41997301e-01 9.70267639e-01 -4.24432161e-03 1.46477078e+01] [ 1.75182036e-02 4.44445850e-06 9.99846544e-01 3.79728994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.039254154 meters 0.015759652216977216 Centerline is valid? [True, True] Translation: X:868.44, Y:14.66, Z:3.80 [[ 9.69278705e-01 -2.45368989e-01 -1.71129089e-02 8.68444041e+02] [ 2.45331687e-01 9.69429758e-01 -4.27864407e-03 1.46574523e+01] [ 1.76396098e-02 -5.11402391e-05 9.99844409e-01 3.79750549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0992541539999 meters 0.014970418075249134 Centerline is valid? [True, True] Translation: X:868.50, Y:14.66, Z:3.80 [[ 9.67880665e-01 -2.50780903e-01 -1.77752034e-02 8.68503191e+02] [ 2.50741478e-01 9.68043861e-01 -4.44918001e-03 1.46635157e+01] [ 1.83229459e-02 -1.50705460e-04 9.99832109e-01 3.79899626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.159254154 meters 0.01588553975472067 Centerline is valid? [True, True] Translation: X:868.56, Y:14.67, Z:3.80 [[ 9.65978408e-01 -2.58005489e-01 -1.78573147e-02 8.68563141e+02] [ 2.57966844e-01 9.66143409e-01 -4.47442467e-03 1.46675077e+01] [ 1.84071530e-02 -2.84397513e-04 9.99830534e-01 3.79990678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.2192541539999 meters 0.01916874401181322 Centerline is valid? [True, True] Translation: X:868.62, Y:14.67, Z:3.80 [[ 9.64249794e-01 -2.64349882e-01 -1.84790526e-02 8.68621860e+02] [ 2.64309616e-01 9.64426755e-01 -4.63259500e-03 1.46718224e+01] [ 1.90463187e-02 -4.17212523e-04 9.99818515e-01 3.79993089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.279254154 meters 0.020112532602189294 Centerline is valid? [True, True] Translation: X:868.68, Y:14.68, Z:3.80 [[ 9.63040166e-01 -2.68631238e-01 -1.97711060e-02 8.68681059e+02] [ 2.68586024e-01 9.63242945e-01 -4.95750560e-03 1.46823292e+01] [ 2.03761192e-02 -5.35965748e-04 9.99792242e-01 3.80104726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.339254154 meters 0.019307753199625927 Centerline is valid? [True, True] Translation: X:868.74, Y:14.69, Z:3.80 [[ 9.62555055e-01 -2.70386202e-01 -1.94696600e-02 8.68739376e+02] [ 2.70342629e-01 9.62751779e-01 -4.88620230e-03 1.46910296e+01] [ 2.00656115e-02 -5.60240362e-04 9.99798508e-01 3.80258146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.399254154 meters 0.017157548176854366 Centerline is valid? [True, True] Translation: X:868.80, Y:14.70, Z:3.80 [[ 9.63077503e-01 -2.68664341e-01 -1.73549886e-02 8.68797061e+02] [ 2.68629404e-01 9.63233749e-01 -4.35754053e-03 1.47038252e+01] [ 1.78876265e-02 -4.65411006e-04 9.99839895e-01 3.80468183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.459254154 meters 0.01942761023730539 Centerline is valid? [True, True] Translation: X:868.85, Y:14.72, Z:3.80 [[ 9.64204514e-01 -2.64500475e-01 -1.86856539e-02 8.68853350e+02] [ 2.64459165e-01 9.64385465e-01 -4.69310563e-03 1.47186963e+01] [ 1.92615017e-02 -4.16478801e-04 9.99814393e-01 3.80309029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.519254154 meters 0.017979178429159887 Centerline is valid? [True, True] Translation: X:868.91, Y:14.74, Z:3.80 [[ 9.66257511e-01 -2.56873336e-01 -1.90397308e-02 8.68910507e+02] [ 2.56828949e-01 9.66445041e-01 -4.78264484e-03 1.47373299e+01] [ 1.96293874e-02 -2.68687571e-04 9.99807289e-01 3.80254167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.579254154 meters 0.01681767987046697 Centerline is valid? [True, True] Translation: X:868.97, Y:14.76, Z:3.80 [[ 9.68157470e-01 -2.49591984e-01 -1.93637347e-02 8.68966607e+02] [ 2.49544532e-01 9.68351087e-01 -4.86817557e-03 1.47568509e+01] [ 1.99659511e-02 -1.18953581e-04 9.99800653e-01 3.80251729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.639254154 meters 0.017480159809869614 Centerline is valid? [True, True] Translation: X:869.02, Y:14.77, Z:3.80 [[ 9.69077790e-01 -2.45919145e-01 -2.02980435e-02 8.69021208e+02] [ 2.45866127e-01 9.69290345e-01 -5.10639302e-03 1.47725589e+01] [ 2.09304574e-02 -4.21092819e-05 9.99780933e-01 3.80123928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.699254154 meters 0.015945544487017415 Centerline is valid? [True, True] Translation: X:869.08, Y:14.79, Z:3.80 [[ 9.69816026e-01 -2.43053252e-01 -1.95446168e-02 8.69077650e+02] [ 2.43003421e-01 9.70012946e-01 -4.92154562e-03 1.47881504e+01] [ 2.01547290e-02 2.35850838e-05 9.99796873e-01 3.80343021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.759254154 meters 0.014052523353376726 Centerline is valid? [True, True] Translation: X:869.13, Y:14.80, Z:3.80 [[ 9.70292008e-01 -2.41284205e-01 -1.77581445e-02 8.69133378e+02] [ 2.41242728e-01 9.70454496e-01 -4.47403239e-03 1.48019808e+01] [ 1.83129845e-02 5.70946598e-05 9.99832302e-01 3.80420015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.819254154 meters 0.01589062860893273 Centerline is valid? [True, True] Translation: X:869.19, Y:14.81, Z:3.80 [[ 9.69808102e-01 -2.43245464e-01 -1.74324483e-02 8.69190103e+02] [ 2.43205730e-01 9.69964764e-01 -4.39652321e-03 1.48138905e+01] [ 1.79782950e-02 2.41125111e-05 9.99838377e-01 3.80472676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.879254154 meters 0.016391064586043076 Centerline is valid? [True, True] Translation: X:869.25, Y:14.82, Z:3.80 [[ 9.68949974e-01 -2.46662934e-01 -1.71273360e-02 8.69246449e+02] [ 2.46625040e-01 9.69101334e-01 -4.32362195e-03 1.48223457e+01] [ 1.76646015e-02 -3.46565651e-05 9.99843968e-01 3.80351715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.939254154 meters 0.014197773150087419 Centerline is valid? [True, True] Translation: X:869.30, Y:14.83, Z:3.80 [[ 9.68205406e-01 -2.49615869e-01 -1.64380601e-02 8.69303921e+02] [ 2.49581313e-01 9.68344934e-01 -4.15411639e-03 1.48309308e+01] [ 1.69546456e-02 -8.05946737e-05 9.99856256e-01 3.80378853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.999254154 meters 0.01717370703961892 Centerline is valid? [True, True] Translation: X:869.36, Y:14.84, Z:3.80 [[ 9.67656754e-01 -2.51612013e-01 -1.82154340e-02 8.69362512e+02] [ 2.51569836e-01 9.67828177e-01 -4.60848496e-03 1.48406868e+01] [ 1.87889604e-02 -1.23022133e-04 9.99823464e-01 3.80281138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.059254154 meters 0.01415471965047524 Centerline is valid? [True, True] Translation: X:869.42, Y:14.85, Z:3.80 [[ 9.67870899e-01 -2.50855777e-01 -1.72424559e-02 8.69420085e+02] [ 2.50817784e-01 9.68024467e-01 -4.36690206e-03 1.48517835e+01] [ 1.77865818e-02 -9.81171457e-05 9.99841801e-01 3.80341453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.119254154 meters 0.01774436176127425 Centerline is valid? [True, True] Translation: X:869.48, Y:14.86, Z:3.80 [[ 9.67402675e-01 -2.52542229e-01 -1.88278057e-02 8.69478750e+02] [ 2.52497147e-01 9.67585864e-01 -4.77351075e-03 1.48609898e+01] [ 1.94230316e-02 -1.36060146e-04 9.99811346e-01 3.80182284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.179254154 meters 0.017607093089025607 Centerline is valid? [True, True] Translation: X:869.54, Y:14.87, Z:3.80 [[ 9.66596470e-01 -2.55706335e-01 -1.74795337e-02 8.69536668e+02] [ 2.55667906e-01 9.66754487e-01 -4.43665533e-03 1.48688485e+01] [ 1.80328985e-02 -1.80500405e-04 9.99837378e-01 3.80268256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2392541539999 meters 0.015799893612217827 Centerline is valid? [True, True] Translation: X:869.60, Y:14.88, Z:3.81 [[ 9.65725624e-01 -2.59040769e-01 -1.64893810e-02 8.69595335e+02] [ 2.59006979e-01 9.65866362e-01 -4.18985960e-03 1.48776513e+01] [ 1.70118829e-02 -2.24609994e-04 9.99855262e-01 3.80562437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.299254154 meters 0.016379483772317467 Centerline is valid? [True, True] Translation: X:869.65, Y:14.89, Z:3.81 [[ 9.65251290e-01 -2.60791428e-01 -1.66666693e-02 8.69653672e+02] [ 2.60757090e-01 9.65395135e-01 -4.23950307e-03 1.48890815e+01] [ 1.71955475e-02 -2.53766373e-04 9.99852113e-01 3.80606630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3592541539999 meters 0.015487604729065876 Centerline is valid? [True, True] Translation: X:869.71, Y:14.90, Z:3.81 [[ 9.65670863e-01 -2.59314830e-01 -1.53493975e-02 8.69710531e+02] [ 2.59285454e-01 9.65792823e-01 -3.90853366e-03 1.49030179e+01] [ 1.58378787e-02 -2.05518437e-04 9.99874552e-01 3.80712963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.419254154 meters 0.014387579731029042 Centerline is valid? [True, True] Translation: X:869.77, Y:14.92, Z:3.81 [[ 9.66559685e-01 -2.55969913e-01 -1.55492190e-02 8.69765957e+02] [ 2.55939298e-01 9.66684737e-01 -3.96167367e-03 1.49188024e+01] [ 1.60452619e-02 -1.50462131e-04 9.99871255e-01 3.80679300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4792541539999 meters 0.014313408293357865 Centerline is valid? [True, True] Translation: X:869.82, Y:14.93, Z:3.81 [[ 9.66917313e-01 -2.54585626e-01 -1.60333800e-02 8.69821749e+02] [ 2.54552818e-01 9.67050228e-01 -4.08904661e-03 1.49344975e+01] [ 1.65460962e-02 -1.27572087e-04 9.99863096e-01 3.80682364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.539254154 meters 0.014380380644277827 Centerline is valid? [True, True] Translation: X:869.88, Y:14.95, Z:3.81 [[ 9.66740715e-01 -2.55275407e-01 -1.57116895e-02 8.69877803e+02] [ 2.55243916e-01 9.66868372e-01 -4.01176884e-03 1.49494504e+01] [ 1.62152416e-02 -1.31972881e-04 9.99868516e-01 3.80724729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5992541539999 meters 0.014521256376458465 Centerline is valid? [True, True] Translation: X:869.94, Y:14.96, Z:3.81 [[ 9.66218004e-01 -2.57264688e-01 -1.54158717e-02 8.69935077e+02] [ 2.57234556e-01 9.66340962e-01 -3.94054920e-03 1.49648983e+01] [ 1.59107524e-02 -1.58065330e-04 9.99873403e-01 3.80894009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.659254154 meters 0.014445068121796991 Centerline is valid? [True, True] Translation: X:869.99, Y:14.98, Z:3.81 [[ 9.65930315e-01 -2.58374630e-01 -1.48720275e-02 8.69990965e+02] [ 2.58346650e-01 9.66044783e-01 -3.80600305e-03 1.49801954e+01] [ 1.53504192e-02 -1.65804756e-04 9.99882162e-01 3.81014228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.7192541539999 meters 0.016711606129380375 Centerline is valid? [True, True] Translation: X:870.05, Y:14.99, Z:3.81 [[ 9.65442292e-01 -2.60136354e-01 -1.58195450e-02 8.70047242e+02] [ 2.60104889e-01 9.65571870e-01 -4.05103499e-03 1.49947891e+01] [ 1.63287292e-02 -2.03700497e-04 9.99866657e-01 3.80955659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.779254154 meters 0.01587943521810141 Centerline is valid? [True, True] Translation: X:870.10, Y:15.01, Z:3.81 [[ 9.64866243e-01 -2.62283371e-01 -1.55102060e-02 8.70103436e+02] [ 2.62253378e-01 9.64990870e-01 -3.97330760e-03 1.50106102e+01] [ 1.60093397e-02 -2.33893544e-04 9.99871815e-01 3.80955446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.839254154 meters 0.018588635424792267 Centerline is valid? [True, True] Translation: X:870.16, Y:15.02, Z:3.81 [[ 9.63467797e-01 -2.67299542e-01 -1.67558629e-02 8.70161744e+02] [ 2.67265278e-01 9.63613428e-01 -4.29334128e-03 1.50242403e+01] [ 1.72937826e-02 -3.41764285e-04 9.99850393e-01 3.80938271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.899254154 meters 0.02001809530021483 Centerline is valid? [True, True] Translation: X:870.22, Y:15.04, Z:3.81 [[ 9.61942281e-01 -2.72757343e-01 -1.64462750e-02 8.70219789e+02] [ 2.72725120e-01 9.62082765e-01 -4.21464874e-03 1.50372360e+01] [ 1.69722541e-02 -4.31063491e-04 9.99855868e-01 3.81051247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.959254154 meters 0.021445661438571538 Centerline is valid? [True, True] Translation: X:870.28, Y:15.05, Z:3.81 [[ 9.60841824e-01 -2.76690235e-01 -1.50167970e-02 8.70277713e+02] [ 2.76663837e-01 9.60959055e-01 -3.84908170e-03 1.50475082e+01] [ 1.54955304e-02 -4.56245995e-04 9.99879833e-01 3.81014962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.019254154 meters 0.019175622151711424 Centerline is valid? [True, True] Translation: X:870.33, Y:15.06, Z:3.81 [[ 9.60397635e-01 -2.78260367e-01 -1.44066424e-02 8.70333821e+02] [ 2.78236203e-01 9.60505574e-01 -3.69560708e-03 1.50644727e+01] [ 1.48660013e-02 -4.59197180e-04 9.99889389e-01 3.81273430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.079254154 meters 0.019123007761642687 Centerline is valid? [True, True] Translation: X:870.39, Y:15.08, Z:3.81 [[ 9.60890635e-01 -2.76531799e-01 -1.48105257e-02 8.70390788e+02] [ 2.76505998e-01 9.61004667e-01 -3.80312420e-03 1.50807765e+01] [ 1.52846691e-02 -4.40812767e-04 9.99883085e-01 3.81242494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.139254154 meters 0.01718244949967949 Centerline is valid? [True, True] Translation: X:870.45, Y:15.10, Z:3.81 [[ 9.61899705e-01 -2.73052105e-01 -1.38385210e-02 8.70446891e+02] [ 2.73029170e-01 9.61999179e-01 -3.55695586e-03 1.51011086e+01] [ 1.42838802e-02 -3.56885122e-04 9.99897916e-01 3.81401502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.199254154 meters 0.017091540459707972 Centerline is valid? [True, True] Translation: X:870.50, Y:15.12, Z:3.81 [[ 9.62653081e-01 -2.70408736e-01 -1.33477115e-02 8.70503115e+02] [ 2.70387098e-01 9.62745565e-01 -3.43418954e-03 1.51169525e+01] [ 1.37790849e-02 -3.03115823e-04 9.99905018e-01 3.81433709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.259254154 meters 0.01648944878415459 Centerline is valid? [True, True] Translation: X:870.56, Y:15.14, Z:3.82 [[ 9.63663137e-01 -2.66806120e-01 -1.29557909e-02 8.70558954e+02] [ 2.66785364e-01 9.63750194e-01 -3.33662280e-03 1.51382143e+01] [ 1.33763774e-02 -2.41035007e-04 9.99910503e-01 3.81519400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.319254154 meters 0.016007816882019292 Centerline is valid? [True, True] Translation: X:870.62, Y:15.16, Z:3.82 [[ 9.64421711e-01 -2.64084852e-01 -1.22456099e-02 8.70615270e+02] [ 2.64066052e-01 9.64499432e-01 -3.15675776e-03 1.51572789e+01] [ 1.26445357e-02 -1.89204127e-04 9.99920037e-01 3.81566769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.379254154 meters 0.014596121071158036 Centerline is valid? [True, True] Translation: X:870.67, Y:15.17, Z:3.82 [[ 9.64423387e-01 -2.64091244e-01 -1.19727250e-02 8.70670895e+02] [ 2.64073230e-01 9.64497684e-01 -3.08988229e-03 1.51749470e+01] [ 1.23636764e-02 -1.81721422e-04 9.99923550e-01 3.81646305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.439254154 meters 0.01511105804492087 Centerline is valid? [True, True] Translation: X:870.73, Y:15.19, Z:3.82 [[ 9.63596988e-01 -2.67045403e-01 -1.29459430e-02 8.70727808e+02] [ 2.67024557e-01 9.63683920e-01 -3.34485020e-03 1.51908018e+01] [ 1.33690240e-02 -2.33797127e-04 9.99910603e-01 3.81598938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.499254154 meters 0.015222580455522619 Centerline is valid? [True, True] Translation: X:870.78, Y:15.21, Z:3.82 [[ 9.62899219e-01 -2.69544466e-01 -1.30719033e-02 8.70784368e+02] [ 2.69523393e-01 9.62987907e-01 -3.38100103e-03 1.52070462e+01] [ 1.34994149e-02 -2.67620486e-04 9.99908843e-01 3.81620897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.559254154 meters 0.01594587668740122 Centerline is valid? [True, True] Translation: X:870.84, Y:15.22, Z:3.82 [[ 9.62237169e-01 -2.71910151e-01 -1.28257492e-02 8.70840475e+02] [ 2.71890048e-01 9.62322599e-01 -3.31932157e-03 1.52221978e+01] [ 1.32450655e-02 -2.93218967e-04 9.99912237e-01 3.81615300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.619254154 meters 0.01692075761090821 Centerline is valid? [True, True] Translation: X:870.90, Y:15.24, Z:3.82 [[ 9.61326197e-01 -2.75164317e-01 -1.16850641e-02 8.70896629e+02] [ 2.75147854e-01 9.61397163e-01 -3.02555838e-03 1.52380855e+01] [ 1.20665132e-02 -3.06571788e-04 9.99927150e-01 3.81731936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.679254154 meters 0.017410523708686586 Centerline is valid? [True, True] Translation: X:870.95, Y:15.26, Z:3.82 [[ 9.60426396e-01 -2.78281256e-01 -1.18608945e-02 8.70953369e+02] [ 2.78264498e-01 9.60499569e-01 -3.07376537e-03 1.52550525e+01] [ 1.22477553e-02 -3.48340460e-04 9.99924933e-01 3.81789714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.7392541539999 meters 0.017752508425716802 Centerline is valid? [True, True] Translation: X:871.01, Y:15.27, Z:3.82 [[ 9.60089020e-01 -2.79422061e-01 -1.23444864e-02 8.71009314e+02] [ 2.79403960e-01 9.60168304e-01 -3.20245858e-03 1.52734194e+01] [ 1.27476221e-02 -3.74453061e-04 9.99918676e-01 3.81751894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.799254154 meters 0.018408417288130138 Centerline is valid? [True, True] Translation: X:871.07, Y:15.29, Z:3.82 [[ 9.59953276e-01 -2.79854835e-01 -1.30759044e-02 8.71065266e+02] [ 2.79834516e-01 9.60042245e-01 -3.39579485e-03 1.52938421e+01] [ 1.35037502e-02 -3.99285000e-04 9.99908740e-01 3.81621441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.8592541539999 meters 0.01885409550571907 Centerline is valid? [True, True] Translation: X:871.12, Y:15.31, Z:3.82 [[ 9.59873290e-01 -2.80118723e-01 -1.32954056e-02 8.71120708e+02] [ 2.80097714e-01 9.59965278e-01 -3.45482242e-03 1.53098646e+01] [ 1.37308882e-02 -4.07820955e-04 9.99905644e-01 3.81679743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.919254154 meters 0.020049349271448417 Centerline is valid? [True, True] Translation: X:871.18, Y:15.33, Z:3.82 [[ 9.58866211e-01 -2.83585156e-01 -1.24518374e-02 8.71177130e+02] [ 2.83567011e-01 9.58946962e-01 -3.23631803e-03 1.53308333e+01] [ 1.28584234e-02 -4.27734309e-04 9.99917236e-01 3.81682437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.9792541539999 meters 0.019132617019551258 Centerline is valid? [True, True] Translation: X:871.23, Y:15.35, Z:3.82 [[ 9.58409406e-01 -2.85173032e-01 -1.13028016e-02 8.71231938e+02] [ 2.85158176e-01 9.58475966e-01 -2.93901160e-03 1.53480760e+01] [ 1.16715905e-02 -4.06309925e-04 9.99931802e-01 3.81983180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.039254154 meters 0.021000651217850847 Centerline is valid? [True, True] Translation: X:871.29, Y:15.37, Z:3.82 [[ 9.57927424e-01 -2.86761400e-01 -1.19561783e-02 8.71287906e+02] [ 2.86744866e-01 9.58001931e-01 -3.11172677e-03 1.53677223e+01] [ 1.23463650e-02 -4.47564340e-04 9.99923681e-01 3.81902661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.0992541539999 meters 0.021456007629286317 Centerline is valid? [True, True] Translation: X:871.34, Y:15.39, Z:3.82 [[ 9.58083281e-01 -2.86195568e-01 -1.29816496e-02 8.71342787e+02] [ 2.86175976e-01 9.58171108e-01 -3.38218170e-03 1.53896946e+01] [ 1.34066070e-02 -4.74624498e-04 9.99910015e-01 3.81837548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.159254154 meters 0.023006828499530098 Centerline is valid? [True, True] Translation: X:871.40, Y:15.41, Z:3.82 [[ 9.58260411e-01 -2.85552383e-01 -1.40292922e-02 8.71397587e+02] [ 2.85529377e-01 9.58362972e-01 -3.65896193e-03 1.54127536e+01] [ 1.44899795e-02 -4.99536687e-04 9.99894890e-01 3.81710309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.2192541539999 meters 0.01931710752195059 Centerline is valid? [True, True] Translation: X:871.45, Y:15.44, Z:3.82 [[ 9.58406468e-01 -2.85053848e-01 -1.41896431e-02 8.71452394e+02] [ 2.85030201e-01 9.58511377e-01 -3.70465556e-03 1.54361285e+01] [ 1.46569607e-02 -4.93910979e-04 9.99892459e-01 3.82010496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.279254154 meters 0.02178516050709698 Centerline is valid? [True, True] Translation: X:871.51, Y:15.46, Z:3.82 [[ 9.58084224e-01 -2.86178495e-01 -1.32848955e-02 8.71507624e+02] [ 2.86157849e-01 9.58176206e-01 -3.47040539e-03 1.54553787e+01] [ 1.37224262e-02 -4.76636468e-04 9.99905729e-01 3.81923103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.339254154 meters 0.018905005206366194 Centerline is valid? [True, True] Translation: X:871.56, Y:15.48, Z:3.82 [[ 9.58134734e-01 -2.86048238e-01 -1.24191942e-02 8.71563090e+02] [ 2.86030151e-01 9.58215117e-01 -3.24683956e-03 1.54763940e+01] [ 1.28290123e-02 -4.41354230e-04 9.99917607e-01 3.82281351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.399254154 meters 0.021623342071723846 Centerline is valid? [True, True] Translation: X:871.62, Y:15.50, Z:3.82 [[ 9.57814455e-01 -2.87139607e-01 -1.19296251e-02 8.71618032e+02] [ 2.87122964e-01 9.57888645e-01 -3.12201352e-03 1.55008699e+01] [ 1.23237062e-02 -4.34959635e-04 9.99923966e-01 3.81988204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.459254154 meters 0.020734468580895567 Centerline is valid? [True, True] Translation: X:871.67, Y:15.52, Z:3.82 [[ 9.58010169e-01 -2.86489597e-01 -1.18417403e-02 8.71673235e+02] [ 2.86473109e-01 9.58083261e-01 -3.10219841e-03 1.55217295e+01] [ 1.22341207e-02 -4.20402516e-04 9.99925072e-01 3.82021028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.519254154 meters 0.018091646406070666 Centerline is valid? [True, True] Translation: X:871.73, Y:15.54, Z:3.82 [[ 9.58913055e-01 -2.83463015e-01 -1.15962446e-02 8.71728378e+02] [ 2.83446962e-01 9.58983097e-01 -3.03957358e-03 1.55443741e+01] [ 1.19822093e-02 -3.72233518e-04 9.99928141e-01 3.82272995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.579254154 meters 0.020483797131884366 Centerline is valid? [True, True] Translation: X:871.78, Y:15.57, Z:3.82 [[ 9.59366843e-01 -2.81937361e-01 -1.12510191e-02 8.71782313e+02] [ 2.81922134e-01 9.59432753e-01 -2.95006076e-03 1.55653191e+01] [ 1.16263286e-02 -3.41720832e-04 9.99932354e-01 3.82024212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.639254154 meters 0.021776525171133092 Centerline is valid? [True, True] Translation: X:871.84, Y:15.59, Z:3.82 [[ 9.60311148e-01 -2.78754576e-01 -9.91890054e-03 8.71837086e+02] [ 2.78742563e-01 9.60362335e-01 -2.60154339e-03 1.55893567e+01] [ 1.02509306e-02 -2.66528643e-04 9.99947422e-01 3.81909305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.699254154 meters 0.017878448342945732 Centerline is valid? [True, True] Translation: X:871.89, Y:15.61, Z:3.82 [[ 9.61352494e-01 -2.75166675e-01 -9.20237925e-03 8.71891117e+02] [ 2.75156164e-01 9.61396514e-01 -2.41428348e-03 1.56146662e+01] [ 9.51146569e-03 -2.11113935e-04 9.99954743e-01 3.82129015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.759254154 meters 0.017209037215905925 Centerline is valid? [True, True] Translation: X:871.95, Y:15.64, Z:3.82 [[ 9.61920678e-01 -2.73185908e-01 -8.83564559e-03 8.71946122e+02] [ 2.73176121e-01 9.61961240e-01 -2.31962559e-03 1.56369458e+01] [ 9.13323761e-03 -1.82391562e-04 9.99958274e-01 3.82195212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.819254154 meters 0.015311329314200444 Centerline is valid? [True, True] Translation: X:872.00, Y:15.66, Z:3.82 [[ 9.62155485e-01 -2.72403058e-01 -7.30728877e-03 8.72001101e+02] [ 2.72396332e-01 9.62183222e-01 -1.91963090e-03 1.56567260e+01] [ 7.55386398e-03 -1.43495259e-04 9.99971459e-01 3.82482666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.879254154 meters 0.01888139673135592 Centerline is valid? [True, True] Translation: X:872.06, Y:15.68, Z:3.82 [[ 9.61990160e-01 -2.72982914e-01 -7.43372937e-03 8.72056463e+02] [ 2.72975960e-01 9.62018870e-01 -1.95420928e-03 1.56758644e+01] [ 7.68485367e-03 -1.49299315e-04 9.99970460e-01 3.82158288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.939254154 meters 0.017350312434433916 Centerline is valid? [True, True] Translation: X:872.11, Y:15.70, Z:3.82 [[ 9.62525661e-01 -2.71085376e-01 -7.55445058e-03 8.72111233e+02] [ 2.71078119e-01 9.62555297e-01 -1.98812148e-03 1.56978343e+01] [ 7.81052709e-03 -1.34228316e-04 9.99969488e-01 3.82211053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.999254154 meters 0.017514348375661185 Centerline is valid? [True, True] Translation: X:872.17, Y:15.72, Z:3.82 [[ 9.63087110e-01 -2.69059251e-01 -8.38677486e-03 8.72167400e+02] [ 2.69050209e-01 9.63123618e-01 -2.20952911e-03 1.57172550e+01] [ 8.67199519e-03 -1.28494528e-04 9.99962389e-01 3.82119912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.059254154 meters 0.016093216756685978 Centerline is valid? [True, True] Translation: X:872.22, Y:15.74, Z:3.82 [[ 9.64131691e-01 -2.65294608e-01 -8.29778926e-03 8.72222629e+02] [ 2.65285599e-01 9.64167393e-01 -2.18828654e-03 1.57381327e+01] [ 8.58099846e-03 -9.14875907e-05 9.99963178e-01 3.82191814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.119254154 meters 0.015622071671620838 Centerline is valid? [True, True] Translation: X:872.28, Y:15.76, Z:3.82 [[ 9.64743662e-01 -2.63062063e-01 -8.24728882e-03 8.72278787e+02] [ 2.63053063e-01 9.64778910e-01 -2.17711265e-03 1.57580660e+01] [ 8.52952607e-03 -6.91189563e-05 9.99963621e-01 3.82241206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.179254154 meters 0.017670995417908675 Centerline is valid? [True, True] Translation: X:872.33, Y:15.78, Z:3.82 [[ 9.64863184e-01 -2.62595917e-01 -9.07857587e-03 8.72332778e+02] [ 2.62584973e-01 9.64905892e-01 -2.39838840e-03 1.57752199e+01] [ 9.38977834e-03 -6.97809343e-05 9.99955913e-01 3.82082199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.2392541539999 meters 0.01667222768736353 Centerline is valid? [True, True] Translation: X:872.39, Y:15.79, Z:3.82 [[ 9.64463779e-01 -2.64089658e-01 -8.14070072e-03 8.72388345e+02] [ 2.64080897e-01 9.64498132e-01 -2.15236650e-03 1.57913573e+01] [ 8.42010837e-03 -7.39240236e-05 9.99964548e-01 3.82271482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.299254154 meters 0.014424256594869699 Centerline is valid? [True, True] Translation: X:872.45, Y:15.81, Z:3.82 [[ 9.63937050e-01 -2.66035050e-01 -7.12147003e-03 8.72445223e+02] [ 2.66028384e-01 9.63963353e-01 -1.88486872e-03 1.58071845e+01] [ 7.36627727e-03 -7.76183702e-05 9.99972866e-01 3.82459498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.3592541539999 meters 0.02004386836331398 Centerline is valid? [True, True] Translation: X:872.50, Y:15.82, Z:3.82 [[ 9.63493892e-01 -2.67583773e-01 -8.85685538e-03 8.72501138e+02] [ 2.67573508e-01 9.63534593e-01 -2.34632736e-03 1.58205791e+01] [ 9.16172567e-03 -1.09187780e-04 9.99958025e-01 3.82046049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.419254154 meters 0.015107537121284856 Centerline is valid? [True, True] Translation: X:872.56, Y:15.84, Z:3.82 [[ 9.63471381e-01 -2.67697989e-01 -7.79002441e-03 8.72556601e+02] [ 2.67690038e-01 9.63502868e-01 -2.06537510e-03 1.58382829e+01] [ 8.05860762e-03 -9.53821365e-05 9.99967524e-01 3.82351830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.4792541539999 meters 0.018177719534448855 Centerline is valid? [True, True] Translation: X:872.61, Y:15.85, Z:3.82 [[ 9.63345971e-01 -2.68119630e-01 -8.74090154e-03 8.72612882e+02] [ 2.68109611e-01 9.63385620e-01 -2.32042820e-03 1.58540849e+01] [ 9.04301120e-03 -1.08144557e-04 9.99959105e-01 3.82162156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.539254154 meters 0.019131450787829008 Centerline is valid? [True, True] Translation: X:872.67, Y:15.87, Z:3.82 [[ 9.63019752e-01 -2.69303587e-01 -8.27856784e-03 8.72669957e+02] [ 2.69294623e-01 9.63055328e-01 -2.20008276e-03 1.58688149e+01] [ 8.56520905e-03 -1.10650646e-04 9.99963312e-01 3.82133331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.5992541539999 meters 0.01636089140908174 Centerline is valid? [True, True] Translation: X:872.73, Y:15.88, Z:3.82 [[ 9.62178963e-01 -2.72327950e-01 -7.00931646e-03 8.72725785e+02] [ 2.72321593e-01 9.62204487e-01 -1.86422469e-03 1.58820093e+01] [ 7.25207623e-03 -1.15070448e-04 9.99973697e-01 3.82348100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.659254154 meters 0.014702390463952388 Centerline is valid? [True, True] Translation: X:872.78, Y:15.90, Z:3.83 [[ 9.61783012e-01 -2.73742548e-01 -6.20121897e-03 8.72782621e+02] [ 2.73737595e-01 9.61802997e-01 -1.65045894e-03 1.58973167e+01] [ 6.41615182e-03 -1.10123396e-04 9.99979410e-01 3.82606591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.7192541539999 meters 0.01656023098404174 Centerline is valid? [True, True] Translation: X:872.84, Y:15.91, Z:3.82 [[ 9.61578292e-01 -2.74457239e-01 -6.35713087e-03 8.72839707e+02] [ 2.74452037e-01 9.61599298e-01 -1.69369737e-03 1.59133163e+01] [ 6.57786009e-03 -1.16104895e-04 9.99978359e-01 3.82438361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.779254154 meters 0.016618379660967735 Centerline is valid? [True, True] Translation: X:872.90, Y:15.93, Z:3.82 [[ 9.62055179e-01 -2.72774234e-01 -6.63700785e-03 8.72896220e+02] [ 2.72768512e-01 9.62078066e-01 -1.77011551e-03 1.59296065e+01] [ 6.86816158e-03 -1.07417956e-04 9.99976408e-01 3.82471066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.839254154 meters 0.01758432819046082 Centerline is valid? [True, True] Translation: X:872.95, Y:15.95, Z:3.82 [[ 9.62621177e-01 -2.70757245e-01 -7.14028765e-03 8.72952536e+02] [ 2.70750551e-01 9.62647653e-01 -1.90637894e-03 1.59478909e+01] [ 7.38974706e-03 -9.81160797e-05 9.99972691e-01 3.82425585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.899254154 meters 0.017806672323087004 Centerline is valid? [True, True] Translation: X:873.01, Y:15.97, Z:3.82 [[ 9.63095884e-01 -2.69053830e-01 -7.50696662e-03 8.73008871e+02] [ 2.69046363e-01 9.63125137e-01 -2.00641006e-03 1.59650902e+01] [ 7.76998056e-03 -8.73567935e-05 9.99969809e-01 3.82379098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.959254154 meters 0.01355374831175883 Centerline is valid? [True, True] Translation: X:873.06, Y:15.98, Z:3.83 [[ 9.63821904e-01 -2.66463356e-01 -6.67963726e-03 8.73064629e+02] [ 2.66457373e-01 9.63845048e-01 -1.78657125e-03 1.59802551e+01] [ 6.91419107e-03 -5.79020930e-05 9.99976095e-01 3.82707494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.019254154 meters 0.015228203892362015 Centerline is valid? [True, True] Translation: X:873.12, Y:16.00, Z:3.82 [[ 9.64521140e-01 -2.63906222e-01 -7.24409074e-03 8.73120488e+02] [ 2.63899103e-01 9.64548342e-01 -1.93880378e-03 1.59984838e+01] [ 7.49893809e-03 -4.16918125e-05 9.99971882e-01 3.82469747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.079254154 meters 0.015204945575745824 Centerline is valid? [True, True] Translation: X:873.18, Y:16.02, Z:3.82 [[ 9.65290151e-01 -2.61089024e-01 -6.88811663e-03 8.73176997e+02] [ 2.61082503e-01 9.65314726e-01 -1.84533861e-03 1.60165568e+01] [ 7.13099808e-03 -1.70795459e-05 9.99974574e-01 3.82447945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.139254154 meters 0.012920488430975628 Centerline is valid? [True, True] Translation: X:873.23, Y:16.03, Z:3.83 [[ 9.65608617e-01 -2.59904154e-01 -7.05900936e-03 8.73232564e+02] [ 2.59897259e-01 9.65634419e-01 -1.89316098e-03 1.60319229e+01] [ 7.30846280e-03 -6.56462855e-06 9.99973293e-01 3.82693732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.199254154 meters 0.017074278890823726 Centerline is valid? [True, True] Translation: X:873.29, Y:16.04, Z:3.82 [[ 9.64362190e-01 -2.64431954e-01 -9.01710751e-03 8.73289293e+02] [ 2.64420881e-01 9.64404344e-01 -2.42043243e-03 1.60433044e+01] [ 9.33617733e-03 -5.01379935e-05 9.99956416e-01 3.82274152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.259254154 meters 0.014041904557328655 Centerline is valid? [True, True] Translation: X:873.35, Y:16.05, Z:3.83 [[ 9.62373431e-01 -2.71622801e-01 -7.64416892e-03 8.73347583e+02] [ 2.71615060e-01 9.62403784e-01 -2.05315366e-03 1.60528707e+01] [ 7.91446044e-03 -1.00370869e-04 9.99968675e-01 3.82730482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.319254154 meters 0.018641062920475765 Centerline is valid? [True, True] Translation: X:873.41, Y:16.06, Z:3.82 [[ 9.60356834e-01 -2.78638569e-01 -8.67755638e-03 8.73406211e+02] [ 2.78628865e-01 9.60396021e-01 -2.33218420e-03 1.60644755e+01] [ 8.98372709e-03 -1.78088660e-04 9.99959630e-01 3.82410514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.379254154 meters 0.01596279902738342 Centerline is valid? [True, True] Translation: X:873.46, Y:16.08, Z:3.83 [[ 9.58939668e-01 -2.83503869e-01 -7.76331190e-03 8.73464100e+02] [ 2.83496258e-01 9.58971072e-01 -2.08691606e-03 1.60768284e+01] [ 8.03644031e-03 -1.99643280e-04 9.99967687e-01 3.82757782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.439254154 meters 0.021094162549102707 Centerline is valid? [True, True] Translation: X:873.52, Y:16.09, Z:3.82 [[ 9.58374569e-01 -2.85346690e-01 -9.76991405e-03 8.73520021e+02] [ 2.85334718e-01 9.58424329e-01 -2.62771657e-03 1.60895979e+01] [ 1.01135335e-02 -2.69358929e-04 9.99948821e-01 3.82283811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.499254154 meters 0.017698007828777222 Centerline is valid? [True, True] Translation: X:873.58, Y:16.11, Z:3.83 [[ 9.58540272e-01 -2.84842234e-01 -8.09003969e-03 8.73575600e+02] [ 2.84833993e-01 9.58574387e-01 -2.17754865e-03 1.61081234e+01] [ 8.37516265e-03 -2.17050233e-04 9.99964904e-01 3.82550182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.559254154 meters 0.019915124562004567 Centerline is valid? [True, True] Translation: X:873.63, Y:16.12, Z:3.83 [[ 9.58153102e-01 -2.86155745e-01 -7.58440114e-03 8.73631587e+02] [ 2.86148532e-01 9.58183095e-01 -2.04286122e-03 1.61224592e+01] [ 7.85182143e-03 -2.12891432e-04 9.99969151e-01 3.82531095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.619254154 meters 0.01849528574151849 Centerline is valid? [True, True] Translation: X:873.69, Y:16.14, Z:3.83 [[ 9.57851716e-01 -2.87179576e-01 -6.92688120e-03 8.73687548e+02] [ 2.87173582e-01 9.57876741e-01 -1.86638994e-03 1.61391187e+01] [ 7.17108746e-03 -2.01492481e-04 9.99974267e-01 3.82654724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.679254154 meters 0.019257664530704707 Centerline is valid? [True, True] Translation: X:873.74, Y:16.16, Z:3.82 [[ 9.58153520e-01 -2.86137347e-01 -8.20066294e-03 8.73744088e+02] [ 2.86128895e-01 9.58188586e-01 -2.21106881e-03 1.61573206e+01] [ 8.49045100e-03 -2.27903261e-04 9.99963929e-01 3.82463698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.7392541539999 meters 0.01942048339737663 Centerline is valid? [True, True] Translation: X:873.80, Y:16.17, Z:3.82 [[ 9.58674711e-01 -2.84379984e-01 -8.41567218e-03 8.73799492e+02] [ 2.84371002e-01 9.58711624e-01 -2.27051768e-03 1.61739754e+01] [ 8.71389252e-03 -2.16485247e-04 9.99962010e-01 3.82489842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.799254154 meters 0.017859280513721966 Centerline is valid? [True, True] Translation: X:873.86, Y:16.19, Z:3.83 [[ 9.59635912e-01 -2.81140938e-01 -7.66087856e-03 8.73855897e+02] [ 2.81133386e-01 9.59666475e-01 -2.06767052e-03 1.61930420e+01] [ 7.93319516e-03 -1.69517846e-04 9.99968517e-01 3.82649249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.8592541539999 meters 0.019050041016894823 Centerline is valid? [True, True] Translation: X:873.91, Y:16.21, Z:3.83 [[ 9.59950985e-01 -2.80043679e-01 -8.34524745e-03 8.73911535e+02] [ 2.80034662e-01 9.59987243e-01 -2.25402870e-03 1.62108886e+01] [ 8.64255759e-03 -1.73201472e-04 9.99962637e-01 3.82561788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.919254154 meters 0.019250300483330627 Centerline is valid? [True, True] Translation: X:873.97, Y:16.23, Z:3.83 [[ 9.59806198e-01 -2.80536056e-01 -8.46072667e-03 8.73967338e+02] [ 2.80526786e-01 9.59843471e-01 -2.28756933e-03 1.62266778e+01] [ 8.76271894e-03 -1.77837240e-04 9.99961591e-01 3.82550399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.9792541539999 meters 0.018086991656543722 Centerline is valid? [True, True] Translation: X:874.02, Y:16.25, Z:3.83 [[ 9.58974562e-01 -2.83374626e-01 -8.16148792e-03 8.74023694e+02] [ 2.83366083e-01 9.59009272e-01 -2.20892528e-03 1.62450293e+01] [ 8.45289596e-03 -1.94385708e-04 9.99964255e-01 3.82735409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.039254154 meters 0.01764859328472509 Centerline is valid? [True, True] Translation: X:874.08, Y:16.26, Z:3.83 [[ 9.57317173e-01 -2.88939277e-01 -7.61083214e-03 8.74081902e+02] [ 2.88932014e-01 9.57347399e-01 -2.06116103e-03 1.62570690e+01] [ 7.88176073e-03 -2.25828203e-04 9.99968913e-01 3.83098223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.0992541539999 meters 0.022443161373261203 Centerline is valid? [True, True] Translation: X:874.14, Y:16.27, Z:3.83 [[ 9.54606611e-01 -2.97687117e-01 -1.04210699e-02 8.74140818e+02] [ 2.97674013e-01 9.54663404e-01 -2.82269492e-03 1.62696519e+01] [ 1.07888940e-02 -4.07518481e-04 9.99941715e-01 3.82791362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.159254154 meters 0.022239883036086903 Centerline is valid? [True, True] Translation: X:874.20, Y:16.28, Z:3.83 [[ 9.52454500e-01 -3.04516395e-01 -1.00095007e-02 8.74199325e+02] [ 3.04504679e-01 9.52506981e-01 -2.71143357e-03 1.62846686e+01] [ 1.03597952e-02 -4.65422684e-04 9.99946228e-01 3.83094921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.2192541539999 meters 0.026327920273678973 Centerline is valid? [True, True] Translation: X:874.26, Y:16.30, Z:3.83 [[ 9.51448283e-01 -3.07544907e-01 -1.27394689e-02 8.74256075e+02] [ 3.07526192e-01 9.51533356e-01 -3.45148832e-03 1.63010383e+01] [ 1.31835173e-02 -6.33807738e-04 9.99912893e-01 3.82878038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.279254154 meters 0.023506479266668892 Centerline is valid? [True, True] Translation: X:874.31, Y:16.32, Z:3.83 [[ 9.52075738e-01 -3.05572574e-01 -1.33112813e-02 8.74311161e+02] [ 3.05551936e-01 9.52168578e-01 -3.60732895e-03 1.63235156e+01] [ 1.37768846e-02 -6.32837400e-04 9.99904894e-01 3.83102488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.339254154 meters 0.025267003365370536 Centerline is valid? [True, True] Translation: X:874.37, Y:16.35, Z:3.83 [[ 9.53383583e-01 -3.01451745e-01 -1.36597741e-02 8.74366352e+02] [ 3.01429579e-01 9.53481253e-01 -3.70246343e-03 1.63461215e+01] [ 1.41404526e-02 -5.87592124e-04 9.99899846e-01 3.83085282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.399254154 meters 0.0205782859181982 Centerline is valid? [True, True] Translation: X:874.42, Y:16.37, Z:3.84 [[ 9.54588964e-01 -2.97712473e-01 -1.12779613e-02 8.74422028e+02] [ 2.97697099e-01 9.54655483e-01 -3.05727822e-03 1.63687748e+01] [ 1.16767574e-02 -4.38972297e-04 9.99931728e-01 3.83665127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.459254154 meters 0.0229423408734768 Centerline is valid? [True, True] Translation: X:874.48, Y:16.40, Z:3.83 [[ 9.56139560e-01 -2.92616715e-01 -1.31377477e-02 8.74477154e+02] [ 2.92595366e-01 9.56229714e-01 -3.56179727e-03 1.63958634e+01] [ 1.36049462e-02 -4.38468827e-04 9.99907352e-01 3.83496223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.519254154 meters 0.02320390168791656 Centerline is valid? [True, True] Translation: X:874.53, Y:16.42, Z:3.83 [[ 9.57275531e-01 -2.88824188e-01 -1.42879584e-02 8.74530542e+02] [ 2.88798498e-01 9.57382063e-01 -3.87467481e-03 1.64206695e+01] [ 1.47981348e-02 -4.17209536e-04 9.99890415e-01 3.83498441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.579254154 meters 0.020081088146217486 Centerline is valid? [True, True] Translation: X:874.59, Y:16.44, Z:3.84 [[ 9.57252769e-01 -2.88934931e-01 -1.35551258e-02 8.74586295e+02] [ 2.88911779e-01 9.57348656e-01 -3.67884194e-03 1.64413846e+01] [ 1.40399274e-02 -3.94653866e-04 9.99901357e-01 3.83808842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.639254154 meters 0.022176560690789417 Centerline is valid? [True, True] Translation: X:874.64, Y:16.46, Z:3.84 [[ 9.55734292e-01 -2.93854502e-01 -1.48827116e-02 8.74643276e+02] [ 2.93827165e-01 9.55850025e-01 -4.04060392e-03 1.64612433e+01] [ 1.54129899e-02 -5.11201251e-04 9.99881082e-01 3.83884481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.699254154 meters 0.024338450897383002 Centerline is valid? [True, True] Translation: X:874.70, Y:16.48, Z:3.84 [[ 9.54776607e-01 -2.96754716e-01 -1.83920897e-02 8.74698928e+02] [ 2.96713477e-01 9.54953488e-01 -4.99478840e-03 1.64785095e+01] [ 1.90458172e-02 -6.88273755e-04 9.99818375e-01 3.83617061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.759254154 meters 0.020678884523918965 Centerline is valid? [True, True] Translation: X:874.75, Y:16.50, Z:3.84 [[ 9.54952809e-01 -2.96261828e-01 -1.71481992e-02 8.74754281e+02] [ 2.96225831e-01 9.55106556e-01 -4.66082035e-03 1.64978797e+01] [ 1.77591806e-02 -6.28876068e-04 9.99842096e-01 3.83851337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.819254154 meters 0.023014836144288463 Centerline is valid? [True, True] Translation: X:874.81, Y:16.52, Z:3.84 [[ 9.55020244e-01 -2.95902376e-01 -1.94452305e-02 8.74809969e+02] [ 2.95855906e-01 9.55217930e-01 -5.29051514e-03 1.65183679e+01] [ 2.01399088e-02 -7.00437225e-04 9.99796926e-01 3.83758940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.879254154 meters 0.02106078766501364 Centerline is valid? [True, True] Translation: X:874.87, Y:16.54, Z:3.84 [[ 9.55582714e-01 -2.94260653e-01 -1.65028763e-02 8.74865337e+02] [ 2.94226906e-01 9.55725039e-01 -4.49186990e-03 1.65364906e+01] [ 1.70939926e-02 -5.63236992e-04 9.99853728e-01 3.83950347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.939254154 meters 0.02288167777925674 Centerline is valid? [True, True] Translation: X:874.92, Y:16.56, Z:3.84 [[ 9.56071721e-01 -2.92586710e-01 -1.78852219e-02 8.74919902e+02] [ 2.92546750e-01 9.56238822e-01 -4.86973070e-03 1.65554873e+01] [ 1.85273620e-02 -5.76451722e-04 9.99828188e-01 3.83788013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.999254154 meters 0.020436423072623992 Centerline is valid? [True, True] Translation: X:874.98, Y:16.58, Z:3.84 [[ 9.57105345e-01 -2.89266007e-01 -1.65690916e-02 8.74976015e+02] [ 2.89231197e-01 9.57248637e-01 -4.51243665e-03 1.65777765e+01] [ 1.71660349e-02 -4.73420944e-04 9.99852541e-01 3.83907925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.059254154 meters 0.020733306887775194 Centerline is valid? [True, True] Translation: X:875.03, Y:16.60, Z:3.84 [[ 9.58579799e-01 -2.84369141e-01 -1.60922489e-02 8.75032142e+02] [ 2.84335603e-01 9.58714792e-01 -4.38326018e-03 1.65991516e+01] [ 1.66743410e-02 -3.73894613e-04 9.99860904e-01 3.83914762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.119254154 meters 0.017321942445234197 Centerline is valid? [True, True] Translation: X:875.09, Y:16.62, Z:3.84 [[ 9.59494615e-01 -2.81506358e-01 -1.11469460e-02 8.75088312e+02] [ 2.81490065e-01 9.59559337e-01 -3.03688716e-03 1.66161946e+01] [ 1.15510591e-02 -2.23877674e-04 9.99933259e-01 3.84218464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.179254154 meters 0.018069047203794854 Centerline is valid? [True, True] Translation: X:875.14, Y:16.63, Z:3.84 [[ 9.60143498e-01 -2.79258074e-01 -1.18064021e-02 8.75144049e+02] [ 2.79239597e-01 9.60216062e-01 -3.21895545e-03 1.66343467e+01] [ 1.22356163e-02 -2.06155829e-04 9.99925121e-01 3.84089728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.2392541539999 meters 0.01664621581367673 Centerline is valid? [True, True] Translation: X:875.20, Y:16.65, Z:3.84 [[ 9.60791625e-01 -2.77049808e-01 -1.10840852e-02 8.75200368e+02] [ 2.77033356e-01 9.60855544e-01 -3.02375931e-03 1.66463578e+01] [ 1.14879366e-02 -1.65458705e-04 9.99933998e-01 3.83925577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.299254154 meters 0.016468856891131405 Centerline is valid? [True, True] Translation: X:875.26, Y:16.66, Z:3.84 [[ 9.60442766e-01 -2.78277894e-01 -1.05407071e-02 8.75257043e+02] [ 2.78263079e-01 9.60500591e-01 -2.87650426e-03 1.66601762e+01] [ 1.09248230e-02 -1.70371910e-04 9.99940308e-01 3.84033905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.3592541539999 meters 0.02086321703540732 Centerline is valid? [True, True] Translation: X:875.31, Y:16.67, Z:3.84 [[ 9.59583198e-01 -2.81143534e-01 -1.25856601e-02 8.75314540e+02] [ 2.81122624e-01 9.59665700e-01 -3.43724760e-03 1.66736234e+01] [ 1.30443862e-02 -2.39788740e-04 9.99914890e-01 3.83764063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.419254154 meters 0.020832628638055538 Centerline is valid? [True, True] Translation: X:875.37, Y:16.69, Z:3.84 [[ 9.58516889e-01 -2.84815673e-01 -1.11984538e-02 8.75372706e+02] [ 2.84799336e-01 9.58582269e-01 -3.06125859e-03 1.66853942e+01] [ 1.16065337e-02 -2.55044149e-04 9.99932609e-01 3.83782960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.4792541539999 meters 0.022126209537620567 Centerline is valid? [True, True] Translation: X:875.43, Y:16.70, Z:3.84 [[ 9.57408553e-01 -2.88566272e-01 -9.91817348e-03 8.75430707e+02] [ 2.88553643e-01 9.57459888e-01 -2.71260651e-03 1.66952776e+01] [ 1.02790200e-02 -2.64852426e-04 9.99947134e-01 3.83757102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.539254154 meters 0.022415323583845043 Centerline is valid? [True, True] Translation: X:875.49, Y:16.71, Z:3.84 [[ 9.57060272e-01 -2.89743550e-01 -9.18206168e-03 8.75487160e+02] [ 2.89732766e-01 9.57104284e-01 -2.51283550e-03 1.67129004e+01] [ 9.51626845e-03 -2.55409101e-04 9.99954687e-01 3.83748537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.5992541539999 meters 0.017560208911204356 Centerline is valid? [True, True] Translation: X:875.54, Y:16.73, Z:3.84 [[ 9.57174019e-01 -2.89445191e-01 -6.27522246e-03 8.75544399e+02] [ 2.89440139e-01 9.57194574e-01 -1.71866795e-03 1.67280225e+01] [ 6.50406906e-03 -1.71236952e-04 9.99978834e-01 3.84073781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.659254154 meters 0.02031968879127673 Centerline is valid? [True, True] Translation: X:875.60, Y:16.74, Z:3.84 [[ 9.56868977e-01 -2.90467391e-01 -5.51863282e-03 8.75600603e+02] [ 2.90463495e-01 9.56884878e-01 -1.51260111e-03 1.67414765e+01] [ 5.72005760e-03 -1.55600294e-04 9.99983628e-01 3.84006151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.7192541539999 meters 0.01943201647692968 Centerline is valid? [True, True] Translation: X:875.66, Y:16.76, Z:3.84 [[ 9.56766353e-01 -2.90811621e-01 -5.17178076e-03 8.75656329e+02] [ 2.90808200e-01 9.56780319e-01 -1.41820069e-03 1.67575221e+01] [ 5.36068729e-03 -1.47109548e-04 9.99985621e-01 3.83990681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.779254154 meters 0.018500802068855862 Centerline is valid? [True, True] Translation: X:875.71, Y:16.78, Z:3.84 [[ 9.58116598e-01 -2.86299599e-01 -6.71748671e-03 8.75712224e+02] [ 2.86293701e-01 9.58140133e-01 -1.84437162e-03 1.67776885e+01] [ 6.96433647e-03 -1.56051064e-04 9.99975737e-01 3.83809344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.839254154 meters 0.020924802740264946 Centerline is valid? [True, True] Translation: X:875.77, Y:16.80, Z:3.84 [[ 9.59733685e-01 -2.80831711e-01 -6.69351884e-03 8.75766891e+02] [ 2.80825712e-01 9.59757020e-01 -1.83908223e-03 1.67967540e+01] [ 6.94062430e-03 -1.14683033e-04 9.99975907e-01 3.83619880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.899254154 meters 0.01565079913047195 Centerline is valid? [True, True] Translation: X:875.82, Y:16.81, Z:3.84 [[ 9.60272847e-01 -2.78990258e-01 -6.36359797e-03 8.75823025e+02] [ 2.78984790e-01 9.60293927e-01 -1.74939118e-03 1.68134610e+01] [ 6.59898758e-03 -9.54541893e-05 9.99978222e-01 3.83773823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.959254154 meters 0.01975506140724956 Centerline is valid? [True, True] Translation: X:875.88, Y:16.83, Z:3.84 [[ 9.59966642e-01 -2.80043385e-01 -6.30460786e-03 8.75879964e+02] [ 2.80038029e-01 9.59987340e-01 -1.73487111e-03 1.68276637e+01] [ 6.53818291e-03 -1.00111566e-04 9.99978621e-01 3.83603334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.019254154 meters 0.02060893032182204 Centerline is valid? [True, True] Translation: X:875.94, Y:16.84, Z:3.84 [[ 9.58480429e-01 -2.85101396e-01 -5.69750032e-03 8.75938255e+02] [ 2.85097104e-01 9.58497355e-01 -1.56896024e-03 1.68387347e+01] [ 5.90835174e-03 -1.20523159e-04 9.99982538e-01 3.83535725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.079254154 meters 0.018281573669517277 Centerline is valid? [True, True] Translation: X:876.00, Y:16.85, Z:3.84 [[ 9.57946694e-01 -2.86905587e-01 -4.82869962e-03 8.75996307e+02] [ 2.86902525e-01 9.57958857e-01 -1.33015624e-03 1.68508318e+01] [ 5.00732482e-03 -1.11147341e-04 9.99987457e-01 3.83735388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.139254154 meters 0.017833455064061213 Centerline is valid? [True, True] Translation: X:876.05, Y:16.86, Z:3.84 [[ 9.57856470e-01 -2.87230147e-01 -3.13444886e-03 8.76052687e+02] [ 2.87228858e-01 9.57861596e-01 -8.63845212e-04 1.68632422e+01] [ 3.25049057e-03 -7.28644403e-05 9.99994714e-01 3.83888558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.199254154 meters 0.01996603336979961 Centerline is valid? [True, True] Translation: X:876.11, Y:16.88, Z:3.84 [[ 9.58848146e-01 -2.83898233e-01 -3.46798156e-03 8.76109252e+02] [ 2.83896628e-01 9.58854415e-01 -9.57010742e-04 1.68790106e+01] [ 3.59698309e-03 -6.69202970e-05 9.99993529e-01 3.83725238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.259254154 meters 0.01836818294015962 Centerline is valid? [True, True] Translation: X:876.17, Y:16.90, Z:3.84 [[ 9.60141798e-01 -2.79497325e-01 -2.99563349e-03 8.76166375e+02] [ 2.79496104e-01 9.60146470e-01 -8.27318175e-04 1.68953339e+01] [ 3.10748014e-03 -4.29251309e-05 9.99995171e-01 3.83702978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.319254154 meters 0.0192180687453379 Centerline is valid? [True, True] Translation: X:876.22, Y:16.91, Z:3.84 [[ 9.60549613e-01 -2.78088351e-01 -3.36299447e-03 8.76222325e+02] [ 2.78086800e-01 9.60555499e-01 -9.29891458e-04 1.69096110e+01] [ 3.48893481e-03 -4.19974883e-05 9.99993913e-01 3.83664240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.379254154 meters 0.017291199155034773 Centerline is valid? [True, True] Translation: X:876.28, Y:16.93, Z:3.84 [[ 9.61670695e-01 -2.74163390e-01 -4.88976090e-03 8.76278993e+02] [ 2.74160055e-01 9.61683126e-01 -1.35281742e-03 1.69259331e+01] [ 5.07329355e-03 -3.96122529e-05 9.99987130e-01 3.83585584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.439254154 meters 0.018800843538856592 Centerline is valid? [True, True] Translation: X:876.34, Y:16.94, Z:3.84 [[ 9.62685734e-01 -2.70570480e-01 -5.27183201e-03 8.76336070e+02] [ 2.70566542e-01 9.62700169e-01 -1.46004249e-03 1.69389466e+01] [ 5.47023796e-03 -2.08192818e-05 9.99985038e-01 3.83570315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.499254154 meters 0.019163630313274074 Centerline is valid? [True, True] Translation: X:876.39, Y:16.95, Z:3.84 [[ 9.63613334e-01 -2.67251520e-01 -5.09582849e-03 8.76392916e+02] [ 2.67247786e-01 9.63626808e-01 -1.41267207e-03 1.69509189e+01] [ 5.28801570e-03 -5.79235455e-07 9.99986018e-01 3.83592169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.559254154 meters 0.016164956078874308 Centerline is valid? [True, True] Translation: X:876.45, Y:16.96, Z:3.84 [[ 9.65078489e-01 -2.61932356e-01 -3.86660751e-03 8.76450934e+02] [ 2.61930160e-01 9.65086235e-01 -1.07280353e-03 1.69629456e+01] [ 4.01261164e-03 2.25584856e-05 9.99991949e-01 3.83779486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.619254154 meters 0.019096712213464057 Centerline is valid? [True, True] Translation: X:876.51, Y:16.97, Z:3.84 [[ 9.66823247e-01 -2.55402843e-01 -4.71127588e-03 8.76507540e+02] [ 2.55399498e-01 9.66834724e-01 -1.30863821e-03 1.69742397e+01] [ 4.88925504e-03 6.19643477e-05 9.99988046e-01 3.83730173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.679254154 meters 0.02101034730702345 Centerline is valid? [True, True] Translation: X:876.57, Y:16.98, Z:3.84 [[ 9.67778310e-01 -2.51765767e-01 -4.37511658e-03 8.76566073e+02] [ 2.51762843e-01 9.67788196e-01 -1.21568416e-03 1.69836803e+01] [ 4.54025384e-03 7.50209670e-05 9.99989690e-01 3.83788626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.7392541539999 meters 0.017730035773910757 Centerline is valid? [True, True] Translation: X:876.63, Y:16.99, Z:3.84 [[ 9.68212339e-01 -2.50103589e-01 -3.61416477e-03 8.76625432e+02] [ 2.50101579e-01 9.68219082e-01 -1.00502723e-03 1.69913439e+01] [ 3.75066422e-03 6.91714429e-05 9.99992964e-01 3.84040617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.799254154 meters 0.015572992990746345 Centerline is valid? [True, True] Translation: X:876.69, Y:17.00, Z:3.84 [[ 9.68445930e-01 -2.49172529e-01 -5.05288798e-03 8.76685429e+02] [ 2.49168578e-01 9.68459106e-01 -1.40691977e-03 1.69956412e+01] [ 5.24408113e-03 1.03504812e-04 9.99986244e-01 3.84032474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.8592541539999 meters 0.01570971563293441 Centerline is valid? [True, True] Translation: X:876.74, Y:17.00, Z:3.84 [[ 9.68262680e-01 -2.49824053e-01 -7.43806020e-03 8.76744574e+02] [ 2.49815491e-01 9.68291237e-01 -2.07375491e-03 1.69998568e+01] [ 7.72028237e-03 1.49796827e-04 9.99970187e-01 3.83835133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.919254154 meters 0.015185983585569341 Centerline is valid? [True, True] Translation: X:876.80, Y:17.01, Z:3.84 [[ 9.67683863e-01 -2.52041087e-01 -7.95182271e-03 8.76804226e+02] [ 2.52031356e-01 9.67716523e-01 -2.21940191e-03 1.70062807e+01] [ 8.25449070e-03 1.43570754e-04 9.99965921e-01 3.83807829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.9792541539999 meters 0.019224082715481743 Centerline is valid? [True, True] Translation: X:876.87, Y:17.00, Z:3.84 [[ 9.66321279e-01 -2.57148549e-01 -9.88988751e-03 8.76866574e+02] [ 2.57133741e-01 9.66371879e-01 -2.76255713e-03 1.70037165e+01] [ 1.02676967e-02 1.26493964e-04 9.99947278e-01 3.83564818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.039254154 meters 0.016474087879752637 Centerline is valid? [True, True] Translation: X:876.93, Y:17.00, Z:3.84 [[ 9.64390964e-01 -2.64290185e-01 -1.00382931e-02 8.76928690e+02] [ 2.64275302e-01 9.64443205e-01 -2.80519391e-03 1.69964247e+01] [ 1.04227487e-02 5.24307248e-05 9.99945680e-01 3.83685417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.0992541539999 meters 0.015474229378316143 Centerline is valid? [True, True] Translation: X:876.99, Y:17.00, Z:3.84 [[ 9.62582294e-01 -2.70846338e-01 -8.80842525e-03 8.76988798e+02] [ 2.70835145e-01 9.62622595e-01 -2.46231284e-03 1.69952248e+01] [ 9.14609759e-03 -1.54523896e-05 9.99958173e-01 3.83920382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.159254154 meters 0.013215958686915575 Centerline is valid? [True, True] Translation: X:877.05, Y:17.00, Z:3.84 [[ 9.61236575e-01 -2.75608871e-01 -7.99980313e-03 8.77049230e+02] [ 2.75599792e-01 9.61269862e-01 -2.23764129e-03 1.69969847e+01] [ 8.30668344e-03 -5.38414259e-05 9.99965497e-01 3.84279969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.2192541539999 meters 0.01680607553662372 Centerline is valid? [True, True] Translation: X:877.11, Y:17.00, Z:3.84 [[ 9.60281383e-01 -2.78890481e-01 -8.93113750e-03 8.77109290e+02] [ 2.78879284e-01 9.60322910e-01 -2.50065484e-03 1.70023551e+01] [ 9.27418478e-03 -8.93769486e-05 9.99956990e-01 3.84014300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.279254154 meters 0.016084127195481718 Centerline is valid? [True, True] Translation: X:877.17, Y:17.01, Z:3.84 [[ 9.59717411e-01 -2.80820301e-01 -9.08013359e-03 8.77167980e+02] [ 2.80808791e-01 9.59760359e-01 -2.54479059e-03 1.70117879e+01] [ 9.42938114e-03 -1.07501505e-04 9.99955537e-01 3.84052727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.339254154 meters 0.020152426699925157 Centerline is valid? [True, True] Translation: X:877.23, Y:17.02, Z:3.84 [[ 9.58666324e-01 -2.84333643e-01 -1.06423208e-02 8.77225797e+02] [ 2.84318022e-01 9.58725379e-01 -2.98494687e-03 1.70179324e+01] [ 1.10517838e-02 -1.64235550e-04 9.99938914e-01 3.83773796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.399254154 meters 0.020412170240344717 Centerline is valid? [True, True] Translation: X:877.28, Y:17.03, Z:3.84 [[ 9.58091069e-01 -2.86204984e-01 -1.21741952e-02 8.77284900e+02] [ 2.86184657e-01 9.58168390e-01 -3.41741408e-03 1.70263566e+01] [ 1.26430100e-02 -2.09873986e-04 9.99920052e-01 3.83673040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.459254154 meters 0.015954274249194676 Centerline is valid? [True, True] Translation: X:877.34, Y:17.04, Z:3.84 [[ 9.58148466e-01 -2.86015590e-01 -1.21078203e-02 8.77341844e+02] [ 2.85995425e-01 9.58224943e-01 -3.40228713e-03 1.70388851e+01] [ 1.25751226e-02 -2.02885016e-04 9.99920909e-01 3.83899462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.519254154 meters 0.016055897551969303 Centerline is valid? [True, True] Translation: X:877.40, Y:17.05, Z:3.84 [[ 9.58977947e-01 -2.83244793e-01 -1.15621787e-02 8.77398551e+02] [ 2.83226181e-01 9.59047633e-01 -3.25090573e-03 1.70510811e+01] [ 1.20094822e-02 -1.57164801e-04 9.99927871e-01 3.83803273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.579254154 meters 0.01772604639829235 Centerline is valid? [True, True] Translation: X:877.46, Y:17.07, Z:3.84 [[ 9.60119872e-01 -2.79400878e-01 -1.02460015e-02 8.77455289e+02] [ 2.79386023e-01 9.60174536e-01 -2.88265610e-03 1.70677808e+01] [ 1.06433664e-02 -9.48942164e-05 9.99943353e-01 3.83783072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.639254154 meters 0.013288949715975896 Centerline is valid? [True, True] Translation: X:877.51, Y:17.09, Z:3.84 [[ 9.61562964e-01 -2.74435084e-01 -9.05817888e-03 8.77510979e+02] [ 2.74423232e-01 9.61605628e-01 -2.55070372e-03 1.70862673e+01] [ 9.41039838e-03 -3.31125003e-05 9.99955721e-01 3.84325039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.699254154 meters 0.013673447705454643 Centerline is valid? [True, True] Translation: X:877.57, Y:17.10, Z:3.84 [[ 9.62608718e-01 -2.70726146e-01 -9.58180030e-03 8.77565674e+02] [ 2.70712681e-01 9.62656405e-01 -2.70010633e-03 1.71028840e+01] [ 9.95497081e-03 5.23104693e-06 9.99950448e-01 3.84185572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.759254154 meters 0.01464126422450112 Centerline is valid? [True, True] Translation: X:877.62, Y:17.12, Z:3.84 [[ 9.62848401e-01 -2.69834129e-01 -1.06065453e-02 8.77622087e+02] [ 2.69817547e-01 9.62906819e-01 -2.99147779e-03 1.71179735e+01] [ 1.10203176e-02 1.85075846e-05 9.99939274e-01 3.84045771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.819254154 meters 0.015382936647181124 Centerline is valid? [True, True] Translation: X:877.68, Y:17.13, Z:3.84 [[ 9.62412698e-01 -2.71325448e-01 -1.20124915e-02 8.77679720e+02] [ 2.71304250e-01 9.62487663e-01 -3.39158340e-03 1.71300437e+01] [ 1.24820977e-02 5.06294793e-06 9.99922096e-01 3.83855851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.879254154 meters 0.014134259895768794 Centerline is valid? [True, True] Translation: X:877.74, Y:17.14, Z:3.84 [[ 9.60899007e-01 -2.76596153e-01 -1.29486291e-02 8.77737624e+02] [ 2.76571972e-01 9.60986245e-01 -3.65793843e-03 1.71383938e+01] [ 1.34552261e-02 -6.63184771e-05 9.99909472e-01 3.83833449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.939254154 meters 0.01656866829218162 Centerline is valid? [True, True] Translation: X:877.80, Y:17.14, Z:3.84 [[ 9.58696120e-01 -2.84105552e-01 -1.36303002e-02 8.77797145e+02] [ 2.84079474e-01 9.58792993e-01 -3.85343690e-03 1.71449208e+01] [ 1.41634191e-02 -1.77813501e-04 9.99899678e-01 3.83784080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.999254154 meters 0.015347269663034228 Centerline is valid? [True, True] Translation: X:877.86, Y:17.15, Z:3.84 [[ 9.57183481e-01 -2.89220231e-01 -1.23061623e-02 8.77856682e+02] [ 2.89199355e-01 9.57262559e-01 -3.48223983e-03 1.71521132e+01] [ 1.27873626e-02 -2.25791757e-04 9.99918213e-01 3.84233028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.059254154 meters 0.015068051045883527 Centerline is valid? [True, True] Translation: X:877.91, Y:17.16, Z:3.84 [[ 9.56812840e-01 -2.90445407e-01 -1.22741662e-02 8.77914656e+02] [ 2.90424698e-01 9.56891535e-01 -3.47647919e-03 1.71648446e+01] [ 1.27547731e-02 -2.38381084e-04 9.99918626e-01 3.84342666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.119254154 meters 0.01591571646981683 Centerline is valid? [True, True] Translation: X:877.97, Y:17.18, Z:3.84 [[ 9.57722943e-01 -2.87374405e-01 -1.35172158e-02 8.77972269e+02] [ 2.87348933e-01 9.57818305e-01 -3.83211902e-03 1.71793603e+01] [ 1.40482896e-02 -2.14049231e-04 9.99901295e-01 3.84139908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.179254154 meters 0.016336976817600376 Centerline is valid? [True, True] Translation: X:878.03, Y:17.20, Z:3.84 [[ 9.58020353e-01 -2.86355797e-01 -1.40484923e-02 8.78028791e+02] [ 2.86328119e-01 9.58123330e-01 -3.98647517e-03 1.71952872e+01] [ 1.46017385e-02 -2.03354021e-04 9.99893368e-01 3.84085981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.2392541539999 meters 0.013659829387858586 Centerline is valid? [True, True] Translation: X:878.09, Y:17.21, Z:3.84 [[ 9.59227382e-01 -2.82246682e-01 -1.48202545e-02 8.78085604e+02] [ 2.82215325e-01 9.59341852e-01 -4.20956040e-03 1.72104704e+01] [ 1.54058249e-02 -1.44577348e-04 9.99881313e-01 3.84335533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.299254154 meters 0.013159699754227164 Centerline is valid? [True, True] Translation: X:878.14, Y:17.22, Z:3.85 [[ 9.59835709e-01 -2.80219812e-01 -1.38661218e-02 8.78142378e+02] [ 2.80192097e-01 9.59935856e-01 -3.94232163e-03 1.72247487e+01] [ 1.44153041e-02 -1.01196670e-04 9.99896089e-01 3.84588114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.3592541539999 meters 0.014794282659194673 Centerline is valid? [True, True] Translation: X:878.20, Y:17.24, Z:3.85 [[ 9.59525254e-01 -2.81344132e-01 -1.25206446e-02 8.78198880e+02] [ 2.81321602e-01 9.59606934e-01 -3.56199413e-03 1.72356130e+01] [ 1.30170435e-02 -1.04504464e-04 9.99915269e-01 3.84573581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.419254154 meters 0.01357687456127515 Centerline is valid? [True, True] Translation: X:878.26, Y:17.24, Z:3.85 [[ 9.58481878e-01 -2.84924175e-01 -1.14325520e-02 8.78257590e+02] [ 2.84905616e-01 9.58550049e-01 -3.25493747e-03 1.72447971e+01] [ 1.18860837e-02 -1.37399689e-04 9.99929349e-01 3.84751510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.4792541539999 meters 0.01586150355393513 Centerline is valid? [True, True] Translation: X:878.32, Y:17.25, Z:3.85 [[ 9.57009081e-01 -2.89819877e-01 -1.17498250e-02 8.78315284e+02] [ 2.89800618e-01 9.57081187e-01 -3.34717316e-03 1.72537074e+01] [ 1.22156137e-02 -2.01831429e-04 9.99925366e-01 3.84621675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.539254154 meters 0.015533430097110563 Centerline is valid? [True, True] Translation: X:878.37, Y:17.26, Z:3.85 [[ 9.55641673e-01 -2.94274733e-01 -1.23034045e-02 8.78373742e+02] [ 2.94253951e-01 9.55720833e-01 -3.50747953e-03 1.72647091e+01] [ 1.27907826e-02 -2.68431797e-04 9.99918159e-01 3.84683132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.5992541539999 meters 0.01836165935965152 Centerline is valid? [True, True] Translation: X:878.43, Y:17.28, Z:3.84 [[ 9.54330969e-01 -2.98411798e-01 -1.42408118e-02 8.78431720e+02] [ 2.98384391e-01 9.54437143e-01 -4.06152035e-03 1.72783827e+01] [ 1.48039653e-02 -3.73201305e-04 9.99890346e-01 3.84388632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.659254154 meters 0.020134198895958615 Centerline is valid? [True, True] Translation: X:878.49, Y:17.29, Z:3.84 [[ 9.51962158e-01 -3.05830726e-01 -1.53498125e-02 8.78489768e+02] [ 3.05799831e-01 9.52085758e-01 -4.37868463e-03 1.72877460e+01] [ 1.59534742e-02 -5.25627999e-04 9.99872597e-01 3.84303834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.7192541539999 meters 0.0237847907693601 Centerline is valid? [True, True] Translation: X:878.55, Y:17.29, Z:3.85 [[ 9.47458550e-01 -3.19541619e-01 -1.46782281e-02 8.78550342e+02] [ 3.19514990e-01 9.47571967e-01 -4.18792324e-03 1.72933726e+01] [ 1.52468933e-02 -7.22030243e-04 9.99883499e-01 3.84552777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.779254154 meters 0.02796050360523471 Centerline is valid? [True, True] Translation: X:878.61, Y:17.30, Z:3.85 [[ 9.44931979e-01 -3.26986005e-01 -1.35539090e-02 8.78608566e+02] [ 3.26964052e-01 9.45028862e-01 -3.86778938e-03 1.73039230e+01] [ 1.40735482e-02 -7.76843126e-04 9.99900661e-01 3.84602194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.839254154 meters 0.02725652432129859 Centerline is valid? [True, True] Translation: X:878.67, Y:17.32, Z:3.85 [[ 9.41606365e-01 -3.36462976e-01 -1.30429482e-02 8.78665202e+02] [ 3.36443525e-01 9.41696282e-01 -3.72380987e-03 1.73233721e+01] [ 1.35354200e-02 -8.81852399e-04 9.99908003e-01 3.84723804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.899254154 meters 0.0308059704692528 Centerline is valid? [True, True] Translation: X:878.72, Y:17.34, Z:3.85 [[ 9.39785478e-01 -3.41524509e-01 -1.28166059e-02 8.78722627e+02] [ 3.41506178e-01 9.39872402e-01 -3.66039422e-03 1.73376204e+01] [ 1.32960885e-02 -9.36964770e-04 9.99911164e-01 3.84894209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.959254154 meters 0.0319325722663687 Centerline is valid? [True, True] Translation: X:878.78, Y:17.36, Z:3.85 [[ 9.39404593e-01 -3.42534868e-01 -1.37431911e-02 8.78777325e+02] [ 3.42513859e-01 9.39504566e-01 -3.92779110e-03 1.73610421e+01] [ 1.42571962e-02 -1.01744840e-03 9.99897843e-01 3.84692198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.019254154 meters 0.0300488945413454 Centerline is valid? [True, True] Translation: X:878.83, Y:17.39, Z:3.85 [[ 9.39567789e-01 -3.42059825e-01 -1.44029583e-02 8.78831257e+02] [ 3.42036635e-01 9.39677585e-01 -4.12029955e-03 1.73881404e+01] [ 1.49435260e-02 -1.05503864e-03 9.99887783e-01 3.84642086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.079254154 meters 0.029610028035175467 Centerline is valid? [True, True] Translation: X:878.89, Y:17.41, Z:3.85 [[ 9.39748971e-01 -3.41519623e-01 -1.53694203e-02 8.78885206e+02] [ 3.41493077e-01 9.39873986e-01 -4.40105153e-03 1.74140666e+01] [ 1.59483638e-02 -1.11266700e-03 9.99872198e-01 3.84584840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.139254154 meters 0.03451120479226459 Centerline is valid? [True, True] Translation: X:878.94, Y:17.43, Z:3.85 [[ 9.40018928e-01 -3.40823841e-01 -1.42662280e-02 8.78941170e+02] [ 3.40800859e-01 9.40126624e-01 -4.08718849e-03 1.74285423e+01] [ 1.48050721e-02 -1.01990823e-03 9.99889879e-01 3.84582189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.199254154 meters 0.027476721563177542 Centerline is valid? [True, True] Translation: X:878.99, Y:17.46, Z:3.85 [[ 9.40544792e-01 -3.39355478e-01 -1.46066146e-02 8.78992249e+02] [ 3.39331192e-01 9.40657653e-01 -4.18595058e-03 1.74636218e+01] [ 1.51603491e-02 -1.01940592e-03 9.99884556e-01 3.84630537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.259254154 meters 0.032370215062712454 Centerline is valid? [True, True] Translation: X:879.05, Y:17.48, Z:3.84 [[ 9.42057984e-01 -3.35122036e-01 -1.48315844e-02 8.79047894e+02] [ 3.35096458e-01 9.42174235e-01 -4.25134814e-03 1.74828478e+01] [ 1.53986572e-02 -9.64994958e-04 9.99880968e-01 3.84418665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.319254154 meters 0.030031491056043243 Centerline is valid? [True, True] Translation: X:879.10, Y:17.51, Z:3.84 [[ 9.44350694e-01 -3.28602856e-01 -1.48973130e-02 8.79102124e+02] [ 3.28576214e-01 9.44467798e-01 -4.27189837e-03 1.75111618e+01] [ 1.54737905e-02 -8.60732539e-04 9.99879903e-01 3.84414309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.379254154 meters 0.024230820653927808 Centerline is valid? [True, True] Translation: X:879.16, Y:17.54, Z:3.84 [[ 9.46233645e-01 -3.23101477e-01 -1.57265550e-02 8.79155287e+02] [ 3.23071008e-01 9.46363976e-01 -4.51090753e-03 1.75428184e+01] [ 1.63405260e-02 -8.12421498e-04 9.99866155e-01 3.84496010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.439254154 meters 0.021267692268369272 Centerline is valid? [True, True] Translation: X:879.21, Y:17.57, Z:3.85 [[ 9.50445762e-01 -3.10502547e-01 -1.55248956e-02 8.79208097e+02] [ 3.10471157e-01 9.50572366e-01 -4.45386422e-03 1.75727540e+01] [ 1.61404729e-02 -5.86875912e-04 9.99869562e-01 3.84582149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.499254154 meters 0.021106504392911646 Centerline is valid? [True, True] Translation: X:879.26, Y:17.60, Z:3.84 [[ 9.52461884e-01 -3.04237675e-01 -1.59936764e-02 8.79263358e+02] [ 3.04203462e-01 9.52596028e-01 -4.58918063e-03 1.75968709e+01] [ 1.66317143e-02 -4.94312123e-04 9.99861561e-01 3.84493699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.559254154 meters 0.019112053599926616 Centerline is valid? [True, True] Translation: X:879.32, Y:17.62, Z:3.85 [[ 9.55047492e-01 -2.96039707e-01 -1.56454365e-02 8.79318068e+02] [ 2.96005855e-01 9.55175572e-01 -4.48996656e-03 1.76219698e+01] [ 1.62733471e-02 -3.43009490e-04 9.99867521e-01 3.84557864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.619254154 meters 0.01716614901663494 Centerline is valid? [True, True] Translation: X:879.37, Y:17.65, Z:3.85 [[ 9.57186662e-01 -2.89118431e-01 -1.42907916e-02 8.79373826e+02] [ 2.89089409e-01 9.57293315e-01 -4.10157018e-03 1.76460319e+01] [ 1.48663188e-02 -2.05348219e-04 9.99889469e-01 3.84752034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.679254154 meters 0.01377257936987538 Centerline is valid? [True, True] Translation: X:879.43, Y:17.67, Z:3.85 [[ 9.59046608e-01 -2.82972625e-01 -1.24939325e-02 8.79428822e+02] [ 2.82949910e-01 9.59127981e-01 -3.58658163e-03 1.76683057e+01] [ 1.29981846e-02 -9.54581292e-05 9.99915515e-01 3.85088721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.7392541539999 meters 0.013477199449559843 Centerline is valid? [True, True] Translation: X:879.48, Y:17.69, Z:3.85 [[ 9.60369619e-01 -2.78467360e-01 -1.20882106e-02 8.79484825e+02] [ 2.78445710e-01 9.60445692e-01 -3.47249249e-03 1.76885188e+01] [ 1.25770457e-02 -3.10341103e-05 9.99920905e-01 3.85167407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.799254154 meters 0.013431801347735174 Centerline is valid? [True, True] Translation: X:879.54, Y:17.70, Z:3.85 [[ 9.61040731e-01 -2.76155917e-01 -1.17738396e-02 8.79538957e+02] [ 2.76135171e-01 9.61112850e-01 -3.38490493e-03 1.77049599e+01] [ 1.22507500e-02 1.86030624e-06 9.99924957e-01 3.85191970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.8592541539999 meters 0.015682873062304637 Centerline is valid? [True, True] Translation: X:879.60, Y:17.72, Z:3.85 [[ 9.61188814e-01 -2.75570424e-01 -1.33043541e-02 8.79596039e+02] [ 2.75543829e-01 9.61280886e-01 -3.82847392e-03 1.77202535e+01] [ 1.38442355e-02 1.39536372e-05 9.99904164e-01 3.84890242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.919254154 meters 0.016635058908008832 Centerline is valid? [True, True] Translation: X:879.65, Y:17.73, Z:3.85 [[ 9.60233538e-01 -2.78735818e-01 -1.60591250e-02 8.79653496e+02] [ 2.78697431e-01 9.60367816e-01 -4.62594096e-03 1.77328287e+01] [ 1.67120823e-02 -3.36532355e-05 9.99860343e-01 3.84815134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.9792541539999 meters 0.017908249874292428 Centerline is valid? [True, True] Translation: X:879.71, Y:17.74, Z:3.85 [[ 9.58023209e-01 -2.86140626e-01 -1.77502728e-02 8.79711955e+02] [ 2.86094947e-01 9.58187618e-01 -5.11574248e-03 1.77399720e+01] [ 1.84719134e-02 -1.77263340e-04 9.99829364e-01 3.84611115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.039254154 meters 0.01573601753008742 Centerline is valid? [True, True] Translation: X:879.77, Y:17.75, Z:3.85 [[ 9.56026204e-01 -2.92884446e-01 -1.52511844e-02 8.79770349e+02] [ 2.92851549e-01 9.56147809e-01 -4.39746122e-03 1.77478411e+01] [ 1.58703346e-02 -2.62244839e-04 9.99874024e-01 3.84989180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.0992541539999 meters 0.015778532128781532 Centerline is valid? [True, True] Translation: X:879.83, Y:17.76, Z:3.85 [[ 9.55022481e-01 -2.96207097e-01 -1.39074517e-02 8.79828473e+02] [ 2.96180047e-01 9.55123696e-01 -4.01321949e-03 1.77595147e+01] [ 1.44720807e-02 -2.86394857e-04 9.99895233e-01 3.85171684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.159254154 meters 0.01944527370303428 Centerline is valid? [True, True] Translation: X:879.89, Y:17.77, Z:3.85 [[ 9.53911341e-01 -2.99770151e-01 -1.38206454e-02 8.79886029e+02] [ 2.99743782e-01 9.54011396e-01 -3.99023416e-03 1.77687184e+01] [ 1.43812063e-02 -3.36322908e-04 9.99896529e-01 3.85046784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.2192541539999 meters 0.0171755035977281 Centerline is valid? [True, True] Translation: X:879.94, Y:17.78, Z:3.85 [[ 9.53646944e-01 -3.00672987e-01 -1.23799089e-02 8.79942113e+02] [ 3.00651867e-01 9.53727245e-01 -3.57715784e-03 1.77836258e+01] [ 1.28826112e-02 -3.10697100e-04 9.99916967e-01 3.85362606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.279254154 meters 0.01964566381901455 Centerline is valid? [True, True] Translation: X:880.00, Y:17.80, Z:3.85 [[ 9.52810829e-01 -3.03322713e-01 -1.21184252e-02 8.79999131e+02] [ 3.03302665e-01 9.52887831e-01 -3.50364096e-03 1.77967784e+01] [ 1.26102338e-02 -3.37243611e-04 9.99920431e-01 3.85329725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.339254154 meters 0.02062809412200819 Centerline is valid? [True, True] Translation: X:880.06, Y:17.81, Z:3.85 [[ 9.52401402e-01 -3.04603459e-01 -1.21779589e-02 8.80056200e+02] [ 3.04583286e-01 9.52479190e-01 -3.52338728e-03 1.78119555e+01] [ 1.26724884e-02 -3.53523747e-04 9.99919638e-01 3.85307414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.399254154 meters 0.018672114699902754 Centerline is valid? [True, True] Translation: X:880.11, Y:17.83, Z:3.85 [[ 9.52105124e-01 -3.05478467e-01 -1.33693273e-02 8.80113257e+02] [ 3.05454189e-01 9.52198901e-01 -3.87177497e-03 1.78282384e+01] [ 1.39130027e-02 -3.97380238e-04 9.99903131e-01 3.85296013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.459254154 meters 0.019755952853745377 Centerline is valid? [True, True] Translation: X:880.17, Y:17.84, Z:3.85 [[ 9.51027367e-01 -3.08742683e-01 -1.49967580e-02 8.80170729e+02] [ 3.08712505e-01 9.51145472e-01 -4.34522632e-03 1.78421890e+01] [ 1.56056553e-02 -4.97257566e-04 9.99878101e-01 3.85200245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.519254154 meters 0.02188370927104026 Centerline is valid? [True, True] Translation: X:880.23, Y:17.86, Z:3.85 [[ 9.49463936e-01 -3.13483723e-01 -1.56904210e-02 8.80228078e+02] [ 3.13451319e-01 9.49593384e-01 -4.54705868e-03 1.78576341e+01] [ 1.63249489e-02 -6.00914940e-04 9.99866559e-01 3.85136521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.579254154 meters 0.025042593801059686 Centerline is valid? [True, True] Translation: X:880.29, Y:17.87, Z:3.85 [[ 9.48047067e-01 -3.17788829e-01 -1.47315727e-02 8.80286196e+02] [ 3.17760773e-01 9.48161305e-01 -4.26986148e-03 1.78682767e+01] [ 1.53248215e-02 -6.33086287e-04 9.99882368e-01 3.85284950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.639254154 meters 0.02181166441985381 Centerline is valid? [True, True] Translation: X:880.34, Y:17.89, Z:3.85 [[ 9.48247992e-01 -3.17222183e-01 -1.39940214e-02 8.80340586e+02] [ 3.17196762e-01 9.48351063e-01 -4.05900560e-03 1.78930196e+01] [ 1.45588517e-02 -5.89914364e-04 9.99893840e-01 3.85462914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.699254154 meters 0.020363253311201687 Centerline is valid? [True, True] Translation: X:880.40, Y:17.91, Z:3.86 [[ 9.50074967e-01 -3.11753225e-01 -1.29415459e-02 8.80396781e+02] [ 3.11730957e-01 9.50162991e-01 -3.75521413e-03 1.79122303e+01] [ 1.34672780e-02 -4.66545539e-04 9.99909203e-01 3.85714863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.759254154 meters 0.02160304327717845 Centerline is valid? [True, True] Translation: X:880.45, Y:17.94, Z:3.86 [[ 9.51174902e-01 -3.08325334e-01 -1.42054646e-02 8.80450843e+02] [ 3.08298106e-01 9.51280862e-01 -4.12295987e-03 1.79361160e+01] [ 1.47845995e-02 -4.57861873e-04 9.99890597e-01 3.85522935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.819254154 meters 0.020329450689246287 Centerline is valid? [True, True] Translation: X:880.51, Y:17.96, Z:3.86 [[ 9.52608810e-01 -3.03919709e-01 -1.30101988e-02 8.80507361e+02] [ 3.03896449e-01 9.52697583e-01 -3.77683616e-03 1.79577398e+01] [ 1.35426399e-02 -3.55905821e-04 9.99908231e-01 3.85632080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.879254154 meters 0.01807660165408008 Centerline is valid? [True, True] Translation: X:880.56, Y:17.98, Z:3.86 [[ 9.53815074e-01 -3.00175521e-01 -1.14656488e-02 8.80562602e+02] [ 3.00157176e-01 9.53883948e-01 -3.32922521e-03 1.79793748e+01] [ 1.19362503e-02 -2.66031579e-04 9.99928725e-01 3.85775778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.939254154 meters 0.017956460441633616 Centerline is valid? [True, True] Translation: X:880.62, Y:18.00, Z:3.86 [[ 9.53657494e-01 -3.00651463e-01 -1.20864277e-02 8.80617317e+02] [ 3.00631100e-01 9.53734039e-01 -3.51073246e-03 1.79966846e+01] [ 1.25827443e-02 -2.85519724e-04 9.99920793e-01 3.85721249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.999254154 meters 0.017049883463092302 Centerline is valid? [True, True] Translation: X:880.67, Y:18.01, Z:3.86 [[ 9.53086784e-01 -3.02463921e-01 -1.18810563e-02 8.80674036e+02] [ 3.02444354e-01 9.53160787e-01 -3.45362180e-03 1.80134966e+01] [ 1.23691530e-02 -3.01757109e-04 9.99923454e-01 3.85825729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.059254154 meters 0.02106472927154511 Centerline is valid? [True, True] Translation: X:880.73, Y:18.03, Z:3.86 [[ 9.51452297e-01 -3.07522091e-01 -1.29880933e-02 8.80731160e+02] [ 3.07499152e-01 9.51540857e-01 -3.77732839e-03 1.80263346e+01] [ 1.35203134e-02 -3.99879901e-04 9.99908516e-01 3.85585276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.119254154 meters 0.021539500645966582 Centerline is valid? [True, True] Translation: X:880.79, Y:18.04, Z:3.86 [[ 9.49737900e-01 -3.12727101e-01 -1.41308937e-02 8.80788321e+02] [ 3.12700510e-01 9.49842879e-01 -4.11044907e-03 1.80431084e+01] [ 1.47075776e-02 -5.14888400e-04 9.99891705e-01 3.85583111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.179254154 meters 0.02226849106723149 Centerline is valid? [True, True] Translation: X:880.85, Y:18.06, Z:3.86 [[ 9.48451041e-01 -3.16677228e-01 -1.24962369e-02 8.80845129e+02] [ 3.16656765e-01 9.48533223e-01 -3.63575235e-03 1.80554488e+01] [ 1.30044558e-02 -5.08684858e-04 9.99915309e-01 3.85786219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.2392541539999 meters 0.02181993749748788 Centerline is valid? [True, True] Translation: X:880.90, Y:18.08, Z:3.86 [[ 9.47217137e-01 -3.20399446e-01 -1.11306118e-02 8.80901035e+02] [ 3.20383460e-01 9.47282401e-01 -3.23912932e-03 1.80754819e+01] [ 1.15816479e-02 -4.97905130e-04 9.99932807e-01 3.85939528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.299254154 meters 0.022427266523470744 Centerline is valid? [True, True] Translation: X:880.96, Y:18.09, Z:3.86 [[ 9.47464187e-01 -3.19718276e-01 -9.58324454e-03 8.80957023e+02] [ 3.19706374e-01 9.47512558e-01 -2.79051469e-03 1.80947371e+01] [ 9.97242310e-03 -4.19911635e-04 9.99950186e-01 3.86106294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.3592541539999 meters 0.021381557181179664 Centerline is valid? [True, True] Translation: X:881.01, Y:18.12, Z:3.86 [[ 9.50233621e-01 -3.11391390e-01 -9.56392061e-03 8.81011774e+02] [ 3.11379099e-01 9.50281692e-01 -2.78629280e-03 1.81209034e+01] [ 9.95604624e-03 -3.30375886e-04 9.99950383e-01 3.86056800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.419254154 meters 0.016890097551438336 Centerline is valid? [True, True] Translation: X:881.07, Y:18.15, Z:3.86 [[ 9.53718761e-01 -3.00585997e-01 -8.28145853e-03 8.81065880e+02] [ 3.00576370e-01 9.53754698e-01 -2.41301564e-03 1.81487815e+01] [ 8.62379869e-03 -1.87872452e-04 9.99962797e-01 3.86205726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.4792541539999 meters 0.014891772456778815 Centerline is valid? [True, True] Translation: X:881.12, Y:18.17, Z:3.86 [[ 9.55362751e-01 -2.95315792e-01 -8.40222579e-03 8.81120987e+02] [ 2.95305667e-01 9.55399688e-01 -2.44945252e-03 1.81716449e+01] [ 8.75084591e-03 -1.41109193e-04 9.99961701e-01 3.86253012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.539254154 meters 0.016841761877032 Centerline is valid? [True, True] Translation: X:881.18, Y:18.20, Z:3.86 [[ 9.57142039e-01 -2.89421825e-01 -1.06829306e-02 8.81175410e+02] [ 2.89405055e-01 9.57201648e-01 -3.11747834e-03 1.81953274e+01] [ 1.11279850e-02 -1.07824537e-04 9.99938076e-01 3.85828652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.5992541539999 meters 0.0156024037627669 Centerline is valid? [True, True] Translation: X:881.23, Y:18.21, Z:3.86 [[ 9.57872608e-01 -2.86970824e-01 -1.13054598e-02 8.81230781e+02] [ 2.86951834e-01 9.57939319e-01 -3.30231312e-03 1.82142328e+01] [ 1.17776120e-02 -8.09271582e-05 9.99930638e-01 3.85850465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.659254154 meters 0.015820489715181876 Centerline is valid? [True, True] Translation: X:881.29, Y:18.23, Z:3.86 [[ 9.59010084e-01 -2.83155112e-01 -1.10833446e-02 8.81286226e+02] [ 2.83136571e-01 9.59074127e-01 -3.24046862e-03 1.82336296e+01] [ 1.15473043e-02 -3.04580964e-05 9.99933327e-01 3.85923190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.7192541539999 meters 0.017532481169833296 Centerline is valid? [True, True] Translation: X:881.34, Y:18.25, Z:3.86 [[ 9.60044435e-01 -2.79672914e-01 -9.88654127e-03 8.81342033e+02] [ 2.79657947e-01 9.60095339e-01 -2.89340146e-03 1.82506320e+01] [ 1.03012282e-02 1.29441398e-05 9.99946941e-01 3.85993747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.779254154 meters 0.013438044533913953 Centerline is valid? [True, True] Translation: X:881.40, Y:18.27, Z:3.86 [[ 9.61438711e-01 -2.74877765e-01 -8.82147009e-03 8.81398832e+02] [ 2.74865624e-01 9.61479178e-01 -2.58420405e-03 1.82670989e+01] [ 9.19200005e-03 5.98349306e-05 9.99957751e-01 3.86373293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.839254154 meters 0.018130321554358897 Centerline is valid? [True, True] Translation: X:881.45, Y:18.28, Z:3.86 [[ 9.62535303e-01 -2.70953564e-01 -1.04859811e-02 8.81454929e+02] [ 2.70936153e-01 9.62592412e-01 -3.07386871e-03 1.82827933e+01] [ 1.09266015e-02 1.17675779e-04 9.99940296e-01 3.85914285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.899254154 meters 0.017681227379017533 Centerline is valid? [True, True] Translation: X:881.51, Y:18.30, Z:3.86 [[ 9.63691172e-01 -2.66848582e-01 -9.54770446e-03 8.81512166e+02] [ 2.66833934e-01 9.63738456e-01 -2.79999343e-03 1.82950835e+01] [ 9.94866423e-03 1.50677415e-04 9.99950499e-01 3.86100723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.959254154 meters 0.015367084713389786 Centerline is valid? [True, True] Translation: X:881.57, Y:18.31, Z:3.86 [[ 9.64303379e-01 -2.64681788e-01 -7.90849668e-03 8.81569526e+02] [ 2.64671653e-01 9.64335797e-01 -2.32079469e-03 1.83092815e+01] [ 8.24071854e-03 1.44795269e-04 9.99966034e-01 3.86453421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.019254154 meters 0.01846479728363016 Centerline is valid? [True, True] Translation: X:881.63, Y:18.32, Z:3.86 [[ 9.64255168e-01 -2.64782165e-01 -1.01181457e-02 8.81627545e+02] [ 2.64765547e-01 9.64308234e-01 -2.97230398e-03 1.83208881e+01] [ 1.05440243e-02 1.87123086e-04 9.99944393e-01 3.86114301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.079254154 meters 0.018104386965824854 Centerline is valid? [True, True] Translation: X:881.69, Y:18.33, Z:3.86 [[ 9.63713145e-01 -2.66657904e-01 -1.22693120e-02 8.81686460e+02] [ 2.66633575e-01 9.63791222e-01 -3.60785706e-03 1.83279310e+01] [ 1.27871188e-02 2.05528757e-04 9.99918220e-01 3.85954345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.139254154 meters 0.014168847872359997 Centerline is valid? [True, True] Translation: X:881.75, Y:18.33, Z:3.86 [[ 9.62164681e-01 -2.72194653e-01 -1.22146820e-02 8.81745804e+02] [ 2.72170943e-01 9.62242201e-01 -3.59513706e-03 1.83325912e+01] [ 1.27320596e-02 1.34632378e-04 9.99918935e-01 3.86128579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.199254154 meters 0.01565706574124292 Centerline is valid? [True, True] Translation: X:881.81, Y:18.33, Z:3.86 [[ 9.59118148e-01 -2.82732325e-01 -1.24423094e-02 8.81807505e+02] [ 2.82708562e-01 9.59198849e-01 -3.66559279e-03 1.83320594e+01] [ 1.29710304e-02 -1.81083349e-06 9.99915873e-01 3.86110619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.259254154 meters 0.01624383072084551 Centerline is valid? [True, True] Translation: X:881.87, Y:18.33, Z:3.86 [[ 9.55822461e-01 -2.93723624e-01 -1.13954179e-02 8.81868408e+02] [ 2.93704450e-01 9.55890378e-01 -3.35894580e-03 1.83316207e+01] [ 1.18793720e-02 -1.36329099e-04 9.99929428e-01 3.86261818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.319254154 meters 0.018884579521728513 Centerline is valid? [True, True] Translation: X:881.93, Y:18.33, Z:3.86 [[ 9.52693560e-01 -3.03747563e-01 -1.06018345e-02 8.81929816e+02] [ 3.03731576e-01 9.52752517e-01 -3.12570547e-03 1.83313660e+01] [ 1.10503499e-02 -2.42272427e-04 9.99938914e-01 3.86328822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.379254154 meters 0.01943094718488407 Centerline is valid? [True, True] Translation: X:881.99, Y:18.34, Z:3.87 [[ 9.50563198e-01 -3.10404436e-01 -8.87087567e-03 8.81990872e+02] [ 3.10393530e-01 9.50604552e-01 -2.61568381e-03 1.83358507e+01] [ 9.24461465e-03 -2.67089649e-04 9.99957232e-01 3.86610148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.439254154 meters 0.02448481289031895 Centerline is valid? [True, True] Translation: X:882.05, Y:18.34, Z:3.87 [[ 9.48282317e-01 -3.17320553e-01 -8.26519040e-03 8.82050798e+02] [ 3.17311344e-01 9.48318285e-01 -2.43735642e-03 1.83422551e+01] [ 8.61145448e-03 -3.11336684e-04 9.99962872e-01 3.86543853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.499254154 meters 0.023849843785692302 Centerline is valid? [True, True] Translation: X:882.11, Y:18.35, Z:3.87 [[ 9.46749399e-01 -3.21882238e-01 -7.57630661e-03 8.82109536e+02] [ 3.21874644e-01 9.46779658e-01 -2.23454766e-03 1.83528877e+01] [ 7.89235418e-03 -3.23064344e-04 9.99968803e-01 3.86940495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.559254154 meters 0.03044611434588349 Centerline is valid? [True, True] Translation: X:882.17, Y:18.36, Z:3.87 [[ 9.43381995e-01 -3.31584477e-01 -9.06350649e-03 8.82168970e+02] [ 3.31574048e-01 9.43425409e-01 -2.67379324e-03 1.83595597e+01] [ 9.43733065e-03 -4.82815130e-04 9.99955351e-01 3.86638391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.619254154 meters 0.026488867098774276 Centerline is valid? [True, True] Translation: X:882.22, Y:18.38, Z:3.87 [[ 9.40398565e-01 -3.39919300e-01 -1.02668317e-02 8.82224534e+02] [ 3.39906406e-01 9.40454389e-01 -3.02932943e-03 1.83813584e+01] [ 1.06852145e-02 -6.40984814e-04 9.99942706e-01 3.86667971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.679254154 meters 0.0280316829134152 Centerline is valid? [True, True] Translation: X:882.28, Y:18.40, Z:3.87 [[ 9.39272525e-01 -3.42966855e-01 -1.18684302e-02 8.82282534e+02] [ 3.42949857e-01 9.39347181e-01 -3.50257032e-03 1.83966113e+01] [ 1.23498420e-02 -7.80408393e-04 9.99923433e-01 3.86618294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.7392541539999 meters 0.028406447609230275 Centerline is valid? [True, True] Translation: X:882.34, Y:18.42, Z:3.87 [[ 9.39853801e-01 -3.41324024e-01 -1.31432101e-02 8.82338211e+02] [ 3.41303005e-01 9.39945321e-01 -3.87976374e-03 1.84158335e+01] [ 1.36781554e-02 -8.39406401e-04 9.99906097e-01 3.86541329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.799254154 meters 0.02759388807021602 Centerline is valid? [True, True] Translation: X:882.39, Y:18.44, Z:3.86 [[ 9.40803024e-01 -3.38652648e-01 -1.42847235e-02 8.82393334e+02] [ 3.38627499e-01 9.40911063e-01 -4.21761996e-03 1.84381444e+01] [ 1.48689625e-02 -8.69250566e-04 9.99889073e-01 3.86484660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.8592541539999 meters 0.025287770388008297 Centerline is valid? [True, True] Translation: X:882.45, Y:18.46, Z:3.87 [[ 9.41296950e-01 -3.37333218e-01 -1.28977169e-02 8.82449681e+02] [ 3.37312575e-01 9.41384998e-01 -3.80942347e-03 1.84570305e+01] [ 1.34267623e-02 -7.64763407e-04 9.99909565e-01 3.86858577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.919254154 meters 0.02534586747367582 Centerline is valid? [True, True] Translation: X:882.51, Y:18.48, Z:3.87 [[ 9.40248190e-01 -3.40288416e-01 -1.17104968e-02 8.82505384e+02] [ 3.40271616e-01 9.40320827e-01 -3.45966190e-03 1.84775515e+01] [ 1.21889069e-02 -7.31808835e-04 9.99925445e-01 3.86994739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.9792541539999 meters 0.0288971368108239 Centerline is valid? [True, True] Translation: X:882.56, Y:18.49, Z:3.87 [[ 9.38467953e-01 -3.45180828e-01 -1.13180154e-02 8.82563093e+02] [ 3.45165471e-01 9.38535885e-01 -3.34519922e-03 1.84949062e+01] [ 1.17770623e-02 -7.67225875e-04 9.99930354e-01 3.86875460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.039254154 meters 0.029440343526015225 Centerline is valid? [True, True] Translation: X:882.62, Y:18.52, Z:3.87 [[ 9.39616297e-01 -3.42033897e-01 -1.15770671e-02 8.82617849e+02] [ 3.42017577e-01 9.39687321e-01 -3.42291990e-03 1.85167043e+01] [ 1.20495778e-02 -7.43329094e-04 9.99927125e-01 3.86978965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.0992541539999 meters 0.02688595691815932 Centerline is valid? [True, True] Translation: X:882.67, Y:18.55, Z:3.87 [[ 9.43082557e-01 -3.32343544e-01 -1.19607572e-02 8.82671066e+02] [ 3.32325338e-01 9.43158184e-01 -3.53688206e-03 1.85470887e+01] [ 1.24563460e-02 -6.39290909e-04 9.99922212e-01 3.86875886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.159254154 meters 0.023715195427360822 Centerline is valid? [True, True] Translation: X:882.72, Y:18.58, Z:3.87 [[ 9.46924810e-01 -3.21261789e-01 -1.11474992e-02 8.82723292e+02] [ 3.21245201e-01 9.46990313e-01 -3.29677911e-03 1.85806327e+01] [ 1.16157029e-02 -4.59278692e-04 9.99932430e-01 3.86742922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.2192541539999 meters 0.019253266296804565 Centerline is valid? [True, True] Translation: X:882.78, Y:18.61, Z:3.87 [[ 9.49696888e-01 -3.13008804e-01 -1.00652734e-02 8.82777364e+02] [ 3.12994815e-01 9.49750169e-01 -2.97693270e-03 1.86105240e+01] [ 1.04913013e-02 -3.23194674e-04 9.99944913e-01 3.86942276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.279254154 meters 0.01798752473905495 Centerline is valid? [True, True] Translation: X:882.83, Y:18.63, Z:3.87 [[ 9.50226669e-01 -3.11388402e-01 -1.03218897e-02 8.82831930e+02] [ 3.11373575e-01 9.50282677e-01 -3.05454075e-03 1.86326027e+01] [ 1.07598615e-02 -3.11457614e-04 9.99942063e-01 3.87070193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.339254154 meters 0.02015589625382159 Centerline is valid? [True, True] Translation: X:882.88, Y:18.66, Z:3.87 [[ 9.50486709e-01 -3.10574605e-01 -1.08826365e-02 8.82884939e+02] [ 3.10558036e-01 9.50548955e-01 -3.22352857e-03 1.86606566e+01] [ 1.13456249e-02 -3.15769168e-04 9.99935586e-01 3.86678931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.399254154 meters 0.019979489388098504 Centerline is valid? [True, True] Translation: X:882.94, Y:18.68, Z:3.87 [[ 9.50219777e-01 -3.11458069e-01 -8.73194682e-03 8.82939791e+02] [ 3.11447418e-01 9.50259861e-01 -2.58884600e-03 1.86813563e+01] [ 9.10393555e-03 -2.59569625e-04 9.99958525e-01 3.86853387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.459254154 meters 0.021615962289749265 Centerline is valid? [True, True] Translation: X:883.00, Y:18.70, Z:3.87 [[ 9.49376968e-01 -3.13990286e-01 -9.66818293e-03 8.82995895e+02] [ 3.13977329e-01 9.49426144e-01 -2.86939782e-03 1.86994655e+01] [ 1.00801887e-02 -3.11450054e-04 9.99949145e-01 3.86682077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.519254154 meters 0.023015184609647552 Centerline is valid? [True, True] Translation: X:883.05, Y:18.72, Z:3.87 [[ 9.47513747e-01 -3.19491425e-01 -1.19552448e-02 8.83053007e+02] [ 3.19472027e-01 9.47589057e-01 -3.54999574e-03 1.87180167e+01] [ 1.24628524e-02 -4.55696538e-04 9.99922232e-01 3.86510289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.579254154 meters 0.022620655439108982 Centerline is valid? [True, True] Translation: X:883.11, Y:18.74, Z:3.87 [[ 9.46529013e-01 -3.22410352e-01 -1.15928037e-02 8.83109299e+02] [ 3.22392323e-01 9.46599882e-01 -3.44301581e-03 1.87359443e+01] [ 1.20838106e-02 -4.78516572e-04 9.99926874e-01 3.86735069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.639254154 meters 0.021646565956340583 Centerline is valid? [True, True] Translation: X:883.16, Y:18.76, Z:3.87 [[ 9.46869183e-01 -3.21409644e-01 -1.16012957e-02 8.83163836e+02] [ 3.21391486e-01 9.46940138e-01 -3.44782177e-03 1.87591400e+01] [ 1.20938957e-02 -4.63921486e-04 9.99926759e-01 3.86832992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.699254154 meters 0.019049745896291406 Centerline is valid? [True, True] Translation: X:883.22, Y:18.78, Z:3.87 [[ 9.48852985e-01 -3.15449658e-01 -1.30201847e-02 8.83218323e+02] [ 3.15426202e-01 9.48942214e-01 -3.87118530e-03 1.87823278e+01] [ 1.35765670e-02 -4.33721684e-04 9.99907740e-01 3.87005225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.759254154 meters 0.02111128189772733 Centerline is valid? [True, True] Translation: X:883.27, Y:18.81, Z:3.87 [[ 9.51017351e-01 -3.08751008e-01 -1.54536115e-02 8.83273012e+02] [ 3.08717068e-01 9.51142815e-01 -4.59535561e-03 1.88078589e+01] [ 1.61174122e-02 -4.00530715e-04 9.99870026e-01 3.86671425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.819254154 meters 0.020517751828789798 Centerline is valid? [True, True] Translation: X:883.33, Y:18.83, Z:3.87 [[ 9.52226992e-01 -3.05075265e-01 -1.38866199e-02 8.83327163e+02] [ 3.05047455e-01 9.52328195e-01 -4.13030688e-03 1.88319849e+01] [ 1.44846741e-02 -3.03088361e-04 9.99895046e-01 3.86866445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.879254154 meters 0.01780939869511835 Centerline is valid? [True, True] Translation: X:883.38, Y:18.85, Z:3.87 [[ 9.52173269e-01 -3.05333268e-01 -1.17328963e-02 8.83383538e+02] [ 3.05313408e-01 9.52245519e-01 -3.49196444e-03 1.88506463e+01] [ 1.22388109e-02 -2.57255359e-04 9.99925070e-01 3.87229362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.939254154 meters 0.015516111795900815 Centerline is valid? [True, True] Translation: X:883.44, Y:18.87, Z:3.88 [[ 9.51626630e-01 -3.07108467e-01 -9.54708584e-03 8.83440120e+02] [ 3.07095382e-01 9.51674492e-01 -2.84382348e-03 1.88682585e+01] [ 9.95908033e-03 -2.25607816e-04 9.99950382e-01 3.87620782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.999254154 meters 0.020477145730847916 Centerline is valid? [True, True] Translation: X:883.50, Y:18.89, Z:3.87 [[ 9.50407786e-01 -3.10781951e-01 -1.18160333e-02 8.83496787e+02] [ 3.10762167e-01 9.50481180e-01 -3.52161575e-03 1.88861021e+01] [ 1.23253719e-02 -3.25005082e-04 9.99923987e-01 3.87207327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.059254154 meters 0.01681441309796873 Centerline is valid? [True, True] Translation: X:883.55, Y:18.91, Z:3.88 [[ 9.50310547e-01 -3.11143596e-01 -9.97630612e-03 8.83551507e+02] [ 3.11129493e-01 9.50362871e-01 -2.97533380e-03 1.89062035e+01] [ 1.04068670e-02 -2.76431973e-04 9.99945809e-01 3.87530032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.119254154 meters 0.02094412469444585 Centerline is valid? [True, True] Translation: X:883.61, Y:18.92, Z:3.87 [[ 9.50568055e-01 -3.10245601e-01 -1.29630357e-02 8.83607049e+02] [ 3.10221645e-01 9.50656378e-01 -3.87054023e-03 1.89245970e+01] [ 1.35242107e-02 -3.42202364e-04 9.99908485e-01 3.87103733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.179254154 meters 0.019268317186531526 Centerline is valid? [True, True] Translation: X:883.66, Y:18.95, Z:3.87 [[ 9.52149105e-01 -3.05263364e-01 -1.50452678e-02 8.83661554e+02] [ 3.05230404e-01 9.52267915e-01 -4.49647482e-03 1.89492874e+01] [ 1.56997349e-02 -3.10958708e-04 9.99876703e-01 3.86865149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.2392541539999 meters 0.01667723918271385 Centerline is valid? [True, True] Translation: X:883.72, Y:18.97, Z:3.87 [[ 9.52220824e-01 -3.05114551e-01 -1.34392093e-02 8.83716676e+02] [ 3.05088189e-01 9.52315618e-01 -4.01998803e-03 1.89702473e+01] [ 1.40249258e-02 -2.72227724e-04 9.99901609e-01 3.87144491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.299254154 meters 0.018374518554892423 Centerline is valid? [True, True] Translation: X:883.77, Y:18.99, Z:3.87 [[ 9.51360729e-01 -3.07833820e-01 -1.22923957e-02 8.83771878e+02] [ 3.07811960e-01 9.51440097e-01 -3.67940634e-03 1.89858875e+01] [ 1.28281238e-02 -2.83303712e-04 9.99917676e-01 3.87203156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.3592541539999 meters 0.01977944727586604 Centerline is valid? [True, True] Translation: X:883.83, Y:19.01, Z:3.87 [[ 9.50614596e-01 -3.10147597e-01 -1.18472917e-02 8.83827712e+02] [ 3.10127437e-01 9.50688370e-01 -3.54900753e-03 1.90053434e+01] [ 1.23637986e-02 -3.00431832e-04 9.99923520e-01 3.87214900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.419254154 meters 0.018819798923926444 Centerline is valid? [True, True] Translation: X:883.88, Y:19.03, Z:3.87 [[ 9.51349818e-01 -3.07916061e-01 -1.10101303e-02 8.83882794e+02] [ 3.07898466e-01 9.51413494e-01 -3.30119343e-03 1.90263189e+01] [ 1.14916771e-02 -2.49412466e-04 9.99933937e-01 3.87251906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.4792541539999 meters 0.01867983888626177 Centerline is valid? [True, True] Translation: X:883.94, Y:19.05, Z:3.87 [[ 9.52882094e-01 -3.03150762e-01 -1.07391663e-02 8.83937403e+02] [ 3.03133701e-01 9.52942590e-01 -3.22158747e-03 1.90471432e+01] [ 1.12104356e-02 -1.85610200e-04 9.99937144e-01 3.87260292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.539254154 meters 0.014989318212874119 Centerline is valid? [True, True] Translation: X:883.99, Y:19.07, Z:3.87 [[ 9.54105406e-01 -2.99310276e-01 -9.80984402e-03 8.83991633e+02] [ 2.99295828e-01 9.54155827e-01 -2.94363470e-03 1.90681681e+01] [ 1.02411799e-02 -1.27507608e-04 9.99947550e-01 3.87454603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.5992541539999 meters 0.016679148027266 Centerline is valid? [True, True] Translation: X:884.05, Y:19.09, Z:3.87 [[ 9.54083787e-01 -2.99298824e-01 -1.20142060e-02 8.84047540e+02] [ 2.99277119e-01 9.54159416e-01 -3.60773112e-03 1.90868993e+01] [ 1.25432574e-02 -1.53499177e-04 9.99921318e-01 3.87133043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.659254154 meters 0.017026013197259014 Centerline is valid? [True, True] Translation: X:884.10, Y:19.10, Z:3.87 [[ 9.52962639e-01 -3.02832258e-01 -1.24431741e-02 8.84103288e+02] [ 3.02809242e-01 9.53043851e-01 -3.73913873e-03 1.91006473e+01] [ 1.29912224e-02 -2.04648611e-04 9.99915590e-01 3.86994918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.7192541539999 meters 0.01762614960506918 Centerline is valid? [True, True] Translation: X:884.16, Y:19.12, Z:3.87 [[ 9.51921439e-01 -3.06109513e-01 -1.19389813e-02 8.84160079e+02] [ 3.06088547e-01 9.51996276e-01 -3.59050305e-03 1.91173096e+01] [ 1.24649529e-02 -2.36508610e-04 9.99922281e-01 3.87074491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.779254154 meters 0.018097519877424157 Centerline is valid? [True, True] Translation: X:884.22, Y:19.13, Z:3.87 [[ 9.50439035e-01 -3.10800446e-01 -8.28997002e-03 8.84217315e+02] [ 3.10790499e-01 9.50475166e-01 -2.49507336e-03 1.91310700e+01] [ 8.65488054e-03 -2.05028801e-04 9.99962525e-01 3.87294050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.839254154 meters 0.019433507246817125 Centerline is valid? [True, True] Translation: X:884.27, Y:19.15, Z:3.87 [[ 9.49728678e-01 -3.12978464e-01 -7.74072753e-03 8.84273134e+02] [ 3.12969852e-01 9.49760200e-01 -2.33120781e-03 1.91461066e+01] [ 8.08145277e-03 -2.08599433e-04 9.99967323e-01 3.87329335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.899254154 meters 0.01901334948245492 Centerline is valid? [True, True] Translation: X:884.33, Y:19.16, Z:3.87 [[ 9.48511435e-01 -3.16671829e-01 -6.70903781e-03 8.84329839e+02] [ 3.16665448e-01 9.48535139e-01 -2.02105799e-03 1.91636377e+01] [ 7.00377025e-03 -2.07523848e-04 9.99975452e-01 3.87427493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.959254154 meters 0.017916783770032668 Centerline is valid? [True, True] Translation: X:884.39, Y:19.18, Z:3.87 [[ 9.47715043e-01 -3.19039379e-01 -7.07611848e-03 8.84386136e+02] [ 3.19032338e-01 9.47741430e-01 -2.13278777e-03 1.91818684e+01] [ 7.38677393e-03 -2.36235566e-04 9.99972690e-01 3.87488546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.019254154 meters 0.019941678670516383 Centerline is valid? [True, True] Translation: X:884.44, Y:19.20, Z:3.87 [[ 9.47780918e-01 -3.18796196e-01 -8.96196839e-03 8.84440211e+02] [ 3.18784870e-01 9.47823242e-01 -2.70332740e-03 1.92000288e+01] [ 9.35617243e-03 -2.94777803e-04 9.99956187e-01 3.87215618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.079254154 meters 0.020671522719181788 Centerline is valid? [True, True] Translation: X:884.50, Y:19.22, Z:3.87 [[ 9.48850122e-01 -3.15550836e-01 -1.05411569e-02 8.84495226e+02] [ 3.15534954e-01 9.48908623e-01 -3.18084207e-03 1.92217089e+01] [ 1.10063120e-02 -3.07961055e-04 9.99939381e-01 3.87059431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.139254154 meters 0.016840528054314338 Centerline is valid? [True, True] Translation: X:884.55, Y:19.24, Z:3.87 [[ 9.50063320e-01 -3.11915171e-01 -9.41349871e-03 8.84549677e+02] [ 3.11902320e-01 9.50109925e-01 -2.84125633e-03 1.92437935e+01] [ 9.83008951e-03 -2.36718667e-04 9.99951655e-01 3.87368432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.199254154 meters 0.019918676239112323 Centerline is valid? [True, True] Translation: X:884.61, Y:19.26, Z:3.87 [[ 9.50424136e-01 -3.10783219e-01 -1.03803336e-02 8.84605181e+02] [ 3.10767504e-01 9.50480789e-01 -3.13510423e-03 1.92646065e+01] [ 1.08406454e-02 -2.46191625e-04 9.99941208e-01 3.87084031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.259254154 meters 0.019617106793123246 Centerline is valid? [True, True] Translation: X:884.66, Y:19.28, Z:3.87 [[ 9.50911099e-01 -3.09322488e-01 -9.36374293e-03 8.84660431e+02] [ 3.09309605e-01 9.50957179e-01 -2.83047459e-03 1.92834450e+01] [ 9.78004800e-03 -2.04765925e-04 9.99952153e-01 3.87179930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.319254154 meters 0.018226006932590813 Centerline is valid? [True, True] Translation: X:884.72, Y:19.30, Z:3.87 [[ 9.51572846e-01 -3.07338676e-01 -7.21507228e-03 8.84715710e+02] [ 3.07330957e-01 9.51600188e-01 -2.18264357e-03 1.93047747e+01] [ 7.53667492e-03 -1.40470716e-04 9.99971589e-01 3.87364621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.379254154 meters 0.0180764076915396 Centerline is valid? [True, True] Translation: X:884.77, Y:19.33, Z:3.87 [[ 9.51601827e-01 -3.07244950e-01 -7.38268826e-03 8.84769741e+02] [ 3.07236849e-01 9.51630454e-01 -2.23552293e-03 1.93253550e+01] [ 7.71244412e-03 -1.40906173e-04 9.99970249e-01 3.87316816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.439254154 meters 0.01870241645412697 Centerline is valid? [True, True] Translation: X:884.83, Y:19.34, Z:3.87 [[ 9.50872254e-01 -3.09482373e-01 -7.91308791e-03 8.84826704e+02] [ 3.09473123e-01 9.50905165e-01 -2.39861687e-03 1.93412835e+01] [ 8.26692581e-03 -1.68109797e-04 9.99965814e-01 3.87282814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.499254154 meters 0.015448178239001145 Centerline is valid? [True, True] Translation: X:884.88, Y:19.36, Z:3.88 [[ 9.50401816e-01 -3.10940483e-01 -7.23902504e-03 8.84883300e+02] [ 3.10932770e-01 9.50429371e-01 -2.19621966e-03 1.93578724e+01] [ 7.56307562e-03 -1.63558961e-04 9.99971386e-01 3.87693350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.559254154 meters 0.01715892392509453 Centerline is valid? [True, True] Translation: X:884.94, Y:19.37, Z:3.88 [[ 9.49526830e-01 -3.13583342e-01 -8.01784454e-03 8.84939988e+02] [ 3.13573954e-01 9.49560660e-01 -2.43486461e-03 1.93727110e+01] [ 8.37696273e-03 -2.02217938e-04 9.99964892e-01 3.87539725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.619254154 meters 0.0210248664653984 Centerline is valid? [True, True] Translation: X:885.00, Y:19.39, Z:3.87 [[ 9.50128945e-01 -3.11678707e-01 -1.05532829e-02 8.84996223e+02] [ 3.11662301e-01 9.50187521e-01 -3.20697681e-03 1.93878871e+01] [ 1.10271441e-02 -2.42018962e-04 9.99939170e-01 3.87119237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.679254154 meters 0.015181435620651218 Centerline is valid? [True, True] Translation: X:885.05, Y:19.41, Z:3.88 [[ 9.52230591e-01 -3.05220528e-01 -9.86564059e-03 8.85052147e+02] [ 3.05205838e-01 9.52281684e-01 -2.99850045e-03 1.94099029e+01] [ 1.03100727e-02 -1.55787248e-04 9.99946838e-01 3.87561664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.7392541539999 meters 0.015114317146621302 Centerline is valid? [True, True] Translation: X:885.11, Y:19.43, Z:3.88 [[ 9.54136906e-01 -2.99209630e-01 -9.81643170e-03 8.85107153e+02] [ 2.99194751e-01 9.54187398e-01 -2.98516674e-03 1.94314587e+01] [ 1.02599060e-02 -8.87670857e-05 9.99947362e-01 3.87585752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.799254154 meters 0.015757250176404638 Centerline is valid? [True, True] Translation: X:885.16, Y:19.45, Z:3.87 [[ 9.54812313e-01 -2.97040514e-01 -1.00189894e-02 8.85162795e+02] [ 2.97024877e-01 9.54864875e-01 -3.04852057e-03 1.94484505e+01] [ 1.04723152e-02 -6.51241056e-05 9.99945162e-01 3.87475562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.8592541539999 meters 0.013111009620605131 Centerline is valid? [True, True] Translation: X:885.22, Y:19.47, Z:3.88 [[ 9.56921112e-01 -2.90213771e-01 -8.82902170e-03 8.85218545e+02] [ 2.90201322e-01 9.56961842e-01 -2.68803781e-03 1.94690905e+01] [ 9.22914246e-03 1.00463581e-05 9.99957411e-01 3.87883662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.919254154 meters 0.015726588710239152 Centerline is valid? [True, True] Translation: X:885.27, Y:19.49, Z:3.88 [[ 9.57970573e-01 -2.86748540e-01 -8.22537034e-03 8.85273469e+02] [ 2.86737595e-01 9.58005884e-01 -2.50570036e-03 1.94863508e+01] [ 8.59845910e-03 4.18643038e-05 9.99963032e-01 3.87567250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.9792541539999 meters 0.015354098521430869 Centerline is valid? [True, True] Translation: X:885.33, Y:19.50, Z:3.87 [[ 9.57967988e-01 -2.86714346e-01 -9.60295721e-03 8.85330086e+02] [ 2.86699414e-01 9.58016117e-01 -2.92662421e-03 1.94991682e+01] [ 1.00388929e-02 5.04501054e-05 9.99949608e-01 3.87486158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.039254154 meters 0.015585878265120312 Centerline is valid? [True, True] Translation: X:885.39, Y:19.51, Z:3.88 [[ 9.56300253e-01 -2.92221555e-01 -9.81777413e-03 8.85389036e+02] [ 2.92206214e-01 9.56350649e-01 -2.99427170e-03 1.95066620e+01] [ 1.02642254e-02 -5.39181825e-06 9.99947321e-01 3.87510501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.0992541539999 meters 0.015395238926322725 Centerline is valid? [True, True] Translation: X:885.45, Y:19.52, Z:3.88 [[ 9.54307915e-01 -2.98675420e-01 -9.45500690e-03 8.85447786e+02] [ 2.98661482e-01 9.54354750e-01 -2.88624541e-03 1.95154502e+01] [ 9.88548131e-03 -6.94795345e-05 9.99951135e-01 3.87635148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.159254154 meters 0.017636026590467146 Centerline is valid? [True, True] Translation: X:885.51, Y:19.52, Z:3.88 [[ 9.50673730e-01 -3.10054463e-01 -9.25679092e-03 8.85508023e+02] [ 3.10041626e-01 9.50718779e-01 -2.82733988e-03 1.95206130e+01] [ 9.67723431e-03 -1.82112754e-04 9.99953158e-01 3.87621221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.2192541539999 meters 0.0191092756224078 Centerline is valid? [True, True] Translation: X:885.57, Y:19.53, Z:3.88 [[ 9.47566175e-01 -3.19423877e-01 -9.31290726e-03 8.85568404e+02] [ 3.19411329e-01 9.47611898e-01 -2.84498209e-03 1.95262427e+01] [ 9.73377693e-03 -2.78839285e-04 9.99952587e-01 3.87770206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.279254154 meters 0.01882694604954135 Centerline is valid? [True, True] Translation: X:885.63, Y:19.54, Z:3.88 [[ 9.46559114e-01 -3.22395257e-01 -9.33493729e-03 8.85626815e+02] [ 3.22382779e-01 9.46605093e-01 -2.85320498e-03 1.95377696e+01] [ 9.75635894e-03 -3.08695845e-04 9.99952358e-01 3.87948815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.339254154 meters 0.020234433998766097 Centerline is valid? [True, True] Translation: X:885.68, Y:19.56, Z:3.88 [[ 9.47956687e-01 -3.18250501e-01 -9.73332264e-03 8.85683603e+02] [ 3.18236702e-01 9.48006615e-01 -2.97636202e-03 1.95551362e+01] [ 1.01744830e-02 -2.76038213e-04 9.99948201e-01 3.87693881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.399254154 meters 0.01847095976344185 Centerline is valid? [True, True] Translation: X:885.74, Y:19.58, Z:3.88 [[ 9.50857744e-01 -3.09486070e-01 -9.37672997e-03 8.85739586e+02] [ 3.09472835e-01 9.50903960e-01 -2.86760496e-03 1.95770731e+01] [ 9.80385346e-03 -1.75158822e-04 9.99951926e-01 3.87682785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.459254154 meters 0.01672031396116801 Centerline is valid? [True, True] Translation: X:885.79, Y:19.60, Z:3.88 [[ 9.54153696e-01 -2.99169188e-01 -9.40861494e-03 8.85794571e+02] [ 2.99155356e-01 9.54200080e-01 -2.87766987e-03 1.96019596e+01] [ 9.83861128e-03 -6.88982071e-05 9.99951597e-01 3.87709904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.519254154 meters 0.017188761040245883 Centerline is valid? [True, True] Translation: X:885.85, Y:19.62, Z:3.88 [[ 9.56298342e-01 -2.92230642e-01 -9.73302963e-03 8.85850104e+02] [ 2.92215462e-01 9.56347872e-01 -2.97860220e-03 1.96227006e+01] [ 1.01786010e-02 4.29059504e-06 9.99948197e-01 3.87645581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.579254154 meters 0.016695392468720795 Centerline is valid? [True, True] Translation: X:885.90, Y:19.64, Z:3.88 [[ 9.59073853e-01 -2.83011515e-01 -9.04585778e-03 8.85904023e+02] [ 2.82997977e-01 9.59116506e-01 -2.76986683e-03 1.96431653e+01] [ 9.45993572e-03 9.65474049e-05 9.99955249e-01 3.87741628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.639254154 meters 0.018062416767387977 Centerline is valid? [True, True] Translation: X:885.96, Y:19.66, Z:3.88 [[ 9.61726641e-01 -2.73886768e-01 -8.24048389e-03 8.85960142e+02] [ 2.73875192e-01 9.61761930e-01 -2.52387167e-03 1.96616990e+01] [ 8.61663875e-03 1.70410515e-04 9.99962862e-01 3.87841695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.699254154 meters 0.022326695218749897 Centerline is valid? [True, True] Translation: X:886.02, Y:19.68, Z:3.88 [[ 9.63845237e-01 -2.66327812e-01 -8.47679098e-03 8.86016845e+02] [ 2.66315267e-01 9.63882480e-01 -2.59659319e-03 1.96794400e+01] [ 8.86217530e-03 2.45215125e-04 9.99960700e-01 3.87678698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.759254154 meters 0.01947219929386381 Centerline is valid? [True, True] Translation: X:886.08, Y:19.69, Z:3.88 [[ 9.65496276e-01 -2.60311685e-01 -7.40048588e-03 8.86076474e+02] [ 2.60301945e-01 9.65524602e-01 -2.26699852e-03 1.96910209e+01] [ 7.73547739e-03 2.62417763e-04 9.99970046e-01 3.88044307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.819254154 meters 0.024114158526206624 Centerline is valid? [True, True] Translation: X:886.13, Y:19.70, Z:3.88 [[ 9.65835442e-01 -2.58969757e-01 -9.82673212e-03 8.86133481e+02] [ 2.58952506e-01 9.65885362e-01 -3.01109616e-03 1.97032142e+01] [ 1.02712796e-02 3.63566479e-04 9.99947183e-01 3.87513787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.879254154 meters 0.022445763441118663 Centerline is valid? [True, True] Translation: X:886.19, Y:19.71, Z:3.88 [[ 9.65724694e-01 -2.59339922e-01 -1.08912683e-02 8.86191186e+02] [ 2.59318724e-01 9.65786024e-01 -3.33999593e-03 1.97118348e+01] [ 1.13848290e-02 4.01206747e-04 9.99935110e-01 3.87710707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.939254154 meters 0.019525539676305423 Centerline is valid? [True, True] Translation: X:886.25, Y:19.71, Z:3.88 [[ 9.64671742e-01 -2.63119576e-01 -1.32860766e-02 8.86254745e+02] [ 2.63088356e-01 9.64763130e-01 -4.07669290e-03 1.97054363e+01] [ 1.38905745e-02 4.37258406e-04 9.99903426e-01 3.87513557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.999254154 meters 0.020119879337394696 Centerline is valid? [True, True] Translation: X:886.31, Y:19.71, Z:3.87 [[ 9.63862838e-01 -2.66087461e-01 -1.28799489e-02 8.86314623e+02] [ 2.66058365e-01 9.63948814e-01 -3.95357638e-03 1.97124828e+01] [ 1.34676085e-02 3.83887203e-04 9.99909234e-01 3.87461575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.059254154 meters 0.015813736980852068 Centerline is valid? [True, True] Translation: X:886.38, Y:19.71, Z:3.88 [[ 9.62239916e-01 -2.71983591e-01 -1.09211316e-02 8.86377779e+02] [ 2.71963044e-01 9.62301855e-01 -3.35292001e-03 1.97122761e+01] [ 1.14213644e-02 2.56169290e-04 9.99934741e-01 3.87928460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.119254154 meters 0.013973596420784303 Centerline is valid? [True, True] Translation: X:886.44, Y:19.71, Z:3.88 [[ 9.59827875e-01 -2.80363945e-01 -1.12476188e-02 8.86440440e+02] [ 2.80342721e-01 9.59893761e-01 -3.45352041e-03 1.97111849e+01] [ 1.17647617e-02 1.61597110e-04 9.99930780e-01 3.87910572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.179254154 meters 0.012855183232248164 Centerline is valid? [True, True] Translation: X:886.50, Y:19.71, Z:3.88 [[ 9.57040858e-01 -2.89741584e-01 -1.10729607e-02 8.86503227e+02] [ 2.89721618e-01 9.57104912e-01 -3.40179676e-03 1.97092898e+01] [ 1.15836271e-02 4.75824030e-05 9.99932906e-01 3.88016881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.2392541539999 meters 0.012930469596640105 Centerline is valid? [True, True] Translation: X:886.56, Y:19.71, Z:3.88 [[ 9.54195196e-01 -2.99005810e-01 -1.03466121e-02 8.86564020e+02] [ 2.98988888e-01 9.54251289e-01 -3.18163110e-03 1.97096541e+01] [ 1.08245942e-02 -5.76249465e-05 9.99941411e-01 3.88124296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.299254154 meters 0.014051718175585723 Centerline is valid? [True, True] Translation: X:886.63, Y:19.71, Z:3.88 [[ 9.51203941e-01 -3.08406235e-01 -9.83138477e-03 8.86625958e+02] [ 3.08391441e-01 9.51254735e-01 -3.02471169e-03 1.97120211e+01] [ 1.02849913e-02 -1.54797232e-04 9.99947096e-01 3.88137056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.3592541539999 meters 0.014844631068841289 Centerline is valid? [True, True] Translation: X:886.69, Y:19.72, Z:3.88 [[ 9.49621419e-01 -3.13240556e-01 -9.97573412e-03 8.86685067e+02] [ 3.13225584e-01 9.49673791e-01 -3.06974637e-03 1.97207425e+01] [ 1.04352623e-02 -2.09558250e-04 9.99945529e-01 3.88146960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.419254154 meters 0.01611472486244396 Centerline is valid? [True, True] Translation: X:886.75, Y:19.73, Z:3.88 [[ 9.48141069e-01 -3.17676406e-01 -1.04982552e-02 8.86745133e+02] [ 3.17660088e-01 9.48199150e-01 -3.23126126e-03 1.97273341e+01] [ 1.09809321e-02 -2.71185174e-04 9.99939671e-01 3.88127990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.4792541539999 meters 0.015424031307215489 Centerline is valid? [True, True] Translation: X:886.80, Y:19.74, Z:3.88 [[ 9.48606651e-01 -3.16271574e-01 -1.08495406e-02 8.86802384e+02] [ 3.16254030e-01 9.48668658e-01 -3.34152017e-03 1.97421019e+01] [ 1.13494469e-02 -2.61422669e-04 9.99935559e-01 3.88160384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.539254154 meters 0.015477899282501173 Centerline is valid? [True, True] Translation: X:886.86, Y:19.76, Z:3.88 [[ 9.51147410e-01 -3.08558809e-01 -1.04911817e-02 8.86857708e+02] [ 3.08541917e-01 9.51205254e-01 -3.23270170e-03 1.97610917e+01] [ 1.09767458e-02 -1.62193482e-04 9.99939741e-01 3.87990471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.5992541539999 meters 0.0131677039177071 Centerline is valid? [True, True] Translation: X:886.91, Y:19.78, Z:3.88 [[ 9.53334168e-01 -3.01707969e-01 -1.12367941e-02 8.86912372e+02] [ 3.01688088e-01 9.53400385e-01 -3.46459874e-03 1.97826141e+01] [ 1.17584609e-02 -8.70865639e-05 9.99930863e-01 3.88062203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.659254154 meters 0.013800001516910538 Centerline is valid? [True, True] Translation: X:886.97, Y:19.80, Z:3.88 [[ 9.54501583e-01 -2.97964177e-01 -1.20031919e-02 8.86967094e+02] [ 2.97941154e-01 9.54577052e-01 -3.70419662e-03 1.98049689e+01] [ 1.25616895e-02 -4.05833212e-05 9.99921098e-01 3.87877598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.7192541539999 meters 0.012814164346831728 Centerline is valid? [True, True] Translation: X:887.02, Y:19.82, Z:3.88 [[ 9.54873288e-01 -2.96789096e-01 -1.15427973e-02 8.87022069e+02] [ 2.96767678e-01 9.54943052e-01 -3.56555825e-03 1.98243530e+01] [ 1.20809329e-02 -2.08728093e-05 9.99927023e-01 3.88056280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.779254154 meters 0.012747996208519677 Centerline is valid? [True, True] Translation: X:887.08, Y:19.85, Z:3.88 [[ 9.55727750e-01 -2.94036938e-01 -1.12581450e-02 8.87075986e+02] [ 2.94016331e-01 9.55794057e-01 -3.48116709e-03 1.98454020e+01] [ 1.17840598e-02 1.69695020e-05 9.99930565e-01 3.88060900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.839254154 meters 0.01518898218252809 Centerline is valid? [True, True] Translation: X:887.13, Y:19.86, Z:3.88 [[ 9.55892384e-01 -2.93460030e-01 -1.22866265e-02 8.87131444e+02] [ 2.93435390e-01 9.55971344e-01 -3.80289681e-03 1.98644284e+01] [ 1.28616611e-02 2.98290559e-05 9.99917285e-01 3.87855179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.899254154 meters 0.013687432352822711 Centerline is valid? [True, True] Translation: X:887.19, Y:19.88, Z:3.88 [[ 9.56640342e-01 -2.91016457e-01 -1.21933291e-02 8.87186349e+02] [ 2.90991966e-01 9.56718045e-01 -3.77597209e-03 1.98841712e+01] [ 1.27644480e-02 6.40864204e-05 9.99918529e-01 3.87936593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.959254154 meters 0.01616698371084988 Centerline is valid? [True, True] Translation: X:887.24, Y:19.91, Z:3.88 [[ 9.57496762e-01 -2.88124723e-01 -1.35681466e-02 8.87241681e+02] [ 2.88094065e-01 9.57592883e-01 -4.20471426e-03 1.99051811e+01] [ 1.42042428e-02 1.17097783e-04 9.99899108e-01 3.87583814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.019254154 meters 0.013882531268563704 Centerline is valid? [True, True] Translation: X:887.30, Y:19.92, Z:3.88 [[ 9.58434567e-01 -2.85017884e-01 -1.29609859e-02 8.87297445e+02] [ 2.84989577e-01 9.58522186e-01 -4.02001723e-03 1.99235487e+01] [ 1.35691693e-02 1.59177584e-04 9.99907922e-01 3.87908157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.079254154 meters 0.01477262074248926 Centerline is valid? [True, True] Translation: X:887.35, Y:19.94, Z:3.88 [[ 9.59440271e-01 -2.81617402e-01 -1.28843188e-02 8.87354054e+02] [ 2.81589074e-01 9.59526756e-01 -3.99978981e-03 1.99411004e+01] [ 1.34892590e-02 2.09476021e-04 9.99908994e-01 3.87976406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.139254154 meters 0.015208587151443891 Centerline is valid? [True, True] Translation: X:887.41, Y:19.96, Z:3.88 [[ 9.60320229e-01 -2.78576263e-01 -1.34284471e-02 8.87409047e+02] [ 2.78545164e-01 9.60414075e-01 -4.17083336e-03 1.99589025e+01] [ 1.40587648e-02 2.64906645e-04 9.99901136e-01 3.87989301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.199254154 meters 0.015056874127410552 Centerline is valid? [True, True] Translation: X:887.47, Y:19.97, Z:3.88 [[ 9.59857756e-01 -2.80135844e-01 -1.40355659e-02 8.87466287e+02] [ 2.80101991e-01 9.59960334e-01 -4.36251377e-03 1.99736093e+01] [ 1.46956830e-02 2.56002719e-04 9.99891980e-01 3.87915924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.259254154 meters 0.015594188626322735 Centerline is valid? [True, True] Translation: X:887.52, Y:19.98, Z:3.88 [[ 9.57884976e-01 -2.86775000e-01 -1.47130143e-02 8.87524698e+02] [ 2.86738550e-01 9.57997950e-01 -4.57512435e-03 1.99832863e+01] [ 1.54070688e-02 1.63654496e-04 9.99881291e-01 3.87844906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.319254154 meters 0.01313291847268362 Centerline is valid? [True, True] Translation: X:887.58, Y:20.00, Z:3.88 [[ 9.56552213e-01 -2.91341119e-01 -1.13232965e-02 8.87581139e+02] [ 2.91319838e-01 9.56619228e-01 -3.52202893e-03 1.99969303e+01] [ 1.18581950e-02 7.03036695e-05 9.99929687e-01 3.88340944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.379254154 meters 0.015409488956680449 Centerline is valid? [True, True] Translation: X:887.64, Y:20.01, Z:3.88 [[ 9.54170034e-01 -2.99056535e-01 -1.11684850e-02 8.87638817e+02] [ 2.99036332e-01 9.54235395e-01 -3.47617757e-03 2.00114363e+01] [ 1.16969373e-02 -2.29183072e-05 9.99931588e-01 3.88186600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.439254154 meters 0.014923179460899631 Centerline is valid? [True, True] Translation: X:887.70, Y:20.02, Z:3.88 [[ 9.51406488e-01 -3.07769361e-01 -1.01840733e-02 8.87696859e+02] [ 3.07753031e-01 9.51460986e-01 -3.17248253e-03 2.00239502e+01] [ 1.06661414e-02 -1.15858975e-04 9.99943108e-01 3.88404217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.499254154 meters 0.014639832413803993 Centerline is valid? [True, True] Translation: X:887.75, Y:20.04, Z:3.88 [[ 9.49097888e-01 -3.14786026e-01 -1.10885887e-02 8.87753615e+02] [ 3.14767123e-01 9.49162638e-01 -3.45611511e-03 2.00408017e+01] [ 1.16128109e-02 -2.10131610e-04 9.99932547e-01 3.88469934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.559254154 meters 0.01635732800719782 Centerline is valid? [True, True] Translation: X:887.81, Y:20.06, Z:3.88 [[ 9.46916413e-01 -3.21186547e-01 -1.37298195e-02 8.87811186e+02] [ 3.21158225e-01 9.47015879e-01 -4.28014280e-03 2.00576679e+01] [ 1.43770814e-02 -3.56506992e-04 9.99896581e-01 3.88230082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.619254154 meters 0.02086215398168495 Centerline is valid? [True, True] Translation: X:887.87, Y:20.07, Z:3.88 [[ 9.45494998e-01 -3.25288910e-01 -1.50443531e-02 8.87867834e+02] [ 3.25255406e-01 9.45614570e-01 -4.69101680e-03 2.00739420e+01] [ 1.57520952e-02 -4.57924253e-04 9.99875823e-01 3.87987550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.679254154 meters 0.018745587886890232 Centerline is valid? [True, True] Translation: X:887.92, Y:20.10, Z:3.88 [[ 9.45501446e-01 -3.25353109e-01 -1.31289633e-02 8.87922540e+02] [ 3.25327561e-01 9.45592511e-01 -4.09656797e-03 2.00958779e+01] [ 1.37474805e-02 -3.97902679e-04 9.99905420e-01 3.88257998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.7392541539999 meters 0.016978590213278397 Centerline is valid? [True, True] Translation: X:887.98, Y:20.12, Z:3.88 [[ 9.46900883e-01 -3.21328047e-01 -1.12696278e-02 8.87977228e+02] [ 3.21308922e-01 9.46967899e-01 -3.51772321e-03 2.01199099e+01] [ 1.18023189e-02 -2.90096741e-04 9.99930308e-01 3.88433533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.799254154 meters 0.014491331736409058 Centerline is valid? [True, True] Translation: X:888.03, Y:20.15, Z:3.89 [[ 9.49602357e-01 -3.13312430e-01 -9.52285601e-03 8.88030364e+02] [ 3.13298365e-01 9.49650091e-01 -2.97301296e-03 2.01451108e+01] [ 9.97486300e-03 -1.60315102e-04 9.99950237e-01 3.88591988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.8592541539999 meters 0.013933150398315953 Centerline is valid? [True, True] Translation: X:888.08, Y:20.17, Z:3.88 [[ 9.52223080e-01 -3.05243167e-01 -9.89014975e-03 8.88082721e+02] [ 3.05227551e-01 9.52274437e-01 -3.08853529e-03 2.01709744e+01] [ 1.03608911e-02 -7.77716074e-05 9.99946322e-01 3.88482457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.919254154 meters 0.013681846632768163 Centerline is valid? [True, True] Translation: X:888.14, Y:20.20, Z:3.88 [[ 9.53996655e-01 -2.99622092e-01 -1.08159100e-02 8.88136435e+02] [ 2.99603029e-01 9.54057965e-01 -3.37983623e-03 2.01956049e+01] [ 1.13316787e-02 -1.61269481e-05 9.99935794e-01 3.88337417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.9792541539999 meters 0.016123995827403363 Centerline is valid? [True, True] Translation: X:888.19, Y:20.22, Z:3.88 [[ 9.54945479e-01 -2.96541742e-01 -1.19217582e-02 8.88191211e+02] [ 2.96518299e-01 9.55019892e-01 -3.72875698e-03 2.02176561e+01] [ 1.24912483e-02 2.57401626e-05 9.99921981e-01 3.88157962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.039254154 meters 0.01277909187816708 Centerline is valid? [True, True] Translation: X:888.25, Y:20.24, Z:3.88 [[ 9.55082630e-01 -2.96138316e-01 -1.09209266e-02 8.88246138e+02] [ 2.96118581e-01 9.55145066e-01 -3.41897831e-03 2.02372689e+01] [ 1.14435596e-02 3.15175075e-05 9.99934520e-01 3.88468418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.0992541539999 meters 0.01279859592492664 Centerline is valid? [True, True] Translation: X:888.30, Y:20.25, Z:3.88 [[ 9.54663162e-01 -2.97492481e-01 -1.07921867e-02 8.88301018e+02] [ 2.97473269e-01 9.54724161e-01 -3.38095074e-03 2.02540767e+01] [ 1.13093688e-02 1.72820725e-05 9.99936047e-01 3.88458687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.159254154 meters 0.015729029129689424 Centerline is valid? [True, True] Translation: X:888.36, Y:20.27, Z:3.88 [[ 9.54260039e-01 -2.98671640e-01 -1.35288240e-02 8.88357736e+02] [ 2.98641519e-01 9.54355935e-01 -4.24162904e-03 2.02716907e+01] [ 1.41781678e-02 7.34854095e-06 9.99899485e-01 3.88134155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.2192541539999 meters 0.015455659407206735 Centerline is valid? [True, True] Translation: X:888.41, Y:20.29, Z:3.88 [[ 9.54700555e-01 -2.97184306e-01 -1.51108476e-02 8.88413797e+02] [ 2.97146474e-01 9.54820133e-01 -4.74199517e-03 2.02901763e+01] [ 1.58373880e-02 3.70503499e-05 9.99874580e-01 3.88106481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.279254154 meters 0.013380679968451667 Centerline is valid? [True, True] Translation: X:888.47, Y:20.31, Z:3.88 [[ 9.56446690e-01 -2.91545956e-01 -1.45149937e-02 8.88467817e+02] [ 2.91510362e-01 9.56556814e-01 -4.55734760e-03 2.03097514e+01] [ 1.52130924e-02 1.27588968e-04 9.99884266e-01 3.88302713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.339254154 meters 0.01338182462674063 Centerline is valid? [True, True] Translation: X:888.52, Y:20.33, Z:3.88 [[ 9.56843642e-01 -2.90298712e-01 -1.33004777e-02 8.88522907e+02] [ 2.90268658e-01 9.56936068e-01 -4.17939591e-03 2.03272541e+01] [ 1.39409801e-02 1.38316582e-04 9.99902810e-01 3.88445921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.399254154 meters 0.013715588871348277 Centerline is valid? [True, True] Translation: X:888.58, Y:20.34, Z:3.89 [[ 9.56523665e-01 -2.91406420e-01 -1.20323156e-02 8.88580314e+02] [ 2.91381869e-01 9.56599334e-01 -3.78431718e-03 2.03421602e+01] [ 1.26128794e-02 1.13790326e-04 9.99920448e-01 3.88536343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.459254154 meters 0.014235100616719985 Centerline is valid? [True, True] Translation: X:888.64, Y:20.35, Z:3.89 [[ 9.55168239e-01 -2.95873997e-01 -1.05930864e-02 8.88637741e+02] [ 2.95855212e-01 9.55226976e-01 -3.33445841e-03 2.03544430e+01] [ 1.11053815e-02 5.09489328e-05 9.99938332e-01 3.88649369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.519254154 meters 0.013273529019169159 Centerline is valid? [True, True] Translation: X:888.69, Y:20.37, Z:3.89 [[ 9.54228729e-01 -2.98937534e-01 -9.15880168e-03 8.88694878e+02] [ 2.98923610e-01 9.54272681e-01 -2.88533093e-03 2.03685247e+01] [ 9.60252795e-03 1.54836081e-05 9.99953895e-01 3.88840357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.579254154 meters 0.016290433850259665 Centerline is valid? [True, True] Translation: X:888.75, Y:20.39, Z:3.89 [[ 9.54009609e-01 -2.99590981e-01 -1.05314110e-02 8.88751073e+02] [ 2.99572573e-01 9.54067735e-01 -3.32108903e-03 2.03850970e+01] [ 1.10426477e-02 1.34289624e-05 9.99939028e-01 3.88544651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.639254154 meters 0.012796903284061622 Centerline is valid? [True, True] Translation: X:888.81, Y:20.40, Z:3.89 [[ 9.54397060e-01 -2.98386049e-01 -9.59255706e-03 8.88806621e+02] [ 2.98370686e-01 9.54445266e-01 -3.02795762e-03 2.04028502e+01] [ 1.00590710e-02 2.77360195e-05 9.99949406e-01 3.88799702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.699254154 meters 0.01582868626913159 Centerline is valid? [True, True] Translation: X:888.86, Y:20.42, Z:3.88 [[ 9.54877750e-01 -2.96721296e-01 -1.28434860e-02 8.88862298e+02] [ 2.96693549e-01 9.54964119e-01 -4.05829319e-03 2.04215732e+01] [ 1.34692503e-02 6.45944336e-05 9.99909283e-01 3.88262932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.759254154 meters 0.014679044270398121 Centerline is valid? [True, True] Translation: X:888.92, Y:20.44, Z:3.88 [[ 9.55318475e-01 -2.95266865e-01 -1.35679442e-02 8.88918500e+02] [ 2.95235698e-01 9.55414815e-01 -4.29102007e-03 2.04388181e+01] [ 1.42300110e-02 9.35492647e-05 9.99898744e-01 3.88214291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.819254154 meters 0.013772478109363618 Centerline is valid? [True, True] Translation: X:888.98, Y:20.45, Z:3.88 [[ 9.55356810e-01 -2.95159948e-01 -1.31898191e-02 8.88975117e+02] [ 2.95130431e-01 9.55447851e-01 -4.17526956e-03 2.04540714e+01] [ 1.38345567e-02 9.61552107e-05 9.99904293e-01 3.88363204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.879254154 meters 0.012879571389545406 Centerline is valid? [True, True] Translation: X:889.03, Y:20.47, Z:3.89 [[ 9.55193695e-01 -2.95770270e-01 -1.11781716e-02 8.89032531e+02] [ 2.95749077e-01 9.55259097e-01 -3.54148794e-03 2.04690716e+01] [ 1.17255169e-02 7.68730393e-05 9.99931251e-01 3.88544650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.939254154 meters 0.014337471967416618 Centerline is valid? [True, True] Translation: X:889.09, Y:20.48, Z:3.89 [[ 9.54400934e-01 -2.98310393e-01 -1.13914778e-02 8.89090053e+02] [ 2.98288526e-01 9.54468914e-01 -3.61227742e-03 2.04830054e+01] [ 1.19503913e-02 4.96138381e-05 9.99928590e-01 3.88516100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.999254154 meters 0.01297776361301413 Centerline is valid? [True, True] Translation: X:889.15, Y:20.50, Z:3.89 [[ 9.53627435e-01 -3.00778743e-01 -1.12633599e-02 8.89146443e+02] [ 3.00757496e-01 9.53693948e-01 -3.57506602e-03 2.04965544e+01] [ 1.18171020e-02 2.17411281e-05 9.99930175e-01 3.88656481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.059254154 meters 0.012490822614148623 Centerline is valid? [True, True] Translation: X:889.20, Y:20.51, Z:3.89 [[ 9.53073925e-01 -3.02517951e-01 -1.15318073e-02 8.89203398e+02] [ 3.02495762e-01 9.53143688e-01 -3.66399481e-03 2.05106215e+01] [ 1.20998935e-02 3.73509338e-06 9.99926794e-01 3.88740311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.119254154 meters 0.014255115235092439 Centerline is valid? [True, True] Translation: X:889.26, Y:20.53, Z:3.89 [[ 9.52800009e-01 -3.03339673e-01 -1.25373519e-02 8.89259226e+02] [ 3.03313487e-01 9.52882491e-01 -3.98576994e-03 2.05270692e+01] [ 1.31556652e-02 -5.10627021e-06 9.99913460e-01 3.88503582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.179254154 meters 0.012529380487568891 Centerline is valid? [True, True] Translation: X:889.31, Y:20.55, Z:3.89 [[ 9.53637203e-01 -3.00738140e-01 -1.15176264e-02 8.89313768e+02] [ 3.00715819e-01 9.53706753e-01 -3.66419061e-03 2.05475400e+01] [ 1.20864000e-02 3.07760201e-05 9.99926956e-01 3.88611194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.2392541539999 meters 0.014627588154380707 Centerline is valid? [True, True] Translation: X:889.37, Y:20.57, Z:3.88 [[ 9.54084121e-01 -2.99226681e-01 -1.36704946e-02 8.89369621e+02] [ 2.99195020e-01 9.54182053e-01 -4.35321426e-03 2.05670423e+01] [ 1.43467384e-02 6.31887076e-05 9.99897078e-01 3.88378527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.299254154 meters 0.013872575550492998 Centerline is valid? [True, True] Translation: X:889.43, Y:20.59, Z:3.88 [[ 9.54801947e-01 -2.96954842e-01 -1.30791176e-02 8.89425500e+02] [ 2.96925599e-01 9.54891519e-01 -4.16842778e-03 2.05870167e+01] [ 1.37269733e-02 9.64981221e-05 9.99905776e-01 3.88470028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.3592541539999 meters 0.012827645371519208 Centerline is valid? [True, True] Translation: X:889.48, Y:20.61, Z:3.89 [[ 9.55390590e-01 -2.95120569e-01 -1.15182160e-02 8.89480248e+02] [ 2.95097716e-01 9.55460013e-01 -3.67434711e-03 2.06068492e+01] [ 1.20895703e-02 1.11437409e-04 9.99926912e-01 3.88662404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.419254154 meters 0.013751872362308008 Centerline is valid? [True, True] Translation: X:889.53, Y:20.63, Z:3.89 [[ 9.55343453e-01 -2.95273440e-01 -1.15100786e-02 8.89534721e+02] [ 2.95250585e-01 9.55412781e-01 -3.67550236e-03 2.06258186e+01] [ 1.20821544e-02 1.13009670e-04 9.99927002e-01 3.88595897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.4792541539999 meters 0.013018953100675986 Centerline is valid? [True, True] Translation: X:889.59, Y:20.64, Z:3.89 [[ 9.55002997e-01 -2.96376471e-01 -1.14133211e-02 8.89590036e+02] [ 2.96354052e-01 9.55071190e-01 -3.64668503e-03 2.06440519e+01] [ 1.19813258e-02 1.00211159e-04 9.99928216e-01 3.88655494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.539254154 meters 0.015087020216577639 Centerline is valid? [True, True] Translation: X:889.65, Y:20.66, Z:3.89 [[ 9.54144903e-01 -2.99135482e-01 -1.12011871e-02 8.89646320e+02] [ 2.99114051e-01 9.54210647e-01 -3.58131309e-03 2.06604331e+01] [ 1.17595898e-02 6.66591790e-05 9.99930851e-01 3.88619469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.5992541539999 meters 0.012542503888470181 Centerline is valid? [True, True] Translation: X:889.70, Y:20.68, Z:3.89 [[ 9.53387358e-01 -3.01589459e-01 -9.81546912e-03 8.89701545e+02] [ 3.01573116e-01 9.53437883e-01 -3.13987007e-03 2.06771981e+01] [ 1.03053918e-02 3.34308231e-05 9.99946897e-01 3.88879942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.659254154 meters 0.015650925223145703 Centerline is valid? [True, True] Translation: X:889.76, Y:20.69, Z:3.89 [[ 9.52115744e-01 -3.05529445e-01 -1.12857982e-02 8.89757283e+02] [ 3.05508082e-01 9.52182629e-01 -3.61294075e-03 2.06935494e+01] [ 1.18500007e-02 -7.96478383e-06 9.99929786e-01 3.88611008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.7192541539999 meters 0.0134653699376132 Centerline is valid? [True, True] Translation: X:889.81, Y:20.71, Z:3.89 [[ 9.50976094e-01 -3.09055025e-01 -1.13780220e-02 8.89813565e+02] [ 3.09033524e-01 9.51044157e-01 -3.64582660e-03 2.07098465e+01] [ 1.19477623e-02 -4.90962767e-05 9.99928622e-01 3.88798383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.779254154 meters 0.015419905393654522 Centerline is valid? [True, True] Translation: X:889.87, Y:20.73, Z:3.89 [[ 9.49619118e-01 -3.13144148e-01 -1.28169466e-02 8.89869667e+02] [ 3.13117185e-01 9.49705602e-01 -4.11068610e-03 2.07270661e+01] [ 1.34595633e-02 -1.09620134e-04 9.99909410e-01 3.88620870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.839254154 meters 0.013487913796913895 Centerline is valid? [True, True] Translation: X:889.92, Y:20.74, Z:3.89 [[ 9.48836972e-01 -3.15543003e-01 -1.18749272e-02 8.89924777e+02] [ 3.15520017e-01 9.48911269e-01 -3.81081638e-03 2.07435752e+01] [ 1.24707287e-02 -1.30933755e-04 9.99922229e-01 3.88806631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.899254154 meters 0.016211920150521437 Centerline is valid? [True, True] Translation: X:889.98, Y:20.76, Z:3.89 [[ 9.47358884e-01 -3.19939286e-01 -1.22473532e-02 8.89980986e+02] [ 3.19915180e-01 9.47438028e-01 -3.93214921e-03 2.07596981e+01] [ 1.28616571e-02 -1.92957694e-04 9.99917267e-01 3.88678893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.959254154 meters 0.017448058952365578 Centerline is valid? [True, True] Translation: X:890.04, Y:20.78, Z:3.89 [[ 9.45773393e-01 -3.24604784e-01 -1.20176473e-02 8.90037561e+02] [ 3.24581915e-01 9.45849709e-01 -3.86110805e-03 2.07760246e+01] [ 1.26202223e-02 -2.48977698e-04 9.99920331e-01 3.88714763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.019254154 meters 0.016410665132622692 Centerline is valid? [True, True] Translation: X:890.09, Y:20.79, Z:3.89 [[ 9.44961316e-01 -3.26985365e-01 -1.13438192e-02 8.90093538e+02] [ 3.26965124e-01 9.45029366e-01 -3.64758968e-03 2.07932937e+01] [ 1.19129507e-02 -2.62202113e-04 9.99929004e-01 3.88938356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.079254154 meters 0.01979037919291184 Centerline is valid? [True, True] Translation: X:890.15, Y:20.81, Z:3.89 [[ 9.43730487e-01 -3.30525757e-01 -1.12022993e-02 8.90148265e+02] [ 3.30506249e-01 9.43796924e-01 -3.60371158e-03 2.08132498e+01] [ 1.17638151e-02 -3.01497416e-04 9.99930758e-01 3.88766582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.139254154 meters 0.01789969545521051 Centerline is valid? [True, True] Translation: X:890.20, Y:20.84, Z:3.89 [[ 9.43481533e-01 -3.31240635e-01 -1.10561615e-02 8.90202588e+02] [ 3.31221654e-01 9.43546262e-01 -3.55895962e-03 2.08377501e+01] [ 1.16108719e-02 -3.04227428e-04 9.99932545e-01 3.88932758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.199254154 meters 0.01694042941032301 Centerline is valid? [True, True] Translation: X:890.26, Y:20.86, Z:3.89 [[ 9.43862924e-01 -3.30198792e-01 -9.56759901e-03 8.90257121e+02] [ 3.30184500e-01 9.43911381e-01 -3.08232953e-03 2.08597151e+01] [ 1.00487471e-02 -2.49776334e-04 9.99949479e-01 3.89011334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.259254154 meters 0.016154443096097457 Centerline is valid? [True, True] Translation: X:890.31, Y:20.88, Z:3.89 [[ 9.45067141e-01 -3.26718077e-01 -1.01684143e-02 8.90311568e+02] [ 3.26701710e-01 9.45121816e-01 -3.27792708e-03 2.08842481e+01] [ 1.06813482e-02 -2.24177167e-04 9.99942928e-01 3.88928913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.319254154 meters 0.015631760053531122 Centerline is valid? [True, True] Translation: X:890.37, Y:20.91, Z:3.89 [[ 9.47285068e-01 -3.20186827e-01 -1.14627999e-02 8.90365407e+02] [ 3.20165534e-01 9.47354404e-01 -3.69637750e-03 2.09069078e+01] [ 1.20428654e-02 -1.68470246e-04 9.99927468e-01 3.88669076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.379254154 meters 0.016833802888053178 Centerline is valid? [True, True] Translation: X:890.42, Y:20.94, Z:3.88 [[ 9.49512734e-01 -3.13440731e-01 -1.34341281e-02 8.90418248e+02] [ 3.13410767e-01 9.49607761e-01 -4.33495503e-03 2.09358648e+01] [ 1.41159038e-02 -9.43053769e-05 9.99900361e-01 3.88458515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.439254154 meters 0.015020438485144621 Centerline is valid? [True, True] Translation: X:890.47, Y:20.96, Z:3.89 [[ 9.51992849e-01 -3.05867792e-01 -1.24301796e-02 8.90471636e+02] [ 3.05841450e-01 9.52073996e-01 -4.01425806e-03 2.09618640e+01] [ 1.30622830e-02 1.98808078e-05 9.99914685e-01 3.88582012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.499254154 meters 0.013382184222255306 Centerline is valid? [True, True] Translation: X:890.53, Y:20.99, Z:3.89 [[ 9.54402108e-01 -2.98347218e-01 -1.02739301e-02 8.90525079e+02] [ 2.98328758e-01 9.54457399e-01 -3.32053687e-03 2.09866131e+01] [ 1.07967015e-02 1.04118602e-04 9.99941708e-01 3.88992971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.559254154 meters 0.015299214862610298 Centerline is valid? [True, True] Translation: X:890.58, Y:21.01, Z:3.89 [[ 9.54973902e-01 -2.96505272e-01 -1.04627767e-02 8.90580401e+02] [ 2.96485983e-01 9.55031207e-01 -3.38451853e-03 2.10066944e+01] [ 1.09958058e-02 1.30060229e-04 9.99939536e-01 3.88900841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.619254154 meters 0.015829085428407993 Centerline is valid? [True, True] Translation: X:890.64, Y:21.03, Z:3.89 [[ 9.56656127e-01 -2.91046545e-01 -1.00480115e-02 8.90635035e+02] [ 2.91028424e-01 9.56708876e-01 -3.25313464e-03 2.10293554e+01] [ 1.05598354e-02 1.87874231e-04 9.99944226e-01 3.88948256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.679254154 meters 0.01777652889608199 Centerline is valid? [True, True] Translation: X:890.69, Y:21.05, Z:3.89 [[ 9.57314404e-01 -2.88787719e-01 -1.22794585e-02 8.90688947e+02] [ 2.88760441e-01 9.57393119e-01 -3.97784176e-03 2.10502997e+01] [ 1.29050210e-02 2.62223357e-04 9.99916692e-01 3.88649090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.7392541539999 meters 0.014765884554905975 Centerline is valid? [True, True] Translation: X:890.75, Y:21.06, Z:3.89 [[ 9.56842413e-01 -2.90250830e-01 -1.43893120e-02 8.90745815e+02] [ 2.90213479e-01 9.56950559e-01 -4.66518619e-03 2.10640783e+01] [ 1.51239343e-02 2.87875729e-04 9.99885585e-01 3.88732779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.799254154 meters 0.01567502402679882 Centerline is valid? [True, True] Translation: X:890.80, Y:21.08, Z:3.88 [[ 9.55839163e-01 -2.93458036e-01 -1.59334766e-02 8.90801875e+02] [ 2.93412636e-01 9.55971919e-01 -5.16855381e-03 2.10796475e+01] [ 1.67487099e-02 2.65222768e-04 9.99859695e-01 3.88401727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.8592541539999 meters 0.013383289522421385 Centerline is valid? [True, True] Translation: X:890.86, Y:21.09, Z:3.89 [[ 9.53083810e-01 -3.02221544e-01 -1.71285885e-02 8.90862139e+02] [ 3.02170462e-01 9.53237706e-01 -5.55775357e-03 2.10855384e+01] [ 1.80072893e-02 1.21251437e-04 9.99837848e-01 3.88622112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.919254154 meters 0.017250279155108062 Centerline is valid? [True, True] Translation: X:890.92, Y:21.09, Z:3.89 [[ 9.48607878e-01 -3.15962697e-01 -1.76257727e-02 8.90922279e+02] [ 3.15910934e-01 9.48771603e-01 -5.72079326e-03 2.10878713e+01] [ 1.85303898e-02 -1.41384742e-04 9.99828288e-01 3.88542209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.9792541539999 meters 0.019377256479068638 Centerline is valid? [True, True] Translation: X:890.98, Y:21.09, Z:3.89 [[ 9.43979480e-01 -3.29634581e-01 -1.56135844e-02 8.90983519e+02] [ 3.29595808e-01 9.44108528e-01 -5.06862603e-03 2.10914339e+01] [ 1.64117126e-02 -3.61493019e-04 9.99865253e-01 3.88851965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.039254154 meters 0.020509936700631306 Centerline is valid? [True, True] Translation: X:891.04, Y:21.10, Z:3.89 [[ 9.40604030e-01 -3.39197769e-01 -1.44544926e-02 8.91044213e+02] [ 3.39165643e-01 9.40714960e-01 -4.69373635e-03 2.10982836e+01] [ 1.51896623e-02 -4.87519928e-04 9.99884512e-01 3.89015743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.0992541539999 meters 0.02019711404050232 Centerline is valid? [True, True] Translation: X:891.10, Y:21.11, Z:3.89 [[ 9.40059289e-01 -3.40743251e-01 -1.35118733e-02 8.91100029e+02] [ 3.40715316e-01 9.40156268e-01 -4.38919103e-03 2.11123795e+01] [ 1.41988596e-02 -4.77602371e-04 9.99899077e-01 3.89170577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.159254154 meters 0.01869978037959472 Centerline is valid? [True, True] Translation: X:891.16, Y:21.13, Z:3.89 [[ 9.41114639e-01 -3.37817729e-01 -1.35061956e-02 8.91155560e+02] [ 3.37789499e-01 9.41211451e-01 -4.38856388e-03 2.11327893e+01] [ 1.41947207e-02 -4.32109342e-04 9.99899157e-01 3.89216189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.2192541539999 meters 0.020355558128085004 Centerline is valid? [True, True] Translation: X:891.21, Y:21.15, Z:3.89 [[ 9.42218635e-01 -3.34652977e-01 -1.52127982e-02 8.91210647e+02] [ 3.34616729e-01 9.42341339e-01 -4.94430595e-03 2.11519888e+01] [ 1.59902753e-02 -4.31839544e-04 9.99872054e-01 3.88916410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.279254154 meters 0.018702733608266256 Centerline is valid? [True, True] Translation: X:891.26, Y:21.17, Z:3.89 [[ 9.42734378e-01 -3.33222702e-01 -1.46465901e-02 8.91264981e+02] [ 3.33188910e-01 9.42848067e-01 -4.76157922e-03 2.11710534e+01] [ 1.53961754e-02 -3.91176955e-04 9.99881395e-01 3.89030170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.339254154 meters 0.016780329891454653 Centerline is valid? [True, True] Translation: X:891.32, Y:21.19, Z:3.89 [[ 9.41511475e-01 -3.36671535e-01 -1.44367546e-02 8.91319247e+02] [ 3.36639058e-01 9.41622050e-01 -4.69671210e-03 2.11941252e+01] [ 1.51752157e-02 -4.37967124e-04 9.99884754e-01 3.89240697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.399254154 meters 0.020597191461302226 Centerline is valid? [True, True] Translation: X:891.38, Y:21.21, Z:3.89 [[ 9.39238034e-01 -3.42978044e-01 -1.40704257e-02 8.91377156e+02] [ 3.42947875e-01 9.39343274e-01 -4.57913826e-03 2.12069743e+01] [ 1.47875036e-02 -5.24521783e-04 9.99890521e-01 3.89287760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.459254154 meters 0.022207353157446187 Centerline is valid? [True, True] Translation: X:891.43, Y:21.23, Z:3.89 [[ 9.37398522e-01 -3.47952735e-01 -1.45912852e-02 8.91433489e+02] [ 3.47920879e-01 9.37511869e-01 -4.74949663e-03 2.12265609e+01] [ 1.53321034e-02 -6.24441673e-04 9.99882261e-01 3.89239346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.519254154 meters 0.02376347400520666 Centerline is valid? [True, True] Translation: X:891.49, Y:21.25, Z:3.89 [[ 9.37467591e-01 -3.47725113e-01 -1.55486580e-02 8.91486800e+02] [ 3.47688878e-01 9.37596294e-01 -5.06296223e-03 2.12463742e+01] [ 1.63388832e-02 -6.59732445e-04 9.99866294e-01 3.89114330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.579254154 meters 0.02192391908496671 Centerline is valid? [True, True] Translation: X:891.54, Y:21.27, Z:3.89 [[ 9.38616279e-01 -3.44629188e-01 -1.51724364e-02 8.91541483e+02] [ 3.44594263e-01 9.38738715e-01 -4.94159917e-03 2.12693628e+01] [ 1.59459728e-02 -5.90069124e-04 9.99872681e-01 3.89289210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.639254154 meters 0.02078256775212169 Centerline is valid? [True, True] Translation: X:891.59, Y:21.29, Z:3.89 [[ 9.41383965e-01 -3.36998244e-01 -1.51133809e-02 8.91594734e+02] [ 3.36962592e-01 9.41505164e-01 -4.92320632e-03 2.12940500e+01] [ 1.58884380e-02 -4.58016512e-04 9.99873666e-01 3.89321734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.699254154 meters 0.017243663950589863 Centerline is valid? [True, True] Translation: X:891.65, Y:21.33, Z:3.89 [[ 9.45053934e-01 -3.26480121e-01 -1.68461532e-02 8.91647744e+02] [ 3.26434095e-01 9.45204017e-01 -5.49065129e-03 2.13253301e+01] [ 1.77156402e-02 -3.10197185e-04 9.99843018e-01 3.89390772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.759254154 meters 0.01387190528864919 Centerline is valid? [True, True] Translation: X:891.70, Y:21.35, Z:3.89 [[ 9.49341439e-01 -3.13736567e-01 -1.78940978e-02 8.91701060e+02] [ 3.13682333e-01 9.49510064e-01 -5.83375716e-03 2.13547561e+01] [ 1.88208889e-02 -7.48349324e-05 9.99822869e-01 3.89410199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.819254154 meters 0.014095070783069198 Centerline is valid? [True, True] Translation: X:891.75, Y:21.38, Z:3.89 [[ 9.52504663e-01 -3.03846002e-01 -2.03094552e-02 8.91754140e+02] [ 3.03773782e-01 9.52721149e-01 -6.62588229e-03 2.13818165e+01] [ 2.13624954e-02 1.41703745e-04 9.99771786e-01 3.89394709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.879254154 meters 0.01630373006350956 Centerline is valid? [True, True] Translation: X:891.81, Y:21.41, Z:3.89 [[ 9.54338659e-01 -2.97925581e-01 -2.18648325e-02 8.91809251e+02] [ 2.97840273e-01 9.54589053e-01 -7.13526753e-03 2.14055742e+01] [ 2.29977085e-02 2.97233963e-04 9.99735474e-01 3.89429591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.939254154 meters 0.014881515264609272 Centerline is valid? [True, True] Translation: X:891.86, Y:21.43, Z:3.90 [[ 9.55232492e-01 -2.95219804e-01 -1.93946956e-02 8.91863902e+02] [ 2.95152020e-01 9.55429307e-01 -6.33435386e-03 2.14252437e+01] [ 2.04002873e-02 3.26397032e-04 9.99791839e-01 3.89796026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.999254154 meters 0.015061723525822633 Centerline is valid? [True, True] Translation: X:891.92, Y:21.44, Z:3.90 [[ 9.55423457e-01 -2.94688994e-01 -1.80114977e-02 8.91919163e+02] [ 2.94630377e-01 9.55593165e-01 -5.88599766e-03 2.14433356e+01] [ 1.89462028e-02 3.16885890e-04 9.99820454e-01 3.89966533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.059254154 meters 0.014678955456866346 Centerline is valid? [True, True] Translation: X:891.98, Y:21.46, Z:3.90 [[ 9.54604235e-01 -2.97336941e-01 -1.79303566e-02 8.91975830e+02] [ 2.97279231e-01 9.54772576e-01 -5.86403528e-03 2.14588919e+01] [ 1.88630070e-02 2.67510301e-04 9.99822042e-01 3.90064058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.119254154 meters 0.014361679352549995 Centerline is valid? [True, True] Translation: X:892.03, Y:21.48, Z:3.90 [[ 9.53828369e-01 -2.99754847e-01 -1.89333905e-02 8.92032064e+02] [ 2.99690866e-01 9.54016234e-01 -6.19757172e-03 2.14751880e+01] [ 1.99205141e-02 2.37255525e-04 9.99801539e-01 3.90059968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.179254154 meters 0.017206473680770162 Centerline is valid? [True, True] Translation: X:892.09, Y:21.49, Z:3.90 [[ 9.51387281e-01 -3.07066486e-01 -2.39251762e-02 8.92088490e+02] [ 3.06966530e-01 9.51688059e-01 -7.83507152e-03 2.14876387e+01] [ 2.51751924e-02 1.09959078e-04 9.99683049e-01 3.89859853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.2392541539999 meters 0.0143576550486611 Centerline is valid? [True, True] Translation: X:892.15, Y:21.50, Z:3.90 [[ 9.48459431e-01 -3.16125981e-01 -2.21149547e-02 8.92147009e+02] [ 3.16042910e-01 9.48717213e-01 -7.24765230e-03 2.14970074e+01] [ 2.32720094e-02 -1.15170458e-04 9.99729163e-01 3.90069053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.299254154 meters 0.015603913013284452 Centerline is valid? [True, True] Translation: X:892.21, Y:21.51, Z:3.90 [[ 9.44543626e-01 -3.27688768e-01 -2.13871708e-02 8.92206365e+02] [ 3.27613984e-01 9.44785650e-01 -7.01097185e-03 2.15071846e+01] [ 2.25037088e-02 -3.84567454e-04 9.99746686e-01 3.90279031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.3592541539999 meters 0.018465120357914127 Centerline is valid? [True, True] Translation: X:892.26, Y:21.52, Z:3.90 [[ 9.42063867e-01 -3.34818658e-01 -2.03011481e-02 8.92264134e+02] [ 3.34752892e-01 9.42282437e-01 -6.65664852e-03 2.15177386e+01] [ 2.13581854e-02 -5.24879969e-04 9.99771750e-01 3.90171841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.419254154 meters 0.021258851049201062 Centerline is valid? [True, True] Translation: X:892.32, Y:21.53, Z:3.90 [[ 9.39790622e-01 -3.41110211e-01 -2.09143731e-02 8.92322645e+02] [ 3.41041932e-01 9.40023059e-01 -6.85918450e-03 2.15314749e+01] [ 2.19997309e-02 -6.86480952e-04 9.99757741e-01 3.90296637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.4792541539999 meters 0.020024422791833918 Centerline is valid? [True, True] Translation: X:892.38, Y:21.55, Z:3.91 [[ 9.38208870e-01 -3.45597746e-01 -1.80641445e-02 8.92380391e+02] [ 3.45547624e-01 9.38382508e-01 -5.92519094e-03 2.15474230e+01] [ 1.89988098e-02 -6.82955511e-04 9.99819273e-01 3.90630119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.539254154 meters 0.020021151031688812 Centerline is valid? [True, True] Translation: X:892.44, Y:21.57, Z:3.91 [[ 9.37679843e-01 -3.47051897e-01 -1.76491339e-02 8.92436720e+02] [ 3.47004236e-01 9.37845670e-01 -5.79301492e-03 2.15659626e+01] [ 1.85626406e-02 -6.92330904e-04 9.99827460e-01 3.90697830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.5992541539999 meters 0.019241513693586676 Centerline is valid? [True, True] Translation: X:892.49, Y:21.59, Z:3.91 [[ 9.37760727e-01 -3.46826551e-01 -1.77809419e-02 8.92492477e+02] [ 3.46778045e-01 9.37929032e-01 -5.84106948e-03 2.15865674e+01] [ 1.87030996e-02 -6.88514696e-04 9.99824845e-01 3.90722058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.659254154 meters 0.019179194765407553 Centerline is valid? [True, True] Translation: X:892.55, Y:21.61, Z:3.91 [[ 9.38086052e-01 -3.45923378e-01 -1.82092023e-02 8.92548043e+02] [ 3.45872239e-01 9.38262518e-01 -5.98687643e-03 2.16067368e+01] [ 1.91560125e-02 -6.81852275e-04 9.99816274e-01 3.90674011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.7192541539999 meters 0.019073853979869413 Centerline is valid? [True, True] Translation: X:892.60, Y:21.63, Z:3.91 [[ 9.39215990e-01 -3.42809315e-01 -1.88440241e-02 8.92601829e+02] [ 3.42753867e-01 9.39404794e-01 -6.19828753e-03 2.16283419e+01] [ 1.98269973e-02 -6.37331386e-04 9.99803223e-01 3.90607927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.779254154 meters 0.017907629391745998 Centerline is valid? [True, True] Translation: X:892.66, Y:21.65, Z:3.91 [[ 9.40626350e-01 -3.38947494e-01 -1.83484373e-02 8.92657075e+02] [ 3.38894172e-01 9.40805136e-01 -6.03624915e-03 2.16518384e+01] [ 1.93082755e-02 -5.40323431e-04 9.99813432e-01 3.90696364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.839254154 meters 0.01700304149629515 Centerline is valid? [True, True] Translation: X:892.71, Y:21.67, Z:3.91 [[ 9.41984479e-01 -3.35137269e-01 -1.86614930e-02 8.92712002e+02] [ 3.35081286e-01 9.42169196e-01 -6.14314940e-03 2.16745862e+01] [ 1.96410821e-02 -4.66365688e-04 9.99806987e-01 3.90751726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.899254154 meters 0.016617887815674207 Centerline is valid? [True, True] Translation: X:892.77, Y:21.70, Z:3.91 [[ 9.42672103e-01 -3.33244695e-01 -1.78123146e-02 8.92767129e+02] [ 3.33193264e-01 9.42840289e-01 -5.86841123e-03 2.16965547e+01] [ 1.87497848e-02 -4.02955682e-04 9.99824126e-01 3.90813456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.959254154 meters 0.016368643019239848 Centerline is valid? [True, True] Translation: X:892.82, Y:21.72, Z:3.91 [[ 9.43345913e-01 -3.31440140e-01 -1.56819252e-02 8.92820481e+02] [ 3.31399983e-01 9.43476195e-01 -5.16919140e-03 2.17194162e+01] [ 1.65088006e-02 -3.20654160e-04 9.99863669e-01 3.90913133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.019254154 meters 0.01735214730399716 Centerline is valid? [True, True] Translation: X:892.87, Y:21.74, Z:3.91 [[ 9.43941308e-01 -3.29689351e-01 -1.67254158e-02 8.92874208e+02] [ 3.29643325e-01 9.44089423e-01 -5.51723937e-03 2.17444852e+01] [ 1.76092632e-02 -3.05471541e-04 9.99844898e-01 3.90820679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.079254154 meters 0.014936033652925675 Centerline is valid? [True, True] Translation: X:892.93, Y:21.77, Z:3.91 [[ 9.44786721e-01 -3.27215798e-01 -1.75463202e-02 8.92928558e+02] [ 3.27164624e-01 9.44949602e-01 -5.79302499e-03 2.17674043e+01] [ 1.84759576e-02 -2.67362169e-04 9.99829269e-01 3.90878066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.139254154 meters 0.015147515329057604 Centerline is valid? [True, True] Translation: X:892.98, Y:21.79, Z:3.91 [[ 9.45283486e-01 -3.25690472e-01 -1.91009854e-02 8.92981846e+02] [ 3.25629447e-01 9.45476415e-01 -6.30967221e-03 2.17891381e+01] [ 2.01145313e-02 -2.55414375e-04 9.99797650e-01 3.90709875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.199254154 meters 0.01886003362910341 Centerline is valid? [True, True] Translation: X:893.04, Y:21.81, Z:3.91 [[ 9.43634311e-01 -3.30435076e-01 -1.91558892e-02 8.93037812e+02] [ 3.30374581e-01 9.43828658e-01 -6.33247522e-03 2.18069185e+01] [ 2.01723491e-02 -3.53077961e-04 9.99796455e-01 3.90704445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.259254154 meters 0.018790729242600362 Centerline is valid? [True, True] Translation: X:893.09, Y:21.82, Z:3.91 [[ 9.42215575e-01 -3.34537552e-01 -1.77323341e-02 8.93094430e+02] [ 3.34486353e-01 9.42382334e-01 -5.86657187e-03 2.18226036e+01] [ 1.86732270e-02 -4.03648375e-04 9.99825559e-01 3.90953427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.319254154 meters 0.019406792721332836 Centerline is valid? [True, True] Translation: X:893.15, Y:21.84, Z:3.91 [[ 9.40493358e-01 -3.39420021e-01 -1.63184762e-02 8.93151760e+02] [ 3.39377369e-01 9.40634806e-01 -5.40030112e-03 2.18392689e+01] [ 1.71826971e-02 -4.59174194e-04 9.99852261e-01 3.91174752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.379254154 meters 0.02071268540642051 Centerline is valid? [True, True] Translation: X:893.21, Y:21.86, Z:3.91 [[ 9.39777933e-01 -3.41350402e-01 -1.72435221e-02 8.93207800e+02] [ 3.41303036e-01 9.39935973e-01 -5.71000098e-03 2.18585617e+01] [ 1.81569179e-02 -5.19133529e-04 9.99835015e-01 3.91135073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.439254154 meters 0.020190652405683806 Centerline is valid? [True, True] Translation: X:893.26, Y:21.89, Z:3.91 [[ 9.40517898e-01 -3.39185130e-01 -1.94815441e-02 8.93260809e+02] [ 3.39124098e-01 9.40719492e-01 -6.45634644e-03 2.18874648e+01] [ 2.05165649e-02 -5.34351665e-04 9.99789370e-01 3.91194651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.499254154 meters 0.019101661880771274 Centerline is valid? [True, True] Translation: X:893.32, Y:21.91, Z:3.91 [[ 9.42297374e-01 -3.34228870e-01 -1.91499647e-02 8.93316223e+02] [ 3.34168833e-01 9.42491850e-01 -6.34842805e-03 2.19068638e+01] [ 2.01705136e-02 -4.17214276e-04 9.99796467e-01 3.90977232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.559254154 meters 0.016101758578536945 Centerline is valid? [True, True] Translation: X:893.37, Y:21.94, Z:3.91 [[ 9.44180464e-01 -3.28791008e-01 -2.04871583e-02 8.93368685e+02] [ 3.28720955e-01 9.44402653e-01 -6.79429731e-03 2.19369178e+01] [ 2.15820305e-02 -3.19515462e-04 9.99767030e-01 3.91261936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.619254154 meters 0.017773021792328154 Centerline is valid? [True, True] Translation: X:893.42, Y:21.96, Z:3.91 [[ 9.45292930e-01 -3.25484722e-01 -2.19310655e-02 8.93423097e+02] [ 3.25403431e-01 9.45547265e-01 -7.27851352e-03 2.19615134e+01] [ 2.31059040e-02 -2.56116589e-04 9.99732990e-01 3.91185449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.679254154 meters 0.015096859016085035 Centerline is valid? [True, True] Translation: X:893.48, Y:21.98, Z:3.91 [[ 9.45885184e-01 -3.23881983e-01 -2.00419449e-02 8.93477549e+02] [ 3.23813664e-01 9.46097470e-01 -6.65492169e-03 2.19799714e+01] [ 2.11170426e-02 -1.95063812e-04 9.99776991e-01 3.91377695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.7392541539999 meters 0.014457693690607112 Centerline is valid? [True, True] Translation: X:893.53, Y:22.00, Z:3.92 [[ 9.45713361e-01 -3.24462624e-01 -1.87148211e-02 8.93533667e+02] [ 3.24403074e-01 9.45898498e-01 -6.21900461e-03 2.19988054e+01] [ 1.97201557e-02 -1.89749742e-04 9.99805521e-01 3.91647772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.799254154 meters 0.015949804466055092 Centerline is valid? [True, True] Translation: X:893.59, Y:22.02, Z:3.92 [[ 9.45283244e-01 -3.25739830e-01 -1.82524276e-02 8.93588448e+02] [ 3.25683375e-01 9.45459422e-01 -6.06793804e-03 2.20161819e+01] [ 1.92334988e-02 -2.08592067e-04 9.99814997e-01 3.91629784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.8592541539999 meters 0.017435167652857884 Centerline is valid? [True, True] Translation: X:893.64, Y:22.04, Z:3.92 [[ 9.45106292e-01 -3.26174992e-01 -1.95951778e-02 8.93644253e+02] [ 3.26109919e-01 9.45309379e-01 -6.51908278e-03 2.20354169e+01] [ 2.06498672e-02 -2.28955709e-04 9.99786743e-01 3.91642548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.919254154 meters 0.01783425999338559 Centerline is valid? [True, True] Translation: X:893.70, Y:22.05, Z:3.92 [[ 9.44968487e-01 -3.26514659e-01 -2.05605590e-02 8.93700218e+02] [ 3.26442971e-01 9.45192107e-01 -6.84601970e-03 2.20547437e+01] [ 2.16690039e-02 -2.42577095e-04 9.99765170e-01 3.91595111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.9792541539999 meters 0.01675967679275495 Centerline is valid? [True, True] Translation: X:893.76, Y:22.07, Z:3.92 [[ 9.44762630e-01 -3.27054080e-01 -2.14289846e-02 8.93756410e+02] [ 3.26976212e-01 9.45005588e-01 -7.14110921e-03 2.20734332e+01] [ 2.25860390e-02 -2.60115089e-04 9.99744869e-01 3.91512362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.039254154 meters 0.01634256946100923 Centerline is valid? [True, True] Translation: X:893.81, Y:22.09, Z:3.92 [[ 9.44374858e-01 -3.28127694e-01 -2.20984947e-02 8.93813308e+02] [ 3.28045037e-01 9.44633333e-01 -7.37025443e-03 2.20900875e+01] [ 2.32933593e-02 -2.89018521e-04 9.99728631e-01 3.91556665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.0992541539999 meters 0.01596851938918327 Centerline is valid? [True, True] Translation: X:893.87, Y:22.11, Z:3.92 [[ 9.44436236e-01 -3.27935632e-01 -2.23252619e-02 8.93867901e+02] [ 3.27851051e-01 9.44700028e-01 -7.45291753e-03 2.21088856e+01] [ 2.35347528e-02 -2.80555197e-04 9.99722980e-01 3.91769825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.159254154 meters 0.014386777418987824 Centerline is valid? [True, True] Translation: X:893.92, Y:22.13, Z:3.92 [[ 9.45270397e-01 -3.25597980e-01 -2.12092386e-02 8.93923332e+02] [ 3.25520918e-01 9.45508283e-01 -7.08650840e-03 2.21275231e+01] [ 2.23608636e-02 -2.05384215e-04 9.99749944e-01 3.91918993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.2192541539999 meters 0.01726805937680265 Centerline is valid? [True, True] Translation: X:893.98, Y:22.15, Z:3.92 [[ 9.45973442e-01 -3.23443692e-01 -2.27689318e-02 8.93978240e+02] [ 3.23354178e-01 9.46247405e-01 -7.61078571e-03 2.21460631e+01] [ 2.40067033e-02 -1.62828067e-04 9.99711784e-01 3.91747667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.279254154 meters 0.014084556301981861 Centerline is valid? [True, True] Translation: X:894.03, Y:22.17, Z:3.92 [[ 9.47066757e-01 -3.20326640e-01 -2.13401575e-02 8.94033857e+02] [ 3.20247102e-01 9.47307151e-01 -7.13829634e-03 2.21654131e+01] [ 2.25022703e-02 -7.36804262e-05 9.99746789e-01 3.91875456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.339254154 meters 0.01382549584437639 Centerline is valid? [True, True] Translation: X:894.09, Y:22.19, Z:3.92 [[ 9.47881729e-01 -3.17905284e-01 -2.13648880e-02 8.94088202e+02] [ 3.17824794e-01 9.48122476e-01 -7.15336096e-03 2.21852363e+01] [ 2.25306218e-02 -9.75096434e-06 9.99746153e-01 3.92095301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.399254154 meters 0.013767553353768017 Centerline is valid? [True, True] Translation: X:894.14, Y:22.20, Z:3.92 [[ 9.49008887e-01 -3.14538034e-01 -2.11649881e-02 8.94142453e+02] [ 3.14458048e-01 9.49244868e-01 -7.09342472e-03 2.22046717e+01] [ 2.23219082e-02 7.62222502e-05 9.99750832e-01 3.92261688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.459254154 meters 0.01797908702340753 Centerline is valid? [True, True] Translation: X:894.20, Y:22.23, Z:3.92 [[ 9.50523497e-01 -3.09926893e-01 -2.12227001e-02 8.94197095e+02] [ 3.09845178e-01 9.50760372e-01 -7.11908926e-03 2.22258567e+01] [ 2.23840995e-02 1.91110326e-04 9.99749426e-01 3.92320046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.519254154 meters 0.016099748883018787 Centerline is valid? [True, True] Translation: X:894.25, Y:22.25, Z:3.92 [[ 9.51411019e-01 -3.07259527e-01 -2.02152452e-02 8.94251191e+02] [ 3.07184708e-01 9.51625726e-01 -6.78474154e-03 2.22453739e+01] [ 2.13220238e-02 2.45263689e-04 9.99772630e-01 3.92247719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.579254154 meters 0.017303227988703544 Centerline is valid? [True, True] Translation: X:894.31, Y:22.26, Z:3.92 [[ 9.51188407e-01 -3.07867156e-01 -2.14109375e-02 8.94306077e+02] [ 3.07783303e-01 9.51429321e-01 -7.18929549e-03 2.22633453e+01] [ 2.25843417e-02 2.48445478e-04 9.99744910e-01 3.91942093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.639254154 meters 0.017673819510189908 Centerline is valid? [True, True] Translation: X:894.36, Y:22.28, Z:3.92 [[ 9.50702372e-01 -3.09293894e-01 -2.24117447e-02 8.94362793e+02] [ 3.09202259e-01 9.50966474e-01 -7.53189379e-03 2.22774442e+01] [ 2.36423866e-02 2.30827198e-04 9.99720453e-01 3.91992897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.699254154 meters 0.016102193160703528 Centerline is valid? [True, True] Translation: X:894.42, Y:22.29, Z:3.92 [[ 9.50012967e-01 -3.11466844e-01 -2.15352631e-02 8.94420100e+02] [ 3.11382655e-01 9.50257004e-01 -7.24348527e-03 2.22925929e+01] [ 2.27201401e-02 1.75697530e-04 9.99741849e-01 3.91972845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.759254154 meters 0.015171062184370934 Centerline is valid? [True, True] Translation: X:894.48, Y:22.31, Z:3.92 [[ 9.49294728e-01 -3.13788247e-01 -1.94024711e-02 8.94478131e+02] [ 3.13720283e-01 9.49492982e-01 -6.53153342e-03 2.23059854e+01] [ 2.04720286e-02 1.13401519e-04 9.99790420e-01 3.92174885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.819254154 meters 0.014350918654143003 Centerline is valid? [True, True] Translation: X:894.54, Y:22.32, Z:3.92 [[ 9.48603347e-01 -3.15962199e-01 -1.78767853e-02 8.94535624e+02] [ 3.15904794e-01 9.48771777e-01 -6.02300055e-03 2.23208766e+01] [ 1.88640298e-02 6.60763122e-05 9.99822056e-01 3.92276011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.879254154 meters 0.014892292415750005 Centerline is valid? [True, True] Translation: X:894.59, Y:22.33, Z:3.92 [[ 9.47556200e-01 -3.19144723e-01 -1.68491248e-02 8.94594033e+02] [ 3.19094152e-01 9.47705991e-01 -5.68126530e-03 2.23334637e+01] [ 1.77811623e-02 6.86098204e-06 9.99841903e-01 3.92249922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.939254154 meters 0.016919741282205962 Centerline is valid? [True, True] Translation: X:894.65, Y:22.34, Z:3.92 [[ 9.46710267e-01 -3.21766488e-01 -1.43526112e-02 8.94651300e+02] [ 3.21730065e-01 9.46819056e-01 -4.84144226e-03 2.23446163e+01] [ 1.51471397e-02 -3.42234521e-05 9.99885275e-01 3.92224062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.999254154 meters 0.014795692524954333 Centerline is valid? [True, True] Translation: X:894.71, Y:22.36, Z:3.92 [[ 9.46462796e-01 -3.22589292e-01 -1.20135351e-02 8.94708752e+02] [ 3.22563807e-01 9.46539036e-01 -4.05501742e-03 2.23585384e+01] [ 1.26793851e-02 -3.72084958e-05 9.99919613e-01 3.92480488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.059254154 meters 0.01482792742565907 Centerline is valid? [True, True] Translation: X:894.76, Y:22.38, Z:3.92 [[ 9.46730771e-01 -3.21847607e-01 -1.07221971e-02 8.94764641e+02] [ 3.21827236e-01 9.46791486e-01 -3.62119807e-03 2.23751915e+01] [ 1.13171589e-02 -2.23954190e-05 9.99935959e-01 3.92439220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.119254154 meters 0.014939245790677454 Centerline is valid? [True, True] Translation: X:894.82, Y:22.39, Z:3.92 [[ 9.47614255e-01 -3.19272957e-01 -9.59177708e-03 8.94820423e+02] [ 3.19256499e-01 9.47662798e-01 -3.24174966e-03 2.23910802e+01] [ 1.01247733e-02 9.69102280e-06 9.99948743e-01 3.92451149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.179254154 meters 0.01510614628207309 Centerline is valid? [True, True] Translation: X:894.88, Y:22.41, Z:3.92 [[ 9.48566914e-01 -3.16421986e-01 -9.89630941e-03 8.94875789e+02] [ 3.16404290e-01 9.48618535e-01 -3.34664332e-03 2.24082146e+01] [ 1.04467741e-02 4.32803693e-05 9.99945430e-01 3.92327087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.2392541539999 meters 0.015192556864236392 Centerline is valid? [True, True] Translation: X:894.93, Y:22.43, Z:3.92 [[ 9.49190858e-01 -3.14585564e-01 -8.52276180e-03 8.94931459e+02] [ 3.14572350e-01 9.49229119e-01 -2.88390181e-03 2.24250033e+01] [ 8.99728755e-03 5.63480272e-05 9.99959522e-01 3.92342876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.299254154 meters 0.015270599478424306 Centerline is valid? [True, True] Translation: X:894.99, Y:22.44, Z:3.92 [[ 9.49816877e-01 -3.12722159e-01 -7.26305510e-03 8.94987801e+02] [ 3.12712492e-01 9.49844644e-01 -2.45966127e-03 2.24413059e+01] [ 7.66796457e-03 6.49797217e-05 9.99970599e-01 3.92421626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.3592541539999 meters 0.01725655609286789 Centerline is valid? [True, True] Translation: X:895.04, Y:22.46, Z:3.92 [[ 9.50300169e-01 -3.11272671e-01 -6.23806687e-03 8.95042494e+02] [ 3.11265501e-01 9.50320641e-01 -2.11376533e-03 2.24591203e+01] [ 6.58612108e-03 6.70165458e-05 9.99978309e-01 3.92269591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.419254154 meters 0.015750395892706003 Centerline is valid? [True, True] Translation: X:895.10, Y:22.48, Z:3.92 [[ 9.51202381e-01 -3.08487479e-01 -7.03597832e-03 8.95098564e+02] [ 3.08478272e-01 9.51228398e-01 -2.38542662e-03 2.24767000e+01] [ 7.42869664e-03 9.85770490e-05 9.99972402e-01 3.92320119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.4792541539999 meters 0.01583152862291127 Centerline is valid? [True, True] Translation: X:895.16, Y:22.49, Z:3.92 [[ 9.51551534e-01 -3.07440484e-01 -5.47957450e-03 8.95155236e+02] [ 3.07434875e-01 9.51567308e-01 -1.85906360e-03 2.24933339e+01] [ 5.78573537e-03 8.43825147e-05 9.99983259e-01 3.92443773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.539254154 meters 0.016705891072507546 Centerline is valid? [True, True] Translation: X:895.21, Y:22.51, Z:3.92 [[ 9.51575785e-01 -3.07402929e-01 -2.63888190e-03 8.95210960e+02] [ 3.07401628e-01 9.51579444e-01 -8.95361144e-04 2.25091734e+01] [ 2.78634241e-03 4.08073931e-05 9.99996117e-01 3.92457606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.5992541539999 meters 0.016107654057514544 Centerline is valid? [True, True] Translation: X:895.27, Y:22.53, Z:3.92 [[ 9.51930777e-01 -3.06287332e-01 -3.98324323e-03 8.95265421e+02] [ 3.06284348e-01 9.51939108e-01 -1.35360004e-03 2.25279979e+01] [ 4.20639555e-03 6.85284779e-05 9.99991151e-01 3.92458798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.659254154 meters 0.01630010110056195 Centerline is valid? [True, True] Translation: X:895.32, Y:22.55, Z:3.92 [[ 9.52312763e-01 -3.05091845e-01 -4.40088943e-03 8.95321801e+02] [ 3.05088188e-01 9.52322928e-01 -1.49606844e-03 2.25462938e+01] [ 4.64750619e-03 8.20656874e-05 9.99989197e-01 3.92299626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.7192541539999 meters 0.01636785736146793 Centerline is valid? [True, True] Translation: X:895.38, Y:22.56, Z:3.92 [[ 9.52267243e-01 -3.05224453e-01 -5.01316037e-03 8.95377360e+02] [ 3.05219701e-01 9.52280434e-01 -1.70582031e-03 2.25642874e+01] [ 5.29459261e-03 9.42814934e-05 9.99985979e-01 3.92233356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.779254154 meters 0.01767694482326163 Centerline is valid? [True, True] Translation: X:895.43, Y:22.58, Z:3.92 [[ 9.52303158e-01 -3.05122408e-01 -4.36012569e-03 8.95432597e+02] [ 3.05118806e-01 9.52313136e-01 -1.48483916e-03 2.25825829e+01] [ 4.60526267e-03 8.36606800e-05 9.99989392e-01 3.92044820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.839254154 meters 0.016393330914330217 Centerline is valid? [True, True] Translation: X:895.49, Y:22.60, Z:3.92 [[ 9.52788831e-01 -3.03568224e-01 -6.30679875e-03 8.95488182e+02] [ 3.03560638e-01 9.52809695e-01 -2.15038410e-03 2.26031820e+01] [ 6.66196727e-03 1.34366105e-04 9.99977800e-01 3.92173097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.899254154 meters 0.017800018116058743 Centerline is valid? [True, True] Translation: X:895.54, Y:22.62, Z:3.92 [[ 9.52538852e-01 -3.04366087e-01 -5.56965302e-03 8.95543931e+02] [ 3.04360175e-01 9.52555128e-01 -1.90049820e-03 2.26219806e+01] [ 5.88384874e-03 1.15117803e-04 9.99982683e-01 3.92048885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.959254154 meters 0.017753014145790003 Centerline is valid? [True, True] Translation: X:895.60, Y:22.64, Z:3.92 [[ 9.51897625e-01 -3.06368144e-01 -5.42874891e-03 8.95600475e+02] [ 3.06362552e-01 9.51913100e-01 -1.85392242e-03 2.26400919e+01] [ 5.73567998e-03 1.01578979e-04 9.99983546e-01 3.92112291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.019254154 meters 0.015107494099849723 Centerline is valid? [True, True] Translation: X:895.66, Y:22.66, Z:3.92 [[ 9.50833876e-01 -3.09644934e-01 -5.91226916e-03 8.95657479e+02] [ 3.09638353e-01 9.50852253e-01 -2.02072662e-03 2.26571235e+01] [ 6.24740221e-03 9.07100338e-05 9.99980481e-01 3.92405731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.079254154 meters 0.01441333061228975 Centerline is valid? [True, True] Translation: X:895.72, Y:22.67, Z:3.92 [[ 9.49038654e-01 -3.15083222e-01 -6.94236201e-03 8.95715140e+02] [ 3.15074282e-01 9.49064044e-01 -2.37450066e-03 2.26718585e+01] [ 7.33691148e-03 6.61331856e-05 9.99973082e-01 3.92464869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.139254154 meters 0.01407641057662828 Centerline is valid? [True, True] Translation: X:895.77, Y:22.69, Z:3.93 [[ 9.47584557e-01 -3.19421064e-01 -7.32747031e-03 8.95771777e+02] [ 3.19411222e-01 9.47612886e-01 -2.50774465e-03 2.26873011e+01] [ 7.74463176e-03 3.58238562e-05 9.99970009e-01 3.92510926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.199254154 meters 0.01506539463931733 Centerline is valid? [True, True] Translation: X:895.83, Y:22.70, Z:3.92 [[ 9.45149210e-01 -3.26552202e-01 -7.52536028e-03 8.95828553e+02] [ 3.26542028e-01 9.45179168e-01 -2.57773528e-03 2.27011739e+01] [ 7.95457890e-03 -2.10019437e-05 9.99968362e-01 3.92432658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.259254154 meters 0.014483325182269446 Centerline is valid? [True, True] Translation: X:895.88, Y:22.72, Z:3.92 [[ 9.44550273e-01 -3.28265193e-01 -8.16976750e-03 8.95883343e+02] [ 3.28253249e-01 9.44585603e-01 -2.80049108e-03 2.27187733e+01] [ 8.63634851e-03 -3.65481066e-05 9.99962705e-01 3.92499356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.319254154 meters 0.014496010495188847 Centerline is valid? [True, True] Translation: X:895.94, Y:22.73, Z:3.92 [[ 9.43268505e-01 -3.31868681e-01 -1.03781328e-02 8.95939542e+02] [ 3.31849610e-01 9.43325591e-01 -3.55885758e-03 2.27347710e+01] [ 1.09710317e-02 -8.70210623e-05 9.99939813e-01 3.92452949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.379254154 meters 0.016602416793829945 Centerline is valid? [True, True] Translation: X:896.00, Y:22.75, Z:3.92 [[ 9.42540710e-01 -3.33911753e-01 -1.09522112e-02 8.95995321e+02] [ 3.33890624e-01 9.42604333e-01 -3.75806678e-03 2.27545471e+01] [ 1.15784644e-02 -1.14709718e-04 9.99932961e-01 3.92352022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.439254154 meters 0.01414910440178397 Centerline is valid? [True, True] Translation: X:896.05, Y:22.78, Z:3.93 [[ 9.43356963e-01 -3.31569512e-01 -1.18024789e-02 8.96049994e+02] [ 3.31544748e-01 9.43430788e-01 -4.05326888e-03 2.27766494e+01] [ 1.24787624e-02 -8.93704751e-05 9.99922133e-01 3.92597638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.499254154 meters 0.013915157156655035 Centerline is valid? [True, True] Translation: X:896.10, Y:22.80, Z:3.93 [[ 9.44373119e-01 -3.28666181e-01 -1.17454025e-02 8.96104071e+02] [ 3.28641407e-01 9.44446155e-01 -4.03560360e-03 2.27982806e+01] [ 1.24192666e-02 -4.89100437e-05 9.99922877e-01 3.92592300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.559254154 meters 0.013839788816359654 Centerline is valid? [True, True] Translation: X:896.16, Y:22.82, Z:3.93 [[ 9.46520972e-01 -3.22380925e-01 -1.29841615e-02 8.96157706e+02] [ 3.22350017e-01 9.46610024e-01 -4.46416870e-03 2.28228230e+01] [ 1.37301003e-02 3.99846074e-05 9.99905737e-01 3.92676652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.619254154 meters 0.013986510609194064 Centerline is valid? [True, True] Translation: X:896.21, Y:22.85, Z:3.93 [[ 9.48023129e-01 -3.17946122e-01 -1.27440082e-02 8.96211471e+02] [ 3.17915918e-01 9.48108777e-01 -4.38362856e-03 2.28460712e+01] [ 1.34764637e-02 1.04258214e-04 9.99909183e-01 3.92769019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.679254154 meters 0.015827154656165764 Centerline is valid? [True, True] Translation: X:896.26, Y:22.87, Z:3.93 [[ 9.49417376e-01 -3.13818305e-01 -1.11677011e-02 8.96264416e+02] [ 3.13794809e-01 9.49483044e-01 -3.84285183e-03 2.28710161e+01] [ 1.18095001e-02 1.44103665e-04 9.99930255e-01 3.92756254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.7392541539999 meters 0.014968160712918307 Centerline is valid? [True, True] Translation: X:896.32, Y:22.89, Z:3.93 [[ 9.49986121e-01 -3.12113060e-01 -1.05739345e-02 8.96319652e+02] [ 3.12091863e-01 9.50044953e-01 -3.64092709e-03 2.28923708e+01] [ 1.11820940e-02 1.58791267e-04 9.99937466e-01 3.93051268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.799254154 meters 0.017157749369583978 Centerline is valid? [True, True] Translation: X:896.37, Y:22.91, Z:3.93 [[ 9.49380146e-01 -3.13939568e-01 -1.09218306e-02 8.96374836e+02] [ 3.13917038e-01 9.49442956e-01 -3.76383928e-03 2.29117028e+01] [ 1.15512732e-02 1.44765574e-04 9.99933271e-01 3.92753758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.8592541539999 meters 0.014576589535300267 Centerline is valid? [True, True] Translation: X:896.43, Y:22.93, Z:3.93 [[ 9.48282032e-01 -3.17211013e-01 -1.17627412e-02 8.96430654e+02] [ 3.17185089e-01 9.48354976e-01 -4.05703942e-03 2.29308156e+01] [ 1.24421917e-02 1.16251463e-04 9.99922586e-01 3.92891348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.919254154 meters 0.015701290446021483 Centerline is valid? [True, True] Translation: X:896.49, Y:22.95, Z:3.93 [[ 9.45116632e-01 -3.26494593e-01 -1.24833299e-02 8.96487875e+02] [ 3.26466155e-01 9.45199069e-01 -4.30919209e-03 2.29464141e+01] [ 1.32061597e-02 -2.69558597e-06 9.99912795e-01 3.92714179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.9792541539999 meters 0.017766416185308716 Centerline is valid? [True, True] Translation: X:896.55, Y:22.96, Z:3.93 [[ 9.40469192e-01 -3.39632302e-01 -1.29459534e-02 8.96546703e+02] [ 3.39602933e-01 9.40558272e-01 -4.47047242e-03 2.29596238e+01] [ 1.36947404e-02 -1.92142170e-04 9.99906204e-01 3.92612085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.039254154 meters 0.016788816461828688 Centerline is valid? [True, True] Translation: X:896.60, Y:22.97, Z:3.93 [[ 9.37155456e-01 -3.48674290e-01 -1.28798500e-02 8.96604244e+02] [ 3.48646062e-01 9.37243904e-01 -4.44825282e-03 2.29747574e+01] [ 1.36225523e-02 -3.21804571e-04 9.99907157e-01 3.92987721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.0992541539999 meters 0.02419280984308179 Centerline is valid? [True, True] Translation: X:896.66, Y:22.98, Z:3.93 [[ 9.32584971e-01 -3.60738017e-01 -1.23836597e-02 8.96662921e+02] [ 3.60712970e-01 9.32667065e-01 -4.27768814e-03 2.29831662e+01] [ 1.30929563e-02 -4.77638983e-04 9.99914169e-01 3.92893448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.159254154 meters 0.02090856986491238 Centerline is valid? [True, True] Translation: X:896.72, Y:23.01, Z:3.93 [[ 9.30484392e-01 -3.66138191e-01 -1.19004635e-02 8.96717120e+02] [ 3.66115488e-01 9.30560338e-01 -4.11175812e-03 2.30098243e+01] [ 1.25795710e-02 -5.31017235e-04 9.99920733e-01 3.93190633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.2192541539999 meters 0.021422929185214067 Centerline is valid? [True, True] Translation: X:896.77, Y:23.03, Z:3.93 [[ 9.30697914e-01 -3.65579985e-01 -1.23558490e-02 8.96772019e+02] [ 3.65555427e-01 9.30779771e-01 -4.27178276e-03 2.30314259e+01] [ 1.30622526e-02 -5.41008343e-04 9.99914539e-01 3.93223698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.279254154 meters 0.022204066372954627 Centerline is valid? [True, True] Translation: X:896.83, Y:23.06, Z:3.93 [[ 9.31635227e-01 -3.63128839e-01 -1.39014595e-02 8.96825922e+02] [ 3.63097422e-01 9.31738764e-01 -4.81005860e-03 2.30574653e+01] [ 1.46991997e-02 -5.66364084e-04 9.99891801e-01 3.92923591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.339254154 meters 0.020509290366435506 Centerline is valid? [True, True] Translation: X:896.88, Y:23.09, Z:3.93 [[ 9.35610269e-01 -3.52769159e-01 -1.36874079e-02 8.96878823e+02] [ 3.52737568e-01 9.35710299e-01 -4.73751325e-03 2.30853597e+01] [ 1.44786971e-02 -3.95596933e-04 9.99895100e-01 3.93001867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.399254154 meters 0.015408696494298007 Centerline is valid? [True, True] Translation: X:896.93, Y:23.12, Z:3.93 [[ 9.40821071e-01 -3.38658260e-01 -1.28955219e-02 8.96929481e+02] [ 3.38628880e-01 9.40909430e-01 -4.46394483e-03 2.31219461e+01] [ 1.36452699e-02 -1.67022777e-04 9.99906885e-01 3.93257292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.459254154 meters 0.01647764415664771 Centerline is valid? [True, True] Translation: X:896.98, Y:23.16, Z:3.93 [[ 9.45519202e-01 -3.25261638e-01 -1.40821193e-02 8.96979535e+02] [ 3.25225063e-01 9.45624062e-01 -4.87773400e-03 2.31564593e+01] [ 1.49029306e-02 3.21330199e-05 9.99888945e-01 3.93048776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.519254154 meters 0.014278875245055 Centerline is valid? [True, True] Translation: X:897.03, Y:23.18, Z:3.93 [[ 9.48359993e-01 -3.16887098e-01 -1.39960981e-02 8.97032052e+02] [ 3.16849996e-01 9.48463251e-01 -4.85193276e-03 2.31847149e+01] [ 1.48122996e-02 1.66715287e-04 9.99890278e-01 3.93344952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.579254154 meters 0.017290624171743242 Centerline is valid? [True, True] Translation: X:897.08, Y:23.22, Z:3.93 [[ 9.51505490e-01 -3.07265767e-01 -1.50017051e-02 8.97082516e+02] [ 3.07221911e-01 9.51623682e-01 -5.20247303e-03 2.32177656e+01] [ 1.58745197e-02 3.41329152e-04 9.99873934e-01 3.93240562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.639254154 meters 0.019463578825440545 Centerline is valid? [True, True] Translation: X:897.14, Y:23.24, Z:3.93 [[ 9.52784765e-01 -3.03149611e-01 -1.73638983e-02 8.97136526e+02] [ 3.03090150e-01 9.52942856e-01 -6.02274933e-03 2.32430853e+01] [ 1.83725970e-02 4.75557264e-04 9.99831096e-01 3.93080807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.699254154 meters 0.01925837635767819 Centerline is valid? [True, True] Translation: X:897.19, Y:23.26, Z:3.93 [[ 9.52723035e-01 -3.03348311e-01 -1.72806438e-02 8.97190962e+02] [ 3.03289372e-01 9.52879624e-01 -5.99827733e-03 2.32647412e+01] [ 1.82859407e-02 4.73661374e-04 9.99832686e-01 3.93166294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.759254154 meters 0.019680101649529377 Centerline is valid? [True, True] Translation: X:897.25, Y:23.28, Z:3.93 [[ 9.51431123e-01 -3.07303980e-01 -1.85224511e-02 8.97246998e+02] [ 3.07236913e-01 9.51611306e-01 -6.43440361e-03 2.32842977e+01] [ 1.96034917e-02 4.31111163e-04 9.99807740e-01 3.93044786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.819254154 meters 0.018442961602507475 Centerline is valid? [True, True] Translation: X:897.30, Y:23.30, Z:3.93 [[ 9.49270845e-01 -3.13838119e-01 -1.97610285e-02 8.97303528e+02] [ 3.13763144e-01 9.49476452e-01 -6.86700911e-03 2.33005636e+01] [ 2.09177605e-02 3.18369106e-04 9.99781149e-01 3.93000993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.879254154 meters 0.014780703842245935 Centerline is valid? [True, True] Translation: X:897.36, Y:23.32, Z:3.93 [[ 9.47436854e-01 -3.19387883e-01 -1.88358403e-02 8.97359454e+02] [ 3.19320813e-01 9.47624052e-01 -6.54777052e-03 2.33158265e+01] [ 1.99405739e-02 1.88923240e-04 9.99801149e-01 3.93284064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.939254154 meters 0.017977601490344032 Centerline is valid? [True, True] Translation: X:897.42, Y:23.33, Z:3.93 [[ 9.43513888e-01 -3.30626915e-01 -2.16191133e-02 8.97417657e+02] [ 3.30541361e-01 9.43761538e-01 -7.52118524e-03 2.33259198e+01] [ 2.28899939e-02 -4.96683897e-05 9.99737989e-01 3.93076448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.999254154 meters 0.014751244674842892 Centerline is valid? [True, True] Translation: X:897.47, Y:23.34, Z:3.94 [[ 9.40994038e-01 -3.37856742e-01 -1.95714780e-02 8.97474141e+02] [ 3.37788062e-01 9.41197526e-01 -6.81487992e-03 2.33402084e+01] [ 2.07230798e-02 -1.98250245e-04 9.99785234e-01 3.93668991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.059254154 meters 0.02037837208945721 Centerline is valid? [True, True] Translation: X:897.53, Y:23.35, Z:3.93 [[ 9.36694081e-01 -3.49428447e-01 -2.24490400e-02 8.97532787e+02] [ 3.49341330e-01 9.36962909e-01 -7.81939971e-03 2.33514243e+01] [ 2.37662386e-02 -5.17992079e-04 9.99717409e-01 3.93451705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.119254154 meters 0.02135252790198208 Centerline is valid? [True, True] Translation: X:897.59, Y:23.37, Z:3.94 [[ 9.33459374e-01 -3.58036315e-01 -2.15312485e-02 8.97590150e+02] [ 3.57958435e-01 9.33707395e-01 -7.50065551e-03 2.33668719e+01] [ 2.27893930e-02 -7.05734844e-04 9.99740039e-01 3.93656471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.179254154 meters 0.021353798424856962 Centerline is valid? [True, True] Translation: X:897.65, Y:23.39, Z:3.94 [[ 9.32522534e-01 -3.60469720e-01 -2.15245359e-02 8.97645774e+02] [ 3.60392419e-01 9.32770606e-01 -7.50340267e-03 2.33865968e+01] [ 2.27822038e-02 -7.60187478e-04 9.99740163e-01 3.93763690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.2392541539999 meters 0.021270571491518012 Centerline is valid? [True, True] Translation: X:897.70, Y:23.40, Z:3.94 [[ 9.30823629e-01 -3.64998458e-01 -1.85336870e-02 8.97701410e+02] [ 3.64942001e-01 9.31007823e-01 -6.46295358e-03 2.34041009e+01] [ 1.96139757e-02 -7.47850916e-04 9.99807348e-01 3.94071169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.299254154 meters 0.024427127283704636 Centerline is valid? [True, True] Translation: X:897.76, Y:23.42, Z:3.94 [[ 9.29288489e-01 -3.68826739e-01 -1.97418537e-02 8.97757165e+02] [ 3.68763517e-01 9.29497746e-01 -6.88539908e-03 2.34230222e+01] [ 2.08895278e-02 -8.81553308e-04 9.99781401e-01 3.94002506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.3592541539999 meters 0.026069338625766058 Centerline is valid? [True, True] Translation: X:897.81, Y:23.44, Z:3.94 [[ 9.28586886e-01 -3.70512713e-01 -2.11358509e-02 8.97812659e+02] [ 3.70440600e-01 9.28826877e-01 -7.37526719e-03 2.34445148e+01] [ 2.23641766e-02 -9.81000885e-04 9.99749409e-01 3.94002161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.419254154 meters 0.023922234319090012 Centerline is valid? [True, True] Translation: X:897.87, Y:23.47, Z:3.94 [[ 9.29173014e-01 -3.69229122e-01 -1.75318614e-02 8.97866072e+02] [ 3.69179247e-01 9.29338064e-01 -6.11935270e-03 2.34691639e+01] [ 1.85524693e-02 -7.86461993e-04 9.99827579e-01 3.94259553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.4792541539999 meters 0.023619614375164678 Centerline is valid? [True, True] Translation: X:897.92, Y:23.50, Z:3.94 [[ 9.30560533e-01 -3.65714828e-01 -1.75999756e-02 8.97920238e+02] [ 3.65663910e-01 9.30726678e-01 -6.14455037e-03 2.34957627e+01] [ 1.86279200e-02 -7.17799839e-04 9.99826228e-01 3.94230498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.539254154 meters 0.020193606816848977 Centerline is valid? [True, True] Translation: X:897.97, Y:23.53, Z:3.94 [[ 9.33201891e-01 -3.58868454e-01 -1.86457568e-02 8.97972068e+02] [ 3.58809871e-01 9.33387946e-01 -6.51295903e-03 2.35291364e+01] [ 1.97410201e-02 -6.12375899e-04 9.99804940e-01 3.94258450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.5992541539999 meters 0.017543510143936184 Centerline is valid? [True, True] Translation: X:898.03, Y:23.56, Z:3.94 [[ 9.35640672e-01 -3.52505795e-01 -1.77819433e-02 8.98025104e+02] [ 3.52451292e-01 9.35809521e-01 -6.21506619e-03 2.35575708e+01] [ 1.88313587e-02 -4.52200185e-04 9.99822572e-01 3.94373626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.659254154 meters 0.018650796949867404 Centerline is valid? [True, True] Translation: X:898.08, Y:23.59, Z:3.94 [[ 9.39023852e-01 -3.43350931e-01 -1.85564924e-02 8.98076317e+02] [ 3.43289749e-01 9.39207145e-01 -6.48752080e-03 2.35895585e+01] [ 1.96558865e-02 -2.78316838e-04 9.99806766e-01 3.94154918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.7192541539999 meters 0.017484392493790715 Centerline is valid? [True, True] Translation: X:898.13, Y:23.62, Z:3.94 [[ 9.42224078e-01 -3.34539810e-01 -1.72308411e-02 8.98127491e+02] [ 3.34485544e-01 9.42381615e-01 -6.02601857e-03 2.36224695e+01] [ 1.82539709e-02 -8.56074542e-05 9.99833379e-01 3.94355018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.779254154 meters 0.015193485929319201 Centerline is valid? [True, True] Translation: X:898.18, Y:23.65, Z:3.94 [[ 9.44312325e-01 -3.28688982e-01 -1.54203289e-02 8.98179658e+02] [ 3.28644713e-01 9.44438220e-01 -5.39447239e-03 2.36496707e+01] [ 1.63366516e-02 2.62571943e-05 9.99866548e-01 3.94401567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.839254154 meters 0.01915252540633535 Centerline is valid? [True, True] Translation: X:898.23, Y:23.68, Z:3.94 [[ 9.46691092e-01 -3.21640364e-01 -1.79848033e-02 8.98231292e+02] [ 3.21578834e-01 9.46861894e-01 -6.29346482e-03 2.36787484e+01] [ 1.90533572e-02 1.74435014e-04 9.99818453e-01 3.94063208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.899254154 meters 0.015566142684599753 Centerline is valid? [True, True] Translation: X:898.28, Y:23.70, Z:3.94 [[ 9.48551475e-01 -3.16219690e-01 -1.59751783e-02 8.98283614e+02] [ 3.16170348e-01 9.48685956e-01 -5.59176070e-03 2.37047705e+01] [ 1.69236521e-02 2.53195202e-04 9.99856753e-01 3.94188712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.959254154 meters 0.018815787731317 Centerline is valid? [True, True] Translation: X:898.34, Y:23.73, Z:3.94 [[ 9.48967694e-01 -3.14888353e-01 -1.74826053e-02 8.98338015e+02] [ 3.14828955e-01 9.49128669e-01 -6.12357099e-03 2.37265262e+01] [ 1.85214831e-02 3.07040676e-04 9.99828415e-01 3.93984761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.019254154 meters 0.0174076778633218 Centerline is valid? [True, True] Translation: X:898.39, Y:23.75, Z:3.94 [[ 9.49522919e-01 -3.13253392e-01 -1.66894873e-02 8.98391315e+02] [ 3.13198967e-01 9.49669525e-01 -5.84810530e-03 2.37485912e+01] [ 1.76814363e-02 3.25779839e-04 9.99843618e-01 3.93979624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.079254154 meters 0.01725866397909962 Centerline is valid? [True, True] Translation: X:898.45, Y:23.77, Z:3.94 [[ 9.49260533e-01 -3.14089530e-01 -1.58810160e-02 8.98446255e+02] [ 3.14040343e-01 9.49393322e-01 -5.56632583e-03 2.37676148e+01] [ 1.68256552e-02 2.96613708e-04 9.99858395e-01 3.94031953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.139254154 meters 0.018879481668107927 Centerline is valid? [True, True] Translation: X:898.50, Y:23.78, Z:3.94 [[ 9.48414271e-01 -3.16643685e-01 -1.57209151e-02 8.98502572e+02] [ 3.16595778e-01 9.48544524e-01 -5.51361938e-03 2.37839352e+01] [ 1.66578407e-02 2.52019962e-04 9.99861217e-01 3.94047560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.199254154 meters 0.014860721918612289 Centerline is valid? [True, True] Translation: X:898.56, Y:23.80, Z:3.95 [[ 9.48142045e-01 -3.17515325e-01 -1.45148140e-02 8.98559959e+02] [ 3.17474533e-01 9.48253114e-01 -5.09428843e-03 2.37995603e+01] [ 1.53812322e-02 2.22025246e-04 9.99881677e-01 3.94562247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.259254154 meters 0.01777631672650075 Centerline is valid? [True, True] Translation: X:898.62, Y:23.82, Z:3.94 [[ 9.47301577e-01 -3.19978091e-01 -1.52886945e-02 8.98616555e+02] [ 3.19933086e-01 9.47424922e-01 -5.37007548e-03 2.38162940e+01] [ 1.62031967e-02 1.95721741e-04 9.99868700e-01 3.94398334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.319254154 meters 0.016489718012582373 Centerline is valid? [True, True] Translation: X:898.67, Y:23.83, Z:3.95 [[ 9.46655041e-01 -3.21899824e-01 -1.49911935e-02 8.98674033e+02] [ 3.21856751e-01 9.46773720e-01 -5.26833769e-03 2.38318601e+01] [ 1.58891450e-02 1.62281617e-04 9.99873746e-01 3.94531690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.379254154 meters 0.013684415268173118 Centerline is valid? [True, True] Translation: X:898.73, Y:23.85, Z:3.95 [[ 9.45717140e-01 -3.24671681e-01 -1.44010941e-02 8.98731718e+02] [ 3.24632199e-01 9.45826774e-01 -5.06444398e-03 2.38458380e+01] [ 1.52652219e-02 1.14472627e-04 9.99883473e-01 3.94797254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.439254154 meters 0.01701351001829353 Centerline is valid? [True, True] Translation: X:898.79, Y:23.86, Z:3.95 [[ 9.44388136e-01 -3.28534721e-01 -1.39994881e-02 8.98787838e+02] [ 3.28497804e-01 9.44491892e-01 -4.92531565e-03 2.38606434e+01] [ 1.48405402e-02 5.26085679e-05 9.99889872e-01 3.94542625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.499254154 meters 0.016886900530401892 Centerline is valid? [True, True] Translation: X:898.84, Y:23.87, Z:3.95 [[ 9.43044901e-01 -3.32417857e-01 -1.28328803e-02 8.98844772e+02] [ 3.32387179e-01 9.43132211e-01 -4.51608269e-03 2.38731120e+01] [ 1.36043293e-02 -6.61613383e-06 9.99907457e-01 3.94575647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.559254154 meters 0.01667297629630575 Centerline is valid? [True, True] Translation: X:898.90, Y:23.89, Z:3.95 [[ 9.41890165e-01 -3.35729051e-01 -1.13543567e-02 8.98901544e+02] [ 3.35705243e-01 9.41958599e-01 -3.99844870e-03 2.38874910e+01] [ 1.20377293e-02 -4.56175783e-05 9.99927543e-01 3.94849588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.619254154 meters 0.01375175188956829 Centerline is valid? [True, True] Translation: X:898.96, Y:23.90, Z:3.95 [[ 9.41397686e-01 -3.37119282e-01 -1.09993743e-02 8.98956952e+02] [ 3.37096994e-01 9.41461941e-01 -3.87693295e-03 2.39036776e+01] [ 1.16624811e-02 -5.81202999e-05 9.99931989e-01 3.95107593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.679254154 meters 0.01771123159898763 Centerline is valid? [True, True] Translation: X:899.01, Y:23.92, Z:3.95 [[ 9.40388342e-01 -3.39926123e-01 -1.09543439e-02 8.99013121e+02] [ 3.39904184e-01 9.40452137e-01 -3.86306293e-03 2.39198876e+01] [ 1.16151921e-02 -9.06479687e-05 9.99932537e-01 3.94817349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.7392541539999 meters 0.018076748404407726 Centerline is valid? [True, True] Translation: X:899.07, Y:23.94, Z:3.95 [[ 9.40020090e-01 -3.40933158e-01 -1.12610713e-02 8.99069815e+02] [ 3.40910016e-01 9.40087534e-01 -3.97362158e-03 2.39373306e+01] [ 1.19411321e-02 -1.03727890e-04 9.99928697e-01 3.94816742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.799254154 meters 0.017944618811660398 Centerline is valid? [True, True] Translation: X:899.12, Y:23.96, Z:3.95 [[ 9.39861663e-01 -3.41381817e-01 -1.08861691e-02 8.99124741e+02] [ 3.41360182e-01 9.39924702e-01 -3.84464062e-03 2.39557797e+01] [ 1.15446696e-02 -1.02674340e-04 9.99933353e-01 3.94904243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.8592541539999 meters 0.013927672377002268 Centerline is valid? [True, True] Translation: X:899.18, Y:23.97, Z:3.95 [[ 9.39887975e-01 -3.41291977e-01 -1.14184631e-02 8.99179603e+02] [ 3.41268139e-01 9.39957326e-01 -4.03507118e-03 2.39731113e+01] [ 1.21100054e-02 -1.04242771e-04 9.99926666e-01 3.95198123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.919254154 meters 0.014333714107088327 Centerline is valid? [True, True] Translation: X:899.24, Y:23.99, Z:3.95 [[ 9.38333304e-01 -3.45545435e-01 -1.13562021e-02 8.99236107e+02] [ 3.45522135e-01 9.38402008e-01 -4.01570715e-03 2.39904989e+01] [ 1.20442921e-02 -1.55747436e-04 9.99927453e-01 3.95331095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.9792541539999 meters 0.017728897097516728 Centerline is valid? [True, True] Translation: X:899.29, Y:24.01, Z:3.95 [[ 9.36260727e-01 -3.51146219e-01 -1.05917313e-02 8.99292555e+02] [ 3.51126276e-01 9.36320612e-01 -3.74829888e-03 2.40066890e+01] [ 1.12334573e-02 -2.09650135e-04 9.99936881e-01 3.95147807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.039254154 meters 0.018208444439152816 Centerline is valid? [True, True] Translation: X:899.35, Y:24.02, Z:3.95 [[ 9.34174010e-01 -3.56687488e-01 -9.64132006e-03 8.99349916e+02] [ 3.56671242e-01 9.34223728e-01 -3.41348569e-03 2.40220105e+01] [ 1.02246976e-02 -2.49991994e-04 9.99947695e-01 3.95396746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.0992541539999 meters 0.022181591142300727 Centerline is valid? [True, True] Translation: X:899.41, Y:24.04, Z:3.95 [[ 9.32119190e-01 -3.62034318e-01 -9.21778789e-03 8.99407330e+02] [ 3.62019724e-01 9.32164720e-01 -3.26406869e-03 2.40389699e+01] [ 9.77420155e-03 -2.94519959e-04 9.99952188e-01 3.95320648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.159254154 meters 0.020540323661701658 Centerline is valid? [True, True] Translation: X:899.46, Y:24.06, Z:3.96 [[ 9.31012851e-01 -3.64889867e-01 -8.39387809e-03 8.99463430e+02] [ 3.64877869e-01 9.31050642e-01 -2.97361122e-03 2.40564822e+01] [ 8.90016619e-03 -2.94270095e-04 9.99960349e-01 3.95780728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.2192541539999 meters 0.02177825662818973 Centerline is valid? [True, True] Translation: X:899.52, Y:24.08, Z:3.95 [[ 9.31440025e-01 -3.63781800e-01 -9.07090959e-03 8.99516428e+02] [ 3.63767711e-01 9.31484143e-01 -3.21605426e-03 2.40827442e+01] [ 9.61935045e-03 -3.04142360e-04 9.99953687e-01 3.95442302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.279254154 meters 0.020183305957634543 Centerline is valid? [True, True] Translation: X:899.57, Y:24.11, Z:3.95 [[ 9.33046441e-01 -3.59612772e-01 -1.01485563e-02 8.99570407e+02] [ 3.59594872e-01 9.33101586e-01 -3.59976489e-03 2.41075162e+01] [ 1.07641554e-02 -2.90620970e-04 9.99942023e-01 3.95413681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.339254154 meters 0.01832055255628497 Centerline is valid? [True, True] Translation: X:899.62, Y:24.14, Z:3.95 [[ 9.36110488e-01 -3.51536421e-01 -1.09224420e-02 8.99623959e+02] [ 3.51515123e-01 9.36174183e-01 -3.87534829e-03 2.41360353e+01] [ 1.15876342e-02 -2.11649351e-04 9.99932839e-01 3.95397907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.399254154 meters 0.019053030432207286 Centerline is valid? [True, True] Translation: X:899.68, Y:24.16, Z:3.95 [[ 9.39265588e-01 -3.42971996e-01 -1.22623297e-02 8.99676829e+02] [ 3.42944384e-01 9.39345621e-01 -4.35348404e-03 2.41640910e+01] [ 1.30116888e-02 -1.16219357e-04 9.99915338e-01 3.95289855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.459254154 meters 0.017951756520668025 Centerline is valid? [True, True] Translation: X:899.73, Y:24.19, Z:3.95 [[ 9.41599663e-01 -3.36546062e-01 -1.12615395e-02 8.99729797e+02] [ 3.36522276e-01 9.41667005e-01 -4.00124865e-03 2.41904447e+01] [ 1.19512246e-02 -2.21845247e-05 9.99928581e-01 3.95408857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.519254154 meters 0.015155507774429328 Centerline is valid? [True, True] Translation: X:899.78, Y:24.21, Z:3.96 [[ 9.42224733e-01 -3.34817781e-01 -1.04692687e-02 8.99783173e+02] [ 3.34797098e-01 9.42282895e-01 -3.72151353e-03 2.42118927e+01] [ 1.11110417e-02 1.42131093e-06 9.99938270e-01 3.95639339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.579254154 meters 0.013786102149676642 Centerline is valid? [True, True] Translation: X:899.84, Y:24.23, Z:3.96 [[ 9.41609367e-01 -3.36531423e-01 -1.08812582e-02 8.99837810e+02] [ 3.36509164e-01 9.41672237e-01 -3.87057785e-03 2.42316494e+01] [ 1.15491499e-02 -1.70707515e-05 9.99933306e-01 3.95833282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.639254154 meters 0.019493326926284246 Centerline is valid? [True, True] Translation: X:899.89, Y:24.25, Z:3.95 [[ 9.39225536e-01 -3.43065853e-01 -1.26969210e-02 8.99894267e+02] [ 3.43036088e-01 9.39311348e-01 -4.52038662e-03 2.42499282e+01] [ 1.34771523e-02 -1.09839579e-04 9.99909173e-01 3.95350532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.699254154 meters 0.018707556895473987 Centerline is valid? [True, True] Translation: X:899.95, Y:24.27, Z:3.95 [[ 9.37540494e-01 -3.47631296e-01 -1.30500236e-02 8.99950123e+02] [ 3.47600242e-01 9.37631298e-01 -4.64981845e-03 2.42686594e+01] [ 1.38525330e-02 -1.76798278e-04 9.99904033e-01 3.95457363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.759254154 meters 0.01815277643515327 Centerline is valid? [True, True] Translation: X:900.01, Y:24.29, Z:3.96 [[ 9.35327100e-01 -3.53564344e-01 -1.24687596e-02 9.00006373e+02] [ 3.53536499e-01 9.35410173e-01 -4.44433009e-03 2.42850685e+01] [ 1.32347612e-02 -2.51259243e-04 9.99912385e-01 3.95572344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.819254154 meters 0.020421830026191905 Centerline is valid? [True, True] Translation: X:900.06, Y:24.30, Z:3.95 [[ 9.33726628e-01 -3.57730454e-01 -1.35464791e-02 9.00062279e+02] [ 3.57698014e-01 9.33824828e-01 -4.82928036e-03 2.43028446e+01] [ 1.43776192e-02 -3.36321019e-04 9.99896580e-01 3.95422791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.879254154 meters 0.017218997815843184 Centerline is valid? [True, True] Translation: X:900.12, Y:24.33, Z:3.96 [[ 9.33500605e-01 -3.58322831e-01 -1.34673596e-02 9.00115792e+02] [ 3.58290783e-01 9.33597682e-01 -4.80442588e-03 2.43264034e+01] [ 1.42946312e-02 -3.40296364e-04 9.99897769e-01 3.95725631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.939254154 meters 0.01945987374921898 Centerline is valid? [True, True] Translation: X:900.17, Y:24.35, Z:3.96 [[ 9.33960643e-01 -3.57095431e-01 -1.41552064e-02 9.00169808e+02] [ 3.57059847e-01 9.34067846e-01 -5.05229350e-03 2.43471818e+01] [ 1.50260741e-02 -3.35612552e-04 9.99887046e-01 3.95518544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.999254154 meters 0.01578615863701693 Centerline is valid? [True, True] Translation: X:900.22, Y:24.37, Z:3.96 [[ 9.36325152e-01 -3.50923885e-01 -1.21505812e-02 9.00224757e+02] [ 3.50897136e-01 9.36403965e-01 -4.33748960e-03 2.43709073e+01] [ 1.28999811e-02 -2.02303546e-04 9.99916771e-01 3.95881999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.059254154 meters 0.017325264949862175 Centerline is valid? [True, True] Translation: X:900.28, Y:24.40, Z:3.96 [[ 9.38954379e-01 -3.43817437e-01 -1.24195011e-02 9.00278090e+02] [ 3.43788857e-01 9.39036505e-01 -4.43433448e-03 2.43968158e+01] [ 1.31869664e-02 -1.06048294e-04 9.99913043e-01 3.95720627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.119254154 meters 0.01721821871509462 Centerline is valid? [True, True] Translation: X:900.33, Y:24.42, Z:3.96 [[ 9.40818961e-01 -3.38698790e-01 -1.19503697e-02 9.00331874e+02] [ 3.38671883e-01 9.40894855e-01 -4.26937447e-03 2.44209309e+01] [ 1.26900733e-02 -3.05457409e-05 9.99919477e-01 3.95702231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.179254154 meters 0.015950783457844085 Centerline is valid? [True, True] Translation: X:900.39, Y:24.45, Z:3.96 [[ 9.43699809e-01 -3.30587780e-01 -1.19327474e-02 9.00385755e+02] [ 3.30560258e-01 9.43775245e-01 -4.26645975e-03 2.44465153e+01] [ 1.26722710e-02 8.17651950e-05 9.99919700e-01 3.95756870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.2392541539999 meters 0.017004939657406085 Centerline is valid? [True, True] Translation: X:900.44, Y:24.47, Z:3.96 [[ 9.45918966e-01 -3.24130361e-01 -1.32973158e-02 9.00439762e+02] [ 3.24095507e-01 9.46012406e-01 -4.75709002e-03 2.44692285e+01] [ 1.41213430e-02 1.90221375e-04 9.99900271e-01 3.95689365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.299254154 meters 0.01567685214691245 Centerline is valid? [True, True] Translation: X:900.49, Y:24.49, Z:3.96 [[ 9.46787972e-01 -3.21647167e-01 -1.16462591e-02 9.00493922e+02] [ 3.21620227e-01 9.46859578e-01 -4.16776087e-03 2.44892917e+01] [ 1.23679204e-02 2.00313381e-04 9.99923494e-01 3.95887818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.3592541539999 meters 0.016619003661195404 Centerline is valid? [True, True] Translation: X:900.55, Y:24.50, Z:3.96 [[ 9.46565748e-01 -3.22334677e-01 -1.06602788e-02 9.00551475e+02] [ 3.22312122e-01 9.46625758e-01 -3.81719324e-03 2.45036589e+01] [ 1.13217083e-02 1.77287286e-04 9.99935892e-01 3.95982248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.419254154 meters 0.01752537227967752 Centerline is valid? [True, True] Translation: X:900.61, Y:24.52, Z:3.96 [[ 9.45807642e-01 -3.24563266e-01 -1.03243050e-02 9.00607898e+02] [ 3.24542220e-01 9.45863978e-01 -3.69898608e-03 2.45173583e+01] [ 1.09659432e-02 1.47856419e-04 9.99939861e-01 3.95825690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.4792541539999 meters 0.016406471221760255 Centerline is valid? [True, True] Translation: X:900.66, Y:24.53, Z:3.96 [[ 9.45231624e-01 -3.26228889e-01 -1.05777457e-02 9.00664866e+02] [ 3.26206874e-01 9.45290799e-01 -3.79224367e-03 2.45324789e+01] [ 1.12361852e-02 1.34015279e-04 9.99936863e-01 3.95832122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.539254154 meters 0.01887040830511548 Centerline is valid? [True, True] Translation: X:900.72, Y:24.54, Z:3.96 [[ 9.44385061e-01 -3.28652144e-01 -1.11635173e-02 9.00723473e+02] [ 3.28627753e-01 9.44451034e-01 -4.00554413e-03 2.45446938e+01] [ 1.18598262e-02 1.14134422e-04 9.99929663e-01 3.95766630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.5992541539999 meters 0.017443865417868566 Centerline is valid? [True, True] Translation: X:900.78, Y:24.56, Z:3.96 [[ 9.44015727e-01 -3.29756745e-01 -9.73632931e-03 9.00780513e+02] [ 3.29738223e-01 9.44065930e-01 -3.49616311e-03 2.45600337e+01] [ 1.03446202e-02 8.99930320e-05 9.99946489e-01 3.95909457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.659254154 meters 0.01614824841865501 Centerline is valid? [True, True] Translation: X:900.84, Y:24.57, Z:3.96 [[ 9.43295607e-01 -3.31823360e-01 -9.30890269e-03 9.00837338e+02] [ 3.31806512e-01 9.43341536e-01 -3.34437629e-03 2.45727782e+01] [ 9.89121674e-03 6.59809273e-05 9.99951079e-01 3.96001329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.7192541539999 meters 0.016297324471986376 Centerline is valid? [True, True] Translation: X:900.90, Y:24.58, Z:3.96 [[ 9.41264561e-01 -3.37507599e-01 -1.04712154e-02 9.00895679e+02] [ 3.37486607e-01 9.41322803e-01 -3.76430906e-03 2.45838172e+01] [ 1.11272768e-02 9.31574818e-06 9.99938090e-01 3.95930892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.779254154 meters 0.017044745463487845 Centerline is valid? [True, True] Translation: X:900.95, Y:24.60, Z:3.96 [[ 9.39511347e-01 -3.42320230e-01 -1.16314082e-02 9.00953414e+02] [ 3.42294652e-01 9.39583343e-01 -4.18496213e-03 2.45979771e+01] [ 1.23612746e-02 -4.95494149e-05 9.99923595e-01 3.95842530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.839254154 meters 0.017902188935260663 Centerline is valid? [True, True] Translation: X:901.01, Y:24.61, Z:3.96 [[ 9.37097697e-01 -3.48881383e-01 -1.13880408e-02 9.01011478e+02] [ 3.48857323e-01 9.37166881e-01 -4.09934750e-03 2.46083300e+01] [ 1.21026807e-02 -1.31312318e-04 9.99926751e-01 3.95832885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.899254154 meters 0.016536648084723684 Centerline is valid? [True, True] Translation: X:901.07, Y:24.62, Z:3.96 [[ 9.35132217e-01 -3.54143261e-01 -1.05017614e-02 9.01069692e+02] [ 3.54123120e-01 9.35191166e-01 -3.78135220e-03 2.46180456e+01] [ 1.11602949e-02 -1.82852235e-04 9.99937705e-01 3.96116481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.959254154 meters 0.018623982871283404 Centerline is valid? [True, True] Translation: X:901.12, Y:24.64, Z:3.96 [[ 9.34365828e-01 -3.56152229e-01 -1.07744816e-02 9.01124735e+02] [ 3.56131149e-01 9.34427924e-01 -3.88065684e-03 2.46376471e+01] [ 1.14500811e-02 -2.11175383e-04 9.99934423e-01 3.95936273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.019254154 meters 0.019320406484523902 Centerline is valid? [True, True] Translation: X:901.18, Y:24.65, Z:3.96 [[ 9.33198369e-01 -3.59176355e-01 -1.15390340e-02 9.01181667e+02] [ 3.59152377e-01 9.33269670e-01 -4.15859889e-03 2.46536026e+01] [ 1.22627008e-02 -2.63473772e-04 9.99924776e-01 3.95843800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.079254154 meters 0.019797877203532977 Centerline is valid? [True, True] Translation: X:901.24, Y:24.67, Z:3.96 [[ 9.33361565e-01 -3.58770064e-01 -1.09649529e-02 9.01237834e+02] [ 3.58748349e-01 9.33425938e-01 -3.95476394e-03 2.46722820e+01] [ 1.16538223e-02 -2.42434075e-04 9.99932063e-01 3.95848362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.139254154 meters 0.01675003116782423 Centerline is valid? [True, True] Translation: X:901.29, Y:24.69, Z:3.96 [[ 9.34404995e-01 -3.56096079e-01 -9.10423765e-03 9.01293542e+02] [ 3.56080959e-01 9.34449332e-01 -3.28593186e-03 2.46924223e+01] [ 9.67755624e-03 -1.71454527e-04 9.99953157e-01 3.96202046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.199254154 meters 0.01761955829458484 Centerline is valid? [True, True] Translation: X:901.35, Y:24.71, Z:3.96 [[ 9.35254039e-01 -3.53856603e-01 -9.24052664e-03 9.01349244e+02] [ 3.53840894e-01 9.35299675e-01 -3.33756217e-03 2.47131300e+01] [ 9.82367998e-03 -1.48207707e-04 9.99951736e-01 3.96156545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.259254154 meters 0.015303149974817049 Centerline is valid? [True, True] Translation: X:901.40, Y:24.74, Z:3.96 [[ 9.36041504e-01 -3.51774687e-01 -8.99290295e-03 9.01403791e+02] [ 3.51759689e-01 9.36084694e-01 -3.25059884e-03 2.47351296e+01] [ 9.56159720e-03 -1.20645308e-04 9.99954280e-01 3.96385720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.319254154 meters 0.01531470231133235 Centerline is valid? [True, True] Translation: X:901.46, Y:24.76, Z:3.96 [[ 9.37730609e-01 -3.47252487e-01 -8.77578478e-03 9.01456540e+02] [ 3.47237991e-01 9.37771670e-01 -3.17377607e-03 2.47584163e+01] [ 9.33178399e-03 -7.11389052e-05 9.99956455e-01 3.96313779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.379254154 meters 0.0159686893113805 Centerline is valid? [True, True] Translation: X:901.51, Y:24.78, Z:3.96 [[ 9.38714655e-01 -3.44559540e-01 -9.67060363e-03 9.01510930e+02] [ 3.44541772e-01 9.38764465e-01 -3.49942501e-03 2.47803775e+01] [ 1.02841793e-02 -4.69653711e-05 9.99947115e-01 3.96201389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.439254154 meters 0.017398238518099674 Centerline is valid? [True, True] Translation: X:901.57, Y:24.80, Z:3.96 [[ 9.39519811e-01 -3.42286461e-01 -1.19374749e-02 9.01565694e+02] [ 3.42259157e-01 9.39595646e-01 -4.32335656e-03 2.48018174e+01] [ 1.26962258e-02 -2.38309394e-05 9.99919399e-01 3.95933556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.499254154 meters 0.015072608355298691 Centerline is valid? [True, True] Translation: X:901.62, Y:24.82, Z:3.96 [[ 9.39514675e-01 -3.42284218e-01 -1.23971601e-02 9.01620686e+02] [ 3.42254720e-01 9.39596463e-01 -4.49366666e-03 2.48215838e+01] [ 1.31864390e-02 -2.11207940e-05 9.99913055e-01 3.96052663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.559254154 meters 0.01522114704321477 Centerline is valid? [True, True] Translation: X:901.68, Y:24.84, Z:3.96 [[ 9.38838544e-01 -3.44146975e-01 -1.20436030e-02 9.01675360e+02] [ 3.44119258e-01 9.38915788e-01 -4.36786378e-03 2.48392360e+01] [ 1.28111161e-02 -4.37168425e-05 9.99917933e-01 3.96112559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.619254154 meters 0.016001329148730217 Centerline is valid? [True, True] Translation: X:901.73, Y:24.86, Z:3.96 [[ 9.37804896e-01 -3.47007978e-01 -1.03652959e-02 9.01730067e+02] [ 3.46987609e-01 9.37862174e-01 -3.76050897e-03 2.48553332e+01] [ 1.10261456e-02 -7.00055076e-05 9.99939208e-01 3.96260327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.679254154 meters 0.016870334652843686 Centerline is valid? [True, True] Translation: X:901.79, Y:24.88, Z:3.96 [[ 9.37214512e-01 -3.48604561e-01 -1.01891870e-02 9.01785607e+02] [ 3.48584947e-01 9.37269893e-01 -3.69887412e-03 2.48750401e+01] [ 1.08394626e-02 -8.51587043e-05 9.99941248e-01 3.96320118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.7392541539999 meters 0.013957474864632374 Centerline is valid? [True, True] Translation: X:901.84, Y:24.89, Z:3.97 [[ 9.37078762e-01 -3.48974842e-01 -9.99768012e-03 9.01840746e+02] [ 3.48955947e-01 9.37132089e-01 -3.63242917e-03 2.48943315e+01] [ 1.06367733e-02 -8.48777136e-05 9.99943424e-01 3.96644925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.799254154 meters 0.013943023288755475 Centerline is valid? [True, True] Translation: X:901.90, Y:24.91, Z:3.97 [[ 9.37308777e-01 -3.48358591e-01 -9.92718528e-03 9.01895586e+02] [ 3.48339893e-01 9.37361343e-01 -3.61003887e-03 2.49142414e+01] [ 1.05629478e-02 -7.43135397e-05 9.99944208e-01 3.96649889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.8592541539999 meters 0.015828961713504845 Centerline is valid? [True, True] Translation: X:901.95, Y:24.94, Z:3.96 [[ 9.37958825e-01 -3.46577271e-01 -1.08368672e-02 9.01949220e+02] [ 3.46554828e-01 9.38021424e-01 -3.94446552e-03 2.49353613e+01] [ 1.15322757e-02 -5.58223974e-05 9.99933500e-01 3.96356906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.919254154 meters 0.01436070072064632 Centerline is valid? [True, True] Translation: X:902.00, Y:24.96, Z:3.97 [[ 9.38780460e-01 -3.44360955e-01 -1.03334861e-02 9.02004736e+02] [ 3.44340381e-01 9.38837330e-01 -3.76427550e-03 2.49562125e+01] [ 1.09977320e-02 -2.44082530e-05 9.99939523e-01 3.96511284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.9792541539999 meters 0.016415008453566176 Centerline is valid? [True, True] Translation: X:902.06, Y:24.98, Z:3.96 [[ 9.39196668e-01 -3.43214578e-01 -1.06475890e-02 9.02059668e+02] [ 3.43192623e-01 9.39257022e-01 -3.88207772e-03 2.49765393e+01] [ 1.13332084e-02 -8.13952353e-06 9.99935777e-01 3.96345727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.039254154 meters 0.013840585750600414 Centerline is valid? [True, True] Translation: X:902.11, Y:25.00, Z:3.97 [[ 9.40033733e-01 -3.40956746e-01 -9.22376489e-03 9.02113803e+02] [ 3.40940144e-01 9.40078985e-01 -3.36466932e-03 2.49961642e+01] [ 9.81827424e-03 1.81509318e-05 9.99951799e-01 3.96644421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.0992541539999 meters 0.01611305768337773 Centerline is valid? [True, True] Translation: X:902.17, Y:25.02, Z:3.97 [[ 9.40956319e-01 -3.38420656e-01 -8.52439277e-03 9.02168516e+02] [ 3.38406365e-01 9.40994930e-01 -3.11039348e-03 2.50164976e+01] [ 9.07403178e-03 4.20356293e-05 9.99958829e-01 3.96536049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.159254154 meters 0.015672311930643192 Centerline is valid? [True, True] Translation: X:902.22, Y:25.04, Z:3.97 [[ 9.42475373e-01 -3.34175985e-01 -8.15984234e-03 9.02223549e+02] [ 3.34162716e-01 9.42510692e-01 -2.97898289e-03 2.50382470e+01] [ 8.68624319e-03 8.09029299e-05 9.99962271e-01 3.96635065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.2192541539999 meters 0.016661935696749917 Centerline is valid? [True, True] Translation: X:902.28, Y:25.06, Z:3.97 [[ 9.43468859e-01 -3.31358236e-01 -8.26023727e-03 9.02277202e+02] [ 3.31344516e-01 9.43505012e-01 -3.01731297e-03 2.50592684e+01] [ 8.79338677e-03 1.09756505e-04 9.99961331e-01 3.96531640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.279254154 meters 0.0174703747171105 Centerline is valid? [True, True] Translation: X:902.33, Y:25.08, Z:3.96 [[ 9.44895864e-01 -3.27260406e-01 -8.51073008e-03 9.02331759e+02] [ 3.27245659e-01 9.44934179e-01 -3.11051992e-03 2.50812277e+01] [ 9.06002976e-03 1.54017930e-04 9.99958945e-01 3.96444706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.339254154 meters 0.017689512889252735 Centerline is valid? [True, True] Translation: X:902.39, Y:25.10, Z:3.96 [[ 9.45504208e-01 -3.25486920e-01 -8.94745370e-03 9.02387610e+02] [ 3.25470517e-01 9.45546525e-01 -3.27280618e-03 2.51009435e+01] [ 9.52548937e-03 1.82319639e-04 9.99954615e-01 3.96403631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.399254154 meters 0.017747605163401074 Centerline is valid? [True, True] Translation: X:902.44, Y:25.12, Z:3.96 [[ 9.45393900e-01 -3.25793940e-01 -9.41716242e-03 9.02442243e+02] [ 3.25775763e-01 9.45440782e-01 -3.44666350e-03 2.51177977e+01] [ 1.00262715e-02 1.90571367e-04 9.99949718e-01 3.96382764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.459254154 meters 0.01725457943333099 Centerline is valid? [True, True] Translation: X:902.50, Y:25.13, Z:3.96 [[ 9.43918973e-01 -3.30039190e-01 -9.54490606e-03 9.02499874e+02] [ 3.30020712e-01 9.43967219e-01 -3.49557200e-03 2.51313507e+01] [ 1.01637542e-02 1.49520041e-04 9.99948337e-01 3.96495085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.519254154 meters 0.014407713839907752 Centerline is valid? [True, True] Translation: X:902.56, Y:25.14, Z:3.97 [[ 9.41890650e-01 -3.35803127e-01 -8.84666897e-03 9.02558189e+02] [ 3.35787484e-01 9.41932191e-01 -3.24228216e-03 2.51438983e+01] [ 9.42173077e-03 8.32745358e-05 9.99955611e-01 3.96805028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.579254154 meters 0.01623468863434184 Centerline is valid? [True, True] Translation: X:902.62, Y:25.16, Z:3.97 [[ 9.40212684e-01 -3.40445516e-01 -9.84682771e-03 9.02615045e+02] [ 3.40426360e-01 9.40264244e-01 -3.61173674e-03 2.51587183e+01] [ 1.04882196e-02 4.36809704e-05 9.99944996e-01 3.96569695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.639254154 meters 0.014376063043676815 Centerline is valid? [True, True] Translation: X:902.67, Y:25.17, Z:3.97 [[ 9.38828766e-01 -3.44204532e-01 -1.11260459e-02 9.02671560e+02] [ 3.44180312e-01 9.38894691e-01 -4.08322038e-03 2.51711034e+01] [ 1.18516483e-02 4.07882190e-06 9.99929767e-01 3.96715840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.699254154 meters 0.014412297972084188 Centerline is valid? [True, True] Translation: X:902.73, Y:25.19, Z:3.97 [[ 9.38519062e-01 -3.45041036e-01 -1.13425481e-02 9.02728233e+02] [ 3.45015891e-01 9.38587600e-01 -4.16558199e-03 2.51865963e+01] [ 1.20832717e-02 -3.88122342e-06 9.99926995e-01 3.96848332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.759254154 meters 0.013631834294271984 Centerline is valid? [True, True] Translation: X:902.78, Y:25.21, Z:3.97 [[ 9.39027971e-01 -3.43650124e-01 -1.14482430e-02 9.02782746e+02] [ 3.43624359e-01 9.39097754e-01 -4.20809082e-03 2.52053854e+01] [ 1.21971302e-02 1.76198186e-05 9.99925612e-01 3.96982103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.819254154 meters 0.015865433649130633 Centerline is valid? [True, True] Translation: X:902.84, Y:25.22, Z:3.97 [[ 9.39756525e-01 -3.41601263e-01 -1.28938202e-02 9.02838472e+02] [ 3.41568333e-01 9.39844973e-01 -4.74343927e-03 2.52244665e+01] [ 1.37385570e-02 5.35573317e-05 9.99905620e-01 3.96791097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.879254154 meters 0.015504205131888082 Centerline is valid? [True, True] Translation: X:902.89, Y:25.24, Z:3.97 [[ 9.40029241e-01 -3.40843942e-01 -1.30550073e-02 9.02893580e+02] [ 3.40810053e-01 9.40119887e-01 -4.80685887e-03 2.52442901e+01] [ 1.39116607e-02 6.93101749e-05 9.99903226e-01 3.96845724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.939254154 meters 0.013956986957677154 Centerline is valid? [True, True] Translation: X:902.95, Y:25.26, Z:3.97 [[ 9.41022340e-01 -3.38098975e-01 -1.28855763e-02 9.02949449e+02] [ 3.38065647e-01 9.41110552e-01 -4.74842683e-03 2.52626235e+01] [ 1.37321901e-02 1.12205017e-04 9.99905703e-01 3.97060955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.999254154 meters 0.014905879014310513 Centerline is valid? [True, True] Translation: X:903.01, Y:25.28, Z:3.97 [[ 9.41896276e-01 -3.35673527e-01 -1.24373722e-02 9.03005757e+02] [ 3.35642217e-01 9.41978377e-01 -4.58691875e-03 2.52813717e+01] [ 1.32554429e-02 1.45894501e-04 9.99912132e-01 3.97050301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.059254154 meters 0.015134383660248036 Centerline is valid? [True, True] Translation: X:903.06, Y:25.30, Z:3.97 [[ 9.42367487e-01 -3.34384869e-01 -1.14140109e-02 9.03061275e+02] [ 3.34358365e-01 9.42436595e-01 -4.21278201e-03 2.53003584e+01] [ 1.21656721e-02 1.53618776e-04 9.99925984e-01 3.97144592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.119254154 meters 0.016604236980623806 Centerline is valid? [True, True] Translation: X:903.12, Y:25.32, Z:3.97 [[ 9.42912327e-01 -3.32835130e-01 -1.17098349e-02 9.03116143e+02] [ 3.32807090e-01 9.42985018e-01 -4.32400637e-03 2.53185483e+01] [ 1.24813801e-02 1.80042843e-04 9.99922088e-01 3.97107204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.179254154 meters 0.014959034554284316 Centerline is valid? [True, True] Translation: X:903.17, Y:25.34, Z:3.97 [[ 9.43378672e-01 -3.31539950e-01 -1.08601795e-02 9.03171534e+02] [ 3.31515719e-01 9.43441163e-01 -4.01261258e-03 2.53375858e+01] [ 1.15762817e-02 1.85092926e-04 9.99932975e-01 3.97298937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.2392541539999 meters 0.015998083836472183 Centerline is valid? [True, True] Translation: X:903.23, Y:25.36, Z:3.97 [[ 9.43481368e-01 -3.31188110e-01 -1.25436852e-02 9.03226479e+02] [ 3.31155722e-01 9.43564723e-01 -4.63687618e-03 2.53560939e+01] [ 1.33714571e-02 2.20893167e-04 9.99910574e-01 3.96962572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.299254154 meters 0.015159006845597563 Centerline is valid? [True, True] Translation: X:903.28, Y:25.37, Z:3.97 [[ 9.43197648e-01 -3.31988201e-01 -1.27291578e-02 9.03282120e+02] [ 3.31954878e-01 9.43283514e-01 -4.70865407e-03 2.53717979e+01] [ 1.35704223e-02 2.15685422e-04 9.99907894e-01 3.96997807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.3592541539999 meters 0.015068293811713242 Centerline is valid? [True, True] Translation: X:903.34, Y:25.39, Z:3.97 [[ 9.42759123e-01 -3.33257107e-01 -1.20389564e-02 9.03338370e+02] [ 3.33227376e-01 9.42835969e-01 -4.45539588e-03 2.53871728e+01] [ 1.28355535e-02 1.88655252e-04 9.99917603e-01 3.97059192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.419254154 meters 0.015290081086294482 Centerline is valid? [True, True] Translation: X:903.39, Y:25.40, Z:3.97 [[ 9.42426456e-01 -3.34187397e-01 -1.22946292e-02 9.03394607e+02] [ 3.34156429e-01 9.42506632e-01 -4.55309744e-03 2.54038211e+01] [ 1.31093573e-02 1.82630097e-04 9.99914052e-01 3.97060753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.4792541539999 meters 0.014589012778809253 Centerline is valid? [True, True] Translation: X:903.45, Y:25.42, Z:3.97 [[ 9.42833216e-01 -3.33063132e-01 -1.15963822e-02 9.03450969e+02] [ 3.33035454e-01 9.42904509e-01 -4.29798968e-03 2.54200236e+01] [ 1.23657830e-02 1.90281030e-04 9.99923523e-01 3.97181403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.539254154 meters 0.015280646933501302 Centerline is valid? [True, True] Translation: X:903.51, Y:25.44, Z:3.97 [[ 9.43695201e-01 -3.30616340e-01 -1.14979530e-02 9.03505365e+02] [ 3.30588922e-01 9.43765218e-01 -4.26363481e-03 2.54384939e+01] [ 1.22609954e-02 2.22475830e-04 9.99924806e-01 3.97128037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.5992541539999 meters 0.01563080668918031 Centerline is valid? [True, True] Translation: X:903.56, Y:25.46, Z:3.97 [[ 9.44492946e-01 -3.28311930e-01 -1.20146394e-02 9.03561484e+02] [ 3.28281769e-01 9.44569323e-01 -4.45810033e-03 2.54558572e+01] [ 1.28123073e-02 2.66457250e-04 9.99917884e-01 3.97135713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.659254154 meters 0.017062432490163332 Centerline is valid? [True, True] Translation: X:903.62, Y:25.48, Z:3.97 [[ 9.44896745e-01 -3.27129276e-01 -1.25130872e-02 9.03616023e+02] [ 3.27096406e-01 9.44979549e-01 -4.64679438e-03 2.54778040e+01] [ 1.33447139e-02 2.97755042e-04 9.99910911e-01 3.97021412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.7192541539999 meters 0.01709031540903817 Centerline is valid? [True, True] Translation: X:903.67, Y:25.50, Z:3.97 [[ 9.45462294e-01 -3.25509088e-01 -1.20367821e-02 9.03670332e+02] [ 3.25478498e-01 9.45538860e-01 -4.47338497e-03 2.55019540e+01] [ 1.28373727e-02 3.11703067e-04 9.99917549e-01 3.97080172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.779254154 meters 0.019581081471485826 Centerline is valid? [True, True] Translation: X:903.72, Y:25.52, Z:3.97 [[ 9.45127542e-01 -3.26453399e-01 -1.27321271e-02 9.03724014e+02] [ 3.26419202e-01 9.45213244e-01 -4.73590162e-03 2.55242799e+01] [ 1.35806263e-02 3.20020294e-04 9.99907728e-01 3.96813152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.839254154 meters 0.018599881618422284 Centerline is valid? [True, True] Translation: X:903.78, Y:25.54, Z:3.97 [[ 9.44698375e-01 -3.27723587e-01 -1.19260220e-02 9.03778985e+02] [ 3.27693640e-01 9.44773607e-01 -4.43955923e-03 2.55444013e+01] [ 1.27223391e-02 2.85962820e-04 9.99919027e-01 3.96912740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.899254154 meters 0.016543418457086526 Centerline is valid? [True, True] Translation: X:903.83, Y:25.56, Z:3.97 [[ 9.44375397e-01 -3.28726753e-01 -9.68669801e-03 9.03834515e+02] [ 3.28707023e-01 9.44425048e-01 -3.60849603e-03 2.55639903e+01] [ 1.03345694e-02 2.23689208e-04 9.99946572e-01 3.97121463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.959254154 meters 0.01572323580458545 Centerline is valid? [True, True] Translation: X:903.89, Y:25.58, Z:3.97 [[ 9.43384864e-01 -3.31529668e-01 -1.06337792e-02 9.03891096e+02] [ 3.31506043e-01 9.43444770e-01 -3.96356787e-03 2.55822832e+01] [ 1.13464237e-02 2.14007865e-04 9.99935604e-01 3.96959684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.019254154 meters 0.015787351324726705 Centerline is valid? [True, True] Translation: X:903.95, Y:25.60, Z:3.97 [[ 9.42358862e-01 -3.34406336e-01 -1.14968775e-02 9.03946787e+02] [ 3.34378900e-01 9.42428970e-01 -4.28804301e-03 2.56011976e+01] [ 1.22689391e-02 1.96562087e-04 9.99924714e-01 3.96809065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.079254154 meters 0.014442359922074653 Centerline is valid? [True, True] Translation: X:904.00, Y:25.62, Z:3.97 [[ 9.41004625e-01 -3.38267471e-01 -9.24197429e-03 9.04001912e+02] [ 3.38249914e-01 9.41050001e-01 -3.44847847e-03 2.56195817e+01] [ 9.86366801e-03 1.18937180e-04 9.99951346e-01 3.96999641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.139254154 meters 0.01356540267683679 Centerline is valid? [True, True] Translation: X:904.06, Y:25.64, Z:3.97 [[ 9.39134896e-01 -3.43475511e-01 -7.08665325e-03 9.04058062e+02] [ 3.43465327e-01 9.39161632e-01 -2.64542955e-03 2.56364860e+01] [ 7.56415310e-03 5.03955292e-05 9.99971390e-01 3.97096495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.199254154 meters 0.016494407641321207 Centerline is valid? [True, True] Translation: X:904.11, Y:25.65, Z:3.97 [[ 9.37347194e-01 -3.48322920e-01 -7.16803517e-03 9.04114136e+02] [ 3.48312626e-01 9.37374601e-01 -2.67787671e-03 2.56546435e+01] [ 7.65189995e-03 1.33830639e-05 9.99970724e-01 3.96753553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.259254154 meters 0.01578043045354917 Centerline is valid? [True, True] Translation: X:904.17, Y:25.67, Z:3.97 [[ 9.36641179e-01 -3.50224091e-01 -6.81080974e-03 9.04168758e+02] [ 3.50214834e-01 9.36665941e-01 -2.54642959e-03 2.56747855e+01] [ 7.27127451e-03 -1.55783691e-07 9.99973564e-01 3.96790897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.319254154 meters 0.013124523086881603 Centerline is valid? [True, True] Translation: X:904.22, Y:25.70, Z:3.97 [[ 9.36202755e-01 -3.51394607e-01 -6.79932718e-03 9.04222065e+02] [ 3.51385399e-01 9.36227446e-01 -2.54388953e-03 2.56960098e+01] [ 7.25962578e-03 -7.58790969e-06 9.99973649e-01 3.96899588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.379254154 meters 0.013471126797759489 Centerline is valid? [True, True] Translation: X:904.28, Y:25.72, Z:3.97 [[ 9.35824425e-01 -3.52398618e-01 -6.91808008e-03 9.04275838e+02] [ 3.52389102e-01 9.35849995e-01 -2.58983906e-03 2.57177744e+01] [ 7.38694091e-03 -1.42213741e-05 9.99972716e-01 3.96818091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.439254154 meters 0.013005797448895663 Centerline is valid? [True, True] Translation: X:904.33, Y:25.74, Z:3.97 [[ 9.35339079e-01 -3.53691866e-01 -6.54757938e-03 9.04329753e+02] [ 3.53683359e-01 9.35361996e-01 -2.45324072e-03 2.57394588e+01] [ 6.99204821e-03 -2.11579546e-05 9.99975555e-01 3.96911056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.499254154 meters 0.014688120830227174 Centerline is valid? [True, True] Translation: X:904.38, Y:25.76, Z:3.97 [[ 9.34540548e-01 -3.55800197e-01 -6.33903016e-03 9.04383702e+02] [ 3.55792261e-01 9.34562046e-01 -2.37667668e-03 2.57606189e+01] [ 6.76983903e-03 -3.42771412e-05 9.99977084e-01 3.96768272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.559254154 meters 0.014334990052691754 Centerline is valid? [True, True] Translation: X:904.44, Y:25.78, Z:3.97 [[ 9.34395215e-01 -3.56190722e-01 -5.80968374e-03 9.04437627e+02] [ 3.56184058e-01 9.34413275e-01 -2.17915204e-03 2.57826121e+01] [ 6.20483935e-03 -3.31274914e-05 9.99980749e-01 3.96746736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.619254154 meters 0.01546908722291027 Centerline is valid? [True, True] Translation: X:904.49, Y:25.80, Z:3.97 [[ 9.34527999e-01 -3.55834581e-01 -6.25850835e-03 9.04491357e+02] [ 3.55826825e-01 9.34548955e-01 -2.34966369e-03 2.58049550e+01] [ 6.68497404e-03 -3.11186526e-05 9.99977655e-01 3.96629114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.679254154 meters 0.014836545377608496 Centerline is valid? [True, True] Translation: X:904.54, Y:25.83, Z:3.97 [[ 9.35278347e-01 -3.53844674e-01 -6.95410841e-03 9.04544100e+02] [ 3.53835029e-01 9.35304200e-01 -2.61263520e-03 2.58281402e+01] [ 7.42867386e-03 -1.70660187e-05 9.99972407e-01 3.96512918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.7392541539999 meters 0.015323152477658546 Centerline is valid? [True, True] Translation: X:904.60, Y:25.85, Z:3.96 [[ 9.35912880e-01 -3.52156713e-01 -7.26157421e-03 9.04596649e+02] [ 3.52146138e-01 9.35941050e-01 -2.72902721e-03 2.58504321e+01] [ 7.75745064e-03 -3.00360504e-06 9.99969911e-01 3.96403390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.799254154 meters 0.012851740709916928 Centerline is valid? [True, True] Translation: X:904.65, Y:25.87, Z:3.97 [[ 9.36286389e-01 -3.51180527e-01 -6.32727657e-03 9.04651093e+02] [ 3.51172468e-01 9.36307768e-01 -2.37909203e-03 2.58719294e+01] [ 6.75976900e-03 5.54615761e-06 9.99977152e-01 3.96688309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.8592541539999 meters 0.012826989300105982 Centerline is valid? [True, True] Translation: X:904.70, Y:25.89, Z:3.97 [[ 9.36738389e-01 -3.49982810e-01 -5.76396262e-03 9.04704425e+02] [ 3.49976089e-01 9.36756122e-01 -2.16899758e-03 2.58937612e+01] [ 6.15853914e-03 1.45342045e-05 9.99981036e-01 3.96721617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.919254154 meters 0.013977246038799048 Centerline is valid? [True, True] Translation: X:904.76, Y:25.91, Z:3.97 [[ 9.36739628e-01 -3.49974535e-01 -6.05756687e-03 9.04758423e+02] [ 3.49967098e-01 9.36759214e-01 -2.28153193e-03 2.59146834e+01] [ 6.47295966e-03 1.72522739e-05 9.99979050e-01 3.96592726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.9792541539999 meters 0.012857413085449652 Centerline is valid? [True, True] Translation: X:904.81, Y:25.93, Z:3.97 [[ 9.36959665e-01 -3.49381822e-01 -6.23932182e-03 9.04813002e+02] [ 3.49373905e-01 9.36980438e-01 -2.35208328e-03 2.59349973e+01] [ 6.66789764e-03 2.39509344e-05 9.99977769e-01 3.96723601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.039254154 meters 0.012745372962278415 Centerline is valid? [True, True] Translation: X:904.87, Y:25.96, Z:3.97 [[ 9.36748183e-01 -3.49919679e-01 -7.68509116e-03 9.04866970e+02] [ 3.49907662e-01 9.36779706e-01 -2.90003048e-03 2.59553413e+01] [ 8.21401517e-03 2.75260025e-05 9.99966264e-01 3.96607881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.0992541539999 meters 0.012716766150087707 Centerline is valid? [True, True] Translation: X:904.92, Y:25.98, Z:3.97 [[ 9.36354684e-01 -3.50951518e-01 -8.54037874e-03 9.04920696e+02] [ 3.50936701e-01 9.36393631e-01 -3.22497204e-03 2.59750363e+01] [ 9.12896509e-03 2.25853342e-05 9.99958330e-01 3.96520774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.159254154 meters 0.014791268206090634 Centerline is valid? [True, True] Translation: X:904.97, Y:25.99, Z:3.96 [[ 9.35205111e-01 -3.53980866e-01 -9.43120389e-03 9.04974930e+02] [ 3.53962936e-01 9.35252664e-01 -3.56277996e-03 2.59931110e+01] [ 1.00817145e-02 -6.36659655e-06 9.99949178e-01 3.96351108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.2192541539999 meters 0.01480384381169285 Centerline is valid? [True, True] Translation: X:905.03, Y:26.01, Z:3.96 [[ 9.33579601e-01 -3.58264940e-01 -8.68107638e-03 9.05030434e+02] [ 3.58249914e-01 9.33619961e-01 -3.28146241e-03 2.60114168e+01] [ 9.28045912e-03 -4.64884993e-05 9.99956935e-01 3.96484098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.279254154 meters 0.01683606704069953 Centerline is valid? [True, True] Translation: X:905.09, Y:26.03, Z:3.96 [[ 9.31945006e-01 -3.62488373e-01 -8.98251663e-03 9.05086282e+02] [ 3.62472455e-01 9.31988290e-01 -3.39820894e-03 2.60294379e+01] [ 9.60341154e-03 -8.89709975e-05 9.99953882e-01 3.96385502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.339254154 meters 0.014166470346839318 Centerline is valid? [True, True] Translation: X:905.14, Y:26.05, Z:3.97 [[ 9.29793955e-01 -3.67994170e-01 -7.96818507e-03 9.05142582e+02] [ 3.67981828e-01 9.29828089e-01 -3.01662605e-03 2.60460886e+01] [ 8.51914309e-03 -1.27306644e-04 9.99963703e-01 3.96770639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.399254154 meters 0.015819067609596973 Centerline is valid? [True, True] Translation: X:905.20, Y:26.06, Z:3.97 [[ 9.28536939e-01 -3.71135742e-01 -8.79853295e-03 9.05196960e+02] [ 3.71120816e-01 9.28578609e-01 -3.33286169e-03 2.60644259e+01] [ 9.40707358e-03 -1.70633536e-04 9.99955738e-01 3.96686574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.459254154 meters 0.015420961122550352 Centerline is valid? [True, True] Translation: X:905.25, Y:26.09, Z:3.97 [[ 9.27639052e-01 -3.73385961e-01 -8.28938099e-03 9.05251577e+02] [ 3.73372794e-01 9.27676070e-01 -3.14089379e-03 2.60851413e+01] [ 8.86262603e-03 -1.81413599e-04 9.99960710e-01 3.96810149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.519254154 meters 0.0162005224093816 Centerline is valid? [True, True] Translation: X:905.31, Y:26.10, Z:3.97 [[ 9.26844672e-01 -3.75339951e-01 -8.88117424e-03 9.05305716e+02] [ 3.75324915e-01 9.26887197e-01 -3.36629488e-03 2.61044831e+01] [ 9.49535165e-03 -2.13293494e-04 9.99954895e-01 3.96852552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.579254154 meters 0.01584590773776492 Centerline is valid? [True, True] Translation: X:905.36, Y:26.13, Z:3.97 [[ 9.26335078e-01 -3.76582743e-01 -9.42126712e-03 9.05359771e+02] [ 3.76565865e-01 9.26382956e-01 -3.57321002e-03 2.61275640e+01] [ 1.00733105e-02 -2.37737823e-04 9.99949235e-01 3.96868722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.639254154 meters 0.01674536533012863 Centerline is valid? [True, True] Translation: X:905.41, Y:26.15, Z:3.97 [[ 9.26283338e-01 -3.76687777e-01 -1.02711224e-02 9.05413022e+02] [ 3.76667687e-01 9.26340247e-01 -3.89885542e-03 2.61496601e+01] [ 1.09832052e-02 -2.57355084e-04 9.99939650e-01 3.96792586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.699254154 meters 0.01570814327739175 Centerline is valid? [True, True] Translation: X:905.47, Y:26.17, Z:3.97 [[ 9.26996480e-01 -3.74927235e-01 -1.03486726e-02 9.05466333e+02] [ 3.74906696e-01 9.27054213e-01 -3.93143632e-03 2.61745579e+01] [ 1.10677831e-02 -2.35359023e-04 9.99938723e-01 3.96905145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.759254154 meters 0.014902415632511896 Centerline is valid? [True, True] Translation: X:905.52, Y:26.20, Z:3.97 [[ 9.28141209e-01 -3.72096067e-01 -9.92031766e-03 9.05519704e+02] [ 3.72077001e-01 9.28194204e-01 -3.77150200e-03 2.62003887e+01] [ 1.06113424e-02 -1.90635617e-04 9.99943680e-01 3.97009935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.819254154 meters 0.01605419521939626 Centerline is valid? [True, True] Translation: X:905.57, Y:26.23, Z:3.97 [[ 9.28943589e-01 -3.70070841e-01 -1.05537496e-02 9.05572617e+02] [ 3.70049097e-01 9.29003521e-01 -4.01544829e-03 2.62259467e+01] [ 1.12904709e-02 -1.75280565e-04 9.99936245e-01 3.96837072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.879254154 meters 0.013560963855211805 Centerline is valid? [True, True] Translation: X:905.63, Y:26.25, Z:3.97 [[ 9.30854512e-01 -3.65228052e-01 -1.08788154e-02 9.05625564e+02] [ 3.65204579e-01 9.30918072e-01 -4.14230626e-03 2.62528138e+01] [ 1.16401723e-02 -1.17108723e-04 9.99932244e-01 3.96946121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.939254154 meters 0.014909312046244983 Centerline is valid? [True, True] Translation: X:905.68, Y:26.28, Z:3.97 [[ 9.32329666e-01 -3.61388382e-01 -1.26424699e-02 9.05678521e+02] [ 3.61356277e-01 9.32415375e-01 -4.81765357e-03 2.62796642e+01] [ 1.35290773e-02 -7.67945017e-05 9.99908475e-01 3.96683442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.999254154 meters 0.012877301053343374 Centerline is valid? [True, True] Translation: X:905.73, Y:26.30, Z:3.97 [[ 9.33558448e-01 -3.58209941e-01 -1.24202602e-02 9.05731618e+02] [ 3.58178624e-01 9.33641065e-01 -4.73659447e-03 2.63046793e+01] [ 1.32927602e-02 -2.67839253e-05 9.99911647e-01 3.96913343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.059254154 meters 0.016052812661218406 Centerline is valid? [True, True] Translation: X:905.78, Y:26.33, Z:3.97 [[ 9.34836023e-01 -3.54838934e-01 -1.30744297e-02 9.05784149e+02] [ 3.54803870e-01 9.34927447e-01 -4.98829771e-03 2.63307674e+01] [ 1.39936854e-02 2.43821339e-05 9.99902083e-01 3.96651734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.119254154 meters 0.013498228154199503 Centerline is valid? [True, True] Translation: X:905.84, Y:26.36, Z:3.97 [[ 9.36282214e-01 -3.51058836e-01 -1.15459426e-02 9.05837106e+02] [ 3.51031169e-01 9.36353399e-01 -4.40798915e-03 2.63552431e+01] [ 1.23585461e-02 7.41361180e-05 9.99923628e-01 3.96932526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.179254154 meters 0.015720575708585094 Centerline is valid? [True, True] Translation: X:905.89, Y:26.38, Z:3.97 [[ 9.38303366e-01 -3.45625187e-01 -1.14027737e-02 9.05888471e+02] [ 3.45597774e-01 9.38372639e-01 -4.35542784e-03 2.63824854e+01] [ 1.22053964e-02 1.45939409e-04 9.99925501e-01 3.96885252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.2392541539999 meters 0.01644965145584003 Centerline is valid? [True, True] Translation: X:905.94, Y:26.41, Z:3.97 [[ 9.40019195e-01 -3.40922381e-01 -1.16551861e-02 9.05941608e+02] [ 3.40893346e-01 9.40091423e-01 -4.45443987e-03 2.64087326e+01] [ 1.24755587e-02 2.14083603e-04 9.99922154e-01 3.96935719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.299254154 meters 0.01727801197601106 Centerline is valid? [True, True] Translation: X:905.99, Y:26.43, Z:3.97 [[ 9.40936608e-01 -3.38328984e-01 -1.31072054e-02 9.05994189e+02] [ 3.38291974e-01 9.41027853e-01 -5.01207823e-03 2.64329252e+01] [ 1.40299767e-02 2.81985497e-04 9.99901535e-01 3.96912309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.3592541539999 meters 0.015706454910035764 Centerline is valid? [True, True] Translation: X:906.05, Y:26.45, Z:3.97 [[ 9.41388067e-01 -3.37032987e-01 -1.40453972e-02 9.06048992e+02] [ 3.36990292e-01 9.41492782e-01 -5.37440742e-03 2.64541278e+01] [ 1.50349927e-02 3.26240498e-04 9.99886915e-01 3.97074163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.419254154 meters 0.019950839104829886 Centerline is valid? [True, True] Translation: X:906.10, Y:26.48, Z:3.97 [[ 9.40981763e-01 -3.38055940e-01 -1.64773717e-02 9.06102562e+02] [ 3.37997287e-01 9.41125946e-01 -6.30766995e-03 2.64772066e+01] [ 1.76396273e-02 3.66095447e-04 9.99844343e-01 3.96650764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.4792541539999 meters 0.015617731149052634 Centerline is valid? [True, True] Translation: X:906.16, Y:26.49, Z:3.97 [[ 9.39751659e-01 -3.41452135e-01 -1.66510939e-02 9.06159704e+02] [ 3.41392698e-01 9.39899114e-01 -6.37824483e-03 2.64917994e+01] [ 1.78282137e-02 3.09404295e-04 9.99841017e-01 3.97080589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.539254154 meters 0.014011780016680284 Centerline is valid? [True, True] Translation: X:906.22, Y:26.51, Z:3.97 [[ 9.38166427e-01 -3.45830333e-01 -1.56568544e-02 9.06216362e+02] [ 3.45778356e-01 9.38297040e-01 -5.99948221e-03 2.65088067e+01] [ 1.67655830e-02 2.14711432e-04 9.99859425e-01 3.97280290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.5992541539999 meters 0.013039354766462143 Centerline is valid? [True, True] Translation: X:906.27, Y:26.52, Z:3.97 [[ 9.34937295e-01 -3.54495569e-01 -1.50048875e-02 9.06274294e+02] [ 3.54448923e-01 9.35057692e-01 -5.75090015e-03 2.65216464e+01] [ 1.60691041e-02 5.82648258e-05 9.99870882e-01 3.97481753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.659254154 meters 0.012989141710553776 Centerline is valid? [True, True] Translation: X:906.33, Y:26.54, Z:3.98 [[ 9.33715348e-01 -3.57702737e-01 -1.49800230e-02 9.06329235e+02] [ 3.57656634e-01 9.33835506e-01 -5.74283622e-03 2.65393973e+01] [ 1.60431055e-02 4.46972971e-06 9.99871301e-01 3.97505185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.7192541539999 meters 0.016429717365723177 Centerline is valid? [True, True] Translation: X:906.39, Y:26.55, Z:3.97 [[ 9.30019011e-01 -3.67097914e-01 -1.74287463e-02 9.06387320e+02] [ 3.67037067e-01 9.30182288e-01 -6.68597596e-03 2.65526650e+01] [ 1.86663190e-02 -1.78911172e-04 9.99825753e-01 3.97472068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.779254154 meters 0.014924142121875345 Centerline is valid? [True, True] Translation: X:906.45, Y:26.57, Z:3.98 [[ 9.27295801e-01 -3.73908729e-01 -1.77414773e-02 9.06445185e+02] [ 3.73846842e-01 9.27465450e-01 -6.81009296e-03 2.65682740e+01] [ 1.90009605e-02 -3.17624666e-04 9.99819415e-01 3.97655939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.839254154 meters 0.0193470596344545 Centerline is valid? [True, True] Translation: X:906.50, Y:26.59, Z:3.97 [[ 9.25192247e-01 -3.78935813e-01 -2.06629047e-02 9.06501136e+02] [ 3.78853061e-01 9.25422829e-01 -7.93386570e-03 2.65853909e+01] [ 2.21283495e-02 -4.87853646e-04 9.99755019e-01 3.97377221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.899254154 meters 0.01756328571220531 Centerline is valid? [True, True] Translation: X:906.56, Y:26.60, Z:3.98 [[ 9.22985698e-01 -3.84333852e-01 -1.96186564e-02 9.06558158e+02] [ 3.84260443e-01 9.23193993e-01 -7.53419019e-03 2.66024031e+01] [ 2.10074701e-02 -5.84723816e-04 9.99779148e-01 3.97678223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.959254154 meters 0.01944685493368215 Centerline is valid? [True, True] Translation: X:906.61, Y:26.62, Z:3.98 [[ 9.21158033e-01 -3.88723284e-01 -1.90285709e-02 9.06614267e+02] [ 3.88655134e-01 9.21354312e-01 -7.30873675e-03 2.66200177e+01] [ 2.03731320e-02 -6.63050188e-04 9.99792226e-01 3.97649167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.019254154 meters 0.02088244154366402 Centerline is valid? [True, True] Translation: X:906.67, Y:26.64, Z:3.98 [[ 9.20449152e-01 -3.90326972e-01 -2.04502838e-02 9.06669428e+02] [ 3.90248545e-01 9.20676001e-01 -7.85970870e-03 2.66409196e+01] [ 2.18959418e-02 -7.46231289e-04 9.99759977e-01 3.97559120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.079254154 meters 0.01854496267970483 Centerline is valid? [True, True] Translation: X:906.72, Y:26.66, Z:3.98 [[ 9.21292405e-01 -3.88403386e-01 -1.90555433e-02 9.06723717e+02] [ 3.88334778e-01 9.21489224e-01 -7.32875659e-03 2.66646832e+01] [ 2.04059916e-02 -6.48002369e-04 9.99791566e-01 3.97744667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.139254154 meters 0.02038473452681083 Centerline is valid? [True, True] Translation: X:906.78, Y:26.69, Z:3.98 [[ 9.22625773e-01 -3.85159003e-01 -2.03525234e-02 9.06776876e+02] [ 3.85079893e-01 9.22850024e-01 -7.83007976e-03 2.66901917e+01] [ 2.17981524e-02 -6.13114140e-04 9.99762204e-01 3.97615428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.199254154 meters 0.016719047355177902 Centerline is valid? [True, True] Translation: X:906.83, Y:26.72, Z:3.98 [[ 9.23987413e-01 -3.82025205e-01 -1.74356772e-02 9.06830406e+02] [ 3.81966570e-01 9.24151789e-01 -6.70889024e-03 2.67158183e+01] [ 1.86761775e-02 -4.60915694e-04 9.99825479e-01 3.97778712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.259254154 meters 0.0160041161458565 Centerline is valid? [True, True] Translation: X:906.88, Y:26.74, Z:3.98 [[ 9.25081697e-01 -3.79380550e-01 -1.71537766e-02 9.06882933e+02] [ 3.79323266e-01 9.25240639e-01 -6.60446929e-03 2.67435043e+01] [ 1.83769784e-02 -3.97152896e-04 9.99831050e-01 3.97873915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.319254154 meters 0.015299682019871214 Centerline is valid? [True, True] Translation: X:906.94, Y:26.77, Z:3.98 [[ 9.25431474e-01 -3.78599152e-01 -1.54682908e-02 9.06936025e+02] [ 3.78552391e-01 9.25560677e-01 -5.95991567e-03 2.67680624e+01] [ 1.65732607e-02 -3.40064935e-04 9.99862596e-01 3.97855814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.379254154 meters 0.015682083889886483 Centerline is valid? [True, True] Translation: X:906.99, Y:26.79, Z:3.98 [[ 9.25075249e-01 -3.79464285e-01 -1.55768867e-02 9.06989665e+02] [ 3.79416912e-01 9.25206318e-01 -6.00630555e-03 2.67917802e+01] [ 1.66910125e-02 -3.53849651e-04 9.99860633e-01 3.97875743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.439254154 meters 0.015790391266347174 Centerline is valid? [True, True] Translation: X:907.04, Y:26.82, Z:3.98 [[ 9.24270316e-01 -3.81488536e-01 -1.38159185e-02 9.07043589e+02] [ 3.81451437e-01 9.24373506e-01 -5.33118659e-03 2.68152658e+01] [ 1.48048556e-02 -3.42644463e-04 9.99890343e-01 3.97952235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.499254154 meters 0.016502263974365956 Centerline is valid? [True, True] Translation: X:907.10, Y:26.84, Z:3.98 [[ 9.22726554e-01 -3.85207782e-01 -1.38083905e-02 9.07097937e+02] [ 3.85171112e-01 9.22829781e-01 -5.33008912e-03 2.68385362e+01] [ 1.47959858e-02 -4.00378369e-04 9.99890453e-01 3.97926649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.559254154 meters 0.019821637683415567 Centerline is valid? [True, True] Translation: X:907.15, Y:26.86, Z:3.98 [[ 9.21067776e-01 -3.89112218e-01 -1.50277741e-02 9.07153036e+02] [ 3.89069288e-01 9.21190224e-01 -5.80173254e-03 2.68600169e+01] [ 1.61009636e-02 -5.03056485e-04 9.99870245e-01 3.97800941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.619254154 meters 0.02029706959961814 Centerline is valid? [True, True] Translation: X:907.21, Y:26.88, Z:3.98 [[ 9.18836180e-01 -3.94424253e-01 -1.30223942e-02 9.07208456e+02] [ 3.94392536e-01 9.18928312e-01 -5.02845811e-03 2.68817301e+01] [ 1.39499925e-02 -5.15605825e-04 9.99902561e-01 3.97843879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.679254154 meters 0.021498008246633882 Centerline is valid? [True, True] Translation: X:907.26, Y:26.90, Z:3.98 [[ 9.16741883e-01 -3.99268969e-01 -1.29850424e-02 9.07263854e+02] [ 3.99237897e-01 9.16833653e-01 -5.01548801e-03 2.69048434e+01] [ 1.39076526e-02 -5.86213081e-04 9.99903112e-01 3.97911452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.7392541539999 meters 0.02329247578213184 Centerline is valid? [True, True] Translation: X:907.32, Y:26.93, Z:3.98 [[ 9.15685396e-01 -4.01657260e-01 -1.38456459e-02 9.07317290e+02] [ 4.01622187e-01 9.15789827e-01 -5.34905706e-03 2.69309444e+01] [ 1.48281892e-02 -6.62665156e-04 9.99889837e-01 3.97880135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.799254154 meters 0.021797728965114976 Centerline is valid? [True, True] Translation: X:907.37, Y:26.96, Z:3.98 [[ 9.16218120e-01 -4.00507543e-01 -1.17500874e-02 9.07370877e+02] [ 4.00482179e-01 9.16293299e-01 -4.54031118e-03 2.69557034e+01] [ 1.25849552e-02 -5.45785211e-04 9.99920657e-01 3.98029101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.8592541539999 meters 0.021038370804012132 Centerline is valid? [True, True] Translation: X:907.42, Y:26.98, Z:3.98 [[ 9.17423808e-01 -3.97758490e-01 -1.10336139e-02 9.07423693e+02] [ 3.97735918e-01 9.17490031e-01 -4.26416634e-03 2.69842647e+01] [ 1.18193391e-02 -4.76416843e-04 9.99930036e-01 3.98068412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.919254154 meters 0.021278660302273197 Centerline is valid? [True, True] Translation: X:907.48, Y:27.01, Z:3.98 [[ 9.18256622e-01 -3.95830421e-01 -1.10929381e-02 9.07475140e+02] [ 3.95807455e-01 9.18323512e-01 -4.28790710e-03 2.70138730e+01] [ 1.18841899e-02 -4.53268499e-04 9.99929278e-01 3.98029286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.9792541539999 meters 0.01952868905374202 Centerline is valid? [True, True] Translation: X:907.53, Y:27.04, Z:3.98 [[ 9.19065271e-01 -3.93975349e-01 -1.01219066e-02 9.07528199e+02] [ 3.93956106e-01 9.19120923e-01 -3.91336572e-03 2.70394260e+01] [ 1.08450258e-02 -3.90948388e-04 9.99941115e-01 3.98153006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.039254154 meters 0.02133500315779837 Centerline is valid? [True, True] Translation: X:907.58, Y:27.07, Z:3.98 [[ 9.19546092e-01 -3.92859928e-01 -9.80107463e-03 9.07580530e+02] [ 3.92841803e-01 9.19598252e-01 -3.79126142e-03 2.70657869e+01] [ 1.05024858e-02 -3.64032203e-04 9.99944781e-01 3.98096652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.0992541539999 meters 0.02264572216137999 Centerline is valid? [True, True] Translation: X:907.63, Y:27.09, Z:3.98 [[ 9.19884715e-01 -3.92062413e-01 -9.95865511e-03 9.07632912e+02] [ 3.92043623e-01 9.19938550e-01 -3.85501127e-03 2.70928799e+01] [ 1.06727558e-02 -3.58061286e-04 9.99942980e-01 3.98056008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.159254154 meters 0.018650665291498014 Centerline is valid? [True, True] Translation: X:907.69, Y:27.12, Z:3.98 [[ 9.20212154e-01 -3.91293556e-01 -9.94705789e-03 9.07685295e+02] [ 3.91274737e-01 9.20265849e-01 -3.85320712e-03 2.71221884e+01] [ 1.06616728e-02 -3.46264428e-04 9.99943103e-01 3.98165831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.2192541539999 meters 0.019707350459158054 Centerline is valid? [True, True] Translation: X:907.74, Y:27.15, Z:3.98 [[ 9.19651432e-01 -3.92596666e-01 -1.04451611e-02 9.07737077e+02] [ 3.92575965e-01 9.19710670e-01 -4.04919017e-03 2.71514312e+01] [ 1.11962247e-02 -3.76675659e-04 9.99937249e-01 3.98011920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.279254154 meters 0.020513600610424464 Centerline is valid? [True, True] Translation: X:907.79, Y:27.18, Z:3.98 [[ 9.19708344e-01 -3.92465511e-01 -1.03627049e-02 9.07789501e+02] [ 3.92445106e-01 9.19766647e-01 -4.01908866e-03 2.71768830e+01] [ 1.11086240e-02 -3.70403431e-04 9.99938229e-01 3.98051711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.339254154 meters 0.021980127576129334 Centerline is valid? [True, True] Translation: X:907.84, Y:27.20, Z:3.98 [[ 9.20205815e-01 -3.91300573e-01 -1.02527597e-02 9.07841062e+02] [ 3.91280515e-01 9.20262864e-01 -3.97749290e-03 2.72048731e+01] [ 1.09916292e-02 -3.51592982e-04 9.99939528e-01 3.97980870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.399254154 meters 0.019163483646217522 Centerline is valid? [True, True] Translation: X:907.89, Y:27.23, Z:3.98 [[ 9.20943656e-01 -3.89577848e-01 -9.58552605e-03 9.07893530e+02] [ 3.89560203e-01 9.20993488e-01 -3.72061972e-03 2.72326700e+01] [ 1.02776781e-02 -3.07658346e-04 9.99947136e-01 3.98128299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.459254154 meters 0.018365753451007216 Centerline is valid? [True, True] Translation: X:907.95, Y:27.26, Z:3.98 [[ 9.22382711e-01 -3.86154235e-01 -9.74893931e-03 9.07945515e+02] [ 3.86135774e-01 9.22434189e-01 -3.78572180e-03 2.72617443e+01] [ 1.04546274e-02 -2.72529884e-04 9.99945312e-01 3.98134028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.519254154 meters 0.016457293248957346 Centerline is valid? [True, True] Translation: X:908.00, Y:27.29, Z:3.98 [[ 9.23937125e-01 -3.82416924e-01 -9.87346857e-03 9.07996873e+02] [ 3.82397765e-01 9.23989850e-01 -3.83500535e-03 2.72888240e+01] [ 1.05895557e-02 -2.32288498e-04 9.99943902e-01 3.98272013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.579254154 meters 0.016545048822086534 Centerline is valid? [True, True] Translation: X:908.05, Y:27.31, Z:3.98 [[ 9.24098411e-01 -3.82028700e-01 -9.80816581e-03 9.08050469e+02] [ 3.82009749e-01 9.24150433e-01 -3.81171779e-03 2.73134536e+01] [ 1.05204063e-02 -2.24412613e-04 9.99944634e-01 3.98297905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.639254154 meters 0.019526290643757282 Centerline is valid? [True, True] Translation: X:908.10, Y:27.34, Z:3.98 [[ 9.23889386e-01 -3.82542688e-01 -9.46013532e-03 9.08103066e+02] [ 3.82525068e-01 9.23937792e-01 -3.67816674e-03 2.73378392e+01] [ 1.01476323e-02 -2.20519694e-04 9.99948487e-01 3.98240120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.699254154 meters 0.02030147894098002 Centerline is valid? [True, True] Translation: X:908.16, Y:27.36, Z:3.98 [[ 9.23143353e-01 -3.84343843e-01 -9.28229179e-03 9.08156875e+02] [ 3.84326952e-01 9.23189989e-01 -3.61092443e-03 2.73612505e+01] [ 9.95715543e-03 -2.34034019e-04 9.99950399e-01 3.98273193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.759254154 meters 0.018875139716636517 Centerline is valid? [True, True] Translation: X:908.21, Y:27.38, Z:3.98 [[ 9.21704185e-01 -3.87796549e-01 -8.67362894e-03 9.08211014e+02] [ 3.87781930e-01 9.21744961e-01 -3.37656811e-03 2.73843818e+01] [ 9.30429523e-03 -2.51279613e-04 9.99956683e-01 3.98391508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.819254154 meters 0.019183695173463047 Centerline is valid? [True, True] Translation: X:908.27, Y:27.41, Z:3.98 [[ 9.20447444e-01 -3.90775425e-01 -8.43035035e-03 9.08265098e+02] [ 3.90761726e-01 9.20486009e-01 -3.28328163e-03 2.74082717e+01] [ 9.04304533e-03 -2.72170073e-04 9.99959074e-01 3.98427260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.879254154 meters 0.021940367465424822 Centerline is valid? [True, True] Translation: X:908.32, Y:27.43, Z:3.98 [[ 9.20284518e-01 -3.91150830e-01 -8.79963590e-03 9.08318383e+02] [ 3.91135915e-01 9.20326543e-01 -3.42785479e-03 2.74304489e+01] [ 9.43934673e-03 -2.87251944e-04 9.99955407e-01 3.98309177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.939254154 meters 0.019404368730014266 Centerline is valid? [True, True] Translation: X:908.37, Y:27.46, Z:3.98 [[ 9.21090293e-01 -3.89248839e-01 -8.83256028e-03 9.08371668e+02] [ 3.89233708e-01 9.21132602e-01 -3.44245651e-03 2.74568202e+01] [ 9.47593143e-03 -2.67116915e-04 9.99955067e-01 3.98391131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.999254154 meters 0.016480712632364187 Centerline is valid? [True, True] Translation: X:908.42, Y:27.48, Z:3.99 [[ 9.22216599e-01 -3.86578795e-01 -8.56612771e-03 9.08424298e+02] [ 3.86564434e-01 9.22256353e-01 -3.34012822e-03 2.74846849e+01] [ 9.19138845e-03 -2.31038628e-04 9.99957732e-01 3.98587121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.059254154 meters 0.018737677030248957 Centerline is valid? [True, True] Translation: X:908.48, Y:27.51, Z:3.98 [[ 9.21573433e-01 -3.88113302e-01 -8.39473524e-03 9.08478536e+02] [ 3.88099559e-01 9.21611636e-01 -3.27488233e-03 2.75086550e+01] [ 9.00771107e-03 -2.39948495e-04 9.99959401e-01 3.98488263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.119254154 meters 0.022300335381088464 Centerline is valid? [True, True] Translation: X:908.53, Y:27.53, Z:3.98 [[ 9.20773334e-01 -3.90007587e-01 -8.39937833e-03 9.08533175e+02] [ 3.89993886e-01 9.20811607e-01 -3.27912398e-03 2.75316373e+01] [ 9.01312829e-03 -2.56376273e-04 9.99959348e-01 3.98362586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.179254154 meters 0.019865713499113327 Centerline is valid? [True, True] Translation: X:908.58, Y:27.56, Z:3.99 [[ 9.20720857e-01 -3.90142415e-01 -7.87393341e-03 9.08584887e+02] [ 3.90130359e-01 9.20754494e-01 -3.07635320e-03 2.75575555e+01] [ 8.45017544e-03 -2.39397912e-04 9.99964268e-01 3.98595930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.2392541539999 meters 0.019980358725618996 Centerline is valid? [True, True] Translation: X:908.64, Y:27.59, Z:3.99 [[ 9.22219115e-01 -3.86593950e-01 -7.55127945e-03 9.08636557e+02] [ 3.86582730e-01 9.22250009e-01 -2.95188874e-03 2.75861894e+01] [ 8.10534986e-03 -1.96906002e-04 9.99967132e-01 3.98624992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.299254154 meters 0.018434548416757394 Centerline is valid? [True, True] Translation: X:908.69, Y:27.61, Z:3.99 [[ 9.23598477e-01 -3.83290306e-01 -7.37535099e-03 9.08689763e+02] [ 3.83279487e-01 9.23627909e-01 -2.88434615e-03 2.76134626e+01] [ 7.91762194e-03 -1.62843040e-04 9.99968642e-01 3.98673573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.3592541539999 meters 0.018634172717348917 Centerline is valid? [True, True] Translation: X:908.74, Y:27.64, Z:3.99 [[ 9.25996519e-01 -3.77445908e-01 -8.06428963e-03 9.08741020e+02] [ 3.77432739e-01 9.26031626e-01 -3.15533114e-03 2.76431850e+01] [ 8.65875406e-03 -1.21901268e-04 9.99962505e-01 3.98605871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.419254154 meters 0.013553000995764392 Centerline is valid? [True, True] Translation: X:908.79, Y:27.67, Z:3.99 [[ 9.28679728e-01 -3.70785146e-01 -8.50521261e-03 9.08792786e+02] [ 3.70770202e-01 9.28718672e-01 -3.32949929e-03 2.76723257e+01] [ 9.13347864e-03 -6.14409000e-05 9.99958287e-01 3.98890749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.4792541539999 meters 0.0178462570054815 Centerline is valid? [True, True] Translation: X:908.84, Y:27.70, Z:3.99 [[ 9.29940081e-01 -3.67606433e-01 -8.77246337e-03 9.08844998e+02] [ 3.67590375e-01 9.29981456e-01 -3.43607051e-03 2.76984887e+01] [ 9.42134988e-03 -2.93334116e-05 9.99955618e-01 3.98576783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.539254154 meters 0.013130041003494122 Centerline is valid? [True, True] Translation: X:908.90, Y:27.72, Z:3.99 [[ 9.30237974e-01 -3.66893204e-01 -6.83290636e-03 9.08898893e+02] [ 3.66883432e-01 9.30263068e-01 -2.67777266e-03 2.77211232e+01] [ 7.33885703e-03 -1.59143249e-05 9.99973070e-01 3.99058878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.5992541539999 meters 0.014936859164270358 Centerline is valid? [True, True] Translation: X:908.95, Y:27.74, Z:3.99 [[ 9.28881221e-01 -3.70315225e-01 -6.80517897e-03 9.08953821e+02] [ 3.70305609e-01 9.28906148e-01 -2.66906000e-03 2.77412003e+01] [ 7.30976614e-03 -4.07562307e-05 9.99973282e-01 3.98933372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.659254154 meters 0.015426980564446274 Centerline is valid? [True, True] Translation: X:909.01, Y:27.76, Z:3.99 [[ 9.26674161e-01 -3.75804216e-01 -6.79630561e-03 9.09010153e+02] [ 3.75794757e-01 9.26699080e-01 -2.66756133e-03 2.77597251e+01] [ 7.30061095e-03 -8.20558595e-05 9.99973347e-01 3.98952032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.7192541539999 meters 0.01811231734317649 Centerline is valid? [True, True] Translation: X:909.07, Y:27.78, Z:3.99 [[ 9.25037858e-01 -3.79795567e-01 -7.76451507e-03 9.09065149e+02] [ 3.79783347e-01 9.25070436e-01 -3.04933125e-03 2.77794292e+01] [ 8.34084582e-03 -1.28086676e-04 9.99965206e-01 3.98768740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.779254154 meters 0.01758030815312955 Centerline is valid? [True, True] Translation: X:909.12, Y:27.80, Z:3.99 [[ 9.23036929e-01 -3.84608287e-01 -8.90472415e-03 9.09121556e+02] [ 3.84592431e-01 9.23079860e-01 -3.49781381e-03 2.77991965e+01] [ 9.56505969e-03 -1.96078192e-04 9.99954235e-01 3.98853564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.839254154 meters 0.020874436827845236 Centerline is valid? [True, True] Translation: X:909.18, Y:27.82, Z:3.99 [[ 9.21771196e-01 -3.87602919e-01 -1.00915140e-02 9.09176813e+02] [ 3.87582726e-01 9.21826400e-01 -3.96480370e-03 2.78175272e+01] [ 1.08393935e-02 -2.56654662e-04 9.99941219e-01 3.98698377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.899254154 meters 0.020633002985661068 Centerline is valid? [True, True] Translation: X:909.23, Y:27.84, Z:3.99 [[ 9.21293984e-01 -3.88722258e-01 -1.06019505e-02 9.09231155e+02] [ 3.88700018e-01 9.21354941e-01 -4.16763590e-03 2.78404864e+01] [ 1.13882123e-02 -2.81360452e-04 9.99935113e-01 3.98702412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.959254154 meters 0.017178047393955245 Centerline is valid? [True, True] Translation: X:909.29, Y:27.86, Z:3.99 [[ 9.20785792e-01 -3.89944457e-01 -9.84098033e-03 9.09285094e+02] [ 3.89925336e-01 9.20838339e-01 -3.87124387e-03 2.78631275e+01] [ 1.05715221e-02 -2.72661205e-04 9.99944083e-01 3.99024385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.019254154 meters 0.018739245148845722 Centerline is valid? [True, True] Translation: X:909.34, Y:27.89, Z:3.99 [[ 9.21381593e-01 -3.88508624e-01 -1.08170604e-02 9.09339627e+02] [ 3.88485385e-01 9.21445045e-01 -4.25845979e-03 2.78863946e+01] [ 1.16217750e-02 -2.78603394e-04 9.99932426e-01 3.98893206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.079254154 meters 0.019395969558834217 Centerline is valid? [True, True] Translation: X:909.39, Y:27.91, Z:3.99 [[ 9.23204102e-01 -3.84159597e-01 -1.07512704e-02 9.09392859e+02] [ 3.84136324e-01 9.23266676e-01 -4.23427307e-03 2.79107548e+01] [ 1.15529263e-02 -2.20855218e-04 9.99933238e-01 3.98921454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.139254154 meters 0.01455913607938332 Centerline is valid? [True, True] Translation: X:909.45, Y:27.94, Z:3.99 [[ 9.24413144e-01 -3.81302354e-01 -8.29782965e-03 9.09446224e+02] [ 3.81288362e-01 9.24450375e-01 -3.26949204e-03 2.79356255e+01] [ 8.91759673e-03 -1.41504462e-04 9.99960227e-01 3.99484528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.199254154 meters 0.01747247936478032 Centerline is valid? [True, True] Translation: X:909.50, Y:27.96, Z:3.99 [[ 9.25157696e-01 -3.79485384e-01 -8.60700146e-03 9.09499136e+02] [ 3.79470236e-01 9.25197723e-01 -3.39301049e-03 2.79596593e+01] [ 9.25077604e-03 -1.27031105e-04 9.99957203e-01 3.99204141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.259254154 meters 0.018538279536467795 Centerline is valid? [True, True] Translation: X:909.55, Y:27.98, Z:3.99 [[ 9.24926504e-01 -3.80005435e-01 -1.03359359e-02 9.09552918e+02] [ 3.79983598e-01 9.24984240e-01 -4.07687075e-03 2.79831116e+01] [ 1.11098108e-02 -1.56680294e-04 9.99938272e-01 3.99102674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.319254154 meters 0.015843014033159682 Centerline is valid? [True, True] Translation: X:909.61, Y:28.01, Z:3.99 [[ 9.23759246e-01 -3.82855746e-01 -9.50439163e-03 9.09607030e+02] [ 3.82837403e-01 9.23808123e-01 -3.75159047e-03 2.80054260e+01] [ 1.02165522e-02 -1.73070224e-04 9.99947795e-01 3.99378712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.379254154 meters 0.0152099910659923 Centerline is valid? [True, True] Translation: X:909.66, Y:28.02, Z:4.00 [[ 9.22635539e-01 -3.85578223e-01 -8.54969288e-03 9.09661762e+02] [ 3.85563483e-01 9.22675133e-01 -3.37633480e-03 2.80248085e+01] [ 9.19043019e-03 -1.81322880e-04 9.99957751e-01 3.99624565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.439254154 meters 0.019777517453326926 Centerline is valid? [True, True] Translation: X:909.72, Y:28.05, Z:3.99 [[ 9.21605384e-01 -3.87970901e-01 -1.10497041e-02 9.09716578e+02] [ 3.87946421e-01 9.21671585e-01 -4.36624417e-03 2.80470980e+01] [ 1.18781740e-02 -2.62739034e-04 9.99929417e-01 3.99237274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.499254154 meters 0.018818899889841586 Centerline is valid? [True, True] Translation: X:909.77, Y:28.07, Z:3.99 [[ 9.21887567e-01 -3.87298055e-01 -1.11144213e-02 9.09771047e+02] [ 3.87273210e-01 9.21954528e-01 -4.39414383e-03 2.80675054e+01] [ 1.19488344e-02 -2.53411065e-04 9.99928578e-01 3.99252475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.559254154 meters 0.014795531203461894 Centerline is valid? [True, True] Translation: X:909.82, Y:28.09, Z:4.00 [[ 9.23476253e-01 -3.83540514e-01 -9.39591351e-03 9.09824513e+02] [ 3.83522554e-01 9.23524035e-01 -3.71570407e-03 2.80921043e+01] [ 1.01024750e-02 -1.72180269e-04 9.99948954e-01 3.99593736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.619254154 meters 0.01839214833994535 Centerline is valid? [True, True] Translation: X:909.88, Y:28.11, Z:3.99 [[ 9.23808347e-01 -3.82727909e-01 -9.87349916e-03 9.09878348e+02] [ 3.82708020e-01 9.23861093e-01 -3.90551702e-03 2.81132051e+01] [ 1.06164921e-02 -1.70718092e-04 9.99943629e-01 3.99329828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.679254154 meters 0.016037699798925498 Centerline is valid? [True, True] Translation: X:909.93, Y:28.14, Z:4.00 [[ 9.23962750e-01 -3.82351041e-01 -1.00258676e-02 9.09931249e+02] [ 3.82330485e-01 9.24017128e-01 -3.96820124e-03 2.81361757e+01] [ 1.07813193e-02 -1.66724700e-04 9.99941866e-01 3.99510912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.7392541539999 meters 0.019064138987253506 Centerline is valid? [True, True] Translation: X:909.98, Y:28.16, Z:3.99 [[ 9.24020294e-01 -3.82151200e-01 -1.21225836e-02 9.09984989e+02] [ 3.82121097e-01 9.24099790e-01 -4.80055912e-03 2.81566534e+01] [ 1.30370164e-02 -1.96480913e-04 9.99914995e-01 3.99221694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.799254154 meters 0.02010059717689692 Centerline is valid? [True, True] Translation: X:910.04, Y:28.18, Z:3.99 [[ 9.24253249e-01 -3.81591543e-01 -1.19927378e-02 9.10039134e+02] [ 3.81562001e-01 9.24331034e-01 -4.75179267e-03 2.81785289e+01] [ 1.28985036e-02 -1.84113214e-04 9.99916794e-01 3.99200603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.8592541539999 meters 0.017403597710415514 Centerline is valid? [True, True] Translation: X:910.09, Y:28.20, Z:3.99 [[ 9.25221278e-01 -3.79275807e-01 -1.07446789e-02 9.10093383e+02] [ 3.79251903e-01 9.25283656e-01 -4.26027431e-03 2.82020184e+01] [ 1.15576947e-02 -1.33243460e-04 9.99933199e-01 3.99376658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.919254154 meters 0.015988226934964676 Centerline is valid? [True, True] Translation: X:910.15, Y:28.22, Z:3.99 [[ 9.26001758e-01 -3.77362207e-01 -1.08861916e-02 9.10147661e+02] [ 3.77337514e-01 9.26065739e-01 -4.31830127e-03 2.82226962e+01] [ 1.17108927e-02 -1.09013891e-04 9.99931419e-01 3.99362646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.9792541539999 meters 0.01571149137814742 Centerline is valid? [True, True] Translation: X:910.20, Y:28.24, Z:3.99 [[ 9.27022248e-01 -3.74838422e-01 -1.12208935e-02 9.10202357e+02] [ 3.74811972e-01 9.27090153e-01 -4.45356932e-03 2.82444833e+01] [ 1.20721488e-02 -7.71673851e-05 9.99927126e-01 3.99322947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.039254154 meters 0.01911222954642922 Centerline is valid? [True, True] Translation: X:910.26, Y:28.27, Z:3.99 [[ 9.28107547e-01 -3.72151568e-01 -1.09357627e-02 9.10257203e+02] [ 3.72126221e-01 9.28171972e-01 -4.34355130e-03 2.82652882e+01] [ 1.17667278e-02 -3.82012907e-05 9.99930769e-01 3.99244670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.0992541539999 meters 0.018173960934005213 Centerline is valid? [True, True] Translation: X:910.31, Y:28.29, Z:3.99 [[ 9.28808764e-01 -3.70437648e-01 -9.49888796e-03 9.10312368e+02] [ 3.70418408e-01 9.28857335e-01 -3.77546322e-03 2.82855698e+01] [ 1.02216855e-02 -1.18796319e-05 9.99947757e-01 3.99421960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.159254154 meters 0.015930278729947858 Centerline is valid? [True, True] Translation: X:910.37, Y:28.30, Z:4.00 [[ 9.29844444e-01 -3.67853603e-01 -8.54611298e-03 9.10367349e+02] [ 3.67837896e-01 9.29883717e-01 -3.39936786e-03 2.83038230e+01] [ 9.19736102e-03 1.72991028e-05 9.99957703e-01 3.99623288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.2192541539999 meters 0.01836727326437832 Centerline is valid? [True, True] Translation: X:910.42, Y:28.32, Z:3.99 [[ 9.31248440e-01 -3.64257195e-01 -9.64568310e-03 9.10422976e+02] [ 3.64236960e-01 9.31298390e-01 -3.83996087e-03 2.83241731e+01] [ 1.03817425e-02 6.26432767e-05 9.99946106e-01 3.99416724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.279254154 meters 0.018111638932779173 Centerline is valid? [True, True] Translation: X:910.48, Y:28.34, Z:3.99 [[ 9.32359945e-01 -3.61375387e-01 -1.06189838e-02 9.10476706e+02] [ 3.61350650e-01 9.32420409e-01 -4.22958153e-03 2.83443530e+01] [ 1.14298239e-02 1.06315702e-04 9.99934672e-01 3.99367847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.339254154 meters 0.01823049947130937 Centerline is valid? [True, True] Translation: X:910.53, Y:28.36, Z:3.99 [[ 9.33683637e-01 -3.57943249e-01 -1.05591623e-02 9.10532489e+02] [ 3.57918557e-01 9.33743331e-01 -4.20691033e-03 2.83621550e+01] [ 1.13653826e-02 1.48603190e-04 9.99935401e-01 3.99381206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.399254154 meters 0.018153012283621515 Centerline is valid? [True, True] Translation: X:910.59, Y:28.38, Z:3.99 [[ 9.34481758e-01 -3.55825875e-01 -1.14800213e-02 9.10590209e+02] [ 3.55796496e-01 9.34552251e-01 -4.57640221e-03 2.83765254e+01] [ 1.23570820e-02 1.92013043e-04 9.99923630e-01 3.99375359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.459254154 meters 0.017321395268558026 Centerline is valid? [True, True] Translation: X:910.65, Y:28.39, Z:3.99 [[ 9.34792198e-01 -3.54992788e-01 -1.19860911e-02 9.10646808e+02] [ 3.54960648e-01 9.34869014e-01 -4.78170092e-03 2.83935390e+01] [ 1.29028945e-02 2.15306051e-04 9.99916731e-01 3.99380064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.519254154 meters 0.020019632334215047 Centerline is valid? [True, True] Translation: X:910.70, Y:28.41, Z:3.99 [[ 9.34825841e-01 -3.54877845e-01 -1.27421403e-02 9.10704856e+02] [ 3.54841459e-01 9.34912648e-01 -5.08714371e-03 2.84057506e+01] [ 1.37181027e-02 2.34153746e-04 9.99905875e-01 3.99251643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.579254154 meters 0.015519543151520569 Centerline is valid? [True, True] Translation: X:910.76, Y:28.42, Z:4.00 [[ 9.34905693e-01 -3.54753400e-01 -1.00682591e-02 9.10762247e+02] [ 3.54730647e-01 9.34959886e-01 -4.02234254e-03 2.84208651e+01] [ 1.08403581e-02 1.88990883e-04 9.99941224e-01 3.99686289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.639254154 meters 0.015452161627397138 Centerline is valid? [True, True] Translation: X:910.82, Y:28.43, Z:4.00 [[ 9.34338428e-01 -3.56260918e-01 -9.47944988e-03 9.10822078e+02] [ 3.56240798e-01 9.34386500e-01 -3.78984947e-03 2.84304642e+01] [ 1.02076452e-02 1.64035211e-04 9.99947887e-01 3.99752344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.699254154 meters 0.015685492267820036 Centerline is valid? [True, True] Translation: X:910.88, Y:28.44, Z:4.00 [[ 9.33540789e-01 -3.58336723e-01 -9.81770603e-03 9.10880798e+02] [ 3.58315236e-01 9.33592401e-01 -3.92694570e-03 2.84404815e+01] [ 1.05729046e-02 1.48130340e-04 9.99944094e-01 3.99698948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.759254154 meters 0.017892504878218758 Centerline is valid? [True, True] Translation: X:910.94, Y:28.45, Z:3.99 [[ 9.32576560e-01 -3.60798353e-01 -1.12030401e-02 9.10940174e+02] [ 3.60770520e-01 9.32643838e-01 -4.48367319e-03 2.84501855e+01] [ 1.20661482e-02 1.39641921e-04 9.99927192e-01 3.99497759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.819254154 meters 0.01792850645029816 Centerline is valid? [True, True] Translation: X:911.00, Y:28.46, Z:3.99 [[ 9.31957318e-01 -3.62352629e-01 -1.24951971e-02 9.10997764e+02] [ 3.62318114e-01 9.32041069e-01 -5.00306013e-03 2.84618728e+01] [ 1.34589088e-02 1.35402257e-04 9.99909416e-01 3.99318648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.879254154 meters 0.018166465957858962 Centerline is valid? [True, True] Translation: X:911.05, Y:28.48, Z:3.99 [[ 9.31496464e-01 -3.63514611e-01 -1.30944525e-02 9.11054988e+02] [ 3.63476772e-01 9.31588488e-01 -5.24643832e-03 2.84759960e+01] [ 1.41057982e-02 1.27509410e-04 9.99900500e-01 3.99367973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.939254154 meters 0.014188865978998759 Centerline is valid? [True, True] Translation: X:911.11, Y:28.49, Z:4.00 [[ 9.31573034e-01 -3.63367772e-01 -1.16423836e-02 9.11113117e+02] [ 3.63337800e-01 9.31645774e-01 -4.66847858e-03 2.84870487e+01] [ 1.25429522e-02 1.18910697e-04 9.99921327e-01 3.99703846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.999254154 meters 0.018003635290499632 Centerline is valid? [True, True] Translation: X:911.17, Y:28.50, Z:3.99 [[ 9.31569383e-01 -3.63310348e-01 -1.35674505e-02 9.11168776e+02] [ 3.63269600e-01 9.31668166e-01 -5.44307221e-03 2.85030480e+01] [ 1.46178862e-02 1.41957102e-04 9.99893143e-01 3.99424187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.059254154 meters 0.017116993690693357 Centerline is valid? [True, True] Translation: X:911.23, Y:28.52, Z:4.00 [[ 9.32453238e-01 -3.61071511e-01 -1.25826377e-02 9.11226965e+02] [ 3.61036219e-01 9.32538115e-01 -5.05095281e-03 2.85160225e+01] [ 1.35575444e-02 1.66989345e-04 9.99908078e-01 3.99577753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.119254154 meters 0.0171242029188115 Centerline is valid? [True, True] Translation: X:911.29, Y:28.53, Z:4.00 [[ 9.33568301e-01 -3.58216276e-01 -1.14597749e-02 9.11285033e+02] [ 3.58186746e-01 9.33638614e-01 -4.60354748e-03 2.85305257e+01] [ 1.23483540e-02 1.92986510e-04 9.99923738e-01 3.99629298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.179254154 meters 0.018808748433894303 Centerline is valid? [True, True] Translation: X:911.34, Y:28.55, Z:4.00 [[ 9.34343813e-01 -3.56200455e-01 -1.10848812e-02 9.11340658e+02] [ 3.56172660e-01 9.34409541e-01 -4.45486922e-03 2.85478797e+01] [ 1.19446452e-02 2.14247873e-04 9.99928637e-01 3.99602765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.2392541539999 meters 0.017658924183162613 Centerline is valid? [True, True] Translation: X:911.40, Y:28.56, Z:4.00 [[ 9.35838000e-01 -3.52324755e-01 -8.63164482e-03 9.11398123e+02] [ 3.52307721e-01 9.35877783e-01 -3.47062361e-03 2.85628754e+01] [ 9.30095123e-03 2.06946340e-04 9.99956724e-01 3.99833086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.299254154 meters 0.018567701334033977 Centerline is valid? [True, True] Translation: X:911.46, Y:28.58, Z:4.00 [[ 9.36765981e-01 -3.49875813e-01 -7.51083920e-03 9.11455511e+02] [ 3.49862821e-01 9.36796069e-01 -3.02204088e-03 2.85779842e+01] [ 8.09346364e-03 2.03181702e-04 9.99967227e-01 3.99864894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.3592541539999 meters 0.01751110292894142 Centerline is valid? [True, True] Translation: X:911.51, Y:28.59, Z:4.00 [[ 9.37057702e-01 -3.49120229e-01 -6.15867629e-03 9.11510700e+02] [ 3.49111469e-01 9.37077924e-01 -2.47920541e-03 2.85946452e+01] [ 6.63670035e-03 1.73093992e-04 9.99977962e-01 4.00017089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.419254154 meters 0.017876414212751806 Centerline is valid? [True, True] Translation: X:911.57, Y:28.61, Z:4.00 [[ 9.36855945e-01 -3.49659993e-01 -6.23116631e-03 9.11565448e+02] [ 3.49651030e-01 9.36876651e-01 -2.50953351e-03 2.86141592e+01] [ 6.71531769e-03 1.72337669e-04 9.99977437e-01 4.00014149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.4792541539999 meters 0.01869126778973932 Centerline is valid? [True, True] Translation: X:911.62, Y:28.63, Z:4.00 [[ 9.35838815e-01 -3.52290592e-01 -9.85145137e-03 9.11624554e+02] [ 3.52268292e-01 9.35890633e-01 -3.97145265e-03 2.86250311e+01] [ 1.06189865e-02 2.46285593e-04 9.99943587e-01 3.99623875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.539254154 meters 0.018012618066988482 Centerline is valid? [True, True] Translation: X:911.68, Y:28.64, Z:3.99 [[ 9.35212349e-01 -3.53856691e-01 -1.27791017e-02 9.11681813e+02] [ 3.53819249e-01 9.35299605e-01 -5.15624933e-03 2.86392433e+01] [ 1.37768621e-02 3.00695894e-04 9.99905049e-01 3.99384501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.5992541539999 meters 0.015813328744624183 Centerline is valid? [True, True] Translation: X:911.74, Y:28.65, Z:3.99 [[ 9.34730739e-01 -3.55116671e-01 -1.30612087e-02 9.11739461e+02] [ 3.55077623e-01 9.34821943e-01 -5.27414461e-03 2.86530944e+01] [ 1.40828412e-02 2.92162147e-04 9.99900789e-01 3.99462224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.659254154 meters 0.015206628914423934 Centerline is valid? [True, True] Translation: X:911.80, Y:28.67, Z:4.00 [[ 9.33302032e-01 -3.58867603e-01 -1.27027975e-02 9.11796914e+02] [ 3.58830965e-01 9.33388445e-01 -5.13309363e-03 2.86684006e+01] [ 1.36987455e-02 2.32569608e-04 9.99906141e-01 3.99525123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.7192541539999 meters 0.013768837139407861 Centerline is valid? [True, True] Translation: X:911.86, Y:28.68, Z:4.00 [[ 9.29921686e-01 -3.67594609e-01 -1.09481081e-02 9.11855276e+02] [ 3.67567979e-01 9.29986126e-01 -4.42557265e-03 2.86797165e+01] [ 1.18084053e-02 9.12620302e-05 9.99930274e-01 3.99687586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.779254154 meters 0.014498297846998147 Centerline is valid? [True, True] Translation: X:911.91, Y:28.70, Z:4.00 [[ 9.28326991e-01 -3.71664873e-01 -8.61510244e-03 9.11910560e+02] [ 3.71648544e-01 9.28366965e-01 -3.48403068e-03 2.87008066e+01] [ 9.29286833e-03 3.25294365e-05 9.99956820e-01 3.99871997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.839254154 meters 0.01360131636236101 Centerline is valid? [True, True] Translation: X:911.96, Y:28.73, Z:4.00 [[ 9.28976690e-01 -3.70033283e-01 -8.81350249e-03 9.11962065e+02] [ 3.70016105e-01 9.29018496e-01 -3.56593011e-03 2.87287232e+01] [ 9.50741966e-03 5.15280959e-05 9.99954802e-01 3.99784360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.899254154 meters 0.013874681566509625 Centerline is valid? [True, True] Translation: X:912.02, Y:28.75, Z:4.00 [[ 9.30112416e-01 -3.67119943e-01 -1.06695981e-02 9.12015370e+02] [ 3.67094547e-01 9.30173606e-01 -4.31932114e-03 2.87538732e+01] [ 1.15102874e-02 1.00702944e-04 9.99933749e-01 3.99710846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.959254154 meters 0.014818137820893746 Centerline is valid? [True, True] Translation: X:912.07, Y:28.78, Z:4.00 [[ 9.32516965e-01 -3.60928073e-01 -1.19597660e-02 9.12068740e+02] [ 3.60895613e-01 9.32593634e-01 -4.84466486e-03 2.87816866e+01] [ 1.29021771e-02 2.01505100e-04 9.99916743e-01 3.99608457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.019254154 meters 0.01724452196088123 Centerline is valid? [True, True] Translation: X:912.12, Y:28.81, Z:3.99 [[ 9.33964563e-01 -3.57146539e-01 -1.25117339e-02 9.12121532e+02] [ 3.57110628e-01 9.34048327e-01 -5.07168463e-03 2.88078610e+01] [ 1.34978988e-02 2.68700556e-04 9.99908863e-01 3.99448027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.079254154 meters 0.016925091187585284 Centerline is valid? [True, True] Translation: X:912.17, Y:28.83, Z:4.00 [[ 9.34212761e-01 -3.56535686e-01 -1.13499840e-02 9.12174334e+02] [ 3.56506066e-01 9.34281671e-01 -4.60261671e-03 2.88316327e+01] [ 1.22450791e-02 2.53485125e-04 9.99924994e-01 3.99551654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.139254154 meters 0.01519212764544897 Centerline is valid? [True, True] Translation: X:912.23, Y:28.85, Z:4.00 [[ 9.32859641e-01 -3.60117935e-01 -9.37888805e-03 9.12230581e+02] [ 3.60097883e-01 9.32906771e-01 -3.80410066e-03 2.88502381e+01] [ 1.01195530e-02 1.71374243e-04 9.99948781e-01 3.99864749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.199254154 meters 0.016257138130059186 Centerline is valid? [True, True] Translation: X:912.29, Y:28.87, Z:4.00 [[ 9.30830233e-01 -3.65340369e-01 -9.02729703e-03 9.12286605e+02] [ 3.65322029e-01 9.30873999e-01 -3.66224387e-03 2.88693774e+01] [ 9.74124161e-03 1.11056846e-04 9.99952547e-01 3.99749350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.259254154 meters 0.014108394746596257 Centerline is valid? [True, True] Translation: X:912.34, Y:28.89, Z:4.00 [[ 9.30345588e-01 -3.66597464e-01 -7.96157262e-03 9.12340319e+02] [ 3.66583239e-01 9.30379649e-01 -3.23060147e-03 2.88908654e+01] [ 8.59161545e-03 8.69967413e-05 9.99963088e-01 3.99889161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.319254154 meters 0.015041136087619584 Centerline is valid? [True, True] Translation: X:912.39, Y:28.91, Z:4.00 [[ 9.29393724e-01 -3.68987592e-01 -8.68694663e-03 9.12394756e+02] [ 3.68970751e-01 9.29434318e-01 -3.52610248e-03 2.89112811e+01] [ 9.37503438e-03 7.19082967e-05 9.99956051e-01 3.99769600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.379254154 meters 0.014073895366135064 Centerline is valid? [True, True] Translation: X:912.45, Y:28.93, Z:4.00 [[ 9.29576416e-01 -3.68522870e-01 -8.86457130e-03 9.12448191e+02] [ 3.68505301e-01 9.29618679e-01 -3.59931378e-03 2.89341066e+01] [ 9.56710050e-03 7.91956944e-05 9.99954231e-01 3.99731935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.439254154 meters 0.014198283083597173 Centerline is valid? [True, True] Translation: X:912.50, Y:28.96, Z:4.00 [[ 9.29896456e-01 -3.67671471e-01 -1.05009855e-02 9.12501820e+02] [ 3.67646736e-01 9.29955740e-01 -4.26607737e-03 2.89577613e+01] [ 1.13339667e-02 1.06357187e-04 9.99935763e-01 3.99564782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.499254154 meters 0.014230357741017899 Centerline is valid? [True, True] Translation: X:912.56, Y:28.98, Z:4.00 [[ 9.30395587e-01 -3.66404798e-01 -1.05629435e-02 9.12556897e+02] [ 3.66379653e-01 9.30455538e-01 -4.29439105e-03 2.89799050e+01] [ 1.14018348e-02 1.25434909e-04 9.99934989e-01 3.99609540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.559254154 meters 0.01730952914477981 Centerline is valid? [True, True] Translation: X:912.61, Y:29.00, Z:3.99 [[ 9.30764912e-01 -3.65476940e-01 -1.01629100e-02 9.12609527e+02] [ 3.65453587e-01 9.30820384e-01 -4.13372275e-03 2.90027658e+01] [ 1.09706241e-02 1.33452185e-04 9.99939812e-01 3.99487960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.619254154 meters 0.015124723499887511 Centerline is valid? [True, True] Translation: X:912.66, Y:29.03, Z:4.00 [[ 9.31546425e-01 -3.63536359e-01 -7.91042521e-03 9.12662932e+02] [ 3.63522127e-01 9.31580002e-01 -3.21906120e-03 2.90267644e+01] [ 8.53943972e-03 1.23090350e-04 9.99963531e-01 3.99843661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.679254154 meters 0.015097166421699127 Centerline is valid? [True, True] Translation: X:912.72, Y:29.05, Z:4.00 [[ 9.31782281e-01 -3.62946470e-01 -7.18617008e-03 9.12717535e+02] [ 3.62934692e-01 9.31809984e-01 -2.92635638e-03 2.90494458e+01] [ 7.75825574e-03 1.18616597e-04 9.99969897e-01 3.99861431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.7392541539999 meters 0.01549035364870621 Centerline is valid? [True, True] Translation: X:912.77, Y:29.07, Z:4.00 [[ 9.31625742e-01 -3.63326037e-01 -8.22608536e-03 9.12771359e+02] [ 3.63310593e-01 9.31662048e-01 -3.35266178e-03 2.90714744e+01] [ 8.88204086e-03 1.34802064e-04 9.99960545e-01 3.99738125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.799254154 meters 0.016102067145218387 Centerline is valid? [True, True] Translation: X:912.83, Y:29.09, Z:4.00 [[ 9.30541146e-01 -3.66067571e-01 -9.36534335e-03 9.12826141e+02] [ 3.66047670e-01 9.30588264e-01 -3.81913027e-03 2.90908197e+01] [ 1.01133383e-02 1.25695745e-04 9.99948851e-01 3.99587320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.8592541539999 meters 0.014404673906064305 Centerline is valid? [True, True] Translation: X:912.88, Y:29.11, Z:4.00 [[ 9.29646526e-01 -3.68376702e-01 -7.47944584e-03 9.12881099e+02] [ 3.68364073e-01 9.29676610e-01 -3.05142761e-03 2.91111978e+01] [ 8.07754069e-03 8.15899494e-05 9.99967373e-01 3.99840160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.919254154 meters 0.01392557859670819 Centerline is valid? [True, True] Translation: X:912.94, Y:29.13, Z:4.00 [[ 9.27818717e-01 -3.72968514e-01 -6.84948338e-03 9.12935722e+02] [ 3.72958037e-01 9.27843999e-01 -2.79581782e-03 2.91309196e+01] [ 7.39800407e-03 3.94422245e-05 9.99972634e-01 3.99960742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.9792541539999 meters 0.013673106699872248 Centerline is valid? [True, True] Translation: X:912.99, Y:29.15, Z:4.00 [[ 9.25675240e-01 -3.78255279e-01 -6.94934642e-03 9.12991637e+02] [ 3.78244634e-01 9.25701325e-01 -2.83784401e-03 2.91489100e+01] [ 7.50644867e-03 -1.63105336e-06 9.99971826e-01 4.00020974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.039254154 meters 0.01454606883193253 Centerline is valid? [True, True] Translation: X:913.05, Y:29.17, Z:4.00 [[ 9.24155158e-01 -3.81932060e-01 -8.07122235e-03 9.13047216e+02] [ 3.81917818e-01 9.24190403e-01 -3.29851960e-03 2.91698824e+01] [ 8.71915662e-03 -3.41997274e-05 9.99961987e-01 3.99912465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.0992541539999 meters 0.016487370515597982 Centerline is valid? [True, True] Translation: X:913.10, Y:29.19, Z:4.00 [[ 9.23851909e-01 -3.82634365e-01 -9.41236935e-03 9.13101586e+02] [ 3.82615003e-01 9.23899854e-01 -3.84956389e-03 2.91938274e+01] [ 1.01690621e-02 -4.48867801e-05 9.99948293e-01 3.99686183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.159254154 meters 0.016307237747198295 Centerline is valid? [True, True] Translation: X:913.15, Y:29.22, Z:4.00 [[ 9.24630098e-01 -3.80725241e-01 -1.03669248e-02 9.13153584e+02] [ 3.80701594e-01 9.24688212e-01 -4.24335338e-03 2.92195705e+01] [ 1.12017249e-02 -2.31725417e-05 9.99937258e-01 3.99656054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.2192541539999 meters 0.015728645256581245 Centerline is valid? [True, True] Translation: X:913.20, Y:29.25, Z:4.00 [[ 9.26064552e-01 -3.77194743e-01 -1.13389854e-02 9.13204944e+02] [ 3.77166161e-01 9.26133967e-01 -4.64344279e-03 2.92460520e+01] [ 1.22529017e-02 2.34461873e-05 9.99924930e-01 3.99670516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.279254154 meters 0.013713082916393851 Centerline is valid? [True, True] Translation: X:913.26, Y:29.27, Z:4.00 [[ 9.26750550e-01 -3.75520447e-01 -1.08540927e-02 9.13257577e+02] [ 3.75494111e-01 9.26814108e-01 -4.44762737e-03 2.92698119e+01] [ 1.17299013e-02 4.61932203e-05 9.99931201e-01 3.99906777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.339254154 meters 0.013924092400810884 Centerline is valid? [True, True] Translation: X:913.31, Y:29.30, Z:4.00 [[ 9.28142009e-01 -3.72053712e-01 -1.13334081e-02 9.13309513e+02] [ 3.72024712e-01 9.28211197e-01 -4.64628744e-03 2.92966635e+01] [ 1.22484648e-02 9.61066751e-05 9.99924980e-01 3.99821463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.399254154 meters 0.014184674707444958 Centerline is valid? [True, True] Translation: X:913.36, Y:29.32, Z:4.00 [[ 9.29128529e-01 -3.69606903e-01 -1.05315345e-02 9.13363162e+02] [ 3.69581678e-01 9.29188206e-01 -4.31987055e-03 2.93217738e+01] [ 1.13824316e-02 1.21452796e-04 9.99935211e-01 3.99922519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.459254154 meters 0.014721043203914909 Centerline is valid? [True, True] Translation: X:913.42, Y:29.34, Z:4.00 [[ 9.29452254e-01 -3.68821078e-01 -9.46152126e-03 9.13416966e+02] [ 3.68800660e-01 9.29500403e-01 -3.88262533e-03 2.93443965e+01] [ 1.02264819e-02 1.19299577e-04 9.99947701e-01 3.99978134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.519254154 meters 0.016349633092871 Centerline is valid? [True, True] Translation: X:913.47, Y:29.37, Z:4.00 [[ 9.29533534e-01 -3.68619326e-01 -9.33816031e-03 9.13470482e+02] [ 3.68599405e-01 9.29580431e-01 -3.83418992e-03 2.93669662e+01] [ 1.00939276e-02 1.21967772e-04 9.99949048e-01 3.99906275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.579254154 meters 0.015431819901720063 Centerline is valid? [True, True] Translation: X:913.52, Y:29.39, Z:4.00 [[ 9.29887578e-01 -3.67743807e-01 -8.57814932e-03 9.13524858e+02] [ 3.67726936e-01 9.29927135e-01 -3.52469245e-03 2.93900443e+01] [ 9.27323764e-03 1.23151162e-04 9.99956995e-01 3.99992291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.639254154 meters 0.014907442065789341 Centerline is valid? [True, True] Translation: X:913.58, Y:29.41, Z:4.00 [[ 9.29811135e-01 -3.67915765e-01 -9.44685537e-03 9.13578598e+02] [ 3.67895281e-01 9.29859113e-01 -3.88477701e-03 2.94110934e+01] [ 1.02135153e-02 1.36655412e-04 9.99947831e-01 3.99937497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.699254154 meters 0.016441075718574005 Centerline is valid? [True, True] Translation: X:913.63, Y:29.43, Z:4.00 [[ 9.29350406e-01 -3.69040408e-01 -1.08166910e-02 9.13631473e+02] [ 3.69013598e-01 9.29413340e-01 -4.45067324e-03 2.94323001e+01] [ 1.16956551e-02 1.44728936e-04 9.99931593e-01 3.99686631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.759254154 meters 0.015242758359428657 Centerline is valid? [True, True] Translation: X:913.69, Y:29.45, Z:4.00 [[ 9.29453152e-01 -3.68753215e-01 -1.17432481e-02 9.13686456e+02] [ 3.68721555e-01 9.29527321e-01 -4.83479921e-03 2.94538421e+01] [ 1.26985177e-02 1.63730673e-04 9.99919357e-01 3.99677444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.819254154 meters 0.014410307286455122 Centerline is valid? [True, True] Translation: X:913.74, Y:29.47, Z:4.00 [[ 9.29628129e-01 -3.68275337e-01 -1.28381414e-02 9.13742023e+02] [ 3.68237398e-01 9.29716753e-01 -5.28948961e-03 2.94745798e+01] [ 1.38838237e-02 1.89774546e-04 9.99903597e-01 3.99690665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.879254154 meters 0.017174977739605548 Centerline is valid? [True, True] Translation: X:913.80, Y:29.49, Z:3.99 [[ 9.28586977e-01 -3.70852823e-01 -1.39431162e-02 9.13797384e+02] [ 3.70808297e-01 9.28691636e-01 -5.74901229e-03 2.94943622e+01] [ 1.50808928e-02 1.68234765e-04 9.99886263e-01 3.99487456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.939254154 meters 0.01394720611593799 Centerline is valid? [True, True] Translation: X:913.85, Y:29.51, Z:4.00 [[ 9.28485266e-01 -3.71198633e-01 -1.12554818e-02 9.13852630e+02] [ 3.71169606e-01 9.28553476e-01 -4.64397310e-03 2.95148197e+01] [ 1.21751532e-02 1.34167849e-04 9.99925871e-01 3.99838747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.999254154 meters 0.015108717266631416 Centerline is valid? [True, True] Translation: X:913.91, Y:29.53, Z:4.00 [[ 9.26754446e-01 -3.75526400e-01 -1.03014096e-02 9.13908023e+02] [ 3.75502320e-01 9.26811695e-01 -4.25326748e-03 2.95338251e+01] [ 1.11446812e-02 7.35313304e-05 9.99937893e-01 3.99854920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.059254154 meters 0.015137015089799807 Centerline is valid? [True, True] Translation: X:913.96, Y:29.55, Z:4.00 [[ 9.25644586e-01 -3.78268900e-01 -9.73343810e-03 9.13963498e+02] [ 3.78247524e-01 9.25695759e-01 -4.02153078e-03 2.95538618e+01] [ 1.05314224e-02 4.08593324e-05 9.99944542e-01 3.99887170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.119254154 meters 0.013383607475763401 Centerline is valid? [True, True] Translation: X:914.02, Y:29.58, Z:4.00 [[ 9.25472875e-01 -3.78698975e-01 -9.32970125e-03 9.14017578e+02] [ 3.78679329e-01 9.25519900e-01 -3.85757041e-03 2.95756085e+01] [ 1.00956821e-02 3.71117691e-05 9.99949037e-01 4.00028543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.179254154 meters 0.014984403755668653 Centerline is valid? [True, True] Translation: X:914.07, Y:29.60, Z:4.00 [[ 9.24888844e-01 -3.80111340e-01 -9.79772224e-03 9.14071517e+02] [ 3.80089717e-01 9.24940738e-01 -4.05442866e-03 2.95984282e+01] [ 1.06034468e-02 2.58823530e-05 9.99943782e-01 3.99947901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.2392541539999 meters 0.013217962456804386 Centerline is valid? [True, True] Translation: X:914.12, Y:29.62, Z:4.00 [[ 9.25317166e-01 -3.79075942e-01 -9.46434120e-03 9.14123659e+02] [ 3.79055684e-01 9.25365565e-01 -3.91910997e-03 2.96229571e+01] [ 1.02436157e-02 3.89073993e-05 9.99947532e-01 4.00074906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.299254154 meters 0.01486963936427143 Centerline is valid? [True, True] Translation: X:914.18, Y:29.65, Z:4.00 [[ 9.24779992e-01 -3.80352055e-01 -1.06901640e-02 9.14176833e+02] [ 3.80326274e-01 9.24841777e-01 -4.42853832e-03 2.96459111e+01] [ 1.15711139e-02 2.96733928e-05 9.99933052e-01 3.99874695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.3592541539999 meters 0.01336926610880067 Centerline is valid? [True, True] Translation: X:914.23, Y:29.67, Z:4.00 [[ 9.24761250e-01 -3.80426897e-01 -9.59199468e-03 9.14230612e+02] [ 3.80406121e-01 9.24810994e-01 -3.97587261e-03 2.96689470e+01] [ 1.03833110e-02 2.78794323e-05 9.99946092e-01 4.00014397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.419254154 meters 0.01335063806348784 Centerline is valid? [True, True] Translation: X:914.28, Y:29.69, Z:4.00 [[ 9.24756928e-01 -3.80472164e-01 -8.09671051e-03 9.14283222e+02] [ 3.80457341e-01 9.24792372e-01 -3.35858842e-03 2.96935645e+01] [ 8.76562552e-03 2.54249578e-05 9.99961581e-01 4.00145329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.4792541539999 meters 0.0142039967900971 Centerline is valid? [True, True] Translation: X:914.34, Y:29.72, Z:4.00 [[ 9.24951224e-01 -3.80003309e-01 -7.91948002e-03 9.14335621e+02] [ 3.79989088e-01 9.24985127e-01 -3.28769316e-03 2.97185627e+01] [ 8.57473551e-03 3.16398213e-05 9.99963236e-01 4.00102254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.539254154 meters 0.013462833081963891 Centerline is valid? [True, True] Translation: X:914.39, Y:29.74, Z:4.00 [[ 9.25395834e-01 -3.78931763e-01 -7.29860465e-03 9.14388495e+02] [ 3.78919632e-01 9.25424615e-01 -3.03226681e-03 2.97424583e+01] [ 7.90333061e-03 4.04624838e-05 9.99968767e-01 4.00135834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.5992541539999 meters 0.013589511977841404 Centerline is valid? [True, True] Translation: X:914.44, Y:29.77, Z:4.00 [[ 9.25854050e-01 -3.77801616e-01 -7.75994611e-03 9.14441333e+02] [ 3.77787848e-01 9.25886568e-01 -3.22573729e-03 2.97671887e+01] [ 8.40351862e-03 5.49485874e-05 9.99964688e-01 4.00035764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.659254154 meters 0.013696242089390766 Centerline is valid? [True, True] Translation: X:914.50, Y:29.79, Z:4.00 [[ 9.26069806e-01 -3.77255406e-01 -8.54825244e-03 9.14495094e+02] [ 3.77238660e-01 9.26109256e-01 -3.55514930e-03 2.97912984e+01] [ 9.25781500e-03 6.75851262e-05 9.99957143e-01 3.99941938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.7192541539999 meters 0.013873234309359082 Centerline is valid? [True, True] Translation: X:914.55, Y:29.82, Z:4.00 [[ 9.26335914e-01 -3.76594087e-01 -8.86947799e-03 9.14547869e+02] [ 3.76576012e-01 9.26378372e-01 -3.69041042e-03 2.98162527e+01] [ 9.60627932e-03 7.85270611e-05 9.99953856e-01 3.99841452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.779254154 meters 0.013493171005071714 Centerline is valid? [True, True] Translation: X:914.60, Y:29.84, Z:4.00 [[ 9.26036440e-01 -3.77331787e-01 -8.78832878e-03 9.14601368e+02] [ 3.77314056e-01 9.26078138e-01 -3.65867077e-03 2.98377279e+01] [ 9.51921193e-03 7.21024839e-05 9.99954689e-01 3.99943056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.839254154 meters 0.017217149707490498 Centerline is valid? [True, True] Translation: X:914.66, Y:29.86, Z:4.00 [[ 9.25076034e-01 -3.79669455e-01 -9.24312617e-03 9.14656124e+02] [ 3.79649928e-01 9.25122209e-01 -3.85101356e-03 2.98602180e+01] [ 1.00131335e-02 5.33281720e-05 9.99949866e-01 3.99662422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.899254154 meters 0.013458547785158153 Centerline is valid? [True, True] Translation: X:914.71, Y:29.88, Z:4.00 [[ 9.25381091e-01 -3.78961015e-01 -7.64110901e-03 9.14710480e+02] [ 3.78947627e-01 9.25412636e-01 -3.18580659e-03 2.98819885e+01] [ 8.27847532e-03 5.25050455e-05 9.99965731e-01 3.99993750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.959254154 meters 0.015526285939535407 Centerline is valid? [True, True] Translation: X:914.76, Y:29.91, Z:4.00 [[ 9.25575462e-01 -3.78478966e-01 -7.98357997e-03 9.14763575e+02] [ 3.78464317e-01 9.25609890e-01 -3.33050378e-03 2.99052525e+01] [ 8.65020620e-03 6.11324342e-05 9.99962584e-01 3.99775030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.019254154 meters 0.01385014279106397 Centerline is valid? [True, True] Translation: X:914.82, Y:29.93, Z:4.00 [[ 9.26718411e-01 -3.75677165e-01 -7.72363302e-03 9.14817532e+02] [ 3.75663344e-01 9.26750592e-01 -3.22358804e-03 2.99288389e+01] [ 8.36890989e-03 8.58725798e-05 9.99964976e-01 3.99940962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.079254154 meters 0.015332943819651891 Centerline is valid? [True, True] Translation: X:914.87, Y:29.95, Z:4.00 [[ 9.27883437e-01 -3.72772577e-01 -8.54003809e-03 9.14870080e+02] [ 3.72755538e-01 9.27922728e-01 -3.56639144e-03 2.99523375e+01] [ 9.25394837e-03 1.25849059e-04 9.99957173e-01 3.99736200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.139254154 meters 0.014676854004755003 Centerline is valid? [True, True] Translation: X:914.92, Y:29.97, Z:4.00 [[ 9.28330402e-01 -3.71658686e-01 -8.51389317e-03 9.14924962e+02] [ 3.71641686e-01 9.28369432e-01 -3.55741882e-03 2.99744423e+01] [ 9.22618377e-03 1.38342424e-04 9.99957428e-01 3.99813625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.199254154 meters 0.01627141107081749 Centerline is valid? [True, True] Translation: X:914.98, Y:30.00, Z:4.00 [[ 9.27872245e-01 -3.72796354e-01 -8.71636557e-03 9.14979620e+02] [ 3.72778562e-01 9.27913175e-01 -3.64461385e-03 2.99958025e+01] [ 9.44672921e-03 1.32461817e-04 9.99955370e-01 3.99655002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.259254154 meters 0.014028636865330546 Centerline is valid? [True, True] Translation: X:915.04, Y:30.02, Z:4.00 [[ 9.27388062e-01 -3.74039168e-01 -6.78850604e-03 9.15035603e+02] [ 3.74028396e-01 9.27412903e-01 -2.84027486e-03 3.00154372e+01] [ 7.35812214e-03 9.49429719e-05 9.99972924e-01 3.99988091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.319254154 meters 0.01381110391458591 Centerline is valid? [True, True] Translation: X:915.09, Y:30.04, Z:4.00 [[ 9.26544905e-01 -3.76138915e-01 -5.83581007e-03 9.15090971e+02] [ 3.76130985e-01 9.26563280e-01 -2.44327090e-03 3.00365518e+01] [ 6.32625659e-03 6.87712156e-05 9.99979987e-01 4.00073322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.379254154 meters 0.014885300593034369 Centerline is valid? [True, True] Translation: X:915.15, Y:30.06, Z:4.00 [[ 9.26028626e-01 -3.77411973e-01 -5.58456674e-03 9.15145523e+02] [ 3.77404725e-01 9.26045463e-01 -2.33971476e-03 3.00592170e+01] [ 6.05459906e-03 5.90009701e-05 9.99981669e-01 3.99955828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.439254154 meters 0.013729576731932324 Centerline is valid? [True, True] Translation: X:915.20, Y:30.08, Z:4.00 [[ 9.26176706e-01 -3.77062945e-01 -4.49944704e-03 9.15198726e+02] [ 3.77058231e-01 9.26187634e-01 -1.88622503e-03 3.00835462e+01] [ 4.87855777e-03 5.04241489e-05 9.99988098e-01 4.00085143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.499254154 meters 0.014038412406021163 Centerline is valid? [True, True] Translation: X:915.25, Y:30.11, Z:4.00 [[ 9.26584513e-01 -3.76046889e-01 -5.46603218e-03 9.15251061e+02] [ 3.76039902e-01 9.26600633e-01 -2.29338300e-03 3.01085294e+01] [ 5.92724841e-03 6.95669679e-05 9.99982431e-01 3.99989014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.559254154 meters 0.01544355250268244 Centerline is valid? [True, True] Translation: X:915.30, Y:30.13, Z:4.00 [[ 9.26925312e-01 -3.75176207e-01 -7.23050437e-03 9.15304787e+02] [ 3.75163940e-01 9.26953507e-01 -3.03553482e-03 3.01335011e+01] [ 7.84120182e-03 1.01089550e-04 9.99969252e-01 3.99588127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.619254154 meters 0.01458038121169116 Centerline is valid? [True, True] Translation: X:915.36, Y:30.16, Z:4.00 [[ 9.27314522e-01 -3.74204288e-01 -7.67641761e-03 9.15357028e+02] [ 3.74190412e-01 9.27346287e-01 -3.22473126e-03 3.01572450e+01] [ 8.32540564e-03 1.17898259e-04 9.99965336e-01 3.99720442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.679254154 meters 0.014372203856929918 Centerline is valid? [True, True] Translation: X:915.41, Y:30.18, Z:4.00 [[ 9.27146370e-01 -3.74617520e-01 -7.83090904e-03 9.15410693e+02] [ 3.74603076e-01 9.27179432e-01 -3.29169278e-03 3.01801808e+01] [ 8.49378358e-03 1.18398391e-04 9.99963920e-01 3.99769459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.7392541539999 meters 0.016700066975741324 Centerline is valid? [True, True] Translation: X:915.47, Y:30.20, Z:4.00 [[ 9.26531225e-01 -3.76143634e-01 -7.47360589e-03 9.15465204e+02] [ 3.76130510e-01 9.26561361e-01 -3.14384832e-03 3.02033477e+01] [ 8.10729298e-03 1.01822440e-04 9.99967130e-01 3.99588915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.799254154 meters 0.014350620844817296 Centerline is valid? [True, True] Translation: X:915.52, Y:30.23, Z:4.00 [[ 9.26115108e-01 -3.77190087e-01 -6.20037449e-03 9.15520087e+02] [ 3.77181066e-01 9.26135860e-01 -2.60991273e-03 3.02259731e+01] [ 6.72682237e-03 7.84157495e-05 9.99977372e-01 3.99942328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.8592541539999 meters 0.013979923170513955 Centerline is valid? [True, True] Translation: X:915.57, Y:30.25, Z:4.00 [[ 9.25883475e-01 -3.77777278e-01 -4.91118910e-03 9.15573624e+02] [ 3.77771619e-01 9.25896498e-01 -2.06852281e-03 3.02495668e+01] [ 5.32869370e-03 5.99032322e-05 9.99985801e-01 4.00043103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.919254154 meters 0.016010448577058443 Centerline is valid? [True, True] Translation: X:915.63, Y:30.27, Z:4.00 [[ 9.25465349e-01 -3.78804092e-01 -4.62030278e-03 9.15626805e+02] [ 3.78799090e-01 9.25476881e-01 -1.94750355e-03 3.02735252e+01] [ 5.01370572e-03 5.21805709e-05 9.99987430e-01 3.99810836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.9792541539999 meters 0.015289052204464687 Centerline is valid? [True, True] Translation: X:915.68, Y:30.30, Z:4.00 [[ 9.25418949e-01 -3.78905410e-01 -5.51896856e-03 9.15679695e+02] [ 3.78898261e-01 9.25435404e-01 -2.32848537e-03 3.02965999e+01] [ 5.98972460e-03 6.36968963e-05 9.99982059e-01 3.99707026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.039254154 meters 0.014241862982654778 Centerline is valid? [True, True] Translation: X:915.73, Y:30.32, Z:4.00 [[ 9.25470049e-01 -3.78753523e-01 -7.13837544e-03 9.15732590e+02] [ 3.78741540e-01 9.25497575e-01 -3.01403969e-03 3.03202960e+01] [ 7.74812731e-03 8.58041451e-05 9.99969979e-01 3.99633586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.0992541539999 meters 0.01399078763448439 Centerline is valid? [True, True] Translation: X:915.79, Y:30.34, Z:4.00 [[ 9.25452473e-01 -3.78778794e-01 -8.02155441e-03 9.15786813e+02] [ 3.78763646e-01 9.25487231e-01 -3.38900673e-03 3.03423791e+01] [ 8.70753006e-03 9.80914713e-05 9.99962084e-01 3.99602520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.159254154 meters 0.01376058802539587 Centerline is valid? [True, True] Translation: X:915.84, Y:30.36, Z:4.00 [[ 9.24950973e-01 -3.79985154e-01 -8.77381621e-03 9.15840883e+02] [ 3.79967056e-01 9.24992580e-01 -3.70993082e-03 3.03642290e+01] [ 9.52543353e-03 9.77430016e-05 9.99954627e-01 3.99544409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.2192541539999 meters 0.013524452474335185 Centerline is valid? [True, True] Translation: X:915.89, Y:30.39, Z:4.00 [[ 9.24204095e-01 -3.81791165e-01 -9.07174721e-03 9.15894821e+02] [ 3.81771884e-01 9.24248613e-01 -3.83787213e-03 3.03857205e+01] [ 9.84981546e-03 8.36391200e-05 9.99951486e-01 3.99563441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.279254154 meters 0.013114453974018139 Centerline is valid? [True, True] Translation: X:915.95, Y:30.41, Z:4.00 [[ 9.22277942e-01 -3.86440076e-01 -8.21370207e-03 9.15950902e+02] [ 3.86424439e-01 9.22314516e-01 -3.47647708e-03 3.04051873e+01] [ 8.91906672e-03 3.23029081e-05 9.99960224e-01 3.99720282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.339254154 meters 0.012958000487636482 Centerline is valid? [True, True] Translation: X:916.01, Y:30.43, Z:4.00 [[ 9.20109700e-01 -3.91607147e-01 -6.47944531e-03 9.16005782e+02] [ 3.91597533e-01 9.20132513e-01 -2.74411822e-03 3.04255914e+01] [ 7.03656461e-03 -1.24450032e-05 9.99975243e-01 3.99915214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.399254154 meters 0.013230098590398687 Centerline is valid? [True, True] Translation: X:916.06, Y:30.45, Z:4.00 [[ 9.18419603e-01 -3.95559121e-01 -6.19796636e-03 9.16059361e+02] [ 3.95550404e-01 9.18440516e-01 -2.62630519e-03 3.04467379e+01] [ 6.73132239e-03 -3.95579278e-05 9.99977344e-01 3.99919783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.459254154 meters 0.016004669462841264 Centerline is valid? [True, True] Translation: X:916.11, Y:30.47, Z:4.00 [[ 9.17056577e-01 -3.98661068e-01 -8.75146739e-03 9.16113508e+02] [ 3.98643811e-01 9.17098329e-01 -3.71030425e-03 3.04693210e+01] [ 9.50510997e-03 -8.61593999e-05 9.99954822e-01 3.99565135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.519254154 meters 0.01401210812601944 Centerline is valid? [True, True] Translation: X:916.17, Y:30.49, Z:4.00 [[ 9.15947574e-01 -4.01165953e-01 -1.02917480e-02 9.16167301e+02] [ 4.01142208e-01 9.16005383e-01 -4.36657118e-03 3.04924851e+01] [ 1.11790162e-02 -1.28904232e-04 9.99937505e-01 3.99569477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.579254154 meters 0.014599916031198984 Centerline is valid? [True, True] Translation: X:916.22, Y:30.52, Z:3.99 [[ 9.15108316e-01 -4.03024481e-01 -1.21670443e-02 9.16221089e+02] [ 4.02991409e-01 9.15189181e-01 -5.16599313e-03 3.05159055e+01] [ 1.32171691e-02 -1.75771071e-04 9.99912634e-01 3.99404419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.639254154 meters 0.016233122174827225 Centerline is valid? [True, True] Translation: X:916.27, Y:30.54, Z:3.99 [[ 9.13974785e-01 -4.05529220e-01 -1.40051656e-02 9.16274158e+02] [ 4.05485657e-01 9.14082050e-01 -5.94881141e-03 3.05389022e+01] [ 1.52142873e-02 -2.41830156e-04 9.99884227e-01 3.99200013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.699254154 meters 0.017097831011101683 Centerline is valid? [True, True] Translation: X:916.33, Y:30.56, Z:3.99 [[ 9.12336446e-01 -4.09214951e-01 -1.36137174e-02 9.16328882e+02] [ 4.09174153e-01 9.12437964e-01 -5.78562992e-03 3.05600933e+01] [ 1.47892389e-02 -2.91940248e-04 9.99890591e-01 3.99412701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.759254154 meters 0.016420930810714808 Centerline is valid? [True, True] Translation: X:916.38, Y:30.58, Z:4.00 [[ 9.11166869e-01 -4.11893968e-01 -1.08763494e-02 9.16382376e+02] [ 4.11868085e-01 9.11231742e-01 -4.62519577e-03 3.05842117e+01] [ 1.18159651e-02 -2.65296046e-04 9.99930154e-01 3.99801817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.819254154 meters 0.016458935117162486 Centerline is valid? [True, True] Translation: X:916.44, Y:30.61, Z:4.00 [[ 9.11279168e-01 -4.11673501e-01 -9.75741164e-03 9.16436207e+02] [ 4.11652628e-01 9.11331375e-01 -4.15207747e-03 3.06086232e+01] [ 1.06015356e-02 -2.32962437e-04 9.99943775e-01 3.99947468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.879254154 meters 0.01594835128673131 Centerline is valid? [True, True] Translation: X:916.49, Y:30.64, Z:4.00 [[ 9.13667496e-01 -4.06292417e-01 -1.17549645e-02 9.16486681e+02] [ 4.06261650e-01 9.13743088e-01 -5.00417012e-03 3.06395907e+01] [ 1.27741739e-02 -2.03443691e-04 9.99918386e-01 3.99831337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.939254154 meters 0.017611587161705213 Centerline is valid? [True, True] Translation: X:916.54, Y:30.67, Z:4.00 [[ 9.17498440e-01 -3.97457726e-01 -1.49655868e-02 9.16538034e+02] [ 3.97406614e-01 9.17620480e-01 -6.37470745e-03 3.06698736e+01] [ 1.62664057e-02 -9.86390588e-05 9.99867688e-01 3.99681059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.999254154 meters 0.016374789550417268 Centerline is valid? [True, True] Translation: X:916.59, Y:30.70, Z:4.00 [[ 9.20335622e-01 -3.90829095e-01 -1.53284394e-02 9.16589590e+02] [ 3.90774475e-01 9.20463262e-01 -6.53391446e-03 3.06979692e+01] [ 1.66629092e-02 2.34313637e-05 9.99861164e-01 3.99645305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.059254154 meters 0.01469419678499333 Centerline is valid? [True, True] Translation: X:916.64, Y:30.73, Z:4.00 [[ 9.24246164e-01 -3.81531530e-01 -1.42379792e-02 9.16640267e+02] [ 3.81483263e-01 9.24355808e-01 -6.07131761e-03 3.07280284e+01] [ 1.54773579e-02 1.79841243e-04 9.99880202e-01 3.99575682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.119254154 meters 0.016239721092710265 Centerline is valid? [True, True] Translation: X:916.69, Y:30.75, Z:3.99 [[ 9.25003589e-01 -3.79658871e-01 -1.50831900e-02 9.16693153e+02] [ 3.79604427e-01 9.25126527e-01 -6.43336578e-03 3.07526915e+01] [ 1.63963436e-02 2.25240745e-04 9.99865546e-01 3.99474171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.179254154 meters 0.014399972371357558 Centerline is valid? [True, True] Translation: X:916.75, Y:30.78, Z:4.00 [[ 9.26235878e-01 -3.76750214e-01 -1.20985121e-02 9.16747723e+02] [ 3.76714900e-01 9.26314863e-01 -5.16315432e-03 3.07758455e+01] [ 1.31522511e-02 2.24608992e-04 9.99913480e-01 3.99702904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.2392541539999 meters 0.01642923726735417 Centerline is valid? [True, True] Translation: X:916.80, Y:30.80, Z:4.00 [[ 9.26638779e-01 -3.75755214e-01 -1.21898145e-02 9.16800403e+02] [ 3.75719251e-01 9.26718922e-01 -5.20425758e-03 3.07991719e+01] [ 1.32520587e-02 2.42518924e-04 9.99912158e-01 3.99636343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.299254154 meters 0.017391980311161282 Centerline is valid? [True, True] Translation: X:916.86, Y:30.82, Z:4.00 [[ 9.26646646e-01 -3.75704082e-01 -1.31314680e-02 9.16855979e+02] [ 3.75662297e-01 9.26739646e-01 -5.60949965e-03 3.08197618e+01] [ 1.42769639e-02 2.65026624e-04 9.99898044e-01 3.99612619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.3592541539999 meters 0.014921290399659753 Centerline is valid? [True, True] Translation: X:916.91, Y:30.84, Z:4.00 [[ 9.26129545e-01 -3.77045740e-01 -1.09806874e-02 9.16910657e+02] [ 3.77016579e-01 9.26194616e-01 -4.69383351e-03 3.08409857e+01] [ 1.19400434e-02 2.07196709e-04 9.99928694e-01 3.99699060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.419254154 meters 0.014085158922540912 Centerline is valid? [True, True] Translation: X:916.97, Y:30.86, Z:4.00 [[ 9.24012204e-01 -3.82175474e-01 -1.19730632e-02 9.16967082e+02] [ 3.82141186e-01 9.24089759e-01 -5.12169663e-03 3.08577618e+01] [ 1.30215719e-02 1.57109621e-04 9.99915203e-01 3.99688264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.4792541539999 meters 0.013262545856051603 Centerline is valid? [True, True] Translation: X:917.02, Y:30.88, Z:4.00 [[ 9.21874944e-01 -3.87306452e-01 -1.18448480e-02 9.17023534e+02] [ 3.87273272e-01 9.21951032e-01 -5.07034941e-03 3.08755453e+01] [ 1.28841489e-02 8.70350415e-05 9.99916992e-01 3.99685860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.539254154 meters 0.014666468039953768 Centerline is valid? [True, True] Translation: X:917.08, Y:30.89, Z:4.00 [[ 9.18709561e-01 -3.94782642e-01 -1.09273862e-02 9.17079269e+02] [ 3.94754892e-01 9.18774546e-01 -4.68078939e-03 3.08949849e+01] [ 1.18876987e-02 -1.33531799e-05 9.99929339e-01 3.99744939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.5992541539999 meters 0.013172239084888761 Centerline is valid? [True, True] Translation: X:917.13, Y:30.92, Z:4.00 [[ 9.17535533e-01 -3.97515379e-01 -1.04913779e-02 9.17132621e+02] [ 3.97489939e-01 9.17595511e-01 -4.49738602e-03 3.09174671e+01] [ 1.14146213e-02 -4.37056754e-05 9.99934850e-01 3.99846461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.659254154 meters 0.013605193217853695 Centerline is valid? [True, True] Translation: X:917.19, Y:30.94, Z:4.00 [[ 9.15452301e-01 -4.02267650e-01 -1.13058995e-02 9.17187991e+02] [ 4.02238423e-01 9.15522106e-01 -4.85021057e-03 3.09384599e+01] [ 1.23018837e-02 -1.07530750e-04 9.99924323e-01 3.99814928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.7192541539999 meters 0.013748691975378763 Centerline is valid? [True, True] Translation: X:917.24, Y:30.96, Z:4.00 [[ 9.14624488e-01 -4.04126402e-01 -1.19957205e-02 9.17241911e+02] [ 4.04093612e-01 9.14703139e-01 -5.14984399e-03 3.09620491e+01] [ 1.30537111e-02 -1.37220592e-04 9.99914787e-01 3.99820152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.779254154 meters 0.01581949543884147 Centerline is valid? [True, True] Translation: X:917.29, Y:30.99, Z:4.00 [[ 9.13792267e-01 -4.05981929e-01 -1.27422684e-02 9.17294864e+02] [ 4.05945055e-01 9.13881089e-01 -5.47428861e-03 3.09885269e+01] [ 1.38673804e-02 -1.70298254e-04 9.99903829e-01 3.99668172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.839254154 meters 0.015878916238699137 Centerline is valid? [True, True] Translation: X:917.35, Y:31.01, Z:4.00 [[ 9.14236893e-01 -4.04993344e-01 -1.23001903e-02 9.17347082e+02] [ 4.04958861e-01 9.14319621e-01 -5.28686386e-03 3.10144986e+01] [ 1.33874500e-02 -1.47625058e-04 9.99910373e-01 3.99730056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.899254154 meters 0.013540470551050121 Centerline is valid? [True, True] Translation: X:917.40, Y:31.04, Z:4.00 [[ 9.15810000e-01 -4.01479109e-01 -1.03232343e-02 9.17398880e+02] [ 4.01454569e-01 9.15868178e-01 -4.43957290e-03 3.10429023e+01] [ 1.12371175e-02 -7.85043065e-05 9.99936859e-01 4.00043615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.959254154 meters 0.01389490713856402 Centerline is valid? [True, True] Translation: X:917.45, Y:31.07, Z:4.00 [[ 9.16777440e-01 -3.99297706e-01 -8.97037146e-03 9.17450468e+02] [ 3.99279057e-01 9.16821324e-01 -3.85935500e-03 3.10687928e+01] [ 9.76525943e-03 -4.35118572e-05 9.99952318e-01 4.00068846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.019254154 meters 0.01331026261131229 Centerline is valid? [True, True] Translation: X:917.50, Y:31.10, Z:4.00 [[ 9.18232752e-01 -3.95959868e-01 -8.02471801e-03 9.17502256e+02] [ 3.95944802e-01 9.18267817e-01 -3.45411916e-03 3.10963049e+01] [ 8.73653285e-03 -5.66003664e-06 9.99961836e-01 4.00121355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.079254154 meters 0.013347482596503061 Centerline is valid? [True, True] Translation: X:917.55, Y:31.12, Z:4.00 [[ 9.19256149e-01 -3.93576301e-01 -8.11343391e-03 9.17553843e+02] [ 3.93560790e-01 9.19291953e-01 -3.49418804e-03 3.11205860e+01] [ 8.83384411e-03 1.89243781e-05 9.99960981e-01 4.00060268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.139254154 meters 0.013567536149110401 Centerline is valid? [True, True] Translation: X:917.61, Y:31.15, Z:4.00 [[ 9.20348654e-01 -3.90992573e-01 -9.11935764e-03 9.17607534e+02] [ 3.90972829e-01 9.20393831e-01 -3.92962067e-03 3.11451079e+01] [ 9.92985302e-03 5.12000370e-05 9.99950696e-01 3.99993681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.199254154 meters 0.014108512585193375 Centerline is valid? [True, True] Translation: X:917.66, Y:31.17, Z:4.00 [[ 9.20606987e-01 -3.90349084e-01 -1.05056464e-02 9.17661679e+02] [ 3.90322800e-01 9.20666925e-01 -4.53036269e-03 3.11692944e+01] [ 1.14406241e-02 7.00902121e-05 9.99934551e-01 3.99884914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.259254154 meters 0.01368886110207076 Centerline is valid? [True, True] Translation: X:917.72, Y:31.19, Z:4.00 [[ 9.19583841e-01 -3.92718597e-01 -1.17329819e-02 9.17715282e+02] [ 3.92685972e-01 9.19658688e-01 -5.06216553e-03 3.11898764e+01] [ 1.27783453e-02 4.77082252e-05 9.99918352e-01 3.99752239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.319254154 meters 0.013719067037861413 Centerline is valid? [True, True] Translation: X:917.77, Y:31.21, Z:4.00 [[ 9.17414564e-01 -3.97736379e-01 -1.25016220e-02 9.17770245e+02] [ 3.97699757e-01 9.17499740e-01 -5.39730124e-03 3.12084782e+01] [ 1.36169380e-02 -2.03292841e-05 9.99907285e-01 3.99729291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.379254154 meters 0.014510551846134279 Centerline is valid? [True, True] Translation: X:917.83, Y:31.22, Z:4.00 [[ 9.13329254e-01 -4.07026035e-01 -1.26285581e-02 9.17827506e+02] [ 4.06989517e-01 9.13416544e-01 -5.45442132e-03 3.12231554e+01] [ 1.37552253e-02 -1.58008197e-04 9.99905380e-01 3.99823783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.439254154 meters 0.016959086350355097 Centerline is valid? [True, True] Translation: X:917.89, Y:31.24, Z:4.00 [[ 9.09357391e-01 -4.15823968e-01 -1.26318513e-02 9.17885619e+02] [ 4.15788257e-01 9.09445075e-01 -5.45726816e-03 3.12391308e+01] [ 1.37572378e-02 -2.89568278e-04 9.99905323e-01 3.99823100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.499254154 meters 0.01754575024240368 Centerline is valid? [True, True] Translation: X:917.94, Y:31.26, Z:4.00 [[ 9.07065755e-01 -4.20757463e-01 -1.39597046e-02 9.17942367e+02] [ 4.20714409e-01 9.07173080e-01 -6.03241343e-03 3.12584925e+01] [ 1.52020512e-02 -4.01253237e-04 9.99884362e-01 3.99825435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.559254154 meters 0.0198571871368899 Centerline is valid? [True, True] Translation: X:917.99, Y:31.28, Z:4.00 [[ 9.06666872e-01 -4.21550236e-01 -1.58297625e-02 9.17994928e+02] [ 4.21494964e-01 9.06804929e-01 -6.84221361e-03 3.12822686e+01] [ 1.72388434e-02 -4.68556772e-04 9.99851290e-01 3.99586044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.619254154 meters 0.019838946614739054 Centerline is valid? [True, True] Translation: X:918.05, Y:31.31, Z:4.00 [[ 9.05516075e-01 -4.23963107e-01 -1.72023541e-02 9.18049680e+02] [ 4.23898197e-01 9.05679289e-01 -7.43934805e-03 3.13052219e+01] [ 1.87338250e-02 -5.55597644e-04 9.99824352e-01 3.99581290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.679254154 meters 0.02056507372167004 Centerline is valid? [True, True] Translation: X:918.10, Y:31.33, Z:4.00 [[ 9.03543872e-01 -4.28181541e-01 -1.64024318e-02 9.18104296e+02] [ 4.28123183e-01 9.03692533e-01 -7.09548219e-03 3.13296653e+01] [ 1.78609097e-02 -6.11181874e-04 9.99840294e-01 3.99732288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.7392541539999 meters 0.02137452543902394 Centerline is valid? [True, True] Translation: X:918.16, Y:31.36, Z:4.00 [[ 9.02812850e-01 -4.29784184e-01 -1.46462866e-02 9.18157241e+02] [ 4.29737808e-01 9.02931465e-01 -6.33928725e-03 3.13553671e+01] [ 1.59491184e-02 -5.70873110e-04 9.99872642e-01 3.99807211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.799254154 meters 0.02184410981348418 Centerline is valid? [True, True] Translation: X:918.21, Y:31.38, Z:4.00 [[ 9.04252472e-01 -4.26839511e-01 -1.16404020e-02 9.18209307e+02] [ 4.26809954e-01 9.04327299e-01 -5.03986716e-03 3.13821865e+01] [ 1.26779477e-02 -4.10927089e-04 9.99919547e-01 4.00009995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.8592541539999 meters 0.01702308102834418 Centerline is valid? [True, True] Translation: X:918.26, Y:31.42, Z:4.00 [[ 9.09217751e-01 -4.16188953e-01 -1.04802821e-02 9.18258798e+02] [ 4.16164275e-01 9.09278120e-01 -4.53834771e-03 3.14150829e+01] [ 1.14183014e-02 -2.35172705e-04 9.99934781e-01 4.00264677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.919254154 meters 0.01614426704161257 Centerline is valid? [True, True] Translation: X:918.31, Y:31.45, Z:4.00 [[ 9.15392910e-01 -4.02421953e-01 -1.06015122e-02 9.18307044e+02] [ 4.02395747e-01 9.15454296e-01 -4.59291084e-03 3.14543026e+01] [ 1.15534880e-02 -6.16854004e-05 9.99933254e-01 4.00206010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.9792541539999 meters 0.01415836630442067 Centerline is valid? [True, True] Translation: X:918.36, Y:31.49, Z:4.00 [[ 9.20156112e-01 -3.91420540e-01 -1.01336199e-02 9.18356234e+02] [ 3.91395890e-01 9.20211908e-01 -4.39339950e-03 3.14867159e+01] [ 1.10447445e-02 7.63562031e-05 9.99939002e-01 4.00368608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.039254154 meters 0.015466309305533025 Centerline is valid? [True, True] Translation: X:918.41, Y:31.52, Z:4.00 [[ 9.24030388e-01 -3.82186791e-01 -1.00547588e-02 9.18408149e+02] [ 3.82161956e-01 9.24085073e-01 -4.36088871e-03 3.15177608e+01] [ 1.09581266e-02 1.87047404e-04 9.99939940e-01 4.00407714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.0992541539999 meters 0.01882460535440879 Centerline is valid? [True, True] Translation: X:918.46, Y:31.55, Z:4.00 [[ 9.26449644e-01 -3.76254502e-01 -1.11178504e-02 9.18460722e+02] [ 3.76223704e-01 9.26516308e-01 -4.82247465e-03 3.15460117e+01] [ 1.21153475e-02 2.84981069e-04 9.99926566e-01 4.00192016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.159254154 meters 0.019756072048781326 Centerline is valid? [True, True] Translation: X:918.51, Y:31.57, Z:4.00 [[ 9.27779475e-01 -3.72951337e-01 -1.15128905e-02 9.18514635e+02] [ 3.72918050e-01 9.27850842e-01 -4.99433778e-03 3.15719354e+01] [ 1.25448901e-02 3.40279386e-04 9.99921252e-01 4.00146193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.2192541539999 meters 0.018962161330077887 Centerline is valid? [True, True] Translation: X:918.57, Y:31.59, Z:4.00 [[ 9.26655517e-01 -3.75745063e-01 -1.11893231e-02 9.18568032e+02] [ 3.75713813e-01 9.26723023e-01 -4.85491349e-03 3.15949645e+01] [ 1.21936131e-02 2.94849132e-04 9.99925612e-01 4.00179044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.279254154 meters 0.015781394001609526 Centerline is valid? [True, True] Translation: X:918.63, Y:31.61, Z:4.00 [[ 9.24231451e-01 -3.81670414e-01 -1.11319734e-02 9.18626164e+02] [ 3.81639886e-01 9.24298462e-01 -4.83214768e-03 3.16111807e+01] [ 1.21335537e-02 2.17617806e-04 9.99926362e-01 4.00360901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.339254154 meters 0.016683457971989075 Centerline is valid? [True, True] Translation: X:918.68, Y:31.63, Z:4.00 [[ 9.21543973e-01 -3.88025373e-01 -1.38930326e-02 9.18682554e+02] [ 3.87978479e-01 9.21648675e-01 -6.03485528e-03 3.16293696e+01] [ 1.51461721e-02 1.71186845e-04 9.99885276e-01 4.00117416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.399254154 meters 0.014118874134952665 Centerline is valid? [True, True] Translation: X:918.74, Y:31.64, Z:4.00 [[ 9.17298326e-01 -3.97898767e-01 -1.55033156e-02 9.18739602e+02] [ 3.97841731e-01 9.17429327e-01 -6.73691968e-03 3.16429544e+01] [ 1.69038084e-02 1.18992317e-05 9.99857120e-01 4.00130820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.459254154 meters 0.014478206027244166 Centerline is valid? [True, True] Translation: X:918.80, Y:31.66, Z:4.00 [[ 9.14186299e-01 -4.04927358e-01 -1.72408114e-02 9.18796355e+02] [ 4.04858016e-01 9.14348849e-01 -7.49458395e-03 3.16586526e+01] [ 1.87988782e-02 -1.28634744e-04 9.99823277e-01 4.00234385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.519254154 meters 0.0161656906076164 Centerline is valid? [True, True] Translation: X:918.86, Y:31.67, Z:4.00 [[ 9.09526532e-01 -4.15177111e-01 -1.97345804e-02 9.18855841e+02] [ 4.15088596e-01 9.09740522e-01 -8.58138571e-03 3.16715489e+01] [ 2.15161424e-02 -3.86601267e-04 9.99768426e-01 4.00367588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.579254154 meters 0.018852947116558504 Centerline is valid? [True, True] Translation: X:918.91, Y:31.68, Z:4.01 [[ 9.05256988e-01 -4.24364828e-01 -2.05980118e-02 9.18914618e+02] [ 4.24270717e-01 9.05491081e-01 -8.95891071e-03 3.16841417e+01] [ 2.24531626e-02 -6.29016705e-04 9.99747698e-01 4.00527258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.639254154 meters 0.020466951189416823 Centerline is valid? [True, True] Translation: X:918.97, Y:31.70, Z:4.01 [[ 9.02694631e-01 -4.29818964e-01 -1.99514838e-02 9.18972302e+02] [ 4.29731909e-01 9.02914788e-01 -8.68163602e-03 3.17017971e+01] [ 2.17460216e-02 -7.36923023e-04 9.99763256e-01 4.00743302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.699254154 meters 0.02073688351602135 Centerline is valid? [True, True] Translation: X:919.03, Y:31.72, Z:4.01 [[ 9.00740435e-01 -4.33911661e-01 -1.96809223e-02 9.19027978e+02] [ 4.33827885e-01 9.00955045e-01 -8.56580114e-03 3.17221993e+01] [ 2.14484272e-02 -8.22569433e-04 9.99769618e-01 4.01028997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.759254154 meters 0.019937842497558384 Centerline is valid? [True, True] Translation: X:919.08, Y:31.75, Z:4.01 [[ 9.02364098e-01 -4.30523510e-01 -1.97114751e-02 9.19081675e+02] [ 4.30438636e-01 9.02579059e-01 -8.58043843e-03 3.17473904e+01] [ 2.14852451e-02 -7.41900861e-04 9.99768890e-01 4.01161574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.819254154 meters 0.020558250829598813 Centerline is valid? [True, True] Translation: X:919.13, Y:31.77, Z:4.01 [[ 9.04897953e-01 -4.25152548e-01 -2.01247361e-02 9.19133503e+02] [ 4.25062714e-01 9.05121494e-01 -8.76183983e-03 3.17740798e+01] [ 2.19404497e-02 -6.25704012e-04 9.99759084e-01 4.01168295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.879254154 meters 0.016305760005557363 Centerline is valid? [True, True] Translation: X:919.18, Y:31.81, Z:4.01 [[ 9.09656899e-01 -4.14966691e-01 -1.80823767e-02 9.19184228e+02] [ 4.14892087e-01 9.09836541e-01 -7.87558530e-03 3.18079345e+01] [ 1.97201127e-02 -3.38154521e-04 9.99805482e-01 4.01381858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.939254154 meters 0.013914537984185066 Centerline is valid? [True, True] Translation: X:919.23, Y:31.84, Z:4.02 [[ 9.12457272e-01 -4.08789044e-01 -1.76987292e-02 9.19234839e+02] [ 4.08716369e-01 9.12628883e-01 -7.71043626e-03 3.18396989e+01] [ 1.93043134e-02 -1.98316726e-04 9.99813635e-01 4.01523583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.999254154 meters 0.013798233510029666 Centerline is valid? [True, True] Translation: X:919.29, Y:31.87, Z:4.01 [[ 9.13141377e-01 -4.07240377e-01 -1.81135457e-02 9.19287070e+02] [ 4.07163915e-01 9.13320999e-01 -7.89302686e-03 3.18655321e+01] [ 1.97578409e-02 -1.67732778e-04 9.99804781e-01 4.01419765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.059254154 meters 0.013794841401185571 Centerline is valid? [True, True] Translation: X:919.34, Y:31.89, Z:4.01 [[ 9.12845670e-01 -4.07912133e-01 -1.79017834e-02 9.19339877e+02] [ 4.07837476e-01 9.13021172e-01 -7.80591118e-03 3.18903879e+01] [ 1.95288331e-02 -1.75425928e-04 9.99809279e-01 4.01431768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.119254154 meters 0.014869134793528535 Centerline is valid? [True, True] Translation: X:919.39, Y:31.92, Z:4.01 [[ 9.12302324e-01 -4.09152840e-01 -1.72749089e-02 9.19391893e+02] [ 4.09083433e-01 9.12465845e-01 -7.53834542e-03 3.19152077e+01] [ 1.88470998e-02 -1.89628999e-04 9.99822360e-01 4.01339288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.179254154 meters 0.014408647895732603 Centerline is valid? [True, True] Translation: X:919.45, Y:31.94, Z:4.01 [[ 9.11909082e-01 -4.10098193e-01 -1.55337679e-02 9.19445431e+02] [ 4.10042160e-01 9.12041357e-01 -6.78154950e-03 3.19382059e+01] [ 1.69485400e-02 -1.85343182e-04 9.99856346e-01 4.01406488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.2392541539999 meters 0.016050174558250363 Centerline is valid? [True, True] Translation: X:919.50, Y:31.96, Z:4.02 [[ 9.11992024e-01 -4.09929196e-01 -1.51195847e-02 9.19498058e+02] [ 4.09876016e-01 9.12117330e-01 -6.60514517e-03 3.19634658e+01] [ 1.64984771e-02 -1.73315436e-04 9.99863876e-01 4.01502467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.299254154 meters 0.013398751436925364 Centerline is valid? [True, True] Translation: X:919.55, Y:31.99, Z:4.02 [[ 9.14103711e-01 -4.05234147e-01 -1.41312149e-02 9.19549554e+02] [ 4.05187063e-01 9.14212929e-01 -6.17770903e-03 3.19918965e+01] [ 1.54223580e-02 -7.87187178e-05 9.99881065e-01 4.01558464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.3592541539999 meters 0.014563933478550976 Centerline is valid? [True, True] Translation: X:919.60, Y:32.02, Z:4.01 [[ 9.16687871e-01 -3.99297895e-01 -1.56377003e-02 9.19600186e+02] [ 3.99239326e-01 9.16821242e-01 -6.83887309e-03 3.20208363e+01] [ 1.70677235e-02 2.59270801e-05 9.99854335e-01 4.01186293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.419254154 meters 0.013557325889859237 Centerline is valid? [True, True] Translation: X:919.65, Y:32.05, Z:4.01 [[ 9.18766042e-01 -3.94427545e-01 -1.72009132e-02 9.19652342e+02] [ 3.94355743e-01 9.18927034e-01 -7.52689402e-03 3.20479568e+01] [ 1.87751985e-02 1.32175739e-04 9.99823722e-01 4.01147247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.4792541539999 meters 0.016937247201214353 Centerline is valid? [True, True] Translation: X:919.70, Y:32.08, Z:4.01 [[ 9.20577370e-01 -3.90093686e-01 -1.90846260e-02 9.19704628e+02] [ 3.90004237e-01 9.20775137e-01 -8.35709690e-03 3.20755963e+01] [ 2.08326998e-02 2.50269286e-04 9.99782944e-01 4.00952682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.539254154 meters 0.016134327514534575 Centerline is valid? [True, True] Translation: X:919.76, Y:32.10, Z:4.01 [[ 9.21225805e-01 -3.88580493e-01 -1.86605404e-02 9.19758327e+02] [ 3.88494551e-01 9.21414738e-01 -8.17706137e-03 3.21003502e+01] [ 2.03715435e-02 2.83401700e-04 9.99792438e-01 4.00973835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.5992541539999 meters 0.01403645485868126 Centerline is valid? [True, True] Translation: X:919.81, Y:32.12, Z:4.01 [[ 9.20824596e-01 -3.89603311e-01 -1.70682117e-02 9.19812654e+02] [ 3.89531492e-01 9.20982736e-01 -7.48436936e-03 3.21221112e+01] [ 1.86354634e-02 2.43185399e-04 9.99826315e-01 4.00964763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.659254154 meters 0.013041527216856448 Centerline is valid? [True, True] Translation: X:919.87, Y:32.14, Z:4.01 [[ 9.17617542e-01 -3.97138024e-01 -1.61070718e-02 9.19870434e+02] [ 3.97075141e-01 9.17758891e-01 -7.06753212e-03 3.21379106e+01] [ 1.75891941e-02 8.95736386e-05 9.99845294e-01 4.01122502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.7192541539999 meters 0.01328861595491285 Centerline is valid? [True, True] Translation: X:919.93, Y:32.15, Z:4.01 [[ 9.12714481e-01 -4.08379311e-01 -1.33646683e-02 9.19928374e+02] [ 4.08337163e-01 9.12812318e-01 -5.86800398e-03 3.21512500e+01] [ 1.45958052e-02 -1.01478519e-04 9.99893470e-01 4.01354460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.779254154 meters 0.016374822155586544 Centerline is valid? [True, True] Translation: X:919.99, Y:32.17, Z:4.01 [[ 9.09269525e-01 -4.16042856e-01 -1.17163450e-02 9.19985102e+02] [ 4.16011055e-01 9.09344986e-01 -5.14763429e-03 3.21679672e+01] [ 1.27958361e-02 -1.93542060e-04 9.99918111e-01 4.01495937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.839254154 meters 0.0158774017364631 Centerline is valid? [True, True] Translation: X:920.04, Y:32.19, Z:4.01 [[ 9.06879449e-01 -4.21233102e-01 -1.15038641e-02 9.20042318e+02] [ 4.21202839e-01 9.06952373e-01 -5.05592673e-03 3.21852865e+01] [ 1.25631805e-02 -2.60344156e-04 9.99921046e-01 4.01443713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.899254154 meters 0.016288361600110907 Centerline is valid? [True, True] Translation: X:920.10, Y:32.21, Z:4.01 [[ 9.06562738e-01 -4.21913436e-01 -1.15349727e-02 9.20097223e+02] [ 4.21883033e-01 9.06636080e-01 -5.07203908e-03 3.22079429e+01] [ 1.25979839e-02 -2.68287629e-04 9.99920606e-01 4.01380144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.959254154 meters 0.015167738179918656 Centerline is valid? [True, True] Translation: X:920.15, Y:32.23, Z:4.01 [[ 9.07401186e-01 -4.20063783e-01 -1.30194320e-02 9.20151057e+02] [ 4.20024804e-01 9.07494543e-01 -5.72881025e-03 3.22321330e+01] [ 1.42215292e-02 -2.70155149e-04 9.99898832e-01 4.01303457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.019254154 meters 0.015464248742399064 Centerline is valid? [True, True] Translation: X:920.20, Y:32.25, Z:4.01 [[ 9.09438747e-01 -4.15610604e-01 -1.37474083e-02 9.20204277e+02] [ 4.15566598e-01 9.09542623e-01 -6.05144915e-03 3.22546802e+01] [ 1.50189002e-02 -2.09541370e-04 9.99887188e-01 4.00988289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.079254154 meters 0.01432392276782758 Centerline is valid? [True, True] Translation: X:920.26, Y:32.28, Z:4.01 [[ 9.12557156e-01 -4.08752440e-01 -1.26838257e-02 9.20255805e+02] [ 4.08714301e-01 9.12645295e-01 -5.58440226e-03 3.22839799e+01] [ 1.38584719e-02 -8.79747015e-05 9.99903963e-01 4.01215223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.139254154 meters 0.014968591188908961 Centerline is valid? [True, True] Translation: X:920.31, Y:32.31, Z:4.01 [[ 9.15134646e-01 -4.02970111e-01 -1.19862131e-02 9.20308706e+02] [ 4.02935521e-01 9.15213139e-01 -5.27983859e-03 3.23112006e+01] [ 1.30975569e-02 2.09219120e-06 9.99914223e-01 4.01330870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.199254154 meters 0.01525213835228806 Centerline is valid? [True, True] Translation: X:920.36, Y:32.34, Z:4.01 [[ 9.19142477e-01 -3.93774611e-01 -1.08932329e-02 9.20359736e+02] [ 3.93745371e-01 9.19207017e-01 -4.80016378e-03 3.23388075e+01] [ 1.19033187e-02 1.22874394e-04 9.99929145e-01 4.01470237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.259254154 meters 0.014172039907009298 Centerline is valid? [True, True] Translation: X:920.41, Y:32.36, Z:4.02 [[ 9.21233484e-01 -3.88866313e-01 -1.05763193e-02 9.20412303e+02] [ 3.88838410e-01 9.21294175e-01 -4.66198966e-03 3.23645443e+01] [ 1.15567921e-02 1.82301805e-04 9.99933201e-01 4.01622659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.319254154 meters 0.015773162732124993 Centerline is valid? [True, True] Translation: X:920.46, Y:32.39, Z:4.02 [[ 9.23018268e-01 -3.84610438e-01 -1.05871027e-02 9.20464287e+02] [ 3.84582183e-01 9.23078954e-01 -4.66794586e-03 3.23906984e+01] [ 1.15680724e-02 2.36988252e-04 9.99933060e-01 4.01622661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.379254154 meters 0.015566215871004003 Centerline is valid? [True, True] Translation: X:920.52, Y:32.41, Z:4.02 [[ 9.23637231e-01 -3.83076994e-01 -1.20946767e-02 9.20518487e+02] [ 3.83039950e-01 9.23716368e-01 -5.33548902e-03 3.24142420e+01] [ 1.32159539e-02 2.95311939e-04 9.99912622e-01 4.01566720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.439254154 meters 0.016565246661829586 Centerline is valid? [True, True] Translation: X:920.57, Y:32.44, Z:4.01 [[ 9.22907412e-01 -3.84772118e-01 -1.38682074e-02 9.20572988e+02] [ 3.84723537e-01 9.23011548e-01 -6.12225268e-03 3.24372973e+01] [ 1.51561877e-02 3.14846597e-04 9.99885089e-01 4.01400512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.499254154 meters 0.015504573242139516 Centerline is valid? [True, True] Translation: X:920.63, Y:32.45, Z:4.01 [[ 9.20133673e-01 -3.91321019e-01 -1.48957933e-02 9.20628614e+02] [ 3.91265786e-01 9.20254209e-01 -6.57835410e-03 3.24549475e+01] [ 1.62821648e-02 2.24750822e-04 9.99867412e-01 4.01317916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.559254154 meters 0.013255517861903602 Centerline is valid? [True, True] Translation: X:920.69, Y:32.47, Z:4.01 [[ 9.15318206e-01 -4.02493968e-01 -1.38270724e-02 9.20687443e+02] [ 4.02447599e-01 9.15422637e-01 -6.10943829e-03 3.24684952e+01] [ 1.51166272e-02 2.74079861e-05 9.99885737e-01 4.01480313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.6192541539999 meters 0.014204956321574211 Centerline is valid? [True, True] Translation: X:920.74, Y:32.49, Z:4.02 [[ 9.11185004e-01 -4.11826982e-01 -1.18501191e-02 9.20742887e+02] [ 4.11793668e-01 9.11262051e-01 -5.23916489e-03 3.24878012e+01] [ 1.29561933e-02 -1.05955521e-04 9.99916059e-01 4.01677400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.679254154 meters 0.016086643978608397 Centerline is valid? [True, True] Translation: X:920.80, Y:32.51, Z:4.02 [[ 9.07517376e-01 -4.19785932e-01 -1.38558227e-02 9.20798433e+02] [ 4.19741276e-01 9.07623108e-01 -6.12817948e-03 3.25068506e+01] [ 1.51483884e-02 -2.54431354e-04 9.99885224e-01 4.01519085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.7392541539999 meters 0.019439428519404993 Centerline is valid? [True, True] Translation: X:920.85, Y:32.53, Z:4.01 [[ 9.05395397e-01 -4.24241325e-01 -1.66874968e-02 9.20852944e+02] [ 4.24177283e-01 9.05549083e-01 -7.38178252e-03 3.25296045e+01] [ 1.82430046e-02 -3.95025145e-04 9.99833505e-01 4.01312919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.799254154 meters 0.018760819807638475 Centerline is valid? [True, True] Translation: X:920.91, Y:32.56, Z:4.01 [[ 9.02893075e-01 -4.29429374e-01 -1.93522067e-02 9.20906269e+02] [ 4.29344406e-01 9.03100259e-01 -8.56173225e-03 3.25552881e+01] [ 2.11536422e-02 -5.78432929e-04 9.99776069e-01 4.01172206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.8592541539999 meters 0.020523905306635937 Centerline is valid? [True, True] Translation: X:920.96, Y:32.58, Z:4.01 [[ 8.99259479e-01 -4.36993206e-01 -1.92179134e-02 9.20960213e+02] [ 4.36911040e-01 8.99464496e-01 -8.50666008e-03 3.25799552e+01] [ 2.10031835e-02 -7.46823823e-04 9.99779130e-01 4.01278593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.919254154 meters 0.021278393349571243 Centerline is valid? [True, True] Translation: X:921.01, Y:32.60, Z:4.02 [[ 8.97666943e-01 -4.40365338e-01 -1.65053887e-02 9.21014211e+02] [ 4.40305260e-01 8.97818394e-01 -7.30810513e-03 3.26043729e+01] [ 1.80370778e-02 -7.07165074e-04 9.99837069e-01 4.01535741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.9792541539999 meters 0.02234645287292822 Centerline is valid? [True, True] Translation: X:921.07, Y:32.63, Z:4.02 [[ 8.97340179e-01 -4.41169090e-01 -1.22652865e-02 9.21065300e+02] [ 4.41135954e-01 8.97423839e-01 -5.43345530e-03 3.26340602e+01] [ 1.34042330e-02 -5.35001106e-04 9.99910016e-01 4.01902005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.039254154 meters 0.021547508787482204 Centerline is valid? [True, True] Translation: X:921.11, Y:32.67, Z:4.02 [[ 9.00850476e-01 -4.34008970e-01 -1.02290385e-02 9.21114908e+02] [ 4.33985433e-01 9.00908479e-01 -4.53391539e-03 3.26678925e+01] [ 1.11831874e-02 -3.54873849e-04 9.99937403e-01 4.01900757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.0992541539999 meters 0.017489226163394423 Centerline is valid? [True, True] Translation: X:921.16, Y:32.71, Z:4.02 [[ 9.06614754e-01 -4.21851276e-01 -9.54929392e-03 9.21163629e+02] [ 4.21830069e-01 9.06665024e-01 -4.23408613e-03 3.27062252e+01] [ 1.04441654e-02 -1.89494360e-04 9.99945440e-01 4.01791259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.159254154 meters 0.01611503262943659 Centerline is valid? [True, True] Translation: X:921.21, Y:32.74, Z:4.02 [[ 9.10744043e-01 -4.12839416e-01 -1.04357748e-02 9.21214048e+02] [ 4.12813483e-01 9.10803825e-01 -4.62819659e-03 3.27399258e+01] [ 1.14156456e-02 -9.29260872e-05 9.99934835e-01 4.01613045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.2192541539999 meters 0.014342117408904979 Centerline is valid? [True, True] Translation: X:921.26, Y:32.78, Z:4.01 [[ 9.16086254e-01 -4.00855418e-01 -1.00453493e-02 9.21261228e+02] [ 4.00830654e-01 9.16141327e-01 -4.45603831e-03 3.27767311e+01] [ 1.09891868e-02 5.56315051e-05 9.99939616e-01 4.01454114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.279254154 meters 0.015991907167329376 Centerline is valid? [True, True] Translation: X:921.31, Y:32.81, Z:4.01 [[ 9.19445905e-01 -3.93133879e-01 -8.06104270e-03 9.21310238e+02] [ 3.93117628e-01 9.19481233e-01 -3.57656760e-03 3.28100613e+01] [ 8.81804738e-03 1.19522453e-04 9.99961113e-01 4.01493144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.339254154 meters 0.017189926339024313 Centerline is valid? [True, True] Translation: X:921.36, Y:32.84, Z:4.02 [[ 9.20617139e-01 -3.90409475e-01 -6.67276779e-03 9.21362753e+02] [ 3.90398260e-01 9.20641313e-01 -2.96176442e-03 3.28368198e+01] [ 7.29952659e-03 1.21614151e-04 9.99973351e-01 4.01528863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.399254154 meters 0.0162819757444043 Centerline is valid? [True, True] Translation: X:921.42, Y:32.86, Z:4.02 [[ 9.21029311e-01 -3.89470964e-01 -4.16854365e-03 9.21415836e+02] [ 3.89466574e-01 9.21038740e-01 -1.85105464e-03 3.28618665e+01] [ 4.56032223e-03 8.13671639e-05 9.99989598e-01 4.01600552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.459254154 meters 0.01712607627642968 Centerline is valid? [True, True] Translation: X:921.47, Y:32.88, Z:4.01 [[ 9.20046135e-01 -3.91776507e-01 -5.12620876e-03 9.21468994e+02] [ 3.91769894e-01 9.20060412e-01 -2.27792460e-03 3.28836718e+01] [ 5.60885908e-03 8.75014602e-05 9.99984266e-01 4.01421053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.519254154 meters 0.014872941771748237 Centerline is valid? [True, True] Translation: X:921.52, Y:32.90, Z:4.01 [[ 9.18833792e-01 -3.94590297e-01 -6.55441599e-03 9.21524713e+02] [ 3.94579549e-01 9.18857165e-01 -2.91384303e-03 3.29045538e+01] [ 7.17234628e-03 9.10989356e-05 9.99974274e-01 4.01214530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.579254154 meters 0.017349375499600073 Centerline is valid? [True, True] Translation: X:921.58, Y:32.93, Z:4.01 [[ 9.18057908e-01 -3.96348787e-01 -8.79296201e-03 9.21578508e+02] [ 3.96329493e-01 9.18100010e-01 -3.91220865e-03 3.29268510e+01] [ 9.62341766e-03 1.06723919e-04 9.99953688e-01 4.00993785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.639254154 meters 0.014125147551517378 Centerline is valid? [True, True] Translation: X:921.63, Y:32.95, Z:4.01 [[ 9.15957165e-01 -4.01139586e-01 -1.04644765e-02 9.21633082e+02] [ 4.01112544e-01 9.16016936e-01 -4.65825643e-03 3.29456758e+01] [ 1.14542487e-02 6.93305774e-05 9.99934396e-01 4.00812212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.699254154 meters 0.0140801964200825 Centerline is valid? [True, True] Translation: X:921.69, Y:32.96, Z:4.01 [[ 9.11532381e-01 -4.11061813e-01 -1.17006354e-02 9.21690770e+02] [ 4.11028778e-01 9.11607472e-01 -5.21163933e-03 3.29592914e+01] [ 1.28086925e-02 -5.87198398e-05 9.99917964e-01 4.00744502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.759254154 meters 0.01640241069285244 Centerline is valid? [True, True] Translation: X:921.75, Y:32.97, Z:4.01 [[ 9.05555263e-01 -4.24096013e-01 -1.05941782e-02 9.21751682e+02] [ 4.24069793e-01 9.05617206e-01 -4.72082482e-03 3.29696164e+01] [ 1.15963530e-02 -2.17703177e-04 9.99932736e-01 4.00897042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.819254154 meters 0.01879600834071934 Centerline is valid? [True, True] Translation: X:921.81, Y:32.99, Z:4.01 [[ 9.03484098e-01 -4.28503696e-01 -1.00532344e-02 9.21808614e+02] [ 4.28480338e-01 9.03539991e-01 -4.48153449e-03 3.29890919e+01] [ 1.10038534e-02 -2.58618149e-04 9.99939422e-01 4.00943577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.879254154 meters 0.022068966402807044 Centerline is valid? [True, True] Translation: X:921.87, Y:33.00, Z:4.01 [[ 8.98720170e-01 -4.38434543e-01 -8.78679023e-03 9.21867233e+02] [ 4.38417159e-01 8.98763062e-01 -3.91821291e-03 3.30001709e+01] [ 9.61512238e-03 -3.30902636e-04 9.99953719e-01 4.01158952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.939254154 meters 0.022852056226891175 Centerline is valid? [True, True] Translation: X:921.92, Y:33.02, Z:4.01 [[ 8.97034257e-01 -4.41873639e-01 -8.78800007e-03 9.21923310e+02] [ 4.41856401e-01 8.97077228e-01 -3.92018452e-03 3.30205913e+01] [ 9.61574094e-03 -3.66494277e-04 9.99953701e-01 4.01175546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.999254154 meters 0.02217562680882563 Centerline is valid? [True, True] Translation: X:921.98, Y:33.04, Z:4.01 [[ 8.97428805e-01 -4.41049942e-01 -9.82284517e-03 9.21978364e+02] [ 4.41028328e-01 8.97482474e-01 -4.38446666e-03 3.30427220e+01] [ 1.07496001e-02 -3.97406304e-04 9.99942142e-01 4.01169847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.059254154 meters 0.020472199269504884 Centerline is valid? [True, True] Translation: X:922.03, Y:33.07, Z:4.01 [[ 9.00995200e-01 -4.33658916e-01 -1.21488192e-02 9.22030191e+02] [ 4.33625153e-01 9.01077022e-01 -5.42469553e-03 3.30692051e+01] [ 1.32994894e-02 -3.80408952e-04 9.99911486e-01 4.01040021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.1192541539999 meters 0.016984865636594727 Centerline is valid? [True, True] Translation: X:922.08, Y:33.10, Z:4.01 [[ 9.04313188e-01 -4.26688486e-01 -1.24335944e-02 9.22081670e+02] [ 4.26652446e-01 9.04398615e-01 -5.55291685e-03 3.31000870e+01] [ 1.36142912e-02 -2.83247508e-04 9.99907281e-01 4.01185099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.179254154 meters 0.017078942920624042 Centerline is valid? [True, True] Translation: X:922.13, Y:33.13, Z:4.01 [[ 9.10341894e-01 -4.13703018e-01 -1.12893358e-02 9.22132737e+02] [ 4.13672273e-01 9.10411889e-01 -5.04412703e-03 3.31321965e+01] [ 1.23647161e-02 -7.82050536e-05 9.99923551e-01 4.01458779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.2392541539999 meters 0.015055311894569094 Centerline is valid? [True, True] Translation: X:922.19, Y:33.16, Z:4.02 [[ 9.12201247e-01 -4.09575100e-01 -1.17099340e-02 9.22185167e+02] [ 4.09541637e-01 9.12276404e-01 -5.23552758e-03 3.31593093e+01] [ 1.28270382e-02 -1.98507632e-05 9.99917730e-01 4.01593610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.299254154 meters 0.014406076497150382 Centerline is valid? [True, True] Translation: X:922.24, Y:33.18, Z:4.02 [[ 9.12843919e-01 -4.08101670e-01 -1.30002575e-02 9.22237989e+02] [ 4.08060243e-01 9.12936486e-01 -5.81478944e-03 3.31839944e+01] [ 1.42414347e-02 3.10694611e-06 9.99898586e-01 4.01511111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.3592541539999 meters 0.014552476769778843 Centerline is valid? [True, True] Translation: X:922.29, Y:33.21, Z:4.01 [[ 9.11119757e-01 -4.11862184e-01 -1.51766418e-02 9.22293464e+02] [ 4.11806179e-01 9.11246146e-01 -6.79211524e-03 3.32051734e+01] [ 1.66270718e-02 -6.14044948e-05 9.99861759e-01 4.01429834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.419254154 meters 0.01757643210239917 Centerline is valid? [True, True] Translation: X:922.35, Y:33.22, Z:4.01 [[ 9.07597014e-01 -4.19451716e-01 -1.81085170e-02 9.22350467e+02] [ 4.19373438e-01 9.07777617e-01 -8.10659190e-03 3.32230208e+01] [ 1.98388303e-02 -2.36712444e-04 9.99803163e-01 4.01424961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.4792541539999 meters 0.017548363370251337 Centerline is valid? [True, True] Translation: X:922.41, Y:33.24, Z:4.01 [[ 9.05284738e-01 -4.24386316e-01 -1.88626201e-02 9.22406232e+02] [ 4.24302418e-01 9.05481158e-01 -8.44575074e-03 3.32437477e+01] [ 2.06640081e-02 -3.57646069e-04 9.99786413e-01 4.01407868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.539254154 meters 0.019792032151304918 Centerline is valid? [True, True] Translation: X:922.46, Y:33.26, Z:4.02 [[ 8.99740431e-01 -4.35997709e-01 -1.93171906e-02 9.22464843e+02] [ 4.35912285e-01 8.99947551e-01 -8.65360367e-03 3.32581377e+01] [ 2.11574098e-02 -6.34603607e-04 9.99775956e-01 4.01538813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.5992541539999 meters 0.02123234779725198 Centerline is valid? [True, True] Translation: X:922.52, Y:33.28, Z:4.02 [[ 8.97251100e-01 -4.41114252e-01 -1.89388426e-02 9.22520779e+02] [ 4.41033237e-01 8.97450651e-01 -8.48604950e-03 3.32788509e+01] [ 2.07399940e-02 -7.38541797e-04 9.99784630e-01 4.01685903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.659254154 meters 0.02127425092316581 Centerline is valid? [True, True] Translation: X:922.58, Y:33.30, Z:4.02 [[ 8.96134794e-01 -4.43368158e-01 -1.91600339e-02 9.22575734e+02] [ 4.43285727e-01 8.96339243e-01 -8.58638578e-03 3.33013165e+01] [ 2.09808203e-02 -7.98810491e-04 9.99779559e-01 4.01880437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.7192541539999 meters 0.022079375750435573 Centerline is valid? [True, True] Translation: X:922.63, Y:33.33, Z:4.02 [[ 8.98355297e-01 -4.38714690e-01 -2.20721675e-02 9.22627561e+02] [ 4.38603841e-01 8.98626058e-01 -9.89338571e-03 3.33279472e+01] [ 2.41749985e-02 -7.93161987e-04 9.99707427e-01 4.01719538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.779254154 meters 0.018024318745350036 Centerline is valid? [True, True] Translation: X:922.68, Y:33.36, Z:4.02 [[ 9.01254488e-01 -4.32724094e-01 -2.21405797e-02 9.22678981e+02] [ 4.32610615e-01 9.01526185e-01 -9.92941983e-03 3.33594372e+01] [ 2.42570116e-02 -6.29315618e-04 9.99705557e-01 4.01871515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.839254154 meters 0.01635297220514403 Centerline is valid? [True, True] Translation: X:922.73, Y:33.39, Z:4.02 [[ 9.05361629e-01 -4.24036183e-01 -2.26635493e-02 9.22730213e+02] [ 4.23914395e-01 9.05645160e-01 -1.01700447e-02 3.33913989e+01] [ 2.48376006e-02 -3.99836556e-04 9.99691419e-01 4.01865779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.899254154 meters 0.016798243902436807 Centerline is valid? [True, True] Translation: X:922.78, Y:33.42, Z:4.02 [[ 9.08053175e-01 -4.18214803e-01 -2.31475468e-02 9.22781365e+02] [ 4.18085697e-01 9.08348128e-01 -1.03936833e-02 3.34227169e+01] [ 2.53728230e-02 -2.39641122e-04 9.99678029e-01 4.01986684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.959254154 meters 0.014975191229639513 Centerline is valid? [True, True] Translation: X:922.83, Y:33.45, Z:4.02 [[ 9.09558644e-01 -4.14983268e-01 -2.21801876e-02 9.22832831e+02] [ 4.14863608e-01 9.09829032e-01 -9.96587607e-03 3.34517068e+01] [ 2.43158505e-02 -1.37203939e-04 9.99704317e-01 4.02098255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.019254154 meters 0.01479410104132329 Centerline is valid? [True, True] Translation: X:922.89, Y:33.48, Z:4.02 [[ 9.10005018e-01 -4.14029378e-01 -2.16919683e-02 9.22885315e+02] [ 4.13914502e-01 9.10263513e-01 -9.75302999e-03 3.34780445e+01] [ 2.37834482e-02 -1.03314021e-04 9.99717128e-01 4.02162455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.079254154 meters 0.014738839773339587 Centerline is valid? [True, True] Translation: X:922.94, Y:33.51, Z:4.02 [[ 9.11550030e-01 -4.10689286e-01 -2.02695074e-02 9.22936240e+02] [ 4.10588093e-01 9.11775362e-01 -9.11632278e-03 3.35060556e+01] [ 2.22252135e-02 -1.24340732e-05 9.99752989e-01 4.02257754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.139254154 meters 0.014461324699774378 Centerline is valid? [True, True] Translation: X:922.99, Y:33.54, Z:4.03 [[ 9.13648456e-01 -4.06024429e-01 -1.97651749e-02 9.22986316e+02] [ 4.05926988e-01 9.13862217e-01 -8.89541910e-03 3.35351368e+01] [ 2.16744040e-02 1.04068028e-04 9.99765077e-01 4.02523670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.199254154 meters 0.014850694380104763 Centerline is valid? [True, True] Translation: X:923.04, Y:33.56, Z:4.02 [[ 9.15106337e-01 -4.02724053e-01 -1.98426164e-02 9.23037755e+02] [ 4.02625002e-01 9.15321420e-01 -8.93338313e-03 3.35618016e+01] [ 2.17600601e-02 1.85862042e-04 9.99763205e-01 4.02482829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.259254154 meters 0.015322880279716664 Centerline is valid? [True, True] Translation: X:923.09, Y:33.59, Z:4.02 [[ 9.17163549e-01 -3.97924775e-01 -2.16078007e-02 9.23090608e+02] [ 3.97805874e-01 9.17417988e-01 -9.73257387e-03 3.35903518e+01] [ 2.36962173e-02 3.30651946e-04 9.99719151e-01 4.02473962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.319254154 meters 0.017005050808414177 Centerline is valid? [True, True] Translation: X:923.14, Y:33.62, Z:4.02 [[ 9.19387122e-01 -3.92601045e-01 -2.43256928e-02 9.23141282e+02] [ 3.92448399e-01 9.19708725e-01 -1.09597209e-02 3.36207640e+01] [ 2.66753498e-02 5.29647083e-04 9.99644009e-01 4.02152897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.379254154 meters 0.017348253365334205 Centerline is valid? [True, True] Translation: X:923.19, Y:33.65, Z:4.02 [[ 9.20577059e-01 -3.89675367e-01 -2.62866087e-02 9.23194977e+02] [ 3.89495866e-01 9.20952043e-01 -1.18450680e-02 3.36461558e+01] [ 2.88244372e-02 6.65772486e-04 9.99584268e-01 4.02163517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.439254154 meters 0.017522843561518307 Centerline is valid? [True, True] Translation: X:923.25, Y:33.67, Z:4.02 [[ 9.20123805e-01 -3.90733585e-01 -2.64470887e-02 9.23248041e+02] [ 3.90552209e-01 9.20503588e-01 -1.19212577e-02 3.36697975e+01] [ 2.90026758e-02 6.40064138e-04 9.99579129e-01 4.02216237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.499254154 meters 0.016221991976110343 Centerline is valid? [True, True] Translation: X:923.30, Y:33.69, Z:4.02 [[ 9.18531554e-01 -3.94558172e-01 -2.49726596e-02 9.23303840e+02] [ 3.94397690e-01 9.18870830e-01 -1.12632169e-02 3.36908325e+01] [ 2.73906427e-02 4.96460893e-04 9.99624683e-01 4.02487920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.559254154 meters 0.014935966773012033 Centerline is valid? [True, True] Translation: X:923.36, Y:33.71, Z:4.03 [[ 9.16188982e-01 -4.00109384e-01 -2.25882830e-02 9.23360549e+02] [ 3.99979713e-01 9.16467343e-01 -1.01901094e-02 3.37095508e+01] [ 2.47785821e-02 3.01211033e-04 9.99692918e-01 4.02796213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.6192541539999 meters 0.014537023577377076 Centerline is valid? [True, True] Translation: X:923.42, Y:33.73, Z:4.03 [[ 9.14331610e-01 -4.04432582e-01 -2.07844285e-02 9.23415503e+02] [ 4.04323874e-01 9.14567798e-01 -9.37806128e-03 3.37299893e+01] [ 2.28015626e-02 1.71017218e-04 9.99739996e-01 4.02936366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.679254154 meters 0.014406482104928918 Centerline is valid? [True, True] Translation: X:923.47, Y:33.75, Z:4.03 [[ 9.13682106e-01 -4.05835628e-01 -2.19647975e-02 9.23469376e+02] [ 4.05714568e-01 9.13946072e-01 -9.91299926e-03 3.37524849e+01] [ 2.40976886e-02 1.45891723e-04 9.99709598e-01 4.02951473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.7392541539999 meters 0.015983885048613086 Centerline is valid? [True, True] Translation: X:923.52, Y:33.78, Z:4.03 [[ 9.13220633e-01 -4.06750771e-01 -2.41223136e-02 9.23523207e+02] [ 4.06604899e-01 9.13539157e-01 -1.08933617e-02 3.37756616e+01] [ 2.64675613e-02 1.39791749e-04 9.99649663e-01 4.02890656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.799254154 meters 0.0166962845738379 Centerline is valid? [True, True] Translation: X:923.58, Y:33.80, Z:4.03 [[ 9.12270933e-01 -4.08715687e-01 -2.67064053e-02 9.23577770e+02] [ 4.08537610e-01 9.12661755e-01 -1.20641183e-02 3.37967586e+01] [ 2.93047091e-02 9.51734831e-05 9.99570520e-01 4.02728823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.8592541539999 meters 0.014980942298661887 Centerline is valid? [True, True] Translation: X:923.63, Y:33.82, Z:4.03 [[ 9.11504811e-01 -4.10498740e-01 -2.54904579e-02 9.23632489e+02] [ 4.10337018e-01 9.11861164e-01 -1.15216552e-02 3.38193884e+01] [ 2.79733835e-02 4.23657075e-05 9.99608667e-01 4.02668656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.919254154 meters 0.014971429627885068 Centerline is valid? [True, True] Translation: X:923.69, Y:33.84, Z:4.03 [[ 9.11049538e-01 -4.11608263e-01 -2.38196843e-02 9.23686714e+02] [ 4.11467248e-01 9.11360871e-01 -1.07733940e-02 3.38413095e+01] [ 2.61427462e-02 1.40756670e-05 9.99658220e-01 4.02828616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.9792541539999 meters 0.014948638832957563 Centerline is valid? [True, True] Translation: X:923.74, Y:33.86, Z:4.03 [[ 9.10921475e-01 -4.11920729e-01 -2.33104979e-02 9.23741459e+02] [ 4.11785609e-01 9.11219684e-01 -1.05498748e-02 3.38642771e+01] [ 2.55866966e-02 1.11799512e-05 9.99672607e-01 4.02971296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.039254154 meters 0.014487110824631817 Centerline is valid? [True, True] Translation: X:923.80, Y:33.89, Z:4.03 [[ 9.11204991e-01 -4.11404315e-01 -2.12591962e-02 9.23795133e+02] [ 4.11291643e-01 9.11452955e-01 -9.62787961e-03 3.38882948e+01] [ 2.33377084e-02 2.92422190e-05 9.99727638e-01 4.03248783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.0992541539999 meters 0.01737494401142862 Centerline is valid? [True, True] Translation: X:923.85, Y:33.91, Z:4.03 [[ 9.12026076e-01 -4.09558076e-01 -2.16937509e-02 9.23848446e+02] [ 4.09440067e-01 9.12284043e-01 -9.83139088e-03 3.39125926e+01] [ 2.38173883e-02 8.41940235e-05 9.99716322e-01 4.03436392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.159254154 meters 0.015019889630967542 Centerline is valid? [True, True] Translation: X:923.90, Y:33.94, Z:4.03 [[ 9.13598451e-01 -4.06136789e-01 -1.97681441e-02 9.23900721e+02] [ 4.06037871e-01 9.13812279e-01 -8.96470055e-03 3.39398300e+01] [ 2.17052675e-02 1.63521389e-04 9.99764400e-01 4.03354274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.2192541539999 meters 0.014966488251384974 Centerline is valid? [True, True] Translation: X:923.95, Y:33.97, Z:4.03 [[ 9.15621050e-01 -4.01545470e-01 -1.99831886e-02 9.23952562e+02] [ 4.01443154e-01 9.15839045e-01 -9.06850879e-03 3.39674780e+01] [ 2.19428030e-02 2.81203303e-04 9.99759188e-01 4.03263746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.279254154 meters 0.01573576596875982 Centerline is valid? [True, True] Translation: X:924.00, Y:33.99, Z:4.03 [[ 9.16467702e-01 -3.99606887e-01 -2.00321433e-02 9.24004317e+02] [ 3.99503539e-01 9.16686547e-01 -9.09376881e-03 3.39931959e+01] [ 2.19971289e-02 3.31233263e-04 9.99757979e-01 4.03179839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.339254154 meters 0.016700855033847623 Centerline is valid? [True, True] Translation: X:924.06, Y:34.01, Z:4.03 [[ 9.15363169e-01 -4.02131289e-01 -2.00173867e-02 9.24058801e+02] [ 4.02028578e-01 9.15581974e-01 -9.09240276e-03 3.40146748e+01] [ 2.19838981e-02 2.75289090e-04 9.99758287e-01 4.03272659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.399254154 meters 0.016468081879453672 Centerline is valid? [True, True] Translation: X:924.11, Y:34.04, Z:4.03 [[ 9.14362690e-01 -4.04452906e-01 -1.89398520e-02 9.24113593e+02] [ 4.04361333e-01 9.14558802e-01 -8.60874195e-03 3.40357842e+01] [ 2.08034390e-02 2.12968644e-04 9.99783562e-01 4.03447664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.459254154 meters 0.014656351281718022 Centerline is valid? [True, True] Translation: X:924.17, Y:34.06, Z:4.04 [[ 9.13259565e-01 -4.07028912e-01 -1.68650878e-02 9.24168563e+02] [ 4.06956649e-01 9.13415264e-01 -7.67076987e-03 3.40575061e+01] [ 1.85270537e-02 1.42044343e-04 9.99828349e-01 4.03510172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.519254154 meters 0.016376606492899164 Centerline is valid? [True, True] Translation: X:924.22, Y:34.08, Z:4.04 [[ 9.12550660e-01 -4.08574140e-01 -1.78455800e-02 9.24222679e+02] [ 4.08493405e-01 9.12725127e-01 -8.12290815e-03 3.40780632e+01] [ 1.96069195e-02 1.22763453e-04 9.99807758e-01 4.03554061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.579254154 meters 0.01671417026129085 Centerline is valid? [True, True] Translation: X:924.28, Y:34.10, Z:4.03 [[ 9.14033101e-01 -4.05206225e-01 -1.87458168e-02 9.24275350e+02] [ 4.05116348e-01 9.14225285e-01 -8.53654604e-03 3.41022199e+01] [ 2.05969613e-02 2.08448802e-04 9.99787838e-01 4.03420257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.639254154 meters 0.016174089290915936 Centerline is valid? [True, True] Translation: X:924.33, Y:34.13, Z:4.03 [[ 9.16338789e-01 -3.99962186e-01 -1.88009189e-02 9.24327380e+02] [ 3.99870610e-01 9.16531582e-01 -8.56470110e-03 3.41288308e+01] [ 2.06571926e-02 3.30232894e-04 9.99786563e-01 4.03334356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.699254154 meters 0.016013137918671833 Centerline is valid? [True, True] Translation: X:924.38, Y:34.15, Z:4.03 [[ 9.17220804e-01 -3.97930495e-01 -1.89028631e-02 9.24381417e+02] [ 3.97837383e-01 9.17415486e-01 -8.61640986e-03 3.41532578e+01] [ 2.07705116e-02 3.82884800e-04 9.99784196e-01 4.03400648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.759254154 meters 0.01600971459232568 Centerline is valid? [True, True] Translation: X:924.44, Y:34.17, Z:4.04 [[ 9.17031175e-01 -3.98411187e-01 -1.79541243e-02 9.24436661e+02] [ 3.98327172e-01 9.17206846e-01 -8.18942943e-03 3.41741401e+01] [ 1.97304060e-02 3.58346552e-04 9.99805272e-01 4.03543361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.819254154 meters 0.015818393436936112 Centerline is valid? [True, True] Translation: X:924.49, Y:34.19, Z:4.04 [[ 9.15467579e-01 -4.02032316e-01 -1.70037792e-02 9.24491265e+02] [ 4.01957535e-01 9.15625439e-01 -7.75852255e-03 3.41941093e+01] [ 1.86882696e-02 2.67878667e-04 9.99825323e-01 4.03640225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.879254154 meters 0.01520711145091612 Centerline is valid? [True, True] Translation: X:924.55, Y:34.21, Z:4.04 [[ 9.13830610e-01 -4.05821223e-01 -1.49248587e-02 9.24545962e+02] [ 4.05764091e-01 9.13952464e-01 -6.81147884e-03 3.42139539e+01] [ 1.64048541e-02 1.68566135e-04 9.99865417e-01 4.03880583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.939254154 meters 0.014249220839358541 Centerline is valid? [True, True] Translation: X:924.60, Y:34.23, Z:4.04 [[ 9.12820322e-01 -4.08131172e-01 -1.37115304e-02 9.24601585e+02] [ 4.08083161e-01 9.12923289e-01 -6.26113331e-03 3.42333406e+01] [ 1.50729391e-02 1.19845044e-04 9.99886390e-01 4.04224411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.999254154 meters 0.01573557393492469 Centerline is valid? [True, True] Translation: X:924.66, Y:34.26, Z:4.04 [[ 9.12178690e-01 -4.09527009e-01 -1.47535267e-02 9.24655062e+02] [ 4.09471522e-01 9.12297987e-01 -6.74206886e-03 3.42565690e+01] [ 1.62206720e-02 1.08822509e-04 9.99868430e-01 4.04110317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.059254154 meters 0.01481750806625311 Centerline is valid? [True, True] Translation: X:924.71, Y:34.28, Z:4.04 [[ 9.12560157e-01 -4.08592786e-01 -1.69084238e-02 9.24707401e+02] [ 4.08519688e-01 9.12716776e-01 -7.72982690e-03 3.42805165e+01] [ 1.85909536e-02 1.46508043e-04 9.99827163e-01 4.03924346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.1192541539999 meters 0.014617062399521524 Centerline is valid? [True, True] Translation: X:924.76, Y:34.30, Z:4.04 [[ 9.12477463e-01 -4.08629034e-01 -2.01789892e-02 9.24761570e+02] [ 4.08524807e-01 9.12700543e-01 -9.23046030e-03 3.43038055e+01] [ 2.21892085e-02 1.78969332e-04 9.99753773e-01 4.03751191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.179254154 meters 0.014283373295174576 Centerline is valid? [True, True] Translation: X:924.82, Y:34.33, Z:4.04 [[ 9.11878808e-01 -4.10006025e-01 -1.92898374e-02 9.24815991e+02] [ 4.09910965e-01 9.12082802e-01 -8.82964232e-03 3.43260565e+01] [ 2.12141356e-02 1.44447840e-04 9.99774944e-01 4.04029385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.2392541539999 meters 0.014122754891635616 Centerline is valid? [True, True] Translation: X:924.87, Y:34.35, Z:4.04 [[ 9.11275113e-01 -4.11426706e-01 -1.74852837e-02 9.24869756e+02] [ 4.11348760e-01 9.11442842e-01 -8.00892633e-03 3.43496996e+01] [ 1.92319229e-02 1.05785476e-04 9.99815044e-01 4.04205685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.299254154 meters 0.01560938874874137 Centerline is valid? [True, True] Translation: X:924.92, Y:34.37, Z:4.04 [[ 9.09338154e-01 -4.15781607e-01 -1.51583778e-02 9.24924318e+02] [ 4.15723555e-01 9.09464488e-01 -6.94768704e-03 3.43721509e+01] [ 1.66747268e-02 1.61021967e-05 9.99860967e-01 4.04471421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.3592541539999 meters 0.015758039132645615 Centerline is valid? [True, True] Translation: X:924.98, Y:34.39, Z:4.05 [[ 9.07747676e-01 -4.19303090e-01 -1.33819007e-02 9.24978320e+02] [ 4.19258199e-01 9.07846307e-01 -6.13559538e-03 3.43932887e+01] [ 1.47213833e-02 -4.08991432e-05 9.99891634e-01 4.04669632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.419254154 meters 0.01565396411328369 Centerline is valid? [True, True] Translation: X:925.03, Y:34.42, Z:4.05 [[ 9.07144701e-01 -4.20620339e-01 -1.29237015e-02 9.25030757e+02] [ 4.20578578e-01 9.07236754e-01 -5.92728198e-03 3.44168694e+01] [ 1.42179923e-02 -5.85295484e-05 9.99898918e-01 4.04589669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.4792541539999 meters 0.013886884266084521 Centerline is valid? [True, True] Translation: X:925.08, Y:34.44, Z:4.05 [[ 9.08115766e-01 -4.18483036e-01 -1.40607000e-02 9.25082913e+02] [ 4.18433284e-01 9.08224613e-01 -6.45283164e-03 3.44430378e+01] [ 1.54706744e-02 -2.35467524e-05 9.99880322e-01 4.04563679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.539254154 meters 0.013870677577327904 Centerline is valid? [True, True] Translation: X:925.14, Y:34.47, Z:4.04 [[ 9.09549259e-01 -4.15257774e-01 -1.67668307e-02 9.25135235e+02] [ 4.15186375e-01 9.09703787e-01 -7.70029967e-03 3.44712966e+01] [ 1.84504586e-02 4.24422281e-05 9.99829775e-01 4.04410945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.5992541539999 meters 0.01398859383330071 Centerline is valid? [True, True] Translation: X:925.19, Y:34.50, Z:4.04 [[ 9.10311094e-01 -4.13549940e-01 -1.76113486e-02 9.25186918e+02] [ 4.13470793e-01 9.10481433e-01 -8.09091510e-03 3.44981119e+01] [ 1.93808034e-02 8.34714921e-05 9.99812171e-01 4.04238539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.659254154 meters 0.016055675497700532 Centerline is valid? [True, True] Translation: X:925.24, Y:34.52, Z:4.04 [[ 9.09394291e-01 -4.15591054e-01 -1.69144786e-02 9.25240232e+02] [ 4.15518319e-01 9.09551579e-01 -7.77512614e-03 3.45230260e+01] [ 1.86158636e-02 4.23796185e-05 9.99826709e-01 4.04233541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.7192541539999 meters 0.015514132259864945 Centerline is valid? [True, True] Translation: X:925.29, Y:34.55, Z:4.05 [[ 9.07914689e-01 -4.18920877e-01 -1.40076960e-02 9.25294738e+02] [ 4.18871328e-01 9.08022741e-01 -6.44303017e-03 3.45459936e+01] [ 1.54184264e-02 -1.77004975e-05 9.99881129e-01 4.04513325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.779254154 meters 0.01360151564452764 Centerline is valid? [True, True] Translation: X:925.35, Y:34.57, Z:4.05 [[ 9.06719853e-01 -4.21555024e-01 -1.22666174e-02 9.25348653e+02] [ 4.21517241e-01 9.06802822e-01 -5.64415373e-03 3.45679551e+01] [ 1.35027247e-02 -5.29245065e-05 9.99908833e-01 4.04807716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.839254154 meters 0.014024212011239337 Centerline is valid? [True, True] Translation: X:925.40, Y:34.59, Z:4.05 [[ 9.06003553e-01 -4.23088519e-01 -1.23962560e-02 9.25400983e+02] [ 4.23050030e-01 9.06088351e-01 -5.70721113e-03 3.45929530e+01] [ 1.36467586e-02 -7.34829068e-05 9.99906876e-01 4.04850656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.899254154 meters 0.015905680889798917 Centerline is valid? [True, True] Translation: X:925.45, Y:34.62, Z:4.05 [[ 9.05807366e-01 -4.23469552e-01 -1.36584562e-02 9.25452366e+02] [ 4.23422830e-01 9.05910333e-01 -6.29093443e-03 3.46189897e+01] [ 1.50373558e-02 -8.49274495e-05 9.99886929e-01 4.04578168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.959254154 meters 0.013704558982513907 Centerline is valid? [True, True] Translation: X:925.50, Y:34.65, Z:4.05 [[ 9.06380840e-01 -4.22211551e-01 -1.45319802e-02 9.25504048e+02] [ 4.22158434e-01 9.06497326e-01 -6.69735335e-03 3.46455742e+01] [ 1.60009011e-02 -6.44452332e-05 9.99871975e-01 4.04698343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.019254154 meters 0.014856866070320671 Centerline is valid? [True, True] Translation: X:925.56, Y:34.67, Z:4.05 [[ 9.06049382e-01 -4.22915704e-01 -1.47249629e-02 9.25556104e+02] [ 4.22861176e-01 9.06169025e-01 -6.79143988e-03 3.46707183e+01] [ 1.62155118e-02 -7.32352073e-05 9.99868517e-01 4.04687080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.079254154 meters 0.013961042711004663 Centerline is valid? [True, True] Translation: X:925.61, Y:34.70, Z:4.05 [[ 9.06131614e-01 -4.22763963e-01 -1.40046473e-02 9.25607824e+02] [ 4.22714547e-01 9.06239829e-01 -6.46408995e-03 3.46977068e+01] [ 1.54243534e-02 -6.26518687e-05 9.99881036e-01 4.04810052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.139254154 meters 0.016033548365039833 Centerline is valid? [True, True] Translation: X:925.66, Y:34.72, Z:4.05 [[ 9.06036555e-01 -4.22959972e-01 -1.42346158e-02 9.25659680e+02] [ 4.22908903e-01 9.06148364e-01 -6.57278864e-03 3.47234306e+01] [ 1.56787004e-02 -6.47590007e-05 9.99877080e-01 4.04648321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.199254154 meters 0.018007407235683875 Centerline is valid? [True, True] Translation: X:925.71, Y:34.75, Z:4.05 [[ 9.05933775e-01 -4.23181722e-01 -1.41853887e-02 9.25711658e+02] [ 4.23130971e-01 9.06044826e-01 -6.55401017e-03 3.47501255e+01] [ 1.56261354e-02 -6.47781379e-05 9.99877902e-01 4.04609786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.259254154 meters 0.013547418530223204 Centerline is valid? [True, True] Translation: X:925.76, Y:34.78, Z:4.05 [[ 9.06494870e-01 -4.22018036e-01 -1.29548529e-02 9.25763523e+02] [ 4.21975533e-01 9.06587434e-01 -5.98945533e-03 3.47776288e+01] [ 1.42723650e-02 -3.72204229e-05 9.99898144e-01 4.05029120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.319254154 meters 0.015512628099874234 Centerline is valid? [True, True] Translation: X:925.81, Y:34.81, Z:4.05 [[ 9.06742525e-01 -4.21496334e-01 -1.26029199e-02 9.25814278e+02] [ 4.21456001e-01 9.06830105e-01 -5.83092095e-03 3.48071129e+01] [ 1.38864190e-02 -2.44322236e-05 9.99903579e-01 4.04976454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.379254154 meters 0.015080622368382405 Centerline is valid? [True, True] Translation: X:925.87, Y:34.84, Z:4.05 [[ 9.07044364e-01 -4.20865530e-01 -1.19468694e-02 9.25865536e+02] [ 4.20829178e-01 9.07123038e-01 -5.53145373e-03 3.48352594e+01] [ 1.31652787e-02 -1.03172982e-05 9.99913334e-01 4.05018329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.439254154 meters 0.01731268201236139 Centerline is valid? [True, True] Translation: X:925.92, Y:34.86, Z:4.05 [[ 9.06711555e-01 -4.21556519e-01 -1.28162603e-02 9.25917213e+02] [ 4.21514694e-01 9.06802129e-01 -5.93813830e-03 3.48636202e+01] [ 1.41250730e-02 -1.80634152e-05 9.99900236e-01 4.05006003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.499254154 meters 0.015871963493894487 Centerline is valid? [True, True] Translation: X:925.97, Y:34.89, Z:4.05 [[ 9.06075673e-01 -4.22943684e-01 -1.20629258e-02 9.25966813e+02] [ 4.22906724e-01 9.06155968e-01 -5.59143761e-03 3.48913203e+01] [ 1.32957555e-02 -3.52268507e-05 9.99911607e-01 4.05147489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.559254154 meters 0.015922686638501538 Centerline is valid? [True, True] Translation: X:926.02, Y:34.92, Z:4.05 [[ 9.05688330e-01 -4.23767530e-01 -1.22364078e-02 9.26017641e+02] [ 4.23729527e-01 9.05770986e-01 -5.67535532e-03 3.49190880e+01] [ 1.34884145e-02 -4.48242138e-05 9.99909026e-01 4.05317523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.6192541539999 meters 0.01353277085144983 Centerline is valid? [True, True] Translation: X:926.07, Y:34.95, Z:4.06 [[ 9.06455322e-01 -4.22121728e-01 -1.23286620e-02 9.26067843e+02] [ 4.22082938e-01 9.06539159e-01 -5.72249399e-03 3.49487281e+01] [ 1.35920039e-02 -1.65327269e-05 9.99907624e-01 4.05599374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.679254154 meters 0.013425242414909342 Centerline is valid? [True, True] Translation: X:926.12, Y:34.98, Z:4.06 [[ 9.07841579e-01 -4.19107370e-01 -1.31407339e-02 9.26117150e+02] [ 4.19062922e-01 9.07936678e-01 -6.10377503e-03 3.49816196e+01] [ 1.44890914e-02 3.44664180e-05 9.99895027e-01 4.05570070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.7392541539999 meters 0.014011825122084005 Centerline is valid? [True, True] Translation: X:926.17, Y:35.02, Z:4.05 [[ 9.10107204e-01 -4.14111661e-01 -1.47108688e-02 9.26165130e+02] [ 4.14055251e-01 9.10226079e-01 -6.83624118e-03 3.50166677e+01] [ 1.62211836e-02 1.30599883e-04 9.99868419e-01 4.05330473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.799254154 meters 0.015738744859350787 Centerline is valid? [True, True] Translation: X:926.22, Y:35.05, Z:4.05 [[ 9.11393124e-01 -4.11250432e-01 -1.53510609e-02 9.26215940e+02] [ 4.11188529e-01 9.11522378e-01 -7.13787079e-03 3.50467008e+01] [ 1.69282879e-02 1.93226230e-04 9.99856688e-01 4.05246000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.8592541539999 meters 0.0147352227506031 Centerline is valid? [True, True] Translation: X:926.27, Y:35.08, Z:4.06 [[ 9.12861204e-01 -4.07978027e-01 -1.54386620e-02 9.26266570e+02] [ 4.07914904e-01 9.12991710e-01 -7.18109603e-03 3.50760492e+01] [ 1.70250998e-02 2.57683651e-04 9.99855029e-01 4.05587952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.919254154 meters 0.014846345090356011 Centerline is valid? [True, True] Translation: X:926.32, Y:35.10, Z:4.06 [[ 9.13039832e-01 -4.07608954e-01 -1.46015529e-02 9.26317807e+02] [ 4.07552376e-01 9.13156545e-01 -6.79593807e-03 3.51035854e+01] [ 1.61035888e-02 2.54064561e-04 9.99870297e-01 4.05730766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.9792541539999 meters 0.01822663020345939 Centerline is valid? [True, True] Translation: X:926.37, Y:35.13, Z:4.05 [[ 9.12882050e-01 -4.07940511e-01 -1.51954579e-02 9.26369007e+02] [ 4.07879237e-01 9.13008473e-01 -7.07506969e-03 3.51316457e+01] [ 1.67597894e-02 2.60792331e-04 9.99859511e-01 4.05469615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.039254154 meters 0.01856977179931565 Centerline is valid? [True, True] Translation: X:926.42, Y:35.16, Z:4.05 [[ 9.13215408e-01 -4.07195569e-01 -1.51455179e-02 9.26422543e+02] [ 4.07134531e-01 9.13340950e-01 -7.05563969e-03 3.51572137e+01] [ 1.67060469e-02 2.77055573e-04 9.99860406e-01 4.05499514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.0992541539999 meters 0.01660543520848903 Centerline is valid? [True, True] Translation: X:926.47, Y:35.19, Z:4.06 [[ 9.14479206e-01 -4.04399800e-01 -1.37325651e-02 9.26472867e+02] [ 4.04349272e-01 9.14582261e-01 -6.39954188e-03 3.51852908e+01] [ 1.51475339e-02 2.99495287e-04 9.99885225e-01 4.05697051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.159254154 meters 0.01908620278290183 Centerline is valid? [True, True] Translation: X:926.53, Y:35.21, Z:4.05 [[ 9.15306121e-01 -4.02454254e-01 -1.56613552e-02 9.26526066e+02] [ 4.02388179e-01 9.15440019e-01 -7.30244000e-03 3.52098006e+01] [ 1.72759293e-02 3.82023842e-04 9.99850687e-01 4.05491512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.2192541539999 meters 0.01709636780837695 Centerline is valid? [True, True] Translation: X:926.58, Y:35.24, Z:4.06 [[ 9.16148847e-01 -4.00535084e-01 -1.55863914e-02 9.26579202e+02] [ 4.00469282e-01 9.16281326e-01 -7.27222994e-03 3.52356300e+01] [ 1.71943026e-02 4.20574111e-04 9.99852079e-01 4.05660107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.279254154 meters 0.018747269845724984 Centerline is valid? [True, True] Translation: X:926.63, Y:35.26, Z:4.05 [[ 9.17060236e-01 -3.98400991e-01 -1.66485551e-02 9.26631914e+02] [ 3.98325466e-01 9.17211210e-01 -7.77294790e-03 3.52622921e+01] [ 1.83669915e-02 4.96717942e-04 9.99831189e-01 4.05400216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.339254154 meters 0.018637816355690583 Centerline is valid? [True, True] Translation: X:926.69, Y:35.29, Z:4.06 [[ 9.17349041e-01 -3.97751843e-01 -1.62544656e-02 9.26686343e+02] [ 3.97679662e-01 9.17492899e-01 -7.59387441e-03 3.52856885e+01] [ 1.79338343e-02 5.02163018e-04 9.99839050e-01 4.05503023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.399254154 meters 0.020841818388320384 Centerline is valid? [True, True] Translation: X:926.74, Y:35.31, Z:4.05 [[ 9.15995548e-01 -4.00913523e-01 -1.48493219e-02 9.26742309e+02] [ 4.00853630e-01 9.16115812e-01 -6.94156005e-03 3.53064941e+01] [ 1.63866639e-02 4.06033498e-04 9.99865647e-01 4.05406430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.459254154 meters 0.017013633058765968 Centerline is valid? [True, True] Translation: X:926.80, Y:35.32, Z:4.06 [[ 9.14513291e-01 -4.04357958e-01 -1.26524041e-02 9.26799072e+02] [ 4.04314781e-01 9.14600763e-01 -5.91629503e-03 3.53239732e+01] [ 1.39641994e-02 2.94976431e-04 9.99902452e-01 4.05846679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.519254154 meters 0.017500429274969198 Centerline is valid? [True, True] Translation: X:926.85, Y:35.35, Z:4.06 [[ 9.14014159e-01 -4.05474222e-01 -1.29912542e-02 9.26852181e+02] [ 4.05428795e-01 9.14106434e-01 -6.07608821e-03 3.53473489e+01] [ 1.43390862e-02 2.86602122e-04 9.99897149e-01 4.05814156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.579254154 meters 0.016164436293094178 Centerline is valid? [True, True] Translation: X:926.91, Y:35.37, Z:4.06 [[ 9.13426443e-01 -4.06789591e-01 -1.32045989e-02 9.26906194e+02] [ 4.06742776e-01 9.13521841e-01 -6.17729329e-03 3.53690959e+01] [ 1.45755482e-02 2.71627803e-04 9.99893734e-01 4.05893660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.639254154 meters 0.01497862598316 Centerline is valid? [True, True] Translation: X:926.96, Y:35.39, Z:4.06 [[ 9.12431663e-01 -4.08993805e-01 -1.38754295e-02 9.26962460e+02] [ 4.08942314e-01 9.12537125e-01 -6.49458855e-03 3.53870950e+01] [ 1.53180910e-02 2.51617985e-04 9.99882639e-01 4.05910797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.699254154 meters 0.014377219361458363 Centerline is valid? [True, True] Translation: X:927.02, Y:35.41, Z:4.06 [[ 9.11338415e-01 -4.11411472e-01 -1.42440944e-02 9.27018526e+02] [ 4.11357434e-01 9.11449698e-01 -6.67154994e-03 3.54063716e+01] [ 1.57275278e-02 2.20625616e-04 9.99876290e-01 4.05963067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.759254154 meters 0.013743426559877522 Centerline is valid? [True, True] Translation: X:927.08, Y:35.43, Z:4.06 [[ 9.10110387e-01 -4.14166423e-01 -1.28552414e-02 9.27075136e+02] [ 4.14122629e-01 9.10201158e-01 -6.02493020e-03 3.54250498e+01] [ 1.41961794e-02 1.59705213e-04 9.99899216e-01 4.06181903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.819254154 meters 0.013746979788108776 Centerline is valid? [True, True] Translation: X:927.13, Y:35.45, Z:4.06 [[ 9.09403011e-01 -4.15725686e-01 -1.25824196e-02 9.27130565e+02] [ 4.15683825e-01 9.09490042e-01 -5.90101652e-03 3.54465328e+01] [ 1.38967894e-02 1.36093903e-04 9.99903426e-01 4.06304045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.879254154 meters 0.013658561355386064 Centerline is valid? [True, True] Translation: X:927.18, Y:35.47, Z:4.06 [[ 9.08819269e-01 -4.17007929e-01 -1.23256867e-02 9.27184435e+02] [ 4.16967848e-01 9.08902841e-01 -5.78277862e-03 3.54673240e+01] [ 1.36143162e-02 1.16085601e-04 9.99907314e-01 4.06330326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.939254154 meters 0.013567735718265382 Centerline is valid? [True, True] Translation: X:927.24, Y:35.49, Z:4.06 [[ 9.08989969e-01 -4.16641600e-01 -1.21248740e-02 9.27238333e+02] [ 4.16602736e-01 9.09070823e-01 -5.69195417e-03 3.54893932e+01] [ 1.33938741e-02 1.22673574e-04 9.99910291e-01 4.06461298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.999254154 meters 0.014462847801123911 Centerline is valid? [True, True] Translation: X:927.29, Y:35.52, Z:4.06 [[ 9.09685905e-01 -4.15109727e-01 -1.24687549e-02 9.27290194e+02] [ 4.15068449e-01 9.09771340e-01 -5.85581868e-03 3.55155660e+01] [ 1.37745231e-02 1.51568951e-04 9.99905115e-01 4.06277575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.059254154 meters 0.01727550097280968 Centerline is valid? [True, True] Translation: X:927.34, Y:35.54, Z:4.06 [[ 9.10799734e-01 -4.12570830e-01 -1.51378351e-02 9.27344204e+02] [ 4.12509570e-01 9.10925494e-01 -7.11332870e-03 3.55395564e+01] [ 1.67241919e-02 2.34316041e-04 9.99860113e-01 4.06117244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.1192541539999 meters 0.015645286061256918 Centerline is valid? [True, True] Translation: X:927.40, Y:35.57, Z:4.06 [[ 9.13018910e-01 -4.07680521e-01 -1.38947117e-02 9.27397162e+02] [ 4.07628277e-01 9.13124582e-01 -6.53339278e-03 3.55660321e+01] [ 1.53511398e-02 3.01233765e-04 9.99882119e-01 4.06365409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.179254154 meters 0.01826824796085885 Centerline is valid? [True, True] Translation: X:927.45, Y:35.59, Z:4.06 [[ 9.14756321e-01 -4.03740922e-01 -1.46335283e-02 9.27450085e+02] [ 4.03682438e-01 9.14873279e-01 -6.88279315e-03 3.55923921e+01] [ 1.61666893e-02 3.88780155e-04 9.99869235e-01 4.06256622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.2392541539999 meters 0.017756277471390566 Centerline is valid? [True, True] Translation: X:927.50, Y:35.61, Z:4.06 [[ 9.15859416e-01 -4.01273929e-01 -1.34448209e-02 9.27504686e+02] [ 4.01224248e-01 9.15958009e-01 -6.32685370e-03 3.56144768e+01] [ 1.48536928e-02 4.00120371e-04 9.99889598e-01 4.06467422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.299254154 meters 0.01813785760351117 Centerline is valid? [True, True] Translation: X:927.56, Y:35.64, Z:4.06 [[ 9.16055187e-01 -4.00825040e-01 -1.34974754e-02 9.27559027e+02] [ 4.00774858e-01 9.16154527e-01 -6.35578866e-03 3.56379503e+01] [ 1.49133325e-02 4.12804370e-04 9.99888705e-01 4.06488781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.3592541539999 meters 0.01861705444824406 Centerline is valid? [True, True] Translation: X:927.61, Y:35.66, Z:4.06 [[ 9.16562817e-01 -3.99645662e-01 -1.39981518e-02 9.27612713e+02] [ 3.99591483e-01 9.16669592e-01 -6.59590496e-03 3.56614117e+01] [ 1.54677049e-02 4.52018994e-04 9.99880266e-01 4.06441958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.419254154 meters 0.021219460049339944 Centerline is valid? [True, True] Translation: X:927.66, Y:35.69, Z:4.06 [[ 9.17135592e-01 -3.98272097e-01 -1.55448433e-02 9.27664921e+02] [ 3.98205041e-01 9.17267167e-01 -7.32731297e-03 3.56858642e+01] [ 1.71770386e-02 5.30104573e-04 9.99852323e-01 4.06280196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.4792541539999 meters 0.0196007864315822 Centerline is valid? [True, True] Translation: X:927.72, Y:35.71, Z:4.06 [[ 9.17847180e-01 -3.96573549e-01 -1.69107987e-02 9.27719886e+02] [ 3.96493817e-01 9.18002746e-01 -7.97565707e-03 3.57077745e+01] [ 1.86870943e-02 6.15407202e-04 9.99825192e-01 4.06397741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.539254154 meters 0.022279333438588775 Centerline is valid? [True, True] Translation: X:927.77, Y:35.73, Z:4.06 [[ 9.17675706e-01 -3.96848559e-01 -1.95581008e-02 9.27772223e+02] [ 3.96741884e-01 9.17883826e-01 -9.22817330e-03 3.57324619e+01] [ 2.16142517e-02 7.08952696e-04 9.99766133e-01 4.06060371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.5992541539999 meters 0.0185493325597143 Centerline is valid? [True, True] Translation: X:927.83, Y:35.75, Z:4.06 [[ 9.16905587e-01 -3.98646568e-01 -1.91064667e-02 9.27828638e+02] [ 3.98545038e-01 9.17104401e-01 -9.02050572e-03 3.57503500e+01] [ 2.11186184e-02 6.56164581e-04 9.99776762e-01 4.06433782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.659254154 meters 0.017932433542694283 Centerline is valid? [True, True] Translation: X:927.88, Y:35.77, Z:4.06 [[ 9.14514491e-01 -4.04066236e-01 -1.98424557e-02 9.27884434e+02] [ 4.03957943e-01 9.14729561e-01 -9.37071029e-03 3.57681431e+01] [ 2.19368685e-02 5.54132736e-04 9.99759204e-01 4.06488379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.7192541539999 meters 0.016293432569296575 Centerline is valid? [True, True] Translation: X:927.94, Y:35.78, Z:4.07 [[ 9.12158853e-01 -4.09346382e-01 -2.00441136e-02 9.27941691e+02] [ 4.09237113e-01 9.12378952e-01 -9.46750242e-03 3.57848589e+01] [ 2.21633153e-02 4.33070963e-04 9.99754270e-01 4.06650167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.779254154 meters 0.01589014723373152 Centerline is valid? [True, True] Translation: X:928.00, Y:35.81, Z:4.07 [[ 9.11097934e-01 -4.11683421e-01 -2.04283111e-02 9.27996869e+02] [ 4.11570388e-01 9.11326840e-01 -9.65432146e-03 3.58061491e+01] [ 2.25913923e-02 3.88344434e-04 9.99744707e-01 4.06697177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.839254154 meters 0.015165542360446297 Centerline is valid? [True, True] Translation: X:928.05, Y:35.83, Z:4.07 [[ 9.10271028e-01 -4.13479024e-01 -2.10179289e-02 9.28053350e+02] [ 4.13359692e-01 9.10513574e-01 -9.93968183e-03 3.58255773e+01] [ 2.32469595e-02 3.59839759e-04 9.99729688e-01 4.06945888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.899254154 meters 0.015457272811469202 Centerline is valid? [True, True] Translation: X:928.11, Y:35.85, Z:4.07 [[ 9.10457396e-01 -4.13037660e-01 -2.16152970e-02 9.28106794e+02] [ 4.12911245e-01 9.10713865e-01 -1.02254737e-02 3.58478749e+01] [ 2.39088564e-02 3.84658996e-04 9.99714068e-01 4.06979996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.959254154 meters 0.01572283810742518 Centerline is valid? [True, True] Translation: X:928.16, Y:35.87, Z:4.07 [[ 9.10862820e-01 -4.12064744e-01 -2.30558094e-02 9.28161042e+02] [ 4.11920439e-01 9.11154460e-01 -1.09134020e-02 3.58718178e+01] [ 2.55044318e-02 4.43453011e-04 9.99674611e-01 4.06962456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.019254154 meters 0.015763399124544206 Centerline is valid? [True, True] Translation: X:928.21, Y:35.90, Z:4.07 [[ 9.10857497e-01 -4.12063218e-01 -2.32921722e-02 9.28214889e+02] [ 4.11915747e-01 9.11155145e-01 -1.10326547e-02 3.58954515e+01] [ 2.57689337e-02 4.54763726e-04 9.99667822e-01 4.07024394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.079254154 meters 0.01790901409805503 Centerline is valid? [True, True] Translation: X:928.27, Y:35.92, Z:4.07 [[ 9.09664729e-01 -4.14620332e-01 -2.44961405e-02 9.28268119e+02] [ 4.14458046e-01 9.09994404e-01 -1.16065371e-02 3.59171482e+01] [ 2.71036570e-02 4.05434867e-04 9.99632546e-01 4.07044012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.139254154 meters 0.014774174591504994 Centerline is valid? [True, True] Translation: X:928.32, Y:35.94, Z:4.07 [[ 9.07662721e-01 -4.19202057e-01 -2.04455470e-02 9.28323906e+02] [ 4.19090135e-01 9.07892937e-01 -9.68888106e-03 3.59369673e+01] [ 2.26239665e-02 2.25709120e-04 9.99744020e-01 4.07495828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.199254154 meters 0.014423814271456697 Centerline is valid? [True, True] Translation: X:928.38, Y:35.96, Z:4.08 [[ 9.05882785e-01 -4.23097131e-01 -1.91101601e-02 9.28378300e+02] [ 4.23000112e-01 9.06084324e-01 -9.06105056e-03 3.59602080e+01] [ 2.11491210e-02 1.24649845e-04 9.99776325e-01 4.07668388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.259254154 meters 0.014572620402961586 Centerline is valid? [True, True] Translation: X:928.43, Y:35.98, Z:4.08 [[ 9.05096950e-01 -4.24761615e-01 -1.94185871e-02 9.28430698e+02] [ 4.24661678e-01 9.05305231e-01 -9.21400064e-03 3.59844508e+01] [ 2.14935023e-02 9.32341023e-05 9.99768984e-01 4.07612996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.319254154 meters 0.01483964283734254 Centerline is valid? [True, True] Translation: X:928.48, Y:36.01, Z:4.08 [[ 9.04549494e-01 -4.25883412e-01 -2.03354958e-02 9.28484153e+02] [ 4.25773951e-01 9.04778047e-01 -9.65550363e-03 3.60098687e+01] [ 2.25112290e-02 7.55565172e-05 9.99746587e-01 4.07530501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.379254154 meters 0.017320283693110554 Centerline is valid? [True, True] Translation: X:928.54, Y:36.04, Z:4.08 [[ 9.04573782e-01 -4.25763468e-01 -2.17196537e-02 9.28536604e+02] [ 4.25638402e-01 9.04834494e-01 -1.03193663e-02 3.60376703e+01] [ 2.40463010e-02 8.99095105e-05 9.99710842e-01 4.07594814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.439254154 meters 0.014714032045306007 Centerline is valid? [True, True] Translation: X:928.59, Y:36.06, Z:4.08 [[ 9.05091839e-01 -4.24790874e-01 -1.90125144e-02 9.28589199e+02] [ 4.24694711e-01 9.05291501e-01 -9.03884907e-03 3.60637028e+01] [ 2.10514883e-02 1.06474212e-04 9.99778387e-01 4.07749591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.499254154 meters 0.0158577274202161 Centerline is valid? [True, True] Translation: X:928.64, Y:36.09, Z:4.08 [[ 9.06427016e-01 -4.21916174e-01 -1.94115299e-02 9.28639883e+02] [ 4.21815139e-01 9.06634827e-01 -9.23470512e-03 3.60936460e+01] [ 2.14954405e-02 1.82509036e-04 9.99768930e-01 4.07798098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.559254154 meters 0.015164546042568583 Centerline is valid? [True, True] Translation: X:928.69, Y:36.12, Z:4.08 [[ 9.08244261e-01 -4.17971769e-01 -1.97980582e-02 9.28691223e+02] [ 4.17865592e-01 9.08459970e-01 -9.42491635e-03 3.61226137e+01] [ 2.19250924e-02 2.87198856e-04 9.99759575e-01 4.07658970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.6192541539999 meters 0.015573288962178607 Centerline is valid? [True, True] Translation: X:928.74, Y:36.15, Z:4.08 [[ 9.09181884e-01 -4.15936870e-01 -1.96168548e-02 9.28743306e+02] [ 4.15832020e-01 9.09393427e-01 -9.34484462e-03 3.61510404e+01] [ 2.17263042e-02 3.38847096e-04 9.99763899e-01 4.07621470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.679254154 meters 0.016143642725926586 Centerline is valid? [True, True] Translation: X:928.79, Y:36.18, Z:4.08 [[ 9.10741342e-01 -4.12618090e-01 -1.72197242e-02 9.28793977e+02] [ 4.12536608e-01 9.10904042e-01 -8.20816379e-03 3.61812262e+01] [ 1.90723533e-02 3.71747486e-04 9.99818037e-01 4.07855060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.7392541539999 meters 0.018287868172911007 Centerline is valid? [True, True] Translation: X:928.85, Y:36.21, Z:4.08 [[ 9.10769981e-01 -4.12585025e-01 -1.64814406e-02 9.28846180e+02] [ 4.12510271e-01 9.10919023e-01 -7.86196379e-03 3.62073149e+01] [ 1.82569863e-02 3.61677069e-04 9.99833262e-01 4.08028593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.799254154 meters 0.018503640759870654 Centerline is valid? [True, True] Translation: X:928.90, Y:36.23, Z:4.08 [[ 9.10547973e-01 -4.13122693e-01 -1.52325012e-02 9.28899093e+02] [ 4.13058833e-01 9.10675316e-01 -7.27107650e-03 3.62339033e+01] [ 1.68757095e-02 3.28744817e-04 9.99857541e-01 4.08165761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.8592541539999 meters 0.017667706811079334 Centerline is valid? [True, True] Translation: X:928.95, Y:36.26, Z:4.08 [[ 9.09828313e-01 -4.14756494e-01 -1.37656152e-02 9.28951573e+02] [ 4.14704464e-01 9.09932402e-01 -6.57505527e-03 3.62608457e+01] [ 1.52528262e-02 2.73509386e-04 9.99883631e-01 4.08126493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.919254154 meters 0.01644086977952693 Centerline is valid? [True, True] Translation: X:929.00, Y:36.29, Z:4.08 [[ 9.09061341e-01 -4.16445725e-01 -1.34326786e-02 9.29004636e+02] [ 4.16396305e-01 9.09160546e-01 -6.42013860e-03 3.62861681e+01] [ 1.48861007e-02 2.42982050e-04 9.99889166e-01 4.08043191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.9792541539999 meters 0.014911328515945543 Centerline is valid? [True, True] Translation: X:929.06, Y:36.31, Z:4.08 [[ 9.07126070e-01 -4.20620244e-01 -1.41740441e-02 9.29060010e+02] [ 4.20565659e-01 9.07236780e-01 -6.77870998e-03 3.63080354e+01] [ 1.57104768e-02 1.88028340e-04 9.99876565e-01 4.08015225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.039254154 meters 0.015994153898907765 Centerline is valid? [True, True] Translation: X:929.11, Y:36.33, Z:4.08 [[ 9.05030446e-01 -4.25075093e-01 -1.52005978e-02 9.29113878e+02] [ 4.25012863e-01 9.05158080e-01 -7.27434002e-03 3.63313612e+01] [ 1.68510847e-02 1.23049610e-04 9.99858003e-01 4.07938993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.0992541539999 meters 0.014244713125047019 Centerline is valid? [True, True] Translation: X:929.17, Y:36.35, Z:4.08 [[ 9.03612339e-01 -4.28125988e-01 -1.38881404e-02 9.29167981e+02] [ 4.28074337e-01 9.03719057e-01 -6.65038638e-03 3.63546920e+01] [ 1.53981804e-02 6.42146822e-05 9.99881439e-01 4.08073542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.159254154 meters 0.014003572149579792 Centerline is valid? [True, True] Translation: X:929.22, Y:36.38, Z:4.08 [[ 9.01582317e-01 -4.32438089e-01 -1.21088861e-02 9.29222116e+02] [ 4.32399165e-01 9.01663629e-01 -5.80194922e-03 3.63776994e+01] [ 1.34271260e-02 -4.93740915e-06 9.99909852e-01 4.08226086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.2192541539999 meters 0.014470091229442556 Centerline is valid? [True, True] Translation: X:929.28, Y:36.40, Z:4.08 [[ 8.99742316e-01 -4.36269715e-01 -1.15108667e-02 9.29275609e+02] [ 4.36234805e-01 8.99815944e-01 -5.51929438e-03 3.64013278e+01] [ 1.27655623e-02 -5.54979635e-05 9.99918515e-01 4.08315724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.279254154 meters 0.016190791673730786 Centerline is valid? [True, True] Translation: X:929.33, Y:36.42, Z:4.08 [[ 8.96725231e-01 -4.42431237e-01 -1.17669249e-02 9.29330097e+02] [ 4.42395234e-01 8.96802420e-01 -5.64595643e-03 3.64247280e+01] [ 1.30505542e-02 -1.42759928e-04 9.99914828e-01 4.08357483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.339254154 meters 0.015212849665843044 Centerline is valid? [True, True] Translation: X:929.38, Y:36.45, Z:4.08 [[ 8.95390773e-01 -4.45136880e-01 -1.13367262e-02 9.29383128e+02] [ 4.45103634e-01 8.95462522e-01 -5.44298991e-03 3.64502043e+01] [ 1.25744889e-02 -1.72415069e-04 9.99920923e-01 4.08488013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.399254154 meters 0.01650250778047503 Centerline is valid? [True, True] Translation: X:929.43, Y:36.48, Z:4.08 [[ 8.94894591e-01 -4.46123187e-01 -1.17376591e-02 9.29433619e+02] [ 4.46087585e-01 8.94971545e-01 -5.63916961e-03 3.64806803e+01] [ 1.30206352e-02 -1.89561613e-04 9.99915210e-01 4.08414269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.459254154 meters 0.015107681652710465 Centerline is valid? [True, True] Translation: X:929.48, Y:36.51, Z:4.08 [[ 8.94687499e-01 -4.46554369e-01 -1.11119462e-02 9.29484937e+02] [ 4.46522449e-01 8.94756482e-01 -5.34230884e-03 3.65090659e+01] [ 1.23281173e-02 -1.82036501e-04 9.99923989e-01 4.08496129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.519254154 meters 0.01616904158430754 Centerline is valid? [True, True] Translation: X:929.54, Y:36.54, Z:4.09 [[ 8.93773884e-01 -4.48404372e-01 -1.00877885e-02 9.29536325e+02] [ 4.48378146e-01 8.93830792e-01 -4.85315512e-03 3.65377661e+01] [ 1.11929520e-02 -1.85520620e-04 9.99937340e-01 4.08629810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.579254154 meters 0.015229275303633973 Centerline is valid? [True, True] Translation: X:929.59, Y:36.57, Z:4.09 [[ 8.93229315e-01 -4.49506642e-01 -9.22869072e-03 9.29587177e+02] [ 4.49484724e-01 8.93276970e-01 -4.44265273e-03 3.65670682e+01] [ 1.02407788e-02 -1.79847844e-04 9.99947546e-01 4.08700258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.639254154 meters 0.01719022233530953 Centerline is valid? [True, True] Translation: X:929.64, Y:36.59, Z:4.09 [[ 8.92664700e-01 -4.50615678e-01 -9.75932339e-03 9.29637939e+02] [ 4.50591207e-01 8.92718024e-01 -4.70037661e-03 3.65943713e+01] [ 1.08303873e-02 -2.01605037e-04 9.99941329e-01 4.08533735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.699254154 meters 0.016702786846472924 Centerline is valid? [True, True] Translation: X:929.69, Y:36.62, Z:4.08 [[ 8.91754570e-01 -4.52404841e-01 -1.01807515e-02 9.29688789e+02] [ 4.52378299e-01 8.91812652e-01 -4.90591195e-03 3.66237246e+01] [ 1.12987813e-02 -2.30681626e-04 9.99936140e-01 4.08390512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.759254154 meters 0.016831675881079585 Centerline is valid? [True, True] Translation: X:929.74, Y:36.65, Z:4.08 [[ 8.89716639e-01 -4.56419149e-01 -9.26621796e-03 9.29739329e+02] [ 4.56397351e-01 8.89764854e-01 -4.46796669e-03 3.66541951e+01] [ 1.02840206e-02 -2.53853022e-04 9.99947086e-01 4.08485391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.819254154 meters 0.017243738681375936 Centerline is valid? [True, True] Translation: X:929.79, Y:36.69, Z:4.09 [[ 8.87595455e-01 -4.60564233e-01 -7.40915440e-03 9.29789911e+02] [ 4.60550430e-01 8.87626346e-01 -3.57375860e-03 3.66857650e+01] [ 8.22250603e-03 -2.40237356e-04 9.99966166e-01 4.08591344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.879254154 meters 0.020840619116989048 Centerline is valid? [True, True] Translation: X:929.84, Y:36.71, Z:4.09 [[ 8.85781743e-01 -4.64052963e-01 -6.74915747e-03 9.29841281e+02] [ 4.64041607e-01 8.85807421e-01 -3.25584527e-03 3.67143678e+01] [ 7.48933841e-03 -2.47921581e-04 9.99971924e-01 4.08570982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.939254154 meters 0.018658053787393474 Centerline is valid? [True, True] Translation: X:929.89, Y:36.75, Z:4.09 [[ 8.85350705e-01 -4.64872339e-01 -6.91654167e-03 9.29891470e+02] [ 4.64860429e-01 8.85377683e-01 -3.33778902e-03 3.67466620e+01] [ 7.67539742e-03 -2.60112666e-04 9.99970510e-01 4.08632105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.999254154 meters 0.020971739077272372 Centerline is valid? [True, True] Translation: X:929.94, Y:36.78, Z:4.08 [[ 8.86066617e-01 -4.63491714e-01 -7.83463125e-03 9.29939677e+02] [ 4.63476355e-01 8.86101210e-01 -3.78343959e-03 3.67813442e+01] [ 8.69586912e-03 -2.78786814e-04 9.99962151e-01 4.08332052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.059254154 meters 0.01772251155249774 Centerline is valid? [True, True] Translation: X:929.99, Y:36.82, Z:4.08 [[ 8.87559535e-01 -4.60611916e-01 -8.64498043e-03 9.29989224e+02] [ 4.60593060e-01 8.87601593e-01 -4.17680543e-03 3.68152251e+01] [ 9.59718475e-03 -2.74654507e-04 9.99953908e-01 4.08413532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.1192541539999 meters 0.0170220862013352 Centerline is valid? [True, True] Translation: X:930.04, Y:36.85, Z:4.08 [[ 8.89834401e-01 -4.56205118e-01 -8.46343986e-03 9.30036739e+02] [ 4.56186836e-01 8.89874621e-01 -4.09018113e-03 3.68500258e+01] [ 9.39736191e-03 -2.21325970e-04 9.99955819e-01 4.08424424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.179254154 meters 0.0172601466085833 Centerline is valid? [True, True] Translation: X:930.09, Y:36.89, Z:4.08 [[ 8.92502670e-01 -4.50982986e-01 -7.30280408e-03 9.30085093e+02] [ 4.50969193e-01 8.92532535e-01 -3.53003290e-03 3.68865615e+01] [ 8.10997502e-03 -1.42775875e-04 9.99967103e-01 4.08371814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.2392541539999 meters 0.017698355599620155 Centerline is valid? [True, True] Translation: X:930.13, Y:36.92, Z:4.08 [[ 8.96192121e-01 -4.43629072e-01 -5.73841847e-03 9.30131839e+02] [ 4.43620401e-01 8.96210490e-01 -2.77432163e-03 3.69239838e+01] [ 6.37360056e-03 -5.93543203e-05 9.99979687e-01 4.08344886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.299254154 meters 0.014665177265032327 Centerline is valid? [True, True] Translation: X:930.18, Y:36.96, Z:4.09 [[ 9.01304345e-01 -4.33160546e-01 -4.73487761e-03 9.30178508e+02] [ 4.33154494e-01 9.01316782e-01 -2.28963442e-03 3.69621787e+01] [ 5.25940394e-03 1.27239353e-05 9.99986169e-01 4.08599312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.3592541539999 meters 0.015741955136141437 Centerline is valid? [True, True] Translation: X:930.23, Y:36.99, Z:4.09 [[ 9.03119594e-01 -4.29364451e-01 -4.60085358e-03 9.30228468e+02] [ 4.29358682e-01 9.03131312e-01 -2.22606728e-03 3.69923288e+01] [ 5.11096909e-03 3.49885474e-05 9.99986938e-01 4.08582025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.419254154 meters 0.021556088048250915 Centerline is valid? [True, True] Translation: X:930.28, Y:37.03, Z:4.08 [[ 9.08316083e-01 -4.18267917e-01 -3.72070987e-03 9.30276816e+02] [ 4.18264049e-01 9.08323700e-01 -1.80055318e-03 3.70299950e+01] [ 4.13272258e-03 7.92322324e-05 9.99991457e-01 4.08288476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.4792541539999 meters 0.024728185890333078 Centerline is valid? [True, True] Translation: X:930.33, Y:37.06, Z:4.08 [[ 9.12017262e-01 -4.10129131e-01 -4.31398624e-03 9.30325670e+02] [ 4.10123839e-01 9.12027455e-01 -2.08787989e-03 3.70647183e+01] [ 4.79077426e-03 1.34913906e-04 9.99988515e-01 4.08155603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.539254154 meters 0.025104380082131887 Centerline is valid? [True, True] Translation: X:930.38, Y:37.09, Z:4.08 [[ 9.13062497e-01 -4.07795089e-01 -4.47680973e-03 9.30378148e+02] [ 4.07789360e-01 9.13073459e-01 -2.16703824e-03 3.70916814e+01] [ 4.97136370e-03 1.53045971e-04 9.99987631e-01 4.08094918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.5992541539999 meters 0.026969829205181 Centerline is valid? [True, True] Translation: X:930.43, Y:37.12, Z:4.08 [[ 9.12987444e-01 -4.07950672e-01 -5.49328457e-03 9.30428729e+02] [ 4.07942037e-01 9.13003951e-01 -2.66085176e-03 3.71172928e+01] [ 6.10088678e-03 1.88382546e-04 9.99981372e-01 4.07914246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.659254154 meters 0.025229959122259144 Centerline is valid? [True, True] Translation: X:930.48, Y:37.14, Z:4.08 [[ 9.12499025e-01 -4.09024565e-01 -6.66585176e-03 9.30483231e+02] [ 4.09011868e-01 9.12523345e-01 -3.23040370e-03 3.71403172e+01] [ 7.40405982e-03 2.21327744e-04 9.99972565e-01 4.07820436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.7192541539999 meters 0.025540762223411735 Centerline is valid? [True, True] Translation: X:930.54, Y:37.16, Z:4.08 [[ 9.12021296e-01 -4.10077782e-01 -7.30538035e-03 9.30537106e+02] [ 4.10062547e-01 9.12050523e-01 -3.54268166e-03 3.71635051e+01] [ 8.11565101e-03 2.35338241e-04 9.99967040e-01 4.07779350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.779254154 meters 0.026598051505519235 Centerline is valid? [True, True] Translation: X:930.59, Y:37.18, Z:4.08 [[ 9.11772762e-01 -4.10648458e-01 -6.18660828e-03 9.30592442e+02] [ 4.10637533e-01 9.11793730e-01 -3.00183964e-03 3.71843783e+01] [ 6.87361146e-03 1.96542062e-04 9.99976357e-01 4.07955505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.839254154 meters 0.02497996073367971 Centerline is valid? [True, True] Translation: X:930.65, Y:37.21, Z:4.08 [[ 9.12642462e-01 -4.08737588e-01 -4.16190065e-03 9.30647235e+02] [ 4.08732620e-01 9.12651940e-01 -2.02029143e-03 3.72067527e+01] [ 4.62413575e-03 1.42699186e-04 9.99989298e-01 4.08258679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.899254154 meters 0.026075738617810443 Centerline is valid? [True, True] Translation: X:930.70, Y:37.23, Z:4.08 [[ 9.13366073e-01 -4.07108926e-01 -4.97387065e-03 9.30702746e+02] [ 4.07101797e-01 9.13379598e-01 -2.41618677e-03 3.72275320e+01] [ 5.52668318e-03 1.81991345e-04 9.99984711e-01 4.08161777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.959254154 meters 0.026287584274434492 Centerline is valid? [True, True] Translation: X:930.76, Y:37.25, Z:4.08 [[ 9.13664378e-01 -4.06420160e-01 -6.32912818e-03 9.30757394e+02] [ 4.06408584e-01 9.13686268e-01 -3.07683691e-03 3.72504491e+01] [ 7.03332606e-03 2.38984264e-04 9.99975237e-01 4.08075083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.019254154 meters 0.025250652434484513 Centerline is valid? [True, True] Translation: X:930.81, Y:37.27, Z:4.08 [[ 9.14804987e-01 -4.03802702e-01 -8.67254196e-03 9.30811560e+02] [ 4.03780829e-01 9.14846025e-01 -4.21805111e-03 3.72731849e+01] [ 9.63730098e-03 3.56888012e-04 9.99953496e-01 4.08057956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.079254154 meters 0.024901108181209462 Centerline is valid? [True, True] Translation: X:930.87, Y:37.29, Z:4.08 [[ 9.15118085e-01 -4.03032183e-01 -1.11332743e-02 9.30866456e+02] [ 4.02996059e-01 9.15185685e-01 -5.41639978e-03 3.72936447e+01] [ 1.23719967e-02 4.69979739e-04 9.99923353e-01 4.07944273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.139254154 meters 0.028885797476335722 Centerline is valid? [True, True] Translation: X:930.92, Y:37.32, Z:4.08 [[ 9.14411232e-01 -4.04532670e-01 -1.43324070e-02 9.30920773e+02] [ 4.04472954e-01 9.14523363e-01 -6.97477554e-03 3.73150288e+01] [ 1.59288456e-02 5.80742099e-04 9.99872959e-01 4.07584413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.199254154 meters 0.02135524365038215 Centerline is valid? [True, True] Translation: X:930.98, Y:37.33, Z:4.08 [[ 9.11955790e-01 -4.10051985e-01 -1.39286113e-02 9.30981435e+02] [ 4.09996179e-01 9.12062029e-01 -6.78142160e-03 3.73261159e+01] [ 1.54844928e-02 4.73679301e-04 9.99879996e-01 4.08029144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.259254154 meters 0.019523445217134505 Centerline is valid? [True, True] Translation: X:931.04, Y:37.34, Z:4.08 [[ 9.07563726e-01 -4.19686610e-01 -1.38286512e-02 9.31041974e+02] [ 4.19632657e-01 9.07669021e-01 -6.73652745e-03 3.73381551e+01] [ 1.53790687e-02 3.10874290e-04 9.99881687e-01 4.08239229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.319254154 meters 0.017006802502107777 Centerline is valid? [True, True] Translation: X:931.10, Y:37.35, Z:4.08 [[ 9.04109081e-01 -4.27120148e-01 -1.24558729e-02 9.31099019e+02] [ 4.27077054e-01 9.04194863e-01 -6.06952041e-03 3.73540881e+01] [ 1.38549507e-02 1.67891020e-04 9.99904001e-01 4.08484383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.379254154 meters 0.016105045958437307 Centerline is valid? [True, True] Translation: X:931.16, Y:37.37, Z:4.09 [[ 8.98917054e-01 -4.37934586e-01 -1.27054446e-02 9.31158569e+02] [ 4.37890778e-01 8.99006840e-01 -6.19422583e-03 3.73656191e+01] [ 1.41349474e-02 4.49820755e-06 9.99900097e-01 4.08621633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.439254154 meters 0.01783175280307922 Centerline is valid? [True, True] Translation: X:931.22, Y:37.38, Z:4.08 [[ 8.94824130e-01 -4.46172221e-01 -1.48366608e-02 9.31215982e+02] [ 4.46113529e-01 8.94947110e-01 -7.23809163e-03 3.73814863e+01] [ 1.65074621e-02 -1.42016076e-04 9.99863732e-01 4.08412757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.499254154 meters 0.01688208272604158 Centerline is valid? [True, True] Translation: X:931.27, Y:37.40, Z:4.08 [[ 8.92017679e-01 -4.51738758e-01 -1.53803448e-02 9.31272012e+02] [ 4.51676466e-01 8.92150229e-01 -7.50592226e-03 3.74001023e+01] [ 1.71122942e-02 -2.51524445e-04 9.99853542e-01 4.08483478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.559254154 meters 0.017478491171932446 Centerline is valid? [True, True] Translation: X:931.33, Y:37.42, Z:4.08 [[ 8.90658488e-01 -4.54411743e-01 -1.54086249e-02 9.31325817e+02] [ 4.54349575e-01 8.90791714e-01 -7.52244297e-03 3.74208724e+01] [ 1.71441618e-02 -3.00974489e-04 9.99852983e-01 4.08424941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.6192541539999 meters 0.019484287898986794 Centerline is valid? [True, True] Translation: X:931.38, Y:37.44, Z:4.08 [[ 8.89192934e-01 -4.57318439e-01 -1.39918391e-02 9.31380496e+02] [ 4.57267509e-01 8.89302952e-01 -6.83259227e-03 3.74414700e+01] [ 1.55676542e-02 -3.22520628e-04 9.99878765e-01 4.08392615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.679254154 meters 0.01895037297967621 Centerline is valid? [True, True] Translation: X:931.43, Y:37.46, Z:4.09 [[ 8.88586747e-01 -4.58560129e-01 -1.16704879e-02 9.31433705e+02] [ 4.58524764e-01 8.88663337e-01 -5.70208297e-03 3.74639043e+01] [ 1.29858826e-02 -2.84412338e-04 9.99915639e-01 4.08618679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.7392541539999 meters 0.017292342339158464 Centerline is valid? [True, True] Translation: X:931.49, Y:37.49, Z:4.09 [[ 8.89918260e-01 -4.55990676e-01 -1.08625317e-02 9.31486351e+02] [ 4.55959805e-01 8.89984523e-01 -5.31076038e-03 3.74908988e+01] [ 1.20891423e-02 -2.26735188e-04 9.99926898e-01 4.08793610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.799254154 meters 0.01661401255150967 Centerline is valid? [True, True] Translation: X:931.54, Y:37.52, Z:4.09 [[ 8.92248065e-01 -4.51410558e-01 -1.10407907e-02 9.31536597e+02] [ 4.51378290e-01 8.92316357e-01 -5.39993501e-03 3.75192879e+01] [ 1.22894658e-02 -1.65491654e-04 9.99924468e-01 4.08718485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.8592541539999 meters 0.01520297970030446 Centerline is valid? [True, True] Translation: X:931.59, Y:37.55, Z:4.09 [[ 8.96399091e-01 -4.43079663e-01 -1.22098810e-02 9.31585956e+02] [ 4.43039381e-01 8.96482242e-01 -5.97476855e-03 3.75521655e+01] [ 1.35932399e-02 -5.36810097e-05 9.99907606e-01 4.08640480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.919254154 meters 0.015016659401512311 Centerline is valid? [True, True] Translation: X:931.64, Y:37.58, Z:4.08 [[ 8.99424534e-01 -4.36857553e-01 -1.38197715e-02 9.31636670e+02] [ 4.36805142e-01 8.99530698e-01 -6.76698248e-03 3.75817388e+01] [ 1.53875161e-02 4.98428353e-05 9.99881604e-01 4.08466453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.9792541539999 meters 0.01559888762098833 Centerline is valid? [True, True] Translation: X:931.69, Y:37.61, Z:4.08 [[ 9.00517214e-01 -4.34579247e-01 -1.44784814e-02 9.31687367e+02] [ 4.34521386e-01 9.00633593e-01 -7.09194337e-03 3.76094747e+01] [ 1.61218181e-02 9.52072836e-05 9.99870031e-01 4.08250036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.039254154 meters 0.014966434715034593 Centerline is valid? [True, True] Translation: X:931.74, Y:37.63, Z:4.09 [[ 9.02267673e-01 -4.30949175e-01 -1.39948052e-02 9.31740354e+02] [ 4.30894623e-01 9.02376187e-01 -6.85859856e-03 3.76342480e+01] [ 1.55842863e-02 1.58005471e-04 9.99878545e-01 4.08702826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.0992541539999 meters 0.01506309179393247 Centerline is valid? [True, True] Translation: X:931.79, Y:37.66, Z:4.09 [[ 9.03155482e-01 -4.29090264e-01 -1.38463235e-02 9.31793567e+02] [ 4.29036576e-01 9.03261595e-01 -6.79024576e-03 3.76591718e+01] [ 1.54204805e-02 1.92068477e-04 9.99881079e-01 4.08907808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.159254154 meters 0.015591640032361442 Centerline is valid? [True, True] Translation: X:931.85, Y:37.69, Z:4.09 [[ 9.04759507e-01 -4.25664377e-01 -1.48348548e-02 9.31846606e+02] [ 4.25602209e-01 9.04881077e-01 -7.27983390e-03 3.76856897e+01] [ 1.65225454e-02 2.72751958e-04 9.99863456e-01 4.08913760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.2192541539999 meters 0.016311480472391837 Centerline is valid? [True, True] Translation: X:931.90, Y:37.71, Z:4.09 [[ 9.06038647e-01 -4.22880394e-01 -1.63138718e-02 9.31899264e+02] [ 4.22804663e-01 9.06185435e-01 -8.01088459e-03 3.77119826e+01] [ 1.81710390e-02 3.60589981e-04 9.99834828e-01 4.08808532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.279254154 meters 0.016834364589223327 Centerline is valid? [True, True] Translation: X:931.95, Y:37.74, Z:4.09 [[ 9.07330871e-01 -4.20025189e-01 -1.81529764e-02 9.31952726e+02] [ 4.19930800e-01 9.07512326e-01 -8.91632059e-03 3.77371953e+01] [ 2.02191291e-02 4.67059015e-04 9.99795463e-01 4.08770297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.339254154 meters 0.016919044049798035 Centerline is valid? [True, True] Translation: X:932.01, Y:37.76, Z:4.09 [[ 9.07647050e-01 -4.19283747e-01 -1.94415247e-02 9.32006967e+02] [ 4.19175196e-01 9.07855091e-01 -9.55449124e-03 3.77605315e+01] [ 2.16561300e-02 5.22700864e-04 9.99765342e-01 4.08794441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.399254154 meters 0.01591316658447707 Centerline is valid? [True, True] Translation: X:932.06, Y:37.78, Z:4.09 [[ 9.05511431e-01 -4.23895390e-01 -1.90196133e-02 9.32063775e+02] [ 4.23792460e-01 9.05711065e-01 -9.34974272e-03 3.77785241e+01] [ 2.11895870e-02 4.05930218e-04 9.99775393e-01 4.08979218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.459254154 meters 0.014124629924770026 Centerline is valid? [True, True] Translation: X:932.12, Y:37.79, Z:4.09 [[ 9.00394908e-01 -4.34727114e-01 -1.73593193e-02 9.32121909e+02] [ 4.34643339e-01 9.00562223e-01 -8.53524942e-03 3.77914398e+01] [ 1.93436515e-02 1.39982623e-04 9.99812884e-01 4.09171934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.519254154 meters 0.014346903827662605 Centerline is valid? [True, True] Translation: X:932.18, Y:37.80, Z:4.09 [[ 8.93556662e-01 -4.48664594e-01 -1.60179404e-02 9.32182575e+02] [ 4.48595421e-01 8.93700208e-01 -7.87953555e-03 3.78026201e+01] [ 1.78505053e-02 -1.44763233e-04 9.99840657e-01 4.09373133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.579254154 meters 0.018144207573610033 Centerline is valid? [True, True] Translation: X:932.24, Y:37.82, Z:4.09 [[ 8.88034904e-01 -4.59481754e-01 -1.64476758e-02 9.32241395e+02] [ 4.59410627e-01 8.88187132e-01 -8.09287808e-03 3.78166858e+01] [ 1.83271438e-02 -3.69478855e-04 9.99831976e-01 4.09432245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.639254154 meters 0.017003123833225574 Centerline is valid? [True, True] Translation: X:932.29, Y:37.84, Z:4.10 [[ 8.87333618e-01 -4.60873649e-01 -1.53143544e-02 9.32294123e+02] [ 4.60812130e-01 8.87465686e-01 -7.53894663e-03 3.78419009e+01] [ 1.70654659e-02 -3.67479469e-04 9.99854307e-01 4.09531932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.699254154 meters 0.015825135792069036 Centerline is valid? [True, True] Translation: X:932.35, Y:37.87, Z:4.10 [[ 8.88937157e-01 -4.57691279e-01 -1.75904788e-02 9.32345660e+02] [ 4.57609378e-01 8.89111114e-01 -8.66509832e-03 3.78706665e+01] [ 1.96058301e-02 -3.46840207e-04 9.99807727e-01 4.09500135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.759254154 meters 0.0153081935819523 Centerline is valid? [True, True] Translation: X:932.40, Y:37.90, Z:4.09 [[ 8.90997430e-01 -4.53619228e-01 -1.87929548e-02 9.32397781e+02] [ 4.53524715e-01 8.91195558e-01 -9.26335345e-03 3.78988785e+01] [ 2.09502331e-02 -2.69445338e-04 9.99780483e-01 4.09430500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.819254154 meters 0.014546740819213583 Centerline is valid? [True, True] Translation: X:932.45, Y:37.93, Z:4.10 [[ 8.92938107e-01 -4.49807881e-01 -1.82867794e-02 9.32447666e+02] [ 4.49717476e-01 8.93125322e-01 -9.01944279e-03 3.79306112e+01] [ 2.03894022e-02 -1.70080094e-04 9.99792100e-01 4.09501763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.879254154 meters 0.014021292932403492 Centerline is valid? [True, True] Translation: X:932.50, Y:37.96, Z:4.10 [[ 8.94341855e-01 -4.47075721e-01 -1.66116086e-02 9.32498280e+02] [ 4.47000559e-01 8.94496110e-01 -8.19814163e-03 3.79609637e+01] [ 1.85242094e-02 -9.34571448e-05 9.99828408e-01 4.09579935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.939254154 meters 0.01353799778167151 Centerline is valid? [True, True] Translation: X:932.55, Y:37.99, Z:4.10 [[ 8.96580242e-01 -4.42640432e-01 -1.46053855e-02 9.32548433e+02] [ 4.42581670e-01 8.96699196e-01 -7.21232162e-03 3.79928505e+01] [ 1.62891026e-02 2.34916678e-06 9.99867324e-01 4.09836940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.999254154 meters 0.016135633077655094 Centerline is valid? [True, True] Translation: X:932.60, Y:38.02, Z:4.10 [[ 8.98735017e-01 -4.38206909e-01 -1.58137118e-02 9.32598769e+02] [ 4.38137246e-01 8.98874127e-01 -7.81397619e-03 3.80248351e+01] [ 1.76386748e-02 9.41178938e-05 9.99844422e-01 4.09801913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.059254154 meters 0.014941084182907969 Centerline is valid? [True, True] Translation: X:932.65, Y:38.06, Z:4.10 [[ 9.01995552e-01 -4.31516191e-01 -1.40641560e-02 9.32646878e+02] [ 4.31460231e-01 9.02105169e-01 -6.95220421e-03 3.80585957e+01] [ 1.56873365e-02 2.02733289e-04 9.99876926e-01 4.09722238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.1192541539999 meters 0.015257380320999077 Centerline is valid? [True, True] Translation: X:932.70, Y:38.09, Z:4.10 [[ 9.03656156e-01 -4.28012998e-01 -1.45060324e-02 9.32697981e+02] [ 4.27952984e-01 9.03772537e-01 -7.17245263e-03 3.80866783e+01] [ 1.61800566e-02 2.73531139e-04 9.99869057e-01 4.09829413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.179254154 meters 0.01635651956348283 Centerline is valid? [True, True] Translation: X:932.75, Y:38.12, Z:4.10 [[ 9.05003076e-01 -4.25192509e-01 -1.34447874e-02 9.32748504e+02] [ 4.25140623e-01 9.05102889e-01 -6.64915488e-03 3.81161450e+01] [ 1.49960868e-02 3.01580311e-04 9.99887507e-01 4.09785019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.2392541539999 meters 0.018849692980539116 Centerline is valid? [True, True] Translation: X:932.80, Y:38.14, Z:4.10 [[ 9.05524564e-01 -4.24047230e-01 -1.44640884e-02 9.32799535e+02] [ 4.23987007e-01 9.05640009e-01 -7.15483540e-03 3.81441802e+01] [ 1.61332453e-02 3.46293666e-04 9.99869791e-01 4.09590680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.299254154 meters 0.017474267624063428 Centerline is valid? [True, True] Translation: X:932.85, Y:38.17, Z:4.09 [[ 9.05773637e-01 -4.23503905e-01 -1.47838066e-02 9.32852008e+02] [ 4.23440857e-01 9.05894203e-01 -7.31662639e-03 3.81699998e+01] [ 1.64911846e-02 3.67139548e-04 9.99863944e-01 4.09476839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.3592541539999 meters 0.017113303343060257 Centerline is valid? [True, True] Translation: X:932.91, Y:38.19, Z:4.09 [[ 9.04710493e-01 -4.25724573e-01 -1.60471729e-02 9.32906096e+02] [ 4.25650551e-01 9.04852728e-01 -7.94667228e-03 3.81934519e+01] [ 1.79034218e-02 3.58949802e-04 9.99839656e-01 4.09306727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.419254154 meters 0.015946768576616664 Centerline is valid? [True, True] Translation: X:932.96, Y:38.21, Z:4.09 [[ 9.02798788e-01 -4.29787182e-01 -1.54053873e-02 9.32961549e+02] [ 4.29719518e-01 9.02930178e-01 -7.63089928e-03 3.82145252e+01] [ 1.71896517e-02 2.69171046e-04 9.99852211e-01 4.09274775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.4792541539999 meters 0.01610921902310698 Centerline is valid? [True, True] Translation: X:933.02, Y:38.24, Z:4.09 [[ 9.00405028e-01 -4.34767154e-01 -1.57577475e-02 9.33017191e+02] [ 4.34697054e-01 9.00542886e-01 -7.80912387e-03 3.82353168e+01] [ 1.75856780e-02 1.81527982e-04 9.99845344e-01 4.09234325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.539254154 meters 0.014764785965871031 Centerline is valid? [True, True] Translation: X:933.08, Y:38.25, Z:4.09 [[ 8.95380927e-01 -4.45074056e-01 -1.42155023e-02 9.33075369e+02] [ 4.45018267e-01 8.95493766e-01 -7.04686331e-03 3.82483639e+01] [ 1.58662698e-02 -1.65312028e-05 9.99874123e-01 4.09440487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.5992541539999 meters 0.01650146241123134 Centerline is valid? [True, True] Translation: X:933.13, Y:38.26, Z:4.10 [[ 8.89458494e-01 -4.56866888e-01 -1.16719497e-02 9.33134229e+02] [ 4.56830267e-01 8.89535054e-01 -5.78744615e-03 3.82607287e+01] [ 1.30267009e-02 -1.84406745e-04 9.99915132e-01 4.09743071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.659254154 meters 0.020680963456448605 Centerline is valid? [True, True] Translation: X:933.19, Y:38.28, Z:4.10 [[ 8.85842175e-01 -4.63838613e-01 -1.17209669e-02 9.33190310e+02] [ 4.63802278e-01 8.85919668e-01 -5.81278594e-03 3.82805496e+01] [ 1.30800296e-02 -2.87000187e-04 9.99914412e-01 4.09730381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.7192541539999 meters 0.02029663457602487 Centerline is valid? [True, True] Translation: X:933.24, Y:38.31, Z:4.10 [[ 8.86211484e-01 -4.63119046e-01 -1.22456225e-02 9.33242294e+02] [ 4.63079302e-01 8.86296038e-01 -6.07400616e-03 3.83059392e+01] [ 1.36662346e-02 -2.87840296e-04 9.99906571e-01 4.09739140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.779254154 meters 0.019605497962500412 Centerline is valid? [True, True] Translation: X:933.29, Y:38.34, Z:4.10 [[ 8.87262933e-01 -4.61068591e-01 -1.34254143e-02 9.33293915e+02] [ 4.61020541e-01 8.87364456e-01 -6.66210170e-03 3.83351434e+01] [ 1.49849213e-02 -2.78355854e-04 9.99887681e-01 4.09580163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.839254154 meters 0.01695066976269034 Centerline is valid? [True, True] Translation: X:933.34, Y:38.37, Z:4.09 [[ 8.90211076e-01 -4.55338805e-01 -1.38135434e-02 9.33343128e+02] [ 4.55287210e-01 8.90318223e-01 -6.85696039e-03 3.83698179e+01] [ 1.54206895e-02 -1.84987539e-04 9.99881077e-01 4.09421136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.899254154 meters 0.01586623063853601 Centerline is valid? [True, True] Translation: X:933.39, Y:38.41, Z:4.09 [[ 8.93554678e-01 -4.48760389e-01 -1.31966031e-02 9.33389844e+02] [ 4.48712561e-01 8.93652118e-01 -6.55201935e-03 3.84055482e+01] [ 1.47334591e-02 -6.68940266e-05 9.99891454e-01 4.09362663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.959254154 meters 0.01567346999717255 Centerline is valid? [True, True] Translation: X:933.44, Y:38.44, Z:4.09 [[ 8.95811979e-01 -4.44252781e-01 -1.26634910e-02 9.33439380e+02] [ 4.44208251e-01 8.95901483e-01 -6.28989696e-03 3.84377392e+01] [ 1.41395446e-02 9.33786220e-06 9.99900032e-01 4.09452831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.019254154 meters 0.016861177489274848 Centerline is valid? [True, True] Translation: X:933.49, Y:38.47, Z:4.10 [[ 8.98641300e-01 -4.38505705e-01 -1.25123882e-02 9.33486547e+02] [ 4.38461649e-01 8.98728400e-01 -6.21660217e-03 3.84722999e+01] [ 1.39712541e-02 1.00293092e-04 9.99902392e-01 4.09507751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.079254154 meters 0.013857185996439288 Centerline is valid? [True, True] Translation: X:933.54, Y:38.50, Z:4.10 [[ 8.99754798e-01 -4.36234603e-01 -1.18606234e-02 9.33539324e+02] [ 4.36194783e-01 8.99832959e-01 -5.89558313e-03 3.84990542e+01] [ 1.32444372e-02 1.31037152e-04 9.99912280e-01 4.09935469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.139254154 meters 0.01379650623324181 Centerline is valid? [True, True] Translation: X:933.59, Y:38.53, Z:4.10 [[ 8.99390019e-01 -4.36974979e-01 -1.22662890e-02 9.33590786e+02] [ 4.36932398e-01 8.99473653e-01 -6.10145760e-03 3.85251085e+01] [ 1.36993880e-02 1.28051015e-04 9.99906151e-01 4.09918789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.199254154 meters 0.013391463970416807 Centerline is valid? [True, True] Translation: X:933.64, Y:38.55, Z:4.10 [[ 8.96819136e-01 -4.42223742e-01 -1.23935052e-02 9.33644001e+02] [ 4.42180741e-01 8.96904766e-01 -6.16707659e-03 3.85478234e+01] [ 1.38430216e-02 5.05829879e-05 9.99904180e-01 4.09942199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.259254154 meters 0.015686964783246053 Centerline is valid? [True, True] Translation: X:933.70, Y:38.57, Z:4.10 [[ 8.92103104e-01 -4.51652302e-01 -1.27377580e-02 9.33699742e+02] [ 4.51607791e-01 8.92194031e-01 -6.34145996e-03 3.85687783e+01] [ 1.42286867e-02 -9.52346467e-05 9.99898763e-01 4.10014670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.319254154 meters 0.014923395985560485 Centerline is valid? [True, True] Translation: X:933.75, Y:38.59, Z:4.10 [[ 8.89026015e-01 -4.57694637e-01 -1.21804444e-02 9.33754381e+02] [ 4.57654451e-01 8.89109435e-01 -6.06766487e-03 3.85915621e+01] [ 1.36068857e-02 -1.80122674e-04 9.99907406e-01 4.10097077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.379254154 meters 0.01753476076697177 Centerline is valid? [True, True] Translation: X:933.81, Y:38.61, Z:4.10 [[ 8.84945884e-01 -4.65503259e-01 -1.33228200e-02 9.33809419e+02] [ 4.65456033e-01 8.85046106e-01 -6.63867138e-03 3.86139029e+01] [ 1.48816331e-02 -3.26322046e-04 9.99889209e-01 4.10020012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.439254154 meters 0.018296457362244098 Centerline is valid? [True, True] Translation: X:933.86, Y:38.64, Z:4.10 [[ 8.82943157e-01 -4.69255082e-01 -1.45275720e-02 9.33863598e+02] [ 4.69199418e-01 8.83062562e-01 -7.23997509e-03 3.86378456e+01] [ 1.62261501e-02 -4.23841876e-04 9.99868258e-01 4.09948553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.499254154 meters 0.018296862475977855 Centerline is valid? [True, True] Translation: X:933.92, Y:38.66, Z:4.10 [[ 8.82958921e-01 -4.69187792e-01 -1.56958318e-02 9.33916902e+02] [ 4.69122737e-01 8.83098302e-01 -7.82607976e-03 3.86634118e+01] [ 1.75328634e-02 -4.53164603e-04 9.99846185e-01 4.09808032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.559254154 meters 0.01849303478203374 Centerline is valid? [True, True] Translation: X:933.97, Y:38.69, Z:4.10 [[ 8.84000800e-01 -4.67216638e-01 -1.58492458e-02 9.33968644e+02] [ 4.67149933e-01 8.84142772e-01 -7.90567589e-03 3.86891602e+01] [ 1.77066594e-02 -4.15350292e-04 9.99843139e-01 4.09766220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.6192541539999 meters 0.01650183537573729 Centerline is valid? [True, True] Translation: X:934.02, Y:38.72, Z:4.10 [[ 8.86795265e-01 -4.61924430e-01 -1.48317188e-02 9.34019938e+02] [ 4.61865242e-01 8.86919240e-01 -7.39996323e-03 3.87196666e+01] [ 1.65727606e-02 -2.88003044e-04 9.99862621e-01 4.09886547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.679254154 meters 0.014925120096673633 Centerline is valid? [True, True] Translation: X:934.07, Y:38.75, Z:4.10 [[ 8.90705874e-01 -4.54368697e-01 -1.38612035e-02 9.34069713e+02] [ 4.54316059e-01 8.90813712e-01 -6.91733276e-03 3.87536966e+01] [ 1.54907696e-02 -1.36058417e-04 9.99880002e-01 4.10019504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.7392541539999 meters 0.013406735158291322 Centerline is valid? [True, True] Translation: X:934.12, Y:38.79, Z:4.10 [[ 8.95947832e-01 -4.44017765e-01 -1.12118954e-02 9.34118594e+02] [ 4.43982479e-01 8.96017981e-01 -5.59780957e-03 3.87876000e+01] [ 1.25315867e-02 3.74602503e-05 9.99921476e-01 4.10212554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.799254154 meters 0.013976628409271554 Centerline is valid? [True, True] Translation: X:934.17, Y:38.82, Z:4.10 [[ 8.99408440e-01 -4.36999310e-01 -9.80105459e-03 9.34168306e+02] [ 4.36971896e-01 8.99461833e-01 -4.89629469e-03 3.88198514e+01] [ 1.09553519e-02 1.20983363e-04 9.99939981e-01 4.10370506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.8592541539999 meters 0.01663208228017306 Centerline is valid? [True, True] Translation: X:934.22, Y:38.86, Z:4.10 [[ 9.04501640e-01 -4.26376096e-01 -8.95587879e-03 9.34216583e+02] [ 4.26352668e-01 9.04545948e-01 -4.47550548e-03 3.88559799e+01] [ 1.00092524e-02 2.29739231e-04 9.99949880e-01 4.10384781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.919254154 meters 0.01992277724320561 Centerline is valid? [True, True] Translation: X:934.26, Y:38.89, Z:4.10 [[ 9.07728251e-01 -4.19450925e-01 -9.50492626e-03 9.34264865e+02] [ 4.19424149e-01 9.07777955e-01 -4.75058521e-03 3.88898208e+01] [ 1.06209999e-02 3.25644801e-04 9.99943543e-01 4.10256476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.9792541539999 meters 0.021960043446742315 Centerline is valid? [True, True] Translation: X:934.32, Y:38.92, Z:4.10 [[ 9.08306863e-01 -4.18169278e-01 -1.06347899e-02 9.34316090e+02] [ 4.18135641e-01 9.08369038e-01 -5.31767242e-03 3.89192468e+01] [ 1.18840011e-02 3.83293681e-04 9.99929309e-01 4.10120388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.039254154 meters 0.018464058227606762 Centerline is valid? [True, True] Translation: X:934.37, Y:38.94, Z:4.10 [[ 9.06139970e-01 -4.22851949e-01 -1.03239392e-02 9.34372295e+02] [ 4.22820519e-01 9.06198725e-01 -5.16511779e-03 3.89405775e+01] [ 1.15396206e-02 3.15146367e-04 9.99933367e-01 4.10191335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.0992541539999 meters 0.0178663038489848 Centerline is valid? [True, True] Translation: X:934.43, Y:38.96, Z:4.10 [[ 9.03133317e-01 -4.29218099e-01 -1.10469757e-02 9.34428328e+02] [ 4.29182548e-01 9.03200841e-01 -5.52995609e-03 3.89613062e+01] [ 1.23511950e-02 2.53118421e-04 9.99923689e-01 4.10231925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.159254154 meters 0.017090069998491865 Centerline is valid? [True, True] Translation: X:934.49, Y:38.98, Z:4.10 [[ 8.97582044e-01 -4.40694593e-01 -1.16081900e-02 9.34485343e+02] [ 4.40656269e-01 8.97657098e-01 -5.81264946e-03 3.89786620e+01] [ 1.29817774e-02 1.02108064e-04 9.99915728e-01 4.10142934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.2192541539999 meters 0.013708531994624497 Centerline is valid? [True, True] Translation: X:934.54, Y:38.99, Z:4.10 [[ 8.91274127e-01 -4.53326869e-01 -1.11884157e-02 9.34544391e+02] [ 4.53292223e-01 8.91344346e-01 -5.60506327e-03 3.89933365e+01] [ 1.25136569e-02 -7.59739460e-05 9.99921698e-01 4.10285752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.279254154 meters 0.015610122512079648 Centerline is valid? [True, True] Translation: X:934.60, Y:39.01, Z:4.10 [[ 8.86981118e-01 -4.61660123e-01 -1.15942311e-02 9.34600909e+02] [ 4.61623603e-01 8.87056870e-01 -5.81017213e-03 3.90114860e+01] [ 1.29670671e-02 -1.98657739e-04 9.99915904e-01 4.10228986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.339254154 meters 0.019101437639456962 Centerline is valid? [True, True] Translation: X:934.66, Y:39.03, Z:4.10 [[ 8.80305743e-01 -4.74268734e-01 -1.14440553e-02 9.34658915e+02] [ 4.74234181e-01 8.80380046e-01 -5.73723513e-03 3.90284054e+01] [ 1.27961092e-02 -3.76641164e-04 9.99918056e-01 4.10341400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.399254154 meters 0.021740534126358367 Centerline is valid? [True, True] Translation: X:934.71, Y:39.05, Z:4.10 [[ 8.74739157e-01 -4.84453151e-01 -1.16855399e-02 9.34714683e+02] [ 4.84418000e-01 8.74817043e-01 -5.86022090e-03 3.90490566e+01] [ 1.30617120e-02 -5.34521191e-04 9.99914549e-01 4.10447212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.459254154 meters 0.025222394830860077 Centerline is valid? [True, True] Translation: X:934.77, Y:39.07, Z:4.10 [[ 8.71867272e-01 -4.89621537e-01 -1.08724217e-02 9.34768107e+02] [ 4.89591493e-01 8.71934876e-01 -5.45370983e-03 3.90719776e+01] [ 1.21502975e-02 -5.68134057e-04 9.99926021e-01 4.10492632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.519254154 meters 0.02377809332452869 Centerline is valid? [True, True] Translation: X:934.82, Y:39.10, Z:4.11 [[ 8.70890707e-01 -4.91342541e-01 -1.14840536e-02 9.34817805e+02] [ 4.91309132e-01 8.70966199e-01 -5.76341272e-03 3.91037196e+01] [ 1.28340323e-02 -6.22917825e-04 9.99917446e-01 4.10548436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.579254154 meters 0.022716287308800737 Centerline is valid? [True, True] Translation: X:934.87, Y:39.13, Z:4.11 [[ 8.71411535e-01 -4.90437699e-01 -1.06207636e-02 9.34868568e+02] [ 4.90409019e-01 8.71476075e-01 -5.33342252e-03 3.91331948e+01] [ 1.18714529e-02 -5.60912375e-04 9.99929374e-01 4.10600719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.639254154 meters 0.022211022172302537 Centerline is valid? [True, True] Translation: X:934.92, Y:39.17, Z:4.11 [[ 8.74151672e-01 -4.85548711e-01 -1.00649579e-02 9.34917140e+02] [ 4.85522611e-01 8.74209489e-01 -5.05600549e-03 3.91674797e+01] [ 1.12538187e-02 -4.67048982e-04 9.99936565e-01 4.10527599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.699254154 meters 0.01931324319956532 Centerline is valid? [True, True] Translation: X:934.96, Y:39.20, Z:4.11 [[ 8.78248335e-01 -4.78120594e-01 -8.97552985e-03 9.34964297e+02] [ 4.78099432e-01 8.78294136e-01 -4.51045814e-03 3.92049174e+01] [ 1.00396982e-02 -3.29893372e-04 9.99949547e-01 4.10634632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.759254154 meters 0.01707226632784891 Centerline is valid? [True, True] Translation: X:935.01, Y:39.24, Z:4.11 [[ 8.81070295e-01 -4.72904617e-01 -8.73828493e-03 9.35013401e+02] [ 4.72884278e-01 8.81113588e-01 -4.39370159e-03 3.92401383e+01] [ 9.77722336e-03 -2.61037605e-04 9.99952168e-01 4.10687494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.819254154 meters 0.014995516837458636 Centerline is valid? [True, True] Translation: X:935.06, Y:39.28, Z:4.11 [[ 8.87112862e-01 -4.61466708e-01 -8.90211650e-03 9.35057579e+02] [ 4.61445004e-01 8.87157516e-01 -4.47762523e-03 3.92828513e+01] [ 9.96385454e-03 -1.35678258e-04 9.99950350e-01 4.10506611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.879254154 meters 0.014051587405162994 Centerline is valid? [True, True] Translation: X:935.11, Y:39.32, Z:4.11 [[ 8.89652929e-01 -4.56551283e-01 -8.86517521e-03 9.35105874e+02] [ 4.56529496e-01 8.89697094e-01 -4.46084470e-03 3.93190638e+01] [ 9.92392500e-03 -7.86104226e-05 9.99950754e-01 4.10558379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.939254154 meters 0.013731420782269375 Centerline is valid? [True, True] Translation: X:935.15, Y:39.36, Z:4.11 [[ 8.92865101e-01 -4.50234357e-01 -8.99640354e-03 9.35153126e+02] [ 4.50211570e-01 8.92910423e-01 -4.52970931e-03 3.93550869e+01] [ 1.00724133e-02 -5.86560643e-06 9.99949272e-01 4.10518194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.999254154 meters 0.01379689179236465 Centerline is valid? [True, True] Translation: X:935.20, Y:39.39, Z:4.10 [[ 8.94627099e-01 -4.46714754e-01 -9.39589255e-03 9.35202411e+02] [ 4.46689672e-01 8.94676437e-01 -4.73389114e-03 3.93888044e+01] [ 1.05209827e-02 3.80191337e-05 9.99944652e-01 4.10489126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.059254154 meters 0.013500970384097349 Centerline is valid? [True, True] Translation: X:935.25, Y:39.42, Z:4.11 [[ 8.96385508e-01 -4.43180640e-01 -9.16198454e-03 9.35251570e+02] [ 4.43156585e-01 8.96432325e-01 -4.61815889e-03 3.94209448e+01] [ 1.02597777e-02 7.94569220e-05 9.99947364e-01 4.10559627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.1192541539999 meters 0.014292890403557459 Centerline is valid? [True, True] Translation: X:935.30, Y:39.45, Z:4.11 [[ 8.98781918e-01 -4.38282726e-01 -9.96576664e-03 9.35299167e+02] [ 4.38253947e-01 8.98837154e-01 -5.02474487e-03 3.94547188e+01] [ 1.11598602e-02 1.48613269e-04 9.99937716e-01 4.10573631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.179254154 meters 0.01532142983857441 Centerline is valid? [True, True] Translation: X:935.35, Y:39.48, Z:4.11 [[ 9.00063781e-01 -4.35625052e-01 -1.07705408e-02 9.35349696e+02] [ 4.35591214e-01 9.00128199e-01 -5.43319015e-03 3.94849883e+01] [ 1.20617012e-02 1.98664728e-04 9.99927235e-01 4.10535725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.2392541539999 meters 0.01577027497187584 Centerline is valid? [True, True] Translation: X:935.40, Y:39.52, Z:4.10 [[ 9.01720358e-01 -4.32139640e-01 -1.24791237e-02 9.35400171e+02] [ 4.32093831e-01 9.01806658e-01 -6.29860226e-03 3.95171992e+01] [ 1.39756325e-02 2.87425528e-04 9.99902295e-01 4.10455492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.299254154 meters 0.018513205486935243 Centerline is valid? [True, True] Translation: X:935.45, Y:39.54, Z:4.10 [[ 9.01033227e-01 -4.33524423e-01 -1.39892350e-02 9.35451720e+02] [ 4.33466948e-01 9.01141767e-01 -7.06551643e-03 3.95437646e+01] [ 1.56693579e-02 3.02394063e-04 9.99877182e-01 4.10249408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.3592541539999 meters 0.016171899544100556 Centerline is valid? [True, True] Translation: X:935.51, Y:39.57, Z:4.11 [[ 8.98927857e-01 -4.37906150e-01 -1.29194361e-02 9.35505712e+02] [ 4.37857550e-01 8.99020667e-01 -6.52734224e-03 3.95672779e+01] [ 1.44732033e-02 2.10737136e-04 9.99895235e-01 4.10523007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.419254154 meters 0.01389512684585748 Centerline is valid? [True, True] Translation: X:935.56, Y:39.59, Z:4.11 [[ 8.97146197e-01 -4.41578107e-01 -1.17250117e-02 9.35559623e+02] [ 4.41538354e-01 8.97222801e-01 -5.92671984e-03 3.95905155e+01] [ 1.31370576e-02 1.40091798e-04 9.99913695e-01 4.10805042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.4792541539999 meters 0.013658873331596405 Centerline is valid? [True, True] Translation: X:935.61, Y:39.61, Z:4.11 [[ 8.93860958e-01 -4.48205665e-01 -1.11475916e-02 9.35613838e+02] [ 4.48170220e-01 8.93930467e-01 -5.63686673e-03 3.96109694e+01] [ 1.24916474e-02 4.25565093e-05 9.99921975e-01 4.10901077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.539254154 meters 0.0131707119412315 Centerline is valid? [True, True] Translation: X:935.67, Y:39.63, Z:4.11 [[ 8.91089996e-01 -4.53678601e-01 -1.15908081e-02 9.35668633e+02] [ 4.53640699e-01 8.91165375e-01 -5.86428645e-03 3.96323130e+01] [ 1.29898281e-02 -3.24553117e-05 9.99915628e-01 4.11058474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.5992541539999 meters 0.016100888240488036 Centerline is valid? [True, True] Translation: X:935.72, Y:39.66, Z:4.11 [[ 8.89028410e-01 -4.57682108e-01 -1.24729329e-02 9.35722974e+02] [ 4.57638551e-01 8.89115898e-01 -6.31488104e-03 3.96560007e+01] [ 1.39800910e-02 -9.39862892e-05 9.99902269e-01 4.10786746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.659254154 meters 0.015979039394055882 Centerline is valid? [True, True] Translation: X:935.78, Y:39.68, Z:4.11 [[ 8.88318341e-01 -4.59062670e-01 -1.23284379e-02 9.35776861e+02] [ 4.59020195e-01 8.88403879e-01 -6.24564350e-03 3.96806127e+01] [ 1.38197738e-02 -1.10882302e-04 9.99904496e-01 4.10829559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.7192541539999 meters 0.013556496806911459 Centerline is valid? [True, True] Translation: X:935.83, Y:39.70, Z:4.11 [[ 8.88277967e-01 -4.59137420e-01 -1.24531918e-02 9.35830397e+02] [ 4.59094027e-01 8.88365250e-01 -6.31320872e-03 3.97042487e+01] [ 1.39616132e-02 -1.09301757e-04 9.99902526e-01 4.11049681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.779254154 meters 0.01333533199896745 Centerline is valid? [True, True] Translation: X:935.88, Y:39.73, Z:4.11 [[ 8.88818939e-01 -4.58101159e-01 -1.20092556e-02 9.35882828e+02] [ 4.58060657e-01 8.88900062e-01 -6.09214127e-03 3.97305491e+01] [ 1.34658450e-02 -8.61569643e-05 9.99909328e-01 4.11090017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.839254154 meters 0.014862689524334833 Centerline is valid? [True, True] Translation: X:935.93, Y:39.76, Z:4.11 [[ 8.90159221e-01 -4.55514295e-01 -1.11035019e-02 9.35934719e+02] [ 4.55479427e-01 8.90228468e-01 -5.63615551e-03 3.97574404e+01] [ 1.24520029e-02 -4.03408719e-05 9.99922470e-01 4.10977135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.899254154 meters 0.013427304268050047 Centerline is valid? [True, True] Translation: X:935.99, Y:39.78, Z:4.11 [[ 8.92742710e-01 -4.50436478e-01 -1.08366786e-02 9.35986515e+02] [ 4.50402845e-01 8.92808478e-01 -5.50450704e-03 3.97844304e+01] [ 1.21545093e-02 3.32376808e-05 9.99926131e-01 4.11143870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.959254154 meters 0.013818033771961393 Centerline is valid? [True, True] Translation: X:936.04, Y:39.81, Z:4.11 [[ 8.96893905e-01 -4.42106557e-01 -1.10957488e-02 9.36036380e+02] [ 4.42070627e-01 8.96962524e-01 -5.63840111e-03 3.98145112e+01] [ 1.24452450e-02 1.51942943e-04 9.99922543e-01 4.11161755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.019254154 meters 0.015418652315594823 Centerline is valid? [True, True] Translation: X:936.09, Y:39.85, Z:4.11 [[ 8.99999281e-01 -4.35742573e-01 -1.13887427e-02 9.36087699e+02] [ 4.35704199e-01 9.00071302e-01 -5.78816708e-03 3.98456903e+01] [ 1.27728313e-02 2.47223214e-04 9.99918393e-01 4.11066313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.079254154 meters 0.01804736481249314 Centerline is valid? [True, True] Translation: X:936.14, Y:39.88, Z:4.11 [[ 9.03968491e-01 -4.27448601e-01 -1.13428990e-02 9.36138753e+02] [ 4.27409871e-01 9.04039580e-01 -5.76549908e-03 3.98758616e+01] [ 1.27188841e-02 3.63762519e-04 9.99919046e-01 4.11065450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.139254154 meters 0.020689309262656764 Centerline is valid? [True, True] Translation: X:936.19, Y:39.90, Z:4.11 [[ 9.05162437e-01 -4.24929143e-01 -1.07789365e-02 9.36190175e+02] [ 4.24893974e-01 9.05226534e-01 -5.48019760e-03 3.99037443e+01] [ 1.20860750e-02 3.80563868e-04 9.99926888e-01 4.10965544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.199254154 meters 0.019042277491759928 Centerline is valid? [True, True] Translation: X:936.24, Y:39.93, Z:4.11 [[ 9.05423970e-01 -4.24383548e-01 -1.02975237e-02 9.36244527e+02] [ 4.24351384e-01 9.05482449e-01 -5.23810520e-03 3.99263586e+01] [ 1.15471927e-02 3.72937564e-04 9.99933259e-01 4.11240398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.259254154 meters 0.01860781345615452 Centerline is valid? [True, True] Translation: X:936.30, Y:39.95, Z:4.11 [[ 9.04473936e-01 -4.26388799e-01 -1.09312024e-02 9.36299151e+02] [ 4.26352659e-01 9.04539913e-01 -5.56383680e-03 3.99497967e+01] [ 1.22600665e-02 3.71798168e-04 9.99924773e-01 4.11186038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.319254154 meters 0.01873409223079586 Centerline is valid? [True, True] Translation: X:936.35, Y:39.97, Z:4.11 [[ 9.03819870e-01 -4.27738928e-01 -1.22086800e-02 9.36352954e+02] [ 4.27693917e-01 9.03902235e-01 -6.21793312e-03 3.99729770e+01] [ 1.36951052e-02 3.98313323e-04 9.99906138e-01 4.11069185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.379254154 meters 0.01918369504007532 Centerline is valid? [True, True] Translation: X:936.41, Y:40.00, Z:4.11 [[ 9.03428254e-01 -4.28550158e-01 -1.27338866e-02 9.36406668e+02] [ 4.28501214e-01 9.03517901e-01 -6.48946597e-03 3.99979399e+01] [ 1.42863561e-02 4.06281062e-04 9.99897862e-01 4.10897880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.439254154 meters 0.01760170723148244 Centerline is valid? [True, True] Translation: X:936.46, Y:40.02, Z:4.11 [[ 9.03171140e-01 -4.29075914e-01 -1.32571383e-02 9.36460863e+02] [ 4.29022851e-01 9.03268335e-01 -6.76083267e-03 4.00188915e+01] [ 1.48756637e-02 4.18573667e-04 9.99889264e-01 4.11012534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.499254154 meters 0.016915743583929756 Centerline is valid? [True, True] Translation: X:936.52, Y:40.04, Z:4.11 [[ 9.02568704e-01 -4.30331994e-01 -1.35687218e-02 9.36516649e+02] [ 4.30276478e-01 9.02670597e-01 -6.92434874e-03 4.00393137e+01] [ 1.52278550e-02 4.11398650e-04 9.99883965e-01 4.11068767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.559254154 meters 0.016740709131534005 Centerline is valid? [True, True] Translation: X:936.57, Y:40.06, Z:4.11 [[ 9.02127407e-01 -4.31270397e-01 -1.31143709e-02 9.36571193e+02] [ 4.31218574e-01 9.02222642e-01 -6.69670905e-03 4.00627004e+01] [ 1.47201748e-02 3.86124440e-04 9.99891578e-01 4.11116026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.6192541539999 meters 0.016531840850463213 Centerline is valid? [True, True] Translation: X:936.63, Y:40.08, Z:4.11 [[ 9.01688342e-01 -4.32221647e-01 -1.19407765e-02 9.36626555e+02] [ 4.32178717e-01 9.01767338e-01 -6.10119421e-03 4.00840771e+01] [ 1.34048704e-02 3.40826225e-04 9.99910093e-01 4.11258886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.679254154 meters 0.016571125687800087 Centerline is valid? [True, True] Translation: X:936.68, Y:40.11, Z:4.11 [[ 9.01192701e-01 -4.33271123e-01 -1.13070776e-02 9.36681932e+02] [ 4.33232666e-01 9.01263578e-01 -5.78098901e-03 4.01055155e+01] [ 1.26953928e-02 3.11189713e-04 9.99919362e-01 4.11343251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.7392541539999 meters 0.017737301316548652 Centerline is valid? [True, True] Translation: X:936.74, Y:40.13, Z:4.11 [[ 9.00104406e-01 -4.35516522e-01 -1.17225511e-02 9.36737512e+02] [ 4.35475329e-01 9.00180689e-01 -5.99704547e-03 4.01272481e+01] [ 1.31642265e-02 2.93085254e-04 9.99913305e-01 4.11168767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.799254154 meters 0.01600012429697917 Centerline is valid? [True, True] Translation: X:936.79, Y:40.15, Z:4.11 [[ 8.99598554e-01 -4.36571383e-01 -1.13079098e-02 9.36791472e+02] [ 4.36533091e-01 8.99669581e-01 -5.78842460e-03 4.01501205e+01] [ 1.27004430e-02 2.70981596e-04 9.99919309e-01 4.11324463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.8592541539999 meters 0.015151625710564194 Centerline is valid? [True, True] Translation: X:936.85, Y:40.17, Z:4.11 [[ 8.98524346e-01 -4.38767621e-01 -1.17036445e-02 9.36847028e+02] [ 4.38726738e-01 8.98600529e-01 -5.99485062e-03 4.01708647e+01] [ 1.31472474e-02 2.51817482e-04 9.99913539e-01 4.11339565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.919254154 meters 0.01469420891148333 Centerline is valid? [True, True] Translation: X:936.90, Y:40.19, Z:4.11 [[ 8.97669826e-01 -4.40526377e-01 -1.11979725e-02 9.36901808e+02] [ 4.40489041e-01 8.97739641e-01 -5.73948444e-03 4.01928875e+01] [ 1.25812581e-02 2.19577835e-04 9.99920829e-01 4.11455363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.9792541539999 meters 0.015081187187884206 Centerline is valid? [True, True] Translation: X:936.95, Y:40.22, Z:4.11 [[ 8.97537078e-01 -4.40793558e-01 -1.13239842e-02 9.36952420e+02] [ 4.40755366e-01 8.97608484e-01 -5.80659801e-03 4.02188593e+01] [ 1.27240153e-02 2.20530213e-04 9.99919022e-01 4.11386207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.039254154 meters 0.0152260388229005 Centerline is valid? [True, True] Translation: X:937.01, Y:40.24, Z:4.11 [[ 8.97307793e-01 -4.41236736e-01 -1.22011046e-02 9.37005791e+02] [ 4.41192389e-01 8.97390711e-01 -6.26005857e-03 4.02430610e+01] [ 1.37113258e-02 2.34164836e-04 9.99905968e-01 4.11279217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.0992541539999 meters 0.015106282637517196 Centerline is valid? [True, True] Translation: X:937.06, Y:40.27, Z:4.11 [[ 8.97130797e-01 -4.41560113e-01 -1.34536378e-02 9.37059148e+02] [ 4.41506158e-01 8.97231632e-01 -6.90733320e-03 4.02677760e+01] [ 1.51210322e-02 2.56917398e-04 9.99885638e-01 4.11199617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.159254154 meters 0.014993643470385756 Centerline is valid? [True, True] Translation: X:937.11, Y:40.29, Z:4.11 [[ 8.97051604e-01 -4.41721684e-01 -1.34303447e-02 9.37111347e+02] [ 4.41667862e-01 8.97152098e-01 -6.90016850e-03 4.02943397e+01] [ 1.50970160e-02 2.58055567e-04 9.99886000e-01 4.11232213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.2192541539999 meters 0.015104291381337757 Centerline is valid? [True, True] Translation: X:937.16, Y:40.32, Z:4.11 [[ 8.96870984e-01 -4.42087316e-01 -1.34626504e-02 9.37163387e+02] [ 4.42033201e-01 8.96971983e-01 -6.92173548e-03 4.03210563e+01] [ 1.51356316e-02 2.56965287e-04 9.99885417e-01 4.11263086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.279254154 meters 0.015184607195732773 Centerline is valid? [True, True] Translation: X:937.22, Y:40.35, Z:4.11 [[ 8.96606386e-01 -4.42659134e-01 -1.22425255e-02 9.37216066e+02] [ 4.42614383e-01 8.96689934e-01 -6.29839270e-03 4.03479359e+01] [ 1.37657904e-02 2.28461259e-04 9.99905221e-01 4.11322239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.339254154 meters 0.015307686871507707 Centerline is valid? [True, True] Translation: X:937.27, Y:40.38, Z:4.11 [[ 8.96757266e-01 -4.42355379e-01 -1.21706236e-02 9.37267779e+02] [ 4.42311070e-01 8.96839820e-01 -6.26525963e-03 4.03756066e+01] [ 1.36865712e-02 2.35215540e-04 9.99906307e-01 4.11374376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.399254154 meters 0.015531096832767368 Centerline is valid? [True, True] Translation: X:937.32, Y:40.40, Z:4.11 [[ 8.97001055e-01 -4.41861270e-01 -1.21542207e-02 9.37319408e+02] [ 4.41816983e-01 8.97083362e-01 -6.26064433e-03 4.04044830e+01] [ 1.36696854e-02 2.45863445e-04 9.99906535e-01 4.11327613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.459254154 meters 0.015225587125449427 Centerline is valid? [True, True] Translation: X:937.37, Y:40.43, Z:4.11 [[ 8.96863832e-01 -4.42139703e-01 -1.21552433e-02 9.37371122e+02] [ 4.42095376e-01 8.96946165e-01 -6.26542840e-03 4.04315946e+01] [ 1.36727935e-02 2.45459280e-04 9.99906493e-01 4.11387891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.519254154 meters 0.015065547029933377 Centerline is valid? [True, True] Translation: X:937.42, Y:40.46, Z:4.11 [[ 8.95865416e-01 -4.44171424e-01 -1.17005500e-02 9.37423925e+02] [ 4.44130473e-01 8.95941796e-01 -6.03491135e-03 4.04580992e+01] [ 1.31635469e-02 2.09897559e-04 9.99913335e-01 4.11438784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.579254154 meters 0.01677363457402515 Centerline is valid? [True, True] Translation: X:937.48, Y:40.48, Z:4.11 [[ 8.94440927e-01 -4.47008608e-01 -1.25989323e-02 9.37476393e+02] [ 4.46961350e-01 8.94529637e-01 -6.50238765e-03 4.04840945e+01] [ 1.41767416e-02 1.84765850e-04 9.99899488e-01 4.11249424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.639254154 meters 0.01390903231397296 Centerline is valid? [True, True] Translation: X:937.53, Y:40.51, Z:4.11 [[ 8.92469471e-01 -4.50967498e-01 -1.12498331e-02 9.37530425e+02] [ 4.50930104e-01 8.92540365e-01 -5.80844684e-03 4.05090466e+01] [ 1.26603508e-02 1.10973087e-04 9.99919848e-01 4.11423902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.699254154 meters 0.015627098869632282 Centerline is valid? [True, True] Translation: X:937.58, Y:40.53, Z:4.11 [[ 8.88842681e-01 -4.58025032e-01 -1.31056715e-02 9.37583463e+02] [ 4.57975012e-01 8.88939295e-01 -6.76895976e-03 4.05324679e+01] [ 1.47504994e-02 1.44702806e-05 9.99891205e-01 4.11240205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.759254154 meters 0.014083588641589312 Centerline is valid? [True, True] Translation: X:937.64, Y:40.55, Z:4.11 [[ 8.85361003e-01 -4.64732366e-01 -1.26381666e-02 9.37637085e+02] [ 4.64686508e-01 8.85451196e-01 -6.52910928e-03 4.05545399e+01] [ 1.42247681e-02 -9.21667713e-05 9.99898819e-01 4.11348490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.819254154 meters 0.014592968982776627 Centerline is valid? [True, True] Translation: X:937.69, Y:40.58, Z:4.11 [[ 8.83202445e-01 -4.68811399e-01 -1.30120172e-02 9.37690203e+02] [ 4.68763181e-01 8.83298277e-01 -6.72556931e-03 4.05799294e+01] [ 1.46465159e-02 -1.59515296e-04 9.99892721e-01 4.11393962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.879254154 meters 0.01530005843171009 Centerline is valid? [True, True] Translation: X:937.74, Y:40.61, Z:4.11 [[ 8.81210413e-01 -4.72538703e-01 -1.32431996e-02 9.37743057e+02] [ 4.72489113e-01 8.81309892e-01 -6.84927899e-03 4.06061616e+01] [ 1.49079122e-02 -2.21611691e-04 9.99888846e-01 4.11427389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.939254154 meters 0.017802949203449856 Centerline is valid? [True, True] Translation: X:937.79, Y:40.63, Z:4.11 [[ 8.80847683e-01 -4.73172496e-01 -1.46679712e-02 9.37794369e+02] [ 4.73111707e-01 8.80969763e-01 -7.58873256e-03 4.06339549e+01] [ 1.65128186e-02 -2.55071405e-04 9.99863622e-01 4.11352155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.999254154 meters 0.014987630034608266 Centerline is valid? [True, True] Translation: X:937.84, Y:40.66, Z:4.12 [[ 8.82596055e-01 -4.69949510e-01 -1.31019308e-02 9.37844812e+02] [ 4.69900633e-01 8.82693281e-01 -6.77991162e-03 4.06624770e+01] [ 1.47512025e-02 -1.72682343e-04 9.99891180e-01 4.11610387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.059254154 meters 0.016748215183453787 Centerline is valid? [True, True] Translation: X:937.89, Y:40.70, Z:4.11 [[ 8.86346053e-01 -4.62757354e-01 -1.56941055e-02 9.37893364e+02] [ 4.62686015e-01 8.86484984e-01 -8.12554627e-03 4.06973449e+01] [ 1.76727451e-02 -5.93972541e-05 9.99843823e-01 4.11481416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.1192541539999 meters 0.0142269623969021 Centerline is valid? [True, True] Translation: X:937.94, Y:40.73, Z:4.12 [[ 8.92162014e-01 -4.51467280e-01 -1.49744783e-02 9.37941153e+02] [ 4.51400654e-01 8.92287660e-01 -7.75761627e-03 4.07339200e+01] [ 1.68638521e-02 1.61561252e-04 9.99857782e-01 4.11623271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.179254154 meters 0.016382163948097248 Centerline is valid? [True, True] Translation: X:937.99, Y:40.77, Z:4.12 [[ 8.96816547e-01 -4.42151675e-01 -1.48989156e-02 9.37989530e+02] [ 4.42084395e-01 8.96940234e-01 -7.72041819e-03 4.07697805e+01] [ 1.67770326e-02 3.37220694e-04 9.99859199e-01 4.11690383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.2392541539999 meters 0.018248341880560535 Centerline is valid? [True, True] Translation: X:938.04, Y:40.80, Z:4.12 [[ 8.99170815e-01 -4.37360801e-01 -1.44005234e-02 9.38040365e+02] [ 4.37297287e-01 8.99286026e-01 -7.46494062e-03 4.08010021e+01] [ 1.62150619e-02 4.14946934e-04 9.99868441e-01 4.11868669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.299254154 meters 0.01690347610749953 Centerline is valid? [True, True] Translation: X:938.09, Y:40.83, Z:4.12 [[ 9.00187901e-01 -4.35291416e-01 -1.35323780e-02 9.38092786e+02] [ 4.35235033e-01 9.00289508e-01 -7.01901571e-03 4.08286660e+01] [ 1.52383752e-02 4.28668025e-04 9.99883797e-01 4.12100417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.3592541539999 meters 0.017667904636499292 Centerline is valid? [True, True] Translation: X:938.14, Y:40.86, Z:4.12 [[ 9.00562618e-01 -4.34478919e-01 -1.46642570e-02 9.38144181e+02] [ 4.34412519e-01 9.00681872e-01 -7.61106678e-03 4.08583283e+01] [ 1.65146785e-02 4.83905391e-04 9.99863506e-01 4.12029908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.419254154 meters 0.01786598144835904 Centerline is valid? [True, True] Translation: X:938.20, Y:40.89, Z:4.12 [[ 9.00149914e-01 -4.35306081e-01 -1.54514898e-02 9.38195737e+02] [ 4.35232384e-01 9.00282381e-01 -8.02531457e-03 4.08858789e+01] [ 1.74041723e-02 4.98997487e-04 9.99848411e-01 4.11965791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.4792541539999 meters 0.017477145232378373 Centerline is valid? [True, True] Translation: X:938.25, Y:40.91, Z:4.12 [[ 8.98890155e-01 -4.37871405e-01 -1.62825581e-02 9.38248768e+02] [ 4.37789920e-01 8.99037488e-01 -8.46053226e-03 4.09125446e+01] [ 1.83432553e-02 4.76749361e-04 9.99831635e-01 4.11881680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.539254154 meters 0.016743475540988404 Centerline is valid? [True, True] Translation: X:938.30, Y:40.94, Z:4.12 [[ 8.96960647e-01 -4.41733250e-01 -1.82574464e-02 9.38302278e+02] [ 4.41631487e-01 8.97146327e-01 -9.49196640e-03 4.09376111e+01] [ 2.05725182e-02 4.50857127e-04 9.99788262e-01 4.11739790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.5992541539999 meters 0.015731834557270497 Centerline is valid? [True, True] Translation: X:938.36, Y:40.96, Z:4.12 [[ 8.94295704e-01 -4.47058533e-01 -1.93355237e-02 9.38357399e+02] [ 4.46945510e-01 8.94504636e-01 -1.00582383e-02 4.09602060e+01] [ 2.17923369e-02 3.53113814e-04 9.99762456e-01 4.11719975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.659254154 meters 0.014437438080014084 Centerline is valid? [True, True] Translation: X:938.41, Y:40.98, Z:4.12 [[ 8.90351028e-01 -4.54888061e-01 -1.87589429e-02 9.38413824e+02] [ 4.54783295e-01 8.90548609e-01 -9.76363560e-03 4.09807609e+01] [ 2.11471118e-02 1.61809139e-04 9.99776362e-01 4.11823305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.7192541539999 meters 0.01407036158812834 Centerline is valid? [True, True] Translation: X:938.47, Y:41.00, Z:4.12 [[ 8.87273592e-01 -4.60875795e-01 -1.84139931e-02 9.38469635e+02] [ 4.60776024e-01 8.87464648e-01 -9.58929681e-03 4.10020529e+01] [ 2.07612427e-02 2.36032984e-05 9.99784462e-01 4.11957070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.779254154 meters 0.01700773812844806 Centerline is valid? [True, True] Translation: X:938.53, Y:41.02, Z:4.12 [[ 8.83155887e-01 -4.68700089e-01 -1.88654681e-02 9.38525769e+02] [ 4.68597015e-01 8.83357346e-01 -9.83037009e-03 4.10216089e+01] [ 2.12724451e-02 -1.58552801e-04 9.99773703e-01 4.12242399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.839254154 meters 0.017262555787464162 Centerline is valid? [True, True] Translation: X:938.58, Y:41.05, Z:4.12 [[ 8.81459647e-01 -4.71897503e-01 -1.84834219e-02 9.38580005e+02] [ 4.71799138e-01 8.81653388e-01 -9.63729228e-03 4.10452495e+01] [ 2.08437857e-02 -2.25578251e-04 9.99782719e-01 4.12389333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.899254154 meters 0.014255148417991305 Centerline is valid? [True, True] Translation: X:938.63, Y:41.07, Z:4.13 [[ 8.81628262e-01 -4.71646703e-01 -1.67629383e-02 9.38632249e+02] [ 4.71565652e-01 8.81787588e-01 -8.74560237e-03 4.10724689e+01] [ 1.89061855e-02 -1.94455715e-04 9.99821243e-01 4.12518488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.959254154 meters 0.014214420362680372 Centerline is valid? [True, True] Translation: X:938.68, Y:41.10, Z:4.12 [[ 8.83622562e-01 -4.67853105e-01 -1.80177691e-02 9.38683026e+02] [ 4.67758613e-01 8.83806233e-01 -9.40327700e-03 4.10995797e+01] [ 2.03235690e-02 -1.19018970e-04 9.99793448e-01 4.12342728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.019254154 meters 0.014171018511957685 Centerline is valid? [True, True] Translation: X:938.73, Y:41.13, Z:4.12 [[ 8.87493383e-01 -4.60396997e-01 -1.97509792e-02 9.38733312e+02] [ 4.60281473e-01 8.87713130e-01 -1.03133052e-02 4.11312696e+01] [ 2.22814183e-02 6.19803265e-05 9.99751736e-01 4.12344357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.079254154 meters 0.01499023668242297 Centerline is valid? [True, True] Translation: X:938.78, Y:41.16, Z:4.13 [[ 8.92058791e-01 -4.51422185e-01 -2.11925465e-02 9.38783236e+02] [ 4.51286574e-01 8.92310436e-01 -1.10685497e-02 4.11638542e+01] [ 2.39069193e-02 3.09885395e-04 9.99714141e-01 4.12538860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.139254154 meters 0.015783024848359237 Centerline is valid? [True, True] Translation: X:938.83, Y:41.19, Z:4.13 [[ 8.94660582e-01 -4.46238040e-01 -2.13085430e-02 9.38834883e+02] [ 4.46099343e-01 8.94914188e-01 -1.11342613e-02 4.11939471e+01] [ 2.40378483e-02 4.55657643e-04 9.99710945e-01 4.12769695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.199254154 meters 0.01739899059317358 Centerline is valid? [True, True] Translation: X:938.89, Y:41.23, Z:4.13 [[ 8.97856857e-01 -4.39826446e-01 -2.01435342e-02 9.38885656e+02] [ 4.39700770e-01 8.98082591e-01 -1.05305361e-02 4.12258219e+01] [ 2.27221657e-02 5.97786575e-04 9.99741640e-01 4.13091111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.259254154 meters 0.02050628214098123 Centerline is valid? [True, True] Translation: X:938.94, Y:41.26, Z:4.13 [[ 8.99573336e-01 -4.36264343e-01 -2.10056495e-02 9.38935169e+02] [ 4.36126654e-01 8.99818263e-01 -1.09834024e-02 4.12576766e+01] [ 2.36929339e-02 7.19252298e-04 9.99719024e-01 4.13139493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.319254154 meters 0.02140383349948494 Centerline is valid? [True, True] Translation: X:938.99, Y:41.29, Z:4.13 [[ 8.99750322e-01 -4.35870825e-01 -2.15866284e-02 9.38986130e+02] [ 4.35725246e-01 9.00008922e-01 -1.12894339e-02 4.12860207e+01] [ 2.43488930e-02 7.51832814e-04 9.99703239e-01 4.13143440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.379254154 meters 0.018945422283345104 Centerline is valid? [True, True] Translation: X:939.04, Y:41.31, Z:4.13 [[ 8.99125272e-01 -4.37077053e-01 -2.31817723e-02 9.39038312e+02] [ 4.36909363e-01 8.99423728e-01 -1.21312118e-02 4.13107954e+01] [ 2.61525103e-02 7.79145761e-04 9.99657661e-01 4.13329672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.439254154 meters 0.01816788662788196 Centerline is valid? [True, True] Translation: X:939.09, Y:41.34, Z:4.13 [[ 8.97797659e-01 -4.39618360e-01 -2.63640075e-02 9.39090867e+02] [ 4.39402427e-01 8.98184306e-01 -1.38006927e-02 4.13362284e+01] [ 2.97467757e-02 8.05820724e-04 9.99557142e-01 4.13238394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.499254154 meters 0.01613910863143751 Centerline is valid? [True, True] Translation: X:939.15, Y:41.36, Z:4.13 [[ 8.94937944e-01 -4.45244974e-01 -2.90342887e-02 9.39146099e+02] [ 4.44985733e-01 8.95408531e-01 -1.52072494e-02 4.13577752e+01] [ 3.27685012e-02 6.89700308e-04 9.99462730e-01 4.13286560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.559254154 meters 0.01536417677227984 Centerline is valid? [True, True] Translation: X:939.20, Y:41.38, Z:4.13 [[ 8.91582781e-01 -4.51891222e-01 -2.95714029e-02 9.39200662e+02] [ 4.51625813e-01 8.92072931e-01 -1.54922882e-02 4.13802122e+01] [ 3.33806771e-02 4.57448472e-04 9.99442605e-01 4.13277949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.6192541539999 meters 0.014391510072992943 Centerline is valid? [True, True] Translation: X:939.26, Y:41.40, Z:4.13 [[ 8.85682599e-01 -4.63374694e-01 -2.91586503e-02 9.39257643e+02] [ 4.63122561e-01 8.86162452e-01 -1.52840450e-02 4.13996612e+01] [ 3.29215407e-02 3.27838849e-05 9.99457939e-01 4.13496548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.679254154 meters 0.01653127631488186 Centerline is valid? [True, True] Translation: X:939.31, Y:41.42, Z:4.14 [[ 8.81177317e-01 -4.71960727e-01 -2.79214626e-02 9.39311014e+02] [ 4.71733671e-01 8.81619532e-01 -1.46405115e-02 4.14216103e+01] [ 3.15258532e-02 -2.70607377e-04 9.99502900e-01 4.13627249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.7392541539999 meters 0.01619519870753408 Centerline is valid? [True, True] Translation: X:939.36, Y:41.45, Z:4.14 [[ 8.78026475e-01 -4.77870558e-01 -2.66315345e-02 9.39364670e+02] [ 4.77666473e-01 8.78430148e-01 -1.39719730e-02 4.14460120e+01] [ 3.00707373e-02 -4.53228957e-04 9.99547670e-01 4.13765893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.799254154 meters 0.017034126266306075 Centerline is valid? [True, True] Translation: X:939.42, Y:41.47, Z:4.14 [[ 8.76547988e-01 -4.80621470e-01 -2.58191283e-02 9.39415691e+02] [ 4.80430733e-01 8.76928004e-01 -1.35494238e-02 4.14727027e+01] [ 2.91536607e-02 -5.27582581e-04 9.99574802e-01 4.13691622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.8592541539999 meters 0.01843393133172122 Centerline is valid? [True, True] Translation: X:939.47, Y:41.50, Z:4.14 [[ 8.74807631e-01 -4.83851164e-01 -2.44879526e-02 9.39465661e+02] [ 4.83680657e-01 8.75150099e-01 -1.28579256e-02 4.15038435e+01] [ 2.76519565e-02 -5.96137555e-04 9.99617434e-01 4.13919868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.919254154 meters 0.016509354054143992 Centerline is valid? [True, True] Translation: X:939.52, Y:41.54, Z:4.14 [[ 8.74585664e-01 -4.84368415e-01 -2.20715831e-02 9.39516194e+02] [ 4.84229903e-01 8.74863955e-01 -1.15957536e-02 4.15353519e+01] [ 2.49262493e-02 -5.46240712e-04 9.99689144e-01 4.14157293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.9792541539999 meters 0.01693316847768054 Centerline is valid? [True, True] Translation: X:939.57, Y:41.57, Z:4.14 [[ 8.75123468e-01 -4.83455861e-01 -2.07206560e-02 9.39565172e+02] [ 4.83333461e-01 8.75368605e-01 -1.08890276e-02 4.15666313e+01] [ 2.34025760e-02 -4.85742800e-04 9.99726004e-01 4.14080780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.039254154 meters 0.015856307941812194 Centerline is valid? [True, True] Translation: X:939.61, Y:41.60, Z:4.14 [[ 8.75599721e-01 -4.82623110e-01 -2.00015347e-02 9.39614539e+02] [ 4.82508715e-01 8.75828030e-01 -1.05167485e-02 4.16001233e+01] [ 2.25935307e-02 -4.42452746e-04 9.99744636e-01 4.14164615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.0992541539999 meters 0.015804590134745264 Centerline is valid? [True, True] Translation: X:939.66, Y:41.63, Z:4.14 [[ 8.77125432e-01 -4.79909697e-01 -1.83755019e-02 9.39661972e+02] [ 4.79812479e-01 8.77317826e-01 -9.66523584e-03 4.16344841e+01] [ 2.07595958e-02 -3.39170962e-04 9.99784439e-01 4.14072934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.159254154 meters 0.015198013766608577 Centerline is valid? [True, True] Translation: X:939.71, Y:41.67, Z:4.14 [[ 8.78701611e-01 -4.77074373e-01 -1.68380965e-02 9.39709027e+02] [ 4.76992176e-01 8.78862891e-01 -8.85906285e-03 4.16689799e+01] [ 1.90248100e-02 -2.47167479e-04 9.99818981e-01 4.14163022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.2192541539999 meters 0.01364313635906631 Centerline is valid? [True, True] Translation: X:939.76, Y:41.71, Z:4.14 [[ 8.79419287e-01 -4.75770405e-01 -1.62554323e-02 9.39756310e+02] [ 4.75693490e-01 8.79569485e-01 -8.55713809e-03 4.17057411e+01] [ 1.83690153e-02 -2.07291075e-04 9.99831254e-01 4.14399976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.279254154 meters 0.013660525571911964 Centerline is valid? [True, True] Translation: X:939.80, Y:41.74, Z:4.14 [[ 8.79811715e-01 -4.75061979e-01 -1.57309635e-02 9.39803934e+02] [ 4.74989788e-01 8.79952318e-01 -8.28366360e-03 4.17398334e+01] [ 1.77777514e-02 -1.83982716e-04 9.99841946e-01 4.14336503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.339254154 meters 0.013506069180513022 Centerline is valid? [True, True] Translation: X:939.85, Y:41.77, Z:4.14 [[ 8.79950773e-01 -4.74817966e-01 -1.53145679e-02 9.39853694e+02] [ 4.74749438e-01 8.80084013e-01 -8.06848396e-03 4.17727405e+01] [ 1.73091675e-02 -1.70713789e-04 9.99850171e-01 4.14356471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.399254154 meters 0.015097265646761929 Centerline is valid? [True, True] Translation: X:939.90, Y:41.81, Z:4.14 [[ 8.80845325e-01 -4.73180496e-01 -1.45510091e-02 9.39902071e+02] [ 4.73118333e-01 8.80965494e-01 -7.67078518e-03 4.18079750e+01] [ 1.64486028e-02 -1.27573889e-04 9.99864704e-01 4.14386331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.459254154 meters 0.012639528365000572 Centerline is valid? [True, True] Translation: X:939.95, Y:41.84, Z:4.14 [[ 8.82709706e-01 -4.69678636e-01 -1.50184209e-02 9.39949696e+02] [ 4.69611824e-01 8.82837457e-01 -7.92208049e-03 4.18442054e+01] [ 1.69796565e-02 -5.99307210e-05 9.99855833e-01 4.14459295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.519254154 meters 0.012753513355373714 Centerline is valid? [True, True] Translation: X:940.00, Y:41.88, Z:4.14 [[ 8.84151611e-01 -4.66943733e-01 -1.54751187e-02 9.39995690e+02] [ 4.66872321e-01 8.84287029e-01 -8.16613597e-03 4.18782124e+01] [ 1.74975728e-02 -4.80232099e-06 9.99846906e-01 4.14365392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.579254154 meters 0.01355924077543784 Centerline is valid? [True, True] Translation: X:940.04, Y:41.91, Z:4.14 [[ 8.84703818e-01 -4.65897416e-01 -1.54516077e-02 9.40044613e+02] [ 4.65825974e-01 8.84838741e-01 -8.15867058e-03 4.19095514e+01] [ 1.74732847e-02 2.02467856e-05 9.99847330e-01 4.14491941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.639254154 meters 0.014193957250650265 Centerline is valid? [True, True] Translation: X:940.09, Y:41.94, Z:4.14 [[ 8.85067489e-01 -4.65188785e-01 -1.59666630e-02 9.40094286e+02] [ 4.65112287e-01 8.85211496e-01 -8.43609134e-03 4.19420977e+01] [ 1.80582487e-02 4.02190313e-05 9.99836936e-01 4.14489941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.699254154 meters 0.014335436661770503 Centerline is valid? [True, True] Translation: X:940.14, Y:41.97, Z:4.14 [[ 8.85037863e-01 -4.65273769e-01 -1.51096334e-02 9.40143683e+02] [ 4.65205233e-01 8.85166831e-01 -7.98577285e-03 4.19722453e+01] [ 1.70901169e-02 3.86308178e-05 9.99853953e-01 4.14481078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.759254154 meters 0.012907286287649321 Centerline is valid? [True, True] Translation: X:940.19, Y:42.00, Z:4.15 [[ 8.85141463e-01 -4.65080558e-01 -1.49888234e-02 9.40194601e+02] [ 4.65013009e-01 8.85268362e-01 -7.92648256e-03 4.20000927e+01] [ 1.69555841e-02 4.60604785e-05 9.99856243e-01 4.14642562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.819254154 meters 0.012813447151322311 Centerline is valid? [True, True] Translation: X:940.24, Y:42.03, Z:4.15 [[ 8.85535829e-01 -4.64379901e-01 -1.33267998e-02 9.40244464e+02] [ 4.64326358e-01 8.85636102e-01 -7.05185513e-03 4.20307021e+01] [ 1.50774348e-02 5.66859692e-05 9.99886327e-01 4.14751829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.879254154 meters 0.01280135007901961 Centerline is valid? [True, True] Translation: X:940.29, Y:42.06, Z:4.15 [[ 8.86328029e-01 -4.62911020e-01 -1.16624398e-02 9.40294340e+02] [ 4.62869836e-01 8.86404751e-01 -6.17516891e-03 4.20601065e+01] [ 1.31961958e-02 7.50337038e-05 9.99912924e-01 4.14919827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.939254154 meters 0.016313211066795563 Centerline is valid? [True, True] Translation: X:940.34, Y:42.09, Z:4.15 [[ 8.86519493e-01 -4.62548743e-01 -1.14825302e-02 9.40344118e+02] [ 4.62508755e-01 8.86593850e-01 -6.08257406e-03 4.20887499e+01] [ 1.29938276e-02 8.15497200e-05 9.99915573e-01 4.14782422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.999254154 meters 0.013440307685301581 Centerline is valid? [True, True] Translation: X:940.39, Y:42.12, Z:4.15 [[ 8.87073603e-01 -4.61513736e-01 -1.02710072e-02 9.40394669e+02] [ 4.61481638e-01 8.87133058e-01 -5.44374960e-03 4.21164479e+01] [ 1.16241152e-02 8.91253584e-05 9.99932434e-01 4.14965225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.059254154 meters 0.01306331069169586 Centerline is valid? [True, True] Translation: X:940.45, Y:42.14, Z:4.15 [[ 8.87132632e-01 -4.61391132e-01 -1.06731382e-02 9.40446686e+02] [ 4.61356414e-01 8.87196829e-01 -5.66090428e-03 4.21430271e+01] [ 1.20810654e-02 9.78521486e-05 9.99927016e-01 4.14986379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.1192541539999 meters 0.013632377610228768 Centerline is valid? [True, True] Translation: X:940.50, Y:42.17, Z:4.15 [[ 8.86942186e-01 -4.61758870e-01 -1.05973908e-02 9.40497320e+02] [ 4.61724632e-01 8.87005488e-01 -5.62382738e-03 4.21699078e+01] [ 1.19967959e-02 9.49334071e-05 9.99928031e-01 4.14912346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.179254154 meters 0.014689919905929476 Centerline is valid? [True, True] Translation: X:940.55, Y:42.19, Z:4.15 [[ 8.86252985e-01 -4.63057724e-01 -1.15408052e-02 9.40550088e+02] [ 4.63017176e-01 8.86328120e-01 -6.12847141e-03 4.21935733e+01] [ 1.30667762e-02 8.77850245e-05 9.99914622e-01 4.14974859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.2392541539999 meters 0.012813058298250595 Centerline is valid? [True, True] Translation: X:940.60, Y:42.22, Z:4.15 [[ 8.86202512e-01 -4.63152870e-01 -1.15985942e-02 9.40602739e+02] [ 4.63111864e-01 8.86278405e-01 -6.16360498e-03 4.22177536e+01] [ 1.31342749e-02 9.07556415e-05 9.99913738e-01 4.15073043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.299254154 meters 0.016576714937342335 Centerline is valid? [True, True] Translation: X:940.65, Y:42.24, Z:4.15 [[ 8.86174772e-01 -4.63192990e-01 -1.21048530e-02 9.40654360e+02] [ 4.63148267e-01 8.86257437e-01 -6.43728592e-03 4.22447600e+01] [ 1.37097217e-02 9.82187081e-05 9.99906013e-01 4.14912480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.3592541539999 meters 0.01312705844897602 Centerline is valid? [True, True] Translation: X:940.71, Y:42.27, Z:4.15 [[ 8.86983402e-01 -4.61645311e-01 -1.20021475e-02 9.40706599e+02] [ 4.61601163e-01 8.87064592e-01 -6.38552826e-03 4.22691598e+01] [ 1.35945293e-02 1.23652316e-04 9.99907582e-01 4.15052920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.419254154 meters 0.013334192756067367 Centerline is valid? [True, True] Translation: X:940.76, Y:42.29, Z:4.15 [[ 8.87543304e-01 -4.60571519e-01 -1.18642105e-02 9.40760625e+02] [ 4.60528240e-01 8.87622586e-01 -6.31538789e-03 4.22932390e+01] [ 1.34396290e-02 1.41376265e-04 9.99909674e-01 4.15081945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.4792541539999 meters 0.013453695356827666 Centerline is valid? [True, True] Translation: X:940.81, Y:42.32, Z:4.15 [[ 8.87864141e-01 -4.59955518e-01 -1.17553870e-02 9.40814846e+02] [ 4.59912925e-01 8.87941945e-01 -6.26124631e-03 4.23173645e+01] [ 1.33179960e-02 1.52681664e-04 9.99911300e-01 4.15186657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.539254154 meters 0.016613585168499215 Centerline is valid? [True, True] Translation: X:940.87, Y:42.34, Z:4.15 [[ 8.88602534e-01 -4.58542937e-01 -1.11315916e-02 9.40868304e+02] [ 4.58504590e-01 8.88672238e-01 -5.93249133e-03 4.23424576e+01] [ 1.26126384e-02 1.67740990e-04 9.99920443e-01 4.15104170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.5992541539999 meters 0.01799731730116304 Centerline is valid? [True, True] Translation: X:940.92, Y:42.37, Z:4.15 [[ 8.89576061e-01 -4.56641920e-01 -1.15147414e-02 9.40921432e+02] [ 4.56600680e-01 8.89650558e-01 -6.14038364e-03 4.23689099e+01] [ 1.30480527e-02 2.04699518e-04 9.99914850e-01 4.15075535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.659254154 meters 0.015507917500030983 Centerline is valid? [True, True] Translation: X:940.97, Y:42.39, Z:4.15 [[ 8.91390357e-01 -4.53099427e-01 -1.11418060e-02 9.40974731e+02] [ 4.53060494e-01 8.91459952e-01 -5.94500408e-03 4.23934191e+01] [ 1.26261518e-02 2.51407170e-04 9.99920255e-01 4.15251336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.7192541539999 meters 0.017501051855557278 Centerline is valid? [True, True] Translation: X:941.03, Y:42.42, Z:4.15 [[ 8.92355690e-01 -4.51167919e-01 -1.21996815e-02 9.41029198e+02] [ 4.51121003e-01 8.92439025e-01 -6.51360960e-03 4.24161479e+01] [ 1.38262036e-02 3.08924018e-04 9.99904366e-01 4.15205977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.779254154 meters 0.01836894355653726 Centerline is valid? [True, True] Translation: X:941.08, Y:42.44, Z:4.15 [[ 8.93117036e-01 -4.49640293e-01 -1.28672594e-02 9.41080399e+02] [ 4.49587905e-01 8.93209652e-01 -6.87269169e-03 4.24421217e+01] [ 1.45833994e-02 3.53153820e-04 9.99893594e-01 4.15068254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.839254154 meters 0.01630577465964701 Centerline is valid? [True, True] Translation: X:941.14, Y:42.47, Z:4.15 [[ 8.93387296e-01 -4.49103831e-01 -1.28408611e-02 9.41135228e+02] [ 4.49051552e-01 8.93479499e-01 -6.86206630e-03 4.24653871e+01] [ 1.45548264e-02 3.64274253e-04 9.99894007e-01 4.15224521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.899254154 meters 0.02049146380205381 Centerline is valid? [True, True] Translation: X:941.19, Y:42.49, Z:4.15 [[ 8.93339130e-01 -4.49138365e-01 -1.48299752e-02 9.41187689e+02] [ 4.49068591e-01 8.93462115e-01 -7.92775293e-03 4.24908959e+01] [ 1.68106790e-02 4.22495832e-04 9.99858601e-01 4.14872825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.959254154 meters 0.018294437204635174 Centerline is valid? [True, True] Translation: X:941.24, Y:42.51, Z:4.15 [[ 8.93197585e-01 -4.49434375e-01 -1.43811366e-02 9.41243175e+02] [ 4.49368730e-01 8.93313258e-01 -7.69211148e-03 4.25092547e+01] [ 1.63039593e-02 4.08142333e-04 9.99866998e-01 4.15112350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.019254154 meters 0.015545521495243545 Centerline is valid? [True, True] Translation: X:941.30, Y:42.53, Z:4.15 [[ 8.92789297e-01 -4.50286615e-01 -1.30090740e-02 9.41299470e+02] [ 4.50232929e-01 8.92883999e-01 -6.96232191e-03 4.25298544e+01] [ 1.47506344e-02 3.58772995e-04 9.99891139e-01 4.15389776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.079254154 meters 0.01543589127894082 Centerline is valid? [True, True] Translation: X:941.35, Y:42.55, Z:4.15 [[ 8.91644397e-01 -4.52568334e-01 -1.23358438e-02 9.41353443e+02] [ 4.52520250e-01 8.91729673e-01 -6.60412395e-03 4.25517627e+01] [ 1.39890553e-02 3.06311009e-04 9.99902101e-01 4.15383244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.139254154 meters 0.014872747792534335 Centerline is valid? [True, True] Translation: X:941.41, Y:42.58, Z:4.15 [[ 8.90610800e-01 -4.54602899e-01 -1.21904736e-02 9.41407540e+02] [ 4.54556089e-01 8.90694184e-01 -6.52939303e-03 4.25750627e+01] [ 1.38262649e-02 2.73893958e-04 9.99904375e-01 4.15361945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.199254154 meters 0.014261211160195977 Centerline is valid? [True, True] Translation: X:941.47, Y:42.59, Z:4.15 [[ 8.88385992e-01 -4.58934746e-01 -1.22158688e-02 9.41465170e+02] [ 4.58888097e-01 8.88469951e-01 -6.54676171e-03 4.25932159e+01] [ 1.38579688e-02 2.10334624e-04 9.99903952e-01 4.15291898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.259254154 meters 0.01279908490325162 Centerline is valid? [True, True] Translation: X:941.52, Y:42.62, Z:4.15 [[ 8.87087559e-01 -4.61443282e-01 -1.20731096e-02 9.41520387e+02] [ 4.61397896e-01 8.87169695e-01 -6.47413354e-03 4.26152494e+01] [ 1.36983424e-02 1.72615939e-04 9.99906158e-01 4.15417192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.319254154 meters 0.012256273801882692 Centerline is valid? [True, True] Translation: X:941.58, Y:42.64, Z:4.16 [[ 8.85798683e-01 -4.63929293e-01 -1.14150664e-02 9.41576545e+02] [ 4.63888879e-01 8.85872222e-01 -6.12483042e-03 4.26362890e+01] [ 1.29537785e-02 1.30044353e-04 9.99916088e-01 4.15567857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.379254154 meters 0.012477071861055143 Centerline is valid? [True, True] Translation: X:941.63, Y:42.66, Z:4.16 [[ 8.85810489e-01 -4.63893778e-01 -1.19306595e-02 9.41628902e+02] [ 4.63849591e-01 8.85890819e-01 -6.40417736e-03 4.26605184e+01] [ 1.35401198e-02 1.38855939e-04 9.99908319e-01 4.15502055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.439254154 meters 0.012761982949566363 Centerline is valid? [True, True] Translation: X:941.68, Y:42.69, Z:4.15 [[ 8.86460161e-01 -4.62639603e-01 -1.23685584e-02 9.41681117e+02] [ 4.62591942e-01 8.86546428e-01 -6.64271503e-03 4.26885896e+01] [ 1.40384843e-02 1.66906808e-04 9.99901442e-01 4.15387370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.499254154 meters 0.013316805931251306 Centerline is valid? [True, True] Translation: X:941.73, Y:42.72, Z:4.15 [[ 8.87793514e-01 -4.60085916e-01 -1.19844199e-02 9.41731594e+02] [ 4.60040884e-01 8.87874376e-01 -6.44026595e-03 4.27197815e+01] [ 1.36037350e-02 2.04303225e-04 9.99907444e-01 4.15296189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.559254154 meters 0.0131522780964936 Centerline is valid? [True, True] Translation: X:941.78, Y:42.75, Z:4.15 [[ 8.86680264e-01 -4.62225673e-01 -1.20638601e-02 9.41781398e+02] [ 4.62180209e-01 8.86762311e-01 -6.48515909e-03 4.27497755e+01] [ 1.36953835e-02 1.74585203e-04 9.99906199e-01 4.15128209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.6192541539999 meters 0.012854903008661133 Centerline is valid? [True, True] Translation: X:941.83, Y:42.78, Z:4.15 [[ 8.85193088e-01 -4.65144925e-01 -8.56713128e-03 9.41832746e+02] [ 4.65122126e-01 8.85234539e-01 -4.60626875e-03 4.27766306e+01] [ 9.72650305e-03 9.26749435e-05 9.99952692e-01 4.15275811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.679254154 meters 0.014232003283127504 Centerline is valid? [True, True] Translation: X:941.88, Y:42.80, Z:4.15 [[ 8.84845044e-01 -4.65806987e-01 -8.54977490e-03 9.41884658e+02] [ 4.65784290e-01 8.84886345e-01 -4.59915727e-03 4.28030636e+01] [ 9.70789865e-03 8.71906819e-05 9.99952873e-01 4.15408482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.7392541539999 meters 0.012890417927651008 Centerline is valid? [True, True] Translation: X:941.94, Y:42.83, Z:4.15 [[ 8.84772415e-01 -4.65992695e-01 -5.34617497e-03 9.41935904e+02] [ 4.65983815e-01 8.84788565e-01 -2.87725765e-03 4.28315130e+01] [ 6.07101553e-03 5.44871922e-05 9.99981570e-01 4.15386666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.799254154 meters 0.0129662537387654 Centerline is valid? [True, True] Translation: X:941.99, Y:42.86, Z:4.15 [[ 8.84087341e-01 -4.67277033e-01 -6.46131113e-03 9.41986662e+02] [ 4.67264079e-01 8.84110950e-01 -3.47982801e-03 4.28608720e+01] [ 7.33855963e-03 5.73333014e-05 9.99973071e-01 4.15011097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.8592541539999 meters 0.012955206032262783 Centerline is valid? [True, True] Translation: X:942.04, Y:42.89, Z:4.15 [[ 8.83292534e-01 -4.68767803e-01 -7.14461590e-03 9.42037824e+02] [ 4.68751992e-01 8.83321427e-01 -3.85049345e-03 4.28878916e+01] [ 8.11597967e-03 5.20591868e-05 9.99967064e-01 4.14870853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.919254154 meters 0.013215357779461465 Centerline is valid? [True, True] Translation: X:942.09, Y:42.91, Z:4.15 [[ 8.83217588e-01 -4.68905509e-01 -7.36990504e-03 9.42089514e+02] [ 4.68888667e-01 8.83248334e-01 -3.97465344e-03 4.29145056e+01] [ 8.37319325e-03 5.48188814e-05 9.99964943e-01 4.14857338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.9792541539999 meters 0.013652580516607846 Centerline is valid? [True, True] Translation: X:942.14, Y:42.94, Z:4.15 [[ 8.84363644e-01 -4.66743615e-01 -7.16538615e-03 9.42140853e+02] [ 4.66727603e-01 8.84392669e-01 -3.86683146e-03 4.29441532e+01] [ 8.14183387e-03 7.54016647e-05 9.99966852e-01 4.14882141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.039254154 meters 0.016491045046712397 Centerline is valid? [True, True] Translation: X:942.19, Y:42.97, Z:4.15 [[ 8.85200652e-01 -4.65124223e-01 -8.90290865e-03 9.42190848e+02] [ 4.65099397e-01 8.85245414e-01 -4.80695088e-03 4.29737545e+01] [ 1.01170884e-02 1.14378613e-04 9.99948814e-01 4.14734894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.0992541539999 meters 0.01544851827623697 Centerline is valid? [True, True] Translation: X:942.24, Y:43.00, Z:4.15 [[ 8.85125716e-01 -4.65284825e-01 -7.90563819e-03 9.42242551e+02] [ 4.65265237e-01 8.85161014e-01 -4.27057217e-03 4.30008343e+01] [ 8.98479515e-03 1.01774626e-04 9.99959631e-01 4.14793831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.159254154 meters 0.014411710567620252 Centerline is valid? [True, True] Translation: X:942.30, Y:43.03, Z:4.15 [[ 8.84798050e-01 -4.65939616e-01 -5.71695868e-03 9.42295063e+02] [ 4.65929376e-01 8.84816517e-01 -3.08988915e-03 4.30272813e+01] [ 6.49816124e-03 7.02289041e-05 9.99978884e-01 4.14983337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.2192541539999 meters 0.014364932731077237 Centerline is valid? [True, True] Translation: X:942.35, Y:43.05, Z:4.15 [[ 8.84432246e-01 -4.66647947e-01 -4.39259921e-03 9.42346173e+02] [ 4.66641906e-01 8.84443153e-01 -2.37512511e-03 4.30534358e+01] [ 4.99335155e-03 5.08663681e-05 9.99987532e-01 4.15110380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.279254154 meters 0.01408604501757311 Centerline is valid? [True, True] Translation: X:942.40, Y:43.08, Z:4.15 [[ 8.83749429e-01 -4.67943186e-01 -4.01506280e-03 9.42399618e+02] [ 4.67938150e-01 8.83758549e-01 -2.17143649e-03 4.30786864e+01] [ 4.56445498e-03 4.02047026e-05 9.99989582e-01 4.15072632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.339254154 meters 0.014072305925982494 Centerline is valid? [True, True] Translation: X:942.45, Y:43.11, Z:4.15 [[ 8.83461510e-01 -4.68483968e-01 -4.30489860e-03 9.42451684e+02] [ 4.68478177e-01 8.83471997e-01 -2.32971747e-03 4.31053705e+01] [ 4.89469265e-03 4.14646626e-05 9.99988020e-01 4.15045080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.399254154 meters 0.014166665347200564 Centerline is valid? [True, True] Translation: X:942.50, Y:43.13, Z:4.15 [[ 8.83720290e-01 -4.67997276e-01 -4.12291576e-03 9.42502554e+02] [ 4.67991952e-01 8.83729906e-01 -2.23271862e-03 4.31328130e+01] [ 4.68845019e-03 4.36073550e-05 9.99989008e-01 4.14960460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.459254154 meters 0.015667169706297356 Centerline is valid? [True, True] Translation: X:942.55, Y:43.16, Z:4.15 [[ 8.84198035e-01 -4.67077747e-01 -5.67557790e-03 9.42553814e+02] [ 4.67067623e-01 8.84216248e-01 -3.07615599e-03 4.31613935e+01] [ 6.45524221e-03 6.90524027e-05 9.99979162e-01 4.14909183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.519254154 meters 0.014658027608308448 Centerline is valid? [True, True] Translation: X:942.60, Y:43.19, Z:4.15 [[ 8.85245600e-01 -4.65087707e-01 -5.80105234e-03 9.42604711e+02] [ 4.65077074e-01 8.85264603e-01 -3.14611005e-03 4.31904828e+01] [ 6.59868340e-03 8.71436343e-05 9.99978225e-01 4.14818907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.579254154 meters 0.016783354019911673 Centerline is valid? [True, True] Translation: X:942.66, Y:43.22, Z:4.15 [[ 8.86410654e-01 -4.62849682e-01 -6.80623978e-03 9.42655041e+02] [ 4.62834960e-01 8.86436775e-01 -3.69370523e-03 4.32214583e+01] [ 7.74293153e-03 1.23973959e-04 9.99970015e-01 4.14767973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.639254154 meters 0.015535119794231758 Centerline is valid? [True, True] Translation: X:942.71, Y:43.25, Z:4.15 [[ 8.86709847e-01 -4.62292715e-01 -5.57612371e-03 9.42706081e+02] [ 4.62282812e-01 8.86727373e-01 -3.02771049e-03 4.32500247e+01] [ 6.34419003e-03 1.06954554e-04 9.99979870e-01 4.14794121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.699254154 meters 0.017529525512506524 Centerline is valid? [True, True] Translation: X:942.76, Y:43.28, Z:4.15 [[ 8.84894266e-01 -4.65767860e-01 -4.73702510e-03 9.42759108e+02] [ 4.65760756e-01 8.84906942e-01 -2.57344127e-03 4.32751066e+01] [ 5.39045263e-03 7.09030280e-05 9.99985469e-01 4.14926382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.759254154 meters 0.014938757853986809 Centerline is valid? [True, True] Translation: X:942.81, Y:43.30, Z:4.15 [[ 8.81901608e-01 -4.71417011e-01 -3.94406417e-03 9.42814034e+02] [ 4.71412138e-01 8.81910427e-01 -2.14373336e-03 4.32974849e+01] [ 4.48890369e-03 3.12821685e-05 9.99989924e-01 4.15105050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.819254154 meters 0.015943727970698856 Centerline is valid? [True, True] Translation: X:942.86, Y:43.33, Z:4.15 [[ 8.80430352e-01 -4.74156491e-01 -4.24473330e-03 9.42864745e+02] [ 4.74150871e-01 8.80440584e-01 -2.30857161e-03 4.33252400e+01] [ 4.83185968e-03 1.98925191e-05 9.99988326e-01 4.15124771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.879254154 meters 0.015190648321644948 Centerline is valid? [True, True] Translation: X:942.91, Y:43.35, Z:4.15 [[ 8.79947645e-01 -4.75030560e-01 -6.17321773e-03 9.42914118e+02] [ 4.75018687e-01 8.79969299e-01 -3.35863100e-03 4.33530007e+01] [ 7.02769445e-03 2.30256613e-05 9.99975305e-01 4.14980729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.939254154 meters 0.0152860624481599 Centerline is valid? [True, True] Translation: X:942.97, Y:43.38, Z:4.15 [[ 8.79536639e-01 -4.75781903e-01 -6.84698428e-03 9.42965097e+02] [ 4.75767302e-01 8.79563290e-01 -3.72736354e-03 4.33805400e+01] [ 7.79576813e-03 2.07815641e-05 9.99969612e-01 4.15016914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.999254154 meters 0.016701298201037836 Centerline is valid? [True, True] Translation: X:943.02, Y:43.41, Z:4.15 [[ 8.78584482e-01 -4.77538587e-01 -6.79746478e-03 9.43015522e+02] [ 4.77524230e-01 8.78610777e-01 -3.70291622e-03 4.34085414e+01] [ 7.74061119e-03 7.37059332e-06 9.99970041e-01 4.15029521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.059254154 meters 0.016751085844626985 Centerline is valid? [True, True] Translation: X:943.07, Y:43.44, Z:4.15 [[ 8.78205677e-01 -4.78243489e-01 -6.16063885e-03 9.43065637e+02] [ 4.78231699e-01 8.78227285e-01 -3.35819043e-03 4.34376313e+01] [ 7.01647384e-03 2.96912160e-06 9.99975384e-01 4.15060486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.1192541539999 meters 0.01621103471795166 Centerline is valid? [True, True] Translation: X:943.11, Y:43.47, Z:4.15 [[ 8.79165145e-01 -4.76472978e-01 -6.49229008e-03 9.43114806e+02] [ 4.76459821e-01 8.79189116e-01 -3.54083746e-03 4.34674741e+01] [ 7.39506414e-03 1.96655025e-05 9.99972656e-01 4.15019589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.179254154 meters 0.01778090286785941 Centerline is valid? [True, True] Translation: X:943.16, Y:43.50, Z:4.15 [[ 8.80561270e-01 -4.73898177e-01 -5.68922651e-03 9.43164656e+02] [ 4.73888014e-01 8.80579648e-01 -3.10384796e-03 4.34991293e+01] [ 6.48072496e-03 3.70720533e-05 9.99978999e-01 4.14976302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.2392541539999 meters 0.016175121172793166 Centerline is valid? [True, True] Translation: X:943.21, Y:43.53, Z:4.15 [[ 8.83795988e-01 -4.67845205e-01 -5.05131089e-03 9.43212096e+02] [ 4.67837085e-01 8.83810420e-01 -2.75735126e-03 4.35348395e+01] [ 5.75441476e-03 7.37454157e-05 9.99983440e-01 4.14945316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.299254154 meters 0.017204667834991336 Centerline is valid? [True, True] Translation: X:943.26, Y:43.57, Z:4.15 [[ 8.86120542e-01 -4.63425795e-01 -5.18827085e-03 9.43260779e+02] [ 4.63417142e-01 8.86135724e-01 -2.83390047e-03 4.35691665e+01] [ 5.91081473e-03 1.06843768e-04 9.99982525e-01 4.14854709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.3592541539999 meters 0.017635587373576376 Centerline is valid? [True, True] Translation: X:943.31, Y:43.60, Z:4.15 [[ 8.86301118e-01 -4.63075554e-01 -5.59999442e-03 9.43310291e+02] [ 4.63065456e-01 8.86318801e-01 -3.06049025e-03 4.35990302e+01] [ 6.38061856e-03 1.19351959e-04 9.99979637e-01 4.14865325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.419254154 meters 0.017454657699861348 Centerline is valid? [True, True] Translation: X:943.36, Y:43.63, Z:4.15 [[ 8.85849367e-01 -4.63942374e-01 -5.32654654e-03 9.43361853e+02] [ 4.63933246e-01 8.85865375e-01 -2.91218241e-03 4.36274514e+01] [ 6.06968797e-03 1.08592916e-04 9.99981573e-01 4.14899004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.4792541539999 meters 0.016483288175900064 Centerline is valid? [True, True] Translation: X:943.41, Y:43.66, Z:4.15 [[ 8.84493523e-01 -4.66506022e-01 -6.58331791e-03 9.43413832e+02] [ 4.66492131e-01 8.84518015e-01 -3.60180168e-03 4.36559710e+01] [ 7.50332546e-03 1.14704249e-04 9.99971843e-01 4.14770408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.539254154 meters 0.015580076679696499 Centerline is valid? [True, True] Translation: X:943.47, Y:43.68, Z:4.15 [[ 8.81966311e-01 -4.71250349e-01 -7.65084998e-03 9.43467074e+02] [ 4.71231742e-01 8.81999490e-01 -4.18865881e-03 4.36808937e+01] [ 8.72195271e-03 8.89325976e-05 9.99961959e-01 4.14735279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.5992541539999 meters 0.016409164199736103 Centerline is valid? [True, True] Translation: X:943.52, Y:43.71, Z:4.15 [[ 8.81132084e-01 -4.72803720e-01 -7.93046937e-03 9.43519474e+02] [ 4.72783766e-01 8.81167768e-01 -4.34446720e-03 4.37076892e+01] [ 9.04215425e-03 7.86522615e-05 9.99959116e-01 4.14768932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.659254154 meters 0.014970027115081658 Centerline is valid? [True, True] Translation: X:943.57, Y:43.73, Z:4.15 [[ 8.78908505e-01 -4.76928580e-01 -7.67912130e-03 9.43572651e+02] [ 4.76910006e-01 8.78942050e-01 -4.20930662e-03 4.37331085e+01] [ 8.75704125e-03 3.73456015e-05 9.99961656e-01 4.14800404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.7192541539999 meters 0.014816957362798257 Centerline is valid? [True, True] Translation: X:943.63, Y:43.76, Z:4.15 [[ 8.76937114e-01 -4.80549491e-01 -7.31329890e-03 9.43625622e+02] [ 4.80532749e-01 8.76967608e-01 -4.01133559e-03 4.37580587e+01] [ 8.34117152e-03 3.40942761e-06 9.99965212e-01 4.14867645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.779254154 meters 0.014799456005179826 Centerline is valid? [True, True] Translation: X:943.68, Y:43.78, Z:4.15 [[ 8.75248125e-01 -4.83613824e-01 -7.64125297e-03 9.43678941e+02] [ 4.83595637e-01 8.75281480e-01 -4.19418655e-03 4.37823436e+01] [ 8.71661380e-03 -2.43226838e-05 9.99962009e-01 4.14916299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.839254154 meters 0.01493867531123873 Centerline is valid? [True, True] Translation: X:943.73, Y:43.81, Z:4.15 [[ 8.74395369e-01 -4.85128581e-01 -9.11033540e-03 9.43731068e+02] [ 4.85102774e-01 8.74442827e-01 -5.00401686e-03 4.38090138e+01] [ 1.03940590e-02 -4.39598087e-05 9.99945979e-01 4.14812577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.899254154 meters 0.016508185095462948 Centerline is valid? [True, True] Translation: X:943.78, Y:43.84, Z:4.15 [[ 8.74145978e-01 -4.85546346e-01 -1.06561831e-02 9.43782223e+02] [ 4.85511037e-01 8.74210926e-01 -5.85577523e-03 4.38360571e+01] [ 1.21590019e-02 -5.48921362e-05 9.99926075e-01 4.14707134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.959254154 meters 0.015004691412399575 Centerline is valid? [True, True] Translation: X:943.83, Y:43.86, Z:4.15 [[ 8.74030860e-01 -4.85762148e-01 -1.02562678e-02 9.43833445e+02] [ 4.85729420e-01 8.74091032e-01 -5.63901694e-03 4.38635583e+01] [ 1.17041327e-02 -5.30961654e-05 9.99931503e-01 4.14835836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.019254154 meters 0.015947959211136415 Centerline is valid? [True, True] Translation: X:943.88, Y:43.89, Z:4.15 [[ 8.74205254e-01 -4.85439198e-01 -1.06751774e-02 9.43883335e+02] [ 4.85403678e-01 8.74270429e-01 -5.87251183e-03 4.38908077e+01] [ 1.21837394e-02 -4.79896693e-05 9.99925774e-01 4.14832811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.079254154 meters 0.01535807314816149 Centerline is valid? [True, True] Translation: X:943.93, Y:43.92, Z:4.15 [[ 8.74922415e-01 -4.84139062e-01 -1.09606312e-02 9.43933182e+02] [ 4.84101470e-01 8.74991067e-01 -6.03319406e-03 4.39202443e+01] [ 1.25113593e-02 -2.74809604e-05 9.99921730e-01 4.14930511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.139254154 meters 0.014502603227550386 Centerline is valid? [True, True] Translation: X:943.98, Y:43.95, Z:4.15 [[ 8.75534294e-01 -4.83021136e-01 -1.14141627e-02 9.43983394e+02] [ 4.82980216e-01 8.75608692e-01 -6.28715501e-03 4.39492109e+01] [ 1.30311688e-02 -8.19493433e-06 9.99915091e-01 4.14908624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.199254154 meters 0.014382135903302295 Centerline is valid? [True, True] Translation: X:944.03, Y:43.98, Z:4.15 [[ 8.75830942e-01 -4.82486587e-01 -1.12629522e-02 9.44034042e+02] [ 4.82446647e-01 8.75903358e-01 -6.20802444e-03 4.39769353e+01] [ 1.28605462e-02 3.40634760e-06 9.99917300e-01 4.14979815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.259254154 meters 0.01430182335216315 Centerline is valid? [True, True] Translation: X:944.08, Y:44.01, Z:4.15 [[ 8.75702904e-01 -4.82717432e-01 -1.13271814e-02 9.44084396e+02] [ 4.82677000e-01 8.75776159e-01 -6.24762983e-03 4.40058234e+01] [ 1.29359152e-02 3.69765215e-06 9.99916328e-01 4.15006946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.319254154 meters 0.01565954445700767 Centerline is valid? [True, True] Translation: X:944.13, Y:44.03, Z:4.15 [[ 8.74599012e-01 -4.84701442e-01 -1.18777003e-02 9.44134722e+02] [ 4.84657106e-01 8.74679662e-01 -6.55573019e-03 4.40344000e+01] [ 1.35667547e-02 -2.29766803e-05 9.99907967e-01 4.14875780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.379254154 meters 0.017248667366022895 Centerline is valid? [True, True] Translation: X:944.19, Y:44.06, Z:4.15 [[ 8.72542319e-01 -4.88398057e-01 -1.17149034e-02 9.44186508e+02] [ 4.88355225e-01 8.72620955e-01 -6.46861191e-03 4.40605984e+01] [ 1.33819277e-02 -7.68966587e-05 9.99910455e-01 4.14801813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.439254154 meters 0.014507405533501565 Centerline is valid? [True, True] Translation: X:944.24, Y:44.09, Z:4.15 [[ 8.71075867e-01 -4.91021942e-01 -1.11483907e-02 9.44237771e+02] [ 4.90983348e-01 8.71147198e-01 -6.15729412e-03 4.40884929e+01] [ 1.27352558e-02 -1.10203877e-04 9.99918897e-01 4.15045086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.499254154 meters 0.015774227290907047 Centerline is valid? [True, True] Translation: X:944.29, Y:44.12, Z:4.15 [[ 8.70706348e-01 -4.91663618e-01 -1.17192911e-02 9.44288238e+02] [ 4.91621009e-01 8.70785204e-01 -6.47401230e-03 4.41172674e+01] [ 1.33880216e-02 -1.24486124e-04 9.99910369e-01 4.14919531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.559254154 meters 0.016922860485186084 Centerline is valid? [True, True] Translation: X:944.34, Y:44.15, Z:4.15 [[ 8.71536473e-01 -4.90114724e-01 -1.45510567e-02 9.44338437e+02] [ 4.90048750e-01 8.71657928e-01 -8.04240275e-03 4.41491932e+01] [ 1.66252439e-02 -1.21479812e-04 9.99861784e-01 4.14642494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.6192541539999 meters 0.01678012486878821 Centerline is valid? [True, True] Translation: X:944.39, Y:44.18, Z:4.14 [[ 8.73078877e-01 -4.87295600e-01 -1.66214584e-02 9.44387756e+02] [ 4.87208897e-01 8.73237077e-01 -9.19225884e-03 4.41809297e+01] [ 1.89938210e-02 -7.25553790e-05 9.99819598e-01 4.14383238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.679254154 meters 0.013904559036464682 Centerline is valid? [True, True] Translation: X:944.44, Y:44.21, Z:4.15 [[ 8.74295662e-01 -4.85138767e-01 -1.57312139e-02 9.44437928e+02] [ 4.85060664e-01 8.74437177e-01 -8.70494671e-03 4.42122234e+01] [ 1.79790654e-02 -1.98959143e-05 9.99838363e-01 4.14621550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.7392541539999 meters 0.013721245672324583 Centerline is valid? [True, True] Translation: X:944.49, Y:44.24, Z:4.15 [[ 8.75605242e-01 -4.82827843e-01 -1.38828756e-02 9.44487783e+02] [ 4.82766657e-01 8.75715292e-01 -7.68647830e-03 4.42431279e+01] [ 1.58686922e-02 2.81312495e-05 9.99874084e-01 4.14820615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.799254154 meters 0.01371362839988992 Centerline is valid? [True, True] Translation: X:944.54, Y:44.27, Z:4.15 [[ 8.76812248e-01 -4.80664633e-01 -1.27197196e-02 9.44537352e+02] [ 4.80612979e-01 8.76904502e-01 -7.04687320e-03 4.42738873e+01] [ 1.45411621e-02 6.55223990e-05 9.99894270e-01 4.14962117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.8592541539999 meters 0.014198288334165749 Centerline is valid? [True, True] Translation: X:944.59, Y:44.31, Z:4.15 [[ 8.79497727e-01 -4.75753903e-01 -1.19152259e-02 9.44585845e+02] [ 4.75708071e-01 8.79578424e-01 -6.60508956e-03 4.43072191e+01] [ 1.36227728e-02 1.40992110e-04 9.99907196e-01 4.15064111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.919254154 meters 0.016362664749565516 Centerline is valid? [True, True] Translation: X:944.64, Y:44.34, Z:4.15 [[ 8.81717588e-01 -4.71625717e-01 -1.19698958e-02 9.44635050e+02] [ 4.71579028e-01 8.81798809e-01 -6.63934363e-03 4.43400630e+01] [ 1.36863250e-02 2.09274244e-04 9.99906316e-01 4.15087438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.9792541539999 meters 0.0171825801375795 Centerline is valid? [True, True] Translation: X:944.68, Y:44.37, Z:4.15 [[ 8.83882150e-01 -4.67557869e-01 -1.19156752e-02 9.44683321e+02] [ 4.67511201e-01 8.83962423e-01 -6.61149494e-03 4.43736779e+01] [ 1.36242656e-02 2.73070756e-04 9.99907148e-01 4.15070586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.039254154 meters 0.017818411871466003 Centerline is valid? [True, True] Translation: X:944.73, Y:44.40, Z:4.15 [[ 8.84850705e-01 -4.65670247e-01 -1.38003988e-02 9.44733321e+02] [ 4.65607357e-01 8.84958245e-01 -7.66112291e-03 4.44044983e+01] [ 1.57803337e-02 3.53382797e-04 9.99875420e-01 4.14956293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.0992541539999 meters 0.016867568953876432 Centerline is valid? [True, True] Translation: X:944.78, Y:44.43, Z:4.15 [[ 8.84531336e-01 -4.66250786e-01 -1.46465248e-02 9.44782319e+02] [ 4.66179957e-01 8.84652513e-01 -8.13501872e-03 4.44340806e+01] [ 1.67500438e-02 3.67762666e-04 9.99859641e-01 4.14850106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.159254154 meters 0.016393787766511705 Centerline is valid? [True, True] Translation: X:944.84, Y:44.46, Z:4.15 [[ 8.81356240e-01 -4.72225280e-01 -1.46445535e-02 9.44837260e+02] [ 4.72155218e-01 8.81477861e-01 -8.13825796e-03 4.44574438e+01] [ 1.67519409e-02 2.58202072e-04 9.99859643e-01 4.14901175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.2192541539999 meters 0.016738247470614736 Centerline is valid? [True, True] Translation: X:944.89, Y:44.48, Z:4.15 [[ 8.77280694e-01 -4.79796471e-01 -1.31882828e-02 9.44892313e+02] [ 4.79740474e-01 8.77379812e-01 -7.33091802e-03 4.44797714e+01] [ 1.50884817e-02 1.04319796e-04 9.99886157e-01 4.15071109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.279254154 meters 0.013478983690109279 Centerline is valid? [True, True] Translation: X:944.95, Y:44.50, Z:4.15 [[ 8.73719624e-01 -4.86279304e-01 -1.21019716e-02 9.44946471e+02] [ 4.86232729e-01 8.73803433e-01 -6.73009065e-03 4.45026913e+01] [ 1.38474481e-02 -4.16240913e-06 9.99904119e-01 4.15364687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.339254154 meters 0.013812293090429197 Centerline is valid? [True, True] Translation: X:945.00, Y:44.53, Z:4.15 [[ 8.70837276e-01 -4.91422340e-01 -1.21046688e-02 9.45000364e+02] [ 4.91376185e-01 8.70921396e-01 -6.73551196e-03 4.45274525e+01] [ 1.38521961e-02 -8.24110943e-05 9.99904050e-01 4.15357712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.399254154 meters 0.01399465155467563 Centerline is valid? [True, True] Translation: X:945.05, Y:44.55, Z:4.15 [[ 8.69596875e-01 -4.93596887e-01 -1.27823006e-02 9.45052408e+02] [ 4.93545594e-01 8.69690806e-01 -7.11679241e-03 4.45548027e+01] [ 1.46294759e-02 -1.19907720e-04 9.99892976e-01 4.15430499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.459254154 meters 0.013820883389102926 Centerline is valid? [True, True] Translation: X:945.10, Y:44.59, Z:4.15 [[ 8.70067107e-01 -4.92763157e-01 -1.29498960e-02 9.45102242e+02] [ 4.92710348e-01 8.70163467e-01 -7.21479680e-03 4.45853026e+01] [ 1.48237125e-02 -1.03190392e-04 9.99890117e-01 4.15466584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.519254154 meters 0.01389806206962329 Centerline is valid? [True, True] Translation: X:945.15, Y:44.61, Z:4.15 [[ 8.70457431e-01 -4.92068006e-01 -1.31506038e-02 9.45151360e+02] [ 4.92013422e-01 8.70556758e-01 -7.32959097e-03 4.46136274e+01] [ 1.50550042e-02 -9.01766375e-05 9.99886663e-01 4.15414082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.579254154 meters 0.013906625997146576 Centerline is valid? [True, True] Translation: X:945.20, Y:44.65, Z:4.15 [[ 8.72245332e-01 -4.88886932e-01 -1.33284825e-02 9.45201109e+02] [ 4.88830434e-01 8.72347159e-01 -7.43235022e-03 4.46454711e+01] [ 1.52606427e-02 -3.25350968e-05 9.99883549e-01 4.15355391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.639254154 meters 0.013450741052219505 Centerline is valid? [True, True] Translation: X:945.25, Y:44.68, Z:4.15 [[ 8.74139092e-01 -4.85477162e-01 -1.38842988e-02 9.45250086e+02] [ 4.85415341e-01 8.74249349e-01 -7.74740652e-03 4.46774033e+01] [ 1.58995281e-02 3.26592687e-05 9.99873594e-01 4.15425960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.699254154 meters 0.01517209947713572 Centerline is valid? [True, True] Translation: X:945.30, Y:44.71, Z:4.15 [[ 8.75238756e-01 -4.83504369e-01 -1.34404274e-02 9.45298747e+02] [ 4.83446159e-01 8.75341945e-01 -7.50273960e-03 4.47076197e+01] [ 1.53925773e-02 6.89654550e-05 9.99881525e-01 4.15341080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.759254154 meters 0.013619872071285807 Centerline is valid? [True, True] Translation: X:945.35, Y:44.74, Z:4.16 [[ 8.75864476e-01 -4.82396500e-01 -1.24513505e-02 9.45348301e+02] [ 4.82346375e-01 8.75952972e-01 -6.95448086e-03 4.47370054e+01] [ 1.42616147e-02 8.53189475e-05 9.99898294e-01 4.15571150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.819254154 meters 0.01356407859848891 Centerline is valid? [True, True] Translation: X:945.40, Y:44.77, Z:4.16 [[ 8.75927493e-01 -4.82302629e-01 -1.16275929e-02 9.45398870e+02] [ 4.82258851e-01 8.76004661e-01 -6.49877033e-03 4.47659966e+01] [ 1.33201996e-02 8.49420017e-05 9.99911279e-01 4.15791139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.879254154 meters 0.01366654934553379 Centerline is valid? [True, True] Translation: X:945.45, Y:44.80, Z:4.16 [[ 8.75535356e-01 -4.83026963e-01 -1.10812260e-02 9.45449008e+02] [ 4.82987226e-01 8.75605475e-01 -6.19612073e-03 4.47958543e+01] [ 1.26956756e-02 7.28321415e-05 9.99919404e-01 4.15785909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.939254154 meters 0.013625441588761635 Centerline is valid? [True, True] Translation: X:945.50, Y:44.82, Z:4.16 [[ 8.74504593e-01 -4.84880959e-01 -1.14966246e-02 9.45499650e+02] [ 4.84838299e-01 8.74580158e-01 -6.43200916e-03 4.48247204e+01] [ 1.31734786e-02 5.08176223e-05 9.99913225e-01 4.15747825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.999254154 meters 0.015240236848085266 Centerline is valid? [True, True] Translation: X:945.55, Y:44.85, Z:4.16 [[ 8.71852045e-01 -4.89596840e-01 -1.29979195e-02 9.45551387e+02] [ 4.89542792e-01 8.71948929e-01 -7.27466253e-03 4.48517870e+01] [ 1.48951737e-02 -2.06083728e-05 9.99889061e-01 4.15618758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.059254154 meters 0.01628095582074714 Centerline is valid? [True, True] Translation: X:945.60, Y:44.88, Z:4.16 [[ 8.69381323e-01 -4.93941933e-01 -1.40528100e-02 9.45602874e+02] [ 4.93879295e-01 8.69494886e-01 -7.86673613e-03 4.48780807e+01] [ 1.61045573e-02 -1.01198425e-04 9.99870308e-01 4.15521445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.1192541539999 meters 0.014881716985649046 Centerline is valid? [True, True] Translation: X:945.65, Y:44.91, Z:4.15 [[ 8.68185715e-01 -4.96009154e-01 -1.51156294e-02 9.45654026e+02] [ 4.95936965e-01 8.68317279e-01 -8.46346467e-03 4.49063245e+01] [ 1.73231181e-02 -1.48540230e-04 9.99849932e-01 4.15481126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.179254154 meters 0.01588499363850987 Centerline is valid? [True, True] Translation: X:945.70, Y:44.94, Z:4.15 [[ 8.68148734e-01 -4.96035275e-01 -1.63334517e-02 9.45704874e+02] [ 4.95950906e-01 8.68302356e-01 -9.14974586e-03 4.49359390e+01] [ 1.87209713e-02 -1.57249879e-04 9.99824735e-01 4.15355348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.2392541539999 meters 0.01439958199547478 Centerline is valid? [True, True] Translation: X:945.75, Y:44.97, Z:4.15 [[ 8.69267554e-01 -4.94079775e-01 -1.60964789e-02 9.45754383e+02] [ 4.93997453e-01 8.69416565e-01 -9.01954289e-03 4.49651954e+01] [ 1.84509191e-02 -1.11223591e-04 9.99829761e-01 4.15419913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.299254154 meters 0.015476631713096486 Centerline is valid? [True, True] Translation: X:945.80, Y:45.00, Z:4.15 [[ 8.70337563e-01 -4.92209483e-01 -1.55676457e-02 9.45804811e+02] [ 4.92132111e-01 8.70476778e-01 -8.72720369e-03 4.49960325e+01] [ 1.78468865e-02 -6.57251503e-05 9.99840729e-01 4.15387530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.3592541539999 meters 0.01575473473200525 Centerline is valid? [True, True] Translation: X:945.85, Y:45.03, Z:4.16 [[ 8.72843294e-01 -4.87780619e-01 -1.46509840e-02 9.45853763e+02] [ 4.87711428e-01 8.72966246e-01 -8.21558615e-03 4.50270528e+01] [ 1.67972182e-02 2.54669315e-05 9.99858916e-01 4.15550494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.419254154 meters 0.014370335903246946 Centerline is valid? [True, True] Translation: X:945.90, Y:45.06, Z:4.16 [[ 8.76073050e-01 -4.82020220e-01 -1.23498519e-02 9.45901983e+02] [ 4.81970438e-01 8.76160084e-01 -6.92846152e-03 4.50593949e+01] [ 1.41601058e-02 1.17574897e-04 9.99899734e-01 4.15916731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.4792541539999 meters 0.01659875573194116 Centerline is valid? [True, True] Translation: X:945.95, Y:45.09, Z:4.16 [[ 8.79548498e-01 -4.75639458e-01 -1.27100441e-02 9.45949986e+02] [ 4.75586032e-01 8.79640298e-01 -7.13247621e-03 4.50935321e+01] [ 1.45727541e-02 2.28639299e-04 9.99893786e-01 4.15809574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.539254154 meters 0.01832792362510262 Centerline is valid? [True, True] Translation: X:946.00, Y:45.13, Z:4.16 [[ 8.81218346e-01 -4.72513082e-01 -1.36240190e-02 9.46000033e+02] [ 4.72451273e-01 8.81323604e-01 -7.64848010e-03 4.51252310e+01] [ 1.56211764e-02 3.03295867e-04 9.99877936e-01 4.15720403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.5992541539999 meters 0.022794818341883606 Centerline is valid? [True, True] Translation: X:946.05, Y:45.16, Z:4.15 [[ 8.83149047e-01 -4.68812609e-01 -1.62017913e-02 9.46049154e+02] [ 4.68724521e-01 8.83297540e-01 -9.09834756e-03 4.51564573e+01] [ 1.85764225e-02 4.41020093e-04 9.99827346e-01 4.15392052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.659254154 meters 0.022976839288431524 Centerline is valid? [True, True] Translation: X:946.10, Y:45.19, Z:4.15 [[ 8.84640331e-01 -4.65976530e-01 -1.66540847e-02 9.46099999e+02] [ 4.65882884e-01 8.84796929e-01 -9.35590474e-03 4.51874088e+01] [ 1.90951150e-02 5.17757658e-04 9.99817538e-01 4.15349691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.7192541539999 meters 0.025277629238857607 Centerline is valid? [True, True] Translation: X:946.15, Y:45.21, Z:4.15 [[ 8.84302300e-01 -4.66489699e-01 -1.99199205e-02 9.46153035e+02] [ 4.66355720e-01 8.84526420e-01 -1.11962048e-02 4.52140837e+01] [ 2.28426102e-02 6.11060789e-04 9.99738887e-01 4.14900376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.779254154 meters 0.022516824126962234 Centerline is valid? [True, True] Translation: X:946.21, Y:45.24, Z:4.15 [[ 8.83162672e-01 -4.68701724e-01 -1.85037477e-02 9.46207070e+02] [ 4.68586514e-01 8.83356341e-01 -1.04044821e-02 4.52372481e+01] [ 2.12220016e-02 5.18243622e-04 9.99774654e-01 4.15170945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.839254154 meters 0.020475712504014018 Centerline is valid? [True, True] Translation: X:946.26, Y:45.26, Z:4.15 [[ 8.81002384e-01 -4.72772657e-01 -1.79113182e-02 9.46263250e+02] [ 4.72665493e-01 8.81184344e-01 -1.00739316e-02 4.52578474e+01] [ 2.05458526e-02 4.09095701e-04 9.99788828e-01 4.15413555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.899254154 meters 0.018225072199731823 Centerline is valid? [True, True] Translation: X:946.32, Y:45.28, Z:4.16 [[ 8.79073368e-01 -4.76409396e-01 -1.62511844e-02 9.46318821e+02] [ 4.76321744e-01 8.79223521e-01 -9.14311736e-03 4.52792524e+01] [ 1.86442906e-02 2.96678492e-04 9.99826136e-01 4.15633473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.959254154 meters 0.014480429517581841 Centerline is valid? [True, True] Translation: X:946.38, Y:45.30, Z:4.16 [[ 8.78067569e-01 -4.78254623e-01 -1.64273875e-02 9.46375344e+02] [ 4.78165288e-01 8.78221183e-01 -9.24725639e-03 4.52981951e+01] [ 1.88494228e-02 2.64709457e-04 9.99822299e-01 4.16293779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.019254154 meters 0.014147373731458728 Centerline is valid? [True, True] Translation: X:946.43, Y:45.32, Z:4.16 [[ 8.77146089e-01 -4.79917639e-01 -1.71405416e-02 9.46428146e+02] [ 4.79820567e-01 8.77313513e-01 -9.65524046e-03 4.53222082e+01] [ 1.96713490e-02 2.44672018e-04 9.99806470e-01 4.16255039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.079254154 meters 0.014302777115710227 Centerline is valid? [True, True] Translation: X:946.48, Y:45.35, Z:4.16 [[ 8.76612959e-01 -4.80857121e-01 -1.80596128e-02 9.46480636e+02] [ 4.80749490e-01 8.76798935e-01 -1.01762296e-02 4.53477275e+01] [ 2.07279618e-02 2.38465080e-04 9.99785124e-01 4.16120523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.139254154 meters 0.014430829945115948 Centerline is valid? [True, True] Translation: X:946.53, Y:45.37, Z:4.16 [[ 8.75201702e-01 -4.83417215e-01 -1.81597849e-02 9.46532881e+02] [ 4.83308828e-01 8.75390063e-01 -1.02378720e-02 4.53748295e+01] [ 2.08460588e-02 1.83418611e-04 9.99782680e-01 4.16037972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.199254154 meters 0.015547898463208223 Centerline is valid? [True, True] Translation: X:946.58, Y:45.40, Z:4.16 [[ 8.75032462e-01 -4.83727455e-01 -1.80537957e-02 9.46581620e+02] [ 4.83620322e-01 8.75218669e-01 -1.01816872e-02 4.54039497e+01] [ 2.07261807e-02 1.78124353e-04 9.99785174e-01 4.16013452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.259254154 meters 0.014021742317640161 Centerline is valid? [True, True] Translation: X:946.63, Y:45.43, Z:4.16 [[ 8.75672544e-01 -4.82609428e-01 -1.69037017e-02 9.46631260e+02] [ 4.82515195e-01 8.75835659e-01 -9.53859668e-03 4.54349379e+01] [ 1.94082814e-02 1.96394290e-04 9.99811622e-01 4.16112974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.319254154 meters 0.014110432429769924 Centerline is valid? [True, True] Translation: X:946.68, Y:45.47, Z:4.16 [[ 8.75780445e-01 -4.82449353e-01 -1.58503576e-02 9.46682132e+02] [ 4.82366377e-01 8.75923847e-01 -8.94948955e-03 4.54655860e+01] [ 1.82013816e-02 1.92108384e-04 9.99834323e-01 4.16200601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.379254154 meters 0.017159540474216646 Centerline is valid? [True, True] Translation: X:946.73, Y:45.49, Z:4.16 [[ 8.75334419e-01 -4.83258165e-01 -1.58493118e-02 9.46732183e+02] [ 4.83175227e-01 8.75477877e-01 -8.95469433e-03 4.54948515e+01] [ 1.82031510e-02 1.80357350e-04 9.99834293e-01 4.16262796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.439254154 meters 0.01582523709475811 Centerline is valid? [True, True] Translation: X:946.78, Y:45.53, Z:4.16 [[ 8.75338058e-01 -4.83295103e-01 -1.44612026e-02 9.46782817e+02] [ 4.83225988e-01 8.75457489e-01 -8.17497374e-03 4.55259445e+01] [ 1.66110929e-02 1.67836728e-04 9.99862012e-01 4.16472493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.499254154 meters 0.01378924324229792 Centerline is valid? [True, True] Translation: X:946.83, Y:45.56, Z:4.16 [[ 8.74846349e-01 -4.84215836e-01 -1.33749500e-02 9.46832635e+02] [ 4.84156756e-01 8.74948572e-01 -7.56514497e-03 4.55572500e+01] [ 1.53655564e-02 1.42767050e-04 9.99881933e-01 4.16488177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.559254154 meters 0.013501947565606623 Centerline is valid? [True, True] Translation: X:946.88, Y:45.59, Z:4.16 [[ 8.73116224e-01 -4.87345845e-01 -1.27313208e-02 9.46883554e+02] [ 4.87292587e-01 8.73209036e-01 -7.20520475e-03 4.55866882e+01] [ 1.46285309e-02 8.71029420e-05 9.99892994e-01 4.16456166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.6192541539999 meters 0.013317037739895942 Centerline is valid? [True, True] Translation: X:946.93, Y:45.61, Z:4.17 [[ 8.71014295e-01 -4.91141376e-01 -1.06885884e-02 9.46934116e+02] [ 4.91104100e-01 8.71079875e-01 -6.05096788e-03 4.56141286e+01] [ 1.22824949e-02 2.12699418e-05 9.99924567e-01 4.16525511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.679254154 meters 0.015235453092630287 Centerline is valid? [True, True] Translation: X:946.98, Y:45.64, Z:4.16 [[ 8.68670978e-01 -4.95267158e-01 -1.10078889e-02 9.46984667e+02] [ 4.95227912e-01 8.68740721e-01 -6.23491814e-03 4.56422808e+01] [ 1.26509515e-02 -3.53213694e-05 9.99919973e-01 4.16425675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.7392541539999 meters 0.0137158040197977 Centerline is valid? [True, True] Translation: X:947.04, Y:45.67, Z:4.16 [[ 8.66591957e-01 -4.98912739e-01 -1.02205155e-02 9.47036644e+02] [ 4.98879119e-01 8.66652221e-01 -5.79244619e-03 4.56704792e+01] [ 1.17475576e-02 -7.91144773e-05 9.99930992e-01 4.16332342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.799254154 meters 0.013955923725236961 Centerline is valid? [True, True] Translation: X:947.09, Y:45.70, Z:4.16 [[ 8.65419236e-01 -5.00958585e-01 -9.48905104e-03 9.47088637e+02] [ 5.00929694e-01 8.65471251e-01 -5.38095154e-03 4.56979125e+01] [ 1.09081347e-02 -9.65684708e-05 9.99940500e-01 4.16346865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.8592541539999 meters 0.0164048548124424 Centerline is valid? [True, True] Translation: X:947.14, Y:45.73, Z:4.16 [[ 8.65346706e-01 -5.01070971e-01 -1.01469327e-02 9.47138072e+02] [ 5.01037909e-01 8.65406189e-01 -5.75697454e-03 4.57262603e+01] [ 1.16658712e-02 -1.02218969e-04 9.99931946e-01 4.16115845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.919254154 meters 0.013780130113117585 Centerline is valid? [True, True] Translation: X:947.19, Y:45.76, Z:4.16 [[ 8.66932131e-01 -4.98333575e-01 -9.60875171e-03 9.47188493e+02] [ 4.98303728e-01 8.66985377e-01 -5.45438326e-03 4.57575002e+01] [ 1.10487495e-02 -5.94967027e-05 9.99938959e-01 4.16115685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.9792541539999 meters 0.013494065443527714 Centerline is valid? [True, True] Translation: X:947.24, Y:45.79, Z:4.16 [[ 8.69934522e-01 -4.93084306e-01 -9.04398815e-03 9.47237762e+02] [ 4.93057551e-01 8.69981532e-01 -5.13657489e-03 4.57892256e+01] [ 1.04008671e-02 9.27717426e-06 9.99945909e-01 4.16254335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.039254154 meters 0.013797901760941932 Centerline is valid? [True, True] Translation: X:947.29, Y:45.82, Z:4.16 [[ 8.73414512e-01 -4.86912822e-01 -7.93692682e-03 9.47285926e+02] [ 4.86891946e-01 8.73450570e-01 -4.50936466e-03 4.58226848e+01] [ 9.12818072e-03 7.41187898e-05 9.99958335e-01 4.16429204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.0992541539999 meters 0.01510120835613728 Centerline is valid? [True, True] Translation: X:947.34, Y:45.86, Z:4.16 [[ 8.75642327e-01 -4.82906725e-01 -7.18402309e-03 9.47335580e+02] [ 4.82889474e-01 8.75671790e-01 -4.08316348e-03 4.58552139e+01] [ 8.26263347e-03 1.06301639e-04 9.99965858e-01 4.16456452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.159254154 meters 0.014824918498147105 Centerline is valid? [True, True] Translation: X:947.39, Y:45.88, Z:4.17 [[ 8.76840916e-01 -4.80739260e-01 -6.30655479e-03 9.47386383e+02] [ 4.80725898e-01 8.76863588e-01 -3.58603102e-03 4.58839067e+01] [ 7.25393416e-03 1.12654509e-04 9.99973684e-01 4.16552914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.2192541539999 meters 0.016140005330676135 Centerline is valid? [True, True] Translation: X:947.44, Y:45.91, Z:4.16 [[ 8.77499364e-01 -4.79510556e-01 -8.03076238e-03 9.47437714e+02] [ 4.79488816e-01 8.77536097e-01 -4.56876074e-03 4.59129636e+01] [ 9.23805288e-03 1.58423897e-04 9.99957316e-01 4.16367567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.279254154 meters 0.015742566223238143 Centerline is valid? [True, True] Translation: X:947.49, Y:45.94, Z:4.16 [[ 8.78093996e-01 -4.78381253e-01 -1.01149252e-02 9.47487296e+02] [ 4.78346646e-01 8.78152225e-01 -5.75820798e-03 4.59442292e+01] [ 1.16370628e-02 2.17807303e-04 9.99932263e-01 4.16128905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.339254154 meters 0.018146849303805144 Centerline is valid? [True, True] Translation: X:947.54, Y:45.97, Z:4.16 [[ 8.77206439e-01 -4.79962212e-01 -1.20473240e-02 9.47539632e+02] [ 4.79913200e-01 8.77289130e-01 -6.86307062e-03 4.59706162e+01] [ 1.38630010e-02 2.38659906e-04 9.99903876e-01 4.15905964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.399254154 meters 0.01470672181122189 Centerline is valid? [True, True] Translation: X:947.59, Y:46.00, Z:4.16 [[ 8.75731497e-01 -4.82631923e-01 -1.26795920e-02 9.47592768e+02] [ 4.82577844e-01 8.75823260e-01 -7.22791496e-03 4.59969617e+01] [ 1.45935041e-02 2.10822610e-04 9.99893487e-01 4.16082092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.459254154 meters 0.014262438553701646 Centerline is valid? [True, True] Translation: X:947.65, Y:46.02, Z:4.16 [[ 8.73257595e-01 -4.87097402e-01 -1.25417056e-02 9.47645245e+02] [ 4.87044917e-01 8.73347641e-01 -7.15167727e-03 4.60216843e+01] [ 1.44368325e-02 1.36882504e-04 9.99895774e-01 4.16117491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.519254154 meters 0.01583294272500076 Centerline is valid? [True, True] Translation: X:947.70, Y:46.05, Z:4.16 [[ 8.70854402e-01 -4.91396297e-01 -1.19285388e-02 9.47698426e+02] [ 4.91349178e-01 8.70936091e-01 -6.80520106e-03 4.60471374e+01] [ 1.37330455e-02 6.52615821e-05 9.99905695e-01 4.16248263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.579254154 meters 0.013943434881432008 Centerline is valid? [True, True] Translation: X:947.75, Y:46.07, Z:4.16 [[ 8.69776075e-01 -4.93293828e-01 -1.22791719e-02 9.47749383e+02] [ 4.93244023e-01 8.69862746e-01 -7.00977085e-03 4.60744978e+01] [ 1.41390709e-02 4.03028147e-05 9.99900038e-01 4.16422456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.639254154 meters 0.01413045350172223 Centerline is valid? [True, True] Translation: X:947.80, Y:46.10, Z:4.16 [[ 8.70346422e-01 -4.92253044e-01 -1.35664137e-02 9.47799896e+02] [ 4.92192045e-01 8.70452145e-01 -7.74944967e-03 4.61046081e+01] [ 1.56236041e-02 6.74248865e-05 9.99877942e-01 4.16405300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.699254154 meters 0.015091478667159755 Centerline is valid? [True, True] Translation: X:947.85, Y:46.14, Z:4.16 [[ 8.72634998e-01 -4.88113065e-01 -1.59309741e-02 9.47847188e+02] [ 4.88028199e-01 8.72780389e-01 -9.10332666e-03 4.61374482e+01] [ 1.83476945e-02 1.69116836e-04 9.99831653e-01 4.16275858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.759254154 meters 0.015000013871117983 Centerline is valid? [True, True] Translation: X:947.90, Y:46.17, Z:4.16 [[ 8.74314810e-01 -4.85062018e-01 -1.69838629e-02 9.47896003e+02] [ 4.84964887e-01 8.74479717e-01 -9.70994209e-03 4.61701896e+01] [ 1.95619678e-02 2.52968999e-04 9.99808614e-01 4.16451673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.819254154 meters 0.014797871008608774 Centerline is valid? [True, True] Translation: X:947.95, Y:46.20, Z:4.17 [[ 8.74201444e-01 -4.85308112e-01 -1.57439430e-02 9.47946633e+02] [ 4.85224592e-01 8.74343171e-01 -9.00632050e-03 4.62000248e+01] [ 1.81364494e-02 2.33990066e-04 9.99835494e-01 4.16693271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.879254154 meters 0.017263037437831957 Centerline is valid? [True, True] Translation: X:948.00, Y:46.23, Z:4.17 [[ 8.71664198e-01 -4.89884531e-01 -1.46517159e-02 9.47998056e+02] [ 4.89812760e-01 8.71787318e-01 -8.38636777e-03 4.62276274e+01] [ 1.68815319e-02 1.33499147e-04 9.99857488e-01 4.16869806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.939254154 meters 0.013688595788773161 Centerline is valid? [True, True] Translation: X:948.05, Y:46.25, Z:4.17 [[ 8.67702868e-01 -4.96909239e-01 -1.31507201e-02 9.48051137e+02] [ 4.96852160e-01 8.67802517e-01 -7.53149844e-03 4.62532229e+01] [ 1.51546992e-02 1.13910753e-06 9.99885161e-01 4.17166547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.999254154 meters 0.014535941894509043 Centerline is valid? [True, True] Translation: X:948.10, Y:46.28, Z:4.17 [[ 8.61996574e-01 -5.06762630e-01 -1.23912551e-02 9.48104769e+02] [ 5.06712906e-01 8.62085618e-01 -7.10060778e-03 4.62789287e+01] [ 1.42806455e-02 -1.58109291e-04 9.99898014e-01 4.17209675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.059254154 meters 0.01652464979915769 Centerline is valid? [True, True] Translation: X:948.16, Y:46.31, Z:4.17 [[ 8.57308470e-01 -5.14628342e-01 -1.34110757e-02 9.48157841e+02] [ 5.14571021e-01 8.57413304e-01 -7.68705088e-03 4.63051463e+01] [ 1.54548089e-02 -3.10777070e-04 9.99880519e-01 4.17162499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.1192541539999 meters 0.01954459861670685 Centerline is valid? [True, True] Translation: X:948.21, Y:46.33, Z:4.17 [[ 8.54727414e-01 -5.18833990e-01 -1.58851579e-02 9.48209909e+02] [ 5.18754225e-01 8.54874894e-01 -9.10881486e-03 4.63349658e+01] [ 1.83057854e-02 -4.54939001e-04 9.99832332e-01 4.16897062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.179254154 meters 0.02051036525902142 Centerline is valid? [True, True] Translation: X:948.26, Y:46.37, Z:4.17 [[ 8.54210944e-01 -5.19676591e-01 -1.61215236e-02 9.48257998e+02] [ 5.19594538e-01 8.54362928e-01 -9.24681680e-03 4.63665436e+01] [ 1.85789863e-02 -4.77923496e-04 9.99827282e-01 4.16803717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.2392541539999 meters 0.019312422345040634 Centerline is valid? [True, True] Translation: X:948.31, Y:46.40, Z:4.17 [[ 8.54958721e-01 -5.18451402e-01 -1.59288444e-02 9.48305446e+02] [ 5.18371007e-01 8.55106980e-01 -9.14064966e-03 4.64015737e+01] [ 1.83598487e-02 -4.42172955e-04 9.99831346e-01 4.16915541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.299254154 meters 0.017716153160519145 Centerline is valid? [True, True] Translation: X:948.36, Y:46.43, Z:4.17 [[ 8.55656827e-01 -5.17326351e-01 -1.49947039e-02 9.48355547e+02] [ 5.17254854e-01 8.55788114e-01 -8.60934950e-03 4.64324381e+01] [ 1.72861327e-02 -3.89434702e-04 9.99850508e-01 4.16989147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.3592541539999 meters 0.017464606508221153 Centerline is valid? [True, True] Translation: X:948.40, Y:46.47, Z:4.17 [[ 8.58328452e-01 -5.12840942e-01 -1.63228957e-02 9.48401678e+02] [ 5.12755350e-01 8.58483584e-01 -9.37481730e-03 4.64704323e+01] [ 1.88207281e-02 -3.22979677e-04 9.99822822e-01 4.17100317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.419254154 meters 0.014963000674407817 Centerline is valid? [True, True] Translation: X:948.45, Y:46.51, Z:4.17 [[ 8.62715438e-01 -5.05460207e-01 -1.52332352e-02 9.48447674e+02] [ 5.05384480e-01 8.62849904e-01 -8.75045044e-03 4.65076097e+01] [ 1.75670001e-02 -1.49491985e-04 9.99845677e-01 4.16937350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.4792541539999 meters 0.016513812008060673 Centerline is valid? [True, True] Translation: X:948.49, Y:46.55, Z:4.17 [[ 8.66494493e-01 -4.98919199e-01 -1.63378793e-02 9.48492665e+02] [ 4.98830838e-01 8.66648506e-01 -9.38946439e-03 4.65467061e+01] [ 1.88437827e-02 -1.39188207e-05 9.99822440e-01 4.17122414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.539254154 meters 0.017738698922968903 Centerline is valid? [True, True] Translation: X:948.54, Y:46.58, Z:4.17 [[ 8.69784179e-01 -4.93182177e-01 -1.57105589e-02 9.48537271e+02] [ 4.93099486e-01 8.69926048e-01 -9.03151573e-03 4.65842659e+01] [ 1.81212070e-02 1.08600968e-04 9.99835792e-01 4.17135000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.5992541539999 meters 0.01602567329030697 Centerline is valid? [True, True] Translation: X:948.58, Y:46.62, Z:4.17 [[ 8.71773913e-01 -4.89692272e-01 -1.45507356e-02 9.48583980e+02] [ 4.89620786e-01 8.71895320e-01 -8.36880257e-03 4.66203604e+01] [ 1.67848562e-02 1.71361169e-04 9.99859110e-01 4.17305204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.659254154 meters 0.014695606500753048 Centerline is valid? [True, True] Translation: X:948.63, Y:46.65, Z:4.17 [[ 8.72176771e-01 -4.88978812e-01 -1.44014270e-02 9.48632735e+02] [ 4.88908608e-01 8.72295642e-01 -8.28773353e-03 4.66542960e+01] [ 1.66148281e-02 1.87387035e-04 9.99861947e-01 4.17241643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.7192541539999 meters 0.014496796909220356 Centerline is valid? [True, True] Translation: X:948.68, Y:46.69, Z:4.17 [[ 8.71679362e-01 -4.89822762e-01 -1.57718394e-02 9.48682620e+02] [ 4.89738599e-01 8.71822014e-01 -9.08186994e-03 4.66859421e+01] [ 1.81987434e-02 1.92400071e-04 9.99834371e-01 4.17227654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.779254154 meters 0.014268992310553537 Centerline is valid? [True, True] Translation: X:948.73, Y:46.72, Z:4.17 [[ 8.71718375e-01 -4.89728815e-01 -1.65154975e-02 9.48730693e+02] [ 4.89636455e-01 8.71874787e-01 -9.51298516e-03 4.67191239e+01] [ 1.90582289e-02 2.06054303e-04 9.99818354e-01 4.17077499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.839254154 meters 0.016951433371925177 Centerline is valid? [True, True] Translation: X:948.78, Y:46.75, Z:4.17 [[ 8.71173642e-01 -4.90620283e-01 -1.86607396e-02 9.48781337e+02] [ 4.90502453e-01 8.71373451e-01 -1.07541641e-02 4.67489761e+01] [ 2.15366841e-02 2.15605790e-04 9.99768035e-01 4.16966615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.899254154 meters 0.016506999942160705 Centerline is valid? [True, True] Translation: X:948.83, Y:46.78, Z:4.17 [[ 8.70021959e-01 -4.92689180e-01 -1.78651357e-02 9.48832769e+02] [ 4.92581499e-01 8.70205347e-01 -1.03015373e-02 4.67781034e+01] [ 2.06217926e-02 1.62528323e-04 9.99787335e-01 4.17042912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.959254154 meters 0.016831304325463932 Centerline is valid? [True, True] Translation: X:948.88, Y:46.81, Z:4.17 [[ 8.68363961e-01 -4.95676754e-01 -1.57666587e-02 9.48884780e+02] [ 4.95593285e-01 8.68507080e-01 -9.09652560e-03 4.68063963e+01] [ 1.82023910e-02 8.52448031e-05 9.99834319e-01 4.17249597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.019254154 meters 0.01699535684015157 Centerline is valid? [True, True] Translation: X:948.94, Y:46.84, Z:4.17 [[ 8.67616027e-01 -4.97015677e-01 -1.47596596e-02 9.48936230e+02] [ 4.96942644e-01 8.67741559e-01 -8.52026576e-03 4.68356678e+01] [ 1.70422757e-02 5.76148441e-05 9.99854768e-01 4.17347087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.079254154 meters 0.017238435005631585 Centerline is valid? [True, True] Translation: X:948.99, Y:46.87, Z:4.17 [[ 8.68241469e-01 -4.95928654e-01 -1.45437731e-02 9.48985199e+02] [ 4.95857501e-01 8.68363267e-01 -8.40089718e-03 4.68662527e+01] [ 1.67955239e-02 8.23683537e-05 9.99858942e-01 4.17315918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.139254154 meters 0.013839404934691962 Centerline is valid? [True, True] Translation: X:949.04, Y:46.90, Z:4.17 [[ 8.69594933e-01 -4.93566198e-01 -1.40378254e-02 9.49035072e+02] [ 4.93499525e-01 8.69708223e-01 -8.11335712e-03 4.68981966e+01] [ 1.62132910e-02 1.27674064e-04 9.99868548e-01 4.17321324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.199254154 meters 0.018205053362024826 Centerline is valid? [True, True] Translation: X:949.08, Y:46.93, Z:4.17 [[ 8.71706711e-01 -4.89749946e-01 -1.65045609e-02 9.49084953e+02] [ 4.89656989e-01 8.71862910e-01 -9.54460133e-03 4.69303024e+01] [ 1.90641825e-02 2.38519438e-04 9.99818234e-01 4.17044718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.259254154 meters 0.015393332444763702 Centerline is valid? [True, True] Translation: X:949.14, Y:46.96, Z:4.17 [[ 8.74030784e-01 -4.85629829e-01 -1.52924259e-02 9.49135180e+02] [ 4.85549306e-01 8.74164501e-01 -8.84859232e-03 4.69615173e+01] [ 1.76652362e-02 3.08715291e-04 9.99843910e-01 4.17295758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.319254154 meters 0.01618474085502934 Centerline is valid? [True, True] Translation: X:949.19, Y:46.99, Z:4.17 [[ 8.74886036e-01 -4.84120556e-01 -1.42025522e-02 9.49186831e+02] [ 4.84050827e-01 8.75001249e-01 -8.22260473e-03 4.69904595e+01] [ 1.64079829e-02 3.19084917e-04 9.99865329e-01 4.17363083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.379254154 meters 0.015803871652474957 Centerline is valid? [True, True] Translation: X:949.24, Y:47.02, Z:4.18 [[ 8.75270789e-01 -4.83466449e-01 -1.26979391e-02 9.49238993e+02] [ 4.83410577e-01 8.75362840e-01 -7.35608147e-03 4.70164798e+01] [ 1.46717226e-02 3.00245178e-04 9.99892319e-01 4.17589569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.439254154 meters 0.01770360526329264 Centerline is valid? [True, True] Translation: X:949.29, Y:47.04, Z:4.18 [[ 8.76352210e-01 -4.81506135e-01 -1.25954554e-02 9.49289669e+02] [ 4.81450922e-01 8.76442657e-01 -7.29921881e-03 4.70441335e+01] [ 1.45538130e-02 3.32592945e-04 9.99894032e-01 4.17521081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.499254154 meters 0.0179647841957487 Centerline is valid? [True, True] Translation: X:949.34, Y:47.07, Z:4.18 [[ 8.77717293e-01 -4.79029696e-01 -1.19542204e-02 9.49340246e+02] [ 4.78979689e-01 8.77798623e-01 -6.93072633e-03 4.70748909e+01] [ 1.38134219e-02 3.57389589e-04 9.99904526e-01 4.17571936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.559254154 meters 0.019271372150133505 Centerline is valid? [True, True] Translation: X:949.39, Y:47.10, Z:4.18 [[ 8.78990959e-01 -4.76669677e-01 -1.26851135e-02 9.49393159e+02] [ 4.76613058e-01 8.79082385e-01 -7.35886809e-03 4.71007202e+01] [ 1.46590091e-02 4.22487805e-04 9.99892462e-01 4.17629848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.6192541539999 meters 0.017949185500134666 Centerline is valid? [True, True] Translation: X:949.45, Y:47.13, Z:4.18 [[ 8.78964664e-01 -4.76732334e-01 -1.21409342e-02 9.49445002e+02] [ 4.76680409e-01 8.79048415e-01 -7.04777996e-03 4.71266303e+01] [ 1.40323736e-02 4.07404041e-04 9.99901458e-01 4.17731338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.679254154 meters 0.018234259028013067 Centerline is valid? [True, True] Translation: X:949.50, Y:47.15, Z:4.18 [[ 8.75989228e-01 -4.82188012e-01 -1.17300039e-02 9.49498161e+02] [ 4.82140001e-01 8.76067705e-01 -6.81142690e-03 4.71512501e+01] [ 1.35606660e-02 3.11232517e-04 9.99908002e-01 4.17664598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.7392541539999 meters 0.016796125205912442 Centerline is valid? [True, True] Translation: X:949.56, Y:47.16, Z:4.18 [[ 8.67565146e-01 -4.97185833e-01 -1.17032389e-02 9.49560558e+02] [ 4.97139354e-01 8.67644075e-01 -6.79861602e-03 4.71623713e+01] [ 1.35344215e-02 8.01016714e-05 9.99908402e-01 4.17828787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.799254154 meters 0.013366489773601291 Centerline is valid? [True, True] Translation: X:949.62, Y:47.18, Z:4.18 [[ 8.63347954e-01 -5.04486897e-01 -1.11031924e-02 9.49616114e+02] [ 5.04445618e-01 8.63419348e-01 -6.45357327e-03 4.71842025e+01] [ 1.28424543e-02 -2.92774736e-05 9.99917532e-01 4.18019336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.8592541539999 meters 0.015090424442826319 Centerline is valid? [True, True] Translation: X:949.67, Y:47.20, Z:4.18 [[ 8.58401800e-01 -5.12847899e-01 -1.15491559e-02 9.49671925e+02] [ 5.12803937e-01 8.58479474e-01 -6.71672436e-03 4.72047741e+01] [ 1.33593712e-02 -1.56804316e-04 9.99910747e-01 4.18014665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.919254154 meters 0.014881797371075974 Centerline is valid? [True, True] Translation: X:949.73, Y:47.23, Z:4.18 [[ 8.56625033e-01 -5.15802392e-01 -1.18930888e-02 9.49725846e+02] [ 5.15756002e-01 8.56707564e-01 -6.92076471e-03 4.72295605e+01] [ 1.37586461e-02 -2.05431625e-04 9.99905324e-01 4.18061531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.9792541539999 meters 0.01516828698470404 Centerline is valid? [True, True] Translation: X:949.78, Y:47.25, Z:4.18 [[ 8.56477620e-01 -5.16047178e-01 -1.18910204e-02 9.49776869e+02] [ 5.16000791e-01 8.56560136e-01 -6.92215019e-03 4.72546646e+01] [ 1.37575302e-02 -2.07109234e-04 9.99905339e-01 4.18114616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.039254154 meters 0.014535496234012912 Centerline is valid? [True, True] Translation: X:949.83, Y:47.29, Z:4.18 [[ 8.57619502e-01 -5.14144978e-01 -1.19887993e-02 9.49827584e+02] [ 5.14097593e-01 8.57703277e-01 -6.98242173e-03 4.72852850e+01] [ 1.38728095e-02 -1.75151814e-04 9.99903753e-01 4.18166651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.0992541539999 meters 0.014338991405132517 Centerline is valid? [True, True] Translation: X:949.88, Y:47.32, Z:4.18 [[ 8.60581913e-01 -5.09165063e-01 -1.22355657e-02 9.49876017e+02] [ 5.09115143e-01 8.60668885e-01 -7.13032478e-03 4.73183759e+01] [ 1.41612829e-02 -9.30832323e-05 9.99899720e-01 4.18192259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.159254154 meters 0.016657823886478736 Centerline is valid? [True, True] Translation: X:949.92, Y:47.35, Z:4.18 [[ 8.64154001e-01 -5.03077484e-01 -1.22844280e-02 9.49923728e+02] [ 5.03026513e-01 8.64241312e-01 -7.16113017e-03 4.73511194e+01] [ 1.42193135e-02 8.92630685e-06 9.99898900e-01 4.18005332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.2192541539999 meters 0.013403242788088096 Centerline is valid? [True, True] Translation: X:949.97, Y:47.38, Z:4.18 [[ 8.67121794e-01 -4.97958220e-01 -1.17220320e-02 9.49972717e+02] [ 4.97911322e-01 8.67201016e-01 -6.83467990e-03 4.73829680e+01] [ 1.35687431e-02 8.99674308e-05 9.99907936e-01 4.18296240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.279254154 meters 0.013992037829289653 Centerline is valid? [True, True] Translation: X:950.02, Y:47.42, Z:4.18 [[ 8.70256466e-01 -4.92463439e-01 -1.15518563e-02 9.50021879e+02] [ 4.92417365e-01 8.70333114e-01 -6.73857186e-03 4.74153539e+01] [ 1.33724634e-02 1.75951083e-04 9.99910569e-01 4.18342718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.339254154 meters 0.01568093393703884 Centerline is valid? [True, True] Translation: X:950.07, Y:47.45, Z:4.18 [[ 8.72350750e-01 -4.88762718e-01 -1.07319362e-02 9.50071459e+02] [ 4.88722628e-01 8.72416734e-01 -6.26385381e-03 4.74466211e+01] [ 1.24242589e-02 2.19337524e-04 9.99922792e-01 4.18305567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.399254154 meters 0.015855513779940975 Centerline is valid? [True, True] Translation: X:950.12, Y:47.48, Z:4.19 [[ 8.73709690e-01 -4.86340256e-01 -1.02241829e-02 9.50122347e+02] [ 4.86303663e-01 8.73769475e-01 -5.97089613e-03 4.74770777e+01] [ 1.18374661e-02 2.44772216e-04 9.99929905e-01 4.18501132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.459254154 meters 0.016505463055009967 Centerline is valid? [True, True] Translation: X:950.17, Y:47.51, Z:4.18 [[ 8.74715925e-01 -4.84517677e-01 -1.07084321e-02 9.50173219e+02] [ 4.84477354e-01 8.74781424e-01 -6.25737771e-03 4.75066095e+01] [ 1.23993476e-02 2.85435076e-04 9.99923084e-01 4.18430574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.519254154 meters 0.01692200347436757 Centerline is valid? [True, True] Translation: X:950.22, Y:47.53, Z:4.18 [[ 8.75815127e-01 -4.82489103e-01 -1.23340233e-02 9.50224266e+02] [ 4.82435370e-01 8.75901897e-01 -7.20980813e-03 4.75349287e+01] [ 1.42820483e-02 3.64089914e-04 9.99897940e-01 4.18204003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.579254154 meters 0.017547411554034772 Centerline is valid? [True, True] Translation: X:950.28, Y:47.56, Z:4.18 [[ 8.76645375e-01 -4.80884000e-01 -1.56033982e-02 9.50276823e+02] [ 4.80797713e-01 8.76784086e-01 -9.12281823e-03 4.75626015e+01] [ 1.80678285e-02 4.95398253e-04 9.99836641e-01 4.17960816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.639254154 meters 0.01727874698078282 Centerline is valid? [True, True] Translation: X:950.33, Y:47.59, Z:4.18 [[ 8.77043488e-01 -4.80116557e-01 -1.68170035e-02 9.50329104e+02] [ 4.80016087e-01 8.77204528e-01 -9.83734875e-03 4.75896261e+01] [ 1.94750256e-02 5.55350474e-04 9.99810189e-01 4.17999743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.699254154 meters 0.01804012957275564 Centerline is valid? [True, True] Translation: X:950.38, Y:47.61, Z:4.18 [[ 8.75897566e-01 -4.82253509e-01 -1.53299111e-02 9.50383491e+02] [ 4.82170308e-01 8.76031584e-01 -8.96981058e-03 4.76135861e+01] [ 1.77552089e-02 4.65007304e-04 9.99842256e-01 4.18086587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.759254154 meters 0.01549532122541961 Centerline is valid? [True, True] Translation: X:950.44, Y:47.64, Z:4.19 [[ 8.73464389e-01 -4.86727162e-01 -1.25152174e-02 9.50438823e+02] [ 4.86672152e-01 8.73553991e-01 -7.32398025e-03 4.76356404e+01] [ 1.44974983e-02 3.06428135e-04 9.99894859e-01 4.18603264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.819254154 meters 0.014649181909770855 Centerline is valid? [True, True] Translation: X:950.49, Y:47.66, Z:4.19 [[ 8.70993632e-01 -4.91142913e-01 -1.21956006e-02 9.50492455e+02] [ 4.91091092e-01 8.71078979e-01 -7.13809374e-03 4.76600936e+01] [ 1.41291555e-02 2.28083378e-04 9.99900152e-01 4.18665975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.879254154 meters 0.014137562720767926 Centerline is valid? [True, True] Translation: X:950.55, Y:47.69, Z:4.19 [[ 8.69631665e-01 -4.93546329e-01 -1.23607631e-02 9.50545016e+02] [ 4.93493289e-01 8.69719485e-01 -7.23810032e-03 4.76872729e+01] [ 1.43227344e-02 1.94527585e-04 9.99897405e-01 4.18726208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.939254154 meters 0.014624190192286795 Centerline is valid? [True, True] Translation: X:950.59, Y:47.72, Z:4.19 [[ 8.70363009e-01 -4.92221005e-01 -1.36643757e-02 9.50593835e+02] [ 4.92155947e-01 8.70470231e-01 -8.00628696e-03 4.77197387e+01] [ 1.58352949e-02 2.43372239e-04 9.99874584e-01 4.18635341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.999254154 meters 0.015321922298126182 Centerline is valid? [True, True] Translation: X:950.64, Y:47.75, Z:4.19 [[ 8.72001381e-01 -4.89268742e-01 -1.51554855e-02 9.50642541e+02] [ 4.89188170e-01 8.72133010e-01 -8.88529268e-03 4.77533979e+01] [ 1.75648951e-02 3.34103296e-04 9.99845670e-01 4.18584873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.059254154 meters 0.015518662639602126 Centerline is valid? [True, True] Translation: X:950.69, Y:47.78, Z:4.19 [[ 8.71586954e-01 -4.89993867e-01 -1.55625140e-02 9.50692324e+02] [ 4.89908916e-01 8.71725816e-01 -9.12989024e-03 4.77824532e+01] [ 1.80398354e-02 3.33278864e-04 9.99837213e-01 4.18610629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.1192541539999 meters 0.017335935026800635 Centerline is valid? [True, True] Translation: X:950.74, Y:47.81, Z:4.19 [[ 8.69443666e-01 -4.93794101e-01 -1.53329073e-02 9.50744028e+02] [ 4.93712131e-01 8.69578818e-01 -9.00060970e-03 4.78110051e+01] [ 1.77776194e-02 2.55480721e-04 9.99841933e-01 4.18503331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.179254154 meters 0.013745401520065629 Centerline is valid? [True, True] Translation: X:950.80, Y:47.84, Z:4.19 [[ 8.66553382e-01 -4.98893161e-01 -1.38148742e-02 9.50796072e+02] [ 4.98827227e-01 8.66663484e-01 -8.11187995e-03 4.78372062e+01] [ 1.60198084e-02 1.38141616e-04 9.99871665e-01 4.18881848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.2392541539999 meters 0.015811296808785003 Centerline is valid? [True, True] Translation: X:950.85, Y:47.86, Z:4.19 [[ 8.62399784e-01 -5.06059644e-01 -1.30479490e-02 9.50850357e+02] [ 5.06001593e-01 8.62498485e-01 -7.66490208e-03 4.78620566e+01] [ 1.51327338e-02 7.92692368e-06 9.99885494e-01 4.18867601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.299254154 meters 0.014791324166696906 Centerline is valid? [True, True] Translation: X:950.90, Y:47.89, Z:4.19 [[ 8.58978084e-01 -5.11866815e-01 -1.22071334e-02 9.50901853e+02] [ 5.11816527e-01 8.59064815e-01 -7.17534663e-03 4.78890469e+01] [ 1.41595406e-02 -8.43471016e-05 9.99899745e-01 4.18954644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.3592541539999 meters 0.014511188346809492 Centerline is valid? [True, True] Translation: X:950.95, Y:47.92, Z:4.19 [[ 8.54886558e-01 -5.18647635e-01 -1.31758846e-02 9.50953925e+02] [ 5.18589777e-01 8.54988063e-01 -7.74954515e-03 4.79161838e+01] [ 1.52845073e-02 -2.07897085e-04 9.99883163e-01 4.19087885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.419254154 meters 0.017606091434150446 Centerline is valid? [True, True] Translation: X:951.00, Y:47.94, Z:4.19 [[ 8.52959907e-01 -5.21795765e-01 -1.37323267e-02 9.51004407e+02] [ 5.21733284e-01 8.53070398e-01 -8.07934676e-03 4.79442924e+01] [ 1.59304104e-02 -2.73253068e-04 9.99873066e-01 4.18813608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.4792541539999 meters 0.015734735603128335 Centerline is valid? [True, True] Translation: X:951.05, Y:47.98, Z:4.19 [[ 8.51694821e-01 -5.23893936e-01 -1.22912915e-02 9.51054446e+02] [ 5.23844052e-01 8.51783463e-01 -7.23479814e-03 4.79755272e+01] [ 1.42597857e-02 -2.76879831e-04 9.99898286e-01 4.19133454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.539254154 meters 0.015594533863450765 Centerline is valid? [True, True] Translation: X:951.10, Y:48.01, Z:4.19 [[ 8.51335543e-01 -5.24502519e-01 -1.11759136e-02 9.51103070e+02] [ 5.24461278e-01 8.51408857e-01 -6.58230454e-03 4.80067930e+01] [ 1.29677071e-02 -2.57584100e-04 9.99915883e-01 4.19202724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.5992541539999 meters 0.014955823050469245 Centerline is valid? [True, True] Translation: X:951.15, Y:48.04, Z:4.19 [[ 8.52565988e-01 -5.22509014e-01 -1.07501758e-02 9.51151861e+02] [ 5.22470650e-01 8.52633734e-01 -6.33534155e-03 4.80403565e+01] [ 1.24762356e-02 -2.15354583e-04 9.99922146e-01 4.19179222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.659254154 meters 0.015079254509791563 Centerline is valid? [True, True] Translation: X:951.20, Y:48.08, Z:4.19 [[ 8.55251874e-01 -5.18084362e-01 -1.15250114e-02 9.51199094e+02] [ 5.18039809e-01 8.55329509e-01 -6.79606046e-03 4.80759587e+01] [ 1.33786150e-02 -1.58071269e-04 9.99910490e-01 4.19103938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.7192541539999 meters 0.014146198107020046 Centerline is valid? [True, True] Translation: X:951.25, Y:48.11, Z:4.19 [[ 8.59077404e-01 -5.11714340e-01 -1.15951795e-02 9.51246289e+02] [ 5.11668606e-01 8.59155650e-01 -6.84151231e-03 4.81125996e+01] [ 1.34629640e-02 -5.55007075e-05 9.99909369e-01 4.19177796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.779254154 meters 0.01533471434734539 Centerline is valid? [True, True] Translation: X:951.29, Y:48.15, Z:4.19 [[ 8.62172367e-01 -5.06486595e-01 -1.14078422e-02 9.51292533e+02] [ 5.06441838e-01 8.62247835e-01 -6.73322791e-03 4.81478898e+01] [ 1.32466769e-02 2.77944878e-05 9.99912259e-01 4.19133396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.839254154 meters 0.013294486896699348 Centerline is valid? [True, True] Translation: X:951.34, Y:48.18, Z:4.19 [[ 8.64437178e-01 -5.02637122e-01 -1.02122129e-02 9.51340362e+02] [ 5.02600955e-01 8.64497494e-01 -6.03018721e-03 4.81819942e+01] [ 1.18594284e-02 8.00500527e-05 9.99929671e-01 4.19468648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.899254154 meters 0.013632437368904385 Centerline is valid? [True, True] Translation: X:951.39, Y:48.22, Z:4.19 [[ 8.65931682e-01 -5.00069938e-01 -9.61140717e-03 9.51388659e+02] [ 5.00037707e-01 8.65985014e-01 -5.67865712e-03 4.82167070e+01] [ 1.11630603e-02 1.11263114e-04 9.99937685e-01 4.19495751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.959254154 meters 0.01379822353941303 Centerline is valid? [True, True] Translation: X:951.44, Y:48.25, Z:4.20 [[ 8.66935700e-01 -4.98330817e-01 -9.42804062e-03 9.51437656e+02] [ 4.98299665e-01 8.66986954e-01 -5.57358409e-03 4.82490708e+01] [ 1.09514769e-02 1.33949540e-04 9.99940022e-01 4.19637735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.019254154 meters 0.014151325090217843 Centerline is valid? [True, True] Translation: X:951.49, Y:48.28, Z:4.20 [[ 8.67527425e-01 -4.97270108e-01 -1.08906992e-02 9.51486116e+02] [ 4.97228420e-01 8.67595764e-01 -6.44112367e-03 4.82811043e+01] [ 1.26517027e-02 1.72686283e-04 9.99919949e-01 4.19612348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.079254154 meters 0.01491693465883228 Centerline is valid? [True, True] Translation: X:951.53, Y:48.31, Z:4.19 [[ 8.68030263e-01 -4.96338307e-01 -1.31052501e-02 9.51533656e+02] [ 4.96277805e-01 8.68129157e-01 -7.75285539e-03 4.83143332e+01] [ 1.52250889e-02 2.25868338e-04 9.99884066e-01 4.19345935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.139254154 meters 0.014363283303192283 Centerline is valid? [True, True] Translation: X:951.58, Y:48.34, Z:4.19 [[ 8.67981911e-01 -4.96398894e-01 -1.39835759e-02 9.51584723e+02] [ 4.96329952e-01 8.68094510e-01 -8.27648474e-03 4.83431034e+01] [ 1.62475034e-02 2.43371471e-04 9.99867971e-01 4.19430682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.199254154 meters 0.014038172705994511 Centerline is valid? [True, True] Translation: X:951.64, Y:48.37, Z:4.19 [[ 8.66574183e-01 -4.98821114e-01 -1.50559211e-02 9.51636032e+02] [ 4.98741464e-01 8.66704937e-01 -8.91647619e-03 4.83721074e+01] [ 1.74967678e-02 2.17775930e-04 9.99846896e-01 4.19392368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.259254154 meters 0.013196421049274112 Centerline is valid? [True, True] Translation: X:951.69, Y:48.40, Z:4.20 [[ 8.62111710e-01 -5.06536700e-01 -1.35635637e-02 9.51690477e+02] [ 5.06472941e-01 8.62218399e-01 -8.03697056e-03 4.83967658e+01] [ 1.57657747e-02 5.91884654e-05 9.99875711e-01 4.19627916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.319254154 meters 0.013560208513061136 Centerline is valid? [True, True] Translation: X:951.74, Y:48.42, Z:4.20 [[ 8.55657876e-01 -5.17408311e-01 -1.17575241e-02 9.51744804e+02] [ 5.17361362e-01 8.55738644e-01 -6.97101100e-03 4.84197797e+01] [ 1.36682267e-02 -1.18088204e-04 9.99906578e-01 4.19941519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.379254154 meters 0.015271318875571099 Centerline is valid? [True, True] Translation: X:951.80, Y:48.45, Z:4.20 [[ 8.50030430e-01 -5.26613734e-01 -1.12358222e-02 9.51798507e+02] [ 5.26571632e-01 8.50104648e-01 -6.66367016e-03 4.84451672e+01] [ 1.30608049e-02 -2.52142823e-04 9.99914672e-01 4.20012510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.439254154 meters 0.01793760918549356 Centerline is valid? [True, True] Translation: X:951.85, Y:48.47, Z:4.20 [[ 8.45568431e-01 -5.33725880e-01 -1.22765282e-02 9.51850235e+02] [ 5.33676347e-01 8.45657454e-01 -7.28201016e-03 4.84717042e+01] [ 1.42683348e-02 -3.94254808e-04 9.99898124e-01 4.19919440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.499254154 meters 0.02033123918981234 Centerline is valid? [True, True] Translation: X:951.90, Y:48.50, Z:4.20 [[ 8.41631227e-01 -5.39872333e-01 -1.39550018e-02 9.51902421e+02] [ 5.39809114e-01 8.41746723e-01 -8.28094166e-03 4.85009723e+01] [ 1.62172284e-02 -5.63538083e-04 9.99868333e-01 4.19814358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.559254154 meters 0.020868988989158115 Centerline is valid? [True, True] Translation: X:951.95, Y:48.53, Z:4.20 [[ 8.38010149e-01 -5.45461506e-01 -1.45167166e-02 9.51952981e+02] [ 5.45393852e-01 8.38135587e-01 -8.61879900e-03 4.85319377e+01] [ 1.68681999e-02 -6.94686949e-04 9.99857480e-01 4.19919238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.6192541539999 meters 0.02558919587767676 Centerline is valid? [True, True] Translation: X:952.01, Y:48.56, Z:4.20 [[ 8.35104964e-01 -5.49878064e-01 -1.52909730e-02 9.52005458e+02] [ 5.49803693e-01 8.35244537e-01 -9.08088736e-03 4.85578104e+01] [ 1.77650825e-02 -8.23539330e-04 9.99841849e-01 4.19797388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.679254154 meters 0.025585586978904635 Centerline is valid? [True, True] Translation: X:952.05, Y:48.59, Z:4.20 [[ 8.33718399e-01 -5.51973152e-01 -1.54683456e-02 9.52053797e+02] [ 5.51897383e-01 8.33861421e-01 -9.18743319e-03 4.85920528e+01] [ 1.79696731e-02 -8.77207377e-04 9.99838148e-01 4.19703229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.7392541539999 meters 0.022855362840543007 Centerline is valid? [True, True] Translation: X:952.10, Y:48.63, Z:4.20 [[ 8.35143236e-01 -5.49894010e-01 -1.23431456e-02 9.52099943e+02] [ 5.49845525e-01 8.35234181e-01 -7.33224716e-03 4.86297382e+01] [ 1.43413759e-02 -6.63346746e-04 9.99896937e-01 4.20149425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.799254154 meters 0.02233509897360305 Centerline is valid? [True, True] Translation: X:952.15, Y:48.66, Z:4.20 [[ 8.38102350e-01 -5.45363076e-01 -1.27892788e-02 9.52147290e+02] [ 5.45310475e-01 8.38199707e-01 -7.59848997e-03 4.86648507e+01] [ 1.48639056e-02 -6.05815370e-04 9.99889343e-01 4.20111162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.8592541539999 meters 0.016981370676057404 Centerline is valid? [True, True] Translation: X:952.19, Y:48.71, Z:4.20 [[ 8.45340963e-01 -5.34055216e-01 -1.35529658e-02 9.52188567e+02] [ 5.33994663e-01 8.45449491e-01 -8.05346191e-03 4.87110193e+01] [ 1.57593414e-02 -4.29290169e-04 9.99875722e-01 4.20073534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.919254154 meters 0.014798927452294535 Centerline is valid? [True, True] Translation: X:952.23, Y:48.75, Z:4.20 [[ 8.52998502e-01 -5.21715460e-01 -1.43712960e-02 9.52230472e+02] [ 5.21645584e-01 8.53119531e-01 -8.54106027e-03 4.87543104e+01] [ 1.67164365e-02 -2.11211503e-04 9.99860248e-01 4.19853783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.9792541539999 meters 0.015441996290577811 Centerline is valid? [True, True] Translation: X:952.27, Y:48.80, Z:4.20 [[ 8.58228304e-01 -5.13053790e-01 -1.48319399e-02 9.52274734e+02] [ 5.12978023e-01 8.58356457e-01 -8.81708110e-03 4.87958414e+01] [ 1.72547283e-02 -4.13906495e-05 9.99851125e-01 4.19665974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.039254154 meters 0.013109938584594279 Centerline is valid? [True, True] Translation: X:952.32, Y:48.83, Z:4.20 [[ 8.61067181e-01 -5.08303288e-01 -1.38231045e-02 9.52321394e+02] [ 5.08236798e-01 8.61178126e-01 -8.22145706e-03 4.88319293e+01] [ 1.60831489e-02 5.38164784e-05 9.99870656e-01 4.19987094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.0992541539999 meters 0.016078476521830087 Centerline is valid? [True, True] Translation: X:952.37, Y:48.86, Z:4.20 [[ 8.62156838e-01 -5.06456351e-01 -1.36949229e-02 9.52368755e+02] [ 5.06390815e-01 8.62265595e-01 -8.14773243e-03 4.88645947e+01] [ 1.59351317e-02 8.96400603e-05 9.99873024e-01 4.19789977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.159254154 meters 0.01344968567307358 Centerline is valid? [True, True] Translation: X:952.42, Y:48.90, Z:4.20 [[ 8.63412651e-01 -5.04363657e-01 -1.16574548e-02 9.52418586e+02] [ 5.04315954e-01 8.63491337e-01 -6.93747537e-03 4.88969116e+01] [ 1.35651217e-02 1.10863538e-04 9.99907983e-01 4.20255195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.2192541539999 meters 0.013707651742497707 Centerline is valid? [True, True] Translation: X:952.47, Y:48.93, Z:4.20 [[ 8.64279966e-01 -5.02859604e-01 -1.23434204e-02 9.52467698e+02] [ 5.02805942e-01 8.64368092e-01 -7.34754321e-03 4.89285591e+01] [ 1.43640414e-02 1.43989267e-04 9.99896821e-01 4.20192711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.279254154 meters 0.015496725531302161 Centerline is valid? [True, True] Translation: X:952.52, Y:48.96, Z:4.20 [[ 8.65834805e-01 -5.00085908e-01 -1.56260835e-02 9.52516335e+02] [ 4.99999417e-01 8.65975765e-01 -9.30361406e-03 4.89601562e+01] [ 1.81844159e-02 2.42360251e-04 9.99834620e-01 4.19796295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.339254154 meters 0.014640383035421372 Centerline is valid? [True, True] Translation: X:952.57, Y:48.99, Z:4.20 [[ 8.65692898e-01 -5.00317455e-01 -1.60701768e-02 9.52567024e+02] [ 5.00225919e-01 8.65842008e-01 -9.57328610e-03 4.89887132e+01] [ 1.87039163e-02 2.48806823e-04 9.99825035e-01 4.19890583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.399254154 meters 0.014579964999871449 Centerline is valid? [True, True] Translation: X:952.62, Y:49.01, Z:4.20 [[ 8.64057393e-01 -5.03148707e-01 -1.56907549e-02 9.52620031e+02] [ 5.03061806e-01 8.64199829e-01 -9.35284910e-03 4.90148059e+01] [ 1.82658216e-02 1.87978920e-04 9.99833148e-01 4.20017408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.459254154 meters 0.015446520072162838 Centerline is valid? [True, True] Translation: X:952.67, Y:49.04, Z:4.20 [[ 8.61304916e-01 -5.07845663e-01 -1.57043032e-02 9.52674395e+02] [ 5.07759296e-01 8.61448068e-01 -9.36604493e-03 4.90396362e+01] [ 1.82849469e-02 9.30146035e-05 9.99832812e-01 4.20017697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.519254154 meters 0.01365023641789861 Centerline is valid? [True, True] Translation: X:952.73, Y:49.06, Z:4.20 [[ 8.58333460e-01 -5.12874885e-01 -1.49340057e-02 9.52728394e+02] [ 5.12797487e-01 8.58463367e-01 -8.90978274e-03 4.90616295e+01] [ 1.73899006e-02 -1.05559503e-05 9.99848784e-01 4.20203533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.579254154 meters 0.014795875438266272 Centerline is valid? [True, True] Translation: X:952.78, Y:49.09, Z:4.20 [[ 8.56003052e-01 -5.16730364e-01 -1.57640625e-02 9.52782248e+02] [ 5.16644722e-01 8.56148189e-01 -9.40790940e-03 4.90852591e+01] [ 1.83577261e-02 -9.12205604e-05 9.99831479e-01 4.20329174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.639254154 meters 0.016554610776634865 Centerline is valid? [True, True] Translation: X:952.83, Y:49.11, Z:4.20 [[ 8.55698010e-01 -5.17218516e-01 -1.63071364e-02 9.52834743e+02] [ 5.17126865e-01 8.55853374e-01 -9.73698774e-03 4.91122009e+01] [ 1.89926681e-02 -1.00937296e-04 9.99819618e-01 4.20327788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.699254154 meters 0.015425844493958318 Centerline is valid? [True, True] Translation: X:952.89, Y:49.14, Z:4.20 [[ 8.56430133e-01 -5.16018290e-01 -1.58918642e-02 9.52885700e+02] [ 5.15930991e-01 8.56577562e-01 -9.49172582e-03 4.91394983e+01] [ 1.85105184e-02 -7.01052408e-05 9.99828663e-01 4.20434950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.759254154 meters 0.014066757489220016 Centerline is valid? [True, True] Translation: X:952.94, Y:49.17, Z:4.21 [[ 8.56492999e-01 -5.15923948e-01 -1.55634722e-02 9.52936959e+02] [ 5.15840116e-01 8.56634388e-01 -9.30048876e-03 4.91670424e+01] [ 1.81305503e-02 -6.24597748e-05 9.99835626e-01 4.20534357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.819254154 meters 0.014047949757192198 Centerline is valid? [True, True] Translation: X:952.99, Y:49.19, Z:4.21 [[ 8.55438761e-01 -5.17669178e-01 -1.55932157e-02 9.52989064e+02] [ 5.17585248e-01 8.55580863e-01 -9.32190065e-03 4.91936552e+01] [ 1.81669176e-02 -9.65032482e-05 9.99834963e-01 4.20805402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.879254154 meters 0.014304815327424857 Centerline is valid? [True, True] Translation: X:953.04, Y:49.22, Z:4.21 [[ 8.53829236e-01 -5.20315897e-01 -1.57163513e-02 9.53041716e+02] [ 5.20230995e-01 8.53973855e-01 -9.40036440e-03 4.92203885e+01] [ 1.83125121e-02 -1.49827124e-04 9.99832301e-01 4.20883822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.939254154 meters 0.014631602090604608 Centerline is valid? [True, True] Translation: X:953.09, Y:49.25, Z:4.21 [[ 8.53001284e-01 -5.21680548e-01 -1.54342341e-02 9.53092466e+02] [ 5.21598842e-01 8.53140888e-01 -9.23432813e-03 4.92475971e+01] [ 1.79849455e-02 -1.73584880e-04 9.99838243e-01 4.20993437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.999254154 meters 0.014631143070371794 Centerline is valid? [True, True] Translation: X:953.14, Y:49.28, Z:4.21 [[ 8.52792852e-01 -5.22024517e-01 -1.53217493e-02 9.53142569e+02] [ 5.21943965e-01 8.52930462e-01 -9.17195315e-03 4.92773310e+01] [ 1.78563711e-02 -1.75318485e-04 9.99840547e-01 4.21030087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.059254154 meters 0.017961216909349022 Centerline is valid? [True, True] Translation: X:953.19, Y:49.31, Z:4.21 [[ 8.52917725e-01 -5.21755865e-01 -1.73830904e-02 9.53193352e+02] [ 5.21651993e-01 8.53094826e-01 -1.04122657e-02 4.93071357e+01] [ 2.02620852e-02 -1.87117832e-04 9.99794685e-01 4.20910069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.1192541539999 meters 0.015570072051290377 Centerline is valid? [True, True] Translation: X:953.24, Y:49.34, Z:4.21 [[ 8.54948516e-01 -5.18425268e-01 -1.72706666e-02 9.53242830e+02] [ 5.18321996e-01 8.55122933e-01 -1.03478511e-02 4.93377898e+01] [ 2.01331306e-02 -1.04886427e-04 9.99797302e-01 4.20888110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.179254154 meters 0.016125185547531864 Centerline is valid? [True, True] Translation: X:953.29, Y:49.37, Z:4.21 [[ 8.57650402e-01 -5.13925048e-01 -1.77998231e-02 9.53291335e+02] [ 5.13814258e-01 8.57835092e-01 -1.06706868e-02 4.93703337e+01] [ 2.07532461e-02 5.91591529e-06 9.99784628e-01 4.20798187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.2392541539999 meters 0.014773506332668183 Centerline is valid? [True, True] Translation: X:953.34, Y:49.40, Z:4.21 [[ 8.61068335e-01 -5.08169913e-01 -1.80183943e-02 9.53340305e+02] [ 5.08054985e-01 8.61256824e-01 -1.08081646e-02 4.94024605e+01] [ 2.10108491e-02 1.52233250e-04 9.99779236e-01 4.20980322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.299254154 meters 0.014492409629389568 Centerline is valid? [True, True] Translation: X:953.39, Y:49.43, Z:4.21 [[ 8.64410148e-01 -5.02513051e-01 -1.66050794e-02 9.53389209e+02] [ 5.02414329e-01 8.64569581e-01 -9.96403922e-03 4.94345615e+01] [ 1.93633063e-02 2.70386804e-04 9.99812477e-01 4.21119478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.3592541539999 meters 0.018761639402653785 Centerline is valid? [True, True] Translation: X:953.44, Y:49.47, Z:4.21 [[ 8.66950932e-01 -4.98101965e-01 -1.70444778e-02 9.53439652e+02] [ 4.97997000e-01 8.67118380e-01 -1.02324382e-02 4.94663042e+01] [ 1.98763776e-02 3.82923082e-04 9.99802372e-01 4.20994169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.419254154 meters 0.017167469656703745 Centerline is valid? [True, True] Translation: X:953.49, Y:49.50, Z:4.21 [[ 8.69414603e-01 -4.93834780e-01 -1.56671054e-02 9.53488467e+02] [ 4.93745357e-01 8.69555641e-01 -9.40791722e-03 4.94983818e+01] [ 1.82693766e-02 4.43820069e-04 9.99833003e-01 4.21136917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.4792541539999 meters 0.02045717550510694 Centerline is valid? [True, True] Translation: X:953.54, Y:49.53, Z:4.21 [[ 8.71913698e-01 -4.89407528e-01 -1.57090665e-02 9.53537516e+02] [ 4.89316883e-01 8.72055033e-01 -9.43439037e-03 4.95308229e+01] [ 1.83164321e-02 5.39262764e-04 9.99832095e-01 4.20972728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.539254154 meters 0.020065694043165102 Centerline is valid? [True, True] Translation: X:953.59, Y:49.56, Z:4.21 [[ 8.73463666e-01 -4.86637120e-01 -1.56696329e-02 9.53589018e+02] [ 4.86546419e-01 8.73604003e-01 -9.41423914e-03 4.95616001e+01] [ 1.82703722e-02 5.98992071e-04 9.99832903e-01 4.21021974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.5992541539999 meters 0.02310514994838016 Centerline is valid? [True, True] Translation: X:953.64, Y:49.59, Z:4.21 [[ 8.74930975e-01 -4.83942151e-01 -1.71983684e-02 9.53640912e+02] [ 4.83832275e-01 8.75099692e-01 -1.03372251e-02 4.95917417e+01] [ 2.00529058e-02 7.23232729e-04 9.99798659e-01 4.20793826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.659254154 meters 0.01933973531611683 Centerline is valid? [True, True] Translation: X:953.70, Y:49.61, Z:4.21 [[ 8.74949293e-01 -4.83929540e-01 -1.66112953e-02 9.53695443e+02] [ 4.83826916e-01 8.75106682e-01 -9.99052383e-03 4.96141602e+01] [ 1.93713651e-02 7.04210001e-04 9.99812109e-01 4.21085774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.7192541539999 meters 0.018708200502465577 Centerline is valid? [True, True] Translation: X:953.75, Y:49.64, Z:4.21 [[ 8.73015088e-01 -4.87447311e-01 -1.54846757e-02 9.53750320e+02] [ 4.87358595e-01 8.73152205e-01 -9.31809263e-03 4.96381964e+01] [ 1.80625579e-02 5.88245658e-04 9.99836686e-01 4.21165164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.779254154 meters 0.017683021381285705 Centerline is valid? [True, True] Translation: X:953.81, Y:49.66, Z:4.21 [[ 8.69456905e-01 -4.93792586e-01 -1.46141465e-02 9.53807102e+02] [ 4.93714421e-01 8.69579608e-01 -8.79632604e-03 4.96572276e+01] [ 1.70517244e-02 4.32811538e-04 9.99854515e-01 4.21255514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.839254154 meters 0.01759843429763079 Centerline is valid? [True, True] Translation: X:953.86, Y:49.68, Z:4.21 [[ 8.67469693e-01 -4.97251192e-01 -1.54137635e-02 9.53862219e+02] [ 4.97164711e-01 8.67606536e-01 -9.28168347e-03 4.96810273e+01] [ 1.79884101e-02 3.88399826e-04 9.99838120e-01 4.21177589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.899254154 meters 0.015091303737666139 Centerline is valid? [True, True] Translation: X:953.92, Y:49.71, Z:4.21 [[ 8.66661098e-01 -4.98667822e-01 -1.51309321e-02 9.53916261e+02] [ 4.98584609e-01 8.66793099e-01 -9.11657243e-03 4.97060249e+01] [ 1.76615289e-02 3.56928808e-04 9.99843959e-01 4.21335113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.959254154 meters 0.014551078230771545 Centerline is valid? [True, True] Translation: X:953.97, Y:49.73, Z:4.21 [[ 8.65295733e-01 -5.01026810e-01 -1.53436917e-02 9.53970149e+02] [ 5.00941513e-01 8.65431704e-01 -9.25019389e-03 4.97299390e+01] [ 1.79135124e-02 3.17861170e-04 9.99839490e-01 4.21405582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.019254154 meters 0.014404027854563095 Centerline is valid? [True, True] Translation: X:954.02, Y:49.75, Z:4.21 [[ 8.64143329e-01 -5.03003818e-01 -1.56034342e-02 9.54022557e+02] [ 5.02915878e-01 8.64284142e-01 -9.40959730e-03 4.97547649e+01] [ 1.82188641e-02 2.84025930e-04 9.99833982e-01 4.21352655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.079254154 meters 0.01633469661003543 Centerline is valid? [True, True] Translation: X:954.08, Y:49.78, Z:4.21 [[ 8.62758718e-01 -5.05343787e-01 -1.65846604e-02 9.54076401e+02] [ 5.05244773e-01 8.62918068e-01 -1.00063609e-02 4.97799370e+01] [ 1.93678554e-02 2.53762125e-04 9.99812393e-01 4.21354270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.139254154 meters 0.014144346051858686 Centerline is valid? [True, True] Translation: X:954.12, Y:49.81, Z:4.21 [[ 8.63601171e-01 -5.03953218e-01 -1.49723255e-02 9.54123490e+02] [ 5.03872257e-01 8.63730911e-01 -9.03671641e-03 4.98113733e+01] [ 1.74861427e-02 2.59979430e-04 9.99847072e-01 4.21381010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.199254154 meters 0.013743721644977513 Centerline is valid? [True, True] Translation: X:954.17, Y:49.84, Z:4.21 [[ 8.63142458e-01 -5.04734645e-01 -1.51007964e-02 9.54172806e+02] [ 5.04652317e-01 8.63274507e-01 -9.11944247e-03 4.98421744e+01] [ 1.76390311e-02 2.50726123e-04 9.99844389e-01 4.21431219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.259254154 meters 0.013781532369769723 Centerline is valid? [True, True] Translation: X:954.22, Y:49.87, Z:4.22 [[ 8.63317327e-01 -5.04490132e-01 -1.31491021e-02 9.54222235e+02] [ 5.04427612e-01 8.63417428e-01 -7.94537166e-03 4.98749436e+01] [ 1.53615256e-02 2.26606833e-04 9.99881979e-01 4.21557285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.319254154 meters 0.014690246065682666 Centerline is valid? [True, True] Translation: X:954.27, Y:49.91, Z:4.22 [[ 8.65158533e-01 -5.01357581e-01 -1.18865007e-02 9.54269275e+02] [ 5.01306141e-01 8.65240145e-01 -7.18642407e-03 4.99107050e+01] [ 1.38876458e-02 2.58620295e-04 9.99903529e-01 4.21607637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.379254154 meters 0.015414341580004596 Centerline is valid? [True, True] Translation: X:954.32, Y:49.94, Z:4.22 [[ 8.66482157e-01 -4.99045278e-01 -1.27468559e-02 9.54317193e+02] [ 4.98985833e-01 8.66575853e-01 -7.70907442e-03 4.99444790e+01] [ 1.48932947e-02 3.19274920e-04 9.99889038e-01 4.21576623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.439254154 meters 0.016413717680998762 Centerline is valid? [True, True] Translation: X:954.37, Y:49.98, Z:4.21 [[ 8.66980199e-01 -4.98137127e-01 -1.43086566e-02 9.54365274e+02] [ 4.98062028e-01 8.67098183e-01 -8.65779603e-03 4.99789498e+01] [ 1.67197798e-02 3.79539217e-04 9.99860143e-01 4.21413039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.499254154 meters 0.016753786907823864 Centerline is valid? [True, True] Translation: X:954.41, Y:50.01, Z:4.21 [[ 8.65312888e-01 -5.01029660e-01 -1.42437794e-02 9.54414772e+02] [ 5.00955551e-01 8.65430051e-01 -8.62341548e-03 5.00099865e+01] [ 1.66475817e-02 3.26452183e-04 9.99861366e-01 4.21387081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.559254154 meters 0.016394645117303333 Centerline is valid? [True, True] Translation: X:954.47, Y:50.04, Z:4.21 [[ 8.62398936e-01 -5.06005673e-01 -1.50443700e-02 9.54467233e+02] [ 5.05923709e-01 8.62530114e-01 -9.11054573e-03 5.00375561e+01] [ 1.75862100e-02 2.45621472e-04 9.99845320e-01 4.21409625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.6192541539999 meters 0.013067294285830118 Centerline is valid? [True, True] Translation: X:954.52, Y:50.06, Z:4.21 [[ 8.59027413e-01 -5.11688544e-01 -1.57078719e-02 9.54521168e+02] [ 5.11600054e-01 8.59171004e-01 -9.51683493e-03 5.00628352e+01] [ 1.83654035e-02 1.39073959e-04 9.99831332e-01 4.21425137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.679254154 meters 0.013106160025586178 Centerline is valid? [True, True] Translation: X:954.57, Y:50.09, Z:4.21 [[ 8.55928427e-01 -5.16827291e-01 -1.66156432e-02 9.54574004e+02] [ 5.16729184e-01 8.56089686e-01 -1.00697421e-02 5.00878906e+01] [ 1.94287983e-02 3.31907365e-05 9.99811243e-01 4.21241977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.7392541539999 meters 0.013422107031007139 Centerline is valid? [True, True] Translation: X:954.63, Y:50.11, Z:4.21 [[ 8.54211155e-01 -5.19666792e-01 -1.64234062e-02 9.54625169e+02] [ 5.19571363e-01 8.54369021e-01 -9.95860247e-03 5.01146115e+01] [ 1.92068045e-02 -2.63822236e-05 9.99815532e-01 4.21440201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.799254154 meters 0.015770965391536173 Centerline is valid? [True, True] Translation: X:954.68, Y:50.14, Z:4.22 [[ 8.52957319e-01 -5.21738401e-01 -1.59013336e-02 9.54676172e+02] [ 5.21649188e-01 8.53105525e-01 -9.64821822e-03 5.01419670e+01] [ 1.85993615e-02 -6.53994050e-05 9.99827015e-01 4.21594882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.8592541539999 meters 0.012939925295520665 Centerline is valid? [True, True] Translation: X:954.73, Y:50.17, Z:4.22 [[ 8.53751468e-01 -5.20511403e-01 -1.32781574e-02 9.54727225e+02] [ 5.20448980e-01 8.53854717e-01 -8.06104963e-03 5.01709325e+01] [ 1.55334856e-02 -2.84705265e-05 9.99879348e-01 4.21833601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.919254154 meters 0.013578955852272692 Centerline is valid? [True, True] Translation: X:954.78, Y:50.20, Z:4.22 [[ 8.53896886e-01 -5.20271210e-01 -1.33407506e-02 9.54776525e+02] [ 5.20208087e-01 8.54001093e-01 -8.10423093e-03 5.02013950e+01] [ 1.56094137e-02 -1.97888220e-05 9.99878165e-01 4.21989409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.9792541539999 meters 0.012725051772457833 Centerline is valid? [True, True] Translation: X:954.83, Y:50.23, Z:4.22 [[ 8.56616307e-01 -5.15825182e-01 -1.15275645e-02 9.54825896e+02] [ 5.15777594e-01 8.56693865e-01 -7.00681221e-03 5.02343877e+01] [ 1.34898840e-02 5.64901044e-05 9.99909006e-01 4.22060850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.039254154 meters 0.01485069232904395 Centerline is valid? [True, True] Translation: X:954.87, Y:50.27, Z:4.22 [[ 8.57797984e-01 -5.13853511e-01 -1.17126924e-02 9.54874064e+02] [ 5.13804166e-01 8.57877940e-01 -7.12166502e-03 5.02659318e+01] [ 1.37075530e-02 9.09197461e-05 9.99906043e-01 4.21979513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.0992541539999 meters 0.016000416006965078 Centerline is valid? [True, True] Translation: X:954.92, Y:50.30, Z:4.22 [[ 8.59549547e-01 -5.10902556e-01 -1.23755126e-02 9.54922400e+02] [ 5.10847112e-01 8.59638619e-01 -7.52813434e-03 5.02991562e+01] [ 1.44846117e-02 1.48809588e-04 9.99895081e-01 4.21921829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.159254154 meters 0.014165576418786442 Centerline is valid? [True, True] Translation: X:954.97, Y:50.33, Z:4.22 [[ 8.61688359e-01 -5.07309727e-01 -1.14022928e-02 9.54969796e+02] [ 5.07262294e-01 8.61763774e-01 -6.93992733e-03 5.03338438e+01] [ 1.33467755e-02 1.96101386e-04 9.99910909e-01 4.21874852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.2192541539999 meters 0.014101693529565912 Centerline is valid? [True, True] Translation: X:955.02, Y:50.36, Z:4.22 [[ 8.61901656e-01 -5.06958136e-01 -1.09079839e-02 9.55019089e+02] [ 5.06914646e-01 8.61970655e-01 -6.64315875e-03 5.03645468e+01] [ 1.27701654e-02 1.96332736e-04 9.99918439e-01 4.21933232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.279254154 meters 0.01481582522565995 Centerline is valid? [True, True] Translation: X:955.07, Y:50.39, Z:4.22 [[ 8.61037031e-01 -5.08450754e-01 -9.64684276e-03 9.55069489e+02] [ 5.08416796e-01 8.61091055e-01 -5.87846745e-03 5.03946099e+01] [ 1.12957212e-02 1.56961275e-04 9.99936189e-01 4.21981686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.339254154 meters 0.013802069756957495 Centerline is valid? [True, True] Translation: X:955.12, Y:50.42, Z:4.22 [[ 8.60353191e-01 -5.09613046e-01 -9.32365250e-03 9.55120311e+02] [ 5.09581358e-01 8.60403698e-01 -5.68473026e-03 5.04239681e+01] [ 1.09191178e-02 1.39716317e-04 9.99940375e-01 4.21952950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.399254154 meters 0.016649750645084123 Centerline is valid? [True, True] Translation: X:955.17, Y:50.45, Z:4.22 [[ 8.60478392e-01 -5.09375231e-01 -1.06682409e-02 9.55170006e+02] [ 5.09333676e-01 8.60544505e-01 -6.50845821e-03 5.04548539e+01] [ 1.24957435e-02 1.66693312e-04 9.99921911e-01 4.21805296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.459254154 meters 0.015114708033520063 Centerline is valid? [True, True] Translation: X:955.22, Y:50.49, Z:4.22 [[ 8.61760115e-01 -5.07205271e-01 -1.05979944e-02 9.55218195e+02] [ 5.07164066e-01 8.61825257e-01 -6.46816197e-03 5.04875549e+01] [ 1.24143051e-02 1.99082076e-04 9.99922920e-01 4.21825886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.519254154 meters 0.016201392849903386 Centerline is valid? [True, True] Translation: X:955.27, Y:50.52, Z:4.22 [[ 8.62821294e-01 -5.05404574e-01 -1.02777487e-02 9.55268531e+02] [ 5.05365658e-01 8.62882476e-01 -6.27560282e-03 5.05187919e+01] [ 1.20402076e-02 2.20702525e-04 9.99927490e-01 4.21940055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.579254154 meters 0.01781416010383743 Centerline is valid? [True, True] Translation: X:955.32, Y:50.55, Z:4.22 [[ 8.63612853e-01 -5.04051430e-01 -1.02467934e-02 9.55318452e+02] [ 5.04012611e-01 8.63673606e-01 -6.26022857e-03 5.05500909e+01] [ 1.20053621e-02 2.41900767e-04 9.99927904e-01 4.21961142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.639254154 meters 0.017336332612739428 Centerline is valid? [True, True] Translation: X:955.37, Y:50.58, Z:4.22 [[ 8.62943483e-01 -5.05184890e-01 -1.08061183e-02 9.55369866e+02] [ 5.05141756e-01 8.63011106e-01 -6.60583970e-03 5.05792563e+01] [ 1.26629705e-02 2.41844741e-04 9.99919792e-01 4.21961604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.699254154 meters 0.014470944438433261 Centerline is valid? [True, True] Translation: X:955.42, Y:50.61, Z:4.22 [[ 8.60666725e-01 -5.09062512e-01 -1.03993804e-02 9.55421706e+02] [ 5.09022804e-01 8.60729531e-01 -6.36080457e-03 5.06064446e+01] [ 1.21891010e-02 1.81011052e-04 9.99925694e-01 4.22089179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.759254154 meters 0.013290172570148896 Centerline is valid? [True, True] Translation: X:955.48, Y:50.63, Z:4.22 [[ 8.56465201e-01 -5.16114321e-01 -9.66265855e-03 9.55475810e+02] [ 5.16080451e-01 8.56519703e-01 -5.91332601e-03 5.06318498e+01] [ 1.13282097e-02 7.78487718e-05 9.99935831e-01 4.22205708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.819254154 meters 0.013098249258919786 Centerline is valid? [True, True] Translation: X:955.53, Y:50.66, Z:4.22 [[ 8.51925840e-01 -5.23596273e-01 -8.32500831e-03 9.55527734e+02] [ 5.23571471e-01 8.51966515e-01 -5.09632843e-03 5.06580516e+01] [ 9.76104689e-03 -1.70429618e-05 9.99952360e-01 4.22285616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.879254154 meters 0.014282905553796996 Centerline is valid? [True, True] Translation: X:955.58, Y:50.68, Z:4.22 [[ 8.46772205e-01 -5.31894412e-01 -8.07263680e-03 9.55580295e+02] [ 5.31871456e-01 8.46810677e-01 -4.94279100e-03 5.06839888e+01] [ 9.46503795e-03 -1.08187058e-04 9.99955200e-01 4.22278114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.939254154 meters 0.01828384484991288 Centerline is valid? [True, True] Translation: X:955.63, Y:50.71, Z:4.22 [[ 8.39700104e-01 -5.42974672e-01 -9.06873171e-03 9.55633438e+02] [ 5.42946320e-01 8.39749033e-01 -5.55478247e-03 5.07116063e+01] [ 1.06315649e-02 -2.59483086e-04 9.99943450e-01 4.22127011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.999254154 meters 0.024514444367290073 Centerline is valid? [True, True] Translation: X:955.69, Y:50.73, Z:4.22 [[ 8.32479224e-01 -5.53975079e-01 -9.48438921e-03 9.55687208e+02] [ 5.53944752e-01 8.32533145e-01 -5.81149772e-03 5.07343747e+01] [ 1.11154933e-02 -4.15876519e-04 9.99938135e-01 4.22023647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.059254154 meters 0.023853542585374102 Centerline is valid? [True, True] Translation: X:955.73, Y:50.77, Z:4.22 [[ 8.27194880e-01 -5.61842575e-01 -9.03051202e-03 9.55734567e+02] [ 5.61815522e-01 8.27244024e-01 -5.53563695e-03 5.07706034e+01] [ 1.05805936e-02 -4.94431285e-04 9.99943902e-01 4.22177492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.1192541539999 meters 0.022885394438135444 Centerline is valid? [True, True] Translation: X:955.78, Y:50.81, Z:4.22 [[ 8.26692865e-01 -5.62596712e-01 -7.99039714e-03 9.55782092e+02] [ 5.62575544e-01 8.26731360e-01 -4.90056336e-03 5.08060160e+01] [ 9.36295273e-03 -4.43941245e-04 9.99956068e-01 4.22411145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.179254154 meters 0.01961642267634048 Centerline is valid? [True, True] Translation: X:955.83, Y:50.85, Z:4.22 [[ 8.30120026e-01 -5.57529875e-01 -7.82182652e-03 9.55825489e+02] [ 5.57509340e-01 8.30156791e-01 -4.79980229e-03 5.08492620e+01] [ 9.16937557e-03 -3.76329342e-04 9.99957890e-01 4.22402323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.2392541539999 meters 0.018197842807558495 Centerline is valid? [True, True] Translation: X:955.87, Y:50.89, Z:4.22 [[ 8.36788531e-01 -5.47454134e-01 -8.88396070e-03 9.55868615e+02] [ 5.47427050e-01 8.36835636e-01 -5.45375514e-03 5.08924032e+01] [ 1.04200957e-02 -2.99680646e-04 9.99945664e-01 4.22138900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.299254154 meters 0.015241001318108075 Centerline is valid? [True, True] Translation: X:955.91, Y:50.93, Z:4.22 [[ 8.42533874e-01 -5.38566161e-01 -9.11930137e-03 9.55913036e+02] [ 5.38537088e-01 8.42583202e-01 -5.59933054e-03 5.09317225e+01] [ 1.06993801e-02 -1.93456346e-04 9.99942741e-01 4.22217221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.3592541539999 meters 0.012945621541462603 Centerline is valid? [True, True] Translation: X:955.95, Y:50.98, Z:4.22 [[ 8.52082063e-01 -5.23360909e-01 -7.03683855e-03 9.55951965e+02] [ 5.23343062e-01 8.52111119e-01 -4.32201865e-03 5.09822561e+01] [ 8.25814398e-03 3.39329192e-08 9.99965901e-01 4.22387391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.419254154 meters 0.015983346087158505 Centerline is valid? [True, True] Translation: X:956.00, Y:51.02, Z:4.22 [[ 8.55497742e-01 -5.17771906e-01 -5.98896163e-03 9.55995687e+02] [ 5.17758829e-01 8.55518703e-01 -3.68021762e-03 5.10228020e+01] [ 7.02918198e-03 4.75801062e-05 9.99975294e-01 4.22227949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.4792541539999 meters 0.014331684247396458 Centerline is valid? [True, True] Translation: X:956.04, Y:51.06, Z:4.22 [[ 8.56633208e-01 -5.15889658e-01 -6.11619747e-03 9.56042934e+02] [ 5.15875955e-01 8.56655039e-01 -3.76058153e-03 5.10576683e+01] [ 7.17951651e-03 6.62398102e-05 9.99974225e-01 4.22343882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.539254154 meters 0.015102873104205088 Centerline is valid? [True, True] Translation: X:956.09, Y:51.09, Z:4.22 [[ 8.56477645e-01 -5.16142729e-01 -6.53653290e-03 9.56089596e+02] [ 5.16127066e-01 8.56502585e-01 -4.02158508e-03 5.10932846e+01] [ 7.67426922e-03 7.07161726e-05 9.99970550e-01 4.22177005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.5992541539999 meters 0.014551446288221049 Centerline is valid? [True, True] Translation: X:956.14, Y:51.13, Z:4.22 [[ 8.56953369e-01 -5.15325610e-01 -8.39283020e-03 9.56136080e+02] [ 5.15299723e-01 8.56994461e-01 -5.16620873e-03 5.11277240e+01] [ 9.85488866e-03 1.02376893e-04 9.99951434e-01 4.22053625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.659254154 meters 0.017085337297847503 Centerline is valid? [True, True] Translation: X:956.18, Y:51.16, Z:4.22 [[ 8.57431853e-01 -5.14488292e-01 -1.06025998e-02 9.56182960e+02] [ 5.14446897e-01 8.57497392e-01 -6.52786675e-03 5.11616108e+01] [ 1.24502127e-02 1.42726318e-04 9.99922483e-01 4.21622793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.7192541539999 meters 0.014403049239681059 Centerline is valid? [True, True] Translation: X:956.23, Y:51.19, Z:4.22 [[ 8.57359039e-01 -5.14582548e-01 -1.18440000e-02 9.56232184e+02] [ 5.14530854e-01 8.57440829e-01 -7.29549234e-03 5.11934816e+01] [ 1.39096622e-02 1.60752854e-04 9.99903243e-01 4.21788303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.779254154 meters 0.013469445185077348 Centerline is valid? [True, True] Translation: X:956.28, Y:51.22, Z:4.22 [[ 8.55843147e-01 -5.17110222e-01 -1.13809633e-02 9.56283654e+02] [ 5.17062662e-01 8.55918807e-01 -7.01421105e-03 5.12229555e+01] [ 1.33683008e-02 1.18393264e-04 9.99910633e-01 4.21965581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.839254154 meters 0.01644771848931625 Centerline is valid? [True, True] Translation: X:956.33, Y:51.25, Z:4.22 [[ 8.54863995e-01 -5.18732998e-01 -1.11187423e-02 9.56334317e+02] [ 5.18687691e-01 8.54936294e-01 -6.85654076e-03 5.12529830e+01] [ 1.30625303e-02 9.42550373e-05 9.99914677e-01 4.21781580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.899254154 meters 0.013107666835831642 Centerline is valid? [True, True] Translation: X:956.38, Y:51.28, Z:4.22 [[ 8.53111743e-01 -5.21634636e-01 -9.88235630e-03 9.56384976e+02] [ 5.21599016e-01 8.53168978e-01 -6.09607415e-03 5.12808391e+01] [ 1.16112432e-02 4.60051177e-05 9.99932586e-01 4.22282706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.959254154 meters 0.01345752170436291 Centerline is valid? [True, True] Translation: X:956.43, Y:51.31, Z:4.22 [[ 8.52295214e-01 -5.22973887e-01 -9.54891495e-03 9.56434575e+02] [ 5.22940683e-01 8.52348704e-01 -5.89315665e-03 5.13106004e+01] [ 1.12209723e-02 2.91931046e-05 9.99937042e-01 4.22327527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.019254154 meters 0.013463740210497777 Centerline is valid? [True, True] Translation: X:956.48, Y:51.34, Z:4.22 [[ 8.50934073e-01 -5.25201012e-01 -8.66604576e-03 9.56484733e+02] [ 5.25173746e-01 8.50978200e-01 -5.35158673e-03 5.13398955e+01] [ 1.01852748e-02 2.66776902e-06 9.99948129e-01 4.22413111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.079254154 meters 0.013241991977167704 Centerline is valid? [True, True] Translation: X:956.54, Y:51.37, Z:4.23 [[ 8.47793018e-01 -5.30262350e-01 -8.29690838e-03 9.56537525e+02] [ 5.30237570e-01 8.47833614e-01 -5.12660887e-03 5.13672979e+01] [ 9.75284548e-03 -5.30293360e-05 9.99952438e-01 4.22545133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.139254154 meters 0.01589219784383054 Centerline is valid? [True, True] Translation: X:956.59, Y:51.39, Z:4.22 [[ 8.42192050e-01 -5.39102065e-01 -9.02848058e-03 9.56592137e+02] [ 5.39073208e-01 8.42240426e-01 -5.58042366e-03 5.13908323e+01] [ 1.06125693e-02 -1.67223545e-04 9.99943671e-01 4.22393741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.199254154 meters 0.017546272473955918 Centerline is valid? [True, True] Translation: X:956.65, Y:51.41, Z:4.23 [[ 8.35507080e-01 -5.49405722e-01 -9.01507527e-03 9.56646897e+02] [ 5.49377524e-01 8.35555662e-01 -5.57409328e-03 5.14147943e+01] [ 1.05950359e-02 -2.95485336e-04 9.99943827e-01 4.22511869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.259254154 meters 0.022442412521547984 Centerline is valid? [True, True] Translation: X:956.70, Y:51.44, Z:4.22 [[ 8.29170661e-01 -5.58920058e-01 -9.18611175e-03 9.56700957e+02] [ 5.58891327e-01 8.29221437e-01 -5.68275349e-03 5.14410423e+01] [ 1.07935257e-02 -4.22065724e-04 9.99941659e-01 4.22263938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.319254154 meters 0.022962451335659908 Centerline is valid? [True, True] Translation: X:956.75, Y:51.47, Z:4.22 [[ 8.26695871e-01 -5.62572403e-01 -9.28591778e-03 9.56753062e+02] [ 5.62543248e-01 8.26747886e-01 -5.74688991e-03 5.14691621e+01] [ 1.09101546e-02 -4.72800190e-04 9.99940371e-01 4.22474594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.379254154 meters 0.022804388186783178 Centerline is valid? [True, True] Translation: X:956.80, Y:51.50, Z:4.22 [[ 8.29006981e-01 -5.59140417e-01 -1.04603802e-02 9.56801467e+02] [ 5.59103110e-01 8.29072834e-01 -6.47678099e-03 5.15041936e+01] [ 1.22938471e-02 -4.79134451e-04 9.99924313e-01 4.22333799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.439254154 meters 0.020591558153825497 Centerline is valid? [True, True] Translation: X:956.85, Y:51.54, Z:4.22 [[ 8.35453651e-01 -5.49440302e-01 -1.15131010e-02 9.56845224e+02] [ 5.49394151e-01 8.35532895e-01 -7.13075894e-03 5.15439971e+01] [ 1.35375009e-02 -3.67811750e-04 9.99908296e-01 4.22161328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.499254154 meters 0.014185187696843958 Centerline is valid? [True, True] Translation: X:956.89, Y:51.59, Z:4.23 [[ 8.42766436e-01 -5.38172952e-01 -1.07054646e-02 9.56887672e+02] [ 5.38132100e-01 8.42834411e-01 -6.63318910e-03 5.15880408e+01] [ 1.25927369e-02 -1.70725026e-04 9.99920694e-01 4.22528917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.559254154 meters 0.013242477882136243 Centerline is valid? [True, True] Translation: X:956.93, Y:51.63, Z:4.22 [[ 8.48466707e-01 -5.29146010e-01 -1.04281832e-02 9.56931530e+02] [ 5.29106535e-01 8.48530789e-01 -6.46339831e-03 5.16274215e+01] [ 1.22687159e-02 -3.36415729e-05 9.99924736e-01 4.22495693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.6192541539999 meters 0.017194623269423535 Centerline is valid? [True, True] Translation: X:956.98, Y:51.66, Z:4.22 [[ 8.51466277e-01 -5.24298515e-01 -1.07817157e-02 9.56977905e+02] [ 5.24255887e-01 8.51534535e-01 -6.68577313e-03 5.16636820e+01] [ 1.26863442e-02 4.03324147e-05 9.99919524e-01 4.22208435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.679254154 meters 0.013285116683129728 Centerline is valid? [True, True] Translation: X:957.03, Y:51.70, Z:4.23 [[ 8.52488716e-01 -5.22656968e-01 -9.62721259e-03 9.57025352e+02] [ 5.22622834e-01 8.52543072e-01 -5.97356364e-03 5.16964624e+01] [ 1.13297381e-02 6.09944679e-05 9.99935815e-01 4.22633042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.7392541539999 meters 0.017446182779211977 Centerline is valid? [True, True] Translation: X:957.07, Y:51.73, Z:4.22 [[ 8.51693201e-01 -5.23927159e-01 -1.09098227e-02 9.57074976e+02] [ 5.23883368e-01 8.51763071e-01 -6.77404940e-03 5.17264485e+01] [ 1.28416925e-02 5.39371674e-05 9.99917541e-01 4.22307598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.799254154 meters 0.013076285820664493 Centerline is valid? [True, True] Translation: X:957.13, Y:51.76, Z:4.23 [[ 8.50369061e-01 -5.26094940e-01 -9.82722269e-03 9.57126633e+02] [ 5.26059512e-01 8.50425843e-01 -6.10538262e-03 5.17551721e+01] [ 1.15693350e-02 2.21245054e-05 9.99933073e-01 4.22735847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.8592541539999 meters 0.01320760145390127 Centerline is valid? [True, True] Translation: X:957.18, Y:51.78, Z:4.23 [[ 8.49035256e-01 -5.28217430e-01 -1.12017881e-02 9.57178376e+02] [ 5.28171550e-01 8.49109149e-01 -6.96180389e-03 5.17824247e+01] [ 1.31888869e-02 -5.64884596e-06 9.99913023e-01 4.22646872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.919254154 meters 0.016884396671354787 Centerline is valid? [True, True] Translation: X:957.23, Y:51.81, Z:4.22 [[ 8.48160077e-01 -5.29562559e-01 -1.37106021e-02 9.57230385e+02] [ 5.29493933e-01 8.48270886e-01 -8.52520276e-03 5.18104948e+01] [ 1.61449328e-02 -2.89440269e-05 9.99869662e-01 4.22356261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.9792541539999 meters 0.013796550059824029 Centerline is valid? [True, True] Translation: X:957.28, Y:51.84, Z:4.23 [[ 8.48728407e-01 -5.28641383e-01 -1.40846950e-02 9.57281584e+02] [ 5.28568789e-01 8.48845267e-01 -8.76052757e-03 5.18381233e+01] [ 1.65869041e-02 -9.42154915e-06 9.99862428e-01 4.22567171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.039254154 meters 0.01612225571654599 Centerline is valid? [True, True] Translation: X:957.33, Y:51.87, Z:4.22 [[ 8.50555115e-01 -5.25668731e-01 -1.51123239e-02 9.57331751e+02] [ 5.25584652e-01 8.50689357e-01 -9.40163333e-03 5.18674272e+01] [ 1.77980377e-02 5.38018210e-05 9.99841601e-01 4.22301280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.0992541539999 meters 0.01619719365564623 Centerline is valid? [True, True] Translation: X:957.38, Y:51.90, Z:4.22 [[ 8.52824422e-01 -5.21991418e-01 -1.46787151e-02 9.57383343e+02] [ 5.21911476e-01 8.52950727e-01 -9.13611037e-03 5.18957613e+01] [ 1.72891919e-02 1.30508195e-04 9.99850522e-01 4.22472747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.159254154 meters 0.01689677813774194 Centerline is valid? [True, True] Translation: X:957.44, Y:51.92, Z:4.23 [[ 8.54361293e-01 -5.19490077e-01 -1.40300134e-02 9.57436118e+02] [ 5.19416625e-01 8.54476465e-01 -8.73734049e-03 5.19226076e+01] [ 1.65272780e-02 1.77423296e-04 9.99863399e-01 4.22730192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.2192541539999 meters 0.016439878442665493 Centerline is valid? [True, True] Translation: X:957.49, Y:51.95, Z:4.23 [[ 8.54771827e-01 -5.18862302e-01 -1.21257905e-02 9.57489301e+02] [ 5.18807313e-01 8.54857815e-01 -7.55569546e-03 5.19483239e+01] [ 1.42861923e-02 1.67446841e-04 9.99897933e-01 4.22938193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.279254154 meters 0.013876906775154883 Centerline is valid? [True, True] Translation: X:957.54, Y:51.97, Z:4.23 [[ 8.54981059e-01 -5.18556172e-01 -1.03384748e-02 9.57542310e+02] [ 5.18516130e-01 8.55043551e-01 -6.44589872e-03 5.19734563e+01] [ 1.21824068e-02 1.50455382e-04 9.99925780e-01 4.23353747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.339254154 meters 0.014193965954421987 Centerline is valid? [True, True] Translation: X:957.59, Y:52.00, Z:4.23 [[ 8.54891181e-01 -5.18701877e-01 -1.04609691e-02 9.57593829e+02] [ 5.18660848e-01 8.54955168e-01 -6.52571674e-03 5.19981085e+01] [ 1.23285612e-02 1.53082565e-04 9.99923989e-01 4.23325692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.399254154 meters 0.014888639565483532 Centerline is valid? [True, True] Translation: X:957.65, Y:52.02, Z:4.23 [[ 8.53884693e-01 -5.20317735e-01 -1.22632023e-02 9.57647726e+02] [ 5.20261450e-01 8.53972734e-01 -7.65461192e-03 5.20223232e+01] [ 1.44552708e-02 1.56084516e-04 9.99895505e-01 4.23153252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.459254154 meters 0.014934594720398382 Centerline is valid? [True, True] Translation: X:957.70, Y:52.04, Z:4.23 [[ 8.52376344e-01 -5.22755186e-01 -1.34753272e-02 9.57701671e+02] [ 5.22687439e-01 8.52482843e-01 -8.41681042e-03 5.20449360e+01] [ 1.58874166e-02 1.30905814e-04 9.99873778e-01 4.23088495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.519254154 meters 0.013690624529693806 Centerline is valid? [True, True] Translation: X:957.75, Y:52.07, Z:4.23 [[ 8.51270060e-01 -5.24537275e-01 -1.41397646e-02 9.57753997e+02] [ 5.24462871e-01 8.51387477e-01 -8.83522944e-03 5.20682268e+01] [ 1.66728257e-02 1.05384774e-04 9.99860993e-01 4.23029102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.579254154 meters 0.01342250502141332 Centerline is valid? [True, True] Translation: X:957.81, Y:52.09, Z:4.23 [[ 8.49545693e-01 -5.27305341e-01 -1.48725618e-02 9.57808997e+02] [ 5.27223356e-01 8.49675864e-01 -9.29834823e-03 5.20903586e+01] [ 1.75399255e-02 5.82097407e-05 9.99846162e-01 4.23111715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.639254154 meters 0.013415758859775272 Centerline is valid? [True, True] Translation: X:957.86, Y:52.11, Z:4.23 [[ 8.48301723e-01 -5.29324562e-01 -1.41313366e-02 9.57863194e+02] [ 5.29250780e-01 8.48419417e-01 -8.83768123e-03 5.21132662e+01] [ 1.66673021e-02 1.79992957e-05 9.99861091e-01 4.23195385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.699254154 meters 0.013272671919215474 Centerline is valid? [True, True] Translation: X:957.92, Y:52.14, Z:4.23 [[ 8.48196900e-01 -5.29520783e-01 -1.30291533e-02 9.57915369e+02] [ 5.29458027e-01 8.48296964e-01 -8.15214085e-03 5.21409604e+01] [ 1.53693192e-02 1.62308064e-05 9.99881885e-01 4.23401457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.759254154 meters 0.014657505376030864 Centerline is valid? [True, True] Translation: X:957.97, Y:52.17, Z:4.23 [[ 8.48535185e-01 -5.29001033e-01 -1.20808657e-02 9.57966399e+02] [ 5.28946995e-01 8.48621180e-01 -7.56110094e-03 5.21693173e+01] [ 1.42519087e-02 2.57225788e-05 9.99898436e-01 4.23347201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.819254154 meters 0.013243593596514008 Centerline is valid? [True, True] Translation: X:958.02, Y:52.20, Z:4.24 [[ 8.49863886e-01 -5.26890629e-01 -1.08461896e-02 9.58017970e+02] [ 5.26846858e-01 8.49933092e-01 -6.79167847e-03 5.21971248e+01] [ 1.27970072e-02 5.77213435e-05 9.99918113e-01 4.23616457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.879254154 meters 0.014561279694493343 Centerline is valid? [True, True] Translation: X:958.07, Y:52.23, Z:4.24 [[ 8.52842453e-01 -5.22059340e-01 -1.06674834e-02 9.58065873e+02] [ 5.22016570e-01 8.52909156e-01 -6.68377113e-03 5.22309638e+01] [ 1.25877194e-02 1.31600688e-04 9.99920763e-01 4.23582617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.939254154 meters 0.014525911803743904 Centerline is valid? [True, True] Translation: X:958.11, Y:52.26, Z:4.24 [[ 8.54547846e-01 -5.19258251e-01 -1.09017762e-02 9.58112984e+02] [ 5.19213317e-01 8.54617363e-01 -6.83329689e-03 5.22643021e+01] [ 1.28650930e-02 1.79031771e-04 9.99917225e-01 4.23536507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.999254154 meters 0.014504697334088821 Centerline is valid? [True, True] Translation: X:958.16, Y:52.30, Z:4.23 [[ 8.54361915e-01 -5.19537414e-01 -1.21075859e-02 9.58162481e+02] [ 5.19481966e-01 8.54447679e-01 -7.59279669e-03 5.22963713e+01] [ 1.42900406e-02 1.97323792e-04 9.99897873e-01 4.23398993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.059254154 meters 0.016211343678467362 Centerline is valid? [True, True] Translation: X:958.21, Y:52.33, Z:4.23 [[ 8.53395379e-01 -5.21092857e-01 -1.33626832e-02 9.58212023e+02] [ 5.21025422e-01 8.53499969e-01 -8.38525850e-03 5.23271444e+01] [ 1.57745480e-02 1.93643193e-04 9.99875555e-01 4.23190061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.1192541539999 meters 0.016061457286354254 Centerline is valid? [True, True] Translation: X:958.26, Y:52.36, Z:4.23 [[ 8.52909703e-01 -5.21890828e-01 -1.32288432e-02 9.58260271e+02] [ 5.21824791e-01 8.53012269e-01 -8.30397885e-03 5.23583113e+01] [ 1.56181360e-02 1.79405762e-04 9.99878013e-01 4.23214663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.179254154 meters 0.014007500809510146 Centerline is valid? [True, True] Translation: X:958.31, Y:52.39, Z:4.24 [[ 8.52593765e-01 -5.22438418e-01 -1.19151986e-02 9.58310227e+02] [ 5.22384853e-01 8.52677005e-01 -7.48264892e-03 5.23900688e+01] [ 1.40690392e-02 1.55340533e-04 9.99901014e-01 4.23520884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.2392541539999 meters 0.014177431750466365 Centerline is valid? [True, True] Translation: X:958.36, Y:52.42, Z:4.24 [[ 8.52409635e-01 -5.22751474e-01 -1.13450884e-02 9.58359266e+02] [ 5.22702882e-01 8.52485117e-01 -7.12899523e-03 5.24214919e+01] [ 1.33982117e-02 1.46713836e-04 9.99910229e-01 4.23602275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.299254154 meters 0.01419106917214905 Centerline is valid? [True, True] Translation: X:958.41, Y:52.45, Z:4.24 [[ 8.52871868e-01 -5.21996641e-01 -1.13614625e-02 9.58406171e+02] [ 5.21947805e-01 8.52947525e-01 -7.14197947e-03 5.24547162e+01] [ 1.34188206e-02 1.61102945e-04 9.99909951e-01 4.23571297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.3592541539999 meters 0.014140499825554218 Centerline is valid? [True, True] Translation: X:958.46, Y:52.49, Z:4.24 [[ 8.53457928e-01 -5.21026529e-01 -1.18710309e-02 9.58455472e+02] [ 5.20973071e-01 8.53540462e-01 -7.46579073e-03 5.24870790e+01] [ 1.40222802e-02 1.87250870e-04 9.99901665e-01 4.23609329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.419254154 meters 0.014172311538383666 Centerline is valid? [True, True] Translation: X:958.50, Y:52.52, Z:4.24 [[ 8.53617803e-01 -5.20772727e-01 -1.15071133e-02 9.58503393e+02] [ 5.20722413e-01 8.53695338e-01 -7.24139009e-03 5.25194626e+01] [ 1.35946874e-02 1.89367695e-04 9.99907570e-01 4.23643922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.4792541539999 meters 0.01462019126176607 Centerline is valid? [True, True] Translation: X:958.55, Y:52.55, Z:4.24 [[ 8.53654126e-01 -5.20734707e-01 -1.04879658e-02 9.58551109e+02] [ 5.20692857e-01 8.53718533e-01 -6.60417865e-03 5.25519090e+01] [ 1.23927958e-02 1.76675509e-04 9.99923191e-01 4.23666510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.539254154 meters 0.014336878700052217 Centerline is valid? [True, True] Translation: X:958.60, Y:52.58, Z:4.24 [[ 8.53430067e-01 -5.21099589e-01 -1.05990258e-02 9.58598983e+02] [ 5.21056834e-01 8.53495862e-01 -6.67751973e-03 5.25834734e+01] [ 1.25258774e-02 1.76101304e-04 9.99921533e-01 4.23689263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.5992541539999 meters 0.014320018409919527 Centerline is valid? [True, True] Translation: X:958.65, Y:52.61, Z:4.24 [[ 8.53200266e-01 -5.21464558e-01 -1.11364514e-02 9.58648237e+02] [ 5.21417334e-01 8.53272923e-01 -7.02013266e-03 5.26147573e+01] [ 1.31631828e-02 1.82840236e-04 9.99913345e-01 4.23698888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.659254154 meters 0.01594308874451646 Centerline is valid? [True, True] Translation: X:958.70, Y:52.65, Z:4.23 [[ 8.52548597e-01 -5.22510092e-01 -1.20039181e-02 9.58696626e+02] [ 5.22455287e-01 8.52633081e-01 -7.56982448e-03 5.26454758e+01] [ 1.41902473e-02 1.82132774e-04 9.99899297e-01 4.23346387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.7192541539999 meters 0.01634132461220789 Centerline is valid? [True, True] Translation: X:958.75, Y:52.67, Z:4.23 [[ 8.50920924e-01 -5.25146165e-01 -1.24533557e-02 9.58748380e+02] [ 5.25087407e-01 8.51012035e-01 -7.85691737e-03 5.26741437e+01] [ 1.47239856e-02 1.46515148e-04 9.99891586e-01 4.23340192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.779254154 meters 0.013437029051893286 Centerline is valid? [True, True] Translation: X:958.80, Y:52.70, Z:4.24 [[ 8.49562708e-01 -5.27359571e-01 -1.16227583e-02 9.58799439e+02] [ 5.27308541e-01 8.49642202e-01 -7.33692069e-03 5.27029199e+01] [ 1.37443813e-02 1.04394493e-04 9.99905536e-01 4.23663775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.839254154 meters 0.014021349368764507 Centerline is valid? [True, True] Translation: X:958.85, Y:52.73, Z:4.24 [[ 8.45639541e-01 -5.33636855e-01 -1.12014530e-02 9.58852514e+02] [ 5.33589954e-01 8.45713726e-01 -7.07489708e-03 5.27297903e+01] [ 1.32486483e-02 5.82995180e-06 9.99912233e-01 4.23680776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.899254154 meters 0.016186107515570456 Centerline is valid? [True, True] Translation: X:958.90, Y:52.76, Z:4.24 [[ 8.43644504e-01 -5.36781315e-01 -1.13916783e-02 9.58903118e+02] [ 5.36733034e-01 8.43721410e-01 -7.19947765e-03 5.27585579e+01] [ 1.34759480e-02 -4.04903109e-05 9.99909194e-01 4.23558995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.959254154 meters 0.013839347630754156 Centerline is valid? [True, True] Translation: X:958.95, Y:52.79, Z:4.24 [[ 8.42385541e-01 -5.38774745e-01 -1.04102936e-02 9.58953311e+02] [ 5.38734527e-01 8.42449862e-01 -6.58326731e-03 5.27871902e+01] [ 1.23170486e-02 -6.27353780e-05 9.99924140e-01 4.23901924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.019254154 meters 0.013348896899340811 Centerline is valid? [True, True] Translation: X:959.00, Y:52.82, Z:4.24 [[ 8.42570218e-01 -5.38491818e-01 -1.00989834e-02 9.59001310e+02] [ 5.38453900e-01 8.42630737e-01 -6.39044844e-03 5.28192912e+01] [ 1.19509180e-02 -5.34354383e-05 9.99928584e-01 4.24060416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.079254154 meters 0.015587901983060991 Centerline is valid? [True, True] Translation: X:959.05, Y:52.85, Z:4.24 [[ 8.43766860e-01 -5.36598985e-01 -1.09093826e-02 9.59048602e+02] [ 5.36554520e-01 8.43837383e-01 -6.90787467e-03 5.28526867e+01] [ 1.29125034e-02 -2.48428267e-05 9.99916630e-01 4.23810678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.139254154 meters 0.015665825149277886 Centerline is valid? [True, True] Translation: X:959.10, Y:52.89, Z:4.24 [[ 8.46329008e-01 -5.32510055e-01 -1.26590742e-02 9.59096527e+02] [ 5.32449648e-01 8.46423676e-01 -8.02080183e-03 5.28877362e+01] [ 1.49860977e-02 4.79176699e-05 9.99887701e-01 4.23764830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.199254154 meters 0.01513303611445038 Centerline is valid? [True, True] Translation: X:959.14, Y:52.92, Z:4.24 [[ 8.48585071e-01 -5.28923749e-01 -1.19601679e-02 9.59143932e+02] [ 5.28869411e-01 8.48669345e-01 -7.58217386e-03 5.29229187e+01] [ 1.41606197e-02 1.08752586e-04 9.99899727e-01 4.23833006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.259254154 meters 0.01383693600065035 Centerline is valid? [True, True] Translation: X:959.19, Y:52.96, Z:4.24 [[ 8.49641517e-01 -5.27256142e-01 -1.05001573e-02 9.59192086e+02] [ 5.27214086e-01 8.49706388e-01 -6.66051528e-03 5.29557748e+01] [ 1.24338483e-02 1.23219498e-04 9.99922689e-01 4.24130440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.319254154 meters 0.015815884599683964 Centerline is valid? [True, True] Translation: X:959.24, Y:52.99, Z:4.24 [[ 8.49760042e-01 -5.27083641e-01 -9.52397846e-03 9.59240193e+02] [ 5.27048988e-01 8.49813404e-01 -6.04501444e-03 5.29886647e+01] [ 1.12798328e-02 1.17208517e-04 9.99936374e-01 4.24080597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.379254154 meters 0.015918076788061643 Centerline is valid? [True, True] Translation: X:959.29, Y:53.02, Z:4.24 [[ 8.49899497e-01 -5.26843859e-01 -1.03146468e-02 9.59288993e+02] [ 5.26803149e-01 8.49962076e-01 -6.55078531e-03 5.30217599e+01] [ 1.22182996e-02 1.33720751e-04 9.99925345e-01 4.24026506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.439254154 meters 0.01635109572802856 Centerline is valid? [True, True] Translation: X:959.34, Y:53.05, Z:4.24 [[ 8.49672807e-01 -5.27186427e-01 -1.14277028e-02 9.59337286e+02] [ 5.27136454e-01 8.49749640e-01 -7.26005754e-03 5.30537535e+01] [ 1.35380901e-02 1.44714747e-04 9.99908345e-01 4.23876319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.499254154 meters 0.014063552693504665 Centerline is valid? [True, True] Translation: X:959.39, Y:53.09, Z:4.24 [[ 8.50112088e-01 -5.26493440e-01 -1.06815385e-02 9.59385411e+02] [ 5.26449705e-01 8.50179179e-01 -6.78765794e-03 5.30852835e+01] [ 1.26548790e-02 1.46977293e-04 9.99919913e-01 4.24092634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.559254154 meters 0.014112017503365933 Centerline is valid? [True, True] Translation: X:959.43, Y:53.12, Z:4.24 [[ 8.50275951e-01 -5.26201256e-01 -1.19601602e-02 9.59434476e+02] [ 5.26146343e-01 8.50360046e-01 -7.60376892e-03 5.31186040e+01] [ 1.41715551e-02 1.72507288e-04 9.99899564e-01 4.23926837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.6192541539999 meters 0.013970400482060203 Centerline is valid? [True, True] Translation: X:959.48, Y:53.15, Z:4.24 [[ 8.50026538e-01 -5.26582402e-01 -1.28785962e-02 9.59484795e+02] [ 5.26518704e-01 8.50124073e-01 -8.19233372e-03 5.31501508e+01] [ 1.52623435e-02 1.82879279e-04 9.99883507e-01 4.23842307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.679254154 meters 0.015417108186256152 Centerline is valid? [True, True] Translation: X:959.54, Y:53.18, Z:4.24 [[ 8.49059982e-01 -5.28092569e-01 -1.46760062e-02 9.59535900e+02] [ 5.28009979e-01 8.49186791e-01 -9.34111558e-03 5.31793208e+01] [ 1.73956443e-02 1.82089689e-04 9.99848668e-01 4.23637552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.7392541539999 meters 0.013391325202873129 Centerline is valid? [True, True] Translation: X:959.59, Y:53.21, Z:4.24 [[ 8.47310177e-01 -5.30932221e-01 -1.32831321e-02 9.59587474e+02] [ 5.30864840e-01 8.47414281e-01 -8.45918055e-03 5.32081364e+01] [ 1.57475674e-02 1.16001951e-04 9.99875993e-01 4.23800387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.799254154 meters 0.01484633141437344 Centerline is valid? [True, True] Translation: X:959.64, Y:53.24, Z:4.24 [[ 8.45069999e-01 -5.34522087e-01 -1.19513977e-02 9.59639994e+02] [ 5.34467840e-01 8.45154505e-01 -7.61519803e-03 5.32360219e+01] [ 1.41712692e-02 4.77376689e-05 9.99899581e-01 4.23892772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.8592541539999 meters 0.013095491422573548 Centerline is valid? [True, True] Translation: X:959.69, Y:53.27, Z:4.24 [[ 8.45042827e-01 -5.34625685e-01 -8.83156153e-03 9.59690440e+02] [ 5.34596042e-01 8.45088975e-01 -5.62993735e-03 5.32673757e+01] [ 1.04733644e-02 3.62203375e-05 9.99945152e-01 4.24253741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.919254154 meters 0.013226310069845574 Centerline is valid? [True, True] Translation: X:959.74, Y:53.30, Z:4.24 [[ 8.45748559e-01 -5.33500500e-01 -9.30542736e-03 9.59738822e+02] [ 5.33467497e-01 8.45799748e-01 -5.93432381e-03 5.32998523e+01] [ 1.10364928e-02 5.48027646e-05 9.99939095e-01 4.24100887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.9792541539999 meters 0.013473479137022041 Centerline is valid? [True, True] Translation: X:959.79, Y:53.33, Z:4.24 [[ 8.46699186e-01 -5.31978792e-01 -9.95254555e-03 9.59787158e+02] [ 5.31940900e-01 8.46757674e-01 -6.34985651e-03 5.33328137e+01] [ 1.18053833e-02 8.22523000e-05 9.99930311e-01 4.23975395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.039254154 meters 0.013715016910709508 Centerline is valid? [True, True] Translation: X:959.84, Y:53.37, Z:4.24 [[ 8.47680584e-01 -5.30408357e-01 -1.02275389e-02 9.59835904e+02] [ 5.30368185e-01 8.47742274e-01 -6.52887327e-03 5.33667580e+01] [ 1.21332861e-02 1.10037846e-04 9.99926383e-01 4.23992340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.0992541539999 meters 0.014601444310413401 Centerline is valid? [True, True] Translation: X:959.88, Y:53.40, Z:4.24 [[ 8.48511602e-01 -5.29077465e-01 -1.02516860e-02 9.59884179e+02] [ 5.29036961e-01 8.48573520e-01 -6.54791557e-03 5.33999550e+01] [ 1.21636639e-02 1.32461507e-04 9.99926011e-01 4.23927186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.159254154 meters 0.015042557527249529 Centerline is valid? [True, True] Translation: X:959.93, Y:53.43, Z:4.24 [[ 8.49048588e-01 -5.28202369e-01 -1.08973346e-02 9.59931955e+02] [ 5.28156495e-01 8.49118503e-01 -6.96304830e-03 5.34323230e+01] [ 1.29310270e-02 1.56468306e-04 9.99916379e-01 4.23854750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.2192541539999 meters 0.014576475581277022 Centerline is valid? [True, True] Translation: X:959.98, Y:53.46, Z:4.24 [[ 8.48481918e-01 -5.29128742e-01 -1.00602539e-02 9.59980282e+02] [ 5.29089693e-01 8.48541547e-01 -6.42958583e-03 5.34645157e+01] [ 1.19386220e-02 1.32610678e-04 9.99928723e-01 4.23843545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.279254154 meters 0.014939092222730026 Centerline is valid? [True, True] Translation: X:960.03, Y:53.49, Z:4.24 [[ 8.46310461e-01 -5.32594057e-01 -1.01081110e-02 9.60032084e+02] [ 5.32554849e-01 8.46370819e-01 -6.46289222e-03 5.34923768e+01] [ 1.19973082e-02 8.64897399e-05 9.99928026e-01 4.23981653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.339254154 meters 0.01333854466893297 Centerline is valid? [True, True] Translation: X:960.08, Y:53.52, Z:4.24 [[ 8.45083532e-01 -5.34556202e-01 -9.13730174e-03 9.60081856e+02] [ 5.34524259e-01 8.45132927e-01 -5.84404637e-03 5.35219997e+01] [ 1.08462058e-02 5.45979140e-05 9.99941177e-01 4.24163836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.399254154 meters 0.01466031791100423 Centerline is valid? [True, True] Translation: X:960.13, Y:53.55, Z:4.24 [[ 8.41326073e-01 -5.40454077e-01 -8.93472258e-03 9.60134132e+02] [ 5.40423842e-01 8.41373514e-01 -5.71672247e-03 5.35488601e+01] [ 1.06070649e-02 -1.89094367e-05 9.99943743e-01 4.24153270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.459254154 meters 0.013512824531969815 Centerline is valid? [True, True] Translation: X:960.19, Y:53.58, Z:4.24 [[ 8.39183474e-01 -5.43766858e-01 -9.41814682e-03 9.60185167e+02] [ 5.43733433e-01 8.39236320e-01 -6.02939184e-03 5.35786744e+01] [ 1.11826343e-02 -6.11953174e-05 9.99937471e-01 4.24266053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.519254154 meters 0.01567851012035095 Centerline is valid? [True, True] Translation: X:960.24, Y:53.61, Z:4.24 [[ 8.37631926e-01 -5.46143901e-01 -9.97980065e-03 9.60235457e+02] [ 5.46106496e-01 8.37691369e-01 -6.39253510e-03 5.36087894e+01] [ 1.18512369e-02 -9.54424843e-05 9.99929767e-01 4.24145494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.579254154 meters 0.01403045176421974 Centerline is valid? [True, True] Translation: X:960.28, Y:53.64, Z:4.24 [[ 8.37916019e-01 -5.45702372e-01 -1.02794393e-02 9.60282966e+02] [ 5.45662624e-01 8.37979065e-01 -6.58692754e-03 5.36403283e+01] [ 1.22084569e-02 -8.98137368e-05 9.99925470e-01 4.24229141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.639254154 meters 0.01407468058349122 Centerline is valid? [True, True] Translation: X:960.33, Y:53.67, Z:4.24 [[ 8.37721065e-01 -5.45986063e-01 -1.10741119e-02 9.60331981e+02] [ 5.45939914e-01 8.37794252e-01 -7.09933963e-03 5.36724109e+01] [ 1.31539678e-02 -9.85333451e-05 9.99913478e-01 4.24224859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.699254154 meters 0.01491190575163102 Centerline is valid? [True, True] Translation: X:960.38, Y:53.70, Z:4.24 [[ 8.36790511e-01 -5.47418304e-01 -1.07163500e-02 9.60380798e+02] [ 5.47375161e-01 8.36859120e-01 -6.87361279e-03 5.37045823e+01] [ 1.27308167e-02 -1.14089868e-04 9.99918953e-01 4.24260472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.759254154 meters 0.01745171206442101 Centerline is valid? [True, True] Translation: X:960.43, Y:53.74, Z:4.24 [[ 8.35867549e-01 -5.48820031e-01 -1.10460184e-02 9.60429233e+02] [ 5.48774264e-01 8.35940521e-01 -7.08887286e-03 5.37374225e+01] [ 1.31243298e-02 -1.36411813e-04 9.99913863e-01 4.24205260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.819254154 meters 0.015688125799509806 Centerline is valid? [True, True] Translation: X:960.48, Y:53.77, Z:4.24 [[ 8.36717125e-01 -5.47547192e-01 -9.82469163e-03 9.60476367e+02] [ 5.47510861e-01 8.36774798e-01 -6.30835268e-03 5.37722223e+01] [ 1.16751751e-02 -1.00818654e-04 9.99931838e-01 4.24392091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.879254154 meters 0.013847159171906325 Centerline is valid? [True, True] Translation: X:960.52, Y:53.81, Z:4.25 [[ 8.38203040e-01 -5.45282019e-01 -9.12046721e-03 9.60524559e+02] [ 5.45250542e-01 8.38252656e-01 -5.85929519e-03 5.38066108e+01] [ 1.08402242e-02 -6.16606518e-05 9.99941241e-01 4.24549234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.939254154 meters 0.01560252790516632 Centerline is valid? [True, True] Translation: X:960.57, Y:53.84, Z:4.24 [[ 8.40701394e-01 -5.41409468e-01 -9.84656077e-03 9.60569549e+02] [ 5.41372467e-01 8.40759055e-01 -6.32965201e-03 5.38436157e+01] [ 1.17055187e-02 -9.30962857e-06 9.99931488e-01 4.24419903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.999254154 meters 0.013493809666820763 Centerline is valid? [True, True] Translation: X:960.62, Y:53.88, Z:4.25 [[ 8.41800383e-01 -5.39703936e-01 -9.57998997e-03 9.60616827e+02] [ 5.39668756e-01 8.41854893e-01 -6.16217651e-03 5.38774795e+01] [ 1.13907123e-02 1.73012740e-05 9.99935124e-01 4.24529825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.059254154 meters 0.015526277706373342 Centerline is valid? [True, True] Translation: X:960.66, Y:53.91, Z:4.24 [[ 8.42263356e-01 -5.38956180e-01 -1.08937762e-02 9.60664411e+02] [ 5.38910592e-01 8.42333803e-01 -7.00989989e-03 5.39109266e+01] [ 1.29542248e-02 3.34104343e-05 9.99916090e-01 4.24319754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.1192541539999 meters 0.014393771390678678 Centerline is valid? [True, True] Translation: X:960.71, Y:53.94, Z:4.24 [[ 8.42326242e-01 -5.38835676e-01 -1.19422338e-02 9.60712557e+02] [ 5.38780829e-01 8.42410893e-01 -7.68797972e-03 5.39442590e+01] [ 1.42028256e-02 4.15404458e-05 9.99899134e-01 4.24252944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.179254154 meters 0.01436204864241786 Centerline is valid? [True, True] Translation: X:960.76, Y:53.98, Z:4.24 [[ 8.42421090e-01 -5.38663058e-01 -1.29929898e-02 9.60760557e+02] [ 5.38598074e-01 8.42521280e-01 -8.36698887e-03 5.39769302e+01] [ 1.54538582e-02 5.05285758e-05 9.99880581e-01 4.24132195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.2392541539999 meters 0.013258302286410397 Centerline is valid? [True, True] Translation: X:960.81, Y:54.01, Z:4.24 [[ 8.43163892e-01 -5.37490483e-01 -1.33653672e-02 9.60809489e+02] [ 5.37421511e-01 8.43269812e-01 -8.61072770e-03 5.40104510e+01] [ 1.58987948e-02 7.74188609e-05 9.99873603e-01 4.24215589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.299254154 meters 0.01334290165659904 Centerline is valid? [True, True] Translation: X:960.86, Y:54.04, Z:4.24 [[ 8.43891885e-01 -5.36339820e-01 -1.36412841e-02 9.60857438e+02] [ 5.36267740e-01 8.44002125e-01 -8.79346843e-03 5.40439979e+01] [ 1.62295601e-02 1.05356045e-04 9.99868286e-01 4.24181798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.3592541539999 meters 0.017088020769923856 Centerline is valid? [True, True] Translation: X:960.91, Y:54.08, Z:4.24 [[ 8.43785332e-01 -5.36486865e-01 -1.44276700e-02 9.60905239e+02] [ 5.36406207e-01 8.43908663e-01 -9.30318752e-03 5.40765629e+01] [ 1.71666736e-02 1.10801430e-04 9.99852636e-01 4.24048616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.419254154 meters 0.013623939939260745 Centerline is valid? [True, True] Translation: X:960.95, Y:54.11, Z:4.24 [[ 8.44707793e-01 -5.35073492e-01 -1.28492454e-02 9.60953121e+02] [ 5.35009321e-01 8.44805506e-01 -8.28755341e-03 5.41092813e+01] [ 1.52895634e-02 1.26094873e-04 9.99883100e-01 4.24294980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.4792541539999 meters 0.013689532968222416 Centerline is valid? [True, True] Translation: X:961.00, Y:54.14, Z:4.24 [[ 8.44248568e-01 -5.35796853e-01 -1.28874764e-02 9.61000484e+02] [ 5.35732336e-01 8.44346918e-01 -8.31540204e-03 5.41415644e+01] [ 1.53368673e-02 1.16028423e-04 9.99882377e-01 4.24267817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.539254154 meters 0.015889173452430332 Centerline is valid? [True, True] Translation: X:961.05, Y:54.17, Z:4.24 [[ 8.43227201e-01 -5.37371313e-01 -1.41407266e-02 9.61049445e+02] [ 5.37293769e-01 8.43345755e-01 -9.12928397e-03 5.41727267e+01] [ 1.68313371e-02 1.00336270e-04 9.99858338e-01 4.24185766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.5992541539999 meters 0.013409069183747839 Centerline is valid? [True, True] Translation: X:961.10, Y:54.20, Z:4.24 [[ 8.41954336e-01 -5.39386418e-01 -1.32358271e-02 9.61098326e+02] [ 5.39318690e-01 8.42058364e-01 -8.54761650e-03 5.42031442e+01] [ 1.57558071e-02 5.83738607e-05 9.99875868e-01 4.24276421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.659254154 meters 0.013244646766001924 Centerline is valid? [True, True] Translation: X:961.15, Y:54.23, Z:4.24 [[ 8.40807113e-01 -5.41144089e-01 -1.43692118e-02 9.61147760e+02] [ 5.41064489e-01 8.40929887e-01 -9.28141341e-03 5.42341661e+01] [ 1.71060816e-02 2.92081838e-05 9.99853680e-01 4.24367315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.7192541539999 meters 0.016380003587820127 Centerline is valid? [True, True] Translation: X:961.19, Y:54.27, Z:4.24 [[ 8.40917690e-01 -5.40918136e-01 -1.62791029e-02 9.61194860e+02] [ 5.40815884e-01 8.41075245e-01 -1.05171903e-02 5.42672290e+01] [ 1.93808894e-02 4.00939498e-05 9.99812172e-01 4.23891240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.779254154 meters 0.01613920698541689 Centerline is valid? [True, True] Translation: X:961.24, Y:54.30, Z:4.24 [[ 8.41202048e-01 -5.40473881e-01 -1.63431693e-02 9.61243469e+02] [ 5.40370629e-01 8.41360791e-01 -1.05642032e-02 5.42994617e+01] [ 1.94601778e-02 5.52606736e-05 9.99810631e-01 4.24180866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.839254154 meters 0.016221419285309763 Centerline is valid? [True, True] Translation: X:961.29, Y:54.33, Z:4.24 [[ 8.43091971e-01 -5.37576699e-01 -1.43951764e-02 9.61290780e+02] [ 5.37496085e-01 8.43214848e-01 -9.31012042e-03 5.43341776e+01] [ 1.71431303e-02 1.11936823e-04 9.99853039e-01 4.24421775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.899254154 meters 0.01360417349909401 Centerline is valid? [True, True] Translation: X:961.34, Y:54.37, Z:4.25 [[ 8.44600144e-01 -5.35257618e-01 -1.22425292e-02 9.61337797e+02] [ 5.35199002e-01 8.44688856e-01 -7.92247099e-03 5.43683208e+01] [ 1.45816909e-02 1.39130719e-04 9.99893672e-01 4.24628259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.959254154 meters 0.013611051288796147 Centerline is valid? [True, True] Translation: X:961.39, Y:54.40, Z:4.25 [[ 8.44649994e-01 -5.35159417e-01 -1.30685253e-02 9.61386998e+02] [ 5.35092534e-01 8.44751073e-01 -8.46198549e-03 5.44000235e+01] [ 1.55681620e-02 1.54545692e-04 9.99878797e-01 4.24654609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.019254154 meters 0.01405332794600942 Centerline is valid? [True, True] Translation: X:961.44, Y:54.43, Z:4.24 [[ 8.43832476e-01 -5.36417878e-01 -1.42342313e-02 9.61435169e+02] [ 5.36338654e-01 8.43952510e-01 -9.22005669e-03 5.44312454e+01] [ 1.69588185e-02 1.45814799e-04 9.99856178e-01 4.24497816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.079254154 meters 0.013435442805110474 Centerline is valid? [True, True] Translation: X:961.49, Y:54.46, Z:4.25 [[ 8.42570475e-01 -5.38391813e-01 -1.44654682e-02 9.61485423e+02] [ 5.38310206e-01 8.42694632e-01 -9.37437368e-03 5.44619920e+01] [ 1.72370584e-02 1.11661330e-04 9.99851425e-01 4.24583325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.139254154 meters 0.01374064557534883 Centerline is valid? [True, True] Translation: X:961.54, Y:54.49, Z:4.25 [[ 8.40519115e-01 -5.41552848e-01 -1.57521744e-02 9.61535979e+02] [ 5.41456508e-01 8.40666706e-01 -1.02146835e-02 5.44914895e+01] [ 1.87741195e-02 5.65193943e-05 9.99823749e-01 4.24518973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.199254154 meters 0.013475328980129448 Centerline is valid? [True, True] Translation: X:961.59, Y:54.52, Z:4.24 [[ 8.37446264e-01 -5.46300437e-01 -1.54786349e-02 9.61587741e+02] [ 5.46208167e-01 8.37589297e-01 -1.00403106e-02 5.45186836e+01] [ 1.84497650e-02 -4.63361727e-05 9.99829788e-01 4.24491585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.259254154 meters 0.013760240101485922 Centerline is valid? [True, True] Translation: X:961.64, Y:54.55, Z:4.25 [[ 8.34155803e-01 -5.51338611e-01 -1.44856030e-02 9.61640642e+02] [ 5.51258483e-01 8.34281556e-01 -9.40050272e-03 5.45456541e+01] [ 1.72679316e-02 -1.43827659e-04 9.99850888e-01 4.24704277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.319254154 meters 0.014166845320462557 Centerline is valid? [True, True] Translation: X:961.69, Y:54.57, Z:4.25 [[ 8.31522325e-01 -5.55320120e-01 -1.37908266e-02 9.61692192e+02] [ 5.55247959e-01 8.31636651e-01 -8.95459722e-03 5.45746308e+01] [ 1.64416249e-02 -2.11380826e-04 9.99864805e-01 4.24797777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.379254154 meters 0.015180157827033696 Centerline is valid? [True, True] Translation: X:961.74, Y:54.60, Z:4.25 [[ 8.29182162e-01 -5.58804492e-01 -1.39456904e-02 9.61743397e+02] [ 5.58731147e-01 8.29299379e-01 -9.05784258e-03 5.46018047e+01] [ 1.66267155e-02 -2.81290088e-04 9.99861727e-01 4.24754359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.439254154 meters 0.018177130220091525 Centerline is valid? [True, True] Translation: X:961.79, Y:54.63, Z:4.25 [[ 8.27064459e-01 -5.61881933e-01 -1.59083280e-02 9.61794112e+02] [ 5.61786966e-01 8.27217350e-01 -1.03373614e-02 5.46324056e+01] [ 1.89680215e-02 -3.87427143e-04 9.99820016e-01 4.24811826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.499254154 meters 0.015833717228768144 Centerline is valid? [True, True] Translation: X:961.84, Y:54.66, Z:4.25 [[ 8.26493016e-01 -5.62780470e-01 -1.36907667e-02 9.61843469e+02] [ 5.62710209e-01 8.26606328e-01 -8.89942137e-03 5.46630685e+01] [ 1.63252949e-02 -3.48624559e-04 9.99866673e-01 4.24867992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.559254154 meters 0.015635461444933597 Centerline is valid? [True, True] Translation: X:961.89, Y:54.69, Z:4.25 [[ 8.26572606e-01 -5.62693773e-01 -1.23872685e-02 9.61893008e+02] [ 5.62636189e-01 8.26665362e-01 -8.05591233e-03 5.46945115e+01] [ 1.47731375e-02 -3.10729095e-04 9.99890823e-01 4.24991703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.6192541539999 meters 0.01563764719580631 Centerline is valid? [True, True] Translation: X:961.94, Y:54.73, Z:4.25 [[ 8.27933519e-01 -5.60704766e-01 -1.16727659e-02 9.61940700e+02] [ 5.60653404e-01 8.28015760e-01 -7.59352348e-03 5.47269214e+01] [ 1.39229589e-02 -2.57443316e-04 9.99903038e-01 4.25008217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.679254154 meters 0.013995934127967681 Centerline is valid? [True, True] Translation: X:961.99, Y:54.76, Z:4.25 [[ 8.31640362e-01 -5.55192690e-01 -1.16354763e-02 9.61986820e+02] [ 5.55141077e-01 8.31721738e-01 -7.57198270e-03 5.47634657e+01] [ 1.38813881e-02 -1.62164420e-04 9.99903636e-01 4.24920102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.7392541539999 meters 0.016140177736165426 Centerline is valid? [True, True] Translation: X:962.03, Y:54.80, Z:4.25 [[ 8.36310071e-01 -5.48074302e-01 -1.41429830e-02 9.62031855e+02] [ 5.47996936e-01 8.36429648e-01 -9.20874624e-03 5.48015907e+01] [ 1.68766875e-02 -4.89441537e-05 9.99857577e-01 4.24789709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.799254154 meters 0.012965043513357076 Centerline is valid? [True, True] Translation: X:962.08, Y:54.84, Z:4.25 [[ 8.40890655e-01 -5.41047115e-01 -1.30738987e-02 9.62076673e+02] [ 5.40980072e-01 8.40992278e-01 -8.51765853e-03 5.48394095e+01] [ 1.56035025e-02 8.97007802e-05 9.99878254e-01 4.24739126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.8592541539999 meters 0.013067589016089533 Centerline is valid? [True, True] Translation: X:962.12, Y:54.87, Z:4.25 [[ 8.43014184e-01 -5.37754989e-01 -1.21102457e-02 9.62124629e+02] [ 5.37697059e-01 8.43101151e-01 -7.89435826e-03 5.48742539e+01] [ 1.44553926e-02 1.43412499e-04 9.99895505e-01 4.24931658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.919254154 meters 0.013554187913091216 Centerline is valid? [True, True] Translation: X:962.17, Y:54.91, Z:4.25 [[ 8.42932528e-01 -5.37908070e-01 -1.09390461e-02 9.62172981e+02] [ 5.37860766e-01 8.43003494e-01 -7.13478201e-03 5.49069885e+01] [ 1.30595109e-02 1.30456108e-04 9.99914712e-01 4.25094330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.9792541539999 meters 0.01292803398072604 Centerline is valid? [True, True] Translation: X:962.22, Y:54.94, Z:4.25 [[ 8.41461005e-01 -5.40214185e-01 -1.05836020e-02 9.62222663e+02] [ 5.40170038e-01 8.41527555e-01 -6.90681074e-03 5.49379482e+01] [ 1.26375499e-02 9.48671953e-05 9.99920138e-01 4.25146575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.039254154 meters 0.01278079651250308 Centerline is valid? [True, True] Translation: X:962.27, Y:54.97, Z:4.25 [[ 8.39378542e-01 -5.43435045e-01 -1.10460657e-02 9.62273322e+02] [ 5.43387180e-01 8.39451219e-01 -7.21271536e-03 5.49679938e+01] [ 1.31922756e-02 5.19080360e-05 9.99912977e-01 4.25141482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.0992541539999 meters 0.013671340313882266 Centerline is valid? [True, True] Translation: X:962.32, Y:55.00, Z:4.25 [[ 8.36768815e-01 -5.47422259e-01 -1.21169425e-02 9.62322746e+02] [ 5.47365043e-01 8.36856541e-01 -7.91451093e-03 5.49972627e+01] [ 1.44727221e-02 -9.77484060e-06 9.99895265e-01 4.25023222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.159254154 meters 0.015196206101926063 Centerline is valid? [True, True] Translation: X:962.37, Y:55.03, Z:4.25 [[ 8.33572783e-01 -5.52229057e-01 -1.41238427e-02 9.62374209e+02] [ 5.52151933e-01 8.33692424e-01 -9.22961540e-03 5.50264377e+01] [ 1.68718025e-02 -1.04950866e-04 9.99857656e-01 4.24897538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.2192541539999 meters 0.013972780256497098 Centerline is valid? [True, True] Translation: X:962.43, Y:55.05, Z:4.25 [[ 8.29888826e-01 -5.57745735e-01 -1.42909328e-02 9.62425676e+02] [ 5.57667500e-01 8.30011836e-01 -9.34402638e-03 5.50549517e+01] [ 1.70732343e-02 -2.15085699e-04 9.99854219e-01 4.24948102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.279254154 meters 0.01656079815804047 Centerline is valid? [True, True] Translation: X:962.48, Y:55.08, Z:4.25 [[ 8.26659845e-01 -5.62502406e-01 -1.49847633e-02 9.62476971e+02] [ 5.62417124e-01 8.26795583e-01 -9.80013265e-03 5.50829042e+01] [ 1.79019343e-02 -3.26311312e-04 9.99839694e-01 4.24933192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.339254154 meters 0.01578732047681987 Centerline is valid? [True, True] Translation: X:962.53, Y:55.11, Z:4.25 [[ 8.25066760e-01 -5.64864166e-01 -1.39037751e-02 9.62527257e+02] [ 5.64791013e-01 8.25183830e-01 -9.09715259e-03 5.51132993e+01] [ 1.66118259e-02 -3.46968993e-04 9.99861954e-01 4.25043457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.399254154 meters 0.018116510181957618 Centerline is valid? [True, True] Translation: X:962.58, Y:55.14, Z:4.25 [[ 8.22619054e-01 -5.68438516e-01 -1.32493294e-02 9.62578203e+02] [ 5.68372505e-01 8.22725650e-01 -8.67175523e-03 5.51425602e+01] [ 1.58299228e-02 -3.97003481e-04 9.99874620e-01 4.25207220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.459254154 meters 0.019470659736178814 Centerline is valid? [True, True] Translation: X:962.63, Y:55.17, Z:4.25 [[ 8.21837857e-01 -5.69588920e-01 -1.22881839e-02 9.62627700e+02] [ 5.69532244e-01 8.21929627e-01 -8.04431868e-03 5.51718941e+01] [ 1.46819772e-02 -3.87391319e-04 9.99892139e-01 4.25286497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.519254154 meters 0.018813518736370764 Centerline is valid? [True, True] Translation: X:962.68, Y:55.21, Z:4.25 [[ 8.22266090e-01 -5.68983301e-01 -1.16824532e-02 9.62675957e+02] [ 5.68931969e-01 8.22348999e-01 -7.65102119e-03 5.52055855e+01] [ 1.39603570e-02 -3.55345804e-04 9.99902486e-01 4.25332582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.579254154 meters 0.018993351687648305 Centerline is valid? [True, True] Translation: X:962.72, Y:55.24, Z:4.25 [[ 8.24224596e-01 -5.66124722e-01 -1.25145541e-02 9.62722996e+02] [ 5.66065422e-01 8.24319534e-01 -8.20026615e-03 5.52409428e+01] [ 1.49583648e-02 -3.25195315e-04 9.99888065e-01 4.25199882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.639254154 meters 0.014712579356892947 Centerline is valid? [True, True] Translation: X:962.77, Y:55.28, Z:4.25 [[ 8.27145911e-01 -5.61878457e-01 -1.10562679e-02 9.62768731e+02] [ 5.61831745e-01 8.27219773e-01 -7.24829765e-03 5.52793403e+01] [ 1.32186257e-02 -2.16362518e-04 9.99912607e-01 4.25353057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.699254154 meters 0.01698471795459628 Centerline is valid? [True, True] Translation: X:962.82, Y:55.32, Z:4.25 [[ 8.29699832e-01 -5.58090804e-01 -1.15257848e-02 9.62815936e+02] [ 5.58039616e-01 8.29779868e-01 -7.56026557e-03 5.53153781e+01] [ 1.37831789e-02 -1.59093479e-04 9.99904995e-01 4.25240904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.759254154 meters 0.013523578265500413 Centerline is valid? [True, True] Translation: X:962.86, Y:55.35, Z:4.25 [[ 8.33031893e-01 -5.53110479e-01 -1.12544872e-02 9.62862487e+02] [ 5.53061162e-01 8.33107912e-01 -7.38640997e-03 5.53517301e+01] [ 1.34617031e-02 -7.13047048e-05 9.99909385e-01 4.25256118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.819254154 meters 0.014511676582827935 Centerline is valid? [True, True] Translation: X:962.91, Y:55.39, Z:4.25 [[ 8.35595776e-01 -5.49222971e-01 -1.15683404e-02 9.62909249e+02] [ 5.49170457e-01 8.35675851e-01 -7.59481200e-03 5.53867050e+01] [ 1.38386279e-02 -6.79795621e-06 9.99904242e-01 4.25158254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.879254154 meters 0.016416336782196537 Centerline is valid? [True, True] Translation: X:962.96, Y:55.42, Z:4.25 [[ 8.38017785e-01 -5.45519084e-01 -1.16242047e-02 9.62956246e+02] [ 5.45465658e-01 8.38098399e-01 -7.63481005e-03 5.54219004e+01] [ 1.39071620e-02 5.75021260e-05 9.99903289e-01 4.25093824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.939254154 meters 0.013927237279012508 Centerline is valid? [True, True] Translation: X:963.01, Y:55.46, Z:4.25 [[ 8.40106295e-01 -5.42309662e-01 -1.10292154e-02 9.63005033e+02] [ 5.42261237e-01 8.40178683e-01 -7.24786979e-03 5.54555636e+01] [ 1.31971014e-02 1.08265064e-04 9.99912909e-01 4.25189791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.999254154 meters 0.016389003496937248 Centerline is valid? [True, True] Translation: X:963.05, Y:55.49, Z:4.25 [[ 8.41933598e-01 -5.39476050e-01 -1.06492697e-02 9.63054463e+02] [ 5.39430630e-01 8.42000931e-01 -7.00188635e-03 5.54883881e+01] [ 1.27440450e-02 1.50581089e-04 9.99918780e-01 4.25276851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.059254154 meters 0.018349238036341167 Centerline is valid? [True, True] Translation: X:963.10, Y:55.52, Z:4.25 [[ 8.44212400e-01 -5.35888687e-01 -1.13462954e-02 9.63103548e+02] [ 5.35836770e-01 8.44288616e-01 -7.46255295e-03 5.55200093e+01] [ 1.35786457e-02 2.20217490e-04 9.99907782e-01 4.25270559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.1192541539999 meters 0.016048269284398696 Centerline is valid? [True, True] Translation: X:963.15, Y:55.55, Z:4.25 [[ 8.46809810e-01 -5.31750123e-01 -1.24479794e-02 9.63153871e+02] [ 5.31687135e-01 8.46901237e-01 -8.19049104e-03 5.55518413e+01] [ 1.48975038e-02 3.17357637e-04 9.99888976e-01 4.25192892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.179254154 meters 0.019127678806801118 Centerline is valid? [True, True] Translation: X:963.20, Y:55.58, Z:4.25 [[ 8.47982487e-01 -5.29800602e-01 -1.53955635e-02 9.63204516e+02] [ 5.29703830e-01 8.48122119e-01 -1.01352547e-02 5.55826690e+01] [ 1.84269820e-02 4.39429560e-04 9.99830112e-01 4.24969621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.2392541539999 meters 0.01903682630106183 Centerline is valid? [True, True] Translation: X:963.26, Y:55.61, Z:4.25 [[ 8.48377902e-01 -5.29163411e-01 -1.55248264e-02 9.63255836e+02] [ 5.29064798e-01 8.48519812e-01 -1.02258547e-02 5.56122013e+01] [ 1.85842709e-02 4.61750026e-04 9.99827191e-01 4.25005364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.299254154 meters 0.016814393841877044 Centerline is valid? [True, True] Translation: X:963.31, Y:55.64, Z:4.25 [[ 8.47290275e-01 -5.30943039e-01 -1.40953218e-02 9.63309213e+02] [ 5.30861913e-01 8.47407422e-01 -9.28927502e-03 5.56382759e+01] [ 1.68765562e-02 3.88042888e-04 9.99857505e-01 4.25291838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.3592541539999 meters 0.018085586388158575 Centerline is valid? [True, True] Translation: X:963.36, Y:55.66, Z:4.26 [[ 8.43275078e-01 -5.37317625e-01 -1.33008534e-02 9.63363674e+02] [ 5.37246103e-01 8.43379931e-01 -8.77021381e-03 5.56634575e+01] [ 1.59300633e-02 2.49871063e-04 9.99873077e-01 4.25542349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.419254154 meters 0.0143261482978447 Centerline is valid? [True, True] Translation: X:963.41, Y:55.69, Z:4.26 [[ 8.40636278e-01 -5.41470816e-01 -1.18322598e-02 9.63414500e+02] [ 5.41414586e-01 8.40719532e-01 -7.80478307e-03 5.56930400e+01] [ 1.41736741e-02 1.54825766e-04 9.99899536e-01 4.25704359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.4792541539999 meters 0.016132584425789874 Centerline is valid? [True, True] Translation: X:963.46, Y:55.72, Z:4.26 [[ 8.37720511e-01 -5.45944510e-01 -1.29975949e-02 9.63462801e+02] [ 5.45877162e-01 8.37821332e-01 -8.57556814e-03 5.57241475e+01] [ 1.55714466e-02 8.88391288e-05 9.99878754e-01 4.25615074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.539254154 meters 0.015030812002451854 Centerline is valid? [True, True] Translation: X:963.51, Y:55.75, Z:4.26 [[ 8.35360377e-01 -5.49553510e-01 -1.28054615e-02 9.63513065e+02] [ 5.49488503e-01 8.35458520e-01 -8.45259783e-03 5.57545708e+01] [ 1.53435867e-02 2.45114576e-05 9.99882280e-01 4.25727004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.5992541539999 meters 0.016231570705232182 Centerline is valid? [True, True] Translation: X:963.56, Y:55.79, Z:4.26 [[ 8.33976732e-01 -5.51622221e-01 -1.39905442e-02 9.63562528e+02] [ 5.51544827e-01 8.34094074e-01 -9.24005949e-03 5.57874003e+01] [ 1.67664522e-02 -1.04176625e-05 9.99859433e-01 4.25629877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.659254154 meters 0.01641027684149623 Centerline is valid? [True, True] Translation: X:963.61, Y:55.82, Z:4.25 [[ 8.32021627e-01 -5.54536634e-01 -1.51371461e-02 9.63609632e+02] [ 5.54446449e-01 8.32159309e-01 -1.00009675e-02 5.58209215e+01] [ 1.81424198e-02 -7.17156476e-05 9.99835410e-01 4.25316283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.7192541539999 meters 0.015385780942932822 Centerline is valid? [True, True] Translation: X:963.66, Y:55.85, Z:4.25 [[ 8.30886222e-01 -5.56259453e-01 -1.42655770e-02 9.63658159e+02] [ 5.56179522e-01 8.31008671e-01 -9.43013692e-03 5.58528048e+01] [ 1.71004210e-02 -9.88509483e-05 9.99853772e-01 4.25455996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.779254154 meters 0.015830891727753992 Centerline is valid? [True, True] Translation: X:963.71, Y:55.89, Z:4.26 [[ 8.29513994e-01 -5.58351262e-01 -1.22638626e-02 9.63707396e+02] [ 5.58292354e-01 8.29604637e-01 -8.11131741e-03 5.58859789e+01] [ 1.47031216e-02 -1.18369409e-04 9.99891896e-01 4.25659303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.839254154 meters 0.01570785593015677 Centerline is valid? [True, True] Translation: X:963.75, Y:55.92, Z:4.26 [[ 8.30237231e-01 -5.57313659e-01 -1.03742570e-02 9.63753679e+02] [ 5.57271382e-01 8.30302041e-01 -6.86504505e-03 5.59222410e+01] [ 1.24397502e-02 -8.16605620e-05 9.99922620e-01 4.25643065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.899254154 meters 0.01308889432385074 Centerline is valid? [True, True] Translation: X:963.80, Y:55.96, Z:4.26 [[ 8.32823379e-01 -5.53458330e-01 -9.43905799e-03 9.63798591e+02] [ 5.53423061e-01 8.32876868e-01 -6.24810100e-03 5.59585224e+01] [ 1.13196366e-02 -2.02277817e-05 9.99935931e-01 4.25662055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.959254154 meters 0.01305275731809986 Centerline is valid? [True, True] Translation: X:963.84, Y:56.00, Z:4.26 [[ 8.35266038e-01 -5.49773178e-01 -8.94977535e-03 9.63843906e+02] [ 5.49741230e-01 8.35313984e-01 -5.92688743e-03 5.59954812e+01] [ 1.07343162e-02 3.04672721e-05 9.99942385e-01 4.25679791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.019254154 meters 0.013544263029702384 Centerline is valid? [True, True] Translation: X:963.89, Y:56.03, Z:4.26 [[ 8.38519320e-01 -5.44822548e-01 -7.33081457e-03 9.63887821e+02] [ 5.44800908e-01 8.38551361e-01 -4.85649202e-03 5.60342071e+01] [ 8.79319089e-03 7.84279557e-05 9.99961336e-01 4.25635327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.079254154 meters 0.015825284969221764 Centerline is valid? [True, True] Translation: X:963.94, Y:56.07, Z:4.25 [[ 8.39173454e-01 -5.43809338e-01 -7.70181363e-03 9.63935689e+02] [ 5.43785392e-01 8.39208791e-01 -5.10425041e-03 5.60684355e+01] [ 9.23916874e-03 9.52177063e-05 9.99957313e-01 4.25376030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.139254154 meters 0.014037138987411553 Centerline is valid? [True, True] Translation: X:963.98, Y:56.10, Z:4.25 [[ 8.40577144e-01 -5.41610620e-01 -9.38089332e-03 9.63983263e+02] [ 5.41574915e-01 8.40629475e-01 -6.22074367e-03 5.61030872e+01] [ 1.12550763e-02 1.48558446e-04 9.99936649e-01 4.25314431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.199254154 meters 0.014190687880316792 Centerline is valid? [True, True] Translation: X:964.03, Y:56.14, Z:4.25 [[ 8.40963777e-01 -5.41002063e-01 -9.83334007e-03 9.64032238e+02] [ 5.40962746e-01 8.41021248e-01 -6.52439081e-03 5.61362500e+01] [ 1.17997568e-02 1.67305693e-04 9.99930366e-01 4.25251810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.259254154 meters 0.01432030934152373 Centerline is valid? [True, True] Translation: X:964.08, Y:56.17, Z:4.25 [[ 8.40289536e-01 -5.42043829e-01 -1.00987166e-02 9.64082000e+02] [ 5.42002387e-01 8.40350202e-01 -6.70452754e-03 5.61671131e+01] [ 1.21206064e-02 1.60215806e-04 9.99926530e-01 4.25223013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.319254154 meters 0.013708356649435037 Centerline is valid? [True, True] Translation: X:964.13, Y:56.20, Z:4.25 [[ 8.39604441e-01 -5.43096060e-01 -1.05381373e-02 9.64131353e+02] [ 5.43050959e-01 8.39670557e-01 -7.00076990e-03 5.61970686e+01] [ 1.26506541e-02 1.55131950e-04 9.99919965e-01 4.25274532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.379254154 meters 0.01356451313179001 Centerline is valid? [True, True] Translation: X:964.18, Y:56.23, Z:4.25 [[ 8.38875730e-01 -5.44227548e-01 -1.01924685e-02 9.64182413e+02] [ 5.44185393e-01 8.38937636e-01 -6.77503278e-03 5.62273841e+01] [ 1.22380049e-02 1.36818069e-04 9.99925103e-01 4.25369090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.439254154 meters 0.013330498628383078 Centerline is valid? [True, True] Translation: X:964.23, Y:56.26, Z:4.26 [[ 8.37965760e-01 -5.45653375e-01 -8.70513238e-03 9.64233911e+02] [ 5.45622671e-01 8.38010969e-01 -5.78936927e-03 5.62568157e+01] [ 1.04539853e-02 1.01575639e-04 9.99945350e-01 4.25569049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.499254154 meters 0.013356844218656122 Centerline is valid? [True, True] Translation: X:964.28, Y:56.29, Z:4.26 [[ 8.37713206e-01 -5.46061469e-01 -7.31138641e-03 9.64284525e+02] [ 5.46039805e-01 8.37745108e-01 -4.86479232e-03 5.62880028e+01] [ 8.78155384e-03 8.29927606e-05 9.99961438e-01 4.25687692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.559254154 meters 0.013449341249250808 Centerline is valid? [True, True] Translation: X:964.33, Y:56.32, Z:4.26 [[ 8.37885954e-01 -5.45800092e-01 -7.02767300e-03 9.64332371e+02] [ 5.45780053e-01 8.37915421e-01 -4.67778970e-03 5.63192049e+01] [ 8.44173363e-03 8.38905396e-05 9.99964364e-01 4.25668228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.6192541539999 meters 0.0137009860785611 Centerline is valid? [True, True] Translation: X:964.38, Y:56.35, Z:4.26 [[ 8.38684114e-01 -5.44563880e-01 -7.69014019e-03 9.64383160e+02] [ 5.44539812e-01 8.38719362e-01 -5.12089858e-03 5.63486263e+01] [ 9.23852588e-03 1.07228790e-04 9.99957318e-01 4.25630321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.679254154 meters 0.013634511009050769 Centerline is valid? [True, True] Translation: X:964.43, Y:56.38, Z:4.26 [[ 8.39044640e-01 -5.44007852e-01 -7.71679786e-03 9.64433616e+02] [ 5.43983567e-01 8.39080117e-01 -5.14148464e-03 5.63796376e+01] [ 9.27201967e-03 1.16123900e-04 9.99957007e-01 4.25732467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.7392541539999 meters 0.014100328073454073 Centerline is valid? [True, True] Translation: X:964.48, Y:56.41, Z:4.26 [[ 8.40170926e-01 -5.42284808e-01 -6.32463121e-03 9.64481571e+02] [ 5.42268431e-01 8.40194724e-01 -4.21603048e-03 5.64139167e+01] [ 7.60021105e-03 1.12538396e-04 9.99971112e-01 4.25812079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.799254154 meters 0.01420619746735818 Centerline is valid? [True, True] Translation: X:964.53, Y:56.45, Z:4.26 [[ 8.40667048e-01 -5.41520506e-01 -5.86984750e-03 9.64530139e+02] [ 5.41506366e-01 8.40687533e-01 -3.91495354e-03 5.64474771e+01] [ 7.05473524e-03 1.12612648e-04 9.99975109e-01 4.25837546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.8592541539999 meters 0.014000828933584368 Centerline is valid? [True, True] Translation: X:964.58, Y:56.48, Z:4.26 [[ 8.39532988e-01 -5.43267738e-01 -6.67278992e-03 9.64579768e+02] [ 5.43249503e-01 8.39559499e-01 -4.45263122e-03 5.64781615e+01] [ 8.02117506e-03 1.13140989e-04 9.99967823e-01 4.25713734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.919254154 meters 0.014277201155900334 Centerline is valid? [True, True] Translation: X:964.63, Y:56.51, Z:4.26 [[ 8.37241405e-01 -5.46808431e-01 -5.23151396e-03 9.64630387e+02] [ 5.46797284e-01 8.37257747e-01 -3.49203798e-03 5.65083768e+01] [ 6.28960140e-03 6.31011540e-05 9.99980218e-01 4.25741568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.9792541539999 meters 0.013647921883104727 Centerline is valid? [True, True] Translation: X:964.68, Y:56.54, Z:4.26 [[ 8.35689399e-01 -5.49187135e-01 -4.08900322e-03 9.64679414e+02] [ 5.49180348e-01 8.35699402e-01 -2.73052838e-03 5.65396434e+01] [ 4.91674860e-03 3.62734095e-05 9.99987912e-01 4.25870268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.039254154 meters 0.013001559430233152 Centerline is valid? [True, True] Translation: X:964.73, Y:56.57, Z:4.26 [[ 8.35117093e-01 -5.50051529e-01 -4.77041184e-03 9.64727929e+02] [ 5.50042300e-01 8.35130717e-01 -3.18658011e-03 5.65717720e+01] [ 5.73670072e-03 3.72392130e-05 9.99983544e-01 4.25897824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.0992541539999 meters 0.014182228549111043 Centerline is valid? [True, True] Translation: X:964.77, Y:56.61, Z:4.26 [[ 8.36651558e-01 -5.47704882e-01 -5.79071514e-03 9.64773974e+02] [ 5.47691208e-01 8.36671595e-01 -3.87079042e-03 5.66085655e+01] [ 6.96497768e-03 6.69790682e-05 9.99975742e-01 4.25704527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.159254154 meters 0.014042102055457304 Centerline is valid? [True, True] Translation: X:964.82, Y:56.65, Z:4.26 [[ 8.38472460e-01 -5.44911255e-01 -5.97150512e-03 9.64818580e+02] [ 5.44896627e-01 8.38493718e-01 -3.99385903e-03 5.66476726e+01] [ 7.18336827e-03 9.48878114e-05 9.99974195e-01 4.25777858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.2192541539999 meters 0.016274762719178933 Centerline is valid? [True, True] Translation: X:964.86, Y:56.68, Z:4.26 [[ 8.38641851e-01 -5.44643979e-01 -6.54078520e-03 9.64864938e+02] [ 5.44626401e-01 8.38667350e-01 -4.37708908e-03 5.66837280e+01] [ 7.86949820e-03 1.08525779e-04 9.99969029e-01 4.25514984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.279254154 meters 0.014164563240441236 Centerline is valid? [True, True] Translation: X:964.91, Y:56.72, Z:4.26 [[ 8.38521848e-01 -5.44815131e-01 -7.58846119e-03 9.64912438e+02] [ 5.44791449e-01 8.38556174e-01 -5.08134555e-03 5.67166575e+01] [ 9.13174492e-03 1.26690499e-04 9.99958297e-01 4.25767601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.339254154 meters 0.014697705833494234 Centerline is valid? [True, True] Translation: X:964.96, Y:56.75, Z:4.26 [[ 8.37823531e-01 -5.45881816e-01 -8.04822961e-03 9.64958514e+02] [ 5.45855203e-01 8.37862177e-01 -5.39166144e-03 5.67520301e+01] [ 9.68651712e-03 1.24092817e-04 9.99953077e-01 4.25603335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.399254154 meters 0.013657277580389923 Centerline is valid? [True, True] Translation: X:965.01, Y:56.78, Z:4.26 [[ 8.36682717e-01 -5.47643592e-01 -6.96618725e-03 9.65008674e+02] [ 5.47623700e-01 8.36711711e-01 -4.66851736e-03 5.67838921e+01] [ 8.38537407e-03 9.12185462e-05 9.99964838e-01 4.25965701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.459254154 meters 0.013753684034378015 Centerline is valid? [True, True] Translation: X:965.06, Y:56.82, Z:4.26 [[ 8.34741912e-01 -5.50605716e-01 -6.26781402e-03 9.65057997e+02] [ 5.50589680e-01 8.34765442e-01 -4.20256242e-03 5.68155266e+01] [ 7.54610943e-03 5.70612726e-05 9.99971526e-01 4.26053240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.519254154 meters 0.01552664797907793 Centerline is valid? [True, True] Translation: X:965.11, Y:56.85, Z:4.26 [[ 8.32861075e-01 -5.53445791e-01 -6.33932765e-03 9.65107532e+02] [ 5.53429452e-01 8.32885199e-01 -4.25282173e-03 5.68480955e+01] [ 7.63363846e-03 3.36390514e-05 9.99970863e-01 4.25808413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.579254154 meters 0.01312534399000972 Centerline is valid? [True, True] Translation: X:965.16, Y:56.88, Z:4.26 [[ 8.32454140e-01 -5.54047081e-01 -7.20664635e-03 9.65155595e+02] [ 5.54025962e-01 8.32485334e-01 -4.83764705e-03 5.68801045e+01] [ 8.67971162e-03 3.44501364e-05 9.99962330e-01 4.26102466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.639254154 meters 0.013174349515405389 Centerline is valid? [True, True] Translation: X:965.20, Y:56.91, Z:4.26 [[ 8.32720346e-01 -5.53631814e-01 -8.28493452e-03 9.65204214e+02] [ 5.53603847e-01 8.32761558e-01 -5.56490041e-03 5.69140961e+01] [ 9.98028088e-03 4.74341734e-05 9.99950195e-01 4.26044240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.699254154 meters 0.013260531393374589 Centerline is valid? [True, True] Translation: X:965.25, Y:56.95, Z:4.26 [[ 8.33430596e-01 -5.52562629e-01 -8.24519795e-03 9.65250907e+02] [ 5.52534858e-01 8.33471378e-01 -5.54011234e-03 5.69477326e+01] [ 9.93339553e-03 6.15398492e-05 9.99950661e-01 4.26050244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.759254154 meters 0.013589648424558225 Centerline is valid? [True, True] Translation: X:965.30, Y:56.98, Z:4.26 [[ 8.34274735e-01 -5.51301078e-01 -7.26544804e-03 9.65298314e+02] [ 5.51279452e-01 8.34306368e-01 -4.88366599e-03 5.69807784e+01] [ 8.75397989e-03 6.90269433e-05 9.99961681e-01 4.26172006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.819254154 meters 0.013641768885679896 Centerline is valid? [True, True] Translation: X:965.35, Y:57.01, Z:4.26 [[ 8.35545995e-01 -5.49372498e-01 -7.26281945e-03 9.65346982e+02] [ 5.49350789e-01 8.35577554e-01 -4.88474379e-03 5.70136571e+01] [ 8.75219281e-03 9.15925109e-05 9.99961695e-01 4.26287396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.879254154 meters 0.014203907498039988 Centerline is valid? [True, True] Translation: X:965.39, Y:57.05, Z:4.26 [[ 8.36810179e-01 -5.47451039e-01 -6.78848564e-03 9.65394163e+02] [ 5.47431995e-01 8.36837708e-01 -4.56743459e-03 5.70474826e+01] [ 8.18130757e-03 1.05841523e-04 9.99966527e-01 4.26277765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.939254154 meters 0.014335427685886734 Centerline is valid? [True, True] Translation: X:965.44, Y:57.08, Z:4.26 [[ 8.37252017e-01 -5.46776151e-01 -6.70077442e-03 9.65443198e+02] [ 5.46757562e-01 8.37278823e-01 -4.51002881e-03 5.70795250e+01] [ 8.07639271e-03 1.12331636e-04 9.99967379e-01 4.26324778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.999254154 meters 0.014059907293847665 Centerline is valid? [True, True] Translation: X:965.49, Y:57.11, Z:4.26 [[ 8.36135753e-01 -5.48487837e-01 -6.17211294e-03 9.65493102e+02] [ 5.48472096e-01 8.36158529e-01 -4.15639134e-03 5.71100720e+01] [ 7.44059497e-03 9.00756911e-05 9.99972314e-01 4.26373505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.059254154 meters 0.01611815223317677 Centerline is valid? [True, True] Translation: X:965.54, Y:57.14, Z:4.26 [[ 8.34570400e-01 -5.50868379e-01 -6.02300698e-03 9.65543647e+02] [ 5.50853435e-01 8.34592130e-01 -4.05818481e-03 5.71408922e+01] [ 7.26227992e-03 6.90468370e-05 9.99973627e-01 4.26147100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.1192541539999 meters 0.014436844559433174 Centerline is valid? [True, True] Translation: X:965.60, Y:57.17, Z:4.26 [[ 8.30784015e-01 -5.56569523e-01 -5.31847791e-03 9.65595198e+02] [ 5.56557976e-01 8.30801038e-01 -3.58528975e-03 5.71689092e+01] [ 6.41405998e-03 1.85601171e-05 9.99979430e-01 4.26278364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.179254154 meters 0.013251492339854632 Centerline is valid? [True, True] Translation: X:965.64, Y:57.20, Z:4.26 [[ 8.29085882e-01 -5.59096981e-01 -5.21209333e-03 9.65644739e+02] [ 5.59085929e-01 8.29102265e-01 -3.51552407e-03 5.71992460e+01] [ 6.28687728e-03 6.63337347e-07 9.99980237e-01 4.26418864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.2392541539999 meters 0.015757189567597075 Centerline is valid? [True, True] Translation: X:965.69, Y:57.23, Z:4.26 [[ 8.27363900e-01 -5.61630468e-01 -6.33995921e-03 9.65693952e+02] [ 5.61614165e-01 8.27388190e-01 -4.27924805e-03 5.72302738e+01] [ 7.64896346e-03 -2.01155424e-05 9.99970746e-01 4.26096062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.299254154 meters 0.013531902462595747 Centerline is valid? [True, True] Translation: X:965.74, Y:57.26, Z:4.26 [[ 8.27082639e-01 -5.62039286e-01 -6.79334987e-03 9.65742714e+02] [ 5.62020558e-01 8.27110537e-01 -4.58827284e-03 5.72622494e+01] [ 8.19764085e-03 -2.31214778e-05 9.99966399e-01 4.26330739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.3592541539999 meters 0.013662813508996991 Centerline is valid? [True, True] Translation: X:965.79, Y:57.30, Z:4.26 [[ 8.27532746e-01 -5.61356180e-01 -8.29416644e-03 9.65789797e+02] [ 5.61328189e-01 8.27574310e-01 -5.60583548e-03 5.72959556e+01] [ 1.00109095e-02 -1.67369923e-05 9.99949889e-01 4.26279898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.419254154 meters 0.014507694832966883 Centerline is valid? [True, True] Translation: X:965.84, Y:57.33, Z:4.26 [[ 8.27822882e-01 -5.60895363e-01 -1.02795328e-02 9.65838192e+02] [ 5.60852276e-01 8.27886702e-01 -6.95217533e-03 5.73300220e+01] [ 1.24097314e-02 -1.01295259e-05 9.99922996e-01 4.26070844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.4792541539999 meters 0.013577418356655897 Centerline is valid? [True, True] Translation: X:965.88, Y:57.37, Z:4.26 [[ 8.30250502e-01 -5.57261883e-01 -1.19707166e-02 9.65884169e+02] [ 5.57203026e-01 8.30336794e-01 -8.09920990e-03 5.73656468e+01] [ 1.44531074e-02 5.42535989e-05 9.99895547e-01 4.26135584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.539254154 meters 0.013560901565638979 Centerline is valid? [True, True] Translation: X:965.93, Y:57.40, Z:4.26 [[ 8.31278302e-01 -5.55745568e-01 -1.11017421e-02 9.65930670e+02] [ 5.55694759e-01 8.31352427e-01 -7.51510132e-03 5.73998651e+01] [ 1.34059445e-02 7.79607795e-05 9.99910133e-01 4.26307244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.5992541539999 meters 0.013642438688060816 Centerline is valid? [True, True] Translation: X:965.98, Y:57.43, Z:4.27 [[ 8.32274250e-01 -5.54296167e-01 -8.67935341e-03 9.65977243e+02] [ 5.54265014e-01 8.32319502e-01 -5.87717321e-03 5.74338257e+01] [ 1.04816897e-02 8.07579873e-05 9.99945062e-01 4.26623398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.659254154 meters 0.013606003899442658 Centerline is valid? [True, True] Translation: X:966.02, Y:57.47, Z:4.27 [[ 8.31975730e-01 -5.54755113e-01 -7.94658521e-03 9.66024505e+02] [ 5.54728999e-01 8.32013677e-01 -5.38319536e-03 5.74669122e+01] [ 9.59802273e-03 7.04866362e-05 9.99953935e-01 4.26791264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.7192541539999 meters 0.013496744089378176 Centerline is valid? [True, True] Translation: X:966.07, Y:57.50, Z:4.27 [[ 8.31940705e-01 -5.54799649e-01 -8.48602883e-03 9.66072577e+02] [ 5.54769833e-01 8.31983980e-01 -5.75230733e-03 5.75003575e+01] [ 1.02516181e-02 7.77858173e-05 9.99947448e-01 4.26817538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.779254154 meters 0.013831459087194097 Centerline is valid? [True, True] Translation: X:966.12, Y:57.54, Z:4.26 [[ 8.32477330e-01 -5.53948824e-01 -1.10542145e-02 9.66120274e+02] [ 5.53898090e-01 8.32550711e-01 -7.49794560e-03 5.75355478e+01] [ 1.33566723e-02 1.18961449e-04 9.99910789e-01 4.26494176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.839254154 meters 0.014030180939343382 Centerline is valid? [True, True] Translation: X:966.17, Y:57.57, Z:4.26 [[ 8.32799718e-01 -5.53387599e-01 -1.43803685e-02 9.66168499e+02] [ 5.53301556e-01 8.32923848e-01 -9.75975296e-03 5.75698905e+01] [ 1.73786781e-02 1.71239240e-04 9.99848965e-01 4.26157778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.899254154 meters 0.014179832187905804 Centerline is valid? [True, True] Translation: X:966.22, Y:57.60, Z:4.26 [[ 8.32549449e-01 -5.53742847e-01 -1.51748092e-02 9.66217308e+02] [ 5.53646989e-01 8.32687713e-01 -1.03045418e-02 5.76026478e+01] [ 1.83419435e-02 1.77553111e-04 9.99831757e-01 4.26098184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.959254154 meters 0.014019566011851512 Centerline is valid? [True, True] Translation: X:966.27, Y:57.63, Z:4.26 [[ 8.31374790e-01 -5.55521523e-01 -1.45531891e-02 9.66266672e+02] [ 5.55433538e-01 8.31502146e-01 -9.88768075e-03 5.76349244e+01] [ 1.75938274e-02 1.37039200e-04 9.99845207e-01 4.26195268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.019254154 meters 0.015950882585744806 Centerline is valid? [True, True] Translation: X:966.32, Y:57.67, Z:4.26 [[ 8.30133475e-01 -5.57375803e-01 -1.45130494e-02 9.66316055e+02] [ 5.57288493e-01 8.30260323e-01 -9.86564418e-03 5.76676975e+01] [ 1.75484804e-02 1.01846059e-04 9.99846008e-01 4.26123570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.079254154 meters 0.013833272440345983 Centerline is valid? [True, True] Translation: X:966.37, Y:57.70, Z:4.26 [[ 8.28716810e-01 -5.59516573e-01 -1.30250963e-02 9.66366440e+02] [ 5.59446443e-01 8.28819161e-01 -8.85868430e-03 5.76976299e+01] [ 1.57520301e-02 5.44967916e-05 9.99875928e-01 4.26374934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.139254154 meters 0.015700893291237056 Centerline is valid? [True, True] Translation: X:966.42, Y:57.73, Z:4.26 [[ 8.27271097e-01 -5.61601697e-01 -1.50354841e-02 9.66416346e+02] [ 5.61508486e-01 8.27407719e-01 -1.02316858e-02 5.77284537e+01] [ 1.81866077e-02 2.18260130e-05 9.99834610e-01 4.26350146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.199254154 meters 0.01383677862246974 Centerline is valid? [True, True] Translation: X:966.46, Y:57.76, Z:4.26 [[ 8.26622644e-01 -5.62566460e-01 -1.46281139e-02 9.66464680e+02] [ 5.62478278e-01 8.26752066e-01 -9.96034102e-03 5.77598175e+01] [ 1.76971772e-02 5.44709878e-06 9.99843393e-01 4.26348434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.259254154 meters 0.0146379528431512 Centerline is valid? [True, True] Translation: X:966.51, Y:57.79, Z:4.26 [[ 8.26114301e-01 -5.63286519e-01 -1.56031872e-02 9.66514614e+02] [ 5.63186204e-01 8.26261640e-01 -1.06302592e-02 5.77919532e+01] [ 1.88801967e-02 -5.69064023e-06 9.99821753e-01 4.26361817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.319254154 meters 0.013837584132692897 Centerline is valid? [True, True] Translation: X:966.56, Y:57.82, Z:4.27 [[ 8.25441989e-01 -5.64292114e-01 -1.48301004e-02 9.66564686e+02] [ 5.64201564e-01 8.25575199e-01 -1.01086828e-02 5.78239567e+01] [ 1.79476131e-02 -2.30345893e-05 9.99838928e-01 4.26504329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.379254154 meters 0.015355187208457 Centerline is valid? [True, True] Translation: X:966.61, Y:57.85, Z:4.27 [[ 8.24529441e-01 -5.65625678e-01 -1.47916855e-02 9.66614861e+02] [ 5.65535703e-01 8.24662107e-01 -1.00885442e-02 5.78538865e+01] [ 1.79044822e-02 -4.69245246e-05 9.99839701e-01 4.26532293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.439254154 meters 0.013756654381226165 Centerline is valid? [True, True] Translation: X:966.66, Y:57.89, Z:4.27 [[ 8.26181387e-01 -5.63248253e-01 -1.32559943e-02 9.66663631e+02] [ 5.63175642e-01 8.26287725e-01 -9.04380928e-03 5.78855517e+01] [ 1.60471751e-02 6.37379577e-06 9.99871236e-01 4.26631778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.499254154 meters 0.013920558832986795 Centerline is valid? [True, True] Translation: X:966.71, Y:57.92, Z:4.27 [[ 8.29583071e-01 -5.58244547e-01 -1.24480641e-02 9.66710054e+02] [ 5.58179897e-01 8.29676453e-01 -8.49629066e-03 5.79213901e+01] [ 1.50708736e-02 1.00119751e-04 9.99886423e-01 4.26605476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.559254154 meters 0.015577906965053005 Centerline is valid? [True, True] Translation: X:966.76, Y:57.96, Z:4.27 [[ 8.33561318e-01 -5.52283199e-01 -1.26014369e-02 9.66756539e+02] [ 5.52216191e-01 8.33656537e-01 -8.60560922e-03 5.79575647e+01] [ 1.52580036e-02 2.14585491e-04 9.99883567e-01 4.26580331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.6192541539999 meters 0.015443187478227226 Centerline is valid? [True, True] Translation: X:966.80, Y:57.99, Z:4.27 [[ 8.36142964e-01 -5.48378096e-01 -1.20999342e-02 9.66804413e+02] [ 5.48315839e-01 8.36230463e-01 -8.26762927e-03 5.79918150e+01] [ 1.46521204e-02 2.78334454e-04 9.99892613e-01 4.26768578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.679254154 meters 0.01716344460845355 Centerline is valid? [True, True] Translation: X:966.85, Y:58.03, Z:4.27 [[ 8.36470665e-01 -5.47844460e-01 -1.35379109e-02 9.66851348e+02] [ 5.47766369e-01 8.36580146e-01 -9.25546350e-03 5.80269135e+01] [ 1.63961019e-02 3.26311400e-04 9.99865522e-01 4.26510084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.7392541539999 meters 0.015680871056880753 Centerline is valid? [True, True] Translation: X:966.90, Y:58.06, Z:4.26 [[ 8.35391550e-01 -5.49509343e-01 -1.26664451e-02 9.66900316e+02] [ 5.49441103e-01 8.35487525e-01 -8.66431388e-03 5.80598622e+01] [ 1.53437783e-02 2.78629026e-04 9.99882238e-01 4.26490493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.799254154 meters 0.01498708706264192 Centerline is valid? [True, True] Translation: X:966.95, Y:58.09, Z:4.27 [[ 8.34263000e-01 -5.51244522e-01 -1.16070617e-02 9.66951027e+02] [ 5.51187330e-01 8.34343709e-01 -7.94375811e-03 5.80909201e+01] [ 1.40632321e-02 2.29518111e-04 9.99901082e-01 4.26680899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.8592541539999 meters 0.014883577861903693 Centerline is valid? [True, True] Translation: X:967.00, Y:58.12, Z:4.27 [[ 8.33491349e-01 -5.52411776e-01 -1.15499749e-02 9.66999014e+02] [ 5.52355223e-01 8.33571344e-01 -7.90705913e-03 5.81235519e+01] [ 1.39956806e-02 2.10776433e-04 9.99902033e-01 4.26613884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.919254154 meters 0.01453902299584505 Centerline is valid? [True, True] Translation: X:967.05, Y:58.15, Z:4.27 [[ 8.31711315e-01 -5.55085335e-01 -1.16858838e-02 9.67048906e+02] [ 5.55027657e-01 8.31793389e-01 -8.00360041e-03 5.81547616e+01] [ 1.41629221e-02 1.70696299e-04 9.99899686e-01 4.26547770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.9792541539999 meters 0.014169397559399935 Centerline is valid? [True, True] Translation: X:967.10, Y:58.19, Z:4.27 [[ 8.30102753e-01 -5.57493021e-01 -1.14433921e-02 9.67098923e+02] [ 5.57437885e-01 8.30181616e-01 -7.84150303e-03 5.81867579e+01] [ 1.38716769e-02 1.30272987e-04 9.99903775e-01 4.26579113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.039254154 meters 0.016131670171651975 Centerline is valid? [True, True] Translation: X:967.15, Y:58.22, Z:4.27 [[ 8.28325913e-01 -5.60108999e-01 -1.24133141e-02 9.67148488e+02] [ 5.60044345e-01 8.28418916e-01 -8.51067419e-03 5.82186726e+01] [ 1.50503294e-02 9.76055878e-05 9.99886733e-01 4.26584064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.0992541539999 meters 0.014154306552193992 Centerline is valid? [True, True] Translation: X:967.20, Y:58.25, Z:4.27 [[ 8.27357680e-01 -5.61563673e-01 -1.12031651e-02 9.67196687e+02] [ 5.61511090e-01 8.27433524e-01 -7.68501825e-03 5.82532258e+01] [ 1.35855014e-02 6.75574287e-05 9.99907711e-01 4.26612666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.159254154 meters 0.013754320697056297 Centerline is valid? [True, True] Translation: X:967.24, Y:58.29, Z:4.27 [[ 8.27318797e-01 -5.61619523e-01 -1.12747431e-02 9.67244628e+02] [ 5.61566207e-01 8.27395617e-01 -7.73875435e-03 5.82866230e+01] [ 1.36749085e-02 7.09022359e-05 9.99906492e-01 4.26607366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.2192541539999 meters 0.013854414734159602 Centerline is valid? [True, True] Translation: X:967.29, Y:58.32, Z:4.27 [[ 8.27289903e-01 -5.61648636e-01 -1.19258461e-02 9.67292124e+02] [ 5.61588919e-01 8.27375854e-01 -8.19037150e-03 5.83209505e+01] [ 1.44672681e-02 7.83886030e-05 9.99895341e-01 4.26558747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.279254154 meters 0.016292592961150047 Centerline is valid? [True, True] Translation: X:967.34, Y:58.36, Z:4.26 [[ 8.26324744e-01 -5.63032603e-01 -1.34798147e-02 9.67339851e+02] [ 5.62956409e-01 8.26434682e-01 -9.26271158e-03 5.83560081e+01] [ 1.63553950e-02 6.54596937e-05 9.99866239e-01 4.26425271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.339254154 meters 0.013711338788015833 Centerline is valid? [True, True] Translation: X:967.39, Y:58.39, Z:4.27 [[ 8.24921229e-01 -5.65129205e-01 -1.15735995e-02 9.67388346e+02] [ 5.65073186e-01 8.25002413e-01 -7.95696080e-03 5.83891192e+01] [ 1.40449584e-02 2.39351415e-05 9.99901364e-01 4.26567639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.399254154 meters 0.017324802565796153 Centerline is valid? [True, True] Translation: X:967.44, Y:58.42, Z:4.27 [[ 8.22332289e-01 -5.68812252e-01 -1.49073096e-02 9.67438200e+02] [ 5.68719805e-01 8.22467398e-01 -1.02549363e-02 5.84203730e+01] [ 1.80939095e-02 -4.51169500e-05 9.99836291e-01 4.26519719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.459254154 meters 0.016583708788935416 Centerline is valid? [True, True] Translation: X:967.49, Y:58.45, Z:4.27 [[ 8.20248642e-01 -5.71839467e-01 -1.38487776e-02 9.67485925e+02] [ 5.71760018e-01 8.20365537e-01 -9.53242716e-03 5.84528627e+01] [ 1.68120779e-02 -9.92169053e-05 9.99858662e-01 4.26504787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.519254154 meters 0.01598936017026914 Centerline is valid? [True, True] Translation: X:967.53, Y:58.49, Z:4.27 [[ 8.18814744e-01 -5.73911527e-01 -1.29604703e-02 9.67533429e+02] [ 5.73842154e-01 8.18917299e-01 -8.92409109e-03 5.84853398e+01] [ 1.57351921e-02 -1.30086832e-04 9.99876186e-01 4.26518648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.579254154 meters 0.014805498142007479 Centerline is valid? [True, True] Translation: X:967.58, Y:58.52, Z:4.27 [[ 8.18724831e-01 -5.74062586e-01 -1.19079088e-02 9.67582421e+02] [ 5.74003988e-01 8.18811415e-01 -8.20296118e-03 5.85187829e+01] [ 1.44593447e-02 -1.19219104e-04 9.99895451e-01 4.26651825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.639254154 meters 0.014107528367727237 Centerline is valid? [True, True] Translation: X:967.63, Y:58.55, Z:4.27 [[ 8.19370263e-01 -5.73159082e-01 -1.10017601e-02 9.67629382e+02] [ 5.73108928e-01 8.19444115e-01 -7.58279091e-03 5.85539360e+01] [ 1.33614731e-02 -9.20935804e-05 9.99910727e-01 4.26730902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.699254154 meters 0.013764707265771878 Centerline is valid? [True, True] Translation: X:967.67, Y:58.59, Z:4.27 [[ 8.21968171e-01 -5.69430723e-01 -1.08156457e-02 9.67674784e+02] [ 5.69381874e-01 8.22039325e-01 -7.45858965e-03 5.85913005e+01] [ 1.31380362e-02 -2.75093167e-05 9.99913692e-01 4.26652623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.759254154 meters 0.013761626203020471 Centerline is valid? [True, True] Translation: X:967.72, Y:58.63, Z:4.27 [[ 8.23706708e-01 -5.66905987e-01 -1.11741770e-02 9.67719993e+02] [ 5.66853563e-01 8.23782497e-01 -7.70944484e-03 5.86265906e+01] [ 1.35756219e-02 1.61993617e-05 9.99907847e-01 4.26525309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.819254154 meters 0.016081570806050677 Centerline is valid? [True, True] Translation: X:967.77, Y:58.66, Z:4.26 [[ 8.23997367e-01 -5.66463439e-01 -1.21454780e-02 9.67768654e+02] [ 5.66401393e-01 8.24086872e-01 -8.38390054e-03 5.86603717e+01] [ 1.47581021e-02 2.90963268e-05 9.99891093e-01 4.26407404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.879254154 meters 0.013780952675952429 Centerline is valid? [True, True] Translation: X:967.82, Y:58.69, Z:4.26 [[ 8.23584896e-01 -5.67083819e-01 -1.11292809e-02 9.67816682e+02] [ 5.67031749e-01 8.23660089e-01 -7.68465044e-03 5.86934012e+01] [ 1.35245854e-02 1.83064486e-05 9.99908538e-01 4.26462831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.939254154 meters 0.015790604914580623 Centerline is valid? [True, True] Translation: X:967.87, Y:58.72, Z:4.27 [[ 8.21401395e-01 -5.70228790e-01 -1.17845423e-02 9.67866473e+02] [ 5.70170680e-01 8.21485925e-01 -8.14065402e-03 5.87242283e+01] [ 1.43228710e-02 -3.24559533e-05 9.99897422e-01 4.26509697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.999254154 meters 0.015861978587332338 Centerline is valid? [True, True] Translation: X:967.92, Y:58.76, Z:4.27 [[ 8.20196643e-01 -5.71958090e-01 -1.18916285e-02 9.67915014e+02] [ 5.71899029e-01 8.20282841e-01 -8.21951762e-03 5.87562247e+01] [ 1.44557184e-02 -5.91900256e-05 9.99895509e-01 4.26535493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.059254154 meters 0.015527307194196496 Centerline is valid? [True, True] Translation: X:967.96, Y:58.79, Z:4.27 [[ 8.19255319e-01 -5.73300931e-01 -1.21146466e-02 9.67963695e+02] [ 5.73239710e-01 8.19344882e-01 -8.37843770e-03 5.87889213e+01] [ 1.47294398e-02 -8.05168475e-05 9.99891513e-01 4.26618815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.1192541539999 meters 0.015976459455538775 Centerline is valid? [True, True] Translation: X:968.01, Y:58.82, Z:4.27 [[ 8.19437639e-01 -5.73022141e-01 -1.29453291e-02 9.68011094e+02] [ 5.72952149e-01 8.19539883e-01 -8.95625160e-03 5.88213151e+01] [ 1.57413440e-02 -7.79644718e-05 9.99876094e-01 4.26579576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.179254154 meters 0.014056821604076791 Centerline is valid? [True, True] Translation: X:968.06, Y:58.85, Z:4.27 [[ 8.20068298e-01 -5.72129547e-01 -1.24806909e-02 9.68059269e+02] [ 5.72064327e-01 8.20163263e-01 -8.63869133e-03 5.88548006e+01] [ 1.51786547e-02 -5.54411196e-05 9.99884796e-01 4.26676794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.2392541539999 meters 0.015130920218282228 Centerline is valid? [True, True] Translation: X:968.11, Y:58.89, Z:4.27 [[ 8.20793400e-01 -5.71075985e-01 -1.30543126e-02 9.68106475e+02] [ 5.71004412e-01 8.20897203e-01 -9.04116432e-03 5.88886158e+01] [ 1.58794405e-02 -3.31420816e-05 9.99873913e-01 4.26754988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.299254154 meters 0.015748169330691064 Centerline is valid? [True, True] Translation: X:968.15, Y:58.92, Z:4.27 [[ 8.21768355e-01 -5.69660928e-01 -1.35350479e-02 9.68154105e+02] [ 5.69583698e-01 8.21879813e-01 -9.37994317e-03 5.89225662e+01] [ 1.64675697e-02 -1.20215285e-06 9.99864400e-01 4.26809227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.3592541539999 meters 0.0138019418715545 Centerline is valid? [True, True] Translation: X:968.20, Y:58.96, Z:4.27 [[ 8.22214882e-01 -5.69040716e-01 -1.24640057e-02 9.68202305e+02] [ 5.68975084e-01 8.22309348e-01 -8.64236857e-03 5.89561873e+01] [ 1.51671280e-02 1.41753923e-05 9.99884972e-01 4.26871333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.419254154 meters 0.015708914106024048 Centerline is valid? [True, True] Translation: X:968.25, Y:58.99, Z:4.27 [[ 8.21837274e-01 -5.69575416e-01 -1.29359789e-02 9.68250532e+02] [ 5.69504745e-01 8.21939076e-01 -8.97221277e-03 5.89877138e+01] [ 1.57429383e-02 6.59754898e-06 9.99876072e-01 4.26802457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.4792541539999 meters 0.014184666008780104 Centerline is valid? [True, True] Translation: X:968.30, Y:59.02, Z:4.27 [[ 8.22648500e-01 -5.68421384e-01 -1.21068475e-02 9.68297681e+02] [ 5.68359298e-01 8.22737582e-01 -8.40114097e-03 5.90212379e+01] [ 1.47361466e-02 3.01466598e-05 9.99891417e-01 4.27120353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.539254154 meters 0.015340861174179373 Centerline is valid? [True, True] Translation: X:968.34, Y:59.06, Z:4.27 [[ 8.24047678e-01 -5.66387586e-01 -1.22689359e-02 9.68344361e+02] [ 5.66323528e-01 8.24139004e-01 -8.51844648e-03 5.90570119e+01] [ 1.49360509e-02 7.14189956e-05 9.99888448e-01 4.27200095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.5992541539999 meters 0.014147180475093496 Centerline is valid? [True, True] Translation: X:968.39, Y:59.09, Z:4.27 [[ 8.26155405e-01 -5.63316463e-01 -1.19083163e-02 9.68391520e+02] [ 5.63255732e-01 8.26241215e-01 -8.27251109e-03 5.90929956e+01] [ 1.44991835e-02 1.26952315e-04 9.99894873e-01 4.27242273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.659254154 meters 0.01438797547723533 Centerline is valid? [True, True] Translation: X:968.44, Y:59.13, Z:4.27 [[ 8.27807473e-01 -5.60871744e-01 -1.25568322e-02 9.68439284e+02] [ 5.60803860e-01 8.27902684e-01 -8.72792699e-03 5.91281308e+01] [ 1.52910827e-02 1.83123205e-04 9.99883068e-01 4.27243211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.7192541539999 meters 0.014520120341753064 Centerline is valid? [True, True] Translation: X:968.49, Y:59.16, Z:4.27 [[ 8.28273858e-01 -5.60166592e-01 -1.32591446e-02 9.68486691e+02] [ 5.60090767e-01 8.28379952e-01 -9.21888493e-03 5.91621378e+01] [ 1.61477209e-02 2.09436915e-04 9.99869595e-01 4.27173677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.779254154 meters 0.014204924411078746 Centerline is valid? [True, True] Translation: X:968.54, Y:59.19, Z:4.27 [[ 8.26130761e-01 -5.63329992e-01 -1.29339300e-02 9.68536457e+02] [ 5.63258164e-01 8.26231988e-01 -8.99680103e-03 5.91935684e+01] [ 1.57545946e-02 1.47392391e-04 9.99875878e-01 4.27209720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.839254154 meters 0.013662437963363198 Centerline is valid? [True, True] Translation: X:968.59, Y:59.22, Z:4.27 [[ 8.21785030e-01 -5.69661003e-01 -1.24782610e-02 9.68588315e+02] [ 5.69594801e-01 8.21879761e-01 -8.68453974e-03 5.92221316e+01] [ 1.52028738e-02 2.92721628e-05 9.99884429e-01 4.27314110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.899254154 meters 0.014775021782144099 Centerline is valid? [True, True] Translation: X:968.64, Y:59.25, Z:4.27 [[ 8.16415098e-01 -5.77333845e-01 -1.23296089e-02 9.68641064e+02] [ 5.77270011e-01 8.16508187e-01 -8.58572776e-03 5.92502415e+01] [ 1.50240579e-02 -1.07995717e-04 9.99887127e-01 4.27345463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.959254154 meters 0.015882508544258756 Centerline is valid? [True, True] Translation: X:968.69, Y:59.28, Z:4.27 [[ 8.11752462e-01 -5.83878261e-01 -1.20048502e-02 9.68692546e+02] [ 5.83818391e-01 8.11841196e-01 -8.36409968e-03 5.92800093e+01] [ 1.46296479e-02 -2.19073812e-04 9.99892957e-01 4.27415255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.019254154 meters 0.015685192745668864 Centerline is valid? [True, True] Translation: X:968.74, Y:59.31, Z:4.28 [[ 8.10181470e-01 -5.86069644e-01 -1.13295193e-02 9.68741612e+02] [ 5.86016495e-01 8.10260646e-01 -7.89641531e-03 5.93104926e+01] [ 1.38077130e-02 -2.41755837e-04 9.99904640e-01 4.27530421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.079254154 meters 0.016035474280906164 Centerline is valid? [True, True] Translation: X:968.79, Y:59.34, Z:4.28 [[ 8.09569310e-01 -5.86925628e-01 -1.07628313e-02 9.68790610e+02] [ 5.86877696e-01 8.09640815e-01 -7.50473535e-03 5.93432936e+01] [ 1.31187490e-02 -2.40862190e-04 9.99913916e-01 4.27603216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.139254154 meters 0.015013874569779756 Centerline is valid? [True, True] Translation: X:968.84, Y:59.38, Z:4.28 [[ 8.11508810e-01 -5.84233715e-01 -1.11543001e-02 9.68837115e+02] [ 5.84181920e-01 8.11585440e-01 -7.78190193e-03 5.93801839e+01] [ 1.35991170e-02 -2.01058452e-04 9.99907508e-01 4.27638815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.199254154 meters 0.014191476280542145 Centerline is valid? [True, True] Translation: X:968.88, Y:59.42, Z:4.27 [[ 8.15991891e-01 -5.77911008e-01 -1.32703067e-02 9.68881192e+02] [ 5.77836809e-01 8.16099782e-01 -9.26104781e-03 5.94187959e+01] [ 1.61819559e-02 -1.11131741e-04 9.99869057e-01 4.27405198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.259254154 meters 0.01461117490991761 Centerline is valid? [True, True] Translation: X:968.93, Y:59.46, Z:4.27 [[ 8.21156143e-01 -5.70488401e-01 -1.56707668e-02 9.68925166e+02] [ 5.70383474e-01 8.21305657e-01 -1.09412420e-02 5.94593931e+01] [ 1.91123411e-02 4.61217311e-05 9.99817341e-01 4.27174722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.319254154 meters 0.016253026311181057 Centerline is valid? [True, True] Translation: X:968.97, Y:59.50, Z:4.27 [[ 8.25764431e-01 -5.63794376e-01 -1.57798957e-02 9.68970326e+02] [ 5.63686640e-01 8.25915164e-01 -1.10233233e-02 5.94979496e+01] [ 1.92477428e-02 2.07751948e-04 9.99814723e-01 4.27328110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.379254154 meters 0.015360293736540803 Centerline is valid? [True, True] Translation: X:969.01, Y:59.54, Z:4.28 [[ 8.28895342e-01 -5.59264005e-01 -1.25014138e-02 9.69014414e+02] [ 5.59195837e-01 8.28989572e-01 -8.73532340e-03 5.95351309e+01] [ 1.52488936e-02 2.49930327e-04 9.99883698e-01 4.27644002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.439254154 meters 0.01510765724886253 Centerline is valid? [True, True] Translation: X:969.06, Y:59.57, Z:4.28 [[ 8.29654708e-01 -5.58182640e-01 -1.02569671e-02 9.69061661e+02] [ 5.58136629e-01 8.29718079e-01 -7.17032116e-03 5.95697007e+01] [ 1.25127398e-02 2.24101685e-04 9.99921687e-01 4.27888079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.499254154 meters 0.01522939248535784 Centerline is valid? [True, True] Translation: X:969.11, Y:59.60, Z:4.28 [[ 8.29892786e-01 -5.57849402e-01 -9.05586522e-03 9.69108404e+02] [ 5.57813475e-01 8.29942168e-01 -6.33444846e-03 5.96035262e+01] [ 1.10495127e-02 2.05429433e-04 9.99938931e-01 4.27982300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.559254154 meters 0.018527485911388072 Centerline is valid? [True, True] Translation: X:969.15, Y:59.64, Z:4.28 [[ 8.30648829e-01 -5.56679001e-01 -1.14460558e-02 9.69152863e+02] [ 5.56621439e-01 8.30727639e-01 -8.01019564e-03 5.96402956e+01] [ 1.39676626e-02 2.82539607e-04 9.99902408e-01 4.27580623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.6192541539999 meters 0.01665871399322822 Centerline is valid? [True, True] Translation: X:969.20, Y:59.67, Z:4.27 [[ 8.32241066e-01 -5.54248416e-01 -1.35462676e-02 9.69200569e+02] [ 5.54167427e-01 8.32351215e-01 -9.48247194e-03 5.96747287e+01] [ 1.65308973e-02 3.84802304e-04 9.99863281e-01 4.27493050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.679254154 meters 0.018125682261994763 Centerline is valid? [True, True] Translation: X:969.25, Y:59.71, Z:4.27 [[ 8.31700220e-01 -5.54993829e-01 -1.60185337e-02 9.69247655e+02] [ 5.54880647e-01 8.31854348e-01 -1.12165957e-02 5.97076017e+01] [ 1.95502283e-02 4.40470716e-04 9.99808779e-01 4.27106747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.7392541539999 meters 0.016440976763511108 Centerline is valid? [True, True] Translation: X:969.30, Y:59.74, Z:4.27 [[ 8.27645079e-01 -5.61034270e-01 -1.56259928e-02 9.69300396e+02] [ 5.60927599e-01 8.27792524e-01 -1.09437649e-02 5.97351972e+01] [ 1.90749072e-02 2.92502530e-04 9.99818015e-01 4.27153147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.799254154 meters 0.013593178114014823 Centerline is valid? [True, True] Translation: X:969.36, Y:59.76, Z:4.28 [[ 8.20606328e-01 -5.71345878e-01 -1.30054576e-02 9.69355618e+02] [ 5.71273250e-01 8.20709380e-01 -9.10976307e-03 5.97585881e+01] [ 1.58785267e-02 4.58591668e-05 9.99873927e-01 4.27738388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.8592541539999 meters 0.014209098162033003 Centerline is valid? [True, True] Translation: X:969.41, Y:59.78, Z:4.28 [[ 8.12003945e-01 -5.83567850e-01 -9.90744266e-03 9.69409852e+02] [ 5.83526570e-01 8.12064372e-01 -6.94245556e-03 5.97837438e+01] [ 1.20968751e-02 -1.43954736e-04 9.99926820e-01 4.28077986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.919254154 meters 0.018160894592882133 Centerline is valid? [True, True] Translation: X:969.46, Y:59.81, Z:4.28 [[ 8.03939063e-01 -5.94625159e-01 -1.01440699e-02 9.69463163e+02] [ 5.94582726e-01 8.04002998e-01 -7.11064879e-03 5.98100693e+01] [ 1.23840333e-02 -3.14960434e-04 9.99923265e-01 4.28047873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.9792541539999 meters 0.019289968101020193 Centerline is valid? [True, True] Translation: X:969.51, Y:59.84, Z:4.28 [[ 7.98078173e-01 -6.02446501e-01 -1.13773177e-02 9.69514115e+02] [ 6.02393863e-01 7.98159117e-01 -7.97850695e-03 5.98397530e+01] [ 1.38875335e-02 -4.86154131e-04 9.99903445e-01 4.28030383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.039254154 meters 0.02031088417214043 Centerline is valid? [True, True] Translation: X:969.56, Y:59.87, Z:4.28 [[ 7.93801057e-01 -6.08039283e-01 -1.29657953e-02 9.69562393e+02] [ 6.07971583e-01 7.93906665e-01 -9.09736467e-03 5.98744521e+01] [ 1.58251864e-02 -6.61337383e-04 9.99874555e-01 4.27984143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.0992541539999 meters 0.023452389888873618 Centerline is valid? [True, True] Translation: X:969.61, Y:59.91, Z:4.28 [[ 7.91604232e-01 -6.10875669e-01 -1.39160726e-02 9.69611333e+02] [ 6.10798032e-01 7.91726171e-01 -9.76907640e-03 5.99085475e+01] [ 1.69854099e-02 -7.66667536e-04 9.99855444e-01 4.27856718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.159254154 meters 0.025195911042582626 Centerline is valid? [True, True] Translation: X:969.66, Y:59.94, Z:4.28 [[ 7.91949277e-01 -6.10407838e-01 -1.47856302e-02 9.69657210e+02] [ 6.10320063e-01 7.92086882e-01 -1.03823040e-02 5.99431761e+01] [ 1.80489435e-02 -8.01708664e-04 9.99836783e-01 4.27892648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.2192541539999 meters 0.02147936861213798 Centerline is valid? [True, True] Translation: X:969.70, Y:59.99, Z:4.28 [[ 7.95768815e-01 -6.05472963e-01 -1.24291715e-02 9.69697866e+02] [ 6.05410279e-01 7.95865666e-01 -8.73127797e-03 5.99877410e+01] [ 1.51785036e-02 -5.76669493e-04 9.99884634e-01 4.28150249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.279254154 meters 0.019045497571974837 Centerline is valid? [True, True] Translation: X:969.74, Y:60.03, Z:4.28 [[ 8.02506686e-01 -5.96550063e-01 -1.05376340e-02 9.69738306e+02] [ 5.96504191e-01 8.02575794e-01 -7.40578186e-03 6.00331404e+01] [ 1.28751696e-02 -3.42553383e-04 9.99917053e-01 4.28302609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.339254154 meters 0.013052779830162993 Centerline is valid? [True, True] Translation: X:969.77, Y:60.09, Z:4.28 [[ 8.15182851e-01 -5.79128407e-01 -9.33853293e-03 9.69772935e+02] [ 5.79091185e-01 8.15236337e-01 -6.56614105e-03 6.00864274e+01] [ 1.14157502e-02 -5.52565240e-05 9.99934837e-01 4.28469454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.399254154 meters 0.013382383192205197 Centerline is valid? [True, True] Translation: X:969.81, Y:60.14, Z:4.28 [[ 8.23899768e-01 -5.66668700e-01 -8.70388382e-03 9.69810510e+02] [ 5.66635629e-01 8.23945734e-01 -6.12307418e-03 6.01359478e+01] [ 1.06412824e-02 1.12868717e-04 9.99943374e-01 4.28427014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.459254154 meters 0.014469063133406733 Centerline is valid? [True, True] Translation: X:969.85, Y:60.18, Z:4.28 [[ 8.27554937e-01 -5.61320283e-01 -8.50684206e-03 9.69853436e+02] [ 5.61288388e-01 8.27598639e-01 -5.98639476e-03 6.01769082e+01] [ 1.04005357e-02 1.79278870e-04 9.99945897e-01 4.28387373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.519254154 meters 0.018678762374276306 Centerline is valid? [True, True] Translation: X:969.90, Y:60.21, Z:4.28 [[ 8.26754248e-01 -5.62490727e-01 -9.03305549e-03 9.69899195e+02] [ 5.62454807e-01 8.26803574e-01 -6.35923041e-03 6.02140119e+01] [ 1.10455707e-02 1.76835273e-04 9.99938980e-01 4.28055669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.579254154 meters 0.016593411055616694 Centerline is valid? [True, True] Translation: X:969.95, Y:60.25, Z:4.28 [[ 8.24829603e-01 -5.65307104e-01 -9.16538815e-03 9.69946673e+02] [ 5.65270273e-01 8.24880511e-01 -6.45452478e-03 6.02463394e+01] [ 1.12091388e-02 1.42961641e-04 9.99937165e-01 4.28064467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.639254154 meters 0.01589425658685392 Centerline is valid? [True, True] Translation: X:970.00, Y:60.28, Z:4.28 [[ 8.22236439e-01 -5.69048962e-01 -1.05127497e-02 9.69995787e+02] [ 5.69000770e-01 8.22303634e-01 -7.40651722e-03 6.02784102e+01] [ 1.28593432e-02 1.08145656e-04 9.99917309e-01 4.27930272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.699254154 meters 0.017817571917269417 Centerline is valid? [True, True] Translation: X:970.05, Y:60.31, Z:4.28 [[ 8.20566691e-01 -5.71387849e-01 -1.36466932e-02 9.70045356e+02] [ 5.71306870e-01 8.20680155e-01 -9.61993319e-03 6.03095984e+01] [ 1.66962833e-02 9.73471424e-05 9.99860603e-01 4.27615703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.759254154 meters 0.014925280199284961 Centerline is valid? [True, True] Translation: X:970.10, Y:60.34, Z:4.28 [[ 8.18322529e-01 -5.74565728e-01 -1.49151444e-02 9.70095584e+02] [ 5.74469407e-01 8.18458442e-01 -1.05203965e-02 6.03390340e+01] [ 1.82520851e-02 4.07833682e-05 9.99833416e-01 4.27781807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.819254154 meters 0.01652854109393882 Centerline is valid? [True, True] Translation: X:970.15, Y:60.37, Z:4.28 [[ 8.13695269e-01 -5.81140332e-01 -1.32635803e-02 9.70148163e+02] [ 5.81064949e-01 8.13803358e-01 -9.36049692e-03 6.03673209e+01] [ 1.62337085e-02 -9.04095752e-05 9.99868221e-01 4.28017203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.879254154 meters 0.018063882482121093 Centerline is valid? [True, True] Translation: X:970.20, Y:60.39, Z:4.28 [[ 8.08079708e-01 -5.88958696e-01 -1.16120906e-02 9.70200693e+02] [ 5.88901686e-01 8.08163108e-01 -8.19729373e-03 6.03941299e+01] [ 1.42123307e-02 -2.14313015e-04 9.99898977e-01 4.28291047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.939254154 meters 0.018374298576799303 Centerline is valid? [True, True] Translation: X:970.25, Y:60.42, Z:4.28 [[ 8.02603297e-01 -5.96416298e-01 -1.07493338e-02 9.70252970e+02] [ 5.96368088e-01 8.02675213e-01 -7.58978700e-03 6.04208882e+01] [ 1.31548964e-02 -3.18971563e-04 9.99913420e-01 4.28449996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.999254154 meters 0.019127203278356576 Centerline is valid? [True, True] Translation: X:970.30, Y:60.45, Z:4.29 [[ 7.99923928e-01 -6.00016045e-01 -1.01220370e-02 9.70302936e+02] [ 5.99973551e-01 7.99987888e-01 -7.14962627e-03 6.04536180e+01] [ 1.23873975e-02 -3.53797335e-04 9.99923211e-01 4.28582787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.059254154 meters 0.017915598142561037 Centerline is valid? [True, True] Translation: X:970.35, Y:60.48, Z:4.29 [[ 7.99460730e-01 -6.00639618e-01 -9.72570174e-03 9.70352101e+02] [ 6.00600409e-01 7.99519811e-01 -6.87170204e-03 6.04837192e+01] [ 1.19033077e-02 -3.47604514e-04 9.99929093e-01 4.28864705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.1192541539999 meters 0.01689986080983173 Centerline is valid? [True, True] Translation: X:970.40, Y:60.52, Z:4.29 [[ 8.00547858e-01 -5.99189346e-01 -9.75986622e-03 9.70399547e+02] [ 5.99149721e-01 8.00607284e-01 -6.89851792e-03 6.05196231e+01] [ 1.19473384e-02 -3.25027374e-04 9.99928575e-01 4.28977777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.179254154 meters 0.01566598392977439 Centerline is valid? [True, True] Translation: X:970.45, Y:60.56, Z:4.29 [[ 8.03995250e-01 -5.94553810e-01 -9.86941255e-03 9.70445911e+02] [ 5.94512912e-01 8.04055782e-01 -6.97826225e-03 6.05572266e+01] [ 1.20845106e-02 -2.57003498e-04 9.99926947e-01 4.29019219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.2392541539999 meters 0.01672225299172414 Centerline is valid? [True, True] Translation: X:970.49, Y:60.59, Z:4.29 [[ 8.07912392e-01 -5.89218357e-01 -9.96465789e-03 9.70491431e+02] [ 5.89176229e-01 8.07973821e-01 -7.04802656e-03 6.05948566e+01] [ 1.22040093e-02 -1.76751569e-04 9.99925513e-01 4.28895307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.299254154 meters 0.013522894231006366 Centerline is valid? [True, True] Translation: X:970.54, Y:60.63, Z:4.29 [[ 8.12133743e-01 -5.83388903e-01 -9.80670594e-03 9.70536111e+02] [ 5.83347647e-01 8.12192945e-01 -6.93851123e-03 6.06342507e+01] [ 1.20127878e-02 -8.57197399e-05 9.99927840e-01 4.29023287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.3592541539999 meters 0.015884408369587745 Centerline is valid? [True, True] Translation: X:970.58, Y:60.67, Z:4.29 [[ 8.15259623e-01 -5.79014022e-01 -9.72159576e-03 9.70580755e+02] [ 5.78973148e-01 8.15317584e-01 -6.87980193e-03 6.06714324e+01] [ 1.19096898e-02 -1.97181696e-05 9.99929077e-01 4.28715039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.419254154 meters 0.015649556335176725 Centerline is valid? [True, True] Translation: X:970.63, Y:60.71, Z:4.29 [[ 8.18655776e-01 -5.74219154e-01 -8.66510191e-03 9.70625304e+02] [ 5.74186384e-01 8.18701631e-01 -6.13478557e-03 6.07083402e+01] [ 1.06168445e-02 4.68941074e-05 9.99943639e-01 4.28822229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.4792541539999 meters 0.013549331171139175 Centerline is valid? [True, True] Translation: X:970.67, Y:60.74, Z:4.29 [[ 8.20192164e-01 -5.72038112e-01 -7.56392871e-03 9.70671880e+02] [ 5.72013022e-01 8.20227038e-01 -5.35804837e-03 6.07440357e+01] [ 9.26914671e-03 6.79635725e-05 9.99957038e-01 4.29001122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.539254154 meters 0.01387758087443556 Centerline is valid? [True, True] Translation: X:970.72, Y:60.78, Z:4.29 [[ 8.21631635e-01 -5.69978189e-01 -6.80589825e-03 9.70719799e+02] [ 5.69957785e-01 8.21659818e-01 -4.82352613e-03 6.07779193e+01] [ 8.34143781e-03 8.40869754e-05 9.99965206e-01 4.29019993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.5992541539999 meters 0.01453412240097944 Centerline is valid? [True, True] Translation: X:970.77, Y:60.81, Z:4.29 [[ 8.23030039e-01 -5.67964279e-01 -6.17517857e-03 9.70768042e+02] [ 5.67947408e-01 8.23053199e-01 -4.37870969e-03 6.08122757e+01] [ 7.56945117e-03 9.66329398e-05 9.99971347e-01 4.29002645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.659254154 meters 0.014521204303571983 Centerline is valid? [True, True] Translation: X:970.82, Y:60.84, Z:4.29 [[ 8.23862078e-01 -5.66750898e-01 -6.68546776e-03 9.70817177e+02] [ 5.66731062e-01 8.23889195e-01 -4.74318106e-03 6.08441575e+01] [ 8.19628678e-03 1.18864765e-04 9.99966403e-01 4.29035537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.7192541539999 meters 0.015215011599697093 Centerline is valid? [True, True] Translation: X:970.87, Y:60.88, Z:4.29 [[ 8.24758353e-01 -5.65428151e-01 -8.04146770e-03 9.70867189e+02] [ 5.65399356e-01 8.24797539e-01 -5.70861816e-03 6.08757140e+01] [ 9.86039618e-03 1.61589859e-04 9.99951372e-01 4.28900968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.779254154 meters 0.015085643611820609 Centerline is valid? [True, True] Translation: X:970.92, Y:60.91, Z:4.29 [[ 8.25655490e-01 -5.64085099e-01 -1.00505190e-02 9.70916419e+02] [ 5.64039965e-01 8.25716628e-01 -7.13913235e-03 6.09080287e+01] [ 1.23259589e-02 2.25569417e-04 9.99924007e-01 4.28700099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.839254154 meters 0.015523512081069534 Centerline is valid? [True, True] Translation: X:970.97, Y:60.94, Z:4.29 [[ 8.26248198e-01 -5.63214225e-01 -1.01809723e-02 9.70966554e+02] [ 5.63167797e-01 8.26310883e-01 -7.23579507e-03 6.09396914e+01] [ 1.24879509e-02 2.44966900e-04 9.99921992e-01 4.28708080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.899254154 meters 0.015643877920292232 Centerline is valid? [True, True] Translation: X:971.02, Y:60.97, Z:4.29 [[ 8.26370757e-01 -5.63044957e-01 -9.57850865e-03 9.71015606e+02] [ 5.63003803e-01 8.26426234e-01 -6.81159448e-03 6.09702235e+01] [ 1.17511648e-02 2.36165696e-04 9.99930925e-01 4.28862312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.959254154 meters 0.017824135101434362 Centerline is valid? [True, True] Translation: X:971.07, Y:61.00, Z:4.29 [[ 8.28090688e-01 -5.60541446e-01 -7.68760457e-03 9.71066278e+02] [ 5.60514801e-01 8.28126342e-01 -5.46979832e-03 6.10000216e+01] [ 9.43235652e-03 2.20472908e-04 9.99955490e-01 4.28993081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.019254154 meters 0.019091978584689934 Centerline is valid? [True, True] Translation: X:971.11, Y:61.03, Z:4.29 [[ 8.29823024e-01 -5.57982621e-01 -7.01018850e-03 9.71113352e+02] [ 5.57960359e-01 8.29852602e-01 -4.98956264e-03 6.10342149e+01] [ 8.60151241e-03 2.29046671e-04 9.99962980e-01 4.29017170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.079254154 meters 0.019714302526272143 Centerline is valid? [True, True] Translation: X:971.17, Y:61.06, Z:4.29 [[ 8.32806142e-01 -5.53492735e-01 -8.92875317e-03 9.71165108e+02] [ 5.53456349e-01 8.32853930e-01 -6.35619333e-03 6.10641670e+01] [ 1.09544540e-02 3.51801719e-04 9.99939936e-01 4.28887588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.139254154 meters 0.021662969054999773 Centerline is valid? [True, True] Translation: X:971.21, Y:61.09, Z:4.29 [[ 8.33131861e-01 -5.52976981e-01 -1.03807938e-02 9.71214716e+02] [ 5.52927741e-01 8.33196426e-01 -7.39115505e-03 6.10948327e+01] [ 1.27363789e-02 4.17977906e-04 9.99918802e-01 4.28649575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.199254154 meters 0.01883919049820014 Centerline is valid? [True, True] Translation: X:971.26, Y:61.13, Z:4.29 [[ 8.31533174e-01 -5.55370525e-01 -1.07777700e-02 9.71264674e+02] [ 5.55317626e-01 8.31602923e-01 -7.67548276e-03 6.11261029e+01] [ 1.32255619e-02 3.97332902e-04 9.99912459e-01 4.28789772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.259254154 meters 0.0183895251462941 Centerline is valid? [True, True] Translation: X:971.31, Y:61.16, Z:4.29 [[ 8.30014003e-01 -5.57647927e-01 -1.02735013e-02 9.71312449e+02] [ 5.57600010e-01 8.30077508e-01 -7.31842007e-03 6.11599787e+01] [ 1.26089041e-02 3.45886742e-04 9.99920445e-01 4.28741435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.319254154 meters 0.020056987131812146 Centerline is valid? [True, True] Translation: X:971.36, Y:61.19, Z:4.29 [[ 8.27169611e-01 -5.61856399e-01 -1.03837622e-02 9.71360330e+02] [ 5.61807756e-01 8.27234734e-01 -7.39866394e-03 6.11929216e+01] [ 1.27467955e-02 2.86271812e-04 9.99918715e-01 4.28608632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.379254154 meters 0.01574294721215094 Centerline is valid? [True, True] Translation: X:971.41, Y:61.22, Z:4.29 [[ 8.26372325e-01 -5.63078835e-01 -7.14187764e-03 9.71409945e+02] [ 5.63055855e-01 8.26403165e-01 -5.09044729e-03 6.12242914e+01] [ 8.76839342e-03 1.85328742e-04 9.99961540e-01 4.29171114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.439254154 meters 0.019126283755472276 Centerline is valid? [True, True] Translation: X:971.46, Y:61.26, Z:4.29 [[ 8.27691809e-01 -5.61116229e-01 -8.65139699e-03 9.71455085e+02] [ 5.61082376e-01 8.27736984e-01 -6.16874730e-03 6.12615889e+01] [ 1.06224655e-02 2.51675233e-04 9.99943548e-01 4.28763317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.499254154 meters 0.017914290404432237 Centerline is valid? [True, True] Translation: X:971.50, Y:61.30, Z:4.29 [[ 8.29462915e-01 -5.58433421e-01 -1.19744058e-02 9.71501794e+02] [ 5.58368234e-01 8.29549248e-01 -8.54165348e-03 6.12989754e+01] [ 1.47033041e-02 3.98856961e-04 9.99891821e-01 4.28569006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.559254154 meters 0.018786954701978113 Centerline is valid? [True, True] Translation: X:971.55, Y:61.34, Z:4.28 [[ 8.29908843e-01 -5.57738883e-01 -1.33659877e-02 9.71548296e+02] [ 5.57657489e-01 8.30016339e-01 -9.53944121e-03 6.13352590e+01] [ 1.64145055e-02 4.63223479e-04 9.99865166e-01 4.28345388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.6192541539999 meters 0.01851712246871312 Centerline is valid? [True, True] Translation: X:971.59, Y:61.37, Z:4.29 [[ 8.30538992e-01 -5.56819208e-01 -1.25440080e-02 9.71593564e+02] [ 5.56747375e-01 8.30633591e-01 -8.95531143e-03 6.13708605e+01] [ 1.54059639e-02 4.53891789e-04 9.99881218e-01 4.28507063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.679254154 meters 0.018130163304529896 Centerline is valid? [True, True] Translation: X:971.64, Y:61.40, Z:4.29 [[ 8.29591358e-01 -5.58258790e-01 -1.11937977e-02 9.71642322e+02] [ 5.58201674e-01 8.29666786e-01 -7.99470905e-03 6.14045265e+01] [ 1.37502388e-02 3.83944930e-04 9.99905387e-01 4.28660444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.7392541539999 meters 0.01753668874312021 Centerline is valid? [True, True] Translation: X:971.69, Y:61.44, Z:4.29 [[ 8.27478551e-01 -5.61390483e-01 -1.09532027e-02 9.71690543e+02] [ 5.61336038e-01 8.27550976e-01 -7.82518804e-03 6.14360852e+01] [ 1.34573197e-02 3.26747838e-04 9.99909393e-01 4.28729892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.799254154 meters 0.015995977128695313 Centerline is valid? [True, True] Translation: X:971.74, Y:61.47, Z:4.29 [[ 8.25463904e-01 -5.64351394e-01 -1.08096263e-02 9.71739975e+02] [ 5.64298577e-01 8.25534631e-01 -7.72583609e-03 6.14676151e+01] [ 1.32838072e-02 2.77542099e-04 9.99911728e-01 4.28820127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.8592541539999 meters 0.015655425524296735 Centerline is valid? [True, True] Translation: X:971.79, Y:61.50, Z:4.29 [[ 8.25084364e-01 -5.64903499e-01 -1.09466573e-02 9.71787478e+02] [ 5.64849321e-01 8.25156931e-01 -7.82842054e-03 6.15007624e+01] [ 1.34550123e-02 2.75895429e-04 9.99909439e-01 4.28848976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.919254154 meters 0.016480696182898887 Centerline is valid? [True, True] Translation: X:971.84, Y:61.53, Z:4.29 [[ 8.24609672e-01 -5.65590536e-01 -1.12354251e-02 9.71835526e+02] [ 5.65533455e-01 8.24686164e-01 -8.04000573e-03 6.15333239e+01] [ 1.38130507e-02 2.75857730e-04 9.99904557e-01 4.28687267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.9792541539999 meters 0.01726381435491446 Centerline is valid? [True, True] Translation: X:971.88, Y:61.57, Z:4.28 [[ 8.23954641e-01 -5.66488690e-01 -1.37591662e-02 9.71883877e+02] [ 5.66403151e-01 8.24069451e-01 -9.84936066e-03 6.15657229e+01] [ 1.69180600e-02 3.22191317e-04 9.99856827e-01 4.28384950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.039254154 meters 0.01558886185895603 Centerline is valid? [True, True] Translation: X:971.93, Y:61.60, Z:4.29 [[ 8.23165025e-01 -5.67615467e-01 -1.45610348e-02 9.71932735e+02] [ 5.67519748e-01 8.23293738e-01 -1.04286540e-02 6.15975222e+01] [ 1.79074741e-02 3.20828469e-04 9.99839597e-01 4.28525214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.0992541539999 meters 0.016272132717228355 Centerline is valid? [True, True] Translation: X:971.98, Y:61.63, Z:4.28 [[ 8.21545386e-01 -5.69958986e-01 -1.44890542e-02 9.71982002e+02] [ 5.69864474e-01 8.21673098e-01 -1.03827671e-02 6.16295615e+01] [ 1.78230175e-02 2.73117131e-04 9.99841120e-01 4.28465692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.159254154 meters 0.014156238879755504 Centerline is valid? [True, True] Translation: X:972.03, Y:61.66, Z:4.29 [[ 8.19373259e-01 -5.73130146e-01 -1.22187764e-02 9.72032844e+02] [ 5.73063247e-01 8.19464341e-01 -8.75840096e-03 6.16596493e+01] [ 1.50325552e-02 1.74267852e-04 9.99886990e-01 4.28975181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.2192541539999 meters 0.015192626828505425 Centerline is valid? [True, True] Translation: X:972.08, Y:61.69, Z:4.29 [[ 8.16451305e-01 -5.77324865e-01 -1.01620125e-02 9.72083499e+02] [ 5.77278880e-01 8.16514539e-01 -7.28708760e-03 6.16906977e+01] [ 1.25044479e-02 8.32369596e-05 9.99921813e-01 4.29041103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.279254154 meters 0.014084315216800394 Centerline is valid? [True, True] Translation: X:972.13, Y:61.72, Z:4.29 [[ 8.14596992e-01 -5.79932208e-01 -1.05059471e-02 9.72132451e+02] [ 5.79883222e-01 8.14664736e-01 -7.53771899e-03 6.17231708e+01] [ 1.29301906e-02 4.79807851e-05 9.99916400e-01 4.29150158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.339254154 meters 0.01379605461359809 Centerline is valid? [True, True] Translation: X:972.18, Y:61.76, Z:4.29 [[ 8.13698992e-01 -5.81154411e-01 -1.23895879e-02 9.72179855e+02] [ 5.81086349e-01 8.13793309e-01 -8.89409095e-03 6.17577398e+01] [ 1.52514039e-02 3.76924181e-05 9.99883690e-01 4.29023245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.399254154 meters 0.014689535800014478 Centerline is valid? [True, True] Translation: X:972.23, Y:61.79, Z:4.29 [[ 8.13202460e-01 -5.81800973e-01 -1.44701940e-02 9.72226497e+02] [ 5.81708180e-01 8.13331191e-01 -1.03907203e-02 6.17920080e+01] [ 1.78143913e-02 3.23291363e-05 9.99841311e-01 4.28810256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.459254154 meters 0.013901937276278737 Centerline is valid? [True, True] Translation: X:972.27, Y:61.83, Z:4.29 [[ 8.12417035e-01 -5.82893104e-01 -1.46352762e-02 9.72272226e+02] [ 5.82798289e-01 8.12548847e-01 -1.05130994e-02 6.18270081e+01] [ 1.80198900e-02 1.16070828e-05 9.99837629e-01 4.29012762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.519254154 meters 0.013957968542602417 Centerline is valid? [True, True] Translation: X:972.32, Y:61.86, Z:4.29 [[ 8.10315160e-01 -5.85827896e-01 -1.39648519e-02 9.72319205e+02] [ 5.85741962e-01 8.10435484e-01 -1.00339563e-02 6.18600148e+01] [ 1.71957830e-02 -4.91328692e-05 9.99852140e-01 4.29105001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.579254154 meters 0.01421145602591765 Centerline is valid? [True, True] Translation: X:972.37, Y:61.89, Z:4.29 [[ 8.08012473e-01 -5.89032479e-01 -1.25132429e-02 9.72367038e+02] [ 5.88963800e-01 8.08109354e-01 -8.99525591e-03 6.18926432e+01] [ 1.54105665e-02 -1.01568096e-04 9.99881245e-01 4.29388068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.639254154 meters 0.014175372668419848 Centerline is valid? [True, True] Translation: X:972.41, Y:61.93, Z:4.30 [[ 8.07327261e-01 -5.89995081e-01 -1.13356782e-02 9.72413508e+02] [ 5.89938748e-01 8.07406833e-01 -8.15354740e-03 6.19275851e+01] [ 1.39630569e-02 -1.04774730e-04 9.99902506e-01 4.29580085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.699254154 meters 0.014045319680549775 Centerline is valid? [True, True] Translation: X:972.46, Y:61.97, Z:4.30 [[ 8.07826017e-01 -5.89318480e-01 -1.09934119e-02 9.72459036e+02] [ 5.89265376e-01 8.07900812e-01 -7.91170390e-03 6.19650111e+01] [ 1.35440997e-02 -8.67567437e-05 9.99908271e-01 4.29630463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.759254154 meters 0.01389023155925401 Centerline is valid? [True, True] Translation: X:972.50, Y:62.00, Z:4.30 [[ 8.09704243e-01 -5.86707172e-01 -1.23989125e-02 9.72503396e+02] [ 5.86639230e-01 8.09799168e-01 -8.92866602e-03 6.20036266e+01] [ 1.52791414e-02 -4.41097176e-05 9.99883266e-01 4.29540408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.819254154 meters 0.013950649549934468 Centerline is valid? [True, True] Translation: X:972.55, Y:62.04, Z:4.29 [[ 8.12625768e-01 -5.82622544e-01 -1.37961020e-02 9.72546455e+02] [ 5.82537782e-01 8.12742868e-01 -9.93796525e-03 6.20422132e+01] [ 1.70027661e-02 3.90959701e-05 9.99855442e-01 4.29391756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.879254154 meters 0.01810132532669755 Centerline is valid? [True, True] Translation: X:972.59, Y:62.08, Z:4.29 [[ 8.14959579e-01 -5.79302263e-01 -1.58041974e-02 9.72590629e+02] [ 5.79190299e-01 8.15112797e-01 -1.13896955e-02 6.20818639e+01] [ 1.94802799e-02 1.28503673e-04 9.99810233e-01 4.29005711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.939254154 meters 0.015403056587125631 Centerline is valid? [True, True] Translation: X:972.64, Y:62.12, Z:4.29 [[ 8.16300912e-01 -5.77446935e-01 -1.44173310e-02 9.72636143e+02] [ 5.77353362e-01 8.16428203e-01 -1.03963551e-02 6.21177137e+01] [ 1.77740590e-02 1.62659658e-04 9.99842016e-01 4.29403098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.999254154 meters 0.01402347214060037 Centerline is valid? [True, True] Translation: X:972.68, Y:62.15, Z:4.30 [[ 8.15606405e-01 -5.78461497e-01 -1.29803166e-02 9.72684220e+02] [ 5.78385696e-01 8.15709678e-01 -9.36523673e-03 6.21523384e+01] [ 1.60055987e-02 1.30717625e-04 9.99871894e-01 4.29694090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.059254154 meters 0.01593760282074666 Centerline is valid? [True, True] Translation: X:972.73, Y:62.19, Z:4.30 [[ 8.13611942e-01 -5.81245328e-01 -1.37650529e-02 9.72732102e+02] [ 5.81160380e-01 8.13728371e-01 -9.93735611e-03 6.21857146e+01] [ 1.69770559e-02 8.54482308e-05 9.99855876e-01 4.29508921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.1192541539999 meters 0.014606538105257668 Centerline is valid? [True, True] Translation: X:972.78, Y:62.22, Z:4.30 [[ 8.11666434e-01 -5.83959952e-01 -1.37249701e-02 9.72780755e+02] [ 5.83875794e-01 8.11782467e-01 -9.91383152e-03 6.22192349e+01] [ 1.69309706e-02 3.30464780e-05 9.99856660e-01 4.29616536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.179254154 meters 0.013717375466596562 Centerline is valid? [True, True] Translation: X:972.83, Y:62.25, Z:4.30 [[ 8.10276491e-01 -5.85894254e-01 -1.34138484e-02 9.72827477e+02] [ 5.85814081e-01 8.10387514e-01 -9.69220834e-03 6.22519711e+01] [ 1.65490244e-02 -4.65271768e-06 9.99863056e-01 4.29746195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.2392541539999 meters 0.017984586363273228 Centerline is valid? [True, True] Translation: X:972.88, Y:62.28, Z:4.29 [[ 8.07742944e-01 -5.89343037e-01 -1.50373193e-02 9.72876410e+02] [ 5.89242786e-01 8.07882899e-01 -1.08701801e-02 6.22847858e+01] [ 1.85546581e-02 -8.03206120e-05 9.99827844e-01 4.29403483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.299254154 meters 0.014095342241861257 Centerline is valid? [True, True] Translation: X:972.92, Y:62.32, Z:4.30 [[ 8.06353800e-01 -5.91249629e-01 -1.47453605e-02 9.72923843e+02] [ 5.91153440e-01 8.06488600e-01 -1.06652639e-02 6.23179993e+01] [ 1.81977984e-02 -1.16794543e-04 9.99834400e-01 4.29845889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.3592541539999 meters 0.01438524629680366 Centerline is valid? [True, True] Translation: X:972.97, Y:62.35, Z:4.30 [[ 8.04582489e-01 -5.93654910e-01 -1.48615503e-02 9.72972858e+02] [ 5.93557502e-01 8.04719715e-01 -1.07551457e-02 6.23513943e+01] [ 1.83442276e-02 -1.67782758e-04 9.99831716e-01 4.29904724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.419254154 meters 0.01743635992712676 Centerline is valid? [True, True] Translation: X:973.02, Y:62.38, Z:4.30 [[ 8.02624226e-01 -5.96287489e-01 -1.53486826e-02 9.73021995e+02] [ 5.96183958e-01 8.02770937e-01 -1.11135771e-02 6.23847305e+01] [ 1.89483632e-02 -2.30612113e-04 9.99820437e-01 4.29831934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.4792541539999 meters 0.017113246032739084 Centerline is valid? [True, True] Translation: X:973.07, Y:62.42, Z:4.30 [[ 8.01036451e-01 -5.98422968e-01 -1.51840584e-02 9.73070233e+02] [ 5.98321918e-01 8.01180302e-01 -1.10002874e-02 6.24178729e+01] [ 1.87479932e-02 -2.73323727e-04 9.99824204e-01 4.30037618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.539254154 meters 0.01863952254567813 Centerline is valid? [True, True] Translation: X:973.12, Y:62.45, Z:4.30 [[ 7.99541541e-01 -6.00416661e-01 -1.52694931e-02 9.73118759e+02] [ 6.00314721e-01 7.99687272e-01 -1.10681216e-02 6.24510569e+01] [ 1.88563038e-02 -3.17078502e-04 9.99822154e-01 4.30050260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.5992541539999 meters 0.01536894336167882 Centerline is valid? [True, True] Translation: X:973.17, Y:62.49, Z:4.30 [[ 7.99688565e-01 -6.00266048e-01 -1.33742508e-02 9.73165830e+02] [ 6.00187741e-01 7.99800349e-01 -9.69931519e-03 6.24867737e+01] [ 1.65189001e-02 -2.70629941e-04 9.99863517e-01 4.30445209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.659254154 meters 0.015686004419032475 Centerline is valid? [True, True] Translation: X:973.21, Y:62.52, Z:4.30 [[ 7.99691600e-01 -6.00273258e-01 -1.28592663e-02 9.73212367e+02] [ 6.00200821e-01 7.99794942e-01 -9.32875530e-03 6.25204530e+01] [ 1.58845785e-02 -2.58014941e-04 9.99873799e-01 4.30492707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.7192541539999 meters 0.017174234373070092 Centerline is valid? [True, True] Translation: X:973.26, Y:62.56, Z:4.30 [[ 7.99515310e-01 -6.00488447e-01 -1.37438605e-02 9.73257986e+02] [ 6.00405654e-01 7.99633384e-01 -9.97509389e-03 6.25582195e+01] [ 1.69799783e-02 -2.76651273e-04 9.99855792e-01 4.30432772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.779254154 meters 0.017592813432608323 Centerline is valid? [True, True] Translation: X:973.30, Y:62.59, Z:4.30 [[ 7.99584940e-01 -6.00392148e-01 -1.38993530e-02 9.73303276e+02] [ 6.00307398e-01 7.99705691e-01 -1.00913184e-02 6.25921032e+01] [ 1.71741400e-02 -2.75018207e-04 9.99852476e-01 4.30352422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.839254154 meters 0.015311197243973142 Centerline is valid? [True, True] Translation: X:973.35, Y:62.63, Z:4.31 [[ 7.99601756e-01 -6.00372558e-01 -1.37776089e-02 9.73348206e+02] [ 6.00289196e-01 7.99720401e-01 -1.00080848e-02 6.26285749e+01] [ 1.70268144e-02 -2.68067593e-04 9.99854997e-01 4.30535005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.899254154 meters 0.015908610356326517 Centerline is valid? [True, True] Translation: X:973.40, Y:62.66, Z:4.31 [[ 7.98135924e-01 -6.02308934e-01 -1.42476315e-02 9.73395398e+02] [ 6.02219994e-01 7.98263020e-01 -1.03552113e-02 6.26641815e+01] [ 1.76103936e-02 -3.15342419e-04 9.99844875e-01 4.30518815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.959254154 meters 0.017806404597159445 Centerline is valid? [True, True] Translation: X:973.44, Y:62.70, Z:4.30 [[ 7.96958497e-01 -6.03861337e-01 -1.44443637e-02 9.73440884e+02] [ 6.03770128e-01 7.97089306e-01 -1.05010360e-02 6.26999250e+01] [ 1.78546175e-02 -3.52185431e-04 9.99840532e-01 4.30363009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.019254154 meters 0.016601965470964153 Centerline is valid? [True, True] Translation: X:973.49, Y:62.74, Z:4.31 [[ 7.96997096e-01 -6.03836329e-01 -1.33160506e-02 9.73487102e+02] [ 6.03758747e-01 7.97108264e-01 -9.68455945e-03 6.27373636e+01] [ 1.64622228e-02 -3.21116261e-04 9.99864437e-01 4.30612948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.079254154 meters 0.015623072300356382 Centerline is valid? [True, True] Translation: X:973.53, Y:62.78, Z:4.31 [[ 7.97536791e-01 -6.03127637e-01 -1.31194639e-02 9.73531540e+02] [ 6.03052154e-01 7.97644636e-01 -9.54645990e-03 6.27769491e+01] [ 1.62224038e-02 -2.98067958e-04 9.99868364e-01 4.30722504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.139254154 meters 0.01528884060483526 Centerline is valid? [True, True] Translation: X:973.57, Y:62.82, Z:4.31 [[ 7.99429209e-01 -6.00606665e-01 -1.35857766e-02 9.73574850e+02] [ 6.00525299e-01 7.99544601e-01 -9.88917607e-03 6.28159835e+01] [ 1.68019394e-02 -2.52906374e-04 9.99858805e-01 4.30707068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.199254154 meters 0.01773369620152047 Centerline is valid? [True, True] Translation: X:973.62, Y:62.86, Z:4.30 [[ 8.01174408e-01 -5.98259598e-01 -1.43185751e-02 9.73618179e+02] [ 5.98168757e-01 8.01302321e-01 -1.04273247e-02 6.28568145e+01] [ 1.77117545e-02 -2.10818608e-04 9.99843112e-01 4.30380412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.259254154 meters 0.01659779229677113 Centerline is valid? [True, True] Translation: X:973.66, Y:62.90, Z:4.31 [[ 8.03542339e-01 -5.95082383e-01 -1.40237733e-02 9.73661663e+02] [ 5.94994667e-01 8.03664694e-01 -1.02179546e-02 6.28972045e+01] [ 1.73509362e-02 -1.33511143e-04 9.99849452e-01 4.30562290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.319254154 meters 0.016060389032371208 Centerline is valid? [True, True] Translation: X:973.71, Y:62.94, Z:4.31 [[ 8.05793991e-01 -5.92054049e-01 -1.29632860e-02 9.73705772e+02] [ 5.91978628e-01 8.05898256e-01 -9.45014590e-03 6.29363654e+01] [ 1.60420867e-02 -5.91174541e-05 9.99871316e-01 4.30675506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.379254154 meters 0.013396604363806956 Centerline is valid? [True, True] Translation: X:973.75, Y:62.98, Z:4.31 [[ 8.10025396e-01 -5.86282467e-01 -1.14771873e-02 9.73748856e+02] [ 5.86222705e-01 8.10106700e-01 -8.37103284e-03 6.29771320e+01] [ 1.42055361e-02 5.25614096e-05 9.99899095e-01 4.30976848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.439254154 meters 0.01701653179642794 Centerline is valid? [True, True] Translation: X:973.79, Y:63.02, Z:4.31 [[ 8.14500132e-01 -5.80021473e-01 -1.28306538e-02 9.73790152e+02] [ 5.79945943e-01 8.14601164e-01 -9.36191821e-03 6.30177712e+01] [ 1.58819791e-02 1.84198023e-04 9.99873856e-01 4.30538854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.499254154 meters 0.01877968428579921 Centerline is valid? [True, True] Translation: X:973.83, Y:63.06, Z:4.30 [[ 8.18452877e-01 -5.74418360e-01 -1.33579949e-02 9.73834153e+02] [ 5.74335717e-01 8.18561820e-01 -9.74835536e-03 6.30576408e+01] [ 1.65339790e-02 3.06595883e-04 9.99863257e-01 4.30456398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.559254154 meters 0.017220288387777383 Centerline is valid? [True, True] Translation: X:973.88, Y:63.10, Z:4.31 [[ 8.20908825e-01 -5.70909045e-01 -1.30982028e-02 9.73880030e+02] [ 5.70829079e-01 8.21013229e-01 -9.56241967e-03 6.30956036e+01] [ 1.62130696e-02 3.73039677e-04 9.99868490e-01 4.30717288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.6192541539999 meters 0.018791077842994885 Centerline is valid? [True, True] Translation: X:973.93, Y:63.13, Z:4.31 [[ 8.21163909e-01 -5.70514151e-01 -1.42631497e-02 9.73928111e+02] [ 5.70419168e-01 8.21287664e-01 -1.04185012e-02 6.31292457e+01] [ 1.76580512e-02 4.19323188e-04 9.99843997e-01 4.30506069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.679254154 meters 0.019859608023264353 Centerline is valid? [True, True] Translation: X:973.98, Y:63.16, Z:4.30 [[ 8.21173112e-01 -5.70460237e-01 -1.58062717e-02 9.73977095e+02] [ 5.70343452e-01 8.21325085e-01 -1.15520749e-02 6.31627720e+01] [ 1.95720868e-02 4.71249731e-04 9.99808337e-01 4.30379198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.7392541539999 meters 0.018521969100800593 Centerline is valid? [True, True] Translation: X:974.03, Y:63.20, Z:4.31 [[ 8.20631532e-01 -5.71270531e-01 -1.46242575e-02 9.74025239e+02] [ 5.71170588e-01 8.20761720e-01 -1.06937960e-02 6.31957410e+01] [ 1.81120812e-02 4.22720424e-04 9.99835873e-01 4.30551460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.799254154 meters 0.018134087224934193 Centerline is valid? [True, True] Translation: X:974.08, Y:63.23, Z:4.31 [[ 8.19070999e-01 -5.73526156e-01 -1.38002675e-02 9.74077173e+02] [ 5.73437393e-01 8.19187171e-01 -1.00962497e-02 6.32254104e+01] [ 1.70954654e-02 3.55955942e-04 9.99853798e-01 4.30731361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.8592541539999 meters 0.015701314459633756 Centerline is valid? [True, True] Translation: X:974.13, Y:63.25, Z:4.31 [[ 8.17994312e-01 -5.75088027e-01 -1.26121542e-02 9.74129134e+02] [ 5.75014007e-01 8.18091481e-01 -9.23145566e-03 6.32549876e+01] [ 1.56267956e-02 2.99112880e-04 9.99877849e-01 4.31088434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.919254154 meters 0.017797761092813013 Centerline is valid? [True, True] Translation: X:974.18, Y:63.28, Z:4.31 [[ 8.16015013e-01 -5.77865098e-01 -1.38357379e-02 9.74181931e+02] [ 5.77776324e-01 8.16132253e-01 -1.01324138e-02 6.32819619e+01] [ 1.71469602e-02 2.74239992e-04 9.99852942e-01 4.30765816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.9792541539999 meters 0.014950202487768387 Centerline is valid? [True, True] Translation: X:974.23, Y:63.31, Z:4.31 [[ 8.15343948e-01 -5.78822035e-01 -1.33902420e-02 9.74232040e+02] [ 5.78738931e-01 8.15453855e-01 -9.81124210e-03 6.33128955e+01] [ 1.65980876e-02 2.50082530e-04 9.99862211e-01 4.31087705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.039254154 meters 0.014289026395189409 Centerline is valid? [True, True] Translation: X:974.28, Y:63.34, Z:4.31 [[ 8.13613545e-01 -5.81270815e-01 -1.25395383e-02 9.74284802e+02] [ 5.81198151e-01 8.13710147e-01 -9.19269583e-03 6.33410281e+01] [ 1.55469953e-02 1.91345370e-04 9.99879120e-01 4.31259771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.0992541539999 meters 0.016585485979493098 Centerline is valid? [True, True] Translation: X:974.34, Y:63.37, Z:4.31 [[ 8.11623154e-01 -5.84028976e-01 -1.33420897e-02 9.74337024e+02] [ 5.83946996e-01 8.11732796e-01 -9.78644011e-03 6.33688034e+01] [ 1.65457764e-02 1.51828190e-04 9.99863098e-01 4.31066560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.159254154 meters 0.015108365658685277 Centerline is valid? [True, True] Translation: X:974.39, Y:63.40, Z:4.31 [[ 8.11585726e-01 -5.84052840e-01 -1.45220566e-02 9.74388123e+02] [ 5.83955614e-01 8.11715622e-01 -1.06578457e-02 6.33980779e+01] [ 1.80125253e-02 1.69519019e-04 9.99837747e-01 4.31129912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.2192541539999 meters 0.014170452988426868 Centerline is valid? [True, True] Translation: X:974.44, Y:63.43, Z:4.31 [[ 8.12545072e-01 -5.82711809e-01 -1.47462915e-02 9.74438073e+02] [ 5.82611282e-01 8.12678845e-01 -1.08254012e-02 6.34285754e+01] [ 1.82920883e-02 2.04770575e-04 9.99832665e-01 4.31265034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.279254154 meters 0.014663086154904376 Centerline is valid? [True, True] Translation: X:974.49, Y:63.46, Z:4.31 [[ 8.12467608e-01 -5.82798513e-01 -1.55653262e-02 9.74489027e+02] [ 5.82686423e-01 8.12616666e-01 -1.14318350e-02 6.34591649e+01] [ 1.93110999e-02 2.18291371e-04 9.99813499e-01 4.31171126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.339254154 meters 0.017046851454845777 Centerline is valid? [True, True] Translation: X:974.54, Y:63.49, Z:4.31 [[ 8.10443578e-01 -5.85597995e-01 -1.60060874e-02 9.74541139e+02] [ 5.85479886e-01 8.10601605e-01 -1.17618228e-02 6.34871279e+01] [ 1.98622600e-02 1.61051470e-04 9.99802713e-01 4.31006906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.399254154 meters 0.01361453429517269 Centerline is valid? [True, True] Translation: X:974.59, Y:63.51, Z:4.31 [[ 8.08537422e-01 -5.88275811e-01 -1.40999165e-02 9.74592765e+02] [ 5.88184520e-01 8.08660351e-01 -1.03637675e-02 6.35139858e+01] [ 1.74987971e-02 8.61412916e-05 9.99846881e-01 4.31484723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.459254154 meters 0.014359914489440491 Centerline is valid? [True, True] Translation: X:974.64, Y:63.54, Z:4.32 [[ 8.06243039e-01 -5.91432752e-01 -1.33963405e-02 9.74643845e+02] [ 5.91350708e-01 8.06354327e-01 -9.85090571e-03 6.35439415e+01] [ 1.66283454e-02 2.02887013e-05 9.99861739e-01 4.31554705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.519254154 meters 0.013423074242516658 Centerline is valid? [True, True] Translation: X:974.69, Y:63.57, Z:4.32 [[ 8.05349101e-01 -5.92683108e-01 -1.18134834e-02 9.74693856e+02] [ 5.92619408e-01 8.05435741e-01 -8.68930261e-03 6.35731522e+01] [ 1.46650046e-02 -2.97746247e-06 9.99892463e-01 4.31777432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.579254154 meters 0.017188830226509223 Centerline is valid? [True, True] Translation: X:974.74, Y:63.61, Z:4.32 [[ 8.07974530e-01 -5.89067025e-01 -1.33116072e-02 9.74739097e+02] [ 5.88985578e-01 8.08084175e-01 -9.79564307e-03 6.36106891e+01] [ 1.65271895e-02 7.42854189e-05 9.99863414e-01 4.31516765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.639254154 meters 0.014697643341875356 Centerline is valid? [True, True] Translation: X:974.79, Y:63.65, Z:4.32 [[ 8.10217446e-01 -5.85975730e-01 -1.34213981e-02 9.74785621e+02] [ 5.85892421e-01 8.10328590e-01 -9.88172714e-03 6.36474830e+01] [ 1.66661949e-02 1.42852291e-04 9.99861099e-01 4.31640071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.699254154 meters 0.014879268330586375 Centerline is valid? [True, True] Translation: X:974.83, Y:63.68, Z:4.32 [[ 8.11099342e-01 -5.84738565e-01 -1.40949503e-02 9.74833023e+02] [ 5.84646397e-01 8.11221781e-01 -1.03832600e-02 6.36831711e+01] [ 1.75056233e-02 1.81293444e-04 9.99846748e-01 4.31610374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.759254154 meters 0.014089718624886059 Centerline is valid? [True, True] Translation: X:974.88, Y:63.72, Z:4.32 [[ 8.10657938e-01 -5.85346853e-01 -1.42397163e-02 9.74878036e+02] [ 5.85252814e-01 8.10782975e-01 -1.04933881e-02 6.37177743e+01] [ 1.76875913e-02 1.72714323e-04 9.99843547e-01 4.31616265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.819254154 meters 0.016559207583391456 Centerline is valid? [True, True] Translation: X:974.93, Y:63.75, Z:4.32 [[ 8.07289188e-01 -5.89986692e-01 -1.41375407e-02 9.74927036e+02] [ 5.89894621e-01 8.07412966e-01 -1.04229220e-02 6.37504494e+01] [ 1.75642190e-02 7.46529769e-05 9.99845734e-01 4.31506375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.879254154 meters 0.013433753229956484 Centerline is valid? [True, True] Translation: X:974.98, Y:63.78, Z:4.32 [[ 8.04977828e-01 -5.93167806e-01 -1.27534743e-02 9.74976472e+02] [ 5.93093202e-01 8.05078850e-01 -9.40743048e-03 6.37832823e+01] [ 1.58477374e-02 8.77401781e-06 9.99874417e-01 4.32015154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.939254154 meters 0.013902461684832463 Centerline is valid? [True, True] Translation: X:975.02, Y:63.82, Z:4.32 [[ 8.03058575e-01 -5.95769883e-01 -1.24567887e-02 9.75023352e+02] [ 5.95698937e-01 8.03155181e-01 -9.19407812e-03 6.38177440e+01] [ 1.54822892e-02 -3.71125291e-05 9.99880141e-01 4.32008669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.999254154 meters 0.013545510937822292 Centerline is valid? [True, True] Translation: X:975.07, Y:63.85, Z:4.32 [[ 8.03101391e-01 -5.95715673e-01 -1.22879427e-02 9.75068672e+02] [ 5.95646580e-01 8.03195391e-01 -9.07280549e-03 6.38527119e+01] [ 1.52744314e-02 -3.28883437e-05 9.99883339e-01 4.32039302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.059254154 meters 0.016535198804881874 Centerline is valid? [True, True] Translation: X:975.12, Y:63.89, Z:4.32 [[ 8.03449532e-01 -5.95218178e-01 -1.35709456e-02 9.75115083e+02] [ 5.95133750e-01 8.03564136e-01 -1.00249294e-02 6.38893703e+01] [ 1.68721454e-02 -2.20028650e-05 9.99857655e-01 4.31838082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.1192541539999 meters 0.013546714963293802 Centerline is valid? [True, True] Translation: X:975.16, Y:63.93, Z:4.32 [[ 8.05109356e-01 -5.93004502e-01 -1.20243926e-02 9.75160183e+02] [ 5.92937937e-01 8.05199143e-01 -8.88495131e-03 6.39258656e+01] [ 1.49508467e-02 2.36388907e-05 9.99888230e-01 4.32090835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.179254154 meters 0.01357870989472287 Centerline is valid? [True, True] Translation: X:975.20, Y:63.96, Z:4.32 [[ 8.06937665e-01 -5.90519610e-01 -1.17556365e-02 9.75204841e+02] [ 5.90455662e-01 8.07023286e-01 -8.69057766e-03 6.39634150e+01] [ 1.46190289e-02 7.15723211e-05 9.99893134e-01 4.32161316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.2392541539999 meters 0.013749865611445476 Centerline is valid? [True, True] Translation: X:975.25, Y:64.00, Z:4.32 [[ 8.08009708e-01 -5.89044194e-01 -1.21346705e-02 9.75251028e+02] [ 5.88975813e-01 8.08100815e-01 -8.97580642e-03 6.40005121e+01] [ 1.50931838e-02 1.05511288e-04 9.99886086e-01 4.32099267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.299254154 meters 0.01584255763704692 Centerline is valid? [True, True] Translation: X:975.30, Y:64.03, Z:4.32 [[ 8.07173316e-01 -5.90138486e-01 -1.44154888e-02 9.75298239e+02] [ 5.90042086e-01 8.07302023e-01 -1.06667714e-02 6.40343092e+01] [ 1.79325256e-02 1.04188155e-04 9.99839194e-01 4.31785654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.3592541539999 meters 0.015530043776261871 Centerline is valid? [True, True] Translation: X:975.35, Y:64.07, Z:4.32 [[ 8.06212066e-01 -5.91461391e-01 -1.39831282e-02 9.75346603e+02] [ 5.91370801e-01 8.06333317e-01 -1.03517436e-02 6.40672461e+01] [ 1.73977188e-02 7.64868849e-05 9.99848645e-01 4.31950517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.419254154 meters 0.014141786731408344 Centerline is valid? [True, True] Translation: X:975.39, Y:64.10, Z:4.32 [[ 8.05797341e-01 -5.92060576e-01 -1.24466859e-02 9.75394776e+02] [ 5.91988798e-01 8.05893461e-01 -9.21910884e-03 6.41004055e+01] [ 1.54889737e-02 6.04347488e-05 9.99880037e-01 4.32214053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.4792541539999 meters 0.015309550509069257 Centerline is valid? [True, True] Translation: X:975.44, Y:64.13, Z:4.32 [[ 8.05624893e-01 -5.92307528e-01 -1.18458865e-02 9.75442671e+02] [ 5.92242465e-01 8.05711977e-01 -8.77915770e-03 6.41337098e+01] [ 1.47443338e-02 5.70709361e-05 9.99891295e-01 4.32251932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.539254154 meters 0.01548823741280218 Centerline is valid? [True, True] Translation: X:975.49, Y:64.17, Z:4.32 [[ 8.07202740e-01 -5.90152536e-01 -1.19883576e-02 9.75489380e+02] [ 5.90085587e-01 8.07291753e-01 -8.88966972e-03 6.41695743e+01] [ 1.49243633e-02 1.01608727e-04 9.99888620e-01 4.32192123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.5992541539999 meters 0.014041104983963923 Centerline is valid? [True, True] Translation: X:975.54, Y:64.21, Z:4.32 [[ 8.10218919e-01 -5.86014231e-01 -1.15162592e-02 9.75535081e+02] [ 5.85951997e-01 8.10300741e-01 -8.54204470e-03 6.42058340e+01] [ 1.43373931e-02 1.72951166e-04 9.99897199e-01 4.32373861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.659254154 meters 0.016358694706885606 Centerline is valid? [True, True] Translation: X:975.58, Y:64.24, Z:4.32 [[ 8.11634674e-01 -5.84018365e-01 -1.31036208e-02 9.75581395e+02] [ 5.83937460e-01 8.11740409e-01 -9.72375381e-03 6.42421029e+01] [ 1.63155893e-02 2.40440711e-04 9.99866863e-01 4.32235090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.7192541539999 meters 0.014737174456246078 Centerline is valid? [True, True] Translation: X:975.63, Y:64.28, Z:4.32 [[ 8.12838258e-01 -5.82352056e-01 -1.26510903e-02 9.75628338e+02] [ 5.82276363e-01 8.12936659e-01 -9.39288231e-03 6.42773159e+01] [ 1.57544994e-02 2.68463256e-04 9.99875854e-01 4.32405448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.779254154 meters 0.015762354960669918 Centerline is valid? [True, True] Translation: X:975.68, Y:64.31, Z:4.32 [[ 8.11261649e-01 -5.84524917e-01 -1.36072797e-02 9.75676575e+02] [ 5.84437562e-01 8.11375720e-01 -1.01082645e-02 6.43105918e+01] [ 1.69491488e-02 2.47841951e-04 9.99856322e-01 4.32298421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.839254154 meters 0.013885604527507058 Centerline is valid? [True, True] Translation: X:975.73, Y:64.34, Z:4.33 [[ 8.09912730e-01 -5.86403331e-01 -1.31340690e-02 9.75725838e+02] [ 5.86322108e-01 8.10019192e-01 -9.76191009e-03 6.43434103e+01] [ 1.63632646e-02 2.05500213e-04 9.99866092e-01 4.32537585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.899254154 meters 0.013556230875219254 Centerline is valid? [True, True] Translation: X:975.78, Y:64.37, Z:4.33 [[ 8.07382338e-01 -5.89893889e-01 -1.26079044e-02 9.75775180e+02] [ 5.89819427e-01 8.07480763e-01 -9.37346611e-03 6.43741998e+01] [ 1.57099906e-02 1.31584048e-04 9.99876582e-01 4.32647731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.959254154 meters 0.014277716000156636 Centerline is valid? [True, True] Translation: X:975.82, Y:64.41, Z:4.33 [[ 8.06104925e-01 -5.91644229e-01 -1.23270560e-02 9.75823775e+02] [ 5.91573195e-01 8.06199167e-01 -9.16831526e-03 6.44084462e+01] [ 1.53624431e-02 9.82681662e-05 9.99881986e-01 4.32643600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.019254154 meters 0.013369542323345014 Centerline is valid? [True, True] Translation: X:975.87, Y:64.44, Z:4.33 [[ 8.06270237e-01 -5.91431516e-01 -1.17075808e-02 9.75870180e+02] [ 5.91367349e-01 8.06355227e-01 -8.71245595e-03 6.44438749e+01] [ 1.45932900e-02 1.01112887e-04 9.99893507e-01 4.32730990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.079254154 meters 0.01628267864961658 Centerline is valid? [True, True] Translation: X:975.92, Y:64.48, Z:4.32 [[ 8.07978315e-01 -5.89064773e-01 -1.31808813e-02 9.75915132e+02] [ 5.88983031e-01 8.08085803e-01 -9.81444895e-03 6.44815597e+01] [ 1.64326292e-02 1.66546485e-04 9.99864961e-01 4.32483816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.139254154 meters 0.014170695984545822 Centerline is valid? [True, True] Translation: X:975.96, Y:64.52, Z:4.33 [[ 8.09501966e-01 -5.86974278e-01 -1.29523879e-02 9.75960473e+02] [ 5.86894996e-01 8.09605554e-01 -9.64938385e-03 6.45187189e+01] [ 1.61502653e-02 2.09503534e-04 9.99869554e-01 4.32669342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.199254154 meters 0.014594323041409323 Centerline is valid? [True, True] Translation: X:976.01, Y:64.56, Z:4.33 [[ 8.11154406e-01 -5.84687092e-01 -1.30204766e-02 9.76005661e+02] [ 5.84606596e-01 8.11258859e-01 -9.70524424e-03 6.45565018e+01] [ 1.62375081e-02 2.60595104e-04 9.99868129e-01 4.32653994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.259254154 meters 0.014865806965867409 Centerline is valid? [True, True] Translation: X:976.05, Y:64.59, Z:4.33 [[ 8.11423407e-01 -5.84315287e-01 -1.29499163e-02 9.76051945e+02] [ 5.84235531e-01 8.11526692e-01 -9.65774247e-03 6.45925358e+01] [ 1.61523693e-02 2.70717062e-04 9.99869505e-01 4.32685083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.319254154 meters 0.01440619841285921 Centerline is valid? [True, True] Translation: X:976.10, Y:64.63, Z:4.33 [[ 8.10697795e-01 -5.85337678e-01 -1.22019839e-02 9.76099030e+02] [ 5.85266911e-01 8.10789581e-01 -9.10479123e-03 6.46274241e+01] [ 1.52226188e-02 2.39816716e-04 9.99884100e-01 4.32855882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.379254154 meters 0.014128550319727179 Centerline is valid? [True, True] Translation: X:976.15, Y:64.66, Z:4.33 [[ 8.08712108e-01 -5.88111400e-01 -1.04741942e-02 9.76145550e+02] [ 5.88059459e-01 8.08779918e-01 -7.81778413e-03 6.46621711e+01] [ 1.30690459e-02 1.62887700e-04 9.99914583e-01 4.32922166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.439254154 meters 0.013517646420066164 Centerline is valid? [True, True] Translation: X:976.19, Y:64.70, Z:4.33 [[ 8.05435093e-01 -5.92620162e-01 -8.69798872e-03 9.76194471e+02] [ 5.92584579e-01 8.05482053e-01 -6.49451927e-03 6.46950461e+01] [ 1.08548569e-02 7.66197480e-05 9.99941081e-01 4.33160359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.499254154 meters 0.015690434654523605 Centerline is valid? [True, True] Translation: X:976.24, Y:64.73, Z:4.33 [[ 8.01499257e-01 -5.97919356e-01 -9.55951770e-03 9.76243517e+02] [ 5.97876705e-01 8.01556264e-01 -7.14155243e-03 6.47286928e+01] [ 1.19325637e-02 8.53602407e-06 9.99928804e-01 4.32938557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.559254154 meters 0.015041373551277073 Centerline is valid? [True, True] Translation: X:976.29, Y:64.76, Z:4.33 [[ 7.98437277e-01 -6.01987652e-01 -1.04298115e-02 9.76290974e+02] [ 6.01937173e-01 7.98505394e-01 -7.79588907e-03 6.47630951e+01] [ 1.30212897e-02 -5.35628323e-05 9.99915218e-01 4.32796474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.6192541539999 meters 0.013573610532834285 Centerline is valid? [True, True] Translation: X:976.34, Y:64.80, Z:4.33 [[ 7.97675031e-01 -6.03002764e-01 -1.01099633e-02 9.76337852e+02] [ 6.02955360e-01 7.97739094e-01 -7.56117517e-03 6.47976609e+01] [ 1.26245225e-02 -6.44959481e-05 9.99920305e-01 4.32909484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.679254154 meters 0.016911406807553195 Centerline is valid? [True, True] Translation: X:976.39, Y:64.83, Z:4.33 [[ 7.94850324e-01 -6.06686812e-01 -1.20031268e-02 9.76385797e+02] [ 6.06620331e-01 7.94940936e-01 -8.98229453e-03 6.48322297e+01] [ 1.49912165e-02 -1.41761049e-04 9.99887615e-01 4.32574697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.7392541539999 meters 0.01609210476472853 Centerline is valid? [True, True] Translation: X:976.43, Y:64.87, Z:4.33 [[ 7.93790441e-01 -6.08081868e-01 -1.15402145e-02 9.76432860e+02] [ 6.08020500e-01 7.93874308e-01 -8.64033565e-03 6.48682544e+01] [ 1.44155113e-02 -1.58071145e-04 9.99896079e-01 4.32685269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.799254154 meters 0.014135567665973197 Centerline is valid? [True, True] Translation: X:976.48, Y:64.91, Z:4.33 [[ 7.94576201e-01 -6.07070691e-01 -1.06694011e-02 9.76477907e+02] [ 6.07018090e-01 7.94647821e-01 -7.99237490e-03 6.49058825e+01] [ 1.33303529e-02 -1.25968565e-04 9.99911139e-01 4.32859680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.8592541539999 meters 0.01514944782292251 Centerline is valid? [True, True] Translation: X:976.52, Y:64.94, Z:4.33 [[ 7.95203942e-01 -6.06240381e-01 -1.11036062e-02 9.76522659e+02] [ 6.06183265e-01 7.95281452e-01 -8.32234725e-03 6.49422179e+01] [ 1.38758350e-02 -1.12856920e-04 9.99903720e-01 4.32729347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.919254154 meters 0.013800041776584577 Centerline is valid? [True, True] Translation: X:976.57, Y:64.98, Z:4.33 [[ 7.97257014e-01 -6.03546313e-01 -1.06349750e-02 9.76566898e+02] [ 6.03493618e-01 7.97327941e-01 -7.97545883e-03 6.49819167e+01] [ 1.32931215e-02 -5.96490769e-05 9.99911641e-01 4.33042991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.9792541539999 meters 0.016792418245599072 Centerline is valid? [True, True] Translation: X:976.61, Y:65.02, Z:4.33 [[ 7.98541721e-01 -6.01833139e-01 -1.13134179e-02 9.76610384e+02] [ 6.01773262e-01 7.98621858e-01 -8.48936521e-03 6.50214150e+01] [ 1.41443241e-02 -2.90000832e-05 9.99899964e-01 4.32820268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.039254154 meters 0.013335157502192154 Centerline is valid? [True, True] Translation: X:976.65, Y:65.06, Z:4.33 [[ 7.99488594e-01 -6.00597384e-01 -1.00384743e-02 9.76654925e+02] [ 6.00550115e-01 7.99551613e-01 -7.53503969e-03 6.50585527e+01] [ 1.25518034e-02 -4.42858549e-06 9.99921223e-01 4.33183622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.0992541539999 meters 0.01370046482730156 Centerline is valid? [True, True] Translation: X:976.70, Y:65.09, Z:4.33 [[ 7.98181029e-01 -6.02348869e-01 -9.10406394e-03 9.76700405e+02] [ 6.02310071e-01 7.98232948e-01 -6.83663509e-03 6.50940379e+01] [ 1.13852032e-02 -2.65969599e-05 9.99935186e-01 4.33357202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.159254154 meters 0.015897448973518604 Centerline is valid? [True, True] Translation: X:976.75, Y:65.13, Z:4.33 [[ 7.95603996e-01 -6.05751889e-01 -8.88428521e-03 9.76746944e+02] [ 6.05715112e-01 7.95653595e-01 -6.67524740e-03 6.51307384e+01] [ 1.11123572e-02 -7.04923088e-05 9.99938253e-01 4.33220520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.2192541539999 meters 0.014989096860161378 Centerline is valid? [True, True] Translation: X:976.79, Y:65.17, Z:4.33 [[ 7.94039462e-01 -6.07790656e-01 -9.58395031e-03 9.76792788e+02] [ 6.07747978e-01 7.94097291e-01 -7.20328992e-03 6.51668937e+01] [ 1.19886813e-02 -1.04929974e-04 9.99928128e-01 4.33252624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.279254154 meters 0.013794571320714454 Centerline is valid? [True, True] Translation: X:976.84, Y:65.20, Z:4.33 [[ 7.94392736e-01 -6.07308628e-01 -1.07893589e-02 9.76837070e+02] [ 6.07254467e-01 7.94465996e-01 -8.11137606e-03 6.52034975e+01] [ 1.34978874e-02 -1.08268148e-04 9.99908894e-01 4.33214693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.339254154 meters 0.014496009431408 Centerline is valid? [True, True] Translation: X:976.88, Y:65.24, Z:4.33 [[ 7.96313062e-01 -6.04770760e-01 -1.17403441e-02 9.76880212e+02] [ 6.04706288e-01 7.96399600e-01 -8.83073754e-03 6.52434866e+01] [ 1.46905772e-02 -6.74282554e-05 9.99892085e-01 4.33063640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.399254154 meters 0.013772763995911704 Centerline is valid? [True, True] Translation: X:976.92, Y:65.28, Z:4.33 [[ 7.99326269e-01 -6.00791183e-01 -1.12902626e-02 9.76923039e+02] [ 6.00731099e-01 7.99406001e-01 -8.49666350e-03 6.52849245e+01] [ 1.41302242e-02 9.19445037e-06 9.99900163e-01 4.33142310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.459254154 meters 0.013510662265676389 Centerline is valid? [True, True] Translation: X:976.97, Y:65.33, Z:4.33 [[ 8.02555481e-01 -5.96471466e-01 -1.12467599e-02 9.76965888e+02] [ 5.96411355e-01 8.02634277e-01 -8.46835786e-03 6.53254701e+01] [ 1.40781688e-02 8.86317050e-05 9.99900894e-01 4.33282759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.519254154 meters 0.014587777868514246 Centerline is valid? [True, True] Translation: X:977.01, Y:65.36, Z:4.33 [[ 8.04405080e-01 -5.93968980e-01 -1.15463443e-02 9.77009244e+02] [ 5.93905329e-01 8.04487931e-01 -8.69650392e-03 6.53647156e+01] [ 1.44543482e-02 1.38076514e-04 9.99895521e-01 4.33147828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.579254154 meters 0.01554996600261519 Centerline is valid? [True, True] Translation: X:977.05, Y:65.41, Z:4.33 [[ 8.07000935e-01 -5.90471136e-01 -9.66067135e-03 9.77052474e+02] [ 5.90426294e-01 8.07058739e-01 -7.27894109e-03 6.54056528e+01] [ 1.20947339e-02 1.70197886e-04 9.99926842e-01 4.33352540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.639254154 meters 0.014485644188607623 Centerline is valid? [True, True] Translation: X:977.10, Y:65.44, Z:4.34 [[ 8.07044095e-01 -5.90416617e-01 -9.38334227e-03 9.77099394e+02] [ 5.90374262e-01 8.07098625e-01 -7.07393572e-03 6.54398587e+01] [ 1.17498518e-02 1.69294283e-04 9.99930954e-01 4.33613609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.699254154 meters 0.01569355099137336 Centerline is valid? [True, True] Translation: X:977.15, Y:65.48, Z:4.33 [[ 8.05791371e-01 -5.92122971e-01 -9.52119374e-03 9.77146068e+02] [ 5.92079434e-01 8.05847606e-01 -7.18185780e-03 6.54761269e+01] [ 1.19251742e-02 1.49776041e-04 9.99928881e-01 4.33360642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.759254154 meters 0.013822944044985647 Centerline is valid? [True, True] Translation: X:977.19, Y:65.51, Z:4.34 [[ 8.03605747e-01 -5.95074978e-01 -1.01771073e-02 9.77194908e+02] [ 5.95025418e-01 8.03670179e-01 -7.68081375e-03 6.55098851e+01] [ 1.27496977e-02 1.16708554e-04 9.99918712e-01 4.33535312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.819254154 meters 0.013523265818275914 Centerline is valid? [True, True] Translation: X:977.24, Y:65.54, Z:4.34 [[ 8.00656971e-01 -5.99023313e-01 -1.09309478e-02 9.77243845e+02] [ 5.98966444e-01 8.00731582e-01 -8.25427099e-03 6.55427906e+01] [ 1.36972558e-02 6.15686958e-05 9.99906186e-01 4.33510385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.879254154 meters 0.013444287398351431 Centerline is valid? [True, True] Translation: X:977.29, Y:65.58, Z:4.33 [[ 7.97953674e-01 -6.02605887e-01 -1.16652695e-02 9.77291921e+02] [ 6.02541424e-01 7.98038937e-01 -8.81406993e-03 6.55751691e+01] [ 1.46207497e-02 4.41136999e-06 9.99893111e-01 4.33497118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.939254154 meters 0.018521415584476147 Centerline is valid? [True, True] Translation: X:977.34, Y:65.61, Z:4.33 [[ 7.96014836e-01 -6.05120005e-01 -1.37898281e-02 9.77339291e+02] [ 6.05030239e-01 7.96134271e-01 -1.04227379e-02 6.56078723e+01] [ 1.72855620e-02 -4.66089631e-05 9.99850592e-01 4.33034587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.999254154 meters 0.013612839671847236 Centerline is valid? [True, True] Translation: X:977.39, Y:65.64, Z:4.34 [[ 7.96087540e-01 -6.05040561e-01 -1.30594133e-02 9.77387664e+02] [ 6.04959977e-01 7.96194648e-01 -9.87462632e-03 6.56423414e+01] [ 1.63723845e-02 -3.93554354e-05 9.99865963e-01 4.33515907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.059254154 meters 0.013640990887954577 Centerline is valid? [True, True] Translation: X:977.44, Y:65.68, Z:4.34 [[ 7.95670977e-01 -6.05604982e-01 -1.22597518e-02 9.77435009e+02] [ 6.05533995e-01 7.95765420e-01 -9.27240383e-03 6.56756833e+01] [ 1.53713005e-02 -4.59138386e-05 9.99881854e-01 4.33589663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.1192541539999 meters 0.013386104824019009 Centerline is valid? [True, True] Translation: X:977.48, Y:65.71, Z:4.34 [[ 7.95474790e-01 -6.05873343e-01 -1.17196852e-02 9.77482042e+02] [ 6.05808439e-01 7.95561116e-01 -8.86820721e-03 6.57096117e+01] [ 1.46967362e-02 -4.54489218e-05 9.99891996e-01 4.33866129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.179254154 meters 0.013322237121813055 Centerline is valid? [True, True] Translation: X:977.53, Y:65.74, Z:4.34 [[ 7.96731672e-01 -6.04225455e-01 -1.14123497e-02 9.77528693e+02] [ 6.04163667e-01 7.96813403e-01 -8.64084199e-03 6.57445378e+01] [ 1.43145299e-02 -1.04945520e-05 9.99897542e-01 4.33904209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.2392541539999 meters 0.01812578931457167 Centerline is valid? [True, True] Translation: X:977.57, Y:65.78, Z:4.34 [[ 7.98163033e-01 -6.02291977e-01 -1.34219101e-02 9.77574610e+02] [ 6.02206182e-01 7.98275876e-01 -1.01656569e-02 6.57805856e+01] [ 1.68370807e-02 3.10943163e-05 9.99858246e-01 4.33501711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.299254154 meters 0.013455566150726038 Centerline is valid? [True, True] Translation: X:977.62, Y:65.82, Z:4.34 [[ 7.99841586e-01 -6.00086763e-01 -1.22194478e-02 9.77621503e+02] [ 6.00015328e-01 7.99934917e-01 -9.25930298e-03 6.58155855e+01] [ 1.53311481e-02 7.41196009e-05 9.99882468e-01 4.33726514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.3592541539999 meters 0.015576661026769717 Centerline is valid? [True, True] Translation: X:977.67, Y:65.85, Z:4.34 [[ 8.00994597e-01 -5.98514538e-01 -1.37114673e-02 9.77668824e+02] [ 5.98424260e-01 8.01111936e-01 -1.03957250e-02 6.58510201e+01] [ 1.72064127e-02 1.21644840e-04 9.99851951e-01 4.33610794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.419254154 meters 0.014090202466684649 Centerline is valid? [True, True] Translation: X:977.72, Y:65.89, Z:4.34 [[ 8.02549486e-01 -5.96449930e-01 -1.27201919e-02 9.77715322e+02] [ 5.96371896e-01 8.02650270e-01 -9.64909168e-03 6.58872413e+01] [ 1.59650655e-02 1.57908619e-04 9.99872538e-01 4.33686627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.4792541539999 meters 0.01435138758793597 Centerline is valid? [True, True] Translation: X:977.76, Y:65.92, Z:4.34 [[ 8.02531702e-01 -5.96474478e-01 -1.26911240e-02 9.77762185e+02] [ 5.96396714e-01 8.02632027e-01 -9.63270468e-03 6.59218144e+01] [ 1.59319651e-02 1.61606245e-04 9.99873065e-01 4.33769023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.539254154 meters 0.014145042906947307 Centerline is valid? [True, True] Translation: X:977.81, Y:65.96, Z:4.34 [[ 8.02940359e-01 -5.95944456e-01 -1.17040907e-02 9.77808505e+02] [ 5.95878216e-01 8.03025641e-01 -8.88664755e-03 6.59552796e+01] [ 1.46946332e-02 1.61235316e-04 9.99892015e-01 4.33872007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.5992541539999 meters 0.015542844769966837 Centerline is valid? [True, True] Translation: X:977.86, Y:65.99, Z:4.34 [[ 8.02894071e-01 -5.95984301e-01 -1.27993489e-02 9.77856153e+02] [ 5.95905016e-01 8.02996065e-01 -9.72267851e-03 6.59903056e+01] [ 1.60723905e-02 1.79084738e-04 9.99870815e-01 4.33680303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.659254154 meters 0.015112904622427502 Centerline is valid? [True, True] Translation: X:977.90, Y:66.02, Z:4.34 [[ 8.03342128e-01 -5.95368055e-01 -1.33530953e-02 9.77904290e+02] [ 5.95281584e-01 8.03453071e-01 -1.01487976e-02 6.60238281e+01] [ 1.67708553e-02 2.04105001e-04 9.99859338e-01 4.33669115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.7192541539999 meters 0.01575889799669841 Centerline is valid? [True, True] Translation: X:977.95, Y:66.06, Z:4.34 [[ 8.03873243e-01 -5.94649554e-01 -1.34058742e-02 9.77952115e+02] [ 5.94562206e-01 8.03984986e-01 -1.01943818e-02 6.60579200e+01] [ 1.68402062e-02 2.24364613e-04 9.99858168e-01 4.33617445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.779254154 meters 0.017261397998689983 Centerline is valid? [True, True] Translation: X:978.00, Y:66.09, Z:4.34 [[ 8.04641674e-01 -5.93626782e-01 -1.26103031e-02 9.77999804e+02] [ 5.93549290e-01 8.04740448e-01 -9.59438500e-03 6.60928774e+01] [ 1.58435049e-02 2.35205550e-04 9.99874456e-01 4.33570231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.839254154 meters 0.01770312184083698 Centerline is valid? [True, True] Translation: X:978.05, Y:66.13, Z:4.34 [[ 8.04855017e-01 -5.93346792e-01 -1.21649659e-02 9.78047872e+02] [ 5.93274564e-01 8.04946910e-01 -9.26088723e-03 6.61254816e+01] [ 1.52870694e-02 2.36506732e-04 9.99883118e-01 4.33564595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.899254154 meters 0.01499310672440838 Centerline is valid? [True, True] Translation: X:978.10, Y:66.16, Z:4.34 [[ 8.04622433e-01 -5.93677189e-01 -1.14076694e-02 9.78097145e+02] [ 5.93613643e-01 8.04703266e-01 -8.68886223e-03 6.61588486e+01] [ 1.43381681e-02 2.19505272e-04 9.99897179e-01 4.33760713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.959254154 meters 0.016927498132120515 Centerline is valid? [True, True] Translation: X:978.15, Y:66.19, Z:4.34 [[ 8.02945465e-01 -5.95933211e-01 -1.19242805e-02 9.78147965e+02] [ 5.95863959e-01 8.03033979e-01 -9.08686158e-03 6.61901370e+01] [ 1.49907650e-02 1.91005313e-04 9.99887614e-01 4.33621646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.019254154 meters 0.016741858591817618 Centerline is valid? [True, True] Translation: X:978.20, Y:66.22, Z:4.34 [[ 8.02840308e-01 -5.96086044e-01 -1.13520156e-02 9.78196511e+02] [ 5.96023225e-01 8.02920541e-01 -8.65564498e-03 6.62228958e+01] [ 1.42742757e-02 1.83035711e-04 9.99898101e-01 4.33730136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.079254154 meters 0.01467583761697231 Centerline is valid? [True, True] Translation: X:978.24, Y:66.26, Z:4.34 [[ 8.03387757e-01 -5.95348915e-01 -1.13040523e-02 9.78244966e+02] [ 5.95286485e-01 8.03467255e-01 -8.62385356e-03 6.62566658e+01] [ 1.42166377e-02 1.99148811e-04 9.99898919e-01 4.33803957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.139254154 meters 0.014771349758293176 Centerline is valid? [True, True] Translation: X:978.29, Y:66.29, Z:4.34 [[ 8.03143264e-01 -5.95680463e-01 -1.12108998e-02 9.78292752e+02] [ 5.95619020e-01 8.03221481e-01 -8.55772325e-03 6.62896222e+01] [ 1.41025041e-02 1.95652657e-04 9.99900536e-01 4.33706198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.199254154 meters 0.014715796628506925 Centerline is valid? [True, True] Translation: X:978.34, Y:66.32, Z:4.34 [[ 8.02311091e-01 -5.96808017e-01 -1.08214326e-02 9.78341963e+02] [ 5.96750812e-01 8.02384048e-01 -8.26487098e-03 6.63229621e+01] [ 1.36154861e-02 1.73298968e-04 9.99907290e-01 4.33738094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.259254154 meters 0.01608380998491977 Centerline is valid? [True, True] Translation: X:978.39, Y:66.36, Z:4.34 [[ 8.00890475e-01 -5.98739643e-01 -9.23503795e-03 9.78391178e+02] [ 5.98698069e-01 8.00943709e-01 -7.05674059e-03 6.63559924e+01] [ 1.16218959e-02 1.22676940e-04 9.99932456e-01 4.33778752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.319254154 meters 0.014010809327745805 Centerline is valid? [True, True] Translation: X:978.44, Y:66.39, Z:4.34 [[ 7.99806942e-01 -6.00194564e-01 -8.67991284e-03 9.78440828e+02] [ 6.00157886e-01 7.99854034e-01 -6.63601183e-03 6.63887331e+01] [ 1.09255615e-02 9.82101901e-05 9.99940309e-01 4.34050400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.379254154 meters 0.014049694007088666 Centerline is valid? [True, True] Translation: X:978.49, Y:66.42, Z:4.34 [[ 7.99426545e-01 -6.00699447e-01 -8.79622924e-03 9.78486592e+02] [ 6.00661766e-01 7.99474931e-01 -6.72887888e-03 6.64239154e+01] [ 1.10743986e-02 9.56858064e-05 9.99938672e-01 4.33963458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.439254154 meters 0.014027286110232275 Centerline is valid? [True, True] Translation: X:978.53, Y:66.46, Z:4.34 [[ 7.99970952e-01 -5.99954417e-01 -1.00584888e-02 9.78531630e+02] [ 5.99905028e-01 8.00034175e-01 -7.69906712e-03 6.64620503e+01] [ 1.26662241e-02 1.24892075e-04 9.99919772e-01 4.33854199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.499254154 meters 0.01428329868341856 Centerline is valid? [True, True] Translation: X:978.57, Y:66.50, Z:4.34 [[ 8.00327171e-01 -5.99485282e-01 -9.68588418e-03 9.78574793e+02] [ 5.99439417e-01 8.00385770e-01 -7.41649770e-03 6.64988182e+01] [ 1.21985251e-02 1.29523850e-04 9.99925587e-01 4.33891659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.559254154 meters 0.014069856397494664 Centerline is valid? [True, True] Translation: X:978.62, Y:66.53, Z:4.34 [[ 7.99919378e-01 -6.00050697e-01 -8.25527170e-03 9.78620865e+02] [ 6.00017385e-01 7.99961968e-01 -6.32361431e-03 6.65348030e+01] [ 1.03983926e-02 1.05075093e-04 9.99945930e-01 4.34100217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.6192541539999 meters 0.014044088336915688 Centerline is valid? [True, True] Translation: X:978.66, Y:66.57, Z:4.34 [[ 7.99298218e-01 -6.00881418e-01 -7.99253600e-03 9.78664882e+02] [ 6.00850214e-01 7.99338172e-01 -6.12438352e-03 6.65718451e+01] [ 1.00687674e-02 9.28918707e-05 9.99949304e-01 4.34027000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.679254154 meters 0.013971741576762014 Centerline is valid? [True, True] Translation: X:978.71, Y:66.61, Z:4.34 [[ 7.99355882e-01 -6.00812515e-01 -7.38209400e-03 9.78708836e+02] [ 6.00785881e-01 7.99389963e-01 -5.65784724e-03 6.66075613e+01] [ 9.30047728e-03 8.75756213e-05 9.99956746e-01 4.34031112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.7392541539999 meters 0.01605562238519221 Centerline is valid? [True, True] Translation: X:978.75, Y:66.64, Z:4.34 [[ 7.98750908e-01 -6.01615743e-01 -7.44880732e-03 9.78754413e+02] [ 6.01588637e-01 7.98785635e-01 -5.71149219e-03 6.66435406e+01] [ 9.38612391e-03 8.09417224e-05 9.99955946e-01 4.33917800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.799254154 meters 0.013663213951451135 Centerline is valid? [True, True] Translation: X:978.80, Y:66.68, Z:4.34 [[ 7.98566278e-01 -6.01866334e-01 -6.98685533e-03 9.78800038e+02] [ 6.01842467e-01 7.98596838e-01 -5.36041464e-03 6.66790642e+01] [ 8.80593368e-03 7.56601183e-05 9.99961224e-01 4.34097159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.8592541539999 meters 0.013697798178421332 Centerline is valid? [True, True] Translation: X:978.85, Y:66.71, Z:4.34 [[ 7.98554310e-01 -6.01882805e-01 -6.93558961e-03 9.78845224e+02] [ 6.01859268e-01 7.98584425e-01 -5.32337631e-03 6.67144417e+01] [ 8.74270251e-03 7.67562162e-05 9.99961779e-01 4.34057920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.919254154 meters 0.014329532925389285 Centerline is valid? [True, True] Translation: X:978.89, Y:66.75, Z:4.34 [[ 7.97805149e-01 -6.02882949e-01 -6.25254687e-03 9.78891844e+02] [ 6.02863837e-01 7.97829647e-01 -4.80084526e-03 6.67499323e+01] [ 7.88281501e-03 6.07046729e-05 9.99968928e-01 4.34034228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.9792541539999 meters 0.013589983522144841 Centerline is valid? [True, True] Translation: X:978.94, Y:66.79, Z:4.34 [[ 7.97386829e-01 -6.03445182e-01 -5.30634174e-03 9.78938253e+02] [ 6.03431415e-01 7.97404483e-01 -4.07634654e-03 6.67855832e+01] [ 6.69115238e-03 4.84117330e-05 9.99977613e-01 4.34106361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.039254154 meters 0.013488977343111873 Centerline is valid? [True, True] Translation: X:978.99, Y:66.82, Z:4.34 [[ 7.97035522e-01 -6.03904493e-01 -5.80861761e-03 9.78985059e+02] [ 6.03887988e-01 7.97056686e-01 -4.46500557e-03 6.68206804e+01] [ 7.32623443e-03 5.10136436e-05 9.99973161e-01 4.34063096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.0992541539999 meters 0.013518016130338576 Centerline is valid? [True, True] Translation: X:979.03, Y:66.86, Z:4.34 [[ 7.97188273e-01 -6.03685046e-01 -7.43116301e-03 9.79032170e+02] [ 6.03657989e-01 7.97222905e-01 -5.71589600e-03 6.68562393e+01] [ 9.37489430e-03 7.07643419e-05 9.99956052e-01 4.33885298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.159254154 meters 0.013831960768861376 Centerline is valid? [True, True] Translation: X:979.08, Y:66.89, Z:4.34 [[ 7.98800670e-01 -6.01539681e-01 -8.21599033e-03 9.79078293e+02] [ 6.01506470e-01 7.98842914e-01 -6.32184789e-03 6.68920429e+01] [ 1.03661280e-02 1.07924987e-04 9.99946264e-01 4.33876118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.2192541539999 meters 0.014431166968862688 Centerline is valid? [True, True] Translation: X:979.12, Y:66.93, Z:4.34 [[ 7.99654366e-01 -6.00404372e-01 -8.21492401e-03 9.79123362e+02] [ 6.00371098e-01 7.99696551e-01 -6.32222505e-03 6.69281804e+01] [ 1.03653380e-02 1.23591916e-04 9.99946271e-01 4.33856199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.279254154 meters 0.016408828162963074 Centerline is valid? [True, True] Translation: X:979.17, Y:66.96, Z:4.34 [[ 7.99773775e-01 -6.00248438e-01 -7.98261787e-03 9.79169713e+02] [ 6.00216985e-01 7.99813602e-01 -6.14601326e-03 6.69631473e+01] [ 1.00737412e-02 1.24117395e-04 9.99949251e-01 4.33687770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.339254154 meters 0.013901533945503286 Centerline is valid? [True, True] Translation: X:979.22, Y:67.00, Z:4.34 [[ 7.98584760e-01 -6.01842387e-01 -6.93706430e-03 9.79218729e+02] [ 6.01818670e-01 7.98614884e-01 -5.34380569e-03 6.69964770e+01] [ 8.75617157e-03 9.26269780e-05 9.99961660e-01 4.34106115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.399254154 meters 0.013617172745324388 Centerline is valid? [True, True] Translation: X:979.27, Y:67.03, Z:4.34 [[ 7.97829144e-01 -6.02845791e-01 -6.75345999e-03 9.79265670e+02] [ 6.02823325e-01 7.97857722e-01 -5.20521669e-03 6.70314867e+01] [ 8.52624318e-03 8.17303682e-05 9.99963648e-01 4.34187012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.459254154 meters 0.013281172329646415 Centerline is valid? [True, True] Translation: X:979.31, Y:67.06, Z:4.34 [[ 7.95572761e-01 -6.05829415e-01 -5.89082799e-03 9.79313430e+02] [ 6.05812390e-01 7.95594569e-01 -4.54205913e-03 6.70644226e+01] [ 7.43842379e-03 4.48019352e-05 9.99972334e-01 4.34272451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.519254154 meters 0.014672448348940761 Centerline is valid? [True, True] Translation: X:979.36, Y:67.10, Z:4.34 [[ 7.94712250e-01 -6.06947493e-01 -6.86887442e-03 9.79358879e+02] [ 6.06924376e-01 7.94741933e-01 -5.29738116e-03 6.70987810e+01] [ 8.67421475e-03 4.10063784e-05 9.99962377e-01 4.34028803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.579254154 meters 0.01335144814023955 Centerline is valid? [True, True] Translation: X:979.41, Y:67.14, Z:4.34 [[ 7.95378093e-01 -6.06061333e-01 -7.95928494e-03 9.79405234e+02] [ 6.06030225e-01 7.95417913e-01 -6.14076436e-03 6.71358348e+01] [ 1.00526377e-02 6.06621961e-05 9.99949469e-01 4.34017643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.639254154 meters 0.014555106964513929 Centerline is valid? [True, True] Translation: X:979.45, Y:67.17, Z:4.34 [[ 7.96401782e-01 -6.04701116e-01 -8.98682352e-03 9.79451458e+02] [ 6.04661328e-01 7.96452480e-01 -6.93727641e-03 6.71718988e+01] [ 1.13525567e-02 9.08746455e-05 9.99935554e-01 4.33923447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.699254154 meters 0.014685225079881022 Centerline is valid? [True, True] Translation: X:979.49, Y:67.21, Z:4.34 [[ 7.98820777e-01 -6.01489163e-01 -9.80572891e-03 9.79494001e+02] [ 6.01441521e-01 7.98880945e-01 -7.57191032e-03 6.72114265e+01] [ 1.23880320e-02 1.51026776e-04 9.99923254e-01 4.33888149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.759254154 meters 0.015730025040227826 Centerline is valid? [True, True] Translation: X:979.54, Y:67.25, Z:4.34 [[ 8.00785429e-01 -5.98878786e-01 -9.32181008e-03 9.79540651e+02] [ 5.98835519e-01 8.00839663e-01 -7.20105897e-03 6.72480739e+01] [ 1.17778367e-02 1.84272111e-04 9.99930622e-01 4.33983039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.819254154 meters 0.016435547928508525 Centerline is valid? [True, True] Translation: X:979.59, Y:67.29, Z:4.34 [[ 8.02390923e-01 -5.96738153e-01 -8.50788590e-03 9.79586272e+02] [ 5.96701956e-01 8.02436002e-01 -6.57558961e-03 6.72850195e+01] [ 1.07509391e-02 1.99521261e-04 9.99942187e-01 4.34184434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.879254154 meters 0.01713423616523178 Centerline is valid? [True, True] Translation: X:979.63, Y:67.32, Z:4.34 [[ 8.03291300e-01 -5.95541748e-01 -7.28794386e-03 9.79631902e+02] [ 5.95515113e-01 8.03324338e-01 -5.63544488e-03 6.73218036e+01] [ 9.21072537e-03 1.86823124e-04 9.99957563e-01 4.34325830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.939254154 meters 0.015703647454891955 Centerline is valid? [True, True] Translation: X:979.68, Y:67.36, Z:4.35 [[ 8.04509749e-01 -5.93894260e-01 -7.32609968e-03 9.79677613e+02] [ 5.93867249e-01 8.04543078e-01 -5.66795479e-03 6.73588385e+01] [ 9.26032860e-03 2.09194224e-04 9.99957100e-01 4.34535334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.999254154 meters 0.01654188980275132 Centerline is valid? [True, True] Translation: X:979.72, Y:67.40, Z:4.34 [[ 8.05333773e-01 -5.92756281e-01 -8.80376838e-03 9.79721338e+02] [ 5.92717175e-01 8.05381847e-01 -6.81406878e-03 6.73970551e+01] [ 1.11294773e-02 2.69454998e-04 9.99938029e-01 4.34388765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.059254154 meters 0.01673667062425095 Centerline is valid? [True, True] Translation: X:979.77, Y:67.43, Z:4.34 [[ 8.05753705e-01 -5.92170759e-01 -9.73439736e-03 9.79767193e+02] [ 5.92122884e-01 8.05812445e-01 -7.53612792e-03 6.74332683e+01] [ 1.23067731e-02 3.08303550e-04 9.99924221e-01 4.34278687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.1192541539999 meters 0.016325213247075157 Centerline is valid? [True, True] Translation: X:979.81, Y:67.47, Z:4.34 [[ 8.05268575e-01 -5.92809396e-01 -1.09335309e-02 9.79811964e+02] [ 5.92749001e-01 8.05342725e-01 -8.46854453e-03 6.74696358e+01] [ 1.38254724e-02 3.38613245e-04 9.99904366e-01 4.34221635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.179254154 meters 0.01706643727107712 Centerline is valid? [True, True] Translation: X:979.86, Y:67.50, Z:4.34 [[ 8.03786870e-01 -5.94802906e-01 -1.16692007e-02 9.79858947e+02] [ 5.94734244e-01 8.03871504e-01 -9.04343698e-03 6.75049307e+01] [ 1.47596005e-02 3.28922651e-04 9.99891017e-01 4.34047885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.2392541539999 meters 0.015680520550751288 Centerline is valid? [True, True] Translation: X:979.91, Y:67.54, Z:4.34 [[ 8.03284311e-01 -5.95495343e-01 -1.09367478e-02 9.79906175e+02] [ 5.95435034e-01 8.03358704e-01 -8.48017169e-03 6.75399264e+01] [ 1.38360342e-02 2.99866104e-04 9.99904233e-01 4.34360057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.299254154 meters 0.016300767355947432 Centerline is valid? [True, True] Translation: X:979.95, Y:67.58, Z:4.34 [[ 8.03189992e-01 -5.95637709e-01 -1.00775104e-02 9.79950613e+02] [ 5.95586487e-01 8.03253163e-01 -7.81618788e-03 6.75762791e+01] [ 1.27504083e-02 2.75854889e-04 9.99918672e-01 4.34447542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.3592541539999 meters 0.01573668060421038 Centerline is valid? [True, True] Translation: X:980.00, Y:67.61, Z:4.35 [[ 8.02733929e-01 -5.96260066e-01 -9.60067744e-03 9.79998218e+02] [ 5.96213585e-01 8.02791298e-01 -7.44929839e-03 6.76115152e+01] [ 1.21490595e-02 2.55750252e-04 9.99926165e-01 4.34571142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.419254154 meters 0.015757250284144694 Centerline is valid? [True, True] Translation: X:980.04, Y:67.65, Z:4.35 [[ 8.01833066e-01 -5.97477486e-01 -9.18629611e-03 9.80043943e+02] [ 5.97434986e-01 8.01885654e-01 -7.12992587e-03 6.76470435e+01] [ 1.16263292e-02 2.28795635e-04 9.99932386e-01 4.34608575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.4792541539999 meters 0.014698461371434251 Centerline is valid? [True, True] Translation: X:980.09, Y:67.68, Z:4.35 [[ 8.01144084e-01 -5.98373621e-01 -1.08243590e-02 9.80090825e+02] [ 5.98314638e-01 8.01217164e-01 -8.40539469e-03 6.76815659e+01] [ 1.37022287e-02 2.57559779e-04 9.99906087e-01 4.34549292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.539254154 meters 0.01489031707758688 Centerline is valid? [True, True] Translation: X:980.14, Y:67.72, Z:4.34 [[ 8.00613931e-01 -5.99069991e-01 -1.15099323e-02 9.80135307e+02] [ 5.99003322e-01 8.00696619e-01 -8.94117232e-03 6.77173967e+01] [ 1.45723519e-02 2.63939447e-04 9.99893783e-01 4.34442337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.5992541539999 meters 0.01867257683068547 Centerline is valid? [True, True] Translation: X:980.18, Y:67.75, Z:4.34 [[ 7.98531665e-01 -6.01805433e-01 -1.33191567e-02 9.80180816e+02] [ 6.01716454e-01 7.98642697e-01 -1.03513860e-02 6.77540187e+01] [ 1.68667676e-02 2.51553720e-04 9.99857714e-01 4.33863150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.659254154 meters 0.013394446089804918 Centerline is valid? [True, True] Translation: X:980.23, Y:67.79, Z:4.35 [[ 7.95690396e-01 -6.05577772e-01 -1.23432470e-02 9.80231811e+02] [ 6.05501734e-01 7.95786111e-01 -9.59761994e-03 6.77850386e+01] [ 1.56346899e-02 1.62876524e-04 9.99877757e-01 4.34500481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.7192541539999 meters 0.012892383289617787 Centerline is valid? [True, True] Translation: X:980.28, Y:67.82, Z:4.35 [[ 7.91418547e-01 -6.11166204e-01 -1.15132003e-02 9.80280847e+02] [ 6.11100571e-01 7.91502285e-01 -8.95678020e-03 6.78180483e+01] [ 1.45868057e-02 5.28387014e-05 9.99893605e-01 4.34546911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.779254154 meters 0.013067650386831184 Centerline is valid? [True, True] Translation: X:980.33, Y:67.85, Z:4.35 [[ 7.86039719e-01 -6.18082635e-01 -1.07432032e-02 9.80329455e+02] [ 6.18026065e-01 7.86113129e-01 -8.36251309e-03 6.78496344e+01] [ 1.36140972e-02 -6.63121408e-05 9.99907322e-01 4.34642382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.839254154 meters 0.014122505696395754 Centerline is valid? [True, True] Translation: X:980.38, Y:67.88, Z:4.35 [[ 7.81177358e-01 -6.24214987e-01 -1.08436441e-02 9.80379136e+02] [ 6.24157878e-01 7.81252597e-01 -8.44532540e-03 6.78823178e+01] [ 1.37433238e-02 -1.70848918e-04 9.99905541e-01 4.34672600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.899254154 meters 0.014739755433956208 Centerline is valid? [True, True] Translation: X:980.43, Y:67.92, Z:4.35 [[ 7.78581977e-01 -6.27453515e-01 -1.05920169e-02 9.80426398e+02] [ 6.27399267e-01 7.78653991e-01 -8.25359964e-03 6.79176336e+01] [ 1.34262664e-02 -2.19319717e-04 9.99909840e-01 4.34721077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.959254154 meters 0.014599072226650167 Centerline is valid? [True, True] Translation: X:980.47, Y:67.96, Z:4.35 [[ 7.78957400e-01 -6.26976114e-01 -1.12392852e-02 9.80469848e+02] [ 6.26914910e-01 7.79038449e-01 -8.76307470e-03 6.79563210e+01] [ 1.42500738e-02 -2.20013591e-04 9.99898438e-01 4.34648760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.019254154 meters 0.01414453839671026 Centerline is valid? [True, True] Translation: X:980.51, Y:68.00, Z:4.34 [[ 7.81317879e-01 -6.24009896e-01 -1.24105654e-02 9.80512618e+02] [ 6.23934811e-01 7.81416417e-01 -9.68167114e-03 6.79965192e+01] [ 1.57392782e-02 -1.78921023e-04 9.99876114e-01 4.34499789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.079254154 meters 0.013629039974117385 Centerline is valid? [True, True] Translation: X:980.56, Y:68.04, Z:4.34 [[ 7.83484965e-01 -6.21290791e-01 -1.22090980e-02 9.80556779e+02] [ 6.21217742e-01 7.83580078e-01 -9.52772990e-03 6.80364858e+01] [ 1.54862968e-02 -1.19675191e-04 9.99880073e-01 4.34499473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.139254154 meters 0.014769030356365986 Centerline is valid? [True, True] Translation: X:980.60, Y:68.08, Z:4.35 [[ 7.86972091e-01 -6.16865357e-01 -1.23312561e-02 9.80598494e+02] [ 6.16790224e-01 7.87068695e-01 -9.62749139e-03 6.80784630e+01] [ 1.56444116e-02 -2.92311981e-05 9.99877618e-01 4.34515284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.199254154 meters 0.01316331888746526 Centerline is valid? [True, True] Translation: X:980.64, Y:68.12, Z:4.35 [[ 7.90893376e-01 -6.11859778e-01 -1.07368135e-02 9.80639885e+02] [ 6.11802324e-01 7.90966250e-01 -8.38496522e-03 6.81197545e+01] [ 1.36228800e-02 6.28060207e-05 9.99907202e-01 4.34796221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.259254154 meters 0.01498821122196044 Centerline is valid? [True, True] Translation: X:980.68, Y:68.16, Z:4.35 [[ 7.94242334e-01 -6.07506828e-01 -1.07037072e-02 9.80681583e+02] [ 6.07449311e-01 7.94314443e-01 -8.36065347e-03 6.81611397e+01] [ 1.35812633e-02 1.38425336e-04 9.99907761e-01 4.34773744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.319254154 meters 0.015772705685411982 Centerline is valid? [True, True] Translation: X:980.73, Y:68.20, Z:4.35 [[ 7.95548936e-01 -6.05798747e-01 -1.04770554e-02 9.80725117e+02] [ 6.05743447e-01 7.95617905e-01 -8.18692746e-03 6.82006379e+01] [ 1.32953633e-02 1.66693773e-04 9.99911599e-01 4.34801011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.379254154 meters 0.01473388179113001 Centerline is valid? [True, True] Translation: X:980.77, Y:68.24, Z:4.35 [[ 7.96806607e-01 -6.04155244e-01 -9.78118156e-03 9.80766689e+02] [ 6.04106890e-01 7.96866618e-01 -7.64580211e-03 6.82408156e+01] [ 1.24135485e-02 1.83346466e-04 9.99922932e-01 4.34958803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.439254154 meters 0.015104323378107862 Centerline is valid? [True, True] Translation: X:980.81, Y:68.28, Z:4.35 [[ 7.96398334e-01 -6.04683738e-01 -1.03571335e-02 9.80811728e+02] [ 6.04629513e-01 7.96465656e-01 -8.10003468e-03 6.82774417e+01] [ 1.31470604e-02 1.88625532e-04 9.99913556e-01 4.34970591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.499254154 meters 0.014319450527592193 Centerline is valid? [True, True] Translation: X:980.86, Y:68.32, Z:4.35 [[ 7.95624102e-01 -6.05697042e-01 -1.06480893e-02 9.80855551e+02] [ 6.05639750e-01 7.95695332e-01 -8.33260793e-03 6.83164555e+01] [ 1.35196709e-02 1.80717572e-04 9.99908589e-01 4.34961443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.559254154 meters 0.014127581286610623 Centerline is valid? [True, True] Translation: X:980.90, Y:68.35, Z:4.35 [[ 7.95629964e-01 -6.05678379e-01 -1.12543418e-02 9.80901302e+02] [ 6.05614305e-01 7.95709534e-01 -8.81200664e-03 6.83540832e+01] [ 1.42924290e-02 1.95306160e-04 9.99897839e-01 4.34948996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.6192541539999 meters 0.016304888401818866 Centerline is valid? [True, True] Translation: X:980.95, Y:68.39, Z:4.35 [[ 7.95441815e-01 -6.05883573e-01 -1.33196976e-02 9.80946788e+02] [ 6.05793751e-01 7.95553293e-01 -1.04350060e-02 6.83921340e+01] [ 1.69189280e-02 2.31450500e-04 9.99856838e-01 4.34656227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.679254154 meters 0.014054976387824734 Centerline is valid? [True, True] Translation: X:980.99, Y:68.43, Z:4.35 [[ 7.94574386e-01 -6.07032993e-01 -1.27471809e-02 9.80992620e+02] [ 6.06950830e-01 7.94676604e-01 -9.98923545e-03 6.84274553e+01] [ 1.61936819e-02 2.00278583e-04 9.99868854e-01 4.34878773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.7392541539999 meters 0.013891586093424623 Centerline is valid? [True, True] Translation: X:981.04, Y:68.46, Z:4.35 [[ 7.93379259e-01 -6.08619571e-01 -1.14703653e-02 9.81039408e+02] [ 6.08553156e-01 7.93462156e-01 -8.99240037e-03 6.84633440e+01] [ 1.45742517e-02 1.54056926e-04 9.99893778e-01 4.34986842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.799254154 meters 0.013531678700174622 Centerline is valid? [True, True] Translation: X:981.09, Y:68.50, Z:4.35 [[ 7.91774599e-01 -6.10737926e-01 -9.60051388e-03 9.81086487e+02] [ 6.10691511e-01 7.91832795e-01 -7.53015767e-03 6.84982263e+01] [ 1.22009546e-02 9.92352413e-05 9.99925561e-01 4.35185347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.8592541539999 meters 0.01661298437775512 Centerline is valid? [True, True] Translation: X:981.13, Y:68.53, Z:4.35 [[ 7.90220498e-01 -6.12749476e-01 -9.46806415e-03 9.81132315e+02] [ 6.12704431e-01 7.90277214e-01 -7.43004160e-03 6.85346773e+01] [ 1.20351495e-02 7.02463248e-05 9.99927572e-01 4.34972683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.919254154 meters 0.013384827534081406 Centerline is valid? [True, True] Translation: X:981.18, Y:68.57, Z:4.35 [[ 7.90959898e-01 -6.11805216e-01 -8.76453036e-03 9.81176779e+02] [ 6.11766517e-01 7.91008452e-01 -6.88170937e-03 6.85713653e+01] [ 1.11430833e-02 8.13099337e-05 9.99937911e-01 4.35260768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.9792541539999 meters 0.01579232220079463 Centerline is valid? [True, True] Translation: X:981.22, Y:68.61, Z:4.35 [[ 7.92283726e-01 -6.10076634e-01 -9.64353560e-03 9.81220933e+02] [ 6.10029602e-01 7.92342404e-01 -7.57618552e-03 6.86101357e+01] [ 1.22630359e-02 1.19646309e-04 9.99924799e-01 4.34983029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.039254154 meters 0.016252152282858544 Centerline is valid? [True, True] Translation: X:981.26, Y:68.65, Z:4.35 [[ 7.95005966e-01 -6.06510621e-01 -1.05062046e-02 9.81264315e+02] [ 6.06454427e-01 7.95075360e-01 -8.25827581e-03 6.86503053e+01] [ 1.33619564e-02 1.93844235e-04 9.99910706e-01 4.34896674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.0992541539999 meters 0.015330125281599064 Centerline is valid? [True, True] Translation: X:981.31, Y:68.69, Z:4.35 [[ 7.97544375e-01 -6.03156568e-01 -1.11858934e-02 9.81307971e+02] [ 6.03092500e-01 7.97622769e-01 -8.79513136e-03 6.86893176e+01] [ 1.42269645e-02 2.68379113e-04 9.99898756e-01 4.34955857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.159254154 meters 0.015304547693070058 Centerline is valid? [True, True] Translation: X:981.35, Y:68.73, Z:4.35 [[ 7.98398918e-01 -6.02031962e-01 -1.08020597e-02 9.81354484e+02] [ 6.01972063e-01 7.98471939e-01 -8.49687866e-03 6.87250838e+01] [ 1.37405341e-02 2.81360534e-04 9.99905555e-01 4.35093125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.2192541539999 meters 0.017230571732630297 Centerline is valid? [True, True] Translation: X:981.40, Y:68.76, Z:4.35 [[ 7.97816871e-01 -6.02822621e-01 -9.65027311e-03 9.81398375e+02] [ 6.02774841e-01 7.97875197e-01 -7.59352197e-03 6.87629074e+01] [ 1.22772604e-02 2.41298106e-04 9.99924602e-01 4.35095391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.279254154 meters 0.014854890293408089 Centerline is valid? [True, True] Translation: X:981.45, Y:68.80, Z:4.35 [[ 7.96476057e-01 -6.04605993e-01 -8.80253987e-03 9.81448628e+02] [ 6.04566317e-01 7.96524673e-01 -6.92919200e-03 6.87950395e+01] [ 1.12008712e-02 1.97216414e-04 9.99937249e-01 4.35390217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.339254154 meters 0.01443563322997401 Centerline is valid? [True, True] Translation: X:981.50, Y:68.83, Z:4.35 [[ 7.94535775e-01 -6.07143926e-01 -9.44217795e-03 9.81496010e+02] [ 6.07098407e-01 7.94591858e-01 -7.43655064e-03 6.88297462e+01] [ 1.20177343e-02 1.76274332e-04 9.99927769e-01 4.35412393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.399254154 meters 0.014011297200033971 Centerline is valid? [True, True] Translation: X:981.54, Y:68.86, Z:4.35 [[ 7.92769143e-01 -6.09434783e-01 -1.03117057e-02 9.81543095e+02] [ 6.09380631e-01 7.92836188e-01 -8.12566807e-03 6.88647534e+01] [ 1.31275582e-02 1.58025162e-04 9.99913817e-01 4.35396818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.459254154 meters 0.01380106651683719 Centerline is valid? [True, True] Translation: X:981.59, Y:68.90, Z:4.35 [[ 7.91238403e-01 -6.11402438e-01 -1.13511810e-02 9.81590529e+02] [ 6.11336951e-01 7.91319808e-01 -8.94946726e-03 6.89001017e+01] [ 1.44541404e-02 1.41765822e-04 9.99895523e-01 4.35298553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.519254154 meters 0.014859004204396195 Centerline is valid? [True, True] Translation: X:981.64, Y:68.93, Z:4.35 [[ 7.89560352e-01 -6.13535193e-01 -1.30006675e-02 9.81638249e+02] [ 6.13449478e-01 7.89667368e-01 -1.02559911e-02 6.89341555e+01] [ 1.65586144e-02 1.22471266e-04 9.99862889e-01 4.35199497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.579254154 meters 0.01430719340590336 Centerline is valid? [True, True] Translation: X:981.69, Y:68.97, Z:4.35 [[ 7.88204442e-01 -6.15263449e-01 -1.35884256e-02 9.81685426e+02] [ 6.15169953e-01 7.88321558e-01 -1.07261426e-02 6.89685119e+01] [ 1.73114524e-02 9.52020826e-05 9.99850141e-01 4.35261886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.639254154 meters 0.01426350841740603 Centerline is valid? [True, True] Translation: X:981.73, Y:69.00, Z:4.35 [[ 7.87298124e-01 -6.16404647e-01 -1.43866558e-02 9.81731742e+02] [ 6.16299906e-01 7.87429556e-01 -1.13631323e-02 6.90031754e+01] [ 1.83327655e-02 7.96781605e-05 9.99831938e-01 4.35245827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.699254154 meters 0.015456463891153585 Centerline is valid? [True, True] Translation: X:981.78, Y:69.04, Z:4.35 [[ 7.86985745e-01 -6.16782780e-01 -1.52459523e-02 9.81778115e+02] [ 6.16665095e-01 7.87133404e-01 -1.20484312e-02 6.90387667e+01] [ 1.94318632e-02 8.02969282e-05 9.99811180e-01 4.35223002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.759254154 meters 0.013162335302935115 Centerline is valid? [True, True] Translation: X:981.82, Y:69.08, Z:4.35 [[ 7.88018275e-01 -6.15494224e-01 -1.39304907e-02 9.81824627e+02] [ 6.15395670e-01 7.88141389e-01 -1.10145504e-02 6.90751141e+01] [ 1.77585884e-02 1.06903360e-04 9.99842298e-01 4.35491867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.819254154 meters 0.014068751578567566 Centerline is valid? [True, True] Translation: X:981.87, Y:69.11, Z:4.35 [[ 7.88306623e-01 -6.15107288e-01 -1.46865054e-02 9.81870790e+02] [ 6.14997562e-01 7.88443409e-01 -1.16185385e-02 6.91120487e+01] [ 1.87261261e-02 1.26805797e-04 9.99824643e-01 4.35499090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.879254154 meters 0.013223996479814579 Centerline is valid? [True, True] Translation: X:981.92, Y:69.15, Z:4.36 [[ 7.89371078e-01 -6.13788832e-01 -1.25128260e-02 9.81916159e+02] [ 6.13708978e-01 7.89470234e-01 -9.90149284e-03 6.91475617e+01] [ 1.59559294e-02 1.36718448e-04 9.99872687e-01 4.35743465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.939254154 meters 0.013446455436522543 Centerline is valid? [True, True] Translation: X:981.96, Y:69.18, Z:4.36 [[ 7.90200925e-01 -6.12707745e-01 -1.31040639e-02 9.81961880e+02] [ 6.12619943e-01 7.90309553e-01 -1.03737645e-02 6.91845623e+01] [ 1.67123527e-02 1.69547406e-04 9.99860325e-01 4.35702767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.999254154 meters 0.013652541730135893 Centerline is valid? [True, True] Translation: X:982.01, Y:69.22, Z:4.36 [[ 7.90779401e-01 -6.11950853e-01 -1.35680958e-02 9.82007678e+02] [ 6.11856516e-01 7.90895768e-01 -1.07465871e-02 6.92213641e+01] [ 1.73073327e-02 1.96451871e-04 9.99850198e-01 4.35664057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.059254154 meters 0.01537723334495174 Centerline is valid? [True, True] Translation: X:982.06, Y:69.26, Z:4.36 [[ 7.92253367e-01 -6.09990616e-01 -1.56859899e-02 9.82055736e+02] [ 6.09864006e-01 7.92408587e-01 -1.24308095e-02 6.92559135e+01] [ 2.00123902e-02 2.82030080e-04 9.99799692e-01 4.35744290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.1192541539999 meters 0.013940892690382534 Centerline is valid? [True, True] Translation: X:982.10, Y:69.29, Z:4.36 [[ 7.93787091e-01 -6.08010363e-01 -1.50150499e-02 9.82102450e+02] [ 6.07893878e-01 7.93929023e-01 -1.19054205e-02 6.92924548e+01] [ 1.91595029e-02 3.22812238e-04 9.99816388e-01 4.35822861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.179254154 meters 0.015549890610708108 Centerline is valid? [True, True] Translation: X:982.15, Y:69.33, Z:4.36 [[ 7.97053528e-01 -6.03698259e-01 -1.59400438e-02 9.82147068e+02] [ 6.03566051e-01 7.97212772e-01 -1.26418893e-02 6.93298675e+01] [ 2.03394931e-02 4.55393138e-04 9.99793027e-01 4.35725102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.2392541539999 meters 0.01612460892758442 Centerline is valid? [True, True] Translation: X:982.19, Y:69.37, Z:4.36 [[ 7.97478931e-01 -6.03134846e-01 -1.59909963e-02 9.82192096e+02] [ 6.03001633e-01 7.97639100e-01 -1.26845341e-02 6.93659206e+01] [ 2.04055285e-02 4.73051833e-04 9.99791674e-01 4.35735482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.299254154 meters 0.016615950536062615 Centerline is valid? [True, True] Translation: X:982.24, Y:69.40, Z:4.36 [[ 7.97732255e-01 -6.02804382e-01 -1.58153547e-02 9.82240855e+02] [ 6.02673901e-01 7.97888868e-01 -1.25508186e-02 6.93995361e+01] [ 2.01845839e-02 4.80691342e-04 9.99796155e-01 4.35967598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.3592541539999 meters 0.020606961582851895 Centerline is valid? [True, True] Translation: X:982.29, Y:69.44, Z:4.36 [[ 7.97408308e-01 -6.03203333e-01 -1.69035210e-02 9.82285163e+02] [ 6.03054291e-01 7.97587289e-01 -1.34178466e-02 6.94368639e+01] [ 2.15757232e-02 5.05761463e-04 9.99767089e-01 4.35666263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.419254154 meters 0.0188813433621995 Centerline is valid? [True, True] Translation: X:982.33, Y:69.47, Z:4.36 [[ 7.97444932e-01 -6.03190558e-01 -1.55798430e-02 9.82332304e+02] [ 6.03063846e-01 7.97596972e-01 -1.23720715e-02 6.94720453e+01] [ 1.98891523e-02 4.70405730e-04 9.99802081e-01 4.35885157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.4792541539999 meters 0.018072770202198624 Centerline is valid? [True, True] Translation: X:982.38, Y:69.50, Z:4.36 [[ 7.97242076e-01 -6.03359502e-01 -1.90363458e-02 9.82384295e+02] [ 6.03170274e-01 7.97469111e-01 -1.51207846e-02 6.95006113e+01] [ 2.43041668e-02 5.72767828e-04 9.99704446e-01 4.36182889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.539254154 meters 0.016022312686729885 Centerline is valid? [True, True] Translation: X:982.43, Y:69.54, Z:4.36 [[ 7.97209053e-01 -6.03419928e-01 -1.84964029e-02 9.82430910e+02] [ 6.03241118e-01 7.97423398e-01 -1.46995844e-02 6.95356084e+01] [ 2.36194866e-02 5.60851023e-04 9.99720864e-01 4.36259896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.5992541539999 meters 0.015287435799892921 Centerline is valid? [True, True] Translation: X:982.48, Y:69.57, Z:4.36 [[ 7.96292807e-01 -6.04591805e-01 -1.96599976e-02 9.82479428e+02] [ 6.04389899e-01 7.96535265e-01 -1.56340001e-02 6.95680934e+01] [ 2.51120697e-02 5.66937891e-04 9.99684481e-01 4.36346139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.659254154 meters 0.01545041269139129 Centerline is valid? [True, True] Translation: X:982.53, Y:69.60, Z:4.36 [[ 7.92842933e-01 -6.09102886e-01 -1.98433608e-02 9.82529483e+02] [ 6.08898470e-01 7.93091097e-01 -1.57849820e-02 6.95984181e+01] [ 2.53522709e-02 4.32419417e-04 9.99678486e-01 4.36407435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.7192541539999 meters 0.015980995533778204 Centerline is valid? [True, True] Translation: X:982.58, Y:69.63, Z:4.37 [[ 7.90472218e-01 -6.12180999e-01 -1.97001666e-02 9.82577236e+02] [ 6.11980398e-01 7.90717593e-01 -1.56741673e-02 6.96308177e+01] [ 2.51726957e-02 3.33877965e-04 9.99683062e-01 4.36513222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.779254154 meters 0.013287032400207273 Centerline is valid? [True, True] Translation: X:982.63, Y:69.66, Z:4.37 [[ 7.87507151e-01 -6.16087462e-01 -1.63928630e-02 9.82627447e+02] [ 6.15949342e-01 7.87677731e-01 -1.30460503e-02 6.96624652e+01] [ 2.09498011e-02 1.76684711e-04 9.99780513e-01 4.36816540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.839254154 meters 0.013150523099588522 Centerline is valid? [True, True] Translation: X:982.67, Y:69.70, Z:4.37 [[ 7.87278769e-01 -6.16388307e-01 -1.60497648e-02 9.82673006e+02] [ 6.16255834e-01 7.87442332e-01 -1.27796989e-02 6.96986952e+01] [ 2.05155212e-02 1.70424447e-04 9.99789520e-01 4.36890940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.899254154 meters 0.013363710677539097 Centerline is valid? [True, True] Translation: X:982.72, Y:69.74, Z:4.37 [[ 7.88694674e-01 -6.14548587e-01 -1.70512581e-02 9.82716503e+02] [ 6.14398473e-01 7.88878937e-01 -1.35844937e-02 6.97385393e+01] [ 2.17997098e-02 2.37750897e-04 9.99762330e-01 4.36801049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.959254154 meters 0.01370306771691023 Centerline is valid? [True, True] Translation: X:982.76, Y:69.78, Z:4.37 [[ 7.90785610e-01 -6.11811525e-01 -1.85681623e-02 9.82759654e+02] [ 6.11632663e-01 7.91003501e-01 -1.47968378e-02 6.97781819e+01] [ 2.37403573e-02 3.44231796e-04 9.99718099e-01 4.36771031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.019254154 meters 0.017153832039775847 Centerline is valid? [True, True] Translation: X:982.80, Y:69.82, Z:4.37 [[ 7.91516603e-01 -6.10813682e-01 -2.02018120e-02 9.82802587e+02] [ 6.10601552e-01 7.91774260e-01 -1.61017559e-02 6.98173259e+01] [ 2.58304475e-02 4.09549349e-04 9.99666254e-01 4.36698618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.079254154 meters 0.013800820041143693 Centerline is valid? [True, True] Translation: X:982.85, Y:69.85, Z:4.37 [[ 7.90244364e-01 -6.12555743e-01 -1.70090119e-02 9.82848505e+02] [ 6.12405672e-01 7.90427334e-01 -1.35617954e-02 6.98544088e+01] [ 2.17517436e-02 3.00717052e-04 9.99763358e-01 4.36850327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.139254154 meters 0.013261016216010089 Centerline is valid? [True, True] Translation: X:982.90, Y:69.89, Z:4.37 [[ 7.88335582e-01 -6.15036807e-01 -1.60229828e-02 9.82895121e+02] [ 6.14904024e-01 7.88498368e-01 -1.27814383e-02 6.98913049e+01] [ 2.04951508e-02 2.23466037e-04 9.99789927e-01 4.36922989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.199254154 meters 0.012799494592482268 Centerline is valid? [True, True] Translation: X:982.94, Y:69.93, Z:4.37 [[ 7.87013224e-01 -6.16736918e-01 -1.56766961e-02 9.82942130e+02] [ 6.16610020e-01 7.87169322e-01 -1.25116857e-02 6.99269610e+01] [ 2.00566327e-02 1.80454255e-04 9.99798829e-01 4.37041677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.259254154 meters 0.0125573675062985 Centerline is valid? [True, True] Translation: X:982.99, Y:69.96, Z:4.37 [[ 7.85343297e-01 -6.18870051e-01 -1.53546685e-02 9.82987747e+02] [ 6.18748657e-01 7.85493376e-01 -1.22578821e-02 6.99620201e+01] [ 1.96470265e-02 1.25965040e-04 9.99806971e-01 4.36915213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.319254154 meters 0.012478740021695564 Centerline is valid? [True, True] Translation: X:983.03, Y:70.00, Z:4.37 [[ 7.83612472e-01 -6.21065830e-01 -1.51237580e-02 9.83034813e+02] [ 6.20948367e-01 7.83758400e-01 -1.20787766e-02 6.99978344e+01] [ 1.93550877e-02 7.40071727e-05 9.99812670e-01 4.36888481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.379254154 meters 0.012213384304207667 Centerline is valid? [True, True] Translation: X:983.08, Y:70.03, Z:4.37 [[ 7.82121107e-01 -6.22958606e-01 -1.44619638e-02 9.83082192e+02] [ 6.22851410e-01 7.82254801e-01 -1.15562761e-02 7.00336459e+01] [ 1.85120223e-02 3.07528638e-05 9.99828637e-01 4.37084525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.439254154 meters 0.012210644721260001 Centerline is valid? [True, True] Translation: X:983.13, Y:70.07, Z:4.37 [[ 7.81404199e-01 -6.23874295e-01 -1.37237616e-02 9.83129100e+02] [ 6.23777804e-01 7.81524705e-01 -1.09721223e-02 7.00696915e+01] [ 1.75706838e-02 1.30846039e-05 9.99845624e-01 4.37067772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.499254154 meters 0.012360808041818862 Centerline is valid? [True, True] Translation: X:983.17, Y:70.11, Z:4.37 [[ 7.81041907e-01 -6.24335456e-01 -1.33708009e-02 9.83174391e+02] [ 6.24243853e-01 7.81156347e-01 -1.06945656e-02 7.01050690e+01] [ 1.71216825e-02 6.26364752e-06 9.99853413e-01 4.37030165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.559254154 meters 0.012260985214786 Centerline is valid? [True, True] Translation: X:983.22, Y:70.14, Z:4.37 [[ 7.81533395e-01 -6.23738369e-01 -1.24899751e-02 9.83220586e+02] [ 6.23658285e-01 7.81633192e-01 -9.99482300e-03 7.01422127e+01] [ 1.59967337e-02 2.18115162e-05 9.99872044e-01 4.37122861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.6192541539999 meters 0.012798813003698242 Centerline is valid? [True, True] Translation: X:983.26, Y:70.18, Z:4.37 [[ 7.83555414e-01 -6.21201696e-01 -1.22215425e-02 9.83263962e+02] [ 6.21124657e-01 7.83650718e-01 -9.78333427e-03 7.01806485e+01] [ 1.56548444e-02 7.46831684e-05 9.99877453e-01 4.37126448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.679254154 meters 0.013254025411207708 Centerline is valid? [True, True] Translation: X:983.31, Y:70.22, Z:4.37 [[ 7.86266688e-01 -6.17771625e-01 -1.19547054e-02 9.83307719e+02] [ 6.17697451e-01 7.86357551e-01 -9.57394194e-03 7.02205382e+01] [ 1.53151825e-02 1.43280559e-04 9.99882705e-01 4.37046008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.7392541539999 meters 0.013334272240313513 Centerline is valid? [True, True] Translation: X:983.35, Y:70.26, Z:4.37 [[ 7.88573597e-01 -6.14846851e-01 -1.07253093e-02 9.83352833e+02] [ 6.14786819e-01 7.88646509e-01 -8.59365241e-03 7.02590758e+01] [ 1.37422579e-02 1.82948606e-04 9.99905554e-01 4.37097105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.799254154 meters 0.013886631660266631 Centerline is valid? [True, True] Translation: X:983.40, Y:70.30, Z:4.37 [[ 7.89739366e-01 -6.13371506e-01 -9.33431252e-03 9.83398255e+02] [ 6.13325888e-01 7.89794506e-01 -7.48285500e-03 7.02962860e+01] [ 1.19619588e-02 1.84529642e-04 9.99928436e-01 4.37204187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.8592541539999 meters 0.01510106887924589 Centerline is valid? [True, True] Translation: X:983.44, Y:70.33, Z:4.37 [[ 7.90344628e-01 -6.12601851e-01 -8.62210883e-03 9.83443319e+02] [ 6.12562844e-01 7.90391636e-01 -6.91543427e-03 7.03338467e+01] [ 1.10512505e-02 1.83992820e-04 9.99938916e-01 4.37208987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.919254154 meters 0.014385149821849203 Centerline is valid? [True, True] Translation: X:983.49, Y:70.37, Z:4.37 [[ 7.91109124e-01 -6.11637285e-01 -6.79607692e-03 9.83489225e+02] [ 6.11612993e-01 7.91138298e-01 -5.45337449e-03 7.03708190e+01] [ 8.71212389e-03 1.57645365e-04 9.99962036e-01 4.37231140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.9792541539999 meters 0.014470234703114513 Centerline is valid? [True, True] Translation: X:983.53, Y:70.41, Z:4.37 [[ 7.90691717e-01 -6.12186899e-01 -5.81455218e-03 9.83534691e+02] [ 6.12169116e-01 7.90713085e-01 -4.66795732e-03 7.04076888e+01] [ 7.45530481e-03 1.31425916e-04 9.99972200e-01 4.37239748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.039254154 meters 0.01385350836396943 Centerline is valid? [True, True] Translation: X:983.58, Y:70.44, Z:4.37 [[ 7.89856133e-01 -6.13262481e-01 -6.03479917e-03 9.83581785e+02] [ 6.13243337e-01 7.89879176e-01 -4.84732742e-03 7.04431810e+01] [ 7.73944624e-03 1.27890908e-04 9.99970042e-01 4.37162152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.0992541539999 meters 0.015148468114317158 Centerline is valid? [True, True] Translation: X:983.63, Y:70.48, Z:4.37 [[ 7.89417410e-01 -6.13822135e-01 -6.52217952e-03 9.83625679e+02] [ 6.13799775e-01 7.89444342e-01 -5.24099458e-03 7.04803295e+01] [ 8.36593620e-03 1.34020052e-04 9.99964996e-01 4.37094969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.159254154 meters 0.013730174497551954 Centerline is valid? [True, True] Translation: X:983.67, Y:70.51, Z:4.37 [[ 7.88620116e-01 -6.14837337e-01 -7.30490006e-03 9.83672878e+02] [ 6.14809307e-01 7.88653935e-01 -5.87256117e-03 7.05147197e+01] [ 9.37170805e-03 1.40099331e-04 9.99956075e-01 4.37017156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.2192541539999 meters 0.01592175336476349 Centerline is valid? [True, True] Translation: X:983.72, Y:70.55, Z:4.37 [[ 7.87227055e-01 -6.16607906e-01 -8.26157914e-03 9.83719602e+02] [ 6.16572109e-01 7.87270393e-01 -6.64549358e-03 7.05507902e+01] [ 1.06017605e-02 1.37653066e-04 9.99943790e-01 4.36957509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.279254154 meters 0.012909952711686068 Centerline is valid? [True, True] Translation: X:983.77, Y:70.59, Z:4.37 [[ 7.85240432e-01 -6.19152675e-01 -6.88690042e-03 9.83767203e+02] [ 6.19127875e-01 7.85270627e-01 -5.54232768e-03 7.05854157e+01] [ 8.83962761e-03 8.81877618e-05 9.99960926e-01 4.37023619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.339254154 meters 0.012346459630755154 Centerline is valid? [True, True] Translation: X:983.82, Y:70.62, Z:4.37 [[ 7.81488668e-01 -6.23892662e-01 -5.78000988e-03 9.83816760e+02] [ 6.23875306e-01 7.81510042e-01 -4.65371216e-03 7.06183807e+01] [ 7.42055263e-03 3.08178767e-05 9.99972467e-01 4.37187882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.399254154 meters 0.01231325302974915 Centerline is valid? [True, True] Translation: X:983.86, Y:70.65, Z:4.37 [[ 7.77643918e-01 -6.28679383e-01 -5.67192782e-03 9.83864356e+02] [ 6.28662779e-01 7.77664602e-01 -4.56919720e-03 7.06511354e+01] [ 7.28341756e-03 -1.25214912e-05 9.99973475e-01 4.37245103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.459254154 meters 0.013647761547373656 Centerline is valid? [True, True] Translation: X:983.91, Y:70.69, Z:4.37 [[ 7.75070327e-01 -6.31842552e-01 -6.40131768e-03 9.83910799e+02] [ 6.31821485e-01 7.75096760e-01 -5.15991092e-03 7.06866667e+01] [ 8.22189187e-03 -4.51961952e-05 9.99966199e-01 4.37240918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.519254154 meters 0.012784513986884545 Centerline is valid? [True, True] Translation: X:983.96, Y:70.72, Z:4.37 [[ 7.74443522e-01 -6.32607355e-01 -6.72049504e-03 9.83955521e+02] [ 6.32584144e-01 7.74472679e-01 -5.41934687e-03 7.07228244e+01] [ 8.63315849e-03 -5.43005271e-05 9.99962732e-01 4.37200022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.579254154 meters 0.012764799361774224 Centerline is valid? [True, True] Translation: X:984.00, Y:70.76, Z:4.37 [[ 7.74898547e-01 -6.32035419e-01 -7.96687215e-03 9.83998805e+02] [ 6.32002740e-01 7.74939499e-01 -6.42733912e-03 7.07615487e+01] [ 1.02361499e-02 -5.45492774e-05 9.99947608e-01 4.37111173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.639254154 meters 0.013731997395355274 Centerline is valid? [True, True] Translation: X:984.04, Y:70.80, Z:4.37 [[ 7.76211717e-01 -6.30400771e-01 -9.49939266e-03 9.84041353e+02] [ 6.30354127e-01 7.76269842e-01 -7.66860877e-03 7.08019174e+01] [ 1.22083889e-02 -3.55173847e-05 9.99925474e-01 4.37071265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.699254154 meters 0.012601233012732365 Centerline is valid? [True, True] Translation: X:984.08, Y:70.84, Z:4.37 [[ 7.76858853e-01 -6.29603699e-01 -9.46067818e-03 9.84084796e+02] [ 6.29557340e-01 7.76916457e-01 -7.64029626e-03 7.08392037e+01] [ 1.21605154e-02 -2.06075931e-05 9.99926058e-01 4.37073513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.759254154 meters 0.012479750597852028 Centerline is valid? [True, True] Translation: X:984.13, Y:70.88, Z:4.37 [[ 7.77430160e-01 -6.28916033e-01 -8.18350362e-03 9.84128319e+02] [ 6.28881280e-01 7.77473230e-01 -6.61151675e-03 7.08790425e+01] [ 1.05205439e-02 -6.45970168e-06 9.99944658e-01 4.37334999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.819254154 meters 0.012503917758448795 Centerline is valid? [True, True] Translation: X:984.17, Y:70.92, Z:4.37 [[ 7.77475586e-01 -6.28870959e-01 -7.28222328e-03 9.84171079e+02] [ 6.28843418e-01 7.77509689e-01 -5.88544945e-03 7.09165622e+01] [ 9.36318739e-03 -3.58491868e-06 9.99956164e-01 4.37414864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.879254154 meters 0.012571279726699282 Centerline is valid? [True, True] Translation: X:984.21, Y:70.96, Z:4.37 [[ 7.77364282e-01 -6.29007199e-01 -7.39714962e-03 9.84213813e+02] [ 6.28978763e-01 7.77399475e-01 -5.98090883e-03 7.09553265e+01] [ 9.51257494e-03 -3.30513082e-06 9.99954754e-01 4.37400581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.939254154 meters 0.012521140868275165 Centerline is valid? [True, True] Translation: X:984.26, Y:71.00, Z:4.37 [[ 7.77667675e-01 -6.28621174e-01 -8.27087646e-03 9.84256799e+02] [ 6.28585559e-01 7.77711656e-01 -6.69143914e-03 7.09952616e+01] [ 1.06387374e-02 4.76240979e-06 9.99943407e-01 4.37310393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.999254154 meters 0.012473206712642543 Centerline is valid? [True, True] Translation: X:984.30, Y:71.03, Z:4.37 [[ 7.78069289e-01 -6.28115453e-01 -8.89720512e-03 9.84298873e+02] [ 6.28074174e-01 7.78120156e-01 -7.20095000e-03 7.10339682e+01] [ 1.14461226e-02 1.47332839e-05 9.99934491e-01 4.37182165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.059254154 meters 0.015313865695312292 Centerline is valid? [True, True] Translation: X:984.34, Y:71.08, Z:4.37 [[ 7.79137000e-01 -6.26774474e-01 -9.96459506e-03 9.84340614e+02] [ 6.26722543e-01 7.79200716e-01 -8.06831128e-03 7.10753871e+01] [ 1.28214312e-02 4.12834867e-05 9.99917801e-01 4.37076340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.1192541539999 meters 0.012658984936628755 Centerline is valid? [True, True] Translation: X:984.38, Y:71.12, Z:4.37 [[ 7.79834952e-01 -6.25882223e-01 -1.13530342e-02 9.84381993e+02] [ 6.25814675e-01 7.79917585e-01 -9.19531925e-03 7.11155563e+01] [ 1.46096179e-02 6.59359310e-05 9.99893272e-01 4.36900425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.179254154 meters 0.013434113052085285 Centerline is valid? [True, True] Translation: X:984.42, Y:71.16, Z:4.37 [[ 7.80381110e-01 -6.25179839e-01 -1.24696330e-02 9.84424118e+02] [ 6.25098189e-01 7.80480724e-01 -1.01041184e-02 7.11568377e+01] [ 1.60491993e-02 9.03181048e-05 9.99871199e-01 4.36914943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.2392541539999 meters 0.014089360643959608 Centerline is valid? [True, True] Translation: X:984.47, Y:71.19, Z:4.37 [[ 7.79016996e-01 -6.26897279e-01 -1.15030852e-02 9.84469113e+02] [ 6.26827912e-01 7.79101918e-01 -9.32580284e-03 7.11948594e+01] [ 1.48083961e-02 5.45040609e-05 9.99890348e-01 4.37165555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.299254154 meters 0.013094851879011842 Centerline is valid? [True, True] Translation: X:984.52, Y:71.23, Z:4.37 [[ 7.76998049e-01 -6.29431961e-01 -9.45713623e-03 9.84515285e+02] [ 6.29385216e-01 7.77055600e-01 -7.67094985e-03 7.12318794e+01] [ 1.21770617e-02 8.13133549e-06 9.99925857e-01 4.37434901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.3592541539999 meters 0.012166699646553099 Centerline is valid? [True, True] Translation: X:984.56, Y:71.27, Z:4.37 [[ 7.75852730e-01 -6.30849115e-01 -9.05186872e-03 9.84558567e+02] [ 6.30806356e-01 7.75905532e-01 -7.34484155e-03 7.12694077e+01] [ 1.16568818e-02 -1.14609571e-05 9.99932056e-01 4.37447308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.419254154 meters 0.013458726829665774 Centerline is valid? [True, True] Translation: X:984.60, Y:71.31, Z:4.37 [[ 7.75727769e-01 -6.30985827e-01 -1.01643157e-02 9.84602248e+02] [ 6.30931876e-01 7.75794358e-01 -8.25117410e-03 7.13084936e+01] [ 1.30917927e-02 -1.23258738e-05 9.99914299e-01 4.37314035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.4792541539999 meters 0.012940700769952412 Centerline is valid? [True, True] Translation: X:984.65, Y:71.35, Z:4.37 [[ 7.75430376e-01 -6.31335517e-01 -1.10993716e-02 9.84645968e+02] [ 6.31271180e-01 7.75509809e-01 -9.01295537e-03 7.13460976e+01] [ 1.42978704e-02 -1.77940228e-05 9.99897780e-01 4.37203219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.539254154 meters 0.01541835160382788 Centerline is valid? [True, True] Translation: X:984.69, Y:71.38, Z:4.37 [[ 7.75436995e-01 -6.31324314e-01 -1.12728429e-02 9.84689491e+02] [ 6.31257887e-01 7.75518930e-01 -9.15807656e-03 7.13848453e+01] [ 1.45240194e-02 -1.45595920e-05 9.99894521e-01 4.37236632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.5992541539999 meters 0.011872024000480487 Centerline is valid? [True, True] Translation: X:984.73, Y:71.42, Z:4.37 [[ 7.76316246e-01 -6.30260699e-01 -1.02243870e-02 9.84733754e+02] [ 6.30205904e-01 7.76383573e-01 -8.31067340e-03 7.14243296e+01] [ 1.31759369e-02 8.24174876e-06 9.99913194e-01 4.37321153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.659254154 meters 0.012043876061850346 Centerline is valid? [True, True] Translation: X:984.78, Y:71.47, Z:4.37 [[ 7.79179070e-01 -6.26707350e-01 -1.08569675e-02 9.84776059e+02] [ 6.26645154e-01 7.79254702e-01 -8.82952623e-03 7.14651862e+01] [ 1.39938720e-02 7.63159530e-05 9.99902078e-01 4.37239758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.7192541539999 meters 0.01251865872120972 Centerline is valid? [True, True] Translation: X:984.82, Y:71.51, Z:4.37 [[ 7.81928830e-01 -6.23266860e-01 -1.12127444e-02 9.84817672e+02] [ 6.23200127e-01 7.82009207e-01 -9.12150431e-03 7.15056601e+01] [ 1.44536007e-02 1.44583452e-04 9.99895531e-01 4.37154721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.779254154 meters 0.0172732753301037 Centerline is valid? [True, True] Translation: X:984.86, Y:71.55, Z:4.37 [[ 7.86665696e-01 -6.17270856e-01 -1.15660685e-02 9.84858161e+02] [ 6.17199144e-01 7.86750672e-01 -9.41257624e-03 7.15497366e+01] [ 1.49097212e-02 2.65983233e-04 9.99888809e-01 4.37082328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.839254154 meters 0.016253887788161562 Centerline is valid? [True, True] Translation: X:984.90, Y:71.59, Z:4.37 [[ 7.90177495e-01 -6.12780967e-01 -1.09093226e-02 9.84900934e+02] [ 6.12716708e-01 7.90252729e-01 -8.88028164e-03 7.15904060e+01] [ 1.40627896e-02 3.32674445e-04 9.99901059e-01 4.37196556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.899254154 meters 0.016686937351360415 Centerline is valid? [True, True] Translation: X:984.94, Y:71.63, Z:4.37 [[ 7.91809149e-01 -6.10699249e-01 -9.20324343e-03 9.84944889e+02] [ 6.10653344e-01 7.91862570e-01 -7.49431139e-03 7.16295610e+01] [ 1.18644743e-02 3.14072947e-04 9.99929565e-01 4.37339742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.959254154 meters 0.016083580915078974 Centerline is valid? [True, True] Translation: X:984.99, Y:71.67, Z:4.37 [[ 7.92240154e-01 -6.10149893e-01 -8.52327368e-03 9.84989661e+02] [ 6.10110450e-01 7.92285944e-01 -6.94411249e-03 7.16676846e+01] [ 1.09898194e-02 3.01266406e-04 9.99939565e-01 4.37375664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.019254154 meters 0.01716252518116339 Centerline is valid? [True, True] Translation: X:985.03, Y:71.71, Z:4.37 [[ 7.92196896e-01 -6.10203747e-01 -8.68707687e-03 9.85032638e+02] [ 6.10162749e-01 7.92244465e-01 -7.08015576e-03 7.17052858e+01] [ 1.12026261e-02 3.08346709e-04 9.99937201e-01 4.37337239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.079254154 meters 0.016772633282920252 Centerline is valid? [True, True] Translation: X:985.08, Y:71.74, Z:4.37 [[ 7.91977474e-01 -6.10477868e-01 -9.40497913e-03 9.85078483e+02] [ 6.10429788e-01 7.92033246e-01 -7.66889993e-03 7.17415432e+01] [ 1.21307498e-02 3.32516581e-04 9.99926364e-01 4.37244442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.139254154 meters 0.019032584440189203 Centerline is valid? [True, True] Translation: X:985.12, Y:71.78, Z:4.37 [[ 7.92474918e-01 -6.09795480e-01 -1.15315432e-02 9.85124008e+02] [ 6.09723045e-01 7.92558699e-01 -9.40832418e-03 7.17789650e+01] [ 1.48765784e-02 4.24813317e-04 9.99889247e-01 4.37022723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.199254154 meters 0.01908523488324578 Centerline is valid? [True, True] Translation: X:985.17, Y:71.82, Z:4.37 [[ 7.92966354e-01 -6.09138692e-01 -1.24264039e-02 9.85169511e+02] [ 6.09054412e-01 7.93063571e-01 -1.01437028e-02 7.18163038e+01] [ 1.60338501e-02 4.75258901e-04 9.99871337e-01 4.36942819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.259254154 meters 0.016655630236697815 Centerline is valid? [True, True] Translation: X:985.22, Y:71.85, Z:4.37 [[ 7.92645091e-01 -6.09568169e-01 -1.18493104e-02 9.85218306e+02] [ 6.09491508e-01 7.92733528e-01 -9.67758190e-03 7.18503436e+01] [ 1.52924915e-02 4.48833724e-04 9.99882962e-01 4.37141903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.319254154 meters 0.017773341689073154 Centerline is valid? [True, True] Translation: X:985.27, Y:71.88, Z:4.37 [[ 7.90931781e-01 -6.11804585e-01 -1.10483893e-02 9.85267466e+02] [ 6.11738092e-01 7.91008852e-01 -9.02787061e-03 7.18842244e+01] [ 1.42626663e-02 3.81709208e-04 9.99898210e-01 4.37327149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.379254154 meters 0.014551468037556163 Centerline is valid? [True, True] Translation: X:985.32, Y:71.92, Z:4.38 [[ 7.89177864e-01 -6.14085745e-01 -9.84871656e-03 9.85316938e+02] [ 6.14033051e-01 7.89239257e-01 -8.05036667e-03 7.19168414e+01] [ 1.27166091e-02 3.05733695e-04 9.99919094e-01 4.37562756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.439254154 meters 0.01676758852080811 Centerline is valid? [True, True] Translation: X:985.36, Y:71.95, Z:4.37 [[ 7.88934875e-01 -6.14383799e-01 -1.06916043e-02 9.85362169e+02] [ 6.14321693e-01 7.89007249e-01 -8.74175820e-03 7.19523540e+01] [ 1.38065479e-02 3.28593435e-04 9.99904631e-01 4.37472708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.499254154 meters 0.016572440558981702 Centerline is valid? [True, True] Translation: X:985.41, Y:71.99, Z:4.37 [[ 7.90966123e-01 -6.11745375e-01 -1.18401105e-02 9.85408121e+02] [ 6.11668848e-01 7.91054626e-01 -9.68499470e-03 7.19900256e+01] [ 1.52909249e-02 4.18275927e-04 9.99882999e-01 4.37337849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.559254154 meters 0.02010292635842134 Centerline is valid? [True, True] Translation: X:985.45, Y:72.03, Z:4.37 [[ 7.94103881e-01 -6.07662769e-01 -1.20409951e-02 9.85452740e+02] [ 6.07583079e-01 7.94195001e-01 -9.85404108e-03 7.20291528e+01] [ 1.55508320e-02 5.09227355e-04 9.99878949e-01 4.37277468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.6192541539999 meters 0.019623647566421678 Centerline is valid? [True, True] Translation: X:985.50, Y:72.07, Z:4.37 [[ 7.97305340e-01 -6.03471657e-01 -1.12318739e-02 9.85498129e+02] [ 6.03401849e-01 7.97384257e-01 -9.19540497e-03 7.20674773e+01] [ 1.45052857e-02 5.54212019e-04 9.99894639e-01 4.37382336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.679254154 meters 0.021718872110779323 Centerline is valid? [True, True] Translation: X:985.54, Y:72.10, Z:4.37 [[ 7.98797840e-01 -6.01500770e-01 -1.09011212e-02 9.85543406e+02] [ 6.01434796e-01 7.98872013e-01 -8.92708869e-03 7.21048934e+01] [ 1.40782514e-02 5.74625571e-04 9.99900731e-01 4.37382918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.7392541539999 meters 0.02127102335066941 Centerline is valid? [True, True] Translation: X:985.59, Y:72.14, Z:4.37 [[ 7.98954739e-01 -6.01296114e-01 -1.06914839e-02 9.85591388e+02] [ 6.01232583e-01 7.99026068e-01 -8.75919141e-03 7.21391424e+01] [ 1.38096421e-02 5.70129025e-04 9.99904480e-01 4.37370437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.799254154 meters 0.01930796393839775 Centerline is valid? [True, True] Translation: X:985.64, Y:72.17, Z:4.37 [[ 7.98928239e-01 -6.01329835e-01 -1.07749228e-02 9.85641074e+02] [ 6.01265245e-01 7.99000686e-01 -8.83227706e-03 7.21718146e+01] [ 1.39202824e-02 5.77768940e-04 9.99902941e-01 4.37449731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.8592541539999 meters 0.023705564032635473 Centerline is valid? [True, True] Translation: X:985.68, Y:72.21, Z:4.37 [[ 7.99081595e-01 -6.01128916e-01 -1.06127531e-02 9.85683479e+02] [ 6.01066203e-01 7.99151861e-01 -8.70194862e-03 7.22115403e+01] [ 1.37121943e-02 5.74599772e-04 9.99905818e-01 4.37359092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.919254154 meters 0.02493428286393704 Centerline is valid? [True, True] Translation: X:985.73, Y:72.25, Z:4.37 [[ 8.00531853e-01 -5.99207834e-01 -9.93599580e-03 9.85729148e+02] [ 5.99152699e-01 8.00593309e-01 -8.14838081e-03 7.22485259e+01] [ 1.28372654e-02 5.69859682e-04 9.99917437e-01 4.37439175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.9792541539999 meters 0.026320965802383366 Centerline is valid? [True, True] Translation: X:985.78, Y:72.29, Z:4.37 [[ 8.00875753e-01 -5.98741882e-01 -1.03047094e-02 9.85775375e+02] [ 5.98682497e-01 8.00941819e-01 -8.45405686e-03 7.22854043e+01] [ 1.33152706e-02 6.01400009e-04 9.99911167e-01 4.37304690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.039254154 meters 0.022469946655359868 Centerline is valid? [True, True] Translation: X:985.82, Y:72.32, Z:4.37 [[ 8.00809700e-01 -5.98839811e-01 -9.73167048e-03 9.85824348e+02] [ 5.98786798e-01 8.00868626e-01 -7.98836321e-03 7.23167891e+01] [ 1.25775395e-02 5.69962941e-04 9.99920737e-01 4.37446883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.0992541539999 meters 0.025165864514868727 Centerline is valid? [True, True] Translation: X:985.87, Y:72.35, Z:4.37 [[ 8.00195977e-01 -5.99658257e-01 -9.81697016e-03 9.85869974e+02] [ 5.99604339e-01 8.00255994e-01 -8.06103353e-03 7.23526808e+01] [ 1.26899545e-02 5.64108700e-04 9.99919320e-01 4.37309951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.159254154 meters 0.02531121807091977 Centerline is valid? [True, True] Translation: X:985.92, Y:72.39, Z:4.37 [[ 8.00534666e-01 -5.99172766e-01 -1.16724430e-02 9.85917765e+02] [ 5.99096424e-01 8.00619467e-01 -9.58879964e-03 7.23869783e+01] [ 1.50905327e-02 6.83247646e-04 9.99885898e-01 4.37168179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.2192541539999 meters 0.02560964619066268 Centerline is valid? [True, True] Translation: X:985.96, Y:72.43, Z:4.37 [[ 8.00973995e-01 -5.98571784e-01 -1.23482045e-02 9.85961151e+02] [ 5.98486229e-01 8.01068833e-01 -1.01468383e-02 7.24250526e+01] [ 1.59653729e-02 7.37123258e-04 9.99872274e-01 4.37179501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.279254154 meters 0.02499186042653596 Centerline is valid? [True, True] Translation: X:986.01, Y:72.46, Z:4.37 [[ 7.99899832e-01 -6.00001350e-01 -1.25952060e-02 9.86009352e+02] [ 5.99912441e-01 7.99998658e-01 -1.03542751e-02 7.24597019e+01] [ 1.62887270e-02 7.26362155e-04 9.99867066e-01 4.37230261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.339254154 meters 0.022572542301887183 Centerline is valid? [True, True] Translation: X:986.05, Y:72.50, Z:4.38 [[ 7.98425058e-01 -6.01994503e-01 -1.09565130e-02 9.86054154e+02] [ 6.01927361e-01 7.98500005e-01 -9.01074271e-03 7.24967491e+01] [ 1.41731933e-02 5.99377813e-04 9.99899376e-01 4.37543508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.399254154 meters 0.02463062195777772 Centerline is valid? [True, True] Translation: X:986.10, Y:72.53, Z:4.37 [[ 7.96826698e-01 -6.04113251e-01 -1.06954479e-02 9.86100324e+02] [ 6.04049427e-01 7.96898285e-01 -8.79847577e-03 7.25342734e+01] [ 1.38384599e-02 5.50281207e-04 9.99904093e-01 4.37461465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.459254154 meters 0.0227769405846513 Centerline is valid? [True, True] Translation: X:986.14, Y:72.57, Z:4.38 [[ 7.96324918e-01 -6.04766283e-01 -1.11520659e-02 9.86144652e+02] [ 6.04696930e-01 7.96402804e-01 -9.17591995e-03 7.25717992e+01] [ 1.44308236e-02 5.63393686e-04 9.99895712e-01 4.37630271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.519254154 meters 0.021676407906104703 Centerline is valid? [True, True] Translation: X:986.19, Y:72.61, Z:4.38 [[ 7.95953981e-01 -6.05255493e-01 -1.10927360e-02 9.86191461e+02] [ 6.05186869e-01 7.96031081e-01 -9.13084406e-03 7.26081857e+01] [ 1.43566562e-02 5.54553489e-04 9.99896784e-01 4.37689305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.579254154 meters 0.024012606199164302 Centerline is valid? [True, True] Translation: X:986.23, Y:72.65, Z:4.38 [[ 7.96179872e-01 -6.04938803e-01 -1.21101313e-02 9.86234069e+02] [ 6.04856922e-01 7.96271729e-01 -9.97179545e-03 7.26472675e+01] [ 1.56752812e-02 6.14446064e-04 9.99876946e-01 4.37602440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.639254154 meters 0.023656540229638805 Centerline is valid? [True, True] Translation: X:986.28, Y:72.69, Z:4.38 [[ 7.96716675e-01 -6.04212633e-01 -1.30243939e-02 9.86277265e+02] [ 6.04117787e-01 7.96822838e-01 -1.07268208e-02 7.26860145e+01] [ 1.68594151e-02 6.77968928e-04 9.99857640e-01 4.37724556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.699254154 meters 0.026661400025658973 Centerline is valid? [True, True] Translation: X:986.32, Y:72.73, Z:4.38 [[ 7.97097278e-01 -6.03677077e-01 -1.44885131e-02 9.86319366e+02] [ 6.03559564e-01 7.97228572e-01 -1.19355660e-02 7.27265251e+01] [ 1.87558841e-02 7.69126523e-04 9.99823797e-01 4.37547817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.759254154 meters 0.02255636492709481 Centerline is valid? [True, True] Translation: X:986.37, Y:72.76, Z:4.38 [[ 7.97222530e-01 -6.03485621e-01 -1.55351857e-02 9.86368192e+02] [ 6.03350359e-01 7.97373444e-01 -1.28037335e-02 7.27602302e+01] [ 2.01142136e-02 8.34264976e-04 9.99797341e-01 4.37886453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.819254154 meters 0.024592131922832043 Centerline is valid? [True, True] Translation: X:986.41, Y:72.80, Z:4.38 [[ 7.96912479e-01 -6.03872470e-01 -1.63872398e-02 9.86410679e+02] [ 6.03721953e-01 7.97080471e-01 -1.35102064e-02 7.27989411e+01] [ 2.12203905e-02 8.73115662e-04 9.99774441e-01 4.37878116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.879254154 meters 0.023167571468399567 Centerline is valid? [True, True] Translation: X:986.46, Y:72.84, Z:4.38 [[ 7.96082588e-01 -6.04943348e-01 -1.72063447e-02 9.86456540e+02] [ 6.04777511e-01 7.96268014e-01 -1.41919906e-02 7.28355270e+01] [ 2.22862122e-02 8.91986227e-04 9.99751234e-01 4.37956883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.939254154 meters 0.02219869425543114 Centerline is valid? [True, True] Translation: X:986.50, Y:72.87, Z:4.38 [[ 7.95960363e-01 -6.05117159e-01 -1.67428948e-02 9.86501192e+02] [ 6.04960007e-01 7.96135961e-01 -1.38174423e-02 7.28724001e+01] [ 2.16907921e-02 8.69354569e-04 9.99764349e-01 4.38048616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.999254154 meters 0.02221270102562085 Centerline is valid? [True, True] Translation: X:986.55, Y:72.91, Z:4.38 [[ 7.95736772e-01 -6.05403836e-01 -1.70054258e-02 9.86545693e+02] [ 6.05241603e-01 7.95917972e-01 -1.40422035e-02 7.29103228e+01] [ 2.20361279e-02 8.81506508e-04 9.99756786e-01 4.38156279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.059254154 meters 0.024224453579511234 Centerline is valid? [True, True] Translation: X:986.59, Y:72.95, Z:4.38 [[ 7.95971828e-01 -6.05084569e-01 -1.73641125e-02 9.86587128e+02] [ 6.04915261e-01 7.96160682e-01 -1.43420741e-02 7.29505775e+01] [ 2.25027914e-02 9.12070242e-04 9.99746364e-01 4.38131959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.1192541539999 meters 0.021574036613142302 Centerline is valid? [True, True] Translation: X:986.63, Y:72.99, Z:4.38 [[ 7.96384743e-01 -6.04527685e-01 -1.78218608e-02 9.86634262e+02] [ 6.04349037e-01 7.96583556e-01 -1.47268492e-02 7.29865839e+01] [ 2.30993893e-02 9.57613558e-04 9.99732715e-01 4.38468503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.179254154 meters 0.020856799945435673 Centerline is valid? [True, True] Translation: X:986.68, Y:73.02, Z:4.39 [[ 7.95762335e-01 -6.05339170e-01 -1.80774938e-02 9.86678657e+02] [ 6.05155386e-01 7.95967072e-01 -1.49458689e-02 7.30249728e+01] [ 2.34364097e-02 9.53666763e-04 9.99724875e-01 4.38501180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.2392541539999 meters 0.019353556882541922 Centerline is valid? [True, True] Translation: X:986.73, Y:73.06, Z:4.39 [[ 7.93396873e-01 -6.08433455e-01 -1.81695282e-02 9.86725091e+02] [ 6.08248522e-01 7.93604419e-01 -1.50253491e-02 7.30613517e+01] [ 2.35613430e-02 8.69476266e-04 9.99722015e-01 4.38589867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.299254154 meters 0.018333790969384207 Centerline is valid? [True, True] Translation: X:986.77, Y:73.10, Z:4.39 [[ 7.90187774e-01 -6.12615239e-01 -1.74885978e-02 9.86769960e+02] [ 6.12444839e-01 7.90380953e-01 -1.44661100e-02 7.30975035e+01] [ 2.26848140e-02 7.20141778e-04 9.99742407e-01 4.38621862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.3592541539999 meters 0.016521188280115215 Centerline is valid? [True, True] Translation: X:986.82, Y:73.13, Z:4.39 [[ 7.87560494e-01 -6.16000664e-01 -1.70777792e-02 9.86816182e+02] [ 6.15838881e-01 7.87745395e-01 -1.41302918e-02 7.31336541e+01] [ 2.21572110e-02 6.11299118e-04 9.99754312e-01 4.38736271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.419254154 meters 0.014711328307711427 Centerline is valid? [True, True] Translation: X:986.86, Y:73.17, Z:4.39 [[ 7.84649149e-01 -6.19690935e-01 -1.75743629e-02 9.86863624e+02] [ 6.19520388e-01 7.84845760e-01 -1.45472098e-02 7.31689840e+01] [ 2.28079383e-02 5.26779644e-04 9.99739726e-01 4.38798772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.4792541539999 meters 0.013996071653385529 Centerline is valid? [True, True] Translation: X:986.91, Y:73.20, Z:4.39 [[ 7.80781674e-01 -6.24531728e-01 -1.84417659e-02 9.86909152e+02] [ 6.24345183e-01 7.80999331e-01 -1.52688339e-02 7.32049497e+01] [ 2.39388781e-02 4.07597957e-04 9.99713341e-01 4.38682016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.539254154 meters 0.013209581125924035 Centerline is valid? [True, True] Translation: X:986.96, Y:73.24, Z:4.39 [[ 7.76714661e-01 -6.29558597e-01 -1.92434187e-02 9.86956538e+02] [ 6.29356843e-01 7.76952959e-01 -1.59393623e-02 7.32407223e+01] [ 2.49859937e-02 2.69359196e-04 9.99687765e-01 4.38638341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.5992541539999 meters 0.01294002209921233 Centerline is valid? [True, True] Translation: X:987.00, Y:73.28, Z:4.39 [[ 7.72912522e-01 -6.34237092e-01 -1.86960816e-02 9.87004004e+02] [ 6.34047829e-01 7.73138601e-01 -1.54937144e-02 7.32751811e+01] [ 2.42813507e-02 1.21075884e-04 9.99705157e-01 4.38727978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.659254154 meters 0.014095265879522114 Centerline is valid? [True, True] Translation: X:987.05, Y:73.31, Z:4.39 [[ 7.70097156e-01 -6.37696294e-01 -1.71407990e-02 9.87050890e+02] [ 6.37537905e-01 7.70287892e-01 -1.42120622e-02 7.33111469e+01] [ 2.22663293e-02 1.67595683e-05 9.99752074e-01 4.39003633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.7192541539999 meters 0.012646515614085516 Centerline is valid? [True, True] Translation: X:987.10, Y:73.35, Z:4.39 [[ 7.70816302e-01 -6.36869560e-01 -1.54723139e-02 9.87095130e+02] [ 6.36740212e-01 7.70971570e-01 -1.28351020e-02 7.33497777e+01] [ 2.01029999e-02 4.16613933e-05 9.99797913e-01 4.39207061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.779254154 meters 0.01384806960867528 Centerline is valid? [True, True] Translation: X:987.14, Y:73.39, Z:4.39 [[ 7.74592358e-01 -6.32295806e-01 -1.44461874e-02 9.87135536e+02] [ 6.32182136e-01 7.74727042e-01 -1.19898819e-02 7.33932867e+01] [ 1.87730040e-02 1.54649300e-04 9.99823760e-01 4.39131695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.839254154 meters 0.014309970591085285 Centerline is valid? [True, True] Translation: X:987.18, Y:73.43, Z:4.39 [[ 7.78195510e-01 -6.27821390e-01 -1.58761282e-02 9.87176470e+02] [ 6.27683098e-01 7.78357384e-01 -1.31799282e-02 7.34349750e+01] [ 2.06319425e-02 2.91383621e-04 9.99787096e-01 4.38930703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.899254154 meters 0.01750290051034855 Centerline is valid? [True, True] Translation: X:987.22, Y:73.47, Z:4.39 [[ 7.78840203e-01 -6.27005812e-01 -1.64818328e-02 9.87219662e+02] [ 6.26856531e-01 7.79014509e-01 -1.36851899e-02 7.34744187e+01] [ 2.14202805e-02 3.26831544e-04 9.99770506e-01 4.38779546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.959254154 meters 0.014210288301366659 Centerline is valid? [True, True] Translation: X:987.27, Y:73.51, Z:4.39 [[ 7.78718179e-01 -6.27218267e-01 -1.39729656e-02 9.87266003e+02] [ 6.27110921e-01 7.78843482e-01 -1.16070325e-02 7.35110210e+01] [ 1.81628960e-02 2.76007889e-04 9.99835003e-01 4.39222207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.019254154 meters 0.014369224492320686 Centerline is valid? [True, True] Translation: X:987.31, Y:73.55, Z:4.39 [[ 7.76246468e-01 -6.30313569e-01 -1.20923321e-02 9.87312297e+02] [ 6.30233510e-01 7.76340629e-01 -1.00474185e-02 7.35459075e+01] [ 1.57207929e-02 1.78280266e-04 9.99876405e-01 4.39327700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.079254154 meters 0.01515298381998644 Centerline is valid? [True, True] Translation: X:987.36, Y:73.58, Z:4.39 [[ 7.73797490e-01 -6.33339039e-01 -1.09135807e-02 9.87360666e+02] [ 6.33274077e-01 7.73874441e-01 -9.07154903e-03 7.35805014e+01] [ 1.41911073e-02 1.08254105e-04 9.99899295e-01 4.39476757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.139254154 meters 0.015385451420987448 Centerline is valid? [True, True] Translation: X:987.41, Y:73.61, Z:4.40 [[ 7.71890117e-01 -6.35672621e-01 -1.02940412e-02 9.87407171e+02] [ 6.35614994e-01 7.71958752e-01 -8.55947496e-03 7.36145910e+01] [ 1.33875990e-02 6.39272220e-05 9.99910380e-01 4.39506850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.199254154 meters 0.01282396182990824 Centerline is valid? [True, True] Translation: X:987.45, Y:73.65, Z:4.40 [[ 7.72658282e-01 -6.34732336e-01 -1.06790109e-02 9.87453121e+02] [ 6.34670174e-01 7.72732071e-01 -8.88349202e-03 7.36511630e+01] [ 1.38906539e-02 8.62539694e-05 9.99903516e-01 4.39594878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.259254154 meters 0.01344202017459808 Centerline is valid? [True, True] Translation: X:987.50, Y:73.69, Z:4.40 [[ 7.73609920e-01 -6.33566580e-01 -1.10036793e-02 9.87496605e+02] [ 6.33500424e-01 7.73688165e-01 -9.15619730e-03 7.36890050e+01] [ 1.43144770e-02 1.12489557e-04 9.99897536e-01 4.39520548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.319254154 meters 0.012991568534166364 Centerline is valid? [True, True] Translation: X:987.54, Y:73.73, Z:4.40 [[ 7.73447430e-01 -6.33778018e-01 -1.02223262e-02 9.87541275e+02] [ 6.33720894e-01 7.73514973e-01 -8.50973202e-03 7.37260769e+01] [ 1.33004035e-02 1.03728639e-04 9.99911540e-01 4.39615539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.379254154 meters 0.012698571630083016 Centerline is valid? [True, True] Translation: X:987.59, Y:73.76, Z:4.40 [[ 7.72445738e-01 -6.35022667e-01 -8.59035828e-03 9.87587333e+02] [ 6.34982376e-01 7.72493500e-01 -7.15364265e-03 7.37608648e+01] [ 1.11787212e-02 7.10746636e-05 9.99937514e-01 4.39924543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.439254154 meters 0.012560439204454262 Centerline is valid? [True, True] Translation: X:987.63, Y:73.80, Z:4.40 [[ 7.72167057e-01 -6.35362642e-01 -8.50583468e-03 9.87632978e+02] [ 6.35323125e-01 7.72213901e-01 -7.08645682e-03 7.37972889e+01] [ 1.10707937e-02 6.79750370e-05 9.99938715e-01 4.40059168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.499254154 meters 0.012614894706844395 Centerline is valid? [True, True] Translation: X:987.68, Y:73.84, Z:4.40 [[ 7.73079403e-01 -6.34242838e-01 -9.17926337e-03 9.87677321e+02] [ 6.34196687e-01 7.73133891e-01 -7.65177353e-03 7.38362835e+01] [ 1.19498822e-02 9.39700977e-05 9.99928593e-01 4.40015583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.559254154 meters 0.013246024299743354 Centerline is valid? [True, True] Translation: X:987.72, Y:73.88, Z:4.40 [[ 7.75126055e-01 -6.31705529e-01 -1.13014541e-02 9.87721016e+02] [ 6.31635223e-01 7.75208421e-01 -9.42597966e-03 7.38761861e+01] [ 1.47154259e-02 1.67925953e-04 9.99891708e-01 4.39819470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.6192541539999 meters 0.014293298230972886 Centerline is valid? [True, True] Translation: X:987.76, Y:73.92, Z:4.40 [[ 7.76394853e-01 -6.30106918e-01 -1.32779307e-02 9.87763752e+02] [ 6.30009566e-01 7.76508349e-01 -1.10783701e-02 7.39150017e+01] [ 1.72909816e-02 2.35966174e-04 9.99850472e-01 4.39554245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.679254154 meters 0.01354555357881564 Centerline is valid? [True, True] Translation: X:987.81, Y:73.95, Z:4.40 [[ 7.75062308e-01 -6.31747243e-01 -1.31848453e-02 9.87811188e+02] [ 6.31651405e-01 7.75174419e-01 -1.10055848e-02 7.39496898e+01] [ 1.71733026e-02 2.01787883e-04 9.99852508e-01 4.39741934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.7392541539999 meters 0.012773535402327323 Centerline is valid? [True, True] Translation: X:987.86, Y:73.98, Z:4.40 [[ 7.72021797e-01 -6.35481916e-01 -1.20448989e-02 9.87860314e+02] [ 6.35402313e-01 7.72115744e-01 -1.00587734e-02 7.39836078e+01] [ 1.56922247e-02 1.12235689e-04 9.99876863e-01 4.39845124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.799254154 meters 0.014408445963505523 Centerline is valid? [True, True] Translation: X:987.91, Y:74.02, Z:4.40 [[ 7.69084863e-01 -6.39020432e-01 -1.27027591e-02 9.87908280e+02] [ 6.38932330e-01 7.69189759e-01 -1.06109519e-02 7.40166323e+01] [ 1.65514473e-02 4.45190562e-05 9.99863014e-01 4.39691963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.8592541539999 meters 0.01306836906634548 Centerline is valid? [True, True] Translation: X:987.95, Y:74.05, Z:4.40 [[ 7.68050897e-01 -6.40260912e-01 -1.27977924e-02 9.87954680e+02] [ 6.40171574e-01 7.68157513e-01 -1.06954203e-02 7.40514228e+01] [ 1.66785800e-02 2.18442711e-05 9.99860903e-01 4.39801951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.919254154 meters 0.012814836589380901 Centerline is valid? [True, True] Translation: X:988.00, Y:74.09, Z:4.40 [[ 7.68295358e-01 -6.39964481e-01 -1.29501156e-02 9.87999974e+02] [ 6.39872899e-01 7.68404491e-01 -1.08263812e-02 7.40868902e+01] [ 1.68794264e-02 3.14303754e-05 9.99857532e-01 4.39740078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.9792541539999 meters 0.01286910980829975 Centerline is valid? [True, True] Translation: X:988.04, Y:74.12, Z:4.40 [[ 7.70069678e-01 -6.37842833e-01 -1.22152079e-02 9.88043197e+02] [ 6.37761045e-01 7.70166550e-01 -1.02144696e-02 7.41248206e+01] [ 1.59229708e-02 7.54695918e-05 9.99873219e-01 4.39815735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.039254154 meters 0.014802844013334468 Centerline is valid? [True, True] Translation: X:988.09, Y:74.16, Z:4.40 [[ 7.71912154e-01 -6.35615293e-01 -1.20343373e-02 9.88086497e+02] [ 6.35535571e-01 7.72005948e-01 -1.00674890e-02 7.41645988e+01] [ 1.56896299e-02 1.22967678e-04 9.99876903e-01 4.39963582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.0992541539999 meters 0.013616668937852823 Centerline is valid? [True, True] Translation: X:988.13, Y:74.20, Z:4.40 [[ 7.73745000e-01 -6.33425613e-01 -9.52194753e-03 9.88129470e+02] [ 6.33375488e-01 7.73803576e-01 -7.96969032e-03 7.42038392e+01] [ 1.24163230e-02 1.35539877e-04 9.99922905e-01 4.40102905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.159254154 meters 0.013722225085275356 Centerline is valid? [True, True] Translation: X:988.17, Y:74.24, Z:4.40 [[ 7.75606322e-01 -6.31150285e-01 -9.17338879e-03 9.88174011e+02] [ 6.31103555e-01 7.75660550e-01 -7.68199017e-03 7.42422011e+01] [ 1.19639261e-02 1.68841858e-04 9.99928415e-01 4.40182920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.2192541539999 meters 0.016235194781858312 Centerline is valid? [True, True] Translation: X:988.22, Y:74.28, Z:4.40 [[ 7.77400750e-01 -6.28902346e-01 -1.13979273e-02 9.88216991e+02] [ 6.28829916e-01 7.77484260e-01 -9.54794205e-03 7.42817765e+01] [ 1.48664323e-02 2.55219620e-04 9.99889456e-01 4.40179200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.279254154 meters 0.015359596892705833 Centerline is valid? [True, True] Translation: X:988.26, Y:74.32, Z:4.40 [[ 7.79249938e-01 -6.26620736e-01 -1.07697481e-02 9.88259569e+02] [ 6.26555828e-01 7.79324305e-01 -9.02335992e-03 7.43214611e+01] [ 1.40473509e-02 2.83604224e-04 9.99901291e-01 4.40028335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.339254154 meters 0.01530255620660587 Centerline is valid? [True, True] Translation: X:988.30, Y:74.36, Z:4.40 [[ 7.79788538e-01 -6.25928868e-01 -1.19535753e-02 9.88304549e+02] [ 6.25848758e-01 7.79880082e-01 -1.00195124e-02 7.43588636e+01] [ 1.55938574e-02 3.31970707e-04 9.99878353e-01 4.39953110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.399254154 meters 0.015090556370337096 Centerline is valid? [True, True] Translation: X:988.35, Y:74.40, Z:4.40 [[ 7.78888932e-01 -6.27033069e-01 -1.27106763e-02 9.88350407e+02] [ 6.26942543e-01 7.78992567e-01 -1.06596903e-02 7.43962035e+01] [ 1.65855007e-02 3.33851087e-04 9.99862395e-01 4.39848213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.459254154 meters 0.013690432467182063 Centerline is valid? [True, True] Translation: X:988.40, Y:74.43, Z:4.40 [[ 7.76074696e-01 -6.30506718e-01 -1.30132785e-02 9.88399756e+02] [ 6.30412219e-01 7.76183745e-01 -1.09192096e-02 7.44293804e+01] [ 1.69853302e-02 2.70392481e-04 9.99855702e-01 4.40019421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.519254154 meters 0.013802585138692647 Centerline is valid? [True, True] Translation: X:988.45, Y:74.46, Z:4.40 [[ 7.71837814e-01 -6.35691692e-01 -1.27460295e-02 9.88447994e+02] [ 6.35601679e-01 7.71943035e-01 -1.06984418e-02 7.44617886e+01] [ 1.66401193e-02 1.56064176e-04 9.99861531e-01 4.40067501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.579254154 meters 0.012183670657488065 Centerline is valid? [True, True] Translation: X:988.50, Y:74.49, Z:4.40 [[ 7.68162134e-01 -6.40164193e-01 -1.08046903e-02 9.88496981e+02] [ 6.40099900e-01 7.68238116e-01 -9.07282051e-03 7.44947714e+01] [ 1.41086698e-02 5.33159724e-05 9.99900466e-01 4.40222042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.639254154 meters 0.011955806816046442 Centerline is valid? [True, True] Translation: X:988.54, Y:74.53, Z:4.40 [[ 7.66772478e-01 -6.41841180e-01 -9.99329979e-03 9.88543968e+02] [ 6.41786267e-01 7.66837596e-01 -8.39573779e-03 7.45310652e+01] [ 1.30519682e-02 2.40581024e-05 9.99914819e-01 4.40306542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.699254154 meters 0.011873107159567634 Centerline is valid? [True, True] Translation: X:988.59, Y:74.57, Z:4.40 [[ 7.67529856e-01 -6.40955349e-01 -8.61172701e-03 9.88587644e+02] [ 6.40914471e-01 7.67578165e-01 -7.23887691e-03 7.45691016e+01] [ 1.12499705e-02 3.66736917e-05 9.99936716e-01 4.40295459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.759254154 meters 0.012303102922884153 Centerline is valid? [True, True] Translation: X:988.63, Y:74.61, Z:4.40 [[ 7.70502216e-01 -6.37381243e-01 -8.45492924e-03 9.88628752e+02] [ 6.37341598e-01 7.70548599e-01 -7.10947162e-03 7.46094847e+01] [ 1.10463777e-02 8.91855330e-05 9.99938983e-01 4.40120363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.819254154 meters 0.013394111830742919 Centerline is valid? [True, True] Translation: X:988.67, Y:74.65, Z:4.40 [[ 7.74189108e-01 -6.32886932e-01 -9.23888702e-03 9.88670969e+02] [ 6.32839236e-01 7.74244214e-01 -7.77168475e-03 7.46506774e+01] [ 1.20717525e-02 1.70023482e-04 9.99927119e-01 4.39986157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.879254154 meters 0.014239322247268812 Centerline is valid? [True, True] Translation: X:988.71, Y:74.69, Z:4.40 [[ 7.77212147e-01 -6.29155639e-01 -1.02205650e-02 9.88714318e+02] [ 6.29096886e-01 7.77279304e-01 -8.60188753e-03 7.46911819e+01] [ 1.33561597e-02 2.55765855e-04 9.99910770e-01 4.39846592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.939254154 meters 0.01644290518843678 Centerline is valid? [True, True] Translation: X:988.76, Y:74.73, Z:4.40 [[ 7.78849623e-01 -6.27106455e-01 -1.14349939e-02 9.88758336e+02] [ 6.27032612e-01 7.78933492e-01 -9.62904916e-03 7.47308588e+01] [ 1.49455386e-02 3.29467244e-04 9.99888255e-01 4.39746869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.999254154 meters 0.015134578318356637 Centerline is valid? [True, True] Translation: X:988.80, Y:74.77, Z:4.40 [[ 7.78864536e-01 -6.27119161e-01 -9.57038558e-03 9.88804028e+02] [ 6.27067390e-01 7.78923282e-01 -8.06281541e-03 7.47683044e+01] [ 1.25109422e-02 2.78564279e-04 9.99921696e-01 4.39894950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.059254154 meters 0.015143553225371358 Centerline is valid? [True, True] Translation: X:988.85, Y:74.81, Z:4.40 [[ 7.78377716e-01 -6.27738106e-01 -8.54412067e-03 9.88849546e+02] [ 6.27696840e-01 7.78424570e-01 -7.20173128e-03 7.48062207e+01] [ 1.11717546e-02 2.42549597e-04 9.99937565e-01 4.39985889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.1192541539999 meters 0.01454126779558902 Centerline is valid? [True, True] Translation: X:988.89, Y:74.84, Z:4.40 [[ 7.77993153e-01 -6.28219426e-01 -8.18571194e-03 9.88894907e+02] [ 6.28181536e-01 7.78036182e-01 -6.90344281e-03 7.48420373e+01] [ 1.07056569e-02 2.28718144e-04 9.99942667e-01 4.40042151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.179254154 meters 0.015788372355363157 Centerline is valid? [True, True] Translation: X:988.94, Y:74.88, Z:4.40 [[ 7.78037518e-01 -6.28155534e-01 -8.84562692e-03 9.88939283e+02] [ 6.28111235e-01 7.78087760e-01 -7.46421995e-03 7.48801824e+01] [ 1.15713651e-02 2.51405519e-04 9.99933018e-01 4.40011765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.2392541539999 meters 0.016261630021543558 Centerline is valid? [True, True] Translation: X:988.98, Y:74.92, Z:4.40 [[ 7.79759753e-01 -6.25993555e-01 -1.03342099e-02 9.88982656e+02] [ 6.25932836e-01 7.79828158e-01 -8.72511213e-03 7.49205518e+01] [ 1.35207719e-02 3.34969942e-04 9.99908534e-01 4.39825928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.299254154 meters 0.017761051250555483 Centerline is valid? [True, True] Translation: X:989.03, Y:74.96, Z:4.40 [[ 7.80725268e-01 -6.24779872e-01 -1.08704712e-02 9.89026193e+02] [ 6.24712531e-01 7.80800852e-01 -9.18058865e-03 7.49594436e+01] [ 1.42235202e-02 3.76597943e-04 9.99898770e-01 4.39886291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.3592541539999 meters 0.0167144104661833 Centerline is valid? [True, True] Translation: X:989.07, Y:75.00, Z:4.40 [[ 7.81868424e-01 -6.23365305e-01 -9.87240294e-03 9.89069293e+02] [ 6.23309607e-01 7.81930663e-01 -8.34100196e-03 7.49998748e+01] [ 1.29190258e-02 3.68002460e-04 9.99916478e-01 4.39967185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.419254154 meters 0.020402177368015417 Centerline is valid? [True, True] Translation: X:989.11, Y:75.04, Z:4.40 [[ 7.83207455e-01 -6.21703544e-01 -8.41337951e-03 9.89109228e+02] [ 6.21662975e-01 7.83252570e-01 -7.11033502e-03 7.50425936e+01] [ 1.10103216e-02 3.38580861e-04 9.99939327e-01 4.40145952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.4792541539999 meters 0.021796618607421967 Centerline is valid? [True, True] Translation: X:989.15, Y:75.09, Z:4.40 [[ 7.84704518e-01 -6.19832658e-01 -6.80404424e-03 9.89150548e+02] [ 6.19806038e-01 7.84733960e-01 -5.75211619e-03 7.50853464e+01] [ 8.90471405e-03 2.96523857e-04 9.99960308e-01 4.40313052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.539254154 meters 0.021697029407917953 Centerline is valid? [True, True] Translation: X:989.19, Y:75.13, Z:4.40 [[ 7.86803963e-01 -6.17173771e-01 -6.00494228e-03 9.89190980e+02] [ 6.17152942e-01 7.86826825e-01 -5.07883049e-03 7.51292822e+01] [ 7.85937063e-03 2.90076168e-04 9.99969073e-01 4.40300223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.5992541539999 meters 0.022161196533027085 Centerline is valid? [True, True] Translation: X:989.23, Y:75.17, Z:4.40 [[ 7.89053526e-01 -6.14285581e-01 -6.91072371e-03 9.89231902e+02] [ 6.14257859e-01 7.89083702e-01 -5.84760500e-03 7.51719568e+01] [ 9.04523889e-03 3.69106990e-04 9.99959023e-01 4.40113671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.659254154 meters 0.02504262268593277 Centerline is valid? [True, True] Translation: X:989.27, Y:75.22, Z:4.40 [[ 7.90718641e-01 -6.12139617e-01 -7.00855786e-03 9.89272422e+02] [ 6.12111005e-01 7.90749599e-01 -5.93197784e-03 7.52153761e+01] [ 9.17321296e-03 4.00510060e-04 9.99957845e-01 4.40027003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.7192541539999 meters 0.023930767787261796 Centerline is valid? [True, True] Translation: X:989.32, Y:75.25, Z:4.40 [[ 7.90831567e-01 -6.11986410e-01 -7.62018052e-03 9.89316821e+02] [ 6.11952556e-01 7.90868157e-01 -6.45193057e-03 7.52544600e+01] [ 9.97505195e-03 4.39201412e-04 9.99950151e-01 4.39995911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.779254154 meters 0.02277283656492383 Centerline is valid? [True, True] Translation: X:989.36, Y:75.29, Z:4.40 [[ 7.90848391e-01 -6.11977284e-01 -6.52892343e-03 9.89360063e+02] [ 6.11952408e-01 7.90875250e-01 -5.53080624e-03 7.52933163e+01] [ 8.54829173e-03 3.78638802e-04 9.99963391e-01 4.40064372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.839254154 meters 0.026406028896072978 Centerline is valid? [True, True] Translation: X:989.40, Y:75.34, Z:4.40 [[ 7.90119185e-01 -6.12932998e-01 -4.98140795e-03 9.89399353e+02] [ 6.12918526e-01 7.90134837e-01 -4.22140937e-03 7.53370100e+01] [ 6.52342506e-03 2.82219317e-04 9.99978682e-01 4.40114792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.899254154 meters 0.02385849858867048 Centerline is valid? [True, True] Translation: X:989.45, Y:75.37, Z:4.40 [[ 7.88682464e-01 -6.14787024e-01 -4.10925386e-03 9.89445537e+02] [ 6.14777197e-01 7.88693138e-01 -3.48304019e-03 7.53745162e+01] [ 5.38226823e-03 2.20737149e-04 9.99985491e-01 4.40238566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.959254154 meters 0.023782056676709927 Centerline is valid? [True, True] Translation: X:989.49, Y:75.41, Z:4.40 [[ 7.87460415e-01 -6.16355016e-01 -3.54808678e-03 9.89488458e+02] [ 6.16347700e-01 7.87468387e-01 -3.00860645e-03 7.54148661e+01] [ 4.64837586e-03 1.82303357e-04 9.99989180e-01 4.40247005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.019254154 meters 0.023431888478576943 Centerline is valid? [True, True] Translation: X:989.53, Y:75.46, Z:4.40 [[ 7.87051896e-01 -6.16875631e-01 -3.71065975e-03 9.89531358e+02] [ 6.16867627e-01 7.87060621e-01 -3.14807644e-03 7.54560273e+01] [ 4.86248581e-03 1.88713657e-04 9.99988160e-01 4.40149897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.079254154 meters 0.022646711419857277 Centerline is valid? [True, True] Translation: X:989.57, Y:75.50, Z:4.40 [[ 7.87026813e-01 -6.16904919e-01 -4.13722305e-03 9.89574545e+02] [ 6.16894959e-01 7.87037659e-01 -3.51186656e-03 7.54956250e+01] [ 5.42263810e-03 2.11701109e-04 9.99985275e-01 4.39987024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.139254154 meters 0.026308794921911374 Centerline is valid? [True, True] Translation: X:989.61, Y:75.54, Z:4.40 [[ 7.87579089e-01 -6.16197585e-01 -4.44016974e-03 9.89613809e+02] [ 6.16186092e-01 7.87591570e-01 -3.77071625e-03 7.55383474e+01] [ 5.82054650e-03 2.33766430e-04 9.99983033e-01 4.39677505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.199254154 meters 0.02397658514092934 Centerline is valid? [True, True] Translation: X:989.66, Y:75.58, Z:4.40 [[ 7.86714146e-01 -6.17295831e-01 -5.16802502e-03 9.89656925e+02] [ 6.17280276e-01 7.86731077e-01 -4.39016687e-03 7.55781498e+01] [ 6.77587760e-03 2.63686464e-04 9.99977009e-01 4.39674510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.259254154 meters 0.024209142309894943 Centerline is valid? [True, True] Translation: X:989.70, Y:75.62, Z:4.40 [[ 7.86265937e-01 -6.17874130e-01 -4.17567374e-03 9.89700727e+02] [ 6.17863975e-01 7.86276997e-01 -3.54864253e-03 7.56179284e+01] [ 5.47585062e-03 2.10178361e-04 9.99984985e-01 4.39722395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.319254154 meters 0.026235681498005127 Centerline is valid? [True, True] Translation: X:989.74, Y:75.66, Z:4.40 [[ 7.85634781e-01 -6.18683209e-01 -3.01306959e-03 9.89742449e+02] [ 6.18677924e-01 7.85640544e-01 -2.56157129e-03 7.56580360e+01] [ 3.95199078e-03 1.48339862e-04 9.99992180e-01 4.39772388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.379254154 meters 0.022031265789492115 Centerline is valid? [True, True] Translation: X:989.79, Y:75.69, Z:4.40 [[ 7.84539141e-01 -6.20068223e-01 -3.70618966e-03 9.89788190e+02] [ 6.20060238e-01 7.84547875e-01 -3.15157800e-03 7.56946632e+01] [ 4.86187659e-03 1.74475451e-04 9.99988166e-01 4.39716725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.439254154 meters 0.02250348462252214 Centerline is valid? [True, True] Translation: X:989.83, Y:75.73, Z:4.40 [[ 7.83218322e-01 -6.21737714e-01 -3.35788378e-03 9.89833377e+02] [ 6.21731169e-01 7.83225506e-01 -2.85667578e-03 7.57325886e+01] [ 4.40608329e-03 1.49699803e-04 9.99990282e-01 4.39583273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.499254154 meters 0.01977972278596568 Centerline is valid? [True, True] Translation: X:989.88, Y:75.77, Z:4.40 [[ 7.81305673e-01 -6.24137912e-01 -3.64854358e-03 9.89879228e+02] [ 6.24130203e-01 7.81314178e-01 -3.10562259e-03 7.57699876e+01] [ 4.78899563e-03 1.49274298e-04 9.99988522e-01 4.39704242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.559254154 meters 0.016636366098365662 Centerline is valid? [True, True] Translation: X:989.93, Y:75.80, Z:4.40 [[ 7.77692907e-01 -6.28635771e-01 -3.28785253e-03 9.89929011e+02] [ 6.28629547e-01 7.77699849e-01 -2.79969375e-03 7.58023527e+01] [ 4.31695006e-03 1.10460725e-04 9.99990676e-01 4.39901884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.6192541539999 meters 0.01672622073459037 Centerline is valid? [True, True] Translation: X:989.97, Y:75.84, Z:4.40 [[ 7.75767756e-01 -6.31009665e-01 -3.34534448e-03 9.89973490e+02] [ 6.31003241e-01 7.75774963e-01 -2.84907721e-03 7.58395719e+01] [ 4.39302975e-03 9.92990233e-05 9.99990346e-01 4.39973770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.679254154 meters 0.015853381893968222 Centerline is valid? [True, True] Translation: X:990.02, Y:75.88, Z:4.40 [[ 7.74096923e-01 -6.33050200e-01 -4.62588593e-03 9.90020414e+02] [ 6.33037945e-01 7.74110735e-01 -3.94093480e-03 7.58750005e+01] [ 6.07575752e-03 1.22304183e-04 9.99981535e-01 4.39932340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.7392541539999 meters 0.018371883569817504 Centerline is valid? [True, True] Translation: X:990.06, Y:75.91, Z:4.40 [[ 7.73985178e-01 -6.33174119e-01 -6.12207919e-03 9.90064403e+02] [ 6.33152638e-01 7.74009373e-01 -5.21808585e-03 7.59113160e+01] [ 8.04250359e-03 1.62510517e-04 9.99967645e-01 4.39710804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.799254154 meters 0.016607857744240232 Centerline is valid? [True, True] Translation: X:990.11, Y:75.95, Z:4.40 [[ 7.73868643e-01 -6.33307847e-01 -6.96375297e-03 9.90108281e+02] [ 6.33280045e-01 7.73899953e-01 -5.93702831e-03 7.59470790e+01] [ 9.14921471e-03 1.84474251e-04 9.99958128e-01 4.39719809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.8592541539999 meters 0.01979494306308297 Centerline is valid? [True, True] Translation: X:990.16, Y:75.98, Z:4.40 [[ 7.73759757e-01 -6.33425675e-01 -8.23121923e-03 9.90155227e+02] [ 6.33386806e-01 7.73803506e-01 -7.02050764e-03 7.59832850e+01] [ 1.08163161e-02 2.18640620e-04 9.99941478e-01 4.39587296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.919254154 meters 0.017510801925061437 Centerline is valid? [True, True] Translation: X:990.20, Y:76.02, Z:4.40 [[ 7.73240881e-01 -6.34054749e-01 -8.55070922e-03 9.90202505e+02] [ 6.34012797e-01 7.73288126e-01 -7.29710244e-03 7.60175650e+01] [ 1.12389244e-02 2.21158859e-04 9.99936817e-01 4.39759010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.9792541539999 meters 0.019393742743202064 Centerline is valid? [True, True] Translation: X:990.25, Y:76.06, Z:4.40 [[ 7.72346204e-01 -6.35135241e-01 -9.19603482e-03 9.90246134e+02] [ 6.35086760e-01 7.72400916e-01 -7.85054529e-03 7.60555761e+01] [ 1.20891837e-02 2.23058893e-04 9.99926898e-01 4.39624069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.039254154 meters 0.01722048328247555 Centerline is valid? [True, True] Translation: X:990.30, Y:76.09, Z:4.40 [[ 7.69694286e-01 -6.38339981e-01 -9.63193537e-03 9.90296536e+02] [ 6.38287004e-01 7.69754529e-01 -8.22590971e-03 7.60868303e+01] [ 1.26651529e-02 1.83496527e-04 9.99919777e-01 4.39797279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.0992541539999 meters 0.014460967758429769 Centerline is valid? [True, True] Translation: X:990.35, Y:76.12, Z:4.40 [[ 7.66921278e-01 -6.41653891e-01 -1.05847982e-02 9.90346205e+02] [ 6.41590161e-01 7.66994304e-01 -9.04446730e-03 7.61193252e+01] [ 1.39218976e-02 1.45292016e-04 9.99903075e-01 4.40012530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.159254154 meters 0.014675834085775141 Centerline is valid? [True, True] Translation: X:990.39, Y:76.15, Z:4.40 [[ 7.64977048e-01 -6.43969377e-01 -1.06562973e-02 9.90393814e+02] [ 6.43904970e-01 7.65051260e-01 -9.10819264e-03 7.61531743e+01] [ 1.40180108e-02 1.05915541e-04 9.99901737e-01 4.40056830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.2192541539999 meters 0.016123886917798914 Centerline is valid? [True, True] Translation: X:990.44, Y:76.19, Z:4.40 [[ 7.63514236e-01 -6.45704210e-01 -1.05869691e-02 9.90441271e+02] [ 6.45640753e-01 7.63587629e-01 -9.05267757e-03 7.61877626e+01] [ 1.39294306e-02 7.64695002e-05 9.99902978e-01 4.40140337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.279254154 meters 0.013442526613544682 Centerline is valid? [True, True] Translation: X:990.49, Y:76.22, Z:4.40 [[ 7.61945588e-01 -6.47577105e-01 -9.10019164e-03 9.90489286e+02] [ 6.47530307e-01 7.61999929e-01 -7.78521462e-03 7.62216753e+01] [ 1.19758721e-02 3.92600469e-05 9.99928286e-01 4.40332473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.339254154 meters 0.013483598039499072 Centerline is valid? [True, True] Translation: X:990.54, Y:76.26, Z:4.40 [[ 7.61697004e-01 -6.47872056e-01 -8.91475863e-03 9.90535938e+02] [ 6.47827116e-01 7.61749170e-01 -7.63084608e-03 7.62571211e+01] [ 1.17346219e-02 3.71702178e-05 9.99931146e-01 4.40380945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.399254154 meters 0.013578011284785198 Centerline is valid? [True, True] Translation: X:990.58, Y:76.29, Z:4.40 [[ 7.63078531e-01 -6.46241647e-01 -9.10430738e-03 9.90581917e+02] [ 6.46194609e-01 7.63132838e-01 -7.79732990e-03 7.62943707e+01] [ 1.19867553e-02 6.68206933e-05 9.99928154e-01 4.40383961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.459254154 meters 0.013927121010870278 Centerline is valid? [True, True] Translation: X:990.63, Y:76.33, Z:4.40 [[ 7.65338894e-01 -6.43558297e-01 -9.43905515e-03 9.90626309e+02] [ 6.43507479e-01 7.65397090e-01 -8.08820016e-03 7.63325560e+01] [ 1.24298537e-02 1.16111580e-04 9.99922740e-01 4.40342892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.519254154 meters 0.01453846052718133 Centerline is valid? [True, True] Translation: X:990.67, Y:76.37, Z:4.40 [[ 7.67501183e-01 -6.40968226e-01 -1.00830292e-02 9.90670213e+02] [ 6.40909954e-01 7.67567394e-01 -8.64449066e-03 7.63719141e+01] [ 1.32802483e-02 1.72343014e-04 9.99911799e-01 4.40285376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.579254154 meters 0.015740846697471444 Centerline is valid? [True, True] Translation: X:990.71, Y:76.41, Z:4.40 [[ 7.69963319e-01 -6.37994459e-01 -1.09342132e-02 9.90712649e+02] [ 6.37925593e-01 7.70040914e-01 -9.37695882e-03 7.64115498e+01] [ 1.44022393e-02 2.44699920e-04 9.99896252e-01 4.40151793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.639254154 meters 0.01724115328690675 Centerline is valid? [True, True] Translation: X:990.76, Y:76.45, Z:4.40 [[ 7.70318460e-01 -6.37562057e-01 -1.11396982e-02 9.90757385e+02] [ 6.37490477e-01 7.70398959e-01 -9.55697821e-03 7.64496829e+01] [ 1.46751786e-02 2.60465223e-04 9.99892280e-01 4.40109197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.699254154 meters 0.017519881009007636 Centerline is valid? [True, True] Translation: X:990.80, Y:76.49, Z:4.40 [[ 7.71517263e-01 -6.36127887e-01 -1.01205341e-02 9.90803793e+02] [ 6.36068627e-01 7.71583593e-01 -8.68680527e-03 7.64866705e+01] [ 1.33347571e-02 2.64666010e-04 9.99911053e-01 4.40372021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.759254154 meters 0.017464972151883258 Centerline is valid? [True, True] Translation: X:990.85, Y:76.52, Z:4.41 [[ 7.72658140e-01 -6.34753905e-01 -9.32087740e-03 9.90850192e+02] [ 6.34703491e-01 7.72714312e-01 -8.00440352e-03 7.65235521e+01] [ 1.22832018e-02 2.68674106e-04 9.99924523e-01 4.40576176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.819254154 meters 0.0180778716370493 Centerline is valid? [True, True] Translation: X:990.89, Y:76.56, Z:4.40 [[ 7.74610090e-01 -6.32358948e-01 -1.00682752e-02 9.90892443e+02] [ 6.32299887e-01 7.74675448e-01 -8.64887633e-03 7.65636700e+01] [ 1.32688399e-02 3.33337606e-04 9.99911910e-01 4.40483691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.879254154 meters 0.01799242507300966 Centerline is valid? [True, True] Translation: X:990.94, Y:76.60, Z:4.40 [[ 7.75768373e-01 -6.30925448e-01 -1.07939986e-02 9.90938283e+02] [ 6.30857373e-01 7.75843366e-01 -9.27608171e-03 7.66012160e+01] [ 1.42269682e-02 3.86617203e-04 9.99898717e-01 4.40412860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.939254154 meters 0.01860700716258915 Centerline is valid? [True, True] Translation: X:990.98, Y:76.64, Z:4.40 [[ 7.76671523e-01 -6.29802786e-01 -1.13928089e-02 9.90983394e+02] [ 6.29726752e-01 7.76754957e-01 -9.79568383e-03 7.66396350e+01] [ 1.50187697e-02 4.33672148e-04 9.99887118e-01 4.40378244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.999254154 meters 0.019799805280204807 Centerline is valid? [True, True] Translation: X:991.03, Y:76.67, Z:4.40 [[ 7.76571192e-01 -6.29930409e-01 -1.11742559e-02 9.91029366e+02] [ 6.29857198e-01 7.76651465e-01 -9.61311737e-03 7.66747444e+01] [ 1.47340972e-02 4.27084469e-04 9.99891356e-01 4.40381228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.059254154 meters 0.018849564069493643 Centerline is valid? [True, True] Translation: X:991.07, Y:76.71, Z:4.41 [[ 7.76530816e-01 -6.29993592e-01 -1.03907025e-02 9.91073818e+02] [ 6.29930257e-01 7.76600229e-01 -8.94174558e-03 7.67121688e+01] [ 1.37026643e-02 3.98123114e-04 9.99906035e-01 4.40554238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.1192541539999 meters 0.017828497200419718 Centerline is valid? [True, True] Translation: X:991.12, Y:76.75, Z:4.41 [[ 7.76456324e-01 -6.30083137e-01 -1.05270217e-02 9.91120208e+02] [ 6.30018079e-01 7.76527576e-01 -9.06326873e-03 7.67471698e+01] [ 1.38851354e-02 4.05018316e-04 9.99903515e-01 4.40672970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.179254154 meters 0.017725741618718968 Centerline is valid? [True, True] Translation: X:991.16, Y:76.78, Z:4.41 [[ 7.76208016e-01 -6.30380644e-01 -1.10163014e-02 9.91164094e+02] [ 6.30309346e-01 7.76286071e-01 -9.49020548e-03 7.67844948e+01] [ 1.45342432e-02 4.22695861e-04 9.99894283e-01 4.40666251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.2392541539999 meters 0.01903137536265648 Centerline is valid? [True, True] Translation: X:991.21, Y:76.82, Z:4.41 [[ 7.76975744e-01 -6.29419560e-01 -1.18199515e-02 9.91205897e+02] [ 6.29337319e-01 7.77065500e-01 -1.01856739e-02 7.68245242e+01] [ 1.55959389e-02 4.75284935e-04 9.99878263e-01 4.40599759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.299254154 meters 0.019836424788647136 Centerline is valid? [True, True] Translation: X:991.25, Y:76.86, Z:4.41 [[ 7.77667133e-01 -6.28560502e-01 -1.20633968e-02 9.91248857e+02] [ 6.28474666e-01 7.77760528e-01 -1.03997394e-02 7.68643865e+01] [ 1.59192993e-02 5.05996214e-04 9.99873152e-01 4.40614861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.3592541539999 meters 0.020000723349729146 Centerline is valid? [True, True] Translation: X:991.29, Y:76.90, Z:4.41 [[ 7.78153100e-01 -6.27955269e-01 -1.22446915e-02 9.91292834e+02] [ 6.27866674e-01 7.78249252e-01 -1.05613302e-02 7.69037519e+01] [ 1.61614650e-02 5.30298089e-04 9.99869254e-01 4.40648157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.419254154 meters 0.021913299217643605 Centerline is valid? [True, True] Translation: X:991.33, Y:76.94, Z:4.40 [[ 7.77314316e-01 -6.28978788e-01 -1.29668425e-02 9.91334655e+02] [ 6.28879524e-01 7.77422273e-01 -1.11871831e-02 7.69440657e+01] [ 1.71172130e-02 5.41375819e-04 9.99853343e-01 4.40451864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.4792541539999 meters 0.01963928967226633 Centerline is valid? [True, True] Translation: X:991.38, Y:76.98, Z:4.41 [[ 7.75860659e-01 -6.30795379e-01 -1.17229622e-02 9.91381557e+02] [ 6.30714393e-01 7.75949084e-01 -1.01179435e-02 7.69802290e+01] [ 1.54787738e-02 4.56273318e-04 9.99880092e-01 4.40707295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.539254154 meters 0.01931584153272418 Centerline is valid? [True, True] Translation: X:991.43, Y:77.02, Z:4.41 [[ 7.75550064e-01 -6.31190820e-01 -1.09656787e-02 9.91426372e+02] [ 6.31119932e-01 7.75627468e-01 -9.46899305e-03 7.70188845e+01] [ 1.44820231e-02 4.23019784e-04 9.99895041e-01 4.40908706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.5992541539999 meters 0.018853725486852754 Centerline is valid? [True, True] Translation: X:991.47, Y:77.06, Z:4.41 [[ 7.75974653e-01 -6.30664136e-01 -1.12287475e-02 9.91467928e+02] [ 6.30589710e-01 7.76055764e-01 -9.69887727e-03 7.70595770e+01] [ 1.48308683e-02 4.45350281e-04 9.99889917e-01 4.40989403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.659254154 meters 0.018348577931266694 Centerline is valid? [True, True] Translation: X:991.51, Y:77.10, Z:4.41 [[ 7.75784409e-01 -6.30877810e-01 -1.23182700e-02 9.91511477e+02] [ 6.30788193e-01 7.75882047e-01 -1.06444579e-02 7.70988302e+01] [ 1.62728768e-02 4.87585212e-04 9.99867469e-01 4.40863168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.7192541539999 meters 0.019010613070519534 Centerline is valid? [True, True] Translation: X:991.55, Y:77.14, Z:4.41 [[ 7.76306768e-01 -6.30215809e-01 -1.32603257e-02 9.91554705e+02] [ 6.30111760e-01 7.76419820e-01 -1.14643875e-02 7.71390654e+01] [ 1.75206180e-02 5.44394443e-04 9.99846354e-01 4.40926352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.779254154 meters 0.019916925215773963 Centerline is valid? [True, True] Translation: X:991.60, Y:77.18, Z:4.41 [[ 7.76409206e-01 -6.30087154e-01 -1.33762073e-02 9.91600946e+02] [ 6.29981152e-01 7.76524222e-01 -1.15706695e-02 7.71763581e+01] [ 1.76774792e-02 5.56815861e-04 9.99843586e-01 4.41038894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.839254154 meters 0.021995605438840517 Centerline is valid? [True, True] Translation: X:991.64, Y:77.22, Z:4.41 [[ 7.76859417e-01 -6.29562830e-01 -1.18359225e-02 9.91639381e+02] [ 6.29479707e-01 7.76949410e-01 -1.02426781e-02 7.72190386e+01] [ 1.56443224e-02 5.06647914e-04 9.99877492e-01 4.41103277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.899254154 meters 0.021516822530309176 Centerline is valid? [True, True] Translation: X:991.68, Y:77.26, Z:4.41 [[ 7.78149256e-01 -6.27985687e-01 -1.08495228e-02 9.91681533e+02] [ 6.27915627e-01 7.78224730e-01 -9.39331366e-03 7.72603493e+01] [ 1.43422335e-02 4.96815128e-04 9.99897021e-01 4.41357236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.959254154 meters 0.021510027647342025 Centerline is valid? [True, True] Translation: X:991.73, Y:77.30, Z:4.41 [[ 7.79407437e-01 -6.26398026e-01 -1.22294799e-02 9.91726256e+02] [ 6.26308727e-01 7.79503147e-01 -1.05934816e-02 7.72995253e+01] [ 1.61686540e-02 5.97208365e-04 9.99869100e-01 4.41307941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.019254154 meters 0.02662884287831322 Centerline is valid? [True, True] Translation: X:991.76, Y:77.35, Z:4.41 [[ 7.80888125e-01 -6.24552877e-01 -1.21425161e-02 9.91762574e+02] [ 6.24464577e-01 7.80982268e-01 -1.05208750e-02 7.73466663e+01] [ 1.60539325e-02 6.33055142e-04 9.99870927e-01 4.41078556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.079254154 meters 0.023609878429287905 Centerline is valid? [True, True] Translation: X:991.81, Y:77.39, Z:4.41 [[ 7.82997925e-01 -6.21906935e-01 -1.20836062e-02 9.91806115e+02] [ 6.21819135e-01 7.83090859e-01 -1.04722903e-02 7.73861459e+01] [ 1.59753515e-02 6.85963999e-04 9.99872151e-01 4.41288538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.139254154 meters 0.02615640717108108 Centerline is valid? [True, True] Translation: X:991.85, Y:77.43, Z:4.41 [[ 7.83520570e-01 -6.21225328e-01 -1.32139652e-02 9.91847267e+02] [ 6.21120147e-01 7.83631610e-01 -1.14570101e-02 7.74286110e+01] [ 1.74722657e-02 7.69343039e-04 9.99847052e-01 4.41094836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.199254154 meters 0.024176840854867147 Centerline is valid? [True, True] Translation: X:991.89, Y:77.47, Z:4.41 [[ 7.82816079e-01 -6.22141164e-01 -1.18050139e-02 9.91891173e+02] [ 6.22057249e-01 7.82904796e-01 -1.02400820e-02 7.74687208e+01] [ 1.56129785e-02 6.72706370e-04 9.99877884e-01 4.41278572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.259254154 meters 0.0207441155578751 Centerline is valid? [True, True] Translation: X:991.94, Y:77.51, Z:4.41 [[ 7.79524884e-01 -6.26279924e-01 -1.06963368e-02 9.91937062e+02] [ 6.26211358e-01 7.79598081e-01 -9.28268946e-03 7.75065370e+01] [ 1.41524057e-02 5.37919828e-04 9.99899705e-01 4.41380555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.319254154 meters 0.01806324117911304 Centerline is valid? [True, True] Translation: X:991.98, Y:77.54, Z:4.41 [[ 7.76648641e-01 -6.29852691e-01 -1.01230592e-02 9.91983370e+02] [ 6.29791550e-01 7.76714481e-01 -8.78737731e-03 7.75431279e+01] [ 1.33974799e-02 4.49287513e-04 9.99910149e-01 4.41446851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.379254154 meters 0.017003629144501965 Centerline is valid? [True, True] Translation: X:992.03, Y:77.58, Z:4.41 [[ 7.71877694e-01 -6.35678279e-01 -1.08605776e-02 9.92028559e+02] [ 6.35608454e-01 7.71954005e-01 -9.42906626e-03 7.75807517e+01] [ 1.43777190e-02 3.75010975e-04 9.99896565e-01 4.41249553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.439254154 meters 0.015117998754317371 Centerline is valid? [True, True] Translation: X:992.07, Y:77.62, Z:4.41 [[ 7.67536913e-01 -6.40914169e-01 -1.07756462e-02 9.92072882e+02] [ 6.40845922e-01 7.67612501e-01 -9.35695362e-03 7.76177257e+01] [ 1.42685249e-02 2.76278360e-04 9.99898161e-01 4.41187123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.499254154 meters 0.016523242563884693 Centerline is valid? [True, True] Translation: X:992.12, Y:77.66, Z:4.41 [[ 7.65331827e-01 -6.43523612e-01 -1.20231239e-02 9.92117317e+02] [ 6.43438899e-01 7.65426217e-01 -1.04445638e-02 7.76559028e+01] [ 1.59241376e-02 2.57411473e-04 9.99873170e-01 4.41057469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.559254154 meters 0.015348806804247295 Centerline is valid? [True, True] Translation: X:992.16, Y:77.69, Z:4.41 [[ 7.63896437e-01 -6.45234376e-01 -1.16117627e-02 9.92162489e+02] [ 6.45155479e-01 7.63984654e-01 -1.00923823e-02 7.76939673e+01] [ 1.53831605e-02 2.18142499e-04 9.99881648e-01 4.41151923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.6192541539999 meters 0.015542740673445316 Centerline is valid? [True, True] Translation: X:992.20, Y:77.73, Z:4.41 [[ 7.63676599e-01 -6.45493786e-01 -1.16543731e-02 9.92204051e+02] [ 6.45414286e-01 7.63765491e-01 -1.01327979e-02 7.77336874e+01] [ 1.54418661e-02 2.16281705e-04 9.99880744e-01 4.41098932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.679254154 meters 0.013778810582591661 Centerline is valid? [True, True] Translation: X:992.25, Y:77.77, Z:4.41 [[ 7.64342730e-01 -6.44715544e-01 -1.10480123e-02 9.92247745e+02] [ 6.44643960e-01 7.64422538e-01 -9.60980086e-03 7.77737578e+01] [ 1.46409376e-02 2.23147002e-04 9.99892791e-01 4.41275303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.7392541539999 meters 0.0151201655969854 Centerline is valid? [True, True] Translation: X:992.29, Y:77.82, Z:4.41 [[ 7.65865365e-01 -6.42906771e-01 -1.10057917e-02 9.92288253e+02] [ 6.42835505e-01 7.65944396e-01 -9.57579427e-03 7.78153413e+01] [ 1.45861675e-02 2.58855482e-04 9.99893583e-01 4.41231933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.799254154 meters 0.017627767072575493 Centerline is valid? [True, True] Translation: X:992.33, Y:77.86, Z:4.41 [[ 7.69234247e-01 -6.38854036e-01 -1.20081062e-02 9.92329222e+02] [ 6.38768676e-01 7.69327879e-01 -1.04495350e-02 7.78577815e+01] [ 1.59138985e-02 3.67738081e-04 9.99873298e-01 4.41216524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.8592541539999 meters 0.018746556608506094 Centerline is valid? [True, True] Translation: X:992.37, Y:77.90, Z:4.41 [[ 7.73426619e-01 -6.33783291e-01 -1.14019995e-02 9.92367680e+02] [ 6.33705746e-01 7.73510528e-01 -9.92422170e-03 7.79020046e+01] [ 1.51093725e-02 4.50144650e-04 9.99885746e-01 4.41258068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.919254154 meters 0.022476046474920137 Centerline is valid? [True, True] Translation: X:992.41, Y:77.94, Z:4.41 [[ 7.76021579e-01 -6.30597483e-01 -1.17185081e-02 9.92409748e+02] [ 6.30515175e-01 7.76109874e-01 -1.02018396e-02 7.79431197e+01] [ 1.55281042e-02 5.28150498e-04 9.99879292e-01 4.41279355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.9792541539999 meters 0.02221877875255849 Centerline is valid? [True, True] Translation: X:992.45, Y:77.98, Z:4.41 [[ 7.77010486e-01 -6.29389399e-01 -1.11215901e-02 9.92453156e+02] [ 6.29315081e-01 7.77089896e-01 -9.68619526e-03 7.79833833e+01] [ 1.47388639e-02 5.27290878e-04 9.99891238e-01 4.41406334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.039254154 meters 0.02200989198627613 Centerline is valid? [True, True] Translation: X:992.50, Y:78.02, Z:4.41 [[ 7.77247074e-01 -6.29100499e-01 -1.09338351e-02 9.92495633e+02] [ 6.29028570e-01 7.77323796e-01 -9.52749816e-03 7.80238670e+01] [ 1.44928840e-02 5.27525439e-04 9.99894833e-01 4.41463161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.0992541539999 meters 0.02045461136590596 Centerline is valid? [True, True] Translation: X:992.54, Y:78.06, Z:4.41 [[ 7.76784140e-01 -6.29674958e-01 -1.07631998e-02 9.92539667e+02] [ 6.29605245e-01 7.76858535e-01 -9.38354897e-03 7.80625515e+01] [ 1.42700694e-02 5.12424998e-04 9.99898046e-01 4.41447163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.159254154 meters 0.022545818455499855 Centerline is valid? [True, True] Translation: X:992.58, Y:78.10, Z:4.41 [[ 7.75246478e-01 -6.31543109e-01 -1.20912876e-02 9.92584087e+02] [ 6.31455297e-01 7.75340576e-01 -1.05450453e-02 7.80998997e+01] [ 1.60345166e-02 5.39901645e-04 9.99871293e-01 4.41230876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.2192541539999 meters 0.02108589591303362 Centerline is valid? [True, True] Translation: X:992.63, Y:78.14, Z:4.41 [[ 7.73304841e-01 -6.33924503e-01 -1.18045634e-02 9.92629942e+02] [ 6.33841024e-01 7.73394784e-01 -1.02987291e-02 7.81371453e+01] [ 1.56582045e-02 4.81840447e-04 9.99877287e-01 4.41250118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.279254154 meters 0.02143305092082838 Centerline is valid? [True, True] Translation: X:992.68, Y:78.17, Z:4.41 [[ 7.70905777e-01 -6.36828593e-01 -1.23945621e-02 9.92677159e+02] [ 6.36736861e-01 7.71005280e-01 -1.08179009e-02 7.81728622e+01] [ 1.64454215e-02 4.47507737e-04 9.99864665e-01 4.41214121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.339254154 meters 0.019512304383542175 Centerline is valid? [True, True] Translation: X:992.72, Y:78.21, Z:4.41 [[ 7.69546223e-01 -6.38486978e-01 -1.15320806e-02 9.92723264e+02] [ 6.38407689e-01 7.69632529e-01 -1.00694048e-02 7.82102378e+01] [ 1.53046482e-02 3.86703491e-04 9.99882802e-01 4.41322353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.399254154 meters 0.01892874880541987 Centerline is valid? [True, True] Translation: X:992.77, Y:78.25, Z:4.41 [[ 7.69205682e-01 -6.38921730e-01 -1.00817690e-02 9.92766843e+02] [ 6.38861134e-01 7.69271676e-01 -8.80563700e-03 7.82480405e+01] [ 1.33817322e-02 3.32495639e-04 9.99910405e-01 4.41499010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.459254154 meters 0.022291171002925287 Centerline is valid? [True, True] Translation: X:992.81, Y:78.29, Z:4.41 [[ 7.71071040e-01 -6.36649114e-01 -1.12852627e-02 9.92808502e+02] [ 6.36572911e-01 7.71153506e-01 -9.85891141e-03 7.82875996e+01] [ 1.49793371e-02 4.18028514e-04 9.99887716e-01 4.41347496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.519254154 meters 0.018328263608995695 Centerline is valid? [True, True] Translation: X:992.86, Y:78.32, Z:4.41 [[ 7.72352804e-01 -6.35068075e-01 -1.26367272e-02 9.92855945e+02] [ 6.34972279e-01 7.72456009e-01 -1.10416467e-02 7.83219035e+01] [ 1.67735132e-02 5.04075333e-04 9.99859188e-01 4.41466189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.579254154 meters 0.017843542740904564 Centerline is valid? [True, True] Translation: X:992.90, Y:78.36, Z:4.41 [[ 7.71627246e-01 -6.35932552e-01 -1.34604073e-02 9.92903054e+02] [ 6.35823900e-01 7.71744464e-01 -1.17664584e-02 7.83582261e+01] [ 1.78706687e-02 5.20871225e-04 9.99840171e-01 4.41472957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.639254154 meters 0.023059974893635135 Centerline is valid? [True, True] Translation: X:992.94, Y:78.40, Z:4.41 [[ 7.69698685e-01 -6.38263816e-01 -1.35364191e-02 9.92944542e+02] [ 6.38154238e-01 7.69817562e-01 -1.18360019e-02 7.83982273e+01] [ 1.79750649e-02 4.71831946e-04 9.99838324e-01 4.41155913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.699254154 meters 0.014991193287374886 Centerline is valid? [True, True] Translation: X:993.00, Y:78.42, Z:4.42 [[ 7.65959040e-01 -6.42787621e-01 -1.14377812e-02 9.92999213e+02] [ 6.42709839e-01 7.66044370e-01 -1.00042874e-02 7.84247883e+01] [ 1.51924800e-02 3.11699847e-04 9.99884539e-01 4.41944649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.759254154 meters 0.017611730988871036 Centerline is valid? [True, True] Translation: X:993.05, Y:78.46, Z:4.42 [[ 7.63343272e-01 -6.45896861e-01 -1.11487487e-02 9.93047387e+02] [ 6.45823226e-01 7.63424642e-01 -9.75588949e-03 7.84597738e+01] [ 1.48125279e-02 2.46971724e-04 9.99890258e-01 4.41943336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.819254154 meters 0.014871856563969187 Centerline is valid? [True, True] Translation: X:993.09, Y:78.50, Z:4.42 [[ 7.63979175e-01 -6.45168900e-01 -9.63903028e-03 9.93092039e+02] [ 6.45113744e-01 7.64039945e-01 -8.43919417e-03 7.84974057e+01] [ 1.28093098e-02 2.29097687e-04 9.99917931e-01 4.42104877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.879254154 meters 0.01690213837101157 Centerline is valid? [True, True] Translation: X:993.14, Y:78.54, Z:4.42 [[ 7.65555683e-01 -6.43284885e-01 -1.04427885e-02 9.93136446e+02] [ 6.43219921e-01 7.65626851e-01 -9.14646316e-03 7.85351878e+01] [ 1.38790607e-02 2.85117289e-04 9.99903641e-01 4.42063690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.939254154 meters 0.019366695261790762 Centerline is valid? [True, True] Translation: X:993.18, Y:78.58, Z:4.42 [[ 7.69063925e-01 -6.39065689e-01 -1.16500853e-02 9.93177322e+02] [ 6.38984302e-01 7.69152053e-01 -1.02069138e-02 7.85768897e+01] [ 1.54835754e-02 4.05547545e-04 9.99880040e-01 4.41760776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.999254154 meters 0.0194282623743937 Centerline is valid? [True, True] Translation: X:993.22, Y:78.62, Z:4.42 [[ 7.72124127e-01 -6.35354140e-01 -1.22249646e-02 9.93222150e+02] [ 6.35263984e-01 7.72220732e-01 -1.07149978e-02 7.86162696e+01] [ 1.62481893e-02 5.07228601e-04 9.99867861e-01 4.41653409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.059254154 meters 0.020764359817559905 Centerline is valid? [True, True] Translation: X:993.27, Y:78.66, Z:4.42 [[ 7.73484710e-01 -6.33697101e-01 -1.22224581e-02 9.93266528e+02] [ 6.33606691e-01 7.73581080e-01 -1.07179718e-02 7.86550914e+01] [ 1.62470100e-02 5.45956031e-04 9.99867860e-01 4.41584085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.1192541539999 meters 0.02019882715297192 Centerline is valid? [True, True] Translation: X:993.31, Y:78.69, Z:4.42 [[ 7.73372662e-01 -6.33859361e-01 -1.08183076e-02 9.93314115e+02] [ 6.33788482e-01 7.73448173e-01 -9.49123439e-03 7.86903633e+01] [ 1.43835080e-02 4.83742473e-04 9.99896435e-01 4.41737966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.179254154 meters 0.020653807690129245 Centerline is valid? [True, True] Translation: X:993.36, Y:78.72, Z:4.42 [[ 7.72230300e-01 -6.35237084e-01 -1.15849220e-02 9.93363956e+02] [ 6.35155875e-01 7.72317035e-01 -1.01691968e-02 7.87227992e+01] [ 1.54070835e-02 4.94730653e-04 9.99881181e-01 4.41798632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.2392541539999 meters 0.019724699637527824 Centerline is valid? [True, True] Translation: X:993.41, Y:78.76, Z:4.42 [[ 7.71917246e-01 -6.35622940e-01 -1.12802072e-02 9.93410586e+02] [ 6.35545911e-01 7.71999514e-01 -9.90685888e-03 7.87592930e+01] [ 1.50053412e-02 4.78185687e-04 9.99887299e-01 4.41691874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.299254154 meters 0.01883004855899126 Centerline is valid? [True, True] Translation: X:993.46, Y:78.80, Z:4.42 [[ 7.71757990e-01 -6.35797560e-01 -1.22909107e-02 9.93456606e+02] [ 6.35706036e-01 7.71855679e-01 -1.08002962e-02 7.87967815e+01] [ 1.63536111e-02 5.21808771e-04 9.99866135e-01 4.41562550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.3592541539999 meters 0.019041585413181992 Centerline is valid? [True, True] Translation: X:993.50, Y:78.83, Z:4.41 [[ 7.70777935e-01 -6.36959098e-01 -1.35824286e-02 9.93501538e+02] [ 6.36847431e-01 7.70897401e-01 -1.19393383e-02 7.88331391e+01] [ 1.80755290e-02 5.52643766e-04 9.99836472e-01 4.41331931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.419254154 meters 0.018441918720405258 Centerline is valid? [True, True] Translation: X:993.55, Y:78.87, Z:4.42 [[ 7.69240403e-01 -6.38837137e-01 -1.25026340e-02 9.93548006e+02] [ 6.38742692e-01 7.69341855e-01 -1.09946762e-02 7.88694843e+01] [ 1.66426071e-02 4.71583080e-04 9.99861391e-01 4.41536591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.4792541539999 meters 0.01708859563636414 Centerline is valid? [True, True] Translation: X:993.59, Y:78.91, Z:4.42 [[ 7.68535822e-01 -6.39707027e-01 -1.12964740e-02 9.93593285e+02] [ 6.39629948e-01 7.68618728e-01 -9.93887554e-03 7.89070555e+01] [ 1.50406500e-02 4.12818796e-04 9.99886798e-01 4.41770077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.539254154 meters 0.015945576386661713 Centerline is valid? [True, True] Translation: X:993.64, Y:78.95, Z:4.42 [[ 7.65859278e-01 -6.42950153e-01 -8.64099804e-03 9.93638542e+02] [ 6.42905219e-01 7.65907976e-01 -7.60594826e-03 7.89452333e+01] [ 1.15084549e-02 2.69743303e-04 9.99933739e-01 4.42052353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.5992541539999 meters 0.016937397983983884 Centerline is valid? [True, True] Translation: X:993.69, Y:78.98, Z:4.42 [[ 7.61656605e-01 -6.47910810e-01 -9.52878952e-03 9.93686402e+02] [ 6.47856508e-01 7.61716177e-01 -8.39108529e-03 7.89799571e+01] [ 1.26949080e-02 2.17837236e-04 9.99919393e-01 4.41948150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.659254154 meters 0.015490856781170313 Centerline is valid? [True, True] Translation: X:993.73, Y:79.02, Z:4.42 [[ 7.60175193e-01 -6.49641399e-01 -9.98640850e-03 9.93732274e+02] [ 6.49581848e-01 7.60240759e-01 -8.79838472e-03 7.90174452e+01] [ 1.33078697e-02 2.01324118e-04 9.99911426e-01 4.41916271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.7192541539999 meters 0.014534949040002774 Centerline is valid? [True, True] Translation: X:993.77, Y:79.06, Z:4.42 [[ 7.61462095e-01 -6.48101057e-01 -1.18531444e-02 9.93774540e+02] [ 6.48016881e-01 7.61554295e-01 -1.04488173e-02 7.90591466e+01] [ 1.57987026e-02 2.75340641e-04 9.99875155e-01 4.41744056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.779254154 meters 0.015714739905844377 Centerline is valid? [True, True] Translation: X:993.82, Y:79.10, Z:4.42 [[ 7.61970754e-01 -6.47465824e-01 -1.37323451e-02 9.93816535e+02] [ 6.47352657e-01 7.62094412e-01 -1.21096679e-02 7.90994248e+01] [ 1.83059396e-02 3.37542637e-04 9.99832375e-01 4.41611053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.839254154 meters 0.014826587314826558 Centerline is valid? [True, True] Translation: X:993.86, Y:79.14, Z:4.42 [[ 7.61231282e-01 -6.48328678e-01 -1.40306831e-02 9.93860005e+02] [ 6.48210568e-01 7.61360504e-01 -1.23790997e-02 7.91380862e+01] [ 1.87081333e-02 3.28520913e-04 9.99824934e-01 4.41582403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.899254154 meters 0.013749188378401792 Centerline is valid? [True, True] Translation: X:993.91, Y:79.17, Z:4.42 [[ 7.57050292e-01 -6.53234775e-01 -1.26168502e-02 9.93906402e+02] [ 6.53139852e-01 7.57155395e-01 -1.11373510e-02 7.91739390e+01] [ 1.68282211e-02 1.90967196e-04 9.99858377e-01 4.41729838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.959254154 meters 0.013677036476622297 Centerline is valid? [True, True] Translation: X:993.96, Y:79.21, Z:4.42 [[ 7.51037390e-01 -6.60161485e-01 -1.13864632e-02 9.93955641e+02] [ 6.60084893e-01 7.51123700e-01 -1.00559349e-02 7.92074861e+01] [ 1.51911833e-02 3.63507430e-05 9.99884607e-01 4.41936138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.019254154 meters 0.01320273644513693 Centerline is valid? [True, True] Translation: X:994.00, Y:79.24, Z:4.42 [[ 7.46194563e-01 -6.65637110e-01 -1.09959770e-02 9.94002739e+02] [ 6.65566195e-01 7.46275575e-01 -9.71628837e-03 7.92412482e+01] [ 1.46735512e-02 -6.83090215e-05 9.99892335e-01 4.42101475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.079254154 meters 0.014290832384370048 Centerline is valid? [True, True] Translation: X:994.05, Y:79.28, Z:4.42 [[ 7.44035594e-01 -6.68040754e-01 -1.15145845e-02 9.94047818e+02] [ 6.67963197e-01 7.44124678e-01 -1.01799067e-02 7.92788188e+01] [ 1.53688790e-02 -1.17105772e-04 9.99881885e-01 4.42072978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.139254154 meters 0.01658198943514136 Centerline is valid? [True, True] Translation: X:994.09, Y:79.32, Z:4.42 [[ 7.42084890e-01 -6.70181508e-01 -1.29136485e-02 9.94092406e+02] [ 6.70084177e-01 7.42197222e-01 -1.14227779e-02 7.93168459e+01] [ 1.72398086e-02 -1.76560594e-04 9.99851368e-01 4.42050864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.199254154 meters 0.0137160099666428 Centerline is valid? [True, True] Translation: X:994.14, Y:79.36, Z:4.42 [[ 7.42492239e-01 -6.69731829e-01 -1.28278256e-02 9.94135625e+02] [ 6.69635612e-01 7.42603024e-01 -1.13532313e-02 7.93559720e+01] [ 1.71296025e-02 -1.60282706e-04 9.99853265e-01 4.42163954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.259254154 meters 0.013953317840359475 Centerline is valid? [True, True] Translation: X:994.18, Y:79.40, Z:4.42 [[ 7.44655684e-01 -6.67345484e-01 -1.17438394e-02 9.94177984e+02] [ 6.67264461e-01 7.44748278e-01 -1.03991633e-02 7.93971733e+01] [ 1.56860389e-02 -9.24505685e-05 9.99876962e-01 4.42336975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.319254154 meters 0.012735624966707389 Centerline is valid? [True, True] Translation: X:994.22, Y:79.44, Z:4.43 [[ 7.47124398e-01 -6.64588076e-01 -1.13059168e-02 9.94219964e+02] [ 6.64512590e-01 7.47209936e-01 -1.00164251e-02 7.94382252e+01] [ 1.51046900e-02 -2.94085233e-05 9.99885917e-01 4.42545182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.379254154 meters 0.012743159799757398 Centerline is valid? [True, True] Translation: X:994.26, Y:79.48, Z:4.43 [[ 7.51787337e-01 -6.59325742e-01 -1.02647594e-02 9.94259025e+02] [ 6.59262958e-01 7.51857407e-01 -9.09897306e-03 7.94814492e+01] [ 1.37168226e-02 7.33170503e-05 9.99905917e-01 4.42646183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.439254154 meters 0.015501566020162437 Centerline is valid? [True, True] Translation: X:994.30, Y:79.53, Z:4.43 [[ 7.57178528e-01 -6.53127014e-01 -1.02849709e-02 9.94297429e+02] [ 6.53063340e-01 7.57248353e-01 -9.12171465e-03 7.95273680e+01] [ 1.37459155e-02 1.90029018e-04 9.99905502e-01 4.42555401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.499254154 meters 0.017540921606730053 Centerline is valid? [True, True] Translation: X:994.34, Y:79.57, Z:4.42 [[ 7.60921027e-01 -6.48747872e-01 -1.11977170e-02 9.94336524e+02] [ 6.48671846e-01 7.61003357e-01 -9.93610834e-03 7.95725104e+01] [ 1.49675294e-02 2.96950021e-04 9.99887936e-01 4.42378812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.559254154 meters 0.016595712955568043 Centerline is valid? [True, True] Translation: X:994.38, Y:79.61, Z:4.42 [[ 7.63411156e-01 -6.45802711e-01 -1.19275083e-02 9.94377102e+02] [ 6.45716048e-01 7.63504233e-01 -1.05863430e-02 7.96148307e+01] [ 1.59433920e-02 3.79948821e-04 9.99872824e-01 4.42434199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.6192541539999 meters 0.017610940834278995 Centerline is valid? [True, True] Translation: X:994.42, Y:79.66, Z:4.42 [[ 7.63584016e-01 -6.45576776e-01 -1.30413775e-02 9.94420606e+02] [ 6.45473052e-01 7.63695258e-01 -1.15798504e-02 7.96552391e+01] [ 1.74353206e-02 4.24330983e-04 9.99847903e-01 4.42353998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.679254154 meters 0.01900549783163593 Centerline is valid? [True, True] Translation: X:994.46, Y:79.69, Z:4.42 [[ 7.62194712e-01 -6.47209908e-01 -1.33625002e-02 9.94462598e+02] [ 6.47101207e-01 7.62311731e-01 -1.18680917e-02 7.96949149e+01] [ 1.78675372e-02 3.98906749e-04 9.99840283e-01 4.42206946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.7392541539999 meters 0.014648014589021284 Centerline is valid? [True, True] Translation: X:994.51, Y:79.73, Z:4.43 [[ 7.59113525e-01 -6.50832576e-01 -1.27911995e-02 9.94510896e+02] [ 6.50733415e-01 7.59221224e-01 -1.13647140e-02 7.97287539e+01] [ 1.71078762e-02 3.03447185e-04 9.99853604e-01 4.42645786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.799254154 meters 0.01360950255892889 Centerline is valid? [True, True] Translation: X:994.56, Y:79.76, Z:4.43 [[ 7.54015105e-01 -6.56758641e-01 -1.13714263e-02 9.94559125e+02] [ 6.56680894e-01 7.54100832e-01 -1.01064106e-02 7.97633871e+01] [ 1.52126745e-02 1.52987835e-04 9.99884269e-01 4.42842506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.8592541539999 meters 0.012818698854862826 Centerline is valid? [True, True] Translation: X:994.60, Y:79.80, Z:4.43 [[ 7.51306964e-01 -6.59862768e-01 -1.09074541e-02 9.94604429e+02] [ 6.59791533e-01 7.51386132e-01 -9.69604459e-03 7.97998491e+01] [ 1.45937686e-02 8.80599732e-05 9.99893501e-01 4.42908702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.919254154 meters 0.01273229091314432 Centerline is valid? [True, True] Translation: X:994.65, Y:79.84, Z:4.43 [[ 7.49281665e-01 -6.62164728e-01 -1.07172450e-02 9.94649892e+02] [ 6.62096168e-01 7.49358306e-01 -9.52859528e-03 7.98353568e+01] [ 1.43405562e-02 4.37549057e-05 9.99897168e-01 4.43006601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.9792541539999 meters 0.013895821864355987 Centerline is valid? [True, True] Translation: X:994.70, Y:79.87, Z:4.43 [[ 7.48687412e-01 -6.62823426e-01 -1.15006529e-02 9.94695027e+02] [ 6.62744487e-01 7.48775737e-01 -1.02293818e-02 7.98738157e+01] [ 1.53916837e-02 3.66151073e-05 9.99881540e-01 4.43118192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.039254154 meters 0.012618627644166677 Centerline is valid? [True, True] Translation: X:994.74, Y:79.91, Z:4.43 [[ 7.49058733e-01 -6.62388910e-01 -1.23266759e-02 9.94737480e+02] [ 6.62298114e-01 7.49160149e-01 -1.09671387e-02 7.99135994e+01] [ 1.64991654e-02 5.10967874e-05 9.99863878e-01 4.43113818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.0992541539999 meters 0.015091481822840879 Centerline is valid? [True, True] Translation: X:994.78, Y:79.95, Z:4.43 [[ 7.48190409e-01 -6.63363813e-01 -1.26318448e-02 9.94780810e+02] [ 6.63268517e-01 7.48297033e-01 -1.12438785e-02 7.99521037e+01] [ 1.69111541e-02 3.42570594e-05 9.99856996e-01 4.42997024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.159254154 meters 0.012577307164076273 Centerline is valid? [True, True] Translation: X:994.83, Y:79.99, Z:4.43 [[ 7.44982452e-01 -6.66981765e-01 -1.16821116e-02 9.94826715e+02] [ 6.66900620e-01 7.45074039e-01 -1.04037881e-02 7.99886319e+01] [ 1.56431750e-02 -4.01678967e-05 9.99877637e-01 4.43396928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.2192541539999 meters 0.01716488826486808 Centerline is valid? [True, True] Translation: X:994.87, Y:80.02, Z:4.44 [[ 7.39241918e-01 -6.73344420e-01 -1.13436541e-02 9.94873488e+02] [ 6.73268611e-01 7.39328928e-01 -1.01050954e-02 8.00240245e+01] [ 1.51909012e-02 -1.67216108e-04 9.99884598e-01 4.43508881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.279254154 meters 0.014855932500381632 Centerline is valid? [True, True] Translation: X:994.92, Y:80.06, Z:4.44 [[ 7.33442425e-01 -6.79670917e-01 -1.04715396e-02 9.94919935e+02] [ 6.79606907e-01 7.33517123e-01 -9.33175855e-03 8.00607869e+01] [ 1.40235785e-02 -2.72222985e-04 9.99901628e-01 4.43844229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.339254154 meters 0.018374451511302542 Centerline is valid? [True, True] Translation: X:994.96, Y:80.10, Z:4.44 [[ 7.31423244e-01 -6.81832323e-01 -1.11678531e-02 9.94964187e+02] [ 6.81759727e-01 7.31508423e-01 -9.95503323e-03 8.00979536e+01] [ 1.49570421e-02 -3.32449803e-04 9.99888082e-01 4.43664393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.399254154 meters 0.018884912273108383 Centerline is valid? [True, True] Translation: X:995.01, Y:80.14, Z:4.44 [[ 7.28017144e-01 -6.85438787e-01 -1.28338154e-02 9.95007833e+02] [ 6.85343392e-01 7.28130108e-01 -1.14446689e-02 8.01381942e+01] [ 1.71893074e-02 -4.63655377e-04 9.99852145e-01 4.43657107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.459254154 meters 0.01774446381258364 Centerline is valid? [True, True] Translation: X:995.05, Y:80.18, Z:4.44 [[ 7.27972661e-01 -6.85468471e-01 -1.37397503e-02 9.95049400e+02] [ 6.85359079e-01 7.28102143e-01 -1.22556937e-02 8.01787382e+01] [ 1.84048332e-02 -4.94852626e-04 9.99830494e-01 4.43659657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.519254154 meters 0.019267384819738245 Centerline is valid? [True, True] Translation: X:995.09, Y:80.22, Z:4.44 [[ 7.29029999e-01 -6.84325042e-01 -1.46457118e-02 9.95090595e+02] [ 6.84200406e-01 7.29176929e-01 -1.30694318e-02 8.02205473e+01] [ 1.96230546e-02 -4.92594150e-04 9.99807328e-01 4.43612615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.579254154 meters 0.018380815096678053 Centerline is valid? [True, True] Translation: X:995.13, Y:80.27, Z:4.44 [[ 7.32230572e-01 -6.80892441e-01 -1.49624173e-02 9.95129768e+02] [ 6.80761509e-01 7.32383315e-01 -1.33584287e-02 8.02656422e+01] [ 2.00538779e-02 -4.04387891e-04 9.99798819e-01 4.43695307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.639254154 meters 0.014514582038886 Centerline is valid? [True, True] Translation: X:995.17, Y:80.31, Z:4.44 [[ 7.35560401e-01 -6.77322866e-01 -1.35879349e-02 9.95168743e+02] [ 6.77214171e-01 7.35685843e-01 -1.21370301e-02 8.03112382e+01] [ 1.82171394e-02 -2.74423314e-04 9.99834016e-01 4.43978456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.699254154 meters 0.01599315891958586 Centerline is valid? [True, True] Translation: X:995.21, Y:80.36, Z:4.44 [[ 7.42336068e-01 -6.69894674e-01 -1.33524480e-02 9.95205649e+02] [ 6.69788408e-01 7.42456139e-01 -1.19318878e-02 8.03573641e+01] [ 1.79067151e-02 -8.58442713e-05 9.99839658e-01 4.43949451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.759254154 meters 0.013359846144439042 Centerline is valid? [True, True] Translation: X:995.24, Y:80.41, Z:4.44 [[ 7.49458693e-01 -6.61947209e-01 -1.17285920e-02 9.95241636e+02] [ 6.61864158e-01 7.49550455e-01 -1.04858149e-02 8.04057072e+01] [ 1.57322274e-02 9.59505217e-05 9.99876236e-01 4.44181769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.819254154 meters 0.014775272727636726 Centerline is valid? [True, True] Translation: X:995.28, Y:80.45, Z:4.44 [[ 7.56145681e-01 -6.54255218e-01 -1.39218811e-02 9.95278391e+02] [ 6.54136766e-01 7.56273769e-01 -1.24529720e-02 8.04537090e+01] [ 1.86761754e-02 3.09446691e-04 9.99825537e-01 4.43904309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.879254154 meters 0.015585021170470137 Centerline is valid? [True, True] Translation: X:995.32, Y:80.50, Z:4.44 [[ 7.59304430e-01 -6.50550313e-01 -1.55265167e-02 9.95319564e+02] [ 6.50402059e-01 7.59463025e-01 -1.38951683e-02 8.04969595e+01] [ 2.08313214e-02 4.52184425e-04 9.99782902e-01 4.43825656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.939254154 meters 0.017204071302802604 Centerline is valid? [True, True] Translation: X:995.36, Y:80.54, Z:4.44 [[ 7.60474581e-01 -6.49145123e-01 -1.70005970e-02 9.95360847e+02] [ 6.48966940e-01 7.60664392e-01 -1.52182245e-02 8.05384159e+01] [ 2.28105850e-02 5.40247556e-04 9.99739659e-01 4.43775658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.999254154 meters 0.01876990058704469 Centerline is valid? [True, True] Translation: X:995.40, Y:80.58, Z:4.44 [[ 7.58001764e-01 -6.52036062e-01 -1.68017774e-02 9.95404866e+02] [ 6.51862667e-01 7.58187820e-01 -1.50430079e-02 8.05754322e+01] [ 2.25474866e-02 4.50175136e-04 9.99745672e-01 4.43831053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.059254154 meters 0.017577680761593533 Centerline is valid? [True, True] Translation: X:995.45, Y:80.61, Z:4.44 [[ 7.53673069e-01 -6.57052650e-01 -1.60847626e-02 9.95452841e+02] [ 6.56894771e-01 7.53844633e-01 -1.44059125e-02 8.06103220e+01] [ 2.15908549e-02 2.91351817e-04 9.99766848e-01 4.43983392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.1192541539999 meters 0.016008308851816613 Centerline is valid? [True, True] Translation: X:995.50, Y:80.65, Z:4.44 [[ 7.51052508e-01 -6.60056117e-01 -1.56860867e-02 9.95499145e+02] [ 6.59906478e-01 7.51216268e-01 -1.40555954e-02 8.06469202e+01] [ 2.10611253e-02 2.05139964e-04 9.99778169e-01 4.44088800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.179254154 meters 0.015363062945077036 Centerline is valid? [True, True] Translation: X:995.55, Y:80.68, Z:4.44 [[ 7.49042678e-01 -6.62343550e-01 -1.53651561e-02 9.95545614e+02] [ 6.62200309e-01 7.49200241e-01 -1.37749699e-02 8.06834527e+01] [ 2.06353411e-02 1.43229218e-04 9.99787058e-01 4.44151037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.2392541539999 meters 0.01736884252164438 Centerline is valid? [True, True] Translation: X:995.59, Y:80.72, Z:4.44 [[ 7.48517878e-01 -6.62915455e-01 -1.62506994e-02 9.95590632e+02] [ 6.62755280e-01 7.48694250e-01 -1.45725015e-02 8.07199806e+01] [ 2.18271417e-02 1.37541043e-04 9.99761750e-01 4.44066299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.299254154 meters 0.014938768399554894 Centerline is valid? [True, True] Translation: X:995.63, Y:80.76, Z:4.44 [[ 7.49478544e-01 -6.61834825e-01 -1.60180295e-02 9.95634011e+02] [ 6.61678889e-01 7.49649676e-01 -1.43670149e-02 8.07568329e+01] [ 2.15165014e-02 1.68977417e-04 9.99768479e-01 4.44036110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.3592541539999 meters 0.014177557253722418 Centerline is valid? [True, True] Translation: X:995.68, Y:80.80, Z:4.44 [[ 7.50059570e-01 -6.61185571e-01 -1.56295006e-02 9.95678060e+02] [ 6.61036824e-01 7.50222370e-01 -1.40254208e-02 8.07952711e+01] [ 2.09990069e-02 1.88225698e-04 9.99779479e-01 4.44092830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.419254154 meters 0.014978206674379465 Centerline is valid? [True, True] Translation: X:995.72, Y:80.83, Z:4.44 [[ 7.49727769e-01 -6.61565596e-01 -1.54672214e-02 9.95723865e+02] [ 6.61419834e-01 7.49887278e-01 -1.38879239e-02 8.08312828e+01] [ 2.07864452e-02 1.81835160e-04 9.99783922e-01 4.44327574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.4792541539999 meters 0.014142461606657393 Centerline is valid? [True, True] Translation: X:995.77, Y:80.87, Z:4.45 [[ 7.49893180e-01 -6.61441171e-01 -1.24818415e-02 9.95769127e+02] [ 6.61346138e-01 7.49997036e-01 -1.12129944e-02 8.08682852e+01] [ 1.67780803e-02 1.53730337e-04 9.99859226e-01 4.44596176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.539254154 meters 0.01692450044692552 Centerline is valid? [True, True] Translation: X:995.81, Y:80.91, Z:4.45 [[ 7.50250898e-01 -6.61032069e-01 -1.26567343e-02 9.95813278e+02] [ 6.60934198e-01 7.50357631e-01 -1.13759160e-02 8.09070074e+01] [ 1.70169225e-02 1.69522700e-04 9.99855187e-01 4.44626390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.5992541539999 meters 0.01538624507617103 Centerline is valid? [True, True] Translation: X:995.86, Y:80.95, Z:4.45 [[ 7.53124502e-01 -6.57766759e-01 -1.20985553e-02 9.95855671e+02] [ 6.57676861e-01 7.53221638e-01 -1.08770753e-02 8.09472324e+01] [ 1.62674722e-02 2.34852010e-04 9.99867648e-01 4.44529299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.659254154 meters 0.017992288980598112 Centerline is valid? [True, True] Translation: X:995.90, Y:80.99, Z:4.44 [[ 7.55777560e-01 -6.54674145e-01 -1.42142153e-02 9.95898081e+02] [ 6.54549460e-01 7.55911131e-01 -1.27815144e-02 8.09863008e+01] [ 1.91124105e-02 3.56074845e-04 9.99817278e-01 4.44276216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.7192541539999 meters 0.015885060364706754 Centerline is valid? [True, True] Translation: X:995.94, Y:81.02, Z:4.44 [[ 7.57320004e-01 -6.52916577e-01 -1.28978721e-02 9.95942360e+02] [ 6.52813614e-01 7.57429739e-01 -1.16006925e-02 8.10243784e+01] [ 1.73435164e-02 3.65529999e-04 9.99849523e-01 4.44440949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.779254154 meters 0.01594803823060152 Centerline is valid? [True, True] Translation: X:995.99, Y:81.06, Z:4.44 [[ 7.57729678e-01 -6.52449363e-01 -1.24725459e-02 9.95987656e+02] [ 6.52352931e-01 7.57832233e-01 -1.12232009e-02 8.10619706e+01] [ 1.67746676e-02 3.67650548e-04 9.99859228e-01 4.44383689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.839254154 meters 0.01576951995675632 Centerline is valid? [True, True] Translation: X:996.03, Y:81.10, Z:4.44 [[ 7.56326484e-01 -6.54075642e-01 -1.24621013e-02 9.96033844e+02] [ 6.53979529e-01 7.56429073e-01 -1.12175421e-02 8.10966889e+01] [ 1.67638167e-02 3.34165043e-04 9.99859422e-01 4.44292336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.899254154 meters 0.0148983578240557 Centerline is valid? [True, True] Translation: X:996.08, Y:81.13, Z:4.44 [[ 7.54276727e-01 -6.56459455e-01 -1.12961452e-02 9.96081922e+02] [ 6.56380685e-01 7.54361265e-01 -1.01724516e-02 8.11312939e+01] [ 1.51991764e-02 2.58271986e-04 9.99884452e-01 4.44401951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.959254154 meters 0.014972666035456843 Centerline is valid? [True, True] Translation: X:996.13, Y:81.17, Z:4.44 [[ 7.53535923e-01 -6.57316515e-01 -1.08908753e-02 9.96127306e+02] [ 6.57243347e-01 7.53614586e-01 -9.81018822e-03 8.11679954e+01] [ 1.46559212e-02 2.34373904e-04 9.99892569e-01 4.44443654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.019254154 meters 0.01475136823423983 Centerline is valid? [True, True] Translation: X:996.17, Y:81.20, Z:4.45 [[ 7.54466557e-01 -6.56248437e-01 -1.08721193e-02 9.96174188e+02] [ 6.56175348e-01 7.54544845e-01 -9.79744882e-03 8.12040527e+01] [ 1.46330621e-02 2.57830786e-04 9.99892898e-01 4.44516641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.079254154 meters 0.01613204193813591 Centerline is valid? [True, True] Translation: X:996.22, Y:81.24, Z:4.44 [[ 7.56599301e-01 -6.53777540e-01 -1.15075861e-02 9.96218327e+02] [ 6.53695285e-01 7.56686738e-01 -1.03756456e-02 8.12430806e+01] [ 1.54910019e-02 3.27751459e-04 9.99879954e-01 4.44367906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.139254154 meters 0.017418259107739892 Centerline is valid? [True, True] Translation: X:996.26, Y:81.28, Z:4.44 [[ 7.59036796e-01 -6.50952797e-01 -1.11174443e-02 9.96260034e+02] [ 6.50875680e-01 7.59118117e-01 -1.00266730e-02 8.12829627e+01] [ 1.49663442e-02 3.74539571e-04 9.99887928e-01 4.44391835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.199254154 meters 0.020999805916844798 Centerline is valid? [True, True] Translation: X:996.31, Y:81.32, Z:4.45 [[ 7.61313908e-01 -6.48297320e-01 -1.05697238e-02 9.96306053e+02] [ 6.48227303e-01 7.61387167e-01 -9.53653936e-03 8.13199284e+01] [ 1.42301649e-02 4.08716514e-04 9.99898663e-01 4.44564219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.259254154 meters 0.018200961899237506 Centerline is valid? [True, True] Translation: X:996.35, Y:81.36, Z:4.45 [[ 7.61421560e-01 -6.48191437e-01 -9.22331797e-03 9.96349179e+02] [ 6.48138059e-01 7.61477334e-01 -8.32619880e-03 8.13583725e+01] [ 1.24203183e-02 3.61763871e-04 9.99922799e-01 4.44699104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.319254154 meters 0.019601717988315497 Centerline is valid? [True, True] Translation: X:996.40, Y:81.40, Z:4.45 [[ 7.59091403e-01 -6.50909652e-01 -9.84209383e-03 9.96395454e+02] [ 6.50849037e-01 7.59155128e-01 -8.88948312e-03 8.13959142e+01] [ 1.32579264e-02 3.42212922e-04 9.99912051e-01 4.44622940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.379254154 meters 0.018000624337922287 Centerline is valid? [True, True] Translation: X:996.44, Y:81.43, Z:4.45 [[ 7.57158424e-01 -6.53161405e-01 -9.55507666e-03 9.96441193e+02] [ 6.53104401e-01 7.57218654e-01 -8.63431386e-03 8.14338096e+01] [ 1.28748829e-02 2.97080851e-04 9.99917071e-01 4.44676713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.439254154 meters 0.016928448124040426 Centerline is valid? [True, True] Translation: X:996.49, Y:81.47, Z:4.45 [[ 7.56658576e-01 -6.53742257e-01 -9.42655794e-03 9.96486418e+02] [ 6.53686766e-01 7.56717238e-01 -8.52248298e-03 8.14714971e+01] [ 1.27047462e-02 2.86593664e-04 9.99919250e-01 4.44778874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.499254154 meters 0.016346640933421554 Centerline is valid? [True, True] Translation: X:996.53, Y:81.51, Z:4.45 [[ 7.57182826e-01 -6.53151806e-01 -8.17838024e-03 9.96529464e+02] [ 6.53109963e-01 7.57226948e-01 -7.39767413e-03 8.15120056e+01] [ 1.10246941e-02 2.60010185e-04 9.99939192e-01 4.44923771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.559254154 meters 0.01867817034053607 Centerline is valid? [True, True] Translation: X:996.57, Y:81.55, Z:4.45 [[ 7.56959895e-01 -6.53424650e-01 -6.92422417e-03 9.96572589e+02] [ 6.53394637e-01 7.56991532e-01 -6.26656196e-03 8.15515167e+01] [ 9.33630512e-03 2.19285146e-04 9.99956392e-01 4.44874785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.6192541539999 meters 0.016576469594601455 Centerline is valid? [True, True] Translation: X:996.62, Y:81.59, Z:4.45 [[ 7.58580785e-01 -6.51542442e-01 -6.90216652e-03 9.96615494e+02] [ 6.51512508e-01 7.58612145e-01 -6.25015027e-03 8.15919599e+01] [ 9.30830552e-03 2.44396074e-04 9.99956647e-01 4.45152434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.679254154 meters 0.017751176689709644 Centerline is valid? [True, True] Translation: X:996.66, Y:81.63, Z:4.45 [[ 7.59447474e-01 -6.50535146e-01 -6.59989858e-03 9.96655770e+02] [ 6.50507720e-01 7.59476111e-01 -5.97850576e-03 8.16331296e+01] [ 8.90169342e-03 2.47076116e-04 9.99960349e-01 4.45144812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.7392541539999 meters 0.01947541409447875 Centerline is valid? [True, True] Translation: X:996.70, Y:81.68, Z:4.45 [[ 7.61591658e-01 -6.48018346e-01 -7.09707536e-03 9.96696638e+02] [ 6.47986502e-01 7.61624667e-01 -6.43118806e-03 8.16762823e+01] [ 9.57283551e-03 2.99130142e-04 9.99954135e-01 4.44957244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.799254154 meters 0.02216757678882943 Centerline is valid? [True, True] Translation: X:996.74, Y:81.72, Z:4.45 [[ 7.63286825e-01 -6.46002183e-01 -8.62573133e-03 9.96736551e+02] [ 6.45954983e-01 7.63335459e-01 -7.81898113e-03 8.17190269e+01] [ 1.16354055e-02 3.96291144e-04 9.99932228e-01 4.44699029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.8592541539999 meters 0.022601702532021345 Centerline is valid? [True, True] Translation: X:996.78, Y:81.76, Z:4.45 [[ 7.64016492e-01 -6.45144775e-01 -8.18647896e-03 9.96779035e+02] [ 6.45102181e-01 7.64060251e-01 -7.42354484e-03 8.17603051e+01] [ 1.10442243e-02 3.90595251e-04 9.99938934e-01 4.44718816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.919254154 meters 0.021660019422707795 Centerline is valid? [True, True] Translation: X:996.82, Y:81.80, Z:4.45 [[ 7.63946755e-01 -6.45238695e-01 -7.23751916e-03 9.96821405e+02] [ 6.45205375e-01 7.63980959e-01 -6.56647499e-03 8.17997835e+01] [ 9.76627059e-03 3.46750995e-04 9.99952249e-01 4.44875122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.9792541539999 meters 0.020475418963742328 Centerline is valid? [True, True] Translation: X:996.87, Y:81.84, Z:4.45 [[ 7.61542881e-01 -6.48086740e-01 -6.00151541e-03 9.96866203e+02] [ 6.48063898e-01 7.61566485e-01 -5.44739616e-03 8.18376085e+01] [ 8.10093821e-03 2.59060295e-04 9.99967153e-01 4.45006225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.039254154 meters 0.017145678230286 Centerline is valid? [True, True] Translation: X:996.91, Y:81.87, Z:4.45 [[ 7.58488179e-01 -6.51654080e-01 -6.53010759e-03 9.96914012e+02] [ 6.51627152e-01 7.58516250e-01 -5.92902907e-03 8.18733679e+01] [ 8.81686871e-03 2.41903047e-04 9.99961101e-01 4.45084947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.0992541539999 meters 0.01602414258118874 Centerline is valid? [True, True] Translation: X:996.96, Y:81.91, Z:4.45 [[ 7.54565710e-01 -6.56155476e-01 -9.51739831e-03 9.96958791e+02] [ 6.56098603e-01 7.54625678e-01 -8.64340842e-03 8.19098633e+01] [ 1.28534929e-02 2.77667877e-04 9.99917352e-01 4.44831373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.159254154 meters 0.01573974095151607 Centerline is valid? [True, True] Translation: X:997.00, Y:81.95, Z:4.45 [[ 7.51866667e-01 -6.59216113e-01 -1.14293789e-02 9.97004839e+02] [ 6.59134374e-01 7.51953483e-01 -1.03843829e-02 8.19472367e+01] [ 1.54399138e-02 2.74174876e-04 9.99880760e-01 4.44710030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.2192541539999 meters 0.014582124251482847 Centerline is valid? [True, True] Translation: X:997.05, Y:81.98, Z:4.45 [[ 7.49199450e-01 -6.62221436e-01 -1.27653459e-02 9.97050996e+02] [ 6.62119797e-01 7.49308155e-01 -1.16044499e-02 8.19842090e+01] [ 1.72498932e-02 2.41859223e-04 9.99851180e-01 4.44806826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.279254154 meters 0.015753428196775006 Centerline is valid? [True, True] Translation: X:997.10, Y:82.02, Z:4.45 [[ 7.46773390e-01 -6.64975430e-01 -1.17124244e-02 9.97096714e+02] [ 6.64890120e-01 7.46865215e-01 -1.06526739e-02 8.20218413e+01] [ 1.58313688e-02 1.67658087e-04 9.99874662e-01 4.44922488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.339254154 meters 0.01413374651745166 Centerline is valid? [True, True] Translation: X:997.14, Y:82.06, Z:4.45 [[ 7.46147120e-01 -6.65705721e-01 -1.00183993e-02 9.97140803e+02] [ 6.65643311e-01 7.46214362e-01 -9.11636031e-03 8.20601708e+01] [ 1.35446867e-02 1.33465524e-04 9.99908258e-01 4.45231930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.399254154 meters 0.0140895175124569 Centerline is valid? [True, True] Translation: X:997.18, Y:82.10, Z:4.45 [[ 7.46020142e-01 -6.65847640e-01 -1.00433347e-02 9.97182603e+02] [ 6.65784890e-01 7.46087731e-01 -9.14208721e-03 8.20990568e+01] [ 1.35804460e-02 1.33480734e-04 9.99907773e-01 4.45270123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.459254154 meters 0.014122779754460545 Centerline is valid? [True, True] Translation: X:997.23, Y:82.14, Z:4.45 [[ 7.46140620e-01 -6.65695543e-01 -1.11184596e-02 9.97225365e+02] [ 6.65618555e-01 7.46223439e-01 -1.01251177e-02 8.21395925e+01] [ 1.50371009e-02 1.54108614e-04 9.99886925e-01 4.45174516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.519254154 meters 0.018373806344614375 Centerline is valid? [True, True] Translation: X:997.27, Y:82.18, Z:4.45 [[ 7.45604674e-01 -6.66263481e-01 -1.29090204e-02 9.97268126e+02] [ 6.66159675e-01 7.45716397e-01 -1.17619416e-02 8.21798370e+01] [ 1.74630203e-02 1.70289798e-04 9.99847495e-01 4.44964541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.579254154 meters 0.014300750571199587 Centerline is valid? [True, True] Translation: X:997.31, Y:82.22, Z:4.45 [[ 7.45599858e-01 -6.66280668e-01 -1.22851273e-02 9.97309538e+02] [ 6.66186606e-01 7.45701043e-01 -1.11964417e-02 8.22202127e+01] [ 1.66210049e-02 1.63878113e-04 9.99861848e-01 4.45052530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.639254154 meters 0.01642620773188853 Centerline is valid? [True, True] Translation: X:997.35, Y:82.26, Z:4.45 [[ 7.42541716e-01 -6.69696749e-01 -1.17500661e-02 9.97354883e+02] [ 6.69611059e-01 7.42634672e-01 -1.07132409e-02 8.22581713e+01] [ 1.59006291e-02 8.70540561e-05 9.99873573e-01 4.45119564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.699254154 meters 0.013222393135688732 Centerline is valid? [True, True] Translation: X:997.40, Y:82.29, Z:4.45 [[ 7.38492227e-01 -6.74186421e-01 -1.00945803e-02 9.97401960e+02] [ 6.74123534e-01 7.38561216e-01 -9.20826961e-03 8.22942420e+01] [ 1.36635559e-02 -4.75863594e-06 9.99906649e-01 4.45481153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.759254154 meters 0.015464501653500978 Centerline is valid? [True, True] Translation: X:997.45, Y:82.33, Z:4.45 [[ 7.34254850e-01 -6.78805673e-01 -9.62668916e-03 9.97447256e+02] [ 6.78748837e-01 7.34317949e-01 -8.78435017e-03 8.23309653e+01] [ 1.30319174e-02 -8.41523557e-05 9.99915077e-01 4.45397676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.819254154 meters 0.015539546916637134 Centerline is valid? [True, True] Translation: X:997.49, Y:82.37, Z:4.46 [[ 7.32043440e-01 -6.81189217e-01 -9.67741062e-03 9.97491143e+02] [ 6.81131939e-01 7.32107393e-01 -8.83439304e-03 8.23707908e+01] [ 1.31027971e-02 -1.24433976e-04 9.99914147e-01 4.45520906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.879254154 meters 0.015216589525730163 Centerline is valid? [True, True] Translation: X:997.53, Y:82.41, Z:4.45 [[ 7.30764252e-01 -6.82551836e-01 -1.03247084e-02 9.97534480e+02] [ 6.82486727e-01 7.30837168e-01 -9.42867647e-03 8.24099246e+01] [ 1.39812411e-02 -1.56336764e-04 9.99902245e-01 4.45492426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.939254154 meters 0.014428348467464438 Centerline is valid? [True, True] Translation: X:997.58, Y:82.45, Z:4.46 [[ 7.29312504e-01 -6.84097881e-01 -1.06470804e-02 9.97577647e+02] [ 6.84028746e-01 7.29390193e-01 -9.72729109e-03 8.24505018e+01] [ 1.44202952e-02 -1.88674005e-04 9.99896004e-01 4.45519782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.999254154 meters 0.017366247732525826 Centerline is valid? [True, True] Translation: X:997.62, Y:82.49, Z:4.46 [[ 7.27743276e-01 -6.85771132e-01 -1.03768577e-02 9.97620211e+02] [ 6.85705566e-01 7.27817223e-01 -9.48509226e-03 8.24908470e+01] [ 1.40570582e-02 -2.12756956e-04 9.99901172e-01 4.45549405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.059254154 meters 0.01465617727153347 Centerline is valid? [True, True] Translation: X:997.66, Y:82.53, Z:4.46 [[ 7.28212254e-01 -6.85301018e-01 -8.33239831e-03 9.97661982e+02] [ 6.85258673e-01 7.28259905e-01 -7.61983505e-03 8.25321587e+01] [ 1.12900323e-02 -1.60990959e-04 9.99936253e-01 4.45955396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.1192541539999 meters 0.014151356342332434 Centerline is valid? [True, True] Translation: X:997.70, Y:82.58, Z:4.46 [[ 7.29271814e-01 -6.84171302e-01 -8.50005936e-03 9.97701946e+02] [ 6.84127113e-01 7.29321335e-01 -7.77716504e-03 8.25751127e+01] [ 1.15201878e-02 -1.43453811e-04 9.99933630e-01 4.46008331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.179254154 meters 0.016370926307963416 Centerline is valid? [True, True] Translation: X:997.74, Y:82.62, Z:4.46 [[ 7.31349444e-01 -6.81932694e-01 -9.78732156e-03 9.97741861e+02] [ 6.81873841e-01 7.31414921e-01 -8.95980292e-03 8.26190035e+01] [ 1.32685756e-02 -1.20971658e-04 9.99911961e-01 4.45816487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.2392541539999 meters 0.017575956389346507 Centerline is valid? [True, True] Translation: X:997.78, Y:82.67, Z:4.46 [[ 7.36659412e-01 -6.76175374e-01 -1.09441457e-02 9.97778203e+02] [ 6.76101068e-01 7.36740703e-01 -1.00240896e-02 8.26658233e+01] [ 1.48410401e-02 -1.50086236e-05 9.99889866e-01 4.45627435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.299254154 meters 0.015804970374763853 Centerline is valid? [True, True] Translation: X:997.82, Y:82.71, Z:4.46 [[ 7.39945320e-01 -6.72580643e-01 -1.07797012e-02 9.97816128e+02] [ 6.72508124e-01 7.40023835e-01 -9.87658955e-03 8.27093911e+01] [ 1.46200388e-02 5.86995950e-05 9.99893120e-01 4.45623973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.3592541539999 meters 0.01647671884420592 Centerline is valid? [True, True] Translation: X:997.85, Y:82.75, Z:4.46 [[ 7.43009847e-01 -6.69189505e-01 -1.10350828e-02 9.97854920e+02] [ 6.69113070e-01 7.43091777e-01 -1.01148901e-02 8.27540950e+01] [ 1.49688576e-02 1.31744827e-04 9.99887952e-01 4.45728633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.419254154 meters 0.015891042971980247 Centerline is valid? [True, True] Translation: X:997.90, Y:82.80, Z:4.46 [[ 7.43837881e-01 -6.68274974e-01 -1.06661417e-02 9.97897211e+02] [ 6.68203398e-01 7.43914335e-01 -9.78168468e-03 8.27955115e+01] [ 1.44715508e-02 1.48835468e-04 9.99895271e-01 4.45895763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.4792541539999 meters 0.015782837667214906 Centerline is valid? [True, True] Translation: X:997.94, Y:82.84, Z:4.46 [[ 7.45178296e-01 -6.66775210e-01 -1.09602271e-02 9.97937855e+02] [ 6.66699393e-01 7.45258871e-01 -1.00565840e-02 8.28388808e+01] [ 1.48736873e-02 1.86771363e-04 9.99889363e-01 4.45906249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.539254154 meters 0.014785973028714837 Centerline is valid? [True, True] Translation: X:997.98, Y:82.88, Z:4.46 [[ 7.46670138e-01 -6.65079908e-01 -1.23458695e-02 9.97978905e+02] [ 6.64983375e-01 7.46772155e-01 -1.13339443e-02 8.28815851e+01] [ 1.67575303e-02 2.52919774e-04 9.99859551e-01 4.45836268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.5992541539999 meters 0.01501143297785814 Centerline is valid? [True, True] Translation: X:998.02, Y:82.92, Z:4.46 [[ 7.46890476e-01 -6.64816178e-01 -1.31933991e-02 9.98021253e+02] [ 6.64705783e-01 7.47006941e-01 -1.21182729e-02 8.29220943e+01] [ 1.79119846e-02 2.81293968e-04 9.99839528e-01 4.45797702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.659254154 meters 0.016323956094309047 Centerline is valid? [True, True] Translation: X:998.06, Y:82.96, Z:4.46 [[ 7.45857913e-01 -6.65956600e-01 -1.40634507e-02 9.98064484e+02] [ 6.65831221e-01 7.45990436e-01 -1.29249474e-02 8.29609313e+01] [ 1.90986537e-02 2.76289753e-04 9.99817566e-01 4.45846816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.7192541539999 meters 0.017818390821984505 Centerline is valid? [True, True] Translation: X:998.11, Y:83.00, Z:4.46 [[ 7.45244442e-01 -6.66654014e-01 -1.35332102e-02 9.98108581e+02] [ 6.66537913e-01 7.45367266e-01 -1.24438232e-02 8.30006941e+01] [ 1.83829366e-02 2.53292424e-04 9.99830987e-01 4.45878732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.779254154 meters 0.0146232027090393 Centerline is valid? [True, True] Translation: X:998.15, Y:83.04, Z:4.46 [[ 7.44788782e-01 -6.67168918e-01 -1.32402382e-02 9.98153215e+02] [ 6.67057751e-01 7.44906421e-01 -1.21811540e-02 8.30384530e+01] [ 1.79896258e-02 2.40383365e-04 9.99838145e-01 4.46099235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.839254154 meters 0.01769486924527759 Centerline is valid? [True, True] Translation: X:998.20, Y:83.08, Z:4.46 [[ 7.44917618e-01 -6.67001324e-01 -1.43866291e-02 9.98198114e+02] [ 6.66869901e-01 7.45056481e-01 -1.32429522e-02 8.30772865e+01] [ 1.95519179e-02 2.70898482e-04 9.99808806e-01 4.46054430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.899254154 meters 0.016044817434999796 Centerline is valid? [True, True] Translation: X:998.24, Y:83.12, Z:4.46 [[ 7.45942011e-01 -6.65871944e-01 -1.36040636e-02 9.98242058e+02] [ 6.65754125e-01 7.46065997e-01 -1.25289361e-02 8.31166880e+01] [ 1.84921963e-02 2.88898363e-04 9.99828963e-01 4.46275197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.959254154 meters 0.016560719817685855 Centerline is valid? [True, True] Translation: X:998.28, Y:83.16, Z:4.46 [[ 7.48482851e-01 -6.63001546e-01 -1.42257021e-02 9.98284753e+02] [ 6.62872063e-01 7.48617929e-01 -1.31081661e-02 8.31572884e+01] [ 1.93403501e-02 3.81417055e-04 9.99812885e-01 4.46330256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.019254154 meters 0.017115930443479237 Centerline is valid? [True, True] Translation: X:998.33, Y:83.20, Z:4.46 [[ 7.50698843e-01 -6.60472092e-01 -1.50951241e-02 9.98326878e+02] [ 6.60325698e-01 7.50850443e-01 -1.39134695e-02 8.31972751e+01] [ 2.05236389e-02 4.77127156e-04 9.99789254e-01 4.46322828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.079254154 meters 0.019327213231922165 Centerline is valid? [True, True] Translation: X:998.37, Y:83.24, Z:4.46 [[ 7.51237077e-01 -6.59849842e-01 -1.55254794e-02 9.98371325e+02] [ 6.59694712e-01 7.51397314e-01 -1.43165553e-02 8.32361244e+01] [ 2.11125803e-02 5.13050454e-04 9.99776973e-01 4.46310048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.139254154 meters 0.016617445150990288 Centerline is valid? [True, True] Translation: X:998.42, Y:83.27, Z:4.47 [[ 7.50911968e-01 -6.60264158e-01 -1.35076887e-02 9.98417768e+02] [ 6.60146688e-01 7.51033319e-01 -1.24620910e-02 8.32722591e+01] [ 1.83729963e-02 4.40877343e-04 9.99831105e-01 4.46725261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.199254154 meters 0.017921154869205022 Centerline is valid? [True, True] Translation: X:998.46, Y:83.31, Z:4.47 [[ 7.50817783e-01 -6.60373576e-01 -1.33938794e-02 9.98459053e+02] [ 6.60257999e-01 7.50937113e-01 -1.23623507e-02 8.33113769e+01] [ 1.82217308e-02 4.38456731e-04 9.99833874e-01 4.46644837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.259254154 meters 0.01912732313729455 Centerline is valid? [True, True] Translation: X:998.50, Y:83.35, Z:4.46 [[ 7.50782771e-01 -6.60383994e-01 -1.47719356e-02 9.98504510e+02] [ 6.60243277e-01 7.50927920e-01 -1.36408565e-02 8.33488415e+01] [ 2.01008622e-02 4.88248835e-04 9.99797838e-01 4.46480215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.319254154 meters 0.01935916631268217 Centerline is valid? [True, True] Translation: X:998.55, Y:83.39, Z:4.46 [[ 7.51419449e-01 -6.59642262e-01 -1.55208728e-02 9.98548917e+02] [ 6.59486602e-01 7.51579533e-01 -1.43396958e-02 8.33877648e+01] [ 2.11242397e-02 5.39318694e-04 9.99776713e-01 4.46433778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.379254154 meters 0.01949994593402836 Centerline is valid? [True, True] Translation: X:998.59, Y:83.43, Z:4.46 [[ 7.50915985e-01 -6.60213367e-01 -1.56042975e-02 9.98593087e+02] [ 6.60055980e-01 7.51077910e-01 -1.44248374e-02 8.34261365e+01] [ 2.12435136e-02 5.32131117e-04 9.99774189e-01 4.46482645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.439254154 meters 0.01955165288039472 Centerline is valid? [True, True] Translation: X:998.64, Y:83.46, Z:4.47 [[ 7.49532547e-01 -6.61807699e-01 -1.45440437e-02 9.98637530e+02] [ 6.61671207e-01 7.49673503e-01 -1.34481598e-02 8.34628703e+01] [ 1.98033799e-02 4.56458486e-04 9.99803790e-01 4.46520566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.499254154 meters 0.01630171783075676 Centerline is valid? [True, True] Translation: X:998.68, Y:83.50, Z:4.47 [[ 7.48084142e-01 -6.63478274e-01 -1.29110843e-02 9.98683138e+02] [ 6.63370877e-01 7.48195458e-01 -1.19430644e-02 8.34997529e+01] [ 1.75839784e-02 3.69579773e-04 9.99845322e-01 4.46682819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.559254154 meters 0.016319481053365253 Centerline is valid? [True, True] Translation: X:998.73, Y:83.54, Z:4.47 [[ 7.47636762e-01 -6.64001000e-01 -1.19140684e-02 9.98727793e+02] [ 6.63909531e-01 7.47731610e-01 -1.10260107e-02 8.35378737e+01] [ 1.62298077e-02 3.33587406e-04 9.99868232e-01 4.46728693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.6192541539999 meters 0.015459508850455755 Centerline is valid? [True, True] Translation: X:998.77, Y:83.58, Z:4.47 [[ 7.48253607e-01 -6.63314937e-01 -1.13944534e-02 9.98772769e+02] [ 6.63231113e-01 7.48340284e-01 -1.05503813e-02 8.35764025e+01] [ 1.55251540e-02 3.37204884e-04 9.99879421e-01 4.46875834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.679254154 meters 0.019237792248348824 Centerline is valid? [True, True] Translation: X:998.81, Y:83.62, Z:4.47 [[ 7.49669895e-01 -6.61691189e-01 -1.26419948e-02 9.98814935e+02] [ 6.61587701e-01 7.49776366e-01 -1.17095965e-02 8.36169359e+01] [ 1.72268058e-02 4.14543729e-04 9.99851522e-01 4.46630773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.7392541539999 meters 0.019853229206241444 Centerline is valid? [True, True] Translation: X:998.86, Y:83.66, Z:4.46 [[ 7.50776005e-01 -6.60419837e-01 -1.34547014e-02 9.98855720e+02] [ 6.60302340e-01 7.50896406e-01 -1.24662094e-02 8.36572780e+01] [ 1.83360189e-02 4.75160044e-04 9.99831768e-01 4.46388900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.799254154 meters 0.01704640843962677 Centerline is valid? [True, True] Translation: X:998.90, Y:83.70, Z:4.47 [[ 7.51000117e-01 -6.60196193e-01 -1.18241451e-02 9.98900705e+02] [ 6.60105345e-01 7.51093073e-01 -1.09603235e-02 8.36959062e+01] [ 1.61169973e-02 4.26022900e-04 9.99870022e-01 4.46613639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.8592541539999 meters 0.019725461201271523 Centerline is valid? [True, True] Translation: X:998.94, Y:83.74, Z:4.47 [[ 7.50322245e-01 -6.60967697e-01 -1.17572122e-02 9.98944052e+02] [ 6.60877880e-01 7.50414242e-01 -1.09037900e-02 8.37354358e+01] [ 1.60298324e-02 4.11274711e-04 9.99871429e-01 4.46636011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.919254154 meters 0.016239945919315008 Centerline is valid? [True, True] Translation: X:998.99, Y:83.77, Z:4.47 [[ 7.48632645e-01 -6.62904980e-01 -1.03029695e-02 9.98988793e+02] [ 6.62836128e-01 7.48703466e-01 -9.55963579e-03 8.37737121e+01] [ 1.40509991e-02 3.27475016e-04 9.99901226e-01 4.46789639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.9792541539999 meters 0.016589862864889254 Centerline is valid? [True, True] Translation: X:999.03, Y:83.81, Z:4.47 [[ 7.45488589e-01 -6.66429194e-01 -1.09037545e-02 9.99034691e+02] [ 6.66352381e-01 7.45568273e-01 -1.01219529e-02 8.38117292e+01] [ 1.48750584e-02 2.80057644e-04 9.99889321e-01 4.46708765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.039254154 meters 0.014252091245016278 Centerline is valid? [True, True] Translation: X:999.08, Y:83.85, Z:4.47 [[ 7.41701579e-01 -6.70640025e-01 -1.09874403e-02 9.99079979e+02] [ 6.70562447e-01 7.41782931e-01 -1.02023225e-02 8.38482128e+01] [ 1.49923815e-02 1.99313822e-04 9.99887588e-01 4.46680127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.0992541539999 meters 0.014387247697732815 Centerline is valid? [True, True] Translation: X:999.12, Y:83.89, Z:4.47 [[ 7.40184039e-01 -6.72310600e-01 -1.12269718e-02 9.99124000e+02] [ 6.72229730e-01 7.40269159e-01 -1.04289165e-02 8.38872102e+01] [ 1.53224521e-02 1.72213287e-04 9.99882590e-01 4.46667881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.159254154 meters 0.013326184433849829 Centerline is valid? [True, True] Translation: X:999.17, Y:83.92, Z:4.47 [[ 7.35900852e-01 -6.76997592e-01 -1.11443555e-02 9.99169744e+02] [ 6.76918401e-01 7.35985227e-01 -1.03548927e-02 8.39232190e+01] [ 1.52123185e-02 7.63550475e-05 9.99884283e-01 4.46650962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.2192541539999 meters 0.016919320578146844 Centerline is valid? [True, True] Translation: X:999.22, Y:83.96, Z:4.47 [[ 7.31504394e-01 -6.81736762e-01 -1.16751547e-02 9.99215233e+02] [ 6.81650365e-01 7.31597558e-01 -1.08532247e-02 8.39589469e+01] [ 1.59405569e-02 -1.91918852e-05 9.99872941e-01 4.46808783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.279254154 meters 0.013809593222622998 Centerline is valid? [True, True] Translation: X:999.26, Y:84.00, Z:4.47 [[ 7.28672588e-01 -6.84777259e-01 -1.07872448e-02 9.99259651e+02] [ 6.84703779e-01 7.28752427e-01 -1.00316933e-02 8.39954574e+01] [ 1.47307063e-02 -7.62473767e-05 9.99891494e-01 4.46874522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.339254154 meters 0.01380011952497294 Centerline is valid? [True, True] Translation: X:999.31, Y:84.03, Z:4.47 [[ 7.24490078e-01 -6.89203304e-01 -1.06269881e-02 9.99305585e+02] [ 6.89132400e-01 7.24567995e-01 -9.88711608e-03 8.40328261e+01] [ 1.45142086e-02 -1.60284352e-04 9.99894650e-01 4.47028709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.399254154 meters 0.015375253657347024 Centerline is valid? [True, True] Translation: X:999.35, Y:84.07, Z:4.47 [[ 7.20655464e-01 -6.93209594e-01 -1.07777389e-02 9.99351110e+02] [ 6.93137035e-01 7.20736013e-01 -1.00324914e-02 8.40709583e+01] [ 1.47225238e-02 -2.40480221e-04 9.99891589e-01 4.47128295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.459254154 meters 0.016906914480217965 Centerline is valid? [True, True] Translation: X:999.39, Y:84.11, Z:4.47 [[ 7.18976291e-01 -6.94918283e-01 -1.27150666e-02 9.99394644e+02] [ 6.94817447e-01 7.19088644e-01 -1.18421866e-02 8.41111942e+01] [ 1.73726120e-02 -3.20398737e-04 9.99849033e-01 4.47170363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.519254154 meters 0.016958552340225804 Centerline is valid? [True, True] Translation: X:999.44, Y:84.15, Z:4.47 [[ 7.18712804e-01 -6.95173418e-01 -1.36317425e-02 9.99436556e+02] [ 6.95057483e-01 7.18841985e-01 -1.27002605e-02 8.41518247e+01] [ 1.86279523e-02 -3.47004788e-04 9.99826424e-01 4.47194196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.579254154 meters 0.017525330623086855 Centerline is valid? [True, True] Translation: X:999.48, Y:84.19, Z:4.47 [[ 7.19601371e-01 -6.94235708e-01 -1.45137525e-02 9.99477468e+02] [ 6.94104012e-01 7.19747641e-01 -1.35260528e-02 8.41913873e+01] [ 1.98365080e-02 -3.40687688e-04 9.99803179e-01 4.47173268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.639254154 meters 0.016281629990344396 Centerline is valid? [True, True] Translation: X:999.52, Y:84.24, Z:4.47 [[ 7.23072747e-01 -6.90629384e-01 -1.40305827e-02 9.99516888e+02] [ 6.90505516e-01 7.23208823e-01 -1.30816661e-02 8.42354336e+01] [ 1.91816241e-02 -2.29198499e-04 9.99815989e-01 4.47227807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.699254154 meters 0.015244833450914621 Centerline is valid? [True, True] Translation: X:999.55, Y:84.28, Z:4.47 [[ 7.27855123e-01 -6.85595207e-01 -1.36430566e-02 9.99554760e+02] [ 6.85477080e-01 7.27982970e-01 -1.27266694e-02 8.42806746e+01] [ 1.86572564e-02 -8.88311203e-05 9.99825934e-01 4.47314661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.759254154 meters 0.013678342388670436 Centerline is valid? [True, True] Translation: X:999.59, Y:84.33, Z:4.47 [[ 7.39028737e-01 -6.73555625e-01 -1.26232262e-02 9.99586707e+02] [ 6.73452615e-01 7.39136508e-01 -1.17811990e-02 8.43328098e+01] [ 1.72655802e-02 2.05499950e-04 9.99850918e-01 4.47487237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.819254154 meters 0.01482614238767692 Centerline is valid? [True, True] Translation: X:999.62, Y:84.38, Z:4.47 [[ 7.43686341e-01 -6.68407584e-01 -1.27250487e-02 9.99624941e+02] [ 6.68302098e-01 7.43795128e-01 -1.18791337e-02 8.43779896e+01] [ 1.74049323e-02 3.30172752e-04 9.99848468e-01 4.47469306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.879254154 meters 0.016434515078650538 Centerline is valid? [True, True] Translation: X:999.66, Y:84.42, Z:4.47 [[ 7.48213594e-01 -6.63345624e-01 -1.22066302e-02 9.99662530e+02] [ 6.63247808e-01 7.48313033e-01 -1.13995566e-02 8.44246436e+01] [ 1.66962264e-02 4.33282534e-04 9.99860514e-01 4.47404097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.939254154 meters 0.01789025951065636 Centerline is valid? [True, True] Translation: X:999.70, Y:84.47, Z:4.47 [[ 7.50337839e-01 -6.60959242e-01 -1.12252831e-02 9.99700528e+02] [ 6.60876215e-01 7.50421667e-01 -1.04857418e-02 8.44686004e+01] [ 1.53543437e-02 4.49326230e-04 9.99882014e-01 4.47427213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.999254154 meters 0.019733920435985146 Centerline is valid? [True, True] Translation: X:999.74, Y:84.51, Z:4.47 [[ 7.49920639e-01 -6.61442627e-01 -1.06154155e-02 9.99742441e+02] [ 6.61368366e-01 7.49995651e-01 -9.92007648e-03 8.45099176e+01] [ 1.45230769e-02 4.18570058e-04 9.99894447e-01 4.47388692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.059254154 meters 0.017108003206618344 Centerline is valid? [True, True] Translation: X:999.78, Y:84.55, Z:4.47 [[ 7.47387908e-01 -6.64311111e-01 -1.01025767e-02 9.99784906e+02] [ 6.64244049e-01 7.47456103e-01 -9.44549932e-03 8.45503348e+01] [ 1.38259827e-02 3.48875545e-04 9.99904356e-01 4.47437173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.1192541539999 meters 0.0153793527859039 Centerline is valid? [True, True] Translation: X:999.83, Y:84.59, Z:4.47 [[ 7.42475232e-01 -6.69803339e-01 -9.69626288e-03 9.99830623e+02] [ 6.69741971e-01 7.42538504e-01 -9.06984794e-03 8.45885412e+01] [ 1.32748630e-02 2.40143238e-04 9.99911856e-01 4.47388475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.179254154 meters 0.015769986090876206 Centerline is valid? [True, True] Translation: X:999.88, Y:84.62, Z:4.48 [[ 7.37537018e-01 -6.75249179e-01 -8.81438135e-03 9.99878017e+02] [ 6.75198812e-01 7.37589675e-01 -8.24830866e-03 8.46244632e+01] [ 1.20710603e-02 1.31973159e-04 9.99927133e-01 4.47512085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.2392541539999 meters 0.013350644009506476 Centerline is valid? [True, True] Translation: X:999.92, Y:84.66, Z:4.48 [[ 7.34963276e-01 -6.78051984e-01 -8.63081408e-03 9.99922173e+02] [ 6.78003841e-01 7.35013945e-01 -8.08031382e-03 8.46630080e+01] [ 1.18226415e-02 8.70088203e-05 9.99930106e-01 4.47705975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.299254154 meters 0.01324815676416729 Centerline is valid? [True, True] Translation: X:999.96, Y:84.70, Z:4.48 [[ 7.34147751e-01 -6.78930128e-01 -8.99786945e-03 9.99964804e+02] [ 6.78877810e-01 7.34202884e-01 -8.42870763e-03 8.47025128e+01] [ 1.23287653e-02 7.94628355e-05 9.99923995e-01 4.47702870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.3592541539999 meters 0.01350300363828542 Centerline is valid? [True, True] Translation: X:1000.01, Y:84.74, Z:4.48 [[ 7.34839724e-01 -6.78170621e-01 -9.75644833e-03 1.00000595e+03] [ 6.78108996e-01 7.34904482e-01 -9.14283050e-03 8.47431222e+01] [ 1.33704566e-02 1.02579660e-04 9.99910606e-01 4.47549465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.419254154 meters 0.014056216791466701 Centerline is valid? [True, True] Translation: X:1000.05, Y:84.78, Z:4.48 [[ 7.36299646e-01 -6.76594370e-01 -9.10441050e-03 1.00004739e+03] [ 6.76540542e-01 7.36355922e-01 -8.53532074e-03 8.47849536e+01] [ 1.24790365e-02 1.25050831e-04 9.99922126e-01 4.47622835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.4792541539999 meters 0.014035934657680051 Centerline is valid? [True, True] Translation: X:1000.09, Y:84.83, Z:4.48 [[ 7.37726527e-01 -6.75037442e-01 -9.16640617e-03 1.00008931e+03] [ 6.74982705e-01 7.37783455e-01 -8.59773383e-03 8.48268638e+01] [ 1.25666151e-02 1.55610686e-04 9.99921025e-01 4.47696267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.539254154 meters 0.014464385734778791 Centerline is valid? [True, True] Translation: X:1000.13, Y:84.87, Z:4.48 [[ 7.39426308e-01 -6.73171130e-01 -9.45326707e-03 1.00013030e+03] [ 6.73112720e-01 7.39486708e-01 -8.86988730e-03 8.48685485e+01] [ 1.29615174e-02 1.95513715e-04 9.99915977e-01 4.47698847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.5992541539999 meters 0.01516425027766205 Centerline is valid? [True, True] Translation: X:1000.17, Y:84.91, Z:4.48 [[ 7.40284172e-01 -6.72237674e-01 -8.70943826e-03 1.00017246e+03] [ 6.72187991e-01 7.40335377e-01 -8.17521337e-03 8.49098475e+01] [ 1.19435917e-02 1.97601260e-04 9.99928653e-01 4.47775225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.659254154 meters 0.01569901721860327 Centerline is valid? [True, True] Translation: X:1000.22, Y:84.95, Z:4.48 [[ 7.39629602e-01 -6.72974759e-01 -7.28187249e-03 1.00021503e+03] [ 6.72940046e-01 7.39665430e-01 -6.83709716e-03 8.49495568e+01] [ 9.98734317e-03 1.56655843e-04 9.99950113e-01 4.47956268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.7192541539999 meters 0.017349959433342003 Centerline is valid? [True, True] Translation: X:1000.26, Y:84.99, Z:4.48 [[ 7.38168609e-01 -6.74581642e-01 -6.83471307e-03 1.00025879e+03] [ 6.74551110e-01 7.38200239e-01 -6.41931723e-03 8.49883284e+01] [ 9.37574038e-03 1.28175184e-04 9.99956039e-01 4.47961526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.779254154 meters 0.014092512089385407 Centerline is valid? [True, True] Translation: X:1000.30, Y:85.03, Z:4.48 [[ 7.37703788e-01 -6.75090480e-01 -6.77973721e-03 1.00030382e+03] [ 6.75060428e-01 7.37734931e-01 -6.37100749e-03 8.50252715e+01] [ 9.30265547e-03 1.23184057e-04 9.99956722e-01 4.48215238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.839254154 meters 0.015687874848969212 Centerline is valid? [True, True] Translation: X:1000.35, Y:85.06, Z:4.48 [[ 7.36307770e-01 -6.76598692e-01 -8.06707921e-03 1.00034857e+03] [ 6.76556185e-01 7.36351950e-01 -7.58512711e-03 8.50642060e+01] [ 1.10722966e-02 1.27155690e-04 9.99938692e-01 4.48056086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.899254154 meters 0.014662217706918869 Centerline is valid? [True, True] Translation: X:1000.39, Y:85.10, Z:4.48 [[ 7.36111614e-01 -6.76806381e-01 -8.53310949e-03 1.00039125e+03] [ 6.76758782e-01 7.36161059e-01 -8.02780975e-03 8.51037392e+01] [ 1.17150158e-02 1.34507204e-04 9.99931368e-01 4.48016997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.959254154 meters 0.014736015101689337 Centerline is valid? [True, True] Translation: X:1000.43, Y:85.14, Z:4.48 [[ 7.36183110e-01 -6.76716843e-01 -9.42031323e-03 1.00043488e+03] [ 6.76658762e-01 7.36243364e-01 -8.86730436e-03 8.51437596e+01] [ 1.29362973e-02 1.53622211e-04 9.99916311e-01 4.47943598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.019254154 meters 0.014013441146884785 Centerline is valid? [True, True] Translation: X:1000.48, Y:85.18, Z:4.48 [[ 7.36972459e-01 -6.75860967e-01 -9.14046933e-03 1.00047859e+03] [ 6.75806166e-01 7.37029121e-01 -8.60816118e-03 8.51831436e+01] [ 1.25547122e-02 1.66792173e-04 9.99921173e-01 4.47968428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.079254154 meters 0.014352876236122159 Centerline is valid? [True, True] Translation: X:1000.52, Y:85.22, Z:4.48 [[ 7.38067222e-01 -6.74674334e-01 -8.44501838e-03 1.00052170e+03] [ 6.74627432e-01 7.38115514e-01 -7.95709121e-03 8.52228190e+01] [ 1.16018443e-02 1.75627142e-04 9.99932681e-01 4.47950508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.139254154 meters 0.014665585876744172 Centerline is valid? [True, True] Translation: X:1000.56, Y:85.26, Z:4.48 [[ 7.39070572e-01 -6.73578328e-01 -8.18075644e-03 1.00056498e+03] [ 6.73534206e-01 7.39115823e-01 -7.71193491e-03 8.52629605e+01] [ 1.12411188e-02 1.89644856e-04 9.99936799e-01 4.47985168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.199254154 meters 0.016372808322618535 Centerline is valid? [True, True] Translation: X:1000.61, Y:85.30, Z:4.48 [[ 7.41331504e-01 -6.71087616e-01 -8.30735084e-03 1.00060851e+03] [ 6.71041915e-01 7.41378012e-01 -7.83530822e-03 8.53030259e+01] [ 1.14170656e-02 2.33980215e-04 9.99934796e-01 4.47886361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.259254154 meters 0.015651154064290608 Centerline is valid? [True, True] Translation: X:1000.65, Y:85.34, Z:4.48 [[ 7.43729490e-01 -6.68443645e-01 -7.03841064e-03 1.00065182e+03] [ 6.68410701e-01 7.43762757e-01 -6.64047481e-03 8.53423212e+01] [ 9.67369089e-03 2.34167958e-04 9.99953181e-01 4.47827685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.319254154 meters 0.016265493209681445 Centerline is valid? [True, True] Translation: X:1000.70, Y:85.38, Z:4.48 [[ 7.44366031e-01 -6.67739819e-01 -6.53801740e-03 1.00069556e+03] [ 6.67711346e-01 7.44394709e-01 -6.17054443e-03 8.53821792e+01] [ 8.98718378e-03 2.27635267e-04 9.99959589e-01 4.47744221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.379254154 meters 0.01838273088259945 Centerline is valid? [True, True] Translation: X:1000.74, Y:85.42, Z:4.48 [[ 7.44440346e-01 -6.67653812e-01 -6.85258293e-03 1.00073975e+03] [ 6.67622505e-01 7.44471846e-01 -6.47003134e-03 8.54203521e+01] [ 9.42129615e-03 2.41613787e-04 9.99955589e-01 4.47645909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.439254154 meters 0.01683437443564253 Centerline is valid? [True, True] Translation: X:1000.79, Y:85.46, Z:4.48 [[ 7.44761148e-01 -6.67308416e-01 -5.50551174e-03 1.00078504e+03] [ 6.67288185e-01 7.44781470e-01 -5.19996045e-03 8.54576704e+01] [ 7.57038050e-03 1.98965578e-04 9.99971324e-01 4.47667209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.499254154 meters 0.016879440822797975 Centerline is valid? [True, True] Translation: X:1000.83, Y:85.50, Z:4.48 [[ 7.43939660e-01 -6.68228777e-01 -4.90753548e-03 1.00082976e+03] [ 6.68212707e-01 7.43955827e-01 -4.63739855e-03 8.54956457e+01] [ 6.74983277e-03 1.70667134e-04 9.99977205e-01 4.47584195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.559254154 meters 0.018443844985130884 Centerline is valid? [True, True] Translation: X:1000.88, Y:85.53, Z:4.47 [[ 7.40927046e-01 -6.71556460e-01 -6.24762918e-03 1.00087508e+03] [ 6.71530504e-01 7.40953364e-01 -5.90715535e-03 8.55325449e+01] [ 8.59619020e-03 1.81297591e-04 9.99963036e-01 4.47339214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.6192541539999 meters 0.015362736221909867 Centerline is valid? [True, True] Translation: X:1000.92, Y:85.57, Z:4.47 [[ 7.39310767e-01 -6.73347447e-01 -4.77541273e-03 1.00091943e+03] [ 6.73332307e-01 7.39326179e-01 -4.51709329e-03 8.55711338e+01] [ 6.57216089e-03 1.24096034e-04 9.99978395e-01 4.47416353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.679254154 meters 0.016003957125968554 Centerline is valid? [True, True] Translation: X:1000.96, Y:85.61, Z:4.47 [[ 7.39120988e-01 -6.73554876e-01 -4.89832148e-03 1.00095846e+03] [ 6.73538938e-01 7.39137208e-01 -4.63533392e-03 8.56126068e+01] [ 6.74268343e-03 1.26862336e-04 9.99977260e-01 4.47293632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.7392541539999 meters 0.01580227609936705 Centerline is valid? [True, True] Translation: X:1001.00, Y:85.65, Z:4.47 [[ 7.38972878e-01 -6.73713145e-01 -5.44829328e-03 1.00099960e+03] [ 6.73693416e-01 7.38992949e-01 -5.15782474e-03 8.56543108e+01] [ 7.50114465e-03 1.41013281e-04 9.99971856e-01 4.47141652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.799254154 meters 0.01753986739947048 Centerline is valid? [True, True] Translation: X:1001.04, Y:85.69, Z:4.47 [[ 7.38130645e-01 -6.74621957e-01 -6.95456226e-03 1.00104231e+03] [ 6.74589810e-01 7.38163387e-01 -6.58804581e-03 8.56930679e+01] [ 9.57804358e-03 1.71361677e-04 9.99954115e-01 4.47106907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.8592541539999 meters 0.015088710915224025 Centerline is valid? [True, True] Translation: X:1001.09, Y:85.73, Z:4.47 [[ 7.34930956e-01 -6.78120322e-01 -5.41471024e-03 1.00108614e+03] [ 6.78100911e-01 7.34950896e-01 -5.13178639e-03 8.57325565e+01] [ 7.45951478e-03 9.97887355e-05 9.99972172e-01 4.47176338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.919254154 meters 0.015711412817413065 Centerline is valid? [True, True] Translation: X:1001.13, Y:85.77, Z:4.47 [[ 7.30245047e-01 -6.83165739e-01 -5.17149126e-03 1.00113066e+03] [ 6.83148145e-01 7.30263358e-01 -4.90307711e-03 8.57699695e+01] [ 7.12616487e-03 4.75531088e-05 9.99974607e-01 4.47171419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.9792541539999 meters 0.013139906992645589 Centerline is valid? [True, True] Translation: X:1001.18, Y:85.81, Z:4.47 [[ 7.25439988e-01 -6.88275449e-01 -3.70541902e-03 1.00117690e+03] [ 6.88266480e-01 7.25449451e-01 -3.51373010e-03 8.58074483e+01] [ 5.10650835e-03 -1.31538217e-06 9.99986962e-01 4.47249102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.039254154 meters 0.016201067285447537 Centerline is valid? [True, True] Translation: X:1001.22, Y:85.85, Z:4.47 [[ 7.22603543e-01 -6.91250498e-01 -4.10712542e-03 1.00122130e+03] [ 6.91239515e-01 7.22615214e-01 -3.89684015e-03 8.58462569e+01] [ 5.66156401e-03 -2.31368845e-05 9.99983973e-01 4.47289960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.0992541539999 meters 0.013535295265728529 Centerline is valid? [True, True] Translation: X:1001.26, Y:85.89, Z:4.47 [[ 7.20259459e-01 -6.93700172e-01 -2.52648814e-03 1.00126490e+03] [ 6.93696029e-01 7.20263889e-01 -2.39784210e-03 8.58859383e+01] [ 3.48312165e-03 -2.55463347e-05 9.99993934e-01 4.47296389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.159254154 meters 0.013616439936312758 Centerline is valid? [True, True] Translation: X:1001.31, Y:85.93, Z:4.47 [[ 7.20182015e-01 -6.93779795e-01 -2.73150326e-03 1.00130688e+03] [ 6.93774947e-01 7.20187194e-01 -2.59388485e-03 8.59252837e+01] [ 3.76677856e-03 -2.69793104e-05 9.99992905e-01 4.47258438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.2192541539999 meters 0.016334700610115233 Centerline is valid? [True, True] Translation: X:1001.35, Y:85.97, Z:4.47 [[ 7.21006075e-01 -6.92919885e-01 -3.50316484e-03 1.00134733e+03] [ 6.92911892e-01 7.21014585e-01 -3.32832924e-03 8.59663662e+01] [ 4.83209846e-03 -2.76389799e-05 9.99988325e-01 4.47179457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.279254154 meters 0.015255433322946306 Centerline is valid? [True, True] Translation: X:1001.38, Y:86.01, Z:4.47 [[ 7.26919228e-01 -6.86717061e-01 -2.84864670e-03 1.00138341e+03] [ 6.86711722e-01 7.26924809e-01 -2.70777716e-03 8.60124661e+01] [ 3.93022873e-03 1.21361988e-05 9.99992277e-01 4.47118089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.339254154 meters 0.013830298455266489 Centerline is valid? [True, True] Translation: X:1001.42, Y:86.06, Z:4.47 [[ 7.30648566e-01 -6.82747710e-01 -2.86996601e-03 1.00142262e+03] [ 6.82742258e-01 7.30654202e-01 -2.72878374e-03 8.60562700e+01] [ 3.96002358e-03 3.43348544e-05 9.99992158e-01 4.47143874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.399254154 meters 0.014839722520361635 Centerline is valid? [True, True] Translation: X:1001.46, Y:86.10, Z:4.47 [[ 7.34749983e-01 -6.78330757e-01 -3.13806515e-03 1.00146126e+03] [ 6.78324191e-01 7.34756681e-01 -2.98536352e-03 8.61014583e+01] [ 4.33077823e-03 6.48702891e-05 9.99990620e-01 4.47188655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.459254154 meters 0.01613105673781389 Centerline is valid? [True, True] Translation: X:1001.50, Y:86.14, Z:4.47 [[ 7.36988108e-01 -6.75896459e-01 -3.53637850e-03 1.00150156e+03] [ 6.75888083e-01 7.36996587e-01 -3.36619307e-03 8.61442035e+01] [ 4.88149685e-03 9.06481765e-05 9.99988081e-01 4.47223423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.519254154 meters 0.016422314866369598 Centerline is valid? [True, True] Translation: X:1001.54, Y:86.19, Z:4.47 [[ 7.38327884e-01 -6.74422640e-01 -5.10289326e-03 1.00153982e+03] [ 6.74405144e-01 7.38345503e-01 -4.86001896e-03 8.61871836e+01] [ 7.04540511e-03 1.46870052e-04 9.99975170e-01 4.47092032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.579254154 meters 0.016058054610485033 Centerline is valid? [True, True] Translation: X:1001.58, Y:86.23, Z:4.47 [[ 7.38002613e-01 -6.74768065e-01 -6.34055310e-03 1.00158146e+03] [ 6.74741043e-01 7.38029828e-01 -6.04136465e-03 8.62271938e+01] [ 8.75603725e-03 1.80311478e-04 9.99961649e-01 4.46981272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.639254154 meters 0.014927024922118679 Centerline is valid? [True, True] Translation: X:1001.63, Y:86.27, Z:4.47 [[ 7.35715718e-01 -6.77249151e-01 -7.48127196e-03 1.00162565e+03] [ 6.77211618e-01 7.35753732e-01 -7.13229951e-03 8.62670294e+01] [ 1.03347176e-02 1.80940565e-04 9.99946579e-01 4.46869074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.699254154 meters 0.013676209689799225 Centerline is valid? [True, True] Translation: X:1001.67, Y:86.30, Z:4.47 [[ 7.31071640e-01 -6.82250185e-01 -8.30315772e-03 1.00167233e+03] [ 6.82204227e-01 7.31118779e-01 -7.91981993e-03 8.63041188e+01] [ 1.14738931e-02 1.25506446e-04 9.99934165e-01 4.46861326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.759254154 meters 0.01316437072236088 Centerline is valid? [True, True] Translation: X:1001.72, Y:86.34, Z:4.47 [[ 7.25343951e-01 -6.88336701e-01 -8.29093053e-03 1.00171918e+03] [ 6.88291227e-01 7.25391333e-01 -7.91213697e-03 8.63395877e+01] [ 1.14603834e-02 3.24459508e-05 9.99934327e-01 4.46992494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.819254154 meters 0.015391742007706776 Centerline is valid? [True, True] Translation: X:1001.76, Y:86.38, Z:4.47 [[ 7.21106997e-01 -6.92771210e-01 -8.52929124e-03 1.00176436e+03] [ 6.92723338e-01 7.21157437e-01 -8.14418757e-03 8.63759351e+01] [ 1.17930205e-02 -3.56084586e-05 9.99930459e-01 4.47114740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.879254154 meters 0.015035375053997633 Centerline is valid? [True, True] Translation: X:1001.81, Y:86.41, Z:4.47 [[ 7.17584973e-01 -6.96419376e-01 -8.47692435e-03 1.00180970e+03] [ 6.96372293e-01 7.17635035e-01 -8.09848734e-03 8.64143748e+01] [ 1.17232814e-02 -9.17424248e-05 9.99931276e-01 4.47196925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.939254154 meters 0.01632384203367576 Centerline is valid? [True, True] Translation: X:1001.85, Y:86.45, Z:4.47 [[ 7.14305933e-01 -6.99781555e-01 -8.53281361e-03 1.00185423e+03] [ 6.99734038e-01 7.14356882e-01 -8.15603940e-03 8.64532161e+01] [ 1.18029201e-02 -1.44792785e-04 9.99930333e-01 4.47244330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.999254154 meters 0.016177529344532753 Centerline is valid? [True, True] Translation: X:1001.90, Y:86.49, Z:4.47 [[ 7.13322992e-01 -7.00783496e-01 -8.53234808e-03 1.00189787e+03] [ 7.00736007e-01 7.13374002e-01 -8.15973929e-03 8.64922762e+01] [ 1.18049659e-02 -1.58393882e-04 9.99930306e-01 4.47321722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.059254154 meters 0.014584874005695131 Centerline is valid? [True, True] Translation: X:1001.94, Y:86.53, Z:4.47 [[ 7.13796721e-01 -7.00290685e-01 -9.33798626e-03 1.00193957e+03] [ 7.00233711e-01 7.13857780e-01 -8.93417274e-03 8.65315991e+01] [ 1.29225121e-02 -1.61589567e-04 9.99916488e-01 4.47328275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.1192541539999 meters 0.013749530925078947 Centerline is valid? [True, True] Translation: X:1001.98, Y:86.57, Z:4.47 [[ 7.15925274e-01 -6.98103825e-01 -1.01020456e-02 1.00198030e+03] [ 6.98036864e-01 7.15996531e-01 -9.66974618e-03 8.65740685e+01] [ 1.39835164e-02 -1.28784568e-04 9.99902218e-01 4.47290288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.179254154 meters 0.014462701153322927 Centerline is valid? [True, True] Translation: X:1002.02, Y:86.62, Z:4.47 [[ 7.18708221e-01 -6.95224000e-01 -1.10490786e-02 1.00202011e+03] [ 6.95143472e-01 7.18793144e-01 -1.05815814e-02 8.66173653e+01] [ 1.52985712e-02 -7.56253045e-05 9.99882967e-01 4.47161704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.2392541539999 meters 0.015407579225862793 Centerline is valid? [True, True] Translation: X:1002.06, Y:86.66, Z:4.47 [[ 7.21607141e-01 -6.92222982e-01 -1.05108176e-02 1.00205976e+03] [ 6.92149718e-01 7.21683686e-01 -1.00709740e-02 8.66612521e+01] [ 1.45568453e-02 -7.77265744e-06 9.99894043e-01 4.47200927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.299254154 meters 0.015732170062900994 Centerline is valid? [True, True] Translation: X:1002.10, Y:86.70, Z:4.47 [[ 7.23896818e-01 -6.89832860e-01 -1.01991468e-02 1.00209939e+03] [ 6.89763564e-01 7.23968662e-01 -9.77763137e-03 8.67032817e+01] [ 1.41287941e-02 4.29963728e-05 9.99900183e-01 4.47261904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.3592541539999 meters 0.013579480351940582 Centerline is valid? [True, True] Translation: X:1002.14, Y:86.75, Z:4.47 [[ 7.28551869e-01 -6.84921503e-01 -9.73185222e-03 1.00213749e+03] [ 6.84857934e-01 7.28616852e-01 -9.33241042e-03 8.67479565e+01] [ 1.34827601e-02 1.34208854e-04 9.99909094e-01 4.47385917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.419254154 meters 0.015250473478943113 Centerline is valid? [True, True] Translation: X:1002.18, Y:86.79, Z:4.47 [[ 7.32681057e-01 -6.80502177e-01 -9.75991502e-03 1.00217631e+03] [ 6.80437796e-01 7.32746026e-01 -9.36304897e-03 8.67923648e+01] [ 1.35231142e-02 2.19113554e-04 9.99908535e-01 4.47425826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.4792541539999 meters 0.016061604442402667 Centerline is valid? [True, True] Translation: X:1002.22, Y:86.84, Z:4.47 [[ 7.36371372e-01 -6.76508195e-01 -9.68835254e-03 1.00221523e+03] [ 6.76444355e-01 7.36435045e-01 -9.29831098e-03 8.68366095e+01] [ 1.34252259e-02 2.93378627e-04 9.99909835e-01 4.47473681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.539254154 meters 0.016792408661583474 Centerline is valid? [True, True] Translation: X:1002.26, Y:86.88, Z:4.47 [[ 7.37403234e-01 -6.75371233e-01 -1.04960987e-02 1.00225640e+03] [ 6.75296119e-01 7.37477851e-01 -1.00782809e-02 8.68789321e+01] [ 1.45472213e-02 3.43782170e-04 9.99894124e-01 4.47446303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.5992541539999 meters 0.01640410090385453 Centerline is valid? [True, True] Translation: X:1002.30, Y:86.92, Z:4.47 [[ 7.37536956e-01 -6.75205549e-01 -1.16921070e-02 1.00229883e+03] [ 6.75112225e-01 7.37629524e-01 -1.12325085e-02 8.69196602e+01] [ 1.62086954e-02 3.90905776e-04 9.99868554e-01 4.47366862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.659254154 meters 0.016498014619493538 Centerline is valid? [True, True] Translation: X:1002.34, Y:86.96, Z:4.47 [[ 7.36157202e-01 -6.76692196e-01 -1.26588055e-02 1.00234099e+03] [ 6.76582963e-01 7.36265930e-01 -1.21644977e-02 8.69591273e+01] [ 1.75518678e-02 3.90250473e-04 9.99845878e-01 4.47225961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.7192541539999 meters 0.015308856324612612 Centerline is valid? [True, True] Translation: X:1002.39, Y:87.00, Z:4.47 [[ 7.33083855e-01 -6.80015061e-01 -1.29451632e-02 1.00238664e+03] [ 6.79901252e-01 7.33198072e-01 -1.24448470e-02 8.69963004e+01] [ 1.79540521e-02 3.21683730e-04 9.99838761e-01 4.47311438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.779254154 meters 0.015355566657322045 Centerline is valid? [True, True] Translation: X:1002.43, Y:87.03, Z:4.47 [[ 7.29009268e-01 -6.84393292e-01 -1.23007975e-02 1.00243210e+03] [ 6.84291101e-01 7.29113009e-01 -1.18283236e-02 8.70324616e+01] [ 1.70638968e-02 2.05631308e-04 9.99854380e-01 4.47378610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.839254154 meters 0.013327431180752074 Centerline is valid? [True, True] Translation: X:1002.48, Y:87.07, Z:4.48 [[ 7.27032580e-01 -6.86505543e-01 -1.15657204e-02 1.00247838e+03] [ 6.86415399e-01 7.27124553e-01 -1.11258158e-02 8.70700672e+01] [ 1.60476535e-02 1.49941982e-04 9.99871217e-01 4.47675904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.899254154 meters 0.01318209408699367 Centerline is valid? [True, True] Translation: X:1002.52, Y:87.11, Z:4.48 [[ 7.24846611e-01 -6.88810263e-01 -1.17393459e-02 1.00252246e+03] [ 6.88717645e-01 7.24941660e-01 -1.12957897e-02 8.71078721e+01] [ 1.62909969e-02 1.02620220e-04 9.99867288e-01 4.47627763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.959254154 meters 0.014610107404525775 Centerline is valid? [True, True] Translation: X:1002.57, Y:87.15, Z:4.48 [[ 7.23435409e-01 -6.90275279e-01 -1.26983263e-02 1.00256564e+03] [ 6.90167033e-01 7.23546842e-01 -1.22243277e-02 8.71463656e+01] [ 1.76259851e-02 7.95453546e-05 9.99844647e-01 4.47551206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.019254154 meters 0.013028460511068783 Centerline is valid? [True, True] Translation: X:1002.61, Y:87.19, Z:4.48 [[ 7.23338149e-01 -6.90385039e-01 -1.22645846e-02 1.00260865e+03] [ 6.90283965e-01 7.23442114e-01 -1.18133527e-02 8.71856081e+01] [ 1.70284790e-02 7.90026283e-05 9.99855002e-01 4.47651689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.079254154 meters 0.015052574858902556 Centerline is valid? [True, True] Translation: X:1002.65, Y:87.23, Z:4.48 [[ 7.23192618e-01 -6.90535498e-01 -1.23759140e-02 1.00265104e+03] [ 6.90432490e-01 7.23298499e-01 -1.19272122e-02 8.72258531e+01] [ 1.71876435e-02 8.09386654e-05 9.99852278e-01 4.47637406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.139254154 meters 0.01314675188724824 Centerline is valid? [True, True] Translation: X:1002.69, Y:87.27, Z:4.48 [[ 7.24722223e-01 -6.88952275e-01 -1.10662636e-02 1.00269227e+03] [ 6.88869643e-01 7.24806699e-01 -1.06706928e-02 8.72671012e+01] [ 1.53725000e-02 1.10075135e-04 9.99881830e-01 4.47776264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.199254154 meters 0.013968851810369155 Centerline is valid? [True, True] Translation: X:1002.73, Y:87.31, Z:4.48 [[ 7.26088599e-01 -6.87503111e-01 -1.16111661e-02 1.00273341e+03] [ 6.87411866e-01 7.26181416e-01 -1.12016861e-02 8.73094510e+01] [ 1.61330071e-02 1.51763170e-04 9.99869843e-01 4.47683226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.259254154 meters 0.013232959258725606 Centerline is valid? [True, True] Translation: X:1002.78, Y:87.35, Z:4.48 [[ 7.26967852e-01 -6.86576698e-01 -1.14096661e-02 1.00277662e+03] [ 6.86488391e-01 7.27057362e-01 -1.10127835e-02 8.73493347e+01] [ 1.58566023e-02 1.73336291e-04 9.99874261e-01 4.47904314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.319254154 meters 0.014160414699240597 Centerline is valid? [True, True] Translation: X:1002.82, Y:87.39, Z:4.48 [[ 7.28608769e-01 -6.84856800e-01 -1.00212396e-02 1.00281638e+03] [ 6.84788472e-01 7.28677657e-01 -9.67575722e-03 8.73915605e+01] [ 1.39287616e-02 1.87412161e-04 9.99902973e-01 4.47877550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.379254154 meters 0.013787079780413668 Centerline is valid? [True, True] Translation: X:1002.86, Y:87.43, Z:4.48 [[ 7.29738017e-01 -6.83665452e-01 -9.16390043e-03 1.00285877e+03] [ 6.83608173e-01 7.29795528e-01 -8.85171461e-03 8.74328844e+01] [ 1.27393850e-02 1.94915435e-04 9.99918832e-01 4.48063341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.439254154 meters 0.014171472655519598 Centerline is valid? [True, True] Translation: X:1002.90, Y:87.47, Z:4.48 [[ 7.29616909e-01 -6.83799173e-01 -8.82365406e-03 1.00289837e+03] [ 6.83746034e-01 7.29670237e-01 -8.52677983e-03 8.74737131e+01] [ 1.22689628e-02 1.88144271e-04 9.99924716e-01 4.47905292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.499254154 meters 0.015079851347319225 Centerline is valid? [True, True] Translation: X:1002.94, Y:87.51, Z:4.48 [[ 7.28551280e-01 -6.84923822e-01 -9.61201710e-03 1.00294056e+03] [ 6.84860793e-01 7.28614660e-01 -9.29357733e-03 8.75134701e+01] [ 1.33688491e-02 1.87954006e-04 9.99910615e-01 4.47836766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.559254154 meters 0.015525501559926767 Centerline is valid? [True, True] Translation: X:1002.98, Y:87.55, Z:4.48 [[ 7.26699848e-01 -6.86886400e-01 -9.71621664e-03 1.00298355e+03] [ 6.86822105e-01 7.26764782e-01 -9.39935845e-03 8.75533533e+01] [ 1.35176956e-02 1.57199993e-04 9.99908619e-01 4.47832280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.6192541539999 meters 0.0136265287638772 Centerline is valid? [True, True] Translation: X:1003.02, Y:87.59, Z:4.48 [[ 7.25540399e-01 -6.88116391e-01 -9.32529467e-03 1.00302487e+03] [ 6.88057234e-01 7.25600314e-01 -9.02374944e-03 8.75942570e+01] [ 1.29758266e-02 1.30758319e-04 9.99915802e-01 4.47801726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.679254154 meters 0.013575749522253995 Centerline is valid? [True, True] Translation: X:1003.07, Y:87.63, Z:4.48 [[ 7.24328396e-01 -6.89374007e-01 -1.05760937e-02 1.00306660e+03] [ 6.89297979e-01 7.24405593e-01 -1.02388155e-02 8.76347727e+01] [ 1.47197547e-02 1.26184798e-04 9.99891651e-01 4.47672968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.7392541539999 meters 0.014822513311506377 Centerline is valid? [True, True] Translation: X:1003.11, Y:87.68, Z:4.48 [[ 7.23561526e-01 -6.90151287e-01 -1.22441059e-02 1.00310858e+03] [ 6.90049388e-01 7.23665104e-01 -1.18599759e-02 8.76755637e+01] [ 1.70458098e-02 1.32384446e-04 9.99854701e-01 4.47534928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.799254154 meters 0.013870380866461586 Centerline is valid? [True, True] Translation: X:1003.15, Y:87.72, Z:4.48 [[ 7.23132829e-01 -6.90604338e-01 -1.20233554e-02 1.00315054e+03] [ 6.90506032e-01 7.23232766e-01 -1.16527595e-02 8.77154364e+01] [ 1.67431308e-02 1.24293549e-04 9.99859816e-01 4.47732240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.8592541539999 meters 0.016268423558678267 Centerline is valid? [True, True] Translation: X:1003.19, Y:87.76, Z:4.48 [[ 7.22156462e-01 -6.91606734e-01 -1.30449001e-02 1.00319127e+03] [ 6.91491092e-01 7.22274264e-01 -1.26474444e-02 8.77560580e+01] [ 1.81690533e-02 1.13001474e-04 9.99834923e-01 4.47697590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.919254154 meters 0.013477214266648734 Centerline is valid? [True, True] Translation: X:1003.23, Y:87.80, Z:4.48 [[ 7.21341152e-01 -6.92483377e-01 -1.15635116e-02 1.00323376e+03] [ 6.92392543e-01 7.21433826e-01 -1.12160932e-02 8.77964662e+01] [ 1.61092665e-02 8.41403884e-05 9.99870234e-01 4.47903839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.9792541539999 meters 0.01524348415022334 Centerline is valid? [True, True] Translation: X:1003.28, Y:87.83, Z:4.48 [[ 7.19020357e-01 -6.94884510e-01 -1.20517212e-02 1.00327747e+03] [ 6.94786067e-01 7.19121350e-01 -1.16963448e-02 8.78346745e+01] [ 1.67942589e-02 3.65420355e-05 9.99858966e-01 4.48059411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.039254154 meters 0.013349376384502953 Centerline is valid? [True, True] Translation: X:1003.32, Y:87.87, Z:4.48 [[ 7.17997598e-01 -6.95947436e-01 -1.16882706e-02 1.00331907e+03] [ 6.95854907e-01 7.18092728e-01 -1.13482713e-02 8.78737829e+01] [ 1.62910624e-02 1.46911296e-05 9.99867292e-01 4.48127383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.099254154 meters 0.01330204334353644 Centerline is valid? [True, True] Translation: X:1003.36, Y:87.92, Z:4.48 [[ 7.18482863e-01 -6.95451420e-01 -1.13885000e-02 1.00335881e+03] [ 6.95363422e-01 7.18573115e-01 -1.10629853e-02 8.79158141e+01] [ 1.58772388e-02 2.94190017e-05 9.99873948e-01 4.48177415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.1592541539999 meters 0.013325919395334214 Centerline is valid? [True, True] Translation: X:1003.40, Y:87.96, Z:4.48 [[ 7.19701041e-01 -6.94186291e-01 -1.16535680e-02 1.00339916e+03] [ 6.94093884e-01 7.19795380e-01 -1.13265413e-02 8.79582650e+01] [ 1.62509141e-02 6.30532740e-05 9.99867943e-01 4.48202830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.219254154 meters 0.015824009482251638 Centerline is valid? [True, True] Translation: X:1003.44, Y:88.00, Z:4.48 [[ 7.21609186e-01 -6.92164317e-01 -1.37383005e-02 1.00343966e+03] [ 6.92035384e-01 7.21739940e-01 -1.33598645e-02 8.80016801e+01] [ 1.91627017e-02 1.33210927e-04 9.99816370e-01 4.48208144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.279254154 meters 0.013646567161287157 Centerline is valid? [True, True] Translation: X:1003.48, Y:88.04, Z:4.48 [[ 7.21807848e-01 -6.91969083e-01 -1.31232328e-02 1.00347986e+03] [ 6.91851276e-01 7.21927122e-01 -1.27688026e-02 8.80431881e+01] [ 1.83096343e-02 1.37296588e-04 9.99832355e-01 4.48190398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.339254154 meters 0.01347529876854316 Centerline is valid? [True, True] Translation: X:1003.52, Y:88.08, Z:4.48 [[ 7.21155441e-01 -6.92655368e-01 -1.27816346e-02 1.00352087e+03] [ 6.92543595e-01 7.21268692e-01 -1.24435826e-02 8.80837418e+01] [ 1.78381072e-02 1.21918120e-04 9.99840881e-01 4.48257866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.399254154 meters 0.014907267576364973 Centerline is valid? [True, True] Translation: X:1003.57, Y:88.12, Z:4.48 [[ 7.18885473e-01 -6.95023300e-01 -1.20950525e-02 1.00356505e+03] [ 6.94923476e-01 7.18987211e-01 -1.17793509e-02 8.81235171e+01] [ 1.68831114e-02 6.28682884e-05 9.99857468e-01 4.48346927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.459254154 meters 0.015919746295275768 Centerline is valid? [True, True] Translation: X:1003.61, Y:88.16, Z:4.48 [[ 7.17070782e-01 -6.96916148e-01 -1.08340538e-02 1.00360881e+03] [ 6.96836201e-01 7.17152622e-01 -1.05558543e-02 8.81634244e+01] [ 1.51262154e-02 1.97338091e-05 9.99885592e-01 4.48451111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.519254154 meters 0.01612051695191514 Centerline is valid? [True, True] Translation: X:1003.65, Y:88.20, Z:4.48 [[ 7.14302305e-01 -6.99768321e-01 -9.82419595e-03 1.00365119e+03] [ 6.99702813e-01 7.14369859e-01 -9.57483393e-03 8.82021831e+01] [ 1.37182749e-02 -3.46915984e-05 9.99905899e-01 4.48368757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.579254154 meters 0.013984943277484157 Centerline is valid? [True, True] Translation: X:1003.69, Y:88.24, Z:4.48 [[ 7.12636886e-01 -7.01471531e-01 -9.29298340e-03 1.00369242e+03] [ 7.01413027e-01 7.12697473e-01 -9.05965798e-03 8.82410606e+01] [ 1.29781779e-02 -6.19731646e-05 9.99915778e-01 4.48345191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.639254154 meters 0.013968479872893229 Centerline is valid? [True, True] Translation: X:1003.73, Y:88.28, Z:4.48 [[ 7.11698509e-01 -7.02421558e-01 -9.44391750e-03 1.00373376e+03] [ 7.02361162e-01 7.11761160e-01 -9.21133616e-03 8.82825407e+01] [ 1.31920548e-02 -7.73466668e-05 9.99912978e-01 4.48395869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.699254154 meters 0.013871850655910333 Centerline is valid? [True, True] Translation: X:1003.77, Y:88.32, Z:4.48 [[ 7.11878469e-01 -7.02239395e-01 -9.42749052e-03 1.00377488e+03] [ 7.02179124e-01 7.11940887e-01 -9.20062470e-03 8.83234571e+01] [ 1.31728571e-02 -7.00604091e-05 9.99913232e-01 4.48406766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.759254154 meters 0.013683371859931976 Centerline is valid? [True, True] Translation: X:1003.81, Y:88.37, Z:4.48 [[ 7.13109637e-01 -7.00979173e-01 -1.01412245e-02 1.00381424e+03] [ 7.00909219e-01 7.13181742e-01 -9.90300982e-03 8.83665066e+01] [ 1.41743398e-02 -4.61460370e-05 9.99899538e-01 4.48375620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.819254154 meters 0.013446998621718501 Centerline is valid? [True, True] Translation: X:1003.85, Y:88.41, Z:4.48 [[ 7.15361622e-01 -6.98683078e-01 -9.98528374e-03 1.00385209e+03] [ 6.98614983e-01 7.15431308e-01 -9.75445819e-03 8.84091880e+01] [ 1.39590595e-02 2.09620436e-06 9.99902568e-01 4.48370902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.879254154 meters 0.013511618467772208 Centerline is valid? [True, True] Translation: X:1003.89, Y:88.45, Z:4.48 [[ 7.17534570e-01 -6.96457549e-01 -9.54057368e-03 1.00389026e+03] [ 6.96395129e-01 7.17597993e-01 -9.32441775e-03 8.84525314e+01] [ 1.33403577e-02 4.65830479e-05 9.99911012e-01 4.48392118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.939254154 meters 0.01475277514147286 Centerline is valid? [True, True] Translation: X:1003.93, Y:88.50, Z:4.48 [[ 7.19565608e-01 -6.94366172e-01 -8.99747063e-03 1.00392961e+03] [ 6.94310436e-01 7.19621854e-01 -8.79811127e-03 8.84964847e+01] [ 1.25838873e-02 8.37805407e-05 9.99920816e-01 4.48430867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.999254154 meters 0.01591706304671377 Centerline is valid? [True, True] Translation: X:1003.97, Y:88.54, Z:4.49 [[ 7.21347250e-01 -6.92522466e-01 -8.41297663e-03 1.00396966e+03] [ 6.92473562e-01 7.21396300e-01 -8.23067524e-03 8.85391492e+01] [ 1.17690177e-02 1.11411051e-04 9.99930737e-01 4.48525082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.059254154 meters 0.014559910814578145 Centerline is valid? [True, True] Translation: X:1004.01, Y:88.58, Z:4.49 [[ 7.24780543e-01 -6.88942386e-01 -7.18000474e-03 1.00400725e+03] [ 6.88906569e-01 7.24816092e-01 -7.02649861e-03 8.85830051e+01] [ 1.00450357e-02 1.46317048e-04 9.99949537e-01 4.48619494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.119254154 meters 0.015266700988811343 Centerline is valid? [True, True] Translation: X:1004.05, Y:88.63, Z:4.49 [[ 7.27558447e-01 -6.86010195e-01 -6.97986549e-03 1.00404668e+03] [ 6.85976188e-01 7.27591904e-01 -6.83310910e-03 8.86271135e+01] [ 9.76607613e-03 1.83464728e-04 9.99952294e-01 4.48666428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.1792541539999 meters 0.017844470481802276 Centerline is valid? [True, True] Translation: X:1004.09, Y:88.67, Z:4.49 [[ 7.29611020e-01 -6.83820287e-01 -7.58782644e-03 1.00408638e+03] [ 6.83779936e-01 7.29650437e-01 -7.43228197e-03 8.86710158e+01] [ 1.06188061e-02 2.34271355e-04 9.99943591e-01 4.48568269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.239254154 meters 0.01825408537187792 Centerline is valid? [True, True] Translation: X:1004.13, Y:88.71, Z:4.48 [[ 7.30829714e-01 -6.82505368e-01 -8.62271209e-03 1.00412697e+03] [ 6.82453112e-01 7.30880522e-01 -8.45057224e-03 8.87136575e+01] [ 1.20697332e-02 2.91332597e-04 9.99927116e-01 4.48467755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.299254154 meters 0.016443763151485498 Centerline is valid? [True, True] Translation: X:1004.17, Y:88.76, Z:4.48 [[ 7.30789971e-01 -6.82541063e-01 -9.14960165e-03 1.00416853e+03] [ 6.82482168e-01 7.30847179e-01 -8.97167993e-03 8.87550208e+01] [ 1.28105005e-02 3.11973748e-04 9.99917894e-01 4.48425149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.359254154 meters 0.01659265301673514 Centerline is valid? [True, True] Translation: X:1004.21, Y:88.80, Z:4.48 [[ 7.30099954e-01 -6.83278467e-01 -9.19746586e-03 1.00420944e+03] [ 6.83218978e-01 7.30157822e-01 -9.02129010e-03 8.87960141e+01] [ 1.28796549e-02 3.02560270e-04 9.99917008e-01 4.48360076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.4192541539999 meters 0.01779414456594041 Centerline is valid? [True, True] Translation: X:1004.25, Y:88.84, Z:4.48 [[ 7.28448686e-01 -6.85033923e-01 -9.54128858e-03 1.00425222e+03] [ 6.84970003e-01 7.28511114e-01 -9.36222599e-03 8.88370319e+01] [ 1.33643772e-02 2.84404750e-04 9.99910652e-01 4.48280672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.479254154 meters 0.017039173197877164 Centerline is valid? [True, True] Translation: X:1004.30, Y:88.87, Z:4.48 [[ 7.25948140e-01 -6.87693722e-01 -8.75456542e-03 1.00429792e+03] [ 6.87640049e-01 7.26000893e-01 -8.59453849e-03 8.88749518e+01] [ 1.22662325e-02 2.19199440e-04 9.99924743e-01 4.48461321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.539254154 meters 0.016344596812490772 Centerline is valid? [True, True] Translation: X:1004.34, Y:88.91, Z:4.48 [[ 7.22586683e-01 -6.91227174e-01 -8.57205660e-03 1.00434089e+03] [ 6.91175911e-01 7.22637509e-01 -8.41966411e-03 8.89146282e+01] [ 1.20143902e-02 1.59138125e-04 9.99927812e-01 4.48484573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.599254154 meters 0.014378270720257602 Centerline is valid? [True, True] Translation: X:1004.38, Y:88.95, Z:4.48 [[ 7.19647607e-01 -6.94279701e-01 -9.11141983e-03 1.00438429e+03] [ 6.94221993e-01 7.19705275e-01 -8.95215287e-03 8.89531939e+01] [ 1.27728349e-02 1.17047358e-04 9.99918417e-01 4.48421086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.6592541539999 meters 0.013430966671424571 Centerline is valid? [True, True] Translation: X:1004.43, Y:88.99, Z:4.48 [[ 7.18022386e-01 -6.95957524e-01 -9.32618738e-03 1.00442670e+03] [ 6.95897184e-01 7.18082946e-01 -9.16477902e-03 8.89925141e+01] [ 1.30752730e-02 9.04489753e-05 9.99914511e-01 4.48379670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.719254154 meters 0.013036162608030822 Centerline is valid? [True, True] Translation: X:1004.47, Y:89.03, Z:4.49 [[ 7.16949627e-01 -6.97064011e-01 -9.21941394e-03 1.00446982e+03] [ 6.97005084e-01 7.17008898e-01 -9.06381743e-03 8.90320503e+01] [ 1.29284628e-02 7.23221252e-05 9.99916421e-01 4.48553722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.779254154 meters 0.013698390887396833 Centerline is valid? [True, True] Translation: X:1004.51, Y:89.07, Z:4.49 [[ 7.15065566e-01 -6.98998192e-01 -9.09749466e-03 1.00451268e+03] [ 6.98940910e-01 7.15123434e-01 -8.94861307e-03 8.90729658e+01] [ 1.27608960e-02 4.02338701e-05 9.99918576e-01 4.48569919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.839254154 meters 0.012872209534147888 Centerline is valid? [True, True] Translation: X:1004.55, Y:89.11, Z:4.49 [[ 7.15397773e-01 -6.98651341e-01 -9.60887428e-03 1.00455499e+03] [ 6.98587341e-01 7.15462299e-01 -9.45650323e-03 8.91145263e+01] [ 1.34815859e-02 5.25234158e-05 9.99909118e-01 4.48698621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.899254154 meters 0.015611511305644697 Centerline is valid? [True, True] Translation: X:1004.60, Y:89.16, Z:4.49 [[ 7.15871147e-01 -6.98136278e-01 -1.15861208e-02 1.00459625e+03] [ 6.98043060e-01 7.15964895e-01 -1.14085744e-02 8.91561987e+01] [ 1.62599954e-02 7.94580143e-05 9.99867794e-01 4.48556134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.959254154 meters 0.014989140612951262 Centerline is valid? [True, True] Translation: X:1004.63, Y:89.20, Z:4.48 [[ 7.18319034e-01 -6.95604470e-01 -1.23364298e-02 1.00463495e+03] [ 6.95498354e-01 7.18424944e-01 -1.21507077e-02 8.91996721e+01] [ 1.73148854e-02 1.48118026e-04 9.99850075e-01 4.48282474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.019254154 meters 0.01457435381201553 Centerline is valid? [True, True] Translation: X:1004.68, Y:89.24, Z:4.49 [[ 7.20443286e-01 -6.93411191e-01 -1.19327822e-02 1.00467633e+03] [ 6.93311523e-01 7.20542074e-01 -1.17580495e-02 8.92420323e+01] [ 1.67512347e-02 1.97872377e-04 9.99859669e-01 4.48588112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.079254154 meters 0.014341639540105797 Centerline is valid? [True, True] Translation: X:1004.72, Y:89.28, Z:4.49 [[ 7.21962585e-01 -6.91847071e-01 -1.08469745e-02 1.00471621e+03] [ 6.91764489e-01 7.22044032e-01 -1.06914862e-02 8.92835604e+01] [ 1.52288667e-02 2.15301233e-04 9.99884011e-01 4.48839403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.139254154 meters 0.018440276097775196 Centerline is valid? [True, True] Translation: X:1004.76, Y:89.32, Z:4.49 [[ 7.21796456e-01 -6.92016317e-01 -1.11037912e-02 1.00475783e+03] [ 6.91929713e-01 7.21881825e-01 -1.09500438e-02 8.93239746e+01] [ 1.55932340e-02 2.20659747e-04 9.99878394e-01 4.48871400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.199254154 meters 0.015466815096398705 Centerline is valid? [True, True] Translation: X:1004.80, Y:89.36, Z:4.49 [[ 7.21826130e-01 -6.91999811e-01 -1.01636515e-02 1.00479896e+03] [ 6.91927167e-01 7.21897652e-01 -1.00287466e-02 8.93647140e+01] [ 1.42770069e-02 2.06504798e-04 9.99898057e-01 4.49004463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.259254154 meters 0.014942796907820162 Centerline is valid? [True, True] Translation: X:1004.84, Y:89.41, Z:4.49 [[ 7.21126215e-01 -6.92727540e-01 -1.02730941e-02 1.00483997e+03] [ 6.92653311e-01 7.21199359e-01 -1.01427825e-02 8.94052433e+01] [ 1.44351337e-02 1.98533752e-04 9.99895788e-01 4.48973647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.319254154 meters 0.013903917163430328 Centerline is valid? [True, True] Translation: X:1004.88, Y:89.45, Z:4.49 [[ 7.20187474e-01 -6.93698189e-01 -1.06219445e-02 1.00488122e+03] [ 6.93618844e-01 7.20265775e-01 -1.04934156e-02 8.94455518e+01] [ 1.49298865e-02 1.89645579e-04 9.99888525e-01 4.48916927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.379254154 meters 0.013956752437731203 Centerline is valid? [True, True] Translation: X:1004.92, Y:89.49, Z:4.49 [[ 7.19011157e-01 -6.94912659e-01 -1.09248577e-02 1.00492300e+03] [ 6.94828800e-01 7.19094129e-01 -1.07968321e-02 8.94860794e+01] [ 1.53588564e-02 1.72136939e-04 9.99882031e-01 4.48753179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.439254154 meters 0.015265478767897708 Centerline is valid? [True, True] Translation: X:1004.97, Y:89.52, Z:4.49 [[ 7.16472547e-01 -6.97500386e-01 -1.26610159e-02 1.00496656e+03] [ 6.97388040e-01 7.16584393e-01 -1.25191693e-02 8.95246103e+01] [ 1.78048118e-02 1.40000092e-04 9.99841472e-01 4.48569952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.499254154 meters 0.014699871944919412 Centerline is valid? [True, True] Translation: X:1005.01, Y:89.56, Z:4.49 [[ 7.13413263e-01 -7.00627616e-01 -1.27459849e-02 1.00501126e+03] [ 7.00514136e-01 7.13527111e-01 -1.26097998e-02 8.95628190e+01] [ 1.79293798e-02 6.72558185e-05 9.99839253e-01 4.48573523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.559254154 meters 0.014464028382782235 Centerline is valid? [True, True] Translation: X:1005.06, Y:89.60, Z:4.49 [[ 7.10372080e-01 -7.03718328e-01 -1.23297227e-02 1.00505596e+03] [ 7.03612495e-01 7.10479074e-01 -1.22042339e-02 8.96018540e+01] [ 1.73483530e-02 -5.79991246e-06 9.99849506e-01 4.48713960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.619254154 meters 0.015156612944286696 Centerline is valid? [True, True] Translation: X:1005.10, Y:89.64, Z:4.49 [[ 7.09272003e-01 -7.04830246e-01 -1.21470171e-02 1.00509775e+03] [ 7.04727600e-01 7.09376010e-01 -1.20285447e-02 8.96400858e+01] [ 1.70948846e-02 -2.88281836e-05 9.99853871e-01 4.48720498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.6792541539999 meters 0.015059195052672199 Centerline is valid? [True, True] Translation: X:1005.14, Y:89.68, Z:4.49 [[ 7.09853418e-01 -7.04245864e-01 -1.20784379e-02 1.00513904e+03] [ 7.04144181e-01 7.09956170e-01 -1.19669870e-02 8.96804802e+01] [ 1.70028626e-02 -1.01551685e-05 9.99855441e-01 4.48827985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.739254154 meters 0.013438021225839048 Centerline is valid? [True, True] Translation: X:1005.18, Y:89.72, Z:4.49 [[ 7.13178253e-01 -7.00895988e-01 -1.10269246e-02 1.00517784e+03] [ 7.00810743e-01 7.13263492e-01 -1.09313107e-02 8.97233116e+01] [ 1.55268145e-02 6.81858482e-05 9.99879449e-01 4.48895284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.799254154 meters 0.014989052753151488 Centerline is valid? [True, True] Translation: X:1005.22, Y:89.77, Z:4.49 [[ 7.16630024e-01 -6.97358340e-01 -1.15219328e-02 1.00521850e+03] [ 6.97264710e-01 7.16722625e-01 -1.14281303e-02 8.97662785e+01] [ 1.62275319e-02 1.55904168e-04 9.99868313e-01 4.48988854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.859254154 meters 0.01572233515818264 Centerline is valid? [True, True] Translation: X:1005.26, Y:89.81, Z:4.49 [[ 7.18590546e-01 -6.95328537e-01 -1.20769905e-02 1.00525877e+03] [ 6.95225312e-01 7.18691992e-01 -1.19827025e-02 8.98080125e+01] [ 1.70115514e-02 2.14427251e-04 9.99855270e-01 4.48891330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.9192541539999 meters 0.015100754070956044 Centerline is valid? [True, True] Translation: X:1005.30, Y:89.85, Z:4.49 [[ 7.21213794e-01 -6.92605752e-01 -1.21628622e-02 1.00530079e+03] [ 6.92500574e-01 7.21316291e-01 -1.20732344e-02 8.98496190e+01] [ 1.71352623e-02 2.84594111e-04 9.99853140e-01 4.48902186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.979254154 meters 0.015897356864391653 Centerline is valid? [True, True] Translation: X:1005.34, Y:89.89, Z:4.49 [[ 7.22427659e-01 -6.91330458e-01 -1.26679174e-02 1.00534132e+03] [ 6.91216108e-01 7.22538642e-01 -1.25778529e-02 8.98908954e+01] [ 1.78485127e-02 3.30320269e-04 9.99840648e-01 4.48818766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.039254154 meters 0.016428703523297443 Centerline is valid? [True, True] Translation: X:1005.39, Y:89.93, Z:4.49 [[ 7.22669138e-01 -6.91060993e-01 -1.35654313e-02 1.00538525e+03] [ 6.90929770e-01 7.22796356e-01 -1.34714464e-02 8.99295574e+01] [ 1.91146354e-02 3.62638215e-04 9.99817233e-01 4.48881482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.099254154 meters 0.016862479493871218 Centerline is valid? [True, True] Translation: X:1005.43, Y:89.97, Z:4.49 [[ 7.21475472e-01 -6.92315488e-01 -1.31304258e-02 1.00543052e+03] [ 6.92192650e-01 7.21594873e-01 -1.30451198e-02 8.99679197e+01] [ 1.85061864e-02 3.22949776e-04 9.99828694e-01 4.49057767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.1592541539999 meters 0.017006546332137287 Centerline is valid? [True, True] Translation: X:1005.47, Y:90.01, Z:4.49 [[ 7.20056393e-01 -6.93811551e-01 -1.20134436e-02 1.00547444e+03] [ 6.93708831e-01 7.20156553e-01 -1.19413611e-02 9.00075138e+01] [ 1.69366145e-02 2.64621467e-04 9.99856530e-01 4.49224734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.219254154 meters 0.014318382299774264 Centerline is valid? [True, True] Translation: X:1005.52, Y:90.05, Z:4.49 [[ 7.17342482e-01 -6.96641434e-01 -1.05107218e-02 1.00551876e+03] [ 6.96563034e-01 7.17419460e-01 -1.04526703e-02 9.00463935e+01] [ 1.48223596e-02 1.76764205e-04 9.99890127e-01 4.49364263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.279254154 meters 0.013926427409510176 Centerline is valid? [True, True] Translation: X:1005.56, Y:90.09, Z:4.49 [[ 7.14401071e-01 -6.99650072e-01 -1.09948392e-02 1.00556344e+03] [ 6.99564552e-01 7.14485662e-01 -1.09396754e-02 9.00850947e+01] [ 1.55095996e-02 1.23716084e-04 9.99879711e-01 4.49311659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.339254154 meters 0.01380824508397069 Centerline is valid? [True, True] Translation: X:1005.61, Y:90.12, Z:4.49 [[ 7.12480490e-01 -7.01587875e-01 -1.20832302e-02 1.00560595e+03] [ 7.01484745e-01 7.12582939e-01 -1.20294281e-02 9.01246148e+01] [ 1.70500046e-02 9.45311950e-05 9.99854634e-01 4.49198524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.399254154 meters 0.015949182713614632 Centerline is valid? [True, True] Translation: X:1005.65, Y:90.16, Z:4.49 [[ 7.10402813e-01 -7.03661024e-01 -1.37479711e-02 1.00564832e+03] [ 7.03527763e-01 7.10535826e-01 -1.36940397e-02 9.01649358e+01] [ 1.94043880e-02 5.62049857e-05 9.99811716e-01 4.49094990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.459254154 meters 0.014962826800112601 Centerline is valid? [True, True] Translation: X:1005.69, Y:90.21, Z:4.49 [[ 7.10525915e-01 -7.03548365e-01 -1.31385933e-02 1.00568811e+03] [ 7.03426567e-01 7.10647377e-01 -1.30908304e-02 9.02067839e+01] [ 1.85469392e-02 5.93386476e-05 9.99827989e-01 4.49174314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.519254154 meters 0.016048055164408315 Centerline is valid? [True, True] Translation: X:1005.73, Y:90.25, Z:4.49 [[ 7.12091781e-01 -7.01960242e-01 -1.33084364e-02 1.00572807e+03] [ 7.01834890e-01 7.12216124e-01 -1.32657392e-02 9.02506683e+01] [ 1.87905044e-02 1.06098868e-04 9.99823437e-01 4.49345051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.579254154 meters 0.014209908147709624 Centerline is valid? [True, True] Translation: X:1005.77, Y:90.29, Z:4.49 [[ 7.13389787e-01 -7.00662102e-01 -1.21503412e-02 1.00576686e+03] [ 7.00557364e-01 7.13493239e-01 -1.21151957e-02 9.02924319e+01] [ 1.71578448e-02 1.30845863e-04 9.99852785e-01 4.49371048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.639254154 meters 0.015966636168951855 Centerline is valid? [True, True] Translation: X:1005.81, Y:90.34, Z:4.50 [[ 7.16343656e-01 -6.97620992e-01 -1.32935119e-02 1.00580549e+03] [ 6.97494977e-01 7.16466956e-01 -1.32611283e-02 9.03376017e+01] [ 1.87756035e-02 2.27367312e-04 9.99823697e-01 4.49536439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.699254154 meters 0.014724919139802705 Centerline is valid? [True, True] Translation: X:1005.84, Y:90.38, Z:4.50 [[ 7.18615892e-01 -6.95286034e-01 -1.29819395e-02 1.00584421e+03] [ 6.95165353e-01 7.18733086e-01 -1.29569722e-02 9.03816992e+01] [ 1.83393512e-02 2.86491608e-04 9.99831779e-01 4.49611938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.759254154 meters 0.015564896818895778 Centerline is valid? [True, True] Translation: X:1005.88, Y:90.43, Z:4.50 [[ 7.20502629e-01 -6.93324635e-01 -1.33008480e-02 1.00588263e+03] [ 6.93197486e-01 7.20625304e-01 -1.32821931e-02 9.04262630e+01] [ 1.87937993e-02 3.49740669e-04 9.99823320e-01 4.49707607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.819254154 meters 0.018365425121249522 Centerline is valid? [True, True] Translation: X:1005.92, Y:90.47, Z:4.50 [[ 7.20438704e-01 -6.93361766e-01 -1.47490690e-02 1.00592157e+03] [ 6.93205336e-01 7.20589557e-01 -1.47327036e-02 9.04685171e+01] [ 2.08431185e-02 3.89876597e-04 9.99782683e-01 4.49742922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.879254154 meters 0.015230045443423908 Centerline is valid? [True, True] Translation: X:1005.96, Y:90.51, Z:4.50 [[ 7.19623138e-01 -6.94249545e-01 -1.26533635e-02 1.00596279e+03] [ 6.94134462e-01 7.19734304e-01 -1.26443738e-02 9.05113729e+01] [ 1.78854106e-02 3.16048314e-04 9.99839993e-01 4.49811256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.939254154 meters 0.014446360446516867 Centerline is valid? [True, True] Translation: X:1006.00, Y:90.55, Z:4.50 [[ 7.16695362e-01 -6.97278643e-01 -1.22577216e-02 1.00600464e+03] [ 6.97170987e-01 7.16800137e-01 -1.22546753e-02 9.05536597e+01] [ 1.73312599e-02 2.37141047e-04 9.99849774e-01 4.49798035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.999254154 meters 0.013743889955527212 Centerline is valid? [True, True] Translation: X:1006.05, Y:90.59, Z:4.50 [[ 7.12910719e-01 -7.01153438e-01 -1.19232657e-02 1.00604745e+03] [ 7.01052018e-01 7.13010404e-01 -1.19260638e-02 9.05942230e+01] [ 1.68634131e-02 1.43389247e-04 9.99857792e-01 4.49827557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.059254154 meters 0.013315496089081958 Centerline is valid? [True, True] Translation: X:1006.09, Y:90.63, Z:4.50 [[ 7.08683430e-01 -7.05415582e-01 -1.25160974e-02 1.00609121e+03] [ 7.05304373e-01 7.08793944e-01 -1.25254203e-02 9.06340447e+01] [ 1.77069607e-02 4.88995724e-05 9.99843218e-01 4.49871404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.119254154 meters 0.013423371634077245 Centerline is valid? [True, True] Translation: X:1006.13, Y:90.68, Z:4.50 [[ 7.05648187e-01 -7.08424805e-01 -1.39617855e-02 1.00613297e+03] [ 7.08286862e-01 7.05786296e-01 -1.39794934e-02 9.06754078e+01] [ 1.97574568e-02 -2.43450239e-05 9.99804802e-01 4.49767771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.1792541539999 meters 0.013611860299566824 Centerline is valid? [True, True] Translation: X:1006.17, Y:90.72, Z:4.50 [[ 7.04189233e-01 -7.09858660e-01 -1.47718461e-02 1.00617462e+03] [ 7.09704399e-01 7.04344148e-01 -1.47982097e-02 9.07176876e+01] [ 2.09091007e-02 -6.29042640e-05 9.99781379e-01 4.49700742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.239254154 meters 0.01545867201383563 Centerline is valid? [True, True] Translation: X:1006.22, Y:90.76, Z:4.50 [[ 7.02036197e-01 -7.11957433e-01 -1.61799926e-02 1.00621594e+03] [ 7.11772818e-01 7.02222612e-01 -1.62129413e-02 9.07585833e+01] [ 2.29048807e-02 -1.34407280e-04 9.99737640e-01 4.49704634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.299254154 meters 0.014128013931982998 Centerline is valid? [True, True] Translation: X:1006.26, Y:90.80, Z:4.50 [[ 7.00463192e-01 -7.13536681e-01 -1.47214265e-02 1.00625829e+03] [ 7.13384072e-01 7.00617854e-01 -1.47576453e-02 9.07996049e+01] [ 2.08442155e-02 -1.64843872e-04 9.99782722e-01 4.49750168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.359254154 meters 0.014725562677394784 Centerline is valid? [True, True] Translation: X:1006.30, Y:90.84, Z:4.50 [[ 6.97220376e-01 -7.16730228e-01 -1.34732060e-02 1.00630149e+03] [ 7.16602872e-01 6.97350504e-01 -1.35128617e-02 9.08400787e+01] [ 1.90806235e-02 -2.33495593e-04 9.99817921e-01 4.49965471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.4192541539999 meters 0.01717682435017724 Centerline is valid? [True, True] Translation: X:1006.34, Y:90.88, Z:4.50 [[ 6.94324641e-01 -7.19532694e-01 -1.36380217e-02 1.00634245e+03] [ 7.19402674e-01 6.94458498e-01 -1.36816280e-02 9.08816359e+01] [ 1.93154187e-02 -3.11737827e-04 9.99813391e-01 4.50273093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.479254154 meters 0.014993486997576203 Centerline is valid? [True, True] Translation: X:1006.38, Y:90.92, Z:4.50 [[ 6.94193942e-01 -7.19683985e-01 -1.22365553e-02 1.00638291e+03] [ 7.19579251e-01 6.94301724e-01 -1.22808032e-02 9.09243088e+01] [ 1.73341588e-02 -2.79912117e-04 9.99849713e-01 4.50256848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.539254154 meters 0.014809034442711819 Centerline is valid? [True, True] Translation: X:1006.42, Y:90.97, Z:4.50 [[ 6.94854349e-01 -7.19039159e-01 -1.26539401e-02 1.00642075e+03] [ 7.18926923e-01 6.94969507e-01 -1.27068169e-02 9.09682549e+01] [ 1.79308015e-02 -2.67871265e-04 9.99839194e-01 4.50223312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.599254154 meters 0.014695696299080243 Centerline is valid? [True, True] Translation: X:1006.46, Y:91.01, Z:4.50 [[ 6.95773256e-01 -7.18137369e-01 -1.33527492e-02 1.00645790e+03] [ 7.18012081e-01 6.95901326e-01 -1.34162759e-02 9.10131998e+01] [ 1.89269249e-02 -2.52749270e-04 9.99820838e-01 4.50175773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.6592541539999 meters 0.0140200119564758 Centerline is valid? [True, True] Translation: X:1006.49, Y:91.06, Z:4.50 [[ 6.96946528e-01 -7.17006941e-01 -1.29067593e-02 1.00649460e+03] [ 7.16889566e-01 6.97065996e-01 -1.29748700e-02 9.10592725e+01] [ 1.82999348e-02 -2.09930476e-04 9.99832520e-01 4.50310930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.719254154 meters 0.013741708936817299 Centerline is valid? [True, True] Translation: X:1006.53, Y:91.11, Z:4.50 [[ 6.98808569e-01 -7.15224539e-01 -1.09746768e-02 1.00653114e+03] [ 7.15139374e-01 6.98894728e-01 -1.10378798e-02 9.11052201e+01] [ 1.55647062e-02 -1.35058521e-04 9.99878854e-01 4.50366132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.779254154 meters 0.014991441155042537 Centerline is valid? [True, True] Translation: X:1006.57, Y:91.15, Z:4.50 [[ 7.00031273e-01 -7.14044271e-01 -9.84861807e-03 1.00656787e+03] [ 7.13975503e-01 7.00100543e-01 -9.91018859e-03 9.11521304e+01] [ 1.39713362e-02 -9.42301058e-05 9.99902392e-01 4.50440828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.839254154 meters 0.012864700967177348 Centerline is valid? [True, True] Translation: X:1006.60, Y:91.20, Z:4.50 [[ 7.03411337e-01 -7.10731612e-01 -8.54790417e-03 1.00660298e+03] [ 7.10679513e-01 7.03463272e-01 -8.60552534e-03 9.12001436e+01] [ 1.21293555e-02 -2.15962823e-05 9.99926436e-01 4.50470452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.899254154 meters 0.012881061538417669 Centerline is valid? [True, True] Translation: X:1006.64, Y:91.25, Z:4.50 [[ 7.06787410e-01 -7.07378066e-01 -8.23586635e-03 1.00663821e+03] [ 7.07329418e-01 7.06835392e-01 -8.29596393e-03 9.12475587e+01] [ 1.16897847e-02 3.80123026e-05 9.99931671e-01 4.50454148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.959254154 meters 0.013144107648786795 Centerline is valid? [True, True] Translation: X:1006.68, Y:91.29, Z:4.50 [[ 7.08775080e-01 -7.05380520e-01 -8.72975761e-03 1.00667501e+03] [ 7.05325651e-01 7.08828834e-01 -8.79830307e-03 9.12935426e+01] [ 1.23940555e-02 7.86959883e-05 9.99923188e-01 4.50285457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.019254154 meters 0.014921654447500437 Centerline is valid? [True, True] Translation: X:1006.71, Y:91.34, Z:4.50 [[ 7.10760804e-01 -7.03377528e-01 -8.89564524e-03 1.00671117e+03] [ 7.03320362e-01 7.10816460e-01 -8.96816642e-03 9.13394605e+01] [ 1.26311778e-02 1.17732746e-04 9.99920217e-01 4.50023412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.079254154 meters 0.013857540348304784 Centerline is valid? [True, True] Translation: X:1006.75, Y:91.38, Z:4.50 [[ 7.12415872e-01 -7.01717194e-01 -7.52365472e-03 1.00675033e+03] [ 7.01676181e-01 7.12455587e-01 -7.58776197e-03 9.13837227e+01] [ 1.06847329e-02 1.26472754e-04 9.99942909e-01 4.50123862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.139254154 meters 0.015107856130851369 Centerline is valid? [True, True] Translation: X:1006.79, Y:91.43, Z:4.50 [[ 7.12710139e-01 -7.01429615e-01 -6.38372634e-03 1.00678812e+03] [ 7.01400053e-01 7.12738719e-01 -6.44080140e-03 9.14265284e+01] [ 9.06769779e-03 1.12878470e-04 9.99958881e-01 4.50058278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.199254154 meters 0.016148762756891127 Centerline is valid? [True, True] Translation: X:1006.83, Y:91.47, Z:4.50 [[ 7.13056226e-01 -7.01079699e-01 -6.17036080e-03 1.00682914e+03] [ 7.01052042e-01 7.13082914e-01 -6.22830940e-03 9.14690163e+01] [ 8.76652014e-03 1.15390761e-04 9.99961567e-01 4.50032059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.259254154 meters 0.01656608842733748 Centerline is valid? [True, True] Translation: X:1006.87, Y:91.51, Z:4.50 [[ 7.14667464e-01 -6.99438208e-01 -6.05058292e-03 1.00686914e+03] [ 6.99411529e-01 7.14693064e-01 -6.11048302e-03 9.15125103e+01] [ 8.59821494e-03 1.35115957e-04 9.99963026e-01 4.50033550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.319254154 meters 0.01746006267458251 Centerline is valid? [True, True] Translation: X:1006.91, Y:91.56, Z:4.50 [[ 7.16009082e-01 -6.98064705e-01 -6.05495323e-03 1.00690872e+03] [ 6.98037920e-01 7.16034667e-01 -6.11701755e-03 9.15554738e+01] [ 8.60563047e-03 1.53253172e-04 9.99962959e-01 4.50027936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.379254154 meters 0.01728045152799297 Centerline is valid? [True, True] Translation: X:1006.95, Y:91.60, Z:4.50 [[ 7.16951842e-01 -6.97093135e-01 -6.42008990e-03 1.00694931e+03] [ 6.97062962e-01 7.16980565e-01 -6.48814953e-03 9.15980897e+01] [ 9.12592417e-03 1.76483876e-04 9.99958342e-01 4.50014547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.439254154 meters 0.018707165408689965 Centerline is valid? [True, True] Translation: X:1006.99, Y:91.64, Z:4.50 [[ 7.17126157e-01 -6.96912127e-01 -6.60020327e-03 1.00699243e+03] [ 6.96880198e-01 7.17156505e-01 -6.67356823e-03 9.16377824e+01] [ 9.38426934e-03 1.86239373e-04 9.99955949e-01 4.49857707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.499254154 meters 0.015538386841849534 Centerline is valid? [True, True] Translation: X:1007.03, Y:91.68, Z:4.50 [[ 7.16800755e-01 -6.97243292e-01 -6.96197645e-03 1.00703458e+03] [ 6.97207743e-01 7.16834537e-01 -7.04336854e-03 9.16780021e+01] [ 9.90152663e-03 1.94747999e-04 9.99950960e-01 4.50021208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.559254154 meters 0.016603825167017635 Centerline is valid? [True, True] Translation: X:1007.08, Y:91.72, Z:4.50 [[ 7.14468179e-01 -6.99637194e-01 -6.55887642e-03 1.00707951e+03] [ 6.99605720e-01 7.14498267e-01 -6.63794511e-03 9.17153768e+01] [ 9.33045912e-03 1.53973090e-04 9.99956458e-01 4.50027040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.619254154 meters 0.01491263773948292 Centerline is valid? [True, True] Translation: X:1007.13, Y:91.75, Z:4.50 [[ 7.11267139e-01 -7.02899179e-01 -5.63926555e-03 1.00712706e+03] [ 7.02876001e-01 7.11289487e-01 -5.70903447e-03 9.17510092e+01] [ 8.02402594e-03 9.69441950e-05 9.99967802e-01 4.50234493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.6792541539999 meters 0.01818344639411396 Centerline is valid? [True, True] Translation: X:1007.17, Y:91.79, Z:4.50 [[ 7.08572334e-01 -7.05621558e-01 -4.84400861e-03 1.00717100e+03] [ 7.05604508e-01 7.08588889e-01 -4.90560466e-03 9.17883606e+01] [ 6.89391108e-03 5.80214279e-05 9.99976235e-01 4.50179604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.739254154 meters 0.015300258547865677 Centerline is valid? [True, True] Translation: X:1007.22, Y:91.82, Z:4.50 [[ 7.05648084e-01 -7.08543154e-01 -5.23257712e-03 1.00721897e+03] [ 7.08523326e-01 7.05667484e-01 -5.30082310e-03 9.18234225e+01] [ 7.44832145e-03 3.31127160e-05 9.99972260e-01 4.50272835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.799254154 meters 0.01476398039500215 Centerline is valid? [True, True] Translation: X:1007.26, Y:91.86, Z:4.50 [[ 7.02896500e-01 -7.11265111e-01 -6.20093046e-03 1.00726447e+03] [ 7.11237338e-01 7.02923852e-01 -6.28553046e-03 9.18607191e+01] [ 8.82946044e-03 7.74409173e-06 9.99961020e-01 4.50182258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.859254154 meters 0.013526172953390737 Centerline is valid? [True, True] Translation: X:1007.31, Y:91.90, Z:4.50 [[ 7.00741213e-01 -7.13384046e-01 -6.70487794e-03 1.00730988e+03] [ 7.13351633e-01 7.00773289e-01 -6.80039569e-03 9.18978233e+01] [ 9.54989316e-03 -1.76181072e-05 9.99954399e-01 4.50266619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.9192541539999 meters 0.013667388141779644 Centerline is valid? [True, True] Translation: X:1007.35, Y:91.94, Z:4.50 [[ 6.99532252e-01 -7.14567392e-01 -6.93329276e-03 1.00735384e+03] [ 7.14532750e-01 6.99566609e-01 -7.03623521e-03 9.19355397e+01] [ 9.87816435e-03 -3.19912767e-05 9.99951209e-01 4.50313154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.979254154 meters 0.01472419301964138 Centerline is valid? [True, True] Translation: X:1007.40, Y:91.97, Z:4.50 [[ 6.99600845e-01 -7.14500597e-01 -6.89589675e-03 1.00739578e+03] [ 7.14466296e-01 6.99634830e-01 -7.00113522e-03 9.19738671e+01] [ 9.82692485e-03 -2.88856903e-05 9.99951714e-01 4.50229212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.039254154 meters 0.013562562339393796 Centerline is valid? [True, True] Translation: X:1007.44, Y:92.01, Z:4.50 [[ 6.99760801e-01 -7.14347390e-01 -6.52889862e-03 1.00743952e+03] [ 7.14316611e-01 6.99791258e-01 -6.63129045e-03 9.20125328e+01] [ 9.30591121e-03 -2.33836159e-05 9.99956699e-01 4.50338899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.099254154 meters 0.015099763411607549 Centerline is valid? [True, True] Translation: X:1007.48, Y:92.05, Z:4.50 [[ 7.00220596e-01 -7.13892130e-01 -7.01020972e-03 1.00748382e+03] [ 7.13856581e-01 7.00255686e-01 -7.12433571e-03 9.20506737e+01] [ 9.99494642e-03 -1.56777464e-05 9.99950049e-01 4.50286381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.1592541539999 meters 0.016460448310905994 Centerline is valid? [True, True] Translation: X:1007.53, Y:92.09, Z:4.50 [[ 7.01308572e-01 -7.12809463e-01 -8.30400760e-03 1.00752661e+03] [ 7.12759448e-01 7.01357733e-01 -8.44392993e-03 9.20909012e+01] [ 1.18429931e-02 3.04056920e-06 9.99929869e-01 4.50196783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.219254154 meters 0.015876791846268237 Centerline is valid? [True, True] Translation: X:1007.57, Y:92.13, Z:4.50 [[ 7.04356119e-01 -7.09791092e-01 -8.89180269e-03 1.00756940e+03] [ 7.09733445e-01 7.04412239e-01 -9.04621234e-03 9.21316526e+01] [ 1.26844156e-02 6.09452587e-05 9.99919548e-01 4.50187991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.279254154 meters 0.013865796970154637 Centerline is valid? [True, True] Translation: X:1007.61, Y:92.17, Z:4.50 [[ 7.08338765e-01 -7.05823268e-01 -8.34912922e-03 1.00761186e+03] [ 7.05772138e-01 7.08387958e-01 -8.49655874e-03 9.21717795e+01] [ 1.19114915e-02 1.25859152e-04 9.99929048e-01 4.50481532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.339254154 meters 0.016171204448758407 Centerline is valid? [True, True] Translation: X:1007.65, Y:92.21, Z:4.50 [[ 7.11387834e-01 -7.02752579e-01 -8.13404544e-03 1.00765435e+03] [ 7.02703810e-01 7.11434314e-01 -8.28085521e-03 9.22124176e+01] [ 1.16062314e-02 1.75074930e-04 9.99932630e-01 4.50427101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.399254154 meters 0.01539169575818632 Centerline is valid? [True, True] Translation: X:1007.70, Y:92.25, Z:4.51 [[ 7.13670129e-01 -7.00428362e-01 -8.66350067e-03 1.00769662e+03] [ 7.00372810e-01 7.13722675e-01 -8.82444539e-03 9.22540348e+01] [ 1.23642287e-02 2.30062774e-04 9.99923534e-01 4.50551917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.459254154 meters 0.0162219254092205 Centerline is valid? [True, True] Translation: X:1007.74, Y:92.29, Z:4.51 [[ 7.16075508e-01 -6.97952818e-01 -9.88583682e-03 1.00774005e+03] [ 6.97880171e-01 7.16143676e-01 -1.00748218e-02 9.22938368e+01] [ 1.41114298e-02 3.15203614e-04 9.99900379e-01 4.50560279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.519254154 meters 0.0188855773674521 Centerline is valid? [True, True] Translation: X:1007.78, Y:92.33, Z:4.50 [[ 7.17168315e-01 -6.96819311e-01 -1.06044856e-02 1.00778307e+03] [ 6.96735508e-01 7.17246620e-01 -1.08128589e-02 9.23339084e+01] [ 1.51406403e-02 3.66118146e-04 9.99885307e-01 4.50420483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.579254154 meters 0.018297869388056175 Centerline is valid? [True, True] Translation: X:1007.82, Y:92.38, Z:4.50 [[ 7.17714450e-01 -6.96246081e-01 -1.12855184e-02 1.00782421e+03] [ 6.96151001e-01 7.17803057e-01 -1.15132384e-02 9.23756706e+01] [ 1.61168267e-02 4.06792654e-04 9.99870033e-01 4.50311160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.639254154 meters 0.017190806717962404 Centerline is valid? [True, True] Translation: X:1007.87, Y:92.42, Z:4.50 [[ 7.17275680e-01 -6.96680573e-01 -1.23198142e-02 1.00786515e+03] [ 6.96567213e-01 7.17381340e-01 -1.25749723e-02 9.24175877e+01] [ 1.75987437e-02 4.38143126e-04 9.99845034e-01 4.50308437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.699254154 meters 0.016395097699616883 Centerline is valid? [True, True] Translation: X:1007.91, Y:92.46, Z:4.50 [[ 7.16257271e-01 -6.97713431e-01 -1.30954159e-02 1.00790657e+03] [ 6.97585389e-01 7.16376836e-01 -1.33735961e-02 9.24599179e+01] [ 1.87121902e-02 4.43764705e-04 9.99824813e-01 4.50312502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.759254154 meters 0.015610270816398712 Centerline is valid? [True, True] Translation: X:1007.95, Y:92.50, Z:4.50 [[ 7.13281607e-01 -7.00758952e-01 -1.28934245e-02 1.00794922e+03] [ 7.00635208e-01 7.13398037e-01 -1.31736565e-02 9.25012839e+01] [ 1.84297015e-02 3.62939773e-04 9.99830093e-01 4.50459519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.819254154 meters 0.016214762177768974 Centerline is valid? [True, True] Translation: X:1007.99, Y:92.54, Z:4.50 [[ 7.09329095e-01 -7.04776608e-01 -1.19233941e-02 1.00799291e+03] [ 7.04671247e-01 7.09429259e-01 -1.21885292e-02 9.25411958e+01] [ 1.70489949e-02 2.43605435e-04 9.99854626e-01 4.50428124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.879254154 meters 0.014854115510662298 Centerline is valid? [True, True] Translation: X:1008.04, Y:92.58, Z:4.51 [[ 7.04398954e-01 -7.09716362e-01 -1.11713268e-02 1.00803833e+03] [ 7.09624432e-01 7.04487524e-01 -1.14234048e-02 9.25797755e+01] [ 1.59774376e-02 1.19187984e-04 9.99872345e-01 4.50601371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.939254154 meters 0.016074793140927395 Centerline is valid? [True, True] Translation: X:1008.08, Y:92.62, Z:4.51 [[ 7.00355346e-01 -7.13709904e-01 -1.09800861e-02 1.00808209e+03] [ 7.13621506e-01 7.00441412e-01 -1.12327696e-02 9.26199317e+01] [ 1.57078459e-02 3.13047065e-05 9.99876624e-01 4.50551657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.999254154 meters 0.01643664689423367 Centerline is valid? [True, True] Translation: X:1008.12, Y:92.66, Z:4.51 [[ 6.96950071e-01 -7.17039935e-01 -1.06925273e-02 1.00812426e+03] [ 7.16956404e-01 6.97032087e-01 -1.09446647e-02 9.26595797e+01] [ 1.53007962e-02 -3.81910907e-05 9.99882935e-01 4.50774168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.059254154 meters 0.014221888808844965 Centerline is valid? [True, True] Translation: X:1008.16, Y:92.70, Z:4.51 [[ 6.96867440e-01 -7.17124831e-01 -1.03801588e-02 1.00816344e+03] [ 7.17046027e-01 6.96944744e-01 -1.06310266e-02 9.27027676e+01] [ 1.48581703e-02 -3.46352981e-05 9.99889611e-01 4.50952545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.119254154 meters 0.015566134740544385 Centerline is valid? [True, True] Translation: X:1008.20, Y:92.75, Z:4.51 [[ 6.97696186e-01 -7.16292276e-01 -1.20585006e-02 1.00820237e+03] [ 7.16185738e-01 6.97800383e-01 -1.23536817e-02 9.27461736e+01] [ 1.72632731e-02 -1.70095927e-05 9.99850978e-01 4.50690426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.1792541539999 meters 0.01591228975139219 Centerline is valid? [True, True] Translation: X:1008.24, Y:92.79, Z:4.51 [[ 6.98309749e-01 -7.15689184e-01 -1.23485253e-02 1.00824164e+03] [ 7.15577256e-01 6.98418923e-01 -1.26569660e-02 9.27890324e+01] [ 1.76828974e-02 2.15894245e-06 9.99843645e-01 4.50791375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.239254154 meters 0.013695566696177986 Centerline is valid? [True, True] Translation: X:1008.28, Y:92.83, Z:4.51 [[ 6.99570057e-01 -7.14477891e-01 -1.10940843e-02 1.00827928e+03] [ 7.14387347e-01 6.99658018e-01 -1.13743376e-02 9.28327907e+01] [ 1.58887777e-02 3.16725656e-05 9.99873765e-01 4.51083310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.299254154 meters 0.01610952164788042 Centerline is valid? [True, True] Translation: X:1008.32, Y:92.88, Z:4.51 [[ 6.98698632e-01 -7.15323206e-01 -1.15296533e-02 1.00831871e+03] [ 7.15225436e-01 6.98793754e-01 -1.18264380e-02 9.28756004e+01] [ 1.65165752e-02 1.68147308e-05 9.99863592e-01 4.51072548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.359254154 meters 0.015763992622047137 Centerline is valid? [True, True] Translation: X:1008.36, Y:92.92, Z:4.51 [[ 6.97865176e-01 -7.16137118e-01 -1.14814744e-02 1.00835875e+03] [ 7.16040161e-01 6.97959618e-01 -1.17838548e-02 9.29180780e+01] [ 1.64524613e-02 2.34515261e-06 9.99864649e-01 4.51186062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.4192541539999 meters 0.01576247723720418 Centerline is valid? [True, True] Translation: X:1008.40, Y:92.96, Z:4.51 [[ 6.97620695e-01 -7.16376554e-01 -1.14016758e-02 1.00839890e+03] [ 7.16280861e-01 6.97713862e-01 -1.17087414e-02 9.29600394e+01] [ 1.63429751e-02 1.45813033e-06 9.99866445e-01 4.51227323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.479254154 meters 0.015288317987299167 Centerline is valid? [True, True] Translation: X:1008.44, Y:93.00, Z:4.51 [[ 6.97529511e-01 -7.16466564e-01 -1.13244549e-02 1.00843845e+03] [ 7.16372065e-01 6.97621432e-01 -1.16362309e-02 9.30029358e+01] [ 1.62371528e-02 4.09132283e-06 9.99868169e-01 4.51335466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.539254154 meters 0.01573262273538317 Centerline is valid? [True, True] Translation: X:1008.48, Y:93.05, Z:4.51 [[ 6.98176049e-01 -7.15831153e-01 -1.16604062e-02 1.00847617e+03] [ 7.15730793e-01 6.98273413e-01 -1.19863187e-02 9.30455898e+01] [ 1.67223320e-02 2.28488218e-05 9.99860172e-01 4.51328042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.599254154 meters 0.0161864485171443 Centerline is valid? [True, True] Translation: X:1008.51, Y:93.09, Z:4.51 [[ 6.99892950e-01 -7.14121913e-01 -1.34071948e-02 1.00851492e+03] [ 7.13988789e-01 7.00021348e-01 -1.37884344e-02 9.30901782e+01] [ 1.92319457e-02 7.78412164e-05 9.99815046e-01 4.51172746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.6592541539999 meters 0.01493897687028197 Centerline is valid? [True, True] Translation: X:1008.55, Y:93.14, Z:4.51 [[ 7.02813274e-01 -7.11227752e-01 -1.44425343e-02 1.00855327e+03] [ 7.11072499e-01 7.02961631e-01 -1.48609111e-02 9.31351098e+01] [ 2.07220399e-02 1.74756622e-04 9.99785260e-01 4.51247696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.719254154 meters 0.014566487411825894 Centerline is valid? [True, True] Translation: X:1008.59, Y:93.18, Z:4.51 [[ 7.04672700e-01 -7.09390834e-01 -1.41785021e-02 1.00859113e+03] [ 7.09240760e-01 7.04815290e-01 -1.45928810e-02 9.31790320e+01] [ 2.03452811e-02 2.27233240e-04 9.99792988e-01 4.51208163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.779254154 meters 0.01601792200237682 Centerline is valid? [True, True] Translation: X:1008.63, Y:93.22, Z:4.51 [[ 7.06215692e-01 -7.07860774e-01 -1.38751904e-02 1.00863153e+03] [ 7.07716631e-01 7.06351932e-01 -1.42870195e-02 9.32221845e+01] [ 1.99139883e-02 2.70014384e-04 9.99801660e-01 4.51438824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.839254154 meters 0.014992738131466456 Centerline is valid? [True, True] Translation: X:1008.67, Y:93.27, Z:4.52 [[ 7.07810693e-01 -7.06289347e-01 -1.26246249e-02 1.00866968e+03] [ 7.06169687e-01 7.07923212e-01 -1.30038228e-02 9.32652689e+01] [ 1.81217265e-02 2.89117448e-04 9.99835746e-01 4.51589729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.899254154 meters 0.015367648902390318 Centerline is valid? [True, True] Translation: X:1008.71, Y:93.31, Z:4.52 [[ 7.08741839e-01 -7.05349943e-01 -1.29020864e-02 1.00870946e+03] [ 7.05224695e-01 7.08859191e-01 -1.32957452e-02 9.33082726e+01] [ 1.85239156e-02 3.24380947e-04 9.99828365e-01 4.51560200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.959254154 meters 0.01620013714737146 Centerline is valid? [True, True] Translation: X:1008.75, Y:93.35, Z:4.52 [[ 7.09862822e-01 -7.04193768e-01 -1.43495769e-02 1.00875020e+03] [ 7.04038440e-01 7.10007730e-01 -1.47952049e-02 9.33512053e+01] [ 2.06070016e-02 3.99912179e-04 9.99787573e-01 4.51503156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.019254154 meters 0.016861372516830283 Centerline is valid? [True, True] Translation: X:1008.79, Y:93.39, Z:4.51 [[ 7.09685198e-01 -7.04363520e-01 -1.47970146e-02 1.00879017e+03] [ 7.04198282e-01 7.09839322e-01 -1.52616099e-02 9.33925903e+01] [ 2.12532241e-02 4.10906412e-04 9.99774040e-01 4.51431804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.079254154 meters 0.01650209745359173 Centerline is valid? [True, True] Translation: X:1008.83, Y:93.43, Z:4.52 [[ 7.07025517e-01 -7.07030377e-01 -1.49319685e-02 1.00883463e+03] [ 7.06862551e-01 7.07183096e-01 -1.54079061e-02 9.34317467e+01] [ 2.14534934e-02 3.38933467e-04 9.99769790e-01 4.51536347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.139254154 meters 0.014004328901632541 Centerline is valid? [True, True] Translation: X:1008.88, Y:93.47, Z:4.52 [[ 7.02807032e-01 -7.11252428e-01 -1.35003226e-02 1.00888082e+03] [ 7.11115882e-01 7.02936658e-01 -1.39376292e-02 9.34691879e+01] [ 1.94030443e-02 1.95170012e-04 9.99811724e-01 4.51822819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.199254154 meters 0.013610697726136507 Centerline is valid? [True, True] Translation: X:1008.93, Y:93.51, Z:4.52 [[ 6.97879382e-01 -7.16089969e-01 -1.33986660e-02 1.00892584e+03] [ 7.15956288e-01 6.98007989e-01 -1.38362242e-02 9.35059555e+01] [ 1.92603573e-02 6.31564109e-05 9.99814500e-01 4.51869670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.259254154 meters 0.01598669308617584 Centerline is valid? [True, True] Translation: X:1008.97, Y:93.54, Z:4.52 [[ 6.95081790e-01 -7.18778883e-01 -1.47723928e-02 1.00896884e+03] [ 7.18616905e-01 6.95238749e-01 -1.52586331e-02 9.35446034e+01] [ 2.12379231e-02 -9.69316983e-06 9.99774450e-01 4.51760305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.319254154 meters 0.013992218258022862 Centerline is valid? [True, True] Translation: X:1009.01, Y:93.58, Z:4.52 [[ 6.93197539e-01 -7.20591147e-01 -1.50190249e-02 1.00901229e+03] [ 7.20423986e-01 6.93360221e-01 -1.55204608e-02 9.35847292e+01] [ 2.15975011e-02 -6.13205420e-05 9.99766745e-01 4.51855399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.379254154 meters 0.01399135189092691 Centerline is valid? [True, True] Translation: X:1009.05, Y:93.63, Z:4.52 [[ 6.93181592e-01 -7.20599922e-01 -1.53307974e-02 1.00905279e+03] [ 7.20425553e-01 6.93351101e-01 -1.58515832e-02 9.36263637e+01] [ 2.20522749e-02 -5.66725133e-05 9.99756817e-01 4.51878559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.439254154 meters 0.016296592277230775 Centerline is valid? [True, True] Translation: X:1009.09, Y:93.67, Z:4.52 [[ 6.94950570e-01 -7.18868772e-01 -1.64740325e-02 1.00909280e+03] [ 7.18666724e-01 6.95145804e-01 -1.70426349e-02 9.36699614e+01] [ 2.37032726e-02 4.44987559e-06 9.99719038e-01 4.51893091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.499254154 meters 0.013903015833036514 Centerline is valid? [True, True] Translation: X:1009.13, Y:93.71, Z:4.52 [[ 6.97063696e-01 -7.16847419e-01 -1.52309203e-02 1.00913276e+03] [ 7.16674072e-01 6.97230071e-01 -1.57639345e-02 9.37139800e+01] [ 2.19197914e-02 7.28607287e-05 9.99759730e-01 4.51953396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.559254154 meters 0.014175892576665109 Centerline is valid? [True, True] Translation: X:1009.17, Y:93.76, Z:4.52 [[ 7.00367954e-01 -7.13619563e-01 -1.52265740e-02 1.00917208e+03] [ 7.13445376e-01 7.00533430e-01 -1.57673371e-02 9.37584678e+01] [ 2.19186043e-02 1.79608767e-04 9.99759742e-01 4.52042209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.619254154 meters 0.015776469881294143 Centerline is valid? [True, True] Translation: X:1009.21, Y:93.80, Z:4.52 [[ 7.01655654e-01 -7.12354088e-01 -1.51985810e-02 1.00921254e+03] [ 7.12180066e-01 7.01820207e-01 -1.57464614e-02 9.38016686e+01] [ 2.18837275e-02 2.24467230e-04 9.99760497e-01 4.52110198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.6792541539999 meters 0.016807447214039394 Centerline is valid? [True, True] Translation: X:1009.25, Y:93.84, Z:4.52 [[ 7.03398872e-01 -7.10656560e-01 -1.40456945e-02 1.00925223e+03] [ 7.10507434e-01 7.03539043e-01 -1.45602199e-02 9.38444124e+01] [ 2.02290102e-02 2.62071900e-04 9.99795338e-01 4.52270124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.739254154 meters 0.01721060494066582 Centerline is valid? [True, True] Translation: X:1009.29, Y:93.89, Z:4.52 [[ 7.05048818e-01 -7.09046320e-01 -1.26285529e-02 1.00929052e+03] [ 7.08925411e-01 7.05161852e-01 -1.30967515e-02 9.38866857e+01] [ 1.81913772e-02 2.81147091e-04 9.99834484e-01 4.52331723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.799254154 meters 0.01576436255922904 Centerline is valid? [True, True] Translation: X:1009.33, Y:93.93, Z:4.52 [[ 7.06643506e-01 -7.07482655e-01 -1.11017130e-02 1.00933027e+03] [ 7.07388940e-01 7.06730649e-01 -1.15185322e-02 9.39305213e+01] [ 1.59950826e-02 2.86266924e-04 9.99872030e-01 4.52280941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.859254154 meters 0.015609519206575547 Centerline is valid? [True, True] Translation: X:1009.37, Y:93.97, Z:4.52 [[ 7.07019835e-01 -7.07099350e-01 -1.15525960e-02 1.00937148e+03] [ 7.06997715e-01 7.07114144e-01 -1.19924526e-02 9.39726535e+01] [ 1.66488595e-02 3.11242891e-04 9.99861350e-01 4.52171366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.9192541539999 meters 0.015240617353342818 Centerline is valid? [True, True] Translation: X:1009.41, Y:94.01, Z:4.52 [[ 7.06506847e-01 -7.07612583e-01 -1.15111841e-02 1.00941243e+03] [ 7.07511630e-01 7.06600553e-01 -1.19562432e-02 9.40135891e+01] [ 1.65941972e-02 3.02871111e-04 9.99862261e-01 4.52164221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.979254154 meters 0.015120955786759394 Centerline is valid? [True, True] Translation: X:1009.45, Y:94.06, Z:4.52 [[ 7.05963984e-01 -7.08156894e-01 -1.13431907e-02 1.00945373e+03] [ 7.08058829e-01 7.06055047e-01 -1.17883125e-02 9.40556470e+01] [ 1.63568918e-02 2.90477758e-04 9.99866175e-01 4.52113061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.039254154 meters 0.01545246878122189 Centerline is valid? [True, True] Translation: X:1009.49, Y:94.10, Z:4.52 [[ 7.05034754e-01 -7.09061639e-01 -1.25534184e-02 1.00949473e+03] [ 7.08941536e-01 7.05146439e-01 -1.30537005e-02 9.40966390e+01] [ 1.81078765e-02 3.03672792e-04 9.99835993e-01 4.51970803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.099254154 meters 0.016466248128958926 Centerline is valid? [True, True] Translation: X:1009.54, Y:94.14, Z:4.52 [[ 7.03630745e-01 -7.10440024e-01 -1.33696313e-02 1.00953674e+03] [ 7.10303881e-01 7.03757691e-01 -1.39107294e-02 9.41363461e+01] [ 1.92917198e-02 2.91515867e-04 9.99813855e-01 4.51993356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.1592541539999 meters 0.0168113320112266 Centerline is valid? [True, True] Translation: X:1009.58, Y:94.18, Z:4.52 [[ 7.02868988e-01 -7.11194073e-01 -1.33482400e-02 1.00957734e+03] [ 7.11058429e-01 7.02995672e-01 -1.38922746e-02 9.41770977e+01] [ 1.92638583e-02 2.73070456e-04 9.99814397e-01 4.52020881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.219254154 meters 0.014487757242513926 Centerline is valid? [True, True] Translation: X:1009.62, Y:94.22, Z:4.52 [[ 7.01560704e-01 -7.12523872e-01 -1.10594213e-02 1.00961956e+03] [ 7.12430850e-01 7.01647841e-01 -1.15148088e-02 9.42181677e+01] [ 1.59643952e-02 1.99264503e-04 9.99872541e-01 4.52231756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.279254154 meters 0.015424147632092725 Centerline is valid? [True, True] Translation: X:1009.66, Y:94.26, Z:4.52 [[ 6.99253479e-01 -7.14786728e-01 -1.11581835e-02 1.00966279e+03] [ 7.14692230e-01 6.99342484e-01 -1.16235498e-02 9.42586577e+01] [ 1.61117509e-02 1.53140557e-04 9.99870186e-01 4.52341312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.339254154 meters 0.01672056954587727 Centerline is valid? [True, True] Translation: X:1009.70, Y:94.30, Z:4.52 [[ 6.98584829e-01 -7.15436209e-01 -1.14134478e-02 1.00970075e+03] [ 7.15337352e-01 6.98678044e-01 -1.18938673e-02 9.43008450e+01] [ 1.64836287e-02 1.44409738e-04 9.99864125e-01 4.52037613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.399254154 meters 0.013788526350040756 Centerline is valid? [True, True] Translation: X:1009.74, Y:94.34, Z:4.52 [[ 6.97097259e-01 -7.16882136e-01 -1.16367755e-02 1.00974344e+03] [ 7.16779468e-01 6.97194370e-01 -1.21327921e-02 9.43407307e+01] [ 1.68108762e-02 1.16734347e-04 9.99858680e-01 4.52393911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.459254154 meters 0.013793594109161589 Centerline is valid? [True, True] Translation: X:1009.78, Y:94.38, Z:4.52 [[ 6.96627808e-01 -7.17332191e-01 -1.20094133e-02 1.00978365e+03] [ 7.17222783e-01 6.96731308e-01 -1.25285210e-02 9.43831429e+01] [ 1.73544456e-02 1.14291315e-04 9.99849394e-01 4.52382016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.519254154 meters 0.013909149516745729 Centerline is valid? [True, True] Translation: X:1009.82, Y:94.42, Z:4.52 [[ 6.95445937e-01 -7.18474401e-01 -1.22263502e-02 1.00982424e+03] [ 7.18361054e-01 6.95553396e-01 -1.27620514e-02 9.44247019e+01] [ 1.76732866e-02 9.23829231e-05 9.99843811e-01 4.52421247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.579254154 meters 0.013866335723368765 Centerline is valid? [True, True] Translation: X:1009.86, Y:94.47, Z:4.52 [[ 6.93766091e-01 -7.20084294e-01 -1.29313817e-02 1.00986445e+03] [ 7.19957633e-01 6.93886594e-01 -1.35056005e-02 9.44663068e+01] [ 1.86980833e-02 5.96807149e-05 9.99825174e-01 4.52413819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.639254154 meters 0.013955471685446905 Centerline is valid? [True, True] Translation: X:1009.90, Y:94.51, Z:4.52 [[ 6.93129144e-01 -7.20693758e-01 -1.31337839e-02 1.00990450e+03] [ 7.20563066e-01 6.93253564e-01 -1.37245597e-02 9.45089377e+01] [ 1.89962470e-02 4.91726604e-05 9.99819554e-01 4.52334884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.699254154 meters 0.01565077424262638 Centerline is valid? [True, True] Translation: X:1009.95, Y:94.55, Z:4.52 [[ 6.91707625e-01 -7.22026830e-01 -1.47586833e-02 1.00994566e+03] [ 7.21861924e-01 6.91865056e-01 -1.54306737e-02 9.45512315e+01] [ 2.13523776e-02 1.97831283e-05 9.99772012e-01 4.52481313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.759254154 meters 0.017003290941726885 Centerline is valid? [True, True] Translation: X:1009.99, Y:94.59, Z:4.53 [[ 6.89309240e-01 -7.24314311e-01 -1.48845615e-02 1.00998631e+03] [ 7.24146921e-01 6.89469924e-01 -1.55711473e-02 9.45925013e+01] [ 2.15408623e-02 -4.52736704e-05 9.99767968e-01 4.52709280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.819254154 meters 0.015525750491042595 Centerline is valid? [True, True] Translation: X:1010.03, Y:94.63, Z:4.53 [[ 6.85805288e-01 -7.27658122e-01 -1.35928231e-02 1.01002736e+03] [ 7.27519019e-01 6.85939969e-01 -1.42279796e-02 9.46333656e+01] [ 1.96769655e-02 -1.31413637e-04 9.99806381e-01 4.52926945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.879254154 meters 0.017225516499089873 Centerline is valid? [True, True] Translation: X:1010.07, Y:94.68, Z:4.53 [[ 6.83022149e-01 -7.30264330e-01 -1.39553791e-02 1.01006857e+03] [ 7.30118093e-01 6.83164669e-01 -1.46152189e-02 9.46750924e+01] [ 2.02067950e-02 -2.06556601e-04 9.99795801e-01 4.53026234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.939254154 meters 0.01686031992982366 Centerline is valid? [True, True] Translation: X:1010.11, Y:94.72, Z:4.53 [[ 6.79509647e-01 -7.33531628e-01 -1.40708739e-02 1.01010981e+03] [ 7.33383582e-01 6.79655249e-01 -1.47398806e-02 9.47155700e+01] [ 2.03755120e-02 -3.03456870e-04 9.99792352e-01 4.52964642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.999254154 meters 0.018205536234848125 Centerline is valid? [True, True] Translation: X:1010.15, Y:94.76, Z:4.53 [[ 6.77305340e-01 -7.35545474e-01 -1.51766856e-02 1.01015032e+03] [ 7.35373593e-01 6.77475243e-01 -1.59051607e-02 9.47586563e+01] [ 2.19807978e-02 -3.87883498e-04 9.99758318e-01 4.52942924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.059254154 meters 0.015528664731856125 Centerline is valid? [True, True] Translation: X:1010.19, Y:94.80, Z:4.53 [[ 6.77969302e-01 -7.34938821e-01 -1.49183123e-02 1.01018771e+03] [ 7.34772424e-01 6.78133322e-01 -1.56423037e-02 9.48042116e+01] [ 2.16127409e-02 -3.56562815e-04 9.99766354e-01 4.53078483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.119254154 meters 0.016033335921399095 Centerline is valid? [True, True] Translation: X:1010.22, Y:94.85, Z:4.53 [[ 6.80609214e-01 -7.32469960e-01 -1.60890169e-02 1.01022471e+03] [ 7.32275523e-01 6.80799289e-01 -1.68785795e-02 9.48502830e+01] [ 2.33164437e-02 -2.93876530e-04 9.99728092e-01 4.53143934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.1792541539999 meters 0.01618190028970975 Centerline is valid? [True, True] Translation: X:1010.26, Y:94.90, Z:4.53 [[ 6.83407548e-01 -7.29841951e-01 -1.68774868e-02 1.01026153e+03] [ 7.29627034e-01 6.83615888e-01 -1.77118011e-02 9.48950870e+01] [ 2.44645336e-02 -2.09892029e-04 9.99700676e-01 4.53049635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.239254154 meters 0.0142895036458679 Centerline is valid? [True, True] Translation: X:1010.30, Y:94.94, Z:4.53 [[ 6.88579246e-01 -7.24980972e-01 -1.61620381e-02 1.01029623e+03] [ 7.24782357e-01 6.88768894e-01 -1.69689651e-02 9.49438856e+01] [ 2.34340859e-02 -2.94828362e-05 9.99725384e-01 4.53099430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.299254154 meters 0.014154178257171546 Centerline is valid? [True, True] Translation: X:1010.33, Y:94.99, Z:4.53 [[ 6.93001405e-01 -7.20775128e-01 -1.52403290e-02 1.01033257e+03] [ 7.20597312e-01 6.93168957e-01 -1.60097510e-02 9.49908119e+01] [ 2.21035533e-02 1.12639846e-04 9.99755680e-01 4.53252973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.359254154 meters 0.014193407627372404 Centerline is valid? [True, True] Translation: X:1010.37, Y:95.04, Z:4.53 [[ 6.96898551e-01 -7.17046813e-01 -1.32769070e-02 1.01036841e+03] [ 7.16911036e-01 6.97024981e-01 -1.39550211e-02 9.50372958e+01] [ 1.92607393e-02 2.06872838e-04 9.99814473e-01 4.53353402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.4192541539999 meters 0.017238844221237927 Centerline is valid? [True, True] Translation: X:1010.40, Y:95.08, Z:4.53 [[ 7.01183731e-01 -7.12854203e-01 -1.34261146e-02 1.01040458e+03] [ 7.12714438e-01 7.01312181e-01 -1.41193031e-02 9.50841856e+01] [ 1.94809023e-02 3.31239954e-04 9.99810174e-01 4.53428849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.479254154 meters 0.01636960671235412 Centerline is valid? [True, True] Translation: X:1010.44, Y:95.13, Z:4.53 [[ 7.04289131e-01 -7.09806157e-01 -1.23304160e-02 1.01044055e+03] [ 7.09687748e-01 7.04396956e-01 -1.29702808e-02 9.51295880e+01] [ 1.78918927e-02 3.84082660e-04 9.99839854e-01 4.53236088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.539254154 meters 0.017207979971385255 Centerline is valid? [True, True] Translation: X:1010.48, Y:95.17, Z:4.53 [[ 7.07133837e-01 -7.06967613e-01 -1.25908863e-02 1.01047877e+03] [ 7.06843624e-01 7.07245767e-01 -1.32482510e-02 9.51741560e+01] [ 1.82709354e-02 4.68498856e-04 9.99832963e-01 4.53188624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.599254154 meters 0.020036922072450374 Centerline is valid? [True, True] Translation: X:1010.52, Y:95.22, Z:4.53 [[ 7.07523209e-01 -7.06545769e-01 -1.42823786e-02 1.01051756e+03] [ 7.06386036e-01 7.07667137e-01 -1.50329947e-02 9.52164113e+01] [ 2.07286688e-02 5.47319823e-04 9.99784988e-01 4.53068009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.6592541539999 meters 0.019510837642485995 Centerline is valid? [True, True] Translation: X:1010.56, Y:95.26, Z:4.53 [[ 7.05611818e-01 -7.08444098e-01 -1.47960303e-02 1.01056126e+03] [ 7.08272924e-01 7.05766743e-01 -1.55810694e-02 9.52562672e+01] [ 2.14808628e-02 5.14559071e-04 9.99769127e-01 4.53192217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.719254154 meters 0.01810970177847217 Centerline is valid? [True, True] Translation: X:1010.60, Y:95.30, Z:4.53 [[ 7.02329591e-01 -7.11715816e-01 -1.39191432e-02 1.01060393e+03] [ 7.11564822e-01 7.02467395e-01 -1.46650212e-02 9.52964955e+01] [ 2.02150718e-02 3.95305723e-04 9.99795576e-01 4.53187768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.779254154 meters 0.016591181273026265 Centerline is valid? [True, True] Translation: X:1010.65, Y:95.34, Z:4.53 [[ 6.99253623e-01 -7.14747964e-01 -1.34059049e-02 1.01064816e+03] [ 7.14608370e-01 6.99382054e-01 -1.41286720e-02 9.53361420e+01] [ 1.94742888e-02 2.99553296e-04 9.99810313e-01 4.53293543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.839254154 meters 0.01593400907240085 Centerline is valid? [True, True] Translation: X:1010.69, Y:95.37, Z:4.53 [[ 6.93775395e-01 -7.20069952e-01 -1.32274509e-02 1.01069293e+03] [ 7.19934889e-01 6.93901463e-01 -1.39468793e-02 9.53749856e+01] [ 1.92212762e-02 1.53098329e-04 9.99815242e-01 4.53170048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.899254154 meters 0.01683038981345132 Centerline is valid? [True, True] Translation: X:1010.74, Y:95.41, Z:4.53 [[ 6.87148845e-01 -7.26389518e-01 -1.35916249e-02 1.01073874e+03] [ 7.26248040e-01 6.87283251e-01 -1.43358404e-02 9.54113713e+01] [ 1.97547003e-02 -2.00347382e-05 9.99804857e-01 4.53144984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.959254154 meters 0.017023470412680927 Centerline is valid? [True, True] Translation: X:1010.78, Y:95.45, Z:4.53 [[ 6.80453457e-01 -7.32682530e-01 -1.26254984e-02 1.01078471e+03] [ 7.32561416e-01 6.80570552e-01 -1.33227655e-02 9.54491395e+01] [ 1.83539000e-02 -1.83431192e-04 9.99831536e-01 4.53235744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.019254154 meters 0.016498357147465267 Centerline is valid? [True, True] Translation: X:1010.83, Y:95.49, Z:4.53 [[ 6.73241580e-01 -7.39337734e-01 -1.12022500e-02 1.01083009e+03] [ 7.39243215e-01 6.73334696e-01 -1.18260545e-02 9.54863464e+01] [ 1.62863119e-02 -3.19395682e-04 9.99867318e-01 4.53225549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.079254154 meters 0.018566213822854782 Centerline is valid? [True, True] Translation: X:1010.87, Y:95.53, Z:4.53 [[ 6.66844707e-01 -7.45115597e-01 -1.09946800e-02 1.01087414e+03] [ 7.45025236e-01 6.66935189e-01 -1.16125556e-02 9.55251310e+01] [ 1.59854353e-02 -4.47542848e-04 9.99872125e-01 4.53313673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.139254154 meters 0.021906143928700827 Centerline is valid? [True, True] Translation: X:1010.92, Y:95.56, Z:4.54 [[ 6.56314836e-01 -7.54414776e-01 -1.04490080e-02 1.01091850e+03] [ 7.54334262e-01 6.56397700e-01 -1.10399400e-02 9.55635206e+01] [ 1.51873986e-02 -6.36368318e-04 9.99884462e-01 4.53559781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.199254154 meters 0.024667594408787283 Centerline is valid? [True, True] Translation: X:1010.96, Y:95.60, Z:4.54 [[ 6.50147310e-01 -7.59747833e-01 -9.57629409e-03 1.01096209e+03] [ 7.59680718e-01 6.50217462e-01 -1.01222123e-02 9.56029177e+01] [ 1.39170025e-02 -6.93996892e-04 9.99902913e-01 4.53648372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.259254154 meters 0.026137422978263575 Centerline is valid? [True, True] Translation: X:1011.00, Y:95.64, Z:4.54 [[ 6.46816336e-01 -7.62596415e-01 -8.67955987e-03 1.01100467e+03] [ 7.62541477e-01 6.46874210e-01 -9.17892754e-03 9.56428436e+01] [ 1.26144007e-02 -6.81444121e-04 9.99920203e-01 4.53638224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.319254154 meters 0.030764772267142214 Centerline is valid? [True, True] Translation: X:1011.05, Y:95.68, Z:4.54 [[ 6.45983022e-01 -7.63296860e-01 -9.15639730e-03 1.01104518e+03] [ 7.63235735e-01 6.46047498e-01 -9.68726633e-03 9.56842469e+01] [ 1.33097275e-02 -7.30680045e-04 9.99911155e-01 4.53600681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.379254154 meters 0.027098060694146782 Centerline is valid? [True, True] Translation: X:1011.08, Y:95.73, Z:4.54 [[ 6.51862162e-01 -7.58276010e-01 -9.65474039e-03 1.01107697e+03] [ 7.58207455e-01 6.51933322e-01 -1.02175303e-02 9.57344974e+01] [ 1.40419551e-02 -6.59874752e-04 9.99901189e-01 4.53506304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.439254154 meters 0.021334196457462384 Centerline is valid? [True, True] Translation: X:1011.11, Y:95.79, Z:4.53 [[ 6.61218977e-01 -7.50126149e-01 -1.00112549e-02 1.01110559e+03] [ 7.50051425e-01 6.61294571e-01 -1.05994864e-02 9.57887949e+01] [ 1.45713404e-02 -5.00374424e-04 9.99893707e-01 4.53491295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.499254154 meters 0.01634810713102636 Centerline is valid? [True, True] Translation: X:1011.13, Y:95.84, Z:4.54 [[ 6.72699447e-01 -7.39857898e-01 -9.25989832e-03 1.01113378e+03] [ 7.39792916e-01 6.72763129e-01 -9.80884601e-03 9.58429967e+01] [ 1.34868704e-02 -2.52001895e-04 9.99909016e-01 4.53556735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.559254154 meters 0.01580126202360326 Centerline is valid? [True, True] Translation: X:1011.17, Y:95.89, Z:4.54 [[ 6.80050378e-01 -7.33116763e-01 -8.44367998e-03 1.01116627e+03] [ 7.33062150e-01 6.80102787e-01 -8.94885786e-03 9.58916716e+01] [ 1.23031280e-02 -1.04068034e-04 9.99924308e-01 4.53605884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.619254154 meters 0.01343064210448902 Centerline is valid? [True, True] Translation: X:1011.19, Y:95.95, Z:4.54 [[ 6.90756286e-01 -7.23055381e-01 -6.83145875e-03 1.01119492e+03] [ 7.23019099e-01 6.90790064e-01 -7.24365339e-03 9.59457139e+01] [ 9.95666638e-03 6.43239651e-05 9.99950429e-01 4.53757918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.6792541539999 meters 0.01857193813233551 Centerline is valid? [True, True] Translation: X:1011.23, Y:96.00, Z:4.54 [[ 6.97348240e-01 -7.16705540e-01 -6.21301626e-03 1.01122560e+03] [ 7.16675253e-01 6.97375902e-01 -6.59040913e-03 9.59961850e+01] [ 9.05619055e-03 1.43095205e-04 9.99958982e-01 4.53755143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.739254154 meters 0.019449447358749202 Centerline is valid? [True, True] Translation: X:1011.26, Y:96.04, Z:4.54 [[ 7.01708468e-01 -7.12439318e-01 -5.95347318e-03 1.01126043e+03] [ 7.12411342e-01 7.01733697e-01 -6.31650673e-03 9.60438175e+01] [ 8.67788049e-03 1.91024438e-04 9.99962328e-01 4.53716945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.799254154 meters 0.019245925357599003 Centerline is valid? [True, True] Translation: X:1011.30, Y:96.09, Z:4.54 [[ 7.02549152e-01 -7.11601048e-01 -6.97400658e-03 1.01129740e+03] [ 7.11562604e-01 7.02583726e-01 -7.40060194e-03 9.60888093e+01] [ 1.01660996e-02 2.36844340e-04 9.99948296e-01 4.53586285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.859254154 meters 0.01865325257992884 Centerline is valid? [True, True] Translation: X:1011.33, Y:96.13, Z:4.53 [[ 7.02008829e-01 -7.12120324e-01 -8.26125870e-03 1.01133464e+03] [ 7.12066378e-01 7.02057383e-01 -8.76945167e-03 9.61327864e+01] [ 1.20447824e-02 2.73667938e-04 9.99927422e-01 4.53390727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.9192541539999 meters 0.018365887705829767 Centerline is valid? [True, True] Translation: X:1011.38, Y:96.17, Z:4.53 [[ 6.99552079e-01 -7.14521666e-01 -9.25622138e-03 1.01137622e+03] [ 7.14454089e-01 6.99613264e-01 -9.83035295e-03 9.61743354e+01] [ 1.34997754e-02 2.63698626e-04 9.99908839e-01 4.53255450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.979254154 meters 0.014322898022672795 Centerline is valid? [True, True] Translation: X:1011.42, Y:96.21, Z:4.53 [[ 6.95782302e-01 -7.18184028e-01 -9.93430456e-03 1.01141999e+03] [ 7.18106478e-01 6.95853187e-01 -1.05559561e-02 9.62136357e+01] [ 1.44939365e-02 2.10758956e-04 9.99894935e-01 4.53340203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.039254154 meters 0.01632907314806464 Centerline is valid? [True, True] Translation: X:1011.47, Y:96.25, Z:4.53 [[ 6.89783522e-01 -7.23955353e-01 -9.34563067e-03 1.01146622e+03] [ 7.23887184e-01 6.89846823e-01 -9.93504791e-03 9.62509931e+01] [ 1.36395847e-02 8.78500644e-05 9.99906973e-01 4.53409483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.099254154 meters 0.015185845478671686 Centerline is valid? [True, True] Translation: X:1011.51, Y:96.29, Z:4.54 [[ 6.86157735e-01 -7.27400334e-01 -8.73593590e-03 1.01150900e+03] [ 7.27341017e-01 6.86213344e-01 -9.28937836e-03 9.62897478e+01] [ 1.27518127e-02 1.99743068e-05 9.99918692e-01 4.53564927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.1592541539999 meters 0.016452814152375983 Centerline is valid? [True, True] Translation: X:1011.55, Y:96.33, Z:4.54 [[ 6.81897244e-01 -7.31418601e-01 -6.55580672e-03 1.01155315e+03] [ 7.31385358e-01 6.81928756e-01 -6.97347887e-03 9.63287607e+01] [ 9.57112528e-03 -3.96250255e-05 9.99954195e-01 4.53828769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.219254154 meters 0.01573381087983806 Centerline is valid? [True, True] Translation: X:1011.60, Y:96.37, Z:4.54 [[ 6.79635434e-01 -7.33525353e-01 -6.01941656e-03 1.01159593e+03] [ 7.33497382e-01 6.79662088e-01 -6.40600293e-03 9.63695758e+01] [ 8.79013479e-03 -6.14797006e-05 9.99961364e-01 4.53929855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.279254154 meters 0.016753994131015325 Centerline is valid? [True, True] Translation: X:1011.64, Y:96.41, Z:4.54 [[ 6.77981047e-01 -7.35057719e-01 -5.64349619e-03 1.01163784e+03] [ 7.35033168e-01 6.78004531e-01 -6.00813715e-03 9.64094489e+01] [ 8.24264358e-03 -7.47537731e-05 9.99966026e-01 4.53904955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.339254154 meters 0.015376894708795922 Centerline is valid? [True, True] Translation: X:1011.68, Y:96.45, Z:4.54 [[ 6.76859008e-01 -7.36091916e-01 -5.52945358e-03 1.01167991e+03] [ 7.36068365e-01 6.76881588e-01 -5.88879966e-03 9.64506537e+01] [ 8.07748315e-03 -8.41687537e-05 9.99967373e-01 4.54009245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.399254154 meters 0.016431882370447647 Centerline is valid? [True, True] Translation: X:1011.72, Y:96.49, Z:4.54 [[ 6.76088043e-01 -7.36797809e-01 -5.82636082e-03 1.01172043e+03] [ 7.36771660e-01 6.76113141e-01 -6.20816357e-03 9.64934561e+01] [ 8.51344043e-03 -9.54323758e-05 9.99963755e-01 4.53917828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.459254154 meters 0.015138082036621441 Centerline is valid? [True, True] Translation: X:1011.76, Y:96.54, Z:4.54 [[ 6.77002778e-01 -7.35954411e-01 -6.19232018e-03 1.01176057e+03] [ 7.35924807e-01 6.77031091e-01 -6.60159907e-03 9.65361591e+01] [ 9.05086924e-03 -8.77811256e-05 9.99959036e-01 4.53888498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.519254154 meters 0.015960424731805523 Centerline is valid? [True, True] Translation: X:1011.80, Y:96.58, Z:4.54 [[ 6.78634924e-01 -7.34456572e-01 -5.30885890e-03 1.01179958e+03] [ 7.34434752e-01 6.78655687e-01 -5.66161325e-03 9.65793530e+01] [ 7.76109634e-03 -5.68419858e-05 9.99969881e-01 4.53856621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.579254154 meters 0.01525663514398242 Centerline is valid? [True, True] Translation: X:1011.84, Y:96.62, Z:4.54 [[ 6.80167783e-01 -7.33039413e-01 -5.00054176e-03 1.01183938e+03] [ 7.33020004e-01 6.80186164e-01 -5.33438098e-03 9.66234243e+01] [ 7.31161083e-03 -3.72230545e-05 9.99973269e-01 4.53962627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.639254154 meters 0.01385636521987176 Centerline is valid? [True, True] Translation: X:1011.88, Y:96.67, Z:4.54 [[ 6.82807037e-01 -7.30582290e-01 -4.90598718e-03 1.01187689e+03] [ 7.30563530e-01 6.82824661e-01 -5.23554440e-03 9.66669448e+01] [ 7.17492505e-03 -9.26875359e-06 9.99974260e-01 4.53980767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.699254154 meters 0.01687096536728268 Centerline is valid? [True, True] Translation: X:1011.91, Y:96.71, Z:4.54 [[ 6.84478579e-01 -7.29015472e-01 -5.05138436e-03 1.01191452e+03] [ 7.28995525e-01 6.84497218e-01 -5.39279184e-03 9.67106550e+01] [ 7.38908723e-03 8.81389774e-06 9.99972700e-01 4.53764907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.759254154 meters 0.013196937272637065 Centerline is valid? [True, True] Translation: X:1011.95, Y:96.76, Z:4.54 [[ 6.88752417e-01 -7.24977650e-01 -5.24540835e-03 1.01195296e+03] [ 7.24956000e-01 6.88772389e-01 -5.60307967e-03 9.67554423e+01] [ 7.67499997e-03 5.64444075e-05 9.99970545e-01 4.53990870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.819254154 meters 0.018171478977967503 Centerline is valid? [True, True] Translation: X:1011.99, Y:96.80, Z:4.54 [[ 6.92436577e-01 -7.21462062e-01 -4.90718449e-03 1.01199086e+03] [ 7.21443006e-01 6.92453958e-01 -5.24442015e-03 9.68011803e+01] [ 7.18164950e-03 9.11744030e-05 9.99974207e-01 4.53680750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.879254154 meters 0.016992708822553982 Centerline is valid? [True, True] Translation: X:1012.03, Y:96.84, Z:4.54 [[ 6.96633753e-01 -7.17407854e-01 -5.23310752e-03 1.01202833e+03] [ 7.17386048e-01 6.96653393e-01 -5.59529151e-03 9.68449667e+01] [ 7.65976819e-03 1.43710597e-04 9.99970653e-01 4.53724971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.939254154 meters 0.015525495589491638 Centerline is valid? [True, True] Translation: X:1012.07, Y:96.89, Z:4.54 [[ 6.99516687e-01 -7.14591821e-01 -5.91052880e-03 1.01206869e+03] [ 7.14563888e-01 6.99541629e-01 -6.32132202e-03 9.68872703e+01] [ 8.65182595e-03 1.98419792e-04 9.99962553e-01 4.53826535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.999254154 meters 0.01767225093005752 Centerline is valid? [True, True] Translation: X:1012.11, Y:96.93, Z:4.54 [[ 7.00251463e-01 -7.13872007e-01 -5.88614637e-03 1.01210704e+03] [ 7.13844269e-01 7.00276170e-01 -6.29639764e-03 9.69304963e+01] [ 8.61675006e-03 2.07269802e-04 9.99962854e-01 4.53670197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.059254154 meters 0.016817599644589808 Centerline is valid? [True, True] Translation: X:1012.15, Y:96.97, Z:4.54 [[ 7.01302484e-01 -7.12835255e-01 -6.38159313e-03 1.01214893e+03] [ 7.12802596e-01 7.01331478e-01 -6.82768934e-03 9.69713023e+01] [ 9.34262982e-03 2.39459340e-04 9.99956328e-01 4.53781503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.119254154 meters 0.019905963232956403 Centerline is valid? [True, True] Translation: X:1012.19, Y:97.01, Z:4.53 [[ 7.00141721e-01 -7.13970733e-01 -6.88206191e-03 1.01219108e+03] [ 7.13932777e-01 7.00175501e-01 -7.36593117e-03 9.70130206e+01] [ 1.00777104e-02 2.43866150e-04 9.99949189e-01 4.53488357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.1792541539999 meters 0.018484460610666286 Centerline is valid? [True, True] Translation: X:1012.24, Y:97.05, Z:4.53 [[ 6.98282271e-01 -7.15777628e-01 -8.01601035e-03 1.01223580e+03] [ 7.15726196e-01 6.98328233e-01 -8.58435335e-03 9.70515983e+01] [ 1.17422944e-02 2.57033153e-04 9.99931024e-01 4.53469590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.239254154 meters 0.018579447862594373 Centerline is valid? [True, True] Translation: X:1012.28, Y:97.09, Z:4.53 [[ 6.96488237e-01 -7.17524081e-01 -7.95796120e-03 1.01227838e+03] [ 7.17473474e-01 6.96533662e-01 -8.52483496e-03 9.70909434e+01] [ 1.16597622e-02 2.27821213e-04 9.99931997e-01 4.53459896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.299254154 meters 0.01540347843057472 Centerline is valid? [True, True] Translation: X:1012.33, Y:97.13, Z:4.54 [[ 6.93368916e-01 -7.20544344e-01 -7.44275541e-03 1.01232527e+03] [ 7.20500220e-01 6.93408840e-01 -7.97581432e-03 9.71284833e+01] [ 1.09078003e-02 1.67674820e-04 9.99940494e-01 4.53847902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.359254154 meters 0.017100593053127167 Centerline is valid? [True, True] Translation: X:1012.37, Y:97.17, Z:4.54 [[ 6.88494997e-01 -7.25216272e-01 -5.99973037e-03 1.01237109e+03] [ 7.25187750e-01 6.88521134e-01 -6.43237338e-03 9.71653829e+01] [ 8.79580301e-03 7.77259309e-05 9.99961313e-01 4.53788345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.4192541539999 meters 0.016538904441049596 Centerline is valid? [True, True] Translation: X:1012.42, Y:97.20, Z:4.54 [[ 6.83671489e-01 -7.29764250e-01 -6.11844213e-03 1.01241821e+03] [ 7.29734738e-01 6.83698866e-01 -6.56302694e-03 9.72015400e+01] [ 8.97263438e-03 2.21146334e-05 9.99959745e-01 4.53848690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.479254154 meters 0.015416337517872072 Centerline is valid? [True, True] Translation: X:1012.46, Y:97.24, Z:4.54 [[ 6.81384776e-01 -7.31901142e-01 -5.95869768e-03 1.01246185e+03] [ 7.31873202e-01 6.81410830e-01 -6.39509432e-03 9.72406453e+01] [ 8.74089797e-03 -3.49124066e-06 9.99961798e-01 4.53964502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.539254154 meters 0.014213659292758911 Centerline is valid? [True, True] Translation: X:1012.51, Y:97.28, Z:4.54 [[ 6.79691172e-01 -7.33475661e-01 -5.77624501e-03 1.01250555e+03] [ 7.33449434e-01 6.79715715e-01 -6.20279874e-03 9.72787761e+01] [ 8.47580642e-03 -2.05960869e-05 9.99964079e-01 4.54107336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.599254154 meters 0.016685622271631013 Centerline is valid? [True, True] Translation: X:1012.55, Y:97.32, Z:4.54 [[ 6.79325336e-01 -7.33814750e-01 -5.74458336e-03 1.01254787e+03] [ 7.33788791e-01 6.79349624e-01 -6.17236780e-03 9.73188943e+01] [ 8.43195508e-03 -2.22650490e-05 9.99964450e-01 4.53888260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.6592541539999 meters 0.014088429598732237 Centerline is valid? [True, True] Translation: X:1012.59, Y:97.36, Z:4.54 [[ 6.81307264e-01 -7.31968217e-01 -6.55289062e-03 1.01258828e+03] [ 7.31934311e-01 6.81338777e-01 -7.04525600e-03 9.73606575e+01] [ 9.62164196e-03 3.69861025e-06 9.99953711e-01 4.54058695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.719254154 meters 0.015324778922615332 Centerline is valid? [True, True] Translation: X:1012.63, Y:97.40, Z:4.54 [[ 6.82981964e-01 -7.30399773e-01 -7.19780999e-03 1.01262873e+03] [ 7.30358731e-01 6.83019890e-01 -7.74298889e-03 9.74036411e+01] [ 1.05717247e-02 3.13383889e-05 9.99944117e-01 4.53807747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.779254154 meters 0.014956016763171326 Centerline is valid? [True, True] Translation: X:1012.67, Y:97.45, Z:4.54 [[ 6.83798037e-01 -7.29635884e-01 -7.19176110e-03 1.01266906e+03] [ 7.29594823e-01 6.83835854e-01 -7.74074721e-03 9.74459026e+01] [ 1.05659110e-02 4.60360837e-05 9.99944178e-01 4.53858806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.839254154 meters 0.015734426614100273 Centerline is valid? [True, True] Translation: X:1012.71, Y:97.49, Z:4.54 [[ 6.84123165e-01 -7.29335053e-01 -6.77308977e-03 1.01270919e+03] [ 7.29298589e-01 6.84156691e-01 -7.29317907e-03 9.74866446e+01] [ 9.95302583e-03 4.98279357e-05 9.99950466e-01 4.53887121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.899254154 meters 0.014623943506972286 Centerline is valid? [True, True] Translation: X:1012.75, Y:97.53, Z:4.54 [[ 6.84450191e-01 -7.29042931e-01 -4.93369798e-03 1.01274710e+03] [ 7.29023566e-01 6.84467971e-01 -5.31388219e-03 9.75287035e+01] [ 7.25100649e-03 4.03055862e-05 9.99973710e-01 4.54085105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.959254154 meters 0.01638766818688109 Centerline is valid? [True, True] Translation: X:1012.79, Y:97.57, Z:4.54 [[ 6.84442627e-01 -7.29048521e-01 -5.15201433e-03 1.01278696e+03] [ 7.29027387e-01 6.84462016e-01 -5.55133111e-03 9.75709064e+01] [ 7.57354785e-03 4.36081066e-05 9.99971319e-01 4.53897710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.019254154 meters 0.014107826272252991 Centerline is valid? [True, True] Translation: X:1012.83, Y:97.61, Z:4.54 [[ 6.84772474e-01 -7.28735526e-01 -5.58503437e-03 1.01282615e+03] [ 7.28710649e-01 6.84795247e-01 -6.02157459e-03 9.76139162e+01] [ 8.21274031e-03 5.35345099e-05 9.99966273e-01 4.54093539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.079254154 meters 0.014266479421540886 Centerline is valid? [True, True] Translation: X:1012.86, Y:97.66, Z:4.54 [[ 6.85205386e-01 -7.28325897e-01 -5.91316737e-03 1.01286460e+03] [ 7.28297964e-01 6.85230898e-01 -6.37904476e-03 9.76579918e+01] [ 8.69790848e-03 6.44080767e-05 9.99962170e-01 4.54072828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.139254154 meters 0.015236926527142045 Centerline is valid? [True, True] Translation: X:1012.90, Y:97.70, Z:4.54 [[ 6.86679607e-01 -7.26929095e-01 -6.72370223e-03 1.01290162e+03] [ 7.26892872e-01 6.86712518e-01 -7.25749226e-03 9.77040003e+01] [ 9.89293277e-03 9.61607140e-05 9.99951059e-01 4.53872118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.199254154 meters 0.015091856882867044 Centerline is valid? [True, True] Translation: X:1012.94, Y:97.75, Z:4.54 [[ 6.88811710e-01 -7.24898520e-01 -7.78234648e-03 1.01293741e+03] [ 7.24849829e-01 6.88855656e-01 -8.40302809e-03 9.77495389e+01] [ 1.14522560e-02 1.47071629e-04 9.99934410e-01 4.53885090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.259254154 meters 0.017846717859623645 Centerline is valid? [True, True] Translation: X:1012.97, Y:97.79, Z:4.54 [[ 6.89299632e-01 -7.24423332e-01 -8.76662705e-03 1.01297496e+03] [ 7.24361458e-01 6.89355354e-01 -9.46957748e-03 9.77948282e+01] [ 1.29033042e-02 1.77169515e-04 9.99916733e-01 4.53535185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.319254154 meters 0.016178287216026956 Centerline is valid? [True, True] Translation: X:1013.01, Y:97.84, Z:4.54 [[ 6.89595610e-01 -7.24146603e-01 -8.34218919e-03 1.01301340e+03] [ 7.24090496e-01 6.89646044e-01 -9.01595080e-03 9.78387816e+01] [ 1.22820279e-02 1.76860189e-04 9.99924557e-01 4.53775233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.379254154 meters 0.015380827686304395 Centerline is valid? [True, True] Translation: X:1013.05, Y:97.88, Z:4.54 [[ 6.88927455e-01 -7.24786873e-01 -7.93409433e-03 1.01305264e+03] [ 7.24736133e-01 6.88973122e-01 -8.57759438e-03 9.78815515e+01] [ 1.16833055e-02 1.59215430e-04 9.99931735e-01 4.54025520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.439254154 meters 0.014424547523544428 Centerline is valid? [True, True] Translation: X:1013.10, Y:97.92, Z:4.54 [[ 6.86416088e-01 -7.27168279e-01 -7.69732217e-03 1.01309522e+03] [ 7.27120634e-01 6.86459234e-01 -8.32480629e-03 9.79223776e+01] [ 1.13374329e-02 1.17399185e-04 9.99935722e-01 4.54195005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.499254154 meters 0.017225417746748996 Centerline is valid? [True, True] Translation: X:1013.14, Y:97.96, Z:4.54 [[ 6.82421455e-01 -7.30913050e-01 -8.18969397e-03 1.01313718e+03] [ 7.30859327e-01 6.82470593e-01 -8.86196309e-03 9.79637123e+01] [ 1.20665498e-02 6.20795179e-05 9.99927195e-01 4.53960475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.559254154 meters 0.015629117271856872 Centerline is valid? [True, True] Translation: X:1013.18, Y:98.01, Z:4.54 [[ 6.80029341e-01 -7.33142315e-01 -7.90200664e-03 1.01317864e+03] [ 7.33092400e-01 6.80075250e-01 -8.55496913e-03 9.80057198e+01] [ 1.16459690e-02 2.47290096e-05 9.99932183e-01 4.54200211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.619254154 meters 0.01599879303890537 Centerline is valid? [True, True] Translation: X:1013.22, Y:98.05, Z:4.54 [[ 6.79424675e-01 -7.33697918e-01 -8.33515394e-03 1.01321818e+03] [ 7.33642360e-01 6.79475801e-01 -9.02902654e-03 9.80480134e+01] [ 1.22881134e-02 1.95214175e-05 9.99924498e-01 4.54194367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.6792541539999 meters 0.016474454447690436 Centerline is valid? [True, True] Translation: X:1013.26, Y:98.09, Z:4.54 [[ 6.80324295e-01 -7.32853009e-01 -9.23697056e-03 1.01325660e+03] [ 7.32784647e-01 6.80386997e-01 -1.00097260e-02 9.80911278e+01] [ 1.36203725e-02 4.11495429e-05 9.99907238e-01 4.54170301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.739254154 meters 0.016534182687805606 Centerline is valid? [True, True] Translation: X:1013.29, Y:98.14, Z:4.54 [[ 6.82225723e-01 -7.31085190e-01 -9.08338269e-03 1.01329487e+03] [ 7.31018872e-01 6.82286185e-01 -9.84733523e-03 9.81362287e+01] [ 1.33967075e-02 7.79812281e-05 9.99910257e-01 4.54304247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.799254154 meters 0.016035560394788692 Centerline is valid? [True, True] Translation: X:1013.33, Y:98.18, Z:4.54 [[ 6.84853926e-01 -7.28627870e-01 -8.74801285e-03 1.01333239e+03] [ 7.28566097e-01 6.84909784e-01 -9.48847174e-03 9.81819008e+01] [ 1.29051645e-02 1.24711543e-04 9.99916717e-01 4.54406125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.859254154 meters 0.016134163748848043 Centerline is valid? [True, True] Translation: X:1013.37, Y:98.23, Z:4.54 [[ 6.86495547e-01 -7.27077065e-01 -9.09972472e-03 1.01337076e+03] [ 7.27010020e-01 6.86555835e-01 -9.87504503e-03 9.82267341e+01] [ 1.34273879e-02 1.63583399e-04 9.99909835e-01 4.54417085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.9192541539999 meters 0.015724327582443607 Centerline is valid? [True, True] Translation: X:1013.41, Y:98.27, Z:4.55 [[ 6.89020226e-01 -7.24685198e-01 -9.08248661e-03 1.01340855e+03] [ 7.24618131e-01 6.89080052e-01 -9.86135665e-03 9.82718048e+01] [ 1.34049395e-02 2.13339717e-04 9.99910127e-01 4.54535875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.979254154 meters 0.015704375261599613 Centerline is valid? [True, True] Translation: X:1013.45, Y:98.32, Z:4.55 [[ 6.90256056e-01 -7.23500474e-01 -9.67680753e-03 1.01344759e+03] [ 7.23424148e-01 6.90323836e-01 -1.05120804e-02 9.83155580e+01] [ 1.42856260e-02 2.55590905e-04 9.99897923e-01 4.54601060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.039254154 meters 0.018150456589242425 Centerline is valid? [True, True] Translation: X:1013.49, Y:98.36, Z:4.54 [[ 6.90182052e-01 -7.23561516e-01 -1.03666312e-02 1.01348717e+03] [ 7.23473837e-01 6.90259847e-01 -1.12672222e-02 9.83592846e+01] [ 1.53081977e-02 2.76448052e-04 9.99882784e-01 4.54302547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.099254154 meters 0.01639952558028824 Centerline is valid? [True, True] Translation: X:1013.53, Y:98.40, Z:4.55 [[ 6.90834909e-01 -7.22956459e-01 -9.00485254e-03 1.01352555e+03] [ 7.22890200e-01 6.90893547e-01 -9.79107889e-03 9.84013483e+01] [ 1.32999182e-02 2.54499436e-04 9.99911520e-01 4.54608365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.1592541539999 meters 0.015907929525623456 Centerline is valid? [True, True] Translation: X:1013.57, Y:98.44, Z:4.55 [[ 6.91083799e-01 -7.22724507e-01 -8.51287125e-03 1.01356613e+03] [ 7.22665214e-01 6.91136184e-01 -9.26085210e-03 9.84427524e+01] [ 1.25765981e-02 2.48068929e-04 9.99920881e-01 4.54711638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.219254154 meters 0.015891169177120683 Centerline is valid? [True, True] Translation: X:1013.61, Y:98.49, Z:4.55 [[ 6.91215162e-01 -7.22603606e-01 -8.10106478e-03 1.01360601e+03] [ 7.22549842e-01 6.91262591e-01 -8.81798112e-03 9.84852062e+01] [ 1.19718680e-02 2.41699179e-04 9.99928305e-01 4.54771090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.279254154 meters 0.01687035984658012 Centerline is valid? [True, True] Translation: X:1013.64, Y:98.53, Z:4.55 [[ 6.92047372e-01 -7.21810883e-01 -7.71258694e-03 1.01364433e+03] [ 7.21762070e-01 6.92090304e-01 -8.39789644e-03 9.85292102e+01] [ 1.13994997e-02 2.45089447e-04 9.99934994e-01 4.54753416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.339254154 meters 0.017294481602627455 Centerline is valid? [True, True] Translation: X:1013.68, Y:98.57, Z:4.55 [[ 6.93469520e-01 -7.20435052e-01 -8.56509915e-03 1.01368284e+03] [ 7.20374699e-01 6.93522348e-01 -9.32988925e-03 9.85742564e+01] [ 1.26616669e-02 2.99913103e-04 9.99919793e-01 4.54632854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.399254154 meters 0.020418637807124877 Centerline is valid? [True, True] Translation: X:1013.72, Y:98.62, Z:4.54 [[ 6.95049300e-01 -7.18891427e-01 -1.00789793e-02 1.01372009e+03] [ 7.18807603e-01 6.95122265e-01 -1.09848081e-02 9.86203896e+01] [ 1.49030073e-02 3.90136262e-04 9.99888868e-01 4.54188517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.459254154 meters 0.020221102518293434 Centerline is valid? [True, True] Translation: X:1013.76, Y:98.67, Z:4.54 [[ 6.96507696e-01 -7.17486096e-01 -9.52531390e-03 1.01375713e+03] [ 7.17411025e-01 6.96572711e-01 -1.03865124e-02 9.86663810e+01] [ 1.40872519e-02 4.00720579e-04 9.99900689e-01 4.54284164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.519254154 meters 0.020011126947110477 Centerline is valid? [True, True] Translation: X:1013.79, Y:98.71, Z:4.54 [[ 6.96629281e-01 -7.17376643e-01 -8.85414914e-03 1.01379443e+03] [ 7.17311703e-01 6.96685444e-01 -9.65980724e-03 9.87106415e+01] [ 1.30982769e-02 3.78119776e-04 9.99914142e-01 4.54412722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.579254154 meters 0.02169566026643258 Centerline is valid? [True, True] Translation: X:1013.83, Y:98.75, Z:4.54 [[ 6.95461865e-01 -7.18505646e-01 -9.07914624e-03 1.01383447e+03] [ 7.18437389e-01 6.95521028e-01 -9.91046885e-03 9.87538997e+01] [ 1.34354649e-02 3.69555034e-04 9.99909672e-01 4.54393048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.639254154 meters 0.01718984371757648 Centerline is valid? [True, True] Translation: X:1013.88, Y:98.79, Z:4.55 [[ 6.93375820e-01 -7.20538947e-01 -7.32111118e-03 1.01387721e+03] [ 7.20494637e-01 6.93414417e-01 -7.99519635e-03 9.87949296e+01] [ 1.08374144e-02 2.68854480e-04 9.99941237e-01 4.54896592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.699254154 meters 0.018057028711516966 Centerline is valid? [True, True] Translation: X:1013.92, Y:98.84, Z:4.55 [[ 6.91143137e-01 -7.22666201e-01 -8.64443256e-03 1.01391778e+03] [ 7.22604528e-01 6.91197138e-01 -9.44525645e-03 9.88382315e+01] [ 1.28007746e-02 2.81518064e-04 9.99918027e-01 4.54654957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.759254154 meters 0.015478727107012034 Centerline is valid? [True, True] Translation: X:1013.96, Y:98.88, Z:4.55 [[ 6.88148575e-01 -7.25511931e-01 -9.16392654e-03 1.01395980e+03] [ 7.25442804e-01 6.88209545e-01 -1.00179823e-02 9.88794436e+01] [ 1.35748674e-02 2.45955657e-04 9.99907827e-01 4.54701732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.819254154 meters 0.014720017379578813 Centerline is valid? [True, True] Translation: X:1014.00, Y:98.92, Z:4.55 [[ 6.84788139e-01 -7.28667744e-01 -1.04174213e-02 1.01400205e+03] [ 7.28578682e-01 6.84867340e-01 -1.13943384e-02 9.89203193e+01] [ 1.54372385e-02 2.12796756e-04 9.99880816e-01 4.54662341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.879254154 meters 0.014115276343676939 Centerline is valid? [True, True] Translation: X:1014.05, Y:98.96, Z:4.55 [[ 6.81601363e-01 -7.31648553e-01 -1.04869688e-02 1.01404513e+03] [ 7.31558557e-01 6.81682017e-01 -1.14762843e-02 9.89609533e+01] [ 1.55453848e-02 1.50419237e-04 9.99879152e-01 4.54711669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.939254154 meters 0.014007556975677286 Centerline is valid? [True, True] Translation: X:1014.09, Y:99.00, Z:4.55 [[ 6.80824876e-01 -7.32374976e-01 -1.02167606e-02 1.01408577e+03] [ 7.32289552e-01 6.80901517e-01 -1.11864175e-02 9.90034329e+01] [ 1.51492601e-02 1.34364280e-04 9.99885234e-01 4.54791046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.999254154 meters 0.014021935627449465 Centerline is valid? [True, True] Translation: X:1014.12, Y:99.05, Z:4.55 [[ 6.81372457e-01 -7.31874571e-01 -9.54919527e-03 1.01412488e+03] [ 7.31799814e-01 6.81439354e-01 -1.04613219e-02 9.90462164e+01] [ 1.41635729e-02 1.39957307e-04 9.99899682e-01 4.54944335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.059254154 meters 0.015681403699311893 Centerline is valid? [True, True] Translation: X:1014.16, Y:99.09, Z:4.55 [[ 6.82596415e-01 -7.30731031e-01 -9.71049128e-03 1.01416385e+03] [ 7.30653529e-01 6.82665460e-01 -1.06437923e-02 9.90901151e+01] [ 1.44067663e-02 1.70409760e-04 9.99896203e-01 4.54861764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.119254154 meters 0.015980754330565148 Centerline is valid? [True, True] Translation: X:1014.20, Y:99.13, Z:4.55 [[ 6.84039678e-01 -7.29390744e-01 -8.88042448e-03 1.01420081e+03] [ 7.29325770e-01 6.84097295e-01 -9.73717003e-03 9.91341832e+01] [ 1.31772761e-02 1.83888230e-04 9.99913159e-01 4.54863655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.1792541539999 meters 0.014940716694121708 Centerline is valid? [True, True] Translation: X:1014.24, Y:99.18, Z:4.55 [[ 6.85421689e-01 -7.28095576e-01 -8.59892558e-03 1.01423960e+03] [ 7.28034529e-01 6.85475595e-01 -9.43044223e-03 9.91777713e+01] [ 1.27606169e-02 2.03514905e-04 9.99918559e-01 4.55101645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.239254154 meters 0.015060103264003533 Centerline is valid? [True, True] Translation: X:1014.28, Y:99.22, Z:4.55 [[ 6.86724919e-01 -7.26871005e-01 -8.21142466e-03 1.01427855e+03] [ 7.26815206e-01 6.86773976e-01 -9.00901264e-03 9.92224432e+01] [ 1.21877828e-02 2.18525178e-04 9.99925702e-01 4.55214835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.299254154 meters 0.015098849755272474 Centerline is valid? [True, True] Translation: X:1014.32, Y:99.27, Z:4.55 [[ 6.87327257e-01 -7.26299819e-01 -8.35553334e-03 1.01431760e+03] [ 7.26241942e-01 6.87378002e-01 -9.17193510e-03 9.92671214e+01] [ 1.24049846e-02 2.35982235e-04 9.99923027e-01 4.55195089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.359254154 meters 0.01572958832211457 Centerline is valid? [True, True] Translation: X:1014.36, Y:99.31, Z:4.55 [[ 6.86617664e-01 -7.26969438e-01 -8.46285078e-03 1.01435718e+03] [ 7.26910048e-01 6.86669778e-01 -9.29510747e-03 9.93102933e+01] [ 1.25684429e-02 2.30453717e-04 9.99920987e-01 4.55067428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.4192541539999 meters 0.01645371523306102 Centerline is valid? [True, True] Translation: X:1014.40, Y:99.35, Z:4.55 [[ 6.84795146e-01 -7.28674324e-01 -9.45186920e-03 1.01439715e+03] [ 7.28600341e-01 6.84860335e-01 -1.03857770e-02 9.93525410e+01] [ 1.40410593e-02 2.25494554e-04 9.99901394e-01 4.54880306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.479254154 meters 0.01597511412523577 Centerline is valid? [True, True] Translation: X:1014.44, Y:99.39, Z:4.55 [[ 6.82810915e-01 -7.30527823e-01 -9.91737122e-03 1.01443859e+03] [ 7.30446494e-01 6.82882904e-01 -1.09022547e-02 9.93939045e+01] [ 1.47368037e-02 2.00069493e-04 9.99891387e-01 4.54871360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.539254154 meters 0.014195179478861971 Centerline is valid? [True, True] Translation: X:1014.48, Y:99.44, Z:4.55 [[ 6.81697765e-01 -7.31567500e-01 -9.85643473e-03 1.01447993e+03] [ 7.31487220e-01 6.81768993e-01 -1.08391453e-02 9.94365403e+01] [ 1.46493780e-02 1.79165120e-04 9.99892676e-01 4.55089391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.599254154 meters 0.01398694640015393 Centerline is valid? [True, True] Translation: X:1014.52, Y:99.48, Z:4.55 [[ 6.80801019e-01 -7.32403846e-01 -9.72516989e-03 1.01452008e+03] [ 7.32325705e-01 6.80870458e-01 -1.06996119e-02 9.94793290e+01] [ 1.44580178e-02 1.62314794e-04 9.99895464e-01 4.55175742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.6592541539999 meters 0.014066524981536708 Centerline is valid? [True, True] Translation: X:1014.56, Y:99.52, Z:4.55 [[ 6.80358461e-01 -7.32815573e-01 -9.67992214e-03 1.01455812e+03] [ 7.32738141e-01 6.80427301e-01 -1.06538545e-02 9.95217692e+01] [ 1.43937938e-02 1.55591862e-04 9.99896392e-01 4.55159780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.719254154 meters 0.014291986657534457 Centerline is valid? [True, True] Translation: X:1014.60, Y:99.57, Z:4.55 [[ 6.80794619e-01 -7.32409953e-01 -9.71321221e-03 1.01459798e+03] [ 7.32331878e-01 6.80863887e-01 -1.06952676e-02 9.95657305e+01] [ 1.44466959e-02 1.67985699e-04 9.99895627e-01 4.55284756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.779254154 meters 0.014903402639533346 Centerline is valid? [True, True] Translation: X:1014.63, Y:99.61, Z:4.55 [[ 6.82661313e-01 -7.30670420e-01 -9.70924464e-03 1.01463491e+03] [ 7.30592189e-01 6.82730323e-01 -1.06938508e-02 9.96108552e+01] [ 1.44424762e-02 2.06779920e-04 9.99895681e-01 4.55296674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.839254154 meters 0.015665151499672094 Centerline is valid? [True, True] Translation: X:1014.67, Y:99.66, Z:4.55 [[ 6.83938150e-01 -7.29472022e-01 -9.95868092e-03 1.01467344e+03] [ 7.29389526e-01 6.84010607e-01 -1.09730876e-02 9.96553418e+01] [ 1.48164038e-02 2.41155684e-04 9.99890202e-01 4.55290430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.899254154 meters 0.01575760312707227 Centerline is valid? [True, True] Translation: X:1014.71, Y:99.70, Z:4.55 [[ 6.86258898e-01 -7.27287788e-01 -1.00597037e-02 1.01471080e+03] [ 7.27203290e-01 6.86332562e-01 -1.10900675e-02 9.97008656e+01] [ 1.49699729e-02 2.95207859e-04 9.99887900e-01 4.55443177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.959254154 meters 0.01727286150832003 Centerline is valid? [True, True] Translation: X:1014.75, Y:99.74, Z:4.55 [[ 6.86495164e-01 -7.27064116e-01 -1.01074908e-02 1.01474822e+03] [ 7.26978728e-01 6.86569500e-01 -1.11467805e-02 9.97446378e+01] [ 1.50439190e-02 3.04280102e-04 9.99886788e-01 4.55286686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.019254154 meters 0.016116409634742854 Centerline is valid? [True, True] Translation: X:1014.79, Y:99.79, Z:4.56 [[ 6.87348737e-01 -7.26266716e-01 -9.40059107e-03 1.01478796e+03] [ 7.26192716e-01 6.87412952e-01 -1.03717400e-02 9.97879558e+01] [ 1.39947376e-02 3.02361663e-04 9.99902023e-01 4.55665516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.079254154 meters 0.01739380329193922 Centerline is valid? [True, True] Translation: X:1014.83, Y:99.83, Z:4.56 [[ 6.86888953e-01 -7.26702464e-01 -9.33249609e-03 1.01482689e+03] [ 7.26629520e-01 6.86952286e-01 -1.03003986e-02 9.98313419e+01] [ 1.38963045e-02 2.93962850e-04 9.99903398e-01 4.55584837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.139254154 meters 0.01765225207542341 Centerline is valid? [True, True] Translation: X:1014.86, Y:99.87, Z:4.56 [[ 6.86560716e-01 -7.27008757e-01 -9.62545326e-03 1.01486448e+03] [ 7.26931136e-01 6.86628121e-01 -1.06276060e-02 9.98745039e+01] [ 1.43354695e-02 2.99455089e-04 9.99897197e-01 4.55579032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.199254154 meters 0.01618764739842318 Centerline is valid? [True, True] Translation: X:1014.90, Y:99.92, Z:4.56 [[ 6.86640832e-01 -7.26919019e-01 -1.06351805e-02 1.01490475e+03] [ 7.26824157e-01 6.86723107e-01 -1.17481773e-02 9.99176888e+01] [ 1.58433977e-02 3.36872124e-04 9.99874429e-01 4.55696848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.259254154 meters 0.016039211180883767 Centerline is valid? [True, True] Translation: X:1014.94, Y:99.96, Z:4.56 [[ 6.86274669e-01 -7.27259584e-01 -1.09807662e-02 1.01494374e+03] [ 7.27158386e-01 6.86362426e-01 -1.21368270e-02 9.99603926e+01] [ 1.63634091e-02 3.44440765e-04 9.99866051e-01 4.55685044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.319254154 meters 0.015820420004204694 Centerline is valid? [True, True] Translation: X:1014.98, Y:100.00, Z:4.56 [[ 6.84884834e-01 -7.28581890e-01 -1.00594775e-02 1.01498406e+03] [ 7.28497018e-01 6.84958645e-01 -1.11242488e-02 1.00003259e+02] [ 1.49952523e-02 2.90529890e-04 9.99887523e-01 4.55802795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.379254154 meters 0.016174409551073944 Centerline is valid? [True, True] Translation: X:1015.03, Y:100.05, Z:4.56 [[ 6.82334098e-01 -7.30981327e-01 -9.29930417e-03 1.01502518e+03] [ 7.30908951e-01 6.82397427e-01 -1.02886474e-02 1.00045129e+02] [ 1.38666303e-02 2.23350265e-04 9.99903829e-01 4.55862301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.439254154 meters 0.01465599860965949 Centerline is valid? [True, True] Translation: X:1015.07, Y:100.09, Z:4.56 [[ 6.79568526e-01 -7.33551899e-01 -9.39303368e-03 1.01506577e+03] [ 7.33478228e-01 6.79633416e-01 -1.03975093e-02 1.00087211e+02] [ 1.40109323e-02 1.76234394e-04 9.99901827e-01 4.55968212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.499254154 meters 0.01415450852933064 Centerline is valid? [True, True] Translation: X:1015.11, Y:100.13, Z:4.56 [[ 6.77689100e-01 -7.35287127e-01 -9.50390198e-03 1.01510674e+03] [ 7.35211802e-01 6.77755723e-01 -1.05255038e-02 1.00129049e+02] [ 1.41805914e-02 1.45638297e-04 9.99899440e-01 4.55995664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.559254154 meters 0.01599903161304179 Centerline is valid? [True, True] Translation: X:1015.15, Y:100.17, Z:4.56 [[ 6.74029030e-01 -7.38625707e-01 -1.08135184e-02 1.01514765e+03] [ 7.38528518e-01 6.74115759e-01 -1.19821339e-02 1.00170897e+02] [ 1.61398752e-02 9.02143715e-05 9.99869740e-01 4.55739286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.619254154 meters 0.015244022408087213 Centerline is valid? [True, True] Translation: X:1015.19, Y:100.21, Z:4.56 [[ 6.69996284e-01 -7.42284097e-01 -1.09223645e-02 1.01518940e+03] [ 7.42185326e-01 6.70085307e-01 -1.21088116e-02 1.00213085e+02] [ 1.63070943e-02 6.44015155e-06 9.99867030e-01 4.55787277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.6792541539999 meters 0.017279071424379237 Centerline is valid? [True, True] Translation: X:1015.23, Y:100.25, Z:4.56 [[ 6.67380486e-01 -7.44631922e-01 -1.12510913e-02 1.01522961e+03] [ 7.44527380e-01 6.67475316e-01 -1.24772586e-02 1.00254162e+02] [ 1.68007908e-02 -4.96666606e-05 9.99858856e-01 4.55741030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.739254154 meters 0.013751803013789471 Centerline is valid? [True, True] Translation: X:1015.27, Y:100.30, Z:4.56 [[ 6.65471397e-01 -7.46369000e-01 -9.00750428e-03 1.01526939e+03] [ 7.46302101e-01 6.65532351e-01 -9.99323226e-03 1.00297285e+02] [ 1.34534243e-02 -7.21091358e-05 9.99909496e-01 4.56272445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.799254154 meters 0.016695197373003224 Centerline is valid? [True, True] Translation: X:1015.31, Y:100.34, Z:4.56 [[ 6.65003232e-01 -7.46778978e-01 -9.58427201e-03 1.01530750e+03] [ 7.46703227e-01 6.65072290e-01 -1.06367675e-02 1.00341422e+02] [ 1.43175481e-02 -8.31220638e-05 9.99897495e-01 4.56069724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.859254154 meters 0.01354060290001137 Centerline is valid? [True, True] Translation: X:1015.34, Y:100.39, Z:4.56 [[ 6.67521574e-01 -7.44533038e-01 -9.24677876e-03 1.01534458e+03] [ 7.44462253e-01 6.67585615e-01 -1.02664446e-02 1.00387730e+02] [ 1.38167237e-02 -3.08045077e-05 9.99904544e-01 4.56339812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.9192541539999 meters 0.015183458148944456 Centerline is valid? [True, True] Translation: X:1015.38, Y:100.43, Z:4.56 [[ 6.69648055e-01 -7.42603643e-01 -1.05504271e-02 1.01538172e+03] [ 7.42511154e-01 6.69731161e-01 -1.17199839e-02 1.00433791e+02] [ 1.57692526e-02 1.44546252e-05 9.99875658e-01 4.56219951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.979254154 meters 0.013982486292253436 Centerline is valid? [True, True] Translation: X:1015.42, Y:100.48, Z:4.56 [[ 6.75124167e-01 -7.37624895e-01 -1.08107926e-02 1.01541532e+03] [ 7.37527041e-01 6.75210704e-01 -1.20153143e-02 1.00482885e+02] [ 1.61623579e-02 1.38577146e-04 9.99869371e-01 4.56281636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.039254154 meters 0.01634289697094208 Centerline is valid? [True, True] Translation: X:1015.45, Y:100.53, Z:4.56 [[ 6.80550647e-01 -7.32614310e-01 -1.12733618e-02 1.01544866e+03] [ 7.32507103e-01 6.80643958e-01 -1.25357921e-02 1.00532045e+02] [ 1.68570463e-02 2.73423790e-04 9.99857873e-01 4.56169217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.099254154 meters 0.01680458819599522 Centerline is valid? [True, True] Translation: X:1015.48, Y:100.58, Z:4.56 [[ 6.84468392e-01 -7.28979015e-01 -9.62370561e-03 1.01548168e+03] [ 7.28900485e-01 6.84535973e-01 -1.07044042e-02 1.00579407e+02] [ 1.43910587e-02 3.12102664e-04 9.99896395e-01 4.56440658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.1592541539999 meters 0.017393125428300956 Centerline is valid? [True, True] Translation: X:1015.52, Y:100.63, Z:4.57 [[ 6.85125745e-01 -7.28371051e-01 -8.85017757e-03 1.01551904e+03] [ 7.28304535e-01 6.85182838e-01 -9.84798411e-03 1.00625233e+02] [ 1.32369763e-02 3.01482997e-04 9.99912342e-01 4.56510552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.219254154 meters 0.016811005982089667 Centerline is valid? [True, True] Translation: X:1015.55, Y:100.67, Z:4.57 [[ 6.85114965e-01 -7.28385425e-01 -8.49453008e-03 1.01555427e+03] [ 7.28324084e-01 6.85167561e-01 -9.45740688e-03 1.00671614e+02] [ 1.27088138e-02 2.92640150e-04 9.99919197e-01 4.56691915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.279254154 meters 0.01744896244926761 Centerline is valid? [True, True] Translation: X:1015.59, Y:100.72, Z:4.56 [[ 6.84539931e-01 -7.28905787e-01 -1.00716067e-02 1.01559300e+03] [ 7.28819511e-01 6.84613934e-01 -1.12197246e-02 1.00715691e+02] [ 1.50732845e-02 3.39966075e-04 9.99886334e-01 4.56434728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.339254154 meters 0.016599964236047073 Centerline is valid? [True, True] Translation: X:1015.63, Y:100.76, Z:4.56 [[ 6.84587267e-01 -7.28846355e-01 -1.11024359e-02 1.01562770e+03] [ 7.28741424e-01 6.84677184e-01 -1.23729727e-02 1.00761628e+02] [ 1.66195806e-02 3.79574619e-04 9.99861813e-01 4.56394807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.399254154 meters 0.015614820643261893 Centerline is valid? [True, True] Translation: X:1015.67, Y:100.80, Z:4.56 [[ 6.82202340e-01 -7.31068696e-01 -1.17698463e-02 1.01566768e+03] [ 7.30950989e-01 6.82303773e-01 -1.31229668e-02 1.00804536e+02] [ 1.76244008e-02 3.49337844e-04 9.99844617e-01 4.56468618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.459254154 meters 0.014728906864788656 Centerline is valid? [True, True] Translation: X:1015.71, Y:100.85, Z:4.57 [[ 6.79253314e-01 -7.33816149e-01 -1.13488368e-02 1.01570885e+03] [ 7.33706988e-01 6.79348059e-01 -1.26597625e-02 1.00847197e+02] [ 1.69997484e-02 2.72464775e-04 9.99855457e-01 4.56599122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.519254154 meters 0.01408246502001253 Centerline is valid? [True, True] Translation: X:1015.75, Y:100.89, Z:4.57 [[ 6.73584338e-01 -7.39038059e-01 -1.03386238e-02 1.01575073e+03] [ 7.38947988e-01 6.73663663e-01 -1.15386371e-02 1.00888677e+02] [ 1.54922471e-02 1.32539930e-04 9.99879979e-01 4.56728567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.579254154 meters 0.013273622654189386 Centerline is valid? [True, True] Translation: X:1015.79, Y:100.93, Z:4.57 [[ 6.68936546e-01 -7.43254140e-01 -9.85802617e-03 1.01579158e+03] [ 7.43172659e-01 6.69009179e-01 -1.10053064e-02 1.00929520e+02] [ 1.47748496e-02 3.56361477e-05 9.99890845e-01 4.56893411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.639254154 meters 0.01672502972472678 Centerline is valid? [True, True] Translation: X:1015.83, Y:100.97, Z:4.57 [[ 6.65533869e-01 -7.46291405e-01 -1.06681064e-02 1.01583117e+03] [ 7.46196289e-01 6.65619365e-01 -1.19146709e-02 1.00972843e+02] [ 1.59927147e-02 -3.08843374e-05 9.99872108e-01 4.56644866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.699254154 meters 0.013303155938036071 Centerline is valid? [True, True] Translation: X:1015.87, Y:101.02, Z:4.57 [[ 6.65963979e-01 -7.45917027e-01 -9.98830838e-03 1.01586902e+03] [ 7.45833524e-01 6.66038879e-01 -1.11609479e-02 1.01018320e+02] [ 1.49777428e-02 -1.68259466e-05 9.99887827e-01 4.56982288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.759254154 meters 0.013172103962298972 Centerline is valid? [True, True] Translation: X:1015.90, Y:101.07, Z:4.57 [[ 6.67436326e-01 -7.44601378e-01 -9.87616433e-03 1.01590453e+03] [ 7.44519504e-01 6.67509391e-01 -1.10417739e-02 1.01065076e+02] [ 1.48141525e-02 1.66840672e-05 9.99890264e-01 4.57052697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.819254154 meters 0.015359254743353428 Centerline is valid? [True, True] Translation: X:1015.94, Y:101.11, Z:4.57 [[ 6.68063166e-01 -7.44028717e-01 -1.06242233e-02 1.01594095e+03] [ 7.43933795e-01 6.68147639e-01 -1.18845125e-02 1.01111775e+02] [ 1.59409683e-02 3.58863304e-05 9.99872934e-01 4.56814492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.879254154 meters 0.013378239897163857 Centerline is valid? [True, True] Translation: X:1015.98, Y:101.16, Z:4.57 [[ 6.69765950e-01 -7.42492475e-01 -1.08856357e-02 1.01597726e+03] [ 7.42392518e-01 6.69854401e-01 -1.21831717e-02 1.01157980e+02] [ 1.63377043e-02 7.84590933e-05 9.99866528e-01 4.57031941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.939254154 meters 0.015183724791409186 Centerline is valid? [True, True] Translation: X:1016.01, Y:101.21, Z:4.57 [[ 6.70982499e-01 -7.41382358e-01 -1.16053749e-02 1.01601261e+03] [ 7.41268462e-01 6.71082846e-01 -1.29954750e-02 1.01205628e+02] [ 1.74227839e-02 1.17037877e-04 9.99848205e-01 4.56857374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.999254154 meters 0.015812805885430395 Centerline is valid? [True, True] Translation: X:1016.05, Y:101.25, Z:4.57 [[ 6.72772485e-01 -7.39750556e-01 -1.20953893e-02 1.01604809e+03] [ 7.39626444e-01 6.72881183e-01 -1.35512667e-02 1.01252581e+02] [ 1.81633169e-02 1.70849625e-04 9.99835019e-01 4.56826528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.059254154 meters 0.017516723487173497 Centerline is valid? [True, True] Translation: X:1016.08, Y:101.30, Z:4.57 [[ 6.74846918e-01 -7.37850265e-01 -1.25945839e-02 1.01608256e+03] [ 7.37715287e-01 6.74964392e-01 -1.41146903e-02 1.01298707e+02] [ 1.89154237e-02 2.34038229e-04 9.99821060e-01 4.56699363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.119254154 meters 0.014544429875778475 Centerline is valid? [True, True] Translation: X:1016.12, Y:101.34, Z:4.57 [[ 6.76591687e-01 -7.36268210e-01 -1.15244577e-02 1.01611999e+03] [ 7.36154869e-01 6.76689779e-01 -1.29209803e-02 1.01344008e+02] [ 1.73117897e-02 2.58442216e-04 9.99850106e-01 4.57093315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.1792541539999 meters 0.015026630613132955 Centerline is valid? [True, True] Translation: X:1016.16, Y:101.39, Z:4.57 [[ 6.77845235e-01 -7.35122713e-01 -1.09742139e-02 1.01615669e+03] [ 7.35019686e-01 6.77934008e-01 -1.23102305e-02 1.01390574e+02] [ 1.64893228e-02 2.78167849e-04 9.99864003e-01 4.57228579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.239254154 meters 0.016880446216687887 Centerline is valid? [True, True] Translation: X:1016.19, Y:101.44, Z:4.57 [[ 6.79127326e-01 -7.33934297e-01 -1.12482311e-02 1.01619344e+03] [ 7.33825786e-01 6.79220396e-01 -1.26241612e-02 1.01436367e+02] [ 1.69053329e-02 3.19170777e-04 9.99857044e-01 4.57132366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.299254154 meters 0.018824832428955704 Centerline is valid? [True, True] Translation: X:1016.23, Y:101.48, Z:4.57 [[ 6.81172078e-01 -7.32027023e-01 -1.18759319e-02 1.01623042e+03] [ 7.31905646e-01 6.81275483e-01 -1.33357137e-02 1.01482408e+02] [ 1.78528841e-02 3.91854205e-04 9.99840548e-01 4.57057834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.359254154 meters 0.018380564963336954 Centerline is valid? [True, True] Translation: X:1016.27, Y:101.53, Z:4.57 [[ 6.83937787e-01 -7.29440944e-01 -1.20421148e-02 1.01626605e+03] [ 7.29315661e-01 6.84043631e-01 -1.35268874e-02 1.01528297e+02] [ 1.81043974e-02 4.69046517e-04 9.99835992e-01 4.57097677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.4192541539999 meters 0.02099372573026122 Centerline is valid? [True, True] Translation: X:1016.30, Y:101.57, Z:4.57 [[ 6.84486223e-01 -7.28911587e-01 -1.29038003e-02 1.01630206e+03] [ 7.28767580e-01 6.84607645e-01 -1.44977849e-02 1.01574155e+02] [ 1.94016438e-02 5.19662708e-04 9.99811635e-01 4.56846976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.479254154 meters 0.019830706760032187 Centerline is valid? [True, True] Translation: X:1016.35, Y:101.61, Z:4.57 [[ 6.83461940e-01 -7.29867614e-01 -1.31545536e-02 1.01634599e+03] [ 7.29718003e-01 6.83588333e-01 -1.47860186e-02 1.01613721e+02] [ 1.97841354e-02 5.06566373e-04 9.99804147e-01 4.57051951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.539254154 meters 0.016475060591255485 Centerline is valid? [True, True] Translation: X:1016.39, Y:101.65, Z:4.57 [[ 6.80944868e-01 -7.32232541e-01 -1.22308033e-02 1.01638761e+03] [ 7.32103522e-01 6.81054578e-01 -1.37511577e-02 1.01654322e+02] [ 1.83988897e-02 4.09566042e-04 9.99830642e-01 4.57315970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.599254154 meters 0.016170486681223954 Centerline is valid? [True, True] Translation: X:1016.43, Y:101.69, Z:4.57 [[ 6.75755658e-01 -7.37014694e-01 -1.27918538e-02 1.01643327e+03] [ 7.36874297e-01 6.75876655e-01 -1.43881519e-02 1.01692770e+02] [ 1.92499947e-02 2.96886802e-04 9.99814658e-01 4.57263543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.6592541539999 meters 0.016249926957064915 Centerline is valid? [True, True] Translation: X:1016.48, Y:101.73, Z:4.57 [[ 6.69322426e-01 -7.42864655e-01 -1.26330952e-02 1.01648022e+03] [ 7.42728611e-01 6.69441623e-01 -1.42169796e-02 1.01730228e+02] [ 1.90184114e-02 1.32782029e-04 9.99819125e-01 4.57490380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.719254154 meters 0.01797052820335781 Centerline is valid? [True, True] Translation: X:1016.52, Y:101.77, Z:4.57 [[ 6.65221759e-01 -7.46537308e-01 -1.27302357e-02 1.01652268e+03] [ 7.46399760e-01 6.65343556e-01 -1.43300870e-02 1.01770413e+02] [ 1.91679248e-02 3.08407563e-05 9.99816278e-01 4.57395263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.779254154 meters 0.013512636500638388 Centerline is valid? [True, True] Translation: X:1016.57, Y:101.81, Z:4.58 [[ 6.59231124e-01 -7.51850941e-01 -1.15968934e-02 1.01656773e+03] [ 7.51737498e-01 6.59333111e-01 -1.30606991e-02 1.01807867e+02] [ 1.74659147e-02 -1.07800301e-04 9.99847453e-01 4.57811169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.839254154 meters 0.01569002754203451 Centerline is valid? [True, True] Translation: X:1016.61, Y:101.85, Z:4.58 [[ 6.52181236e-01 -7.57965834e-01 -1.21420815e-02 1.01661282e+03] [ 7.57842411e-01 6.52294195e-01 -1.36807816e-02 1.01845236e+02] [ 1.82897743e-02 -2.79435261e-04 9.99832689e-01 4.57640277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.899254154 meters 0.017211597963693766 Centerline is valid? [True, True] Translation: X:1016.66, Y:101.88, Z:4.58 [[ 6.44802944e-01 -7.64256036e-01 -1.19111319e-02 1.01665746e+03] [ 7.64138253e-01 6.44912795e-01 -1.34245138e-02 1.01884048e+02] [ 1.79414070e-02 -4.45585506e-04 9.99838941e-01 4.57740800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.959254154 meters 0.018545467193473632 Centerline is valid? [True, True] Translation: X:1016.70, Y:101.92, Z:4.58 [[ 6.40352901e-01 -7.67991190e-01 -1.17343040e-02 1.01670085e+03] [ 7.67877450e-01 6.40460178e-01 -1.32280416e-02 1.01922375e+02] [ 1.76743739e-02 -5.39892665e-04 9.99843650e-01 4.57819554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.019254154 meters 0.02194909965215875 Centerline is valid? [True, True] Translation: X:1016.74, Y:101.96, Z:4.58 [[ 6.34641826e-01 -7.72716267e-01 -1.18035371e-02 1.01674283e+03] [ 7.72601882e-01 6.34751228e-01 -1.33120649e-02 1.01963235e+02] [ 1.77787587e-02 -6.71041828e-04 9.99841720e-01 4.57745933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.079254154 meters 0.020790099944016215 Centerline is valid? [True, True] Translation: X:1016.78, Y:102.00, Z:4.58 [[ 6.34206686e-01 -7.73100868e-01 -9.84517909e-03 1.01678393e+03] [ 7.73021296e-01 6.34282844e-01 -1.11062909e-02 1.02004654e+02] [ 1.48309113e-02 -5.66849148e-04 9.99889855e-01 4.58057252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.139254154 meters 0.02177713074994655 Centerline is valid? [True, True] Translation: X:1016.82, Y:102.05, Z:4.58 [[ 6.36868718e-01 -7.70919785e-01 -8.99559915e-03 1.01682128e+03] [ 7.70853079e-01 6.36932073e-01 -1.01521069e-02 1.02049167e+02] [ 1.35560457e-02 -4.68726021e-04 9.99908003e-01 4.57933559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.199254154 meters 0.02065189700515222 Centerline is valid? [True, True] Translation: X:1016.86, Y:102.10, Z:4.58 [[ 6.40723994e-01 -7.67723506e-01 -8.56635784e-03 1.01685647e+03] [ 7.67662662e-01 6.40781145e-01 -9.67271706e-03 1.02096184e+02] [ 1.29151328e-02 -3.78531159e-04 9.99916525e-01 4.57890741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.259254154 meters 0.01674683431309758 Centerline is valid? [True, True] Translation: X:1016.89, Y:102.15, Z:4.58 [[ 6.49530137e-01 -7.60296997e-01 -7.68619947e-03 1.01688705e+03] [ 7.60247453e-01 6.49575581e-01 -8.68190363e-03 1.02147757e+02] [ 1.15935927e-02 -2.04255513e-04 9.99932771e-01 4.57911287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.319254154 meters 0.01434144248097358 Centerline is valid? [True, True] Translation: X:1016.92, Y:102.20, Z:4.58 [[ 6.60416052e-01 -7.50862371e-01 -7.50588616e-03 1.01691621e+03] [ 7.50814463e-01 6.60458703e-01 -8.48190950e-03 1.02199997e+02] [ 1.13260745e-02 -3.39387010e-05 9.99935857e-01 4.57819019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.379254154 meters 0.014860222377227941 Centerline is valid? [True, True] Translation: X:1016.94, Y:102.25, Z:4.58 [[ 6.70738177e-01 -7.41659643e-01 -7.16039110e-03 1.01694498e+03] [ 7.41615485e-01 6.70776385e-01 -8.09405973e-03 1.02252544e+02] [ 1.08060587e-02 1.18737951e-04 9.99941606e-01 4.57705480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.439254154 meters 0.018100064966698155 Centerline is valid? [True, True] Translation: X:1016.98, Y:102.30, Z:4.58 [[ 6.78134991e-01 -7.34902024e-01 -7.20756435e-03 1.01697747e+03] [ 7.34856862e-01 6.78173254e-01 -8.15041079e-03 1.02303021e+02] [ 1.08777307e-02 2.30550629e-04 9.99940809e-01 4.57610184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.499254154 meters 0.017886185319460096 Centerline is valid? [True, True] Translation: X:1017.01, Y:102.35, Z:4.58 [[ 6.82243267e-01 -7.31098752e-01 -6.22412936e-03 1.01701164e+03] [ 7.31064891e-01 6.82271611e-01 -7.04092539e-03 1.02349580e+02] [ 9.39415853e-03 2.53381490e-04 9.99955842e-01 4.57899932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.559254154 meters 0.02234897460338581 Centerline is valid? [True, True] Translation: X:1017.05, Y:102.40, Z:4.58 [[ 6.85322289e-01 -7.28206055e-01 -7.02142738e-03 1.01704597e+03] [ 7.28162775e-01 6.85358176e-01 -7.94623342e-03 1.02397199e+02] [ 1.05986880e-02 3.32988832e-04 9.99943777e-01 4.57585876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.619254154 meters 0.02145907658658131 Centerline is valid? [True, True] Translation: X:1017.08, Y:102.44, Z:4.58 [[ 6.86019734e-01 -7.27544389e-01 -7.48905649e-03 1.01708484e+03] [ 7.27495064e-01 6.86060511e-01 -8.47976418e-03 1.02441735e+02] [ 1.13073508e-02 3.69033931e-04 9.99936002e-01 4.57654780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.6792541539999 meters 0.018837173253621248 Centerline is valid? [True, True] Translation: X:1017.13, Y:102.48, Z:4.58 [[ 6.85466723e-01 -7.28054350e-01 -8.49914441e-03 1.01712595e+03] [ 7.27990787e-01 6.85519287e-01 -9.62917585e-03 1.02483346e+02] [ 1.28368908e-02 4.13180785e-04 9.99917518e-01 4.57729743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.739254154 meters 0.017477910570742963 Centerline is valid? [True, True] Translation: X:1017.17, Y:102.53, Z:4.58 [[ 6.84665621e-01 -7.28801817e-01 -8.99439972e-03 1.01716636e+03] [ 7.28730616e-01 6.84724565e-01 -1.01960714e-02 1.02525636e+02] [ 1.35896018e-02 4.26405090e-04 9.99907566e-01 4.57807597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.799254154 meters 0.01751815328400776 Centerline is valid? [True, True] Translation: X:1017.21, Y:102.57, Z:4.58 [[ 6.79684633e-01 -7.33443181e-01 -9.48155888e-03 1.01720852e+03] [ 7.33364444e-01 6.79750671e-01 -1.07526062e-02 1.02566034e+02] [ 1.43315217e-02 3.54943019e-04 9.99897235e-01 4.57649378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.859254154 meters 0.01643595917015549 Centerline is valid? [True, True] Translation: X:1017.26, Y:102.60, Z:4.58 [[ 6.71187607e-01 -7.41239602e-01 -8.42906060e-03 1.01725646e+03] [ 7.41177948e-01 6.71240511e-01 -9.56168939e-03 1.02602533e+02] [ 1.27454298e-02 1.70253577e-04 9.99918759e-01 4.57757327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.9192541539999 meters 0.013856875344647423 Centerline is valid? [True, True] Translation: X:1017.30, Y:102.64, Z:4.58 [[ 6.63328968e-01 -7.48296017e-01 -6.91021619e-03 1.01730380e+03] [ 7.48254943e-01 6.63364960e-01 -7.84032212e-03 1.02637581e+02] [ 1.04508771e-02 3.01093596e-05 9.99945388e-01 4.58125340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.979254154 meters 0.016704680987728714 Centerline is valid? [True, True] Translation: X:1017.35, Y:102.68, Z:4.58 [[ 6.58201834e-01 -7.52814713e-01 -6.35237941e-03 1.01734660e+03] [ 7.52780185e-01 6.58232486e-01 -7.21020767e-03 1.02676936e+02] [ 9.60929291e-03 -3.61734345e-05 9.99953829e-01 4.58019101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.039254154 meters 0.013646408570224311 Centerline is valid? [True, True] Translation: X:1017.39, Y:102.72, Z:4.58 [[ 6.56031942e-01 -7.54710534e-01 -5.83955119e-03 1.01739021e+03] [ 7.54681401e-01 6.56057929e-01 -6.63153879e-03 1.02716751e+02] [ 8.83597604e-03 -5.64994005e-05 9.99960960e-01 4.58291014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.099254154 meters 0.015612965601623861 Centerline is valid? [True, True] Translation: X:1017.43, Y:102.76, Z:4.58 [[ 6.56839713e-01 -7.53992777e-01 -7.51550735e-03 1.01743000e+03] [ 7.53944432e-01 6.56882705e-01 -8.53845872e-03 1.02759380e+02] [ 1.13747430e-02 -5.78761393e-05 9.99935304e-01 4.57951573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.1592541539999 meters 0.015502029770810681 Centerline is valid? [True, True] Translation: X:1017.47, Y:102.80, Z:4.58 [[ 6.61147536e-01 -7.50212478e-01 -8.07296909e-03 1.01746698e+03] [ 7.50156363e-01 6.61196822e-01 -9.17572919e-03 1.02803392e+02] [ 1.22215680e-02 1.05216138e-05 9.99925314e-01 4.57843625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.219254154 meters 0.014084094072538808 Centerline is valid? [True, True] Translation: X:1017.51, Y:102.85, Z:4.58 [[ 6.67262338e-01 -7.44781842e-01 -7.80901063e-03 1.01750507e+03] [ 7.44728908e-01 6.67308022e-01 -8.88020836e-03 1.02848471e+02] [ 1.18248334e-02 1.09832633e-04 9.99930078e-01 4.58092864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.279254154 meters 0.015095645964611054 Centerline is valid? [True, True] Translation: X:1017.54, Y:102.89, Z:4.58 [[ 6.73475018e-01 -7.39177824e-01 -6.89527531e-03 1.01754203e+03] [ 7.39136224e-01 6.73510289e-01 -7.84434242e-03 1.02892957e+02] [ 1.04424028e-02 1.86420899e-04 9.99945459e-01 4.58214493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.339254154 meters 0.016876177135578593 Centerline is valid? [True, True] Translation: X:1017.58, Y:102.94, Z:4.58 [[ 6.77565057e-01 -7.35433411e-01 -6.57968094e-03 1.01757980e+03] [ 7.35395321e-01 6.77596962e-01 -7.48857130e-03 1.02938107e+02] [ 9.96571735e-03 2.35327668e-04 9.99950313e-01 4.58253873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.399254154 meters 0.020134825515370675 Centerline is valid? [True, True] Translation: X:1017.61, Y:102.98, Z:4.58 [[ 6.84398053e-01 -7.29083766e-01 -6.01396792e-03 1.01761465e+03] [ 7.29051674e-01 6.84424409e-01 -6.84733479e-03 1.02983870e+02] [ 9.10838708e-03 3.01809224e-04 9.99958472e-01 4.58332538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.459254154 meters 0.02053090198644052 Centerline is valid? [True, True] Translation: X:1017.66, Y:103.03, Z:4.58 [[ 6.88919897e-01 -7.24813973e-01 -5.83786042e-03 1.01765529e+03] [ 7.24783554e-01 6.88944542e-01 -6.64962654e-03 1.03026576e+02] [ 8.84170430e-03 3.49874808e-04 9.99960850e-01 4.58400766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.519254154 meters 0.020680905776306466 Centerline is valid? [True, True] Translation: X:1017.70, Y:103.07, Z:4.58 [[ 6.89536083e-01 -7.24229164e-01 -5.66641347e-03 1.01769690e+03] [ 7.24200456e-01 6.89559277e-01 -6.45774258e-03 1.03068981e+02] [ 8.58421348e-03 3.49227308e-04 9.99963094e-01 4.58408082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.579254154 meters 0.02054797909248657 Centerline is valid? [True, True] Translation: X:1017.74, Y:103.11, Z:4.58 [[ 6.86357518e-01 -7.27241381e-01 -5.77340241e-03 1.01774055e+03] [ 7.27211662e-01 6.86381725e-01 -6.58228840e-03 1.03109775e+02] [ 8.74967041e-03 3.19317564e-04 9.99961670e-01 4.58216460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.639254154 meters 0.018226319222644543 Centerline is valid? [True, True] Translation: X:1017.79, Y:103.15, Z:4.58 [[ 6.80786469e-01 -7.32450986e-01 -6.73324925e-03 1.01778553e+03] [ 7.32410793e-01 6.80819701e-01 -7.67890434e-03 1.03147289e+02] [ 1.02085498e-02 2.96189751e-04 9.99947848e-01 4.58318119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.699254154 meters 0.017916002579563477 Centerline is valid? [True, True] Translation: X:1017.83, Y:103.19, Z:4.58 [[ 6.77179787e-01 -7.35779080e-01 -7.52864853e-03 1.01782915e+03] [ 7.35729005e-01 6.77221580e-01 -8.58852622e-03 1.03188067e+02] [ 1.14178212e-02 2.76931263e-04 9.99934776e-01 4.58181937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.759254154 meters 0.01747044114955599 Centerline is valid? [True, True] Translation: X:1017.87, Y:103.23, Z:4.58 [[ 6.74735063e-01 -7.38014107e-01 -8.23238122e-03 1.01786962e+03] [ 7.37954347e-01 6.74785230e-01 -9.39545945e-03 1.03230718e+02] [ 1.24890709e-02 2.64324418e-04 9.99921974e-01 4.58127293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.819254154 meters 0.018330491858283015 Centerline is valid? [True, True] Translation: X:1017.91, Y:103.27, Z:4.58 [[ 6.73279777e-01 -7.39329580e-01 -9.27971133e-03 1.01790758e+03] [ 7.39253724e-01 6.73343670e-01 -1.05940357e-02 1.03274450e+02] [ 1.40809188e-02 2.72688818e-04 9.99900822e-01 4.57929203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.879254154 meters 0.015817441924180116 Centerline is valid? [True, True] Translation: X:1017.95, Y:103.32, Z:4.58 [[ 6.71934468e-01 -7.40556675e-01 -8.93765390e-03 1.01794696e+03] [ 7.40486361e-01 6.71993864e-01 -1.02076649e-02 1.03318082e+02] [ 1.35654029e-02 2.40671056e-04 9.99907957e-01 4.58179877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.939254154 meters 0.0163885897669577 Centerline is valid? [True, True] Translation: X:1017.99, Y:103.36, Z:4.58 [[ 6.68711168e-01 -7.43469858e-01 -8.82862801e-03 1.01798744e+03] [ 7.43401430e-01 6.68769420e-01 -1.00884106e-02 1.03360715e+02] [ 1.34047457e-02 1.83018175e-04 9.99910136e-01 4.58171476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.999254154 meters 0.016367075049611247 Centerline is valid? [True, True] Translation: X:1018.03, Y:103.40, Z:4.58 [[ 6.64423798e-01 -7.47310654e-01 -8.23427396e-03 1.01802789e+03] [ 7.47251389e-01 6.64474813e-01 -9.41200355e-03 1.03401778e+02] [ 1.25051582e-02 1.00486491e-04 9.99921802e-01 4.58254749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.059254154 meters 0.01714938044026766 Centerline is valid? [True, True] Translation: X:1018.07, Y:103.44, Z:4.58 [[ 6.61375402e-01 -7.50012231e-01 -8.01444464e-03 1.01806717e+03] [ 7.49956265e-01 6.61423957e-01 -9.16238387e-03 1.03444696e+02] [ 1.21728457e-02 4.92923453e-05 9.99925907e-01 4.58218646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.119254154 meters 0.013508804297081433 Centerline is valid? [True, True] Translation: X:1018.11, Y:103.49, Z:4.59 [[ 6.57696141e-01 -7.53254823e-01 -6.55414594e-03 1.01810701e+03] [ 7.53217529e-01 6.57728797e-01 -7.49557373e-03 1.03487727e+02] [ 9.95692759e-03 -6.88768791e-06 9.99950429e-01 4.58716221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.1792541539999 meters 0.014370459800341025 Centerline is valid? [True, True] Translation: X:1018.15, Y:103.53, Z:4.59 [[ 6.53909068e-01 -7.56549125e-01 -6.02931655e-03 1.01814564e+03] [ 7.56517680e-01 6.53936862e-01 -6.89790059e-03 1.03531515e+02] [ 9.16139300e-03 -5.06848206e-05 9.99958032e-01 4.58804340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.239254154 meters 0.01410742635507532 Centerline is valid? [True, True] Translation: X:1018.19, Y:103.57, Z:4.59 [[ 6.49181594e-01 -7.60611990e-01 -5.71474952e-03 1.01818509e+03] [ 7.60583875e-01 6.49206739e-01 -6.54055628e-03 1.03574829e+02] [ 8.68487943e-03 -1.00537578e-04 9.99962281e-01 4.58975071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.299254154 meters 0.016831754435824586 Centerline is valid? [True, True] Translation: X:1018.22, Y:103.62, Z:4.59 [[ 6.44631570e-01 -7.64465100e-01 -6.57648299e-03 1.01822390e+03] [ 7.64428033e-01 6.44665092e-01 -7.52997640e-03 1.03617592e+02] [ 9.99603317e-03 -1.73187447e-04 9.99950023e-01 4.58717583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.359254154 meters 0.015724395891732385 Centerline is valid? [True, True] Translation: X:1018.26, Y:103.66, Z:4.59 [[ 6.42405771e-01 -7.66340206e-01 -6.12483624e-03 1.01826140e+03] [ 7.66308115e-01 6.42434941e-01 -7.01560389e-03 1.03663316e+02] [ 9.31114814e-03 -1.86647282e-04 9.99956633e-01 4.58912709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.4192541539999 meters 0.016905322069719092 Centerline is valid? [True, True] Translation: X:1018.30, Y:103.71, Z:4.59 [[ 6.40703363e-01 -7.67760112e-01 -6.60379608e-03 1.01829739e+03] [ 7.67722855e-01 6.40737357e-01 -7.56683102e-03 1.03708931e+02] [ 1.00408099e-02 -2.21791101e-04 9.99949565e-01 4.58857130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.479254154 meters 0.01714171055504893 Centerline is valid? [True, True] Translation: X:1018.33, Y:103.76, Z:4.59 [[ 6.41167292e-01 -7.67366245e-01 -7.31777877e-03 1.01833024e+03] [ 7.67320432e-01 6.41209007e-01 -8.38828814e-03 1.03758198e+02] [ 1.11291148e-02 -2.36785170e-04 9.99938041e-01 4.58814118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.539254154 meters 0.015689017297476522 Centerline is valid? [True, True] Translation: X:1018.36, Y:103.81, Z:4.59 [[ 6.43635619e-01 -7.65295208e-01 -7.51230258e-03 1.01836299e+03] [ 7.65246754e-01 6.43679426e-01 -8.61403349e-03 1.03806711e+02] [ 1.14277932e-02 -2.04466387e-04 9.99934680e-01 4.58933465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.599254154 meters 0.0170215444284499 Centerline is valid? [True, True] Translation: X:1018.39, Y:103.86, Z:4.59 [[ 6.48047231e-01 -7.61554001e-01 -8.38383967e-03 1.01839333e+03] [ 7.61493289e-01 6.48101442e-01 -9.61718971e-03 1.03857800e+02] [ 1.27575879e-02 -1.51844489e-04 9.99918607e-01 4.58657660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.6592541539999 meters 0.014035491894242769 Centerline is valid? [True, True] Translation: X:1018.43, Y:103.90, Z:4.59 [[ 6.50104199e-01 -7.59806998e-01 -7.60631546e-03 1.01842916e+03] [ 7.59756856e-01 6.50148687e-01 -8.72955040e-03 1.03904512e+02] [ 1.15780095e-02 -1.03832949e-04 9.99932967e-01 4.58988736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.719254154 meters 0.013334654081870317 Centerline is valid? [True, True] Translation: X:1018.46, Y:103.96, Z:4.59 [[ 6.56832671e-01 -7.54006947e-01 -6.66074987e-03 1.01845902e+03] [ 7.53968158e-01 6.56866443e-01 -7.64804238e-03 1.03956116e+02] [ 1.01419002e-02 1.49079588e-06 9.99948570e-01 4.59094979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.779254154 meters 0.01590480633088501 Centerline is valid? [True, True] Translation: X:1018.49, Y:104.01, Z:4.59 [[ 6.64576687e-01 -7.47190808e-01 -6.61233941e-03 1.01848768e+03] [ 7.47152201e-01 6.64609573e-01 -7.59629024e-03 1.04009066e+02] [ 1.00705023e-02 1.07893455e-04 9.99949285e-01 4.58975349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.839254154 meters 0.01649711178109145 Centerline is valid? [True, True] Translation: X:1018.52, Y:104.06, Z:4.59 [[ 6.72487052e-01 -7.40084765e-01 -5.97533148e-03 1.01851737e+03] [ 7.40052926e-01 6.72513570e-01 -6.86771184e-03 1.04061852e+02] [ 9.10118041e-03 1.96385745e-04 9.99958564e-01 4.59220396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.899254154 meters 0.02036437414354209 Centerline is valid? [True, True] Translation: X:1018.55, Y:104.11, Z:4.59 [[ 6.76873073e-01 -7.36066935e-01 -6.95057676e-03 1.01854983e+03] [ 7.36023597e-01 6.76908695e-01 -7.99274294e-03 1.04111859e+02] [ 1.05880996e-02 2.94283968e-04 9.99943901e-01 4.58874827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.959254154 meters 0.02216851504082948 Centerline is valid? [True, True] Translation: X:1018.59, Y:104.16, Z:4.59 [[ 6.77291258e-01 -7.35677471e-01 -7.43042190e-03 1.01858609e+03] [ 7.35627869e-01 6.77331938e-01 -8.54891899e-03 1.04157985e+02] [ 1.13221092e-02 3.24082663e-04 9.99935850e-01 4.58712228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.019254154 meters 0.020116313002218975 Centerline is valid? [True, True] Translation: X:1018.63, Y:104.20, Z:4.59 [[ 6.75414732e-01 -7.37394770e-01 -7.99335004e-03 1.01862615e+03] [ 7.37337428e-01 6.75461953e-01 -9.20148488e-03 1.04200682e+02] [ 1.21843307e-02 3.21022283e-04 9.99925717e-01 4.58702550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.079254154 meters 0.016703759681843674 Centerline is valid? [True, True] Translation: X:1018.67, Y:104.24, Z:4.59 [[ 6.71830861e-01 -7.40656137e-01 -8.47233675e-03 1.01866605e+03] [ 7.40591935e-01 6.71884223e-01 -9.75590182e-03 1.04242241e+02] [ 1.29181979e-02 2.79771661e-04 9.99916517e-01 4.58886325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.139254154 meters 0.017245874237989466 Centerline is valid? [True, True] Translation: X:1018.71, Y:104.28, Z:4.59 [[ 6.67073947e-01 -7.44940336e-01 -8.73184542e-03 1.01870957e+03] [ 7.44872450e-01 6.67131062e-01 -1.00588005e-02 1.04282571e+02] [ 1.33184915e-02 2.05852648e-04 9.99911284e-01 4.58834361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.199254154 meters 0.01693418629397177 Centerline is valid? [True, True] Translation: X:1018.75, Y:104.32, Z:4.59 [[ 6.61436065e-01 -7.49957706e-01 -8.11000641e-03 1.01875482e+03] [ 7.49899460e-01 6.61485774e-01 -9.34717836e-03 1.04321669e+02] [ 1.23746423e-02 1.00871440e-04 9.99923426e-01 4.58985737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.259254154 meters 0.0146000928443421 Centerline is valid? [True, True] Translation: X:1018.80, Y:104.36, Z:4.59 [[ 6.55274221e-01 -7.55349952e-01 -7.88319011e-03 1.01879970e+03] [ 7.55295250e-01 6.55321638e-01 -9.09040086e-03 1.04360600e+02] [ 1.20324589e-02 2.56929704e-06 9.99927607e-01 4.59097211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.319254154 meters 0.01555571512016821 Centerline is valid? [True, True] Translation: X:1018.84, Y:104.40, Z:4.59 [[ 6.48327432e-01 -7.61316534e-01 -8.28711338e-03 1.01884420e+03] [ 7.61256527e-01 6.48380385e-01 -9.55909208e-03 1.04399247e+02] [ 1.26506966e-02 -1.11197528e-04 9.99919971e-01 4.59075776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.379254154 meters 0.014567249264273493 Centerline is valid? [True, True] Translation: X:1018.89, Y:104.44, Z:4.59 [[ 6.43372261e-01 -7.65512706e-01 -7.90136667e-03 1.01888604e+03] [ 7.65458427e-01 6.43420752e-01 -9.11769605e-03 1.04440623e+02] [ 1.20636155e-02 -1.82094983e-04 9.99927215e-01 4.59341769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.439254154 meters 0.017552158381824216 Centerline is valid? [True, True] Translation: X:1018.93, Y:104.48, Z:4.59 [[ 6.36909921e-01 -7.70890786e-01 -8.55267776e-03 1.01893018e+03] [ 7.70827628e-01 6.36967270e-01 -9.87241022e-03 1.04478771e+02] [ 1.30583259e-02 -3.04804300e-04 9.99914690e-01 4.59272997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.499254154 meters 0.02556067278810299 Centerline is valid? [True, True] Translation: X:1018.98, Y:104.52, Z:4.59 [[ 6.32715512e-01 -7.74326017e-01 -9.50264188e-03 1.01897511e+03] [ 7.74248385e-01 6.32786731e-01 -1.09722850e-02 1.04515643e+02] [ 1.45092715e-02 -4.15070190e-04 9.99894649e-01 4.58764360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.559254154 meters 0.020669972828780792 Centerline is valid? [True, True] Translation: X:1019.01, Y:104.57, Z:4.59 [[ 6.32772808e-01 -7.74278544e-01 -9.55560557e-03 1.01900563e+03] [ 7.74199959e-01 6.32844820e-01 -1.10389492e-02 1.04565825e+02] [ 1.45944370e-02 -4.12802529e-04 9.99893410e-01 4.59107553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.619254154 meters 0.01728026322178897 Centerline is valid? [True, True] Translation: X:1019.04, Y:104.62, Z:4.59 [[ 6.37627280e-01 -7.70285401e-01 -9.58402963e-03 1.01903762e+03] [ 7.70205833e-01 6.37699223e-01 -1.10758990e-02 1.04615926e+02] [ 1.46433315e-02 -3.19380196e-04 9.99892730e-01 4.59277685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.6792541539999 meters 0.01626594422365019 Centerline is valid? [True, True] Translation: X:1019.07, Y:104.66, Z:4.59 [[ 6.42608251e-01 -7.66134860e-01 -9.59224427e-03 1.01907178e+03] [ 7.66054617e-01 6.42679801e-01 -1.10903678e-02 1.04663572e+02] [ 1.46614590e-02 -2.21421184e-04 9.99892491e-01 4.59219218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.739254154 meters 0.01507703586848861 Centerline is valid? [True, True] Translation: X:1019.10, Y:104.72, Z:4.59 [[ 6.51153654e-01 -7.58888109e-01 -9.36783600e-03 1.01910295e+03] [ 7.58810743e-01 6.51221034e-01 -1.08361431e-02 1.04715294e+02] [ 1.43239520e-02 -5.24204077e-05 9.99897406e-01 4.59176819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.799254154 meters 0.013326912919656226 Centerline is valid? [True, True] Translation: X:1019.13, Y:104.76, Z:4.59 [[ 6.58951971e-01 -7.52143355e-01 -7.91665093e-03 1.01913408e+03] [ 7.52087553e-01 6.58999519e-01 -9.16225436e-03 1.04764561e+02] [ 1.21083979e-02 8.34709400e-05 9.99926687e-01 4.59433504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.859254154 meters 0.01741725434344339 Centerline is valid? [True, True] Translation: X:1019.17, Y:104.81, Z:4.59 [[ 6.64705408e-01 -7.47067654e-01 -7.52596386e-03 1.01916601e+03] [ 7.47016843e-01 6.64747990e-01 -8.71470107e-03 1.04814883e+02] [ 1.15133406e-02 1.70687167e-04 9.99933705e-01 4.59246259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.9192541539999 meters 0.018122983836026826 Centerline is valid? [True, True] Translation: X:1019.20, Y:104.86, Z:4.59 [[ 6.68513946e-01 -7.43671355e-01 -6.48218686e-03 1.01919850e+03] [ 7.43633477e-01 6.68545343e-01 -7.50838058e-03 1.04863416e+02] [ 9.91740340e-03 1.99085983e-04 9.99950802e-01 4.59287260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.979254154 meters 0.02055228990410182 Centerline is valid? [True, True] Translation: X:1019.23, Y:104.91, Z:4.59 [[ 6.69568597e-01 -7.42719752e-01 -6.72783569e-03 1.01923491e+03] [ 7.42678881e-01 6.69602360e-01 -7.79479907e-03 1.04909109e+02] [ 1.02943259e-02 2.22531195e-04 9.99946987e-01 4.59136230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.039254154 meters 0.01862974547975409 Centerline is valid? [True, True] Translation: X:1019.27, Y:104.95, Z:4.59 [[ 6.70844219e-01 -7.41562113e-01 -7.32578779e-03 1.01927471e+03] [ 7.41513544e-01 6.70884165e-01 -8.49117453e-03 1.04952616e+02] [ 1.12114883e-02 2.64084479e-04 9.99937114e-01 4.59090946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.099254154 meters 0.019569394456858492 Centerline is valid? [True, True] Translation: X:1019.31, Y:105.00, Z:4.59 [[ 6.70955875e-01 -7.41447520e-01 -8.59002755e-03 1.01931400e+03] [ 7.41380661e-01 6.71010786e-01 -9.96194859e-03 1.04996410e+02] [ 1.31502632e-02 3.15547634e-04 9.99913482e-01 4.58923806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.1592541539999 meters 0.01733829576449995 Centerline is valid? [True, True] Translation: X:1019.36, Y:105.04, Z:4.59 [[ 6.70967741e-01 -7.41432342e-01 -8.96504909e-03 1.01935594e+03] [ 7.41359440e-01 6.71027549e-01 -1.04023499e-02 1.05037964e+02] [ 1.37284336e-02 3.33317473e-04 9.99905705e-01 4.58983827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.219254154 meters 0.016046413106554802 Centerline is valid? [True, True] Translation: X:1019.40, Y:105.08, Z:4.59 [[ 6.69634919e-01 -7.42638619e-01 -8.77254116e-03 1.01939959e+03] [ 7.42568847e-01 6.69692309e-01 -1.01842305e-02 1.05078439e+02] [ 1.34381062e-02 3.05500595e-04 9.99909658e-01 4.59188458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.279254154 meters 0.01689040720362464 Centerline is valid? [True, True] Translation: X:1019.45, Y:105.12, Z:4.59 [[ 6.64700001e-01 -7.47064111e-01 -8.31401372e-03 1.01944535e+03] [ 7.47001725e-01 6.64751962e-01 -9.65665271e-03 1.05117341e+02] [ 1.27408956e-02 2.08194476e-04 9.99918810e-01 4.59158117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.339254154 meters 0.013235699192359838 Centerline is valid? [True, True] Translation: X:1019.49, Y:105.15, Z:4.60 [[ 6.58482121e-01 -7.52571339e-01 -6.13812402e-03 1.01949218e+03] [ 7.52537541e-01 6.58510725e-01 -7.13262036e-03 1.05154999e+02] [ 9.40982615e-03 7.75342242e-05 9.99955724e-01 4.59683818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.399254154 meters 0.01717169127358554 Centerline is valid? [True, True] Translation: X:1019.53, Y:105.20, Z:4.59 [[ 6.53940956e-01 -7.56518572e-01 -6.39342864e-03 1.01953452e+03] [ 7.56482053e-01 6.53972208e-01 -7.43331525e-03 1.05195823e+02] [ 9.80456569e-03 2.44352579e-05 9.99951934e-01 4.59473221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.459254154 meters 0.013891562177449272 Centerline is valid? [True, True] Translation: X:1019.58, Y:105.24, Z:4.60 [[ 6.50497611e-01 -7.59482275e-01 -6.28735619e-03 1.01957667e+03] [ 7.59447056e-01 6.50527995e-01 -7.31410202e-03 1.05236323e+02] [ 9.64503206e-03 -1.71082595e-05 9.99953485e-01 4.59657924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.519254154 meters 0.01593118004773576 Centerline is valid? [True, True] Translation: X:1019.62, Y:105.28, Z:4.59 [[ 6.49222432e-01 -7.60569400e-01 -6.66489544e-03 1.01961585e+03] [ 7.60529833e-01 6.49256641e-01 -7.75807169e-03 1.05279345e+02] [ 1.02277796e-02 -3.21376442e-05 9.99947694e-01 4.59473286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.579254154 meters 0.012905565950061346 Centerline is valid? [True, True] Translation: X:1019.65, Y:105.32, Z:4.60 [[ 6.49581414e-01 -7.60264988e-01 -6.41368568e-03 1.01965391e+03] [ 7.60228288e-01 6.49613076e-01 -7.47009282e-03 1.05322917e+02] [ 9.84566410e-03 -2.34318292e-05 9.99951530e-01 4.59716183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.639254154 meters 0.016494631125806843 Centerline is valid? [True, True] Translation: X:1019.69, Y:105.37, Z:4.59 [[ 6.49702519e-01 -7.60156393e-01 -6.99252789e-03 1.01969116e+03] [ 7.60112722e-01 6.49740147e-01 -8.14812537e-03 1.05365931e+02] [ 1.07371757e-02 -2.12518327e-05 9.99942355e-01 4.59365182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.699254154 meters 0.012884438186618613 Centerline is valid? [True, True] Translation: X:1019.73, Y:105.41, Z:4.60 [[ 6.51270630e-01 -7.58816977e-01 -6.58499411e-03 1.01972936e+03] [ 7.58778143e-01 6.51303919e-01 -7.67688520e-03 1.05409860e+02] [ 1.01141833e-02 3.18025554e-06 9.99948850e-01 4.59630390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.759254154 meters 0.013012658340433286 Centerline is valid? [True, True] Translation: X:1019.77, Y:105.45, Z:4.60 [[ 6.53969207e-01 -7.56495743e-01 -6.20216598e-03 1.01976553e+03] [ 7.56461162e-01 6.53998616e-01 -7.23329112e-03 1.05454420e+02] [ 9.52816191e-03 3.86519771e-05 9.99954605e-01 4.59602753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.819254154 meters 0.014307531327360422 Centerline is valid? [True, True] Translation: X:1019.80, Y:105.50, Z:4.60 [[ 6.57748503e-01 -7.53219496e-01 -5.22470050e-03 1.01980154e+03] [ 7.53194836e-01 6.57769250e-01 -6.09530818e-03 1.05501588e+02] [ 8.02775229e-03 7.39623961e-05 9.99967774e-01 4.59604666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.879254154 meters 0.016117116455323155 Centerline is valid? [True, True] Translation: X:1019.84, Y:105.55, Z:4.60 [[ 6.62449593e-01 -7.49091218e-01 -4.78369530e-03 1.01983702e+03] [ 7.49070418e-01 6.62466855e-01 -5.58345790e-03 1.05549022e+02] [ 7.35155886e-03 1.15434770e-04 9.99972970e-01 4.59615398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.939254154 meters 0.016249293520722328 Centerline is valid? [True, True] Translation: X:1019.87, Y:105.60, Z:4.60 [[ 6.65686858e-01 -7.46218379e-01 -4.37474376e-03 1.01987342e+03] [ 7.46200905e-01 6.65701218e-01 -5.10852680e-03 1.05595114e+02] [ 6.72434884e-03 1.36241395e-04 9.99977382e-01 4.59780873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.999254154 meters 0.021538031413177925 Centerline is valid? [True, True] Translation: X:1019.91, Y:105.64, Z:4.59 [[ 6.70178716e-01 -7.42184188e-01 -4.80826030e-03 1.01990680e+03] [ 7.42162956e-01 6.70195935e-01 -5.61736216e-03 1.05641803e+02] [ 7.39159389e-03 1.96123883e-04 9.99972663e-01 4.59463829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.059254154 meters 0.022771399464659257 Centerline is valid? [True, True] Translation: X:1019.94, Y:105.69, Z:4.59 [[ 6.71063383e-01 -7.41382106e-01 -5.14866769e-03 1.01994445e+03] [ 7.41357717e-01 6.71083097e-01 -6.01756282e-03 1.05687069e+02] [ 7.91649726e-03 2.21161535e-04 9.99968640e-01 4.59421484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.119254154 meters 0.020571393372260546 Centerline is valid? [True, True] Translation: X:1019.98, Y:105.73, Z:4.60 [[ 6.70850456e-01 -7.41576836e-01 -4.84378071e-03 1.01998495e+03] [ 7.41555234e-01 6.70867911e-01 -5.66396765e-03 1.05728929e+02] [ 7.44980425e-03 2.07744337e-04 9.99972228e-01 4.59611340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.1792541539999 meters 0.019507769632890738 Centerline is valid? [True, True] Translation: X:1020.03, Y:105.77, Z:4.59 [[ 6.68450462e-01 -7.43736533e-01 -5.47254569e-03 1.02002734e+03] [ 7.43709008e-01 6.68472830e-01 -6.40205711e-03 1.05770514e+02] [ 8.41969187e-03 2.09476510e-04 9.99964532e-01 4.59482263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.239254154 meters 0.019630912564732254 Centerline is valid? [True, True] Translation: X:1020.07, Y:105.81, Z:4.59 [[ 6.65494123e-01 -7.46379263e-01 -5.96385045e-03 1.02006885e+03] [ 7.46346654e-01 6.65520817e-01 -6.97960065e-03 1.05811494e+02] [ 9.17849582e-03 1.93783392e-04 9.99957858e-01 4.59257032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.299254154 meters 0.01477506670229826 Centerline is valid? [True, True] Translation: X:1020.12, Y:105.85, Z:4.59 [[ 6.60474273e-01 -7.50829164e-01 -5.41298549e-03 1.02011801e+03] [ 7.50802424e-01 6.60496443e-01 -6.33789642e-03 1.05847630e+02] [ 8.33393513e-03 1.21934905e-04 9.99965265e-01 4.59457005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.359254154 meters 0.014275567449538767 Centerline is valid? [True, True] Translation: X:1020.16, Y:105.89, Z:4.59 [[ 6.53211729e-01 -7.57158221e-01 -5.08586501e-03 1.02016368e+03] [ 7.57134782e-01 6.53231527e-01 -5.95769382e-03 1.05886735e+02] [ 7.83316422e-03 4.09501860e-05 9.99969319e-01 4.59401099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.4192541539999 meters 0.015916707632552686 Centerline is valid? [True, True] Translation: X:1020.21, Y:105.92, Z:4.59 [[ 6.44151785e-01 -7.64880857e-01 -5.07468510e-03 1.02020810e+03] [ 7.64857738e-01 6.44171772e-01 -5.94710971e-03 1.05924216e+02] [ 7.81779927e-03 -5.05708286e-05 9.99969439e-01 4.59305760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.479254154 meters 0.01574507439340098 Centerline is valid? [True, True] Translation: X:1020.25, Y:105.97, Z:4.59 [[ 6.38542389e-01 -7.69573271e-01 -4.53855310e-03 1.02024753e+03] [ 7.69554882e-01 6.38558511e-01 -5.32084984e-03 1.05967735e+02] [ 6.99291552e-03 -9.50775311e-05 9.99975545e-01 4.59340972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.539254154 meters 0.016635404104054223 Centerline is valid? [True, True] Translation: X:1020.29, Y:106.01, Z:4.59 [[ 6.35405979e-01 -7.72158114e-01 -5.57569648e-03 1.02028650e+03] [ 7.72130427e-01 6.35430425e-01 -6.54052536e-03 1.06011665e+02] [ 8.59328691e-03 -1.49275984e-04 9.99963066e-01 4.59172737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.599254154 meters 0.016887281553799646 Centerline is valid? [True, True] Translation: X:1020.32, Y:106.06, Z:4.59 [[ 6.32527319e-01 -7.74513359e-01 -6.18438466e-03 1.02032390e+03] [ 7.74479385e-01 6.32557520e-01 -7.25715600e-03 1.06056415e+02] [ 9.53274330e-03 -1.99328991e-04 9.99954543e-01 4.59075976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.6592541539999 meters 0.01628805504824715 Centerline is valid? [True, True] Translation: X:1020.36, Y:106.10, Z:4.59 [[ 6.32095997e-01 -7.74863312e-01 -6.44190134e-03 1.02035742e+03] [ 7.74826437e-01 6.32128786e-01 -7.56242638e-03 1.06103860e+02] [ 9.93195803e-03 -2.11176020e-04 9.99950655e-01 4.59098376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.719254154 meters 0.01620768336694081 Centerline is valid? [True, True] Translation: X:1020.39, Y:106.15, Z:4.59 [[ 6.33263253e-01 -7.73916366e-01 -5.57774813e-03 1.02039024e+03] [ 7.73888655e-01 6.33287795e-01 -6.55129907e-03 1.06153223e+02] [ 8.60247738e-03 -1.67859037e-04 9.99962984e-01 4.59188808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.779254154 meters 0.015180774329899793 Centerline is valid? [True, True] Translation: X:1020.42, Y:106.20, Z:4.59 [[ 6.36748074e-01 -7.71057516e-01 -4.71135711e-03 1.02042184e+03] [ 7.71037651e-01 6.36765495e-01 -5.53574890e-03 1.06201990e+02] [ 7.26841044e-03 -1.07756273e-04 9.99973579e-01 4.59246676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.839254154 meters 0.013268783967894908 Centerline is valid? [True, True] Translation: X:1020.45, Y:106.25, Z:4.59 [[ 6.40473798e-01 -7.67969088e-01 -4.09806444e-03 1.02045469e+03] [ 7.67953985e-01 6.40486906e-01 -4.81669962e-03 1.06251372e+02] [ 6.32383303e-03 -6.21550134e-05 9.99980002e-01 4.59369330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.899254154 meters 0.015192268324760509 Centerline is valid? [True, True] Translation: X:1020.48, Y:106.30, Z:4.59 [[ 6.47901824e-01 -7.61708531e-01 -4.83120873e-03 1.02048423e+03] [ 7.61687340e-01 6.47919836e-01 -5.68166276e-03 1.06303040e+02] [ 7.45800696e-03 1.28913891e-06 9.99972189e-01 4.59104309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.959254154 meters 0.013701825148355091 Centerline is valid? [True, True] Translation: X:1020.51, Y:106.36, Z:4.59 [[ 6.57677529e-01 -7.53282805e-01 -5.02825910e-03 1.02051268e+03] [ 7.53259582e-01 6.57696742e-01 -5.91582745e-03 1.06355457e+02] [ 7.76336072e-03 1.03122434e-04 9.99969859e-01 4.59229498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.019254154 meters 0.0191869328542576 Centerline is valid? [True, True] Translation: X:1020.54, Y:106.41, Z:4.59 [[ 6.64887313e-01 -7.46920998e-01 -5.82106308e-03 1.02054196e+03] [ 7.46889603e-01 6.64912761e-01 -6.85137034e-03 1.06407718e+02] [ 8.98793150e-03 2.07697718e-04 9.99959586e-01 4.58841093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.079254154 meters 0.02045601102780341 Centerline is valid? [True, True] Translation: X:1020.57, Y:106.46, Z:4.59 [[ 6.69680714e-01 -7.42626767e-01 -5.76417359e-03 1.02057318e+03] [ 7.42595801e-01 6.69705469e-01 -6.78686710e-03 1.06456673e+02] [ 8.90040776e-03 2.64582903e-04 9.99960356e-01 4.58862512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.139254154 meters 0.020920879728198196 Centerline is valid? [True, True] Translation: X:1020.61, Y:106.50, Z:4.59 [[ 6.70695163e-01 -7.41710618e-01 -5.77559286e-03 1.02061031e+03] [ 7.41679474e-01 6.70719972e-01 -6.80274444e-03 1.06501983e+02] [ 8.91947327e-03 2.78929122e-04 9.99960182e-01 4.58777029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.199254154 meters 0.022497008540840933 Centerline is valid? [True, True] Translation: X:1020.65, Y:106.55, Z:4.59 [[ 6.70489228e-01 -7.41894525e-01 -6.05870720e-03 1.02064545e+03] [ 7.41860232e-01 6.70516538e-01 -7.13921365e-03 1.06547211e+02] [ 9.35900689e-03 2.92051921e-04 9.99956161e-01 4.58660754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.259254154 meters 0.020622287028759626 Centerline is valid? [True, True] Translation: X:1020.69, Y:106.59, Z:4.59 [[ 6.69393203e-01 -7.42875405e-01 -6.99089973e-03 1.02068694e+03] [ 7.42829760e-01 6.69429629e-01 -8.24137812e-03 1.06589466e+02] [ 1.08022325e-02 3.23674129e-04 9.99941602e-01 4.58576644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.319254154 meters 0.018390292501809916 Centerline is valid? [True, True] Translation: X:1020.73, Y:106.63, Z:4.59 [[ 6.68267320e-01 -7.43879961e-01 -7.83536135e-03 1.02072675e+03] [ 7.43822654e-01 6.68313163e-01 -9.23986961e-03 1.06631965e+02] [ 1.21098290e-02 3.46583617e-04 9.99926613e-01 4.58725586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.379254154 meters 0.018603205893777924 Centerline is valid? [True, True] Translation: X:1020.77, Y:106.67, Z:4.58 [[ 6.63759788e-01 -7.47898577e-01 -8.40608274e-03 1.02077053e+03] [ 7.47832887e-01 6.63812949e-01 -9.91672187e-03 1.06672912e+02] [ 1.29967687e-02 2.95976079e-04 9.99915495e-01 4.58434887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.439254154 meters 0.01696851656174687 Centerline is valid? [True, True] Translation: X:1020.81, Y:106.72, Z:4.59 [[ 6.61913678e-01 -7.49538286e-01 -7.91463137e-03 1.02080881e+03] [ 7.49480138e-01 6.61960947e-01 -9.33958355e-03 1.06716506e+02] [ 1.22395523e-02 2.50139088e-04 9.99925063e-01 4.58581816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.499254154 meters 0.016174932911663466 Centerline is valid? [True, True] Translation: X:1020.86, Y:106.75, Z:4.59 [[ 6.53801633e-01 -7.56631682e-01 -7.20573166e-03 1.02085541e+03] [ 7.56583886e-01 6.53841330e-01 -8.50514957e-03 1.06753742e+02] [ 1.11466708e-02 1.08940215e-04 9.99937868e-01 4.58705219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.559254154 meters 0.015208295791393867 Centerline is valid? [True, True] Translation: X:1020.90, Y:106.79, Z:4.59 [[ 6.44492127e-01 -7.64585526e-01 -6.23479644e-03 1.02090174e+03] [ 7.64550081e-01 6.44522283e-01 -7.36210203e-03 1.06791659e+02] [ 9.64742189e-03 -2.19973348e-05 9.99953462e-01 4.59000897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.619254154 meters 0.014005338300045182 Centerline is valid? [True, True] Translation: X:1020.94, Y:106.83, Z:4.59 [[ 6.39281348e-01 -7.68952091e-01 -5.66046873e-03 1.02094339e+03] [ 7.68923023e-01 6.39306402e-01 -6.68645785e-03 1.06832039e+02] [ 8.76033964e-03 -7.79369404e-05 9.99961624e-01 4.59167700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.6792541539999 meters 0.015143088716027396 Centerline is valid? [True, True] Translation: X:1020.99, Y:106.87, Z:4.59 [[ 6.33384792e-01 -7.73821323e-01 -4.92598045e-03 1.02098616e+03] [ 7.73799445e-01 6.33403934e-01 -5.82024765e-03 1.06872172e+02] [ 7.62396714e-03 -1.25264585e-04 9.99970929e-01 4.59243177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.739254154 meters 0.014996521381708592 Centerline is valid? [True, True] Translation: X:1021.03, Y:106.92, Z:4.59 [[ 6.30794894e-01 -7.75929977e-01 -5.52018787e-03 1.02102657e+03] [ 7.75902561e-01 6.30819025e-01 -6.52485381e-03 1.06915446e+02] [ 8.54506920e-03 -1.67283435e-04 9.99963476e-01 4.59230161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.799254154 meters 0.018365522355327502 Centerline is valid? [True, True] Translation: X:1021.06, Y:106.96, Z:4.59 [[ 6.31155378e-01 -7.75619508e-01 -7.56755021e-03 1.02106399e+03] [ 7.75567911e-01 6.31200705e-01 -8.94901626e-03 1.06958139e+02] [ 1.17176746e-02 -2.20929371e-04 9.99931321e-01 4.58740853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.859254154 meters 0.01464167884165321 Centerline is valid? [True, True] Translation: X:1021.10, Y:107.00, Z:4.59 [[ 6.33684560e-01 -7.73555496e-01 -7.46817831e-03 1.02109962e+03] [ 7.73505058e-01 6.33728541e-01 -8.83527236e-03 1.07004729e+02] [ 1.15673712e-02 -1.77898021e-04 9.99933080e-01 4.59030522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.9192541539999 meters 0.013624858531121116 Centerline is valid? [True, True] Translation: X:1021.13, Y:107.05, Z:4.59 [[ 6.34505747e-01 -7.72885585e-01 -7.09433135e-03 1.02113485e+03] [ 7.72839983e-01 6.34545387e-01 -8.39716245e-03 1.07051674e+02] [ 1.09917211e-02 -1.54735085e-04 9.99939577e-01 4.59259034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.979254154 meters 0.014776444370045107 Centerline is valid? [True, True] Translation: X:1021.17, Y:107.10, Z:4.59 [[ 6.34149152e-01 -7.73181641e-01 -6.70846182e-03 1.02117141e+03] [ 7.73140836e-01 6.34184617e-01 -7.94479315e-03 1.07096610e+02] [ 1.03971715e-02 -1.48401939e-04 9.99945937e-01 4.59266377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.039254154 meters 0.016500876043334084 Centerline is valid? [True, True] Translation: X:1021.21, Y:107.14, Z:4.59 [[ 6.34082385e-01 -7.73242830e-01 -5.92072524e-03 1.02120662e+03] [ 7.73211012e-01 6.34110014e-01 -7.01582315e-03 1.07142518e+02] [ 9.17932611e-03 -1.29360077e-04 9.99957861e-01 4.59211283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.099254154 meters 0.016502408321122545 Centerline is valid? [True, True] Translation: X:1021.24, Y:107.19, Z:4.59 [[ 6.34927975e-01 -7.72551636e-01 -5.51692053e-03 1.02124230e+03] [ 7.72523954e-01 6.34951934e-01 -6.54084465e-03 1.07189615e+02] [ 8.55611959e-03 -1.08988007e-04 9.99963390e-01 4.59205093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.1592541539999 meters 0.013151323869097021 Centerline is valid? [True, True] Translation: X:1021.28, Y:107.24, Z:4.59 [[ 6.36942762e-01 -7.70891390e-01 -5.51200049e-03 1.02127608e+03] [ 7.70863672e-01 6.36966606e-01 -6.53770005e-03 1.07236426e+02] [ 8.55081692e-03 -8.48602141e-05 9.99963437e-01 4.59368043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.219254154 meters 0.01600546008359855 Centerline is valid? [True, True] Translation: X:1021.31, Y:107.28, Z:4.59 [[ 6.39638451e-01 -7.68644147e-01 -6.98771095e-03 1.02130984e+03] [ 7.68599424e-01 6.39676615e-01 -8.29179351e-03 1.07284900e+02] [ 1.08433138e-02 -6.70006606e-05 9.99941207e-01 4.58947938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.279254154 meters 0.01611490332760395 Centerline is valid? [True, True] Translation: X:1021.34, Y:107.33, Z:4.59 [[ 6.41726187e-01 -7.66892097e-01 -8.00080979e-03 1.02134424e+03] [ 7.66833260e-01 6.41776059e-01 -9.49950838e-03 1.07331358e+02] [ 1.24198261e-02 -3.92037629e-05 9.99922870e-01 4.58822672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.339254154 meters 0.015846681764250636 Centerline is valid? [True, True] Translation: X:1021.38, Y:107.38, Z:4.59 [[ 6.44752796e-01 -7.64328745e-01 -9.76731928e-03 1.02137791e+03] [ 7.64240703e-01 6.44826774e-01 -1.16008091e-02 1.07378065e+02] [ 1.51650609e-02 1.50711660e-05 9.99885004e-01 4.58615354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.399254154 meters 0.015973147598043167 Centerline is valid? [True, True] Translation: X:1021.41, Y:107.42, Z:4.59 [[ 6.46980554e-01 -7.62439125e-01 -1.01362535e-02 1.02141418e+03] [ 7.62343992e-01 6.47059948e-01 -1.20441528e-02 1.07424771e+02] [ 1.57416970e-02 6.50207207e-05 9.99876090e-01 4.58686995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.459254154 meters 0.014121086800481427 Centerline is valid? [True, True] Translation: X:1021.45, Y:107.47, Z:4.59 [[ 6.49984403e-01 -7.59884400e-01 -9.79669044e-03 1.02145102e+03] [ 7.59795151e-01 6.50058215e-01 -1.16466743e-02 1.07470205e+02] [ 1.52185452e-02 1.26678726e-04 9.99884183e-01 4.58955570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.519254154 meters 0.017284113765921236 Centerline is valid? [True, True] Translation: X:1021.49, Y:107.52, Z:4.59 [[ 6.54389705e-01 -7.56094310e-01 -9.77283753e-03 1.02148716e+03] [ 7.56004979e-01 6.54462639e-01 -1.16243604e-02 1.07516332e+02] [ 1.51850698e-02 2.18547970e-04 9.99884676e-01 4.58920944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.579254154 meters 0.015488313414587345 Centerline is valid? [True, True] Translation: X:1021.52, Y:107.56, Z:4.59 [[ 6.58073779e-01 -7.52901619e-01 -8.83484322e-03 1.02152404e+03] [ 7.52828274e-01 6.58133027e-01 -1.05122905e-02 1.07561443e+02] [ 1.37292226e-02 2.66742946e-04 9.99905714e-01 4.59292921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.639254154 meters 0.019472372416911698 Centerline is valid? [True, True] Translation: X:1021.56, Y:107.61, Z:4.59 [[ 6.62676040e-01 -7.48847474e-01 -9.37692079e-03 1.02155911e+03] [ 7.48764370e-01 6.62742273e-01 -1.11623639e-02 1.07608192e+02] [ 1.45733898e-02 3.75926909e-04 9.99893732e-01 4.59118452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.699254154 meters 0.01954488578447599 Centerline is valid? [True, True] Translation: X:1021.60, Y:107.65, Z:4.59 [[ 6.65634027e-01 -7.46224018e-01 -9.00317246e-03 1.02159610e+03] [ 7.46147100e-01 6.65694779e-01 -1.07222216e-02 1.07653360e+02] [ 1.39945441e-02 4.19384495e-04 9.99901984e-01 4.59264983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.759254154 meters 0.018680764757731925 Centerline is valid? [True, True] Translation: X:1021.64, Y:107.70, Z:4.59 [[ 6.66582133e-01 -7.45363854e-01 -1.00491361e-02 1.02163662e+03] [ 7.45267877e-01 6.66657697e-01 -1.19711081e-02 1.07695593e+02] [ 1.56221652e-02 4.90428420e-04 9.99877846e-01 4.59238657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.819254154 meters 0.019590696939294723 Centerline is valid? [True, True] Translation: X:1021.68, Y:107.74, Z:4.59 [[ 6.63792046e-01 -7.47833444e-01 -1.11919826e-02 1.02167883e+03] [ 7.47714645e-01 6.63886214e-01 -1.33380816e-02 1.07737605e+02] [ 1.74048664e-02 4.85303205e-04 9.99848406e-01 4.58943484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.879254154 meters 0.018055696092039487 Centerline is valid? [True, True] Translation: X:1021.72, Y:107.78, Z:4.59 [[ 6.59199413e-01 -7.51885889e-01 -1.11240274e-02 1.02172221e+03] [ 7.51768983e-01 6.59293156e-01 -1.32639139e-02 1.07777736e+02] [ 1.73069448e-02 3.80865454e-04 9.99850151e-01 4.59039014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.939254154 meters 0.013380586220077128 Centerline is valid? [True, True] Translation: X:1021.77, Y:107.81, Z:4.60 [[ 6.48771358e-01 -7.60928023e-01 -9.17976295e-03 1.02177196e+03] [ 7.60849246e-01 6.48836288e-01 -1.09496976e-02 1.07812052e+02] [ 1.42880950e-02 1.19434440e-04 9.99897913e-01 4.59588216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.999254154 meters 0.01555104274168011 Centerline is valid? [True, True] Translation: X:1021.82, Y:107.85, Z:4.60 [[ 6.35459571e-01 -7.72088588e-01 -8.38727183e-03 1.02182253e+03] [ 7.72023712e-01 6.35514909e-01 -1.00094345e-02 1.07845205e+02] [ 1.30584065e-02 -1.14581759e-04 9.99914729e-01 4.59674866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.059254154 meters 0.014979831310459008 Centerline is valid? [True, True] Translation: X:1021.86, Y:107.89, Z:4.60 [[ 6.28430230e-01 -7.77838298e-01 -6.55966519e-03 1.02186459e+03] [ 7.77798896e-01 6.28464438e-01 -7.83116472e-03 1.07885685e+02] [ 1.02138961e-02 -1.80759698e-04 9.99947820e-01 4.60022064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.119254154 meters 0.016106429998299823 Centerline is valid? [True, True] Translation: X:1021.90, Y:107.93, Z:4.60 [[ 6.25387908e-01 -7.80279370e-01 -7.35310506e-03 1.02190148e+03] [ 7.80229999e-01 6.25431086e-01 -8.78097666e-03 1.07931131e+02] [ 1.14504754e-02 -2.45596521e-04 9.99934411e-01 4.59899295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.1792541539999 meters 0.019551478064188017 Centerline is valid? [True, True] Translation: X:1021.94, Y:107.97, Z:4.60 [[ 6.22990718e-01 -7.82180050e-01 -8.77128530e-03 1.02194002e+03] [ 7.82109946e-01 6.23052373e-01 -1.04772466e-02 1.07974994e+02] [ 1.36600634e-02 -3.32882074e-04 9.99906642e-01 4.59636224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.239254154 meters 0.016930997673211594 Centerline is valid? [True, True] Translation: X:1021.97, Y:108.02, Z:4.60 [[ 6.21296425e-01 -7.83532398e-01 -8.23001894e-03 1.02197322e+03] [ 7.83470774e-01 6.21350840e-01 -9.83258736e-03 1.08023230e+02] [ 1.28178799e-02 -3.39027933e-04 9.99917790e-01 4.59719909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.299254154 meters 0.017162001876240132 Centerline is valid? [True, True] Translation: X:1022.01, Y:108.07, Z:4.60 [[ 6.21795644e-01 -7.83144877e-01 -7.36737834e-03 1.02200679e+03] [ 7.83095443e-01 6.21839219e-01 -8.80415123e-03 1.08070416e+02] [ 1.14762507e-02 -2.94977517e-04 9.99934102e-01 4.59752855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.359254154 meters 0.016748821531751997 Centerline is valid? [True, True] Translation: X:1022.04, Y:108.12, Z:4.60 [[ 6.22531386e-01 -7.82563135e-01 -7.04366505e-03 1.02204199e+03] [ 7.82517874e-01 6.22571174e-01 -8.42082325e-03 1.08117375e+02] [ 1.09750087e-02 -2.69567026e-04 9.99939736e-01 4.59813196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.4192541539999 meters 0.01721283301435483 Centerline is valid? [True, True] Translation: X:1022.07, Y:108.17, Z:4.60 [[ 6.26021314e-01 -7.79785402e-01 -5.66053122e-03 1.02207290e+03] [ 7.79756030e-01 6.26046880e-01 -6.77039479e-03 1.08168373e+02] [ 8.82321293e-03 -1.75421912e-04 9.99961059e-01 4.59858008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.479254154 meters 0.014362782427150902 Centerline is valid? [True, True] Translation: X:1022.10, Y:108.22, Z:4.60 [[ 6.31717250e-01 -7.75187069e-01 -4.28077228e-03 1.02210031e+03] [ 7.75170149e-01 6.31731748e-01 -5.12239673e-03 1.08221272e+02] [ 6.67511546e-03 -8.24205089e-05 9.99977718e-01 4.59946341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.539254154 meters 0.013221836824136732 Centerline is valid? [True, True] Translation: X:1022.13, Y:108.28, Z:4.60 [[ 6.37484423e-01 -7.70450340e-01 -4.45909261e-03 1.02212772e+03] [ 7.70431843e-01 6.37500018e-01 -5.33873774e-03 1.08275051e+02] [ 6.95590392e-03 -3.20647858e-05 9.99975807e-01 4.59818347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.599254154 meters 0.01632021646599476 Centerline is valid? [True, True] Translation: X:1022.16, Y:108.33, Z:4.60 [[ 6.41504685e-01 -7.67099287e-01 -5.51573118e-03 1.02215672e+03] [ 7.67070825e-01 6.41528397e-01 -6.60791170e-03 1.08325923e+02] [ 8.60742253e-03 8.04984277e-06 9.99962955e-01 4.59541544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.6592541539999 meters 0.013317869213893064 Centerline is valid? [True, True] Translation: X:1022.19, Y:108.38, Z:4.60 [[ 6.44649175e-01 -7.64464863e-01 -4.57330889e-03 1.02218617e+03] [ 7.64445213e-01 6.44665395e-01 -5.48120167e-03 1.08376594e+02] [ 7.13844007e-03 3.74080457e-05 9.99974520e-01 4.59775702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.719254154 meters 0.016446239709518928 Centerline is valid? [True, True] Translation: X:1022.22, Y:108.42, Z:4.59 [[ 6.44665339e-01 -7.64446159e-01 -5.35440945e-03 1.02222020e+03] [ 7.64419199e-01 6.44687573e-01 -6.42039018e-03 1.08423876e+02] [ 8.35996385e-03 4.59896366e-05 9.99965054e-01 4.59450825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.779254154 meters 0.014502429528971022 Centerline is valid? [True, True] Translation: X:1022.25, Y:108.47, Z:4.60 [[ 6.45689915e-01 -7.63577989e-01 -5.76086853e-03 1.02225432e+03] [ 7.63546709e-01 6.45715611e-01 -6.91177348e-03 1.08471861e+02] [ 8.99756084e-03 6.41702200e-05 9.99959519e-01 4.59530216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.839254154 meters 0.01635948056855457 Centerline is valid? [True, True] Translation: X:1022.29, Y:108.52, Z:4.59 [[ 6.46645453e-01 -7.62752184e-01 -7.66572189e-03 1.02228842e+03] [ 7.62696698e-01 6.46690881e-01 -9.20060828e-03 1.08519492e+02] [ 1.19751365e-02 1.02910738e-04 9.99928290e-01 4.59202698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.899254154 meters 0.01674276652760601 Centerline is valid? [True, True] Translation: X:1022.32, Y:108.57, Z:4.59 [[ 6.47844140e-01 -7.61719766e-01 -8.99821997e-03 1.02232200e+03] [ 7.61643184e-01 6.47906611e-01 -1.08019929e-02 1.08566427e+02] [ 1.40580977e-02 1.44574859e-04 9.99901170e-01 4.58977818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.959254154 meters 0.01433433035027369 Centerline is valid? [True, True] Translation: X:1022.36, Y:108.61, Z:4.59 [[ 6.47190325e-01 -7.62283620e-01 -8.26841413e-03 1.02236093e+03] [ 7.62218951e-01 6.47243129e-01 -9.92991753e-03 1.08611121e+02] [ 1.29210877e-02 1.24204608e-04 9.99916512e-01 4.59369241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.019254154 meters 0.013537629743119157 Centerline is valid? [True, True] Translation: X:1022.40, Y:108.65, Z:4.60 [[ 6.42699333e-01 -7.66081201e-01 -7.56054741e-03 1.02240138e+03] [ 7.66027337e-01 6.42743800e-01 -9.08440193e-03 1.08653371e+02] [ 1.18188845e-02 4.69530517e-05 9.99930153e-01 4.59526174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.079254154 meters 0.013528978451006613 Centerline is valid? [True, True] Translation: X:1022.44, Y:108.69, Z:4.60 [[ 6.37043945e-01 -7.70794951e-01 -7.08209782e-03 1.02244254e+03] [ 7.70747927e-01 6.37083309e-01 -8.51416577e-03 1.08694546e+02] [ 1.10745623e-02 -3.46144602e-05 9.99938675e-01 4.59603064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.139254154 meters 0.016079730740295645 Centerline is valid? [True, True] Translation: X:1022.49, Y:108.73, Z:4.60 [[ 6.27767109e-01 -7.78371711e-01 -6.77756760e-03 1.02248796e+03] [ 7.78329046e-01 6.27803675e-01 -8.15123696e-03 1.08733014e+02] [ 1.05996741e-02 -1.58099260e-04 9.99943809e-01 4.59693123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.199254154 meters 0.019070732803069226 Centerline is valid? [True, True] Translation: X:1022.53, Y:108.77, Z:4.60 [[ 6.21238348e-01 -7.83592453e-01 -6.76621179e-03 1.02252966e+03] [ 7.83550212e-01 6.21275146e-01 -8.13994489e-03 1.08773340e+02] [ 1.05820786e-02 -2.44820760e-04 9.99943978e-01 4.59637234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.259254154 meters 0.018218633624652977 Centerline is valid? [True, True] Translation: X:1022.57, Y:108.82, Z:4.60 [[ 6.19643331e-01 -7.84848687e-01 -7.39459321e-03 1.02256815e+03] [ 7.84798279e-01 6.19687385e-01 -8.89983034e-03 1.08817527e+02] [ 1.15673563e-02 -2.88543504e-04 9.99933054e-01 4.59719109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.319254154 meters 0.017075785101799097 Centerline is valid? [True, True] Translation: X:1022.60, Y:108.86, Z:4.60 [[ 6.22169715e-01 -7.82845094e-01 -7.64227973e-03 1.02260438e+03] [ 7.82791067e-01 6.22216596e-01 -9.20074231e-03 1.08862371e+02] [ 1.19579093e-02 -2.57885083e-04 9.99928468e-01 4.59771059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.379254154 meters 0.0181510097093747 Centerline is valid? [True, True] Translation: X:1022.64, Y:108.91, Z:4.60 [[ 6.25930259e-01 -7.79834385e-01 -8.34522475e-03 1.02263794e+03] [ 7.79769641e-01 6.25985851e-01 -1.00509125e-02 1.08911727e+02] [ 1.30620398e-02 -2.16182647e-04 9.99914665e-01 4.59607790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.439254154 meters 0.015212043693322354 Centerline is valid? [True, True] Translation: X:1022.67, Y:108.96, Z:4.60 [[ 6.29999272e-01 -7.76557529e-01 -7.70198977e-03 1.02267276e+03] [ 7.76502105e-01 6.30046336e-01 -9.27879198e-03 1.08957798e+02] [ 1.20581262e-02 -1.34979072e-04 9.99927289e-01 4.59822258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.499254154 meters 0.015631196977151197 Centerline is valid? [True, True] Translation: X:1022.71, Y:109.01, Z:4.60 [[ 6.36466028e-01 -7.71262888e-01 -8.03450608e-03 1.02270622e+03] [ 7.71202119e-01 6.36516737e-01 -9.68168699e-03 1.09007142e+02] [ 1.25812235e-02 -3.41632600e-05 9.99920853e-01 4.59695546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.559254154 meters 0.016162607359565123 Centerline is valid? [True, True] Translation: X:1022.74, Y:109.06, Z:4.60 [[ 6.44762126e-01 -7.64337756e-01 -8.34236021e-03 1.02273787e+03] [ 7.64271596e-01 6.44816084e-01 -1.00570793e-02 1.09057227e+02] [ 1.30662935e-02 1.08594889e-04 9.99914626e-01 4.59700976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.619254154 meters 0.01625301796096015 Centerline is valid? [True, True] Translation: X:1022.77, Y:109.11, Z:4.60 [[ 6.54117866e-01 -7.56358718e-01 -7.16290430e-03 1.02276768e+03] [ 7.56309430e-01 6.54157042e-01 -8.63776610e-03 1.09107152e+02] [ 1.12189140e-02 2.32745061e-04 9.99937039e-01 4.59898236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.6792541539999 meters 0.019590877983158034 Centerline is valid? [True, True] Translation: X:1022.80, Y:109.16, Z:4.60 [[ 6.59639150e-01 -7.51551494e-01 -6.82236547e-03 1.02280065e+03] [ 7.51506488e-01 6.59674360e-01 -8.23023931e-03 1.09155532e+02] [ 1.06859882e-02 3.01936139e-04 9.99942858e-01 4.59921981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.739254154 meters 0.01964627854109183 Centerline is valid? [True, True] Translation: X:1022.84, Y:109.20, Z:4.60 [[ 6.59909251e-01 -7.51310984e-01 -7.18232450e-03 1.02284288e+03] [ 7.51261038e-01 6.59948255e-01 -8.66905527e-03 1.09197040e+02] [ 1.12531190e-02 3.24989211e-04 9.99936629e-01 4.59851872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.799254154 meters 0.017758306975201307 Centerline is valid? [True, True] Translation: X:1022.88, Y:109.24, Z:4.60 [[ 6.58749539e-01 -7.52338014e-01 -6.04620480e-03 1.02288288e+03] [ 7.52302630e-01 6.58777234e-01 -7.30125611e-03 1.09240650e+02] [ 9.47611460e-03 2.61123321e-04 9.99955067e-01 4.60079043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.859254154 meters 0.018562463691663034 Centerline is valid? [True, True] Translation: X:1022.92, Y:109.28, Z:4.60 [[ 6.57045017e-01 -7.53818185e-01 -7.07039246e-03 1.02292455e+03] [ 7.53769831e-01 6.57082996e-01 -8.54269771e-03 1.09282530e+02] [ 1.10854755e-02 2.83488424e-04 9.99938514e-01 4.59780499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.9192541539999 meters 0.019111810837119204 Centerline is valid? [True, True] Translation: X:1022.97, Y:109.32, Z:4.59 [[ 6.56986908e-01 -7.53845884e-01 -9.19707332e-03 1.02296582e+03] [ 7.53763980e-01 6.57051174e-01 -1.11183695e-02 1.09324943e+02] [ 1.44244849e-02 3.72200643e-04 9.99895892e-01 4.59420215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.979254154 meters 0.020403838434757505 Centerline is valid? [True, True] Translation: X:1023.01, Y:109.37, Z:4.59 [[ 6.56928186e-01 -7.53879677e-01 -1.05257779e-02 1.02300855e+03] [ 7.53772291e-01 6.57012366e-01 -1.27312665e-02 1.09366315e+02] [ 1.65134093e-02 4.29488089e-04 9.99863552e-01 4.59177624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.039254154 meters 0.01726400279306317 Centerline is valid? [True, True] Translation: X:1023.05, Y:109.41, Z:4.60 [[ 6.57002654e-01 -7.53825610e-01 -9.71912506e-03 1.02305068e+03] [ 7.53733948e-01 6.57074416e-01 -1.17621229e-02 1.09406632e+02] [ 1.52527779e-02 4.02111473e-04 9.99883589e-01 4.59547068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.099254154 meters 0.019314944942917488 Centerline is valid? [True, True] Translation: X:1023.10, Y:109.45, Z:4.59 [[ 6.56318452e-01 -7.54422608e-01 -9.62378413e-03 1.02309589e+03] [ 7.54332706e-01 6.56388892e-01 -1.16529659e-02 1.09446189e+02] [ 1.51082059e-02 3.88521420e-04 9.99885789e-01 4.59421058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.1592541539999 meters 0.018423464368412606 Centerline is valid? [True, True] Translation: X:1023.14, Y:109.49, Z:4.60 [[ 6.55864649e-01 -7.54829569e-01 -8.59556942e-03 1.02313716e+03] [ 7.54757818e-01 6.55920883e-01 -1.04130730e-02 1.09488715e+02] [ 1.34981089e-02 3.41993246e-04 9.99908838e-01 4.59593125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.219254154 meters 0.01659515323728486 Centerline is valid? [True, True] Translation: X:1023.18, Y:109.53, Z:4.60 [[ 6.54805334e-01 -7.55751307e-01 -8.36282376e-03 1.02318193e+03] [ 7.55683396e-01 6.54858657e-01 -1.01363138e-02 1.09528329e+02] [ 1.31370000e-02 3.17665305e-04 9.99913655e-01 4.59743536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.279254154 meters 0.017084421199751898 Centerline is valid? [True, True] Translation: X:1023.22, Y:109.57, Z:4.60 [[ 6.55043946e-01 -7.55550090e-01 -7.84157262e-03 1.02321995e+03] [ 7.55490301e-01 6.55090810e-01 -9.50978164e-03 1.09572610e+02] [ 1.23220585e-02 3.05092836e-04 9.99924034e-01 4.59825992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.339254154 meters 0.019408722630191735 Centerline is valid? [True, True] Translation: X:1023.25, Y:109.62, Z:4.60 [[ 6.55624859e-01 -7.55034748e-01 -8.86423760e-03 1.02325418e+03] [ 7.54958250e-01 6.55684682e-01 -1.07535938e-02 1.09619331e+02] [ 1.39314818e-02 3.58194084e-04 9.99902888e-01 4.59571234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.399254154 meters 0.017738012372248896 Centerline is valid? [True, True] Translation: X:1023.29, Y:109.67, Z:4.60 [[ 6.55487315e-01 -7.55152605e-01 -8.99572780e-03 1.02328893e+03] [ 7.55073761e-01 6.55548938e-01 -1.09181011e-02 1.09665923e+02] [ 1.41419723e-02 3.64238761e-04 9.99899931e-01 4.59653555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.459254154 meters 0.01637560078218857 Centerline is valid? [True, True] Translation: X:1023.33, Y:109.71, Z:4.60 [[ 6.54223128e-01 -7.56250397e-01 -8.79978434e-03 1.02332831e+03] [ 7.56174969e-01 6.54282220e-01 -1.06860834e-02 1.09709746e+02] [ 1.38388972e-02 3.36906246e-04 9.99904181e-01 4.59806189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.519254154 meters 0.016331510421596418 Centerline is valid? [True, True] Translation: X:1023.37, Y:109.76, Z:4.60 [[ 6.53275033e-01 -7.57072912e-01 -8.50507622e-03 1.02336628e+03] [ 7.57002450e-01 6.53330321e-01 -1.03335901e-02 1.09755190e+02] [ 1.33799053e-02 3.12312869e-04 9.99910436e-01 4.59820534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.579254154 meters 0.016025925467589474 Centerline is valid? [True, True] Translation: X:1023.40, Y:109.80, Z:4.60 [[ 6.51125870e-01 -7.58921395e-01 -8.56847272e-03 1.02340385e+03] [ 7.58849995e-01 6.51182186e-01 -1.04137087e-02 1.09799045e+02] [ 1.34828231e-02 2.78449640e-04 9.99909064e-01 4.59718683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.639254154 meters 0.01704867480197202 Centerline is valid? [True, True] Translation: X:1023.44, Y:109.84, Z:4.60 [[ 6.48237431e-01 -7.61384866e-01 -9.01772529e-03 1.02344289e+03] [ 7.61305956e-01 6.48300106e-01 -1.09642325e-02 1.09843151e+02] [ 1.41941930e-02 2.42177951e-04 9.99899228e-01 4.59509111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.699254154 meters 0.015189665005953 Centerline is valid? [True, True] Translation: X:1023.48, Y:109.89, Z:4.60 [[ 6.47735360e-01 -7.61827106e-01 -7.63959314e-03 1.02348152e+03] [ 7.61770450e-01 6.47780380e-01 -9.29310261e-03 1.09888129e+02] [ 1.20285160e-02 1.99854867e-04 9.99927635e-01 4.59862565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.759254154 meters 0.015448002807080195 Centerline is valid? [True, True] Translation: X:1023.52, Y:109.93, Z:4.60 [[ 6.48758132e-01 -7.60951743e-01 -8.08280986e-03 1.02351779e+03] [ 7.60888188e-01 6.48808440e-01 -9.83738172e-03 1.09934170e+02] [ 1.27299680e-02 2.31966841e-04 9.99918944e-01 4.59834403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.819254154 meters 0.01604469010070779 Centerline is valid? [True, True] Translation: X:1023.55, Y:109.98, Z:4.60 [[ 6.49581557e-01 -7.60247043e-01 -8.26036286e-03 1.02355386e+03] [ 7.60180542e-01 6.49634026e-01 -1.00586200e-02 1.09981377e+02] [ 1.30132489e-02 2.54526936e-04 9.99915292e-01 4.59743022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.879254154 meters 0.016343705333542076 Centerline is valid? [True, True] Translation: X:1023.59, Y:110.03, Z:4.60 [[ 6.49756117e-01 -7.60094843e-01 -8.53332325e-03 1.02359105e+03] [ 7.60023789e-01 6.49812094e-01 -1.03962821e-02 1.10027277e+02] [ 1.34472171e-02 2.69519235e-04 9.99909546e-01 4.59718353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.939254154 meters 0.015714547510072105 Centerline is valid? [True, True] Translation: X:1023.63, Y:110.07, Z:4.60 [[ 6.49657414e-01 -7.60171040e-01 -9.23223715e-03 1.02362943e+03] [ 7.60087792e-01 6.49722943e-01 -1.12536992e-02 1.10072584e+02] [ 1.45531326e-02 2.93738391e-04 9.99894054e-01 4.59758807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.999254154 meters 0.015837370648531524 Centerline is valid? [True, True] Translation: X:1023.67, Y:110.12, Z:4.60 [[ 6.48899944e-01 -7.60817091e-01 -9.28524792e-03 1.02366645e+03] [ 7.60732864e-01 6.48966311e-01 -1.13241530e-02 1.10118331e+02] [ 1.46414222e-02 2.84649000e-04 9.99892768e-01 4.59753003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.059254154 meters 0.016436509015059574 Centerline is valid? [True, True] Translation: X:1023.70, Y:110.16, Z:4.60 [[ 6.47656223e-01 -7.61865458e-01 -1.01212646e-02 1.02370254e+03] [ 7.61765434e-01 6.47735240e-01 -1.23483571e-02 1.10163445e+02] [ 1.59636865e-02 2.87460813e-04 9.99872531e-01 4.59594746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.119254154 meters 0.01486803413650962 Centerline is valid? [True, True] Translation: X:1023.74, Y:110.21, Z:4.60 [[ 6.45028317e-01 -7.64084028e-01 -1.06802733e-02 1.02374445e+03] [ 7.63972851e-01 6.45116683e-01 -1.30363905e-02 1.10205768e+02] [ 1.68509203e-02 2.49402184e-04 9.99857982e-01 4.59720552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.1792541539999 meters 0.01528601996134845 Centerline is valid? [True, True] Translation: X:1023.79, Y:110.25, Z:4.60 [[ 6.40883100e-01 -7.67557001e-01 -1.11849455e-02 1.02378555e+03] [ 7.67435464e-01 6.40980672e-01 -1.36596682e-02 1.10248681e+02] [ 1.76539078e-02 1.70526683e-04 9.99844143e-01 4.59792443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.239254154 meters 0.01409245601729776 Centerline is valid? [True, True] Translation: X:1023.82, Y:110.29, Z:4.60 [[ 6.36930667e-01 -7.70849038e-01 -1.05396994e-02 1.02382416e+03] [ 7.70741458e-01 6.37017860e-01 -1.28783161e-02 1.10293072e+02] [ 1.66412144e-02 7.92111821e-05 9.99861522e-01 4.59995490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.299254154 meters 0.018053979791493993 Centerline is valid? [True, True] Translation: X:1023.86, Y:110.34, Z:4.59 [[ 6.33968358e-01 -7.73271840e-01 -1.16095965e-02 1.02386213e+03] [ 7.73141624e-01 6.34074649e-01 -1.41904079e-02 1.10337149e+02] [ 1.83343937e-02 2.04073445e-05 9.99831911e-01 4.59394315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.359254154 meters 0.014086511511124654 Centerline is valid? [True, True] Translation: X:1023.90, Y:110.38, Z:4.60 [[ 6.34354455e-01 -7.72958118e-01 -1.14093718e-02 1.02389788e+03] [ 7.72832188e-01 6.34457049e-01 -1.39521687e-02 1.10383030e+02] [ 1.80231984e-02 3.30905770e-05 9.99837568e-01 4.59818372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.4192541539999 meters 0.013755768610606388 Centerline is valid? [True, True] Translation: X:1023.93, Y:110.43, Z:4.60 [[ 6.35258427e-01 -7.72217836e-01 -1.12402684e-02 1.02393198e+03] [ 7.72095357e-01 6.35357859e-01 -1.37531798e-02 1.10430672e+02] [ 1.77620436e-02 5.82643415e-05 9.99842241e-01 4.60090340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.479254154 meters 0.013885357797585015 Centerline is valid? [True, True] Translation: X:1023.97, Y:110.48, Z:4.60 [[ 6.36780466e-01 -7.70966087e-01 -1.10421958e-02 1.02396571e+03] [ 7.70847563e-01 6.36876191e-01 -1.35185850e-02 1.10478720e+02] [ 1.74548821e-02 9.65211576e-05 9.99847647e-01 4.60179887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.539254154 meters 0.01585717335554329 Centerline is valid? [True, True] Translation: X:1024.00, Y:110.53, Z:4.60 [[ 6.38507665e-01 -7.69525587e-01 -1.17614565e-02 1.02400030e+03] [ 7.69390726e-01 6.38615963e-01 -1.44070130e-02 1.10526021e+02] [ 1.85976191e-02 1.49832661e-04 9.99827038e-01 4.60147522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.599254154 meters 0.016942826866870014 Centerline is valid? [True, True] Translation: X:1024.03, Y:110.57, Z:4.60 [[ 6.41754977e-01 -7.66815845e-01 -1.20004073e-02 1.02403286e+03] [ 7.66674898e-01 6.41867124e-01 -1.47036197e-02 1.10573914e+02] [ 1.89776355e-02 2.35710059e-04 9.99819881e-01 4.60018302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.6592541539999 meters 0.01576486913603184 Centerline is valid? [True, True] Translation: X:1024.07, Y:110.62, Z:4.60 [[ 6.45559286e-01 -7.63634046e-01 -1.07820046e-02 1.02406720e+03] [ 7.63519728e-01 6.45649250e-01 -1.32163209e-02 1.10622381e+02] [ 1.70538258e-02 2.99645491e-04 9.99854528e-01 4.60300544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.719254154 meters 0.01586347084864022 Centerline is valid? [True, True] Translation: X:1024.10, Y:110.67, Z:4.60 [[ 6.46834799e-01 -7.62560318e-01 -1.03200893e-02 1.02410420e+03] [ 7.62455343e-01 6.46917043e-01 -1.26565744e-02 1.10668464e+02] [ 1.63276430e-02 3.18105549e-04 9.99866645e-01 4.60458670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.779254154 meters 0.017047504726856243 Centerline is valid? [True, True] Translation: X:1024.14, Y:110.71, Z:4.60 [[ 6.47510645e-01 -7.61995062e-01 -9.66901144e-03 1.02414090e+03] [ 7.61902760e-01 6.47582756e-01 -1.18641746e-02 1.10714730e+02] [ 1.53019276e-02 3.15332881e-04 9.99882869e-01 4.60399514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.839254154 meters 0.016079063447424862 Centerline is valid? [True, True] Translation: X:1024.18, Y:110.76, Z:4.61 [[ 6.48896732e-01 -7.60822274e-01 -9.08285588e-03 1.02417789e+03] [ 7.60740625e-01 6.48960215e-01 -1.11507641e-02 1.10760297e+02] [ 1.43781618e-02 3.25996916e-04 9.99896576e-01 4.60605639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.899254154 meters 0.016749996121937134 Centerline is valid? [True, True] Translation: X:1024.21, Y:110.81, Z:4.60 [[ 6.49991374e-01 -7.59882380e-01 -9.48588012e-03 1.02421304e+03] [ 7.59793172e-01 6.50060486e-01 -1.16490037e-02 1.10806889e+02] [ 1.50182685e-02 3.64444981e-04 9.99887153e-01 4.60455219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.959254154 meters 0.018188599040533108 Centerline is valid? [True, True] Translation: X:1024.25, Y:110.85, Z:4.60 [[ 6.50771869e-01 -7.59194482e-01 -1.09413472e-02 1.02424955e+03] [ 7.59075654e-01 6.50863691e-01 -1.34390080e-02 1.10852501e+02] [ 1.73241464e-02 4.40418041e-04 9.99849829e-01 4.60165817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.019254154 meters 0.020592198485840096 Centerline is valid? [True, True] Translation: X:1024.28, Y:110.90, Z:4.60 [[ 6.52983416e-01 -7.57265656e-01 -1.27037186e-02 1.02428444e+03] [ 7.57104964e-01 6.53106726e-01 -1.56101628e-02 1.10899728e+02] [ 2.01179242e-02 5.75128989e-04 9.99797449e-01 4.59829966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.079254154 meters 0.019561951675638897 Centerline is valid? [True, True] Translation: X:1024.32, Y:110.95, Z:4.60 [[ 6.55675140e-01 -7.54931888e-01 -1.29597488e-02 1.02432105e+03] [ 7.54764033e-01 6.55802869e-01 -1.59327424e-02 1.10946294e+02] [ 2.05271757e-02 6.65150834e-04 9.99789074e-01 4.60081192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.139254154 meters 0.018413359016404156 Centerline is valid? [True, True] Translation: X:1024.36, Y:110.99, Z:4.60 [[ 6.54723340e-01 -7.55768992e-01 -1.22710979e-02 1.02436160e+03] [ 7.55618497e-01 6.54838040e-01 -1.50939834e-02 1.10989641e+02] [ 1.94431463e-02 6.10114638e-04 9.99810778e-01 4.60280223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.199254154 meters 0.01908291059167669 Centerline is valid? [True, True] Translation: X:1024.40, Y:111.03, Z:4.60 [[ 6.53383925e-01 -7.56927893e-01 -1.22315829e-02 1.02439980e+03] [ 7.56778413e-01 6.53498148e-01 -1.50533480e-02 1.11034192e+02] [ 1.93876158e-02 5.79017679e-04 9.99811875e-01 4.60270711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.259254154 meters 0.017494309655040643 Centerline is valid? [True, True] Translation: X:1024.44, Y:111.08, Z:4.61 [[ 6.50691010e-01 -7.59274127e-01 -1.01984676e-02 1.02444137e+03] [ 7.59170403e-01 6.50770786e-01 -1.25571809e-02 1.11076622e+02] [ 1.61712073e-02 4.28469901e-04 9.99869146e-01 4.60635279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.319254154 meters 0.016769825569425197 Centerline is valid? [True, True] Translation: X:1024.48, Y:111.12, Z:4.61 [[ 6.47550176e-01 -7.61965666e-01 -9.33237636e-03 1.02448289e+03] [ 7.61879009e-01 6.47617334e-01 -1.14962495e-02 1.11119207e+02] [ 1.48035561e-02 3.34256711e-04 9.99890365e-01 4.60816518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.379254154 meters 0.016721618422961177 Centerline is valid? [True, True] Translation: X:1024.52, Y:111.16, Z:4.61 [[ 6.46764073e-01 -7.62634806e-01 -9.18623433e-03 1.02452064e+03] [ 7.62550826e-01 6.46829229e-01 -1.13219518e-02 1.11163760e+02] [ 1.45764393e-02 3.17661055e-04 9.99893708e-01 4.60861445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.439254154 meters 0.016909609829992685 Centerline is valid? [True, True] Translation: X:1024.56, Y:111.21, Z:4.61 [[ 6.47427383e-01 -7.62062670e-01 -9.91314774e-03 1.02455800e+03] [ 7.61964704e-01 6.47503171e-01 -1.22243228e-02 1.11209292e+02] [ 1.57344947e-02 3.60892665e-04 9.99876140e-01 4.60773908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.499254154 meters 0.017481792147543404 Centerline is valid? [True, True] Translation: X:1024.59, Y:111.26, Z:4.61 [[ 6.49474568e-01 -7.60305583e-01 -1.08722573e-02 1.02459439e+03] [ 7.60187372e-01 6.49565409e-01 -1.34141647e-02 1.11255323e+02] [ 1.72611066e-02 4.47206120e-04 9.99850916e-01 4.60703721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.559254154 meters 0.018288757699310272 Centerline is valid? [True, True] Translation: X:1024.63, Y:111.30, Z:4.61 [[ 6.50616267e-01 -7.59323925e-01 -1.12094240e-02 1.02462987e+03] [ 7.59198055e-01 6.50712638e-01 -1.38338955e-02 1.11301307e+02] [ 1.77985216e-02 4.90384553e-04 9.99841474e-01 4.60586698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.619254154 meters 0.01762909127502136 Centerline is valid? [True, True] Translation: X:1024.67, Y:111.34, Z:4.61 [[ 6.49994629e-01 -7.59863557e-01 -1.06937800e-02 1.02466939e+03] [ 7.59748978e-01 6.50082429e-01 -1.32032349e-02 1.11344550e+02] [ 1.69844956e-02 4.57443321e-04 9.99855648e-01 4.60792960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.6792541539999 meters 0.01905568620918323 Centerline is valid? [True, True] Translation: X:1024.71, Y:111.39, Z:4.61 [[ 6.48481271e-01 -7.61157439e-01 -1.05543443e-02 1.02470717e+03] [ 7.61045886e-01 6.48567016e-01 -1.30378264e-02 1.11389559e+02] [ 1.67690382e-02 4.22445982e-04 9.99859301e-01 4.60735264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.739254154 meters 0.018060130551279797 Centerline is valid? [True, True] Translation: X:1024.74, Y:111.43, Z:4.61 [[ 6.49361593e-01 -7.60429782e-01 -8.72175737e-03 1.02474364e+03] [ 7.60353460e-01 6.49420058e-01 -1.07798056e-02 1.11434262e+02] [ 1.38613694e-02 3.68373304e-04 9.99903859e-01 4.61200964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.799254154 meters 0.018075215662790984 Centerline is valid? [True, True] Translation: X:1024.78, Y:111.48, Z:4.61 [[ 6.49822323e-01 -7.60032872e-01 -8.99897756e-03 1.02478038e+03] [ 7.59951496e-01 6.49884512e-01 -1.11285087e-02 1.11480488e+02] [ 1.43063286e-02 3.92766905e-04 9.99897582e-01 4.61239206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.859254154 meters 0.01991820571796305 Centerline is valid? [True, True] Translation: X:1024.81, Y:111.53, Z:4.61 [[ 6.51140582e-01 -7.58898341e-01 -9.44719903e-03 1.02481302e+03] [ 7.58808487e-01 6.51208963e-01 -1.16861663e-02 1.11528855e+02] [ 1.50207129e-02 4.40722357e-04 9.99887086e-01 4.61109124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.9192541539999 meters 0.02073404209193594 Centerline is valid? [True, True] Translation: X:1024.85, Y:111.58, Z:4.61 [[ 6.53516115e-01 -7.56849998e-01 -9.73486329e-03 1.02484758e+03] [ 7.56754279e-01 6.53588421e-01 -1.20473130e-02 1.11575847e+02] [ 1.54806027e-02 5.06213722e-04 9.99880040e-01 4.61158242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.979254154 meters 0.020433544015331078 Centerline is valid? [True, True] Translation: X:1024.88, Y:111.62, Z:4.61 [[ 6.54570725e-01 -7.55935970e-01 -9.89822427e-03 1.02488433e+03] [ 7.55836805e-01 6.54645336e-01 -1.22559175e-02 1.11621627e+02] [ 1.57445152e-02 5.40922583e-04 9.99875901e-01 4.61258391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.039254154 meters 0.021147608903215966 Centerline is valid? [True, True] Translation: X:1024.92, Y:111.67, Z:4.61 [[ 6.55962615e-01 -7.54724532e-01 -1.01945923e-02 1.02491978e+03] [ 7.54619086e-01 6.56041562e-01 -1.26294470e-02 1.11668485e+02] [ 1.62198298e-02 5.91411138e-04 9.99868275e-01 4.61354321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.099254154 meters 0.02115655603192512 Centerline is valid? [True, True] Translation: X:1024.96, Y:111.71, Z:4.61 [[ 6.54421653e-01 -7.56052755e-01 -1.07949485e-02 1.02495735e+03] [ 7.55934582e-01 6.54510409e-01 -1.33802903e-02 1.11713516e+02] [ 1.71816115e-02 5.96076852e-04 9.99852208e-01 4.61252426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.1592541539999 meters 0.02044694110924631 Centerline is valid? [True, True] Translation: X:1024.99, Y:111.76, Z:4.61 [[ 6.52254581e-01 -7.57925544e-01 -1.06221916e-02 1.02499373e+03] [ 7.57811292e-01 6.52340844e-01 -1.31707419e-02 1.11758070e+02] [ 1.69117312e-02 5.41060022e-04 9.99856840e-01 4.61326312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.219254154 meters 0.021755128831541896 Centerline is valid? [True, True] Translation: X:1025.03, Y:111.80, Z:4.61 [[ 6.48584731e-01 -7.61064923e-01 -1.08641815e-02 1.02502957e+03] [ 7.60945764e-01 6.48675543e-01 -1.34753495e-02 1.11802651e+02] [ 1.73029447e-02 4.72852998e-04 9.99850181e-01 4.61132200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.279254154 meters 0.018721690252397328 Centerline is valid? [True, True] Translation: X:1025.07, Y:111.85, Z:4.61 [[ 6.47397024e-01 -7.62085992e-01 -1.01012249e-02 1.02506819e+03] [ 7.61983015e-01 6.47475688e-01 -1.25346528e-02 1.11847457e+02] [ 1.60927809e-02 4.17935079e-04 9.99870415e-01 4.61426834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.339254154 meters 0.01574721129843298 Centerline is valid? [True, True] Translation: X:1025.11, Y:111.89, Z:4.62 [[ 6.44034577e-01 -7.64923219e-01 -1.05798467e-02 1.02510950e+03] [ 7.64810515e-01 6.44121366e-01 -1.31355673e-02 1.11890127e+02] [ 1.68624058e-02 3.68181519e-04 9.99857752e-01 4.61630148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.399254154 meters 0.014913934736791203 Centerline is valid? [True, True] Translation: X:1025.15, Y:111.94, Z:4.62 [[ 6.40603491e-01 -7.67804281e-01 -1.01859634e-02 1.02514672e+03] [ 7.67700066e-01 6.40684403e-01 -1.26532260e-02 1.11935813e+02] [ 1.62411890e-02 2.85936020e-04 9.99868062e-01 4.61671312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.459254154 meters 0.014437132555070257 Centerline is valid? [True, True] Translation: X:1025.18, Y:111.98, Z:4.62 [[ 6.37321373e-01 -7.70538593e-01 -9.57832407e-03 1.02518336e+03] [ 7.70446655e-01 6.37393311e-01 -1.19045646e-02 1.11981138e+02] [ 1.52780861e-02 2.07445688e-04 9.99883262e-01 4.61666782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.519254154 meters 0.014039114217974087 Centerline is valid? [True, True] Translation: X:1025.22, Y:112.03, Z:4.62 [[ 6.35264350e-01 -7.72234409e-01 -9.65515713e-03 1.02522126e+03] [ 7.72141087e-01 6.35337696e-01 -1.20064120e-02 1.12026038e+02] [ 1.54060498e-02 1.72102005e-04 9.99881305e-01 4.61728391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.579254154 meters 0.013760824640827281 Centerline is valid? [True, True] Translation: X:1025.26, Y:112.07, Z:4.62 [[ 6.33047571e-01 -7.74050597e-01 -9.82069597e-03 1.02525755e+03] [ 7.73954210e-01 6.33123729e-01 -1.22157435e-02 1.12071120e+02] [ 1.56733192e-02 1.32377735e-04 9.99877157e-01 4.61678417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.639254154 meters 0.015394421528231944 Centerline is valid? [True, True] Translation: X:1025.29, Y:112.12, Z:4.62 [[ 6.32067581e-01 -7.74850679e-01 -9.84876405e-03 1.02529200e+03] [ 7.74753787e-01 6.32144297e-01 -1.22538824e-02 1.12117231e+02] [ 1.57207691e-02 1.14914574e-04 9.99876414e-01 4.61594941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.699254154 meters 0.013505553421776366 Centerline is valid? [True, True] Translation: X:1025.33, Y:112.16, Z:4.62 [[ 6.32146566e-01 -7.74805225e-01 -8.22080624e-03 1.02532707e+03] [ 7.74737658e-01 6.32200010e-01 -1.02326817e-02 1.12164415e+02] [ 1.31255290e-02 9.95864045e-05 9.99913852e-01 4.61953830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.759254154 meters 0.015342962836779047 Centerline is valid? [True, True] Translation: X:1025.36, Y:112.21, Z:4.62 [[ 6.30292574e-01 -7.76321082e-01 -7.53978076e-03 1.02536196e+03] [ 7.76264297e-01 6.30337666e-01 -9.38976994e-03 1.12212078e+02] [ 1.20420842e-02 6.54396474e-05 9.99927489e-01 4.61991851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.819254154 meters 0.014177184342576057 Centerline is valid? [True, True] Translation: X:1025.40, Y:112.26, Z:4.62 [[ 6.29740858e-01 -7.76772620e-01 -7.12384186e-03 1.02539599e+03] [ 7.76721917e-01 6.29781148e-01 -8.87520372e-03 1.12258482e+02] [ 1.13804765e-02 5.58343021e-05 9.99935239e-01 4.62070407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.879254154 meters 0.014624738609113386 Centerline is valid? [True, True] Translation: X:1025.43, Y:112.31, Z:4.62 [[ 6.28571138e-01 -7.77711015e-01 -7.99384424e-03 1.02542927e+03] [ 7.77647182e-01 6.28621965e-01 -9.96419311e-03 1.12306828e+02] [ 1.27743688e-02 4.68137492e-05 9.99918403e-01 4.61959497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.939254154 meters 0.013476822269413796 Centerline is valid? [True, True] Translation: X:1025.46, Y:112.36, Z:4.62 [[ 6.28832865e-01 -7.77489995e-01 -8.86204323e-03 1.02546202e+03] [ 7.77411433e-01 6.28895305e-01 -1.10525859e-02 1.12355915e+02] [ 1.41665724e-02 6.07755540e-05 9.99899647e-01 4.61870361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.999254154 meters 0.013420156044762243 Centerline is valid? [True, True] Translation: X:1025.49, Y:112.40, Z:4.62 [[ 6.28586034e-01 -7.77687585e-01 -9.03426449e-03 1.02549458e+03] [ 7.77605867e-01 6.28650949e-01 -1.12738612e-02 1.12403812e+02] [ 1.44469409e-02 6.14946513e-05 9.99895636e-01 4.61935830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.059254154 meters 0.01332937790844672 Centerline is valid? [True, True] Translation: X:1025.53, Y:112.45, Z:4.62 [[ 6.27963860e-01 -7.78189386e-01 -9.09225849e-03 1.02552983e+03] [ 7.78106569e-01 6.28029678e-01 -1.13530297e-02 1.12449400e+02] [ 1.45450154e-02 5.45463143e-05 9.99894214e-01 4.61992968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.119254154 meters 0.01330159771698965 Centerline is valid? [True, True] Translation: X:1025.56, Y:112.50, Z:4.62 [[ 6.26042467e-01 -7.79736244e-01 -9.06752892e-03 1.02556415e+03] [ 7.79653940e-01 6.26108129e-01 -1.13289171e-02 1.12495876e+02] [ 1.45108209e-02 2.28485797e-05 9.99894712e-01 4.62106683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.1792541539999 meters 0.015949299606318565 Centerline is valid? [True, True] Translation: X:1025.60, Y:112.54, Z:4.62 [[ 6.23700286e-01 -7.81613290e-01 -8.86670336e-03 1.02559810e+03] [ 7.81534688e-01 6.23763309e-01 -1.10845340e-02 1.12543478e+02] [ 1.41945433e-02 -1.62091917e-05 9.99899252e-01 4.61978454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.239254154 meters 0.013384969520542689 Centerline is valid? [True, True] Translation: X:1025.63, Y:112.59, Z:4.62 [[ 6.23317323e-01 -7.81920639e-01 -8.69652759e-03 1.02563027e+03] [ 7.81844986e-01 6.23377986e-01 -1.08767437e-02 1.12591147e+02] [ 1.39259742e-02 -1.96737287e-05 9.99903029e-01 4.62092804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.299254154 meters 0.016933498905597925 Centerline is valid? [True, True] Translation: X:1025.66, Y:112.64, Z:4.62 [[ 6.23886608e-01 -7.81449080e-01 -1.01407648e-02 1.02566317e+03] [ 7.81346044e-01 6.23969018e-01 -1.26895367e-02 1.12640573e+02] [ 1.62437498e-02 -6.61442837e-06 9.99868062e-01 4.61901663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.359254154 meters 0.013906536860173332 Centerline is valid? [True, True] Translation: X:1025.69, Y:112.69, Z:4.62 [[ 6.27445701e-01 -7.78596299e-01 -9.98480430e-03 1.02569272e+03] [ 7.78495929e-01 6.27525138e-01 -1.25016270e-02 1.12691121e+02] [ 1.59994362e-02 7.09626287e-05 9.99871998e-01 4.62070891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.4192541539999 meters 0.015688347857966443 Centerline is valid? [True, True] Translation: X:1025.72, Y:112.74, Z:4.62 [[ 6.30649172e-01 -7.75985797e-01 -1.12988856e-02 1.02572121e+03] [ 7.75856768e-01 6.30750361e-01 -1.41512703e-02 1.12741978e+02] [ 1.81079609e-02 1.58170056e-04 9.99836025e-01 4.61788653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.479254154 meters 0.014258010361064994 Centerline is valid? [True, True] Translation: X:1025.75, Y:112.79, Z:4.62 [[ 6.32535276e-01 -7.74460836e-01 -1.04660215e-02 1.02575415e+03] [ 7.74349827e-01 6.32621828e-01 -1.31136757e-02 1.12790937e+02] [ 1.67770619e-02 1.90500559e-04 9.99859237e-01 4.62000118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.539254154 meters 0.016365669953846602 Centerline is valid? [True, True] Translation: X:1025.79, Y:112.84, Z:4.62 [[ 6.32377925e-01 -7.74592334e-01 -1.02408795e-02 1.02578879e+03] [ 7.74485949e-01 6.32460814e-01 -1.28387926e-02 1.12838021e+02] [ 1.64217853e-02 1.87551783e-04 9.99865136e-01 4.61957869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.599254154 meters 0.017726067758789127 Centerline is valid? [True, True] Translation: X:1025.82, Y:112.88, Z:4.62 [[ 6.32631818e-01 -7.74392831e-01 -9.62942888e-03 1.02582361e+03] [ 7.74298640e-01 6.32705072e-01 -1.20792233e-02 1.12884913e+02] [ 1.54466524e-02 1.85647278e-04 9.99880676e-01 4.62023861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.6592541539999 meters 0.01431919953651161 Centerline is valid? [True, True] Translation: X:1025.86, Y:112.93, Z:4.62 [[ 6.34123853e-01 -7.73182076e-01 -8.74161399e-03 1.02585916e+03] [ 7.73104257e-01 6.34184072e-01 -1.09713313e-02 1.12931365e+02] [ 1.40266291e-02 1.99003915e-04 9.99901602e-01 4.62307929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.719254154 meters 0.014904469055282352 Centerline is valid? [True, True] Translation: X:1025.89, Y:112.98, Z:4.62 [[ 6.37148044e-01 -7.70682429e-01 -9.53745596e-03 1.02589328e+03] [ 7.70589458e-01 6.37219362e-01 -1.19738139e-02 1.12978915e+02] [ 1.53054596e-02 2.79629079e-04 9.99882825e-01 4.62246671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.779254154 meters 0.019447851890053866 Centerline is valid? [True, True] Translation: X:1025.93, Y:113.03, Z:4.62 [[ 6.40156801e-01 -7.68167974e-01 -1.08274732e-02 1.02592620e+03] [ 7.68047703e-01 6.40248243e-01 -1.35982388e-02 1.13027193e+02] [ 1.73780023e-02 3.88989158e-04 9.99848915e-01 4.61874020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.839254154 meters 0.017341107684662297 Centerline is valid? [True, True] Translation: X:1025.96, Y:113.07, Z:4.62 [[ 6.43131130e-01 -7.65695471e-01 -9.63296561e-03 1.02596121e+03] [ 7.65599954e-01 6.43203140e-01 -1.21008882e-02 1.13073811e+02] [ 1.54615490e-02 4.07459868e-04 9.99880380e-01 4.62172543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.899254154 meters 0.018598295783828225 Centerline is valid? [True, True] Translation: X:1026.00, Y:113.12, Z:4.62 [[ 6.45781493e-01 -7.63465055e-01 -9.34732827e-03 1.02599709e+03] [ 7.63374812e-01 6.45848982e-01 -1.17469145e-02 1.13120970e+02] [ 1.50053212e-02 4.50425058e-04 9.99887312e-01 4.62274146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.959254154 meters 0.02089161882750086 Centerline is valid? [True, True] Translation: X:1026.03, Y:113.17, Z:4.62 [[ 6.47186887e-01 -7.62268933e-01 -9.75741864e-03 1.02603342e+03] [ 7.62170361e-01 6.47260242e-01 -1.22686517e-02 1.13167167e+02] [ 1.56676012e-02 5.03295194e-04 9.99877129e-01 4.62120091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.019254154 meters 0.01870355348666145 Centerline is valid? [True, True] Translation: X:1026.07, Y:113.21, Z:4.62 [[ 6.48391105e-01 -7.61246891e-01 -9.59922992e-03 1.02607423e+03] [ 7.61151280e-01 6.48461947e-01 -1.20760923e-02 1.13209517e+02] [ 1.54176231e-02 5.23564720e-04 9.99881004e-01 4.62343812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.079254154 meters 0.01869525084511497 Centerline is valid? [True, True] Translation: X:1026.11, Y:113.25, Z:4.63 [[ 6.48223021e-01 -7.61400786e-01 -8.70394483e-03 1.02611371e+03] [ 7.61322113e-01 6.48281279e-01 -1.09554700e-02 1.13253154e+02] [ 1.39841079e-02 4.75082165e-04 9.99902105e-01 4.62510193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.139254154 meters 0.021571364955313307 Centerline is valid? [True, True] Translation: X:1026.15, Y:113.30, Z:4.62 [[ 6.46736524e-01 -7.62660994e-01 -8.94856495e-03 1.02615408e+03] [ 7.62577899e-01 6.46798264e-01 -1.12673993e-02 1.13296794e+02] [ 1.43811222e-02 4.63060804e-04 9.99896479e-01 4.62310558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.199254154 meters 0.02180724106381327 Centerline is valid? [True, True] Translation: X:1026.20, Y:113.34, Z:4.62 [[ 6.41840887e-01 -7.66779043e-01 -9.49599950e-03 1.02619556e+03] [ 7.66685831e-01 6.41911007e-01 -1.19622891e-02 1.13338011e+02] [ 1.52680192e-02 3.97437958e-04 9.99883358e-01 4.62156377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.259254154 meters 0.016601769026354102 Centerline is valid? [True, True] Translation: X:1026.24, Y:113.38, Z:4.62 [[ 6.33437749e-01 -7.73735878e-01 -9.45563730e-03 1.02624227e+03] [ 7.73644156e-01 6.33508277e-01 -1.19156564e-02 1.13375723e+02] [ 1.52097954e-02 2.32528040e-04 9.99884297e-01 4.62280853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.319254154 meters 0.013472503187916714 Centerline is valid? [True, True] Translation: X:1026.29, Y:113.42, Z:4.62 [[ 6.26858914e-01 -7.79076939e-01 -9.32872560e-03 1.02628667e+03] [ 7.78988168e-01 6.26928315e-01 -1.17610655e-02 1.13415718e+02] [ 1.50112171e-02 1.05561873e-04 9.99887320e-01 4.62496906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.379254154 meters 0.013153124416751177 Centerline is valid? [True, True] Translation: X:1026.33, Y:113.45, Z:4.63 [[ 6.17924453e-01 -7.86176198e-01 -9.81606742e-03 1.02633176e+03] [ 7.86078718e-01 6.18002412e-01 -1.23801331e-02 1.13452647e+02] [ 1.57993193e-02 -6.62147301e-05 9.99875181e-01 4.62506902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.439254154 meters 0.01623802098129871 Centerline is valid? [True, True] Translation: X:1026.37, Y:113.49, Z:4.62 [[ 6.10929658e-01 -7.91613386e-01 -1.06395746e-02 1.02637469e+03] [ 7.91499610e-01 6.11022257e-01 -1.34226894e-02 1.13493144e+02] [ 1.71265975e-02 -2.20900083e-04 9.99853305e-01 4.62393785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.499254154 meters 0.017269874779456622 Centerline is valid? [True, True] Translation: X:1026.41, Y:113.54, Z:4.62 [[ 6.08282420e-01 -7.93643484e-01 -1.10688082e-02 1.02641439e+03] [ 7.93520624e-01 6.08383052e-01 -1.39671407e-02 1.13535500e+02] [ 1.78190055e-02 -2.87361451e-04 9.99841188e-01 4.62353333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.559254154 meters 0.014685461507192712 Centerline is valid? [True, True] Translation: X:1026.45, Y:113.58, Z:4.63 [[ 6.07721213e-01 -7.94078927e-01 -1.06576264e-02 1.02645334e+03] [ 7.93964980e-01 6.07814590e-01 -1.34548778e-02 1.13578387e+02] [ 1.71620957e-02 -2.84967455e-04 9.99852680e-01 4.62689905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.619254154 meters 0.015909633041965535 Centerline is valid? [True, True] Translation: X:1026.49, Y:113.62, Z:4.63 [[ 6.09137969e-01 -7.92985786e-01 -1.11569775e-02 1.02648959e+03] [ 7.92860653e-01 6.09240079e-01 -1.40893990e-02 1.13622987e+02] [ 1.79699710e-02 -2.63540545e-04 9.99838492e-01 4.62546148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.6792541539999 meters 0.018008728165500445 Centerline is valid? [True, True] Translation: X:1026.52, Y:113.67, Z:4.62 [[ 6.12472700e-01 -7.90404347e-01 -1.17541313e-02 1.02652464e+03] [ 7.90264860e-01 6.12585447e-01 -1.48499597e-02 1.13670885e+02] [ 1.89378825e-02 -1.93682031e-04 9.99820643e-01 4.62416156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.739254154 meters 0.016652309962055082 Centerline is valid? [True, True] Translation: X:1026.56, Y:113.72, Z:4.63 [[ 6.18178602e-01 -7.85961360e-01 -1.09524845e-02 1.02655785e+03] [ 7.85839422e-01 6.18275617e-01 -1.38442639e-02 1.13719617e+02] [ 1.76527105e-02 -4.86663773e-05 9.99844178e-01 4.62637805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.799254154 meters 0.014604017579160423 Centerline is valid? [True, True] Translation: X:1026.59, Y:113.77, Z:4.63 [[ 6.25337749e-01 -7.80294251e-01 -9.67375239e-03 1.02658994e+03] [ 7.80198331e-01 6.25412561e-01 -1.22348854e-02 1.13767914e+02] [ 1.55968970e-02 1.03490231e-04 9.99878356e-01 4.62815666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.859254154 meters 0.013996224554483117 Centerline is valid? [True, True] Translation: X:1026.62, Y:113.82, Z:4.63 [[ 6.32669894e-01 -7.74371356e-01 -8.82090980e-03 1.02662209e+03] [ 7.74290964e-01 6.32731341e-01 -1.11603307e-02 1.13816492e+02] [ 1.42235065e-02 2.30854463e-04 9.99898814e-01 4.62918552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.9192541539999 meters 0.01704473334085573 Centerline is valid? [True, True] Translation: X:1026.66, Y:113.86, Z:4.63 [[ 6.35803919e-01 -7.71801236e-01 -8.73088274e-03 1.02665713e+03] [ 7.71722164e-01 6.35863797e-01 -1.10513649e-02 1.13864075e+02] [ 1.40811093e-02 2.88685396e-04 9.99900815e-01 4.62737980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.979254154 meters 0.016200356326805214 Centerline is valid? [True, True] Translation: X:1026.69, Y:113.91, Z:4.63 [[ 6.38337800e-01 -7.69708635e-01 -8.57143378e-03 1.02669397e+03] [ 7.69632158e-01 6.38395259e-01 -1.08552131e-02 1.13910452e+02] [ 1.38273139e-02 3.32441743e-04 9.99904343e-01 4.62896114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.039254154 meters 0.017290768229668 Centerline is valid? [True, True] Translation: X:1026.73, Y:113.96, Z:4.63 [[ 6.39661865e-01 -7.68612593e-01 -8.20856573e-03 1.02673169e+03] [ 7.68542292e-01 6.39714439e-01 -1.04011075e-02 1.13955304e+02] [ 1.32455602e-02 3.44561880e-04 9.99912214e-01 4.62819599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.099254154 meters 0.01864336774412761 Centerline is valid? [True, True] Translation: X:1026.77, Y:114.00, Z:4.63 [[ 6.40263820e-01 -7.68107221e-01 -8.57545792e-03 1.02676763e+03] [ 7.68030393e-01 6.40321137e-01 -1.08699996e-02 1.14001081e+02] [ 1.38403721e-02 3.73455141e-04 9.99904148e-01 4.62686114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.1592541539999 meters 0.018017744214518815 Centerline is valid? [True, True] Translation: X:1026.80, Y:114.04, Z:4.63 [[ 6.40959127e-01 -7.67518942e-01 -9.27742040e-03 1.02680485e+03] [ 7.67428905e-01 6.41026128e-01 -1.17634548e-02 1.14044952e+02] [ 1.49757433e-02 4.20133132e-04 9.99887769e-01 4.62615712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.219254154 meters 0.01835693620938054 Centerline is valid? [True, True] Translation: X:1026.85, Y:114.09, Z:4.62 [[ 6.39973402e-01 -7.68327536e-01 -1.03364749e-02 1.02684573e+03] [ 7.68215757e-01 6.40056712e-01 -1.31132359e-02 1.14086972e+02] [ 1.66911904e-02 4.51479265e-04 9.99860590e-01 4.62424202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.279254154 meters 0.017639579036733584 Centerline is valid? [True, True] Translation: X:1026.89, Y:114.13, Z:4.63 [[ 6.37655834e-01 -7.70252009e-01 -1.03382980e-02 1.02688896e+03] [ 7.70140323e-01 6.37739506e-01 -1.31227230e-02 1.14128212e+02] [ 1.67009448e-02 4.05840684e-04 9.99860447e-01 4.62516007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.339254154 meters 0.014595983984759382 Centerline is valid? [True, True] Translation: X:1026.93, Y:114.17, Z:4.63 [[ 6.35495891e-01 -7.72051472e-01 -9.02760149e-03 1.02693252e+03] [ 7.71966436e-01 6.35559931e-01 -1.14627969e-02 1.14169410e+02] [ 1.45874510e-02 3.15554974e-04 9.99893548e-01 4.62912347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.399254154 meters 0.014858941512912808 Centerline is valid? [True, True] Translation: X:1026.97, Y:114.21, Z:4.63 [[ 6.32455827e-01 -7.74548060e-01 -8.65618304e-03 1.02697370e+03] [ 7.74470042e-01 6.32515011e-01 -1.09960896e-02 1.14211246e+02] [ 1.39921656e-02 2.50586474e-04 9.99902073e-01 4.62907341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.459254154 meters 0.013867613166341353 Centerline is valid? [True, True] Translation: X:1027.02, Y:114.25, Z:4.63 [[ 6.30512589e-01 -7.76124361e-01 -9.21146516e-03 1.02701530e+03] [ 7.76036085e-01 6.30579830e-01 -1.17077944e-02 1.14253668e+02] [ 1.48952686e-02 2.33482421e-04 9.99889032e-01 4.63045784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.519254154 meters 0.01455305494321715 Centerline is valid? [True, True] Translation: X:1027.05, Y:114.30, Z:4.63 [[ 6.29810063e-01 -7.76695792e-01 -9.10669900e-03 1.02705296e+03] [ 7.76609476e-01 6.29875859e-01 -1.15811650e-02 1.14298287e+02] [ 1.47311320e-02 2.21585505e-04 9.99891466e-01 4.63051130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.579254154 meters 0.014153872314196616 Centerline is valid? [True, True] Translation: X:1027.09, Y:114.35, Z:4.63 [[ 6.30069095e-01 -7.76490599e-01 -8.67673743e-03 1.02708717e+03] [ 7.76412132e-01 6.30128798e-01 -1.10408149e-02 1.14345241e+02] [ 1.40405511e-02 2.19752024e-04 9.99901402e-01 4.63239757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.639254154 meters 0.013804148276407116 Centerline is valid? [True, True] Translation: X:1027.12, Y:114.39, Z:4.63 [[ 6.29280843e-01 -7.77136622e-01 -8.01812146e-03 1.02712291e+03] [ 7.77069597e-01 6.29331894e-01 -1.02082617e-02 1.14391840e+02] [ 1.29792736e-02 1.93225150e-04 9.99915747e-01 4.63437042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.699254154 meters 0.013851120123782347 Centerline is valid? [True, True] Translation: X:1027.16, Y:114.44, Z:4.63 [[ 6.27773864e-01 -7.78351076e-01 -8.34139600e-03 1.02715821e+03] [ 7.78278599e-01 6.27829254e-01 -1.06231036e-02 1.14438072e+02] [ 1.35054765e-02 1.76976775e-04 9.99908781e-01 4.63384991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.759254154 meters 0.013261653047645186 Centerline is valid? [True, True] Translation: X:1027.20, Y:114.48, Z:4.63 [[ 6.24752435e-01 -7.80770401e-01 -9.05404307e-03 1.02719560e+03] [ 7.80685190e-01 6.24818023e-01 -1.15356593e-02 1.14483465e+02] [ 1.46638306e-02 1.38573887e-04 9.99892471e-01 4.63337893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.819254154 meters 0.013050180155011777 Centerline is valid? [True, True] Translation: X:1027.23, Y:114.53, Z:4.63 [[ 6.22163249e-01 -7.82827408e-01 -9.70268625e-03 1.02723331e+03] [ 7.82729694e-01 6.22238893e-01 -1.23687866e-02 1.14529320e+02] [ 1.57200139e-02 1.00823828e-04 9.99876428e-01 4.63382420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.879254154 meters 0.014207831543212 Centerline is valid? [True, True] Translation: X:1027.27, Y:114.57, Z:4.63 [[ 6.17185618e-01 -7.86758154e-01 -9.67059191e-03 1.02727223e+03] [ 7.86661462e-01 6.17261377e-01 -1.23343603e-02 1.14574125e+02] [ 1.56734414e-02 5.10782570e-06 9.99877164e-01 4.63317273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.939254154 meters 0.014001040068985521 Centerline is valid? [True, True] Translation: X:1027.31, Y:114.62, Z:4.63 [[ 6.12158609e-01 -7.90679604e-01 -9.35952041e-03 1.02731154e+03] [ 7.90589394e-01 6.12230149e-01 -1.19438105e-02 1.14618289e+02] [ 1.51739080e-02 -8.80311185e-05 9.99884866e-01 4.63461421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.999254154 meters 0.014037270521661979 Centerline is valid? [True, True] Translation: X:1027.35, Y:114.66, Z:4.64 [[ 6.07293988e-01 -7.94426449e-01 -8.97939150e-03 1.02734971e+03] [ 7.94343760e-01 6.07360344e-01 -1.14631270e-02 1.14662035e+02] [ 1.45603376e-02 -1.71235498e-04 9.99893978e-01 4.63573303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.059254154 meters 0.016054237450446894 Centerline is valid? [True, True] Translation: X:1027.39, Y:114.71, Z:4.64 [[ 6.02500060e-01 -7.98078097e-01 -8.06404314e-03 1.02738826e+03] [ 7.98011678e-01 6.02553979e-01 -1.02987062e-02 1.14706097e+02] [ 1.30781931e-02 -2.30229521e-04 9.99914450e-01 4.63733765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.119254154 meters 0.0169969073591271 Centerline is valid? [True, True] Translation: X:1027.43, Y:114.75, Z:4.64 [[ 6.00473542e-01 -7.99607203e-01 -7.73603889e-03 1.02742509e+03] [ 7.99546145e-01 6.00523321e-01 -9.88451215e-03 1.14752290e+02] [ 1.25493989e-02 -2.49932048e-04 9.99921222e-01 4.63809465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.1792541539999 meters 0.016244463771106527 Centerline is valid? [True, True] Translation: X:1027.46, Y:114.80, Z:4.64 [[ 6.00665699e-01 -7.99457216e-01 -8.29923901e-03 1.02745944e+03] [ 7.99386851e-01 6.00722974e-01 -1.06100028e-02 1.14799132e+02] [ 1.34677868e-02 -2.61237818e-04 9.99909271e-01 4.63851730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.239254154 meters 0.01601970517079726 Centerline is valid? [True, True] Translation: X:1027.49, Y:114.85, Z:4.64 [[ 6.03698031e-01 -7.97153133e-01 -9.77595063e-03 1.02748918e+03] [ 7.97055082e-01 6.03777131e-01 -1.25048954e-02 1.14850958e+02] [ 1.58708120e-02 -2.42790388e-04 9.99874021e-01 4.63528860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.299254154 meters 0.01671332091662484 Centerline is valid? [True, True] Translation: X:1027.52, Y:114.90, Z:4.63 [[ 6.07600131e-01 -7.94170291e-01 -1.07531265e-02 1.02752046e+03] [ 7.94051059e-01 6.07695251e-01 -1.37622055e-02 1.14901230e+02] [ 1.74641586e-02 -1.76613660e-04 9.99847474e-01 4.63370111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.359254154 meters 0.01637577561095588 Centerline is valid? [True, True] Translation: X:1027.55, Y:114.95, Z:4.64 [[ 6.12593174e-01 -7.90333760e-01 -1.01069731e-02 1.02755240e+03] [ 7.90227793e-01 6.12676542e-01 -1.29418345e-02 1.14951245e+02] [ 1.64206740e-02 -5.87315832e-05 9.99865170e-01 4.63569756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.4192541539999 meters 0.01294638753022811 Centerline is valid? [True, True] Translation: X:1027.59, Y:115.00, Z:4.64 [[ 6.16525222e-01 -7.87289952e-01 -8.43690910e-03 1.02758503e+03] [ 7.87215754e-01 6.16582947e-01 -1.08085919e-02 1.15000129e+02] [ 1.37115500e-02 2.21017383e-05 9.99905992e-01 4.64048199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.479254154 meters 0.01408543080927622 Centerline is valid? [True, True] Translation: X:1027.62, Y:115.05, Z:4.64 [[ 6.20931578e-01 -7.83823894e-01 -8.00488024e-03 1.02761618e+03] [ 7.83756743e-01 6.20983167e-01 -1.02603112e-02 1.15050827e+02] [ 1.30131730e-02 9.70723544e-05 9.99915320e-01 4.64011029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.539254154 meters 0.015611771367270707 Centerline is valid? [True, True] Translation: X:1027.65, Y:115.10, Z:4.64 [[ 6.24714771e-01 -7.80805982e-01 -8.57165684e-03 1.02764877e+03] [ 7.80728617e-01 6.24773549e-01 -1.09926859e-02 1.15100595e+02] [ 1.39384994e-02 1.75155461e-04 9.99902839e-01 4.63901521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.599254154 meters 0.01524185044488314 Centerline is valid? [True, True] Translation: X:1027.68, Y:115.15, Z:4.64 [[ 6.27779043e-01 -7.78336846e-01 -9.23184312e-03 1.02768130e+03] [ 7.78246739e-01 6.27846869e-01 -1.18457986e-02 1.15149945e+02] [ 1.50162053e-02 2.51892327e-04 9.99887219e-01 4.63948701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.6592541539999 meters 0.01665750749918747 Centerline is valid? [True, True] Translation: X:1027.71, Y:115.20, Z:4.64 [[ 6.28939110e-01 -7.77395082e-01 -9.61675687e-03 1.02771493e+03] [ 7.77297137e-01 6.29012562e-01 -1.23433015e-02 1.15197641e+02] [ 1.56446828e-02 2.88107487e-04 9.99877573e-01 4.63822644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.719254154 meters 0.016964863619444888 Centerline is valid? [True, True] Translation: X:1027.75, Y:115.24, Z:4.64 [[ 6.28375144e-01 -7.77853132e-01 -9.44367332e-03 1.02775048e+03] [ 7.77758647e-01 6.28446043e-01 -1.21267533e-02 1.15244023e+02] [ 1.53676722e-02 2.75251773e-04 9.99881872e-01 4.63895421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.779254154 meters 0.01730648509146879 Centerline is valid? [True, True] Translation: X:1027.79, Y:115.29, Z:4.64 [[ 6.25833248e-01 -7.79902150e-01 -9.24024407e-03 1.02778798e+03] [ 7.79811819e-01 6.25901419e-01 -1.18718601e-02 1.15289307e+02] [ 1.50423711e-02 2.24153223e-04 9.99886832e-01 4.63926600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.839254154 meters 0.01781979695413561 Centerline is valid? [True, True] Translation: X:1027.82, Y:115.34, Z:4.64 [[ 6.23416753e-01 -7.81831481e-01 -9.54397474e-03 1.02782487e+03] [ 7.81735238e-01 6.23489775e-01 -1.22685679e-02 1.15335095e+02] [ 1.55425233e-02 1.87569411e-04 9.99879190e-01 4.63861673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.899254154 meters 0.017622049219751315 Centerline is valid? [True, True] Translation: X:1027.86, Y:115.38, Z:4.64 [[ 6.22649986e-01 -7.82439180e-01 -9.79407823e-03 1.02786126e+03] [ 7.82337783e-01 6.22726984e-01 -1.25974796e-02 1.15380547e+02] [ 1.59557984e-02 1.81543060e-04 9.99872682e-01 4.63882205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.959254154 meters 0.015879876006669787 Centerline is valid? [True, True] Translation: X:1027.90, Y:115.43, Z:4.64 [[ 6.19260741e-01 -7.85122391e-01 -9.94820701e-03 1.02790053e+03] [ 7.85018011e-01 6.19340631e-01 -1.28024985e-02 1.15425323e+02] [ 1.62128571e-02 1.18563045e-04 9.99868556e-01 4.63964910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.019254154 meters 0.014974348076388536 Centerline is valid? [True, True] Translation: X:1027.94, Y:115.47, Z:4.64 [[ 6.14572457e-01 -7.88802363e-01 -9.56695823e-03 1.02793999e+03] [ 7.88706222e-01 6.14646916e-01 -1.23151769e-02 1.15467665e+02] [ 1.55945420e-02 2.30490238e-05 9.99878397e-01 4.64110256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.079254154 meters 0.018273623920855735 Centerline is valid? [True, True] Translation: X:1027.98, Y:115.51, Z:4.64 [[ 6.10338720e-01 -7.92078223e-01 -9.93659748e-03 1.02797888e+03] [ 7.91974851e-01 6.10419598e-01 -1.27964587e-02 1.15511973e+02] [ 1.62012901e-02 -5.93610917e-05 9.99868749e-01 4.63979704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.139254154 meters 0.015127625194638821 Centerline is valid? [True, True] Translation: X:1028.02, Y:115.56, Z:4.64 [[ 6.04087536e-01 -7.96866079e-01 -9.09399000e-03 1.02801888e+03] [ 7.96779944e-01 6.04155960e-01 -1.17173834e-02 1.15555410e+02] [ 1.48313737e-02 -1.67583537e-04 9.99889995e-01 4.64430963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.199254154 meters 0.01931719369520826 Centerline is valid? [True, True] Translation: X:1028.06, Y:115.60, Z:4.64 [[ 5.95562078e-01 -8.03259669e-01 -8.92834010e-03 1.02805900e+03] [ 8.03177301e-01 5.95628914e-01 -1.15074078e-02 1.15597258e+02] [ 1.45614141e-02 -3.17664393e-04 9.99893927e-01 4.64318883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.259254154 meters 0.02020056728707814 Centerline is valid? [True, True] Translation: X:1028.10, Y:115.64, Z:4.65 [[ 5.87588280e-01 -8.09113631e-01 -8.66868574e-03 1.02809889e+03] [ 8.09036541e-01 5.87652052e-01 -1.11777349e-02 1.15640141e+02] [ 1.41382286e-02 -4.45377533e-04 9.99899951e-01 4.64535444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.319254154 meters 0.022963665277603025 Centerline is valid? [True, True] Translation: X:1028.14, Y:115.68, Z:4.64 [[ 5.83109290e-01 -8.12344621e-01 -8.93159460e-03 1.02813694e+03] [ 8.12263064e-01 5.83177443e-01 -1.15231978e-02 1.15684634e+02] [ 1.45695122e-02 -5.35520718e-04 9.99893716e-01 4.64494639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.379254154 meters 0.023038650262934023 Centerline is valid? [True, True] Translation: X:1028.17, Y:115.73, Z:4.65 [[ 5.79522920e-01 -8.14904470e-01 -9.15912192e-03 1.02817082e+03] [ 8.14818953e-01 5.79594970e-01 -1.18213421e-02 1.15732111e+02] [ 1.49418456e-02 -6.12287417e-04 9.99888177e-01 4.64577052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.439254154 meters 0.02346108119613631 Centerline is valid? [True, True] Translation: X:1028.20, Y:115.78, Z:4.65 [[ 5.79555525e-01 -8.14873769e-01 -9.80482601e-03 1.02820167e+03] [ 8.14775657e-01 5.79638092e-01 -1.26613933e-02 1.15782109e+02] [ 1.60006880e-02 -6.50753096e-04 9.99871769e-01 4.64530048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.499254154 meters 0.023174116353561643 Centerline is valid? [True, True] Translation: X:1028.23, Y:115.83, Z:4.65 [[ 5.81496904e-01 -8.13481193e-01 -1.04737497e-02 1.02823067e+03] [ 8.13368875e-01 5.81590859e-01 -1.35331375e-02 1.15833581e+02] [ 1.71003900e-02 -6.49544481e-04 9.99853567e-01 4.64556544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.559254154 meters 0.022413215475474545 Centerline is valid? [True, True] Translation: X:1028.26, Y:115.88, Z:4.65 [[ 5.82974096e-01 -8.12426101e-01 -1.02486056e-02 1.02826175e+03] [ 8.12318277e-01 5.83063864e-01 -1.32494423e-02 1.15883359e+02] [ 1.67397843e-02 -6.01048029e-04 9.99859699e-01 4.64660956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.619254154 meters 0.021405337928018665 Centerline is valid? [True, True] Translation: X:1028.29, Y:115.94, Z:4.65 [[ 5.86251134e-01 -8.10080124e-01 -8.93310683e-03 1.02828880e+03] [ 8.09997839e-01 5.86319008e-01 -1.15551478e-02 1.15935362e+02] [ 1.45982459e-02 -4.61578737e-04 9.99893333e-01 4.64799311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.6792541539999 meters 0.020586644656763214 Centerline is valid? [True, True] Translation: X:1028.31, Y:115.99, Z:4.65 [[ 5.90390337e-01 -8.07070557e-01 -8.73882217e-03 1.02831389e+03] [ 8.06991393e-01 5.90454889e-01 -1.13099498e-02 1.15990001e+02] [ 1.42878078e-02 -3.74869208e-04 9.99897854e-01 4.64784117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.739254154 meters 0.019875175327087023 Centerline is valid? [True, True] Translation: X:1028.34, Y:116.04, Z:4.65 [[ 5.93966333e-01 -8.04440730e-01 -8.89418015e-03 1.02833934e+03] [ 8.04358337e-01 5.94032839e-01 -1.15174390e-02 1.16044360e+02] [ 1.45485321e-02 -3.13136938e-04 9.99894115e-01 4.64701379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.799254154 meters 0.02021758430917473 Centerline is valid? [True, True] Translation: X:1028.37, Y:116.10, Z:4.65 [[ 5.96581299e-01 -8.02494811e-01 -9.63492349e-03 1.02836591e+03] [ 8.02397808e-01 5.96659028e-01 -1.24804474e-02 1.16096504e+02] [ 1.57642584e-02 -2.85439938e-04 9.99875696e-01 4.64568624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.859254154 meters 0.019987151661059948 Centerline is valid? [True, True] Translation: X:1028.40, Y:116.15, Z:4.65 [[ 5.98270370e-01 -8.01228682e-01 -1.02549209e-02 1.02839559e+03] [ 8.01118510e-01 5.98358194e-01 -1.32892809e-02 1.16147738e+02] [ 1.67838690e-02 -2.64823983e-04 9.99859106e-01 4.64580427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.9192541539999 meters 0.016302762202527986 Centerline is valid? [True, True] Translation: X:1028.42, Y:116.20, Z:4.65 [[ 6.01142034e-01 -7.99085458e-01 -9.52288773e-03 1.02842287e+03] [ 7.98990088e-01 6.01217428e-01 -1.23468326e-02 1.16201212e+02] [ 1.55915004e-02 -1.86492857e-04 9.99878428e-01 4.64806226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.979254154 meters 0.020165629325733292 Centerline is valid? [True, True] Translation: X:1028.45, Y:116.25, Z:4.64 [[ 6.03897697e-01 -7.96981862e-01 -1.12908356e-02 1.02845013e+03] [ 7.96847260e-01 6.04003219e-01 -1.46477257e-02 1.16253163e+02] [ 1.84936727e-02 -1.51343562e-04 9.99828966e-01 4.64445969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.039254154 meters 0.01963805615884607 Centerline is valid? [True, True] Translation: X:1028.48, Y:116.30, Z:4.65 [[ 6.05520520e-01 -7.95743222e-01 -1.17313537e-02 1.02848078e+03] [ 7.95597500e-01 6.05634140e-01 -1.52284760e-02 1.16302635e+02] [ 1.92228649e-02 -1.12280970e-04 9.99815217e-01 4.64504127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.099254154 meters 0.015233890377484237 Centerline is valid? [True, True] Translation: X:1028.51, Y:116.35, Z:4.65 [[ 6.07830455e-01 -7.93996717e-01 -1.05523029e-02 1.02851165e+03] [ 7.93878469e-01 6.07922044e-01 -1.37027290e-02 1.16353835e+02] [ 1.72948994e-02 -4.83100738e-05 9.99850431e-01 4.64871101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.1592541539999 meters 0.017347871287853398 Centerline is valid? [True, True] Translation: X:1028.54, Y:116.40, Z:4.65 [[ 6.10787362e-01 -7.91731711e-01 -9.98480276e-03 1.02854145e+03] [ 7.91625493e-01 6.10868969e-01 -1.29684865e-02 1.16403902e+02] [ 1.63669682e-02 1.67632713e-05 9.99866052e-01 4.64796399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.219254154 meters 0.01701777286991685 Centerline is valid? [True, True] Translation: X:1028.57, Y:116.46, Z:4.65 [[ 6.15079189e-01 -7.88409160e-01 -9.41207055e-03 1.02857081e+03] [ 7.88314308e-01 6.15151189e-01 -1.22297096e-02 1.16455066e+02] [ 1.54318615e-02 1.02570007e-04 9.99880916e-01 4.64964662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.279254154 meters 0.0155658083132109 Centerline is valid? [True, True] Translation: X:1028.60, Y:116.50, Z:4.65 [[ 6.17648581e-01 -7.86410460e-01 -8.29568930e-03 1.02860285e+03] [ 7.86336523e-01 6.17704273e-01 -1.07844433e-02 1.16504513e+02] [ 1.36052817e-02 1.37792624e-04 9.99907434e-01 4.65179576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.339254154 meters 0.018662021736572432 Centerline is valid? [True, True] Translation: X:1028.64, Y:116.55, Z:4.65 [[ 6.19359357e-01 -7.85057801e-01 -8.84505214e-03 1.02863647e+03] [ 7.84973521e-01 6.19422485e-01 -1.15045881e-02 1.16552748e+02] [ 1.45105908e-02 1.82342587e-04 9.99894699e-01 4.64926967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.399254154 meters 0.01864813118539711 Centerline is valid? [True, True] Translation: X:1028.67, Y:116.60, Z:4.65 [[ 6.18250531e-01 -7.85925445e-01 -9.35288226e-03 1.02867390e+03] [ 7.85831200e-01 6.18321247e-01 -1.21721171e-02 1.16597819e+02] [ 1.53494624e-02 1.75631161e-04 9.99882175e-01 4.64989220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.459254154 meters 0.017570830450376065 Centerline is valid? [True, True] Translation: X:1028.71, Y:116.64, Z:4.65 [[ 6.15751943e-01 -7.87887293e-01 -9.11912044e-03 1.02871221e+03] [ 7.87797862e-01 6.15819453e-01 -1.18714267e-02 1.16641544e+02] [ 1.49690780e-02 1.25830493e-04 9.99887949e-01 4.64998835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.519254154 meters 0.016151987175863695 Centerline is valid? [True, True] Translation: X:1028.75, Y:116.68, Z:4.65 [[ 6.11922713e-01 -7.90868467e-01 -8.81255195e-03 1.02875344e+03] [ 7.90785186e-01 6.11986164e-01 -1.14771745e-02 1.16684422e+02] [ 1.44700952e-02 5.43082018e-05 9.99895301e-01 4.65265210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.579254154 meters 0.016264294876379013 Centerline is valid? [True, True] Translation: X:1028.79, Y:116.73, Z:4.65 [[ 6.06735342e-01 -7.94852326e-01 -9.05561333e-03 1.02879378e+03] [ 7.94764748e-01 6.06802916e-01 -1.17990134e-02 1.16725475e+02] [ 1.48734458e-02 -3.82038340e-05 9.99889383e-01 4.65235719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.639254154 meters 0.018173998192973523 Centerline is valid? [True, True] Translation: X:1028.83, Y:116.77, Z:4.65 [[ 6.02936723e-01 -7.97730658e-01 -9.64908777e-03 1.02883355e+03] [ 7.97631494e-01 6.03013917e-01 -1.25783718e-02 1.16768949e+02] [ 1.58526870e-02 -1.12454036e-04 9.99874332e-01 4.65169864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.699254154 meters 0.018753251694211562 Centerline is valid? [True, True] Translation: X:1028.87, Y:116.81, Z:4.65 [[ 5.99304499e-01 -8.00465933e-01 -9.40250520e-03 1.02887395e+03] [ 8.00372013e-01 5.99378227e-01 -1.22630274e-02 1.16812602e+02] [ 1.54517925e-02 -1.76214532e-04 9.99880598e-01 4.65283880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.759254154 meters 0.018666360431420694 Centerline is valid? [True, True] Translation: X:1028.91, Y:116.86, Z:4.65 [[ 5.98677549e-01 -8.00941454e-01 -8.83056026e-03 1.02891028e+03] [ 8.00858582e-01 5.98742647e-01 -1.15227770e-02 1.16856159e+02] [ 1.45163028e-02 -1.73602086e-04 9.99894618e-01 4.65410386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.819254154 meters 0.017170695270565164 Centerline is valid? [True, True] Translation: X:1028.94, Y:116.90, Z:4.66 [[ 5.98973913e-01 -8.00724736e-01 -8.37545456e-03 1.02894497e+03] [ 8.00650089e-01 5.99032447e-01 -1.09344793e-02 1.16903501e+02] [ 1.37726771e-02 -1.56340559e-04 9.99905140e-01 4.65654225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.879254154 meters 0.014849880206438223 Centerline is valid? [True, True] Translation: X:1028.98, Y:116.95, Z:4.66 [[ 6.01566375e-01 -7.98787207e-01 -7.54282204e-03 1.02898014e+03] [ 7.98726450e-01 6.01613654e-01 -9.85240831e-03 1.16950490e+02] [ 1.24078424e-02 -9.77739135e-05 9.99923015e-01 4.65931493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.939254154 meters 0.018180124440306138 Centerline is valid? [True, True] Translation: X:1029.01, Y:117.00, Z:4.66 [[ 6.05888087e-01 -7.95505254e-01 -8.42717779e-03 1.02901443e+03] [ 7.95429011e-01 6.05946689e-01 -1.10135051e-02 1.16998758e+02] [ 1.38677216e-02 -3.02701687e-05 9.99903838e-01 4.65586130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.999254154 meters 0.015509146870586797 Centerline is valid? [True, True] Translation: X:1029.05, Y:117.05, Z:4.66 [[ 6.10841690e-01 -7.91712266e-01 -8.00742066e-03 1.02904664e+03] [ 7.91643024e-01 6.10894169e-01 -1.04707608e-02 1.17046940e+02] [ 1.31815164e-02 5.69585357e-05 9.99913118e-01 4.65732946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.059254154 meters 0.019807567319718247 Centerline is valid? [True, True] Translation: X:1029.08, Y:117.10, Z:4.65 [[ 6.17629876e-01 -7.86410008e-01 -9.62472085e-03 1.02907866e+03] [ 7.86309250e-01 6.17704829e-01 -1.25899531e-02 1.17095019e+02] [ 1.58461017e-02 2.07924144e-04 9.99874421e-01 4.65418678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.119254154 meters 0.02082044434442907 Centerline is valid? [True, True] Translation: X:1029.11, Y:117.14, Z:4.65 [[ 6.22510084e-01 -7.82554140e-01 -9.49811631e-03 1.02911189e+03] [ 7.82455479e-01 6.22582464e-01 -1.24297413e-02 1.17143022e+02] [ 1.56403062e-02 3.05786149e-04 9.99877636e-01 4.65437460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.1792541539999 meters 0.021262448122407813 Centerline is valid? [True, True] Translation: X:1029.15, Y:117.19, Z:4.65 [[ 6.24452869e-01 -7.81004813e-01 -9.49189967e-03 1.02914963e+03] [ 7.80906002e-01 6.24524908e-01 -1.24279982e-02 1.17188075e+02] [ 1.56342542e-02 3.48417688e-04 9.99877717e-01 4.65486853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.239254154 meters 0.02128212161130289 Centerline is valid? [True, True] Translation: X:1029.19, Y:117.23, Z:4.65 [[ 6.24760079e-01 -7.80760175e-01 -9.40173107e-03 1.02918696e+03] [ 7.80663129e-01 6.24830716e-01 -1.23148502e-02 1.17231776e+02] [ 1.54894349e-02 3.54241973e-04 9.99879969e-01 4.65482552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.299254154 meters 0.020195610106798528 Centerline is valid? [True, True] Translation: X:1029.23, Y:117.27, Z:4.66 [[ 6.24986873e-01 -7.80561593e-01 -1.07241634e-02 1.02922922e+03] [ 7.80435170e-01 6.25078737e-01 -1.40541152e-02 1.17273777e+02] [ 1.76735491e-02 4.14123195e-04 9.99843725e-01 4.65541378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.359254154 meters 0.01802630594839092 Centerline is valid? [True, True] Translation: X:1029.27, Y:117.32, Z:4.66 [[ 6.25854116e-01 -7.79867337e-01 -1.06565381e-02 1.02926683e+03] [ 7.79742336e-01 6.25944685e-01 -1.39693170e-02 1.17318063e+02] [ 1.75646174e-02 4.33400680e-04 9.99845636e-01 4.65693887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.4192541539999 meters 0.02120932155045978 Centerline is valid? [True, True] Translation: X:1029.31, Y:117.36, Z:4.65 [[ 6.24428457e-01 -7.80976708e-01 -1.28251039e-02 1.02930887e+03] [ 7.80795720e-01 6.24559959e-01 -1.68196695e-02 1.17359730e+02] [ 2.11458165e-02 4.88894040e-04 9.99776283e-01 4.65327331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.479254154 meters 0.020602065416018927 Centerline is valid? [True, True] Translation: X:1029.35, Y:117.40, Z:4.66 [[ 6.21756207e-01 -7.83105238e-01 -1.28610275e-02 1.02935470e+03] [ 7.82923505e-01 6.21889064e-01 -1.68753697e-02 1.17399587e+02] [ 2.12133228e-02 4.23165138e-04 9.99774883e-01 4.65523689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.539254154 meters 0.017701168275175042 Centerline is valid? [True, True] Translation: X:1029.40, Y:117.44, Z:4.66 [[ 6.18721017e-01 -7.85540924e-01 -1.04766404e-02 1.02939767e+03] [ 7.85420622e-01 6.18809647e-01 -1.37501463e-02 1.17439185e+02] [ 1.72843488e-02 2.78935070e-04 9.99850576e-01 4.65830349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.599254154 meters 0.017029685355045232 Centerline is valid? [True, True] Translation: X:1029.44, Y:117.48, Z:4.66 [[ 6.17104939e-01 -7.86824713e-01 -9.40025118e-03 1.02944059e+03] [ 7.86727929e-01 6.17176491e-01 -1.23428023e-02 1.17480444e+02] [ 1.55132360e-02 2.21364149e-04 9.99879638e-01 4.66026084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.6592541539999 meters 0.016777826528398414 Centerline is valid? [True, True] Translation: X:1029.48, Y:117.53, Z:4.66 [[ 6.18034552e-01 -7.86094499e-01 -9.41968990e-03 1.02947887e+03] [ 7.85997125e-01 6.18106284e-01 -1.23749989e-02 1.17525160e+02] [ 1.55502881e-02 2.44327705e-04 9.99879057e-01 4.66029080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.719254154 meters 0.018209963226502025 Centerline is valid? [True, True] Translation: X:1029.52, Y:117.57, Z:4.66 [[ 6.20332124e-01 -7.84268968e-01 -1.04996341e-02 1.02951747e+03] [ 7.84147591e-01 6.20420888e-01 -1.38013501e-02 1.17569901e+02] [ 1.73381630e-02 3.28158029e-04 9.99849629e-01 4.65848138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.779254154 meters 0.018248814728799807 Centerline is valid? [True, True] Translation: X:1029.56, Y:117.61, Z:4.66 [[ 6.22513207e-01 -7.82535967e-01 -1.07129616e-02 1.02955558e+03] [ 7.82409218e-01 6.22605259e-01 -1.40892265e-02 1.17614550e+02] [ 1.76952727e-02 3.88809626e-04 9.99843351e-01 4.65720222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.839254154 meters 0.01670815095213387 Centerline is valid? [True, True] Translation: X:1029.60, Y:117.66, Z:4.66 [[ 6.23084535e-01 -7.82086922e-01 -1.02814416e-02 1.02959643e+03] [ 7.81970034e-01 6.23169235e-01 -1.35266759e-02 1.17656813e+02] [ 1.69861144e-02 3.88483268e-04 9.99855650e-01 4.65856821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.899254154 meters 0.017308984923935813 Centerline is valid? [True, True] Translation: X:1029.64, Y:117.70, Z:4.66 [[ 6.21444156e-01 -7.83399079e-01 -9.64592845e-03 1.02963627e+03] [ 7.83296308e-01 6.21518924e-01 -1.26933450e-02 1.17698829e+02] [ 1.59390818e-02 3.32584911e-04 9.99872909e-01 4.65829197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.959254154 meters 0.017488882080265562 Centerline is valid? [True, True] Translation: X:1029.68, Y:117.74, Z:4.66 [[ 6.19442324e-01 -7.84991032e-01 -8.96029188e-03 1.02967698e+03] [ 7.84902446e-01 6.19507065e-01 -1.17960253e-02 1.17741757e+02] [ 1.48107382e-02 2.74002318e-04 9.99890277e-01 4.65926954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.019254154 meters 0.01569878388760186 Centerline is valid? [True, True] Translation: X:1029.72, Y:117.78, Z:4.66 [[ 6.16514829e-01 -7.87309597e-01 -7.28453002e-03 1.02971892e+03] [ 7.87251151e-01 6.16557837e-01 -9.59473253e-03 1.17783330e+02] [ 1.20453591e-02 1.80540246e-04 9.99927436e-01 4.66220025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.079254154 meters 0.014382988050046406 Centerline is valid? [True, True] Translation: X:1029.76, Y:117.82, Z:4.66 [[ 6.12122330e-01 -7.90733017e-01 -6.89556667e-03 1.02976161e+03] [ 7.90680809e-01 6.12161158e-01 -9.08710706e-03 1.17824907e+02] [ 1.14066737e-02 1.10228913e-04 9.99934936e-01 4.66347104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.139254154 meters 0.013806791329960655 Centerline is valid? [True, True] Translation: X:1029.80, Y:117.87, Z:4.66 [[ 6.07590308e-01 -7.94217440e-01 -7.25786945e-03 1.02980368e+03] [ 7.94159786e-01 6.07633653e-01 -9.56965414e-03 1.17867389e+02] [ 1.20105119e-02 5.05210526e-05 9.99927870e-01 4.66283938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.199254154 meters 0.015722639168340605 Centerline is valid? [True, True] Translation: X:1029.84, Y:117.91, Z:4.66 [[ 6.04255070e-01 -7.96746403e-01 -8.42496919e-03 1.02984227e+03] [ 7.96668867e-01 6.04313800e-01 -1.11151722e-02 1.17911373e+02] [ 1.39472986e-02 4.48846590e-06 9.99902732e-01 4.65985338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.259254154 meters 0.013919897818827399 Centerline is valid? [True, True] Translation: X:1029.88, Y:117.96, Z:4.66 [[ 6.03292046e-01 -7.97472458e-01 -8.73989760e-03 1.02987807e+03] [ 7.97389000e-01 6.03355350e-01 -1.15371165e-02 1.17956127e+02] [ 1.44737966e-02 -8.84760572e-06 9.99895249e-01 4.66087377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.319254154 meters 0.015488226511477101 Centerline is valid? [True, True] Translation: X:1029.91, Y:118.00, Z:4.66 [[ 6.02392321e-01 -7.98154730e-01 -8.51575000e-03 1.02991283e+03] [ 7.98075477e-01 6.02452509e-01 -1.12475427e-02 1.18002842e+02] [ 1.41076144e-02 -2.07779007e-05 9.99900482e-01 4.66023492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.379254154 meters 0.016076888463858432 Centerline is valid? [True, True] Translation: X:1029.95, Y:118.05, Z:4.66 [[ 6.02158851e-01 -7.98337963e-01 -7.82397174e-03 1.02994803e+03] [ 7.98271021e-01 6.02209678e-01 -1.03383281e-02 1.18048350e+02] [ 1.29651513e-02 -2.03341582e-05 9.99915949e-01 4.66157093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.439254154 meters 0.014932773127290959 Centerline is valid? [True, True] Translation: X:1029.98, Y:118.10, Z:4.66 [[ 6.03981821e-01 -7.96958004e-01 -7.99371523e-03 1.02998041e+03] [ 7.96887933e-01 6.04034717e-01 -1.05679574e-02 1.18096534e+02] [ 1.32506997e-02 1.27589410e-05 9.99912206e-01 4.66144707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.499254154 meters 0.016787004277127926 Centerline is valid? [True, True] Translation: X:1030.01, Y:118.15, Z:4.66 [[ 6.05210027e-01 -7.96014994e-01 -8.99734210e-03 1.03001315e+03] [ 7.95926023e-01 6.05276902e-01 -1.19011614e-02 1.18145280e+02] [ 1.49193863e-02 4.14834949e-05 9.99888699e-01 4.65894168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.559254154 meters 0.016435439875155885 Centerline is valid? [True, True] Translation: X:1030.04, Y:118.19, Z:4.66 [[ 6.07812000e-01 -7.94021964e-01 -9.67958877e-03 1.03004481e+03] [ 7.93918663e-01 6.07889062e-01 -1.28079901e-02 1.18194056e+02] [ 1.60539416e-02 1.00043926e-04 9.99871122e-01 4.65799824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.619254154 meters 0.016780413973900083 Centerline is valid? [True, True] Translation: X:1030.08, Y:118.24, Z:4.66 [[ 6.08330771e-01 -7.93628364e-01 -9.36451615e-03 1.03007834e+03] [ 7.93531550e-01 6.08402834e-01 -1.23964242e-02 1.18240864e+02] [ 1.55355520e-02 1.10087246e-04 9.99879310e-01 4.65869469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.6792541539999 meters 0.01685592530261073 Centerline is valid? [True, True] Translation: X:1030.11, Y:118.29, Z:4.66 [[ 6.07881808e-01 -7.93976777e-01 -8.97686262e-03 1.03011308e+03] [ 7.93887758e-01 6.07948079e-01 -1.18895041e-02 1.18287091e+02] [ 1.48974565e-02 1.00791888e-04 9.99889022e-01 4.65931709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.739254154 meters 0.013679101994344696 Centerline is valid? [True, True] Translation: X:1030.15, Y:118.33, Z:4.66 [[ 6.06160562e-01 -7.95315769e-01 -6.49614409e-03 1.03015000e+03] [ 7.95269188e-01 6.06195368e-01 -8.60778290e-03 1.18332491e+02] [ 1.07838379e-02 5.15152865e-05 9.99941851e-01 4.66449311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.799254154 meters 0.013441960783579477 Centerline is valid? [True, True] Translation: X:1030.19, Y:118.38, Z:4.67 [[ 6.03287054e-01 -7.97500053e-01 -6.19638186e-03 1.03018815e+03] [ 7.97457744e-01 6.03318875e-01 -8.21470270e-03 1.18377747e+02] [ 1.02896200e-02 1.44710914e-05 9.99947060e-01 4.66559471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.859254154 meters 0.01719825192715418 Centerline is valid? [True, True] Translation: X:1030.22, Y:118.42, Z:4.66 [[ 6.01570725e-01 -7.98786446e-01 -7.27161734e-03 1.03022461e+03] [ 7.98728203e-01 6.01614672e-01 -9.64591464e-03 1.18423286e+02] [ 1.20797376e-02 -5.34598369e-06 9.99927037e-01 4.66304461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.9192541539999 meters 0.01346605210066612 Centerline is valid? [True, True] Translation: X:1030.26, Y:118.47, Z:4.66 [[ 6.02500321e-01 -7.98083063e-01 -7.53575443e-03 1.03025917e+03] [ 7.98020382e-01 6.02547445e-01 -1.00023053e-02 1.18470539e+02] [ 1.25233201e-02 1.27065540e-05 9.99921580e-01 4.66407938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.979254154 meters 0.016079189171120303 Centerline is valid? [True, True] Translation: X:1030.29, Y:118.52, Z:4.66 [[ 6.02334827e-01 -7.98176475e-01 -1.03474714e-02 1.03029317e+03] [ 7.98058214e-01 6.02423699e-01 -1.37394830e-02 1.18516689e+02] [ 1.72000941e-02 1.78845567e-05 9.99852067e-01 4.65824410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.039254154 meters 0.015146784805187868 Centerline is valid? [True, True] Translation: X:1030.33, Y:118.56, Z:4.66 [[ 6.00972738e-01 -7.99200693e-01 -1.04890200e-02 1.03032942e+03] [ 7.99079207e-01 6.01064266e-01 -1.39344663e-02 1.18562682e+02] [ 1.74410103e-02 -7.32340598e-06 9.99847894e-01 4.65948397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.099254154 meters 0.01614955783259371 Centerline is valid? [True, True] Translation: X:1030.37, Y:118.61, Z:4.66 [[ 5.99838790e-01 -8.00061325e-01 -9.76229748e-03 1.03036559e+03] [ 7.99956081e-01 5.99918224e-01 -1.29766279e-02 1.18608450e+02] [ 1.62386783e-02 -2.55244672e-05 9.99868144e-01 4.66085841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.1592541539999 meters 0.0132789088278705 Centerline is valid? [True, True] Translation: X:1030.40, Y:118.66, Z:4.67 [[ 6.00385600e-01 -7.99679508e-01 -7.05800112e-03 1.03040038e+03] [ 7.99624417e-01 6.00427085e-01 -9.38656489e-03 1.18656088e+02] [ 1.17440586e-02 -8.19163423e-06 9.99931036e-01 4.66620688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.219254154 meters 0.013283331494130649 Centerline is valid? [True, True] Translation: X:1030.43, Y:118.70, Z:4.67 [[ 6.01802650e-01 -7.98621407e-01 -6.11706841e-03 1.03043346e+03] [ 7.98579930e-01 6.01833737e-01 -8.13926136e-03 1.18703094e+02] [ 1.01816465e-02 1.32609901e-05 9.99948166e-01 4.66683913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.279254154 meters 0.013435550344240906 Centerline is valid? [True, True] Translation: X:1030.47, Y:118.75, Z:4.67 [[ 6.05193281e-01 -7.96052367e-01 -6.45927070e-03 1.03046692e+03] [ 7.96005921e-01 6.05227747e-01 -8.59929064e-03 1.18752173e+02] [ 1.07548155e-02 6.26151915e-05 9.99942163e-01 4.66760438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.339254154 meters 0.0138002123306196 Centerline is valid? [True, True] Translation: X:1030.50, Y:118.80, Z:4.67 [[ 6.08546884e-01 -7.93483599e-01 -7.38028809e-03 1.03049843e+03] [ 7.93422705e-01 6.08591622e-01 -9.83103948e-03 1.18801940e+02] [ 1.22923501e-02 1.26960303e-04 9.99924438e-01 4.66663954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.399254154 meters 0.017242838801066827 Centerline is valid? [True, True] Translation: X:1030.53, Y:118.85, Z:4.66 [[ 6.13299504e-01 -7.89803306e-01 -8.62879669e-03 1.03052704e+03] [ 7.89719630e-01 6.13360156e-01 -1.14989555e-02 1.18853384e+02] [ 1.43744731e-02 2.37973555e-04 9.99896654e-01 4.66247720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.459254154 meters 0.01684135306301865 Centerline is valid? [True, True] Translation: X:1030.56, Y:118.90, Z:4.66 [[ 6.14816607e-01 -7.88616341e-01 -9.20905470e-03 1.03056075e+03] [ 7.88520808e-01 6.14885505e-01 -1.22780790e-02 1.18902058e+02] [ 1.53452080e-02 2.87235619e-04 9.99882214e-01 4.66288917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.519254154 meters 0.014850147604080937 Centerline is valid? [True, True] Translation: X:1030.60, Y:118.95, Z:4.67 [[ 6.11879898e-01 -7.90909195e-01 -8.10160706e-03 1.03059835e+03] [ 7.90835387e-01 6.11933496e-01 -1.08067880e-02 1.18948107e+02] [ 1.35048327e-02 2.05418777e-04 9.99908784e-01 4.66540020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.579254154 meters 0.01441739001518364 Centerline is valid? [True, True] Translation: X:1030.64, Y:118.99, Z:4.67 [[ 6.06696302e-01 -7.94906432e-01 -6.58498924e-03 1.03063835e+03] [ 7.94857858e-01 6.06732029e-01 -8.78801941e-03 1.18991716e+02] [ 1.09809770e-02 9.75284334e-05 9.99939702e-01 4.66772365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.639254154 meters 0.013360964076067317 Centerline is valid? [True, True] Translation: X:1030.68, Y:119.04, Z:4.67 [[ 6.03444455e-01 -7.97387462e-01 -5.29391669e-03 1.03067611e+03] [ 7.97356133e-01 6.03467675e-01 -7.06841056e-03 1.19036920e+02] [ 8.83096955e-03 4.42562171e-05 9.99961005e-01 4.66954858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.699254154 meters 0.014484452138783436 Centerline is valid? [True, True] Translation: X:1030.71, Y:119.08, Z:4.67 [[ 5.98221677e-01 -8.01313528e-01 -5.23970132e-03 1.03071416e+03] [ 8.01282956e-01 5.98244623e-01 -6.99960283e-03 1.19080035e+02] [ 8.74349958e-03 -1.11692240e-05 9.99961775e-01 4.66770890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.759254154 meters 0.013378834864548 Centerline is valid? [True, True] Translation: X:1030.75, Y:119.13, Z:4.67 [[ 5.96109663e-01 -8.02875821e-01 -6.60950354e-03 1.03075114e+03] [ 8.02827214e-01 5.96146303e-01 -8.83454481e-03 1.19125866e+02] [ 1.10332735e-02 -3.99317886e-05 9.99939131e-01 4.66639605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.819254154 meters 0.013380802622779735 Centerline is valid? [True, True] Translation: X:1030.78, Y:119.17, Z:4.66 [[ 5.97359777e-01 -8.01934000e-01 -7.94706081e-03 1.03078447e+03] [ 8.01863566e-01 5.97412637e-01 -1.06284032e-02 1.19174888e+02] [ 1.32709525e-02 -2.34779224e-05 9.99911937e-01 4.66428726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.879254154 meters 0.015087797919285802 Centerline is valid? [True, True] Translation: X:1030.82, Y:119.22, Z:4.66 [[ 5.99038164e-01 -8.00668181e-01 -9.15102238e-03 1.03081634e+03] [ 8.00574571e-01 5.99108057e-01 -1.22430795e-02 1.19222851e+02] [ 1.52850955e-02 7.99608387e-06 9.99883176e-01 4.66145002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.939254154 meters 0.015094554583606123 Centerline is valid? [True, True] Translation: X:1030.85, Y:119.27, Z:4.66 [[ 6.01047809e-01 -7.99171098e-01 -8.19070099e-03 1.03084929e+03] [ 7.99095893e-01 6.01103613e-01 -1.09635866e-02 1.19271297e+02] [ 1.36852415e-02 4.44841608e-05 9.99906352e-01 4.66351195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.999254154 meters 0.013722136892301454 Centerline is valid? [True, True] Translation: X:1030.88, Y:119.32, Z:4.67 [[ 6.03707276e-01 -7.97181068e-01 -6.31422683e-03 1.03088015e+03] [ 7.97136218e-01 6.03740291e-01 -8.45641033e-03 1.19320158e+02] [ 1.05534434e-02 7.18975494e-05 9.99944308e-01 4.66594757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.059254154 meters 0.017009465476398058 Centerline is valid? [True, True] Translation: X:1030.91, Y:119.37, Z:4.66 [[ 6.06032548e-01 -7.95408511e-01 -7.06048486e-03 1.03091262e+03] [ 7.95352248e-01 6.06073664e-01 -9.46126033e-03 1.19369581e+02] [ 1.18047409e-02 1.18259198e-04 9.99930315e-01 4.66346336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.119254154 meters 0.014214739786895176 Centerline is valid? [True, True] Translation: X:1030.95, Y:119.42, Z:4.67 [[ 6.08027347e-01 -7.93890772e-01 -6.33927324e-03 1.03094738e+03] [ 7.93845288e-01 6.08060378e-01 -8.49916766e-03 1.19417492e+02] [ 1.06020717e-02 1.35324180e-04 9.99943787e-01 4.66599066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.1792541539999 meters 0.01488616163371356 Centerline is valid? [True, True] Translation: X:1030.98, Y:119.46, Z:4.67 [[ 6.10337227e-01 -7.92116269e-01 -6.34707481e-03 1.03098027e+03] [ 7.92070544e-01 6.10370205e-01 -8.51270003e-03 1.19464615e+02] [ 1.06171135e-02 1.68286733e-04 9.99943623e-01 4.66607656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.239254154 meters 0.015669039710012267 Centerline is valid? [True, True] Translation: X:1031.02, Y:119.51, Z:4.67 [[ 6.09899532e-01 -7.92452586e-01 -6.43897228e-03 1.03101580e+03] [ 7.92405503e-01 6.09933497e-01 -8.63986796e-03 1.19510904e+02] [ 1.07740306e-02 1.67174358e-04 9.99941944e-01 4.66562685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.299254154 meters 0.015045931408039854 Centerline is valid? [True, True] Translation: X:1031.05, Y:119.56, Z:4.67 [[ 6.08749069e-01 -7.93340232e-01 -5.98721230e-03 1.03105139e+03] [ 7.93299527e-01 6.08778494e-01 -8.03777095e-03 1.19556182e+02] [ 1.00215732e-02 1.43332903e-04 9.99949773e-01 4.66663487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.359254154 meters 0.01591771973045523 Centerline is valid? [True, True] Translation: X:1031.09, Y:119.60, Z:4.67 [[ 6.08046181e-01 -7.93868741e-01 -7.22935864e-03 1.03108900e+03] [ 7.93809360e-01 6.08089134e-01 -9.71112350e-03 1.19600767e+02] [ 1.21054518e-02 1.66079008e-04 9.99926713e-01 4.66560794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.4192541539999 meters 0.016210156994677937 Centerline is valid? [True, True] Translation: X:1031.12, Y:119.65, Z:4.66 [[ 6.08602503e-01 -7.93438217e-01 -7.66737270e-03 1.03112396e+03] [ 7.93371312e-01 6.08650770e-01 -1.03054196e-02 1.19648533e+02] [ 1.28434660e-02 1.88830613e-04 9.99917501e-01 4.66495601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.479254154 meters 0.01536209375007903 Centerline is valid? [True, True] Translation: X:1031.16, Y:119.70, Z:4.66 [[ 6.10068817e-01 -7.92301557e-01 -8.61859975e-03 1.03115725e+03] [ 7.92216814e-01 6.10129644e-01 -1.15903752e-02 1.19697532e+02] [ 1.44415355e-02 2.43126872e-04 9.99895686e-01 4.66445481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.539254154 meters 0.015477637058173187 Centerline is valid? [True, True] Translation: X:1031.19, Y:119.75, Z:4.66 [[ 6.10676611e-01 -7.91828315e-01 -9.05525280e-03 1.03118952e+03] [ 7.91734647e-01 6.10743684e-01 -1.21820005e-02 1.19745594e+02] [ 1.51764914e-02 2.69905407e-04 9.99884794e-01 4.66360113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.599254154 meters 0.016402668874959624 Centerline is valid? [True, True] Translation: X:1031.22, Y:119.79, Z:4.66 [[ 6.11114405e-01 -7.91488124e-01 -9.25925568e-03 1.03122442e+03] [ 7.91390061e-01 6.11184478e-01 -1.24621408e-02 1.19793395e+02] [ 1.55227498e-02 2.88110816e-04 9.99879473e-01 4.66328129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.6592541539999 meters 0.019288351815352243 Centerline is valid? [True, True] Translation: X:1031.26, Y:119.84, Z:4.66 [[ 6.11608683e-01 -7.91103121e-01 -9.52212720e-03 1.03125918e+03] [ 7.90999255e-01 6.11682725e-01 -1.28227408e-02 1.19841062e+02] [ 1.59686310e-02 3.10504098e-04 9.99872445e-01 4.66274160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.719254154 meters 0.0180386485681364 Centerline is valid? [True, True] Translation: X:1031.29, Y:119.89, Z:4.66 [[ 6.12018407e-01 -7.90793395e-01 -8.90371698e-03 1.03129323e+03] [ 7.90702448e-01 6.12083095e-01 -1.19968382e-02 1.19887589e+02] [ 1.49368350e-02 3.02094972e-04 9.99888394e-01 4.66439479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.779254154 meters 0.015999470484033475 Centerline is valid? [True, True] Translation: X:1031.33, Y:119.93, Z:4.67 [[ 6.11805425e-01 -7.90964414e-01 -8.33177110e-03 1.03132774e+03] [ 7.90884698e-01 6.11862089e-01 -1.12328734e-02 1.19934139e+02] [ 1.39826980e-02 2.82862632e-04 9.99902197e-01 4.66612124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.839254154 meters 0.01678853797328998 Centerline is valid? [True, True] Translation: X:1031.36, Y:119.98, Z:4.66 [[ 6.09859585e-01 -7.92448539e-01 -9.82851836e-03 1.03136329e+03] [ 7.92337664e-01 6.09938705e-01 -1.32590571e-02 1.19980009e+02] [ 1.65019142e-02 2.98657777e-04 9.99863790e-01 4.66403559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.899254154 meters 0.016029692375800507 Centerline is valid? [True, True] Translation: X:1031.40, Y:120.03, Z:4.67 [[ 6.10039581e-01 -7.92312033e-01 -9.66189120e-03 1.03139796e+03] [ 7.92204738e-01 6.10116015e-01 -1.30422684e-02 1.20026768e+02] [ 1.62284208e-02 3.02103983e-04 9.99868265e-01 4.66556747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.959254154 meters 0.01706470032602133 Centerline is valid? [True, True] Translation: X:1031.43, Y:120.07, Z:4.66 [[ 6.09735766e-01 -7.92542849e-01 -9.90598649e-03 1.03143203e+03] [ 7.92429955e-01 6.09816151e-01 -1.33801355e-02 1.20074376e+02] [ 1.66451613e-02 3.08546769e-04 9.99861412e-01 4.66487669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.019254154 meters 0.015379097805636557 Centerline is valid? [True, True] Translation: X:1031.47, Y:120.12, Z:4.67 [[ 6.08498652e-01 -7.93505241e-01 -8.87820135e-03 1.03146779e+03] [ 7.93414609e-01 6.08563363e-01 -1.19954697e-02 1.20119623e+02] [ 1.49214162e-02 2.55132514e-04 9.99888637e-01 4.66736533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.079254154 meters 0.015146985188884951 Centerline is valid? [True, True] Translation: X:1031.50, Y:120.17, Z:4.67 [[ 6.06847463e-01 -7.94775050e-01 -8.29315454e-03 1.03150423e+03] [ 7.94696022e-01 6.06904091e-01 -1.12096748e-02 1.20165985e+02] [ 1.39423192e-02 2.12025771e-04 9.99902779e-01 4.66813732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.139254154 meters 0.016855136100352983 Centerline is valid? [True, True] Translation: X:1031.54, Y:120.21, Z:4.67 [[ 6.05520705e-01 -7.95771852e-01 -9.58310095e-03 1.03154033e+03] [ 7.95666324e-01 6.05596491e-01 -1.29611520e-02 1.20211486e+02] [ 1.61176123e-02 2.23295208e-04 9.99870078e-01 4.66677030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.199254154 meters 0.01598259511274081 Centerline is valid? [True, True] Translation: X:1031.57, Y:120.26, Z:4.67 [[ 6.05053011e-01 -7.96127833e-01 -9.55658375e-03 1.03157490e+03] [ 7.96022811e-01 6.05128438e-01 -1.29328410e-02 1.20258800e+02] [ 1.60791553e-02 2.17795727e-04 9.99870698e-01 4.66718027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.259254154 meters 0.014409252041671969 Centerline is valid? [True, True] Translation: X:1031.61, Y:120.31, Z:4.67 [[ 6.03503718e-01 -7.97320234e-01 -7.98166959e-03 1.03160907e+03] [ 7.97247039e-01 6.03556476e-01 -1.08045911e-02 1.20305088e+02] [ 1.34321075e-02 1.57248485e-04 9.99909773e-01 4.66954580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.319254154 meters 0.015732683881295745 Centerline is valid? [True, True] Translation: X:1031.65, Y:120.35, Z:4.67 [[ 6.00402959e-01 -7.99664018e-01 -7.33112765e-03 1.03164618e+03] [ 7.99602394e-01 6.00447707e-01 -9.92792134e-03 1.20350489e+02] [ 1.23409603e-02 9.87661286e-05 9.99923843e-01 4.67020721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.379254154 meters 0.01361476694342752 Centerline is valid? [True, True] Translation: X:1031.68, Y:120.40, Z:4.67 [[ 5.98150420e-01 -8.01360785e-01 -6.08011766e-03 1.03168214e+03] [ 8.01318444e-01 5.98181319e-01 -8.23782125e-03 1.20396980e+02] [ 1.02384797e-02 5.53458197e-05 9.99947584e-01 4.67223697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.439254154 meters 0.015330412393622981 Centerline is valid? [True, True] Translation: X:1031.72, Y:120.44, Z:4.67 [[ 5.95971844e-01 -8.02983872e-01 -5.87049319e-03 1.03171635e+03] [ 8.02944435e-01 5.96000756e-01 -7.95826558e-03 1.20443587e+02] [ 9.88917729e-03 2.92223719e-05 9.99951100e-01 4.67090129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.499254154 meters 0.013689444332120864 Centerline is valid? [True, True] Translation: X:1031.75, Y:120.49, Z:4.67 [[ 5.95975324e-01 -8.02979498e-01 -6.11063633e-03 1.03174922e+03] [ 8.02936716e-01 5.96006648e-01 -8.28889539e-03 1.20491168e+02] [ 1.02977929e-02 3.35228427e-05 9.99946976e-01 4.67020407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.559254154 meters 0.01637617502977479 Centerline is valid? [True, True] Translation: X:1031.78, Y:120.54, Z:4.67 [[ 5.96597314e-01 -8.02501577e-01 -7.92869393e-03 1.03178200e+03] [ 8.02429417e-01 5.96649994e-01 -1.07617449e-02 1.20539833e+02] [ 1.33669724e-02 5.82108408e-05 9.99910656e-01 4.66693500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.619254154 meters 0.015909159042574866 Centerline is valid? [True, True] Translation: X:1031.81, Y:120.59, Z:4.67 [[ 5.97754107e-01 -8.01640228e-01 -7.93548469e-03 1.03181380e+03] [ 8.01567811e-01 5.97806773e-01 -1.07752834e-02 1.20587719e+02] [ 1.33817872e-02 8.01408415e-05 9.99910457e-01 4.66588571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.6792541539999 meters 0.01415051821613099 Centerline is valid? [True, True] Translation: X:1031.85, Y:120.64, Z:4.67 [[ 5.99863737e-01 -8.00072668e-01 -6.87183904e-03 1.03184555e+03] [ 8.00018208e-01 5.99903088e-01 -9.33554588e-03 1.20636259e+02] [ 1.15915526e-02 1.02459093e-04 9.99932810e-01 4.66735765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.739254154 meters 0.01437562169300874 Centerline is valid? [True, True] Translation: X:1031.88, Y:120.68, Z:4.67 [[ 6.01087413e-01 -7.99161820e-01 -5.85734650e-03 1.03187796e+03] [ 7.99122164e-01 6.01115941e-01 -7.96187913e-03 1.20684422e+02] [ 9.88377417e-03 1.05049915e-04 9.99951149e-01 4.66832451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.799254154 meters 0.014830618885377662 Centerline is valid? [True, True] Translation: X:1031.91, Y:120.73, Z:4.67 [[ 6.02019145e-01 -7.98465855e-01 -5.02270411e-03 1.03190910e+03] [ 7.98436647e-01 6.02040088e-01 -6.83032512e-03 1.20732281e+02] [ 8.47765061e-03 1.01675463e-04 9.99964059e-01 4.66852547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.859254154 meters 0.015943269712433854 Centerline is valid? [True, True] Translation: X:1031.94, Y:120.78, Z:4.67 [[ 6.03315776e-01 -7.97487098e-01 -4.93996162e-03 1.03194260e+03] [ 7.97458787e-01 6.03335989e-01 -6.72067212e-03 1.20780822e+02] [ 8.34010593e-03 1.15271715e-04 9.99965214e-01 4.66767955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.9192541539999 meters 0.015421746546089205 Centerline is valid? [True, True] Translation: X:1031.98, Y:120.83, Z:4.67 [[ 6.04703297e-01 -7.96435879e-01 -4.87995014e-03 1.03197550e+03] [ 7.96408195e-01 6.04722973e-01 -6.64177380e-03 1.20828882e+02] [ 8.24076491e-03 1.29870228e-04 9.99966036e-01 4.66822824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.979254154 meters 0.015255413724778772 Centerline is valid? [True, True] Translation: X:1032.01, Y:120.88, Z:4.67 [[ 6.04878179e-01 -7.96295569e-01 -5.97954057e-03 1.03201061e+03] [ 7.96253959e-01 6.04907712e-01 -8.14205966e-03 1.20876738e+02] [ 1.01005562e-02 1.63721380e-04 9.99948975e-01 4.66683566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.039254154 meters 0.015104942586125294 Centerline is valid? [True, True] Translation: X:1032.05, Y:120.92, Z:4.66 [[ 6.02577697e-01 -7.98030240e-01 -6.91777575e-03 1.03204687e+03] [ 7.97974622e-01 6.02617384e-01 -9.42291911e-03 1.20922093e+02] [ 1.16885463e-02 1.57831405e-04 9.99931674e-01 4.66491604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.099254154 meters 0.014251359592774798 Centerline is valid? [True, True] Translation: X:1032.09, Y:120.97, Z:4.67 [[ 5.99306451e-01 -8.00492537e-01 -6.59366624e-03 1.03208635e+03] [ 8.00442119e-01 5.99342713e-01 -8.98477320e-03 1.20966747e+02] [ 1.11441097e-02 1.06784360e-04 9.99937897e-01 4.66610216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.1592541539999 meters 0.014035066854677996 Centerline is valid? [True, True] Translation: X:1032.12, Y:121.01, Z:4.67 [[ 5.97518946e-01 -8.01828501e-01 -6.49344772e-03 1.03212231e+03] [ 8.01779635e-01 5.97554222e-01 -8.85256972e-03 1.21014026e+02] [ 1.09784298e-02 8.32639798e-05 9.99939732e-01 4.66618916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.219254154 meters 0.013970886541074593 Centerline is valid? [True, True] Translation: X:1032.16, Y:121.06, Z:4.67 [[ 5.97260859e-01 -8.02010195e-01 -7.68856766e-03 1.03215746e+03] [ 8.01941625e-01 5.97310337e-01 -1.04876969e-02 1.21061471e+02] [ 1.30037008e-02 9.81084274e-05 9.99915443e-01 4.66514240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.279254154 meters 0.015414703759938109 Centerline is valid? [True, True] Translation: X:1032.19, Y:121.11, Z:4.66 [[ 5.97311350e-01 -8.01960313e-01 -8.87736396e-03 1.03219218e+03] [ 8.01868835e-01 5.97377303e-01 -1.21131528e-02 1.21108414e+02] [ 1.50174036e-02 1.16842159e-04 9.99887226e-01 4.66428007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.339254154 meters 0.013999264681316166 Centerline is valid? [True, True] Translation: X:1032.22, Y:121.16, Z:4.67 [[ 5.97867591e-01 -8.01547799e-01 -8.68739080e-03 1.03222467e+03] [ 8.01460066e-01 5.97930690e-01 -1.18597006e-02 1.21156054e+02] [ 1.47005745e-02 1.27933841e-04 9.99891933e-01 4.66602919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.399254154 meters 0.01400501569353783 Centerline is valid? [True, True] Translation: X:1032.26, Y:121.20, Z:4.67 [[ 5.97683628e-01 -8.01690826e-01 -8.13014376e-03 1.03225688e+03] [ 8.01613944e-01 5.97738910e-01 -1.11031860e-02 1.21203320e+02] [ 1.37610256e-02 1.18955892e-04 9.99905306e-01 4.66686699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.459254154 meters 0.014547921198306632 Centerline is valid? [True, True] Translation: X:1032.29, Y:121.25, Z:4.67 [[ 5.96057122e-01 -8.02901735e-01 -8.04432790e-03 1.03229145e+03] [ 8.02826503e-01 5.96111395e-01 -1.09913653e-02 1.21249547e+02] [ 1.36203018e-02 9.32819569e-05 9.99907235e-01 4.66761846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.519254154 meters 0.0136053090135635 Centerline is valid? [True, True] Translation: X:1032.33, Y:121.30, Z:4.67 [[ 5.95166872e-01 -8.03564796e-01 -7.74683403e-03 1.03232564e+03] [ 8.03495000e-01 5.95217282e-01 -1.05911255e-02 1.21296183e+02] [ 1.31217051e-02 7.89446182e-05 9.99913904e-01 4.66895853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.579254154 meters 0.01342593537186666 Centerline is valid? [True, True] Translation: X:1032.36, Y:121.34, Z:4.67 [[ 5.93636294e-01 -8.04697028e-01 -7.65788053e-03 1.03236080e+03] [ 8.04628839e-01 5.93685682e-01 -1.04757947e-02 1.21342896e+02] [ 1.29762149e-02 5.70604498e-05 9.99915804e-01 4.66981385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.639254154 meters 0.015622534017630751 Centerline is valid? [True, True] Translation: X:1032.40, Y:121.39, Z:4.67 [[ 5.91358773e-01 -8.06376258e-01 -7.22030432e-03 1.03239639e+03] [ 8.06315696e-01 5.91402850e-01 -9.88268123e-03 1.21389704e+02] [ 1.22392681e-02 2.23655394e-05 9.99925097e-01 4.67023482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.699254154 meters 0.01597249153742284 Centerline is valid? [True, True] Translation: X:1032.43, Y:121.44, Z:4.67 [[ 5.90067230e-01 -8.07324803e-01 -6.87944744e-03 1.03243049e+03] [ 8.07269839e-01 5.90107331e-01 -9.42046280e-03 1.21435623e+02] [ 1.16649856e-02 5.13596127e-06 9.99931962e-01 4.67073530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.759254154 meters 0.013259810372169337 Centerline is valid? [True, True] Translation: X:1032.46, Y:121.48, Z:4.67 [[ 5.89413863e-01 -8.07803011e-01 -6.75227019e-03 1.03246418e+03] [ 8.07750048e-01 5.89452538e-01 -9.25012739e-03 1.21481221e+02] [ 1.14524236e-02 -1.99325065e-06 9.99934419e-01 4.67234718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.819254154 meters 0.013305300908757842 Centerline is valid? [True, True] Translation: X:1032.50, Y:121.53, Z:4.67 [[ 5.89001725e-01 -8.08103077e-01 -6.81058968e-03 1.03249863e+03] [ 8.08049159e-01 5.89041099e-01 -9.33491930e-03 1.21528532e+02] [ 1.15552942e-02 -5.00768642e-06 9.99933235e-01 4.67184995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.879254154 meters 0.01493537842000273 Centerline is valid? [True, True] Translation: X:1032.53, Y:121.58, Z:4.67 [[ 5.89268778e-01 -8.07903357e-01 -7.38064832e-03 1.03253230e+03] [ 8.07839939e-01 5.89314997e-01 -1.01225719e-02 1.21575745e+02] [ 1.25275866e-02 2.53308799e-06 9.99921527e-01 4.67092728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.939254154 meters 0.015804069249621026 Centerline is valid? [True, True] Translation: X:1032.56, Y:121.62, Z:4.67 [[ 5.91785080e-01 -8.06049248e-01 -8.66192912e-03 1.03256451e+03] [ 8.05961627e-01 5.91848466e-01 -1.18847817e-02 1.21623469e+02] [ 1.47062688e-02 5.20539910e-05 9.99891856e-01 4.66880386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.999254154 meters 0.016186602066839865 Centerline is valid? [True, True] Translation: X:1032.60, Y:121.67, Z:4.67 [[ 5.93934595e-01 -8.04452907e-01 -9.85994310e-03 1.03259834e+03] [ 8.04339042e-01 5.94016422e-01 -1.35349950e-02 1.21672076e+02] [ 1.67452342e-02 1.08164582e-04 9.99859783e-01 4.66817644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.059254154 meters 0.013960697302293677 Centerline is valid? [True, True] Translation: X:1032.63, Y:121.72, Z:4.67 [[ 5.96580477e-01 -8.02495256e-01 -9.64879328e-03 1.03263133e+03] [ 8.02385844e-01 5.96658477e-01 -1.32521639e-02 1.21720847e+02] [ 1.63918330e-02 1.63927140e-04 9.99865631e-01 4.67042100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.119254154 meters 0.017029379080400527 Centerline is valid? [True, True] Translation: X:1032.67, Y:121.77, Z:4.67 [[ 5.96347193e-01 -8.02663143e-01 -1.00947205e-02 1.03266555e+03] [ 8.02543277e-01 5.96432602e-01 -1.38722582e-02 1.21767073e+02] [ 1.71555708e-02 1.71232200e-04 9.99852818e-01 4.66779980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.1792541539999 meters 0.013733675827458675 Centerline is valid? [True, True] Translation: X:1032.70, Y:121.81, Z:4.67 [[ 5.94831708e-01 -8.03801938e-01 -8.81380211e-03 1.03270410e+03] [ 8.03710597e-01 5.94896990e-01 -1.21180587e-02 1.21812508e+02] [ 1.49838234e-02 1.24459360e-04 9.99887728e-01 4.67316573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.239254154 meters 0.01341937601971691 Centerline is valid? [True, True] Translation: X:1032.74, Y:121.86, Z:4.68 [[ 5.92228990e-01 -8.05730410e-01 -7.95799351e-03 1.03274090e+03] [ 8.05656066e-01 5.92282451e-01 -1.09453920e-02 1.21857210e+02] [ 1.35324151e-02 7.07727072e-05 9.99908430e-01 4.67509993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.299254154 meters 0.013398235288407164 Centerline is valid? [True, True] Translation: X:1032.78, Y:121.90, Z:4.68 [[ 5.88239238e-01 -8.08660172e-01 -6.58216634e-03 1.03277886e+03] [ 8.08609452e-01 5.88276063e-01 -9.05692368e-03 1.21902337e+02] [ 1.11961044e-02 5.23596026e-06 9.99937322e-01 4.67701434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.359254154 meters 0.01358327785734943 Centerline is valid? [True, True] Translation: X:1032.82, Y:121.95, Z:4.68 [[ 5.83537796e-01 -8.12060828e-01 -6.39153698e-03 1.03281622e+03] [ 8.12013152e-01 5.83572796e-01 -8.79955715e-03 1.21947229e+02] [ 1.08757028e-02 -5.51379027e-05 9.99940856e-01 4.67659028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.4192541539999 meters 0.014150361396906173 Centerline is valid? [True, True] Translation: X:1032.85, Y:121.99, Z:4.68 [[ 5.79697560e-01 -8.14803339e-01 -6.80123617e-03 1.03285268e+03] [ 8.14749482e-01 5.79737446e-01 -9.36890011e-03 1.21993162e+02] [ 1.15767424e-02 -1.10175110e-04 9.99932981e-01 4.67613347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.479254154 meters 0.017449111984304152 Centerline is valid? [True, True] Translation: X:1032.89, Y:122.04, Z:4.67 [[ 5.73812082e-01 -8.18953112e-01 -7.44948234e-03 1.03289077e+03] [ 8.18888773e-01 5.73860398e-01 -1.02674435e-02 1.22038159e+02] [ 1.26835177e-02 -2.08714314e-04 9.99919539e-01 4.67441093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.539254154 meters 0.017908044999303287 Centerline is valid? [True, True] Translation: X:1032.93, Y:122.09, Z:4.68 [[ 5.69795403e-01 -8.21747749e-01 -7.98965789e-03 1.03292625e+03] [ 8.21673932e-01 5.69851344e-01 -1.10179689e-02 1.22085602e+02] [ 1.36069084e-02 -2.86905590e-04 9.99907381e-01 4.67504830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.599254154 meters 0.016105891010995188 Centerline is valid? [True, True] Translation: X:1032.96, Y:122.13, Z:4.68 [[ 5.69459290e-01 -8.21980106e-01 -8.05118846e-03 1.03295892e+03] [ 8.21905081e-01 5.69516128e-01 -1.11093597e-02 1.22134145e+02] [ 1.37169544e-02 -2.90984604e-04 9.99905876e-01 4.67638675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.6592541539999 meters 0.01835826600434279 Centerline is valid? [True, True] Translation: X:1032.99, Y:122.18, Z:4.67 [[ 5.70090871e-01 -8.21529375e-01 -9.26736300e-03 1.03298967e+03] [ 8.21429792e-01 5.70166102e-01 -1.27950160e-02 1.22182103e+02] [ 1.57954177e-02 -3.18166260e-04 9.99875194e-01 4.67279083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.719254154 meters 0.01711176575331182 Centerline is valid? [True, True] Translation: X:1033.02, Y:122.23, Z:4.67 [[ 5.71196939e-01 -8.20760268e-01 -9.30799216e-03 1.03302160e+03] [ 8.20659620e-01 5.71272698e-01 -1.28566057e-02 1.22230175e+02] [ 1.58695930e-02 -2.95039461e-04 9.99874027e-01 4.67365811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.779254154 meters 0.017417197863035083 Centerline is valid? [True, True] Translation: X:1033.05, Y:122.28, Z:4.68 [[ 5.74379295e-01 -8.18530681e-01 -9.79537735e-03 1.03304999e+03] [ 8.18418776e-01 5.74462762e-01 -1.35366758e-02 1.22282370e+02] [ 1.67072640e-02 -2.41534458e-04 9.99860395e-01 4.67533741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.839254154 meters 0.013848266071252566 Centerline is valid? [True, True] Translation: X:1033.08, Y:122.33, Z:4.68 [[ 5.81910410e-01 -8.13206819e-01 -8.65706469e-03 1.03307608e+03] [ 8.13118761e-01 5.81974797e-01 -1.19673088e-02 1.22334117e+02] [ 1.47700906e-02 -7.53201495e-05 9.99890913e-01 4.67749485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.899254154 meters 0.01360899597253197 Centerline is valid? [True, True] Translation: X:1033.10, Y:122.39, Z:4.68 [[ 5.90064480e-01 -8.07311972e-01 -8.44324426e-03 1.03310105e+03] [ 8.07227516e-01 5.90124880e-01 -1.16774754e-02 1.22387310e+02] [ 1.44099342e-02 7.48443495e-05 9.99896169e-01 4.67791470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.959254154 meters 0.01601800239804688 Centerline is valid? [True, True] Translation: X:1033.13, Y:122.44, Z:4.68 [[ 5.95289866e-01 -8.03459178e-01 -9.12819415e-03 1.03312946e+03] [ 8.03359942e-01 5.95359819e-01 -1.26289107e-02 1.22438879e+02] [ 1.55813742e-02 1.84637034e-04 9.99878586e-01 4.67727879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.019254154 meters 0.014653448271723813 Centerline is valid? [True, True] Translation: X:1033.16, Y:122.49, Z:4.68 [[ 5.97716839e-01 -8.01665971e-01 -8.13950423e-03 1.03315891e+03] [ 8.01586868e-01 5.97772221e-01 -1.12634534e-02 1.22488333e+02] [ 1.38950968e-02 2.07836075e-04 9.99903437e-01 4.67888636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.079254154 meters 0.01487800964005621 Centerline is valid? [True, True] Translation: X:1033.19, Y:122.54, Z:4.68 [[ 5.98510752e-01 -8.01066785e-01 -8.76841480e-03 1.03319084e+03] [ 8.00974839e-01 5.98574930e-01 -1.21392502e-02 1.22537685e+02] [ 1.49729034e-02 2.42192157e-04 9.99887870e-01 4.67864977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.139254154 meters 0.017322572037526584 Centerline is valid? [True, True] Translation: X:1033.22, Y:122.59, Z:4.68 [[ 5.97895932e-01 -8.01493610e-01 -1.13334701e-02 1.03322420e+03] [ 8.01339893e-01 5.98003261e-01 -1.56995455e-02 1.22585811e+02] [ 1.93605375e-02 3.04732663e-04 9.99812521e-01 4.67589855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.199254154 meters 0.015794845512963878 Centerline is valid? [True, True] Translation: X:1033.26, Y:122.63, Z:4.68 [[ 5.98049512e-01 -8.01370505e-01 -1.19203475e-02 1.03325717e+03] [ 8.01200245e-01 5.98168208e-01 -1.65215812e-02 1.22634724e+02] [ 2.03702807e-02 3.30138280e-04 9.99792450e-01 4.67574526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.259254154 meters 0.015150469917853019 Centerline is valid? [True, True] Translation: X:1033.29, Y:122.68, Z:4.68 [[ 5.97570085e-01 -8.01717580e-01 -1.26061526e-02 1.03329115e+03] [ 8.01527115e-01 5.97702942e-01 -1.74779277e-02 1.22681806e+02] [ 2.15470964e-02 3.40113605e-04 9.99767777e-01 4.67550754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.319254154 meters 0.01509294563885969 Centerline is valid? [True, True] Translation: X:1033.33, Y:122.73, Z:4.68 [[ 5.96287408e-01 -8.02679786e-01 -1.21031881e-02 1.03332749e+03] [ 8.02504315e-01 5.96410155e-01 -1.67854501e-02 1.22728722e+02] [ 2.06918058e-02 2.96091849e-04 9.99785858e-01 4.67695763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.379254154 meters 0.014222273250424034 Centerline is valid? [True, True] Translation: X:1033.36, Y:122.77, Z:4.68 [[ 5.94303423e-01 -8.04165464e-01 -1.10158070e-02 1.03336449e+03] [ 8.04020223e-01 5.94405464e-01 -1.52848464e-02 1.22774626e+02] [ 1.88394014e-02 2.26904954e-04 9.99822497e-01 4.68054945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.439254154 meters 0.015568323082858564 Centerline is valid? [True, True] Translation: X:1033.40, Y:122.82, Z:4.68 [[ 5.93102842e-01 -8.05041486e-01 -1.17142876e-02 1.03339922e+03] [ 8.04877208e-01 5.93218475e-01 -1.62641224e-02 1.22820687e+02] [ 2.00424251e-02 2.17734119e-04 9.99799107e-01 4.68020966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.499254154 meters 0.017758157678530187 Centerline is valid? [True, True] Translation: X:1033.44, Y:122.87, Z:4.68 [[ 5.90066497e-01 -8.07259295e-01 -1.24080601e-02 1.03343569e+03] [ 8.07075257e-01 5.90196922e-01 -1.72372577e-02 1.22866376e+02] [ 2.12381354e-02 1.56889945e-04 9.99774433e-01 4.67949720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.559254154 meters 0.013632253472884685 Centerline is valid? [True, True] Translation: X:1033.47, Y:122.91, Z:4.68 [[ 5.86136140e-01 -8.10135785e-01 -1.11550205e-02 1.03347420e+03] [ 8.09987414e-01 5.86242277e-01 -1.55042598e-02 1.22911907e+02] [ 1.91001003e-02 5.21807982e-05 9.99817575e-01 4.68227643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.619254154 meters 0.01628065117625769 Centerline is valid? [True, True] Translation: X:1033.51, Y:122.96, Z:4.68 [[ 5.78871749e-01 -8.15338802e-01 -1.14077432e-02 1.03351483e+03] [ 8.15184466e-01 5.78984132e-01 -1.58638631e-02 1.22955660e+02] [ 1.95393255e-02 -1.16272859e-04 9.99809082e-01 4.68144687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.6792541539999 meters 0.015219359118459416 Centerline is valid? [True, True] Translation: X:1033.56, Y:123.00, Z:4.68 [[ 5.72718822e-01 -8.19685645e-01 -1.04208313e-02 1.03355509e+03] [ 8.19557480e-01 5.72813571e-01 -1.44965767e-02 1.22998620e+02] [ 1.78518294e-02 -2.38007884e-04 9.99840615e-01 4.68381577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.739254154 meters 0.01551197406517407 Centerline is valid? [True, True] Translation: X:1033.59, Y:123.04, Z:4.68 [[ 5.70055146e-01 -8.21541385e-01 -1.03384248e-02 1.03359244e+03] [ 8.21415420e-01 5.70148812e-01 -1.43888647e-02 1.23044520e+02] [ 1.77154885e-02 -2.89695176e-04 9.99843026e-01 4.68437633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.799254154 meters 0.01800958076743702 Centerline is valid? [True, True] Translation: X:1033.63, Y:123.09, Z:4.68 [[ 5.69986363e-01 -8.21578367e-01 -1.11594304e-02 1.03362805e+03] [ 8.21431478e-01 5.70095510e-01 -1.55382010e-02 1.23089952e+02] [ 1.91277910e-02 -3.10144706e-04 9.99816999e-01 4.68152083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.859254154 meters 0.014992108596567256 Centerline is valid? [True, True] Translation: X:1033.66, Y:123.14, Z:4.68 [[ 5.75477118e-01 -8.17743865e-01 -1.10026075e-02 1.03365938e+03] [ 8.17600216e-01 5.75582262e-01 -1.53279823e-02 1.23139197e+02] [ 1.88672692e-02 -1.74831206e-04 9.99821982e-01 4.68192591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.9192541539999 meters 0.01686971632192015 Centerline is valid? [True, True] Translation: X:1033.69, Y:123.19, Z:4.68 [[ 5.82679988e-01 -8.12614866e-01 -1.18790359e-02 1.03368904e+03] [ 8.12446166e-01 5.82801064e-01 -1.65574228e-02 1.23188245e+02] [ 2.03779226e-02 -3.39830279e-06 9.99792349e-01 4.67955754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.979254154 meters 0.0148156523589096 Centerline is valid? [True, True] Translation: X:1033.72, Y:123.24, Z:4.68 [[ 5.90710554e-01 -8.06815050e-01 -1.05127181e-02 1.03371834e+03] [ 8.06681854e-01 5.90804065e-01 -1.46609303e-02 1.23239571e+02] [ 1.80396158e-02 1.79947283e-04 9.99837257e-01 4.68177527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.039254154 meters 0.015059045475957187 Centerline is valid? [True, True] Translation: X:1033.75, Y:123.29, Z:4.68 [[ 5.95297880e-01 -8.03445061e-01 -9.82179313e-03 1.03375022e+03] [ 8.03328215e-01 5.95378839e-01 -1.37046188e-02 1.23289630e+02] [ 1.68585961e-02 2.68206983e-04 9.99857848e-01 4.68309885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.099254154 meters 0.019231944725436198 Centerline is valid? [True, True] Translation: X:1033.78, Y:123.34, Z:4.68 [[ 5.98823808e-01 -8.00826764e-01 -9.30276854e-03 1.03378286e+03] [ 8.00721516e-01 5.98895973e-01 -1.29871652e-02 1.23338917e+02] [ 1.59718601e-02 3.28096762e-04 9.99872388e-01 4.68249584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.1592541539999 meters 0.01747386180832523 Centerline is valid? [True, True] Translation: X:1033.82, Y:123.39, Z:4.69 [[ 6.01833426e-01 -7.98586463e-01 -7.49589707e-03 1.03381510e+03] [ 7.98517902e-01 6.01880023e-01 -1.04688991e-02 1.23387433e+02] [ 1.28719518e-02 3.14925381e-04 9.99917103e-01 4.68506492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.219254154 meters 0.016799764951542943 Centerline is valid? [True, True] Translation: X:1033.85, Y:123.43, Z:4.68 [[ 6.02016211e-01 -7.98442265e-01 -8.15051264e-03 1.03385274e+03] [ 7.98361113e-01 6.02071281e-01 -1.13888750e-02 1.23433368e+02] [ 1.40005487e-02 3.49235022e-04 9.99901927e-01 4.68482943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.279254154 meters 0.017196914242217528 Centerline is valid? [True, True] Translation: X:1033.89, Y:123.48, Z:4.68 [[ 6.00100327e-01 -7.99867384e-01 -9.57942683e-03 1.03389030e+03] [ 7.99755336e-01 6.00176663e-01 -1.33931095e-02 1.23479163e+02] [ 1.64620599e-02 3.76011669e-04 9.99864420e-01 4.68268155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.339254154 meters 0.01626681476685984 Centerline is valid? [True, True] Translation: X:1033.93, Y:123.53, Z:4.68 [[ 5.98481706e-01 -8.01073883e-01 -1.00140263e-02 1.03392776e+03] [ 8.00951472e-01 5.98565370e-01 -1.40084764e-02 1.23525219e+02] [ 1.72158740e-02 3.63067758e-04 9.99851730e-01 4.68251180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.399254154 meters 0.014908588146567635 Centerline is valid? [True, True] Translation: X:1033.97, Y:123.57, Z:4.68 [[ 5.95117708e-01 -8.03574086e-01 -1.01784827e-02 1.03396648e+03] [ 8.03447913e-01 5.95204670e-01 -1.42425740e-02 1.23568651e+02] [ 1.75032438e-02 2.98127328e-04 9.99846762e-01 4.68200225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.459254154 meters 0.016204131501496723 Centerline is valid? [True, True] Translation: X:1034.01, Y:123.61, Z:4.68 [[ 5.90122427e-01 -8.07242070e-01 -1.07592250e-02 1.03400504e+03] [ 8.07101639e-01 5.90220466e-01 -1.50580773e-02 1.23612222e+02] [ 1.85058283e-02 2.02320978e-04 9.99828732e-01 4.68036466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.519254154 meters 0.014118046709748667 Centerline is valid? [True, True] Translation: X:1034.04, Y:123.66, Z:4.68 [[ 5.89213639e-01 -8.07921293e-01 -9.51167509e-03 1.03403961e+03] [ 8.07811538e-01 5.89290384e-01 -1.33177180e-02 1.23659937e+02] [ 1.63648066e-02 1.63340218e-04 9.99866074e-01 4.68286305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.579254154 meters 0.015613841435414152 Centerline is valid? [True, True] Translation: X:1034.07, Y:123.71, Z:4.68 [[ 5.89111564e-01 -8.07989092e-01 -1.00594196e-02 1.03407181e+03] [ 8.07866200e-01 5.89197417e-01 -1.40927753e-02 1.23708845e+02] [ 1.73137928e-02 1.75551835e-04 9.99850090e-01 4.68282246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.639254154 meters 0.014622948190729866 Centerline is valid? [True, True] Translation: X:1034.10, Y:123.76, Z:4.68 [[ 5.91713820e-01 -8.06081340e-01 -1.03744316e-02 1.03410320e+03] [ 8.05950194e-01 5.91804710e-01 -1.45420166e-02 1.23758789e+02] [ 1.78616857e-02 2.43437019e-04 9.99840438e-01 4.68362963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.699254154 meters 0.01500844424148968 Centerline is valid? [True, True] Translation: X:1034.13, Y:123.81, Z:4.68 [[ 5.95189855e-01 -8.03522564e-01 -1.00263022e-02 1.03413367e+03] [ 8.03399641e-01 5.95274216e-01 -1.40579093e-02 1.23808753e+02] [ 1.72642465e-02 3.11997359e-04 9.99850913e-01 4.68457009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.759254154 meters 0.01634375709537441 Centerline is valid? [True, True] Translation: X:1034.16, Y:123.86, Z:4.68 [[ 5.96899463e-01 -8.02252088e-01 -1.01300450e-02 1.03416477e+03] [ 8.02126312e-01 5.96985310e-01 -1.42098652e-02 1.23859150e+02] [ 1.74473820e-02 3.56285266e-04 9.99847719e-01 4.68427787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.819254154 meters 0.016716052932069996 Centerline is valid? [True, True] Translation: X:1034.20, Y:123.91, Z:4.68 [[ 5.96007958e-01 -8.02915557e-01 -1.00559405e-02 1.03419846e+03] [ 8.02791576e-01 5.96092689e-01 -1.41135161e-02 1.23907802e+02] [ 1.73262343e-02 3.38943584e-04 9.99849832e-01 4.68369479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.879254154 meters 0.01642568525263485 Centerline is valid? [True, True] Translation: X:1034.23, Y:123.95, Z:4.68 [[ 5.93297075e-01 -8.04926145e-01 -9.61673000e-03 1.03423477e+03] [ 8.04812903e-01 5.93374946e-01 -1.35042434e-02 1.23954383e+02] [ 1.65762452e-02 2.72359696e-04 9.99862568e-01 4.68439463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.939254154 meters 0.014122230970814647 Centerline is valid? [True, True] Translation: X:1034.27, Y:124.00, Z:4.69 [[ 5.88751331e-01 -8.08275704e-01 -7.89029689e-03 1.03427337e+03] [ 8.08199691e-01 5.88804181e-01 -1.10858235e-02 1.23998816e+02] [ 1.36062416e-02 1.49857836e-04 9.99907420e-01 4.68809948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.999254154 meters 0.013397334151927476 Centerline is valid? [True, True] Translation: X:1034.31, Y:124.04, Z:4.69 [[ 5.82429784e-01 -8.12846773e-01 -7.46120836e-03 1.03431227e+03] [ 8.12779101e-01 5.82477571e-01 -1.04886626e-02 1.24043435e+02] [ 1.28716620e-02 4.45952507e-05 9.99917156e-01 4.68925546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.059254154 meters 0.01563558793783634 Centerline is valid? [True, True] Translation: X:1034.35, Y:124.09, Z:4.69 [[ 5.74532534e-01 -8.18442618e-01 -8.00307304e-03 1.03435169e+03] [ 8.18365207e-01 5.74588266e-01 -1.12566904e-02 1.24088011e+02] [ 1.38114270e-02 -8.21016550e-05 9.99904614e-01 4.68839225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.119254154 meters 0.017832994070053183 Centerline is valid? [True, True] Translation: X:1034.39, Y:124.13, Z:4.69 [[ 5.67496501e-01 -8.23335226e-01 -8.17476950e-03 1.03439000e+03] [ 8.23254873e-01 5.67555341e-01 -1.15042679e-02 1.24131969e+02] [ 1.41115031e-02 -2.01287058e-04 9.99900408e-01 4.68761571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.1792541539999 meters 0.016699291313800095 Centerline is valid? [True, True] Translation: X:1034.43, Y:124.18, Z:4.69 [[ 5.64615938e-01 -8.25316086e-01 -7.88669484e-03 1.03442562e+03] [ 8.25241429e-01 5.64670967e-01 -1.11032832e-02 1.24178183e+02] [ 1.36171058e-02 -2.39336656e-04 9.99907254e-01 4.68891841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.239254154 meters 0.018136098896489514 Centerline is valid? [True, True] Translation: X:1034.46, Y:124.23, Z:4.69 [[ 5.61245595e-01 -8.27608825e-01 -8.18627523e-03 1.03445992e+03] [ 8.27528557e-01 5.61305212e-01 -1.15302765e-02 1.24225477e+02] [ 1.41375576e-02 -3.03059614e-04 9.99900014e-01 4.68781842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.299254154 meters 0.01974697075801284 Centerline is valid? [True, True] Translation: X:1034.49, Y:124.27, Z:4.69 [[ 5.60471970e-01 -8.28131107e-01 -8.36904919e-03 1.03449499e+03] [ 8.28047214e-01 5.60534358e-01 -1.17917245e-02 1.24271781e+02] [ 1.44562335e-02 -3.21036819e-04 9.99895452e-01 4.68729337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.359254154 meters 0.018275859847456073 Centerline is valid? [True, True] Translation: X:1034.53, Y:124.32, Z:4.69 [[ 5.60402745e-01 -8.28177910e-01 -8.37337209e-03 1.03452622e+03] [ 8.28093850e-01 5.60465207e-01 -1.18037020e-02 1.24320766e+02] [ 1.44685490e-02 -3.19110910e-04 9.99895274e-01 4.68866219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.4192541539999 meters 0.017994271083915773 Centerline is valid? [True, True] Translation: X:1034.56, Y:124.37, Z:4.69 [[ 5.62042605e-01 -8.27065323e-01 -8.42982912e-03 1.03455720e+03] [ 8.26979906e-01 5.62105745e-01 -1.18897654e-02 1.24371275e+02] [ 1.45720681e-02 -2.88744562e-04 9.99893780e-01 4.68797778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.479254154 meters 0.017278290122539477 Centerline is valid? [True, True] Translation: X:1034.59, Y:124.42, Z:4.69 [[ 5.65290175e-01 -8.24850883e-01 -8.24858128e-03 1.03458542e+03] [ 8.24768775e-01 5.65350309e-01 -1.16402952e-02 1.24423899e+02] [ 1.42648457e-02 -2.23027768e-04 9.99898227e-01 4.68813465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.539254154 meters 0.014145599459223704 Centerline is valid? [True, True] Translation: X:1034.61, Y:124.47, Z:4.69 [[ 5.70362876e-01 -8.21356097e-01 -7.76864818e-03 1.03461421e+03] [ 8.21282893e-01 5.70415766e-01 -1.09664851e-02 1.24473651e+02] [ 1.34387488e-02 -1.25381861e-04 9.99909688e-01 4.68959150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.599254154 meters 0.01647873548474027 Centerline is valid? [True, True] Translation: X:1034.64, Y:124.53, Z:4.69 [[ 5.75069530e-01 -8.18068150e-01 -7.71605313e-03 1.03464230e+03] [ 8.17995574e-01 5.75121291e-01 -1.08968339e-02 1.24525677e+02] [ 1.33520192e-02 -4.52601857e-05 9.99910857e-01 4.68796801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.6592541539999 meters 0.015364076126740615 Centerline is valid? [True, True] Translation: X:1034.67, Y:124.58, Z:4.69 [[ 5.80221525e-01 -8.14431676e-01 -6.63531014e-03 1.03467076e+03] [ 8.14377712e-01 5.80259463e-01 -9.37534755e-03 1.24577554e+02] [ 1.14857815e-02 3.61297662e-05 9.99934036e-01 4.69096633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.719254154 meters 0.013631901276008176 Centerline is valid? [True, True] Translation: X:1034.70, Y:124.63, Z:4.69 [[ 5.82808128e-01 -8.12585534e-01 -6.27978768e-03 1.03470180e+03] [ 8.12537040e-01 5.82841955e-01 -8.87772912e-03 1.24628034e+02] [ 1.08740380e-02 7.14525879e-05 9.99940873e-01 4.69275787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.779254154 meters 0.0166802138430032 Centerline is valid? [True, True] Translation: X:1034.73, Y:124.68, Z:4.69 [[ 5.84138807e-01 -8.11627309e-01 -6.55484513e-03 1.03473117e+03] [ 8.11574370e-01 5.84175575e-01 -9.27039318e-03 1.24678772e+02] [ 1.13532847e-02 9.54521010e-05 9.99935545e-01 4.69121100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.839254154 meters 0.014848867979104867 Centerline is valid? [True, True] Translation: X:1034.76, Y:124.73, Z:4.69 [[ 5.85058848e-01 -8.10962668e-01 -6.75993082e-03 1.03476418e+03] [ 8.10906267e-01 5.85097888e-01 -9.56490768e-03 1.24727620e+02] [ 1.17120043e-02 1.14363596e-04 9.99931406e-01 4.69305395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.899254154 meters 0.015083677774555167 Centerline is valid? [True, True] Translation: X:1034.79, Y:124.78, Z:4.69 [[ 5.85962414e-01 -8.10300064e-01 -7.86486035e-03 1.03479486e+03] [ 8.10223607e-01 5.86015174e-01 -1.11320888e-02 1.24776286e+02] [ 1.36292598e-02 1.50690102e-04 9.99907106e-01 4.69130371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.959254154 meters 0.014580557081585946 Centerline is valid? [True, True] Translation: X:1034.83, Y:124.82, Z:4.69 [[ 5.85630109e-01 -8.10532726e-01 -8.60670248e-03 1.03482895e+03] [ 8.10441108e-01 5.85693327e-01 -1.21875517e-02 1.24824791e+02] [ 1.49192977e-02 1.62171742e-04 9.99888688e-01 4.69102381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.019254154 meters 0.017185563024961794 Centerline is valid? [True, True] Translation: X:1034.86, Y:124.87, Z:4.69 [[ 5.83982226e-01 -8.11718842e-01 -8.79095104e-03 1.03486444e+03] [ 8.11623289e-01 5.84048373e-01 -1.24552924e-02 1.24872052e+02] [ 1.52445362e-02 1.38728815e-04 9.99883786e-01 4.69023827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.079254154 meters 0.013798005870969313 Centerline is valid? [True, True] Translation: X:1034.90, Y:124.92, Z:4.69 [[ 5.81659928e-01 -8.13394471e-01 -7.82061498e-03 1.03490108e+03] [ 8.13318921e-01 5.81712494e-01 -1.10863446e-02 1.24918534e+02] [ 1.35669208e-02 8.78282407e-05 9.99907961e-01 4.69391193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.139254154 meters 0.016810025407826175 Centerline is valid? [True, True] Translation: X:1034.94, Y:124.96, Z:4.69 [[ 5.76325987e-01 -8.17174692e-01 -8.59532037e-03 1.03493945e+03] [ 8.17083736e-01 5.76390078e-01 -1.21920472e-02 1.24963097e+02] [ 1.49172898e-02 3.49715476e-06 9.99888731e-01 4.69166997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.199254154 meters 0.016863158670872593 Centerline is valid? [True, True] Translation: X:1034.98, Y:125.01, Z:4.69 [[ 5.72328453e-01 -8.19978534e-01 -8.68020575e-03 1.03497734e+03] [ 8.19885987e-01 5.72394269e-01 -1.23194507e-02 1.25008631e+02] [ 1.50701851e-02 -6.60069052e-05 9.99886436e-01 4.69258508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.259254154 meters 0.0162541133091363 Centerline is valid? [True, True] Translation: X:1035.01, Y:125.06, Z:4.69 [[ 5.71164219e-01 -8.20789721e-01 -8.69878921e-03 1.03501162e+03] [ 8.20696758e-01 5.71230450e-01 -1.23532801e-02 1.25055671e+02] [ 1.51084586e-02 -8.33165212e-05 9.99885857e-01 4.69379292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.319254154 meters 0.014821681013429653 Centerline is valid? [True, True] Translation: X:1035.04, Y:125.10, Z:4.69 [[ 5.72032186e-01 -8.20187786e-01 -8.43643520e-03 1.03504399e+03] [ 8.20100172e-01 5.72094391e-01 -1.19881186e-02 1.25104122e+02] [ 1.46589457e-02 -6.11322612e-05 9.99892550e-01 4.69487401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.379254154 meters 0.014600354116869047 Centerline is valid? [True, True] Translation: X:1035.08, Y:125.15, Z:4.70 [[ 5.74910689e-01 -8.18176487e-01 -8.05828042e-03 1.03507518e+03] [ 8.18096264e-01 5.74967161e-01 -1.14571739e-02 1.25154029e+02] [ 1.40072369e-02 -5.59736779e-06 9.99901894e-01 4.69619488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.439254154 meters 0.014335711451981047 Centerline is valid? [True, True] Translation: X:1035.11, Y:125.20, Z:4.70 [[ 5.76946642e-01 -8.16738921e-01 -8.37304306e-03 1.03510698e+03] [ 8.16652060e-01 5.77007395e-01 -1.19113065e-02 1.25203542e+02] [ 1.45597354e-02 3.43254369e-05 9.99894001e-01 4.69649445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.499254154 meters 0.016153531676419884 Centerline is valid? [True, True] Translation: X:1035.14, Y:125.25, Z:4.69 [[ 5.79682109e-01 -8.14795192e-01 -8.80045063e-03 1.03513762e+03] [ 8.14698906e-01 5.79748900e-01 -1.25262001e-02 1.25254068e+02] [ 1.53083392e-02 9.14965940e-05 9.99882816e-01 4.69494635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.559254154 meters 0.015044701538289735 Centerline is valid? [True, True] Translation: X:1035.17, Y:125.30, Z:4.70 [[ 5.81203495e-01 -8.13715104e-01 -8.38019887e-03 1.03517055e+03] [ 8.13627579e-01 5.81263895e-01 -1.19350829e-02 1.25301981e+02] [ 1.45828643e-02 1.18350988e-04 9.99893657e-01 4.69716843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.619254154 meters 0.016632992450161636 Centerline is valid? [True, True] Translation: X:1035.20, Y:125.35, Z:4.70 [[ 5.81730916e-01 -8.13339458e-01 -8.25021815e-03 1.03520286e+03] [ 8.13254486e-01 5.81789402e-01 -1.17572294e-02 1.25350661e+02] [ 1.43625081e-02 1.30016889e-04 9.99896845e-01 4.69600823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.6792541539999 meters 0.014398343905543516 Centerline is valid? [True, True] Translation: X:1035.24, Y:125.40, Z:4.70 [[ 5.82139930e-01 -8.13048720e-01 -8.05481391e-03 1.03523552e+03] [ 8.12967599e-01 5.82195636e-01 -1.14857737e-02 1.25398356e+02] [ 1.40279711e-02 1.38024781e-04 9.99901594e-01 4.69800596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.739254154 meters 0.01590174372340169 Centerline is valid? [True, True] Translation: X:1035.27, Y:125.45, Z:4.70 [[ 5.81513295e-01 -8.13493344e-01 -8.41826782e-03 1.03527027e+03] [ 8.13404670e-01 5.81574209e-01 -1.20117304e-02 1.25445478e+02] [ 1.46673102e-02 1.37522566e-04 9.99892420e-01 4.69745937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.799254154 meters 0.013777391768308426 Centerline is valid? [True, True] Translation: X:1035.30, Y:125.49, Z:4.70 [[ 5.81182971e-01 -8.13728527e-01 -8.49928691e-03 1.03530271e+03] [ 8.13638085e-01 5.81245099e-01 -1.21326460e-02 1.25491794e+02] [ 1.48128490e-02 1.35943718e-04 9.99890274e-01 4.69949537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.859254154 meters 0.016617496478452065 Centerline is valid? [True, True] Translation: X:1035.34, Y:125.54, Z:4.70 [[ 5.79739392e-01 -8.14748685e-01 -9.31761459e-03 1.03533631e+03] [ 8.14640008e-01 5.79814251e-01 -1.33075743e-02 1.25537713e+02] [ 1.62448144e-02 1.24423433e-04 9.99868037e-01 4.69613420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.9192541539999 meters 0.015902759106932722 Centerline is valid? [True, True] Translation: X:1035.37, Y:125.58, Z:4.70 [[ 5.79370863e-01 -8.15004940e-01 -9.81585962e-03 1.03537022e+03] [ 8.14884223e-01 5.79453994e-01 -1.40275487e-02 1.25584984e+02] [ 1.71203606e-02 1.28363864e-04 9.99853428e-01 4.69629463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.979254154 meters 0.016319196415433144 Centerline is valid? [True, True] Translation: X:1035.41, Y:125.63, Z:4.70 [[ 5.79111786e-01 -8.15184454e-01 -1.01904448e-02 1.03540558e+03] [ 8.15054224e-01 5.79201422e-01 -1.45713368e-02 1.25632259e+02] [ 1.77806474e-02 1.32667762e-04 9.99841903e-01 4.69624401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.039254154 meters 0.013649489602132461 Centerline is valid? [True, True] Translation: X:1035.44, Y:125.68, Z:4.70 [[ 5.78323308e-01 -8.15753349e-01 -9.41412612e-03 1.03544156e+03] [ 8.15642163e-01 5.78399915e-01 -1.34685030e-02 1.25678726e+02] [ 1.64321062e-02 1.10591038e-04 9.99864978e-01 4.70011860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.099254154 meters 0.013533275985383434 Centerline is valid? [True, True] Translation: X:1035.48, Y:125.73, Z:4.70 [[ 5.76388130e-01 -8.17136024e-01 -8.08960264e-03 1.03547832e+03] [ 8.17053977e-01 5.76444892e-01 -1.15794913e-02 1.25725064e+02] [ 1.41252296e-02 6.46393121e-05 9.99900232e-01 4.70250299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.1592541539999 meters 0.015742252218254774 Centerline is valid? [True, True] Translation: X:1035.51, Y:125.77, Z:4.70 [[ 5.73299871e-01 -8.19311751e-01 -7.45075035e-03 1.03551449e+03] [ 8.19242256e-01 5.73348284e-01 -1.06710248e-02 1.25770440e+02] [ 1.30147709e-02 1.37276031e-05 9.99915304e-01 4.70119140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.219254154 meters 0.016335230611170468 Centerline is valid? [True, True] Translation: X:1035.55, Y:125.82, Z:4.70 [[ 5.71928539e-01 -8.20269197e-01 -7.49607103e-03 1.03554858e+03] [ 8.20198851e-01 5.71977661e-01 -1.07424763e-02 1.25816889e+02] [ 1.30993076e-02 -4.34006118e-06 9.99914200e-01 4.70090801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.279254154 meters 0.01836357467603113 Centerline is valid? [True, True] Translation: X:1035.59, Y:125.86, Z:4.70 [[ 5.67365085e-01 -8.23420412e-01 -8.69977524e-03 1.03558636e+03] [ 8.23325915e-01 5.67431774e-01 -1.24747383e-02 1.25862641e+02] [ 1.52084831e-02 -8.50194530e-05 9.99884341e-01 4.69870120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.339254154 meters 0.017686687905894737 Centerline is valid? [True, True] Translation: X:1035.62, Y:125.91, Z:4.70 [[ 5.62743681e-01 -8.26579945e-01 -9.22729155e-03 1.03562408e+03] [ 8.26473970e-01 5.62819298e-01 -1.32368361e-02 1.25907518e+02] [ 1.61346010e-02 -1.77170423e-04 9.99869813e-01 4.69904946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.399254154 meters 0.01646746765581027 Centerline is valid? [True, True] Translation: X:1035.66, Y:125.95, Z:4.70 [[ 5.59265804e-01 -8.28939182e-01 -9.03282838e-03 1.03565981e+03] [ 8.28837832e-01 5.59338695e-01 -1.29642741e-02 1.25954035e+02] [ 1.57990052e-02 -2.36274718e-04 9.99875160e-01 4.70196018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.459254154 meters 0.015358913378836332 Centerline is valid? [True, True] Translation: X:1035.69, Y:126.00, Z:4.70 [[ 5.58343677e-01 -8.29567883e-01 -8.33464213e-03 1.03569442e+03] [ 8.29481571e-01 5.58405833e-01 -1.19686220e-02 1.25999734e+02] [ 1.45828972e-02 -2.30827613e-04 9.99893637e-01 4.70484118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.519254154 meters 0.017178522676685785 Centerline is valid? [True, True] Translation: X:1035.73, Y:126.05, Z:4.70 [[ 5.58472291e-01 -8.29487831e-01 -7.65751034e-03 1.03572759e+03] [ 8.29414885e-01 5.58524749e-01 -1.10024090e-02 1.26047577e+02] [ 1.34032734e-02 -2.06712514e-04 9.99910151e-01 4.70449948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.579254154 meters 0.016805467335703494 Centerline is valid? [True, True] Translation: X:1035.76, Y:126.10, Z:4.70 [[ 5.60676770e-01 -8.27998183e-01 -7.78255942e-03 1.03575874e+03] [ 8.27922606e-01 5.60730755e-01 -1.11883687e-02 1.26097563e+02] [ 1.36278694e-02 -1.70298450e-04 9.99907122e-01 4.70457990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.639254154 meters 0.01391936584278846 Centerline is valid? [True, True] Translation: X:1035.79, Y:126.15, Z:4.71 [[ 5.63320269e-01 -8.26200712e-01 -7.91562320e-03 1.03578966e+03] [ 8.26122262e-01 5.63375867e-01 -1.13860145e-02 1.26148084e+02] [ 1.38666044e-02 -1.25299771e-04 9.99903846e-01 4.70685661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.699254154 meters 0.01365998636258116 Centerline is valid? [True, True] Translation: X:1035.82, Y:126.20, Z:4.71 [[ 5.67022661e-01 -8.23659226e-01 -8.41319498e-03 1.03581923e+03] [ 8.23570264e-01 5.67085069e-01 -1.21055426e-02 1.26198544e+02] [ 1.47418391e-02 -6.47402516e-05 9.99891331e-01 4.70573844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.759254154 meters 0.016118755585019566 Centerline is valid? [True, True] Translation: X:1035.85, Y:126.25, Z:4.70 [[ 5.67118880e-01 -8.23593399e-01 -8.37191573e-03 1.03585048e+03] [ 8.23505222e-01 5.67180667e-01 -1.20515381e-02 1.26246582e+02] [ 1.46739560e-02 -5.96615163e-05 9.99892330e-01 4.70345223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.819254154 meters 0.01522172224254113 Centerline is valid? [True, True] Translation: X:1035.88, Y:126.29, Z:4.71 [[ 5.66878565e-01 -8.23765430e-01 -7.69478691e-03 1.03588350e+03] [ 8.23690870e-01 5.66930784e-01 -1.10832016e-02 1.26294430e+02] [ 1.34923699e-02 -5.52963126e-05 9.99908972e-01 4.70562849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.879254154 meters 0.013589095652846979 Centerline is valid? [True, True] Translation: X:1035.92, Y:126.34, Z:4.71 [[ 5.67172978e-01 -8.23567560e-01 -7.16149074e-03 1.03591567e+03] [ 8.23502884e-01 5.67218187e-01 -1.03212316e-02 1.26342613e+02] [ 1.25623593e-02 -4.35846285e-05 9.99921090e-01 4.70855399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.939254154 meters 0.016952201362637618 Centerline is valid? [True, True] Translation: X:1035.95, Y:126.39, Z:4.71 [[ 5.69023564e-01 -8.22278157e-01 -8.41522819e-03 1.03594634e+03] [ 8.22188602e-01 5.69085787e-01 -1.21354699e-02 1.26393045e+02] [ 1.47677186e-02 -1.35363867e-05 9.99890951e-01 4.70569916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.999254154 meters 0.01675613992026907 Centerline is valid? [True, True] Translation: X:1035.98, Y:126.44, Z:4.70 [[ 5.74306057e-01 -8.18584335e-01 -9.60413619e-03 1.03597567e+03] [ 8.18467069e-01 5.74386349e-01 -1.38556743e-02 1.26443508e+02] [ 1.68585226e-02 9.67284774e-05 9.99857880e-01 4.70407345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.059254154 meters 0.014736714721021773 Centerline is valid? [True, True] Translation: X:1036.00, Y:126.50, Z:4.71 [[ 5.81053008e-01 -8.13801885e-01 -1.01928076e-02 1.03600436e+03] [ 8.13668926e-01 5.81142346e-01 -1.47122970e-02 1.26495604e+02] [ 1.78963672e-02 2.55053603e-04 9.99839815e-01 4.70654914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.119254154 meters 0.01595091865572169 Centerline is valid? [True, True] Translation: X:1036.03, Y:126.55, Z:4.71 [[ 5.85620508e-01 -8.10527765e-01 -9.66245266e-03 1.03603329e+03] [ 8.10407762e-01 5.85700117e-01 -1.39510533e-02 1.26545506e+02] [ 1.69670157e-02 3.39496260e-04 9.99855992e-01 4.70759327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.1792541539999 meters 0.01856966891517983 Centerline is valid? [True, True] Translation: X:1036.07, Y:126.59, Z:4.71 [[ 5.86289954e-01 -8.10047721e-01 -9.31559940e-03 1.03606835e+03] [ 8.09936015e-01 5.86363856e-01 -1.34565696e-02 1.26592483e+02] [ 1.63627943e-02 3.44412083e-04 9.99866061e-01 4.70734502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.239254154 meters 0.018037999028492464 Centerline is valid? [True, True] Translation: X:1036.10, Y:126.64, Z:4.71 [[ 5.85652464e-01 -8.10521524e-01 -8.12713552e-03 1.03610130e+03] [ 8.10436502e-01 5.85708779e-01 -1.17431749e-02 1.26639972e+02] [ 1.42782307e-02 2.90892048e-04 9.99898019e-01 4.70918472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.299254154 meters 0.01735619736307628 Centerline is valid? [True, True] Translation: X:1036.14, Y:126.69, Z:4.71 [[ 5.84805096e-01 -8.11132845e-01 -8.15520739e-03 1.03613634e+03] [ 8.11047225e-01 5.84861889e-01 -1.17885527e-02 1.26687987e+02] [ 1.43317523e-02 2.79747376e-04 9.99897256e-01 4.70958717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.359254154 meters 0.015815816150397934 Centerline is valid? [True, True] Translation: X:1036.17, Y:126.73, Z:4.71 [[ 5.84152182e-01 -8.11597014e-01 -8.74726651e-03 1.03617130e+03] [ 8.11498446e-01 5.84217598e-01 -1.26518954e-02 1.26734238e+02] [ 1.53785476e-02 2.92239136e-04 9.99881700e-01 4.71152262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.4192541539999 meters 0.015613400966096811 Centerline is valid? [True, True] Translation: X:1036.21, Y:126.78, Z:4.71 [[ 5.82716515e-01 -8.12627085e-01 -8.87036287e-03 1.03620644e+03] [ 8.12525728e-01 5.82783961e-01 -1.28372787e-02 1.26781446e+02] [ 1.56014256e-02 2.73096234e-04 9.99878253e-01 4.71169462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.479254154 meters 0.015190391332494658 Centerline is valid? [True, True] Translation: X:1036.24, Y:126.83, Z:4.71 [[ 5.80324479e-01 -8.14332889e-01 -9.24366813e-03 1.03624307e+03] [ 8.14222917e-01 5.80398043e-01 -1.33848083e-02 1.26827268e+02] [ 1.62646965e-02 2.41125454e-04 9.99867692e-01 4.71161928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.539254154 meters 0.015692471107734043 Centerline is valid? [True, True] Translation: X:1036.28, Y:126.87, Z:4.71 [[ 5.76463086e-01 -8.17058306e-01 -1.02973236e-02 1.03628222e+03] [ 8.16922118e-01 5.76555019e-01 -1.49185905e-02 1.26871995e+02] [ 1.81263319e-02 1.87905257e-04 9.99835687e-01 4.70824848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.599254154 meters 0.014329062453990845 Centerline is valid? [True, True] Translation: X:1036.32, Y:126.92, Z:4.71 [[ 5.75023910e-01 -8.18072524e-01 -1.02395193e-02 1.03631815e+03] [ 8.17937868e-01 5.75115049e-01 -1.48433437e-02 1.26917999e+02] [ 1.80318332e-02 1.59986965e-04 9.99837400e-01 4.71001345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.6592541539999 meters 0.013866629654455799 Centerline is valid? [True, True] Translation: X:1036.36, Y:126.96, Z:4.71 [[ 5.73063837e-01 -8.19455717e-01 -9.49567005e-03 1.03635567e+03] [ 8.19339978e-01 5.73142492e-01 -1.37726170e-02 1.26963505e+02] [ 1.67284217e-02 1.12406640e-04 9.99860064e-01 4.71308894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.719254154 meters 0.014067408649882478 Centerline is valid? [True, True] Translation: X:1036.39, Y:127.01, Z:4.71 [[ 5.73012731e-01 -8.19504554e-01 -8.28826204e-03 1.03638995e+03] [ 8.19416285e-01 5.73072661e-01 -1.20281827e-02 1.27010036e+02] [ 1.46069269e-02 1.00764930e-04 9.99893308e-01 4.71363688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.779254154 meters 0.015104953292055941 Centerline is valid? [True, True] Translation: X:1036.42, Y:127.06, Z:4.71 [[ 5.74028078e-01 -8.18796900e-01 -7.96253939e-03 1.03642378e+03] [ 8.18715266e-01 5.74083289e-01 -1.15624606e-02 1.27057233e+02] [ 1.40384677e-02 1.18124458e-04 9.99901449e-01 4.71398257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.839254154 meters 0.01487679662001653 Centerline is valid? [True, True] Translation: X:1036.46, Y:127.11, Z:4.71 [[ 5.76069005e-01 -8.17360903e-01 -8.10281009e-03 1.03645503e+03] [ 8.17276157e-01 5.76125966e-01 -1.17709429e-02 1.27105748e+02] [ 1.42893478e-02 1.58641867e-04 9.99897889e-01 4.71316584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.899254154 meters 0.017904679561385316 Centerline is valid? [True, True] Translation: X:1036.49, Y:127.15, Z:4.71 [[ 5.76515962e-01 -8.17033603e-01 -9.24322596e-03 1.03649005e+03] [ 8.16923175e-01 5.76590022e-01 -1.34340243e-02 1.27153719e+02] [ 1.63056011e-02 1.93923912e-04 9.99867036e-01 4.71035199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.959254154 meters 0.017213298236107757 Centerline is valid? [True, True] Translation: X:1036.52, Y:127.20, Z:4.71 [[ 5.76179041e-01 -8.17273138e-01 -9.07360181e-03 1.03652491e+03] [ 8.17166632e-01 5.76250451e-01 -1.31951824e-02 1.27200430e+02] [ 1.60127352e-02 1.88142901e-04 9.99871770e-01 4.71138929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.019254154 meters 0.014670376916107007 Centerline is valid? [True, True] Translation: X:1036.56, Y:127.25, Z:4.71 [[ 5.75345433e-01 -8.17866882e-01 -8.44963905e-03 1.03655932e+03] [ 8.17774494e-01 5.75407453e-01 -1.22939368e-02 1.27245831e+02] [ 1.49167891e-02 1.63361120e-04 9.99888725e-01 4.71331228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.079254154 meters 0.016014941651631486 Centerline is valid? [True, True] Translation: X:1036.60, Y:127.29, Z:4.71 [[ 5.73298959e-01 -8.19299355e-01 -8.76759377e-03 1.03659600e+03] [ 8.19199936e-01 5.73365982e-01 -1.27638307e-02 1.27291185e+02] [ 1.54844382e-02 1.35078583e-04 9.99880100e-01 4.71261519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.139254154 meters 0.014238507218372424 Centerline is valid? [True, True] Translation: X:1036.63, Y:127.34, Z:4.71 [[ 5.73582225e-01 -8.19103132e-01 -8.57266085e-03 1.03662940e+03] [ 8.19007949e-01 5.73646267e-01 -1.24876113e-02 1.27338887e+02] [ 1.51463164e-02 1.41594478e-04 9.99885278e-01 4.71479710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.199254154 meters 0.014404743014394893 Centerline is valid? [True, True] Translation: X:1036.66, Y:127.39, Z:4.72 [[ 5.74993688e-01 -8.18115358e-01 -8.33790353e-03 1.03666147e+03] [ 8.18025111e-01 5.75054114e-01 -1.21525546e-02 1.27387050e+02] [ 1.47369373e-02 1.67027722e-04 9.99891391e-01 4.71551812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.259254154 meters 0.016356515995566978 Centerline is valid? [True, True] Translation: X:1036.69, Y:127.44, Z:4.71 [[ 5.77646557e-01 -8.16243281e-01 -8.44754628e-03 1.03669038e+03] [ 8.16150368e-01 5.77708281e-01 -1.23174643e-02 1.27437235e+02] [ 1.49342649e-02 2.20672867e-04 9.99888453e-01 4.71358128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.319254154 meters 0.017579425216677963 Centerline is valid? [True, True] Translation: X:1036.72, Y:127.49, Z:4.71 [[ 5.79789083e-01 -8.14716650e-01 -9.02214804e-03 1.03672164e+03] [ 8.14610379e-01 5.79859208e-01 -1.31616920e-02 1.27487565e+02] [ 1.59546252e-02 2.81469888e-04 9.99872677e-01 4.71259260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.379254154 meters 0.016454929357671816 Centerline is valid? [True, True] Translation: X:1036.75, Y:127.54, Z:4.71 [[ 5.81118433e-01 -8.13767674e-01 -9.13996949e-03 1.03675281e+03] [ 8.13658378e-01 5.81190220e-01 -1.33405756e-02 1.27537870e+02] [ 1.61681901e-02 3.15641639e-04 9.99869236e-01 4.71327099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.439254154 meters 0.01808240988283073 Centerline is valid? [True, True] Translation: X:1036.79, Y:127.59, Z:4.71 [[ 5.79477505e-01 -8.14933268e-01 -9.46523757e-03 1.03678510e+03] [ 8.14816100e-01 5.79554727e-01 -1.38218126e-02 1.27585454e+02] [ 1.67494780e-02 2.97001493e-04 9.99859674e-01 4.71066753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.499254154 meters 0.015574719194873212 Centerline is valid? [True, True] Translation: X:1036.82, Y:127.63, Z:4.72 [[ 5.77138984e-01 -8.16606325e-01 -8.04380794e-03 1.03681934e+03] [ 8.16521785e-01 5.77194997e-01 -1.17520730e-02 1.27632487e+02] [ 1.42396628e-02 2.14635034e-04 9.99898588e-01 4.71532298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.559254154 meters 0.015005596404445595 Centerline is valid? [True, True] Translation: X:1036.85, Y:127.68, Z:4.72 [[ 5.74301908e-01 -8.18611518e-01 -7.24570659e-03 1.03685429e+03] [ 8.18543012e-01 5.74347594e-01 -1.05914227e-02 1.27679838e+02] [ 1.28318148e-02 1.51751778e-04 9.99917657e-01 4.71697720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.619254154 meters 0.01717515675772581 Centerline is valid? [True, True] Translation: X:1036.89, Y:127.73, Z:4.71 [[ 5.71481273e-01 -8.20571964e-01 -8.41468515e-03 1.03688799e+03] [ 8.20479675e-01 5.71543205e-01 -1.23072015e-02 1.27727747e+02] [ 1.49083006e-02 1.29257030e-04 9.99888857e-01 4.71205187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.6792541539999 meters 0.01384707933371304 Centerline is valid? [True, True] Translation: X:1036.92, Y:127.77, Z:4.72 [[ 5.70420811e-01 -8.21304389e-01 -8.89938773e-03 1.03692243e+03] [ 8.21201122e-01 5.70490216e-01 -1.30242339e-02 1.27774525e+02] [ 1.57738741e-02 1.21106890e-04 9.99875577e-01 4.71594889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.739254154 meters 0.015534840400928479 Centerline is valid? [True, True] Translation: X:1036.95, Y:127.82, Z:4.71 [[ 5.68656249e-01 -8.22514238e-01 -1.00199395e-02 1.03695467e+03] [ 8.22383357e-01 5.68744510e-01 -1.46729833e-02 1.27822234e+02] [ 1.77675233e-02 1.03652179e-04 9.99842140e-01 4.71128352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.799254154 meters 0.01663619845351805 Centerline is valid? [True, True] Translation: X:1036.99, Y:127.87, Z:4.71 [[ 5.67167148e-01 -8.23543340e-01 -9.88901039e-03 1.03698787e+03] [ 8.23415867e-01 5.67253348e-01 -1.44896451e-02 1.27868778e+02] [ 1.75424250e-02 7.52826390e-05 9.99846117e-01 4.70998797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.859254154 meters 0.013580846876599684 Centerline is valid? [True, True] Translation: X:1037.02, Y:127.92, Z:4.72 [[ 5.66928504e-01 -8.23723045e-01 -8.50979395e-03 1.03702294e+03] [ 8.23628568e-01 5.66992364e-01 -1.24756035e-02 1.27915941e+02] [ 1.51014303e-02 6.38658411e-05 9.99885965e-01 4.71881445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.9192541539999 meters 0.017237220939157246 Centerline is valid? [True, True] Translation: X:1037.06, Y:127.96, Z:4.71 [[ 5.65842820e-01 -8.24473487e-01 -8.08523113e-03 1.03705524e+03] [ 8.24388189e-01 5.65900580e-01 -1.18594879e-02 1.27963596e+02] [ 1.43532703e-02 4.52370251e-05 9.99896985e-01 4.71396503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.979254154 meters 0.015136566834425087 Centerline is valid? [True, True] Translation: X:1037.09, Y:128.01, Z:4.72 [[ 5.66068376e-01 -8.24329198e-01 -6.92576161e-03 1.03708909e+03] [ 8.24266535e-01 5.66110741e-01 -1.01641178e-02 1.28011592e+02] [ 1.22993271e-02 4.49121152e-05 9.99924359e-01 4.71942292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.039254154 meters 0.013583159959647536 Centerline is valid? [True, True] Translation: X:1037.12, Y:128.06, Z:4.72 [[ 5.67270758e-01 -8.23505311e-01 -6.54904654e-03 1.03712103e+03] [ 8.23449158e-01 5.67308558e-01 -9.61693219e-03 1.28059840e+02] [ 1.16349249e-02 6.25975639e-05 9.99932310e-01 4.72072881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.099254154 meters 0.015120756775975904 Centerline is valid? [True, True] Translation: X:1037.15, Y:128.11, Z:4.72 [[ 5.68828253e-01 -8.22416390e-01 -8.10557508e-03 1.03715336e+03] [ 8.22330155e-01 5.68885990e-01 -1.19098944e-02 1.28109553e+02] [ 1.44060405e-02 1.09225626e-04 9.99896222e-01 4.71776105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.1592541539999 meters 0.016022034698796966 Centerline is valid? [True, True] Translation: X:1037.19, Y:128.16, Z:4.72 [[ 5.69461207e-01 -8.21967623e-01 -9.11917165e-03 1.03718560e+03] [ 8.21858293e-01 5.69534201e-01 -1.34066836e-02 1.28158821e+02] [ 1.62135400e-02 1.39919403e-04 9.99868542e-01 4.71567311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.219254154 meters 0.01478669610968498 Centerline is valid? [True, True] Translation: X:1037.22, Y:128.21, Z:4.72 [[ 5.68496236e-01 -8.22639994e-01 -8.68737966e-03 1.03721902e+03] [ 8.22540737e-01 5.68562597e-01 -1.27792581e-02 1.28206330e+02] [ 1.54520480e-02 1.19236484e-04 9.99880603e-01 4.71723398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.279254154 meters 0.0162511593084631 Centerline is valid? [True, True] Translation: X:1037.26, Y:128.25, Z:4.72 [[ 5.64597111e-01 -8.25331254e-01 -7.64350198e-03 1.03725543e+03] [ 8.25254582e-01 5.64648845e-01 -1.12496972e-02 1.28253281e+02] [ 1.36006213e-02 4.37114922e-05 9.99907506e-01 4.71751170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.339254154 meters 0.017103441335214128 Centerline is valid? [True, True] Translation: X:1037.29, Y:128.30, Z:4.72 [[ 5.60824880e-01 -8.27907624e-01 -6.66489030e-03 1.03729080e+03] [ 8.27849444e-01 5.60864481e-01 -9.81490314e-03 1.28299656e+02] [ 1.18639334e-02 -1.30838523e-05 9.99929621e-01 4.71929134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.399254154 meters 0.015629449307566563 Centerline is valid? [True, True] Translation: X:1037.32, Y:128.35, Z:4.72 [[ 5.58189048e-01 -8.29694554e-01 -5.65094733e-03 1.03732396e+03] [ 8.29652772e-01 5.58217650e-01 -8.32665782e-03 1.28347601e+02] [ 1.00630412e-02 -4.04749146e-05 9.99949366e-01 4.72056222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.459254154 meters 0.016572189249321023 Centerline is valid? [True, True] Translation: X:1037.36, Y:128.40, Z:4.72 [[ 5.56684274e-01 -8.30701206e-01 -6.17447565e-03 1.03735614e+03] [ 8.30651323e-01 5.56718512e-01 -9.10372897e-03 1.28395319e+02] [ 1.09999235e-02 -6.09336124e-05 9.99939497e-01 4.71905737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.519254154 meters 0.016991863113192732 Centerline is valid? [True, True] Translation: X:1037.39, Y:128.44, Z:4.72 [[ 5.56218735e-01 -8.31010102e-01 -6.55208390e-03 1.03738732e+03] [ 8.30953882e-01 5.56257320e-01 -9.66642843e-03 1.28444274e+02] [ 1.16775443e-02 -6.78309584e-05 9.99931813e-01 4.71820106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.579254154 meters 0.013471360713796137 Centerline is valid? [True, True] Translation: X:1037.42, Y:128.49, Z:4.72 [[ 5.56497195e-01 -8.30830072e-01 -5.68001912e-03 1.03741823e+03] [ 8.30787764e-01 5.56526179e-01 -8.38471427e-03 1.28494055e+02] [ 1.01273521e-02 -5.28204122e-05 9.99948716e-01 4.72212981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.639254154 meters 0.015749184204918724 Centerline is valid? [True, True] Translation: X:1037.45, Y:128.54, Z:4.72 [[ 5.56834554e-01 -8.30603190e-01 -5.79823714e-03 1.03744832e+03] [ 8.30559035e-01 5.56864740e-01 -8.56448512e-03 1.28543949e+02] [ 1.03425225e-02 -4.67769896e-05 9.99946514e-01 4.71961318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.699254154 meters 0.013239874815831993 Centerline is valid? [True, True] Translation: X:1037.48, Y:128.59, Z:4.72 [[ 5.58257424e-01 -8.29651941e-01 -5.12877401e-03 1.03747765e+03] [ 8.29617318e-01 5.58280983e-01 -7.57957845e-03 1.28592940e+02] [ 9.15170896e-03 -2.35637941e-05 9.99958122e-01 4.72230951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.759254154 meters 0.013123662017437952 Centerline is valid? [True, True] Translation: X:1037.51, Y:128.64, Z:4.72 [[ 5.59414203e-01 -8.28870775e-01 -5.38407512e-03 1.03750735e+03] [ 8.28832538e-01 5.59440112e-01 -7.96147423e-03 1.28642502e+02] [ 9.61110090e-03 -8.73488376e-06 9.99953812e-01 4.72220135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.819254154 meters 0.015099524887133075 Centerline is valid? [True, True] Translation: X:1037.54, Y:128.69, Z:4.72 [[ 5.60842044e-01 -8.27902386e-01 -5.81727536e-03 1.03753764e+03] [ 8.27857639e-01 5.60872213e-01 -8.60762475e-03 1.28691638e+02] [ 1.03890212e-02 1.16420143e-05 9.99946033e-01 4.72043288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.879254154 meters 0.01315816544552476 Centerline is valid? [True, True] Translation: X:1037.57, Y:128.74, Z:4.72 [[ 5.63662371e-01 -8.25987225e-01 -5.46218434e-03 1.03756676e+03] [ 8.25947634e-01 5.63688835e-01 -8.08720794e-03 1.28742201e+02] [ 9.75890277e-03 4.69765728e-05 9.99952380e-01 4.72161740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.939254154 meters 0.015583034827453084 Centerline is valid? [True, True] Translation: X:1037.59, Y:128.79, Z:4.72 [[ 5.67330803e-01 -8.23468527e-01 -5.94515858e-03 1.03759485e+03] [ 8.23421447e-01 5.67361943e-01 -8.80603524e-03 1.28792465e+02] [ 1.06245496e-02 1.00563962e-04 9.99943553e-01 4.71907946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.999254154 meters 0.014513151224348337 Centerline is valid? [True, True] Translation: X:1037.63, Y:128.84, Z:4.72 [[ 5.70576447e-01 -8.21228806e-01 -5.07612659e-03 1.03762534e+03] [ 8.21194368e-01 5.70599013e-01 -7.52167708e-03 1.28843072e+02] [ 9.07345071e-03 1.23205218e-04 9.99958828e-01 4.72175153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.059254154 meters 0.01566505070798621 Centerline is valid? [True, True] Translation: X:1037.66, Y:128.89, Z:4.72 [[ 5.70653800e-01 -8.21173738e-01 -5.28507907e-03 1.03765734e+03] [ 8.21136361e-01 5.70678258e-01 -7.83602701e-03 1.28891806e+02] [ 9.45081930e-03 1.31887998e-04 9.99955331e-01 4.72087517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.119254154 meters 0.015279685508009903 Centerline is valid? [True, True] Translation: X:1037.69, Y:128.94, Z:4.72 [[ 5.71897267e-01 -8.20309717e-01 -5.04829853e-03 1.03768845e+03] [ 8.20275541e-01 5.71919530e-01 -7.48924365e-03 1.28941888e+02] [ 9.03071986e-03 1.42082169e-04 9.99959212e-01 4.72102398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.1792541539999 meters 0.017452956242778102 Centerline is valid? [True, True] Translation: X:1037.72, Y:128.99, Z:4.72 [[ 5.71495107e-01 -8.20579445e-01 -6.53583970e-03 1.03771941e+03] [ 8.20522109e-01 5.71532450e-01 -9.70193588e-03 1.28989898e+02] [ 1.16966536e-02 1.81807917e-04 9.99931575e-01 4.71755610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.239254154 meters 0.0156826487471655 Centerline is valid? [True, True] Translation: X:1037.76, Y:129.04, Z:4.72 [[ 5.69092093e-01 -8.22241279e-01 -7.31225256e-03 1.03775565e+03] [ 8.22169564e-01 5.69139044e-01 -1.08607819e-02 1.29036026e+02] [ 1.30918716e-02 1.68873582e-04 9.99914284e-01 4.71764822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.299254154 meters 0.013094148833563838 Centerline is valid? [True, True] Translation: X:1037.79, Y:129.08, Z:4.72 [[ 5.63963738e-01 -8.25768304e-01 -7.18404384e-03 1.03779246e+03] [ 8.25699322e-01 5.64009487e-01 -1.06737727e-02 1.29080946e+02] [ 1.28659321e-02 8.77606517e-05 9.99917227e-01 4.71918500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.359254154 meters 0.012777851052110486 Centerline is valid? [True, True] Translation: X:1037.83, Y:129.12, Z:4.72 [[ 5.56033754e-01 -8.31134732e-01 -6.44365081e-03 1.03783186e+03] [ 8.31079542e-01 5.56071089e-01 -9.57800529e-03 1.29124712e+02] [ 1.15437408e-02 -2.94921258e-05 9.99933368e-01 4.72142886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.4192541539999 meters 0.015100008532429396 Centerline is valid? [True, True] Translation: X:1037.87, Y:129.17, Z:4.72 [[ 5.47030762e-01 -8.37088345e-01 -6.35984642e-03 1.03787058e+03] [ 8.37034919e-01 5.47067710e-01 -9.45861552e-03 1.29168738e+02] [ 1.13969634e-02 -1.49259879e-04 9.99935041e-01 4.72056675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.479254154 meters 0.015759599772132146 Centerline is valid? [True, True] Translation: X:1037.91, Y:129.21, Z:4.72 [[ 5.40098219e-01 -8.41575090e-01 -6.72916903e-03 1.03790859e+03] [ 8.41515556e-01 5.40140077e-01 -1.00132841e-02 1.29214367e+02] [ 1.20616243e-02 -2.54543519e-04 9.99927224e-01 4.72063039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.539254154 meters 0.017676601711412564 Centerline is valid? [True, True] Translation: X:1037.94, Y:129.26, Z:4.72 [[ 5.35226735e-01 -8.44674622e-01 -7.55810935e-03 1.03794446e+03] [ 8.44599759e-01 5.35279976e-01 -1.12514085e-02 1.29260628e+02] [ 1.35494838e-02 -3.61522698e-04 9.99908136e-01 4.71988439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.599254154 meters 0.01767442849531851 Centerline is valid? [True, True] Translation: X:1037.98, Y:129.31, Z:4.72 [[ 5.33347097e-01 -8.45855632e-01 -8.31409880e-03 1.03797545e+03] [ 8.45765096e-01 5.33411724e-01 -1.23828546e-02 1.29310459e+02] [ 1.49089451e-02 -4.27414998e-04 9.99888764e-01 4.72023025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.6592541539999 meters 0.016179995849567863 Centerline is valid? [True, True] Translation: X:1038.00, Y:129.36, Z:4.72 [[ 5.34753820e-01 -8.44969368e-01 -8.06958904e-03 1.03800459e+03] [ 8.44883883e-01 5.34814563e-01 -1.20252954e-02 1.29361393e+02] [ 1.44767400e-02 -3.87293074e-04 9.99895132e-01 4.72203397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.719254154 meters 0.01645376288280515 Centerline is valid? [True, True] Translation: X:1038.03, Y:129.41, Z:4.72 [[ 5.38618221e-01 -8.42515059e-01 -7.66723776e-03 1.03803245e+03] [ 8.42437544e-01 5.38672706e-01 -1.14323973e-02 1.29412979e+02] [ 1.37620986e-02 -3.01471461e-04 9.99905252e-01 4.72199901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.779254154 meters 0.015506393184299602 Centerline is valid? [True, True] Translation: X:1038.06, Y:129.47, Z:4.72 [[ 5.45258966e-01 -8.38237834e-01 -7.07060402e-03 1.03805826e+03] [ 8.38171470e-01 5.45304780e-01 -1.05491090e-02 1.29465083e+02] [ 1.26982965e-02 -1.74382283e-04 9.99919358e-01 4.72248892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.839254154 meters 0.015399335089203173 Centerline is valid? [True, True] Translation: X:1038.08, Y:129.52, Z:4.72 [[ 5.52313685e-01 -8.33602906e-01 -7.46913538e-03 1.03808385e+03] [ 8.33528335e-01 5.52364182e-01 -1.11501415e-02 1.29518622e+02] [ 1.34204732e-02 -6.73602472e-05 9.99909939e-01 4.72210608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.899254154 meters 0.012746462492471135 Centerline is valid? [True, True] Translation: X:1038.11, Y:129.57, Z:4.72 [[ 5.59190055e-01 -8.29008702e-01 -7.14531484e-03 1.03810914e+03] [ 8.28939996e-01 5.59235702e-01 -1.06729759e-02 1.29571769e+02] [ 1.28439051e-02 4.51847161e-05 9.99917513e-01 4.72448656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.959254154 meters 0.01345288995596338 Centerline is valid? [True, True] Translation: X:1038.14, Y:129.63, Z:4.72 [[ 5.65107142e-01 -8.24981572e-01 -7.70222576e-03 1.03813567e+03] [ 8.24901266e-01 5.65159608e-01 -1.15116453e-02 1.29625033e+02] [ 1.38498821e-02 1.51737183e-04 9.99904074e-01 4.72412288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.019254154 meters 0.014635417323696238 Centerline is valid? [True, True] Translation: X:1038.16, Y:129.68, Z:4.72 [[ 5.70169537e-01 -8.21490335e-01 -7.76718696e-03 1.03816248e+03] [ 8.21408255e-01 5.70222387e-01 -1.16150074e-02 1.29676589e+02] [ 1.39706402e-02 2.42491908e-04 9.99902376e-01 4.72470947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.079254154 meters 0.015348454015664429 Centerline is valid? [True, True] Translation: X:1038.19, Y:129.73, Z:4.73 [[ 5.72711260e-01 -8.19715467e-01 -8.26840774e-03 1.03819292e+03] [ 8.19622163e-01 5.72770861e-01 -1.23713839e-02 1.29727252e+02] [ 1.48769178e-02 3.08260631e-04 9.99889285e-01 4.72535729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.139254154 meters 0.015807368425706157 Centerline is valid? [True, True] Translation: X:1038.23, Y:129.78, Z:4.72 [[ 5.73105166e-01 -8.19425039e-01 -9.64755477e-03 1.03822585e+03] [ 8.19297823e-01 5.73186241e-01 -1.44433358e-02 1.29775706e+02] [ 1.73650767e-02 3.73329757e-04 9.99849146e-01 4.72449560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.199254154 meters 0.016166527140182352 Centerline is valid? [True, True] Translation: X:1038.26, Y:129.83, Z:4.72 [[ 5.73236547e-01 -8.19320767e-01 -1.06462200e-02 1.03825687e+03] [ 8.19165710e-01 5.73335247e-01 -1.59447265e-02 1.29825029e+02] [ 1.91676987e-02 4.19081645e-04 9.99816195e-01 4.72267466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.259254154 meters 0.015170815231627438 Centerline is valid? [True, True] Translation: X:1038.29, Y:129.87, Z:4.72 [[ 5.71704928e-01 -8.20374036e-01 -1.18286240e-02 1.03829327e+03] [ 8.20182626e-01 5.71827119e-01 -1.77258375e-02 1.29871100e+02] [ 2.13057449e-02 4.32316784e-04 9.99772913e-01 4.72372634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.319254154 meters 0.017665116420942328 Centerline is valid? [True, True] Translation: X:1038.33, Y:129.92, Z:4.72 [[ 5.67766455e-01 -8.23085857e-01 -1.30738363e-02 1.03832990e+03] [ 8.22852552e-01 5.67916839e-01 -1.95995463e-02 1.29916270e+02] [ 2.35569612e-02 3.70125319e-04 9.99722428e-01 4.72305856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.379254154 meters 0.013274511338150155 Centerline is valid? [True, True] Translation: X:1038.37, Y:129.96, Z:4.73 [[ 5.61627712e-01 -8.27313572e-01 -1.12501519e-02 1.03837054e+03] [ 8.27141550e-01 5.61740353e-01 -1.68710348e-02 1.29959636e+02] [ 2.02773003e-02 1.69772560e-04 9.99794380e-01 4.72760446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.439254154 meters 0.012849565534679872 Centerline is valid? [True, True] Translation: X:1038.41, Y:130.00, Z:4.73 [[ 5.52712398e-01 -8.33299040e-01 -1.10324346e-02 1.03841244e+03] [ 8.33134620e-01 5.52822492e-01 -1.65528699e-02 1.30002471e+02] [ 1.98924686e-02 -4.25267770e-05 9.99802124e-01 4.73000549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.499254154 meters 0.014827502012153913 Centerline is valid? [True, True] Translation: X:1038.45, Y:130.05, Z:4.73 [[ 5.45856644e-01 -8.37794712e-01 -1.18551518e-02 1.03845110e+03] [ 8.37605705e-01 5.45985323e-01 -1.77963273e-02 1.30047022e+02] [ 2.13824078e-02 -2.15699242e-04 9.99771347e-01 4.73015029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.559254154 meters 0.018106124667186876 Centerline is valid? [True, True] Translation: X:1038.49, Y:130.09, Z:4.73 [[ 5.34568876e-01 -8.45014270e-01 -1.36748222e-02 1.03849333e+03] [ 8.44764923e-01 5.34743446e-01 -2.05346304e-02 1.30087277e+02] [ 2.46645773e-02 -5.74835879e-04 9.99695618e-01 4.72986105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.619254154 meters 0.017536813817873455 Centerline is valid? [True, True] Translation: X:1038.53, Y:130.13, Z:4.73 [[ 5.30777615e-01 -8.47402174e-01 -1.35896721e-02 1.03852872e+03] [ 8.47156448e-01 5.30951127e-01 -2.04169759e-02 1.30134543e+02] [ 2.45168415e-02 -6.75704556e-04 9.99699189e-01 4.73136408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.6792541539999 meters 0.017992535968756333 Centerline is valid? [True, True] Translation: X:1038.56, Y:130.18, Z:4.73 [[ 5.26988947e-01 -8.49752357e-01 -1.42682317e-02 1.03856344e+03] [ 8.49482018e-01 5.27181434e-01 -2.14484739e-02 1.30182266e+02] [ 2.57478381e-02 -8.17497606e-04 9.99668135e-01 4.73309096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.739254154 meters 0.018831017876513895 Centerline is valid? [True, True] Translation: X:1038.60, Y:130.23, Z:4.73 [[ 5.27401063e-01 -8.49491137e-01 -1.45920241e-02 1.03859592e+03] [ 8.49207970e-01 5.27602257e-01 -2.19472769e-02 1.30229095e+02] [ 2.63428020e-02 -8.16646041e-04 9.99652635e-01 4.73329282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.799254154 meters 0.01697410045462384 Centerline is valid? [True, True] Translation: X:1038.62, Y:130.28, Z:4.74 [[ 5.32587196e-01 -8.46251915e-01 -1.44421219e-02 1.03862340e+03] [ 8.45972993e-01 5.32782586e-01 -2.17350101e-02 1.30280364e+02] [ 2.60878050e-02 -6.41857037e-04 9.99659449e-01 4.73560673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.859254154 meters 0.01477546252086052 Centerline is valid? [True, True] Translation: X:1038.65, Y:130.33, Z:4.74 [[ 5.38376574e-01 -8.42584107e-01 -1.42368284e-02 1.03864984e+03] [ 8.42311419e-01 5.38564593e-01 -2.14395149e-02 1.30332459e+02] [ 2.57320462e-02 -4.49310524e-04 9.99668775e-01 4.73813196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.9192541539999 meters 0.014267557294365733 Centerline is valid? [True, True] Translation: X:1038.68, Y:130.38, Z:4.74 [[ 5.40343082e-01 -8.41324734e-01 -1.42142719e-02 1.03868048e+03] [ 8.41052161e-01 5.40529875e-01 -2.14176745e-02 1.30382354e+02] [ 2.57024579e-02 -3.82051822e-04 9.99669564e-01 4.73851020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.979254154 meters 0.015284701482301448 Centerline is valid? [True, True] Translation: X:1038.71, Y:130.43, Z:4.74 [[ 5.46114906e-01 -8.37573382e-01 -1.51439267e-02 1.03870674e+03] [ 8.37262364e-01 5.46324796e-01 -2.28243327e-02 1.30434299e+02] [ 2.73905562e-02 -2.14731581e-04 9.99624785e-01 4.73802478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.039254154 meters 0.012621727198053437 Centerline is valid? [True, True] Translation: X:1038.73, Y:130.49, Z:4.74 [[ 5.50847691e-01 -8.34487289e-01 -1.40636290e-02 1.03873427e+03] [ 8.34217797e-01 5.51027187e-01 -2.12062716e-02 1.30486406e+02] [ 2.54458060e-02 -5.07038142e-05 9.99676202e-01 4.73955546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.099254154 meters 0.013269147414440675 Centerline is valid? [True, True] Translation: X:1038.76, Y:130.54, Z:4.74 [[ 5.54048397e-01 -8.32355069e-01 -1.46769567e-02 1.03876222e+03] [ 8.32060481e-01 5.54242759e-01 -2.21431538e-02 1.30538267e+02] [ 2.65655633e-02 5.62631613e-05 9.99647072e-01 4.73934287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.1592541539999 meters 0.01254577399416625 Centerline is valid? [True, True] Translation: X:1038.79, Y:130.59, Z:4.74 [[ 5.56430093e-01 -8.30762481e-01 -1.48071600e-02 1.03879252e+03] [ 8.30461741e-01 5.56627057e-01 -2.23520857e-02 1.30589240e+02] [ 2.68113401e-02 1.40593210e-04 9.99640502e-01 4.74075369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.219254154 meters 0.012376642123484822 Centerline is valid? [True, True] Translation: X:1038.82, Y:130.64, Z:4.74 [[ 5.59347266e-01 -8.28790172e-01 -1.54106353e-02 1.03882172e+03] [ 8.28463297e-01 5.59559458e-01 -2.32761348e-02 1.30640524e+02] [ 2.79141985e-02 2.52296601e-04 9.99610291e-01 4.73889998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.279254154 meters 0.014502302685148575 Centerline is valid? [True, True] Translation: X:1038.85, Y:130.69, Z:4.74 [[ 5.61288103e-01 -8.27446208e-01 -1.69834828e-02 1.03885324e+03] [ 8.27048126e-01 5.61544873e-01 -2.56661926e-02 1.30690623e+02] [ 3.07743814e-02 3.59970948e-04 9.99526292e-01 4.73750447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.339254154 meters 0.012901780473005556 Centerline is valid? [True, True] Translation: X:1038.89, Y:130.74, Z:4.74 [[ 5.60756114e-01 -8.27815314e-01 -1.65646036e-02 1.03888603e+03] [ 8.27436424e-01 5.61000616e-01 -2.50454200e-02 1.30737233e+02] [ 3.00257350e-02 3.38215974e-04 9.99549069e-01 4.73757396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.399254154 meters 0.01224472104406525 Centerline is valid? [True, True] Translation: X:1038.92, Y:130.78, Z:4.74 [[ 5.56620548e-01 -8.30628203e-01 -1.51774197e-02 1.03892332e+03] [ 8.30310809e-01 5.56827403e-01 -2.29609221e-02 1.30781793e+02] [ 2.75231926e-02 1.78545417e-04 9.99621149e-01 4.73921042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.459254154 meters 0.013121370992016297 Centerline is valid? [True, True] Translation: X:1038.96, Y:130.83, Z:4.74 [[ 5.53862976e-01 -8.32477200e-01 -1.47484014e-02 1.03896067e+03] [ 8.32177820e-01 5.54059296e-01 -2.23242469e-02 1.30827563e+02] [ 2.67559154e-02 9.12813497e-05 9.99641992e-01 4.74247621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.519254154 meters 0.011478473317722719 Centerline is valid? [True, True] Translation: X:1039.00, Y:130.87, Z:4.74 [[ 5.52179176e-01 -8.33604720e-01 -1.41890020e-02 1.03899612e+03] [ 8.33327662e-01 5.52361447e-01 -2.14904613e-02 1.30873573e+02] [ 2.57520077e-02 4.24973515e-05 9.99668361e-01 4.74362621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.579254154 meters 0.011667853798038292 Centerline is valid? [True, True] Translation: X:1039.03, Y:130.92, Z:4.74 [[ 5.51778730e-01 -8.33873361e-01 -1.39803503e-02 1.03903006e+03] [ 8.33604176e-01 5.51955810e-01 -2.11863549e-02 1.30919764e+02] [ 2.53832725e-02 3.61016205e-05 9.99677792e-01 4.74235156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.639254154 meters 0.011488929739117956 Centerline is valid? [True, True] Translation: X:1039.06, Y:130.97, Z:4.74 [[ 5.53031047e-01 -8.33037746e-01 -1.43099261e-02 1.03906337e+03] [ 8.32755095e-01 5.53216148e-01 -2.16989617e-02 1.30967409e+02] [ 2.59925364e-02 8.35356939e-05 9.99662133e-01 4.74324127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.699254154 meters 0.011643649147743478 Centerline is valid? [True, True] Translation: X:1039.10, Y:131.02, Z:4.74 [[ 5.55150064e-01 -8.31620932e-01 -1.46639769e-02 1.03909648e+03] [ 8.31323285e-01 5.55343678e-01 -2.22484904e-02 1.31016268e+02] [ 2.66458571e-02 1.60745396e-04 9.99644923e-01 4.74316808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.759254154 meters 0.011629079268690822 Centerline is valid? [True, True] Translation: X:1039.13, Y:131.07, Z:4.74 [[ 5.57080846e-01 -8.30331048e-01 -1.45355378e-02 1.03912759e+03] [ 8.30037795e-01 5.57270400e-01 -2.20671726e-02 1.31065163e+02] [ 2.64232835e-02 2.28153414e-04 9.99650818e-01 4.74422435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.819254154 meters 0.011509795967783407 Centerline is valid? [True, True] Translation: X:1039.16, Y:131.11, Z:4.75 [[ 5.56544122e-01 -8.30707131e-01 -1.35758059e-02 1.03915892e+03] [ 8.30451150e-01 5.56709638e-01 -2.06220017e-02 1.31114936e+02] [ 2.46886259e-02 2.03010241e-04 9.99695169e-01 4.74500389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.879254154 meters 0.010961752665744123 Centerline is valid? [True, True] Translation: X:1039.19, Y:131.16, Z:4.75 [[ 5.53068467e-01 -8.33046783e-01 -1.21790033e-02 1.03919223e+03] [ 8.32841115e-01 5.53202538e-01 -1.85102651e-02 1.31163528e+02] [ 2.21573723e-02 9.42692329e-05 9.99754491e-01 4.74751965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.939254154 meters 0.014037011163006223 Centerline is valid? [True, True] Translation: X:1039.23, Y:131.21, Z:4.75 [[ 5.49772623e-01 -8.35242723e-01 -1.09387376e-02 1.03922610e+03] [ 8.35077079e-01 5.49881436e-01 -1.66336787e-02 1.31212416e+02] [ 1.99081678e-02 1.00521672e-05 9.99801813e-01 4.75065170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.999254154 meters 0.010581113786453331 Centerline is valid? [True, True] Translation: X:1039.26, Y:131.26, Z:4.75 [[ 5.48629800e-01 -8.36003422e-01 -1.01794481e-02 1.03925785e+03] [ 8.35859941e-01 5.48724228e-01 -1.54880944e-02 1.31261771e+02] [ 1.85338097e-02 -1.13627331e-05 9.99828234e-01 4.75051158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.059254154 meters 0.011491372392877952 Centerline is valid? [True, True] Translation: X:1039.29, Y:131.31, Z:4.75 [[ 5.48540745e-01 -8.36054387e-01 -1.07755278e-02 1.03928835e+03] [ 8.35893417e-01 5.48646572e-01 -1.64053055e-02 1.31311161e+02] [ 1.96276840e-02 -8.21420347e-06 9.99807358e-01 4.74969805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.119254154 meters 0.010778707928581575 Centerline is valid? [True, True] Translation: X:1039.32, Y:131.36, Z:4.75 [[ 5.45655946e-01 -8.37946195e-01 -1.02841108e-02 1.03932021e+03] [ 8.37799723e-01 5.45752847e-01 -1.56669526e-02 1.31359555e+02] [ 1.87406460e-02 -6.72593177e-05 9.99824376e-01 4.74972722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.1792541539999 meters 0.011148435653638393 Centerline is valid? [True, True] Translation: X:1039.35, Y:131.41, Z:4.75 [[ 5.42425527e-01 -8.40049401e-01 -9.56820108e-03 1.03935329e+03] [ 8.39922781e-01 5.42509896e-01 -1.45853933e-02 1.31406840e+02] [ 1.74432947e-02 -1.25060396e-04 9.99847846e-01 4.75011454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.239254154 meters 0.011595983212967663 Centerline is valid? [True, True] Translation: X:1039.39, Y:131.45, Z:4.75 [[ 5.40351628e-01 -8.41390047e-01 -9.10526590e-03 1.03938625e+03] [ 8.41275431e-01 5.40428315e-01 -1.38882944e-02 1.31454129e+02] [ 1.66062162e-02 -1.55474023e-04 9.99862095e-01 4.75031072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.299254154 meters 0.012523826228447929 Centerline is valid? [True, True] Translation: X:1039.42, Y:131.50, Z:4.75 [[ 5.36588891e-01 -8.43785413e-01 -9.92665354e-03 1.03941984e+03] [ 8.43649479e-01 5.36680646e-01 -1.51473276e-02 1.31501809e+02] [ 1.81085369e-02 -2.46728341e-04 9.99835997e-01 4.74830364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.359254154 meters 0.013615343353107065 Centerline is valid? [True, True] Translation: X:1039.45, Y:131.55, Z:4.75 [[ 5.36773785e-01 -8.43664268e-01 -1.02228851e-02 1.03944998e+03] [ 8.43519917e-01 5.36871068e-01 -1.56078870e-02 1.31551186e+02] [ 1.86561878e-02 -2.45302661e-04 9.99825928e-01 4.74774985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.4192541539999 meters 0.012157077076018452 Centerline is valid? [True, True] Translation: X:1039.48, Y:131.60, Z:4.75 [[ 5.36167208e-01 -8.44056612e-01 -9.65201991e-03 1.03948032e+03] [ 8.43927837e-01 5.36254025e-01 -1.47454103e-02 1.31600218e+02] [ 1.76218956e-02 -2.39602798e-04 9.99844694e-01 4.74919086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.479254154 meters 0.01374695692048659 Centerline is valid? [True, True] Translation: X:1039.51, Y:131.65, Z:4.75 [[ 5.34508952e-01 -8.45114119e-01 -9.07223021e-03 1.03951226e+03] [ 8.45000363e-01 5.34585878e-01 -1.38681195e-02 1.31649257e+02] [ 1.65700298e-02 -2.53403780e-04 9.99862676e-01 4.75112512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.539254154 meters 0.012214481001643162 Centerline is valid? [True, True] Translation: X:1039.54, Y:131.70, Z:4.75 [[ 5.33463983e-01 -8.45786136e-01 -7.87339348e-03 1.03954215e+03] [ 8.45700428e-01 5.33522030e-01 -1.20427814e-02 1.31698974e+02] [ 1.43862464e-02 -2.34142106e-04 9.99896485e-01 4.75137321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.599254154 meters 0.011738034662055042 Centerline is valid? [True, True] Translation: X:1039.57, Y:131.75, Z:4.75 [[ 5.34462567e-01 -8.45155842e-01 -7.83378325e-03 1.03957138e+03] [ 8.45070819e-01 5.34519933e-01 -1.19896515e-02 1.31749696e+02] [ 1.43204373e-02 -2.12081738e-04 9.99897435e-01 4.75129135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.6592541539999 meters 0.011594093207985186 Centerline is valid? [True, True] Translation: X:1039.60, Y:131.80, Z:4.75 [[ 5.38258952e-01 -8.42736079e-01 -8.55586756e-03 1.03960021e+03] [ 8.42634284e-01 5.38326924e-01 -1.30991389e-02 1.31800279e+02] [ 1.56449708e-02 -1.58738575e-04 9.99877597e-01 4.74823512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.719254154 meters 0.01054305637862667 Centerline is valid? [True, True] Translation: X:1039.62, Y:131.85, Z:4.74 [[ 5.45043303e-01 -8.38346382e-01 -1.01559120e-02 1.03962425e+03] [ 8.38202026e-01 5.45137912e-01 -1.55570245e-02 1.31854183e+02] [ 1.85785479e-02 -3.34540327e-05 9.99827403e-01 4.74486693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.779254154 meters 0.010471656408795079 Centerline is valid? [True, True] Translation: X:1039.65, Y:131.91, Z:4.74 [[ 5.49804772e-01 -8.35239097e-01 -9.50596465e-03 1.03965200e+03] [ 8.35112003e-01 5.49886939e-01 -1.45704160e-02 1.31905941e+02] [ 1.73969869e-02 7.23390697e-05 9.99848658e-01 4.74478395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.839254154 meters 0.010676456303072112 Centerline is valid? [True, True] Translation: X:1039.68, Y:131.96, Z:4.75 [[ 5.51468039e-01 -8.34152513e-01 -8.51979207e-03 1.03968240e+03] [ 8.34050165e-01 5.51533838e-01 -1.30670600e-02 1.31955440e+02] [ 1.55988746e-02 1.00131965e-04 9.99878325e-01 4.74601210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.899254154 meters 0.011331754641986625 Centerline is valid? [True, True] Translation: X:1039.71, Y:132.01, Z:4.75 [[ 5.52521784e-01 -8.33466071e-01 -7.34756504e-03 1.03971323e+03] [ 8.33389796e-01 5.52570626e-01 -1.12761558e-02 1.32005030e+02] [ 1.34583419e-02 1.06935978e-04 9.99909427e-01 4.74666301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.959254154 meters 0.011450672168370387 Centerline is valid? [True, True] Translation: X:1039.74, Y:132.05, Z:4.75 [[ 5.54220884e-01 -8.32349870e-01 -5.73639407e-03 1.03974283e+03] [ 8.32303268e-01 5.54250560e-01 -8.80832352e-03 1.32053308e+02] [ 1.05110066e-02 1.07337314e-04 9.99944752e-01 4.74594803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.019254154 meters 0.01254712824474438 Centerline is valid? [True, True] Translation: X:1039.77, Y:132.10, Z:4.74 [[ 5.58895326e-01 -8.29217951e-01 -5.79693797e-03 1.03977247e+03] [ 8.29170137e-01 5.58925363e-01 -8.90637676e-03 1.32104276e+02] [ 1.06253831e-02 1.71084498e-04 9.99943534e-01 4.74349797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.079254154 meters 0.014532340003324914 Centerline is valid? [True, True] Translation: X:1039.80, Y:132.16, Z:4.74 [[ 5.62141368e-01 -8.27017841e-01 -6.21070809e-03 1.03979912e+03] [ 8.26962781e-01 5.62175629e-01 -9.54571670e-03 1.32155317e+02] [ 1.13859867e-02 2.30017815e-04 9.99935151e-01 4.74094739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.139254154 meters 0.016735384452239214 Centerline is valid? [True, True] Translation: X:1039.83, Y:132.21, Z:4.74 [[ 5.66490508e-01 -8.24040094e-01 -6.81380704e-03 1.03982713e+03] [ 8.23973547e-01 5.66531394e-01 -1.04772641e-02 1.32207239e+02] [ 1.24939213e-02 3.20873932e-04 9.99921896e-01 4.73784858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.199254154 meters 0.0171652213589519 Centerline is valid? [True, True] Translation: X:1039.86, Y:132.26, Z:4.74 [[ 5.67929776e-01 -8.23050020e-01 -6.66592043e-03 1.03986000e+03] [ 8.22986195e-01 5.67968794e-01 -1.02553732e-02 1.32256499e+02] [ 1.22267199e-02 3.38371306e-04 9.99925194e-01 4.73758802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.259254154 meters 0.016190588709507864 Centerline is valid? [True, True] Translation: X:1039.90, Y:132.30, Z:4.74 [[ 5.66362441e-01 -8.24141002e-01 -5.01939531e-03 1.03989591e+03] [ 8.24104821e-01 5.66384633e-01 -7.72599400e-03 1.32303665e+02] [ 9.21021680e-03 2.39204943e-04 9.99957556e-01 4.73982481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.319254154 meters 0.016662526094432407 Centerline is valid? [True, True] Translation: X:1039.93, Y:132.35, Z:4.74 [[ 5.63014664e-01 -8.26439450e-01 -3.51052749e-03 1.03993070e+03] [ 8.26421781e-01 5.63025591e-01 -5.40596678e-03 1.32349844e+02] [ 6.44422103e-03 1.42462194e-04 9.99979226e-01 4.74125419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.379254154 meters 0.015700555040848854 Centerline is valid? [True, True] Translation: X:1039.97, Y:132.40, Z:4.74 [[ 5.60796004e-01 -8.27950364e-01 -2.45705893e-03 1.03996690e+03] [ 8.27941716e-01 5.60801380e-01 -3.78528951e-03 1.32397080e+02] [ 4.51195386e-03 8.84736470e-05 9.99989817e-01 4.74142784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.439254154 meters 0.014333283824240216 Centerline is valid? [True, True] Translation: X:1040.00, Y:132.44, Z:4.74 [[ 5.60446030e-01 -8.28188938e-01 -1.82498696e-03 1.04000221e+03] [ 8.28184165e-01 5.60448998e-01 -2.81233071e-03 1.32443946e+02] [ 3.35195330e-03 6.47342770e-05 9.99994380e-01 4.73994345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.499254154 meters 0.014766216666895551 Centerline is valid? [True, True] Translation: X:1040.03, Y:132.49, Z:4.74 [[ 5.60382220e-01 -8.28232677e-01 -1.54953984e-03 1.04003373e+03] [ 8.28229233e-01 5.60384359e-01 -2.38907720e-03 1.32492228e+02] [ 2.84704969e-03 5.54221911e-05 9.99995946e-01 4.74009222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.559254154 meters 0.015313395123589039 Centerline is valid? [True, True] Translation: X:1040.07, Y:132.54, Z:4.74 [[ 5.60237761e-01 -8.28331414e-01 -8.47792946e-04 1.04006725e+03] [ 8.28330384e-01 5.60238402e-01 -1.30689402e-03 1.32539985e+02] [ 1.55750754e-03 2.99187259e-05 9.99998787e-01 4.74125567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.619254154 meters 0.015674191241248202 Centerline is valid? [True, True] Translation: X:1040.10, Y:132.59, Z:4.74 [[ 5.59978464e-01 -8.28507143e-01 -1.86592071e-04 1.04009911e+03] [ 8.28507093e-01 5.59978495e-01 -2.85996752e-04 1.32588438e+02] [ 3.41437899e-04 5.55916744e-06 9.99999942e-01 4.74128095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.6792541539999 meters 0.014982297646375937 Centerline is valid? [True, True] Translation: X:1040.13, Y:132.64, Z:4.74 [[ 5.58528029e-01 -8.29485511e-01 4.77636460e-04 1.04013173e+03] [ 8.29485180e-01 5.58528233e-01 7.40850841e-04 1.32636957e+02] [-8.81298486e-04 -1.75935953e-05 9.99999612e-01 4.74083719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.739254154 meters 0.0161161415017636 Centerline is valid? [True, True] Translation: X:1040.17, Y:132.68, Z:4.74 [[ 5.56253949e-01 -8.31011320e-01 1.31537067e-03 1.04016545e+03] [ 8.31008824e-01 5.56255502e-01 2.03715008e-03 1.32684850e+02] [-2.42457695e-03 -4.00881396e-05 9.99997060e-01 4.74158230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.799254154 meters 0.014072230418361578 Centerline is valid? [True, True] Translation: X:1040.20, Y:132.73, Z:4.74 [[ 5.55019875e-01 -8.31835851e-01 1.43381119e-03 1.04019724e+03] [ 8.31832885e-01 5.55021725e-01 2.22170074e-03 1.32734337e+02] [-2.64388669e-03 -4.03967734e-05 9.99996504e-01 4.74097524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.859254154 meters 0.014873177672708628 Centerline is valid? [True, True] Translation: X:1040.23, Y:132.78, Z:4.74 [[ 5.54222771e-01 -8.32367012e-01 1.50920531e-03 1.04022755e+03] [ 8.32363723e-01 5.54224825e-01 2.34021356e-03 1.32784481e+02] [-2.78435562e-03 -4.07918978e-05 9.99996123e-01 4.73976610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.9192541539999 meters 0.01451578643495523 Centerline is valid? [True, True] Translation: X:1040.26, Y:132.83, Z:4.74 [[ 5.51692564e-01 -8.34047148e-01 8.17732485e-04 1.04025955e+03] [ 8.34046182e-01 5.51693170e-01 1.26948220e-03 1.32833893e+02] [-1.50994543e-03 -1.83372319e-05 9.99998860e-01 4.73837396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.979254154 meters 0.013048721166574535 Centerline is valid? [True, True] Translation: X:1040.29, Y:132.88, Z:4.74 [[ 5.46909757e-01 -8.37191325e-01 6.35675742e-04 1.04029426e+03] [ 8.37190743e-01 5.46910126e-01 9.86685782e-04 1.32882220e+02] [-1.17370228e-03 -7.44623339e-06 9.99999311e-01 4.73827177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.039254154 meters 0.014083544223289607 Centerline is valid? [True, True] Translation: X:1040.33, Y:132.93, Z:4.74 [[ 5.41636716e-01 -8.40611986e-01 1.07528362e-03 1.04032996e+03] [ 8.40610327e-01 5.41637783e-01 1.67050314e-03 1.32928168e+02] [-1.98665920e-03 -9.11323160e-07 9.99998027e-01 4.73944818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.099254154 meters 0.015025109536933527 Centerline is valid? [True, True] Translation: X:1040.36, Y:132.98, Z:4.74 [[ 5.37031133e-01 -8.43561732e-01 1.07989253e-03 1.04036482e+03] [ 8.43560062e-01 5.37032218e-01 1.67868308e-03 1.32975619e+02] [-1.99600989e-03 9.44913283e-06 9.99998008e-01 4.73908871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.1592541539999 meters 0.013107712633982851 Centerline is valid? [True, True] Translation: X:1040.40, Y:133.02, Z:4.74 [[ 5.36432030e-01 -8.43943400e-01 4.63303141e-04 1.04039592e+03] [ 8.43943091e-01 5.36432230e-01 7.21736644e-04 1.33023037e+02] [-8.57635614e-04 3.83883170e-06 9.99999632e-01 4.73935152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.219254154 meters 0.013104782274767274 Centerline is valid? [True, True] Translation: X:1040.43, Y:133.07, Z:4.74 [[ 5.38277267e-01 -8.42767787e-01 -2.04320626e-04 1.04042631e+03] [ 8.42767728e-01 5.38277306e-01 -3.15241024e-04 1.33073171e+02] [ 3.75656136e-04 -2.50775251e-06 9.99999929e-01 4.73873539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.279254154 meters 0.013111563623204427 Centerline is valid? [True, True] Translation: X:1040.46, Y:133.12, Z:4.74 [[ 5.41046502e-01 -8.40991322e-01 -1.50973596e-03 1.04045507e+03] [ 8.40988051e-01 5.41048608e-01 -2.34559105e-03 1.33124311e+02] [ 2.78946226e-03 -5.96070058e-07 9.99996109e-01 4.73737229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.339254154 meters 0.013217498668869666 Centerline is valid? [True, True] Translation: X:1040.48, Y:133.18, Z:4.74 [[ 5.43353348e-01 -8.39500160e-01 -2.57292518e-03 1.04048297e+03] [ 8.39490623e-01 5.43359440e-01 -4.00153079e-03 1.33175546e+02] [ 4.75730892e-03 1.42985868e-05 9.99988684e-01 4.73563533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.399254154 meters 0.013333851435555037 Centerline is valid? [True, True] Translation: X:1040.51, Y:133.23, Z:4.74 [[ 5.45194819e-01 -8.38305771e-01 -2.45838222e-03 1.04051139e+03] [ 8.38297042e-01 5.45200361e-01 -3.82576432e-03 1.33225199e+02] [ 4.54747118e-03 2.49323419e-05 9.99989660e-01 4.73763963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.459254154 meters 0.015697030842955123 Centerline is valid? [True, True] Translation: X:1040.54, Y:133.28, Z:4.74 [[ 5.45333701e-01 -8.38217620e-01 -1.54172085e-03 1.04054078e+03] [ 8.38214185e-01 5.45335880e-01 -2.39975658e-03 1.33275069e+02] [ 2.85227395e-03 1.63758567e-05 9.99995932e-01 4.73821705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.519254154 meters 0.0164648617003954 Centerline is valid? [True, True] Translation: X:1040.57, Y:133.33, Z:4.74 [[ 5.46091920e-01 -8.37723995e-01 -1.45701023e-03 1.04056983e+03] [ 8.37720922e-01 5.46093864e-01 -2.26923093e-03 1.33325446e+02] [ 2.69665354e-03 1.86407216e-05 9.99996364e-01 4.73838672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.579254154 meters 0.014021919316332778 Centerline is valid? [True, True] Translation: X:1040.60, Y:133.38, Z:4.74 [[ 5.48151582e-01 -8.36373483e-01 -3.03984307e-03 1.04059785e+03] [ 8.36360055e-01 5.48160008e-01 -4.73969585e-03 1.33376296e+02] [ 5.63047633e-03 5.56684593e-05 9.99984147e-01 4.73814943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.639254154 meters 0.016537783031139567 Centerline is valid? [True, True] Translation: X:1040.63, Y:133.43, Z:4.73 [[ 5.48828011e-01 -8.35920221e-01 -5.01982000e-03 1.04062757e+03] [ 8.35883546e-01 5.48850958e-01 -7.83091798e-03 1.33427792e+02] [ 9.30115570e-03 1.01842199e-04 9.99956738e-01 4.73431748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.699254154 meters 0.014514085246604814 Centerline is valid? [True, True] Translation: X:1040.66, Y:133.48, Z:4.74 [[ 5.50227648e-01 -8.34992980e-01 -6.02150669e-03 1.04065584e+03] [ 8.34940110e-01 5.50260577e-01 -9.39735294e-03 1.33477769e+02] [ 1.11601215e-02 1.43085949e-04 9.99937714e-01 4.73521861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.759254154 meters 0.014034576774025323 Centerline is valid? [True, True] Translation: X:1040.69, Y:133.53, Z:4.74 [[ 5.49447316e-01 -8.35507104e-01 -5.96041868e-03 1.04068843e+03] [ 8.35455281e-01 5.49479628e-01 -9.30653624e-03 1.33526421e+02] [ 1.10508058e-02 1.33788101e-04 9.99938929e-01 4.73622200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.819254154 meters 0.015024932542196928 Centerline is valid? [True, True] Translation: X:1040.72, Y:133.57, Z:4.74 [[ 5.45171317e-01 -8.38307028e-01 -5.43707508e-03 1.04072162e+03] [ 8.38264013e-01 5.45198424e-01 -8.49255876e-03 1.33573614e+02] [ 1.00836565e-02 7.21950678e-05 9.99949156e-01 4.73723305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.879254154 meters 0.013910478628396634 Centerline is valid? [True, True] Translation: X:1040.76, Y:133.62, Z:4.74 [[ 5.39274110e-01 -8.42121813e-01 -3.77964108e-03 1.04075608e+03] [ 8.42101107e-01 5.39287355e-01 -5.90545892e-03 1.33621481e+02] [ 7.01142842e-03 1.82116630e-06 9.99975420e-01 4.74113480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.939254154 meters 0.016161385061701228 Centerline is valid? [True, True] Translation: X:1040.79, Y:133.67, Z:4.74 [[ 5.35510587e-01 -8.44520691e-01 -3.63500801e-03 1.04078837e+03] [ 8.44501572e-01 5.35522923e-01 -5.68266251e-03 1.33668259e+02] [ 6.74575619e-03 -2.66440432e-05 9.99977247e-01 4.74050345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.999254154 meters 0.015011890925748585 Centerline is valid? [True, True] Translation: X:1040.82, Y:133.72, Z:4.74 [[ 5.35544279e-01 -8.44495926e-01 -4.35392042e-03 1.04081840e+03] [ 8.44468459e-01 5.35561976e-01 -6.81112085e-03 1.33717675e+02] [ 8.08375803e-03 -2.90916665e-05 9.99967325e-01 4.73993028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.059254154 meters 0.016352758734951824 Centerline is valid? [True, True] Translation: X:1040.85, Y:133.77, Z:4.74 [[ 5.38943776e-01 -8.42315342e-01 -6.66865431e-03 1.04084557e+03] [ 8.42250642e-01 5.38985032e-01 -1.04398944e-02 1.33769974e+02] [ 1.23879881e-02 9.83776065e-06 9.99923266e-01 4.73566451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.119254154 meters 0.0132453508040346 Centerline is valid? [True, True] Translation: X:1040.87, Y:133.82, Z:4.74 [[ 5.41294173e-01 -8.40800732e-01 -7.39911764e-03 1.04087486e+03] [ 8.40720840e-01 5.41344738e-01 -1.15906770e-02 1.33820065e+02] [ 1.37509231e-02 5.33735253e-05 9.99905450e-01 4.73700432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.1792541539999 meters 0.014526130079115646 Centerline is valid? [True, True] Translation: X:1040.91, Y:133.87, Z:4.74 [[ 5.40859247e-01 -8.41076513e-01 -7.84693722e-03 1.04090677e+03] [ 8.40986570e-01 5.40916164e-01 -1.23001043e-02 1.33868778e+02] [ 1.45898640e-02 5.34563543e-05 9.99893561e-01 4.73655437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.239254154 meters 0.01314270499023568 Centerline is valid? [True, True] Translation: X:1040.94, Y:133.92, Z:4.74 [[ 5.39012620e-01 -8.42268107e-01 -7.05906065e-03 1.04094015e+03] [ 8.42195333e-01 5.39058842e-01 -1.10718790e-02 1.33916721e+02] [ 1.31307396e-02 2.27745935e-05 9.99913788e-01 4.73921450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.299254154 meters 0.015966568121254045 Centerline is valid? [True, True] Translation: X:1040.98, Y:133.96, Z:4.74 [[ 5.34675317e-01 -8.45040169e-01 -5.42383776e-03 1.04097529e+03] [ 8.44997299e-01 5.34702826e-01 -8.51190109e-03 1.33963557e+02] [ 1.00930397e-02 -3.20248361e-05 9.99949063e-01 4.74000111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.359254154 meters 0.01598989664975846 Centerline is valid? [True, True] Translation: X:1041.01, Y:134.01, Z:4.74 [[ 5.33997317e-01 -8.45468879e-01 -5.40737434e-03 1.04100759e+03] [ 8.45426236e-01 5.34024694e-01 -8.49149181e-03 1.34012443e+02] [ 1.00669635e-02 -3.71022930e-05 9.99949326e-01 4.74107918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.4192541539999 meters 0.01674475292164662 Centerline is valid? [True, True] Translation: X:1041.04, Y:134.06, Z:4.74 [[ 5.36368973e-01 -8.43955953e-01 -6.83189596e-03 1.04103676e+03] [ 8.43887669e-01 5.36412481e-01 -1.07355692e-02 1.34062049e+02] [ 1.27250618e-02 -7.12650809e-06 9.99919033e-01 4.73831386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.479254154 meters 0.01348773200660829 Centerline is valid? [True, True] Translation: X:1041.06, Y:134.11, Z:4.74 [[ 5.40305598e-01 -8.41435282e-01 -7.51837342e-03 1.04106455e+03] [ 8.41352275e-01 5.40357902e-01 -1.18189042e-02 1.34112955e+02] [ 1.40074554e-02 6.02195032e-05 9.99901889e-01 4.73965408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.539254154 meters 0.016993457167431416 Centerline is valid? [True, True] Translation: X:1041.09, Y:134.16, Z:4.74 [[ 5.41248143e-01 -8.40821513e-01 -8.34447956e-03 1.04109423e+03] [ 8.40719093e-01 5.41312456e-01 -1.31237162e-02 1.34163438e+02] [ 1.55516736e-02 8.78237330e-05 9.99879062e-01 4.73566168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.599254154 meters 0.013714827387192723 Centerline is valid? [True, True] Translation: X:1041.13, Y:134.21, Z:4.74 [[ 5.43671752e-01 -8.39254953e-01 -8.49408616e-03 1.04112514e+03] [ 8.39148553e-01 5.43738085e-01 -1.33641786e-02 1.34212990e+02] [ 1.58345112e-02 1.37926261e-04 9.99874617e-01 4.73933740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.6592541539999 meters 0.016446262603709644 Centerline is valid? [True, True] Translation: X:1041.16, Y:134.26, Z:4.74 [[ 5.42282996e-01 -8.40152537e-01 -8.53622765e-03 1.04115784e+03] [ 8.40045085e-01 5.42350165e-01 -1.34370054e-02 1.34259331e+02] [ 1.59187587e-02 1.15843470e-04 9.99873282e-01 4.73735309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.719254154 meters 0.016473915270377663 Centerline is valid? [True, True] Translation: X:1041.19, Y:134.31, Z:4.74 [[ 5.41078465e-01 -8.40938372e-01 -7.53324818e-03 1.04119173e+03] [ 8.40854698e-01 5.41130897e-01 -1.18629080e-02 1.34307431e+02] [ 1.40524479e-02 8.43969084e-05 9.99901256e-01 4.73900384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.779254154 meters 0.013940757626707602 Centerline is valid? [True, True] Translation: X:1041.22, Y:134.36, Z:4.74 [[ 5.41038416e-01 -8.40971755e-01 -6.62877765e-03 1.04122395e+03] [ 8.40906906e-01 5.41079016e-01 -1.04438030e-02 1.34356246e+02] [ 1.23696358e-02 7.63137116e-05 9.99923490e-01 4.74216061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.839254154 meters 0.013507208256608382 Centerline is valid? [True, True] Translation: X:1041.26, Y:134.40, Z:4.74 [[ 5.40785720e-01 -8.41135893e-01 -6.41982642e-03 1.04125737e+03] [ 8.41075008e-01 5.40823820e-01 -1.01206451e-02 1.34404294e+02] [ 1.19848329e-02 7.35448191e-05 9.99928177e-01 4.74230709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.899254154 meters 0.015785127156442192 Centerline is valid? [True, True] Translation: X:1041.29, Y:134.45, Z:4.74 [[ 5.40023805e-01 -8.41618622e-01 -7.23773397e-03 1.04129061e+03] [ 8.41541178e-01 5.40072300e-01 -1.14173991e-02 1.34451684e+02] [ 1.35179953e-02 7.48161346e-05 9.99908625e-01 4.73964486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.959254154 meters 0.013499579136892072 Centerline is valid? [True, True] Translation: X:1041.32, Y:134.50, Z:4.74 [[ 5.41445464e-01 -8.40707401e-01 -6.91918727e-03 1.04132298e+03] [ 8.40636460e-01 5.41489664e-01 -1.09217702e-02 1.34500367e+02] [ 1.29286814e-02 9.70218170e-05 9.99916416e-01 4.74212191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.019254154 meters 0.014258077099990761 Centerline is valid? [True, True] Translation: X:1041.35, Y:134.55, Z:4.74 [[ 5.43439052e-01 -8.39413292e-01 -7.70207067e-03 1.04135488e+03] [ 8.39325151e-01 5.43493609e-01 -1.21649836e-02 1.34549944e+02] [ 1.43974752e-02 1.46385550e-04 9.99896340e-01 4.74053541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.079254154 meters 0.015870753385341274 Centerline is valid? [True, True] Translation: X:1041.39, Y:134.60, Z:4.74 [[ 5.44419727e-01 -8.38774346e-01 -8.04726368e-03 1.04138723e+03] [ 8.38677947e-01 5.44479170e-01 -1.27175053e-02 1.34599073e+02] [ 1.50486846e-02 1.74598183e-04 9.99886747e-01 4.73894665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.139254154 meters 0.014089645984015232 Centerline is valid? [True, True] Translation: X:1041.42, Y:134.65, Z:4.74 [[ 5.45474348e-01 -8.38097482e-01 -7.09546323e-03 1.04141873e+03] [ 8.38022393e-01 5.45520467e-01 -1.12200530e-02 1.34647401e+02] [ 1.32742186e-02 1.74094016e-04 9.99911879e-01 4.74201917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.199254154 meters 0.014158942232357375 Centerline is valid? [True, True] Translation: X:1041.45, Y:134.70, Z:4.74 [[ 5.45647382e-01 -8.37991792e-01 -6.22019211e-03 1.04144928e+03] [ 8.37934009e-01 5.45682812e-01 -9.84206451e-03 1.34696708e+02] [ 1.16418212e-02 1.58186215e-04 9.99932219e-01 4.74307005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.259254154 meters 0.016270262461620777 Centerline is valid? [True, True] Translation: X:1041.48, Y:134.75, Z:4.74 [[ 5.42393421e-01 -8.40098129e-01 -6.67165134e-03 1.04148281e+03] [ 8.40031730e-01 5.42434437e-01 -1.05628778e-02 1.34745486e+02] [ 1.24927873e-02 1.24836612e-04 9.99921954e-01 4.74066404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.319254154 meters 0.013164151649561645 Centerline is valid? [True, True] Translation: X:1041.52, Y:134.79, Z:4.74 [[ 5.39027654e-01 -8.42267419e-01 -5.89762566e-03 1.04151680e+03] [ 8.42215607e-01 5.39059913e-01 -9.34245436e-03 1.34793992e+02] [ 1.10480185e-02 6.87688776e-05 9.99938966e-01 4.74411541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.379254154 meters 0.012902827424048963 Centerline is valid? [True, True] Translation: X:1041.55, Y:134.84, Z:4.74 [[ 5.35487324e-01 -8.44525123e-01 -5.53561598e-03 1.04154879e+03] [ 8.44479544e-01 5.35515935e-01 -8.77400042e-03 1.34843263e+02] [ 1.03742744e-02 2.36515424e-05 9.99946185e-01 4.74421414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.439254154 meters 0.013769304100425522 Centerline is valid? [True, True] Translation: X:1041.58, Y:134.89, Z:4.74 [[ 5.33150866e-01 -8.46001780e-01 -5.58061784e-03 1.04157917e+03] [ 8.45955490e-01 5.33180072e-01 -8.84985908e-03 1.34892150e+02] [ 1.04624708e-02 -2.64426966e-06 9.99945267e-01 4.74300925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.499254154 meters 0.015959114695961684 Centerline is valid? [True, True] Translation: X:1041.61, Y:134.94, Z:4.74 [[ 5.31533535e-01 -8.47016653e-01 -5.90685036e-03 1.04160919e+03] [ 8.46964796e-01 5.31566354e-01 -9.37259652e-03 1.34942428e+02] [ 1.10786282e-02 -2.10449574e-05 9.99938630e-01 4.74194872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.559254154 meters 0.012949755324095619 Centerline is valid? [True, True] Translation: X:1041.64, Y:134.99, Z:4.74 [[ 5.31496286e-01 -8.47037177e-01 -6.30228508e-03 1.04163852e+03] [ 8.46978068e-01 5.31533649e-01 -1.00066318e-02 1.34993140e+02] [ 1.18258657e-02 -1.94096112e-05 9.99930072e-01 4.74312768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.619254154 meters 0.014544054317686399 Centerline is valid? [True, True] Translation: X:1041.67, Y:135.04, Z:4.74 [[ 5.29490469e-01 -8.48285718e-01 -7.15436956e-03 1.04166856e+03] [ 8.48209579e-01 5.29538798e-01 -1.13653222e-02 1.35042469e+02] [ 1.34295567e-02 -5.05750416e-05 9.99909818e-01 4.74100964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.6792541539999 meters 0.013270971642448604 Centerline is valid? [True, True] Translation: X:1041.70, Y:135.09, Z:4.74 [[ 5.27292867e-01 -8.49657394e-01 -6.67419127e-03 1.04169923e+03] [ 8.49591170e-01 5.27335099e-01 -1.06083685e-02 1.35091685e+02] [ 1.25330141e-02 -7.66169180e-05 9.99921456e-01 4.74325182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.739254154 meters 0.016338002095419524 Centerline is valid? [True, True] Translation: X:1041.73, Y:135.14, Z:4.74 [[ 5.20599893e-01 -8.53773693e-01 -6.79947734e-03 1.04173328e+03] [ 8.53705252e-01 5.20644264e-01 -1.08116587e-02 1.35138213e+02] [ 1.27708186e-02 -1.76201169e-04 9.99918434e-01 4.74194070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.799254154 meters 0.0147822198951836 Centerline is valid? [True, True] Translation: X:1041.76, Y:135.19, Z:4.75 [[ 5.16158763e-01 -8.56471495e-01 -6.05877415e-03 1.04176473e+03] [ 8.56417291e-01 5.16194277e-01 -9.63807840e-03 1.35188131e+02] [ 1.13822440e-02 -2.14060320e-04 9.99935197e-01 4.74595757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.859254154 meters 0.017652270651814735 Centerline is valid? [True, True] Translation: X:1041.80, Y:135.24, Z:4.75 [[ 5.09095200e-01 -8.60692394e-01 -5.53891892e-03 1.04179706e+03] [ 8.60647287e-01 5.09125255e-01 -8.81598624e-03 1.35237624e+02] [ 1.04078558e-02 -2.78879258e-04 9.99945798e-01 4.74637468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.9192541539999 meters 0.016643015128184096 Centerline is valid? [True, True] Translation: X:1041.82, Y:135.29, Z:4.75 [[ 5.09698681e-01 -8.60332079e-01 -5.99731643e-03 1.04182455e+03] [ 8.60279113e-01 5.09733880e-01 -9.55091815e-03 1.35287660e+02] [ 1.12739966e-02 -2.91275672e-04 9.99936404e-01 4.74743661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.979254154 meters 0.015845229300845094 Centerline is valid? [True, True] Translation: X:1041.85, Y:135.34, Z:4.75 [[ 5.12781253e-01 -8.58494195e-01 -6.56531901e-03 1.04185143e+03] [ 8.58430494e-01 5.12823209e-01 -1.04615685e-02 1.35339574e+02] [ 1.23480438e-02 -2.71373812e-04 9.99923723e-01 4.74690201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.039254154 meters 0.014492779123078914 Centerline is valid? [True, True] Translation: X:1041.87, Y:135.40, Z:4.74 [[ 5.24883103e-01 -8.51139039e-01 -7.75008869e-03 1.04187034e+03] [ 8.51049339e-01 5.24940305e-01 -1.23571836e-02 1.35397127e+02] [ 1.45860153e-02 -1.09630981e-04 9.99893612e-01 4.74481009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.099254154 meters 0.014613528655850368 Centerline is valid? [True, True] Translation: X:1041.89, Y:135.45, Z:4.74 [[ 5.34164460e-01 -8.45334752e-01 -8.80261458e-03 1.04189134e+03] [ 8.45218079e-01 5.34236982e-01 -1.40444542e-02 1.35452119e+02] [ 1.65749475e-02 6.19193249e-05 9.99862624e-01 4.74314653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.1592541539999 meters 0.013976744814811448 Centerline is valid? [True, True] Translation: X:1041.92, Y:135.51, Z:4.75 [[ 5.39679848e-01 -8.41824306e-01 -8.80334907e-03 1.04191695e+03] [ 8.41707005e-01 5.39751616e-01 -1.40538845e-02 1.35505537e+02] [ 1.65825235e-02 1.74757683e-04 9.99862485e-01 4.74502713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.219254154 meters 0.014137441908816812 Centerline is valid? [True, True] Translation: X:1041.95, Y:135.56, Z:4.75 [[ 5.40704493e-01 -8.41170318e-01 -8.43486877e-03 1.04194537e+03] [ 8.41062427e-01 5.40770246e-01 -1.34734558e-02 1.35555680e+02] [ 1.58947972e-02 1.90906909e-04 9.99873652e-01 4.74639541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.279254154 meters 0.01568971265796549 Centerline is valid? [True, True] Translation: X:1041.98, Y:135.61, Z:4.75 [[ 5.37872211e-01 -8.42995146e-01 -7.25732640e-03 1.04197622e+03] [ 8.42915356e-01 5.37921156e-01 -1.15988348e-02 1.35605757e+02] [ 1.36816308e-02 1.21379042e-04 9.99906395e-01 4.74755055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.339254154 meters 0.01322999620918443 Centerline is valid? [True, True] Translation: X:1042.01, Y:135.65, Z:4.75 [[ 5.32850107e-01 -8.46184173e-01 -6.56576172e-03 1.04200969e+03] [ 8.46119034e-01 5.32890555e-01 -1.04993257e-02 1.35654255e+02] [ 1.23831956e-02 3.91508593e-05 9.99923325e-01 4.75006700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.399254154 meters 0.014372023572342999 Centerline is valid? [True, True] Translation: X:1042.04, Y:135.70, Z:4.75 [[ 5.25416053e-01 -8.50811888e-01 -7.55661335e-03 1.04204416e+03] [ 8.50726005e-01 5.25470385e-01 -1.20887765e-02 1.35700999e+02] [ 1.42560513e-02 -7.69702525e-05 9.99898374e-01 4.74761804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.459254154 meters 0.0149198482793789 Centerline is valid? [True, True] Translation: X:1042.08, Y:135.75, Z:4.75 [[ 5.17848107e-01 -8.55432288e-01 -8.30293819e-03 1.04207896e+03] [ 8.55329084e-01 5.17914619e-01 -1.32893128e-02 1.35748184e+02] [ 1.56683204e-02 -2.19899020e-04 9.99877220e-01 4.74767922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.519254154 meters 0.016386818500824445 Centerline is valid? [True, True] Translation: X:1042.11, Y:135.80, Z:4.75 [[ 5.09751188e-01 -8.60272513e-01 -9.21573568e-03 1.04211496e+03] [ 8.60145996e-01 5.09834327e-01 -1.47588953e-02 1.35795000e+02] [ 1.73951704e-02 -4.03513714e-04 9.99848611e-01 4.74689638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.579254154 meters 0.02002147195616931 Centerline is valid? [True, True] Translation: X:1042.15, Y:135.84, Z:4.75 [[ 5.02096578e-01 -8.64752378e-01 -1.01168360e-02 1.04215215e+03] [ 8.64600643e-01 5.02198123e-01 -1.62102913e-02 1.35839940e+02] [ 1.90985440e-02 -6.07891136e-04 9.99817421e-01 4.74554105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.639254154 meters 0.022277310784370976 Centerline is valid? [True, True] Translation: X:1042.18, Y:135.89, Z:4.75 [[ 4.96666123e-01 -8.67877542e-01 -1.05515370e-02 1.04218366e+03] [ 8.67712981e-01 4.96777621e-01 -1.69167888e-02 1.35889258e+02] [ 1.99234685e-02 -7.53709684e-04 9.99801224e-01 4.74588271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.699254154 meters 0.023073643402218433 Centerline is valid? [True, True] Translation: X:1042.21, Y:135.94, Z:4.75 [[ 4.98831743e-01 -8.66641862e-01 -9.93854873e-03 1.04221304e+03] [ 8.66495443e-01 4.98930305e-01 -1.59435731e-02 1.35938874e+02] [ 1.87760111e-02 -6.58546803e-04 9.99823498e-01 4.74741972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.759254154 meters 0.018022024552172826 Centerline is valid? [True, True] Translation: X:1042.24, Y:135.99, Z:4.75 [[ 5.05013652e-01 -8.63072422e-01 -8.19791133e-03 1.04223826e+03] [ 8.62972210e-01 5.05080004e-01 -1.31588004e-02 1.35991549e+02] [ 1.54975988e-02 -4.29195833e-04 9.99879813e-01 4.75145385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.819254154 meters 0.01651199281869484 Centerline is valid? [True, True] Translation: X:1042.26, Y:136.05, Z:4.75 [[ 5.20712538e-01 -8.53690970e-01 -8.37737295e-03 1.04225588e+03] [ 8.53584941e-01 5.20779902e-01 -1.34551721e-02 1.36049469e+02] [ 1.58493264e-02 -1.44522601e-04 9.99874381e-01 4.74932580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.879254154 meters 0.013894128284693372 Centerline is valid? [True, True] Translation: X:1042.28, Y:136.11, Z:4.75 [[ 5.33823767e-01 -8.45564267e-01 -7.29768894e-03 1.04227594e+03] [ 8.45482941e-01 5.33873639e-01 -1.17274920e-02 1.36106663e+02] [ 1.38123919e-02 9.03424536e-05 9.99904600e-01 4.75117808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.939254154 meters 0.015535050610573859 Centerline is valid? [True, True] Translation: X:1042.30, Y:136.16, Z:4.75 [[ 5.42425149e-01 -8.40075576e-01 -6.92701420e-03 1.04229998e+03] [ 8.40001768e-01 5.42469332e-01 -1.11378933e-02 1.36161040e+02] [ 1.31143649e-02 2.22769261e-04 9.99913978e-01 4.75158015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.999254154 meters 0.019906734403742327 Centerline is valid? [True, True] Translation: X:1042.33, Y:136.21, Z:4.75 [[ 5.45520770e-01 -8.38065040e-01 -7.35383325e-03 1.04232638e+03] [ 8.37981583e-01 5.45570256e-01 -1.18305955e-02 1.36212892e+02] [ 1.39268412e-02 2.91458741e-04 9.99902974e-01 4.74767377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.059254154 meters 0.018835796181176565 Centerline is valid? [True, True] Translation: X:1042.36, Y:136.26, Z:4.75 [[ 5.46175662e-01 -8.37639596e-01 -7.21479716e-03 1.04236063e+03] [ 8.37559140e-01 5.46223230e-01 -1.16133377e-02 1.36261425e+02] [ 1.36686813e-02 3.00103102e-04 9.99906534e-01 4.74829295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.119254154 meters 0.019591406958389693 Centerline is valid? [True, True] Translation: X:1042.40, Y:136.31, Z:4.75 [[ 5.45152303e-01 -8.38303687e-01 -7.47630808e-03 1.04239531e+03] [ 8.38217255e-01 5.45203485e-01 -1.20413089e-02 1.36309709e+02] [ 1.41703828e-02 2.97576830e-04 9.99899551e-01 4.74695307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.1792541539999 meters 0.019783209438597873 Centerline is valid? [True, True] Translation: X:1042.43, Y:136.36, Z:4.75 [[ 5.44574314e-01 -8.38678939e-01 -7.51356837e-03 1.04242781e+03] [ 8.38591596e-01 5.44626066e-01 -1.21071863e-02 1.36357015e+02] [ 1.42461273e-02 2.92447376e-04 9.99898476e-01 4.74588600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.239254154 meters 0.016364234965278317 Centerline is valid? [True, True] Translation: X:1042.46, Y:136.40, Z:4.75 [[ 5.45946829e-01 -8.37788708e-01 -7.22083202e-03 1.04246311e+03] [ 8.37707877e-01 5.45994493e-01 -1.16415787e-02 1.36404257e+02] [ 1.36957177e-02 3.06735115e-04 9.99906162e-01 4.74855613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.299254154 meters 0.017625098929590095 Centerline is valid? [True, True] Translation: X:1042.50, Y:136.45, Z:4.75 [[ 5.46540803e-01 -8.37398762e-01 -7.51427124e-03 1.04249802e+03] [ 8.37311089e-01 5.46592355e-01 -1.21218061e-02 1.36452269e+02] [ 1.42580286e-02 3.33279014e-04 9.99898294e-01 4.74739178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.359254154 meters 0.016919923038713394 Centerline is valid? [True, True] Translation: X:1042.53, Y:136.50, Z:4.75 [[ 5.48516538e-01 -8.36106235e-01 -7.48143014e-03 1.04253148e+03] [ 8.36019106e-01 5.48567433e-01 -1.20758537e-02 1.36501008e+02] [ 1.42007655e-02 3.69186943e-04 9.99899096e-01 4.74816991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.4192541539999 meters 0.021068822588527922 Centerline is valid? [True, True] Translation: X:1042.56, Y:136.55, Z:4.75 [[ 5.51008280e-01 -8.34465798e-01 -7.53045393e-03 1.04255948e+03] [ 8.34377272e-01 5.51059577e-01 -1.21618041e-02 1.36551436e+02] [ 1.42983383e-02 4.18015140e-04 9.99897686e-01 4.74641130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.479254154 meters 0.02223861698249432 Centerline is valid? [True, True] Translation: X:1042.59, Y:136.60, Z:4.74 [[ 5.52549950e-01 -8.33439174e-01 -8.22771171e-03 1.04259341e+03] [ 8.33333267e-01 5.52610987e-01 -1.32952643e-02 1.36599697e+02] [ 1.56275180e-02 4.89871738e-04 9.99877763e-01 4.74451647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.539254154 meters 0.021878757932936442 Centerline is valid? [True, True] Translation: X:1042.63, Y:136.65, Z:4.74 [[ 5.53123079e-01 -8.33054310e-01 -8.68189256e-03 1.04262909e+03] [ 8.32936207e-01 5.53190954e-01 -1.40372245e-02 1.36646803e+02] [ 1.64965148e-02 5.32850184e-04 9.99863781e-01 4.74399117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.599254154 meters 0.019759908912044162 Centerline is valid? [True, True] Translation: X:1042.66, Y:136.69, Z:4.75 [[ 5.53442009e-01 -8.32851263e-01 -7.79199635e-03 1.04266483e+03] [ 8.32755994e-01 5.53496644e-01 -1.26063074e-02 1.36693260e+02] [ 1.48120229e-02 4.88028413e-04 9.99890177e-01 4.74690101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.6592541539999 meters 0.01869953160898285 Centerline is valid? [True, True] Translation: X:1042.70, Y:136.74, Z:4.75 [[ 5.50799652e-01 -8.34609522e-01 -6.83300450e-03 1.04270125e+03] [ 8.34536332e-01 5.50841896e-01 -1.10596558e-02 1.36739891e+02] [ 1.29943992e-02 3.89264025e-04 9.99915493e-01 4.74895491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.719254154 meters 0.017527889414704814 Centerline is valid? [True, True] Translation: X:1042.74, Y:136.79, Z:4.75 [[ 5.44464012e-01 -8.38758456e-01 -6.57213427e-03 1.04273931e+03] [ 8.38690976e-01 5.44503603e-01 -1.06430181e-02 1.36785449e+02] [ 1.25054722e-02 2.82750618e-04 9.99921764e-01 4.74858166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.779254154 meters 0.015877480638188068 Centerline is valid? [True, True] Translation: X:1042.77, Y:136.83, Z:4.75 [[ 5.41900008e-01 -8.40414483e-01 -6.91946008e-03 1.04277431e+03] [ 8.40339728e-01 5.41944120e-01 -1.12121838e-02 1.36833417e+02] [ 1.31728424e-02 2.61185287e-04 9.99913200e-01 4.74927614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.839254154 meters 0.016133029858154728 Centerline is valid? [True, True] Translation: X:1042.80, Y:136.88, Z:4.75 [[ 5.43005086e-01 -8.39699668e-01 -7.06705617e-03 1.04280395e+03] [ 8.39621541e-01 5.43050996e-01 -1.14579398e-02 1.36884191e+02] [ 1.34590001e-02 2.88066989e-04 9.99909382e-01 4.74902716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.899254154 meters 0.017826266004650027 Centerline is valid? [True, True] Translation: X:1042.83, Y:136.94, Z:4.75 [[ 5.46863434e-01 -8.37189783e-01 -7.32475117e-03 1.04282645e+03] [ 8.37105569e-01 5.46912364e-01 -1.18799331e-02 1.36937904e+02] [ 1.39517556e-02 3.65110994e-04 9.99902603e-01 4.74733527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.959254154 meters 0.018882809355370744 Centerline is valid? [True, True] Translation: X:1042.85, Y:136.99, Z:4.75 [[ 5.48830461e-01 -8.35904799e-01 -6.94922824e-03 1.04285318e+03] [ 8.35828829e-01 5.48874323e-01 -1.12759360e-02 1.36990450e+02] [ 1.32398620e-02 3.80211873e-04 9.99912277e-01 4.74795389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.019254154 meters 0.020387873106151384 Centerline is valid? [True, True] Translation: X:1042.88, Y:137.04, Z:4.75 [[ 5.51140276e-01 -8.34385863e-01 -6.68035712e-03 1.04287982e+03] [ 8.34315471e-01 5.51180613e-01 -1.08455789e-02 1.37043420e+02] [ 1.27314810e-02 4.03910053e-04 9.99918870e-01 4.74865373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.079254154 meters 0.02153864621493314 Centerline is valid? [True, True] Translation: X:1042.91, Y:137.10, Z:4.75 [[ 5.52877832e-01 -8.33233544e-01 -6.92555859e-03 1.04290631e+03] [ 8.33157717e-01 5.52921024e-01 -1.12499025e-02 1.37096249e+02] [ 1.32030831e-02 4.49739120e-04 9.99912734e-01 4.74759637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.139254154 meters 0.022368507709376893 Centerline is valid? [True, True] Translation: X:1042.94, Y:137.15, Z:4.75 [[ 5.53455749e-01 -8.32842126e-01 -7.79272535e-03 1.04293628e+03] [ 8.32745972e-01 5.53510363e-01 -1.26659083e-02 1.37147156e+02] [ 1.48620562e-02 5.20659122e-04 9.99889418e-01 4.74554174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.199254154 meters 0.019973002631676052 Centerline is valid? [True, True] Translation: X:1042.97, Y:137.20, Z:4.75 [[ 5.54108299e-01 -8.32398712e-01 -8.73946472e-03 1.04296642e+03] [ 8.32277576e-01 5.54176887e-01 -1.42131383e-02 1.37197446e+02] [ 1.66742074e-02 6.01957362e-04 9.99860795e-01 4.74708371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.259254154 meters 0.020716942628723724 Centerline is valid? [True, True] Translation: X:1043.00, Y:137.25, Z:4.75 [[ 5.51858854e-01 -8.33889561e-01 -8.94449906e-03 1.04299763e+03] [ 8.33762723e-01 5.51931036e-01 -1.45551404e-02 1.37247478e+02] [ 1.70741263e-02 5.74793231e-04 9.99854061e-01 4.74579242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.319254154 meters 0.02043082054178234 Centerline is valid? [True, True] Translation: X:1043.03, Y:137.30, Z:4.75 [[ 5.49690750e-01 -8.35325730e-01 -8.42632480e-03 1.04302849e+03] [ 8.35213200e-01 5.49755100e-01 -1.37200678e-02 1.37297017e+02] [ 1.60931406e-02 5.04016639e-04 9.99870370e-01 4.74753306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.379254154 meters 0.018382339476598033 Centerline is valid? [True, True] Translation: X:1043.06, Y:137.35, Z:4.75 [[ 5.48042058e-01 -8.36421779e-01 -6.96491343e-03 1.04306065e+03] [ 8.36344929e-01 5.48086174e-01 -1.13448817e-02 1.37346790e+02] [ 1.33064789e-02 3.92402311e-04 9.99911388e-01 4.75189644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.439254154 meters 0.017271736971259045 Centerline is valid? [True, True] Translation: X:1043.09, Y:137.40, Z:4.75 [[ 5.46805632e-01 -8.37236767e-01 -6.18033562e-03 1.04309341e+03] [ 8.37176252e-01 5.46840456e-01 -1.00716795e-02 1.37396163e+02] [ 1.18120379e-02 3.33220849e-04 9.99930180e-01 4.75378323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.499254154 meters 0.01763140604143078 Centerline is valid? [True, True] Translation: X:1043.12, Y:137.45, Z:4.75 [[ 5.46577199e-01 -8.37381963e-01 -6.69430183e-03 1.04312216e+03] [ 8.37310883e-01 5.46618073e-01 -1.09163465e-02 1.37447184e+02] [ 1.28003780e-02 3.61414315e-04 9.99918006e-01 4.75297051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.559254154 meters 0.02013796271251307 Centerline is valid? [True, True] Translation: X:1043.15, Y:137.50, Z:4.75 [[ 5.46742525e-01 -8.37268355e-01 -7.36968306e-03 1.04314915e+03] [ 8.37182126e-01 5.46792043e-01 -1.20228580e-02 1.37498330e+02] [ 1.40960426e-02 4.03640793e-04 9.99900564e-01 4.75012554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.619254154 meters 0.01898268604080738 Centerline is valid? [True, True] Translation: X:1043.18, Y:137.55, Z:4.75 [[ 5.48878835e-01 -8.35865121e-01 -7.84375575e-03 1.04317720e+03] [ 8.35767202e-01 5.48934675e-01 -1.28025726e-02 1.37550345e+02] [ 1.50069334e-02 4.71507325e-04 9.99887278e-01 4.75222333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.6792541539999 meters 0.017384698369689738 Centerline is valid? [True, True] Translation: X:1043.21, Y:137.60, Z:4.75 [[ 5.47118014e-01 -8.37017489e-01 -7.97504532e-03 1.04320798e+03] [ 8.36916271e-01 5.47175948e-01 -1.30244714e-02 1.37600277e+02] [ 1.52654634e-02 4.51477739e-04 9.99883374e-01 4.75289883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.739254154 meters 0.018944325284050993 Centerline is valid? [True, True] Translation: X:1043.24, Y:137.65, Z:4.75 [[ 5.39640585e-01 -8.41861898e-01 -7.52222914e-03 1.04324073e+03] [ 8.41772208e-01 5.39692926e-01 -1.22920681e-02 1.37649002e+02] [ 1.44079176e-02 3.01295384e-04 9.99896155e-01 4.75132168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.799254154 meters 0.014596224515419432 Centerline is valid? [True, True] Translation: X:1043.28, Y:137.70, Z:4.76 [[ 5.30061351e-01 -8.47930204e-01 -7.02370833e-03 1.04327670e+03] [ 8.47852440e-01 5.30107867e-01 -1.14842831e-02 1.37695629e+02] [ 1.34611936e-02 1.32306391e-04 9.99909385e-01 4.75518620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.859254154 meters 0.015049910340048236 Centerline is valid? [True, True] Translation: X:1043.31, Y:137.74, Z:4.75 [[ 5.19826471e-01 -8.54240697e-01 -7.29870658e-03 1.04331109e+03] [ 8.54157235e-01 5.19877707e-01 -1.19410001e-02 1.37743175e+02] [ 1.39949231e-02 -2.69950836e-05 9.99902066e-01 4.75453760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.9192541539999 meters 0.015853923720551073 Centerline is valid? [True, True] Translation: X:1043.35, Y:137.79, Z:4.76 [[ 5.10437304e-01 -8.59881282e-01 -7.61182696e-03 1.04334547e+03] [ 8.59791020e-01 5.10494022e-01 -1.24601320e-02 1.37789836e+02] [ 1.46000265e-02 -1.84464272e-04 9.99893397e-01 4.75516898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.979254154 meters 0.015235787809297664 Centerline is valid? [True, True] Translation: X:1043.38, Y:137.84, Z:4.76 [[ 5.05537913e-01 -8.62772618e-01 -7.40452606e-03 1.04337745e+03] [ 8.62687422e-01 5.05592071e-01 -1.21272172e-02 1.37838887e+02] [ 1.42067006e-02 -2.57023408e-04 9.99899047e-01 4.75848868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.039254154 meters 0.019192565909141805 Centerline is valid? [True, True] Translation: X:1043.41, Y:137.89, Z:4.76 [[ 4.98995406e-01 -8.66574336e-01 -7.24598214e-03 1.04340939e+03] [ 8.66493048e-01 4.99047888e-01 -1.18744570e-02 1.37887733e+02] [ 1.39061917e-02 -3.53293673e-04 9.99903242e-01 4.75832655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.099254154 meters 0.020563932656399376 Centerline is valid? [True, True] Translation: X:1043.44, Y:137.94, Z:4.76 [[ 4.94762695e-01 -8.69003366e-01 -6.55942293e-03 1.04343873e+03] [ 8.68936885e-01 4.94806030e-01 -1.07555965e-02 1.37937608e+02] [ 1.25922915e-02 -3.78256639e-04 9.99920642e-01 4.76002859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.1592541539999 meters 0.021566155262187716 Centerline is valid? [True, True] Translation: X:1043.47, Y:137.99, Z:4.76 [[ 4.94899225e-01 -8.68920762e-01 -7.17394028e-03 1.04346519e+03] [ 8.68841129e-01 4.94951051e-01 -1.17707551e-02 1.37989196e+02] [ 1.37786028e-02 -4.07676796e-04 9.99904987e-01 4.75880160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.219254154 meters 0.018755049321858237 Centerline is valid? [True, True] Translation: X:1043.49, Y:138.04, Z:4.76 [[ 4.97616913e-01 -8.67365268e-01 -7.40947518e-03 1.04348920e+03] [ 8.67280037e-01 4.97671934e-01 -1.21648488e-02 1.38043297e+02] [ 1.42388552e-02 -3.72655395e-04 9.99898553e-01 4.76011666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.279254154 meters 0.015911744114796796 Centerline is valid? [True, True] Translation: X:1043.51, Y:138.10, Z:4.76 [[ 5.04104039e-01 -8.63612053e-01 -7.30342740e-03 1.04351127e+03] [ 8.63528782e-01 5.04156875e-01 -1.19953454e-02 1.38096590e+02] [ 1.40413980e-02 -2.59817696e-04 9.99901381e-01 4.76248034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.339254154 meters 0.015405072637474352 Centerline is valid? [True, True] Translation: X:1043.53, Y:138.15, Z:4.76 [[ 5.10421252e-01 -8.59890802e-01 -7.61278034e-03 1.04353137e+03] [ 8.59799817e-01 5.10477994e-01 -1.25096668e-02 1.38153197e+02] [ 1.46431043e-02 -1.60267346e-04 9.99892771e-01 4.76249518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.399254154 meters 0.013405856033603709 Centerline is valid? [True, True] Translation: X:1043.55, Y:138.21, Z:4.76 [[ 5.16733160e-01 -8.56114645e-01 -7.38618168e-03 1.04355247e+03] [ 8.56028551e-01 5.16785944e-01 -1.21411428e-02 1.38208061e+02] [ 1.42112850e-02 -4.90513131e-05 9.99899013e-01 4.76395794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.459254154 meters 0.013693867905965001 Centerline is valid? [True, True] Translation: X:1043.58, Y:138.26, Z:4.76 [[ 5.19654911e-01 -8.54348710e-01 -6.85967831e-03 1.04357744e+03] [ 8.54274226e-01 5.19700184e-01 -1.12812270e-02 1.38261260e+02] [ 1.32030778e-02 2.29864433e-06 9.99912836e-01 4.76444242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.519254154 meters 0.01331879878598926 Centerline is valid? [True, True] Translation: X:1043.60, Y:138.31, Z:4.77 [[ 5.23038221e-01 -8.52285899e-01 -6.30597814e-03 1.04360239e+03] [ 8.52222724e-01 5.23076231e-01 -1.03771179e-02 1.38314312e+02] [ 1.21427786e-02 5.35314425e-05 9.99926272e-01 4.76708210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.579254154 meters 0.0158934161632674 Centerline is valid? [True, True] Translation: X:1043.63, Y:138.37, Z:4.77 [[ 5.25591444e-01 -8.50712866e-01 -6.42293437e-03 1.04362733e+03] [ 8.50647130e-01 5.25630679e-01 -1.05759016e-02 1.38367876e+02] [ 1.23731469e-02 9.49527049e-05 9.99923445e-01 4.76509630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.639254154 meters 0.013690748115266433 Centerline is valid? [True, True] Translation: X:1043.65, Y:138.42, Z:4.77 [[ 5.28039068e-01 -8.49197522e-01 -6.18961722e-03 1.04365414e+03] [ 8.49136301e-01 5.28075328e-01 -1.01975386e-02 1.38420185e+02] [ 1.19283086e-02 1.28870103e-04 9.99928847e-01 4.76802098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.699254154 meters 0.017761906563826518 Centerline is valid? [True, True] Translation: X:1043.68, Y:138.47, Z:4.76 [[ 5.28206791e-01 -8.49086884e-01 -7.00347312e-03 1.04368188e+03] [ 8.49008431e-01 5.28253197e-01 -1.15431586e-02 1.38471462e+02] [ 1.35007516e-02 1.51167026e-04 9.99908849e-01 4.76363300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.759254154 meters 0.015630556482962087 Centerline is valid? [True, True] Translation: X:1043.71, Y:138.52, Z:4.77 [[ 5.28502281e-01 -8.48902057e-01 -7.11590014e-03 1.04371128e+03] [ 8.48820969e-01 5.28550160e-01 -1.17342193e-02 1.38522148e+02] [ 1.37223131e-02 1.61436428e-04 9.99905832e-01 4.76526195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.819254154 meters 0.013858234948624842 Centerline is valid? [True, True] Translation: X:1043.74, Y:138.57, Z:4.77 [[ 5.27909022e-01 -8.49270418e-01 -7.19867955e-03 1.04374217e+03] [ 8.49187360e-01 5.27958078e-01 -1.18783379e-02 1.38571148e+02] [ 1.38885220e-02 1.57654068e-04 9.99903537e-01 4.76807874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.879254154 meters 0.017437364603203127 Centerline is valid? [True, True] Translation: X:1043.77, Y:138.62, Z:4.76 [[ 5.25674840e-01 -8.50651906e-01 -7.56948699e-03 1.04377423e+03] [ 8.50560102e-01 5.25729319e-01 -1.24978549e-02 1.38620268e+02] [ 1.46108254e-02 1.31504261e-04 9.99893248e-01 4.76473530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.939254154 meters 0.013392492070231838 Centerline is valid? [True, True] Translation: X:1043.81, Y:138.67, Z:4.77 [[ 5.24164315e-01 -8.51589629e-01 -6.84656658e-03 1.04380640e+03] [ 8.51514535e-01 5.24209018e-01 -1.13093839e-02 1.38667896e+02] [ 1.32199860e-02 9.80244858e-05 9.99912607e-01 4.76969432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.999254154 meters 0.017740804467366342 Centerline is valid? [True, True] Translation: X:1043.84, Y:138.72, Z:4.77 [[ 5.21621955e-01 -8.53147641e-01 -7.04541012e-03 1.04384063e+03] [ 8.53068179e-01 5.21669529e-01 -1.16440984e-02 1.38715624e+02] [ 1.36095109e-02 6.36022210e-05 9.99907384e-01 4.76700491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.059254154 meters 0.01678860365288139 Centerline is valid? [True, True] Translation: X:1043.87, Y:138.76, Z:4.77 [[ 5.20972343e-01 -8.53546702e-01 -6.77088525e-03 1.04387209e+03] [ 8.53473283e-01 5.21016338e-01 -1.11950894e-02 1.38762851e+02] [ 1.30832734e-02 5.35622789e-05 9.99914409e-01 4.76758807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.119254154 meters 0.014393924368977795 Centerline is valid? [True, True] Translation: X:1043.90, Y:138.81, Z:4.77 [[ 5.22219951e-01 -8.52788722e-01 -6.14155385e-03 1.04390430e+03] [ 8.52728200e-01 5.22256059e-01 -1.01599941e-02 1.38810708e+02] [ 1.18717921e-02 6.86754498e-05 9.99929525e-01 4.77180581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.1792541539999 meters 0.016320826946373573 Centerline is valid? [True, True] Translation: X:1043.94, Y:138.86, Z:4.77 [[ 5.22099513e-01 -8.52863023e-01 -6.06322524e-03 1.04393631e+03] [ 8.52803961e-01 5.22134714e-01 -1.00371346e-02 1.38859694e+02] [ 1.17261213e-02 6.96405851e-05 9.99931244e-01 4.77145191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.239254154 meters 0.015006782294460792 Centerline is valid? [True, True] Translation: X:1043.97, Y:138.91, Z:4.77 [[ 5.22722659e-01 -8.52484417e-01 -5.59823678e-03 1.04396690e+03] [ 8.52433998e-01 5.22752630e-01 -9.27178414e-03 1.38907664e+02] [ 1.08305445e-02 7.44442934e-05 9.99941345e-01 4.77299371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.299254154 meters 0.013291979252927442 Centerline is valid? [True, True] Translation: X:1044.00, Y:138.96, Z:4.78 [[ 5.24832503e-01 -8.51188796e-01 -5.33637761e-03 1.04399799e+03] [ 8.51142887e-01 5.24859623e-01 -8.84093250e-03 1.38957036e+02] [ 1.03261518e-02 9.79888877e-05 9.99946679e-01 4.77529709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.359254154 meters 0.01726871915707884 Centerline is valid? [True, True] Translation: X:1044.03, Y:139.01, Z:4.77 [[ 5.25960700e-01 -8.50486707e-01 -6.14031981e-03 1.04402982e+03] [ 8.50425816e-01 5.25996525e-01 -1.01777774e-02 1.39006833e+02] [ 1.18858513e-02 1.31224462e-04 9.99929352e-01 4.77146557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.4192541539999 meters 0.015371253200332268 Centerline is valid? [True, True] Translation: X:1044.06, Y:139.06, Z:4.77 [[ 5.28014264e-01 -8.49217201e-01 -5.57508781e-03 1.04406257e+03] [ 8.49166878e-01 5.28043676e-01 -9.24605290e-03 1.39055694e+02] [ 1.07957970e-02 1.47867914e-04 9.99941713e-01 4.77376353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.479254154 meters 0.01760569889529417 Centerline is valid? [True, True] Translation: X:1044.10, Y:139.10, Z:4.77 [[ 5.29270860e-01 -8.48431434e-01 -6.03806370e-03 1.04409528e+03] [ 8.48372303e-01 5.29305270e-01 -1.00182837e-02 1.39104052e+02] [ 1.16958057e-02 1.79859621e-04 9.99931586e-01 4.77252525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.539254154 meters 0.017513184219036745 Centerline is valid? [True, True] Translation: X:1044.13, Y:139.15, Z:4.77 [[ 5.30146820e-01 -8.47888615e-01 -5.40788104e-03 1.04412897e+03] [ 8.47841109e-01 5.30174373e-01 -8.97711739e-03 1.39152280e+02] [ 1.04787156e-02 1.74166376e-04 9.99945082e-01 4.77336569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.599254154 meters 0.017941188406817642 Centerline is valid? [True, True] Translation: X:1044.16, Y:139.20, Z:4.77 [[ 5.31231519e-01 -8.47209553e-01 -5.38952980e-03 1.04416222e+03] [ 8.47162277e-01 5.31258824e-01 -8.95202359e-03 1.39200587e+02] [ 1.04474752e-02 1.89790751e-04 9.99945406e-01 4.77259981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.6592541539999 meters 0.017880040730785453 Centerline is valid? [True, True] Translation: X:1044.20, Y:139.25, Z:4.77 [[ 5.34612495e-01 -8.45073189e-01 -6.38628998e-03 1.04419727e+03] [ 8.45006575e-01 5.34650566e-01 -1.06141500e-02 1.39247720e+02] [ 1.23841672e-02 2.78000215e-04 9.99923275e-01 4.77183035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.719254154 meters 0.016120625413891997 Centerline is valid? [True, True] Translation: X:1044.23, Y:139.30, Z:4.77 [[ 5.36425560e-01 -8.43923484e-01 -6.38528816e-03 1.04422923e+03] [ 8.43856733e-01 5.36463473e-01 -1.06186481e-02 1.39296793e+02] [ 1.23868004e-02 3.07845861e-04 9.99923233e-01 4.77432057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.779254154 meters 0.01980940722026646 Centerline is valid? [True, True] Translation: X:1044.26, Y:139.34, Z:4.77 [[ 5.38128540e-01 -8.42832337e-01 -7.16425208e-03 1.04426105e+03] [ 8.42748146e-01 5.38176097e-01 -1.19185139e-02 1.39344619e+02] [ 1.39009382e-02 3.76032344e-04 9.99903307e-01 4.77064586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.839254154 meters 0.021012558819136842 Centerline is valid? [True, True] Translation: X:1044.30, Y:139.39, Z:4.77 [[ 5.39219980e-01 -8.42129656e-01 -7.71078179e-03 1.04429515e+03] [ 8.42031967e-01 5.39274939e-01 -1.28338066e-02 1.39392788e+02] [ 1.49659605e-02 4.27520171e-04 9.99887912e-01 4.76969031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.899254154 meters 0.020647844536439145 Centerline is valid? [True, True] Translation: X:1044.33, Y:139.44, Z:4.77 [[ 5.39007614e-01 -8.42262881e-01 -8.00199935e-03 1.04433198e+03] [ 8.42157555e-01 5.39066825e-01 -1.33270603e-02 1.39438528e+02] [ 1.55385006e-02 4.44442775e-04 9.99879171e-01 4.77008658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.959254154 meters 0.017552981261710322 Centerline is valid? [True, True] Translation: X:1044.37, Y:139.48, Z:4.78 [[ 5.38486964e-01 -8.42605753e-01 -6.88005301e-03 1.04436709e+03] [ 8.42527871e-01 5.38530783e-01 -1.14622239e-02 1.39484641e+02] [ 1.33632562e-02 3.75621757e-04 9.99910637e-01 4.77515158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.019254154 meters 0.0204792587805022 Centerline is valid? [True, True] Translation: X:1044.40, Y:139.53, Z:4.78 [[ 5.38201246e-01 -8.42794730e-01 -6.03836314e-03 1.04439859e+03] [ 8.42734712e-01 5.38235019e-01 -1.00632851e-02 1.39532583e+02] [ 1.17313422e-02 3.27334388e-04 9.99931132e-01 4.77583603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.079254154 meters 0.01584772911950338 Centerline is valid? [True, True] Translation: X:1044.44, Y:139.58, Z:4.78 [[ 5.34188929e-01 -8.45341296e-01 -6.34677752e-03 1.04443919e+03] [ 8.45275094e-01 5.34226553e-01 -1.05832519e-02 1.39576050e+02] [ 1.23370770e-02 2.88683049e-04 9.99923854e-01 4.77681320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.139254154 meters 0.014443183704819024 Centerline is valid? [True, True] Translation: X:1044.47, Y:139.62, Z:4.78 [[ 5.28582050e-01 -8.48856542e-01 -6.60217262e-03 1.04447437e+03] [ 8.48785085e-01 5.28623234e-01 -1.10161273e-02 1.39622767e+02] [ 1.28411736e-02 2.19101499e-04 9.99917525e-01 4.77692261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.199254154 meters 0.014226546676876835 Centerline is valid? [True, True] Translation: X:1044.51, Y:139.67, Z:4.78 [[ 5.19047768e-01 -8.54722514e-01 -6.23212695e-03 1.04451389e+03] [ 8.54659182e-01 5.19085175e-01 -1.04049799e-02 1.39666942e+02] [ 1.21283753e-02 7.43370915e-05 9.99926446e-01 4.77657943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.259254154 meters 0.01264356740577686 Centerline is valid? [True, True] Translation: X:1044.55, Y:139.72, Z:4.78 [[ 5.14561593e-01 -8.57438587e-01 -5.04344295e-03 1.04454893e+03] [ 8.57397195e-01 5.14586309e-01 -8.42497612e-03 1.39715037e+02] [ 9.81918632e-03 1.09352993e-05 9.99951791e-01 4.78123605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.319254154 meters 0.014355374504388478 Centerline is valid? [True, True] Translation: X:1044.58, Y:139.77, Z:4.78 [[ 5.14889550e-01 -8.57240310e-01 -5.27282769e-03 1.04457587e+03] [ 8.57195010e-01 5.14916547e-01 -8.81273322e-03 1.39765484e+02] [ 1.02696964e-02 1.77426564e-05 9.99947265e-01 4.77843740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.379254154 meters 0.01269736748806377 Centerline is valid? [True, True] Translation: X:1044.61, Y:139.82, Z:4.78 [[ 5.15241091e-01 -8.57027924e-01 -5.45488049e-03 1.04460530e+03] [ 8.56979374e-01 5.15269965e-01 -9.12220807e-03 1.39815819e+02] [ 1.06287231e-02 2.54163719e-05 9.99943513e-01 4.77996065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.439254154 meters 0.012770077639150418 Centerline is valid? [True, True] Translation: X:1044.63, Y:139.87, Z:4.78 [[ 5.16089066e-01 -8.56512781e-01 -6.15887047e-03 1.04463361e+03] [ 8.56450777e-01 5.16125812e-01 -1.03059468e-02 1.39865823e+02] [ 1.20059272e-02 4.40170832e-05 9.99927925e-01 4.77851648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.499254154 meters 0.013218390882904985 Centerline is valid? [True, True] Translation: X:1044.66, Y:139.92, Z:4.78 [[ 5.17134737e-01 -8.55879180e-01 -6.51863237e-03 1.04466074e+03] [ 8.55809582e-01 5.17175815e-01 -1.09149298e-02 1.39917681e+02] [ 1.27131402e-02 6.57813168e-05 9.99919183e-01 4.77796767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.559254154 meters 0.012897978093561016 Centerline is valid? [True, True] Translation: X:1044.69, Y:139.97, Z:4.78 [[ 5.17206314e-01 -8.55837952e-01 -6.24726958e-03 1.04468806e+03] [ 8.55773947e-01 5.17244038e-01 -1.04669598e-02 1.39968179e+02] [ 1.21893844e-02 6.73271224e-05 9.99925704e-01 4.77857037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.619254154 meters 0.012852696576374643 Centerline is valid? [True, True] Translation: X:1044.72, Y:140.02, Z:4.78 [[ 5.16340543e-01 -8.56365496e-01 -5.52993779e-03 1.04471603e+03] [ 8.56315316e-01 5.16370152e-01 -9.27066863e-03 1.40018767e+02] [ 1.07945756e-02 5.14516464e-05 9.99941736e-01 4.78003385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.6792541539999 meters 0.012727804849579444 Centerline is valid? [True, True] Translation: X:1044.74, Y:140.07, Z:4.78 [[ 5.14713416e-01 -8.57351199e-01 -4.36139237e-03 1.04474458e+03] [ 8.57319985e-01 5.14731893e-01 -7.31587444e-03 1.40069592e+02] [ 8.51722147e-03 2.64698807e-05 9.99963727e-01 4.78114935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.739254154 meters 0.012717920996991367 Centerline is valid? [True, True] Translation: X:1044.77, Y:140.12, Z:4.78 [[ 5.13391155e-01 -8.58144558e-01 -4.17619587e-03 1.04477253e+03] [ 8.58115930e-01 5.13408140e-01 -7.00944929e-03 1.40119286e+02] [ 8.15921372e-03 1.49290574e-05 9.99966713e-01 4.78093708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.799254154 meters 0.015645392571897555 Centerline is valid? [True, True] Translation: X:1044.80, Y:140.17, Z:4.78 [[ 5.12832205e-01 -8.58468684e-01 -5.88627720e-03 1.04480208e+03] [ 8.58411752e-01 5.12865985e-01 -9.88661474e-03 1.40170170e+02] [ 1.15062205e-02 1.73249085e-05 9.99933801e-01 4.77740085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.859254154 meters 0.015619758636170659 Centerline is valid? [True, True] Translation: X:1044.83, Y:140.22, Z:4.78 [[ 5.14512570e-01 -8.57457569e-01 -6.58271150e-03 1.04482925e+03] [ 8.57386192e-01 5.14554676e-01 -1.10636155e-02 1.40222189e+02] [ 1.28737459e-02 4.84433142e-05 9.99917129e-01 4.77634857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.9192541539999 meters 0.016984932840456844 Centerline is valid? [True, True] Translation: X:1044.86, Y:140.27, Z:4.78 [[ 5.15996838e-01 -8.56568593e-01 -6.12449509e-03 1.04485631e+03] [ 8.56506666e-01 5.16033179e-01 -1.03000195e-02 1.40273589e+02] [ 1.19831159e-02 6.91066403e-05 9.99928198e-01 4.77577257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.979254154 meters 0.01671209008436254 Centerline is valid? [True, True] Translation: X:1044.89, Y:140.32, Z:4.78 [[ 5.16692027e-01 -8.56152648e-01 -5.65624468e-03 1.04488578e+03] [ 8.56099737e-01 5.16722980e-01 -9.51856501e-03 1.40323139e+02] [ 1.10720562e-02 7.58570625e-05 9.99938700e-01 4.77605646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.039254154 meters 0.013582481265911937 Centerline is valid? [True, True] Translation: X:1044.92, Y:140.37, Z:4.78 [[ 5.18626271e-01 -8.54985203e-01 -5.20516638e-03 1.04491534e+03] [ 8.54940281e-01 5.18652382e-01 -8.76485826e-03 1.40372990e+02] [ 1.01934961e-02 9.55793452e-05 9.99948040e-01 4.77987943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.099254154 meters 0.014040618832778556 Centerline is valid? [True, True] Translation: X:1044.94, Y:140.42, Z:4.78 [[ 5.21988056e-01 -8.52934510e-01 -5.58497428e-03 1.04494364e+03] [ 8.52882611e-01 5.22017912e-01 -9.41021677e-03 1.40424838e+02] [ 1.09417552e-02 1.48693310e-04 9.99940126e-01 4.77854425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.1592541539999 meters 0.01510409715084443 Centerline is valid? [True, True] Translation: X:1044.97, Y:140.48, Z:4.78 [[ 5.25743853e-01 -8.50621905e-01 -5.98129416e-03 1.04497140e+03] [ 8.50562158e-01 5.25777832e-01 -1.00839640e-02 1.40477023e+02] [ 1.17224725e-02 2.14119593e-04 9.99931267e-01 4.77751344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.219254154 meters 0.018046641463459842 Centerline is valid? [True, True] Translation: X:1045.00, Y:140.53, Z:4.77 [[ 5.27949658e-01 -8.49252146e-01 -6.32073268e-03 1.04500032e+03] [ 8.49185248e-01 5.27987428e-01 -1.06625510e-02 1.40528051e+02] [ 1.23924617e-02 2.61817209e-04 9.99923176e-01 4.77462215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.279254154 meters 0.015451011643191183 Centerline is valid? [True, True] Translation: X:1045.03, Y:140.58, Z:4.78 [[ 5.28173366e-01 -8.49115644e-01 -5.95976623e-03 1.04503186e+03] [ 8.49056086e-01 5.28206928e-01 -1.00599867e-02 1.40576768e+02] [ 1.16900819e-02 2.53241224e-04 9.99931637e-01 4.77783694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.339254154 meters 0.015444272291179425 Centerline is valid? [True, True] Translation: X:1045.06, Y:140.63, Z:4.78 [[ 5.26819486e-01 -8.49957313e-01 -5.81339244e-03 1.04506348e+03] [ 8.49900625e-01 5.26851509e-01 -9.81908024e-03 1.40626444e+02] [ 1.14085936e-02 2.32076931e-04 9.99934893e-01 4.77867169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.399254154 meters 0.015321640158545077 Centerline is valid? [True, True] Translation: X:1045.10, Y:140.68, Z:4.78 [[ 5.25219972e-01 -8.50948560e-01 -5.52539289e-03 1.04509534e+03] [ 8.50897346e-01 5.25248996e-01 -9.33803300e-03 1.40676001e+02] [ 1.08483928e-02 2.02979282e-04 9.99941134e-01 4.77929470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.459254154 meters 0.016954333050963364 Centerline is valid? [True, True] Translation: X:1045.13, Y:140.73, Z:4.78 [[ 5.23360144e-01 -8.52088305e-01 -6.29924673e-03 1.04512607e+03] [ 8.52021738e-01 5.23398011e-01 -1.06527282e-02 1.40725689e+02] [ 1.23740784e-02 2.08118242e-04 9.99923417e-01 4.77530886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.519254154 meters 0.01475202885162414 Centerline is valid? [True, True] Translation: X:1045.16, Y:140.77, Z:4.78 [[ 5.22403113e-01 -8.52673521e-01 -6.54627646e-03 1.04515885e+03] [ 8.52601582e-01 5.22444087e-01 -1.10778409e-02 1.40774283e+02] [ 1.28658450e-02 2.05732887e-04 9.99917210e-01 4.77842368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.579254154 meters 0.017764086899472793 Centerline is valid? [True, True] Translation: X:1045.19, Y:140.82, Z:4.78 [[ 5.21893258e-01 -8.52985012e-01 -6.63302180e-03 1.04518804e+03] [ 8.52911080e-01 5.21935367e-01 -1.12321968e-02 1.40824328e+02] [ 1.30429042e-02 2.04629963e-04 9.99914917e-01 4.77673689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.639254154 meters 0.01459534449707794 Centerline is valid? [True, True] Translation: X:1045.22, Y:140.88, Z:4.78 [[ 5.21174146e-01 -8.53433995e-01 -5.28449110e-03 1.04521655e+03] [ 8.53387039e-01 5.21200913e-01 -8.95375508e-03 1.40875763e+02] [ 1.03957206e-02 1.56749438e-04 9.99945951e-01 4.78089849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.699254154 meters 0.016278064718863932 Centerline is valid? [True, True] Translation: X:1045.25, Y:140.93, Z:4.78 [[ 5.16610865e-01 -8.56199841e-01 -5.92001205e-03 1.04524790e+03] [ 8.56141020e-01 5.16644771e-01 -1.00366599e-02 1.40925048e+02] [ 1.16519299e-02 1.16682398e-04 9.99932107e-01 4.77747336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.759254154 meters 0.016009423462584414 Centerline is valid? [True, True] Translation: X:1045.28, Y:140.97, Z:4.78 [[ 5.08515570e-01 -8.61029765e-01 -6.29756194e-03 1.04528208e+03] [ 8.60963489e-01 5.08554564e-01 -1.06829979e-02 1.40973350e+02] [ 1.24010330e-02 1.04998445e-05 9.99923104e-01 4.77724511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.819254154 meters 0.015890849715187793 Centerline is valid? [True, True] Translation: X:1045.31, Y:141.02, Z:4.78 [[ 5.02830871e-01 -8.64361263e-01 -6.38140458e-03 1.04531399e+03] [ 8.64293392e-01 5.02871358e-01 -1.08318752e-02 1.41022422e+02] [ 1.25716789e-02 -6.88045620e-05 9.99920971e-01 4.77796078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.879254154 meters 0.01685674863208423 Centerline is valid? [True, True] Translation: X:1045.35, Y:141.07, Z:4.78 [[ 4.98245877e-01 -8.67012168e-01 -6.39898096e-03 1.04534520e+03] [ 8.66944057e-01 4.98286949e-01 -1.08682775e-02 1.41072737e+02] [ 1.26114576e-02 -1.32484044e-04 9.99920464e-01 4.77862882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.939254154 meters 0.014228398996517403 Centerline is valid? [True, True] Translation: X:1045.38, Y:141.12, Z:4.78 [[ 4.96544995e-01 -8.67989501e-01 -6.10688242e-03 1.04537553e+03] [ 8.67927463e-01 4.96582525e-01 -1.03785198e-02 1.41122793e+02] [ 1.20410173e-02 -1.46928928e-04 9.99927494e-01 4.78211385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.999254154 meters 0.016392631853318535 Centerline is valid? [True, True] Translation: X:1045.40, Y:141.17, Z:4.78 [[ 4.95713654e-01 -8.68459513e-01 -6.78578016e-03 1.04540319e+03] [ 8.68382881e-01 4.95760067e-01 -1.15380908e-02 1.41173100e+02] [ 1.33844835e-02 -1.73066173e-04 9.99910409e-01 4.77923646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.059254154 meters 0.014261139553171681 Centerline is valid? [True, True] Translation: X:1045.43, Y:141.23, Z:4.78 [[ 4.98000844e-01 -8.67148919e-01 -6.92176759e-03 1.04543075e+03] [ 8.67068974e-01 4.98048926e-01 -1.17754931e-02 1.41225095e+02] [ 1.36584850e-02 -1.37444429e-04 9.99906709e-01 4.78118469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.119254154 meters 0.014096006696618594 Centerline is valid? [True, True] Translation: X:1045.46, Y:141.28, Z:4.78 [[ 5.02797715e-01 -8.64369047e-01 -7.78515753e-03 1.04545519e+03] [ 8.64267454e-01 5.02857978e-01 -1.32522294e-02 1.41278899e+02] [ 1.53696454e-02 -6.52676310e-05 9.99881878e-01 4.77984693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.1792541539999 meters 0.016557602509852182 Centerline is valid? [True, True] Translation: X:1045.48, Y:141.34, Z:4.78 [[ 5.12163869e-01 -8.58850612e-01 -7.98734747e-03 1.04547529e+03] [ 8.58742865e-01 5.12226136e-01 -1.36042799e-02 1.41335344e+02] [ 1.57753723e-02 1.08542996e-04 9.99875555e-01 4.77924172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.239254154 meters 0.01639394161927652 Centerline is valid? [True, True] Translation: X:1045.50, Y:141.39, Z:4.78 [[ 5.19381539e-01 -8.54514789e-01 -6.87690607e-03 1.04549821e+03] [ 8.54434448e-01 5.19427021e-01 -1.17193909e-02 1.41390328e+02] [ 1.35864437e-02 2.10969851e-04 9.99907678e-01 4.78258016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.299254154 meters 0.0155174512140338 Centerline is valid? [True, True] Translation: X:1045.53, Y:141.44, Z:4.79 [[ 5.21587842e-01 -8.53175350e-01 -6.15992893e-03 1.04552587e+03] [ 8.53110724e-01 5.21624168e-01 -1.05033321e-02 1.41442545e+02] [ 1.21743518e-02 2.23308894e-04 9.99925865e-01 4.78552211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.359254154 meters 0.019172493821836216 Centerline is valid? [True, True] Translation: X:1045.55, Y:141.50, Z:4.78 [[ 5.26606385e-01 -8.50086453e-01 -6.22390692e-03 1.04554944e+03] [ 8.50020186e-01 5.26643078e-01 -1.06184759e-02 1.41496855e+02] [ 1.23044000e-02 3.01310680e-04 9.99924253e-01 4.78435776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.4192541539999 meters 0.020705094159277026 Centerline is valid? [True, True] Translation: X:1045.57, Y:141.55, Z:4.78 [[ 5.33306183e-01 -8.45898493e-01 -6.34474553e-03 1.04557051e+03] [ 8.45829269e-01 5.33343766e-01 -1.08293620e-02 1.41552299e+02] [ 1.25444715e-02 4.08794258e-04 9.99921231e-01 4.78479735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.479254154 meters 0.02317563335984626 Centerline is valid? [True, True] Translation: X:1045.60, Y:141.61, Z:4.78 [[ 5.35581642e-01 -8.44448153e-01 -7.72144178e-03 1.04559572e+03] [ 8.44345369e-01 5.35637024e-01 -1.31862086e-02 1.41606053e+02] [ 1.52709596e-02 5.42727668e-04 9.99883245e-01 4.78186539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.539254154 meters 0.02187031007593528 Centerline is valid? [True, True] Translation: X:1045.63, Y:141.66, Z:4.78 [[ 5.33974347e-01 -8.45462542e-01 -8.03031603e-03 1.04562741e+03] [ 8.45351353e-01 5.34034455e-01 -1.37219254e-02 1.41655368e+02] [ 1.58898394e-02 5.38717641e-04 9.99873603e-01 4.78237531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.599254154 meters 0.019514347505709156 Centerline is valid? [True, True] Translation: X:1045.66, Y:141.70, Z:4.78 [[ 5.28921094e-01 -8.48635089e-01 -7.80783754e-03 1.04565974e+03] [ 8.48530192e-01 5.28978540e-01 -1.33497891e-02 1.41704142e+02] [ 1.54592780e-02 4.35799153e-04 9.99880403e-01 4.78409693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.6592541539999 meters 0.018162751062703913 Centerline is valid? [True, True] Translation: X:1045.69, Y:141.75, Z:4.78 [[ 5.24373217e-01 -8.51449047e-01 -8.20059447e-03 1.04569073e+03] [ 8.51333525e-01 5.24437202e-01 -1.40303037e-02 1.41753263e+02] [ 1.62467856e-02 3.75674502e-04 9.99867942e-01 4.78431868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.719254154 meters 0.018942118385728332 Centerline is valid? [True, True] Translation: X:1045.72, Y:141.80, Z:4.78 [[ 5.21118723e-01 -8.53426203e-01 -9.94951903e-03 1.04572118e+03] [ 8.53256343e-01 5.21213553e-01 -1.70306950e-02 1.41803645e+02] [ 1.97202655e-02 3.85523807e-04 9.99805462e-01 4.78184949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.779254154 meters 0.014687350466646138 Centerline is valid? [True, True] Translation: X:1045.75, Y:141.85, Z:4.78 [[ 5.18011921e-01 -8.55307143e-01 -1.06461985e-02 1.04575146e+03] [ 8.55112838e-01 5.18121197e-01 -1.82334666e-02 1.41853782e+02] [ 2.11112354e-02 3.41452069e-04 9.99777075e-01 4.78489341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.839254154 meters 0.016205058932244196 Centerline is valid? [True, True] Translation: X:1045.78, Y:141.90, Z:4.78 [[ 5.13731345e-01 -8.57883806e-01 -1.07461987e-02 1.04578130e+03] [ 8.57686277e-01 5.13843671e-01 -1.84101045e-02 1.41903773e+02] [ 2.13155967e-02 2.40980608e-04 9.99772768e-01 4.78424568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.899254154 meters 0.015176213118695391 Centerline is valid? [True, True] Translation: X:1045.81, Y:141.95, Z:4.79 [[ 5.10270822e-01 -8.59954564e-01 -1.00913634e-02 1.04581208e+03] [ 8.59780607e-01 5.10370576e-01 -1.72968891e-02 1.41953974e+02] [ 2.00248737e-02 1.49739221e-04 9.99799471e-01 4.78834371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.959254154 meters 0.018253472558865363 Centerline is valid? [True, True] Translation: X:1045.84, Y:142.01, Z:4.79 [[ 5.08574857e-01 -8.60956128e-01 -1.03033769e-02 1.04583961e+03] [ 8.60774753e-01 5.08679202e-01 -1.76718484e-02 1.42005104e+02] [ 2.04557997e-02 1.18571082e-04 9.99790751e-01 4.78843382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.019254154 meters 0.017784402182456874 Centerline is valid? [True, True] Translation: X:1045.86, Y:142.06, Z:4.79 [[ 5.10714054e-01 -8.59700504e-01 -9.28431092e-03 1.04586423e+03] [ 8.59552835e-01 5.10798413e-01 -1.59343766e-02 1.42057994e+02] [ 1.84412029e-02 1.57554309e-04 9.99829934e-01 4.79126482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.079254154 meters 0.018092926817033363 Centerline is valid? [True, True] Translation: X:1045.89, Y:142.11, Z:4.79 [[ 5.14240360e-01 -8.57598213e-01 -9.06409665e-03 1.04588814e+03] [ 8.57456971e-01 5.14320184e-01 -1.55657043e-02 1.42111936e+02] [ 1.80109680e-02 2.32440521e-04 9.99837762e-01 4.79260190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.139254154 meters 0.018634924398520884 Centerline is valid? [True, True] Translation: X:1045.91, Y:142.17, Z:4.79 [[ 5.17399563e-01 -8.55704378e-01 -8.22850676e-03 1.04591252e+03] [ 8.55587607e-01 5.17464918e-01 -1.41387860e-02 1.42166330e+02] [ 1.63565847e-02 2.75193301e-04 9.99866184e-01 4.79444633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.199254154 meters 0.01563638137649136 Centerline is valid? [True, True] Translation: X:1045.94, Y:142.22, Z:4.80 [[ 5.19037749e-01 -8.54730904e-01 -5.90727431e-03 1.04593804e+03] [ 8.54670591e-01 5.19071316e-01 -1.01562347e-02 1.42218300e+02] [ 1.17471443e-02 2.22695578e-04 9.99930975e-01 4.79941441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.259254154 meters 0.017703397788931208 Centerline is valid? [True, True] Translation: X:1045.97, Y:142.27, Z:4.80 [[ 5.18015643e-01 -8.55352915e-01 -5.58426271e-03 1.04596501e+03] [ 8.55298984e-01 5.18045702e-01 -9.60718310e-03 1.42270464e+02] [ 1.11104354e-02 2.00456900e-04 9.99938257e-01 4.79797808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.319254154 meters 0.0190041100625586 Centerline is valid? [True, True] Translation: X:1045.99, Y:142.32, Z:4.80 [[ 5.15144883e-01 -8.57081726e-01 -6.05512297e-03 1.04599347e+03] [ 8.57018355e-01 5.15180437e-01 -1.04238528e-02 1.42322018e+02] [ 1.20535747e-02 1.80442921e-04 9.99927337e-01 4.79553065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.379254154 meters 0.017113203097700497 Centerline is valid? [True, True] Translation: X:1046.02, Y:142.37, Z:4.79 [[ 5.11573979e-01 -8.59205458e-01 -7.61869969e-03 1.04602323e+03] [ 8.59105230e-01 5.11630679e-01 -1.31244590e-02 1.42372465e+02] [ 1.51745673e-02 1.68866978e-04 9.99884845e-01 4.79360540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.439254154 meters 0.018584624308258024 Centerline is valid? [True, True] Translation: X:1046.05, Y:142.42, Z:4.79 [[ 5.07704958e-01 -8.61477816e-01 -9.57330972e-03 1.04605296e+03] [ 8.61319740e-01 5.07795190e-01 -1.65030517e-02 1.42423003e+02] [ 1.90782935e-02 1.33000516e-04 9.99817984e-01 4.79037815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.499254154 meters 0.016754111068640505 Centerline is valid? [True, True] Translation: X:1046.08, Y:142.47, Z:4.79 [[ 5.04147416e-01 -8.63566822e-01 -9.36623736e-03 1.04608219e+03] [ 8.63415672e-01 5.04234410e-01 -1.61566287e-02 1.42473278e+02] [ 1.86751077e-02 5.83664981e-05 9.99825603e-01 4.79129028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.559254154 meters 0.017030966308185434 Centerline is valid? [True, True] Translation: X:1046.11, Y:142.52, Z:4.79 [[ 5.01818145e-01 -8.64922608e-01 -9.35045534e-03 1.04611149e+03] [ 8.64771998e-01 5.01905251e-01 -1.61403046e-02 1.42523402e+02] [ 1.86531570e-02 1.34857837e-05 9.99826015e-01 4.79205130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.619254154 meters 0.018138335662658996 Centerline is valid? [True, True] Translation: X:1046.14, Y:142.57, Z:4.79 [[ 4.99375026e-01 -8.66331705e-01 -9.69331056e-03 1.04614061e+03] [ 8.66169910e-01 4.99469094e-01 -1.67425158e-02 1.42574076e+02] [ 1.93460813e-02 -3.52596664e-05 9.99812846e-01 4.79221413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.6792541539999 meters 0.01668716274789715 Centerline is valid? [True, True] Translation: X:1046.17, Y:142.63, Z:4.79 [[ 4.98878710e-01 -8.66618497e-01 -9.61314844e-03 1.04616766e+03] [ 8.66459210e-01 4.98971320e-01 -1.66149996e-02 1.42625151e+02] [ 1.91955514e-02 -4.05314351e-05 9.99815748e-01 4.79376891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.739254154 meters 0.014841531809485144 Centerline is valid? [True, True] Translation: X:1046.19, Y:142.68, Z:4.80 [[ 5.00814690e-01 -8.65513321e-01 -8.44609745e-03 1.04619211e+03] [ 8.65390062e-01 5.00885906e-01 -1.46065173e-02 1.42679300e+02] [ 1.68726665e-02 5.98965864e-06 9.99857646e-01 4.79666720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.799254154 meters 0.018237038622164328 Centerline is valid? [True, True] Translation: X:1046.22, Y:142.73, Z:4.80 [[ 5.02854372e-01 -8.64329194e-01 -8.51613026e-03 1.04621722e+03] [ 8.64203546e-01 5.02926477e-01 -1.47373309e-02 1.42731470e+02] [ 1.70208927e-02 5.10612893e-05 9.99855133e-01 4.79639177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.859254154 meters 0.01707056113094868 Centerline is valid? [True, True] Translation: X:1046.24, Y:142.78, Z:4.80 [[ 5.04171513e-01 -8.63565883e-01 -8.06546689e-03 1.04624273e+03] [ 8.63452970e-01 5.04236016e-01 -1.39645663e-02 1.42782374e+02] [ 1.61262219e-02 7.63851717e-05 9.99869961e-01 4.79728590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.9192541539999 meters 0.018020822176582726 Centerline is valid? [True, True] Translation: X:1046.27, Y:142.84, Z:4.80 [[ 5.08366615e-01 -8.61108362e-01 -7.46816470e-03 1.04626551e+03] [ 8.61011222e-01 5.08421447e-01 -1.29347501e-02 1.42836435e+02] [ 1.49351966e-02 1.45421511e-04 9.99888453e-01 4.79727600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.979254154 meters 0.014360490921294418 Centerline is valid? [True, True] Translation: X:1046.29, Y:142.89, Z:4.80 [[ 5.11658581e-01 -8.59164049e-01 -6.52945778e-03 1.04629236e+03] [ 8.59089565e-01 5.11700210e-01 -1.13143786e-02 1.42889215e+02] [ 1.30620323e-02 1.79709880e-04 9.99914672e-01 4.80111944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.039254154 meters 0.017024767873865667 Centerline is valid? [True, True] Translation: X:1046.31, Y:142.94, Z:4.80 [[ 5.16356345e-01 -8.56340581e-01 -7.54551858e-03 1.04631499e+03] [ 8.56240679e-01 5.16411389e-01 -1.30834559e-02 1.42942835e+02] [ 1.51004860e-02 2.94945532e-04 9.99885938e-01 4.79742428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.099254154 meters 0.017239844400965584 Centerline is valid? [True, True] Translation: X:1046.34, Y:142.99, Z:4.80 [[ 5.19700225e-01 -8.54312615e-01 -7.85058800e-03 1.04633976e+03] [ 8.54204162e-01 5.19759384e-01 -1.36173072e-02 1.42994955e+02] [ 1.57138541e-02 3.70912656e-04 9.99876461e-01 4.79717499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.1592541539999 meters 0.021593785926485237 Centerline is valid? [True, True] Translation: X:1046.37, Y:143.05, Z:4.79 [[ 5.19723512e-01 -8.54288583e-01 -8.85930846e-03 1.04636915e+03] [ 8.54150380e-01 5.19798844e-01 -1.53716959e-02 1.43045405e+02] [ 1.77369226e-02 4.21850074e-04 9.99842599e-01 4.79383039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.219254154 meters 0.019994649776046494 Centerline is valid? [True, True] Translation: X:1046.40, Y:143.10, Z:4.80 [[ 5.19231669e-01 -8.54598778e-01 -7.70732608e-03 1.04639838e+03] [ 8.54494116e-01 5.19288743e-01 -1.33793331e-02 1.43096813e+02] [ 1.54362894e-02 3.61108659e-04 9.99880788e-01 4.79638609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.279254154 meters 0.017154795310122928 Centerline is valid? [True, True] Translation: X:1046.43, Y:143.15, Z:4.80 [[ 5.19559585e-01 -8.54408018e-01 -6.69153394e-03 1.04642874e+03] [ 8.54329018e-01 5.19602575e-01 -1.16229947e-02 1.43146581e+02] [ 1.34077181e-02 3.22066675e-04 9.99910061e-01 4.80043867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.339254154 meters 0.019335717302531336 Centerline is valid? [True, True] Translation: X:1046.46, Y:143.20, Z:4.80 [[ 5.18938096e-01 -8.54781756e-01 -7.16954851e-03 1.04645849e+03] [ 8.54690982e-01 5.18987509e-01 -1.24615864e-02 1.43196702e+02] [ 1.43728428e-02 3.39043474e-04 9.99896648e-01 4.79752472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.399254154 meters 0.020463351714509775 Centerline is valid? [True, True] Translation: X:1046.49, Y:143.25, Z:4.80 [[ 5.18825835e-01 -8.54845147e-01 -7.71536761e-03 1.04648864e+03] [ 8.54739898e-01 5.18883069e-01 -1.34189453e-02 1.43246766e+02] [ 1.54744939e-02 3.67462980e-04 9.99880195e-01 4.79691593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.459254154 meters 0.020025305505871362 Centerline is valid? [True, True] Translation: X:1046.52, Y:143.29, Z:4.80 [[ 5.18401956e-01 -8.55101856e-01 -7.76061319e-03 1.04652304e+03] [ 8.54995257e-01 5.18459913e-01 -1.35066706e-02 1.43294166e+02] [ 1.55731459e-02 3.66596981e-04 9.99878664e-01 4.79778469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.519254154 meters 0.018697091332299746 Centerline is valid? [True, True] Translation: X:1046.55, Y:143.34, Z:4.80 [[ 5.16356816e-01 -8.56340415e-01 -7.53206763e-03 1.04655454e+03] [ 8.56240046e-01 5.16411647e-01 -1.31146599e-02 1.43343132e+02] [ 1.51202607e-02 3.22586064e-04 9.99885630e-01 4.79749409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.579254154 meters 0.019584293363172717 Centerline is valid? [True, True] Translation: X:1046.59, Y:143.39, Z:4.80 [[ 5.13130625e-01 -8.58268850e-01 -8.45834280e-03 1.04658870e+03] [ 8.58142398e-01 5.13200244e-01 -1.47354573e-02 1.43391614e+02] [ 1.69878076e-02 3.02751827e-04 9.99855651e-01 4.79645581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.639254154 meters 0.016857403474741215 Centerline is valid? [True, True] Translation: X:1046.62, Y:143.44, Z:4.80 [[ 5.07303185e-01 -8.61727430e-01 -8.32557330e-03 1.04662427e+03] [ 8.61605225e-01 5.07371462e-01 -1.45133211e-02 1.43438529e+02] [ 1.67306852e-02 1.89296558e-04 9.99860014e-01 4.79756357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.699254154 meters 0.01423247576827019 Centerline is valid? [True, True] Translation: X:1046.66, Y:143.49, Z:4.80 [[ 5.01383005e-01 -8.65189412e-01 -7.89702332e-03 1.04666086e+03] [ 8.65079758e-01 5.01445186e-01 -1.37745468e-02 1.43485287e+02] [ 1.58775164e-02 7.47686408e-05 9.99873941e-01 4.80044002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.759254154 meters 0.01589045041097937 Centerline is valid? [True, True] Translation: X:1046.69, Y:143.53, Z:4.80 [[ 4.98941624e-01 -8.66593070e-01 -8.58525085e-03 1.04669266e+03] [ 8.66463514e-01 4.99015480e-01 -1.49843428e-02 1.43532951e+02] [ 1.72695007e-02 3.75056903e-05 9.99850870e-01 4.79778400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.819254154 meters 0.01767298769286002 Centerline is valid? [True, True] Translation: X:1046.72, Y:143.58, Z:4.80 [[ 4.97958721e-01 -8.67154075e-01 -8.99569436e-03 1.04672368e+03] [ 8.67011742e-01 4.98039968e-01 -1.57107805e-02 1.43581993e+02] [ 1.81038827e-02 2.39475441e-05 9.99836111e-01 4.79723008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.879254154 meters 0.01606516151590907 Centerline is valid? [True, True] Translation: X:1046.75, Y:143.63, Z:4.80 [[ 4.98366285e-01 -8.66921010e-01 -8.88866872e-03 1.04675327e+03] [ 8.66781823e-01 4.98445545e-01 -1.55341448e-02 1.43631652e+02] [ 1.78973938e-02 3.71575727e-05 9.99839828e-01 4.79905935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.939254154 meters 0.018045212788871213 Centerline is valid? [True, True] Translation: X:1046.78, Y:143.68, Z:4.80 [[ 4.99851858e-01 -8.66060828e-01 -9.31466935e-03 1.04678283e+03] [ 8.65907710e-01 4.99938634e-01 -1.62849894e-02 1.43681827e+02] [ 1.87605545e-02 7.44382159e-05 9.99824003e-01 4.79808651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.999254154 meters 0.013684162009979382 Centerline is valid? [True, True] Translation: X:1046.81, Y:143.73, Z:4.80 [[ 5.04105406e-01 -8.63605822e-01 -7.91985800e-03 1.04681033e+03] [ 8.63494700e-01 5.04167595e-01 -1.38542279e-02 1.43732955e+02] [ 1.59575277e-02 1.45235788e-04 9.99872660e-01 4.80438612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.059254154 meters 0.014749364972268806 Centerline is valid? [True, True] Translation: X:1046.84, Y:143.78, Z:4.81 [[ 5.09260811e-01 -8.60581192e-01 -7.31015162e-03 1.04683675e+03] [ 8.60486111e-01 5.09313225e-01 -1.27942087e-02 1.43784959e+02] [ 1.47336123e-02 2.25305177e-04 9.99891429e-01 4.80553297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.119254154 meters 0.015554983910026179 Centerline is valid? [True, True] Translation: X:1046.86, Y:143.84, Z:4.81 [[ 5.14842905e-01 -8.57254357e-01 -7.19385223e-03 1.04686377e+03] [ 8.57161847e-01 5.14893062e-01 -1.25977281e-02 1.43837239e+02] [ 1.45035219e-02 3.19555241e-04 9.99894767e-01 4.80634439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.1792541539999 meters 0.02079884699114863 Centerline is valid? [True, True] Translation: X:1046.89, Y:143.89, Z:4.80 [[ 5.20251851e-01 -8.53970241e-01 -8.53453981e-03 1.04688931e+03] [ 8.53839472e-01 5.20321617e-01 -1.49522716e-02 1.43889791e+02] [ 1.72095005e-02 4.91819994e-04 9.99851785e-01 4.80221195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.239254154 meters 0.019936953522132136 Centerline is valid? [True, True] Translation: X:1046.92, Y:143.94, Z:4.80 [[ 5.26032340e-01 -8.50424010e-01 -8.30544418e-03 1.04691546e+03] [ 8.50299592e-01 5.26097564e-01 -1.45587356e-02 1.43942588e+02] [ 1.67505723e-02 5.96249957e-04 9.99859522e-01 4.80450586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.299254154 meters 0.02381115858257417 Centerline is valid? [True, True] Translation: X:1046.94, Y:143.99, Z:4.80 [[ 5.27370413e-01 -8.49586024e-01 -9.16704262e-03 1.04694239e+03] [ 8.49434148e-01 5.27449626e-01 -1.60785423e-02 1.43993640e+02] [ 1.84952580e-02 6.92548452e-04 9.99828708e-01 4.80039651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.359254154 meters 0.0250976572389376 Centerline is valid? [True, True] Translation: X:1046.97, Y:144.04, Z:4.80 [[ 5.26558010e-01 -8.50091627e-01 -8.99376803e-03 1.04697200e+03] [ 8.49945430e-01 5.26634393e-01 -1.57791736e-02 1.44043293e+02] [ 1.81501709e-02 6.64438198e-04 9.99835051e-01 4.80004989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.4192541539999 meters 0.02135425791338944 Centerline is valid? [True, True] Translation: X:1047.01, Y:144.09, Z:4.80 [[ 5.26004371e-01 -8.50441409e-01 -8.29531017e-03 1.04700689e+03] [ 8.50316955e-01 5.26069428e-01 -1.45613446e-02 1.44089986e+02] [ 1.67474795e-02 6.05687999e-04 9.99859568e-01 4.80399440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.479254154 meters 0.02249576980454574 Centerline is valid? [True, True] Translation: X:1047.04, Y:144.14, Z:4.80 [[ 5.26935951e-01 -8.49853956e-01 -9.31432680e-03 1.04703992e+03] [ 8.49696770e-01 5.27017793e-01 -1.63598144e-02 1.44138572e+02] [ 1.88122690e-02 7.06220991e-04 9.99822784e-01 4.80268070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.539254154 meters 0.02328418438074515 Centerline is valid? [True, True] Translation: X:1047.07, Y:144.19, Z:4.80 [[ 5.31360407e-01 -8.47102644e-01 -8.55732974e-03 1.04706835e+03] [ 8.46969465e-01 5.31428788e-01 -1.50388990e-02 1.44190276e+02] [ 1.72871025e-02 7.43278485e-04 9.99850291e-01 4.80466536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.599254154 meters 0.02500662913940048 Centerline is valid? [True, True] Translation: X:1047.10, Y:144.24, Z:4.81 [[ 5.33553582e-01 -8.45731641e-01 -7.65285444e-03 1.04709719e+03] [ 8.45624866e-01 5.33607991e-01 -1.34572245e-02 1.44241070e+02] [ 1.54648249e-02 7.08706337e-04 9.99880161e-01 4.80554372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.6592541539999 meters 0.024884657401920515 Centerline is valid? [True, True] Translation: X:1047.13, Y:144.29, Z:4.81 [[ 5.35299442e-01 -8.44637637e-01 -6.46299363e-03 1.04712604e+03] [ 8.44561324e-01 5.35338087e-01 -1.13711076e-02 1.44291901e+02] [ 1.30643521e-02 6.28553097e-04 9.99914460e-01 4.80883710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.719254154 meters 0.027777014321938107 Centerline is valid? [True, True] Translation: X:1047.15, Y:144.34, Z:4.81 [[ 5.37076605e-01 -8.43505123e-01 -6.91578212e-03 1.04715423e+03] [ 8.43417576e-01 5.37120666e-01 -1.21729775e-02 1.44343100e+02] [ 1.39825784e-02 7.04929232e-04 9.99901990e-01 4.80660004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.779254154 meters 0.028584514391038453 Centerline is valid? [True, True] Translation: X:1047.18, Y:144.40, Z:4.81 [[ 5.39833603e-01 -8.41745333e-01 -6.66895638e-03 1.04718122e+03] [ 8.41663710e-01 5.39874305e-01 -1.17444807e-02 1.44395415e+02] [ 1.34862600e-02 7.27046787e-04 9.99908792e-01 4.80765929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.839254154 meters 0.029143457305424697 Centerline is valid? [True, True] Translation: X:1047.21, Y:144.45, Z:4.81 [[ 5.40346080e-01 -8.41411488e-01 -7.26783312e-03 1.04721088e+03] [ 8.41314425e-01 5.40394356e-01 -1.28054220e-02 1.44445757e+02] [ 1.47021252e-02 8.04826722e-04 9.99891594e-01 4.80573046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.899254154 meters 0.029392204330112474 Centerline is valid? [True, True] Translation: X:1047.24, Y:144.50, Z:4.81 [[ 5.40501041e-01 -8.41316270e-01 -6.74969118e-03 1.04723902e+03] [ 8.41232455e-01 5.40542659e-01 -1.18991974e-02 1.44497204e+02] [ 1.36594844e-02 7.53469322e-04 9.99906421e-01 4.80768303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.959254154 meters 0.02997987954536443 Centerline is valid? [True, True] Translation: X:1047.27, Y:144.55, Z:4.81 [[ 5.39359518e-01 -8.42048364e-01 -6.77227851e-03 1.04726867e+03] [ 8.41963946e-01 5.39401524e-01 -1.19461568e-02 1.44547939e+02] [ 1.37122192e-02 7.41259054e-04 9.99905708e-01 4.80767453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.019254154 meters 0.02873321972063487 Centerline is valid? [True, True] Translation: X:1047.30, Y:144.60, Z:4.81 [[ 5.37709084e-01 -8.43101915e-01 -6.93559186e-03 1.04730162e+03] [ 8.43013356e-01 5.37753308e-01 -1.22417751e-02 1.44596866e+02] [ 1.40507015e-02 7.35717085e-04 9.99901013e-01 4.80682217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.079254154 meters 0.02885443199641283 Centerline is valid? [True, True] Translation: X:1047.33, Y:144.65, Z:4.81 [[ 5.38529621e-01 -8.42582834e-01 -6.32574856e-03 1.04732920e+03] [ 8.42509065e-01 5.38566335e-01 -1.11704435e-02 1.44648412e+02] [ 1.28188591e-02 6.86114182e-04 9.99917600e-01 4.80908030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.139254154 meters 0.030073575858995307 Centerline is valid? [True, True] Translation: X:1047.36, Y:144.70, Z:4.81 [[ 5.39479601e-01 -8.41969667e-01 -6.98854764e-03 1.04735719e+03] [ 8.41879483e-01 5.39524304e-01 -1.23475121e-02 1.44700482e+02] [ 1.41667220e-02 7.77716033e-04 9.99899345e-01 4.80702551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.199254154 meters 0.030267343933807977 Centerline is valid? [True, True] Translation: X:1047.38, Y:144.75, Z:4.81 [[ 5.40906118e-01 -8.41050230e-01 -7.42172478e-03 1.04738478e+03] [ 8.40948309e-01 5.40956355e-01 -1.31211282e-02 1.44751886e+02] [ 1.50503571e-02 8.56011630e-04 9.99886371e-01 4.80739758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.259254154 meters 0.02921297942126199 Centerline is valid? [True, True] Translation: X:1047.42, Y:144.80, Z:4.81 [[ 5.39275183e-01 -8.42095002e-01 -7.63439234e-03 1.04741529e+03] [ 8.41987124e-01 5.39328541e-01 -1.35058026e-02 1.44801665e+02] [ 1.54906145e-02 8.55284103e-04 9.99879647e-01 4.80705317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.319254154 meters 0.02742092104384284 Centerline is valid? [True, True] Translation: X:1047.45, Y:144.85, Z:4.81 [[ 5.37287880e-01 -8.43367102e-01 -7.32566771e-03 1.04744507e+03] [ 8.43267771e-01 5.37337239e-01 -1.29675756e-02 1.44852652e+02] [ 1.48727807e-02 7.89821708e-04 9.99889082e-01 4.80878015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.379254154 meters 0.02535434790941179 Centerline is valid? [True, True] Translation: X:1047.48, Y:144.90, Z:4.81 [[ 5.32212084e-01 -8.46575686e-01 -7.73989156e-03 1.04747667e+03] [ 8.46464999e-01 5.32267840e-01 -1.37095810e-02 1.44902425e+02] [ 1.57258933e-02 7.44857382e-04 9.99876063e-01 4.80913914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.439254154 meters 0.021153307513652707 Centerline is valid? [True, True] Translation: X:1047.51, Y:144.95, Z:4.81 [[ 5.23655591e-01 -8.51890284e-01 -8.23201680e-03 1.04751180e+03] [ 8.51765552e-01 5.23719914e-01 -1.45909306e-02 1.44949516e+02] [ 1.67411431e-02 6.28874035e-04 9.99859659e-01 4.80904583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.499254154 meters 0.01755989542691641 Centerline is valid? [True, True] Translation: X:1047.55, Y:145.00, Z:4.81 [[ 5.11880248e-01 -8.59012473e-01 -8.72826028e-03 1.04754872e+03] [ 8.58873082e-01 5.11954479e-01 -1.54803121e-02 1.44996530e+02] [ 1.77662531e-02 4.27598161e-04 9.99842076e-01 4.80936340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.559254154 meters 0.01571708697741428 Centerline is valid? [True, True] Translation: X:1047.59, Y:145.04, Z:4.81 [[ 4.99414366e-01 -8.66316141e-01 -9.03519306e-03 1.04758518e+03] [ 8.66167753e-01 4.99496056e-01 -1.60347444e-02 1.45042543e+02] [ 1.84042012e-02 1.81988845e-04 9.99830612e-01 4.81030925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.619254154 meters 0.01384259566390938 Centerline is valid? [True, True] Translation: X:1047.62, Y:145.09, Z:4.81 [[ 4.88600216e-01 -8.72463386e-01 -8.80167999e-03 1.04762027e+03] [ 8.72323379e-01 4.88679485e-01 -1.56295793e-02 1.45089834e+02] [ 1.79374361e-02 -4.12953987e-05 9.99839110e-01 4.81286206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.6792541539999 meters 0.014969903313763343 Centerline is valid? [True, True] Translation: X:1047.65, Y:145.14, Z:4.81 [[ 4.79974221e-01 -8.77240511e-01 -8.59258909e-03 1.04765355e+03] [ 8.77107699e-01 4.80051082e-01 -1.52657517e-02 1.45137905e+02] [ 1.75166175e-02 -2.09458768e-04 9.99846550e-01 4.81444607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.739254154 meters 0.016983087645981294 Centerline is valid? [True, True] Translation: X:1047.68, Y:145.19, Z:4.82 [[ 4.75229373e-01 -8.79821954e-01 -8.38877542e-03 1.04768269e+03] [ 8.79695624e-01 4.75303317e-01 -1.49119466e-02 1.45189547e+02] [ 1.71070707e-02 -2.92974008e-04 9.99853620e-01 4.81618367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.799254154 meters 0.01935151197289199 Centerline is valid? [True, True] Translation: X:1047.71, Y:145.24, Z:4.82 [[ 4.74730718e-01 -8.80091967e-01 -8.29911049e-03 1.04770848e+03] [ 8.79968214e-01 4.74803162e-01 -1.47614306e-02 1.45240270e+02] [ 1.69318604e-02 -2.95248896e-04 9.99856602e-01 4.81537346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.859254154 meters 0.015171376319770188 Centerline is valid? [True, True] Translation: X:1047.73, Y:145.30, Z:4.82 [[ 4.80122590e-01 -8.77163616e-01 -8.14184428e-03 1.04772793e+03] [ 8.77043931e-01 4.80191584e-01 -1.44908856e-02 1.45296393e+02] [ 1.66205227e-02 -1.83353582e-04 9.99861853e-01 4.81894332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.9192541539999 meters 0.01349088774917755 Centerline is valid? [True, True] Translation: X:1047.75, Y:145.35, Z:4.82 [[ 4.87946321e-01 -8.72833291e-01 -8.39249127e-03 1.04774704e+03] [ 8.72705316e-01 4.88018488e-01 -1.49461382e-02 1.45353308e+02] [ 1.71411779e-02 -3.12585977e-05 9.99853079e-01 4.81912682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.979254154 meters 0.01549388934213098 Centerline is valid? [True, True] Translation: X:1047.77, Y:145.41, Z:4.82 [[ 4.93808821e-01 -8.69532854e-01 -8.09104264e-03 1.04776630e+03] [ 8.69413304e-01 4.93875095e-01 -1.44186845e-02 1.45408641e+02] [ 1.65334843e-02 8.56134874e-05 9.99863309e-01 4.81851792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.039254154 meters 0.014430888849990414 Centerline is valid? [True, True] Translation: X:1047.79, Y:145.46, Z:4.82 [[ 4.98238372e-01 -8.67011214e-01 -7.07669924e-03 1.04778823e+03] [ 8.66919390e-01 4.98288602e-01 -1.26190432e-02 1.45463272e+02] [ 1.44670906e-02 1.52363775e-04 9.99895335e-01 4.82143096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.099254154 meters 0.014350015876850024 Centerline is valid? [True, True] Translation: X:1047.81, Y:145.52, Z:4.82 [[ 4.99955654e-01 -8.66024186e-01 -6.81565121e-03 1.04781170e+03] [ 8.65938818e-01 5.00002077e-01 -1.21608222e-02 1.45517217e+02] [ 1.39394059e-02 1.77934848e-04 9.99902826e-01 4.82254226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.1592541539999 meters 0.016093823690879906 Centerline is valid? [True, True] Translation: X:1047.84, Y:145.57, Z:4.82 [[ 4.99656645e-01 -8.66195834e-01 -6.92930609e-03 1.04783676e+03] [ 8.66107498e-01 4.99704658e-01 -1.23715836e-02 1.45570053e+02] [ 1.41788207e-02 1.80019975e-04 9.99899459e-01 4.82079395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.219254154 meters 0.015858812712931478 Centerline is valid? [True, True] Translation: X:1047.86, Y:145.62, Z:4.82 [[ 4.97611092e-01 -8.67365881e-01 -7.72201221e-03 1.04786465e+03] [ 8.67256166e-01 4.97670975e-01 -1.37964716e-02 1.45620640e+02] [ 1.58096101e-02 1.68314565e-04 9.99875006e-01 4.82003059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.279254154 meters 0.013718302955412933 Centerline is valid? [True, True] Translation: X:1047.89, Y:145.67, Z:4.82 [[ 4.94840571e-01 -8.68940449e-01 -8.67786339e-03 1.04789328e+03] [ 8.68801936e-01 4.94916636e-01 -1.55151419e-02 1.45671607e+02] [ 1.77765534e-02 1.38177177e-04 9.99841975e-01 4.82042445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.339254154 meters 0.013643553050261228 Centerline is valid? [True, True] Translation: X:1047.92, Y:145.72, Z:4.82 [[ 4.92764203e-01 -8.70111185e-01 -9.48509774e-03 1.04792213e+03] [ 8.69945704e-01 4.92855470e-01 -1.69692964e-02 1.45722877e+02] [ 1.94399569e-02 1.10341800e-04 9.99811020e-01 4.81991739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.399254154 meters 0.017289188785034822 Centerline is valid? [True, True] Translation: X:1047.95, Y:145.77, Z:4.82 [[ 4.91188631e-01 -8.70989301e-01 -1.05530616e-02 1.04795106e+03] [ 8.70784493e-01 4.91301975e-01 -1.88874432e-02 1.45773338e+02] [ 2.16355009e-02 8.78549378e-05 9.99765921e-01 4.81706512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.459254154 meters 0.014605624067983325 Centerline is valid? [True, True] Translation: X:1047.98, Y:145.82, Z:4.82 [[ 4.90478838e-01 -8.71396852e-01 -9.90129409e-03 1.04797965e+03] [ 8.71216437e-01 4.90578762e-01 -1.77312873e-02 1.45824030e+02] [ 2.03083526e-02 7.06510629e-05 9.99793762e-01 4.82154379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.519254154 meters 0.015200246061780047 Centerline is valid? [True, True] Translation: X:1048.01, Y:145.87, Z:4.82 [[ 4.90604061e-01 -8.71323622e-01 -1.01391159e-02 1.04800740e+03] [ 8.71134164e-01 4.90708813e-01 -1.81694523e-02 1.45874725e+02] [ 2.08068265e-02 8.14768543e-05 9.99783511e-01 4.82214694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.579254154 meters 0.01584334712257278 Centerline is valid? [True, True] Translation: X:1048.03, Y:145.93, Z:4.82 [[ 4.91964057e-01 -8.70548435e-01 -1.08069305e-02 1.04803444e+03] [ 8.70332741e-01 4.92082723e-01 -1.93781624e-02 1.45926751e+02] [ 2.21875327e-02 1.27733973e-04 9.99753818e-01 4.82233853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.639254154 meters 0.013946865192504784 Centerline is valid? [True, True] Translation: X:1048.06, Y:145.98, Z:4.83 [[ 4.94148063e-01 -8.69320867e-01 -9.94599528e-03 1.04806086e+03] [ 8.69137684e-01 4.94248116e-01 -1.78461447e-02 1.45978554e+02] [ 2.04298154e-02 1.74198544e-04 9.99791274e-01 4.82595296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.699254154 meters 0.017934927571847024 Centerline is valid? [True, True] Translation: X:1048.09, Y:146.03, Z:4.82 [[ 4.95013897e-01 -8.68825577e-01 -1.01665391e-02 1.04808892e+03] [ 8.68633819e-01 4.95118243e-01 -1.82541262e-02 1.46029831e+02] [ 2.08932907e-02 2.05046498e-04 9.99781690e-01 4.82473824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.759254154 meters 0.015188370213142717 Centerline is valid? [True, True] Translation: X:1048.12, Y:146.08, Z:4.83 [[ 4.96727689e-01 -8.67859162e-01 -9.05966122e-03 1.04811685e+03] [ 8.67706527e-01 4.96810249e-01 -1.62775540e-02 1.46081184e+02] [ 1.86275569e-02 2.24384605e-04 9.99826467e-01 4.82758172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.819254154 meters 0.017900820903329243 Centerline is valid? [True, True] Translation: X:1048.14, Y:146.13, Z:4.83 [[ 4.99164021e-01 -8.66457803e-01 -9.28206151e-03 1.04814480e+03] [ 8.66297137e-01 4.99250231e-01 -1.66876647e-02 1.46133078e+02] [ 1.90932286e-02 2.88858493e-04 9.99817666e-01 4.82673276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.879254154 meters 0.018865627235977414 Centerline is valid? [True, True] Translation: X:1048.17, Y:146.19, Z:4.83 [[ 5.03877063e-01 -8.63721757e-01 -9.62448977e-03 1.04817209e+03] [ 8.63548304e-01 5.03968804e-01 -1.73139262e-02 1.46185337e+02] [ 1.98048574e-02 4.12878477e-04 9.99803779e-01 4.82625693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.939254154 meters 0.019564739030694688 Centerline is valid? [True, True] Translation: X:1048.20, Y:146.24, Z:4.82 [[ 5.05830307e-01 -8.62578903e-01 -9.66105025e-03 1.04819758e+03] [ 8.62403758e-01 5.05922347e-01 -1.73878637e-02 1.46237651e+02] [ 1.98861456e-02 4.63582386e-04 9.99802144e-01 4.82486423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.999254154 meters 0.01798973929991851 Centerline is valid? [True, True] Translation: X:1048.23, Y:146.29, Z:4.83 [[ 5.06353242e-01 -8.62272128e-01 -9.65255497e-03 1.04822860e+03] [ 8.62097041e-01 5.06445008e-01 -1.73823434e-02 1.46288147e+02] [ 1.98767985e-02 4.80166859e-04 9.99802322e-01 4.82722396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.059254154 meters 0.017629122753307018 Centerline is valid? [True, True] Translation: X:1048.26, Y:146.34, Z:4.83 [[ 5.07485525e-01 -8.61612175e-01 -9.10500276e-03 1.04825882e+03] [ 8.61456104e-01 5.07566968e-01 -1.64058977e-02 1.46339006e+02] [ 1.87569199e-02 4.82195411e-04 9.99823957e-01 4.82903951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.119254154 meters 0.018480835734920743 Centerline is valid? [True, True] Translation: X:1048.29, Y:146.39, Z:4.83 [[ 5.06578007e-01 -8.62145267e-01 -9.17941999e-03 1.04828955e+03] [ 8.61986529e-01 5.06660948e-01 -1.65501232e-02 1.46389106e+02] [ 1.89194640e-02 4.71392021e-04 9.99820900e-01 4.82867668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.1792541539999 meters 0.01875716371022517 Centerline is valid? [True, True] Translation: X:1048.32, Y:146.44, Z:4.83 [[ 5.05268145e-01 -8.62908913e-01 -9.60776270e-03 1.04832087e+03] [ 8.62734924e-01 5.05359266e-01 -1.73339035e-02 1.46437755e+02] [ 1.98129517e-02 4.69316835e-04 9.99803594e-01 4.82830524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.239254154 meters 0.016730375105360715 Centerline is valid? [True, True] Translation: X:1048.35, Y:146.49, Z:4.83 [[ 5.04038163e-01 -8.63630196e-01 -9.40292569e-03 1.04835304e+03] [ 8.63463472e-01 5.04125673e-01 -1.69746288e-02 1.46487580e+02] [ 1.94000583e-02 4.36777871e-04 9.99811706e-01 4.83003186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.299254154 meters 0.016434443417569056 Centerline is valid? [True, True] Translation: X:1048.39, Y:146.54, Z:4.83 [[ 5.01945149e-01 -8.64849593e-01 -9.28704422e-03 1.04838590e+03] [ 8.64686981e-01 5.02030905e-01 -1.67748399e-02 1.46537351e+02] [ 1.91700967e-02 3.89663266e-04 9.99816161e-01 4.83080544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.359254154 meters 0.017783483502577965 Centerline is valid? [True, True] Translation: X:1048.42, Y:146.59, Z:4.83 [[ 5.00813904e-01 -8.65501467e-01 -9.62518851e-03 1.04841651e+03] [ 8.65326690e-01 5.00906242e-01 -1.73970239e-02 1.46586753e+02] [ 1.98784667e-02 3.83738923e-04 9.99802330e-01 4.83008092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.4192541539999 meters 0.015280641983571631 Centerline is valid? [True, True] Translation: X:1048.45, Y:146.64, Z:4.83 [[ 5.00184991e-01 -8.65865479e-01 -9.58893883e-03 1.04844812e+03] [ 8.65691844e-01 5.00276756e-01 -1.73435515e-02 1.46635099e+02] [ 1.98143058e-02 3.73918023e-04 9.99803607e-01 4.83229375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.479254154 meters 0.014821157477430142 Centerline is valid? [True, True] Translation: X:1048.48, Y:146.68, Z:4.83 [[ 4.97508401e-01 -8.67404260e-01 -9.75911636e-03 1.04847962e+03] [ 8.67224476e-01 4.97604004e-01 -1.76625097e-02 1.46684596e+02] [ 2.01767115e-02 3.23902392e-04 9.99796377e-01 4.83263545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.539254154 meters 0.017666629981574027 Centerline is valid? [True, True] Translation: X:1048.51, Y:146.73, Z:4.83 [[ 4.94177796e-01 -8.69295715e-01 -1.06426801e-02 1.04851194e+03] [ 8.69082043e-01 4.94292306e-01 -1.92747913e-02 1.46733074e+02] [ 2.20160883e-02 2.75811708e-04 9.99757579e-01 4.83257952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.599254154 meters 0.01432149006681996 Centerline is valid? [True, True] Translation: X:1048.54, Y:146.78, Z:4.84 [[ 4.93292135e-01 -8.69811898e-01 -9.49379222e-03 1.04854187e+03] [ 8.69641762e-01 4.93383430e-01 -1.72045354e-02 1.46783818e+02] [ 1.96487894e-02 2.30663822e-04 9.99806917e-01 4.83551374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.6592541539999 meters 0.015740753998364967 Centerline is valid? [True, True] Translation: X:1048.57, Y:146.83, Z:4.84 [[ 4.92346688e-01 -8.70335815e-01 -1.05027434e-02 1.04857198e+03] [ 8.70127452e-01 4.92458640e-01 -1.90448299e-02 1.46833993e+02] [ 2.17475643e-02 2.37933565e-04 9.99763465e-01 4.83507324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.719254154 meters 0.01676004894129378 Centerline is valid? [True, True] Translation: X:1048.60, Y:146.88, Z:4.83 [[ 4.93019731e-01 -8.69949876e-01 -1.08975695e-02 1.04860021e+03] [ 8.69725274e-01 4.93140082e-01 -1.97688513e-02 1.46884359e+02] [ 2.25719381e-02 2.68542155e-04 9.99745185e-01 4.83472851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.779254154 meters 0.014814251121437791 Centerline is valid? [True, True] Translation: X:1048.63, Y:146.94, Z:4.84 [[ 4.94508922e-01 -8.69116328e-01 -9.88603265e-03 1.04862811e+03] [ 8.68931102e-01 4.94607650e-01 -1.79447057e-02 1.46935018e+02] [ 2.04857441e-02 2.83535817e-04 9.99790105e-01 4.83727776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.839254154 meters 0.014882052390961163 Centerline is valid? [True, True] Translation: X:1048.66, Y:146.99, Z:4.84 [[ 4.95728374e-01 -8.68428825e-01 -9.20623917e-03 1.04865624e+03] [ 8.68267862e-01 4.95813763e-01 -1.67221726e-02 1.46985978e+02] [ 1.90865968e-02 2.96173834e-04 9.99817790e-01 4.83900109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.899254154 meters 0.016117928451348955 Centerline is valid? [True, True] Translation: X:1048.68, Y:147.04, Z:4.84 [[ 4.95517093e-01 -8.68548419e-01 -9.29809217e-03 1.04868447e+03] [ 8.68384021e-01 4.95604231e-01 -1.69008087e-02 1.47036835e+02] [ 1.92873445e-02 3.00324941e-04 9.99813937e-01 4.83867069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.959254154 meters 0.014696776696240125 Centerline is valid? [True, True] Translation: X:1048.71, Y:147.09, Z:4.84 [[ 4.94952289e-01 -8.68876932e-01 -8.66654822e-03 1.04871396e+03] [ 8.68733968e-01 4.95028082e-01 -1.57636015e-02 1.47086617e+02] [ 1.79868144e-02 2.73305796e-04 9.99838187e-01 4.84090652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.019254154 meters 0.014967775194469773 Centerline is valid? [True, True] Translation: X:1048.74, Y:147.14, Z:4.84 [[ 4.93741631e-01 -8.69564003e-01 -8.81170222e-03 1.04874094e+03] [ 8.69416135e-01 4.93820188e-01 -1.60376433e-02 1.47136800e+02] [ 1.82971537e-02 2.57416051e-04 9.99832560e-01 4.83984306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.079254154 meters 0.01802282823990494 Centerline is valid? [True, True] Translation: X:1048.77, Y:147.19, Z:4.84 [[ 4.91522316e-01 -8.70800144e-01 -1.06264676e-02 1.04877199e+03] [ 8.70585106e-01 4.91637103e-01 -1.93528118e-02 1.47187411e+02] [ 2.20767970e-02 2.61094446e-04 9.99756244e-01 4.83748497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.139254154 meters 0.014903413481558516 Centerline is valid? [True, True] Translation: X:1048.80, Y:147.24, Z:4.84 [[ 4.94150318e-01 -8.69318150e-01 -1.00705999e-02 1.04879893e+03] [ 8.69124486e-01 4.94252824e-01 -1.83513995e-02 1.47239729e+02] [ 2.09306271e-02 3.15744932e-04 9.99780881e-01 4.83876255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.199254154 meters 0.015945383304054865 Centerline is valid? [True, True] Translation: X:1048.82, Y:147.29, Z:4.84 [[ 4.96962487e-01 -8.67710558e-01 -1.03282816e-02 1.04882499e+03] [ 8.67506263e-01 4.97069641e-01 -1.88322954e-02 1.47292455e+02] [ 2.14748568e-02 3.99095415e-04 9.99769309e-01 4.83810130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.259254154 meters 0.019186058035494714 Centerline is valid? [True, True] Translation: X:1048.85, Y:147.34, Z:4.84 [[ 4.99733647e-01 -8.66110705e-01 -1.08870956e-02 1.04885105e+03] [ 8.65883118e-01 4.99851977e-01 -1.98601831e-02 1.47343697e+02] [ 2.26430534e-02 4.97849480e-04 9.99743489e-01 4.83711756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.319254154 meters 0.017617749345887185 Centerline is valid? [True, True] Translation: X:1048.88, Y:147.39, Z:4.84 [[ 5.03579649e-01 -8.63890761e-01 -1.00144686e-02 1.04887953e+03] [ 8.63697620e-01 5.03678912e-01 -1.82749871e-02 1.47394707e+02] [ 2.08316691e-02 5.53438901e-04 9.99782844e-01 4.84198936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.379254154 meters 0.01797231291293113 Centerline is valid? [True, True] Translation: X:1048.91, Y:147.45, Z:4.84 [[ 5.06841289e-01 -8.61987594e-01 -9.44966058e-03 1.04890584e+03] [ 8.61815107e-01 5.06929016e-01 -1.72538365e-02 1.47447509e+02] [ 1.96629001e-02 6.01096465e-04 9.99806486e-01 4.84439515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.439254154 meters 0.01991882884844191 Centerline is valid? [True, True] Translation: X:1048.93, Y:147.50, Z:4.85 [[ 5.09545403e-01 -8.60399431e-01 -8.73504689e-03 1.04893050e+03] [ 8.60251683e-01 5.09619896e-01 -1.59563150e-02 1.47499495e+02] [ 1.81803580e-02 6.16128153e-04 9.99834534e-01 4.84525832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.499254154 meters 0.019160978556664512 Centerline is valid? [True, True] Translation: X:1048.96, Y:147.55, Z:4.85 [[ 5.10427750e-01 -8.59875205e-01 -8.83991837e-03 1.04896109e+03] [ 8.59723638e-01 5.10503882e-01 -1.61571109e-02 1.47549892e+02] [ 1.84059117e-02 6.47150978e-04 9.99830387e-01 4.84668970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.559254154 meters 0.019060161841718562 Centerline is valid? [True, True] Translation: X:1048.99, Y:147.60, Z:4.85 [[ 5.11100181e-01 -8.59474151e-01 -8.98820312e-03 1.04899061e+03] [ 8.59317203e-01 5.11178759e-01 -1.64384168e-02 1.47600958e+02] [ 1.87229729e-02 6.77960252e-04 9.99824480e-01 4.84783910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.619254154 meters 0.020272864135976287 Centerline is valid? [True, True] Translation: X:1049.02, Y:147.65, Z:4.85 [[ 5.12303779e-01 -8.58756666e-01 -9.04582127e-03 1.04901762e+03] [ 8.58597478e-01 5.12383140e-01 -1.65495676e-02 1.47651622e+02] [ 1.88469778e-02 7.11686683e-04 9.99822127e-01 4.84823024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.6792541539999 meters 0.026187003547594637 Centerline is valid? [True, True] Translation: X:1049.04, Y:147.70, Z:4.84 [[ 5.11653823e-01 -8.59144055e-01 -9.04753814e-03 1.04904070e+03] [ 8.58984715e-01 5.11733329e-01 -1.65607905e-02 1.47704717e+02] [ 1.88580315e-02 7.01694782e-04 9.99821925e-01 4.84482026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.739254154 meters 0.022626330053416466 Centerline is valid? [True, True] Translation: X:1049.08, Y:147.75, Z:4.85 [[ 5.11000214e-01 -8.59544574e-01 -7.86813889e-03 1.04907515e+03] [ 8.59423990e-01 5.11060431e-01 -1.44097571e-02 1.47753592e+02] [ 1.64069229e-02 6.01321621e-04 9.99865217e-01 4.84930686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.799254154 meters 0.02165639592062325 Centerline is valid? [True, True] Translation: X:1049.10, Y:147.80, Z:4.85 [[ 5.11474269e-01 -8.59273091e-01 -6.62018243e-03 1.04910322e+03] [ 8.59187602e-01 5.11516850e-01 -1.21316603e-02 1.47804934e+02] [ 1.38107441e-02 5.17053399e-04 9.99904493e-01 4.85238379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.859254154 meters 0.02069525178593286 Centerline is valid? [True, True] Translation: X:1049.13, Y:147.86, Z:4.85 [[ 5.12758706e-01 -8.58503890e-01 -7.04132891e-03 1.04913320e+03] [ 8.58406982e-01 5.12806727e-01 -1.29117662e-02 1.47855910e+02] [ 1.46956423e-02 5.76294621e-04 9.99891847e-01 4.85269177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.9192541539999 meters 0.02204040727677506 Centerline is valid? [True, True] Translation: X:1049.16, Y:147.91, Z:4.85 [[ 5.13176841e-01 -8.58252428e-01 -7.23182667e-03 1.04915926e+03] [ 8.58150097e-01 5.13227441e-01 -1.32666404e-02 1.47907588e+02] [ 1.50976982e-02 6.02139825e-04 9.99885842e-01 4.85131566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.979254154 meters 0.0225261382400447 Centerline is valid? [True, True] Translation: X:1049.19, Y:147.96, Z:4.85 [[ 5.15294767e-01 -8.56971671e-01 -8.41776875e-03 1.04918670e+03] [ 8.56832702e-01 5.15362974e-01 -1.54507521e-02 1.47959964e+02] [ 1.75790632e-02 7.49072165e-04 9.99845196e-01 4.84967760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.039254154 meters 0.023525839783711987 Centerline is valid? [True, True] Translation: X:1049.22, Y:148.01, Z:4.85 [[ 5.16108048e-01 -8.56464876e-01 -1.00199223e-02 1.04921668e+03] [ 8.56267624e-01 5.16204488e-01 -1.84033313e-02 1.48010321e+02] [ 2.09341357e-02 9.18372308e-04 9.99780435e-01 4.84699686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.099254154 meters 0.023047177750139272 Centerline is valid? [True, True] Translation: X:1049.25, Y:148.06, Z:4.85 [[ 5.15757987e-01 -8.56674775e-01 -1.01009573e-02 1.04924504e+03] [ 8.56474092e-01 5.15856063e-01 -1.85647953e-02 1.48060529e+02] [ 2.11146319e-02 9.23733248e-04 9.99776635e-01 4.84799509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.1592541539999 meters 0.021982589794228704 Centerline is valid? [True, True] Translation: X:1049.28, Y:148.11, Z:4.85 [[ 5.10967581e-01 -8.59551474e-01 -9.13205728e-03 1.04927915e+03] [ 8.59387693e-01 5.11048653e-01 -1.67948714e-02 1.48108622e+02] [ 1.91029820e-02 7.33657154e-04 9.99817252e-01 4.85070161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.219254154 meters 0.020505973048369555 Centerline is valid? [True, True] Translation: X:1049.31, Y:148.16, Z:4.85 [[ 5.06230760e-01 -8.62362490e-01 -7.83283997e-03 1.04931297e+03] [ 8.62242181e-01 5.06291064e-01 -1.44145717e-02 1.48156955e+02] [ 1.63962828e-02 5.43294573e-04 9.99865424e-01 4.85331202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.279254154 meters 0.019551398053425956 Centerline is valid? [True, True] Translation: X:1049.35, Y:148.21, Z:4.85 [[ 5.02908472e-01 -8.64308515e-01 -7.33887055e-03 1.04934512e+03] [ 8.64202971e-01 5.02961812e-01 -1.35144407e-02 1.48206173e+02] [ 1.53718178e-02 4.54252998e-04 9.99881743e-01 4.85465338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.339254154 meters 0.018484835807836986 Centerline is valid? [True, True] Translation: X:1049.37, Y:148.26, Z:4.86 [[ 5.02796489e-01 -8.64374240e-01 -7.27070027e-03 1.04937190e+03] [ 8.64270523e-01 5.02848852e-01 -1.33975464e-02 1.48256831e+02] [ 1.52365572e-02 4.52387350e-04 9.99883815e-01 4.85522177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.399254154 meters 0.017100599512969654 Centerline is valid? [True, True] Translation: X:1049.40, Y:148.31, Z:4.85 [[ 5.00731393e-01 -8.65562135e-01 -8.38230523e-03 1.04940332e+03] [ 8.65424266e-01 5.00801313e-01 -1.54558837e-02 1.48306624e+02] [ 1.75758971e-02 4.84995809e-04 9.99845414e-01 4.85402082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.459254154 meters 0.016655811955408828 Centerline is valid? [True, True] Translation: X:1049.43, Y:148.36, Z:4.85 [[ 4.97335254e-01 -8.67519270e-01 -8.24383283e-03 1.04943367e+03] [ 8.67386092e-01 4.97403404e-01 -1.52059716e-02 1.48355444e+02] [ 1.72919839e-02 4.11879810e-04 9.99850398e-01 4.85461428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.519254154 meters 0.015129188827111383 Centerline is valid? [True, True] Translation: X:1049.47, Y:148.40, Z:4.86 [[ 4.92224920e-01 -8.70434066e-01 -7.69189062e-03 1.04946717e+03] [ 8.70318349e-01 4.92284929e-01 -1.41957575e-02 1.48403947e+02] [ 1.61430728e-02 2.93112061e-04 9.99869649e-01 4.85633323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.579254154 meters 0.014687444084181678 Centerline is valid? [True, True] Translation: X:1049.50, Y:148.45, Z:4.86 [[ 4.88847376e-01 -8.72340539e-01 -7.08704857e-03 1.04949856e+03] [ 8.72242387e-01 4.88898698e-01 -1.30874489e-02 1.48454106e+02] [ 1.48815610e-02 2.16140878e-04 9.99889240e-01 4.85727316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.639254154 meters 0.015026521431799058 Centerline is valid? [True, True] Translation: X:1049.53, Y:148.51, Z:4.86 [[ 4.89948511e-01 -8.71719221e-01 -7.48705628e-03 1.04952637e+03] [ 8.71609471e-01 4.90005649e-01 -1.38345503e-02 1.48506535e+02] [ 1.57285433e-02 2.52428180e-04 9.99876267e-01 4.85741406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.699254154 meters 0.016804308748081715 Centerline is valid? [True, True] Translation: X:1049.55, Y:148.56, Z:4.85 [[ 4.91716823e-01 -8.70713138e-01 -8.55557466e-03 1.04955337e+03] [ 8.70569492e-01 4.91791138e-01 -1.58188743e-02 1.48558985e+02] [ 1.79812574e-02 3.30184314e-04 9.99838270e-01 4.85484219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.759254154 meters 0.01636799106594425 Centerline is valid? [True, True] Translation: X:1049.58, Y:148.61, Z:4.86 [[ 4.93233796e-01 -8.69852481e-01 -8.77968613e-03 1.04958159e+03] [ 8.69700893e-01 4.93311787e-01 -1.62430894e-02 1.48611175e+02] [ 1.84602143e-02 3.75939786e-04 9.99829525e-01 4.85504624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.819254154 meters 0.01570229975385998 Centerline is valid? [True, True] Translation: X:1049.61, Y:148.66, Z:4.86 [[ 4.92571890e-01 -8.70233438e-01 -8.16680113e-03 1.04961229e+03] [ 8.70102160e-01 4.92639470e-01 -1.51189650e-02 1.48661260e+02] [ 1.71803174e-02 3.41225847e-04 9.99852349e-01 4.85690223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.879254154 meters 0.016921676376728263 Centerline is valid? [True, True] Translation: X:1049.64, Y:148.71, Z:4.86 [[ 4.91210664e-01 -8.71007669e-01 -7.59766437e-03 1.04964310e+03] [ 8.70894006e-01 4.91269328e-01 -1.40739964e-02 1.48711667e+02] [ 1.59910582e-02 2.96536733e-04 9.99872091e-01 4.85790559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.939254154 meters 0.015999567603724955 Centerline is valid? [True, True] Translation: X:1049.67, Y:148.76, Z:4.86 [[ 4.92783006e-01 -8.70127062e-01 -6.61849520e-03 1.04967155e+03] [ 8.70040623e-01 4.92827366e-01 -1.22678784e-02 1.48762517e+02] [ 1.39363886e-02 2.87042301e-04 9.99902843e-01 4.85984361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.999254154 meters 0.0178015355901459 Centerline is valid? [True, True] Translation: X:1049.70, Y:148.81, Z:4.86 [[ 4.95125053e-01 -8.68795015e-01 -6.81204001e-03 1.04969909e+03] [ 8.68703203e-01 4.95171796e-01 -1.26347272e-02 1.48814760e+02] [ 1.43501181e-02 3.38129012e-04 9.99896975e-01 4.85886401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.059254154 meters 0.017062902314344108 Centerline is valid? [True, True] Translation: X:1049.73, Y:148.87, Z:4.86 [[ 4.97843697e-01 -8.67241859e-01 -6.57357322e-03 1.04972774e+03] [ 8.67156123e-01 4.97886954e-01 -1.21999384e-02 1.48866523e+02] [ 1.38531936e-02 3.73348159e-04 9.99903970e-01 4.85988581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.119254154 meters 0.018130285102883725 Centerline is valid? [True, True] Translation: X:1049.76, Y:148.92, Z:4.86 [[ 4.98464216e-01 -8.66886362e-01 -6.43901151e-03 1.04975547e+03] [ 8.66804004e-01 4.98505659e-01 -1.19551435e-02 1.48916947e+02] [ 1.35736345e-02 3.77850268e-04 9.99907803e-01 4.85982686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.1792541539999 meters 0.01799372854433936 Centerline is valid? [True, True] Translation: X:1049.79, Y:148.97, Z:4.86 [[ 4.97291506e-01 -8.67563278e-01 -5.92601840e-03 1.04978659e+03] [ 8.67493500e-01 4.97326702e-01 -1.10081148e-02 1.48967447e+02] [ 1.24974033e-02 3.33459521e-04 9.99921849e-01 4.86109889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.239254154 meters 0.0175815643429694 Centerline is valid? [True, True] Translation: X:1049.82, Y:149.02, Z:4.86 [[ 4.98230492e-01 -8.67028054e-01 -5.35999774e-03 1.04981731e+03] [ 8.66970873e-01 4.98259222e-01 -9.96258576e-03 1.49018137e+02] [ 1.13085097e-02 3.16702086e-04 9.99936007e-01 4.86266984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.299254154 meters 0.019935082636693392 Centerline is valid? [True, True] Translation: X:1049.84, Y:149.07, Z:4.86 [[ 4.99553887e-01 -8.66265684e-01 -5.44776073e-03 1.04984460e+03] [ 8.66206515e-01 4.99583474e-01 -1.01304158e-02 1.49069716e+02] [ 1.14972428e-02 3.41802773e-04 9.99933846e-01 4.86178033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.359254154 meters 0.018362327602540765 Centerline is valid? [True, True] Translation: X:1049.87, Y:149.12, Z:4.86 [[ 4.98983964e-01 -8.66595708e-01 -5.18487668e-03 1.04987379e+03] [ 8.66542071e-01 4.99010798e-01 -9.64686929e-03 1.49120329e+02] [ 1.09472450e-02 3.20719305e-04 9.99940026e-01 4.86158008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.4192541539999 meters 0.018008163858891937 Centerline is valid? [True, True] Translation: X:1049.90, Y:149.17, Z:4.86 [[ 4.96876915e-01 -8.67808321e-01 -4.69566325e-03 1.04990274e+03] [ 8.67764329e-01 4.96899030e-01 -8.74200271e-03 1.49171830e+02] [ 9.91965321e-03 2.68970265e-04 9.99950763e-01 4.86172421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.479254154 meters 0.017660249762612698 Centerline is valid? [True, True] Translation: X:1049.93, Y:149.22, Z:4.86 [[ 4.96173668e-01 -8.68213971e-01 -4.02393375e-03 1.04993130e+03] [ 8.68181641e-01 4.96189933e-01 -7.49589046e-03 1.49222636e+02] [ 8.50467225e-03 2.25758053e-04 9.99963809e-01 4.86260911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.539254154 meters 0.019136579530694454 Centerline is valid? [True, True] Translation: X:1049.96, Y:149.27, Z:4.86 [[ 4.94933923e-01 -8.68917618e-01 -4.75235353e-03 1.04995894e+03] [ 8.68872490e-01 4.94956673e-01 -8.85935143e-03 1.49273649e+02] [ 1.00502556e-02 2.55604318e-04 9.99949462e-01 4.86047184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.599254154 meters 0.019326597320857227 Centerline is valid? [True, True] Translation: X:1049.99, Y:149.32, Z:4.86 [[ 4.92746901e-01 -8.70160407e-01 -4.62143615e-03 1.04998615e+03] [ 8.70117750e-01 4.92768521e-01 -8.61892498e-03 1.49324442e+02] [ 9.77714552e-03 2.25754959e-04 9.99952177e-01 4.85952981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.6592541539999 meters 0.01744730081515539 Centerline is valid? [True, True] Translation: X:1050.02, Y:149.38, Z:4.86 [[ 4.91240010e-01 -8.71014754e-01 -4.06825737e-03 1.05001544e+03] [ 8.70981701e-01 4.91256820e-01 -7.59025741e-03 1.49375648e+02] [ 8.60978537e-03 1.85260399e-04 9.99962918e-01 4.86059709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.719254154 meters 0.01624827179907637 Centerline is valid? [True, True] Translation: X:1050.05, Y:149.43, Z:4.86 [[ 4.89932741e-01 -8.71752141e-01 -3.75680870e-03 1.05004535e+03] [ 8.71723942e-01 4.89947118e-01 -7.01352178e-03 1.49425560e+02] [ 7.95469023e-03 1.61253861e-04 9.99968348e-01 4.86165993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.779254154 meters 0.015247394450246773 Centerline is valid? [True, True] Translation: X:1050.07, Y:149.48, Z:4.86 [[ 4.89116690e-01 -8.72210953e-01 -3.59408728e-03 1.05007424e+03] [ 8.72185122e-01 4.89129872e-01 -6.71429031e-03 1.49476515e+02] [ 7.61425300e-03 1.49361999e-04 9.99971000e-01 4.86236702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.839254154 meters 0.017500859169321224 Centerline is valid? [True, True] Translation: X:1050.10, Y:149.53, Z:4.86 [[ 4.88405158e-01 -8.72608522e-01 -3.84310893e-03 1.05010051e+03] [ 8.72578959e-01 4.88420253e-01 -7.18444979e-03 1.49527746e+02] [ 8.14626434e-03 1.55506347e-04 9.99966807e-01 4.86070911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.899254154 meters 0.01724281884186122 Centerline is valid? [True, True] Translation: X:1050.13, Y:149.58, Z:4.86 [[ 4.88543689e-01 -8.72528130e-01 -4.44145395e-03 1.05012794e+03] [ 8.72488587e-01 4.88563843e-01 -8.30880746e-03 1.49578836e+02] [ 9.41960204e-03 1.84097567e-04 9.99955618e-01 4.85947090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.959254154 meters 0.017643561308450396 Centerline is valid? [True, True] Translation: X:1050.16, Y:149.63, Z:4.86 [[ 4.88248050e-01 -8.72691471e-01 -4.84132265e-03 1.05015526e+03] [ 8.72644429e-01 4.88272011e-01 -9.06337662e-03 1.49630045e+02] [ 1.02734138e-02 2.00422720e-04 9.99947207e-01 4.85842169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.019254154 meters 0.015486762119478628 Centerline is valid? [True, True] Translation: X:1050.18, Y:149.68, Z:4.86 [[ 4.88051014e-01 -8.72805329e-01 -4.13096844e-03 1.05018411e+03] [ 8.72771039e-01 4.88068466e-01 -7.73853405e-03 1.49680993e+02] [ 8.77042919e-03 1.71409770e-04 9.99961524e-01 4.86140441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.079254154 meters 0.01538275095492977 Centerline is valid? [True, True] Translation: X:1050.21, Y:149.73, Z:4.86 [[ 4.87138327e-01 -8.73317947e-01 -3.46623045e-03 1.05021192e+03] [ 8.73293788e-01 4.87150639e-01 -6.49732380e-03 1.49732458e+02] [ 7.36280586e-03 1.38057920e-04 9.99972885e-01 4.86314095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.139254154 meters 0.015148274384586626 Centerline is valid? [True, True] Translation: X:1050.24, Y:149.78, Z:4.86 [[ 4.86022577e-01 -8.73942213e-01 -2.65773256e-03 1.05023961e+03] [ 8.73928003e-01 4.86029833e-01 -4.98458811e-03 1.49783828e+02] [ 5.64797928e-03 9.99554495e-05 9.99984045e-01 4.86452158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.199254154 meters 0.01668006542903551 Centerline is valid? [True, True] Translation: X:1050.27, Y:149.84, Z:4.86 [[ 4.85440130e-01 -8.74262667e-01 -3.55942984e-03 1.05026584e+03] [ 8.74237147e-01 4.85453162e-01 -6.68122721e-03 1.49835292e+02] [ 7.56908399e-03 1.31550018e-04 9.99971345e-01 4.86188888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.259254154 meters 0.015750098694646993 Centerline is valid? [True, True] Translation: X:1050.29, Y:149.89, Z:4.86 [[ 4.87119861e-01 -8.73323260e-01 -4.55238601e-03 1.05029025e+03] [ 8.73281423e-01 4.87141096e-01 -8.55042876e-03 1.49888282e+02] [ 9.68494263e-03 1.89569535e-04 9.99953082e-01 4.86061216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.319254154 meters 0.01781759893307303 Centerline is valid? [True, True] Translation: X:1050.31, Y:149.94, Z:4.86 [[ 4.88043737e-01 -8.72804068e-01 -5.13507702e-03 1.05031494e+03] [ 8.72750746e-01 4.88070698e-01 -9.65035903e-03 1.49941202e+02] [ 1.09291532e-02 2.28154988e-04 9.99940249e-01 4.85856340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.379254154 meters 0.015869368924254074 Centerline is valid? [True, True] Translation: X:1050.34, Y:149.99, Z:4.86 [[ 4.88568114e-01 -8.72515749e-01 -4.17917579e-03 1.05034107e+03] [ 8.72480378e-01 4.88585949e-01 -7.85880309e-03 1.49992890e+02] [ 8.89881604e-03 1.93311735e-04 9.99960386e-01 4.86067523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.439254154 meters 0.015967079239591165 Centerline is valid? [True, True] Translation: X:1050.37, Y:150.04, Z:4.86 [[ 4.88161689e-01 -8.72744663e-01 -3.86232390e-03 1.05036662e+03] [ 8.72714419e-01 4.88176936e-01 -7.26791900e-03 1.50044810e+02] [ 8.22853497e-03 1.77213858e-04 9.99966129e-01 4.86174120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.499254154 meters 0.01637205256452313 Centerline is valid? [True, True] Translation: X:1050.39, Y:150.10, Z:4.86 [[ 4.89053307e-01 -8.72242982e-01 -4.36382513e-03 1.05039046e+03] [ 8.72204310e-01 4.89072730e-01 -8.21620515e-03 1.50098247e+02] [ 9.30075515e-03 2.12015210e-04 9.99956725e-01 4.86106489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.559254154 meters 0.01662166958839234 Centerline is valid? [True, True] Translation: X:1050.41, Y:150.15, Z:4.86 [[ 4.90421306e-01 -8.71467777e-01 -5.55488017e-03 1.05041446e+03] [ 8.71405008e-01 4.90452678e-01 -1.04633868e-02 1.50151584e+02] [ 1.18429103e-02 2.90917419e-04 9.99929828e-01 4.85956603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.619254154 meters 0.016449267855869296 Centerline is valid? [True, True] Translation: X:1050.44, Y:150.20, Z:4.86 [[ 4.90218373e-01 -8.71575689e-01 -6.46265031e-03 1.05044014e+03] [ 8.71490630e-01 4.90260853e-01 -1.21810455e-02 1.50204154e+02] [ 1.37850876e-02 3.39233134e-04 9.99904924e-01 4.85875388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.6792541539999 meters 0.016844551601106535 Centerline is valid? [True, True] Translation: X:1050.47, Y:150.26, Z:4.86 [[ 4.86758899e-01 -8.73515839e-01 -5.98781456e-03 1.05046705e+03] [ 8.73442875e-01 4.86795653e-01 -1.12931499e-02 1.50256736e+02] [ 1.27795874e-02 2.67027235e-04 9.99918302e-01 4.85866631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.739254154 meters 0.01667597479883685 Centerline is valid? [True, True] Translation: X:1050.50, Y:150.31, Z:4.86 [[ 4.80629103e-01 -8.76909480e-01 -5.04271799e-03 1.05049727e+03] [ 8.76857857e-01 4.80655532e-01 -9.51622493e-03 1.50307421e+02] [ 1.07686782e-02 1.52027769e-04 9.99942005e-01 4.86145147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.799254154 meters 0.016697348189900246 Centerline is valid? [True, True] Translation: X:1050.52, Y:150.36, Z:4.86 [[ 4.78313648e-01 -8.78173587e-01 -5.21582370e-03 1.05052434e+03] [ 8.78118361e-01 4.78342067e-01 -9.84943117e-03 1.50358995e+02] [ 1.11444582e-02 1.31006800e-04 9.99937890e-01 4.86148070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.859254154 meters 0.013979251904927239 Centerline is valid? [True, True] Translation: X:1050.55, Y:150.41, Z:4.86 [[ 4.77100074e-01 -8.78831448e-01 -5.55030120e-03 1.05054889e+03] [ 8.78768868e-01 4.77132341e-01 -1.04883878e-02 1.50411520e+02] [ 1.18657533e-02 1.26578717e-04 9.99929591e-01 4.86212149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.9192541539999 meters 0.013971083289670628 Centerline is valid? [True, True] Translation: X:1050.57, Y:150.46, Z:4.86 [[ 4.77715043e-01 -8.78496063e-01 -5.74499713e-03 1.05057245e+03] [ 8.78428899e-01 4.77749565e-01 -1.08638134e-02 1.50464978e+02] [ 1.22884872e-02 1.43235578e-04 9.99924483e-01 4.86259722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.979254154 meters 0.018547721148762106 Centerline is valid? [True, True] Translation: X:1050.59, Y:150.52, Z:4.86 [[ 4.77388873e-01 -8.78669453e-01 -6.31321243e-03 1.05059393e+03] [ 8.78588252e-01 4.77430590e-01 -1.19462962e-02 1.50517996e+02] [ 1.35109662e-02 1.56314596e-04 9.99908711e-01 4.86019787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.039254154 meters 0.017250552829480372 Centerline is valid? [True, True] Translation: X:1050.62, Y:150.57, Z:4.86 [[ 4.77525300e-01 -8.78597515e-01 -5.99951601e-03 1.05061936e+03] [ 8.78524081e-01 4.77562961e-01 -1.13603122e-02 1.50570129e+02] [ 1.28462887e-02 1.54117197e-04 9.99917471e-01 4.86186774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.099254154 meters 0.01700312709853644 Centerline is valid? [True, True] Translation: X:1050.64, Y:150.62, Z:4.86 [[ 4.77673773e-01 -8.78516592e-01 -6.03022125e-03 1.05064299e+03] [ 8.78442294e-01 4.77711808e-01 -1.14265156e-02 1.50623105e+02] [ 1.29190914e-02 1.60945429e-04 9.99916532e-01 4.86326936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.1592541539999 meters 0.015631959771453333 Centerline is valid? [True, True] Translation: X:1050.67, Y:150.68, Z:4.87 [[ 4.79126762e-01 -8.77726487e-01 -5.81024902e-03 1.05066623e+03] [ 8.77657365e-01 4.79161957e-01 -1.10167660e-02 1.50677685e+02] [ 1.24537576e-02 1.79019567e-04 9.99922433e-01 4.86521696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.219254154 meters 0.017399576494773705 Centerline is valid? [True, True] Translation: X:1050.69, Y:150.73, Z:4.86 [[ 4.79292539e-01 -8.77633819e-01 -6.12714022e-03 1.05068886e+03] [ 8.77556839e-01 4.79331661e-01 -1.16254899e-02 1.50731345e+02] [ 1.31398554e-02 1.95096759e-04 9.99913649e-01 4.86388801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.279254154 meters 0.01758960951903694 Centerline is valid? [True, True] Translation: X:1050.71, Y:150.78, Z:4.86 [[ 4.77466536e-01 -8.78626585e-01 -6.40552373e-03 1.05071493e+03] [ 8.78542423e-01 4.77509467e-01 -1.21622068e-02 1.50783525e+02] [ 1.37447365e-02 1.79522421e-04 9.99905521e-01 4.86405456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.339254154 meters 0.013637060512174967 Centerline is valid? [True, True] Translation: X:1050.74, Y:150.84, Z:4.87 [[ 4.73850849e-01 -8.80589230e-01 -5.28963710e-03 1.05074324e+03] [ 8.80531894e-01 4.73880361e-01 -1.00492541e-02 1.50835757e+02] [ 1.13559201e-02 1.04153435e-04 9.99935514e-01 4.86744776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.399254154 meters 0.01638312395339077 Centerline is valid? [True, True] Translation: X:1050.77, Y:150.89, Z:4.86 [[ 4.69227071e-01 -8.83059158e-01 -5.69912915e-03 1.05077015e+03] [ 8.82992693e-01 4.69261677e-01 -1.08343632e-02 1.50887013e+02] [ 1.22417665e-02 5.14870926e-05 9.99925065e-01 4.86482958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.459254154 meters 0.016864538352810415 Centerline is valid? [True, True] Translation: X:1050.80, Y:150.94, Z:4.86 [[ 4.66915273e-01 -8.84277815e-01 -6.54783098e-03 1.05079648e+03] [ 8.84190071e-01 4.66961182e-01 -1.24568370e-02 1.50938977e+02] [ 1.40728875e-02 2.67603141e-05 9.99900972e-01 4.86332135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.519254154 meters 0.013362831300890743 Centerline is valid? [True, True] Translation: X:1050.82, Y:150.99, Z:4.86 [[ 4.67022075e-01 -8.84220335e-01 -6.69183927e-03 1.05082129e+03] [ 8.84128552e-01 4.67070014e-01 -1.27399382e-02 1.50991282e+02] [ 1.43904698e-02 3.33861984e-05 9.99896451e-01 4.86450825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.579254154 meters 0.015418697056071202 Centerline is valid? [True, True] Translation: X:1050.85, Y:151.04, Z:4.86 [[ 4.67275781e-01 -8.84085845e-01 -6.75002520e-03 1.05084648e+03] [ 8.83992312e-01 4.67324530e-01 -1.28598690e-02 1.51043954e+02] [ 1.45236805e-02 4.21349558e-05 9.99894525e-01 4.86377088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.639254154 meters 0.013585359588547443 Centerline is valid? [True, True] Translation: X:1050.87, Y:151.10, Z:4.87 [[ 4.69483714e-01 -8.82923569e-01 -5.56895067e-03 1.05087034e+03] [ 8.82859758e-01 4.69516737e-01 -1.06151438e-02 1.51095959e+02] [ 1.19870762e-02 6.70346904e-05 9.99928150e-01 4.86677071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.699254154 meters 0.016813840788119847 Centerline is valid? [True, True] Translation: X:1050.90, Y:151.15, Z:4.86 [[ 4.69698158e-01 -8.82805591e-01 -6.15870187e-03 1.05089639e+03] [ 8.82727441e-01 4.69738526e-01 -1.17465768e-02 1.51147853e+02] [ 1.32629232e-02 8.08903597e-05 9.99912040e-01 4.86469583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.759254154 meters 0.014428363079004573 Centerline is valid? [True, True] Translation: X:1050.92, Y:151.20, Z:4.87 [[ 4.72099842e-01 -8.81525307e-01 -5.90521207e-03 1.05092049e+03] [ 8.81453265e-01 4.72136759e-01 -1.12704305e-02 1.51201240e+02] [ 1.27232374e-02 1.15599999e-04 9.99919050e-01 4.86653746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.819254154 meters 0.01443149602235444 Centerline is valid? [True, True] Translation: X:1050.95, Y:151.25, Z:4.87 [[ 4.74410491e-01 -8.80284318e-01 -5.84853703e-03 1.05094629e+03] [ 8.80213467e-01 4.74446516e-01 -1.11694225e-02 1.51254596e+02] [ 1.26070855e-02 1.50930149e-04 9.99920516e-01 4.86792351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.879254154 meters 0.014839424974442482 Centerline is valid? [True, True] Translation: X:1050.97, Y:151.31, Z:4.87 [[ 4.77473917e-01 -8.78626472e-01 -5.84653253e-03 1.05096953e+03] [ 8.78555474e-01 4.77509669e-01 -1.11711625e-02 1.51307399e+02] [ 1.26070549e-02 1.97435548e-04 9.99920508e-01 4.86878252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.939254154 meters 0.017279981831881418 Centerline is valid? [True, True] Translation: X:1050.99, Y:151.36, Z:4.87 [[ 4.80583362e-01 -8.76928141e-01 -6.05545804e-03 1.05099441e+03] [ 8.76851758e-01 4.80621443e-01 -1.15768029e-02 1.51361097e+02] [ 1.30624072e-02 2.53879818e-04 9.99914651e-01 4.86787333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.999254154 meters 0.016803134904774766 Centerline is valid? [True, True] Translation: X:1051.02, Y:151.41, Z:4.87 [[ 4.83349267e-01 -8.75410495e-01 -5.47287702e-03 1.05101958e+03] [ 8.75347959e-01 4.83380175e-01 -1.04669028e-02 1.51412612e+02] [ 1.18083168e-02 2.68498065e-04 9.99930243e-01 4.86947368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.059254154 meters 0.01909019199955458 Centerline is valid? [True, True] Translation: X:1051.05, Y:151.46, Z:4.87 [[ 4.83807256e-01 -8.75153762e-01 -6.03586580e-03 1.05104839e+03] [ 8.75077604e-01 4.83844808e-01 -1.15494029e-02 1.51463971e+02] [ 1.30279257e-02 3.05833948e-04 9.99915086e-01 4.86808746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.119254154 meters 0.01774146830844338 Centerline is valid? [True, True] Translation: X:1051.08, Y:151.51, Z:4.87 [[ 4.83821305e-01 -8.75146012e-01 -6.03343699e-03 1.05107604e+03] [ 8.75069820e-01 4.83858825e-01 -1.15519489e-02 1.51513928e+02] [ 1.30289737e-02 3.09400354e-04 9.99915071e-01 4.86889381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.1792541539999 meters 0.018637097125250714 Centerline is valid? [True, True] Translation: X:1051.11, Y:151.56, Z:4.87 [[ 4.81005061e-01 -8.76683449e-01 -7.76280993e-03 1.05110713e+03] [ 8.76557340e-01 4.81067571e-01 -1.48735626e-02 1.51563290e+02] [ 1.67738423e-02 3.49710886e-04 9.99859248e-01 4.86578074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.239254154 meters 0.01597012918606023 Centerline is valid? [True, True] Translation: X:1051.14, Y:151.61, Z:4.87 [[ 4.76327780e-01 -8.79234532e-01 -7.64753447e-03 1.05114090e+03] [ 8.79112306e-01 4.76389095e-01 -1.46623305e-02 1.51611314e+02] [ 1.65348293e-02 2.61033683e-04 9.99863256e-01 4.86641650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.299254154 meters 0.017847390942836938 Centerline is valid? [True, True] Translation: X:1051.18, Y:151.66, Z:4.87 [[ 4.71259134e-01 -8.81952379e-01 -8.65043658e-03 1.05117537e+03] [ 8.81796252e-01 4.71338482e-01 -1.65953204e-02 1.51660263e+02] [ 1.87135660e-02 1.92773775e-04 9.99824867e-01 4.86695705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.359254154 meters 0.015257236819046494 Centerline is valid? [True, True] Translation: X:1051.21, Y:151.71, Z:4.87 [[ 4.65834362e-01 -8.84835854e-01 -7.99113571e-03 1.05121192e+03] [ 8.84702880e-01 4.65902892e-01 -1.53398128e-02 1.51708007e+02] [ 1.72963096e-02 7.60311356e-05 9.99850405e-01 4.87138405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.4192541539999 meters 0.016165759316241406 Centerline is valid? [True, True] Translation: X:1051.24, Y:151.76, Z:4.87 [[ 4.66924000e-01 -8.84258703e-01 -8.27793753e-03 1.05123944e+03] [ 8.84115737e-01 4.66997360e-01 -1.59005860e-02 1.51758126e+02] [ 1.79260066e-02 1.05710383e-04 9.99839311e-01 4.87138121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.479254154 meters 0.014570089962181423 Centerline is valid? [True, True] Translation: X:1051.26, Y:151.81, Z:4.87 [[ 4.71464560e-01 -8.81849639e-01 -7.89830393e-03 1.05126431e+03] [ 8.81719037e-01 4.71530675e-01 -1.51777144e-02 1.51810013e+02] [ 1.71087546e-02 1.91669519e-04 9.99853616e-01 4.87230392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.539254154 meters 0.014984528124888647 Centerline is valid? [True, True] Translation: X:1051.29, Y:151.86, Z:4.87 [[ 4.75149743e-01 -8.79873264e-01 -7.46737555e-03 1.05129110e+03] [ 8.79756152e-01 4.75208351e-01 -1.43574733e-02 1.51862574e+02] [ 1.61813161e-02 2.52480194e-04 9.99869042e-01 4.87482131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.599254154 meters 0.01581966928080619 Centerline is valid? [True, True] Translation: X:1051.32, Y:151.91, Z:4.88 [[ 4.77025799e-01 -8.78868248e-01 -6.08190331e-03 1.05131631e+03] [ 8.78790389e-01 4.77064510e-01 -1.17006499e-02 1.51913559e+02] [ 1.31847899e-02 2.36793677e-04 9.99913049e-01 4.87691246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.6592541539999 meters 0.01818287880622667 Centerline is valid? [True, True] Translation: X:1051.34, Y:151.97, Z:4.88 [[ 4.78606776e-01 -8.78010200e-01 -5.80018272e-03 1.05134458e+03] [ 8.77939236e-01 4.78641855e-01 -1.11656715e-02 1.51965686e+02] [ 1.25797837e-02 2.51758081e-04 9.99920840e-01 4.87958210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.719254154 meters 0.017392224149094034 Centerline is valid? [True, True] Translation: X:1051.37, Y:152.02, Z:4.88 [[ 4.82422192e-01 -8.75926798e-01 -4.59046785e-03 1.05136778e+03] [ 8.75882206e-01 4.82443970e-01 -8.84178619e-03 1.52018835e+02] [ 9.95940101e-03 2.44764772e-04 9.99950374e-01 4.87987818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.779254154 meters 0.019719535076463266 Centerline is valid? [True, True] Translation: X:1051.39, Y:152.07, Z:4.88 [[ 4.86420176e-01 -8.73701855e-01 -6.36253727e-03 1.05139293e+03] [ 8.73615874e-01 4.86461616e-01 -1.22638419e-02 1.52071551e+02] [ 1.38100716e-02 4.06966569e-04 9.99904554e-01 4.87694485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.839254154 meters 0.022360360968430974 Centerline is valid? [True, True] Translation: X:1051.42, Y:152.12, Z:4.87 [[ 4.88944274e-01 -8.72282549e-01 -7.52672960e-03 1.05141875e+03] [ 8.72161887e-01 4.89001912e-01 -1.45180018e-02 1.52123714e+02] [ 1.63443847e-02 5.33967138e-04 9.99866279e-01 4.87467755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.899254154 meters 0.02192129039975843 Centerline is valid? [True, True] Translation: X:1051.45, Y:152.17, Z:4.87 [[ 4.88400091e-01 -8.72585805e-01 -7.70478524e-03 1.05144925e+03] [ 8.72459230e-01 4.88460561e-01 -1.48718375e-02 1.52173417e+02] [ 1.67404380e-02 5.41295800e-04 9.99859723e-01 4.87463565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.959254154 meters 0.01988969936978379 Centerline is valid? [True, True] Translation: X:1051.48, Y:152.22, Z:4.88 [[ 4.85113420e-01 -8.74426273e-01 -6.60777449e-03 1.05148370e+03] [ 8.74333225e-01 4.85158244e-01 -1.27628698e-02 1.52221566e+02] [ 1.43660049e-02 4.14042622e-04 9.99896718e-01 4.87647862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.019254154 meters 0.01694232784781494 Centerline is valid? [True, True] Translation: X:1051.52, Y:152.27, Z:4.88 [[ 4.80864343e-01 -8.76784958e-01 -4.19773948e-03 1.05151787e+03] [ 8.76747452e-01 4.80882614e-01 -8.11271265e-03 1.52269260e+02] [ 9.13172435e-03 2.20756838e-04 9.99958281e-01 4.87898705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.079254154 meters 0.018245576857728547 Centerline is valid? [True, True] Translation: X:1051.55, Y:152.32, Z:4.88 [[ 4.75251008e-01 -8.79838194e-01 -4.60784778e-03 1.05155029e+03] [ 8.79793089e-01 4.75273311e-01 -8.91069991e-03 1.52316802e+02] [ 1.00299612e-02 1.80866479e-04 9.99949682e-01 4.87852671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.139254154 meters 0.015912142029054676 Centerline is valid? [True, True] Translation: X:1051.58, Y:152.37, Z:4.88 [[ 4.70540869e-01 -8.82369111e-01 -4.00541120e-03 1.05158204e+03] [ 8.82335083e-01 4.70557903e-01 -7.74989692e-03 1.52365441e+02] [ 8.72304754e-03 1.12528409e-04 9.99961947e-01 4.87696065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.199254154 meters 0.014834537275969362 Centerline is valid? [True, True] Translation: X:1051.61, Y:152.42, Z:4.88 [[ 4.67259969e-01 -8.84110155e-01 -4.16589811e-03 1.05161411e+03] [ 8.84073366e-01 4.67278531e-01 -8.06585409e-03 1.52415283e+02] [ 9.07773827e-03 8.58911636e-05 9.99958793e-01 4.87507398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.259254154 meters 0.014650023315343038 Centerline is valid? [True, True] Translation: X:1051.64, Y:152.47, Z:4.87 [[ 4.64345871e-01 -8.85642063e-01 -4.58788418e-03 1.05164223e+03] [ 8.85597467e-01 4.64368531e-01 -8.88788194e-03 1.52465381e+02] [ 1.00019511e-02 6.40326766e-05 9.99949977e-01 4.87249562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.319254154 meters 0.014818457179874317 Centerline is valid? [True, True] Translation: X:1051.67, Y:152.52, Z:4.87 [[ 4.62444503e-01 -8.86637394e-01 -4.38333074e-03 1.05166849e+03] [ 8.86596683e-01 4.62465275e-01 -8.49654554e-03 1.52516879e+02] [ 9.56049325e-03 4.29342783e-05 9.99954297e-01 4.87187834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.379254154 meters 0.014649545738299552 Centerline is valid? [True, True] Translation: X:1051.69, Y:152.57, Z:4.87 [[ 4.62669061e-01 -8.86522408e-01 -3.91906134e-03 1.05169157e+03] [ 8.86489818e-01 4.62685657e-01 -7.60168103e-03 1.52569914e+02] [ 8.55235405e-03 4.28546558e-05 9.99963427e-01 4.87193573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.4392541539999 meters 0.015279974598561365 Centerline is valid? [True, True] Translation: X:1051.71, Y:152.63, Z:4.87 [[ 4.65106174e-01 -8.85241895e-01 -4.79943380e-03 1.05171414e+03] [ 8.85192877e-01 4.65130928e-01 -9.31609158e-03 1.52625046e+02] [ 1.04793597e-02 8.45470946e-05 9.99945086e-01 4.86931650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.499254154 meters 0.015865501461739824 Centerline is valid? [True, True] Translation: X:1051.74, Y:152.68, Z:4.87 [[ 4.68868352e-01 -8.83248168e-01 -5.92804381e-03 1.05173504e+03] [ 8.83173137e-01 4.68905797e-01 -1.15136254e-02 1.52679642e+02] [ 1.29490827e-02 1.62885525e-04 9.99916144e-01 4.86559845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.559254154 meters 0.01703931095567213 Centerline is valid? [True, True] Translation: X:1051.76, Y:152.73, Z:4.86 [[ 4.71703538e-01 -8.81728082e-01 -7.16665943e-03 1.05175666e+03] [ 8.81618109e-01 4.71757910e-01 -1.39278346e-02 1.52734454e+02] [ 1.56614912e-02 2.51552122e-04 9.99877320e-01 4.86205168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.619254154 meters 0.016548891168676874 Centerline is valid? [True, True] Translation: X:1051.78, Y:152.79, Z:4.86 [[ 4.72066226e-01 -8.81534605e-01 -7.08645181e-03 1.05178234e+03] [ 8.81426914e-01 4.72119341e-01 -1.37812405e-02 1.52786456e+02] [ 1.54942913e-02 2.59468823e-04 9.99879923e-01 4.86205716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.6792541539999 meters 0.018504947498987012 Centerline is valid? [True, True] Translation: X:1051.81, Y:152.84, Z:4.86 [[ 4.69881970e-01 -8.82696246e-01 -7.63360475e-03 1.05180987e+03] [ 8.82571260e-01 4.69943910e-01 -1.48557297e-02 1.52837967e+02] [ 1.67004629e-02 2.43239379e-04 9.99860508e-01 4.86079743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.739254154 meters 0.018079869833340978 Centerline is valid? [True, True] Translation: X:1051.84, Y:152.89, Z:4.86 [[ 4.66779257e-01 -8.84349874e-01 -6.51351758e-03 1.05183941e+03] [ 8.84258955e-01 4.66824672e-01 -1.26817071e-02 1.52888854e+02] [ 1.42557368e-02 1.59921572e-04 9.99898369e-01 4.86171246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.799254154 meters 0.015462799517962639 Centerline is valid? [True, True] Translation: X:1051.87, Y:152.94, Z:4.87 [[ 4.64705856e-01 -8.85456577e-01 -3.88824404e-03 1.05186891e+03] [ 8.85424190e-01 4.64722116e-01 -7.57359441e-03 1.52940252e+02] [ 8.51304197e-03 7.67483404e-05 9.99963760e-01 4.86536311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.859254154 meters 0.017180679373458477 Centerline is valid? [True, True] Translation: X:1051.90, Y:152.99, Z:4.87 [[ 4.62351407e-01 -8.86695710e-01 -1.37649166e-03 1.05189549e+03] [ 8.86691655e-01 4.62353456e-01 -2.68136633e-03 1.52991209e+02] [ 3.01398169e-03 1.92098286e-05 9.99995458e-01 4.86735007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.9192541539999 meters 0.01737070304730306 Centerline is valid? [True, True] Translation: X:1051.92, Y:153.04, Z:4.86 [[ 4.61625168e-01 -8.87074878e-01 -6.04347492e-04 1.05192113e+03] [ 8.87074098e-01 4.61625564e-01 -1.17620476e-03 1.53043552e+02] [ 1.32236395e-03 6.86471521e-06 9.99999126e-01 4.86459649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.979254154 meters 0.01523416715705284 Centerline is valid? [True, True] Translation: X:1051.95, Y:153.10, Z:4.86 [[ 4.59445511e-01 -8.88205494e-01 -9.06599026e-04 1.05194767e+03] [ 8.88203736e-01 4.59446406e-01 -1.76718666e-03 1.53095739e+02] [ 1.98615857e-03 6.68133587e-06 9.99998028e-01 4.86101000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.039254154 meters 0.016550134085761992 Centerline is valid? [True, True] Translation: X:1051.98, Y:153.15, Z:4.86 [[ 4.51139366e-01 -8.92453301e-01 6.14186905e-04 1.05197777e+03] [ 8.92452491e-01 4.51139784e-01 1.20263504e-03 1.53146303e+02] [-1.35037976e-03 5.57662437e-06 9.99999088e-01 4.85902312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.099254154 meters 0.016969938333926137 Centerline is valid? [True, True] Translation: X:1052.01, Y:153.19, Z:4.86 [[ 4.42431110e-01 -8.96796263e-01 3.34300224e-03 1.05200905e+03] [ 8.96772467e-01 4.42443726e-01 6.53387369e-03 1.53194761e+02] [-7.33864388e-03 1.07123376e-04 9.99973066e-01 4.86186749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.1592541539999 meters 0.019396157252946383 Centerline is valid? [True, True] Translation: X:1052.04, Y:153.25, Z:4.86 [[ 4.35280738e-01 -9.00275344e-01 5.91482332e-03 1.05203757e+03] [ 9.00201108e-01 4.35320826e-01 1.15647799e-02 1.53245393e+02] [-1.29863320e-02 2.90604568e-04 9.99915632e-01 4.86075914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.219254154 meters 0.01819614570377652 Centerline is valid? [True, True] Translation: X:1052.06, Y:153.30, Z:4.86 [[ 4.33074384e-01 -9.01332077e-01 6.86044869e-03 1.05206434e+03] [ 9.01232202e-01 4.33128561e-01 1.34226466e-02 1.53298022e+02] [-1.50697182e-02 3.69852893e-04 9.99886377e-01 4.86125005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.279254154 meters 0.018189726420864815 Centerline is valid? [True, True] Translation: X:1052.09, Y:153.35, Z:4.86 [[ 4.31776277e-01 -9.01948955e-01 7.57158288e-03 1.05208655e+03] [ 9.01827238e-01 4.31842447e-01 1.48234247e-02 1.53353159e+02] [-1.66397033e-02 4.27856522e-04 9.99861459e-01 4.85703884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.339254154 meters 0.019535971657586134 Centerline is valid? [True, True] Translation: X:1052.11, Y:153.41, Z:4.86 [[ 4.29535364e-01 -9.03022600e-01 7.03956338e-03 1.05211205e+03] [ 9.02917462e-01 4.29592826e-01 1.37862681e-02 1.53405290e+02] [-1.54734575e-02 4.34455024e-04 9.99880185e-01 4.85514342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.399254154 meters 0.02053372442137793 Centerline is valid? [True, True] Translation: X:1052.14, Y:153.46, Z:4.85 [[ 4.22280928e-01 -9.06441554e-01 6.52132968e-03 1.05213940e+03] [ 9.06351580e-01 4.22330968e-01 1.27815256e-02 1.53457113e+02] [-1.43398654e-02 5.13222962e-04 9.99897047e-01 4.85400236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.459254154 meters 0.023641467737376482 Centerline is valid? [True, True] Translation: X:1052.17, Y:153.51, Z:4.85 [[ 4.10979232e-01 -9.11606807e-01 8.31262072e-03 1.05216749e+03] [ 9.11461441e-01 4.11062356e-01 1.63027809e-02 1.53508371e+02] [-1.82787315e-02 8.76528901e-04 9.99832546e-01 4.85484084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.519254154 meters 0.025017650981133264 Centerline is valid? [True, True] Translation: X:1052.19, Y:153.56, Z:4.86 [[ 4.06056234e-01 -9.13804574e-01 8.91830237e-03 1.05219148e+03] [ 9.13637535e-01 4.06152825e-01 1.75025107e-02 1.53561685e+02] [-1.96160680e-02 1.04109223e-03 9.99807044e-01 4.85529693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.579254154 meters 0.026305518195039384 Centerline is valid? [True, True] Translation: X:1052.21, Y:153.62, Z:4.85 [[ 4.10000828e-01 -9.12034230e-01 9.63770066e-03 1.05220849e+03] [ 9.11838372e-01 4.10112799e-01 1.89281340e-02 1.53617951e+02] [-2.12156505e-02 1.02747468e-03 9.99774395e-01 4.85421957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.639254154 meters 0.021874129972670808 Centerline is valid? [True, True] Translation: X:1052.22, Y:153.68, Z:4.85 [[ 4.23155339e-01 -9.06015172e-01 8.72160701e-03 1.05221829e+03] [ 9.05853349e-01 4.23244712e-01 1.71354439e-02 1.53678698e+02] [-1.92163462e-02 6.49542330e-04 9.99815138e-01 4.85364496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.699254154 meters 0.0168139619937596 Centerline is valid? [True, True] Translation: X:1052.23, Y:153.74, Z:4.85 [[ 4.35783397e-01 -9.00012489e-01 8.38756549e-03 1.05222788e+03] [ 8.99861447e-01 4.35863958e-01 1.64919793e-02 1.53739032e+02] [-1.84988248e-02 3.60716054e-04 9.99828817e-01 4.85340880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.759254154 meters 0.01563077336408716 Centerline is valid? [True, True] Translation: X:1052.24, Y:153.80, Z:4.85 [[ 4.44978805e-01 -8.95490503e-01 9.51956030e-03 1.05224376e+03] [ 8.95294621e-01 4.45080581e-01 1.87301192e-02 1.53796909e+02] [-2.10096153e-02 1.88305081e-04 9.99779256e-01 4.85389531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.819254154 meters 0.01608781990184287 Centerline is valid? [True, True] Translation: X:1052.26, Y:153.85, Z:4.85 [[ 4.55326785e-01 -8.90274629e-01 9.41295587e-03 1.05226124e+03] [ 8.90081920e-01 4.55424068e-01 1.85227622e-02 1.53852661e+02] [-2.07772319e-02 -5.56079403e-05 9.99784128e-01 4.85318243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.879254154 meters 0.018596110229371493 Centerline is valid? [True, True] Translation: X:1052.28, Y:153.91, Z:4.85 [[ 4.62554285e-01 -8.86554060e-01 8.08897617e-03 1.05228264e+03] [ 8.86410928e-01 4.62624966e-01 1.59313486e-02 1.53906833e+02] [-1.78661641e-02 -1.98956708e-04 9.99840368e-01 4.84808410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.9392541539999 meters 0.03509686998616699 Centerline is valid? [True, True] Translation: X:1052.31, Y:153.96, Z:4.84 [[ 4.62462547e-01 -8.86583183e-01 9.93242906e-03 1.05231053e+03] [ 8.86367125e-01 4.62569128e-01 1.95734684e-02 1.53957954e+02] [-2.19479430e-02 -2.48217463e-04 9.99759084e-01 4.84224108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.999254154 meters 0.04027444369531732 Centerline is valid? [True, True] Translation: X:1052.35, Y:154.01, Z:4.84 [[ 4.58420490e-01 -8.88685754e-01 9.39600485e-03 1.05234672e+03] [ 8.88492591e-01 4.58516749e-01 1.85285036e-02 1.54005334e+02] [-2.07742428e-02 -1.45564997e-04 9.99784182e-01 4.83961228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.059254154 meters 0.043387446014268666 Centerline is valid? [True, True] Translation: X:1052.39, Y:154.05, Z:4.84 [[ 4.50100897e-01 -8.92920366e-01 1.01193570e-02 1.05238678e+03] [ 8.92697249e-01 4.50214634e-01 1.99600767e-02 1.54050272e+02] [-2.23786417e-02 4.94736999e-05 9.99749566e-01 4.84158706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.119254154 meters 0.04742476501313361 Centerline is valid? [True, True] Translation: X:1052.43, Y:154.09, Z:4.84 [[ 4.41307924e-01 -8.97299171e-01 1.00753717e-02 1.05242816e+03] [ 8.97078865e-01 4.41422845e-01 1.98842228e-02 1.54094771e+02] [-2.22895958e-02 2.63337927e-04 9.99751521e-01 4.84059303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.1792541539999 meters 0.05364820700777459 Centerline is valid? [True, True] Translation: X:1052.47, Y:154.14, Z:4.84 [[ 4.33621272e-01 -9.01048446e-01 9.18097822e-03 1.05247026e+03] [ 9.00866119e-01 4.33718261e-01 1.81302154e-02 1.54138496e+02] [-2.03181604e-02 4.09185148e-04 9.99793481e-01 4.83911115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.239254154 meters 0.058546980369874206 Centerline is valid? [True, True] Translation: X:1052.51, Y:154.18, Z:4.84 [[ 4.25835102e-01 -9.04751307e-01 9.46248650e-03 1.05251181e+03] [ 9.04558237e-01 4.25939805e-01 1.86996919e-02 1.54182243e+02] [-2.09490203e-02 5.96384890e-04 9.99780367e-01 4.83970847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.299254154 meters 0.0621843754691257 Centerline is valid? [True, True] Translation: X:1052.55, Y:154.23, Z:4.84 [[ 4.22334954e-01 -9.06384094e-01 1.00529327e-02 1.05255073e+03] [ 9.06166315e-01 4.22453981e-01 1.98807398e-02 1.54227111e+02] [-2.22664877e-02 7.13297612e-04 9.99751817e-01 4.84272588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.359254154 meters 0.06527395763361032 Centerline is valid? [True, True] Translation: X:1052.58, Y:154.28, Z:4.84 [[ 4.29697016e-01 -9.02895133e-01 1.18681928e-02 1.05257572e+03] [ 9.02589853e-01 4.29860436e-01 2.34853886e-02 1.54279862e+02] [-2.63065096e-02 6.20508962e-04 9.99653731e-01 4.84492612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.4192541539999 meters 0.06555369415580316 Centerline is valid? [True, True] Translation: X:1052.60, Y:154.33, Z:4.84 [[ 4.40798006e-01 -8.97525347e-01 1.20569431e-02 1.05259637e+03] [ 8.97207768e-01 4.40962771e-01 2.38758288e-02 1.54334910e+02] [-2.67458245e-02 2.93165277e-04 9.99642223e-01 4.84441934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.479254154 meters 0.06549883126389873 Centerline is valid? [True, True] Translation: X:1052.62, Y:154.39, Z:4.84 [[ 4.43408114e-01 -8.96250693e-01 1.11328681e-02 1.05262470e+03] [ 8.95979157e-01 4.43547809e-01 2.20610903e-02 1.54386435e+02] [-2.47102267e-02 1.92751382e-04 9.99694637e-01 4.84299369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.539254154 meters 0.06576103551003874 Centerline is valid? [True, True] Translation: X:1052.65, Y:154.44, Z:4.84 [[ 4.42361446e-01 -8.96773556e-01 1.06555755e-02 1.05265248e+03] [ 8.96524584e-01 4.42489715e-01 2.11310888e-02 1.54437956e+02] [-2.36647842e-02 2.05406408e-04 9.99719929e-01 4.84380506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.599254154 meters 0.06504756768737585 Centerline is valid? [True, True] Translation: X:1052.68, Y:154.49, Z:4.85 [[ 4.38762427e-01 -8.98526668e-01 1.17200426e-02 1.05267952e+03] [ 8.98225676e-01 4.38918811e-01 2.32575279e-02 1.54490023e+02] [-2.60416562e-02 3.22713747e-04 9.99660806e-01 4.84603718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.6592541539999 meters 0.06501810820595655 Centerline is valid? [True, True] Translation: X:1052.71, Y:154.54, Z:4.85 [[ 4.35915092e-01 -8.99901906e-01 1.24335019e-02 1.05270769e+03] [ 8.99563198e-01 4.36092171e-01 2.46915064e-02 1.54540875e+02] [-2.76420865e-02 4.21320445e-04 9.99617796e-01 4.85033379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.719254154 meters 0.06473101705450972 Centerline is valid? [True, True] Translation: X:1052.73, Y:154.59, Z:4.85 [[ 4.36723380e-01 -8.99503067e-01 1.29198514e-02 1.05273198e+03] [ 8.99136617e-01 4.36914260e-01 2.56763052e-02 1.54593709e+02] [-2.87407826e-02 4.03268707e-04 9.99586817e-01 4.85432930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.779254154 meters 0.0635721732967979 Centerline is valid? [True, True] Translation: X:1052.75, Y:154.65, Z:4.86 [[ 4.39375558e-01 -8.98199299e-01 1.36798627e-02 1.05275024e+03] [ 8.97787212e-01 4.39588344e-01 2.72067940e-02 1.54649251e+02] [-3.04506315e-02 3.27605515e-04 9.99536218e-01 4.85689354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.839254154 meters 0.062018617896859 Centerline is valid? [True, True] Translation: X:1052.76, Y:154.71, Z:4.86 [[ 4.45001040e-01 -8.95421613e-01 1.39358881e-02 1.05276338e+03] [ 8.94991896e-01 4.45219180e-01 2.77378340e-02 1.54707980e+02] [-3.10415807e-02 1.29141894e-04 9.99518086e-01 4.85564067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.899254154 meters 0.060474918622193376 Centerline is valid? [True, True] Translation: X:1052.77, Y:154.77, Z:4.85 [[ 4.51281162e-01 -8.92283762e-01 1.32287868e-02 1.05277345e+03] [ 8.91894597e-01 4.51475004e-01 2.63504939e-02 1.54768490e+02] [-2.94845844e-02 -9.27980076e-05 9.99565231e-01 4.84816666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.959254154 meters 0.0598185684485152 Centerline is valid? [True, True] Translation: X:1052.79, Y:154.83, Z:4.85 [[ 4.56916805e-01 -8.89431046e-01 1.18088214e-02 1.05278753e+03] [ 8.89119630e-01 4.57069306e-01 2.35357865e-02 1.54827999e+02] [-2.63309090e-02 -2.54441411e-04 9.99653249e-01 4.84679376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.019254154 meters 0.06097325464252573 Centerline is valid? [True, True] Translation: X:1052.80, Y:154.89, Z:4.85 [[ 4.61371507e-01 -8.87133503e-01 1.14227787e-02 1.05280216e+03] [ 8.86841028e-01 4.61512733e-01 2.27813183e-02 1.54886795e+02] [-2.54818285e-02 -3.80462312e-04 9.99675213e-01 4.84600480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 7709.03 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%| | 0/37002 [00:00